Adaptive Filter Adaptive Filter - Panasonic MINAS A5-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.
Action command under
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
5-10
3. Adaptive filter
Adaptive filter
Gain
Position/Velocity
auto-setup
command
actual condition
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 300[Hz].
• 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
backlash.
• Acceleration/deceleration is rapid such as 30000[r/min] per 1[s].
Filter
auto-adjustment
Adaptive
Position/
Filter
Velocity control
Resonance frequency
estimation
Load inertia estimation
Real time
auto-gain tuning
Servo driver
Torque
Motor
command
current
current
control
Motor
speed
Motor
Encoder