yup, this PID rocks, i had thruster multiplier wrong hahahaha.
i have one question , i understand all but the inegration of e with respect to time, what are the limits, and how does this integration know how long the error has been present ?
i know the effect the "I" has, i just dont see how it knows how long the Error has been present (somethign to do with the limits changing.)
And for anyone trying to understand this, but understands the delta upgrade on the turret in orbs tutorial, the P and D are the same as what he did in the E gate (the P and D values you select are the constants you multiply the error (difference between targetvalue and actual value), and the derivative of error by), the I here just adds a third item, which increaes if there there is no change in error over time (this is proportional to both time and error value) , and will continue to increase until the error is eliminated and the setvalue is reached.
in otehr words, setting the I value to 0 makes this the same as orbs delta turret etc, the I just can help make it reach the setpoint as the difference approaches zero and thrust would normally be to low to move the final tiny angle (or whatever).


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