No. SX-DSV02472 -
81-
5-2-10 Disturbance observer function
This function uses the disturbance torque determined by the disturbance observer to reduce effect of disturbance
torque and vibration.
Motor + load
+
-
Load model
+
-
Filter
Gain
+
+
Disturbance observer
Added in the
direction to cancel
the disturbance
Set in Pr 6.23
Set in Pr 6.24
Estimated
disturbance torque
Disturbance torque
Motor velocity
Torque command
Torque command
(1) Applicable Range
This function can be applicable only when the following conditions are satisfied.
Conditions under which the disturbance observer is activated
Control model
• Control mode to be either or both position control (semi-closed control) or/and velocity
control.
Others
• Should be in servo-on condition
• 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. (Pr 0.02=0)
• Instantaneous velocity observer should be disabled. (Pr 6.10 bit0=0)
(2) 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.
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation
