Panasonic Minas-LIQI Series Technical Reference

Contents

№SR-ZSV00039 － 31 －Motor Business Unit, Appliances Company, Panasonic Corporation5－1－2 Adaptive FilterVibrations are reduced by estimating resonance frequency on the basis of vibration components appearingin motor speeds under actual operations, and by removing the resonance components from torque com-mand.1) Scope of applicationThis function is enabled under the following conditionsConditions for the functioning of adaptive filterControl mode Control mode must be that other than torque control mode.Other In servo On status. Factors other than control parameters, such as prohibition of deviation counter clearingcommand input and torque limiter, are appropriately specified and normal motor rotationis possible with no problems.2) CautionsThe adaptive filter may not function normally in the following conditions. If that happens, manuallyconfigure the notch filters for suppressing resonance.Conditions that interfere with operations of adaptable filterResonance point When a resonance frequency is lower than 3 times as high as speed respondingfrequency [Hz]. The resonance peak is low or control gain is low and its effect is not observed in themotor speed. Three or more resonance points exist.Load  Motor speed variation including a high-frequency component is generated due to anynonlinear factor such as backlash.Command pattern  Acceleration/deceleration is rapid at 30000 [r/min] in 1 [s] or higher.3) Related parametersThe operation of the adaptive filter can be specified by using the following parameters.Category No. Parameter Setup range Unit Function2 00 Adaptive filter modesetup 04 Operating mode of adaptive filter is specified.Setting value 0: Adaptive filter invalidAdaptive filter is Invalid. Current values are retained forparameters related to 3rd and 4th Notch filter.Setting value 1: One adaptive filter is valid.One adaptive filter is made valid. Update parameters relatedwith 3rd Notch filter in accordance with adapting results.Setting value 2: Two adaptive filters are valid.Two adaptive filters are valid. Update parameters related with3rd and 4th Notch filter in accordance with adapting results.Setting value 3: Resonance frequency measurement modeResonance frequency is measured. Measurement results areverified on PANATERM. Current values are retained forparameters related to 3rd and 4th Notch filter.Setting value 4: Clearing adapting results.Parameters related to 3rd and 4th Notch filter are made invalidand adapting results are cleared.(Continued)