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tn847 Disturbance observer limit value
Initial Value Unit Setting Range Effective RS-485 Address
0
%
0 ~ 100 Effective after Set
132FH
Setting description: Disturbance observer compensation limit value
Notes
The machine model of the disturbance observer is influenced by the load inertia ratio; therefore, it is
recommended to use this block after entering the correct inertia ratio or auto-tuning.
Adjustment steps for model tracking control
1. The method to disable the disturbance observer is, set the limit value of the tn847 disturbance
observer to 0.
2. Disturbance observer limit value setting
A. This parameter represents the compensation limit value of the disturbance observer; the
recommended setting value is 50, meaning that the maximum compensation of this block is
50% of the rated torque.
B. When the difference between the inertia ratio (Cn25) and the actual mechanical feature is too
great, greater vibrations will occur when accelerating/decelerating again. At this time, please
lower the limit value of the disturbance observer.
3. Disturbance observer filter constant setting
A. Start tuning from using smaller values, and perform tests from using lower rotation speeds.
B. Observe the speed ripples, and increase the filter constant to an appropriate value.
C. Increasing the rotation speed may cause the compensation effects to be insignificant; at this
time, the filter constant must be increased again.
D. Increasing the filter constant will cause the machine's noise to increase; it must be adjusted to a
setting with better balance.
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