西門子產品6ES7313-6CG04-0AB0

所在地: 福建省 廈門市
發布時間: 2025-03-17
詳細信息

6ES7313-6CG04-0AB0

伺服電機一般為三個環控制,所謂三環就是3個閉環負反饋PID調節係統。

內的PID環就是電流環,此環完全在伺服驅動器內部進行,通過霍爾裝置檢測驅動器給電機的各相的輸出電流,負反饋給電流的設定進行PID調節,從而達到輸出電流盡量接近等於設定電流,電流環就是控制電機轉矩的,所以在轉矩模式下驅動器的運算小,動態響應快。

第2環是速度環,通過檢測的電機編碼器的信號來進行負反饋PID調節,它的環內PID輸出直接就是電流環的設定,所以速度環控制時就包含了速度環和電流環,換句話說任何模式都使用電流環,電流環是控制的根本,在速度和位置控制的同時係統實際也在進行電流(轉矩)的控制以達到對速度和位置的相應控制。

第3環是位置環,它是外環,可以在驅動器和電機編碼器間構建也可以在外部控制器和電機編碼器或終負載間構建,要根據實際情況來定。

由於位置控制環內部輸出就是速度環的設定,位置控制模式下係統進行了所有3個環的運算,此時的係統運算量大,動態響應速度也慢。


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