How to improve the response performance of robot servo motors?
At present, there is still a certain gap between domestic and foreign products in terms of robot response speed and accuracy. The key to solving this problem lies in the core component of the robot - the servo motor. At present, domestic robots are developing rapidly, especially in the field of industrial robots. However, there are still some gaps in the speed and accuracy of robots at home and abroad. So where is the key point? The following is explained by the technicians of the Ikawakawa servo motor official website:
The key lies in the core component of the robot - the servo motor. During the operation of the robot, the movement of the servo motor is used to realize the movement of multiple degrees of freedom. If the speed and accuracy of the robot's running speed are high, the servo motor's response speed and control accuracy are required to be high enough.
In the actual operation of the robot, the servo motor is often in various acceleration, deceleration, forward and reverse states, which is very high for the short-time overload capability of the servo motor, the inertia adaptation range, the frequency response bandwidth, and the speed/torque response time. Requirements.
One of the most important indicators is the frequency response bandwidth, which determines how fast the servo system responds to commands. It is an important indicator of concern for robot designers.
Definition of servo motor frequency response bandwidth: The maximum sine wave frequency that the servo system can respond to is the frequency response bandwidth of the servo system. Described in a professional language is the frequency at which the amplitude-frequency response is attenuated to -3dB (-3dB bandwidth), or the frequency at which the phase-frequency response is delayed by 90 degrees.
More specifically, the test method for the servo driver bandwidth is specified in the mechanical standard "General Technical Conditions for AC Servo Drives" (JBT10184-2000): the drive inputs the sine wave speed command, and its amplitude is 0.01 times the rated speed command value. The frequency is gradually increased from 1 Hz, and the corresponding speed curve of the motor is recorded. As the sinusoidal frequency of the command increases, the phase lag of the motor speed waveform gradually increases with respect to the command sine wave curve, and the amplitude gradually decreases. The frequency at which the phase lag is increased to 90 degrees is taken as the frequency bandwidth of the phase shift of the servo system by 90 degrees; the frequency at which the amplitude is reduced to 0.707 times at the low frequency is taken as the servo system-3 dB bandwidth.
It can be said that the faster the frequency response bandwidth, the servo system can respond to the commands with faster changes, even if the action of the industrial robot is complicated, it can respond in time, and control each joint position of the robot to be in place.
