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Student project, requesting suggestions: DC motor position controller, has unacceptable (i guess) steady state errors.
Well, i use the following setup:
-Microchip PIC18f2431
-24V DC motor(1/8 inch shaft, model type I think) bought from www.mfacomodrills.com,
-quad encoder: Avago HEDS-5500
-H Bridge: LMD18200T.
The project's target is a position motor controller. After tuning a PID using Ziegler-Nichols method(since i don't have numbers for a precise math model), I ended up with a random steady-state error of 0-100 encoder counts, in 1000CPR mode. During that state, there is a minimal voltage supplied to the motor, which I guess isn't high enough to keep the motor turning, thus the error. My questions are:
Am I overseeing something here? If I'm not, is there any way to make the system more precise, without changing the motor?Maybe amplify the PID output, when it gets too small to affect the motor?
Finally, please excuse any terminology mistakes of mine and thank you in advance for reading this
Well, i use the following setup:
-Microchip PIC18f2431
-24V DC motor(1/8 inch shaft, model type I think) bought from www.mfacomodrills.com,
-quad encoder: Avago HEDS-5500
-H Bridge: LMD18200T.
The project's target is a position motor controller. After tuning a PID using Ziegler-Nichols method(since i don't have numbers for a precise math model), I ended up with a random steady-state error of 0-100 encoder counts, in 1000CPR mode. During that state, there is a minimal voltage supplied to the motor, which I guess isn't high enough to keep the motor turning, thus the error. My questions are:
Am I overseeing something here? If I'm not, is there any way to make the system more precise, without changing the motor?Maybe amplify the PID output, when it gets too small to affect the motor?
Finally, please excuse any terminology mistakes of mine and thank you in advance for reading this