A05B-2255-C102#EAW FANUC 机器人示教器

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For the power amplification part of the drive motor of the DC servo system often used in radar, the linear weight is light, the speed is slow, the drive power is small, generally tens of watts, you can directly use the DC power to control the motor. When the driving power is required to be close to kW or more, the choice of driving scheme, that is, to amplify the armature current of DC motor, is an important part of the design of servo system. High power DC power supply uses more: transistor power amplifier, thyristor power amplifier and motor magnifying machine and so on. For kilowatt level transistor power amplifier used less. Thyristor technology has been rapidly developed and widely used in the 1960s and early 1970s, but because of various reasons at that time, such as reliability, many products gave up the thyristor control. Integrated driver modules are generally manufactured for transistors or thyristors. Motor enlarger is a traditional DC servo motor power amplifier device, because of its simple control, strong and durable, the new type of radar products are still used. The following is mainly to magnify the motor as an example, and AC servo motor to compare its advantages and disadvantages.
The amplifier motor is often called the expansion machine. It is generally used to drive the two-stage DC generator set in series by AC asynchronous induction motor, so as to achieve DC control. Two groups of control windings, the input impedance of each group is several thousａnd ohms, if the input impedance is about 10 thousａnd ohms, generally complementary balanced symmetrical input, when the system input is not zero, break its balance, so that the amplifier motor has an output signal. When the input current is more than ten to tens of milliamps, the output can reach more than 100v DC voltage and a few amps to tens of amps of current, directly connected to the armature winding of DC servo motor. Its main disadvantages are large volume weight, nonlinear degree, especially near zero is not very good, which needs careful treatment for high requirements of the system.
The AC servo motor is equipped with a special driver, its volume and weight is much less than the same power of the amplifier motor, it depends on the internal transistor or thyristor composed of switching circuit, according to the servo motor photoelectric encoder or hall device to judge the rotor position at that time, determine the drive motor A, b, c three corresponding output state, so its efficiency and stability are very good. So unlike the control amplifier motor need to do a special power amplifier circuit. This kind of motor is generally permanent magnet, a, b, c three-phase current generated by the driver to control the motor rotation, so called AC servo motor; The driver input control signal can be a pulse train, can also be a DC voltage signal (generally ±10v), so it is also called DC brushless motor.
Simple test comparison of two kinds of motors
A simple experimental comparison is made between the two kinds of motors: as long as the original DC error signal of the system is directly connected to the AC servo driver analog control input, the AC servo motor and its driver are used to replace the original differential power amplifier, motor enlarger and DC servo motor, while the control part and Angle measuring element are unchanged, the output characteristics of the two schemes are simply compared.

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