產品 新聞 我們
伺服控制系統作為現代工業生產設備的控制系統之一，是工業自動化不可缺少的基礎技術。位置伺服控制系統，一般是以足夠的位置控制精度(定位精度)、位置跟蹤精度(位置跟蹤誤差)和足夠快的跟蹤速度作為它的主要控制目標。系統運行時要求能以一定的精度隨時跟蹤指令的變化，因而系統中伺服電動機的運行速度常常是不斷變化的。故伺服系統在跟蹤性能方面的要求一般要比普通調速系統高且嚴格得多。由于直流電動機存在電刷和換向器的限制，以及直流伺服系統生產、維護成本高。伴隨著新的控制器件和電機控制方法的出現，伺服系統的已經廣泛地替代了直流伺服系統。下面 華科星電氣小編為您介紹伺(si)服電機的分類及優勢。
1伺服系統分類
伺(si)(si)(si)(si)服(fu)(fu)(fu)系(xi)統(tong)(tong)根據(ju)處(chu)理(li)信(xin)號的(de)(de)方式不(bu)(bu)同(tong)，大致可(ke)(ke)以(yi)分為數字(zi)模擬(ni)(ni)混(hun)合式伺(si)(si)(si)(si)服(fu)(fu)(fu)、模擬(ni)(ni)式伺(si)(si)(si)(si)服(fu)(fu)(fu)和全數字(zi)式伺(si)(si)(si)(si)服(fu)(fu)(fu)；若根據(ju)所使用(yong)(yong)(yong)的(de)(de)伺(si)(si)(si)(si)服(fu)(fu)(fu)電(dian)(dian)(dian)動(dong)(dong)(dong)機的(de)(de)種類不(bu)(bu)同(tong)，又可(ke)(ke)分為三種：一(yi)(yi)種是用(yong)(yong)(yong)永(yong)(yong)(yong)磁(ci)同(tong)步(bu)(bu)(bu)(bu)伺(si)(si)(si)(si)服(fu)(fu)(fu)電(dian)(dian)(dian)動(dong)(dong)(dong)機構成(cheng)的(de)(de)伺(si)(si)(si)(si)服(fu)(fu)(fu)系(xi)統(tong)(tong)，包括(kuo)方波永(yong)(yong)(yong)磁(ci)同(tong)步(bu)(bu)(bu)(bu)電(dian)(dian)(dian)動(dong)(dong)(dong)機（無刷(shua)直流(liu)機）伺(si)(si)(si)(si)服(fu)(fu)(fu)系(xi)統(tong)(tong)和正(zheng)弦波永(yong)(yong)(yong)磁(ci)同(tong)步(bu)(bu)(bu)(bu)電(dian)(dian)(dian)動(dong)(dong)(dong)機伺(si)(si)(si)(si)服(fu)(fu)(fu)系(xi)統(tong)(tong)；另一(yi)(yi)種是用(yong)(yong)(yong)鼠籠型(xing)異步(bu)(bu)(bu)(bu)電(dian)(dian)(dian)動(dong)(dong)(dong)機構成(cheng)的(de)(de)伺(si)(si)(si)(si)服(fu)(fu)(fu)系(xi)統(tong)(tong)。二者的(de)(de)不(bu)(bu)同(tong)之處(chu)在(zai)于永(yong)(yong)(yong)磁(ci)同(tong)步(bu)(bu)(bu)(bu)電(dian)(dian)(dian)動(dong)(dong)(dong)機伺(si)(si)(si)(si)服(fu)(fu)(fu)系(xi)統(tong)(tong)中需要采用(yong)(yong)(yong)磁(ci)極位置傳感(gan)器(qi)(qi)而感(gan)應電(dian)(dian)(dian)動(dong)(dong)(dong)機伺(si)(si)(si)(si)服(fu)(fu)(fu)系(xi)統(tong)(tong)中含(han)有(you)滑(hua)差頻(pin)率計算部分。