Galil DMC-1700 Manual De Usuario

Kf = 4N/2π = 318 [count/rad] 

2000/(s+2000) 

KP = 12.5,  KD = 245,  T = 0.001 

Therefore, 

Accordingly, the coefficients of the continuous filter are: 

The filter equation may be written in the continuous equivalent form:  

G(s) = 50 + 0.98s = .098 (s+51)  

The system elements are shown in Fig. 10.7. 

 

Σ

50+0.980s

318

V

ENCODER

500

S

2

FILTER

2000

S+2000

0.0003

4

ZOH

DAC

AMP

MOTOR

 

The open loop transfer function, A(s), is the product of all the elements in the loop. 

A = 390,000 (s+51)/[s2(s+2000)] 

To analyze the system stability, determine the crossover frequency, 

ωc at which A(j ωc) equals one.  This can be 

done by the Bode plot of A(j 

ωc), as shown in Fig. 10.8.