M303, PID autotune ed opzione R March 07, 2018 04:34AM |
Registered: 7 years ago Posts: 35 |
if (method == 0) { workKp = 0.6 * Ku; workKi = workKp * 2.0 / Tu; workKd = workKp * Tu * 0.125; SERIAL_EM(MSG_CLASSIC_PID); } else if (method == 1) { workKp = 0.33 * Ku; workKi = workKp * 2.0 / Tu; workKd = workKp * Tu / 3.0; SERIAL_EM(MSG_SOME_OVERSHOOT_PID); } else if (method == 2) { workKp = 0.2 * Ku; workKi = workKp * 2.0 / Tu; workKd = workKp * Tu / 3.0; SERIAL_EM(MSG_NO_OVERSHOOT_PID); } else if (method == 3) { workKp = 0.7 * Ku; workKi = workKp * 2.5 / Tu; workKd = workKp * Tu * 3.0 / 20.0; SERIAL_EM(MSG_PESSEN_PID); } else if (method == 4) { workKp = 0.4545f * Ku; workKi = workKp / Tu / 2.2f; workKd = workKp * Tu / 6.3f; SERIAL_EM(MSG_TYREUS_LYBEN_PID); }
Re: M303, PID autotune ed opzione R March 07, 2018 05:38AM |
Registered: 10 years ago Posts: 6,409 |