【机械类文献翻译】步进电机和伺服电机的系统控制

Step MotorMotor&&Servo Motor Systems and ControlsMotion Architect®Software Does the Work for You...Configure,Diagnose,Debug Compumotor’s Motion Architect is a Microsoft®Windows™-based software development tool for6000Series products that allows you to automatically generate commented setup code,edit and execute motion control programs,and create a custom operator test panel.The heart of Motion Architect is the shell,which provides an integrated environment to access the following modules.•System Configurator—This module prompts you to fill in all pertinent set-up information to initiate motion.Configurable to the specific6000Series product that is selected,the information is then used to generate actual6000-language code that is the beginning of your program.•Program Editor—This module allows you to edit code.It also has the commands available through“Help”menus.A user’s guide is provided on disk.•Terminal Emulator—This module allows you to interact directly with the6000product.“Help”is again available with all commands and their definitions available for reference.•Test Panel—You can simulate your programs,debug programs,and check for program flow using this module.Motion Architect®has been designed for use with all6000Series products—for both servo and stepper technologies.The versatility of Windows and the6000Series language allow you to solve applications ranging from the very simple to the complex.Motion Architect comes standard with each of the6000Series products and is a tool that makes using these controllers even more simple—shortening the project development time considerably.A value-added feature of Motion Architect,when used with the6000 Servo Controllers,is its tuning aide.This additional module allows you to graphically display a variety of move parameters and see how these parameters change based on tuning values.Using Motion Architect,you can open multiple windows at once.For example,both the Program Editor and Terminal Emulator windows can be opened to run the program,get information,and then make changes to the program.On-line help is available throughout Motion Architect,including interactive access to the contents of the Compumotor6000Series Software Reference Guide.SOLVING APPLICATIONS FROM SIMPLE TOCOMPLEXServo Control is Yours with Servo Tuner SoftwareCompumotor combines the6000Series servo controllers with Servo Tuner software.The Servo Tuner is an add-on module that expands and enhances the capabilities of Motion Architect®.Motion Architect and the Servo Tuner combine to provide graphical feedback ofreal-time motion information and provide an easy environment for setting tuning gains and related systemparameters as well as providing file operations to save and recall tuning sessions.Draw Your Own Motion Control Solutions with Motion Toolbox Software Motion Toolbox™is an extensive library of LabVIEW®virtual instruments(VIs)for icon-based programming of Compumotor’s6000Series motion controllers.When using Motion Toolbox with LabVIEW,programming of the6000Series controller is accomplished by linking graphic icons,or VIs,together to form a block diagram. Motion Toolbox’s has a library of more than150command,status,and example VIs.All command and status VIs include LabVIEW source diagrams so you can modify them,if necessary,to suit your particular needs.Motion Toolbox als user manual to help you gut up and running quickly.comprehensiveM Software for Computer-Aided Motion Applications CompuCAM is a Windows-based programming package that imports geometry from CAD programs,plotter files,or NC programs and generates6000code compatible with Compumotor’s6000Series motion controllers.Available for purchase from Compumotor, CompuCAM is an add-on module which is invoked as a utility from the menu bar of Motion Architect.From CompuCAM,run your CAD software package.Once a drawing is created,save it as either a DXF file,HP-GL plot file or G-code NC program.This geometry is then imported into CompuCAM where the6000code is generated.After generating the program,you may use Motion Architect functions such as editing or downloading the code for execution.Motion Builder Software for Easy Programming of the6000SeriesMotion Builder revolutionizes motion control programming.This innovative software allows programmers to program in a way they are familiar with—a flowchart-style method.Motion Builder decreases the learning curve and makes motion control programming easy.Motion Builder is a Microsoft Windows-based graphical development environment which allows expert and novice programmers to easily program the6000Series products without learning a new programming language.Simply drag and drop visual icons that represent the motion functions you want to perform.Motion Builder is a complete application development environment.In addition to visually programming the6000Series products,users may configure,debug,download, and execute the motion program.SERVO VERSUS STEPPER...WHAT YOU NEED TOKNOWMotor Types and Their ApplicationsThe following section will give you some idea of the applications that are particularly appropriate for each motor type,together with certain applications that are best avoided. It should be stressed that there is a wide range of applications which can be equally well met by more than one motor type,and the choice will tend to be dictated by customer preference,previous experience or compatibility with existing equipment.A helpful tool for selecting the proper motor for your application is Compumotor’s Motor Sizing and Selection software ing this software,users can easily identify the appropriate motor size and type.High torque,low speedcontinuous duty applications are appropriate to the step motor.At low speeds it is very efficient in terms of torque output relative to both size and input power.Microstepping can be used to improve smoothness in lowspeed applications such as a metering pump drive for very accurate flow control.High torque,high speedcontinuous duty applications suit the servo motor,and in fact a step motor should be avoided in such applications because the high-speed losses can cause excessive motor heating.Short,rapid,repetitive movesare the natural domain of the stepper due to its high torque at low speeds,goodtorque-to-inertia ratio and lack of commutation problems.The brushes of the DC motor can limit its potential for frequent starts,stops and direction changes.Low speed,high smoothness application sare appropriate for microstepping or direct drive servos.Applications in hazardous environmentsor in a vacuum may not be able to use a brushed motor.Either a stepper or a brushless motor is called for,depending on the demands of the load.Bear in mind that heat dissipation may be a problem in a vacuum when the loads are excessive. SELECTING THE MOTOR THAT SUITS YOUR APPLICATION IntroductionMotion control,in its widest sense,could relate to anything from a welding robot to the hydraulic system in a mobile crane.In the field of Electronic Motion Control,we are primarily concerned with systems falling within a limited power range,typically up to about10HP(7KW),and requiring precision in one or more aspects.This may involve accurate control of distance or speed,very often both,and sometimes other parameters such as torque or acceleration rate.In the case of the two examples given,the weldingrobot requires precise control of both speed and distance;the crane hydraulic system uses the driver as the feedback system so its accuracy varies with the skill of the operator.This wouldn’t be considered a motion control system in the strict sense of the term.Our standard motion control system consists of three basic elements:Fig.1Elements of motion control systemThe motor.This may be a stepper motor(either rotary or linear),a DC brush motor or a brushless servo motor.The motor needs to be fitted with some kind of feedback device unless it is a stepper motor.Fig.2shows a system complete with feedback to control motor speed.Such a system is known as a closed-loop velocity servo system.Fig.2Typical closed loop(velocity)servo systemThe drive.This is an electronic power amplifier thatdelivers the power to operate the motor in response to low-level control signals.In general,the drive will be specifically designed to operate with a particular motor type–you can’t use a stepper drive to operate a DC brush motor,for instance.Application Areas of Motor TypesStepper MotorsStepper Motor BenefitsStepper motors have the following benefits:•Low cost•Ruggedness•Simplicity in construction•High reliability•No maintenance•Wide acceptance•No tweaking to stabilize•No feedback components are needed•They work in just about any environment•Inherently more failsafe than servo motors.There is virtually no conceivable failure within the stepper drive module that could cause the motor to run away.Stepper motors are simple to drive and control in an open-loop configuration.They only require four leads.They provide excellent torque at low speeds, up to5times the continuous torque of a brush motor of the same frame size or double the torque of the equivalent brushless motor.This often eliminates the need for a gearbox.A stepper-driven-system is inherently stiff,with known limits to the dynamic position error.Stepper Motor DisadvantagesStepper motors have the following disadvantages:•Resonance effects and relatively long settlingtimes•Rough performance at low speed unless amicrostep drive is used•Liability to undetected position loss as a result ofoperating open-loop•They consume current regardless of loadconditions and therefore tend to run hot•Losses at speed are relatively high and can causeexcessive heating,and they are frequently noisy(especially at high speeds).