This article is the study notes of the course "Principles of Servo Drives and Design and Development Practice and Control Performance Optimization" of the Ruimoke Academy. Interested students can go to the Ruimoke Academy to learn →→→Ruimoke Academy because after all
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❤ 2022.2.14 ❤
Chapter 1 Servo System Basics and Its Hardware Composition
Robot Servo Driver
○ What is a servo
Servo is servo
○ Servo system
Servo system is also called servo system, which is mainly controlled by feedback.
○ The basis of the servo system - negative feedback
○ Mathematical model of servo drive
○ Mathematical knowledge required by servo drive developers
Knowledge of complex variable functions, calculus, time domain and frequency domain
Components of a robot servo system
○ Core components
Motor, servo driver, encoder
servo motor
○ Classification
○ Permanent magnet synchronous motor
○ Motor type selection
1. Specify the requirements for motion conditions, that is, acceleration and deceleration time, motion speed, weight of the mechanism, motion mode of the mechanism, etc.
2. Select the appropriate load inertia calculation formula according to the operating conditions to calculate the load inertia of the mechanism.
3. Select the appropriate motor specification according to the load inertia and motor inertia. The inertia converted to the servo motor should not exceed 10 times of itself.
○ Motor shaft related standards
Servo motor encoder
○ resolver
○ Photoelectric encoder
Joint robots generally use multi-turn absolute encoders
Absolute coding method for single circle: Gray code, M sequence code, vernier code
Multi-turn position realization methods: mechanical multi-turn, battery backup, Wiegand coil