Hello everybody,

I am student from Greece and I am working on my final work. "Speed control with 8051 MPU".

I need a PID routine for Speed control. I would prefere to have the flow chart.

Also, I would like to give me some details about AP-428 (Distributed Motor Control Using the 80C196KB) of Intel. I found there a PID routine in Embedded Applications of INTEL(ver. 1997) but I don't understand the next points:
1. Why in figure 27 the routine stores 3 velocity errors(Vel_err1,Vel_err2,Vel_err3)
2. Why in the diff_err we have this form:
(vel-err-vel_err3+3(vel_err1-vel_err2))
3. And why the output is equaled with prev_out+....

Thanks in advance
vagelis katsos