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參數(shù)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(shù)： | 5/20頁 |
| 文件大?。?/td> | 210K |
| 代理商： | MC68HC16Z1 |
AN1213/D
MOTOROLA
5
Figure 4 Effect of Varying D on Zeros
DESIGNING A PID FILTER
PID TOPOLOGY
To implement a PID control algorithm on any processor, methods of computing the functions specified by
the controller (an integral and a derivative) must be developed. Once these methods are established, the
digital PID controller transfer function is calculated in much the same way as the analog version. Unfortu-
nately, because this is a sampled system, the Laplace transform or the s domain cannot be directly used,
as in analog PID calculations.
To address this problem, a separate frequency space called the “z” domain has been developed just for
sampled systems. Using the z domain, sampled approximations of many common functions can be repre-
sented using the variable “z” just as “s” is used to represent linear analog functions. For the sake of simplic-
ity, assume the following definitions are true:
(EQ 3)
Where:
z is the complex sampled frequency variable
T is the sampling frequency period, in seconds.
This form is derived from a step-invariant analysis —the filter is constructed by dividing the Z transform of
a specified input (a step function) into the Z transform of the desired output for that input (a ramp function).
The differentiator is simply the inverse, or:
(EQ 4)
Although these are not the only z-domain representations of these functions, they are widely used in control
applications. See Reference 1 for more information on this topic.
D = P2
4I
D = 0
–2I
P
– I
P
D = 0
D =
∞
DELTA D ONAN1213
INTEGRATOR
Tz
z – 1
------------
=
DIFFERENTIATOR
z – 1
Tz
------------
=
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相關代理商/技術參數(shù) |
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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 最大時鐘頻率:24 MHz 程序存儲器大小: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 最大時鐘頻率:24 MHz 程序存儲器大小: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 安裝風格:SMD/SMT |
| MC68HC16Z1CAG20 | 制造商:Freescale Semiconductor 功能描述:Microcontroller |
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