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Embedded Systems October 2000 Vol13_11

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American RAISONANCE With diffe rential control you can CAN Tools Introducing American Raisonance. Yow- new supplier ofIXXAT CAN development tools. Hardware and software to simplify your CAN implementation! ADalvzers We now offer an extensive line of CAN analyzers, providing you with complete monitoring of your CAN network. Interlace Cards We have the CAN interface card you need, whether it's ISA, PCMCLA, parallel port or USB. Utilizing your PC, 80320 or a C165 every card comes with: • CAN BUS Monitor • User manual • Download and flash programs • VCI Virtual CAN Interface Protocols CANopen Master/Slave software. Delivered in C source code and comes with example programs and technical support. DeviceNet Master/Slave software. Delivered in MASM/C source code and comes with example programs and technical support. 877-315-0792 www.amrai.com 100 OCTOBER 2000 Embedded Systems Programming :;; .v; c: o Q.. o 0.5 o ,..._..a.;;..-~ Co ' , . o , , , , , , , , , " , , , , , 0.2 o o 0.5 1.5 2 Time 2.5 C!> -:;; E ~ stabi lize the precision actualor system. Figure 17 shows the response of the precision actuator system with propor- tional and de rivative (PD) control. This system settles in less than 1/ 2 of a second, compared to multiple seconds for the other systems. Figure 18 show the heating system wi th PID control. You can see tlle per- formance improvement to be had by using fu ll PID control wi th this planl. DiflerentiaJ conu'ol is very powerful, but it is also the most problematic of the control lypes presenled here. The three problems tllat you are most likely going to experience are sampling irreguladties, noi e, and high frequency oscillations. FIGURE 10 iTemRerature controller wit,h' proportional feedback~' The kink is from the external disturbance ';' , ' 1.2 I , ', I , 1 · r, .I~------~----~----~----------------~------: 5 0.8 I1' ~ 0.6 , ' I ------~----' . : : : .., .. - ~ .. - - ~ - - - .. - - - - ! i ~'Inp~i I - - • pGain = 10 ! __ • pGain = 5 ' _ pGain=2 - - • pGain = 1 3 3.5 4 1 . , , 11 i I FIGURE 11 Motor and gear with pure integral control 2.5 - 2 1.5 , , , , , , , 2 Time Input - - • iGain = 0.005 _ - - • iGain = 0.01 iGain = 0.002 __ • iGain = 0.001 , ,,' ,: , , , , , . , , ' , " ~ .... ' ", 3 ", " " 4 " " : ~ tII''' - ,,' , , , ,' . ..... ~ ~ " , ., , , , ,~ .. , 5

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