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參數資料
| 型號： | MC68HC11N4 |
| 廠商： | Motorola, Inc. |
| 元件分類： | 8位微控制器 |
| 英文描述： | 8-Bit microcontroller(8位微控制器) |
| 中文描述： | 8位微控制器（8位微控制器） |
| 文件頁數： | 2/24頁 |
| 文件大小： | 261K |
| 代理商： | MC68HC11N4 |
MOTOROLA
2
AN1215/D
The MC68HC11N4 is particularly well-suited to PID computation because it has an on-chip math coproces-
sor that performs 16- and 32-bit multiplication and division, fractional division, and multiply-and-accumulate
operations. All operations are done by means of memory-mapped registers, thus preserving the standard
M68HC11 family instruction set. Multiplication and fractional division are complete in a maximum of 5 mi-
croseconds while integer division requires a maximum of 8.75 microseconds.
PID ALGORITHM
The general flow of a controlled system with PID compensation is shown in
of the derivation of the discrete form of each term and how they function follows.
provide a complete analysis of digital PID control.
Figure 1
. An informal review
REFERENCES
2 and 3
Figure 1 PID Flow Diagram
There is a desired setpoint in our process (Gd) and a measurement of the actual value G(t) in time. Error is:
Output correction x(t) for the PID controller is:
where KP, KI, and KD are constants.
Now, rewriting the integral:
To introduce discrete time, let t = kT where k = 1,2,...,n and T = the sampling and control update period.
Now, t0 = (k – 1)T. The integral evaluated from (k – 1)T to kT can be approximated using the trapezoidal
integration rule. The derivative of the error term is simply the rate of change of error, but this can be noisy
over one period. Using a four-point central-weighted average for the difference term is a practical way to
deal with this on a microprocessor.
DIGITAL PID AN1215
Kp
KIT(z + 1)
2(z – 1)
Kd(z – 1)
Tz
u(kT)
U(z)
e(kT)
E(z)
e(t) = Gd - G(t)
x(t)
KP e(t)
KI e(t) + KDde(t)
dt
----------- | t = T
+
=
x(t)
KP e(t)
KI
[Gd - G(t)]dt + KDde(t)
dt
----------- | t = T
t=0
t
∫
+
=
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相關代理商/技術參數 |
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| MC68HC16Z1CAG | 制造商:Freescale Semiconductor 功能描述: |
| MC68HC16Z1CAG16 | 功能描述:16位微控制器 - MCU 16 BIT MCU 1K RAM RoHS:否 制造商:Texas Instruments 核心:RISC 處理器系列:MSP430FR572x 數據總線寬度:16 bit 最大時鐘頻率:24 MHz 程序存儲器大小:8 KB 數據 RAM 大小:1 KB 片上 ADC:Yes 工作電源電壓:2 V to 3.6 V 工作溫度范圍:- 40 C to + 85 C 封裝 / 箱體:VQFN-40 安裝風格:SMD/SMT |
| MC68HC16Z1CAG16 | 制造商:Freescale Semiconductor 功能描述:IC16-BIT MICROCONTROLLER |
| MC68HC16Z1CAG20 | 功能描述:16位微控制器 - MCU 16 BIT MCU 1K RAM RoHS:否 制造商:Texas Instruments 核心:RISC 處理器系列:MSP430FR572x 數據總線寬度:16 bit 最大時鐘頻率:24 MHz 程序存儲器大小:8 KB 數據 RAM 大小:1 KB 片上 ADC:Yes 工作電源電壓:2 V to 3.6 V 工作溫度范圍:- 40 C to + 85 C 封裝 / 箱體:VQFN-40 安裝風格:SMD/SMT |
| MC68HC16Z1CAG20 | 制造商:Freescale Semiconductor 功能描述:Microcontroller |
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