Filters, Chapter 7: filters, Simpliq – ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference User Manual
Page 282: Drive algorithms. the
Chapter 7: Filters
The filter serves as a basic building block for the
SimplIQ
drive algorithms. The
SimplIQ
drive uses a filter mechanism in the following:
The speed controller high-order filter, which is a control filter placed between the
speed PI controller and the torque controller.
The position controller high-order filter, a control filter placed between the position
controller gain and the speed PI controller.
The analog reference signal to the speed controller, which can be filtered
Analog sensors may be filtered.
All of these filters are parameterized the same way. Each filter is built by one or more
second-order links, connected in a series, as depicted in the following two-block
example:
In the top frame, the first block in the series is a second-order low-pass filter; the next
one is a notch filter. The bottom frame contains a fourth-order filter resulting from
applying the notch filter in series with the low-pass filter.
A first-order filter link can be made by setting some of the second-order filter
parameters to zero. The filters are implemented in a normalized form, meaning that
the DC gain of each filter (and of the entire filter series) is 1.0.
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Two links in series
4th order
i l
SimplIQ for Steppers Application Note
Filters
MAN-STECR (Ver. 1.1)
83