ElmoMC SimplIQ Software Manual - Manual (Page 214)

SimplIQ Software Manual 13BFilters
MAN-SIMSW (Ver. 1.4)
14-5
14.1.2 Scheduled Link (Type 26)
Only one block of this type can be used.
The basic continuous-time second-order element is the unity DC gain filter:
) ( ) ( ) (
) ( ) ( ) (
) (
) (
2
2
k D s k C s k E
k B s k A s k E
k B
k D
+ +
+ +
⋅
The index k is the gain scheduler selector: It selects one set of (A, B, C, D, E) from the 63
possible selections [A(1), B(1), C(1), D(1), E(1)…A(63), B(63), C(63), D(63), E(63)].
The discrete equivalent form is similar to that of the unscheduled block:
) ( ) (
) ( ) ( ) (
2 1
2
2 1
2
0
k a z k a z
k b z k b z k b
+ +
+ +
Order Parameter Description Comment
1 k
1
(k) b
0
(k) + b
1
(k) + b
2
(k) Float, represented by a long value
2 k
2
(k) -(b
1
(k) + b
2
(k)) Float, represented by a long value
3 k
3
(k) -b
2
(k) Float, represented by a long value
4 k
4
(k) a
2
(k) Float, represented by a long value
Table 14-7: Scheduled Link Parameters
The DC gain of this block is unity.
For more details about gain scheduling, refer to section 15.3 .
14.2 Examples of Filter Implementation
The following examples illustrate how the more common filter links can be implemented.
Each example calculates the parameters b
0
, b
1
, b
2
, a
1
and a
2
. Use Table 14-6 to convert them
to k
1
, k
2
, k
3
and k
4
.
Note that the frequency response of a discrete-time filter depends on the sampling time. In
the following examples, you should use sampling time T.
Filter Sampling Time Comment
Speed controller high-order filter WS[28] x 10 -6 Speed controller sampling time
Position controller high-order
filter WS[55] x 10 -6 Position controller sampling time
Analog position sensor filter WS[55] x 10 -6 Position controller sampling time
Analog reference to speed
controller WS[28] x 10 -6 Speed controller sampling time