KP

KI
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513

0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615

KD
SP
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375

EROR
1000

1000
950
900
850
800
750
700
650
600
550
500
450
400
350
300
250
200
150
100
50
0

ACC_EROR
IN
1000
1950
2850
3700
4500
5250
5950
6600
7200
7750
8250
8700
9100
9450
9750
10000
10200
10350
10450
11000
11000

DER
2000
2900
3750
4550
5300
6000
6650
7250
7800
8300
8750
9150
9500
9800
10050
10250
10400
10500
10550
11050
11000

1000
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50

I
513
487.35
461.7
436.05
410.4
384.75
359.1
333.45
307.8
282.15
256.5
230.85
205.2
179.55
153.9
128.25
102.6
76.95
51.3
25.65
0

D
123
178.35
230.625
279.825
325.95
369
408.975
445.875
479.7
510.45
538.125
562.725
584.25
602.7
618.075
630.375
639.6
645.75
648.825
679.575
676.5

PID
1537.5
-76.875
-76.875
-76.875
-76.875
-76.875
-76.875
-76.875
-76.875
-76.875
-76.875
-76.875
-76.875
-76.875
-76.875
-76.875
-76.875
-76.875
-76.875
-76.875
-76.875

2173.5
588.825
615.45
639
659.475
676.875
691.2
702.45
710.625
715.725
717.75
716.7
712.575
705.375
695.1
681.75
665.325
645.825
623.25
628.35
599.625

251.9284
68.25017
71.33625
74.06591
76.43915
78.45597
80.11636
81.42034
82.3679
82.95903
83.19375
83.07205
82.59392
81.75938
80.56841
79.02102
77.11722
74.85699
72.24034
72.83148
69.50199

PWM
3.071591
186.7498
183.6638
180.9341
178.5609
176.544
174.8836
173.5797
172.6321
172.041
171.8063
171.928
172.4061
173.2406
174.4316
175.979
177.8828
180.143
182.7597
182.1685
185.498

KP

KI
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513
0.513

KD
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615
0.615

SP
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375
0.15375

EROR
210

210
180
150
120
100
70
40
10
0
550
500
450
400
350
300
250
200
150
100
50
0

ACC_EROR IN
1000
1950
2850
3700
4500
5250
5950
6600
7200
7750
8250
8700
9100
9450
9750
10000
10200
10350
10450
11000
11000

1210
2130
3000
3820
4600
5320
5990
6610
7200
8300
8750
9150
9500
9800
10050
10250
10400
10500
10550
11050
11000

DER

P
1000
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50
-50

I
107.73
92.34
76.95
61.56
51.3
35.91
20.52
5.13
0
282.15
256.5
230.85
205.2
179.55
153.9
128.25
102.6
76.95
51.3
25.65
0

D
74.415
130.995
184.5
234.93
282.9
327.18
368.385
406.515
442.8
510.45
538.125
562.725
584.25
602.7
618.075
630.375
639.6
645.75
648.825
679.575
676.5

PID
PWM
1537.5 1719.645 199.3225 55.67751
-76.875
146.46 16.97605 238.024
-76.875 184.575 21.39392 233.6061
-76.875 219.615 25.45538 229.5446
-76.875 257.325 29.82631 225.1737
-76.875 286.215 33.17492 221.8251
-76.875
312.03 36.16711 218.8329
-76.875
334.77 38.80289 216.1971
-76.875 365.925 42.41403 212.586
-76.875 715.725 82.95903 172.041
-76.875
717.75 83.19375 171.8063
-76.875
716.7 83.07205 171.928
-76.875 712.575 82.59392 172.4061
-76.875 705.375 81.75938 173.2406
-76.875
695.1 80.56841 174.4316
-76.875
681.75 79.02102 175.979
-76.875 665.325 77.11722 177.8828
-76.875 645.825 74.85699 180.143
-76.875
623.25 72.24034 182.7597
-76.875
628.35 72.83148 182.1685
-76.875 599.625 69.50199 185.498