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ABSTRACT

This paper presents close loop speed control scheme for the speed control of a
permanent magnet DC motor using an National Instrument myRIO Microcontroller.
The microcontroller has been programmed to automatically vary the duty cycle of
the H-bridge chopper depending upon the set/required speed of the motor. The
chopper is driven by a high frequency PWM signal. Controlling the PWM duty cycle is
equivalent to controlling the motor terminal voltage, which in turn adjust directly
the motor speed. The PC interfacing has been done using serial port (DB9 Connector).
Experimental results show that proposed system is suitable for different industrial
applications such as trolley buses, subway cars, or battery-operated vehicles.

INTRODUCTION

LABVIEW (Laboratory Virtual Instrument Engineering Workbench)

LABVIEW (Laboratory Virtual Instrument Engineering Workbench) is a system-design


platform and development environment for a visual programming language from
National Instruments. The user interface is known as the front panel. You then add
code using graphical representations of functions to control the front panel objects.
The block diagram contains this code. In some ways, the block diagram resembles a
flowchart. Users interact with the Front Panel when the program is running. Users
can control the program, change inputs, and see data updated in real time.It is a
hardware device works under the LABVIEW software package developed by the
National Instruments. It is used to acquire the real time signals. Signals can be
acquired and processed in the LABVIEW and generated signals can be ISSN (Print) :
2320 – 3765 ISSN (Online): 2278 – 8875 International Journal of Advanced Research
in Electrical, Electronics and Instrumentation Engineering (An ISO 3297: 2007
Certified Organization) Vol. 5, Issue 3, March 2016 Copyright to IJAREEIE
DOI:10.15662/IJAREEIE.2015.0503128 2045 used in real time. It consists of two
expansion ports (MXP) connectors A and B which carry identical set of signals and
both have 34 pins out and a mini system port (MSP) called connector C. It provides
the connection with computer through USB or wireless connectivity. NI-myRIO has
3.3v, 5v, +/-15v power output. NI-my RIO is reconfigurable and reusable teaching
tool that helps students to learn a wide variety of engineering concepts as well as
complete design projects. All NI reconfigurable input/output(RIO) hardware
component are programmed with LABVIEW software to give engineers the ability to
rapidly 4create custom timing, signal processing and control for input/output
without requiring expertise in low-level hardware described languages or board-level
design.NI reconfigurable hardware platforms can meet your embedded control and
monitoring application challenges in a way that outperforms other off-the-self
solution and eliminates the need for costly custom design.

1
DC MOTOR

The development of high performance motor drives is very important in industrial as


well as other purpose applications. Generally, a high performance motor drive
system must have good dynamic speed command tracking and load regulating
response. The dc motors are used in various applications such as defense, industries,
Robotics etc. DC drives, because of their simplicity, ease of application, reliability and
favorable cost have long been a backbone of industrial application s. DC drives are
less complex with a single power conversion from AC to DC. DC drives are normally
less expensive for most horsepower ratings. DC motors have a long tradition of use
as adjustable speed machines and a wide range of options have evolved for this
purpose. In these applications, the motor should be precisely controlled to give the
desired performance. Many varieties of control schemes such as P, proportional
integral (PI), PID, adaptive, and FLCs, have been developed for speed control of dc
motors. The proposed controller systems consist of Pwm and myrio for the speed
control.

TACHOMETER

The LM2907, LM2917 series are monolithic frequency to voltage converters with a
high gain op amp/comparator designed to operate a relay, lamp, or other load when
the input frequency reaches or exceeds a selected rate. The tachometer uses a
charge pump technique and offers frequency doubling for low ripple, full input
protection in two versions (LM29078, LM2917-8) and its output swings to ground for
a zero frequency input. The op amp or comparator is fully compatible with the
tachometer and has a floating transistor as its output. This feature allows either a
ground or supply referred load of up to 50 mA. The two basic configurations offered
include an 8-pin device with a ground referenced tachometer input and an internal
connection between the tachometer output and the op amp non-inverting input.
This version is well suited for single speed or frequency switching or fully buffered
frequency to voltage conversion applications. The more versatile configurations
provide differential tachometer input and uncommitted op amp inputs. With this
version the tachometer input may be floated and the op amp becomes suitable for
active filter conditioning of the tachometer output. Both of these configurations are
available with an active shunt regulator connected across the power leads.

2
PULSE WIDTH MODULATION

Pulse Width Modulation (PWM) is a fancy term for describing a type of digital signal.
Pulse width modulation is used in a variety of applications including sophisticated
control circuitry. A common way we use them here at SparkFun is to control
dimming of RGB LEDs or to control the direction of a servo motor. We can
accomplish a range of results in both applications because pulse width modulation
allows us to vary how much time the signal is high in an analog fashion. While the
signal can only be high (usually 5V) or low (ground) at any time, we can change the
proportion of time the signal is high compared to when it is low over a consistent
time interval.

OBJECTIVE

1) To investigate the performance of speed control system using Closed Loop


controller.
2) To analyze and evaluate the performance of the control system.

THEORY

Closed-Loop Control System

A system that maintains a prescribed relationship between the output and the
reference input is called a closed-loop system or a feedback control system.
The system uses a measurement of the output and feedback of the signal to
compare it with the desired output. By comparing the input signal and the feedback
signal, the controller reduces the difference between the two signals and brings the
output of the system to a desired value.

Pulse Width Output,


Desired Speed
+ Controller Actual Speed
Modulation DC Motor
- (MyRIO)
(PWM)

Measured Speed Speed Sensor Actual Speed


(Tachometer)
Figure 1: Block diagram of the Speed Control of DC Motor

3
MYRIO PWM DC MOTOR

Figure 2: Schematic diagram of system’s connection

PROCEDURE

1. Myrio was connected to the computer.


2. Labview and this software were opened and will generate the block diagram
for the connection.
3. Make sure the wire connect and pin is in the correct ports and orders.

Figure: Schematic diagram of the circuit


4. The program on the labview was run with one constant speed. A graph is
added on the block diagram.
5. This graph are the recorded data that we need to analysis the behaviour of
the DC motor.

4
6. k c , Ti and Td were adjusted and the graph produce were observed.

RESULT

1. Proportional gain, k c

High- Kc =0.5, ki = 0.001, kd=0.001

amplitude vs time
4

3.5

2.5

1.5

0.5

0
0 50 100 150 200

Low- Kc =0.005, ki = 0.001, kd=0.001

amplitude vs time
3

2.5

1.5

0.5

0
0 50 100 150 200 250 300 350 400

5
2. Integral time constant, Ti

High- Kc =0.1, ki = 0.1, kd=0.001

amplitude vs time
2.5

1.5

0.5

0
0 100 200 300 400 500 600

Low- Kc =0.1, ki = 0.0001, kd=0.001

amplitude vs time
4

3.5

2.5

1.5

0.5

0
0 50 100 150 200 250 300 350 400 450

6
3. Derivative time constant, Td

High- Kc =0.1, ki = 0.001, kd=0.1

amplitude vs time
4

3.5

2.5

1.5

0.5

0
0 50 100 150 200 250 300 350 400

Low- Kc =0.1, ki = 0.001, kd=0.0001

amplitude vs time
3

2.5

1.5

0.5

0
0 100 200 300 400 500 600

7
4. Ideal k c , Ti and Td

amplitude vs time
3

2.5

1.5

0.5

0
0 50 100 150 200

Optimum- Kc =0.1, ki = 0.001, kd=0.001

amplitude vs time
3

2.5

1.5

0.5

0
0 50 100 150 200

8
AMIER DANIAL BIN NOR AZIZI 2016218438

Discussion

PID controller were used to run a speed control system. So to control the speed
system, a MyRIO is used. MyRIO is a National Instrument’s product that is an
evaluation board. It is used to develop applications that utilize its on board FPGA and
microprocessor. It requires LabVIEW. LabVIEW is accompanying software used to
control MyRIO and any components attached to it; which in this case a DC motor.

