VL.ARPQ1 TO VL.ARPQ4
Description
VL.ARPQ1 sets the Q (quality factor) of the pole (denominator) of AR filter 1. This value is QP in the approximate transfer function of the filter:
ARx(s) = [s²/(2πFZ)²+s/(QZ2πFZ) + 1]/ [s²/(2πFP)² +s/(QP2πFP) + 1]
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 torqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist 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-1)/t, where t = 62.5 µs
The poles are prewarped to FP and the zeros are prewarped to FZ.
General Information
Type |
R/W Parameter |
Units |
None |
Range |
0.2 to 20 |
Default Value |
VL.ARPQ1: 0.707 VLARPQ2 to VLARPQ4: 0.5 |
Data Type |
Float |
See Also |
VL.ARPF1 TO VL.ARPF4 , VL.ARZF1 TO VL.ARZF4 , VL.ARZQ1 TO VL.ARZQ4 |
Start Version |
M_01-02-00-000 |
FieldbusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design | Index/Subindex | Object Start Version | |
---|---|---|---|
/5 |
M_01-02-00-000 | ||
/6 |
|||
/7 |
|||
/8 |
Related Topics