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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 14.17
edited by Stone Wu
on 2022/07/06 15:49
Change comment: (Autosaved)
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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... ... @@ -333,6 +333,10 @@
333 333  
334 334  Table 7-9 Speed feedforward parameters
335 335  
336 +[[image:image-20220706155307-4.jpeg]]
337 +
338 +Figure 7-6 Speed feedforward parameters effect illustration
339 +
336 336  (% class="table-bordered" %)
337 337  |(% 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**
338 338  |(% 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.
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351 351  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:
352 352  
353 353  (% style="text-align:center" %)
354 -[[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]]
355 355  
356 356  **(2) Notch filter**
357 357  
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366 366  The notch width grade is used to express the ratio of the notch width to the center frequency of the notch:
367 367  
368 368  (% style="text-align:center" %)
369 -[[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]]
370 370  
371 -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.
372 372  
373 373  **(2) Depth grade of notch filter**
374 374  
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379 379  (% style="text-align:center" %)
380 380  [[image:image-20220608174259-3.png]]
381 381  
382 -Figure 7-3 Notch characteristics, notch width, and notch depth
386 +Figure 7-7 Notch characteristics, notch width, and notch depth
383 383  
384 384  (% style="text-align:center" %)
385 -[[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]]
386 386  
387 -Figure 7-4 Frequency characteristics of notch filter
391 +Figure 7-8 Frequency characteristics of notch filter
388 388  
389 389  (% class="table-bordered" %)
390 390  |(% 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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