Intelligent servo technology reachs his to apply

The development of technical servo experienced 1 dc servo to arrive by hydraulic pressure electric process. The cent of electric machinery type of drive of place of electric servo basis is dc (DC) servo and communication (AC) servo. 50 time, without brushed electric machinery and dc electric machinery to realize a product to change, won wide application on computer peripheral equipment and mechanical equipment. 70 time are the times with the most wide application of dc servo electric machinery. 1.

Technology of 2 communication servo arrives from 70 time later period 80 time are prime, as microprocessor technology, high-power the development of technology of parts of an apparatus of high-powered semiconductor power and workmanship of electric machinery magnetically hard material reachs its performance/price ratio rise increasingly, communication servo technology, communication servo electric machinery and system of communication servo control make dominant product gradually. Technology of communication servo drive has become industrial domain to implement one of fundamental technologies of automation, will replace dc servo gradually. The type that communicates the drive motor that servo uses by its will divide, basically have two kinds of big: ? Come M of ⊿ of sword of huge rock  ) electromotor communication servo and inductive type asynchronous (IM) electromotor communication servo. Among them, it is completely mature that electromotor of permanent magnetism synchronism communicates servo to already tended on the technology, had very good low speed performance, can realize control of weak magnetism high speed, widened timing scope of the system, got used to the requirement of high-powered servo drive. And as function of magnetically hard material rise substantially and of the price reduce, its produce automation field in industry medium application will be wider and wider, already made the main trend that communicates servo at present. Because structure of electromotor of inductive type asynchronous is strong,electromotor of inductive type asynchronous communicates servo, it is easy to make, the price is low, have very good development perspective consequently, represented in the future the direction of servo technology. But because this system uses vector,commutation is controlled, control is more complex for servo of electromotor of synchronism of opposite permanent magnetism, and there still is efficiency when electric machinery low speed moves low, calorific and serious wait for the technical issue that remains to overcome, did not get applied generally at present. Executive component of the system is electromotor of common three-phase squirrel cage asynchronous commonly, power transformation parts of an apparatus uses IPM of intelligent power module normally. To improve systematic trends and static performance further, can use the position and speed closed-loop control. Of three-phase alternating current follow the electric current that control increases inverter effectively answers speed, and can restrict transient electric current, the safety that is helpful for IPM thereby works. Speed annulus and positional annulus can use sheet piece engine control, in order to make control strategy acquires taller control property. If voltaic adjuster is scale form, annulus of 3 alternating current is used enough big scale adjuster undertakes controlling, its coefficient of proportionality should fall to choose a little bit big as far as possible in the premise that makes sure the system does not produce vibration, make electromotor of asynchronous be accusinged the amplitude of three-phase alternating current, phasic change quickly with set-point of frequency prep close behind, realize the fast electric current of voltage inverter to control thereby. Electric current uses scale adjustment, have a structure simple, electric current follows performance is good and limitative electromotor removes restraint current to wait for a lot of advantage reliably quickly. 1.

