Title :
Design and Application of a Microprocessor PID Predictor Controller
Author :
Aylor, James H. ; Ramey, Robert L. ; Cook, Gerald
Author_Institution :
Department of Electrical Engineering and Applied Science, University of Virginia, Charlottesville, VA 22901.
Abstract :
A digital PID predictor controller is designed and implemented in a microprocessor. The general purpose system controller described permits the use of integer arithmetic for efficient operation with minimum throughput delay time. The stability of the system is investigated and a normalized chart for the selection of the control coefficients for a class of applications is developed. The controller has been applied to the control of a manipulator as a design example.
Keywords :
Control systems; Equations; Microcomputers; Micromotors; Microprocessors; Motor drives; PD control; Sampling methods; Three-term control; Throughput;
Journal_Title :
Industrial Electronics and Control Instrumentation, IEEE Transactions on
DOI :
10.1109/TIECI.1980.351665
