AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
The velocity loop compensation is actually implemented as a digital discrete time system func-
tion on the DSP. The continuous time transfer function is converted to the discrete time domain
by a backward Euler mapping:
s ≈ (1-z
-1
)/t, where t = 62.5 µs.
The poles are prewarped to F
P
and the zeros are prewarped to F
Z
.
457 Kollmorgen™ | March 30, 2012
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