The 3 compares technology of dc servo drive to accept blemish of electric machinery itself impacts that make dc servo technology, its development got restrict. Structure of machinery of existence of dc servo electric machinery is complex, safeguard workload to wait for defect greatly, in moving process rotor gives out heat easily, affected the precision of as other as its connective mechanical equipment, use the occasion of high speed and high capacity hard, mechanical commutator becomes the bottleneck that technology of dc servo drive develops. All sorts of shortcoming that the mechanical component place such as the brush that communicated servo electric machinery to overcome dc servo electric machinery to exist, commutator brings, communicate servo electric machinery especially pass negative charge character and low inertial more the advantage that reflects a communication servo. So communication servo is in a factory automation (FA) waited for each domains to receive wide application. From servo drive product current application looks, dc servo product drop off, communication servo product increases with each passing day, the market is had lead escalate. In applying actually, precision taller, rate is rapidder, use more convenient communication servo product already predominate product. 2 servo are relevant closely related the development of the technology that develops servo drive technology and magnetic material technology, semiconductor technology, communication technology, development that assembles the fundamental technology such as level of technology of technology, production. In magnetic material, especially of function of permanent and magnetic material rising is servo electric machinery high-powered change, the fundamental condition with miniaturization indispensable place. With Japan the magnetic material of product of electric machinery of servo of An Chuan company is exemple, the magnetism of its magnetism material can be accumulated raise 30MGOe by original 10MGOe, raised 3 times to this paragraph of time of 90 time from 70 time. The development of semiconductor technology makes servo drive technology entered complete digitlization period, the miniaturization index of servo controller obtained very great progress. LSI (circuit of large scale integration) careful processing technique and the improvement with characteristic switch make the applied predominate of parts of an apparatus of high speed switch. IGBT (insulation bar ambipolar model field effect is in charge of) had developed the 4th acting product, its function raised 5 times above. Microprocessor (CPU) increase of function to also make the complex operation speed of servo controller is mixed substantially muti_function processing capability is able to rise, the miniaturization that also is a product at the same time created a condition. The improvement that communicates environment of servo controller hardware and the structure that communicate servo electric machinery and make those who make material improve created very good condition to control mechanical equipment steadily. In total number word control means falls, servo controller realized servo pilot software to change. A lot of new-style servo controller used a variety of new algorithm now. At present more commonly used algorithm basically has PID/IPD (scale differential is integral / ) control switch, before real time monitoring, resonance controls control of make a present of, rate control, alterable gain control, vibration controls standard of control, model adaptive control, control repeatedly, forecast control, model to dog control, online self-correcting is controlled. Through using these functional algorithm, can make the response of servo controller speed, stability, accuracy and maneuverability reached very high level. What the application of 3 servo competes as the market is intense with each passing day, the user raised higher technical demand and more reasonable performance/price ratio to what wanting a product. Servo satisfied all sorts of products to create the demand with approximately slashing manufacturer with its excellent performance, can mix to craft of the treatment process of the product, treatment thereby integral performance undertakes transforming. The use in the servo on Electromechanical unifinication equipment is more extensive, almost the applied target that all fields that industry produces become servo. Watch 1 listed the main application domain of servo. The main application domain that expresses 1 servo 4.

General situation of servo drive product because the application of servo drive product in industrial production is very wide, the relevant line of the products on the market is very much, arrive from controller of common electric machinery, frequency conversion electric machinery, servo electric machinery, transducer, servo athletic controller, only axle control implement, much axle control implement, but process designing controller, on the everything needed is ready such as workstation of position control unit and even workshop class and factory class monitoring. OK to the user very choose neatly according to real need conveniently. Below with An Chuan the servo product of the company is exemple make one introduction. 4.

1 servo electric machinery as workmanship of magnetically hard material ceaseless and perfect, the servo electric machinery of new generation used newest Nd2Fe14B1 mostly (rubidium iron is boracic) material, the force of dense of close, correct, biggest magnetism can accumulate the odd magnetism of this material all good at other magnetically hard material, plus reasonable magnetic pole, magnetic circuit and design of electric machinery structure, improved the performance of electric machinery greatly, narrowed again at the same time the over all dimension of electric machinery. The servo electric machinery of new generation used new-style positional coder mostly, the line amount of coder of this kind of position reduces 5 from 9, support increment model with two kinds of absolute value types, communication rate amounts to 4M/s, communication cycle is 62.

5 μ S, data length is 12, coder resolution is 20bit/rev, namely every metempsychosis becomes 1 million pulse, 6000r/min of highest turn up, coder source current is 16 μ A only. Servo electric machinery can be divided according to the capacity to exceed small-sized (MINI) , small size, in capacity with high capacity model. Super- small size power limits arrives for 10W 20W, small size power limits arrives for 30W 750W, in capacity power limits arrives for 300W 15KW, high capacity power limits arrives for 22KW 55KW. The limits of power supply voltage of servo electric machinery arrives from 100V 400V (single-phase / three-phase) . 4.

