Galil DMC-2X00 用户手册
DMC-2X00
Chapter 10 Theory of Operation
y 145
The function G is equivalent to a digital filter of the form:
D(z) = 4KP + 4KD(1-z-1)
where
P
=
4
∗ KP
D
=
4
∗ KD ∗ T
and
4
∗ KD = D/T
Assuming a sampling period of T=1ms, the parameters of the digital filter are:
KP = 20.6
KD
=
68.6
The DMC-2x00 can be programmed with the instruction:
KP
20.6
KD
68.6
In a similar manner, other filters can be programmed. The procedure is simplified by the following
table, which summarizes the relationship between the various filters.
table, which summarizes the relationship between the various filters.
Equivalent Filter Form
DMC-2x00
Digital
D(z)
=[K(z-A/z) + Cz/(z-1)]
∗ (1-B)/(Z-B)
Digital
D(z) = [4 KP + 4 KD(1-z-1) + KI/2(1-z-1)]
∗(1-B)/(Z-B)
KP, KD, KI, PL K = (KP + KD)
⋅
4
A
=
KD/(KP+KD)
C = KI/2
B = PL
Continuous G(s)
=
(P + Ds + I/s)
∗ a/S+a
PID, T
P = 4 KP
D
=
4
T*KD
I = KI/2T
a = 1/T ln (1/PL)