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小功率直流伺服系统控制电路设计

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任务书.doc

外文翻译---步进电机和伺服电机的系统控制.doc

小功率直流伺服系参考.doc

小功率直流伺服系统控制电路设计开题报告.doc

小功率直流伺服系统控制电路设计论文.doc

电路图.dwg

1 引言 2

1.1 伺服系统的发展简况 2

1.2 伺服系统的发展趋势 3

2 伺服系统的组成原理及基本特征 4

2.1 伺服系统的组成原理 4

2.2 伺服系统的分类 4

3 直流电机概述 5

3.1直流电机的结构 5

3.1.1.定子 5

3.1.2. 转子(电枢) 7

3.2直流电动机的工作原理 9

3.3 直流电机与交流电机区别 10

4 直流电机调速原理 11

4.1直流电机正反转调速 12

4.2 H桥驱动电路 13

4.3 使能控制和方向逻辑 15

5 双闭环直流晶闸管调速系统设计 17

5.1总体方案设计 17

5.1.1 方案比较 17

5.1.2 方案论证 18

5.1.3 方案选择 19

5.1.4 设计要求 19

5.2单元模块设计 19

5.2.1 转速给定电路设计 19

5.2.2 转速检测电路设计 20

5.2.3 电流检测电路设计 20

5.2.4 整流及晶闸管保护电路设计 21

5.2.4 .1 过电压保护和du/dt限制 22

5.2.4 .2过电流保护和di/dt限制 22

5.2.4 .3 整流电路参数计算 22

5.2.5电源设计 24

5.2.6 控制电路设计 25

5.3系统调试 30

参考文献 33

附A：总电路图 34

1 引言

本次毕业设计是小功率直流伺服系统控制电路的硬件设计。根据任务书的要求，设计的控制电路要能控制系统工作，使伺服系统能驱动电机在正反两个方向的正常运行，满足自动位置跟随的性能要求。

1.1 伺服系统的发展简况

伺服系统是自动控制系统中的一类。它是伴随着电的应用而发展起来的，最早出现于本世纪初。1934年第一次提出了伺服机构这个词，随着自动控制理论的发展，到本世纪中期，伺服系统的理论与实践均趋于成熟，并得到广泛应用。

近几十年来在新技术革命的推动下，特别是伴随着微电子技术和计算机技术的飞速进步，伺服系统更是如虎添翼突飞猛进，它的应用几乎遍及社会的各个领域，下面简单地列举几个例子。

伺服系统在机械制造行业中用得最多最广，各种机床运动部分的速度控制、运动轨迹控制、位置控制等，都是依靠各种伺服系统控制的。它们不仅能完成转动控制、直线运动控制，而且能依靠多套伺服系统的配合，完成复杂的空间曲线运动的控制，如仿型机床的控制、机器人手臂关节的运动控制等。它们可以完成的运动控制精度高，速度快，远非一般人工操作所能达到[1]。

在冶金工业中，电弧炼钢炉、粉末冶金炉等的电极位置控制，水平连铸机的拉坯运动控制，轧钢机轧辊压下运动的位置控制等，都是依靠伺服系统来实现的，这些更是无法用人工操作来代替。

在运输行业中，电气机车的自动调速、高层建筑中电梯的升降控制、船舶的自动操舵、飞机的自动驾驶等，都有各种伺服系统为之效力，从而减缓操作人员的疲劳，同时也大大提高了工作效率。

在军事上，伺服系统用得更为普遍，如雷达天线的自动瞄准跟踪控制，高射炮、战术导弹发射架的瞄准运动控制，坦克炮塔的防摇稳定控制，防空导弹的制导控制，鱼雷的自动控制等。

