AKD User Guide | VL Parameters
The velocity loop compensation is actually implemented as a digital discrete time system function 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
.
Related Topics
11.4 Velocity Loop
622 Kollmorgen | December 2010
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