伺服驱动器是现代运动控制的重要组成部分，被广泛应用于工业机器人及数控加I中心等自动化设备中。其是应用于控制交流永磁同步电机的伺服驱动器已经成为国内外研究热点。当前交流伺服驱动器设计中普遍采用基于矢量控制的电流、速度、位置三闭环控制算法。该算法中速度闭环设计合理与否,对于整个伺服控制系统，特别是速度控制性能的发挥起到关键作用在伺服驱动器速度闭环中，电机转子实时速度测量精度对于改善速度环的转速控制动静态特性至关重要。为寻求测量精度与系统成本的平衡，一般采用增量式光电编码器作为测速传感器，其对应的常用测速方法为M/T测速法。M/T测速法虽然具有一定的测量精度和较宽的测量范围, 但这种方法有其固有的缺陷，主要包括: 1)测速周期内必须检测到至少-个完整的码盘脉冲，限制了最低可测转速; 2)用于测速的2个控制系统定时器开关难以严格保持同步，在速度变化较大的测量场合中无法保证测速精度。因此应用该测速法的传统速度环设计方案难以提高伺服驱动器速度跟随与控制性
CB06551
CB06551
Servo drivers are an important component of modern motion control and are widely used in automation equipment such as industrial robots and CNC machining centers. It has become a research hotspot both domestically and internationally as a servo driver applied to control AC permanent magnet synchronous motors. The current design of AC servo drives generally adopts vector control based current, speed, and position closed-loop control algorithms. The rationality of the speed closed-loop design in this algorithm plays a crucial role in the entire servo control system, especially in the performance of speed control. In the speed closed-loop of the servo driver, the real-time speed measurement accuracy of the motor rotor is crucial for improving the dynamic and static characteristics of speed control in the speed loop. To find a balance between measurement accuracy and system cost, incremental photoelectric encoders are generally used as speed sensors, and the corresponding commonly used speed measurement method is the M/T speed measurement method. Although the M/T speed measurement method has certain measurement accuracy and a wide measurement range, it has inherent drawbacks, mainly including: 1) at least one complete code disk pulse must be detected within the speed measurement cycle, which limits the minimum measurable speed; 2) The timer switches of the two control systems used for speed measurement are difficult to strictly maintain synchronization, and speed measurement accuracy cannot be guaranteed in measurement scenarios with significant speed changes. Therefore, the traditional speed loop design scheme using this speed measurement method is difficult to improve the speed following and control performance of the servo driver
CB06551
CB06551
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CB06551
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