1, kev tswj hwm qhov tseeb
Qhov ntau ntawm cov theem thiab cov naj npawb ntawm cov neeg ntaus ntawm lub cav ntoo, qhov ntau dua qhov tseeb. Lub cav servo yuav siv lub block ntawm lub encoder. Qhov ntau teev ntawm lub encoder, lub siab dua qhov tseeb.
2, tswj txoj kev
Ib tug yog qhib voj tswj thiab ib qho yog kaw lub voj kev tswj.
3, yam ntxwv qis tsawg
Cov kauj ruam hauv kauj ruam yog nquag qis qis qis ntawm qeeb qeeb. Thaum nws ua haujlwm nyob rau qis qis, damping tshuab lossis kev siv tshuab qis siv feem ntau yog siv los tawm tsam kev qis qis qis heev. Lub tshuab qis servo kuj khov kho, thiab kev ua pa tsis tshwm sim txawm tias qis dua.
4, qhov ntau yam ntxwv
Lub qhov tso zis ntawm lub tshuab hluav taws xob yuav txo tau nrog qhov nce ntawm kev ceev, thiab AC servo lub cev yuav tsum yog qhov kev tso zis ntawm lub zog.
5, muaj peev xwm ntau dua
Stepper motors feem ntau tsis muaj peev xwm ua tau ntau dua, thaum AC motors muaj peev xwm ua tau ntau dhau.
6, khiav kev ua haujlwm
Kev tswj ntawm kev ua lub kauj ruam yog qhib-kev tswj kav. Yog hais tias tus zaus pib lub siab los yog lub nra yog loj heev, nws yog ib qho yooj yim poob qis los yog thaiv. Thaum lub voj ntau dhau lawm, qhov tshwm sim dhau caij nyoog yog yooj yim tshwm sim. AC servo tsav yog kaw qhov kev tswj kaw, thiab tsav tau ncaj qha Lub cev muaj zog encoder tawm tswv yim yog sampled, thiab qhov chaw voj thiab cov voj voj tseem ua hauv tsev. Feem ntau, lub tshuab ua lub kauj ruam poob qis los yog overshooted, thiab tswj kev ua haujlwm tau ntau dua.
7, kev ua haujlwm teb kom sai
Nws siv sijhawm ntau pua tus milliseconds rau lub cav xaib mus rau ntawm kev tawm tsam mus rau kev khiav haujlwm. AC servo system muaj kev ua haujlwm zoo dua acceleration, feem ntau tsuas yog ob peb lub milliseconds, thiab yuav siv tau rau hauv kev tswj xwm txheej xav tau ceev thiab pib.