在计算机外围设备中，也采用了不少伺服系统，如自动绘图仪的画笔控制系统、磁盘驱动系统等。

如今，我国已成为世界上少有的几个能产生激光电视放像系统的国家，用激光将信息录制在光盘上。许多信息在电视机上构成一幅画面，放像过程是用很细的激光束沿信息道读取信息，各种信息道之间的间隔已达微米级，因此控制激光束的位置伺服系统也具有相应的控制精度，以保证获取清晰稳定的画面。这种具有高精度伺服系统的激光电视放像机，已开始进入我国人民的家庭生活。

伺服系统的应用越来越广泛，大至控制上吨重的巨型雷达天线，可及时准确地跟踪人造卫星的发射，小至用音圈电机来控制电视放像机的激光头，从国防、工业生产、交通运输到家庭生活，而且必将发展应用到更新的领域。

1.2 伺服系统的发展趋势

进入20世纪80年代后，因为微电子技术的快速发展，电路的集成度越来越高，对伺服系统产生了很重要的影响。新的伺服系统产品改变了将伺服系统划分为速度伺服单元与位置伺服单元两个模块的做法，代之以单一的、高度集成化、多功能的控制单元。同一个控制单元，只要通过软件设置系统参数，就可以改变其性能，既可以使用电机本身配置的传感器构成半闭环调节系统，又可以通过接口与外部的位置或速度或力矩传感器构成高精度的全闭环调节系统。高度的集成化还显著地缩小了整个控制系统的体积，使得伺服系统的安装与调试工作都得到了简化。

同时，伺服系统的控制方式迅速向微机控制方向发展，并由硬件伺服系统转向软件伺服系统，智能化的软件伺服系统将成为伺服控制的一个发展趋势。

就目前而言，伺服系统将向两个方向发展。一个是满足一般工业应用要求，对性能指标要求不高的应用场合，追求低成本、少维护、使用简单等特点的驱动产品，如变频电机、变频器等。另一个就是代表着伺服系统发展水平的主导产品—伺服电机、伺服控制器，追求高性能、高速度、数字化、智能型、网络化的驱动控制，以满足用户较高的应用要求。

2 伺服系统的组成原理及基本特征

2.1 伺服系统的组成原理

伺服系统亦称随动系统，属于自动控制系统中的一种，它用来控制被控对象的转角(或位移)，使其能自动地、连续地、精确地复现输入指令的变化规律。伺服系统由伺服驱动装置和驱动元件(或称执行元件)组成，高性能的伺服系统还有检测装置，反馈实际的输出状态。它通常是具有负反馈的闭环控制系统，有的场合也可以用开环控制来实现其功能。

伺服系统的种类很多，构成状况和工作状况也是多种多样的，它有检测装置，用来检测输入信号和系统的输出，有放大装置和执行部件，为使各部件之间有效地组配和使系统具有良好的工作品质，一般还有信号转换电路和补偿装置。此外，以上各部分都离不开相应的能源设备、相应的保护装置、控制设备和其它辅助设备。

2.2 伺服系统的分类

图上部为转速曲线，下部为电流曲线。因为开环系统中没有反馈信号，而电机在带载的一瞬间要有一个做功的过程，也就是建立系统带载状态下的稳定状态的过程，这部分功需要增大电机的电流来补偿，同时也会牺牲一部分动能，也就是电机的转速，所以产生了静态速降。

