Digital Control

Design Of Control Feedback Loop in Digital Domain
-PID regulator loop
Conversion To Z − Transformation
z[
e(
n −1)]
= z
Where :
*
−1
From Equation
E(
z)
E(
z)
(4)
&
n E(
z)
z[
∑ e(
n)]
=
i = 1 1−
z
*
M ( z)
* iv *
GVEA ( z)
= = K pv + K
−1
id
Digital PID Controller
E(z)
e(n)
K
+
1−
z
−1
( 5)
K pv = K p ; K Kiv
= K Ki
× ∆ t ; K Kid
= K Kd
÷ ∆ t
K iv
* pv
K
* −1
( 1−
z
* −1
Kid ( 1−
z
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, mobileGT, PowerQUICC, StarCore, and Symphony are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, CoreNet, the Energy Efficient Solutions logo, Flexis, MXC, Platform in a Package, Processor Expert, QorIQ, QUICC Engine, SMARTMOS, TurboLink
and VortiQa are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2010 Freescale Semiconductor, Inc. 22
)
)
+
( 1
+
+
−
z
−1
M (z)
m(n)
)
−
TM