update PID logic

mathieucarbou · Jul 2, 2024 · 3d70242 · 3d70242
1 parent 319e937
commit 3d70242
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/docs/downloads/solar_diverter_v1.js b/docs/downloads/solar_diverter_v1.js
@@ -26,9 +26,11 @@ const CONFIG = {
     // PID Proportional Gain
     KP: 0.8,
     // PID Integral Gain
-    KI: 0,
+    KI: 0.01,
     // PID Derivative Gain
-    KD: 0.8
+    KD: 0.8,
+    // PID Output Minimum Clamp (W)
+    ITERM_MIN: -10,
   },
   DIMMERS: {
     "192.168.125.93": {
@@ -111,7 +113,7 @@ function calculatePID(input) {
     PID.output = 0;
   } else {
     PID.pTerm = error * CONFIG.PID.KP;
-    PID.iTerm = Math.max(PID.iTerm + error * CONFIG.PID.KI, 0);
+    PID.iTerm = Math.max(PID.iTerm + error * CONFIG.PID.KI, CONFIG.PID.ITERM_MIN);
     PID.dTerm = (error - PID.error) * CONFIG.PID.KD;
   }
   PID.output = PID.pTerm + PID.iTerm + PID.dTerm;