Revision as of 21:33, 3 March 2017

DC motor control

Ziegler-Nichols tuning formulae
Controller type	$K$	$T_i$	$T_d$	$K$	$T_i$	$T_d$
Controller type	Step response			Frequency response
P	$1/a$			$0.5K_c$
PI	$0.9/a$	$3L$		$0.4K_c$	$0.8T_c$
PID	$1.2/a$	$2L$	$L/2$	$0.6K_c$	$0.5T_c$	$0.12T_c$

@@ Line 1: / Line 1: @@
-= DC Motor Control =
+= DC motor control =
+== DC motor model ==
+== Feedforward control ==
+== Feedback control ==
+=== Ziegler - Nichols tuning method ===
+{| class="wikitable"
+|+ Ziegler-Nichols tuning formulae
+|rowspan="2"|Controller type
+|colspan="3"|'''''Step response'''''
+|colspan="3"|'''''Frequency response'''''
+|-
+! <math>K</math>
+! <math>T_i</math>
+! <math>T_d</math>
+! <math>K</math>
+! <math>T_i</math>
+! <math>T_d</math>
+|-
+! P
+! <math>1/a</math>
+!
+!
+! <math>0.5K_c</math>
+!
+!
+|-
+! PI
+! <math>0.9/a</math>
+! <math>3L</math>
+!
+! <math>0.4K_c</math>
+! <math>0.8T_c</math>
+!
+|-
+! PID
+! <math>1.2/a</math>
+! <math>2L</math>
+! <math>L/2</math>
+! <math>0.6K_c</math>
+! <math>0.5T_c</math>
+! <math>0.12T_c</math>
+|}