User guide

GEL100340
TiineJlerivative
Time-Derivative
Description
It performs a discrete time derivative of the input [xl.
User can filter the time derivative with first order low pass filter with a filter time constant -
[set]
(FilterTau). It is also possible to Reset the output.
It is the discretization of the continuous time derivative in series to a first order low pass filter and it is
described by the following Laplace transfer function:
1
F(s) = B =
z
l+m
I+’ 1
z’s
m
where z [set] is the time constant of the filter.
The relation between 2, and the cut-off frequency o, [radkec] is:
The relation between these two values is:
Z= 5 [set]
c
fa?
while the relation with the cut-off frequency f, [Hz] is:
Value of z [set] is usually between 0.03 and 0.3 [set],
The following diagram is used to perform the transfer function F(s)
188