Average the PID Result

Posted by Alessandro Zupo on October 26, 2013 at 3:40pm

Hi Everybody,

In my quad do it from myself with pic32mx architechture write in MikroC, my frequency loop of read from sensor and pid calculated is 200hz.

I do a mobile average(array of 5) of pid  result for have a smooth output power. 

Do you think is a good idea or there is something wrong in my pid alghoritm??

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Replies

  • The Sun October 26, 2013 at 4:49pm
    I dont think averaging pid output is a great idea.... it will really affect response times negatively, unless you average over a very short duration...

    Your response will be dampend directly by your data collection time.

    Also, manipulating values out of a controller is a bad idea in principal, and may have unpredictable consequences with thr controller algorythm itself, which imcludes a likely unprdictable scaling on your p term.
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