参考文献

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内容简介：: 毕业设计（论文）任务书系部：机械工程系专业：机械工程及自动化学生姓名：学号：设计 (论文 )题目：小功率直流伺服系统控制电路设计起迄日期 : 2011 年 2 月 25 日 5 月 4 日设计 (论文 )地点 : 指导教师 : 专业负责人 : 发任务书日期 : 2011 年 2 月 25 日任务书填写要求 1毕业设计（论文）任务书由指导教师根据各课题的具体情况填写，经学生所在专业的负责人审查、系部领导签字后生效。此任务书应在第七学期结束前填好并发给学生； 2 任务书内容必须用黑墨水笔工整书写或按教务处统一设计的电子文档标准格式（可从教务处网页上下载）打印，不得随便涂改或潦草书写，禁止打印在其它纸上后剪贴； 3 任务书内填写的内容，必须和学生毕业设计（论文）完成的情况相一致，若有变更，应当经过所在专业及系部主管领导审批后方可重新填写； 4 任务书内有关“系部”、“专业”等名称的填写，应写中文全称，不能写数字代码。学生的“学号”要写全号； 5 任务书内“主要参考文献”的填写，应按照国标 714 2005文后参考文献著录规则的要求书写，不能有随意性； 6 有关年月日等日期的填写，应当按照国标 7408 2005数据元和交换格式、信息交换、日期和时间表示法规定的要求，一律用阿拉伯数字书写。如“ 2009 年 3 月 15 日”或“ 2009 毕业设计（论文）任务书 1本毕业设计（论文）课题应达到的目的：（ 1）引导学生自觉地将知识学习与科学、技术、工程研究相结合，学会查找并利用相关的文献资料，基本掌握科学研究的思路、方法和手段；（ 2）提高学生的实践能力和动手能力，培养学生的创造、创新、创业与敬业精神；（ 3）培养学生的团队拼搏精神，使学生能更好地熔入社会；（ 4）学会撰写科技论文报告。 2本毕业设计（论文）课题任务的内容和要求（包括原始数据、技术要求、工作要求等）：要求学生应用学过的模拟电路、控制理论等知识，根据题目的要求，设计小功率直流伺服系统的控制电路，控制电机工作。要求： 1. 清楚控制对象的工作情况； 2. 控制信号可以是直流的，也可以是交流的； 3. 根据执行电机的功率估算放大器各级所选的元件参数； 4. 控制电路要保证电机能在正、反二个方向运动； 5. 完成控制电路实验（如果能带动电机工作更好）； 6. 分析直流伺服系统的工作特点； 7. 执行电机的参数如下表电机型号额定功率额定电流额定电压 6W 4V 测速机输出电压转速线性精度 305V 3000r/m 1 毕业设计（论文）任务书 3对本毕业设计（论文）课题成果的要求包括毕业设计论文、图表、实物样品等：课题成果内容包括： 1. 完成小功率直流伺服系统控制电路的设计； 2. 完成小功率直流伺服系统控制电路的实验； 3. 应用计算机绘制小功率直流伺服系统控制电路图并注明参数； 4主要参考文献： 1 何希才用 365 例） M . 第一版，北京：电子工业出版社，2 杨兴瑶等 00 例 M . 第一版，北京：化学工业出版社， 3 章燕申，袁曾任等 M 北京：清华大学出版社， 4 冯国楠 M . 第一版，北京：机械工业出版社， 5 曾乐生，施妙和 M . 第一版，北京：北京工业学院出版社，6 胡家耀，赵雅君 . 现代控制理论基础 M . 第一版，北京：轻工业出版，7 孙辉，张涛，张旭东 . 快学易学 99M . 第一版，北京：邮电大学出版社， 8 王远 M 北京：清华大学出版社， 9 王耀德 M械工业出版社， 10 王炳钦 M . 第一版，成都：电子科技大学出版社， 11邵瑜 ,李声晋 ,芦刚 ,. 一种无刷直流电动机驱动及保护电路设计 J. 微电机 ,2008,(8). 12李超 ,李波 ,. 一种实用型直流电机控制电路的设计 J. 现代电子技术 ,2008,(15). 13郑静 ,渠慎丰 ,. 小功率伺服无刷直流电机驱动器设计 J. 电子测量技术 ,2006,(3). 毕业设计（论文）任务书 5本毕业设计（论文）课题工作进度计划：起迄日期工作内容 2011 年 2 月 25 日 3 月 10 日 3 月 10 日 3 月 30 日 4 月 1 日 4 月 9 日 4 月 10 日 4 月 24 日 4 月 25 日 5 月 4 日学生查资料，根据题目写开题报告（文献综述）、翻译一篇与题目相关的外文资料根据题目的要求，制定出初步的放大器原理方案根据修改后的设计方案，做实验用最终的电路，并完成毕业论文论文答辩所在专业审查意见：负责人：年月日系部意见：系部主任：年月日南京理工大学泰州科技学院毕业设计(论文)外文资料翻译学院 (系)：专业：姓名：学号：外文出处：Step Motor& Servo Motor Systems and Controls附件：1.外文资料翻译译文 ;2.外文原文指导教师评语：签名：年月日附件1：外文资料翻译Step Motor& Servo Motor Systems and ControlsAbstract：80 years since the 20th century, with the integrated circuits, power electronics and AC variable speed drive technology, servo-drive technology has highlighted the development of national well-known electrical manufacturers have launched their own servo motor and servo drive products and continue to improveand updated.Modern high-performance servo systems have become the main development direction of the servo system, servo so that the original out of the crisis facing.90 years later, has commercialized the worlds all-digital servo control system is a sine wave motor servo drive.Servo drive the rapid development of the field in the transmission.Keywords Circuit