•They can exhibit lag-lead oscillation,which isdifficult to damp.There is a limit to their availablesize,and positioning accuracy relies on themechanics(e.g.,ballscrew accuracy).Many ofthese drawbacks can be overcome by the use ofa closed-loop control scheme.Note:The Compumotor Zeta Series minimizes orreduces many of these different stepper motor disadvantages.There are three main stepper motor types:•Permanent Magnet(P.M.)Motors•Variable Reluctance(V.R.)Motors•Hybrid MotorsWhen the motor is driven in its full-step mode,energizing two windings or“phases”at a time(see Fig.1.8),the torque available on each step will be the same(subject to very small variations in the motor and drive characteristics).In the half-step mode,we are alternately energizing two phases and then only one as shown in Fig.1.9.Assuming the drive delivers the same winding current in each case,this will cause greater torque to be produced when there are two windings energized.In other words,alternate steps will be strong and weak.This does not represent a major deterrent to motor performance—the available torque is obviously limited by the weaker step,but there will be a significant improvement in low-speed smoothness over the full-step mode.Clearly,we would like to produce approximately equal torque on every step,and thistorque should be at the level of the stronger step.We can achieve this by using a higher current level when there is only one winding energized.This does not over dissipate the motor because the manufacturer’s current rating assumes two phases to be energized the current rating is based on the allowable case temperature).With only one phase energized, the same total power will be dissipated if the current is increased by40%.Using this higher current in the one-phase-on state produces approximately equal torque on alternate steps(see Fig.1.10).Fig.1.8Full step current,2-phase onFig.1.9Half step currentFig.1.10Half step current,profiledWe have seen that energizing both phases with equal currents produces an intermediate step position half-way between the one-phase-on positions.If the two phase currents are unequal,the rotor position will be shifted towards the stronger pole.This effect is utilized in the microstepping drive,which subdivides the basic motor step by proportioning thecurrent in the two windings.In this way,the step size is reduced and the low-speed smoothness is dramatically improved.High-resolution microstep drives divide the full motor step into as many as500microsteps,giving100,000steps per revolution.In this situation,the current pattern in the windings closely resembles two sine waves with a90°phase shift between them(see Fig.1.11).The motor is now being driven very much as though it is a conventional AC synchronous motor.In fact,the stepper motor can be driven in this way from a60Hz-US(50Hz-Europe)sine wave source by including a capacitor in series with one phase.It will rotate at72rpm.Fig.1.11Phase currents in microstep modeStandard200-Step Hybrid MotorThe standard stepper motor operates in the same way as our simple model,but has a greater number of teeth on the rotor and stator,giving a smaller basic step size.The rotor is in two sections as before,but has50teeth on each section.The half-tooth displacement between the two sections is retained.The stator has8poles each with5teeth,making a total of40teeth(see Fig.1.12).Fig.1.12200-step hybrid motorIf we imagine that a tooth is placed in each of the gaps between the stator poles,there would be a total of48teeth,two less than the number of rotor teeth.So if rotor and stator teeth are aligned at12o’clock,they will also be aligned at6o’clock.At3o’clock and9 o’clock the teeth will be misaligned.However,due to the displacement between the sets of rotor teeth,alignment will occur at3o’clock and9o’clock at the other end of the rotor.The windings are arranged in sets of four,and wound such that diametrically-oppositepoles are the same.So referring to Fig.1.12,the north poles at12and6o’clock attract the south-pole teeth at the front of the rotor;the south poles at3and9o’clock attract the north-pole teeth at the back.By switching current to the second set of coils,the stator field pattern rotates through45°.However,to align with this new field,the rotor only has to turn through1.8°.This is equivalent to one quarter of a tooth pitch on the rotor,giving 200full steps per revolution.Note that there are as many detent positions as there are full steps per rev,normally200. The detent positions correspond with rotor teeth being fully aligned with stator teeth. When power is applied to a stepper drive,it is usual for it to energize in the“zero phase”state in which there is current in both sets of windings.The resulting rotor position does not correspond with a natural detent position,so an unloaded motor will always move by at least one half step at power-on.Of course,if the system was turned off other than in the zero phase state,or the motor is moved in the meantime,a greater movement may be seen at power-up.Another point to remember is that for a given current pattern in the windings,there are as many stable positions as there are rotor teeth(50for a200-step motor).If a motor isde-synchronized,the resulting positional error will always be a whole number of rotor teeth or a multiple of7.2°.A motor cannot“miss”individual steps–position errors of one or two steps must be due to noise,spurious step pulses or a controller fault.Fig.2.19Digital servo driveDigital Servo Drive OperationFig.2.19shows the components of a digital drive for a servo motor.All the main control functions are carried out by the microprocessor,which drives a D-to-A convertor to produce an analog torque demand signal.From this point on,the drive is very much like an analog servo amplifier.Feedback information is derived from an encoder attached to the motor shaft.The encoder generates a pulse stream from which the processor can determine the distance travelled,and by calculating the pulse frequency it is possible to measure velocity.The digital drive performs the same operations as its analog counterpart,but does so by solving a series of equations.The microprocessor is programmed with a mathematical model(or“algorithm”)of the equivalent analog system.This model predicts the behavior of the system.In response to a given input demand and output position.It also takes into account additional information like the output velocity,the rate of change of the input and the various tuning settings.To solve all the equations takes a finite amount of time,even with a fast processor–this time is typically between100ms and2ms.During this time,the torque demand must remain constant at its previously-calculated value and there will be no response to a change at the input or output.This“update time”therefore becomes a critical factor in the performance of a digital servo and in a high-performance system it must be kept to a minimum.The tuning of a digital servo is performed either by pushbuttons or by sending numerical data from a computer or terminal.No potentiometer adjustments are involved.The tuning data is used to set various coefficients in the servo algorithm and hence determines the behavior of the system.Even if the tuning is carried out using pushbuttons,the final values can be uploaded to a terminal to allow easy repetition.In some applications,the load inertia varies between wide limits–think of an arm robot that starts off unloaded and later carries a heavy load at full extension.The change in inertia may well be a factor of20or more,and such a change requires that the drive isre-tuned to maintain stable performance.This is simply achieved by sending the new tuning values at the appropriate point in the operating cycle.步进电机和伺服电机的系统控制运动的控制者---软件：只要有了软件，它可以帮助我们配置改装、诊断故障、调试程序等。

