Jaguar Speed Control Only Reaches 50% of Setpoint

[Mr. Lim]

Originally Posted by Ether

I've never heard of such a thing. It would seem to defeat the whole purpose of the integral controller.

The crux of this issue is that the PID implementation seems to be more suited to position control, rather than speed control.

Killing the I term when the setpoint has been reached is commonly employed in position control - particularly in systems where there is a lot of resistance as you slowly reach your desired position. When you are finally reach the setpoint, your P is already 0, and it's in your best interests to 0 the I term to prevent overshoot. The I has already done its job to get to the setpoint, to overcome any resistance encountered on the way there.

Regardless, I can't 100% confirm what the I term behaviour is until later this afternoon, but I'm hoping the I-term is capped, rather than 0'ed.