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docs: Added description of MZV input shaper

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Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
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Dmitry Butyugin
2025-10-02 01:28:43 +02:00
committed by KevinOConnor
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docs/Resonance_Compensation.md
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@@ -457,11 +457,24 @@ parameter described in [this section](#selecting-max_accel)).
### Input shapers
Input shapers used in Klipper are rather standard, and one can find more
in-depth overview in the articles describing the corresponding shapers.
This section contains a brief overview of some technical aspects of the
supported input shapers. The table below shows some (usually approximate)
parameters of each shaper.
supported input shapers. Input shapers used in Klipper are rather standard,
with the exception of MZV, and one can find more in-depth overview in
the articles describing the corresponding shapers.
MZV stands for a Modified-ZV input shaper. The classic definition of ZV shaper
assumes the duration Ts equal to 1/2 of the damped period of oscillations Td and
has two pulses. However, ZV input shaper has a generalized form for an arbitrary
duration in the range (0, Td] with three pulses (Specified-Duration ZV, see also
SNA-ZV), with a negative middle pulse if Ts < Td and a positive one if Ts > Td.
The MZV shaper was designed as an intermediate shaper between ZV and ZVD,
offering better vibrations suppression than ZV when the determined (measured)
shaper parameters deviate from the ones actually required by the printer,
and smaller smoothing than ZVD. Effectively, it is a SD-ZV shaper with the
specific duration Ts = 3/4 Td, exactly between ZV (Ts = 1/2 Td) and
ZVD (Ts = Td), and it happens to work well for many real-life 3D printers.
The table below shows some (usually approximate) parameters of each shaper.
| Input <br> shaper | Shaper <br> duration | Vibration reduction 20x <br> (5% vibration tolerance) | Vibration reduction 10x <br> (10% vibration tolerance) |
|:--:|:--:|:--:|:--:|