若采用(yong)(yong)(yong)微處(chu)理(li)器(qi)(qi)軟件實(shi)現伺(si)(si)(si)(si)服(fu)(fu)(fu)控制，可(ke)(ke)以(yi)使永(yong)(yong)(yong)磁(ci)同(tong)步(bu)(bu)(bu)(bu)伺(si)(si)(si)(si)服(fu)(fu)(fu)電(dian)(dian)(dian)動(dong)(dong)(dong)機和鼠籠型(xing)異步(bu)(bu)(bu)(bu)伺(si)(si)(si)(si)服(fu)(fu)(fu)電(dian)(dian)(dian)動(dong)(dong)(dong)機使用(yong)(yong)(yong)同(tong)一(yi)(yi)套(tao)伺(si)(si)(si)(si)服(fu)(fu)(fu)放大器(qi)(qi)。
2伺服電機的優勢
步(bu)進(jin)(jin)電(dian)(dian)機是一種離(li)散運動的(de)裝置，它和現(xian)代數(shu)(shu)(shu)(shu)字(zi)控(kong)(kong)(kong)(kong)(kong)制技(ji)術有著(zhu)本質的(de)聯系(xi)(xi)。在(zai)目前(qian)國(guo)內的(de)數(shu)(shu)(shu)(shu)字(zi)控(kong)(kong)(kong)(kong)(kong)制系(xi)(xi)統中(zhong)(zhong)，步(bu)進(jin)(jin)電(dian)(dian)機的(de)應用(yong)(yong)十(shi)分廣泛。隨著(zhu)全數(shu)(shu)(shu)(shu)字(zi)式(shi)伺服(fu)(fu)系(xi)(xi)統的(de)出(chu)現(xian)，伺服(fu)(fu)電(dian)(dian)機也越來越多地(di)應用(yong)(yong)于數(shu)(shu)(shu)(shu)字(zi)控(kong)(kong)(kong)(kong)(kong)制系(xi)(xi)統中(zhong)(zhong)。為了(le)適(shi)應數(shu)(shu)(shu)(shu)字(zi)控(kong)(kong)(kong)(kong)(kong)制的(de)發展趨勢，運動控(kong)(kong)(kong)(kong)(kong)制系(xi)(xi)統中(zhong)(zhong)大多采用(yong)(yong)步(bu)進(jin)(jin)電(dian)(dian)機或全數(shu)(shu)(shu)(shu)字(zi)式(shi)伺服(fu)(fu)電(dian)(dian)機作為執行電(dian)(dian)動機。雖然兩(liang)者(zhe)在(zai)控(kong)(kong)(kong)(kong)(kong)制方式(shi)上相似(si)（脈沖串和方向信(xin)號），但在(zai)使用(yong)(yong)性能和應用(yong)(yong)場合上存(cun)在(zai)著(zhu)較大的(de)差異。主要存(cun)在(zai)以下(xia)幾點區別。
（1）控(kong)制精度不同
伺服(fu)電(dian)機(ji)的控(kong)制精(jing)度由電(dian)機(ji)軸后端(duan)的旋轉(zhuan)(zhuan)編碼(ma)器保證。對于帶(dai)17位編碼(ma)器的電(dian)機(ji)而言，驅動(dong)器每接收(shou)217=131072個脈沖電(dian)機(ji)轉(zhuan)(zhuan)一(yi)圈，即其脈沖當(dang)量為(wei)360°/131072=9.89秒。是步距角為(wei)1.8°的步進電(dian)機(ji)的脈沖當(dang)量的1/655。
（2）矩頻特(te)性不(bu)同
