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AD2S93BP Datasheet(PDF) 11 Page - Analog Devices |
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AD2S93BP Datasheet(HTML) 11 Page - Analog Devices |
11 / 12 page –11– REV. A AD2S93 The small step response is given in Figure 12, and is the time taken for the converter to settled to within 1 LSB. ts = 7 ms (14-bit resolution) The large step response (steps >5% of FSR) applies when the error voltage will exceed the linear range of the converter. Typi- cally it will take three times longer to reach the first peak FSR. In response to a velocity step [VELOUT/(d θ/dt)] the velocity output will exhibit the same response characteristics as outlined above. 20 0 0 2%FS 16 12 8 4 Figure 12. Small Step Response SOURCES OF ERROR ACCELERATION ERROR A tracking converter employing a Type 2 servo loop does not suffer any velocity lag, however, there is an additional error due to acceleration. This additional error can be defined using the acceleration constant Ka of the converter. Ka = input acceleration position The numerator and denominator’s units must be consistent. Ka does not define maximum input acceleration, only the error due to its acceleration. The maximum acceleration allowable before the converter loses track is dependent on the positional accuracy requirement of the system. Position Error × Ka = LSB/sec2 Ka can be used to predict the output position error for a given input acceleration. The AD2S93 in the example has a Ka = 13.44 × 10 6 sec-2 if we apply an input accelerating at 100 × 214 LSB/sec2. Error in LSBs = input acceleration LSB/ sec 2 [] K a sec -2 [] = 100 × 214 13.44 × 106 = 0.12 LSBs |
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