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Changed integrator anti-windup method to static clamping.

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This commit is contained in:
Philip Salmony
2020-06-18 12:31:14 +02:00
committed by Alekseev
parent bd1a5902a1
commit 186f7ac07d
1 changed files with 5 additions and 1 deletions
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6
PID_Test.c
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@@ -8,11 +8,14 @@
#define PID_KI 0.5f #define PID_KI 0.5f
#define PID_KD 0.25f #define PID_KD 0.25f
#define PID_TAU 0.01f #define PID_TAU 0.02f
#define PID_LIM_MIN -10.0f #define PID_LIM_MIN -10.0f
#define PID_LIM_MAX 10.0f #define PID_LIM_MAX 10.0f
#define PID_LIM_MIN_INT -5.0f
#define PID_LIM_MAX_INT 5.0f
#define SAMPLE_TIME_S 0.01f #define SAMPLE_TIME_S 0.01f
/* Maximum run-time of simulation */ /* Maximum run-time of simulation */
@@ -27,6 +30,7 @@ int main()
PIDController pid = { PID_KP, PID_KI, -PID_KD, PIDController pid = { PID_KP, PID_KI, -PID_KD,
PID_TAU, PID_TAU,
PID_LIM_MIN, PID_LIM_MAX, PID_LIM_MIN, PID_LIM_MAX,
PID_LIM_MIN_INT, PID_LIM_MAX_INT,
SAMPLE_TIME_S }; SAMPLE_TIME_S };
PIDController_Init(&pid); PIDController_Init(&pid);