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Old January 18th, 2022, 09:27 AM   #25
Taylor Turner
United States

Taylor Turner is offline
Join Date: Sep 2020
Location: Midwest
Posts: 73
Damnit all to hell I have a hard time giving up.
To counter act the error +/- flip being the thing that unclamps the CO min/max, tossing velocity into the calc seems like the thing to do. Only when trying to hold steady state. When ramping up this will not work. Does this seem right?

if Error > 0 and Error < 10
ITerm := IGain*Error*Velocity*-1;
elsif Error < 0 then

ITerm := IGain*Error*Velocity;
ITerm := IGain*Error;
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