From c570f4e095a424c61e0ee7974f4d8788841d3058 Mon Sep 17 00:00:00 2001 From: Dmitry Butyugin Date: Thu, 2 Oct 2025 01:28:43 +0200 Subject: [PATCH] docs: Added description of MZV input shaper Signed-off-by: Dmitry Butyugin --- docs/Resonance_Compensation.md | 21 +++++++++++++++++---- 1 file changed, 17 insertions(+), 4 deletions(-) diff --git a/docs/Resonance_Compensation.md b/docs/Resonance_Compensation.md index 436c762b4..43ceac8f0 100644 --- a/docs/Resonance_Compensation.md +++ b/docs/Resonance_Compensation.md @@ -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
shaper | Shaper
duration | Vibration reduction 20x
(5% vibration tolerance) | Vibration reduction 10x
(10% vibration tolerance) | |:--:|:--:|:--:|:--:|