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| 型號(hào)： | 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(yè)數(shù)： | 9/20頁(yè) |
| 文件大小： | 210K |
| 代理商： | MC68HC16Z1 |
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AN1213/D
MOTOROLA
9
(EQ 9)
Where T is the sampling period in seconds
Assume that the PID controller section is bypassed and calculation delay is zero. By using equation 10 as
the transfer function for the motor, and assigning K1 and K2 (Figure 5) values of 0.1875 and 636.62, an
open-loop transfer equation as a function of s is obtained.
(EQ 10)
Where:
Ke is the back EMF constant (70.61 mV/(rad/second))
t
m
is the mechanical time constant (6.2 ms)
t
e
is the electrical time constant (1.62 ms)
Open loop unity gain frequency is approximately 74 Hz, but phase margin is about –20 degrees. The system
will oscillate due to poor phase margin —phase compensation is needed.
loop transfer function magnitude and phase plots.
Figure 8
and
Figure 9
are open-
Figure 8 Open-Loop Magnitude Without Compensation
z
e
sT
=
G
MOTOR
s
( )
1
Ke
------
s 1
st
m
+
)
1
(
st
e
+
)
------------------------------------------------
=
PWM OPEN LOAN1213
48
42
36
30
24
18
12
0
–6
–12
3
2
4
5
6 7 8 9 10
20
30
40
50
100
200
FREQUENCY (Hz)
A
54
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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(shù)據(jù)總線寬度:16 bit 最大時(shí)鐘頻率:24 MHz 程序存儲(chǔ)器大小:8 KB 數(shù)據(jù) 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(fēng)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(shù)據(jù)總線寬度:16 bit 最大時(shí)鐘頻率:24 MHz 程序存儲(chǔ)器大小:8 KB 數(shù)據(jù) 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(fēng)格:SMD/SMT |
| MC68HC16Z1CAG20 | 制造商:Freescale Semiconductor 功能描述:Microcontroller |
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