Editing Inertia mismatch
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[[File:motor_vs_load_inertia.jpg|thumb|600px]]In servo motor system, inertia mismatch means the difference of physical inertia between the motor and the load. This is important because any flexibility of motor shaft coupling to load forms an oscillator that has resonance frequency that depends on the inertia mismatch. The higher the load inertia is compared to motor inertia, the lower the resonant frequency comes. | [[File:motor_vs_load_inertia.jpg|thumb|600px]]In servo motor system, inertia mismatch means the difference of physical inertia between the motor and the load. This is important because any flexibility of motor shaft coupling to load forms an oscillator that has resonance frequency that depends on the inertia mismatch. The higher the load inertia is compared to motor inertia, the lower the resonant frequency comes. | ||
− | It is generally to avoid higher than 10:1 inertia mismatch, meaning that load inertia should be no more than 10 times the motor's inertia. However, for good [[servo stiffness]] it is recommended to keep mismatch below 5:1 or even 3:1. The lower the better | + | It is generally to avoid higher than 10:1 inertia mismatch, meaning that load inertia should be no more than 10 times the motor's inertia. However, for good [[servo stiffness]] it is recommended to keep mismatch below 5:1 or even 3:1. The lower the better. |
High inertia mismatch typically causes difficulties achieving good [[servo stiffness]] without getting oscillations/overshooting or instability. | High inertia mismatch typically causes difficulties achieving good [[servo stiffness]] without getting oscillations/overshooting or instability. | ||
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*Reduce torque control bandwidth {{param|TBW}}, note this also requires retuning of velocity and position control gains | *Reduce torque control bandwidth {{param|TBW}}, note this also requires retuning of velocity and position control gains | ||
*Use notch filter that matches the resonance peak frequency (available in IONI Pro and similar drives) | *Use notch filter that matches the resonance peak frequency (available in IONI Pro and similar drives) | ||
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