IpidItermLimit()

IpidItermLimit()

IpidItermLimit() limits the minimum and maximum of the PID integral term.

void IpidItermLimit(uint8_t id, float iMin, float iMax)

Commands

Command	Arguments	Return Value	Operation
`IpidItermLimit(id, iMin, iMax)`	`uint8_t id` — PID loop number. Supports `0` ~ `255` `float iMin` `float iMax`	`void`	Limits the minimum and maximum of the PID integral term.

Example

This example reads the raw A0 analog value (0–1023) on MPINO-16A8R8T for the PID calculation. It shows the result only in Serial Monitor and does not drive an output. Check the A0 voltage/current setting for the connected sensor.

const uint8_t PID_ID = 0;
 
void setup() {
  Serial.begin(115200);
  IpidSet(PID_ID, 2.0F, 0.4F, 0.1F, 100, 0.0F, 1023.0F);  // Set PID gains, sample interval, and output range.
  IpidItermLimit(PID_ID, -100.0F, 100.0F);  // Limit the integral term to -100 through 100.
}
 
void loop() {
  const float currentValue = analogRead(A0);  // Read the raw ADC value from A0.
  const float result = IpidRun(PID_ID, currentValue, 512.0F);  // Calculate PID output from the A0 raw value and setpoint 512.
  Serial.println(result);
  delay(100);
}

Precautions

PID output can directly affect field equipment. Begin testing with a low output range and small gains.
IpidRun() retains the previous output until the sampleMs interval has elapsed. It may be called repeatedly in loop().
The integral term is automatically constrained by the output limits to reduce windup. Use IpidItermLimit() if additional limits are needed.
The derivative term is calculated from the PV change to reduce abrupt jumps caused by setpoint changes.
IpidReset() resets the integral term, previous PV and previous output value.
Use the same id for only one control loop.

Built-in Commands in the Same Category

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Table of Contents

IpidItermLimit()

Commands

Example

Precautions

Built-in Commands in the Same Category