As for the result analysis, six graphs are gain by adjusting the value of Proportional
gain,Kc, integral time constant, Ti, and derivative time constant, Td. The graph for
high Kc (Kc =0.5, ki = 0.001, kd=0.001), we observed that the rise time is about 9
millisecond. Then the graph starts to propagate unstably in the range 2.3 to 3.5. The
range decrease as the time increase. However, for a low value of kc (Kc =0.005, ki =
0.001, kd=0.001) the rising time is more longer. No overshoot exist and reach stability
at 2.5.

We also changed integral time constant, Ti. When we increase ti value (Kc =0.1, ki =
0.1, kd=0.001), we get an exponential graph. Compared to the low Ti value (Kc =0.1,
ki = 0.0001, kd=0.001) which give a short rise time but it is not stable initially. Still
no overshoot occurs. As for the high Td values (Kc =0.1, ki = 0.001, kd=0.1), the
graph propagate sinusoidally through the time but the amplitude increase at 55
millisecond. But when we lower the value (Kc =0.1, ki = 0.001, kd=0.0001), the rise
time is the shortest without an overshoot.

Conclusion

As a conclusion, we learned that tachometer is an instrument measuring the rotation


speed of a shaft or disk, as in a motor or other machine. The device usually displays
the revolutions per minute on a calibrated analogue dial, but digital displays are
increasingly common. Besides, high proportional gain, kc value does reduce rising
time. Changing the Td value effect the settling time and the Ti value effect error of
the set point. The optimum value for a nice stable system may gain by
Ziegler-Nichols Method (Kc =0.1, ki = 0.001, kd=0.001).

9
Muhammad Razlan Bin Ghazali
2017806762
Group 3A

Discussion

Based on the experiment of closed loop speed control system, where LABVIEW and
National Instrument MyRIO is used to manipulate the implementation of closed loop
in the control system. This is archived by analyzing how the control system works to
meet the set point which is at 2.5 that are targeted. During conducting the experiment,
the value of Kp, Ti, Td need to be considered as a parameter that can affect the
performance and the value of error in reaching the speed target of 2.5 of the
tachometer.

Based on the graph that are plotted with the data, if the value of proportional gain, k c

is manipulated meanwhile the the value of derivative time constant, Td and integral

time constant, Ti remain constant. The value of the amplitude of the graph will

decrease rise time and when the value proportional gain, k c decrease , the rise time

will increase.Next, based on the graph with the value of integral time constant, Ti is

increased and value of Td and k c is remain constant. The error increased as to reach

the set point is much higher when the value of is Ti decreased. Moreover, from the

graph where the Derivative time constant, Td is high the plotted graph is unstable
while when the value is low the settling time is low with little overshoot.

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Conclusion

In conclusion, to achieve our objective which is to investigate the performance of the


speed control system using closed loop controller and evaluate the performance of the
control system. Data is obtained and evaluate by investigating the the performance of
the control system. The constant value of this control system were DC motor speed
set point and output range parameter such as Td , Ti and k c . For the proportional gain,

k c , if k c is increasing, the tachometer and revolution per minute also will increasing.

But, the performance of this control systems also affected by the derivative time, Td

which is higher the value of Td , the value of tachometer and revolution per minute
also increase. On the other hand, the proportional gain and derivative time effected
the performance of the control system.

11
MUHAMMAD SHAFRUL AIMAN BIN MOHD SHAIDI 2017631858

Discussion

Evident from the actual and modelled responses of both speed and position control,
the proportional controller gain, Kp, adjusts the system output by scaling the system
error. This allows the system to respond faster if Kp is increased, however,
this significant change in system output can cause overshoot in the desired response.
The integral controller gain, Ki, allows the system to consider accumulated error
and adjust the system output accordingly. Ultimately, increasing Ki removes
the steady-state error from the response at the cost of increasing
percent overshoot and settling time. The derivative controller gain, Kd, utilizes the
rate of the change of the error, essentially predicting where the system response is
headed, to steer the control effort. Overall, increasing Kd decreases percent
overshoot and settling time of the response. In the case of angular velocity response,
the results from the simulations are a decent approximation of the response
observed from the physical experimentation. Moreover, the continuous and
discrete mathematical models exhibit nearly exact same responses. The low graph
shows the closest matching actual and model response pair. It can be observed that the
actual response has a sharper rise and fall than the model, but both responses have the
same steady-state value for each section of the response. The high graph shows the
worst matching actual and model response pair. In this plot, the rising and falling
slope of the simulated responses are less steep than the physical response, akin to
the previous figure, but their shape is much more smooth, in particular, neglecting
the kink around the one second mark in the actual model response. In the
case of angular position response, the shapes of the modeled and
actual responses are radically dissimilar from one another for nearly all PID gain
combinations. The continuous and discrete models generally shared the same overall
trend, however they did not match as closely as in the angular velocity case. Through
additional experimentation, it was found that if the gains were quadrupled from their
supposed values in the simulations, both thecontinuous and discrete modeled
responses closely matched the actual response. This indicates that a
possible scaling issue caused the original discrepancy in the angular position
responses.

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However, a more probable cause of this discrepancy is from the fact that a
linear model is used to approximately represent a nonlinear physical model. These
nonlinearities can arise in the physical model in the form of start up friction in the DC
motor’s drive shaft and gears and the limited resolution of the optical encoder.

Conclusion

The objective of this experiment was to design a PID feedback controller for the
speed control and position of a DC motor using closed loop controller. Through both
physical testing and simulations, the individual effects of manipulating proportional,
integral and derivative on the system’s response were examined and
characterized. For speed control, the actual and simulated (both high and low)
responses mostly matched. On the other hand, for angular position control, high
plotting graph between the responses were observed, most likely a result from using a
linear mathematical model to approximate a physical nonlinear system. Thus, refer to
optimum is best choices.

13
MUHAMMAD HILMANUDDIN BIN MUZAKKIR 2017806734

DISCUSSION

The definition of a closed loop control system according to the British


Standard Institution is "a control system possessing monitoring feedback, the
deviation signal formed as a result of this feedback being used to control the action of
a final control element in such a way as to tend to reduce the deviation to zero."
Likewise; "A Feedback Control System is a system which tends to maintain a
prescribed relationship of one system variable to another by comparing functions of
these variables and using the difference as a means of control."

In closed loop control, the control action from the controller is dependent on
the process output. In the case of the boiler analogy this would include a thermostat to
monitor the building temperature, and thereby feedback a signal to ensure the
controller maintains the building at the temperature set on the thermostat. A closed
loop controller therefore has a feedback loop which ensures the controller exerts a
control action to give a process output the same as the reference input or setpoint. For
this reason, closed loop controllers are also called feedback controllers.

Another example of this is a conveyor system that is required to travel at a


constant speed. For a constant voltage, the conveyor will move at a different speed
depending on the load on the motor which is represented here by the weight of objects
on the conveyor. In order for the conveyor to run at a constant speed, the voltage of
the motor must be adjusted depending on the load. In this case, a closed-loop control
system would be necessary.

A feedback control system, such as a PID controller, can be improved by


combining the feedback or closed-loop control of a PID controller
with feed-forward or open-loop control. Knowledge about the system such as the
desired acceleration and inertia, can be fed forward and combined with the PID output
to improve the overall system performance. The feed-forward value alone can often

14
provide the major portion of the controller output. The PID controller primarily has to
compensate whatever difference or error remains between the setpoint and the system
response to the open loop control. Since the feed-forward output is not affected by the
process feedback, it can never cause the control system to oscillate, thus improving
the system response without affecting stability. Feed forward can be based on the
setpoint and on extra measured disturbances. Setpoint weighting is a simple form of
feed forward.

