Brewery/Arduino-PID-Library
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Backcalculate per Astrom 1989 and http://brettbeauregard.com/blog/2011/04/improving-the-beginner%e2%80%99s-pid-reset-windup/#comment-18721

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David Forrest 2021-11-22 13:49:43 -05:00
parent 9b4ca0e5b6
commit a0eb0d6d82
1 changed files with 9 additions and 3 deletions
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12
PID_v1.cpp
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@ -82,9 +82,15 @@ bool PID::Compute()
/*Compute Rest of PID Output*/ /*Compute Rest of PID Output*/
output += outputSum - kd * dInput; output += outputSum - kd * dInput;
if(output > outMax) output = outMax; if(output > outMax){
else if(output < outMin) output = outMin; outputSum -= output - outMax; // backcalculate integral to feasability
*myOutput = output; output = outMax;
}
else if(output < outMin) {
outputSum += outMin - output; // backcalculate integral to feasability
output = outMin;
}
*myOutput = output;
/*Remember some variables for next time*/ /*Remember some variables for next time*/
lastInput = input; lastInput = input;