Merge pull request #34 from soloam/avoid_integral_saturation

[fix] Avoid Integral Saturation
soloam · Nov 9, 2022 · d39bd48 · d39bd48
2 parents 7e1eb81 + f6daa76
commit d39bd48
Showing 1 changed file with 10 additions and 3 deletions.
diff --git a/custom_components/pid_controller/pidcontroller.py b/custom_components/pid_controller/pidcontroller.py
@@ -81,10 +81,17 @@ def update(self, feedback_value, in_time=None):
         # Calculate delta error
         delta_error = error - last_error
 
-        # Calculate  terms
+        # Calculate P
         self._p_term = self._kp * error
-        self._i_term += self._ki * error * delta_time
-        self._i_term = self.clamp_value(self._i_term, self._windup)
+
+        # Calculate I and avoids Sturation
+        if self._last_output is None or (
+            self._last_output > 0 and self._last_output < 100
+        ):
+            self._i_term += self._ki * error * delta_time
+            self._i_term = self.clamp_value(self._i_term, self._windup)
+
+        # Calculate D
         self._d_term = self._kd * delta_error / delta_time
 
         # Compute final output