For example, in most motion control systems, in order to accelerate a


mechanical load under control, more force is required from the actuator. If a velocity
loop PID controller is being used to control the speed of the load and command the
force being applied by the actuator, then it is beneficial to take the desired
instantaneous acceleration, scale that value appropriately and add it to the output of
the PID velocity loop controller. This means that whenever the load is being
accelerated or decelerated, a proportional amount of force is commanded from the
actuator regardless of the feedback value. The PID loop in this situation uses the
feedback information to change the combined output to reduce the remaining
difference between the process setpoint and the feedback value. Working together, the
combined open-loop feed-forward controller and closed-loop PID controller can
provide a more responsive control system in some situations.

A closed-loop step motor system combines the advantages of servo motor and
stepper motor technologies. Functionally, a closed-loop stepper motor system will run
much more smoothly and with less resistance than a standard stepper motor setup.
Since a closed-loop system provides feedback and control as well as short transient
and free oscillation times, the closed-loop system will not lose or gain steps.

A closed-loop stepper motor system may be the best option when the
application requires improved energy efficiency and smoothness of operation,
especially at high loads. In addition, a closed-loop system has the advantage over
servo motor systems of higher torque at low RPMs. Additional benefits include short
transient times, less packaging, accurate/correct positioning using feedback from
encoders integrated into the motors to the controller, and comparatively low prices.

15
CONCLUSION

In a nutshell, the experiment of closed loop speed control system has been
successfully conducted. Furthermore, able to investigate the performance of speed
control system using closed loop controller. Also, able to analyze and evaluate the
performance of the control system. Hence, the objectives of the experiment are
positively achieved. Stepper motor systems using closed-loop control represent a
small percentage of stepper motor applications, but if loss of position could be
catastrophic to the application, yet the system requires high torque at low speed,
relatively simple architecture, and relatively low cost compared to a true servo motor
system, a closed-loop stepper might be the most appropriate solution.

16
Muhammad Nabil Farhan bin Tajuddin
2017806792
EMD6M-3A
Discussion

The development and implementation of controllers for low cost technique of


controlling speed of a DC motor was successfully implemented using LabView
software and Arduino UNO Micro-controller device. Speed of the motor is sensed by
using the Tachometer Sensor which is sent back to PID controller as feedback for
calculating and compensating the error produced if any. The method implemented can
be used for various industrial applications. This technique helps in maintaining the
stability of the system. The system was designed in LabView program successfully. In
the proceeding, PID controller parameter need to be adjusted. An approach that was
used in the experiment are:

• SET Kc (proportional gain). Starting with Kc=0, KI=0 and KD=0, increase Kc until
the output starts overshooting and motor ringing. Based on graph, it shows that if the
value of Kp is too high, it will be unstable because of the sensitivity of disturbance is
high and vice versa if the graph is low.

• SET Kd (derivative constant) .Increase Kd until the overshoot is reduced to an


acceptable level. Based on graph increasing Kd value will create an increasing
frequency of amplitude, thus lowering it to acceptable level will obtained the
optimum one

On last graph represent the most optimum one, which represent the less disturbance at
amplitude and overshoot and reaching at the set point as fast as possible, however,
sometimes the value will be different depending on particular time probably because
of the external condition, but still in the acceptable range. PID control is the most
widely used control strategy of the current industrial application. And attributed to its
good robustness and broad scope of application, it has been increasingly addressed in
the control field. The huge cost of manual tuning and the lack of tuning professional
gave rise to many PID controller parameters guarantee in the degree of stability of the
industrial process. This greatly increase the efficiency of the industrial production

17
Conclusion
In conclusion, the experiment were succeeded in forming the understanding about
how PWM working in order to ensure the feedback system can improve the system
more efficiently rather than using open loop system.

18
MUHAMMAD NAFIE BIN NOR ASMADI
2017806732
EMD6M3A

Discussion
This experiment is conducted to investigate and analyse the performance of speed
control system using closed loop controller. This includes in setting the Kc, Ti, and Td,
to stabilize the DC motor connected. After several testing the optimum value of Kc are
0.1, Ti are 0.001, and Td are 0.001 to get speed setpoint of 2.5 m/s-1. This data will
result in getting the optimum graph with low settling time which is 15 ms with the
overshoot value of 2.6513 m/s-1. When the k c increases to 0.5 with constant Ti, and Td,
the DC motor will not stabilize. It does not have actual settling time since the data
keep rise and low repeatly and the amplitude rise to around 3.5 m/s-1 which means it is
far from the setpoint value that is 2.5 m/s-1. When the Kc is reduce to 0.005 with Ti
and Td constant, its settling time become greater that is around 150 ms without any
overshoot. Then by increasing the value of Ti to 0.1with constant Kc and Td as
optimum, it is take longer time for the DC motor to settle down and stabilize. By
decresing the Ti to 0.0001 from the optimum value it will increase the amplitude to
around 3.5 m/s-1 and did not get the desired setpoint. Next by increasing the Td to 0.1
from the optimum value, the DC motor is not stabilize and the max amplitude are 3.5
m/s-1 and the lowest amplitude are 0. By lowering the Td 0.0001 from the optimum
value it will eliminate the overshoot.

19
Conclusion

In conclusion the objective of the experiment had been achieve that is to investigate and analyse
the performance of speed control system using closed loop controller. Even though there are
some small change on the Kc, Ti or Td, it will affect the DC motor to become unstable. In order
to achieved stabilize DC motor feedback loop are important which is when the motor are
unstable it will sent back the data to input for the correction and make it more stabilize.

20
Appendix

High k c

Time - Speed Setpoint Amplitude - Speed Setpoint Time - Targert Amplitude - Targert

