![]() There are several ways for discretizing the controller. However, to implement the controller using microcrontrollers we need to discretize the controller. The controller 3 is the continious-time domain. To obtain 3 from 1, we used the following Laplace transform pairs (by neglecting constants): In the time domain, the PID controller 1, has the following form The controller 1 is in the standard or non-interacting form. These are control parameters that need to be tuned. In 1, is the proportional gain, is the integral time, and is the derivative time. Where is the desired value of the output (also refered to as the set point or reference value) and is the system output. Where is the control action that is sent to the actuator, E(s) is the control error defined by In the s-domain the PID controller has the following form To demonstrate the PID controller implementation, we use a ball beam system and an Arduino microcontroller. In this post, we explain how to discretize and implement a Proportional Integral Derivative (PID), controller. ![]()
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