Control mode of servo electric cylinder
Release time:
2020-09-04 12:34
Source:
Below, I will introduce the control method of the servo electric cylinder. The speed control and torque control adopt analog control respectively. Position control is controlled by position. The specific control mode should be selected according to user requirements and motion functions.
The torque control method is to set the output torque of the motor shaft by inputting an external analog signal. For example, if10 partners correspond to 5LLA. When the external analog quantity is set to 5V, the motor shaft output is 2.5na: if the motor shaft load is less than 2.5mm, the motor will not rotate when the external load is equal to 2.5ha, and the motor will not rotate when the external load is equal to 2.5ha.
By immediately changing the setting of the analog quantity, the torque can be changed, and the number of corresponding addresses can also be changed through communication. It is mainly used for winding and pay-off devices with strict requirements on material stress, such as winding devices or optical fiber drawing equipment. The set value of the torque should be changed at any time according to the change of the winding radius to ensure that the stress of the material does not change with the particularity of the winding radius.
servo electric cylinderThe position control method generally determines the speed by the frequency of the pulse, and some services can directly distribute the speed and displacement through communication. It can strictly control the speed and position, so it is widely used in the positioning device. Application of printing machinery, etc.
servo electric cylinderThe rotational speed may be controlled by an analog input. When the outer ring of the upper control deviceThe speed mode can also be positioned when PID control is available. However, the position signal of the motor or the position signal of the direct load must be fed back to the upper layer for image operation. Position mode also supports direct detection of position signals.
At this time, the motor shaft encoder only detects the motor speed, and the position signal is provided by the final load end direct detection device, which has the advantage of reducing the error in the intermediate transmission process. The positioning accuracy of the whole system is improved. When it comes to three loops, the servo is generally controlled by three loops. The so-called three closed-loop negative feedback control system. is the current loop, which is performed entirely in the actuator.
Detect the output current of each phase of the motor driven by the Hall device throughThe PID adjusts the setting of the negative feedback current to make the output current as close as possible to the set current. The current loop is used to control motor torque, with minimal operation in torque mode.
servo electric cylinderThe speed loop is adjusted by the signal negative feedbackPID. The output in the loop is directly the setpoint. The speed loop control includes a speed loop. The current loop is the basis. While controlling speed and position, the system actually implements current (torque) to achieve corresponding control of speed and position.
The third loop is the position loop, which is the outermost loop. According to the actual situation, it can be manufactured in the external control, and because the internal output of the position control loop is the set value of the speed loop, the calculation amount of the system is the largest.
Servo electric cylinder
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