ABB SPBRC300 DC output card

The Anti-Resonance Filters “ARF0” and “ARF1” are used as separate low pass filters in the velocity loop to filter out undesired high frequency velocity loop noise. The defined filter frequency is the crossover frequency for the low pass filter. The filters reduce resonance problems by filtering the noise that excites mechanical resonances at 20dB/decade above the defined frequency. Each filter individually adds 45° of electrical phase shift (lag) to the velocity loop at the defined frequency. This phase lag can become part of the cause for mechanical resonance if the mechanical natural resonant frequency is lower than the velocity loop crossover (In Band). In band resonances are very unlikely for a well designed mechanical system.

Adjust 

Increasing KVP will increase performance and response Decreasing KVP will reduce performance and response Increasing KVI increases stiffness, and reducing KVI increases sponginess Increasing ARF’s reduces effect of filter on high frequency noise and allows higher velocity loop BW

Limits 

Velocity loop BW should be 0 to 400 Hz. Velocity loop BW is also limited by ARF0 and ARF1. Inertia_ratio should be < 100:1 KVI should be 15 times < velocity loop BW, look for velocity oscillation or overshoot. Range 0 to 636 Hz. ARF0 should be ≥ velocity BW * 2 and < 1,000,000[Hz] ARF1 should be ≥ velocity BW * 2 and < 1,000,000[Hz] ARF0 and ARF1 filter values should increase proportionally with Veloicy loop BW. The default BW is 75 Hz, assuming an inertia ratio of 2*JM. If you increase BW using KVP, you should also increase the filters with the following relation: New ARFx = (Default ARFx)*K

                                                                        

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