Drive Tuning D2 Series Servo Drive User Manual
6-44 HIWIN MIKROSYSTEM CORP.
6.7.3.2 Notch filter
When the mechanism system has an inappropriate resonance frequency and the resonance
phenomenon cannot be eliminated by modifying the design of mechanism, this problem can be improved
by using a notch filter. The Bode plot of notch filter is given in figure 6.7.3.2.1. Modifying the filter
parameters (fr, xi) will affect the frequency response of various control loop analysis. This is used to
simulate the frequency response of control system plus notch filter to facilitate the actual adjustment.
(1) fr: The cutoff frequency of filter. The unit is Hz.
(2) xi: The damping ratio of filter. Its value ranges from 0 to 1. The closer to 0 the narrower the filtering
frequency band is, the closer to 1 the wider the filtering frequency band is.
(3) k1: Notch filter = 0
(4) k2: Notch filter = 1
Figure6.7.3.2.1 Notch filter
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