#URTIS-ANUAL/3
BETWEEN 0$?-IN?#URRENT AND 0$?-AX?#URRENT AND SENT TO THE DITHER
FUNCTION.OTETHAT-APPED?4HROTTLEISINVERTEDLOWERINGITSVALUEMAKING
ITMORENEGATIVEINCREASESTHE0$?4HROTTLEVALUE
4HE$ITHERFUNCTIONADDSANDSUBTRACTSFROMTHECURRENTCOMMANDTO
THE0$BASEDON0$?$ITHER?0ERCENTATARATESETBY0$?$ITHER?0ERIOD
4HEDITHEREDCURRENTCOMMANDISCOMPAREDTOTHEPRESENT0$?#URRENT
ANDTHEERRORISFEDINTOA0)CONTROLLER4HEFEEDBACKGAINSARESETBYTHEPARAM
ETERS
0$+PPROPORTIONALGAINAND0$+IINTEGRALGAIN4HEOUTPUTOFTHE
0)CONTROLLERBECOMESTHEDRIVERSPULSEWIDTHMODULATIONTHUSCONTROLLINGTHE
AVERAGECURRENTOFTHEDRIVER4HElNALOUTPUTISTHE6#,VARIABLE0$?/UTPUT
WHICHISDISPLAYEDINTHE-
ONITOR
w)NPUTSMENUAS0$07-
4HEFOLLOWING0$PROCESSINGVARIABLESAREACCESSIBLEBY6#,
6#,6!2)!",% !##%33 $%3#2)04)/.
-APPED?4HROTTLE 2EAD/NLY #OMMANDFROMTHROTTLESECTION
6#,?0$?4HROTTLE 2EAD7RITE 6#,ACCESSIBLE0$COMMAND
0$?4HROTTLE 2EAD/NLY 2ESULTANTCOMMANDTOTHE0$
0$?#URRENT 2EAD/NLY !VERAGECURRENTmOWINGINTHE0$
0$?/UTPUT 2EAD/NLY 2ESULTANT07-AT0$OUTPUT
6#,
&IG 0ROPORTIONALDRIVERPROCESSING