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PidIndustrial does not limit iTerm #1599

This commit is contained in:
rusefi 2020-07-11 15:05:18 -04:00
parent c2a96f21b4
commit 88bbd25042
1 changed files with 4 additions and 4 deletions
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8
firmware/util/math/pid.cpp
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@ -251,9 +251,6 @@ float PidIndustrial::getOutput(float target, float input, float dTime) {
float error = (target - input) * errorAmplificationCoef;
float pTerm = parameters->pFactor * error;
// update the I-term
iTerm += parameters->iFactor * dTime * error;
// calculate dTerm coefficients
if (fabsf(derivativeFilterLoss) > DBL_EPSILON) {
// restore Td in the Standard form from the Parallel form: Td = Kd / Kc
@ -272,11 +269,14 @@ float PidIndustrial::getOutput(float target, float input, float dTime) {
// (error - previousError) = (target-input) - (target-prevousInput) = -(input - prevousInput)
dTerm = dTerm * ad + (error - previousError) * bd;
// update the I-term
iTerm += parameters->iFactor * dTime * error;
// calculate output and apply the limits
float output = pTerm + iTerm + dTerm + getOffset();
float limitedOutput = limitOutput(output);
// apply the integrator anti-windup
// apply the integrator anti-windup on top of the "normal" iTerm change above
// If p.antiwindupFreq = 0, then iTerm is equal to PidParallelController's
iTerm += dTime * antiwindupFreq * (limitedOutput - output);