5．Gain Adjustment / Damping Control Functions; Automatic Adjusting Function - Panasonic Minas-LIQI Series Technical Reference

5．Gain Adjustment / Damping Control Functions
5－1 Automatic Adjusting Function
The following figure shows an overview of automatic adjustment function.
Basic gain auto
Position Com- configuration
mand
Position/
velocity
Control
1)Real-time auto tuning
This function estimates load characteristic using motor speed and torque command, and automatically
specifies basic gain with regard to position control and speed control on the basis of inertia estimation
value. At the same time, setting time for positioning is reduced by adding an estimated friction torque to
a torque command in advance.
2)Adaptive filter
Estimating a resonance frequency using a motor speed and removing the frequency components from a
torque command suppresses vibrations caused by resonance.
Adaptive process-
Friction torque
ing
compensation
Torque com-
Notch filter
mand genera-
tion
Load characteristic
estimation
Resonance frequency
measurement
Sarvo drive
Motor Business Unit, Appliances Company, Panasonic Corporation
№SR-ZSV00039 － 25 －
Motor
Torque com-
current
mand
Current
control
Motor
speed
Motor
Encoder