In response to the speed overshoot problem that is prone to occur during the parameter tuning process of motor Proportional Integral(PI)controller,the concept of integral convex hull and the analysis method of integral convex hull are proposed.On this basis,an anti-overshoot enhanced Proportional Integral(ePI)controller based on integral convex hull suppression was designed.On the basis of PI control parameters,an integral threshold parameter was designed to control the accumulation of integral terms and added to the calculation formula of the pulse-width modulation(PWM)value of the driving motor.By visualizing the elimination of integral convex hulls,the ePI controller parameters such as the proportional,integral,and integral threshold parameters,can be quickly debugged to prevent speed overshoot.A simulation platform was constructed based on Arduino and proteus.Through experiments,the anti-overshoot simulation results of PI controller and ePI controller based on integral convex hull suppression were compared.The experimental results show that the ePI controller is more effective in overshoot control,and overshoot rate decreases with the decrease of the integral threshold.
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