Yes, I know how "real" PID work but the integrator still winds up until the limit is reached.
I think you are misinterpreting the problem. You are talking about limiting the output. I think the OP wants to limit the output rate of change.
I think you might have misread my reply. I was talking about the output rate-of-change. The integrator stops both when the output limit is reached of course but also when the output RATE limit is reached.
me said:The integrator doesn't wind up because it's stops integrating the second the output becomes rate limited.
Since the output is already responding at it's max allowed when it's rate limited then there is no point in any further integration (for the moment).
Output rate-of-change limits are typically set in % per minute. Recommendation when using output rate limiting is to do the tuning of the loop with the rate limiting activated.
I'm actually not sure what the OP wants or needs so I consider this more of an academic discussion at this point. :nodi:
Last edited: