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ASDA-A3

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Tuning

5.7.5 Model-controlled vibration suppression filter

The idea of model-following control is to build a virtual model of the real physical system in the

servo drive in digital format. The virtual model processes the position command planned by the

user and generates an optimized position command. At the same time, the model designs

optimized position feed forward and speed feed forward, so the feedback system follows the

optimized position command, achieving the expected response. If the response designed by the

system does not meet your requirements, fine-tune the parameters P2.091 and P2.092.

5

Position command

Optimized

command

P2.089

P2.090

Vibration suppression

model in the system

+

Position

-

controller

Motor position

P2.091

+

+-

Speed

controller

Motor speed

P2.092

+

+

Motor

Position

feedback

Mechanical

parts

5.7.5.1 Restrictions of the two degree of freedom control function

Setting P2.094 [Bit 12] to 1 enables the two degree of freedom control mode, but you need to

note for the following restrictions.

1. Set the control mode (P1.001.YX) to Position mode (PT or PR).

2. Set the load inertia ratio or total weight (P1.037) correctly when using this function.

3. The setting of anti-interference gain (P2.026) is invalid when this function is used.

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