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 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.
To be more specific, the test method for the servo driver bandwidth is specified in the mechanical standard "General Technical Conditions for AC Servo Drives" (JB T 10184-2000): the drive input sine wave speed command, the amplitude of which is 0.01 of the rated speed command value. Times, 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.
Frequency response bandwidth national standard test result
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.
There are many factors affecting the frequency response bandwidth, such as servo drive or control system parameters, transmission chain stiffness or accuracy, drive gap, load inertia, etc. will have an impact on the response bandwidth of the servo system. In the past, many researchers in the industry lacked the test equipment, so they can only judge the response performance of the servo system and the robot by adding the actual load test. It is a qualitative analysis and cannot be quantitatively analyzed. Therefore, the domestic servo system still needs to be strengthened in response speed. Like a general servo motor, the response bandwidth can only be as high as several hundred Hz, and the higher quality can achieve 1 kHz; while foreign products, such as Japanese Yaskawa, Mitsubishi, Panasonic, etc., have broken through the 2kHz level many years ago.
For the user needs of the robot and servo motor industry, Zhiyuan Electronics has launched the MPT hybrid motor test system for the servo motor industry. It can provide the servo motor leading edge test functions such as frequency response bandwidth and speed/torque control response to meet the needs of domestic and foreign users. The functional research and product development needs of servo motor products provide guns and ammunition for China's "smart manufacturing" target.
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