• State Resolved
  • Locked Locked
  • Replies 2 replies
  • Subscribers 82 subscribers
  • Views 169 views
  • Users 0 members are here
Support feedback
Options
Options
Similar topics

This thread has been locked.

If you have a related question, please click the "Ask a related question" button in the top right corner. The newly created question will be automatically linked to this question.

C2000WARE: About NLPID

Jiahui Gao
Intellectual 2915 points
Part Number: C2000WARE

Tool/software:

Hi team，

Q1: As shown in the above figure, rk -yk is the deviation signal. Why do we need to multiply it by 0.5? 

The above figure shows the serial PI in controSUIT. For the deviation signal, it is not multiplied by 0.5

Q2. The output range of NLPID should also be normalized to -1.0~+1.0, right?

According to this, the output unit of ± 1.0 should be adjusted from ÷ 2 to ± 0.5, and then a bias of 0.5 should be added to adjust the controller output to the range of 0 to 1.0, and finally assigned to the duty cycle variable, right？

  • 0
    TI__Intellectual 1670 points

    Hi Jiahui,

    Regarding Q1, I wasn't fully sure why that is for the error to be scaled to 0.5. But my guess would so that some attuned parameters for the controller wouldn't be as small and more inline with parameter ranges that DCL has for other controllers. This scaling doesn't affect the properties of controller though, as it's essentially the same as nlpid controller without error scaling but with linear parameter values halved.

    And for Q2, yes, the purpose of scaling and offset is to normalize the output range of the NLPID to 0-1.0, synomouyous to duty cycle in our NLPID example.

    Please let me know if you have further questions,

    Best,

    Sen Wang