Kollmorgen AKD-C01007-MCEC Benutzerhandbuch Seite 1144

AKD Benutzerhandbuch | 24.46.2 VL.ARPQ1 TO VL.ARPQ4
Fieldbus Index/Subindex
Modbus
Description
VL.ARPQ1 sets the Q (quality factor) of the pole (denominator) of AR filter 1. This value is Q
approximate transfer function of the filter:
ARx(s) = [s²/(2πF
The following block diagram describes the AR filter function; note that AR1 and AR2 are in the forward
path, while AR3 and AR4 are applied to feedback:
AR1, AR2, AR3, and AR4 are used in velocity and position mode, but are disabled in torque mode.
Discrete time transfer function (applies to all AR filters)
The velocity loop compensation is actually implemented as a digital discrete time system function on the
DSP. The continuous time transfer function is converted to the discrete time domain by a backward Euler
mapping:
s ≈ (1-z
The poles are prewarped to F
Related Topics
Geschwindigkeitsregelkreis (S. 152)
Is 64 bit? Attributes Signed? Object Start Version
816 VL.ARPQ1
818 VL.ARPQ2
No
820 VL.ARPQ3
822 VL.ARPQ4
)²+s/(Q 2πF
Z Z
-1
)/t, where t = 62.5 µs
and the zeros are prewarped to F
P
32 bit No M_01-03-00-000
) + 1]/ [s²/(2πF )² +s/(Q
Z P
.
Z
in the
P
2πF ) + 1]
P P
KOLLMORGEN | Mai 2014 1144