Siemens SINAMICS S120 Function Manual page 620

Function modules
8.14 Advanced Position Control (including Active Vibration Suppression)
APC filter
The filter is used to stabilize the control. For SINUMERIK, in HMI Operate screen form-
based support is provided using menu "Commissioning > Optimization/test > Active filter >
Filter group ". In STARTER there is no screen form-based support for parameterizing the
filter. This must be carried out in the Expert list.
● For each filter you can individually select as to whether it should be a general 2nd order
filter - or a lowpass (PT2) filter (p3705).
● The transfer function can be found in Chapter "Current setpoint filter (Page 103)" under
the sub-heading "Transfer function: General 2nd order filter". The structure of the APC
filter is identical to that of the current setpoint filters.
● The parameters required to assign the filter parameters are shown in the function block
diagram 7012.
● The filter subsampling is helpful for low filter frequencies (p3706 or p3707). Check the
filter effect by analyzing the frequency response.
Observe the phase rotation as a result of filtering. The phase rotation may mean that there is
not enough phase reserve for the APC control loop.
Dependency on the parameter set
Most APC parameters are dependent on DDS (you can find more detailed information on
this topic, for example in the SINAMICS S120_S150_List_Manual). If a DDS switchover is
parameterized, then the corresponding APC parameters must be copied into the data sets.
For the "APC without sensor on the load side" function, parameters p0341, p0342 and p1498
are used to calculate to the moment of inertia. Parameters p0341 and p0342 are dependent
on the motor data set. Parameter p1498 is dependent on DDS. These parameters can be
used to emulate, for example, different load states of the axis for different APC settings.
Activation parameter p3700 is not dependent on any parameter set. The configuration of
APC acts the same on all data sets.
The BICO sink for the acceleration sensor (p3750) and for the velocity actual value (p3749)
are dependent on CDS. If CDS data sets have been created, then these two parameters
must be appropriately handled.
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Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Drive functions