122-28176 Parallax Inc, 122-28176 Datasheet - Page 282

• Manufacturer Part Number: 122-28176
• Description: GUIDE STUDENT PROCESS CONTROL
• Manufacturer: Parallax Inc

Specifications of 122-28176

• Accessory Type: Manual
• Product: Microcontroller Accessories
• Lead Free Status / RoHS Status: Contains lead / RoHS non-compliant
• For Use With/related Products: Propeller Education (PE) Kit
• Lead Free Status / RoHS Status: Lead free / RoHS Compliant, Contains lead / RoHS non-compliant

Challenge 8-1: Predict PID Outputs
Part A
Figure 8-11 on page 273 is a plot of light levels and 3 plots for the P, I and D outputs.
With a bias of 0, predict the output for each evaluation individually. Assume gains of 1
for all, and a 5 second evaluation time. The first set is done for you.
Part B
Below is data representing the systems conditions and data for PID evaluation. Calculate
the output for each evaluation. The 1st 3 lines are done for you.
Actual
500
510
490
480
470
520
500
500
1.0
1.0
0.5
0.5
2.0
1.0
0.5
1.0
∆t
Given Kp = 2 Ki = 0.01
-10
10
E
0
Table 8-1: PID Evaulation Activity
-20
∆E
10
0
P(KpE)
-20
20
0
Kd = 4
E∆t
10
-5
0
Setpoint = 500
I(KiΣE∆t)
0.05
.1
0
D(Kd∆E/∆t)
-160
40
0