Kinco FD5P AC series servo driver
册
Chapter7:Tuning of the servo system control
If the motor noise is too loud when adjusting the Kvi or Kvp ， you can appropriately reduce the
speed feedback filter parameter
(60F9.05)
. However, the velocity loop feedback filter bandwidth F
must be greater than 2 times of the velocity loop bandwidth. Otherwise, oscillation may result.
Speed feedback filter bandwidth F = speed feedback filter*20+100 [HZ]
Step 5：Adjustment of output filter
The output filter is a first order low pass torque filter. It can reduce the high-frequency torque
order output by the speed control loop, so as to achieve the purpose of suppressing the
resonance of the entire system.
When the output filter is set to 2546Hz (1DEC), it means to close the output filter control. When the
system has resonance, the user can try to adjust the DEC value of the output filter setting from small
to large to reduce noise
.
The output filter frequency can be calculated by the following formula:
NerFOutputT
f
_ilt_s2
1
Output_Filter_N Output filter setting(60F9.15), Unit DEC
Ts constant 62.5us
The larger the DEC value set by the output filter, the stronger the filtering effect.
Output filter settings [Hz]=2546/[DEC]
Output filter settings [DEC]=2546/[Hz]
Step 6：Notch Filter Adjustment
A notch filter can suppress the resonance frequency by reducing the gain near the mechanical
resonance.
If the resonant frequency is unknown, it can be obtained by flowing method:
Adjust the load so that the system runs in the resonance region, monitor the actual current at
resonance on the oscilloscope, and then adjust the notch filter to observe whether the resonance
disappears. When the current data at resonance is collected on the software oscilloscope, the
period value of adjacent harmonics can be measured by the cursor to calculate the resonance
frequency. After collecting multiple sets of harmonic cycles to calculate the average value of the
cycles, the resonant frequency can be calculated using the average value of the cycles.
Table 7-5 Notch filter parameter
Used to set the frequency of the internal notch filter
to eliminate the mechanical resonance that occurs
when the motor drives the machine
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