Mechanical Resonance Suppression And Noise Elimination - Delta ASDA-A3 Series User Manual

ASDA-A3

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 - Position command -
moving filter
P1.068
Speed
Speed mode
command filter
Speed command
P1.006
+
Position
controller
-
1st set of low-frequency
low-pass filter
vibration suppression filter
P1.025, P1.026
P1.008
Torque
Torque mode
command filter
P1.007
Speed mode
Speed
controller
Position / Speed
Position mode
+
-
1st set of
notch filter
P2.023, P2.024
Speed detection filter Speed
P2.049 observer
2nd set of low-frequency 1st set of model-controlled
vibration suppression filter vibration suppression filter
P1.027, P1.028 P1.089, P1.090, P1.091
Current command
low-pass filter
P2.025
mode
2nd set of 3rd set of
notch filter notch filter
P2.043, P2.044 P2.045, P2.046
2nd set of model-controlled
vibration suppression filter
P1.092, P1.093, P1.094
Current
PWM
controller
Motor
-
+
4th set of 5th set of
notch filter notch filter Encoder
P2.098, P2.099 P2.101, P2.102
Tuning
5
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