Speaking of the performance requirements of industrial robots, nothing more than the words "fast, accurate, and ambiguous". In fact, this is the requirement for the robot joint servo motor. Today we will dismantle the meaning behind these three words.
The meanings of "fast" and "quasi" are very well understood, that is, the response speed of the servo motor is required to be fast, and the control precision is high. And how do you solve the word "ç‹ "? In fact, everyone thinks about it carefully. In addition to the fast and accurate servo motor, our remaining requirement for it is that it has a strong overload capability, that is, â€œç‹ â€.
Since the servo motor is mainly used to drive the motion of the joint on the robot, it needs to perform frequent forward and reverse short-running operations. In the case of such frequent reversal, and with a certain inertia load, the control speed is very fast, the overload capacity (overload torque, overload current) of the servo motor is very high.
It can be seen from the above formula that, in addition to the loaded torque Tload and the friction coefficient Kn, the actual servo motor will have a larger starting torque due to the influence of the load inertia J and the angular acceleration dω/dt. In particular, the faster the motor accelerates, the larger the dω/dt, the J does not change, the larger the Te, the stronger the torque overload capability of the servo motor must be.
Everyone knows that the dynamometer is used to measure the torque-speed curve of the motor to obtain the torque output performance of the motor. But there is a problem here, that is, the torque-speed curve reflects the torque output capability of the motor at constant speed, and does not reflect the overload capability of the servo motor. In the case of servo motor operation, the output force during continuous operation is not large, but it is large when starting and braking. If the motor is selected according to the torque-speed curve, the power of the selected motor will be seriously amplified.
Therefore, to measure the instantaneous overload torque of the servo motor, it is still necessary to measure the dynamic torque curve of the motor. Especially for servo drive design, the input dynamic current curve of the motor must also be measured at the same time, and the current curve and the torque curve must be synchronized to accurately capture the overload capability of the servo motor.
1.3 servo motor overload test solution
For the problem that the dynamometer can't do the dynamic torque curve test, Zhiyuan Electronics has introduced the MPT motor test system based on the experience of data acquisition technology for more than ten years, providing users with the solution of synchronous acquisition of motor dynamic waveform. The MPT motor test system provides the following features for the dynamic curve measurement of servo motors:
1. Torque data recording and waveform drawing capability above 1kSa/s, accurately analyzing the peak overload performance of the servo motor;
2, can provide up to 0.01% of the electrical parameter measurement accuracy, up to 0.05% of the torque measurement accuracy;
3, multi-channel synchronous sampling technology, support real-time synchronous waveform recording of motor speed, torque, voltage, current and other parameters, providing a powerful basis for motor characteristic data analysis.
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