MOOG
ID
No.:
CB40859-001
Date:
02/2018
MSD Servo Drive - Device Help
128
7 Control
ID
Index Name
Unit
Description
371
0
CON_IP_RefTF
ms
304
0
ms
2939
0
ms
325
325
0
Hz
325
1
Hz
325
2
Hz
325
3
Hz
326
0
327
CON_SConTS
CON_SCON_TorqueTF
Digital filter
CON_SCON_FilterFreq
CON_SCON_FilterFreq
CON_SCON_FilterFreq
CON_SCON_FilterFreq
CON_SCON_FilterFreq
CON_SCON_FilterAssi
CON_SCON_FilterPara
327
0
Speed reference filter time constant (SCON
mode)
Speed control sampling time
Actual torque filter time
Digital filter / speed controller settings
Filter frequencies of digital filter
1st center/cutoff
1st width
2nd center/cutoff
2nd width
Digital filter design assistant
Coefficients of digital filter
b0*x(k)
327
1
327
2
327
3
327
4
327
5
327
6
327
7
327
8
FilterPara b0
FilterPara b1
FilterPara b2
FilterPara b3
FilterPara b4
FilterPara a1
FilterPara a2
FilterPara a3
FilterPara a4
b1*x(k-1)
b2*x(k-2)
b3*x(k-3)
b4*x(k-4)
a1*y(k-1)
a2*y(k-2)
a3*y(k-3)
a4*y(k-4)
1550
0
1551
0
1552
1552
0
Hz
1552
1
SCD_NotchType
SCD_NotchCntl
SCD_NotchFreq
SCD_NotchFreq
SCD_NotchLambda
Hz/min^-
2
Adaptive Notch filter: Method
Adaptive Notch filter: Control word
Adaptive Notch filter: Frequencies
Adaptive Notch filter: Frequency
Adaptive Notch filter: Coefficient
1552
2
Hz
1552
3
Hz
1552
4
SCD_NotchMinFreq
SCD_NotchMaxFreq
SCD_NotchDeltaFreq
Hz
401
0
Nm (N)
402
0
1/min
Adaptive Notch filter: Min. frequency
Adaptive Notch filter: Max. frequency
Adaptive Notch filter: Maximum frequency
change (in each iteration)
Advanced analysis of the speed controller
Additive torque reference
Additive speed reference value (without ramp)
Analysis of Speed control
CON_SCON_AddTRef
CON_SCON_AddSRef
Scope signals (advanced)
Observer
Scope signals (basic)
Table 7.10: “Speed controller” parameter (continue)
7.4.1 Advanced speed control
Fig. 7.21: “Speed controller advanced setup” dialog box
7.4.1.1 Observer
The phase shifts over time in the feedback branch generate high-frequency noise as
well as high-frequency resonances. The single-mass observer reduces these high-
frequency interference and increases the control dynamism.
The function of the observer is based on the mathematical description of the
controlled system which calculates the trend over time of the state variables under
the influence of the input variables. The difference between the measured and the
estimated state variables is fed back to the estimated state variables via a feedback
