Dynamic Command Notch Filter

A system for reducing mechanical oscillations in a multi-axis control system, the system comprising:

• an industrial controller operative to generate a first command at a first update rate and a second command at a second update rate, wherein the first command is for a dynamic notch filter and the second command is a desired motion of at least one motor;
• and
• a plurality of motor drives in communication with the industrial controller, wherein each motor drive:
• controls operation of at least one motor in the multi-axis control system,
• receives the first command and the second command from the industrial controller,
• changes operation of the dynamic notch filter as a function of the first command at the first update rate,
• passes the second command through the dynamic notch filter to obtain a filtered command, and
• generates an output voltage for desired operation of the at least one motor connected to the motor drive as a function of the filtered command.

A method for reducing mechanical oscillations in a multi-axis control system, the method comprising the steps of:

• receiving at each of a plurality of motor drives a feedback signal corresponding to an angular position of a motor, wherein the motor is operatively connected to one of the plurality of motor drives and the feedback signal is provided to a corresponding motor drive to which the motor is operatively connected;
• transmitting the angular position of the motor from each of the plurality of motor drives to an industrial controller;
• generating at the industrial controller a first command for a dynamic notch filter at a first update rate;
• generating at the industrial controller a second command for desired operation of the motor connected to each of the plurality of motor drives at a second update rate;
• changing operation of the dynamic notch filter as a function of the first command at the first update rate;
• passing the second command through the dynamic notch filter to generate a filtered command;
• generating a desired output voltage for desired operation of the motor in each of the plurality of motor drives at a third update rate and as a function of the filtered command, wherein the third update rate is faster than the second update rate.