Equivalent Filter Form

 

DMC-13X8

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)

Chapter 10 Theory of Operation • 170

USER MANUAL

Page 170
Image 170
Galil DMC-13X8 user manual Equivalent Filter Form, Kp, Kd, Ki, Pl, Pid, T