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