On Fri, 4 Feb 2011, Dave wrote:
> Date: Fri, 04 Feb 2011 11:48:17 -0500
> From: Dave <e...@dc9.tzo.com>
> Reply-To: EMC developers <emc-developers@lists.sourceforge.net>
> To: EMC developers <emc-developers@lists.sourceforge.net>
> Subject: Re: [Emc-developers] pid bug
>
> I usually see anti-windup schemes for PID loops based on the output limits.
>
> When the output hits 100%, don't allow the error to increase the I value
> since the output is limited to 100% anyway.
>
Thats correct, the operative term here being "increase" The current PID
behaviour doesn't allow the I term to _change_ when the output is limited.
This is what causes the runaway bug.
Peter Wallace
Mesa Electronics
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