Hi everyone~
The digital PID controller in TI source code :
CNTL_2P2Z_CoefStruct1.b2 = _IQ16(Dgain);
CNTL_2P2Z_CoefStruct1.b1 = _IQ16(Igain - Pgain - Dgain - Dgain); <=wrong
CNTL_2P2Z_CoefStruct1.b0 = _IQ16(Pgain + Igain + Dgain);
CNTL_2P2Z_CoefStruct1.a2 = _IQ26(0.0);
CNTL_2P2Z_CoefStruct1.a1 = _IQ26(1.0);
CNTL_2P2Z_CoefStruct1.max = Max_Period;
CNTL_2P2Z_CoefStruct1.min = Min_Period;
Red line is wrong, i think b1 should be " -Pgain-Dgain-Dgain".
If Red line is right and why?
thx.
by Bin
