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Swapped constants used for Ki calculation #26

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Breinholm-coder opened this issue Nov 2, 2022 · 0 comments

Breinholm-coder commented Nov 2, 2022 •

edited

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I think you accidently swapped the 1.2 and 0.48 in the Ki calculation:

double PID_ATune::GetKi()
{
return controlType==1? 1.2*Ku / Pu : 0.48 * Ku / Pu; // Ki = Kc/Ti
}

Should be like this for Ziegler & Nichols (closed loop):

double PID_ATune::GetKi()
{
return controlType==1? 0.48 * Ku / Pu : 1.2 * Ku / Pu; // Ki = Kc/Ti
}

/Thanks

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