Taylor Turner
Member
I'm using a three term equation to control position, but the velocity profile from point A to B is failing expectation.
I'm assuming the position target would have its own pid with velocity as the process variable, but I wouldn't want the position target to decrease is value and move the opposite direction. That would look horrible.
On the opposite side of the equation the control variable can be clamped when the velocity is met or exceeded, but I would think my terms would run away and not be there when the CV needs to decrease value.
Is the answer more obvious?
I'm assuming the position target would have its own pid with velocity as the process variable, but I wouldn't want the position target to decrease is value and move the opposite direction. That would look horrible.
On the opposite side of the equation the control variable can be clamped when the velocity is met or exceeded, but I would think my terms would run away and not be there when the CV needs to decrease value.
Is the answer more obvious?