bara_hence
Member
I wonder what unit the sample update time is in is it in minutes or seconds??
the equation: Un=Un_1+En(Kp+KiT+Kd/T)+En_1(-Kp-2*Kd/T)+En_2(Kd/T)
En=error
En_1 error previous
En_2 error before previous
Un=pid output
Un_1=previous pid output
the equation: Un=Un_1+En(Kp+KiT+Kd/T)+En_1(-Kp-2*Kd/T)+En_2(Kd/T)
En=error
En_1 error previous
En_2 error before previous
Un=pid output
Un_1=previous pid output