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PID: Removal of the Kick when Setpoint is Changed #107

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sb10q merged 1 commits from linuswck/thermostat:pid_setpoint_kick_fix into master 2024-05-10 11:31:17 +08:00
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linuswck commented 2024-05-10 11:30:22 +08:00
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Description

This PR removes the proportional gain to the change of set point. See current PID Implementation comes from the Integral wind-up and output limiting Section of the article.
Reference: https://hackmd.io/IACbwcOTSt6Adj3_F9bKuw
(Note: There are missing break line characters in the equations in the Latex rendering)

The additional terms are added to introduced proportional gain to the set point in tracking control application as the PID implementation decreases the proportional gain to the set point change.

However, introduction of this term is not optimal for our intended application - constant set point stabilization control.

Test Result

Evaluated on Kirdy mounted with a Laser Diode with integrated TEC

  • Kirdy and Thermostat share the same PID code

Without Removing the Term
image

Removal of the Term
image

# Description This PR removes the proportional gain to the change of set point. See current PID Implementation comes from the **Integral wind-up and output limiting** Section of the article. Reference: https://hackmd.io/IACbwcOTSt6Adj3_F9bKuw (Note: There are missing break line characters in the equations in the Latex rendering) The additional terms are added to introduced proportional gain to the set point in tracking control application as the PID implementation decreases the proportional gain to the set point change. However, introduction of this term is not optimal for our intended application - constant set point stabilization control. # Test Result Evaluated on Kirdy mounted with a Laser Diode with integrated TEC - Kirdy and Thermostat share the same PID code Without Removing the Term ![image](/attachments/5133a325-f7f2-45ff-be7a-fe3edeaa7d93) Removal of the Term ![image](/attachments/877858dc-e715-4ebb-96bd-b130d158f1de)
image.png
106 KiB
image.png
107 KiB
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linuswck added 1 commit 2024-05-10 11:30:22 +08:00
sb10q commented 2024-05-10 11:30:53 +08:00
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Phew finally.

Phew finally.
sb10q commented 2024-05-10 11:31:05 +08:00
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Thanks!

Thanks!
sb10q merged commit 925601f4f5 into master 2024-05-10 11:31:17 +08:00
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Reference: M-Labs/thermostat#107
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