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Fig. 5.3.5-1. General structure of PID controller.

PID used by PXMC can be seen on figure 5.3.2-1.

The efficiency and performance of PID controller depend on three constants: proportional

(pxms_p), integration (pxms_i) and derivative (pxms_d). Because of that it is very

important to set these variables properly. To do this without use of identification and

advanced mathematics, we can use so called Ziegler-Nichols Method of PID tuning

. This



           



) and the oscillation period (O



constant equal to: 0.6 K





P*O

/8.

5.3.6. PXMC_DEB.C

This file implements some basic functions for debugging of a controller. The use of below

functions allows making a tuning/identification of the controller. To have access to all

functions listed below, during compilation we need to define PXMC_WITH_DBG_HIST.

One important thing we need to keep in mind. These functions are not for debugging of

the PXMC library!

Name of pole

Short description

pxmc_d/jointfilesconvert/452639/bg_histfree

It frees memory previously allocated for pxmc_d/jointfilesconvert/452639/bg_hist_t

structure.

pxmc_d/jointfilesconvert/452639/bg_histalloc

In opposite to above, this function allocates memory for

pxmc_d/jointfilesconvert/452639/bg_hist_t structure, which stores debugging information.

pxmc_d/jointfilesconvert/452639/bg_ene_as

This function stores in pxmc_d/jointfilesconvert/452639/bg_hist_t structure the speed and

the power sent to the output.

pxmc_d/jointfilesconvert/452639/bg_gnr_gi*

It is responsible for storing the speed generator profile in

pxmc_d/jointfilesconvert/452639/bg_hist_t structure.

 Hägglund PID Controllers: Theory, Design, and Tuning, 2nd Edition.

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Renesas H8S/2635 Handbuch Seite 46