Rockwell Automation Allen-Bradley PowerFlex 755T Flux Vector Tuning User Manual

Rockwell Automation Publication 750-AT006D-EN-P - January 2022 41
Chapter 2 Product Features
Figure 38 - Identifying One HF Resonance
Frequency response graphs like this are not available to the user. However, adaptive tuning displays all parameters that are shown in
Figure 38
.
Tracking Notch
10:2110 [AdptTune Config] = Tracking NF (1) or TrkNFGainStb (3) – The adaptive tuning Tracking Notch function does four things:
1. It applies the torque notch filter frequency estimate to the actual torque notch filter 1 frequency instead of the user-entered value to
suppress resonances if any are identified above the low frequency limit.
Parts of the control loop structure affected by this mode are highlighted in Figure 39
.
Figure 39 - Tracking Notch Filter Configuration
2. It sets the active torque notch filter 1 depth to 0 and the active torque notch filter 1 gain to 1. These settings help to ensure that the
adaptive tuning Tracking Notch function configures the notch filter as a notch filter during operation regardless of the user-entered
settings.
3. It applies the torque notch filter width estimate to the active torque notch filter 1 Width. This allows tracking notch filters to suppress
MF resonances without causing instability by adjusting the width in relation to the torque notch filter width high and low limits.
Figure 40 on page 42
shows an MF resonance where the torque notch filter width estimate is slightly higher than the torque notch
filter low limit. The default value of the low limit is small which produces a narrow notch with little phase lag to interfere with stability.
4. It repeats step 1
through step 3 to set torque notch filters 2…4, depending on the value set by 10:2118 [AdptTune NF Num] and if more
resonances are identified.
2
1
sJ
T
PI
s
PI
s
Fs
K
T
P
REG
V
REG
Velocity
Feedback
Filter
Position
Feedback
Velocity
Estimate
Feed
Forwards
Kvff Kaff
Position
Command
LP
LL
N
Torque Loop Filters
Load Torque
Load
Observer
K
J
Torque
Estimate
Adaptive
Tuning
RN
System Under Control
P
REF

Rockwell Automation Allen-Bradley PowerFlex 755T Flux Vector Tuning Specifications

General

Brand	Rockwell Automation
Model	Allen-Bradley PowerFlex 755T Flux Vector Tuning
Category	Industrial Equipment
Language	English