Delta Tau GEO BRICK LV Manual Do Utilizador
Turbo PMAC User Manual
156
Motor Compensation Tables and Constants
Then compute the filter coefficients:
(
)
z
2
s
T
nz
z
2
36
Ixx
α
ω
ζ
+
−
=
z
1
37
Ixx
α
=
(
)
p
2
s
T
np
p
2
38
Ixx
α
ω
ζ
+
−
=
p
1
39
Ixx
α
=
Finally, modify the proportional-gain term to compensate for the DC-gain change that the filter creates:
p
z
2
nz
2
np
old
30
Ixx
new
30
Ixx
α
α
ω
ω
=
For example, suppose we have identified a 55 Hz resonance in our mechanical coupling. To compensate
for this, we decide to put a lightly damped band-reject filter (damping ratio 0.2) at 50 Hz natural
frequency, and a heavily damped band-pass filter (damping ratio 0.8) at 80 Hz natural frequency to limit
the high-frequency gain of the filter. The servo update time is the default of 442 microseconds.
for this, we decide to put a lightly damped band-reject filter (damping ratio 0.2) at 50 Hz natural
frequency, and a heavily damped band-pass filter (damping ratio 0.8) at 80 Hz natural frequency to limit
the high-frequency gain of the filter. The servo update time is the default of 442 microseconds.
sec
000442
.
0
sec
sec
6
10
sec*
442
s
T
=
−
=
µ
µ
sec
rad
2
.
314
Hz
50
*
2
nz
=
=
π
ω
sec
rad
7
.
502
Hz
80
*
2
np
=
=
π
ω
2
s
T
2
nz
s
T
nz
z
2
1
z
ω
ω
ζ
α
+
+
=
2
000442
.
0
*
2
2
.
314
000442
.
0
*
2
.
314
*
2
.
0
*
2
1
+
+
=
0748
.
1
=
2
s
T
2
np
s
T
np
p
2
1
p
ω
ω
ζ
α
+
+
=
2
000442
.
0
*
2
7
.
502
000442
.
0
*
7
.
502
*
8
.
0
*
2
1
+
+
=
4049
.
1
=
Next we compute the filter coefficients:
(
)
(
)
912
.
1
0748
.
1
2
000442
.
0
*
2
.
314
*
2
.
0
*
2
z
2
s
T
nz
z
2
36
Ixx
−
=
+
−
=
+
−
=
α
ω
ζ
930
.
0
0748
.
1
1
z
1
37
Ixx
=
=
=
α
(
)
(
)
677
.
1
4049
.
1
2
000442
.
0
*
7
.
502
*
8
.
0
*
2
p
2
s
T
np
p
2
38
Ixx
−
=
+
−
=
+
−
=
α
ω
ξ
712
.
0
4049
.
1
1
p
1
39
Ixx
=
=
=
α
Finally, we compute the DC gain adjustment, assuming for the example that our existing proportional
gain term Ixx30 had been 500,000:
gain term Ixx30 had been 500,000: