伺服電機的三(san)種(zhong)(zhong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)方(fang)(fang)(fang)式, 一(yi)般伺服都(dou)(dou)有三(san)種(zhong)(zhong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)方(fang)(fang)(fang)式:速(su)度控(kong)(kong)(kong)制(zhi)(zhi)(zhi)方(fang)(fang)(fang)式,轉矩控(kong)(kong)(kong)制(zhi)(zhi)(zhi)方(fang)(fang)(fang)式,位置控(kong)(kong)(kong)制(zhi)(zhi)(zhi)方(fang)(fang)(fang)式 。我想(xiang)知(zhi)(zhi)道的就是這(zhe)三(san)種(zhong)(zhong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)方(fang)(fang)(fang)式具體根據什(shen)么(me)(me)來選擇的?我是做數(shu)控(kong)(kong)(kong)的,一(yi)般都(dou)(dou)是采用(yong)的速(su)度控(kong)(kong)(kong)制(zhi)(zhi)(zhi)方(fang)(fang)(fang)式,這(zhe)個好象是NC中(zhong)的軸控(kong)(kong)(kong)制(zhi)(zhi)(zhi)卡決(jue)定的。還有我就是想(xiang)知(zhi)(zhi)道這(zhe)三(san)種(zhong)(zhong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)方(fang)(fang)(fang)式有沒有性(xing)能上的差別?分別都(dou)(dou)使用(yong)在(zai)什(shen)么(me)(me)場合?
速(su)度控制(zhi)和(he)轉矩控制(zhi)都(dou)是用模擬(ni)量來(lai)(lai)控制(zhi)的(de)。位置控制(zhi)是通(tong)過發脈沖來(lai)(lai)控制(zhi)的(de)。具體采用什么控制(zhi)方式要(yao)根據(ju)客(ke)戶的(de)要(yao)求,滿(man)足何種運動功能來(lai)(lai)選擇。
如果您對(dui)電機的速度、位(wei)置都沒有(you)要(yao)求,只要(yao)輸出一個恒轉矩,當然(ran)是用轉矩模式。
如(ru)果對(dui)位(wei)(wei)置(zhi)和速度有(you)一定的(de)(de)精度要(yao)求(qiu),而對(dui)實(shi)時轉矩不(bu)(bu)是很關心,用(yong)(yong)轉矩模式不(bu)(bu)太方便,用(yong)(yong)速度或(huo)位(wei)(wei)置(zhi)模式比較(jiao)好(hao)。如(ru)果上(shang)位(wei)(wei)控(kong)(kong)制(zhi)(zhi)(zhi)器(qi)有(you)比較(jiao)好(hao)的(de)(de)閉環控(kong)(kong)制(zhi)(zhi)(zhi)功能,用(yong)(yong)速度控(kong)(kong)制(zhi)(zhi)(zhi)效果會(hui)好(hao)一點。如(ru)果本身要(yao)求(qiu)不(bu)(bu)是很高,或(huo)者(zhe),基本沒(mei)有(you)實(shi)時性的(de)(de)要(yao)求(qiu),用(yong)(yong)位(wei)(wei)置(zhi)控(kong)(kong)制(zhi)(zhi)(zhi)方式對(dui)上(shang)位(wei)(wei)控(kong)(kong)制(zhi)(zhi)(zhi)器(qi)沒(mei)有(you)很高的(de)(de)要(yao)求(qiu)。
就(jiu)伺(si)服(fu)驅(qu)(qu)動器的(de)響應速度(du)來看,轉矩模式運(yun)算量(liang)最小,驅(qu)(qu)動器對(dui)控制(zhi)信號的(de)響應最快(kuai);位置模式運(yun)算量(liang)最大,驅(qu)(qu)動器對(dui)控制(zhi)信號的(de)響應最慢。
對(dui)運動(dong)中(zhong)的(de)動(dong)態性能有比(bi)較(jiao)高(gao)的(de)要求時(shi)(shi),需要實(shi)時(shi)(shi)對(dui)電(dian)機(ji)進(jin)行(xing)調整(zheng)。那么(me)如(ru)果(guo)(guo)(guo)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器(qi)(qi)(qi)本身(shen)的(de)運算(suan)速(su)度(du)很(hen)慢(比(bi)如(ru)plc,或(huo)低端(duan)運動(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器(qi)(qi)(qi)),就用位(wei)置方式(shi)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)。如(ru)果(guo)(guo)(guo)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器(qi)(qi)(qi)運算(suan)速(su)度(du)比(bi)較(jiao)快,可以(yi)用速(su)度(du)方式(shi),把位(wei)置環從驅(qu)動(dong)器(qi)(qi)(qi)移到(dao)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器(qi)(qi)(qi)上(shang)(shang),減(jian)少驅(qu)動(dong)器(qi)(qi)(qi)的(de)工作量,提高(gao)效(xiao)率(比(bi)如(ru)大(da)部分中(zhong)高(gao)端(duan)運動(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器(qi)(qi)(qi));如(ru)果(guo)(guo)(guo)有更好(hao)的(de)上(shang)(shang)位(wei)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器(qi)(qi)(qi),還可以(yi)用轉矩方式(shi)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi),把速(su)度(du)環也(ye)從驅(qu)動(dong)器(qi)(qi)(qi)上(shang)(shang)移開(kai),這(zhe)一般只是高(gao)端(duan)專(zhuan)用控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器(qi)(qi)(qi)才(cai)能這(zhe)么(me)干(gan),而且,這(zhe)時(shi)(shi)完全(quan)不需要使(shi)用伺(si)服電(dian)機(ji)。
一般說驅動(dong)器(qi)控(kong)制(zhi)的(de)(de)(de)(de)好(hao)不好(hao),每個(ge)廠家的(de)(de)(de)(de)都說自己做(zuo)的(de)(de)(de)(de)最好(hao),但是(shi)現在有個(ge)比較直觀的(de)(de)(de)(de)比較方(fang)式,叫(jiao)響應帶寬(kuan)。當轉矩(ju)控(kong)制(zhi)或者速(su)度控(kong)制(zhi)時(shi),通過脈(mo)沖發生器(qi)給他一個(ge)方(fang)波(bo)信號(hao),使(shi)電(dian)機不斷的(de)(de)(de)(de)正轉、反轉,不斷的(de)(de)(de)(de)調高頻(pin)率,示(shi)波(bo)器(qi)上顯示(shi)的(de)(de)(de)(de)是(shi)個(ge)掃頻(pin)信號(hao),當包絡(luo)線的(de)(de)(de)(de)頂點到達最高值的(de)(de)(de)(de)70.7%時(shi),表示(shi)已經失步,此時(shi)的(de)(de)(de)(de)頻(pin)率的(de)(de)(de)(de)高低(di),就能(neng)顯示(shi)出誰的(de)(de)(de)(de)產品牛了,一般的(de)(de)(de)(de)電(dian)流環能(neng)作(zuo)到1000Hz 以上,而速(su)度環只能(neng)作(zuo)到幾十赫茲。
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