Revision as of 20:33, 3 March 2017

DC motor control

DC motor model

Feedforward control

Feedback control

Ziegler - Nichols tuning method

Ziegler-Nichols tuning formulae
Controller type	[math]K[/math]	[math]T_i[/math]	[math]T_d[/math]	[math]K[/math]	[math]T_i[/math]	[math]T_d[/math]
Controller type	Step response			Frequency response
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]

@@ 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>
+|}