| Inports
| |
| In | Control error input |
| D0 | Derivational value which is loaded during initialization. (Usually this inport is connect to the In inport.) |
| max | Maximum output value |
| min | Minimum output value |
| Enable | Enable == 0: Deactivation of block; Out set to 0 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) |
D Controller with Output Limitation:
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):
Developer note: The source code of this block is used for block D.
| FiP16 | 16 Bit Fixed Point Implementation |
| FiP32 | 32 Bit Fixed Point Implementation |
| Float32 | 32 Bit Floating Point Implementation |
| Float64 | 64 Bit Floating Point Implementation |
16 Bit Fixed Point Implementation
| Inports Data Type
| |
| In | int16 |
| D0 | int16 |
| max | int16 |
| min | int16 |
| Enable | bool |
| Outports Data Type
| |
| Out | int16 |
32 Bit Fixed Point Implementation
| Inports Data Type
| |
| In | int32 |
| D0 | int32 |
| max | int32 |
| min | int32 |
| Enable | bool |
| Outports Data Type
| |
| Out | int32 |
32 Bit Floating Point Implementation
| Inports Data Type
| |
| In | float32 |
| D0 | float32 |
| max | float32 |
| min | float32 |
| Enable | bool |
| Outports Data Type
| |
| Out | float32 |
64 Bit Floating Point Implementation
| Inports Data Type
| |
| In | float64 |
| D0 | float64 |
| max | float64 |
| min | float64 |
| Enable | bool |
| Outports Data Type
| |
| Out | float64 |