伺服电机的控制方式和运动控制系统伺服电机是一种能够根据控制信号精确地控制旋转角度、转速和位置的电机，广泛应用于工业自动化领域。

在实际应用中，为了使伺服电机能够实现精准的控制，需要配合合适的控制方式和运动控制系统。

下面将介绍伺服电机的控制方式和运动控制系统。

一、伺服电机的控制方式1. 位置控制位置控制是指通过控制伺服电机的旋转角度或线性位置来控制工件或设备的位置。

在位置控制中，通常需要通过编码器等反馈装置实时监测伺服电机的位置，从而调整控制信号，使电机按照设定的位置参数进行运动。

2. 速度控制速度控制是指通过控制伺服电机的转速来实现控制目标。

通过调节电机的输入电压、电流或脉冲信号，可以实现对电机转速的精准控制。

速度控制广泛应用于需要稳定速度输出的场合，如汽车行驶控制、风机调速等。

3. 力矩控制力矩控制是指通过控制伺服电机的输出扭矩来实现对负载的力矩控制。

在一些需要对工件施加精确力矩的场合，如加工中心、机器人等，力矩控制是非常重要的控制方式。

二、运动控制系统1. 传感器传感器是运动控制系统中的重要组成部分，用于实时监测电机的位置、速度、力矩等参数。

常用的传感器包括编码器、霍尔传感器、压力传感器等，它们可以将实时采集到的数据反馈给控制系统，实现对电机的闭环控制。

2. 控制器控制器是指控制电机运动的核心部件，根据传感器反馈的数据计算出控制信号，并输出给伺服电机，以实现对其位置、速度或力矩的精准控制。

控制器通常可分为单轴控制器和多轴控制器，用于不同数量的电机同时运动的控制。

3. 运动控制算法运动控制算法是指控制系统中用于计算控制信号的算法，包括位置环控制、速度环控制、力矩环控制等。

运动控制算法的设计和优化对系统的性能和稳定性有重要影响，需要根据具体的应用场景选择合适的算法。

综上所述，伺服电机的控制方式和运动控制系统是伺服系统中至关重要的组成部分，直接影响到系统的性能和稳定性。

通过选择合适的控制方式和运动控制系统，可以实现对伺服电机的精准控制，满足不同应用场景的需求。

步进伺服毕业论文引言计算机控制技术是现代制造业中最重要的技术之一，步进伺服控制技术作为其中的一个重要分支，已经成为机械制造、电子工业等领域的重要基础技术。

本文主要介绍了步进伺服控制技术的相关知识，包括步进电机的工作原理、伺服系统的工作原理、步进伺服控制系统的组成以及步进伺服控制系统的运行等方面。

结合实际应用，分析了步进伺服控制技术在现代制造业中的应用和发展趋势。

一、步进电机的工作原理步进电机是一种特殊的电动机，具有按步旋转的特点，其每一步转动角度精度可以达到很高。

步进电机的工作原理是基于磁力学原理的，将电能转化为机械能。

步进电机的转子是由一个或多个永磁体组成，旋转时通过交替的通电方式，可使得电机中产生一个磁场，该磁场与转子上的磁场相互作用，从而使得转子产生旋转。

步进电机转动的每一步都是由电脉冲驱动的，每一次电脉冲的信号会让转子转过一个固定的角度。

因此，步进电机可以准确地控制输出转速和位置。

二、伺服系统的工作原理伺服系统是一种自动控制系统，通过对系统的反馈控制实现对位置、速度、力、角度等物理量的控制。

伺服系统主要由传感器、执行器、控制器和反馈机构等部分组成。

其中，传感器用来检测系统中的位置、角度、速度等基本物理量，反馈控制器利用传感器的反馈信息来实现自动控制，执行器将控制信号转化为具体的动作，反馈机构用于对执行器的动作进行检测，从而实现对系统的闭环控制。