1 2.5 1 0.0195313

3 2.5 3 1.77002

5 2.5 5 0.546875

7 2.5 7 2.03369

9 2.5 9 3.52051

11 2.5 11 2.5708

13 2.5 13 3.52051

15 2.5 15 2.5708

17 2.5 17 3.52051

19 2.5 19 3.53027

21 2.5 21 3.52051

23 2.5 23 3.18604

25 2.5 25 3.52051

27 2.5 27 3.53027

29 2.5 29 3.52051

31 2.5 31 3.53027

33 2.5 33 3.52051

35 2.5 35 3.52295

37 2.5 37 3.52539

39 2.5 39 3.52295

41 2.5 41 3.52051

21
43 2.5 43 3.52295

45 2.5 45 3.52051

47 2.5 47 3.52051

49 2.5 49 3.52051

51 2.5 51 3.52051

53 2.5 53 3.52539

55 2.5 55 3.52539

57 2.5 57 3.52051

59 2.5 59 2.85156

61 2.5 61 3.52051

63 2.5 63 2.85156

65 2.5 65 3.52051

67 2.5 67 3.52051

69 2.5 69 2.85156

71 2.5 71 2.92969

73 2.5 73 2.92969

75 2.5 75 2.92969

77 2.5 77 2.92969

79 2.5 79 3.52051

81 2.5 81 2.92969

83 2.5 83 3.52051

85 2.5 85 3.52051

87 2.5 87 2.92969

89 2.5 89 3.40332

91 2.5 91 3.40332

22
93 2.5 93 3.40332

95 2.5 95 3.40332

97 2.5 97 3.40332

99 2.5 99 2.92969

101 2.5 101 3.40332

103 2.5 103 2.92969

105 2.5 105 3.40332

107 2.5 107 3.53027

109 2.5 109 3.53027

111 2.5 111 3.40332

113 2.5 113 3.40332

115 2.5 115 3.40332

117 2.5 117 3.40332

119 2.5 119 3.40332

121 2.5 121 3.40332

123 2.5 123 3.53027

125 2.5 125 3.53027

127 2.5 127 3.40332

129 2.5 129 3.02734

131 2.5 131 3.40332

133 2.5 133 3.40332

135 2.5 135 3.02734

137 2.5 137 3.40332

139 2.5 139 3.02734

141 2.5 141 3.53027

23
143 2.5 143 3.02734

145 2.5 145 3.02734

147 2.5 147 3.55469

149 2.5 149 3.55469

151 2.5 151 3.55469

153 2.5 153 3.55469

155 2.5 155 3.54004

157 2.5 157 3.54004

159 2.5 159 3.54004

161 2.5 161 3.54004

163 2.5 163 3.54004

165 2.5 165 3.54004

167 2.5 167 3.54004

169 2.5 169 3.54004

171 2.5 171 3.54004

173 2.5 173 3.54004

175 2.5 175 3.34473

177 2.5 177 3.54004

179 2.5 179 3.54004

181 2.5 181 3.54004

183 2.5 183 3.54004

185 2.5 185 3.54004

187 2.5 187 3.54004

Low k c

24
Time - Speed Setpoint Amplitude - Speed Setpoint Time - Targert Amplitude - Targert

1 2.5 1 0.0195313

3 2.5 3 0.0170898

5 2.5 5 0.0195313

7 2.5 7 0.0634766

9 2.5 9 0.107422

11 2.5 11 0.185547

13 2.5 13 0.263672

15 2.5 15 0.327148

17 2.5 17 0.390625

19 2.5 19 0.461426

21 2.5 21 0.532227

23 2.5 23 0.593262

25 2.5 25 0.654297

27 2.5 27 0.710449

29 2.5 29 0.766602

31 2.5 31 0.822754

33 2.5 33 0.878906

35 2.5 35 0.930176

37 2.5 37 0.981445

39 2.5 39 1.02539

41 2.5 41 1.06934

43 2.5 43 1.11572

45 2.5 45 1.16211

47 2.5 47 1.20605

25
49 2.5 49 1.25

51 2.5 51 1.32324

53 2.5 53 1.39648

55 2.5 55 1.45996

57 2.5 57 1.52832

59 2.5 59 1.58691

61 2.5 61 1.63574

63 2.5 63 1.69434

65 2.5 65 1.75293

67 2.5 67 1.78711

69 2.5 69 1.83105

71 2.5 71 1.86523

73 2.5 73 1.91406

75 2.5 75 1.95313

77 2.5 77 1.98242

79 2.5 79 2.00195

81 2.5 81 2.0459

83 2.5 83 2.0752

85 2.5 85 2.10938

87 2.5 87 2.11426

89 2.5 89 2.14844

91 2.5 91 2.16797

93 2.5 93 2.18262

95 2.5 95 2.20703

97 2.5 97 2.22168

26
99 2.5 99 2.24609

101 2.5 101 2.25586

103 2.5 103 2.26074

105 2.5 105 2.27051

107 2.5 107 2.28516

109 2.5 109 2.31445

111 2.5 111 2.31445

113 2.5 113 2.32422

115 2.5 115 2.3291

117 2.5 117 2.34863

119 2.5 119 2.3584

121 2.5 121 2.37793

123 2.5 123 2.38281

125 2.5 125 2.38281

127 2.5 127 2.39258

129 2.5 129 2.40234

131 2.5 131 2.40723

133 2.5 133 2.41211

135 2.5 135 2.41211

137 2.5 137 2.42676

139 2.5 139 2.43164

141 2.5 141 2.43164

143 2.5 143 2.43652

145 2.5 145 2.44141

147 2.5 147 2.44141

27
149 2.5 149 2.44629

151 2.5 151 2.45117

153 2.5 153 2.45605

155 2.5 155 2.46094

157 2.5 157 2.46582

159 2.5 159 2.46582

161 2.5 161 2.46582

163 2.5 163 2.46582

165 2.5 165 2.46582

167 2.5 167 2.4707

169 2.5 169 2.4707

171 2.5 171 2.4707

173 2.5 173 2.47559

175 2.5 175 2.47559

177 2.5 177 2.47559

179 2.5 179 2.47559

181 2.5 181 2.47559

183 2.5 183 2.48047

185 2.5 185 2.48047

187 2.5 187 2.48047

189 2.5 189 2.48047

191 2.5 191 2.48047

193 2.5 193 2.48535

195 2.5 195 2.48535

197 2.5 197 2.48535

28
199 2.5 199 2.49023

201 2.5 201 2.49023

203 2.5 203 2.49023

205 2.5 205 2.49023

207 2.5 207 2.49023

209 2.5 209 2.49023

211 2.5 211 2.49023

213 2.5 213 2.49512

215 2.5 215 2.49512

217 2.5 217 2.49512

219 2.5 219 2.49512

221 2.5 221 2.49512

223 2.5 223 2.49512

225 2.5 225 2.49512

227 2.5 227 2.49512

229 2.5 229 2.5

231 2.5 231 2.5

233 2.5 233 2.5

235 2.5 235 2.5

237 2.5 237 2.5

239 2.5 239 2.5

241 2.5 241 2.5

243 2.5 243 2.5

245 2.5 245 2.5

247 2.5 247 2.5

29
249 2.5 249 2.5

251 2.5 251 2.5

253 2.5 253 2.5

255 2.5 255 2.5

257 2.5 257 2.5

259 2.5 259 2.5

261 2.5 261 2.5

263 2.5 263 2.5

265 2.5 265 2.5

267 2.5 267 2.5

269 2.5 269 2.5

271 2.5 271 2.5

273 2.5 273 2.5

275 2.5 275 2.5

277 2.5 277 2.5

279 2.5 279 2.5

281 2.5 281 2.5

283 2.5 283 2.5

285 2.5 285 2.5

287 2.5 287 2.5

289 2.5 289 2.5

291 2.5 291 2.5

293 2.5 293 2.5

295 2.5 295 2.5

297 2.5 297 2.5

30
299 2.5 299 2.5

301 2.5 301 2.5

303 2.5 303 2.5

305 2.5 305 2.5

307 2.5 307 2.5

309 2.5 309 2.5

311 2.5 311 2.5

313 2.5 313 2.5

315 2.5 315 2.5

317 2.5 317 2.5

319 2.5 319 2.5

321 2.5 321 2.5

323 2.5 323 2.5

325 2.5 325 2.5

327 2.5 327 2.5

329 2.5 329 2.5

331 2.5 331 2.5

333 2.5 333 2.5

335 2.5 335 2.5

337 2.5 337 2.5

339 2.5 339 2.5

341 2.5 341 2.5

343 2.5 343 2.5

345 2.5 345 2.50488

347 2.5 347 2.50488

31
349 2.5 349 2.50488

351 2.5 351 2.5

353 2.5 353 2.5

355 2.5 355 2.5

357 2.5 357 2.5

359 2.5 359 2.5

361 2.5 361 2.5

363 2.5 363 2.5

365 2.5 365 2.5

367 2.5 367 2.5

369 2.5 369 2.5

371 2.5 371 2.5

High Ti

Time - Speed Setpoint Amplitude - Speed Setpoint Time - Targert Amplitude - Targert

