Nidec Control Techniques Digitax-SF DA23823 - Position Command Filter

36
1
0
1
2
3
0
82.0 82.1 66.166.0
1
2
3
0
1
2
3
0
80.0
74.0
75.0
79.0
83.0
84.0
86.0
74.0
76.0
79.0
83.0
85.0
86.0
357.0
358.0
360.0
357.0
359.0
360.0
81.0
Digitax SF Instruction Manual
7. Tuning
3. Tuning Parameters
Optimizing the settling time and error / Suppressing
vibration and noise
Check the following before using Position command lter
・The command from the host controller is correct�
・ The equipment is installed rmly and properly�
・The gain parameters such as inertia ratio are correctly set�
・The command smoothing lters 2 (and 1) are set�
・Vibration is now unlikely to occur thanks to the decreased integral gain�
3. Position Command Filter
Filter Overview Refer to
Smoothing
Position Command Smoothing Filter
E󱐯ective in smoothing the position command and suppressing vibration
at the time of positioning�
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Filter Overview Refer to
Notch
Position Command Notch lter
E󱐯ective in suppressing vibration of mechanical systems where the
vibration does not appear in the torque output waveform�
When compared to the command smoothing filter, the position command
filter is more effective in reducing the absolute position error (Status
No�80)�
37
39
γ-Notch
Position Command γ-Notch Filter
E󱐯ective in suppressing vibration of mechanical systems where the
vibration does not appear in the torque output waveform�
This filter has flexibility of changing the gain setting in the range
higher than notch frequencies� This item will reduce the position
error impacted by use of notch filer�
37
40
Apply the following notch lters if the machine end point is still vibrating after su󱐰cient tuning was performed
and the smoothing lter was set�
Up to four levels of Position command lter are available�
Block Diagram of Position Command Filter (Details)
Position
command
Position command lter
Filter 1
Select
Moving average
count
Moving average
count
Frequency
Width
Depth
Frequency
Width
Depth
Frequency
Width
Depth
Frequency
Gain
Depth
Frequency
Gain
Depth
Frequency
GainDepth
Select Select Select
Filter 2 Filter 3 Filter 4
Smoothing 1
Notch 2
γ- Notch 2
Notch 1
γ- Notch 1
Notch 3
γ- Notch 3
Smoothing 2
Position
& Velocity
Controller