Galil DMC-3425 Manual De Usuario
170 • Chapter 10 Theory of Operation
DMC-3425
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)