Moons' MBDV Series - Notch Filters

169
Rev. 2.0
07/27/2023
MBDV Hardware Manual
10.5.2 Notch Filters
Reducing the Torque Command Filter could solve the resonance, but it also reduce the system
response bandwidth and phase margin, and thus the system becomes unstable. In some case, it
may cause a counter-action that the resonance may not be suppressed.
If you know the resonance frequency, the notch lter can be used to suppress the resonance. The
notch lter suppresses mechanical resonance by reducing the gain at a specic frequency for
highfrequency mechanical resonance.
Mechanical resonance frequency
Computer system Amplitude
-frequency characteristics
Phase
Magnitude
Notch feature
Notch center frequency
Bandwidth frequency class
Resonance depth level
Frequency
Frequency
This resonance frequency can be detected through open-loop mechanical analysis. If the
resonance frequency drifts signicantly with time or due to other cause, using notch lter is not
suggested.
There are 4 notch lters in M3 series and each notch lter has three parameters, which are:
◆
Center frequency of Notch Fitler
◆
Notch Bandwidth
◆
Notch Depth Level(Notch Filter Attenuation Level)
The rst group and the second group are user-dened notch lters, and all parameters need to
be set bt user.
The third group and the fourth group can be set manually or be set as an adaptive
notch lter which all parameters are detected by the drive in real-time and automatically set.
Note: The center point frequency of the Notch Filter must be greater than 2 times of the
Torque. Command Filter(P0-16).