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поискавой системы для электроныых деталей |
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поискавой системы для электроныых деталей |
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UCD3138 датащи(PDF) 45 Page - Texas Instruments |
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UCD3138 датащи(HTML) 45 Page - Texas Instruments |
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45 / 68 page  X 24 24 24 Ki_yn reg Kp Coef Xn-1 Reg Xn 16 24 <> 9 9 16 24 24 24 24 24 24 Clamp Kd yn_reg Kd alpha 9 16 9 24 24 24 24 P I D Limit Comparator PID Filter Branch Stages Ki High EADC_DATA 9 9 9 9 24 32 Ki Coef Kd coef Limit 5 9 9 Limit 6 ….. Limit 0 Coefficient select Ki Low Optional Selected by KI_ADDER_ MODE Clamp X X X + - + + Round 1 - - n n X X 9 P 26 I D 24 All are S0.23 + 24 24 Saturate Yn S2.23 S0.23 24 Shifter S0.23 24 Yn Scale Clamp S0.23 24 Filter Yn Clamp High Filter Yn Clamp Low Filter Yn UCD3138 www.ti.com SLUSAP2 A – MARCH 2012 – REVISED MARCH 2012 Here is the first section of the Filter: The filter input, Xn, generally comes from a front end. Then there are three branches, P, I. and D. Note that the D branch also has a pole, Kd Alpha. Clamps are provided both on the I branch and on the D alpha pole. The filter also supports a nonlinear mode, where up to 7 different sets of coefficients can be selected depending on the magnitude of the error input Xn. This can be used to increase the filter gain for higher errors to improve transient response. Here is the output section of the filter: This section combines the P, I, and D sections, and provides for saturation, scaling, and clamping. Copyright © 2012, Texas Instruments Incorporated Functional Overview 45 Submit Documentation Feedback Product Folder Link(s): UCD3138 |
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