三、步进伺服控制系统的组成步进伺服控制系统是将步进电机和伺服系统相结合而成的，其工作原理是通过伺服系统的反馈机制来实现对步进电机的控制。

步进伺服控制系统的组成主要包括步进电机、编码器、控制器和驱动电路等部分。

步进电机：步进电机是步进伺服控制系统的核心部分，负责转动电机的旋转角度。

由于步进电机的控制精度很高，因此可实现精确的位置控制和速度调节，广泛应用于驱动自动化机械和设备的领域中。

编码器：编码器是用来检测步进电机转动角度的装置，其主要作用是将电机的转动信息转化为数字信号，供控制器进行处理。

伺服电机与步进电机控制的区别详解1，步进电机原理步进电机作为控制用的特种电机，是将电脉冲转化为角位移的执行机构。

当步进驱动器接收到一个脉冲信号，它就驱动步进电机按设定的方向转动一个固定的角度(称为“步距角”)，它的旋转是以固定的步进角度一步一步运行的。

可以通过控制脉冲个数来控制角位移量，从而达到准确定位的目的；同时可以通过控制脉冲频率来控制电机转动的速度和加速度，从而达到调速的目的，改变绕组的通电顺序，电机就会反转。

驱动器原理步进电机需要使用专用的步进电机驱动器驱动，驱动器由脉冲发生控制单元、功率驱动单元、保护单元等组成。

功率驱动单元将脉冲发生控制单元生成的脉冲放大，与步进电机直接耦合，属于步进电机与微控制器的功率接口。

控制指令单元，接收脉冲与方向信号，对应的脉冲发生控制单元对应生成一组相应相数的脉冲，经过功率驱动单元后送到步进电机，步进电机在对应方向上转过一个步距角。

驱动器的脉冲给定方式决定了步进电机运行方式，如下：（1）m相单m拍运行（2）m相双m拍运行（3）m相单、双m拍运行（4）细分驱动，需要驱动器给出不同幅值的驱动信号步进电机有一些重要的技术数据，如最大静转矩、起动频率、运行频率等。

一般来说步距角越小，电机最大静转矩越大，则起动频率和运行频率越高，所以运行方式中强调了细分驱动技术，该方式提高了步进电机的转动力矩和分辨率，完全消除了电机的低频振荡。

所以细分驱动器驱动性能优与其他类型驱动器。

伺服电机内部的转子是永磁铁，驱动器控制的进行比较，调整转子转动的角度。

2，伺服电机伺服电机原理伺服电动机又称执行电动机，在自动控制系统中，用作执行元件，把所收到的电信号转换成电动机轴上的角位移或角速度输出。

分为直流和交流伺服电动机两大类。

伺服电机接收到1个脉冲，就会旋转1个脉冲对应的角度，从而实现位移，因为，伺服电机本身具备发出脉冲的功能，所以伺服电机每旋转一个角度，都会发出对应数量的脉冲，这样，和伺服电机接受的脉冲形成了闭环，系统就会知道发了多少脉冲给伺服电机，同时又收了多少脉冲回来，这样，就能够很精确的控制电机的转动，从而实现精确的定位。

伺服电机和伺服控制系统原理
伺服电机和伺服控制系统原理
伺服电机被广泛用于需要高精度、高稳定性和高速度控制的应用领域，如机器人、自动化生产线、医疗设备等。

伺服电机是一种智能电机，
具有反馈的闭环控制系统，可以实现精确的位置和速度控制。

伺服电机的工作原理是通过传感器将电机运动的实际位置和速度反馈
给控制器，控制器再根据反馈信息对电机施加控制信号，使其按照预
定的位置和速度运动。

传感器可以是旋转编码器、位置传感器、速度
传感器等，这些传感器能够实时监测电机的运动状态并将信息反馈给
控制器。

伺服控制系统是由控制器、传感器和伺服电机组成的闭环控制系统。

控制器接收传感器反馈的位置和速度信息，比较与期望运动的差异，
然后输出控制信号对伺服电机进行调节和控制，使其达到期望的位置
和速度。

伺服控制系统的闭环控制可以有效地消除外界干扰和误差，
使得伺服电机的运动更加稳定和精确。

伺服电机的优点是具有高效率、高精度、高稳定性、高响应速度和低
噪声等特点。

它常用于一些重要的应用领域，如航空航天、电子、通
信、精密仪器、工业自动化等。

伺服电机的应用范围正在不断扩大，可以预见，未来它将成为更广泛应用的主流电机。

总之，伺服电机和伺服控制系统在自动化领域中有着广泛的应用，它们的高精度、高稳定性、高响应速度和低噪声等特点在现代工业、医疗设备和家庭生活中发挥着至关重要的作用。

伺服电机及其控制原理伺服电机是一种能够根据外部控制信号来实现准确位置控制的电动机。

它通过搭配编码器或传感器，能够反馈运动信息，实现高精度的运动控制。

伺服电机广泛应用于机器人、自动化设备、工业生产线以及医疗仪器等领域。

伺服电机的工作原理可以简单描述为：通过控制器将目标位置和当前位置进行比较，计算出位置偏差，并通过电机驱动器控制电机旋转，使得位置偏差最小化，从而实现精确的位置控制。

