Configuration
Parameter manual b maXX BM3000
Document no.: 5.12001.07 Baumüller Nürnberg GmbH
236
of 820
4.4
4.4.14 Filter
The filter module contains a general digital IIR filter function (IIR = Infinite Impulse Re-
sponse) which is typically used as an actuating variable filter (Isq filter). The order
(
Z29.8–) of the filter (maximum 7) and the filter coefficients (Z29.9– to Z29.23–) can be
freely set as parameters. The transfer function in the z-domain is:
Figure 101: Equation for filter order
where the z
-k
are the lag elements about the k-cycle.
The filter module works between the speed controller and the current controller. It can be
switched on and off using the Module command (
Z29.1–).
4.4.14.1 ProDrive filter
The filter is set via the individual coefficients. In addition to this ProDrive provides an op-
erating support by which single filters can be parameterized. There are five different filters
under the window Controller
Control structure Polynominal, which are supported at
parameterization:
–PT
1
filter (single or bilinear)
n Low-pass filter with damping from the cutoff frequency which was set, onwards.
n
n The bilinear filter offers better damping of higher frequencies
– Notch filters
n Single notch filter with settable blocking frequency and bandwidth
Fs
1
Ts 1+
---------------=
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