Adaptive Filter - Panasonic minas a4 series Instruction Manual

Adaptive Filter

Outline
Estimates the resonance
frequency out of vibration
component presented in the
motor speed in motion, then
removes the resonance
component from the torque
command by setting up the
notch filter coefficient auto-
matically, hence reduces
the resonance vibration.
Applicable Range
This function works under the following condition.
Control Mode • Applies to other control modes than torque control.
Caution
The adaptive filter may not work properly under the following conditions. In these cases, take measures to
resonance according to the manual adjustment procedures, using the 1st notch filter (Pr1D and 1E) and the
2nd notch filter (Pr28 to 2A).
• Resonance frequency is lower than 300[Hz].
Resonance point • Resonance peak is low, or control gain is low where the motor speed is not affected by this.
• Multiple resonance points exist.
• Motor speed variation with high harmonic component is generated due to non-linear factors such as
Load
backlash.
Command pattern
• Acceleration/deceleration is rapid such as 30000[r/min] per 1[s].
How to Operate
1) Validate the adaptive filter by setting up Pr23 (Setup of adaptive filter) to 1.
Adaptive filter automatically estimates the resonance frequency out of vibration component presented in
the motor speed in motion, then removes the resonance components from the torque command by set-
ting up the notch filter coefficient automatically, hence reduces the resonance vibration.
Setup value Adaptive filter
0
[ 1]
2
When adaptation finishes (Pr2F does not change), and resonance point seems
not change, set up the value to 2.
2) Write the result to EEPROM when you want to save it.
234
Position/Velocity
command
Action command under
actual condition
Conditions under which the Adaptive filter is activated
Conditions which obstruct adaptive filter action
Invalid
Valid
Gain Filter
auto-setup auto-adjustment
Position/Velocity Adaptive
control
Resonance frequency
estimation
Load inertia estimation
Real time
auto-gain tuning
Servo driver
Adaptive action
-
Yes
No (Hold)
Motor
Torque
current
command
current
control
Filter
Motor
speed
Motor
Encoder