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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： | 14/20頁 |
| 文件大小： | 210K |
| 代理商： | MC68HC16Z1 |
MOTOROLA
14
AN1213/D
The D Term
From Equation 5, derive the transfer function for the derivative term:
(EQ 18)
where:
X(z) is the feedback position signal
D(z) is the output of the derivative stage.
This equation can be reduced to :
(EQ 19)
Performing the transform to the sampled time domain yields :
(EQ 20)
or
Shifting in time yields :
(EQ 21)
In other words, the velocity information is derived from X(n), the present position feedback sample, and from
X(n–2), the feedback sample made two periods earlier. This yields better quantization results at low speeds.
COMBINING TERMS
From Figure 5, we see that :
(EQ 22)
Where Y(n) is the PID controller output.
Therefore, combining equations 12, 17, and 21 (EQ 23):
Since the proportional term and the integral term both operate directly on E(n), it might appear that these
terms could be combined in Equation 23. However, as Figure 5 shows, the integrator must be gated with
the velocity term and integrator output must be limited to mitigate wind-up. For these reasons, the P and I
terms are kept separate.
Since the terms P, I, D, and T are constants, equation 23 can be rewritten :
(EQ 24)
where:
P = 0.16
a = 0.00244
b = –1.0246
D(z)
X(z)
----------
D (z–1)
Tz
-------------------
1
2
1
2z
-----
+
=
2Tz
2
D(z)
Dz
2
D
–
(
)
X(z)
=
2TD(n+2)
DX n
2
+
)
DX n
–
=
D n
2
+
)
D
2T
------ X n
(
2
+
(
)
X n
–
)
=
D n
D
2T
------ X n
(
( )
X n
2
–
)
–
)
=
Y(n)
P(n)
I(n)
D(n)
–
+
=
Y(n)
PE(n) + I(n–1)
TIE(n)
D
2T
------ X n
X n
2
–
)
–
)
–
+
=
P Term
I Term
D Term
Y(n)
PE(n)
I n
1
–
)
aE(n)
b X(n)
X n
2
–
)
–
)
+
+
+
=
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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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