Block: D



PIC




Inports


In

Control error input



D0

Derivational value which is loaded during initialization.

(Usually this inport is connect to the In inport.)



Enable

Enable == 0: Deactivation of block; Out set to 0

Enable 0->1: Preload of derivational part

Enable == 1: Activation of block






Outports


Out

Control value







Mask Parameters



Name

ID

Description




Kd

1

Derivative Factor




fc

2

Cutoff frequency of realization low pass




ts_fact

3

Multiplication factor of base sampling time (in integer format)





Description:

D Controller:

G(s) = Kd*s/(s/(2*pi*fc) + 1)

A rising flank at the Enable inport will preload the derivational part with the value present on the Init inport.

Transfer function (zero-order hold discretization method):

G (z) = K  2πf  ---z --1----
          d    cz - e-2πfcTs

Developer note: The source code of block DLimit is used.

Implementations:
FiP16 16 Bit Fixed Point Implementation
FiP32 32 Bit Fixed Point Implementation
Float32 32 Bit Floating Point Implementation
Float64 64 Bit Floating Point Implementation

Implementation: FiP16


16 Bit Fixed Point Implementation



Inports Data Type


In

int16



D0

int16



Enable

bool






Outports Data Type


Out

int16




Implementation: FiP32


32 Bit Fixed Point Implementation



Inports Data Type


In

int32



D0

int32



Enable

bool






Outports Data Type


Out

int32




Implementation: Float32


32 Bit Floating Point Implementation



Inports Data Type


In

float32



D0

float32



Enable

bool






Outports Data Type


Out

float32




Implementation: Float64


64 Bit Floating Point Implementation



Inports Data Type


In

float64



D0

float64



Enable

bool






Outports Data Type


Out

float64