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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 14.14
edited by Stone Wu
on 2022/07/06 15:36
Change comment: There is no comment for this version
To version 14.21
edited by Stone Wu
on 2022/07/06 15:59
Change comment: There is no comment for this version

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... ... @@ -294,6 +294,7 @@
294 294  (% style="text-align:center" %)
295 295  [[image:image-20220706153656-3.jpeg]]
296 296  
297 +Figure 7-5 Position loop gain effect illustration
297 297  
298 298  **(4) Torque instruction filter time**
299 299  
... ... @@ -332,6 +332,10 @@
332 332  
333 333  Table 7-9 Speed feedforward parameters
334 334  
336 +[[image:image-20220706155307-4.jpeg]]
337 +
338 +Figure 7-6 Speed feedforward parameters effect illustration
339 +
335 335  (% class="table-bordered" %)
336 336  |(% style="text-align:center; vertical-align:middle; width:125px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:330px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:746px" %)**Adjustment description**
337 337  |(% style="text-align:center; vertical-align:middle; width:125px" %)P02-11|(% style="text-align:center; vertical-align:middle; width:330px" %)Torque feedforward gain|(% rowspan="2" style="width:746px" %)Increase the torque feedforward gain because the position deviation can be close to 0 during certain acceleration and deceleration. Under the ideal condition of external disturbance torque not operating, when driving in the trapezoidal speed model, the position deviation can be close to 0 in the entire action interval. In fact, there must be external disturbance torque, so the position deviation cannot be zero. In addition, like the speed feedforward, although the larger the constant of the torque feedforward filter, the smaller the action sound, but the greater the position deviation of the acceleration change point.
... ... @@ -350,7 +350,7 @@
350 350  By setting the filter time constant, the torque instruction is attenuated in the high frequency range above the cutoff frequency, so as to achieve the expectation of suppressing mechanical resonance. The cut-off frequency of the torque instruction filter could be calculated by the following formula:
351 351  
352 352  (% style="text-align:center" %)
353 -[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/40.png?rev=1.1]]
358 +[[image:image-20220706155820-5.jpeg]]
354 354  
355 355  **(2) Notch filter**
356 356  
... ... @@ -365,9 +365,9 @@
365 365  The notch width grade is used to express the ratio of the notch width to the center frequency of the notch:
366 366  
367 367  (% style="text-align:center" %)
368 -[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/41.png?rev=1.1]]
373 +[[image:image-20220706155836-6.png]]
369 369  
370 -In formula (7-1), [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/42.png?rev=1.1]] is the center frequency of notch filter, that is, the mechanical resonance frequency; [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/43.png?rev=1.1]] is the width of notch filter, which represents the frequency bandwidth with an amplitude attenuation rate of **-3dB** relative to the center frequency of notch filter.
375 +In formula (7-1), [[image:image-20220706155946-7.png]] is the center frequency of notch filter, that is, the mechanical resonance frequency; ​​​​​​​[[image:image-20220706155952-8.png]] is the width of notch filter, which represents the frequency bandwidth with an amplitude attenuation rate of **-3dB** relative to the center frequency of notch filter.
371 371  
372 372  **(2) Depth grade of notch filter**
373 373  
... ... @@ -378,12 +378,12 @@
378 378  (% style="text-align:center" %)
379 379  [[image:image-20220608174259-3.png]]
380 380  
381 -Figure 7-3 Notch characteristics, notch width, and notch depth
386 +Figure 7-7 Notch characteristics, notch width, and notch depth
382 382  
383 383  (% style="text-align:center" %)
384 -[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/44.png?rev=1.1]]
389 +[[image:image-20220706160046-9.png]]
385 385  
386 -Figure 7-4 Frequency characteristics of notch filter
391 +Figure 7-8 Frequency characteristics of notch filter
387 387  
388 388  (% class="table-bordered" %)
389 389  |(% style="text-align:center; vertical-align:middle; width:113px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:197px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
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