Hi all, how are you?.
I'm designing a PIPD controller for a BLDC motor, I have almost everything designed but I'm having problems with the code of the function that calculates the duty cycle of my PWM.
The problem is that I've made a bad code of the function that calculates the PIPD control action, then I went to the writing desk again and checked my function to see what happened and I've noticed that the algorithm was bad.
then I remade the controller which can be seen in the image bellow
what your seeing in the sketch above are the PI and PD control actions with an anti windup feedback, that without the andto windup feedback works perfectly in continous mode, the anti windup feedback is for the discrete system and preciselly there is the problem. Like the anti windup feedback must pass through an integrator I spread the PI action with has an integrator included to avoid include another integrator in the system and make the anti windup feedback, is this valid?.
the other problem that I have is that I couldn't find a z-transform of the part of the PI action that has a zero and neither for the PD action to allow me make the equations in differences to make the controller algorithm.
Can anyone help me with those problems?.
NOTE: "G" stands for the plant transfer function.
Thanks in advance for the help.
I'm designing a PIPD controller for a BLDC motor, I have almost everything designed but I'm having problems with the code of the function that calculates the duty cycle of my PWM.
The problem is that I've made a bad code of the function that calculates the PIPD control action, then I went to the writing desk again and checked my function to see what happened and I've noticed that the algorithm was bad.
then I remade the controller which can be seen in the image bellow
what your seeing in the sketch above are the PI and PD control actions with an anti windup feedback, that without the andto windup feedback works perfectly in continous mode, the anti windup feedback is for the discrete system and preciselly there is the problem. Like the anti windup feedback must pass through an integrator I spread the PI action with has an integrator included to avoid include another integrator in the system and make the anti windup feedback, is this valid?.
the other problem that I have is that I couldn't find a z-transform of the part of the PI action that has a zero and neither for the PD action to allow me make the equations in differences to make the controller algorithm.
Can anyone help me with those problems?.
NOTE: "G" stands for the plant transfer function.
Thanks in advance for the help.