Filter; Prodrive Filter - Baumuller b maXX BM3000 Operating Manual

4.4
Configuration

4.4.14 Filter

The filter module contains a general digital IIR filter function (IIR = Infinite Impulse Re-
sponse) which is typically used as an actuating variable filter (Isq filter). The order
(Z29.8–) of the filter (maximum 7) and the filter coefficients
freely set as parameters. The transfer function in the z-domain is:
Figure 101:
where the z
The filter module works between the speed controller and the current controller. It can be
switched on and off using the Module command (Z29.1–).

4.4.14.1 ProDrive filter

The filter is set via the individual coefficients. In addition to this ProDrive provides an op-
erating support by which single filters can be parameterized. There are five different filters
under the window Controller  Control structure  Polynominal, which are supported at
parameterization:
236 Parameter manual b maXX BM3000
Document no.: 5.12001.07
of 820
Equation for filter order
-k
are the lag elements about the k-cycle.
– PT filter (single or bilinear)
1
n Low-pass filter with damping from the cutoff frequency which was set, onwards.
n
n The bilinear filter offers better damping of higher frequencies
– Notch filters
n Single notch filter with settable blocking frequency and bandwidth
(Z29.9–
1
F s  
= -------------- -
Ts + 1
to Z29.23–) can be
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