PID integrator windup reset

Antun_Skuric · May 8, 2023, 5:36am

Hey guys,

This is an interesting finding, I would be interested to see how you’ve solved it and why this happens.

There is a way to reset the integrator suing the PID class of the simplefoc, it has the reset() function.

simplefoc/Arduino-FOC/blob/05954cb9691534dd478407505d810a68f1673a5e/src/common/pid.cpp#L60


      
                      output = output_prev - output_ramp*Ts;
              }
              // saving for the next pass
              integral_prev = integral;
              output_prev = output;
              error_prev = error;
              timestamp_prev = timestamp_now;
              return output;
          }
          
          void PIDController::reset(){
              integral_prev = 0.0f;
              output_prev = 0.0f;
              error_prev = 0.0f;
          }

You can call it on any PID class like this:

motor.PID_velocity.reset();

This function will reset the PID’s memory of previous states along the integrated values, so this might have some other unwanted effects. But at least you can try if your problem still exists.