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參數資料
| 型號： | MC68HC16Z1 |
| 廠商： | Motorola, Inc. |
| 英文描述： | 16-Bit Modular Microcontroller(16位模塊化微控制器) |
| 中文描述： | 16位微控制器模塊（16位模塊化微控制器） |
| 文件頁數： | 10/20頁 |
| 文件大小： | 210K |
| 代理商： | MC68HC16Z1 |
MOTOROLA
10
AN1213/D
Figure 9 Open-Loop Phase Without Compensation
Values of P, I, and D are iteratively selected using a computer model of the open-loop transfer function that
includes the PID controller. An initial T
c
value of 30
μ
s is assumed. Phase margin, gain margin, and frequen-
cy response for several sets of terms are calculated, and working values of P = 0.16, I = 5, and D = 1E–3
are selected. Gain margin is –14.4 dB, and phase margin is improved to about 60 degrees, at the expense
of lowering open-loop frequency response to 41 Hz. At this frequency, the phase lag generated by the 2-
point velocity signal averager is 3.6 degrees. Were a 4-point averager used, phase lag would increase to
10.8 degrees at 41 Hz.
Figure 10
and
Figure 11
are open-loop magnitude and phase plots generated from the working values.
Figure 12
quency amplification caused by the integrator and high-frequency amplification caused by the differentiator
are apparent. Figure 13 shows the positive phase generated by the PID controller.
and
Figure 13
are controller transfer function plots generated from the working values. Low-fre-
PWM OPEN LOOPAN1213
160
°
120
°
80
°
40
°
0
°
–40
°
–80
°
–120
°
–160
°
–200
°
3
2
4
5
6 7 8 9 10
20
30
40
50
100
200
FREQUENCY (Hz)
P
200
°
PHASE MARGIN = –19.8
°
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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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