Shenzhen Just Motion Control electromechanics co., ltd
0755-26509689
torque feedforward smoothing
P02-20
constant
0-6400
80
0.01ms
Effectiv
e
immediat
ely
7.3.4 resonance suppression
Too high stiffness and too fast response of servo system may cause resonance of mechanical system, which can be
improved by reducing the gain of control loop. it is also possible to suppress resonance by use a low-pass filter and a
trap without reduce that gain.
1. Resonance frequency detection
The resonance frequency of the mechanical system can be observed by monitoring the items d26.1.Fr and d28.2.Fr
2. Torque command low-pass filter (P08-20, P08-21)
The low-pass filter is used when the vibration frequency will shift, and it can have better effect when it is used for
high frequency vibration. By setting the time constant of the filter, the resonance is attenuated near the resonance
frequency. However, the low-pass filter will make the system phase lag, bandwidth reduction, phase margin
reduction easily lead to loop oscillation. Therefore, it can only be used in high-frequency vibration occasions.
Filter cutoff frequency (Hz)= 1/(2*pi*P08-20(ms)*0.001)
Param
Code
Name
Torque command filter
P08-20
constant
setting
range
0-2500
leave
the
factor
y
settin
g
Unit of
Measure
100 0.01ms
Entry
into
force
Time
Effectiv
e
immediat
ely
the second torque command
P08-21
filt constant
0-2500
100 0.01ms
Effectiv
e
71
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