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pidtuner / pidtuner.github.io

Free PID Controller gains tuning tool
GNU General Public License v3.0
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Questions about Input Limitations and "du_Lim" #6

Closed hugolaurent74 closed 3 years ago

hugolaurent74 commented 3 years ago

Hello,

First I really thank you for creating this project. It's an amazing idea to open this subject to peoples that are not in this professional field like me. (Personally, I would like to use it to tune PID controller for Kerbal Space Program kOs Mod).

(I'm sorry if issue section wasn't the correct one to ask the following ##questions) Here my questions :

1/ In the "Tune PID" tab, a variable is "du_lim". May I ask you what is this variable so I can make further research to better understand its effect ?

2/ I would like to implement a maximum/minimum input limitation. (for my example the throttle is locked between [-1, +1]. Is there an option where I can implement that ?

Thank you for your time, I wish you a wonderful day.

pidtuner commented 3 years ago

Hi, sorry for the delay.

  1. du_lim, is a limit on how the PID output is allowed to change with respect to the previous PID output. Say the last PID output was 10 and du_lim is 0.1, if the next computed PID output is 10.5, the du_lim will limit it such that the PID will only output 10.1.

  2. I would recommend you to use the gains given by the PID tuner and implement a PID with limits and windup reset such as this one

Have a nice day too.

pidtuner commented 3 years ago

Removed du_Lim for PID simulation to avoid confusion