Block: DLimit



PIC




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)





Description:

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):

                   z - 1
G (z) = Kd2 πfc ------------
                z - e-2πfcTs

Developer note: The source code of this block is used for block D.

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



max

int16



min

int16



Enable

bool






Outports Data Type


Out

int16




Implementation: FiP32


32 Bit Fixed Point Implementation



Inports Data Type


In

int32



D0

int32



max

int32



min

int32



Enable

bool






Outports Data Type


Out

int32




Implementation: Float32


32 Bit Floating Point Implementation



Inports Data Type


In

float32



D0

float32



max

float32



min

float32



Enable

bool






Outports Data Type


Out

float32




Implementation: Float64


64 Bit Floating Point Implementation



Inports Data Type


In

float64



D0

float64



max

float64



min

float64



Enable

bool






Outports Data Type


Out

float64