Purpose
In order to enable the servo system to quickly and accurately track instructions from the upper computer or internal settings, fully utilize mechanical performance, improve production cycle and efficiency, it is necessary to adjust the gain of the servo control loop reasonably.
Taking common screw loads as an example, such as errors! Reference source not found. As shown, by reasonably increasing the gain related to the speed loop and position loop, ensuring gain matching, and combining with the speed feedforward function, the trajectory tracking effect can be greatly improved.
The basic gain parameters of the servo loop include the proportional coefficient Kp of the position loop, the gain coefficient Kv of the velocity loop, the integral coefficient Ki of the velocity loop, the low-pass filtering coefficient τ m of the torque, the inertia ratio Jr of the load, etc. They affect each other, and generally need to ensure that the inner loop bandwidth is higher than the outer loop bandwidth to ensure the stability of the entire system. By setting these parameters in a reasonable combination, the servo system can achieve ideal control effects in both tracking and disturbance rejection dimensions. Therefore, in order to achieve the maximum performance of the servo, the setting of the gain must take into account the balance between the set values of various parameters, which poses high capability requirements for on-site debugging personnel. The SV3 series high-performance servo supports two modes: manual parameter tuning and automatic parameter adjustment. In general application scenarios, such as 3C, lithium battery, TP and other industries, using the automatic adjustment function can meet the needs; In trajectory application scenarios that pursue ultimate performance, such as semiconductor, machine tool, laser and other industries, detailed settings of servo system parameters are required to achieve ideal results; For P2P point application scenarios that require high speed and high precision, such as high-speed glue dispensing machines, solidification machines, and sorting machines, the SV3 series servo provides gain switching function, which can achieve ultimate tracking performance through reasonable gain settings.
Before adjusting the gain, it is necessary to perform the trial operation in Chapter 3 to confirm that the motor can operate normally without interference!