Kollmorgen AKD Series Benutzerhandbuch Seite 957

AKD Benutzerhandbuch | 25.41.4 VL.ARZF1 TO VL.ARZF4
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)
957 KOLLMORGEN | Mai 2013