2012: Tuning the Jaguar's Speed Control PID Loop

[Mr. Lim]

There is a lot of background information here:

http://www.chiefdelphi.com/forums/sh...ad.php?t=90508

I am continuing this discussion in a new thread for the 2012 season, and would like to limit it to the specific methodologies you've used to tune your JAGUAR'S Speed Control PID Loop, and its pros/cons.

Method 1:
Use P-Only control, and tune the P constant until you achieve a stable loop at 50% of your setpoint. Leave I and D as ZERO. Do not touch them, do not pass go, do not collect $200. Now set your setpoints at TWICE the magnitude you actually desire. Profit.

Pros:
Simple to tune, and gives you a stable response.

Cons:
Far from ideal response. You will likely have offset and/or oscillations around your 50% target. You cannot take advantage of I or D because they depend on P being able to take to your setpoint.