通常情况下，伺服电机控制系统由以下几个主要组成部分构成：1.电机：伺服电机通常采用直流电机或交流电机，有时也会采用步进电机。

电机的类型和规格取决于具体的应用需求。

2.编码器或传感器：它们负责检测电机的位置或运动状态，并将这些信息反馈给控制器。

编码器可以采用不同的工作原理（如光电式、磁电式等），用于提供高精度的位置反馈。

3.控制器：控制器是伺服系统的核心部件，其功能是接收来自外部的指令信号，并输出给电机驱动器。

控制器通常采用微处理器或数字信号处理器（DSP）来实现控制算法，并与编码器/传感器配合使用，实现位置反馈和误差校正。

4.电机驱动器：电机驱动器负责将来自控制器的指令信号转化为电流或电压输出，控制电机的旋转。

电机驱动器通常包含功率放大器、保护电路和信号转换电路等部分。

伺服电机的控制原理基于闭环反馈控制的思想，主要包括位置控制和速度控制两个方面。

对于位置控制，控制器将目标位置与当前位置进行比较，并计算出位置误差。

根据误差大小和方向，控制器调整输出信号，通过电机驱动器控制电机的旋转，使得位置误差最小化。

位置反馈信号由编码器或传感器提供，控制器通过比较反馈信号和目标位置来实现闭环控制。

对于速度控制，控制器将目标速度与当前速度进行比较，并计算速度误差。

根据误差大小和方向，控制器调整输出信号，通过电机驱动器控制电机的转速，使得速度误差最小化。

速度反馈信号通常由编码器或传感器提供，控制器通过比较反馈信号和目标速度来实现闭环控制。

在实际应用中，伺服电机控制系统还需要考虑加速度、阻尼等因素，以实现更加精确的运动控制。

伺服电机1。

伺服电机的定义伺服电动机又称执行电动机,在自动控制系统中，用作执行元件，把所收到的电信号转换成电动机轴上的角位移或角速度输出。

分为直流和交流伺服电动机两大类，其主要特点是,当信号电压为零时无自转现象，转速随着转矩的增加而匀速下降.伺服电机在伺服系统中控制机械元件运转的发动机。

是一种补助马达间接变速装置。

伺服电机可使控制速度，位置精度非常准确。

将电压信号转化为转矩和转速以驱动控制对象。

转子转速受输入信号控制，并能快速反应，在自动控制系统中作执行元件,且具有机电时间常数小、线性度高、始动电压低等特点.2。

伺服电机工作原理1。

伺服主要靠脉冲来定位，基本上可以这样理解，伺服电机接收到1个脉冲，就会旋转1个脉冲对应的角度，从而实现位移，因为,伺服电机本身具备发出脉冲的功能，所以伺服电机每旋转一个角度,都会发出对应数量的脉冲，这样,和伺服电机接受的脉冲形成了呼应，或者叫闭环，如此一来，系统就会知道发了多少脉冲给伺服电机,同时又收了多少脉冲回来，这样，就能够很精确的控制电机的转动，从而实现精确的定位，可以达到0。

001mm.有刷电机成本低，结构简单,启动转矩大，调速范围宽，控制容易，需要维护，但维护方便（换碳刷），产生电磁干扰，对环境有要求.无刷电机体积小，重量轻，出力大，响应快，速度高，惯量小，转动平滑,力矩稳定。

控制复杂，容易实现智能化，其电子换相方式灵活,可以方波换相或正弦波换相。

电机免维护,效率很高，运行温度低，电磁辐射很小，长寿命，可用于各种环境.2。

交流伺服电机也是无刷电机，分为同步和异步电机，目前运动控制中一般都用同步电机，它的功率范围大,可以做到很大的功率.大惯量，最高转动速度低，且随着功率增大而快速降低。

因而适合做低速平稳运行的应用.3。

永磁交流伺服电动机简介20世纪80年代以来，随着集成电路、电力电子技术和交流可变速驱动技术的发展,永磁交流伺服驱动技术有了突出的发展,各国著名电气厂商相继推出各自的交流伺服电动机和伺服驱动器系列产品并不断完善和更新。

