PIDBCController should multiply a factor on integral term?

[lycismail]

File modules/controll/common/pid_BC_controller.cc line num 57

integral_ += kaw_ * aw_term + error * dt;

Here the aw_term will work after the system into the saturation state. Before that, this term will be equal to zero. So the integral_ will lose the feature of Ki parameter, the later part should be like "error * dt * ki_" here ?

[daohu527]

It seems you are right. ki is an integral coefficient

[chenxiaoying21]

This issue is closed due to long time no reply.