Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
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Modes of Operation
Chapter 10
As shown in the previous two examples, if the value of parameter ID210 (P2.025)
ResonanceSuppressionLowPassFilterTime is increased from 0, the bandwidth
(BW) becomes smaller. Although it solves the problem of resonance, it also
reduces the response bandwidth and phase margin, and thus the system becomes
unstable.
If the resonance frequency is known, you can mitigate the suppression by using
the Notch filter, which is better than the low pass filter in this case. If the
resonance frequency drifts along with time or other causes and the drifting
amount is too great, using notch filter is not recommended.
The following figure shows the system open-loop gain with resonance
suppression.
When the value of parameter ID210 (P2.025) is increased from 0, BW becomes
smaller. Although it solves the problem of resonance frequency, the response
bandwidth and phase margin are reduced. Also, the system becomes unstable.
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