Frequency for PWM is 2.4kHz and sampling time is 15ms. The motor is drove for positioning and angle is measured and sampled. Sensor used is an incremental rotary encoder. My question is: Do frequency aliasing happen? 15ms => 66.67Hz and formula for aliasing is fsampling > 2fsignal. 2.4kHz X 2 = 4.8kHz. since fsampling < fsignal then aliasing is happening. Am i correct with this?
I am doing PID control for inverted pendulum. my setpoint is 90 degree. Starting at 37s, integral is taking over as the error become significantly small. The control signal is decreasing smoothly until 39.5s and the motor jerks. the jerk happens again at 43.5s but this time the error become negative and control signal increases. Instead of jerking, i wanted the motor move slowly to sp. I am not sure whether the problem lies in my controller or driver. If i assume driver, which area should i look into?
My driver can be refer here: