步进电机和伺服电机的系统控制——外文翻译、英文翻译

Step Motor& Servo Motor Systems and Controls Motion Architect Software Does the Work for You. Configure ,Diagnose, Debug Compumotors Motion Architect is a Microsoft Windows-based software development tool for 6000Series products that allows you to automatically generate commented setup code, edit and execute motion control programs, and create a custom operator test panel. The heart of Motion Architect is the shell, which provides an integrated environment to access the following modules. System ConfiguratorThis module prompts you to fill in all pertinent set-up information to initiate motion. Configurable to the specific 6000 Series product that is selected, the information is then used to generate actual 6000-language code that is the beginning of your program. Program EditorThis module allows you to edit code. It also has the commands available through “Help” menus. A users guide is provided on disk. Terminal EmulatorThis module allows you to interact directly with the 6000 product. “Help” is again available with all commands and their definitions available for reference. Test PanelYou can simulate your programs, debug programs, and check for program flow using this module. Motion Architect has been designed for use with all 6000 Series productsfor both servo and stepper technologies. The versatility of Windows and the 6000 Series language allow you to solve applications ranging from the very simple to the complex. Motion Architect comes standard with each of the 6000 Series products and is a tool that makes using these controllers even more simpleshortening the project development time considerably. A value-added feature of Motion Architect, when used with the 6000 Servo Controllers, is its tuning aide. This additional module allows you to graphically display a variety of move parameters and see how these parameters change based on tuning values. Using Motion Architect, you can open multiple windows at once. For example, both the Program Editor and Terminal Emulator windows can be opened to run the program, get information, and then make changes to the program. On-line help is available throughout Motion Architect, including interactive access to the contents of the Compumotor 6000 Series Software Reference Guide. SOLVING APPLICATIONS FROM SIMPLE TO COMPLEX Servo Control is Yours with Servo Tuner Software Compumotor combines the 6000 Series servo controllers with Servo Tuner software. The Servo Tuner is an add-on module that expands and enhances the capabilities of Motion Architect. Motion Architect and the Servo Tuner combine to provide graphical feedback of real-time motion information and provide an easy environment for setting tuning gains and related systemparameters as well as providing file operations to save and recall tuning sessions. Draw Your Own Motion Control Solutions with Motion Toolbox Software Motion Toolbox is an extensive library of LabVIEW virtual instruments (VIs) for icon-based programming of Compumotors 6000 Series motion controllers. When using Motion Toolbox with LabVIEW, programming of the 6000 Series controller is accomplished by linking graphic icons, or VIs, together to form a block diagram. Motion Toolboxs has a library of more than 150 command,status, and example VIs. All command and status VIs include LabVIEW source diagrams so you can modify them, if necessary, to suit your particular needs. Motion Toolbox als user manual to help you gut up and running quickly. comprehensiveM Software for Computer-Aided Motion Applications CompuCAM is a Windows-based programming package that imports geometry from CAD programs, plotter files, or NC programs and generates 6000 code compatible with Compumotors 6000 Series motion controllers. Available for purchase from Compumotor, CompuCAM is an add-on module which is invoked as a utility from the menu bar of Motion Architect. From CompuCAM, run your CAD software package. Once a drawing is created, save it as either a DXF file, HP-GL plot file or G-code NC program. This geometry is then imported into CompuCAM where the 6000 code is generated. After generating the program, you may use Motion Architect functions such as editing or downloading the code for execution. Motion Builder Software for Easy Programming of the 6000 Series Motion Builder revolutionizes motion control programming. This innovative software allows programmers to program in a way they are familiar witha flowchart-style method. Motion Builder decreases the learning curve and makes motion control programming easy. Motion Builder is a Microsoft Windows-based graphical development environment which allows expert and novice programmers to easily program the 6000 Series products without learning a new programming language. Simply drag and drop visual icons that represent the motion functions you want to perform. Motion Builder is a complete application development environment. In addition to visually programming the 6000 Series products, users may configure, debug, download, and execute the motion program. SERVO VERSUS STEPPER. WHAT YOU NEED TO KNOW Motor Types and Their Applications The following section will give you some idea of the applications that are particularly appropriate for each motor type, together with certain applications that are best avoided. It should be stressed that there is