NotchFilterFrequency

General

Functional Description

The parameter is used to enter the frequency of the NotchFilter in the velocity control loop in Hz (hertz).

At this frequency, the notch filter reaches its maximum damping which is adjusted via the NotchFil­terDamping parameter. The frequency can be adjusted to values between 10...4000 Hz.

The notch filter is used to specifically filter a mechanical resonance frequency in order to achieve higher amplifications especially in the velocity controller but also in the position controller. In doing so, detected deviations can be better corrected and tracking deviation can be reduced.

The filter frequency must be adjusted to the resonance frequency. In general, an incorrectly set filter frequency impairs the control performance also in comparison with the parameterization without notch filter since the notch filter phase offset shifts with the filter frequency in the frequency range.

In addition, the NotchFilterDamping and NotchFilterBandwidth parameter must be adjusted. If several resonance frequencies occur simultaneously, that with the highest amplitude has to be reduced by using the notch filter. Alternatively, high-frequency resonances can also be reduced by using the low pass filters VelFilter and CurrRefFilter. The optimal conditions must be determined.

NOTE: This parameter can be determined as of firmware version V01.50.x.0 by using the AutoTune automatic controller optimization.

This parameter has no effect for asynchronous motors in open-loop V / f mode (ControlMode = open-loop control / 1).