伺服系统反馈端的信号获取与实现

Acquisition and Realization of Signals of Servo System's Feedback End

伺服系统的反馈端信号为系统实现精确控制提供了可能,同时决定着系统稳态精度和动态响应特性的好坏。采用磁场平衡式霍尔电流检测器对反馈端的电机定子相电流进行了采集,并设计了加凯泽窗的数字低通滤波器对反馈端定子相电流进行滤波。利用光电编码器的两相输出脉冲和逐次逼近的方法实现了电机初始定位时转子咬合,并避免了咬合时产生过大的过冲。利用码盘的Z信号和逐次替代的方法解决了转子位置定位时的转子位置累计误差,精确地实现了伺服系统电机转子的初始位置定位。对设计的电路进行了实验分析,实验结果表明整个系统具有较好的动态响应和稳态精度。

Signals of feedback end of AC servo system provide a possible for accurate control and determine the sys- tem＇s steady-state accuracy and dynamic response.A magnetic balanced hall current detector is applied into achieve a motor stator phase current which is filtrated by a digital low-pass filter with Kaiser Window.Then, in order to pre- vent an excessive pulse happening, the two-phase output pulses of a photoelectric encoder and a method of successive approximation are used to solve the motor rotor occlusion problem.Finally,the signal Z of the encoder and a method of successive substitution are applied to solve the accumulated error of the rotor position location.Some experimental results show that the system has good dynamic response and steady-state accuracy.