a wide range of applications which can be equally well met by more than one motor type, and the choice will tend to be dictated by customer preference, previous experience or compatibility with existing equipment. A helpful tool for selecting the proper motor for your application is Compumotors Motor Sizing and Selection software package. Using this software, users can easily identify the appropriate motor size and type. High torque, low speed continuous duty applications are appropriate to the step motor. At low speeds it is very efficient in terms of torque output relative to both size and input power. Microstepping can be used to improve smoothness in lowspeed applications such as a metering pump drive for very accurate flow control. High torque, high speed continuous duty applications suit the servo motor, and in fact a step motor should be avoided in such applications because the high-speed losses can cause excessive motor heating. Short, rapid, repetitive moves are the natural domain of the stepper due to its high torque at low speeds, good torque-to-inertia ratio and lack of commutation problems. The brushes of the DC motor can limit its potential for frequent starts, stops and direction changes. Low speed, high smoothness applications are appropriate for microstepping or direct drive servos. Applications in hazardous environments or in a vacuum may not be able to use a brushed motor. Either a stepper or a brushless motor is called for, depending on the demands of the load. Bear in mind that heat dissipation may be a problem in a vacuum when the loads are excessive. SELECTING THE MOTOR THAT SUITS YOUR APPLICATION Introduction Motion control, in its widest sense, could relate to anything from a welding robot to the hydraulic system in a mobile crane. In the field of Electronic Motion Control, we are primarily concerned with systems falling within a limited power range, typically up to about 10HP (7KW), and requiring precision in one or more aspects. This may involve accurate control of distance or speed, very often both, and sometimes other parameters such as torque or acceleration rate. In the case of the two examples given, the welding robot requires precise control of both speed and distance； the crane hydraulic system uses the driver as the feedback system so its accuracy varies with the skill of the operator. This wouldnt be considered a motion control system in the strict sense of the term.Our standard motion control system consists of three basic elements: Fig. 1 Elements of motion control system The motor. This may be a stepper motor (either rotary or linear), a DC brush motor or a brushless servo motor. The motor needs to be fitted with some kind of feedback device unless it is a stepper motor. Fig. 2 shows a system complete with feedback to control motor speed. Such a system is known as a closed-loop velocity servo system. Fig. 2 Typical closed loop (velocity) servo system The drive. This is an electronic power amplifier thatdelivers the power to operate the motor in response to low-level control signals. In general, the drive will be specifically designed to operate with a particular motor type you cant use a stepper drive to operate a DC brush motor, for instance. Application Areas of Motor Types Stepper Motors Stepper Motor Benefits Stepper motors have the following benefits: Low cost Ruggedness Simplicity in construction High reliability No maintenance Wide acceptance No tweaking to stabilize No feedback components are needed They work in just about any environment Inherently more failsafe than servo motors. There is virtually no conceivable failure within the stepper drive module that could cause the motor to run away. Stepper motors are simple to drive and control in an open-loop configuration. They only require four leads. They provide excellent torque at low speeds, up to 5 times the continuous torque of a brush motor of the same frame size or double the torque of the equivalent brushless motor. This often eliminates the need for a gearbox. A stepper-driven-system is inherently stiff, with known limits to the dynamic position error. Stepper Motor Disadvantages Stepper motors have the following disadvantages: Resonance effects and relatively long settling times Rough performance at low speed unless a microstep drive is used Liability to undetected position loss as a result of operating open-loop They consume current regardless of load conditions and therefore tend to run hot Losses at speed are relatively high and can cause excessive heating, and they are frequently noisy (especially at high speeds). They can exhibit lag-lead oscillation, which is difficult to damp. There is a limit to their available size, and positioning accuracy relies on the mechanics (e.g., ballscrew accuracy). Many of these drawbacks can be overcome by the use of a closed-loop control scheme. Note: The Compumotor Zeta Series minimizes or reduces many of these different stepper motor disadvantages. There are three main stepper motor types: Permanent Magnet (P.M.) Motors Variable Reluctance (V.R.) Motors Hybrid Motors When the motor is driven in its full-step mode, energizing two windings or “phases” at a time (see Fig. 1.8), the torque available on each step will be the same (subject to very small variations in the motor and drive characteristics). In the