【关键字】资料SELECTING THE MOTOR THAT SUITS YOUR APPLICATION Motion control, in its widest sense, could relate to anything from a welding robot to the hydraulic system in a mobile crane. In the field of Electronic Motion Control, we are primarily concerned with systems falling within a limited power range, typically up to about 10HP (7KW), and requiring precision in one or more aspects. This may involve accurate control of distance or speed, very often both and sometimes other parameters such as torque or acceleration rate. In the case of the two examples given, the welding robot requires precise control of both speed and distance; the crane hydraulic system uses the driver as the feedback system so its accuracy varies with the skill of the operator. This wouldn’t be considered a motion control system in the strict sense of the term. Our standard motion control system consists of three basic elements:Fig. 1 Elements of motion control systemThe motor，This may be a stepper motor (either rotary or linear), a DC brush motor or a brushless servo motor. The motor needs to be fitted with some kind of feedback device unless it is a stepper motor.Fig. 2 shows a system complete with feedback to control motor speed. Such a system is known as a closed-loop velocity servo system.Fig. 2 Typical closed loop (velocity) servo systemThe drive，this is an electronic power amplifier that delivers the power to operate the motor in response to low-level control signals. In general, the drive will be specifically designed to operate with a particular motor type –you can’t use a stepper drive to operate a DC brush motor, for instance.Application Areas of Motor TypesStepper MotorsStepper Motor BenefitsStepper motors have the following benefits:• Low cost• Ruggedness• Simplicity in construction• High reliability• No maintenance• Wide acceptance• No tweaking to stabilize• No feedback components are needed• They work in just about any environment• Inherently more failsafe than servo motors.There is virtually no conceivable failure within the stepper drive module that could cause the motor to run away. Stepper motors are simple to drive and control in an open-loop configuration. They only require four leads. They provide excellent torque at low speeds, up to 5 times the continuous torque of a brush motor of the same frame size or double the torque of the equivalent brushless motor. This often eliminates the need for a gearbox. A stepper-driven-system is inherently stiff, with known limits to the dynamic position error.Stepper Motor DisadvantagesStepper motors have the following disadvantages:• Resonance effects and relatively long settling times• Rough performance at low speed unless a micro step drive is used• Liability to undetected position loss as a result of operating open-loop• They consume current regardless of load conditions and therefore tend to run hot• Losses at speed are relatively high and can cause excessive heating, and they are frequently noisy (especially at high speeds).• They can exhibit lag-lead oscillation, which is difficult to damp. There is a limit to their available size, and positioning accuracy relies on the mechanics (e.g., ball screw accuracy). Many of these drawbacks can be overcome by the use of a closed-loop control scheme. Note: The Comp motor Zeta Series minimizes or reduces many of these different stepper motor disadvantages. There are three main stepper motor types:• Permanent Magnet (P.M.) Motors• Variable Reluctance (V.R.) Motors• Hybrid MotorsWhen the motor is driven in its full-step mode, energizing two windings or “phases” at a time (see Fig. 3), the torque available on each step will be the same (subject to very small variations in the motor and drive characteristics). In the half-step mode, we are alternately energizing two phases and then only one as shown in Fig. 4. Assuming the drive delivers the same winding current in each case, this will cause greater torque to be produced when there are two windings energized. In other words, alternate steps will be strong and weak. This does not represent a major deterrent to motor performance—the available torque is obviously limited by the weaker step, but there will be a significant improvement in low-speed smoothness over the full-step mode.Clearly, we would like to produce approximately equal torque on every step, and this torque should be at the level of the stronger step. We can achieve this by using a higher current level when there is only one winding energized. This does not over dissipate the motor because the manufacturer’s current rating assumes two phases to be energized the current rating is based on the allowable case temperature). With only one phase energized, the same total power will be dissipated if the current is increased by 40%. Using this higher current in the one-phase-on state produces approximately equal torque on alternate steps (see Fig. 5).Fig. 3 Full step currentFig. 4 Half step currentFig.5 Half step current, profiledWe have seen that energizing both phases with equal currents produces an intermediate step position half-way between the one-phase-one positions. If the two phase currents are unequal, the rotor position will be shifted towards the stronger pole. This effect is utilized in the micro stepping drive, which subdivides the basic motor step by proportioning the current in the two windings. In this way, the step size is reduced and the low-speed smoothness is dramatically improved. High-resolution micro step drives divide the full motor step into as many as 500 micro steps, giving 100,000 steps per revolution. In this situation, the current pattern in the windings closely resembles two sine waves with a 90°phase shift between them (see Fig. 6). The motor is now being driven very much as though it is a conventional AC synchronous motor. In fact, the stepper motor can be driven in this way from a 60 Hz-US (50Hz-Europe) sine wave source by including a capacitor inseries with one phase. It will rotate at 72 rpm.Fig. 6 Phase currents in micro step modeStandard 200-Step Hybrid MotorThe standard stepper motor operates in the same way as our simple model, but has a greater number of teeth on the rotor and stator, giving a smaller basic step size. The rotor is in two sections as before, but has 50 teeth on each section. The half-tooth displacement between the two sections is retained. The stator has 8 poles each with 5 teeth, making a total of 40 teeth (see Fig. 7).Fig.7 200-step hybrid motorIf we imagine that a tooth is placed in each of the gaps between the stator poles, there would be a total of 48 teeth, two less than the number of rotor teeth. So if rotor and stator teeth are aligned at 12 o’clock, they will also be aligned at 6 o’clock. At 3 o’clock and 9 o’clock the teeth will be misaligned. However, due to the displacement between the sets of rotor teeth, alignment will occur at 3 o’clock and 9 o’clock at the other end of the rotor.The windings are arranged in sets of four, and wound such that diametrically-opposite poles are the same. So referring to Fig. 7, the north poles at 12 and 6 o’clock attract the south-pole teeth at the front of the rotor; the south poles at 3 and 9 o’clock attract the north-pole teeth at the back. By switching current to the second set of c oils, the stator field pattern rotates through 45°. However, to align with this new field, the rotor only has to turn through 1.8°. This is equivalent to one quarter of a tooth pitch on the rotor, giving 200 full steps per revolution.Note that there are as many detent positions as there are full steps per rev, normally 200. The detent positions correspond with rotor teeth being fully aligned with stator teeth. When power is applied to a stepper drive, it is usual for it to energize in the “zero phase” state in which there is current in both sets of windings. The resulting rotor position does not correspond with a natural detent position, so an unloaded motor will always move by at least one half steps at power-on. Of course, if the system was turned off other than in the zero phase state, or the motor is moved in the meantime, a greater movement may be seen at power-up.Another point to remember is that for a given current pattern in the windings, there are as many stable positions as there are rotor teeth (50 for a 200-step motor). If a motor isde-synchronized, the resulting positional error will always be a whole number of rotor teeth or a multiple of 7.2°. A motor cannot “miss” individual steps – position errors of one or two steps must be due to noise, spurious step pulses or a controller fault.Fig. 8 Digital servo driveDigital Servo Drive OperationFig.8 shows the components of a digital drive for a servo motor. All the main control functions are carried out by the microprocessor, which drives a D-to-A converter to produce an analog torque demand signal. From this point on, the drive is very much like an analog servo amplifier.Feedback information is derived from an encoder attached to the motor shaft. The encoder generates a pulse stream from which the processor can determine the distance traveled, and by calculating the pulse frequency it is possible to measure velocity.The digital drive performs the same operations as its analog counterpart, but does so by solving a series of equations. The microprocessor is programmed with a mathematical model (or “algorithm”) of the equivalent analog system. This model predicts the behavior of the system. It also takes into account additional information like the output velocity, the rate of change of the input and the various tuning settings.To solve all the equations takes a finite amount of time, even with a fast processor –this time is typically between 100ms and 2ms. During this time, the torque demand must remain constant at its previously-calculated value and there will be no response to a change at the input or output. This “update time” therefore becomes a critical factor in the performance of a digital servo and in a high-performance system it must be kept to a minimum.The tuning of a digital servo is performed either by pushbuttons or by sending numerical data from a computer or terminal. No potentiometer adjustments are involved. The tuning data is used to set various coefficients in the servo algorithm and hence determines the behavior of the system. Even if the tuning is carried out using pushbuttons, the final values can be uploaded to a terminal to allow easy repetition.Some applications, the load inertia varies between wide limits – think of an arm robot that starts off unloaded and later carries a heavy load at full extension. The change in inertia may well be a factor of 20 or more, and such a change requires that the drive isre-tuned to maintain stable performance. This is simply achieved by sending the new tuning values at the appropriate point in the operating cycle.步进电机和伺服电机的系统控制运动控制，在其最广泛的意义上说，可能与任何移动式起重机中焊接机器人液压系统有关。

