Elmo HARmonica, Руководство по настройке

Страница: 29 / 40

4. Tuning Position
4.1 Introduction
According to the following formula, it can be seen that implementing a PI velocity
loop resulted in a position controller equivalent to a PID controller with KI
PID
= 0;
KP
PID
= KI
speed
; KD
PID
= KP
speed
Pos Speed
I P I
Pos Speed Speed
P P P I
Speed
D P
K K K
PID K K K K PIP
K K
 ×

 
= × +
 
 


Running a position with KP
position
= 0 and the speed PI controller found previously
gives us the following result:
25