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Tuning

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ASDA-A3

5

5.7 Mechanical resonance suppression and noise elimination

When mechanical resonance occurs, it is probably because the stiffness of the control system is

too high or the response bandwidth is too great. Eliminating these two factors can improve the

situation. During the tuning process, when you gradually increase the servo response

bandwidth, the frequency at the resonance point is likely to be reached, causing noise and

vibration. In this case, use the following filters to effectively eliminate the noise and vibration and

therefore increase the response bandwidth.

Block diagram of filter setting

Position command

Position command -

moving filter

P1.068

Position command -

low-pass filter

P1.008

1st set of low-frequency

vibration suppression filter

P1.025, P1.026

2nd set of low-frequency

vibration suppression filter

P1.027, P1.028

1st set of model-controlled

vibration suppression filter

P1.089, P1.090, P1.091

2nd set of model-controlled

vibration suppression filter

P1.092, P1.093, P1.094

Speed mode

Speed command

+

-

Speed

command filter

P1.006

Speed mode

Position

controller

Position mode

+

-

Torque

command filter

P1.007

Speed

controller

Torque mode

Current command

low-pass filter

P2.025

Position / Speed

mode

1st set of

notch filter

P2.023, P2.024

2nd set of

notch filter

P2.043, P2.044

3rd set of

notch filter

P2.045, P2.046

4th set of

notch filter

P2.098, P2.099

Current

controller

-

+

5th set of

notch filter

P2.101, P2.102

Speed detection filter

P2.049

Speed

observer

PWM

Motor

Encoder

5-46

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