Tunable digital filter structures for resonant frequency effect reduction in direct drive

The paper presents the structure of the filters used to filter the signal speed in the drive with elastic connection. The use of a filter is recommended in case when the control system is not able to actively suppress the mechanical resonance frequency. Filters described in the literature are presented in the form of continuous operation. The control system requires the implementation of digital filters. Digital filters are presented with those formulas which allow for tuning the filters in real time.