On Tue, Feb 8, 2011 at 11:26 PM, Peter C. Wallace <p...@mesanet.com> wrote:
>
> --- if ( ( tmp1 * pid->limit_state ) <= 0.0 ) {
>
> +++ if ( ( tmp1 * pid->limit_state * pid->igain ) <= 0.0 ) {
>
> Is a possible patch if negative PID values are to be allowed
>
> Based on the diagram of this page
(http://en.wikipedia.org/wiki/PID_controller),
negative PID gain may make the system diverge (unstable).
In my experience with Mitsubishi and Yaskawa AC Servos, the PID gains are
always positive.
Why would you need negative I-gain?
Would it be possible that the polarity for calculating error is
mis-configured?
--
Yishin
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