130-28176 Parallax Inc, 130-28176 Datasheet - Page 305

• Manufacturer Part Number: 130-28176
• Description: KIT PARTS PROCESS CONTROL
• Manufacturer: Parallax Inc

Specifications of 130-28176

• Accessory Type: Education Kit
• Product: Microcontroller Accessories
• Lead Free Status / RoHS Status: Contains lead / RoHS non-compliant
• For Use With/related Products: Board of Education Full Kit
• Lead Free Status / RoHS Status: Lead free / RoHS Compliant, Contains lead / RoHS non-compliant

How did derivative control affect the response of the system? As shown in Figure 8-18,
with only proportional control, there were heavy oscillations around the setpoint. As the
derivative gain was progressively increased at times 6, 12, 18 and 21, the overshoot was
progressively reduced and the system came under control quicker.
Figure 8-18 Proportional-Derivative System Response
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√
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Introduce a disturbance and monitor the resulting action.
Starting with 1, use progressively higher gains for derivative (Kd) until the
system returns as quickly as possible with little or no overshoot.
Try a very large gain (50) for Kd and monitor the response to a small
disturbance.