Kollmorgen AKD Series Benutzerhandbuch Seite 952

AKD Benutzerhandbuch | 25.41.1 VL.ARPF1 TO VL.ARPF4
AR1, AR2, AR3, and AR4 are used in velocity and position mode, but are disabled in torque mode.
Discrete time transfer function (applies to all AR filters)
The velocity loop compensation is actually implemented as a digital discrete time system function on the
DSP. The continuous time transfer function is converted to the discrete time domain by a backward Euler
mapping:
-1
s ≈ (1-z
)/t, where t = 62.5 µs
The poles are prewarped to F and the zeros are prewarped to F .
P Z
Related Topics
Geschwindigkeitsregelkreis (s: 141)
KOLLMORGEN | Mai 2013 952