Panasonic MINAS A5-series, Руководство по эксплуатации

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5-30
5
5. Manual Gain Tuning (Application)
Adjustment
Disturbance observer
Outline
This function uses the disturbance torque determined by the disturbance observer to re -
duce effect of disturbance torque and vibration.
Applicable Range
This function can be applicable only when the following conditions are satisfied.
Conditions under which the disturbance observer is activated
Control mode
• Control mode to be either or both position control or/and velocity control.
Pr0.01 = 0 : Position control
Pr0.01 = 1 : Velocity control
Others
• Should be in servo-on condition
• Input signals such as the deviation counter clear and command input
inhibit, and parameters except for controls such as torque limit setup, are
correctly set, assuring that the motor can run smoothly.
• Real-time auto-tuning should be disabled. (Pr0.02=0)
• Instantaneous speed observer should be disabled. (Pr6.10=0)
• Gain switchover should be enabled.
Caution
Effect may not be expected in the following condition.
Conditions which obstruct disturbance observer action
Load
• Resonant frequency is lower than the cutoff frequency estimated by the
disturbance observer.
• Disturbance torque contains many high frequency components.
Disturbance observer
Estimated disturbance torque value
Motor speed
Added in the direction to
cancel the disturbance
Motor + load
Load model
+
+
+
+ –
–
Disturbance torque
Torque command
Torque command
Gain
Filter
Set in Pr6.23
Set in Pr6.24
Related page
• P.4-4... , P.4-52 “Details of parameter”