步(bu)進電(dian)機(ji)的(de)輸出(chu)力矩隨轉(zhuan)(zhuan)速升高而下降，且在較高轉(zhuan)(zhuan)速時會急劇下降，所以(yi)其(qi)最高工(gong)作(zuo)轉(zhuan)(zhuan)速一般在300～600RPM。伺服(fu)電(dian)機(ji)為(wei)恒力矩輸出(chu)，即(ji)在其(qi)額定轉(zhuan)(zhuan)速（一般為(wei)2000RPM或(huo)3000RPM）以(yi)內，都(dou)能輸出(chu)額定轉(zhuan)(zhuan)矩，在額定轉(zhuan)(zhuan)速以(yi)上為(wei)恒功率輸出(chu)。
（3）低頻特性不(bu)同
步(bu)(bu)進電(dian)機(ji)在(zai)低速時易出(chu)現(xian)低頻(pin)(pin)(pin)振(zhen)動(dong)現(xian)象(xiang)。振(zhen)動(dong)頻(pin)(pin)(pin)率(lv)與負(fu)載情況和驅(qu)動(dong)器(qi)(qi)性(xing)能有關，一般認為振(zhen)動(dong)頻(pin)(pin)(pin)率(lv)為電(dian)機(ji)空載起跳(tiao)頻(pin)(pin)(pin)率(lv)的一半。這種由步(bu)(bu)進電(dian)機(ji)的工(gong)作原理所決定(ding)的低頻(pin)(pin)(pin)振(zhen)動(dong)現(xian)象(xiang)對于(yu)(yu)機(ji)器(qi)(qi)的正常(chang)運轉非(fei)常(chang)不(bu)(bu)利。當步(bu)(bu)進電(dian)機(ji)工(gong)作在(zai)低速時，一般應采(cai)用阻尼技術來克服(fu)(fu)低頻(pin)(pin)(pin)振(zhen)動(dong)現(xian)象(xiang)，比如在(zai)電(dian)機(ji)上加(jia)阻尼器(qi)(qi)，或驅(qu)動(dong)器(qi)(qi)上采(cai)用細分技術等。伺(si)服(fu)(fu)電(dian)機(ji)運轉非(fei)常(chang)平穩，即使在(zai)低速時也(ye)不(bu)(bu)會出(chu)現(xian)振(zhen)動(dong)現(xian)象(xiang)。伺(si)服(fu)(fu)系統(tong)具有共振(zhen)抑制功能，可涵蓋機(ji)械(xie)的剛性(xing)不(bu)(bu)足，并且系統(tong)內(nei)部具有頻(pin)(pin)(pin)率(lv)解析機(ji)能，可檢測出(chu)機(ji)械(xie)的共振(zhen)點，便于(yu)(yu)系統(tong)調整。
（4）運行性(xing)能(neng)不(bu)同
步(bu)進電(dian)(dian)機的(de)(de)(de)控(kong)制(zhi)(zhi)(zhi)為(wei)開(kai)環控(kong)制(zhi)(zhi)(zhi)，啟動頻率(lv)過高(gao)或負(fu)載(zai)過大易(yi)出現丟步(bu)或堵轉(zhuan)的(de)(de)(de)現象，停止時轉(zhuan)速過高(gao)易(yi)出現過沖(chong)的(de)(de)(de)現象，所(suo)以為(wei)保證(zheng)其控(kong)制(zhi)(zhi)(zhi)精(jing)度(du)，應處理好(hao)升(sheng)、降(jiang)速問題(ti)。伺服驅(qu)動系統為(wei)閉環控(kong)制(zhi)(zhi)(zhi)，驅(qu)動器可(ke)直接對電(dian)(dian)機編(bian)碼器反(fan)饋信號進行采樣，內部構成位置環和速度(du)環，一般不會出現步(bu)進電(dian)(dian)機的(de)(de)(de)丟步(bu)或過沖(chong)的(de)(de)(de)現象，控(kong)制(zhi)(zhi)(zhi)性能更為(wei)可(ke)靠。
（5）速(su)度(du)響應(ying)性能不(bu)同
步進電(dian)機從靜止加速到(dao)工作(zuo)轉速（一般為每分(fen)鐘幾百轉）需(xu)要200～400毫(hao)秒。伺服(fu)系(xi)統的加速性(xing)能較好。
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