Allen-Bradley Kinetix 5100 2198-E1004-ERS - Resonance Suppression (Notch Filter)

218 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 10 Modes of Operation
Resonance Suppression (Notch Filter)
When resonance occurs, it is probably because the stiffness of the control system
is too high or the response is too fast. Mitigating these two factors can improve
the situation. In addition, parameter ID210 (P2.023), Low-pass Filter, and 15
notch filter parameters (see Table 80 on page 218
) are provided to suppress the
resonance if the control parameters remain unchanged.
The drive provides two types of resonance suppression, one is a notch filter and
the other is a low pass filter. See the following diagrams for the results of
suppression by each type.
Table 80 - Relevant Parameters
Parameter Name
ID208 (P2.023) NotchFilter1Frequency
ID209 (P2.024) NotchFilter1Depth
ID226 (P2.043) NotchFilter2Frequency
ID227 (P2.044) NotchFilter2Depth
ID228 (P2.045) NotchFilter3Frequency
ID229 (P2.046) NotchFilter3Depth
ID254 (P2.095) NotchFilter1QValue
ID255 (P2.096) NotchFilter2QValue
ID256 (P2.097) NotchFilter3QValue
ID257 (P2.098) NotchFilter4Frequency
ID258 (P2.099) NotchFilter4Depth
ID259 (P2.100) NotchFilter4QValue
ID260 (P2.101) NotchFilter5Frequency
ID261 (P2.102) NotchFilter5Depth
ID262 (P2.103) NotchFilter5QValue
ID210 (P2.025) ResonanceSuppressionLowPassFilterTime
Speed Feed
Forward Gain
ID192 (P2.007)
Low-pass
Filter
ID210 (P2.025)
Motor
Speed Control Unit
PWM
Current Controller
Current Sensor
PI Controller
ID189 (P2.004),
ID191 (P2.006)
Dierentiator
Speed Estimator
Encoder
Notch Filter 1
ID208 (P2.023),
ID209 (P2.024)
Notch Filter 2
ID208 (P2.023),
ID209 (P2.024)
Notch Filter 3
ID208 (P2.023),
ID209 (P2.024)
Auto-resonance Suppression Switch and Detection Level Setting
ID230 (P2.047) and ID231 (P2.048)
Notch Filter 4
ID208 (P2.023),
ID209 (P2.024)
Notch Filter 5
ID208 (P2.023),
ID209 (P2.024)