Although the imitate control that 2 servo dominate unit convention is had successional good, answer speed to reach the good point with low cost quickly, but also have the weakness that overcomes hard, if the system debugs difficulty, be changed easily by environmental temperature affect and produce drift, come true hard flexible change a design, lack realizes complex calculative ability, the control algorithm that cannot realize guidance of contemporary control theory to fall. So contemporary servo controller all uses complete digitlization structure, servo controlled main theory of the system to also use contemporary vector to control a thought, the amplitude control that it realized voltaic vector and photograph position control. To improve the performance of the product, the servo controller of new generation used a variety of new technologies, new technology. If the servo controller of An Chuan company used a lot of new technology measures to improve the performance of its product, basically have the following sides among them. (1) D was used in voltaic annulus road, electric current of Q axis commutation is unit, in new control way, advocate the operation quantity of CPU is able to decrease, will undertake voltaic annulus is controlled through hardware, be about to control algorithmic solidify to be in road of annulus of LSI special hardware. Through using high-speed D, electric current of Q axis commutation is unit, make control precision had the torsion of voltaic annulus to rise further. Use D, control of electric current of Q axis commutation, came true to run the property that when reaching transient state to move, all can keep good in stable state. (2) used pulse coder times add a function, new control algorithm makes positional pilot rectifies calm time to shorten for 1/3 original. (3) speed operating ring uses speed to detect in real time control is algorithmic, make the low speed function of electric machinery gets rising further, speed wave motion and torsion wave motion fall lowest. Use function of online and automatic set, make of servo debug time to shorten, the operation is more simple. (4) to make an user more agile the ground uses servo, increased on a few products but expansibility and flexible change, open sex design. The user can pass modification interior parameter, the choice controls algorithm, perhaps use advanced language to undertake process designing, more agile use servo product. (5) use advocate loop and the construction that control loop to undertake electric segregation, make operation and breakdown detect more convenient safety. Voltage of power supply source expands from 100V 400V (single-phase / three-phase) . (6) servo control all uses the positional coder that carries from electric machinery axis to collect positional signal to undertake feedback commonly, in controlled executive machinery the part does not have feedback sampling signal, namely the control means of half closed circuit. Current new product uses the control means of complete closed circuit, make clearance of machining error, gear, structure suffers strength flexibility to be out of shape the influence that waits for error place to cause is finished through computation in servo controller amend. (7) use RICS (all of compact instruction computer science department) technology, make the data processing ability of CPU by 8, raise 32 16 times, of microprocessor advocate frequency raises hundred above, door array amount exceeded special controller 100 thousand. 4.

3 on position control is changed to high speed as industrial mechanization equipment, high accuracy is changed and miniaturization and much breed small lot are changed, function of high reliability, maintenance-free asks rise, an Chuan company offerred those who abound to go up for the user an engine control group can offer an alternative. From superstratum can make up Cheng controller (PLC) , controller of athletic controller, machine tool CNC, the general input that can connect ground floor all the time / output (I/O) control unit and vision pass feeling system. Programming language has language of echelon graph, NC, SFC language, motion to control a language to wait, all can configure neatly according to the requirement of the user. The system is controallable number of axle arrives from odd axis supportable amount to 44 axes, controller can join from imitate signal arrives all sorts of signal types of network signal. The athletic controller that uses in current mechanism includes only axle control implement, double axle control implement, athletic controller and much axis are high-powered athletic controller. The high-powered program scanning rate that exceeds controller of high speed motion is about 0.

