Proportional, Integral, Derivative (PID) Controller review and feedback

Netduino Development Netduino.Foundation
1

Hey folks!!

I’m working on finishing off a Proportional, Integrative, Derivative (PID) Controller for Netduino.Foundation.

I’ve got it together and working, but I’d appreciate a review and some feedback. Specifically, how the IntegralGain
should be specified. For reference, the implementation can be found here.

Many industrial PID controllers have their IntegralGain specified in repeats per minute, or minutes per repeat (the inverse of the former). Right now, the Integral calculation is based on seconds, but not necessarily seconds per repeat. So two questions:

Would you prefer a minutes per repeat or repeats per minute integral gain unit, or is the raw calc i’m using now fine? also, if RPM or MPR is important, how is that supposed to be calculated? :smiley:

Thanks, in advance, for the feedback!