## Support » Pololu Jrk USB Motor Controller User’s Guide » 3. Configuring the Motor Controller »## 3.d. PID Options
The
The integral is computed as the sum of the error over all PID cycles, and the derivative is the current error minus the previous error. The error itself is the difference of the scaled feedback and the target (error = scaled feedback – target). Each of the PID coefficients is specified as an integer value divided by a power of two. The proportional and derivative coefficients can have values from 0.00003 to 1024, and any value above 0.0152 can be approximated within 0.5%. To get the closest approximation to a desired value, type the number into the box after the equal sign, and the best possible numerator and denominator will be computed. In the case of the integral coefficient, the range of the denominator is actually 2 The ## Preventing integral wind-upThree options are provided for limiting “integral wind-up”, which is the uncontrolled growth of the integral when the feedback system is temporarily unable to keep the error small. This might happen, for example, when the target is changing quickly. One option is the Another option causes the integral to reset to 0 when the proportional term exceeds the maximum duty cycle parameter. For example, if this option is selected when the proportional coefficient is 15 and the maximum duty cycle is 300, the integral will reset whenever the error is larger than 20. Additionally the |

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