Galil DMC-2X00 user manual Equivalent Filter Form

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.

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)

DMC-2X00 Chapter 10 Theory of Operation y 145