![Pid regulyator na arduino](https://kumkoniak.com/6.jpg)
![pid regulyator na arduino pid regulyator na arduino](https://majsterkowo.pl/wp-content/uploads/2019/08/img_0274-2-800x480.jpg)
When you reach one of your boundaries, the integrator continues to sum up things. When simply limiting the output, an issue is coming from the integral part. You could clip the output, as suggested by and or, implement a more advanced approach as discussed below. If it helps you in any way, I want to use it for a balancing robot but weird things happen when the value of the output goes over 90 (the servo library's write() function only accepts values between 0 and 180). The call of the map function was added by me as a inefficient way to limit the output. Void SetTunings(double Kp, double Ki, double Kd) Output = kp * error + ki * errSum + kd * dErr Compute all the working error variablesÄouble dErr = (error - lastErr) / timeChange Here's the code: //working variablesÄouble timeChange = (double)(now - lastTime) How do I do that? I tried using Arduino's map function but I need to know the maximum value of the output in order to use that.
![pid regulyator na arduino pid regulyator na arduino](https://homeguard24.pl/wp-content/uploads/2015/06/1.jpg)
I have the following PID algorithm I snatched from a website whose name I forgot and I need to limit the output such that its maximum value is, let's say, 90.
![Pid regulyator na arduino](https://kumkoniak.com/6.jpg)