Galil DMC-4040, User Manual

Page: 204 / 284

where
P = KP
D = KD
∗
T
and
KD = D/T
Assuming a sampling period of T=1ms, the parameters of the digital filter are:
KP = 82.4
KD = 247.4
The DMC-40x0 can be programmed with the instruction:
KP 82.4
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-40x0
Digital D(z) =[K(z-A/z) + Cz/(z-1)]
∗
(1-B)/(Z-B)
Digital D(z) = [KP + KD(1-z-1) + KI/2(1-z-1)]
∗
(1-B)/(Z-B)
KP, KD, KI, PL K = (KP + KD)
A = KD/(KP+KD)
C = KI/2
B = PL
Continuous G(s) = (P + Ds + I/s)
∗
a/s+a
PID, T P = KP
D = T * KD
I = KI / 2T
a = 1/T
ln(
1/PL)
Chapter 10 Theory of Operation
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195 DMC-40x0 User Manual