Adaptive Filter - Panasonic MINAS-A5B Series Technical Reference

5-1-2 Adaptive filter

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.
1) Applicable Range
This function works under the following condition.
Control mode
Others
2) Caution
In the following condition, normal operation may not be expected–manually set the notch filter to prevent
resonance.
Resonance point
Load
Command
3) Parameters
Set the operation of the adaptive filter to the following parameter.
At-
Class No. trib-
ute *1)
Adaptive filter
2 00 B
mode setup
(To be continued)
R1.05
Conditions under which the Adaptive filter is activated
Applies to other control modes than torque control.
• 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 the velocity response frequency × 3 (Hz).
• Resonance peak is low, or control gain is low where the motor velocity is not affected
by this.
• Three or more resonance 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].
Title Range
0–4
Unit
Select the operation mode of adaptive filter:
Setup value 0: Adaptive filter: invalid
The adaptive filter is disabled. Parameters related to the 3rd and
4th notch filter hold the current value.
Setup value 1: Adaptive filter: 1 filter is valid
One adaptive filter is enabled. Parameters related to the 3rd notch
filter will be updated based on adaptive performance.
Setup value 2: Adaptive filter: 2 filters are valid
— Two adaptive filters are enabled. Parameters related to the 3rd and
4th notch filters will be updated based on adaptive performance.
Setup value 3: Resonance frequency measurement mode
Measure the resonance frequency. Result of measurement can be
checked with the setup support software. Parameters related to the
3rd and 4th notch filter hold the current value.
Setup value 4: Clear result of adaptation
Parameters related to the 3rd and 4th notch filter are disabled and
results of adaptive operation are cleared.
Motor Business Division, Appliances Company, Panasonic Corporation
No. SX-DSV02472 -
Function
58-