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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： | 13/20頁 |
| 文件大小： | 210K |
| 代理商： | MC68HC16Z1 |
AN1213/D
MOTOROLA
13
SAMPLED TIME DOMAIN SOLUTION
To realize the controller as a difference equation, solve for the output of each portion of the PID controller.
The P Term
Since P is a constant multiplier, the solution is straightforward :
(EQ 11)
where:
P(z) is the output of the proportional stage of the PID controller
E(z) is the error between the commanded position and the feedback position
Performing the transform to the sampled time domain :
(EQ 12)
The notation “n” is used to represent the present sample. Similarly, n+1 indicates the next or future sample,
n–1 indicates the previous sample.
The I Term
From Equation 3, we obtain:
(EQ 13)
Where :
I(z) is the output of the integrator stage
T is the sample period (488
μ
s).
This results in:
(EQ 14)
Next, the “Shift of Sequence” theorem of the Z transform is used to obtain a solution in the sampled time
domain. The theorem is stated as follows:
(EQ 15)
Where:
Z indicates the Z transform operation.
Applying this theorem in reverse yields:
(EQ 16)
Now shift the function in time (i.e., n +1 = n) to obtain :
(EQ 17)
Simply stated, “the present sample of the integrator output is equal to the previous sample of the integrator
output plus T times I times the present sample of the error signal.”
Since output feedback is employed to calculate the next output value, this portion of the filter is classified
as an IIR (infinite impulse response) filter.
P(z)
E(z)
----------
P
=
or P(z)
PE(z)
=
P(n)
PE(n)
=
Iz
E(z)
----------
ITz
z
–
1
-----------
=
zI(z)
I(z)
–
ITz E(z)
=
If Z[x(n)]
X(z)
,
=
Then Z[x(n+a)]
z
a
X(z)
=
I n
1
+
)
I(n)
TIE n
1
+
)
+
=
I(n)
I n
1
–
)
TIE n
+
=
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相關代理商/技術參數 |
參數描述 |
|---|---|
| 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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