63 2.5 63 0.898438

65 2.5 65 0.908203

67 2.5 67 0.927734

69 2.5 69 0.9375

71 2.5 71 0.957031

73 2.5 73 0.961914

75 2.5 75 0.981445

77 2.5 77 0.986328

79 2.5 79 1.00098

81 2.5 81 1.01563

32
83 2.5 83 1.03027

85 2.5 85 1.0498

87 2.5 87 1.05957

89 2.5 89 1.0791

91 2.5 91 1.08398

93 2.5 93 1.09375

95 2.5 95 1.1084

97 2.5 97 1.12793

99 2.5 99 1.14258

101 2.5 101 1.15234

103 2.5 103 1.15234

105 2.5 105 1.17188

107 2.5 107 1.19141

109 2.5 109 1.19141

111 2.5 111 1.20117

113 2.5 113 1.21094

115 2.5 115 1.23047

117 2.5 117 1.24023

119 2.5 119 1.24512

121 2.5 121 1.26465

123 2.5 123 1.26953

125 2.5 125 1.28906

127 2.5 127 1.29395

129 2.5 129 1.30859

131 2.5 131 1.31836

33
133 2.5 133 1.32324

135 2.5 135 1.34277

137 2.5 137 1.34766

139 2.5 139 1.3623

141 2.5 141 1.36719

143 2.5 143 1.37695

145 2.5 145 1.3916

147 2.5 147 1.39648

149 2.5 149 1.41113

151 2.5 151 1.41602

153 2.5 153 1.43066

155 2.5 155 1.44043

157 2.5 157 1.44043

159 2.5 159 1.44531

161 2.5 161 1.46973

163 2.5 163 1.46973

165 2.5 165 1.49902

167 2.5 167 1.49902

169 2.5 169 1.49902

171 2.5 171 1.50879

173 2.5 173 1.52344

175 2.5 175 1.52832

177 2.5 177 1.5332

179 2.5 179 1.54785

181 2.5 181 1.55273

34
183 2.5 183 1.5625

185 2.5 185 1.57715

187 2.5 187 1.57715

189 2.5 189 1.57715

191 2.5 191 1.59668

193 2.5 193 1.59668

195 2.5 195 1.60645

197 2.5 197 1.61133

199 2.5 199 1.63086

201 2.5 201 1.63574

203 2.5 203 1.63574

205 2.5 205 1.64063

207 2.5 207 1.66504

209 2.5 209 1.66992

211 2.5 211 1.6748

213 2.5 213 1.67969

215 2.5 215 1.68457

217 2.5 217 1.69922

219 2.5 219 1.7041

221 2.5 221 1.7041

223 2.5 223 1.71387

225 2.5 225 1.72852

227 2.5 227 1.72852

229 2.5 229 1.7334

231 2.5 231 1.75293

35
233 2.5 233 1.75781

235 2.5 235 1.75781

237 2.5 237 1.7627

239 2.5 239 1.77734

241 2.5 241 1.77734

243 2.5 243 1.78223

245 2.5 245 1.78711

247 2.5 247 1.78711

249 2.5 249 1.79199

251 2.5 251 1.80664

253 2.5 253 1.81152

255 2.5 255 1.82617

257 2.5 257 1.83105

259 2.5 259 1.83594

261 2.5 261 1.83594

263 2.5 263 1.8457

265 2.5 265 1.85059

267 2.5 267 1.85547

269 2.5 269 1.86035

271 2.5 271 1.87012

273 2.5 273 1.875

275 2.5 275 1.87988

277 2.5 277 1.88965

279 2.5 279 1.88965

281 2.5 281 1.89453

36
283 2.5 283 1.89453

285 2.5 285 1.89453

287 2.5 287 1.91406

289 2.5 289 1.91895

291 2.5 291 1.91895

293 2.5 293 1.92871

295 2.5 295 1.93359

297 2.5 297 1.93848

299 2.5 299 1.94336

301 2.5 301 1.95313

303 2.5 303 1.95313

305 2.5 305 1.95313

307 2.5 307 1.96289

309 2.5 309 1.96777

311 2.5 311 1.96777

313 2.5 313 1.97754

315 2.5 315 1.97754

317 2.5 317 1.98242

319 2.5 319 1.9873

321 2.5 321 1.99219

323 2.5 323 1.99707

325 2.5 325 2.00195

327 2.5 327 2.00684

329 2.5 329 2.01172

331 2.5 331 2.01172

37
333 2.5 333 2.0166

335 2.5 335 2.02637

337 2.5 337 2.02637

339 2.5 339 2.02637

341 2.5 341 2.03613

343 2.5 343 2.03613

345 2.5 345 2.04102

347 2.5 347 2.05078

349 2.5 349 2.06055

351 2.5 351 2.06055

353 2.5 353 2.06055

355 2.5 355 2.06543

357 2.5 357 2.06543

359 2.5 359 2.06543

361 2.5 361 2.07031

363 2.5 363 2.0752

365 2.5 365 2.08008

367 2.5 367 2.08008

369 2.5 369 2.09473

371 2.5 371 2.09473

373 2.5 373 2.09473

375 2.5 375 2.10449

377 2.5 377 2.10938

379 2.5 379 2.11426

381 2.5 381 2.11426

38
383 2.5 383 2.11426

385 2.5 385 2.12402

387 2.5 387 2.12402

389 2.5 389 2.12891

391 2.5 391 2.12891

393 2.5 393 2.13379

395 2.5 395 2.13867

397 2.5 397 2.13867

399 2.5 399 2.13867

401 2.5 401 2.13867

403 2.5 403 2.14355

405 2.5 405 2.14844

407 2.5 407 2.15332

409 2.5 409 2.15332

411 2.5 411 2.1582

413 2.5 413 2.16309

415 2.5 415 2.16797

417 2.5 417 2.16797

419 2.5 419 2.17773

421 2.5 421 2.18262

423 2.5 423 2.18262

425 2.5 425 2.18262

427 2.5 427 2.1875

429 2.5 429 2.19238

431 2.5 431 2.19238

39
433 2.5 433 2.19238

435 2.5 435 2.19727

437 2.5 437 2.19727

439 2.5 439 2.20215

441 2.5 441 2.20215

443 2.5 443 2.20215

445 2.5 445 2.20703

447 2.5 447 2.20703

449 2.5 449 2.21191

451 2.5 451 2.21191

453 2.5 453 2.2168

455 2.5 455 2.2168

457 2.5 457 2.22168

459 2.5 459 2.22656

461 2.5 461 2.22656

463 2.5 463 2.22656

465 2.5 465 2.23145

467 2.5 467 2.23145

469 2.5 469 2.23633

471 2.5 471 2.23633

473 2.5 473 2.24121

475 2.5 475 2.24121

477 2.5 477 2.24121

479 2.5 479 2.24609

481 2.5 481 2.24609

40
483 2.5 483 2.25098

485 2.5 485 2.25098

487 2.5 487 2.25586

489 2.5 489 2.25586

491 2.5 491 2.25586

493 2.5 493 2.25586

495 2.5 495 2.26074

497 2.5 497 2.26563

499 2.5 499 2.26563

501 2.5 501 2.27051

503 2.5 503 2.27539

505 2.5 505 2.27539

507 2.5 507 2.27539

509 2.5 509 2.27539

511 2.5 511 2.28027

513 2.5 513 2.28027

515 2.5 515 2.28027

517 2.5 517 2.28027

519 2.5 519 2.28516

521 2.5 521 2.29004

523 2.5 523 2.29492

525 2.5 525 2.29492

527 2.5 527 2.2998

529 2.5 529 2.2998

531 2.5 531 2.30469

41
533 2.5 533 2.30469

535 2.5 535 2.30469

537 2.5 537 2.30469

539 2.5 539 2.30469

541 2.5 541 2.30957

543 2.5 543 2.30957

545 2.5 545 2.30957

547 2.5 547 2.31445

549 2.5 549 2.31445

551 2.5 551 2.31445

553 2.5 553 2.31445

555 2.5 555 2.31934

Low Ti

Time - Speed Setpoint Amplitude - Speed Setpoint Time - Targert Amplitude - Targert

