140ARI03010 调速器
就伺服驱动器的响应速度来看,转矩模式运算量小,驱动器对控制信号的响应快;位置模式运算量大,驱动器对控制信号的响应慢。
对运动中的动态性能有比较高的要求时,需要实时对电机进行调整。那么如果控制器本身的运算速度很慢(比如PLC,或低端运动控制器),就用位置方式控制。如果控制器运算速度比较快,可以用速度方式,把位置环从驱动器移到控制器上,减少驱动器的工作量,效率(比如大部分中运动控制器);如果有的上位控制器,还可以用转矩方式控制,把速度环也从驱动器上移开,这一般只是控制器才能这么干,而且,这时不需要使用伺服电机。
在数控机床上,伺服调控系统是其不可缺少的一部分。其任务是把数控信息转化为机床进给运动,从而实现控制。由于数控机床对产品加工时要求高,所以采用的伺服控制系统十分关键。
在数控机床上使用的伺服控制系统,其优点主要有:精度高,伺服系统的精度是指输出量能复现输入量的程度。包括定位精度和轮廓加工精度;稳定性好,稳定是指系统在给定输入或外界干扰作用下,能在短暂的调节过程后,达到新的或者恢复到原来的平衡状态。直接影响数控加工的精度和表面粗糙度;快速响应,快速响应是伺服系统动态品质的重要指标,它反映了系统的跟踪精度;调速范围宽,其调速范围可达0—30m/min;低速大转矩,进给坐标的伺服控制属于恒转矩控制,在整个速度范围内都要保持这个转矩,主轴坐标的伺服控制在低速时为恒转矩控制,能提供较大转矩,在高速时为恒功率控制,具有足够大的输出功率。
在机床进给伺服中采用的主要是 [4] 永磁同步交流伺服系统,有三种类型:模拟形式、数字形式和软件形式。模拟伺服用途单一,只接收模拟信号,位置控制通常由上位机实现。数字伺服可实现一机多用,如做速度、力矩、位置控制。可接收模拟指令和脉冲指令,参数均以数字方式设定,稳定性好。具有较丰富的自诊断、报警功能。软件伺服是基于微处理器的全数字伺服系统。其将控制方式和不同规格、功率的伺服电机的监控程序以软件实现。使用时可由用户设定代码与相关的数据即自动进入工作状态。配有数字接口,改变工作方式、更换电动机规格时,只需重设代码即可,故也称伺服。
交流伺服已占据了机床进给伺服的主导地位,并随着新技术的发展而不断完善,具体体现在三个方面。一是系统功率驱动装置中的电力电子器件不断向高频化方向发展,智能化功率模块得到普及与应用;二是基于微处理器嵌入式平台技术的成熟,将控制算法的应用;三是网络化制造模式的推广及现场总线技术的成熟,将使基于网络的伺服控制成为可能。
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