Electronics servomechanism servo-systemMotion Architect Software Does the Work for You. Configure ,Diagnose, Debug Compumotors Motion Architect is a Microsoft Windows-based software development tool for 6000Series 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 ConfiguratorThis module prompts you to fill in all pertinent set-up information to initiate motion. Configurable to the specific 6000 Series product that is selected, the information is then used to generate actual 6000-language code that is the beginning of your program. Program EditorThis module allows you to edit code. It also has the commands available through “Help” menus. A users guide is provided on disk. Terminal EmulatorThis module allows you to interact directly with the 6000 product. “Help” is again available with all commands and their definitions available for reference. Test PanelYou can simulate your programs, debug programs, and check for program flow using this module.Because Its Windows, You Already Know How to Use ItMotion Architect has been designed for use with all 6000 Series productsfor both servo and stepper technologies. The versatility of Windows and the 6000 Series language allow you to solve applications ranging from the very simple to the complex.Motion Architect comes standard with each of the 6000 Series products and is a tool that makes using these controllers even more simpleshortening the project development time considerably. A value-added feature of Motion Architect, when used with the 6000 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 Compumotor 6000 Series Software Reference Guide.SOLVING APPLICATIONS FROM SIMPLE TO COMPLEXServo Control is Yours with Servo Tuner SoftwareCompumotor combines the 6000 Series 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 of real-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 SoftwareMotion Toolbox is an extensive library of LabVIEW virtual instruments (VIs) for icon-based programming of Compumotors 6000 Series motion controllers.When using Motion Toolbox with LabVIEW, programming of the 6000 Series controller is accomplished by linking graphic icons, or VIs, together to form a block diagram.Motion Toolboxs has a library of more than 150 command,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 prehensiveM 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 generates 6000 code compatible with Compumotors 6000 Series 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 the 6000 code 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 the 6000 SeriesMotion Builder revolutionizes motion control programming. This innovative software allows programmers to program in a way they are familiar witha 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 the 6000 Series 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 