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PID Speed Control

Hello All,

I am new to the site and would like some help with DC motor speed loop control.

A basic proportional  control loop actually works.  The problem I am having is that I need my main power supply to vairy, yet keep the motor speed constant.  The project deals with a helicopter where I need to keep constant speed independent of the battery voltage slowy dropping off.

I have designed and used PID loops for DC gear motor position control, but I am having trouble using similar equations in this application that required speed control and not position control.