Inductive brushless motor PID debugging result
a, commutation pulse width acquisition method
in general, the acquisition precision of commutation pulse width, the higher the better, but also restricted by MCU internal data, if there is a redundant 16-bit timer, don't hesitate, yuntai brushless motor directly use it to make change of counting pulse width, precision can reach 1 us, without the 16-bit timer that can only use eight of the Timer et intus in timor interpellandi cumulativo computat tussim.
II, quod PID operatio tempore quomodo?
1, phase 6 times after running a PID
for the brushless motor, because of the tiny differences between different motor structure and error on the assembly hall, usually do not collect each pulse width value of PID arithmetic, such easy to cause the motor shaking, it's good practice to: collect a full operation cycle (Commutation period is 6)And then put the accumulative average six commutation period, thus it is concluded that the speed of the current value. Postquam vos adepto novum celeritate valorem, Dongguan motricium, potest esse PID arithmetica.
2, restricted to a maximum force of operational PID time
when over a period of time (Mainly in the low speed), model aircraft motor, it has not always given MCU new speed value, so this time will need to be imposed by PID arithmetic, to regain the new power value, the following reference time of the forced computing PID: 40 - msBetween the 150 ms
3, how to eliminate static dithering of the motor?
I, cum per acquisitionem per pulsum latitudine et posuit valorem de pulsum latitudine valorem leviter diversis Eka1 (non nulla!), Noli postulo ut faciam a PID, nempe rediit directe, sine computing algorithmus.
II, cum per acquisitionem per pulsum latitudine et posuit valorem de pulsum latitudine valores Eka2 (eka1
III, cum ad acquisitionem per pulsum latitudine et posuit valorem de pulsum latitudine valorem differentia est maior Eka3 (eka2
