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Description
Servo drive is an important part of modern motion control, which is widely used in industrial robots and CNC machining centers and other automation equipment. In particular, the servo drive used to control AC permanent magnet synchronous motor has become a research hotspot at home and abroad. The current, speed and position three closed-loop control algorithms based on vector control are widely used in the design of AC servo drivers. Whether the speed closed-loop design in this algorithm is reasonable or not plays a key role in the whole servo control system, especially in the performance of speed control.
In the speed closed loop of servo drive, the real-time speed measurement accuracy of motor rotor is very important to improve the dynamic and static characteristics of speed control. In order to find the balance between measurement accuracy and system cost, incremental photoelectric encoder is generally used as the speed measurement sensor, and its corresponding common speed measurement method is M/ speed measurement. M velocity measurement method, of course, has a certain measurement accuracy and a wide measurement range, but this method has its inherent defects, mainly including :1) the detection of at least one complete code pulse in the speed measurement cycle, limiting the low measurable speed; 2) The timer switches of the two control systems used for speed measurement are difficult to maintain strict synchronization, and the speed accuracy cannot be measured in the measurement occasions with large speed changes. Therefore, it is difficult to improve the performance of servo drive speed following and control by using the traditional speed loop design method
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