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Delay Of Digital Filter Tuned For Mechanical Resonant Frequency Reduction In Multi-Mass Mechanical Systems In Electrical Direct Drive


[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] employee

Year of publication


Chapter type


Publication language


  • digital filter
  • delay
  • multi-mass
  • spectral analysis
  • servomotors
  • chirp
  • frequency response
  • notch filter
  • motion control
  • mechanical vibrations
  • direct drive

EN This paper presents a mathematical model of direct drive system. Includes a four-mass structure for the mechanical part. Discusses how to identify the mechanical resonance frequency using two signals: PRBS (pseudo random binary sequence) and chirp. The result is a nonparametric model from which is determined the resonant frequency. Knowledge of resonance frequencies allows to tune determine digital filter for resonance damping. The filter is inserted between the speed controller and current controller. The article discusses the method of determining the delay caused by the filter. Knowledge of total delay is used in the synthesis of the speed controller. In paper were analyzed following filters: notch, reversed resonance characteristics and low-pass. The exact formulas for the group delay was derived for the notch filter. In the last stage of research the control system was tested. Speed setpoint was less than 1 res/s.

Pages (from - to)

195 - 200





9th IEEE European Modelling Symposium on Mathematical Modelling and Computer Simulation (EMS 2015)

Presented on

9th IEEE European Modelling Symposium on Mathematical Modelling and Computer Simulation (EMS 2015), 6-8.10.2015, Madrid, Spain

Publication indexed in

WoS (15)

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