Re:Tune Your PID Controller
by dognotdog on Wednesday May 26, 2021 @03:26PM
(#27294955)
Yes, usually just clamp the integrator's accumulator value so that when the actuator is outside the linear control regime (eg. maxing out motor current because we're in the end-stop), the output of the controller doesn't continue increasing to infinity.
(Another way is stopping integration when control output is at its physical limit, usually in addition to a numeric limit.)
As with all other PID parameters, this is something you'd have to figure out more-or-less empirically.
Testing with hardware would be checking that controller outputs stop increasing while the actuator is blocked away from its target value, usually running with much reduced speed/current etc limits. Ideally, of course, run unit tests and SIL, before trying it on actual hardware.
(Another way is stopping integration when control output is at its physical limit, usually in addition to a numeric limit.)
As with all other PID parameters, this is something you'd have to figure out more-or-less empirically.
Testing with hardware would be checking that controller outputs stop increasing while the actuator is blocked away from its target value, usually running with much reduced speed/current etc limits. Ideally, of course, run unit tests and SIL, before trying it on actual hardware.