EMBEDDED CONTROLLER USING MOTION CONTROL OF MOTOR

This tutorial paper presents the results of solving speed and position control problems by using embedded controllers. A feature of these controllers is that the sample time is not explicitly included in the integral and derivative control equations. This feature was experimentally tested. In the testing of the integral control with such feature, the controller was applied to a speed regulation problem under the condition of rapidly changing load. In the testing of the derivative control with the same feature, the controller was applied to a ringing removal problem. These controllers performed as expected. All the embedded controllers were implemented in a member of freescale Semiconductor's microcontroller family