负载动态特性对伺服电机跟随性能影响研究

伺服系统工程应用越来越广泛，但负载动态特性对伺服电机跟随性能的影响关系目前仍不完全明确．为明确其影响关系，提出负载动态特性对伺服电机跟随性能影响的分析方法，根据伺服驱动理论，建立伺服驱动数学模型，分析伺服电机跟随误差的形成原理，建立伺服电机跟随误差与负载的函数关系．设计不同动态特性负载实验，验证了负载动态特性对伺服电机跟随性能的影响与理论分析相符．根据伺服电机跟随误差与负载的函数关系优化负载动态特性、电机惯量和伺服周期三个变量，进行对比实验，结果表明伺服电机的跟随性能得到了提升．

Research on influence of the characteristics of dynamic load on servo motor's following performance

The servo systems has been widely used in engineering, but the relationships between the characteristics of dynamic load and the following performance of the servo motor are not entirely clear. For realizing the relationships, we proposed a method to analyze how the characteristics of dynamic load impact on the following performances of the servo motor. According to the servo drive theory, we built the mathematical model of servo drive. Then we analyzed the forming principle of the following error of servo motor, and established a function of the following error of servo motor and the dynamic load. Through the experiments on different dynamic load, we prove that the relationships between the characteristics of dynamic load and the following performances of the servo motor conform to that by theoretical analysis. Based on the established function, we optimize relevant variables of the function. The results gotten by some contrast tests show that the following performances of servo motor have been improved.