No one has said anything about variable sampling rates. I am sampling a motor's speed, using the pulse created by the tach. This is a metal ring with holes in it and light through the holes to a sensor. Sample rates are faster when the motor's speed is fast, and slower when slow. I am trying to control the motor's speed to a setpoint that can be changed by the user via the software. How should this variable sampling rate be factored into the equaisions and program?
Sample rate goes from 0.017 sec to .236 sec as the motor goes through its speed range. I control the duty cycle of the voltage to the motor. The input to the routine that controls the dutycycle is 1000 to 10000 for a fixed point range of 10.00 to 100.00%.
The other factor that drives me bats is the noisy data. I am smoothing this, but that should count as increased dead time, right?
The motor has a load (a wire spool), the load had inertia, and also jerks on the motor (not a smooth load).
The motor is electric, has back EMF, and has a upward going curve with 3 inflection points: curve to strait to small reverse curve to still positive slope staight (just not as positive as before) to curve to straight with slope line first straight section, to reverse curve to level.
I am using the first inflection point for the inflection point of your equaision from your tutorial. I am not sure I am doing right.
Please reply.
Sean