A06B-0075-B003 交流电机 工业控制自动化

A06B-0075-B003 交流电机 工业控制自动化

伺服驱动器是现代传动技术的高端产品，广泛应用于工业机器人、数控加工中心等自动化设备。特别是用于控制交流永磁同步电动机的伺服驱动器已成为国内外的研究热点。目前交流伺服驱动器的设计一般采用基于矢量控制的闭环控制算法，对电流、速度、位置进行控制。该算法中速度闭环设计的合理性在整个伺服控制系统中起着至关重要的作用，特别是在速度控制的性能上。

伺服驱动器，也称为“伺服控制器”或“伺服放大器”，是一种用于控制伺服电机的控制器。它们的功能类似于作用在普通交流电机上的变频器，是伺服系统的一部分。它们主要用于高精度定位系统。通常，伺服电机通过位置、速度、扭矩三种方式进行控制，以实现传动系统的高精度定位。目前，它是传动技术中的高端产品。

在伺服驱动转速闭环中，电机转子的实时测速精度对于提高转速回路调速的动静态特性至关重要。为了在测量精度和系统成本之间找到平衡点，增量式光电编码器一般用作速度传感器，相应的常用速度测量方法是M/T速度测量方法。M/T测速方法虽然有一定的测量精度和较宽的测量范围，但也有固有的缺点，主要包括：1）在测速周期内必须至少检测一个完整的码盘脉冲，这限制了zui小可测速度;2）用于测速的两个控制系统的定时开关难以严格保持同步，在测速变化较大的测量场景中无法保证测速精度。因此，采用这种测速方法的传统速度环设计方案难以提高伺服驱动器的速度跟踪和控制性能。

A06B-0075-B003 交流电机 工业控制自动化

Servo drive is a high-end product of modern transmission technology, which is widely used in industrial robots, CNC machining centers and other automation equipment. Especially, the servo drive used to control the AC permanent magnet synchronous motor has become a research hotspot at home and abroad. At present, the design of AC servo driver generally adopts the closed-loop control algorithm based on vector control to control the current, speed and position. The rationality of the speed closed-loop design in this algorithm plays a crucial role in the whole servo control system, especially in the performance of the speed control.

A servo driver, also known as a "servo controller" or "servo amplifier", is a controller used to control a servo motor. Their function is similar to the frequency converter acting on the ordinary AC machine, and is part of the servo system. They are mainly used in high-precision positioning systems. Usually, the servo motor is controlled by three ways: position, speed and torque to achieve high-precision positioning of the transmission system. At present, it is a high-end product in transmission technology.

In the servo drive speed closed loop, the real-time speed measurement accuracy of the motor rotor is very important to improve the dynamic and static characteristics of speed control. In order to find a balance between measurement accuracy and system cost, incremental photoelectric encoders are generally used as speed sensors, and the corresponding common speed measurement method is the M/T speed measurement method. Although M/T velocity measurement method has certain measurement accuracy and wide measurement range, it also has inherent shortcomings, including: 1) it must detect at least one complete code pulse in the measurement cycle, which limits the minimum measurable speed; 2) The timing 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 the measurement scenarios with large speed changes. Therefore, it is difficult to improve the performance of speed tracking and control of servo drive by using the traditional speed loop design method.