Joined the integral operator, high-speed shocks become smaller, select the integral coefficient is 0.1, and the same sampling period. But there is still some high-speed shocks, basically there is no overshoot. When the integral value divided by ten, you will find that the output shocks significantly reduced, and the open-loop control is almost time, it can be speculated that turbulence could be the accuracy of signals from the testing decision, on the other hand may be as caused by PWM. Through a comprehensive comparison, the closed-loop system to start fast, faster than the open-loop, but after the installation of an integral part of, the output seems to become smaller.

Packet : 107215819zhen.rar filelist
zhen.c

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