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伺服电机的刚度和惯性的理解

更新时间:2020-05-15  点击次数:2515次

SHUODAOGANGXING,SHOUXIANYAOTANDAOGANGDU。 

GANGDUSHIZHICAILIAOHUOJIEGOUZAIYINGLIXIADIKANGDANXINGBIANXINGDENENGLI,SHICAILIAOHUOJIEGOUDANXINGBIANXINGNANDUDEBIAOSHI。CAILIAODEGANGDUTONGCHANGYONGDANXINGMOLIANGeLAIHENGLIANG,ZAIHONGGUANDANXINGFANWEINEI,GANGDUSHIZAIHEYULINGJIANWEIYIDEBILIXISHU,JIYINQIDANWEIWEIYISUOXUDELI。TADEDAOSHUCHENGWEIROULIANG,JIDANWEILIYINQIDEWEIYI。GANGDUKEFENWEIJINGTAIGANGDUHEDONGTAIGANGDU。 

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k=M/θ 

QIZHONGmSHISHIJIADELIJU,θSHIXUANZHUANJIAODU。 

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伺服电机的机械刚度与其响应速度有关。通常,刚性越高,响应速度就越高。然而,如果调节过高,电机的机械共振将很容易发生。因此,可以选择手动调整一般伺服放大器参数中的响应频率。根据机械谐振点(实际上是增益调整参数)进行调整需要时间和经验。 

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因此,伺服电机的刚性太高,刚性不够。通常,需要调整控制器增益来改变系统响应。惯性过大和惯性不足是指负载惯性变化和伺服电机惯性之间的相对比较。

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