Adaptive Filter - Panasonic MINAS A6N Series Operating Instructions Manual

5
Adjustment
Outline
This function estimates the resonance frequency from the vibrating component which
appears on the motor velocity, and removes the resonance component from the torque
command with adaptive filter, thus reduces the resonance vibration.
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
5-28

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 velocity 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
Rev.2.00