1 2.5 1 0.0195313

3 2.5 3 0.417481

5 2.5 5 0.81543

7 2.5 7 2.18262

9 2.5 9 0.81543

11 2.5 11 2.17285

13 2.5 13 3.53027

15 2.5 15 2.17285

17 2.5 17 3.53027

19 2.5 19 3.53516

42
21 2.5 21 3.53027

23 2.5 23 3.53516

25 2.5 25 3.54004

27 2.5 27 3.53516

29 2.5 29 3.54004

31 2.5 31 3.54004

33 2.5 33 3.54004

35 2.5 35 3.54004

37 2.5 37 3.54004

39 2.5 39 3.54004

41 2.5 41 3.54004

43 2.5 43 3.54004

45 2.5 45 3.54004

47 2.5 47 3.54004

49 2.5 49 3.54004

51 2.5 51 3.54004

53 2.5 53 3.54004

55 2.5 55 3.54004

57 2.5 57 3.54004

59 2.5 59 3.54004

61 2.5 61 3.54981

63 2.5 63 3.54004

65 2.5 65 3.54981

67 2.5 67 3.54981

69 2.5 69 3.54981

43
71 2.5 71 3.55469

73 2.5 73 3.55469

75 2.5 75 3.54981

77 2.5 77 3.55469

79 2.5 79 3.55957

81 2.5 81 3.55469

83 2.5 83 3.55957

85 2.5 85 3.55957

87 2.5 87 3.55957

89 2.5 89 3.56445

91 2.5 91 3.56445

93 2.5 93 3.55957

95 2.5 95 3.55957

97 2.5 97 3.56445

99 2.5 99 3.55957

101 2.5 101 3.56445

103 2.5 103 3.55957

105 2.5 105 3.55957

107 2.5 107 3.56445

109 2.5 109 3.56445

111 2.5 111 3.55957

113 2.5 113 3.55957

115 2.5 115 3.55957

117 2.5 117 3.55957

119 2.5 119 3.55957

44
121 2.5 121 3.55957

123 2.5 123 3.55957

125 2.5 125 3.55957

127 2.5 127 3.55957

129 2.5 129 3.55469

131 2.5 131 3.55957

133 2.5 133 3.55469

135 2.5 135 3.55469

137 2.5 137 3.55957

139 2.5 139 3.55957

141 2.5 141 3.55469

143 2.5 143 3.55469

145 2.5 145 3.55957

147 2.5 147 3.55469

149 2.5 149 3.55957

151 2.5 151 3.55957

153 2.5 153 3.55957

155 2.5 155 3.55957

157 2.5 157 3.55957

159 2.5 159 3.55957

161 2.5 161 3.55957

163 2.5 163 3.56445

165 2.5 165 3.55957

167 2.5 167 3.56445

169 2.5 169 3.56445

45
171 2.5 171 3.55957

173 2.5 173 3.55957

175 2.5 175 3.56445

177 2.5 177 3.55957

179 2.5 179 3.56445

181 2.5 181 3.55957

183 2.5 183 3.55957

185 2.5 185 3.56445

187 2.5 187 3.56445

189 2.5 189 3.55957

191 2.5 191 3.55957

193 2.5 193 3.56445

195 2.5 195 3.55957

197 2.5 197 3.56445

199 2.5 199 3.56445

201 2.5 201 3.56445

203 2.5 203 3.56445

205 2.5 205 3.56445

207 2.5 207 3.56445

209 2.5 209 3.56445

211 2.5 211 3.56445

213 2.5 213 3.55957

215 2.5 215 3.56445

217 2.5 217 3.56445

219 2.5 219 3.55957

46
221 2.5 221 3.55957

223 2.5 223 3.56445

225 2.5 225 3.55957

227 2.5 227 3.56445

229 2.5 229 3.55957

231 2.5 231 3.55957

233 2.5 233 3.56445

235 2.5 235 3.56445

237 2.5 237 3.55957

239 2.5 239 3.55957

241 2.5 241 3.56445

243 2.5 243 3.55957

245 2.5 245 3.56445

247 2.5 247 3.55957

249 2.5 249 3.55957

251 2.5 251 3.55957

253 2.5 253 3.55957

255 2.5 255 3.55957

257 2.5 257 3.55957

259 2.5 259 3.55957

261 2.5 261 3.55957

263 2.5 263 3.55957

265 2.5 265 3.55957

267 2.5 267 3.55957

269 2.5 269 3.55957

47
271 2.5 271 3.55957

273 2.5 273 3.55957

275 2.5 275 3.55957

277 2.5 277 3.55957

279 2.5 279 3.55957

281 2.5 281 3.55957

283 2.5 283 3.55957

285 2.5 285 3.55957

287 2.5 287 3.55957

289 2.5 289 3.55957

291 2.5 291 3.55957

293 2.5 293 3.55957

295 2.5 295 3.55957

297 2.5 297 3.55957

299 2.5 299 3.56445

301 2.5 301 3.56445

303 2.5 303 3.55957

305 2.5 305 3.56445

307 2.5 307 3.55957

309 2.5 309 3.55957

311 2.5 311 3.56445

313 2.5 313 3.56445

315 2.5 315 3.55957

317 2.5 317 3.56445

319 2.5 319 3.56445

48
321 2.5 321 3.56445

323 2.5 323 3.56445

325 2.5 325 3.56445

327 2.5 327 3.56445

329 2.5 329 3.56445

331 2.5 331 3.56445

333 2.5 333 3.56445

335 2.5 335 3.56445

337 2.5 337 3.56445

339 2.5 339 3.56445

341 2.5 341 3.56445

343 2.5 343 3.56445

345 2.5 345 3.55957

347 2.5 347 3.56445

349 2.5 349 3.56445

351 2.5 351 3.55957

353 2.5 353 3.56445

355 2.5 355 3.56445

357 2.5 357 3.56445

359 2.5 359 3.56445

361 2.5 361 3.56445

363 2.5 363 3.55957

365 2.5 365 3.55957

367 2.5 367 3.55957

369 2.5 369 3.55469

49
371 2.5 371 3.55957

373 2.5 373 3.55957

375 2.5 375 3.55957

377 2.5 377 3.55957

379 2.5 379 3.55957

381 2.5 381 3.55957

383 2.5 383 3.55957

385 2.5 385 3.55957

387 2.5 387 3.55957

389 2.5 389 3.55957

391 2.5 391 3.55957

393 2.5 393 3.55957

395 2.5 395 3.55957

397 2.5 397 3.55957

399 2.5 399 3.55957

401 2.5 401 3.55957

403 2.5 403 3.55957

405 2.5 405 3.55469

407 2.5 407 3.55957

High Td

Time - Speed Setpoint Amplitude - Speed Setpoint Time - Targert Amplitude - Targert

