{"id":157,"date":"2010-02-15T14:31:28","date_gmt":"2010-02-15T19:31:28","guid":{"rendered":"http:\/\/ammonsengineering.com\/blog\/?p=157"},"modified":"2010-02-18T15:21:26","modified_gmt":"2010-02-18T20:21:26","slug":"current-pid-first-look","status":"publish","type":"post","link":"https:\/\/ammonsengineering.com\/blog\/2010\/02\/current-pid-first-look\/","title":{"rendered":"Current PID first look"},"content":{"rendered":"<p>I added PID control for the current to the program.\u00a0 I used the standard NI PID routine that comes with the FPGA toolkit.\u00a0 All I have to do is feed in my PID coefficients, setpoint and control variable and it takes care of the rest.\u00a0 I just added it to the output of my current measurement routine so it updates the PWM value once per cycle.\u00a0 I also added a switch so I can change between PWM control and current control.<\/p>\n<p>The initial tests are promising.\u00a0 I made the setpoint alternate between small positive and negative currents and watched the current values as it cycled.\u00a0 I managed to come up with PID coefficients that quickly reach the setpoint values without going unstable.\u00a0 The values were small enough that nothing moved.\u00a0 There is still a lot of testing to go, but the PID control of current\u00a0looks pretty good at first glance.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>I added PID control for the current to the program.\u00a0 I used the standard NI PID routine that comes with the FPGA toolkit.\u00a0 All I have to do is feed in my PID coefficients, setpoint and control variable and it takes care of the rest.\u00a0 I just added it to the output of my current [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[4],"tags":[],"class_list":["post-157","post","type-post","status-publish","format-standard","hentry","category-software"],"_links":{"self":[{"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/posts\/157","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/comments?post=157"}],"version-history":[{"count":3,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/posts\/157\/revisions"}],"predecessor-version":[{"id":164,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/posts\/157\/revisions\/164"}],"wp:attachment":[{"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/media?parent=157"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/categories?post=157"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/tags?post=157"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}