Adaptive Filter; Outline - Panasonic MINAS A6 Series Operating Instructions Manual

5
Adjustment

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 automatically, hence reduces the resonance vibra-
tion.
Position/Velocity
Action command under
actual condition
Applicable Range
This function works under the following condition.
Control Mode • Applies to other control modes than torque control.
Others
Caution
In the following condition, normal operation may not be expected - manually set the notch
filter to prevent resonance.
Resonance
point
Load
Command
pattern
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3. Adaptive filter

Adaptive filter
Gain
auto-setup
command
Position/
Velocity control
Conditions under which the Adaptive filter is activated
• Should be servo-on status.
• Elements other than control parameters, such as deviation counter clear
command inhibit and torque limit are appropriately set, enabling the motor
to run normally.
Conditions which obstruct adaptive filter action
• Resonance frequency is lower than 3 times.
• Resonance peak is low, or control gain is low where the motor speed is
not affected by this.
• Multiple resonance of 3 or more points exist.
• Motor speed variation with high harmonic component is generated due to
non-linear factors such as backlash.
• Acceleration/deceleration is rapid such as 30000[r/min] per 1[s].
Filter
Torque
auto-adjustment
command
Adaptive
Filter
Resonance frequency
estimation
Load inertia estimation
Real time
auto-gain tuning
Servo driver
Motor
current
current
Motor
control
Motor
speed
Encoder
5-27
1
2
3
4
5
6
7