On 24 January 2017 at 00:06, John Thornton <[email protected]> wrote:
> if(enable){
> float min_velocity = requested_vel
> -(requested_vel*(1/velocity_tol));
> if(current_vel > 0 && current_vel >= min_velocity){vel_status = 1;}
> else {vel_status = 0;}
>
> if(torch_on && arc_ok && vel_status){ // allow correction
> //if(volts_requested - volts > volts_limit){
> // volts = volts_requested - volts_limit;
> //}
> //else if(volts_requested + volts > volts_limit){
> // volts = volts_requested +volts_limit;
> //}
> if (abs(volts_requested - volts) > voltage_tol) {
> offset += (volts_requested - volts) * p_gain;
> }
> last_z_in = 0;
> }
The code for an actual PID is pretty simple.
static double olderror, iterm
if(torch_on && arc_ok && vel_status){ // allow correction
error = (volts_requested - volts)
dterm = (error - olderrer) * Dgain
olderror = error
iterm += error * Igain
pterm = error * Pgain
if (absf(error) > deadband){
offset += pterm + iterm + dterm
}
Is close. You probably need to initialise olderror intelligently, to
avoid a single-cycle crazy value.
--
atp
"A motorcycle is a bicycle with a pandemonium attachment and is
designed for the especial use of mechanical geniuses, daredevils and
lunatics."
— George Fitch, Atlanta Constitution Newspaper, 1916
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