AustralIan
Member
DrBitboy, could you add quantization error?
Like, if you had a 16bit input which was currently rising by 1 bit every scan of the PID, with a gain of 0.4 the proportional term would not move as much in the velocity form as in the... other form.
In the 'positional form':
CVn = Bias + K * (PVn + Quantisation_n)
But in velocity form it is:
CVn = CV0 + K * SUM(PV_n - PV_n-1 + Quantisation_n)
Thanks cardosocea, I never thought about this until today.
Like, if you had a 16bit input which was currently rising by 1 bit every scan of the PID, with a gain of 0.4 the proportional term would not move as much in the velocity form as in the... other form.
In the 'positional form':
CVn = Bias + K * (PVn + Quantisation_n)
But in velocity form it is:
CVn = CV0 + K * SUM(PV_n - PV_n-1 + Quantisation_n)
Thanks cardosocea, I never thought about this until today.