This way, I get to design the controller in the s-domain, which is relatively easier. However, I was also thinking that if the effects of sampling are negligible, I can still work in the s-domain and consider the entire system 'continuous' enough, although it is implemented using discrete-time sampling and digital PID. My plant also has a certain time delay so I think that would suit the z-domain approach. I can change the model of my plant from G(s) to G(z). The derivative and integral of the error signal will be calculated and the program would then produce a certain duty cycle for the PWM signal feeding the H-bridge of the motor. Since the microcontroller would be sampling at certain intervals the position of the shaft through A-to-D conversion of the signal from a feedback potentiometer, I was wondering if I should be designing the controller in the z-domain. I want to implement a digital PID controller by programming it on a PIC microcontroller. I am designing a servo controller for the position of a steering shaft that is actuated by a geared DC motor.
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