Elmo HARmonica, HARSFEN0602 198, High Order Filter Block Types, Double lead block Block type=12

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

198

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For UM=5 the position feedback is taken from the main encoder.

All the parameters of the speed controller

15.4 The High Order Filter

15.4.1Block Types

Several blocks chained in series make the high order filter. The block types are listed in the table below.

Block type	Block structure	Number of	Comment
		parameters
12	Double lead-lag	2
	block
14	1-st order block,	2
	lead-lag or a pole
15	2-nd order, notch or	4
	complex pole

15.4.1.1Double lead block (Block type=12):

The basic continuous time double lead-lag element is

b s + a 2

 a ⋅ s + b  .

The frequency a /(2π ) [Hz] is the lead corner frequency. The frequency b /(2π ) [Hz] is the lag corner

frequency.

The discrete equivalent form is

		 z(1 - β )  2
	 G + (1 - G)		 
			 
		 z - β	 
Order	Parameter	Description		Comment
1	1- β	0< β <1		Float, represented by
				2 long values
2	G	0<G<1		Float, represented by
				2 long values

The DC gain of this block is unity.

βis selected as β = e−bT .

G is selected by e−aT = Gβ .

1 − Gβ − β

15.4.1.2Fist order block (Block type=14)

The basic continuous time single lead-lag element is

		b	⋅		s + a		.
		a
					s + b
The discrete equivalent form is
	1 − β 					 z − α 
						⋅ 		
								
	1 − α 					 z	− β 