PID
PID. Purpose Algorithm: F(s)=P*(1+1/(Ti*s)+Td*s) uk=uk1+Q0*ek+Q1*ek1+Q2*ek2 Q0=P*(1+T/Ti+Td/T) Q1=-P*(1+2*Td/T) Q2=P*Td/T. PID - continued. Inputs : ek Outputs : uk Registers : uk1, ek1, ek2 Parameters: P, Ti, Td, T Test Remarks. PID - continued. P = 2 Ti = 5
254 views • 11 slides