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170 • Chapter 10 Theory of Operation DMC-3425
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)