4, 1ms/1000 pace, highest supportable completely synchronous drive controls 44 axes, apply to the mechanical equipment of high rate, high accuracy, if presswork,production machinery of mechanical, package machine, semiconductor is waited a moment. Besides high-end product, low end the only axle control of the product implement the structure is cabinet and compact, support network, controallable 1 axis servo + main shaft controller, can finish FTP is controlled and dog control, support NC language, can apply extensively at semiconductor to make equipment, treatment mechanical, carry mechanical, windlass instrument to wait, have very high performance/price ratio. The development trend of 5 servo can see from the discussion in front, the application of digitlization communication servo is wider and wider, the user is taller and taller to the requirement of servo drive technology. As a whole, the development trend of servo can generalize for the following respects: (1) communication changes servo technology to will continue quickly by DC servo changes AC to servo. From at present the circumstance of the international market looks, almost all new products are AC servo. In industrial developed country, the market of AC servo electric machinery is had rate had exceeded 80% . The manufacturer that produces AC servo electric machinery in home is increasing also, producing the manufacturer of DC servo electric machinery stage by stage more than. Can foreknow, be in not far in the future, besides it is besides domain of certain miniature electric machinery, AC servo electric machinery will replace DC servo electric machinery completely. (2) complete digitlization uses microprocessor of new-style high speed and processor of special number signal (DSP) servo control unit will replace the servo that gives priority to with imitate electronic parts to control unit in the round, realize the servo of complete digitlization thereby. The implementation of complete digitlization, original hardware servo control turned software servo into control, the advanced algorithm that makes use contemporary control theory in servo thereby (be like: ? Ban bends over Piao Pi ⑷ this ⒛ of ぶ quiet Peng: ? of ＃ of Peng of provide for of  of part of the day of ┏ of caries of string of  of  of  of ⑸ of  Piao Pi climbing over a wall) use semiconductor device of electron of new-style electric power at present, servo controls output parts of an apparatus of the system to use the new-style power semiconductor device with switch very tall frequency increasingly, basically have high-power transistor (GTR) , power field effect is in charge of (MOSFET) with insulation door pole transistor (IGPT) etc. The application of these advanced parts of an apparatus reduced servo unit to output the power comsumption of loop significantly, the response that improved a system speed, reduced moving noise. What be worth to be carried especially is, newest servo control system has begun to use parts of an apparatus of switch of a kind of a control circuit function and high-power electron compositive the new-style module that be together, call intelligence to control power module (IntelligentPowerModules, abbreviation IPM) . Too apply the brake of segregation of input of general of this kind of parts of an apparatus, specific power consumption, lukewarm, press too, shed protection and breakdown to diagnose too etc the function is all and compositive at not quite in module. N of its input logic and TTL signal are completely compatible, OK and as direct as the output of microprocessor interface. Its application simplified significantly the design of servo unit, the miniaturization that realized servo and miniature are changed. (4) height is compositive changed new servo product to change differentiate servo for speed servo unit and positional servo unit the practice of two module, acting with onefold, height is compositive change, muti_function control is unit. Same a control is unit, want to set systematic parameter through software only, can change its property, the sensor that can use electric machinery itself to configure already makes regulating system of half closed circuit, can pass again interface and external the regulating system of complete closed circuit that the position or speed or pitching moment sensor make high accuracy. Of height compositive change still narrowed significantly the bulk of whole control system, make the installation of servo and debugged the job to get simplifying. (5) it is current that intelligence changes intelligence the popular trend of all industrial control equipment, servo drive system regards a kind of high industry as control equipment not exceptional also of course. The servo control unit of newest digitlization is designed normally for intelligence product, does their intelligence change characteristic expression to be in: of the following respects? Violet person  embeds season smile coerce to ask  and small car of  of Sao of δ rainwatering in puddles is coerce of  sex Song to ask  of ü of Yun of  ability tip hoarse to  says dark Mu wrings porcelain of  of the press and smooth that receive fan 4 Bi of  of shaddock boundless and indistinct calls on ü of  of dredge of deceive of  of Europe  ピ , whatever moment, want systematic occurrence trouble only, the type with respect to meeting general breakdown and the cause that cause trouble possibly are shown clearly through user interface come, this simplified maintenance and debugged complexity; divide above characteristic besides, some servo still have parameter to rectify decided function oneself. Well-known, the parameter of closed circuit regulating system is rectified is the important segment that assures systematic performance index surely, also be the work that needs to expend more time and energy. Contain the servo unit that does calm function oneself to be able to move through trying a few times, rectify systematic parameter automatically come out surely, realize its optimization automatically. For unit to using servo user, this is one of characteristics that new-style servo has appeal most. (6) modular be in abroad with network, the factory automation that is a foundation with technology of industrial local area network (FactoryAutomation abbreviation FA) project technology got great progress 10 years recently, show good development the look of things. Develop a tendency to get used to this, the serial communication interface that newest servo configured a standard (wait like RS-232 C or RS-422 interface) with interface of appropriative local area network. The setting of these interface, enhanced the interconnection ability between servo unit and other control equipment significantly, also become very simple from this with the join between CNC system thereby, need a cable or cable only, OK will count a station, even tens of stage servo unit and go up join makes a computer system of whole numerical control. Also can pass serial interface, with can make up Cheng controller (PLC) numerical control module is linked together. The place on put together is narrated, servo will develop to two direction. One is requirement of application of contented and general industry, not tall to function index requirement application circumstance, safeguard pursuit low cost, less, use the drive product that waits for a characteristic simply, wait like frequency conversion electric machinery, transducer. Another dominant product that representing servo to develop a standard namely, controller of servo electric machinery, servo, pursuit is high-powered, tall speed, digitlization, intelligence, the drive control of network, in order to satisfy the applied demand with higher user. CNC Milling CNC Machining