文档介绍：Frequency analyses 频率分析Bode diagram伯德图
Basics 概述
How to measure 描绘伯德图
Interpretation of results 结果分析
How to avoid Resonance 避免谐振
2017/7/13
© GE Fanuc Automation
Targets
What you will learn 学****内容
How to measure servo performance –
response stability, stiffness and noise
伺服系统品质的观测
How to optimize servo performance
伺服品质的最佳化
How to tune velocity loop
速度回路的调整
Responsiveness
What is responsiveness 伺服响应性能
Responsiveness describes the ability of a servo system to react to mand 响应是伺服系统对输入指令的反映能力
The reaction time is the key way to measure 关键是测量反映(响应时间)
fast response is the aim目的是快速响应
High servo gain makes the system more responsive系统增益越高,响应越快
Stiffness
What is Stiffness 伺服刚性
Stiffness describes the ability of a servo system to e disturbance torque刚性表示伺服系统克服扰动力矩的能力
It’s difficult to measure because it’s hard to identify disturbances 因为难以识别扰动,故刚性测量不易
The stiffer the better刚性越高越好
High servo gain makes the system stiffer
伺服增益高系统惯性好
Stability
What is Stability稳定性
Measures of stability describes with what margin a servo system avoid natural oscillation
稳定性由系统不产生自然振动的裕度来描述
All servo systems must have a reasonable margin of stability 任何伺服系统都必须有足够的稳定裕度
Stability monly measured by overshoot to square wave 通常,稳定性由对方波响应的超调测量(描述)
High servo gain makes the system less stable
伺服增益高,系统稳定性差
Noise
What is Noise 噪音
Noise immunity describes how much a servo system amplifies a noise source mon noise sources are feedback resolution and electro-ic influences mainly on feedback
Noise generates heat on the motor (OVC), vibration, torque disturbances and acoustical (OVC),振动,力矩扰动和杂声
High servo gain increase noise sensitivity
伺服增益高,对噪音即敏感
Tuning
Tuning target 调整目的
The process of setting servo gains for bination of responsiveness, stiffness, stability, and noise generation
Performance in the application.
Low stiffness
Slow response
Marginal stability
Noise avoidance
Higher servo gains 提高增益
Optimal gains 最佳增益
调整伺服增益,使得系统的响应,刚性,稳定