ПИД-регулятор, часть 4

Почта России наконец довезла до меня моторчики.
Купил разных:
Motors

Чёрный моторчик – это тот, что был в редукторе изначально.

Отбирал так, чтобы они были с двумя валами и напряжением около 6В (дабы 12В в “роботе” – многовато).
Купил здесь: жёлтый, красный, белый.

Сначала я просто подключил их к блоку питания и начал измерять обороты. Получилась табличка:

об/мин 12В
Жёлтый 15000 30000
Красный 10500 19800
Белый 6000 12000
Чёрный оригинальный 6600 15000
12В Жёлтый 1500 3900 7800

Понятно, что моторчик на 12В нормально работал только на 12В, а из новых 6В моторчиков лучше всех подходит белый. По крайней мере, у него обороты отличаются от оригинального всего-то на 20% 🙂

Дальше всё просто, воткнул, поставил, попробовал.
Увы, чуда не случилось, и мне пришлось потратить ещё полдня на то, чтобы снова подобрать коэффициенты ПИД-регулятора.

Итог странный и слегка похожий на фейл. Вроде бы хорошо работавший месяц назад ПИД-регулятор ведёт себя не идеально. Я не понимаю, как с мотором в 12В он точно держал обороты. После свежих экспериментов я заметил, что при увеличении нагрузки обороты всё же слегка плавают. Хотя и не так сильно, если просто поставить фиксированное напряжение 🙂 То есть, в каком-то виде ПИД-регулятор обороты стабилизирует.
Что гораздо хуже, это реакция на изменение питающего напряжения. Напряжение падает, обороты тоже. Хотя мне казалось, что в ответ на изменение напряжения ПИД-регулятор должен бы был просто подкорректировать обороты опять.

В общем, продолжаю наблюдения 😉

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