Specifications

7
MITSUBISHI ELECTRIC
1
SYSTEM DESCRIPTIONS
Adaptive Vibration Suppression and
Mechanical Resonance Suppression
Function
Mechanical constructions often have
inherit resonance points in an upper fre-
quency range of several hundred Hertz.
Increased control gain settings of servo
controller loops can cause to instable
operation due to generation of oscilla-
tions and vibrations.
The automatic compensation of
mechanical resonances is realised by a
socalled Adaptive Filter II. This filter is
implemented as a notch filter, detects
resonance frequencies and reduces the
controller settings (gains) within a cer-
tain bandwith of the resonance point.
Advanced Vibration Suppression
Advanced Vibration Suppression control
is designed to eliminate residual vibra-
tions at the settling time during posi-
tioning operation.
The basic control method is to use a
mechanical vibration model from com-
mand model in order to generate a
motion pattern that prevent large over-
shoot during settling time of positioning
operation and so avoid any vibrations.
Control Functions with Enhanced Tuning Technology
(Machine resonance characteristics)
Gain
Gain
(Machine resonance suppression filter characteristics)
Frequency
Frequency
Anti-resonating
point
Resonating
point
Vibration suppression control OFF
(normal control)


Position
Vibration suppression control ON
Position
 Motor end  Machine end


Motor position and speed
Motor
Torque
command
Command
SYSTEM DESCRIPTION ///
Position and
speed
controller
Machine resonance
suppression filter
Vibration frequency
estimator
Motor
Real-Time Auto-Tuning (RTAT) and
Model Adaptive Control
The powerful Auto Tuning function
automatically and periodically adjusts
all parameters of position, speed and
current controller in the background
during operation.
The controller concept is unique due to
separate control loops for compensation
of control deviations caused by distur
-
bances or changing command values.
Therefore manual controller adjustment
is not required.