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KD = D/ (4 • T)
Assuming a sampling period of T=1ms, the parameters of the digital filter are:
KP = 20.6
KD = 68.6
The DMC-1000 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.
Digital
Digital
KP, KD, KI
Digital
GN, ZR, KI
Continuous
PID, T
DMC-1000
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Equivalent Filter Form
DMC - 1000 -18
D(z) = K(z-A/z) + Cz/(z-1 )
D(z) = 4 KP + 4 KD(1-z -1 ) + KI/2(1-z -1 )
⋅
K = (KP + KD)
4
A = KD/(KP+KD)
C = KI/2
D(z) = 4 GN(z-ZR)/z + KI z/2(z-1)
K = 4 GN
A = ZR
C = KI/2
G(s) = P + Ds + I/s
P = 4 KP
D = 4 T*KD
I = KI/2T
Chapter 10 Theory of Operation • 143
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