Baumuller b maXX BM2500, Operating Manual

Page: 236 / 822

Configuration
Parameter manual b maXX BM3000
Document no.: 5.12001.07 Baumüller Nürnberg GmbH
236
of 820
4.4
4.4.14 Filter
The filter module contains a general digital IIR filter function (IIR = Infinite Impulse Re-
sponse) which is typically used as an actuating variable filter (Isq filter). The order
(
Z
29.8
–
) of the filter (maximum 7) and the filter coefficients (
Z
29.9
–
to
Z
29.23
–
) can be
freely set as parameters. The transfer function in the z-domain is:
Figure 101: Equation for filter order
where the z
-k
are the lag elements about the k-cycle.
The filter module works between the speed controller and the current controller. It can be
switched on and off using the Module command (
Z
29.1
–
).
4.4.14.1 ProDrive filter
The filter is set via the individual coefficients. In addition to this ProDrive provides an op-
erating support by which single filters can be parameterized. There are five different filters
under the window Controller

Control structure

Polynominal, which are supported at
parameterization:
– PT
1
filter (single or bilinear)
n
Low-pass filter with damping from the cutoff frequency which was set, onwards.

n
n
The bilinear filter offers better damping of higher frequencies

– Notch filters
n
Single notch filter with settable blocking frequency and bandwidth

F s
 
1
Ts 1 +
--------------- =