伺服电机把握方法 - 步进伺服伺服电机是一种补助马达加速的设备,伺服机电把握速度、位置格外精确.伺服机电就是闭环把握器把握的电机，比一般电机多个编码器反馈，能够依据给定和反馈来计算输出目标值，把握电机的运动速度及位移的机械.通常伺服机电的把握方法有:伺服电机一般为三个环把握，所谓三环就是3个闭环负反馈PID调整系统。

最内的PID环就是电流环，此环完全在伺服驱动器内部进行，通过霍尔装置检测驱动器给电机的各相的输出电流，负反馈给电流的设定进行PID调整，从而达到输出电流尽量接近等于设定电流，电流环就是把握电机转矩的，所以在转矩模式下驱动器的运算最小，动态响应最快。

第2环是速度环，通过检测的电机编码器的信号来进行负反馈PID调整，它的环内PID输出直接就是电流环的设定，所以速度环把握时就包含了速度环和电流环，换句话说任何模式都必需使用电流环，电流环是把握的根本，在速度和位置把握的同时系统实际也在进行电流（转矩）的把握以达到对速度和位置的相应把握。

第3环是位置环，它是最外环，可以在驱动器和电机编码器间构建也可以在外部把握器和电机编码器或最终负载间构建，要依据实际状况来定。

由于位置把握环内部输出就是速度环的设定，位置把握模式下系统进行了全部3个环的运算，此时的系统运算量最大，动态响应速度也最慢.1.转矩把握：转矩把握方式是通过外部模拟量的输入或直接的地址的赋值来设定电机轴对外的输出转矩的大小，具体表现为例如10V对应5Nm的话，当外部模拟量设定为5V时电机轴输出为2.5Nm:假如电机轴负载低于2.5Nm时电机正转，外部负载等于2.5Nm时电机不转，大于2.5Nm时电机反转（通常在有重力负载状况下产生）。

可以通过即时的转变模拟量的设定来转变设定的力矩大小，也可通过通讯方式转变对应的地址的数值来实现。

应用主要在对材质的受力有严格要求的缠绕和放卷的装置中，例如饶线装置或拉光纤设备，转矩的设定要依据缠绕的半径的变化随时更改以确保材质的受力不会随着缠绕半径的变化而转变。