1 2.5 1 0.0146484

3 2.5 3 0.427246

5 2.5 5 0.0195313

50
7 2.5 7 0.429688

9 2.5 9 0.0195313

11 2.5 11 0.429688

13 2.5 13 0.0195313

15 2.5 15 0.429688

17 2.5 17 0.0195313

19 2.5 19 0.429688

21 2.5 21 0.0195313

23 2.5 23 0.429688

25 2.5 25 0.0195313

27 2.5 27 0.429688

29 2.5 29 0.0195313

31 2.5 31 0.429688

33 2.5 33 0.0195313

35 2.5 35 0.429688

37 2.5 37 0.0195313

39 2.5 39 0.429688

41 2.5 41 0.0195313

43 2.5 43 0.429688

45 2.5 45 0.0195313

47 2.5 47 0.429688

49 2.5 49 0.0195313

51 2.5 51 0.839844

53 2.5 53 0.0195313

55 2.5 55 3.53516

51
57 2.5 57 0.0195313

59 2.5 59 3.53516

61 2.5 61 0.0195313

63 2.5 63 3.54004

65 2.5 65 0.0195313

67 2.5 67 3.54004

69 2.5 69 0.0195313

71 2.5 71 3.54004

73 2.5 73 0.0195313

75 2.5 75 3.54004

77 2.5 77 0.0195313

79 2.5 79 3.54004

81 2.5 81 0.0195313

83 2.5 83 3.54004

85 2.5 85 0.0195313

87 2.5 87 3.54004

89 2.5 89 0.0195313

91 2.5 91 3.54004

93 2.5 93 0.0195313

95 2.5 95 3.54004

97 2.5 97 0.0195313

99 2.5 99 3.54004

101 2.5 101 0.0195313

103 2.5 103 3.54004

105 2.5 105 0.0195313

52
107 2.5 107 3.54004

109 2.5 109 0.0195313

111 2.5 111 3.54004

113 2.5 113 0.0195313

115 2.5 115 3.54004

117 2.5 117 0.0195313

119 2.5 119 3.54004

121 2.5 121 0.0195313

123 2.5 123 3.54004

125 2.5 125 0.0195313

127 2.5 127 3.54004

129 2.5 129 0.0195313

131 2.5 131 3.54004

133 2.5 133 0.0195313

135 2.5 135 3.54004

137 2.5 137 0.0195313

139 2.5 139 3.54004

141 2.5 141 0.0195313

143 2.5 143 3.54004

145 2.5 145 0.0195313

147 2.5 147 3.54004

149 2.5 149 0.0195313

151 2.5 151 3.54004

153 2.5 153 0.0195313

155 2.5 155 3.54004

53
157 2.5 157 0.0195313

159 2.5 159 3.54004

161 2.5 161 0.0195313

163 2.5 163 3.54004

165 2.5 165 0.0195313

167 2.5 167 3.54004

169 2.5 169 0.0195313

171 2.5 171 3.54004

173 2.5 173 0.0195313

175 2.5 175 3.54004

177 2.5 177 0.0195313

179 2.5 179 3.54004

181 2.5 181 0.0195313

183 2.5 183 3.54492

185 2.5 185 0.0195313

187 2.5 187 3.54492

189 2.5 189 0.0195313

191 2.5 191 3.54492

193 2.5 193 0.0195313

195 2.5 195 3.54492

197 2.5 197 0.0195313

199 2.5 199 3.54492

201 2.5 201 0.0195313

203 2.5 203 3.54492

205 2.5 205 0.0195313

54
207 2.5 207 3.54492

209 2.5 209 0.0195313

211 2.5 211 3.54492

213 2.5 213 0.0195313

215 2.5 215 3.54492

217 2.5 217 0.0195313

219 2.5 219 3.54981

221 2.5 221 0.0195313

223 2.5 223 3.54981

225 2.5 225 0.0195313

227 2.5 227 3.54981

229 2.5 229 0.0195313

231 2.5 231 3.55957

233 2.5 233 0.0195313

235 2.5 235 3.55957

237 2.5 237 0.0195313

239 2.5 239 3.55957

241 2.5 241 0.0195313

243 2.5 243 3.55957

245 2.5 245 0.0195313

247 2.5 247 3.55957

249 2.5 249 0.0195313

251 2.5 251 3.55957

253 2.5 253 0.0195313

255 2.5 255 3.55957

55
257 2.5 257 0.0195313

259 2.5 259 3.55957

261 2.5 261 0.0195313

263 2.5 263 3.55957

265 2.5 265 0.0195313

267 2.5 267 3.55957

269 2.5 269 0.0195313

271 2.5 271 3.55957

273 2.5 273 0.0195313

275 2.5 275 3.55469

277 2.5 277 0.0195313

279 2.5 279 3.55469

281 2.5 281 0.0195313

283 2.5 283 3.55469

285 2.5 285 0.0195313

287 2.5 287 3.55469

289 2.5 289 0.0195313

291 2.5 291 3.55469

293 2.5 293 0.0195313

295 2.5 295 3.55469

297 2.5 297 0.0195313

299 2.5 299 3.55469

301 2.5 301 0.0195313

303 2.5 303 3.55469

305 2.5 305 0.0195313

56
307 2.5 307 3.55469

309 2.5 309 0.0195313

311 2.5 311 3.55469

313 2.5 313 0.0195313

315 2.5 315 3.55469

317 2.5 317 0.0195313

319 2.5 319 3.55469

321 2.5 321 0.0195313

323 2.5 323 3.55469

325 2.5 325 0.0195313

327 2.5 327 3.55957

329 2.5 329 0.0195313

331 2.5 331 3.55957

333 2.5 333 0.0195313

335 2.5 335 3.55957

337 2.5 337 0.0195313

339 2.5 339 3.55957

341 2.5 341 0.0195313

343 2.5 343 3.55957

345 2.5 345 0.0195313

347 2.5 347 3.55957

349 2.5 349 0.0195313

351 2.5 351 3.55957

353 2.5 353 0.0195313

355 2.5 355 3.56445

57
357 2.5 357 0.0195313

359 2.5 359 3.56445

361 2.5 361 0.0195313

363 2.5 363 3.56445

365 2.5 365 0.0195313

367 2.5 367 3.56445

369 2.5 369 0.0195313

Low Td

Time - Speed Setpoint Amplitude - Speed Setpoint Time - Targert Amplitude - Targert

