PID Windup question/suggestions
29 Dec 2025 21:47 #340682
by ContinenteCNC
PID Windup question/suggestions was created by ContinenteCNC
Hi folks!
The current PID hal module has a maxoutput pin to avoid integrator windup, but wasn't it supposed to have also a minoutput pin?
I am currently setting up a basic spindle control for a lathe and I am experiencing windup when I have to go from a higher spindle speed to a lower speed. On the way up it works just fine (well tuned)
Then I noticed that the PID output goes negative for a while during the ramp down, so the integrator is winding up to the negative side. This doesn't make sense from the DAC/VFD point of view, once the lower voltage they can handle is 0V. (I am using 0-10v analog control)
What I've just wrote make sense? Or am I just shaming myself publicly again?
The current PID hal module has a maxoutput pin to avoid integrator windup, but wasn't it supposed to have also a minoutput pin?
I am currently setting up a basic spindle control for a lathe and I am experiencing windup when I have to go from a higher spindle speed to a lower speed. On the way up it works just fine (well tuned)
Then I noticed that the PID output goes negative for a while during the ramp down, so the integrator is winding up to the negative side. This doesn't make sense from the DAC/VFD point of view, once the lower voltage they can handle is 0V. (I am using 0-10v analog control)
What I've just wrote make sense? Or am I just shaming myself publicly again?
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