CX1100-0002

CX1100-0002

負荷慣量：

A、電機軸側(cè)的慣量需要在電機本身慣量的5～10倍內(nèi)使用，如果電機軸側(cè)的慣量超過電機本身慣量很大，那么電機需要輸出很大的轉(zhuǎn)距，加減速過程時間變長，響應(yīng)變慢;

B、電機如果通過減速機和負載相連，如果減速比為1/n ，那么減速機出軸的慣量為原電機軸側(cè)慣量的(1/n)2

C、慣量比：m=Jl /Jm 負載換算到電機軸側(cè)的慣量比電機慣量;

D、Jl <(5～10)Jm

E、當負載慣量大于10倍的電機慣量時，速度環(huán)和位置環(huán)增益由以下公式可以推算 Kv=40/(m+1) 7<=Kp<=(Kv/3)

一般調(diào)整(非低剛性負載)

A、一般采用自動調(diào)諧方式(可以選擇常時調(diào)諧或上電調(diào)諧)

B、如果采用手動調(diào)諧，可以在設(shè)置為不自動調(diào)諧后按照以下的步驟

C、將剛性設(shè)定為1，然后調(diào)整速度環(huán)增益，由小慢慢變大，直到電機開始發(fā)生振蕩，此時記錄開始振蕩的增益值，然后取50～80%作為使用值(具體視負載機械機構(gòu)的剛性而論)

D、位置環(huán)增益一般保持初始設(shè)定值不變，也可以向速度環(huán)增益一樣增加，但是在慣量較大的負載時，一旦在停止時發(fā)生負載振動(負脈沖不能，偏差計數(shù)器不能清零)時，減少位置環(huán)增益;

E、在減速、低速電機運行不勻時，將速度環(huán)積分時間慢慢變小，知道電機開始振動，此時記錄開始振動的數(shù)值，并且將該數(shù)據(jù)加上500～1000，作為正式使用的數(shù)據(jù)。

F、伺服ON時電機出現(xiàn)目視可見的低頻(4～6/S)左右方向振動時(此時慣量此設(shè)定值很大)，將位置環(huán)增益調(diào)整至10左右，并且按照C中所述進行重新調(diào)整;

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