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參數(shù)資料
| 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)： | 17/20頁(yè) |
| 文件大?。?/td> | 210K |
| 代理商： | MC68HC16Z1 |
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AN1213/D
MOTOROLA
17
As Equation 5 shows, the PID calculation must be performed quickly, to minimize phase delay introduced
into the loop. Calculation time can be measured by connecting an oscilloscope to an I/O pin and running a
subroutine that drives the pin high just before encoder sampling, then drives it low it just after the PWM reg-
ister is loaded with a new value. Measured in this way, calculation time is roughly 30
μ
s, which translates
into 0.44 degrees of phase lag at the open-loop unity gain frequency (41 Hz), a minimal contribution to total
system phase lag at that frequency. Also, since less than 10 percent of CPU time is spent controlling axis
motion, multiple axes or more sophisticated control algorithms, including state observers, notch filters, and
adaptive control, could easily be implemented.
The techniques in this application note allow a designer to customize a controller for an application, rather
than be forced to work around pre-packaged servo controls. The capabilities of the M68HC16 family also
enable designers to respond quickly to changes, and permit solution of real-time DSP control problems with-
out loss of the user friendliness provided by a complete microcontroller system.
Figure 15 Effect of Varying D on System Damping
REFERENCES
1.
Kuo, B.,
Digital Control Systems,
Holt, Rinehart and Winston, Inc., 1980
Oppenheim, A.V., Schafer, R.W.,
Digital Signal Processing,
Prentice-Hall, Inc., 1975
2.
PWM STEP REAN1213
0.61 X 10-3
1 X 10-3
1.586 X 10-3
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相關(guān)代理商/技術(shù)參數(shù) |
參數(shù)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(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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