Ramp up down? Code ideas.

[Jerson]

Consider this.

The error between expected and actual output be summed every second in sE

Now, decide the correction time as Ti or error Integration time in seconds. The aim is to apply the full sE in Ti seconds from the time of Error inception.

The fraction of E that gets applied to regen output will be sE / Ti

sE will be reduced by the above fraction.

To prevent a lockup condition from which your control cannot recover, you will need to put limits (both +ve and -ve) on the value of sE so that it doesn't do fancy things like rollover on addition

The output will change at the rate you specified.

Good luck with that and Happy thanksgiving

[richard]

if you were to use proper complementary numbers to represent your controller power then


F(999) could be -999 and 0(345) would be 345

ie actual = -999 desired = 345
-999-345=-1344
means desired is -1344 below required
to get there in 100 x 10mS steps [1 second] just add 13.4 for the next 100 generations


to go back
345-(-999)=1344


means desired is 1344 over required


to get there in 100 x 10mS steps [1 second] just subtract 13.4 for the next 100 generations


the controller can figure if its assist or regen simply by testing bit.15


by rounding down the incrementor you will easily get within 10% will no fuss
never underestimate the beauty of unsigned subtractions with complementary numbers


to convert from pos to negative number n=~n+1
to convert from negative to pos number n=~n+1



ps never try to divide or multiply a negative number
ie.
inc = abs(difference)/100

[retepsnikrep]

Thanks for those.