Manual notch filter
A) Analyze resonance frequency;
Using the manual notch filter, it's necessary to set the notch filter frequency as actual resonance frequency.
The resonance frequency can be obtained by driving the oscilloscope interface of debugging platform, and there are 2 methods as follows:
Obtained by the motor current displayed on oscilloscope interface(phase current/torque command/current feedback). As shown in the figure below, the measured period is 0.625ms, and the calculated resonance frequency is:
① Obtained by "resonance point identification" function on oscilloscope interface. As shown in the figure below, the measured resonance frequency is 1593.750Hz.
B) Input the resonance frequency obtained in Step A) into notch frequency parameter of a notch filter, and other parameters generally don't need to be set;
If resonance is suppressed, it proves that the notch filter is effective and the gain can be further adjusted. If new resonance occurs after the gain increases, repeat steps A) to B);
If vibration can't be eliminated for a long time, please turn off the servo enable in time to reduce the loop gain.