the 6000 Series products, users may configure, debug, download, and execute the motion program. SERVO VERSUS STEPPER. WHAT YOU NEED TO KNOWMotor 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 Compumotors Motor Sizing and Selection software package. Using 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, good torque-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 applications are 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 APPLICATIONIntroductionMotion 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 wouldnt 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 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 cant 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 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 performancethe 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 manufacturers 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. 1.10).Fig. 1.8 Full step current, 2-phase onFig. 1.9 Half step currentFig. 1.10 Half 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 the current 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 as 500 microsteps, 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. 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 a 60 Hz-US (50Hz-Europe) sine wave source by including a capacitor in series with one phase. It will rotate at 72 rpm.Fig. 1.11 Phase currents in microstep 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. 1.12).Fig. 1.12 200-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 oclock, they will also be aligned at 6 oclock. At 3 oclock and 9 oclock the teeth will be misaligned. However, due to the displacement between the sets of rotor teeth, alignment will occur at 3 oclock and 9 oclock 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. 1.12, the north poles at 12 and 6 oclock attract the south-pole teeth at the front of the rotor; the south poles at 3 and 9 oclock attract the north-pole teeth at the back. By switching current to the second set of coils, 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 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 (50 for a 200-step motor). If a motor is de-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. 2.19 Digital servo driveDigital Servo Drive OperationFig. 2.19 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 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 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.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 of 20 or more, and such a change requires that the drive is re-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摘要: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，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伺服电动机和伺服驱动器系列产品并不断完善和更新。伺服系统已成为当代高性能伺服系统的主要发展方向，使原来的直流伺服面临被淘汰的危机。