A06B-6114-H109 FANUC 伺服放大器

A06B-6114-H109 FANUC 伺服放大器

伺服驱动器是现代传动技术的高端产品，被广泛应用于工业机器人及数控加工中心等自动化设备中。尤其是应用于控制交流永磁同步电机的伺服驱动器已经成为国内外研究热点。当前交流伺服驱动器设计中普遍采用基于矢量控制的电流、速度、位置3闭环控制算法。该算法中速度闭不设计合理与否，对于整个伺服控制系统，特别是速度控制性能的发挥起到关键作用。

伺服驱动器(servo drives)又称为“伺服控制器”、“伺服放大器”，是用来控制伺服电机的一种控制器，其作用类似于变频器作用于普通交流马达，属于伺服系统的一部分，主要应用于高精度的定位系统。一般是通过位置、速度和力矩三种方式对伺服电机进行控制，实现高精度的传动系统定位，目前是传动技术的高端产品。

在伺服昭驱动器速度闭环中，电机转子实时速度测量精度对于改善速度环的转速控制动静态特性至关重要。为寻求测量精度与系统成本的平衡，一般采用增量式光电编码器作为测速传感器，与其对应的常用测速方法为MT测速法。M/T测速法虽然具有一定的测量精度和较宽的测量范围，但这种方法有其固有的缺陷，主要包括:1)）测速周期内必须检测到至少一个完整的码盘脉冲，限制了zui低可测转速; 2)用于测速的2个控制系统定时器开关难以严格保持同步，在速度变化较大的测星场合中无法保证测速精度。因此应用该测速法的传统速度环设计方案难以提高伺服驱动器速度跟随与控制性能能。

伺服驱动器原理:目前主流的伺服驱动器均采用数字信号处理器(DSP)作为控制核心，可以实现比较复杂的控制算法，实现数字化、网络化和智能化。功率器件普遍采用以智能功率模块(IPM)为核心设计的驱动电路，IPM内部集成了驱动电路，同时具有过电压、过电流、过热、欠压等故障检测保护电路，在主回路中还加入软启动电路，以减小启动过程对驱动器的冲击。

A06B-6114-H109 FANUC 伺服放大器

Servo drive is a high-end product of modern transmission technology, which is widely used in industrial robots and CNC machining centers and other automation equipment. In particular, the servo drive used to control AC permanent magnet synchronous motor has become a research hotspot at home and abroad. The current, speed and position-3 closed-loop control algorithm based on vector control is widely used in the design of AC servo drivers. Whether the speed closure design is reasonable or not in this algorithm plays a key role in the whole servo control system, especially in the performance of speed control.

servo drives (servo drives), also known as "servo controller", "servo amplifier", is a controller used to control the servo motor, its role is similar to the frequency converter acting on the ordinary AC motor, is a part of the servo system, mainly used in high-precision positioning system. Generally, the servo motor is controlled through three ways of position, speed and torque to achieve high-precision transmission system positioning, and it is currently a high-end product of transmission technology.

In the speed closed loop of servo actuator, the real-time speed measurement accuracy of motor rotor is very important to improve the dynamic and static characteristics of speed control of speed loop. In order to find the balance between measurement accuracy and system cost, incremental photoelectric encoder is generally used as the speed measurement sensor, and the corresponding speed measurement method is MT. Although M/T velocity measurement method has a certain measurement accuracy and a wide measurement range, but this method has its inherent defects, mainly including :1) the speed measurement cycle must detect at least one complete code pulse, limiting the minimum measurable speed; 2) The timer switches of the two control systems used for speed measurement are difficult to maintain strict synchronization, and the accuracy of speed measurement cannot be guaranteed in star measurement occasions with large speed changes. Therefore, it is difficult to improve the speed following and control performance of servo drive by using the traditional speed loop design method.

Servo driver principle: At present, the mainstream servo drivers all use digital signal processor (DSP) as the control core, which can realize more complex control algorithms, and realize digitalization, networking and intelligence. Power devices generally use intelligent power module (IPM) as the core design of the drive circuit, IPM internal integrated drive circuit, and has overvoltage, overcurrent, overheating, undervoltage and other fault detection protection circuit, in the main circuit also add a soft start circuit to reduce the impact of the start process on the driver.

A06B-6114-H109 FANUC 伺服放大器