feedback MS150, Reference Manual, Page: 52 / 77

CHAPTER 2
MODULAR SERVO
Reference Manual
Description of the Toolbox Functions
33-008-2M5 2-41
Ch
n
1
,
Ch
n
3
are current values from the first and third input channel
in the data acquisition buffer,
ε
n
denotes control error in the current sampling period,
Kp
,
Ki
,
Kd
,
Isat
and
U
max
are parameters of the PID controller,
T
0
is sampling period.
The elements of the Par vector are equal respectively:
Par( 1 ) is equal to the Kp parameter,
Par( 2 ) is equal to the Ki parameter,
Par( 3 ) is equal to the Kd parameter,
Par( 4 ) is equal to the Imax parameter,
Par( 5 ) is equal to the Umax parameter,
•
for algorithm number 3 (state feedback controller) the control value is
calculated due to the following algorithm:
ε
n n n
Ch Ch
= −
3 1
,
U K K Ch
n n n
= −
1 2 2 * *
ε
,
if U U thenU U
n n
( max) max
> =
,
if U U thenU U
n n
( max) max
< − = −
,
where:
Ch
n
1
,
Ch
n
2
and
Ch
n
3
are current values from the first, second and
third input channels,
ε
n
denotes control error in the current sampling period,
K
1
, K
2
and U
max
are parameters.