90年代以后，世界各国已经商品化了的伺服系统是采用全数字控制的正弦波电动机伺服驱动。伺服驱动装置在传动领域的发展日新月异。关键词电路电子技术伺服系统运动的控制者-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。数控电动机的设计者会是一个微软窗口基于构件的软件开发工具，可以为6000系列产品设置代码，同时可以控制设计者与执行者的运动节目，并创造一个定制运营商的测试小组。运动建筑师的心脏是一个空壳，它可以为进入以下模块提供一个综合环境。1. 系统配置这个模块提示您填写所有相关初成立信息启动议案。配置向具体6000系列产品的选择，然后这些信息将用于产生实际的6000 - 语言代码，这是你的开始计划。 2. 程序编辑器允许你编辑代码。它也有可行的“帮助”命令菜单。A用户指南提供了相关的磁盘指南。3. 终端模拟器本模块，可让您直接与6000系列产品互动。他所提供的“帮助”是再次参考所有命令和定义。4. 测试小组你可以使用本模块，模拟程序，调试程序，并跟踪检测程序。由于它的对话窗口，你能很容易的知道怎么使用它。运动建筑师已经将所有的6000系列产品都运用在了步进电机和伺服电机的技术上。由于丰富的对话窗口和6000系列语言，使得你能够从简单到复杂的解决问题。运动建筑师的6000系列产品的标准配置工具，能够使得这些控制器更加简单，相当大的缩短项目开发时间。它的另外一个增值特点是使用6000伺服控制器的调谐助手。基于调谐价值观，这个额外的模块可以以图形化的方式为你展示各种参数。看看这些参数是如何让变化的。用运动的建筑师，你可以一次性打开多个窗口。举例来说，无论是程序编辑器和终端模拟器窗口，你都可以打开运行程序，得到信息，然后改变这一程序。运动建筑师可以利用在线帮助，在整个互动接触内容中为数控电机6000系列软件做参考指南。从简单到复杂的解决应用伺服控制是你用伺服调谐器软件控制。数控电机与6000系列伺服控制器相结合并应用伺服调谐器软件。伺服调谐器是一个新增功能模块，它扩展和提高运动建筑师的能力。议案建筑师与伺服调谐器结合起来，以提供图形化的反馈方式，反馈实时运动信息并提供简便环境设置微调收益及相关制参数以及提供文件操作，以保存并记得微调会议。请你用运动工具箱软件解决自己的运动控制。运动工具箱实际上是一个为数控电机和6000系列运动控制器而设计的广泛应用的虚拟图标式编程仪器。当使用运动工具箱与虚拟编程仪时，编程6000系列控制器实质上是完成连接图形图标，或加上形成框图使之可见。运动工具箱中包含了1500多条命令，状态栏，实例等。所有的命令、状态栏、实例都包括可视的来源图表，使您可以修改他们，如果有必要，可以满足您的特殊的需要。运动工具箱同时还具有一个可视窗口，基于安装程序和一个全面的用户手册，可以帮助您运行得更好更快。软件电脑辅助运动应用软件compucamcompucam是基于微软的编程包，它能从 CAD程序、示波器文档、数控程序和产生6000系列数控电机密码相兼容的运动控制器中输入几何图形。购买数控电机是可行的，因为compucam是一个附加模块，是运动建筑师的菜单栏，它是作为公用部分而被引用的。程序从compucam开始运行CAD软件包。一旦程序被起草创作，它就会被保存为DXF文件，或惠普-吉尔段文档，或G代码数控程序。这些几何图形然后输入compucam中，产生6000系列代码。在程序运行之后，你可使用的运动建筑师功能块，如编辑或下载代码等执行程序。运动执行者软件可轻松编程6000系列运动执行者革命性控制运动编程。这一具有创新意义的软件允许程序员以他们所熟悉的- 流程图式的方法编程。运动执行者降低了学习曲线，并使运动控制编程变得相当容易。运动执行者是一套微软软件，基于图形化窗口的发展，让专家和新手程序员容易学习计划6000系列产品新的编程语言。简单地拖放代表议案职能的视觉图标，你可以随时的进行你所需要的操作。运动执行者是一个完整的应用开发环境的软件。除了视觉编程6000 系列产品，用户还可以配置，调试，下载，策划和执行的议案计划。伺服与步进您需要了解的电机类型及其应用下一节将会给你介绍一些的适用特别场合的电机，而某些应用是最好避免。应当强调说，在一个广范的应用范围，电机是可同样满足一个以上的汽车类型，而选择往往是由客户偏好、以往经验或与现有的设备的兼容性决定的。一个非常有用的工具箱，可供你选择适当的运动，为你选择电机与选择软件包是compumotor软件包。使用这个软件，使用户可以轻松找出适当的电机大小和类型。高扭矩，低转速连续脉冲适宜于步进电机时，在低速时，就相对于扭矩输出规模和输入功率而言，它是非常高效率。微步，在低速应用，可以用来提高平滑度。如可作为计量泵驱动非常精确的流量控制。高扭矩，高转速连续脉冲适应于伺服电机时，其实步进电机应避免使用在这种情况下。这是因为高速可导致负荷。简捷，快速，重复性动作仅是自然域的步进电机由于其在低速时高转矩，因而存在惯性比例大，及缺乏折算的问题。直流电动机的电刷可限制其潜在的频繁开始，停止和方向的改变。低速，高光滑的应用这是最适合于微步或直接驱动伺服电机。适用于危险环境或在真空中可能不能够使用电刷电机。步进或无刷电机是无所谓的，靠的是对负荷的需求。牢记当负载过高时，热耗散可能是个问题。选择适合你的电机导言运动控制，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。在电子运动控制领域，我们的主要关切系统范围内的有限功率的大小，通常高达约10hp （ 7千瓦），并要求在一个或多个方面有严格精密。这可能涉及精确控制的距离或速度，但很多时候是双方的，有时还涉及其它参数如转矩或加速率。在以下所举的两个例子中，焊接机器人，需要精确的控制双方的速度和距离;吊臂液压系统采用驱动作为反馈系统，因此，它的准确度会随着操作者的技能的不同而不同。在严格意义上来说，这将不会被视为一项运动控制系统。我们的标准运动控制系统由以下三个基本要素组成：图 1运动控制系统的组成元件高级命令命令信号电机驱动控制器/索引主计算机或PLC 混合式步进直流伺服无刷电机电机，可能是一个步进电机（要么旋转或线性），也可能是直流无刷电机或无刷伺服马达。电机必须配备一些种回馈装置，除非它是一个步进电机。图 2显示了一个完善地反馈控制电机转速的系统。这样一个具有闭环控制系统的速度伺服系统。图2典型的闭环（速度）伺服系统转速表驱动器电机控制器电压反馈驱动器是一个电子功率放大器，以提供电力操作电动机来回应低层次的控制信号。一般来说，驱动器将特别设计，其操作与特定电机类型

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