电动机控制中英文对照外文翻译文献(文档含英文原文和中文翻译)原文：Control of Electric winchFor motor control, we know the best way is to use the style buttons to move the many simple manual console. And this console, in some applications may still be a good choice, as some complex control headache can also be used. This article describes in your design, build or purchase winch controller, you have the motor's basic electrical equipment and you will need to address the user interface command addressed.First, the manual should be a manual control console type, so if you remove your finger buttons, hoist will stop. In addition, each control station equipped with an emergency need to brake, hoist the emergency brake to cut off all power, not just the control circuit. Think about it, if the hoist at the stop, it did not stop, you do need a way to cut off the fault line protection power. Set the table in the control of a key operated switch, is also a very good idea, especially in the line leading to theworkstation can not control, you can use the switch.(in the design of the console, even the simplest manual console, but also consider setting by specialized personnel to operate the safe operation of the keys.) Constant speed motor controlFor a fixed speed winch actual control device is a three-phase starter. Turn the motor is reversed, by a simple switch controlled phase transformation sequence from ABC to CBA. These actions are completed by two three-pole contactor-style, and they are interlocked, so that they can not be simultaneously closed. NEC, required in addition to overload and short circuit protection devices. To protect the motor against overload due to mechanical effects caused by overheating in the heat to be installed inside the starter overload delay device. When the heat overload delay device overheating, it has a long double off the metal motor power. In addition In addition, you can also select a thermistor can be installed in the motor winding way, it can be used to monitor motor temperature changes. For the short-circuit protection, we generally used by motor fuses to achieve.A linear current independent contactors, the contactors are configured should be more than the current main circuit contactor, so as to achieve the purpose of redundancy. This sets the current contactor is controlled by the security circuit, such as: emergency brake and the more-way limits.We can use the limit switches to achieve the above operation. When you reach the end of the normal travel limit position, the hoist will stop, and you can only move the winch in the opposite direction (ie, the direction away from the limit position.) There is also need for a more limited way just in case, due to electrical or mechanical problems, leaving the operation of hoist limit bit more than normal. If you run into more limiter, linear contactor will open, therefore, can not be driven winch will exceed this limit position. If this happens, you need to ask a professional technician to check the lead to meet the more specific reasons limiter. Then, you can use thestarter toggle switch inside the elastic recovery process to deal with more problems, rather than tripping device or a hand-off the current contacts.A necessary condition for speedOf course, the simple fixed speed starter is replaced by variable speed drives. This makes things start to get interesting again! At a minimum, you need to add a speed control dial operation platform. Joystick is a better user interface, because it makes you move parts of a more intuitive control.Unfortunately, you can not just from your local console to send commands to control the old variable speed drives, in addition, you can not want it in the initial stages, will be able to enhance the safe and reliable and decentralized facilities. Most of the variable speed drive can not achieve these requirements, because they are not designed to do upgrading work. Drivers need to be set to release the brake before the motor can generate torque, and when parking, that is, before the revocation of torque, the brake will be the first action.For many years, DC motors and drives provide a number of common solutions, such as when they are in a variety of speeds with good torque characteristics. For most of the hoist of the large demand for DC motor is very expensive, and that the same type of AC motor than the much more expensive. Although the early AC drives are not very useful, as they have a very limited scope of application of the speed, but produced only a small low-speed torque. Now, with the DC drives the development of low cost and a large number of available AC motors has led to a communication-driven revolution.Variable speed AC drives in two series. Frequency converter has been widely known and, indeed, easy to use. These drives convert AC into DC, and then, and then convert it back to exchange, the exchange after the conversion is a different frequency. If the drive produced the exchange of 30Hz, 60Hz a normal motor will run at half speed. Theoretically, this is very good, but in practice, this will have a lot of problems. First of all, a typical linear motor 60Hz frequencies below 2Hz 3Hz area or there will be errors, and start cog (that urgent push, yank), or parking. This will limit your speed range lower than 20:1, almost not adapted to the operational phase of the fine adjustment. Second, many low-cost converter is not able to provide the rated torque at low speeds. Use of these drives, will result in the rapid move to upgrade the components or complete failure, precisely, when you try to upgrade a stable scientific instruments, you do not want to see this situation. Some new inverter is a closed-loop system (to get feedback from the motor to provide a more accurate speed control), and the motor will work quite well.Another series of AC drives is the flow vector type drive. These components require installation of the spindle motor encoder, encoder makes use of these drivescan accurately monitor the rotation of the motor armature. Processor accurately measured magnetic flux vector values that are required to make the armature at a given speed rotation. These drives allow infinite speed, so you actually can produce at zero speed to rated torque. These drives provide precise speed and position control, so these drives in high performance applications to be welcomed.(Based on PLC controllers provide system status and control options. This screen shows the operator full access to the nine-story elevator enhance the control panel.) PLC-based systemsIs the full name of a PLC programmable logic controller. First of all, PLC controller developed to replace the fifties and sixties-based industrial control system relay, they work in harsh industrial indoor environments. These are modular systems that have a large variety of I / O modules. The modular system can easily achieve the semi-custom hardware configuration assembled, and the resulting configuration is also very reasonable price. These modules include: position control module, the counter, A / D and D / A converter, and a variety of physical state or physical contact with closed output module. Large number of different types of I / O components and PLC module property makes it an effective way to assemble custom and semi custom control system.The biggest shortcoming of PLC systems is the lack of the real number of display to tell you what is being done and the PLC on the PLC program to help you.T he first is professional entertainment for the large-scale PLC system is one of the original in Las Vegas, MGM (now Bailey Company) of the riding and carriage system. Many manufacturers offer a standard PLC-based semi-automated acoustic systems and a host of signs, set the location of the command line interpreter, and the upgrading of the control system is also available. Using standard modules to set user-defined system configuration capability is based on the PLC controller of the greatest advantage.High-end controllerFor complex transmission, the controller became complex, more than speed, time and location control. They include complex instructions to write and record the movement contour, and the processing can immediately run the ability to multi-point instructions.Many large opera house is toward the direction of point lift system, where each one is equipped with a rope to enhance independent winches, rope equivalent to those of each dimmer circuit. When more than one hoist is used to enhance the individual part, the hoist must be fully synchronous, or the load to shift, so will lead to a separate winch becomes the risk of overload. Control system must be able to be selected to keep pace winch, or a hoist winch is not able to maintain synchronization with the other, can provide the same high-speed parking capacity. For a typical speed of 240 ft / min and a winch to maintain the rate of error of between 1 / 8 points of equipment, you only have less than three microseconds of time to identify problems and try to correct the error The hoist speed, make sure you fail, you start all the winch stop the group. This will require a large amount of computation, fast I / O interface, and easy to use to write software.For large rope control system has two very different solutions. The first is to use a separate console, the problem in general terms, this console should be installed in the appropriate location of the operator perspective. However, this not only from one angle to another angle, but still can not get an instruction to another instruction from the control. These difficulties have been partially resolved. Installed in different locations through the use of video cameras, and these cameras connected to the three-dimensional display graphics, these graphics enables the operator to observe from the perspective of any of the three coordinates in the expected direction of rope movement. These operators can make from a console for him at the actual angle, or closed circuit camera practical perspective, to observe the movement of the rope on the screen. For the complex interrelated moving parts, makes the implementation of the above observation Failure to control and find out easier.Another solution to the problem is a distributed system that uses multiple light console. This will allow the different operators in the same way the different aspects of control gear, we have improved the manual control device. A vivid example is the flower in a vegetable market in central London, the Royal Opera House, the program uses the above, where the control console 240 with ten motors. Each console has five playback device, and has been open, so that each motor has been assigned to a single console. An operator and a console can control all the devices, however, often may be running a console platform screen upgrade, another console is a console on the transmission device, and the third console is used to the necessary backgroundin the background image down.(edge-type portable console allows the operator many advantages from the start to control the movement of the machine, and provide three-dimensional image display.)ConclusionA huge change in the rope control system, a workstation has been developed from a push-button to complex multi-user computerized control system. When the control system to buy rope, you can always find to meet your needs. Control system performance is the most important security and reliability. These are the true value of the property, and you can expect the price to buy a suitable way of security. With a certain product manufacturers to work, he will make you know how to install it. And he will make contact with you and the users, those users have with similar requests.译文：电动卷扬机的控制对于电动机的控制，我们所知道的最好的方式就是使用由许多点动式按钮组成的简单的手工操作台。