Part Number: TMS320F28035
Tool/software:
I have a question regarding the values in my PI controller. After deriving the result in the continuous domain and then converting it to discrete control, should my Ki be divided by the sampling frequency?
If that's correct, besides dividing by the sampling frequency, do I need to further normalize it in any way?
Pi_Spd.Kp=_IQ(0.6);
Pi_Spd.Ki=_IQ(0.005);
Pi_Spd.Umax =_IQ(0.95);
Pi_Spd.Umin =_IQ(-0.95);
Pi_Id.Kp=_IQ(0.5);
Pi_Id.Ki=_IQ(0.0025);
Pi_Id.Umax =_IQ(0.8);
Pi_Id.Umin =_IQ(-0.8);