1 2.5 1 0.0195313

3 2.5 3 0.417481

5 2.5 5 0.81543

7 2.5 7 1.87744

9 2.5 9 2.41699

11 2.5 11 2.40234

13 2.5 13 2.41699

15 2.5 15 2.46826

17 2.5 17 2.48047

19 2.5 19 2.49512

21 2.5 21 2.49023

23 2.5 23 2.5

25 2.5 25 2.50977

27 2.5 27 2.5

29 2.5 29 2.50977

58
31 2.5 31 2.50977

33 2.5 33 2.50977

35 2.5 35 2.50488

37 2.5 37 2.5

39 2.5 39 2.50488

41 2.5 41 2.5

43 2.5 43 2.50244

45 2.5 45 2.50488

47 2.5 47 2.50244

49 2.5 49 2.50488

51 2.5 51 2.50977

53 2.5 53 2.50977

55 2.5 55 2.50488

57 2.5 57 2.5

59 2.5 59 2.50488

61 2.5 61 2.50488

63 2.5 63 2.50488

65 2.5 65 2.50488

67 2.5 67 2.50488

69 2.5 69 2.50488

71 2.5 71 2.50488

73 2.5 73 2.50488

75 2.5 75 2.50488

77 2.5 77 2.50488

79 2.5 79 2.50488

59
81 2.5 81 2.5

83 2.5 83 2.50488

85 2.5 85 2.50488

87 2.5 87 2.50488

89 2.5 89 2.50488

91 2.5 91 2.50488

93 2.5 93 2.50488

95 2.5 95 2.5

97 2.5 97 2.5

99 2.5 99 2.5

101 2.5 101 2.5

103 2.5 103 2.5

105 2.5 105 2.50488

107 2.5 107 2.50488

109 2.5 109 2.50488

111 2.5 111 2.50488

113 2.5 113 2.50488

115 2.5 115 2.50488

117 2.5 117 2.50488

119 2.5 119 2.50488

121 2.5 121 2.5

123 2.5 123 2.5

125 2.5 125 2.50488

127 2.5 127 2.50488

129 2.5 129 2.50488

60
131 2.5 131 2.50488

133 2.5 133 2.5

135 2.5 135 2.5

137 2.5 137 2.5

139 2.5 139 2.5

141 2.5 141 2.5

143 2.5 143 2.50488

145 2.5 145 2.50488

147 2.5 147 2.50488

149 2.5 149 2.50488

151 2.5 151 2.50488

153 2.5 153 2.50488

155 2.5 155 2.50488

157 2.5 157 2.50488

159 2.5 159 2.5

161 2.5 161 2.5

163 2.5 163 2.5

165 2.5 165 2.5

167 2.5 167 2.5

169 2.5 169 2.5

171 2.5 171 2.5

173 2.5 173 2.5

175 2.5 175 2.5

177 2.5 177 2.5

179 2.5 179 2.5

61
181 2.5 181 2.5

183 2.5 183 2.5

185 2.5 185 2.5

187 2.5 187 2.5

189 2.5 189 2.5

191 2.5 191 2.50488

193 2.5 193 2.5

195 2.5 195 2.5

197 2.5 197 2.5

199 2.5 199 2.5

201 2.5 201 2.5

203 2.5 203 2.5

205 2.5 205 2.5

207 2.5 207 2.5

209 2.5 209 2.50488

211 2.5 211 2.50488

213 2.5 213 2.50488

215 2.5 215 2.50488

217 2.5 217 2.50488

219 2.5 219 2.50488

221 2.5 221 2.50488

223 2.5 223 2.50488

225 2.5 225 2.50488

227 2.5 227 2.50488

229 2.5 229 2.50488

62
231 2.5 231 2.50488

233 2.5 233 2.50488

235 2.5 235 2.50488

237 2.5 237 2.50488

239 2.5 239 2.50488

241 2.5 241 2.5

243 2.5 243 2.50488

245 2.5 245 2.50488

247 2.5 247 2.50488

249 2.5 249 2.50488

251 2.5 251 2.50488

253 2.5 253 2.50488

255 2.5 255 2.50488

257 2.5 257 2.50488

259 2.5 259 2.50488

261 2.5 261 2.5

263 2.5 263 2.5

265 2.5 265 2.5

267 2.5 267 2.5

269 2.5 269 2.5

271 2.5 271 2.50488

273 2.5 273 2.5

275 2.5 275 2.5

277 2.5 277 2.5

279 2.5 279 2.5

63
281 2.5 281 2.5

283 2.5 283 2.5

285 2.5 285 2.5

287 2.5 287 2.5

289 2.5 289 2.5

291 2.5 291 2.50488

293 2.5 293 2.5

295 2.5 295 2.5

297 2.5 297 2.5

299 2.5 299 2.5

301 2.5 301 2.5

303 2.5 303 2.5

305 2.5 305 2.5

307 2.5 307 2.5

309 2.5 309 2.5

311 2.5 311 2.5

313 2.5 313 2.5

315 2.5 315 2.5

317 2.5 317 2.5

319 2.5 319 2.5

321 2.5 321 2.5

323 2.5 323 2.5

325 2.5 325 2.50977

327 2.5 327 2.50977

329 2.5 329 2.50977

64
331 2.5 331 2.50977

333 2.5 333 2.50977

335 2.5 335 2.5

337 2.5 337 2.50977

339 2.5 339 2.5

341 2.5 341 2.5

343 2.5 343 2.5

345 2.5 345 2.50488

347 2.5 347 2.50488

349 2.5 349 2.5

351 2.5 351 2.5

353 2.5 353 2.5

355 2.5 355 2.5

357 2.5 357 2.5

359 2.5 359 2.5

361 2.5 361 2.5

363 2.5 363 2.5

365 2.5 365 2.5

367 2.5 367 2.5

369 2.5 369 2.5

371 2.5 371 2.5

373 2.5 373 2.5

375 2.5 375 2.5

377 2.5 377 2.5

379 2.5 379 2.5

65
381 2.5 381 2.5

383 2.5 383 2.5

385 2.5 385 2.5

387 2.5 387 2.5

389 2.5 389 2.5

391 2.5 391 2.5

393 2.5 393 2.5

395 2.5 395 2.5

397 2.5 397 2.5

399 2.5 399 2.5

401 2.5 401 2.5

403 2.5 403 2.5

405 2.5 405 2.50977

407 2.5 407 2.5

409 2.5 409 2.5

411 2.5 411 2.5

413 2.5 413 2.5

415 2.5 415 2.5

417 2.5 417 2.5

419 2.5 419 2.50488

421 2.5 421 2.50488

423 2.5 423 2.50488

425 2.5 425 2.50977

427 2.5 427 2.50488

429 2.5 429 2.5

66
431 2.5 431 2.5

433 2.5 433 2.5

435 2.5 435 2.49512

437 2.5 437 2.5

439 2.5 439 2.50488

441 2.5 441 2.50488

443 2.5 443 2.50488

445 2.5 445 2.50488

447 2.5 447 2.50488

449 2.5 449 2.5

451 2.5 451 2.5

453 2.5 453 2.5

455 2.5 455 2.5

457 2.5 457 2.5

459 2.5 459 2.50488

461 2.5 461 2.50488

463 2.5 463 2.50488

465 2.5 465 2.50488

467 2.5 467 2.50488

469 2.5 469 2.5

471 2.5 471 2.5

473 2.5 473 2.5

475 2.5 475 2.49512

477 2.5 477 2.5

479 2.5 479 2.50488

67
Optimum k c , Ti and Td

Time - Speed Setpoint Amplitude - Speed Setpoint Time - Targert Amplitude - Targert

1 2.5 1 0.0146484

3 2.5 3 0.4199220

5 2.5 5 0.8251950

7 2.5 7 1.7993200

9 2.5 9 2.6513700

11 2.5 11 2.5390600

13 2.5 13 2.4755900

15 2.5 15 2.4804700

17 2.5 17 2.4853500

19 2.5 19 2.4877900

21 2.5 21 2.4902300

23 2.5 23 2.4877900

25 2.5 25 2.4902300

27 2.5 27 2.4877900

29 2.5 29 2.4902300

31 2.5 31 2.4951200

33 2.5 33 2.4951200

35 2.5 35 2.4975600

37 2.5 37 2.4951200

39 2.5 39 2.4975600

41 2.5 41 2.5000000

43 2.5 43 2.4975600

68
45 2.5 45 2.5000000

47 2.5 47 2.4975600

49 2.5 49 2.5000000

51 2.5 51 2.5000000

53 2.5 53 2.5000000

55 2.5 55 2.5000000

57 2.5 57 2.5000000

59 2.5 59 2.5000000

61 2.5 61 2.5000000

63 2.5 63 2.5000000

65 2.5 65 2.5000000

67 2.5 67 2.5000000

69 2.5 69 2.5000000

71 2.5 71 2.5000000

73 2.5 73 2.5000000

75 2.5 75 2.5000000

77 2.5 77 2.5000000

79 2.5 79 2.5000000

81 2.5 81 2.5000000

83 2.5 83 2.5000000

85 2.5 85 2.5000000

87 2.5 87 2.5000000

89 2.5 89 2.5000000

91 2.5 91 2.5000000

93 2.5 93 2.5000000

69
95 2.5 95 2.5000000

97 2.5 97 2.5000000

99 2.5 99 2.5000000

101 2.5 101 2.5000000

103 2.5 103 2.5000000

105 2.5 105 2.5000000

107 2.5 107 2.5000000

109 2.5 109 2.5000000

111 2.5 111 2.5000000

113 2.5 113 2.5000000

115 2.5 115 2.5000000

117 2.5 117 2.5000000

119 2.5 119 2.4951200

121 2.5 121 2.5000000

123 2.5 123 2.5000000

125 2.5 125 2.5000000

127 2.5 127 2.5000000

129 2.5 129 2.5000000

131 2.5 131 2.5000000

133 2.5 133 2.5000000

135 2.5 135 2.5000000

137 2.5 137 2.5000000

139 2.5 139 2.5000000

141 2.5 141 2.5000000

143 2.5 143 2.5000000

70
145 2.5 145 2.5000000

147 2.5 147 2.5000000

149 2.5 149 2.5000000

151 2.5 151 2.5000000

153 2.5 153 2.5000000

155 2.5 155 2.5000000

157 2.5 157 2.5000000

159 2.5 159 2.5000000

161 2.5 161 2.5000000

163 2.5 163 2.5000000

165 2.5 165 2.5000000

167 2.5 167 2.5000000

169 2.5 169 2.5000000

171 2.5 171 2.5000000

173 2.5 173 2.5000000

71