Справочник Пользователя для Mitsubishi Electronics MDS-R

 
 
 

 

 

9 - 17

 

The disturbance observer can reduce the effect caused by disturbance, frictional resistance or 
torsion vibration during cutting by estimating the disturbance torque and compensating it. It also is 
effective in suppressing the vibration caused by speed leading compensation control. 

<1> Adjust VGN1 to the value where vibration does not occur, and then lower it 10 to 20%. 
<2> Set the load inertia scale (SV037 (JL)) with a percentage in respect to the motor inertia of the 

total load inertia. 

<3> Set the observer filter band (observer pole) in the disturbance observer 1 (SV043 (OBS1)), and 

estimate the high frequency disturbance to suppress the vibration. Set "100" as a standard. 

<4> Set the observer gain in disturbance observer 2 (SV044 (OBS2)). The disturbance observer 

will function here for the first time. Set 100 first, and if vibration does not occur, increase the 
setting by 50 at a time to increase the observer effect. 

If the load inertia is not clear, it can be estimated with the following method. 
<1> Set the torque offset (SV032 (TOF)) for the unbalance axis. (Refer to "9-3-4 (2) Unbalance 

torque compensation".) 

<2> Set JL = 100, OBS1 = 600 and OBS2 =0, and reciprocate the axis within the range that it can 

be moved smoothly. Set the acceleration/deceleration time constant so that the acceleration/ 
deceleration torque is larger than the stall (rated) torque (100% or more). 

<3> Measure the estimated disturbance torque with the D/A output, and raise JL until the 

disturbance torque during acceleration/deceleration is small (until it cannot be observed). Even 
when the torque offset is set and JL is an appropriate value, if the axis has a large friction, the 
frictional torque will remain in the estimated disturbance torque. Judge the JL setting value, 
with frictional torque remaining, as the machine's load inertia scale as shown below. 

 

 

Speed 

command 

Estimated 

disturbance 

torque 

0

0

Time

0

0

Time

0

0

Time

Frictional torque

 

 

Set "the motor inertia + motor axis conversion load inertia" in respect to the 
motor inertia. 

Jl+Jm 

Jm : Motor inertia 

SV037 

JL 

Load inertia scale 

SV037(JL) =

Jm 

*100 

Jl : 

Motor axis conversion load inertia 

0 to 5000 

(%) 

SV043 OBS1 Disturbance 

observer 

filter frequency 

Set the disturbance observer filter band. 

Set to "100" as a standard. 

To use the disturbance observer, also set SV037 (JL) and SV044 (OBS2). 
When not using, set to "0". 

0 to 1000 

(rad/s) 

SV044 OBS2 Disturbance 

observer 

gain 

Set the disturbance observer gain. The standard setting is "100" to "300". 

To use the disturbance observer, also set SV037 (JL) and SV043 (OBS1). 
When not using, set to "0". 

0 to 500 

(%) 

 

 

1.  The estimated disturbance torque can be output to the D/A output even if the 

disturbance observer gain is zero (OBS2 = 0), and the disturbance observer 
is not functioning. 

2.  Sections at which the machine is not moving smoothly are estimated as the 

disturbance. 

3.  The lost motion compensation must be readjusted when the disturbance 

observer is started.