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#7
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Beware of the I...
With regard to the I part of PID, be very careful.
There is a phenomon called "integral wind up" that is not a theoretical problem but a practical implementation problem. Essentially, you need to "turn off" the integration when the controller output is saturated or limited (for example when your robot is disabled). We had a nasty bug that we had fits trying to kill. Our robot would come out of a disabled state and do a major twitch that hurt our robot and almost hurt some workers on a number of occassions. We finally killed the bug, but it was very sutble and was quite difficult to discover. It turned out to be a case of integral wind up. Joe J. Last edited by Joe Johnson : 26-04-2004 at 14:41. |
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