Delta ASD-B2-0121-F, User Manual

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Control Mode of Operation ASDA-B2-F
6-18
September, 2015
6
6.3.6 Resonance Suppression
When resonance occurs, it is probably because the stiffness of the control system is too strong
or the response bandwidth is too fast. Eliminating these two factors might improve the situation.
In addition, low-pass filter (P2-25) and notch filter (P2-23 and P2-24) are provided to suppress
the resonance without changing the control parameters.
Relevant Parameters (Please refer to Chapter 7 for detailed description):
Parameter Abbr. Function
P2-23 NCF1 Resonance Suppression (Notch Filter) (1)
P2-24 DPH1 Resonance Suppression (Notch Filter) Attenuation Rate (1)
P2-43 NCF2 Resonance Suppression (Notch Filter) (2)
P2-44 DPH2 Resonance Suppression (Notch Filter) Attenuation Rate (2)
P2-45 NCF3 Resonance Suppression (Notch Filter) (3)
P2-46 DPH3 Resonance Suppression (Notch Filter) Attenuation Rate (3)
P2-25 NLP Low-pass Filter of Resonance Suppression
Torque
Load
Differentiator
Speed Feed
Forward Gain
P2-07
Notch Filter 2
P2-43, P2-44 Notch Filter 3
P2-45, P2-46
Auto Resonance Suppression
Mode Setting and Resonance
Suppression Detection Level
P2-47, P2-48
Current
Controller
Current
Sensor
PWM
Speed
Estimator
Notch Filter 1
P2-23, P2-24
PI Controller
P2-04, P2-
06
Low-pass
Filter
P2-25
Encoder
Motor
Speed Control Unit
Figure 6-9 Resonance Suppression
There are two sets of notch filter for auto resonance suppression, one is P2-43 (resonance
frequency) and P2-44 (attenuation rate) and the other one is P2-45 (resonance frequency) and
P2-46 (attenuation rate). When the resonance occurs, set P2-47 to 1 or 2 (enable the function of
auto resonance suppression), the servo drive will search for the point of resonance frequency
and suppress the resonance automatically. This function will write the frequency point into P2-43
and P2-45 and the attenuation rate into P2-44 and P2-46. When P2-47 is set to 1, the system will
set P2-47 to 0 (disable the function of auto suppression) automatically after resonance
suppression is completed and the system is stable for 20 minutes. When P2-47 is set to 2, the
system will keep searching for the resonance point.
When P2-47 is set to 1 or 2, but the resonance still exists, please check the value of parameter
P2-44 and P2-46. If the one of the value is 32, it is suggested to reduce the speed bandwidth first
and then start to estimate it again. If the both value are smaller than 32 and the resonance still
exists, please set P2-47 to 0 first and then manually increase the value of P2-44 and P2-46. If
the resonance situation has not been improved, it is suggested to reduce the bandwidth and then
use the function of auto resonance suppression.
When manually increase the value of P2-44 and P2-46, please check if the value of both are