Bosch PIN8 N1 Guia de Resolução de Problemas descarregar pdf (Página 266)

100

101

6-54 Drive Control MPH-02, MPB-02, MPD-02

DOK-INDRV*-MP*-02VRS**-FK01-EN-P

The illustration below shows the position of the filters in the overall control

loop:

P-0-0048

P-0-1125

P-0-0004

P-0-1120

P-0-1121

P-0-1122

P-0-1123

P-0-1125

P-0-0004

P-0-1120

P-0-1121

P-0-1122

P-0-1123

DF000066v01_en.fh7

feedforward

torque/force

and current

limitation

act

motor

control

filters

velocity

loop

P-0-0004: velocity loop smoothing time constant

P-0-0048: effective velocity command value

P-0-1120: velocity control loop filter: filter type

P-0-1121: velocity control loop filter: limit frequency of low pass

P-0-1122: velocity control loop filter: bandwidth of band-stop filter

P-0-1123: vel. cont. loop filter: center frequency of band-stop filter

P-0-1125: velocity control loop: average value filter clock

Fig. 6-37: Possibilities of filtering in the velocity control loop

In practical application there often occur resonant oscillations that mostly

result from deficiencies or restrictions of the mechanical system:

• limited stiffness of connection between mechanical system and motor

shaft

→ possible resonances within the range of 20 Hz … 1000 Hz

(according to stiffness of connection and mass relations)

• gear play

• bad arrangement of the load-side encoder

→ possible resonances within the range of 1 kHz … 2 kHz (according

to arrangement of encoder)

This "two-mass oscillation" (or multiple-mass oscillation) mostly has one

(or several) distinctive resonance frequency/frequencies that can be

selectively suppressed by the rejection filters integrated in the drive. With

the implemented filter cascade (N = 8) it is possible to selectively

suppress up to 4 different resonance frequencies.

Note: The implemented band-stop filters allow suppressing

resonance frequencies within the frequency range of 100 Hz

to a max. of 4000 Hz.

The upper limit depends on the velocity loop cycle time TA

(sampling theorem).

When suppressing the mechanical resonance frequencies it is possible to

considerably increase the dynamic response of the speed control loop

and of the position control loop, compared to closed-loop control without

using rejection filters. This results in a higher degree of contour precision

and shorter cycle times for positioning processes with sufficient distance

to the stability limit.

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