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HARSFEN0602
For UM=5 the position feedback is taken from the main encoder.
… All the parameters of the speed controller
15.4 The High Order Filter
15.4.1 Block Types
Several blocks chained in series make the high order filter. The block types are listed in the table below.
Block type Block structure Number of
parameters
Comment
12 Double lead-lag
block
2
14 1-st order block,
lead-lag or a pole
2
15 2-nd order, notch or
complex pole
4
15.4.1.1 Double lead block (Block type=12):
The basic continuous time double lead-lag element is
2
+
+
⋅
bs
as
a
b
.
The frequency
)2/( πa [Hz] is the lead corner frequency. The frequency )2/( πb [Hz] is the lag corner
frequency.
The discrete equivalent form is
2
-z
)-z(1
G)-(1 G
+
β
β
Order Parameter Description Comment
1
1-
β
0<β <1
Float, represented by
2 long values
2 G 0<G<1 Float, represented by
2 long values
The DC gain of this block is unity.
β is selected as
bT
e=β .
G is selected by
β−β−
β
=
G
G
e
aT
1
.
15.4.1.2 Fist order block (Block type=14)
The basic continuous time single lead-lag element is
b
s
as
a
b
+
+
⋅
.
The discrete equivalent form is
−
−
⋅
−
−
β
α
α
β
z
z
1
1