half-step mode, we are alternately energizing two phases and then only one as shown in Fig. 1.9. Assuming the drive delivers the same winding current in each case, this will cause greater torque to be produced when there are two windings energized. In other words, alternate steps will be strong and weak. This does not represent a major deterrent to motor performancethe available torque is obviously limited by the weaker step, but there will be a significant improvement in low-speed smoothness over the full-step mode. Clearly, we would like to produce approximately equal torque on every step, and this torque should be at the level of the stronger step. We can achieve this by using a higher current level when there is only one winding energized. This does not over dissipate the motor because the manufacturers current rating assumes two phases to be energized the current rating is based on the allowable case temperature). With only one phase energized, the same total power will be dissipated if the current is increased by 40%. Using this higher current in the one-phase-on state produces approximately equal torque on alternate steps (see Fig. 1.10). Fig. 1.8 Full step current, 2-phase on Fig. 1.9 Half step current Fig. 1.10 Half step current, profiled We have seen that energizing both phases with equal currents produces an intermediate step position half-way between the one-phase-on positions. If the two phase currents are unequal, the rotor position will be shifted towards the stronger pole. This effect is utilized in the microstepping drive, which subdivides the basic motor step by proportioning the current in the two windings. In this way, the step size is reduced and the low-speed smoothness is dramatically improved. High-resolution microstep drives divide the full motor step into as many as 500 microsteps, giving 100,000 steps per revolution. In this situation, the current pattern in the windings closely resembles two sine waves with a 90 phase shift between them (see Fig. 1.11). The motor is now being driven very much as though it is a conventional AC synchronous motor. In fact, the stepper motor can be driven in this way from a 60 Hz-US (50Hz-Europe) sine wave source by including a capacitor in series with one phase. It will rotate at 72 rpm. Fig. 1.11 Phase currents in microstep mode Standard 200-Step Hybrid Motor The standard stepper motor operates in the same way as our simple model, but has a greater number of teeth on the rotor and stator, giving a smaller basic step size. The rotor is in two sections as before, but has 50 teeth on each section. The half-tooth displacement between the two sections is retained. The stator has 8 poles each with 5 teeth, making a total of 40 teeth (see Fig. 1.12). Fig. 1.12 200-step hybrid motor If we imagine that a tooth is placed in each of the gaps between the stator poles, there would be a total of 48 teeth, two less than the number of rotor teeth. So if rotor and stator teeth are aligned at 12 oclock, they will also be aligned at 6 oclock. At 3 oclock and 9 oclock the teeth will be misaligned. However, due to the displacement between the sets of rotor teeth, alignment will occur at 3 oclock and 9 oclock at the other end of the rotor. The windings are arranged in sets of four, and wound such that diametrically-opposite poles are the same. So referring to Fig. 1.12, the north poles at 12 and 6 oclock attract the south-pole teeth at the front of the rotor； the south poles at 3 and 9 oclock attract the north-pole teeth at the back. By switching current to the second set of coils, the stator field pattern rotates through 45. However, to align with this new field, the rotor only has to turn through 1.8. This is equivalent to one quarter of a tooth pitch on the rotor, giving 200 full steps per revolution. Note that there are as many detent positions as there are full steps per rev, normally 200. The detent positions correspond with rotor teeth being fully aligned with stator teeth. When power is applied to a stepper drive, it is usual for it to energize in the “zero phase” state in which there is current in both sets of windings. The resulting rotor position does not correspond with a natural detent position, so an unloaded motor will always move by at least one half step at power-on. Of course, if the system was turned off other than in the zero phase state, or the motor is moved in the meantime, a greater movement may be seen at power-up. Another point to remember is that for a given current pattern in the windings, there are as many stable positions as there are rotor teeth (50 for a 200-step motor). If a motor is de-synchronized, the resulting positional error will always be a whole number of rotor teeth or a multiple of 7.2. A motor cannot “miss” individual steps position errors of one or two steps must be due to noise, spurious step pulses or a controller fault. Fig. 2.19 Digital servo drive Digital Servo Drive Operation Fig. 2.19 shows the components of a digital drive for a servo motor. All the main control functions are carried out by the microprocessor, which drives a D-to-A convertor to produce an analog torque demand signal. From this point on, the drive is very much like an analog servo amplifier. Feedback information is derived from an encoder attached to the motor shaft. The encoder generates a pulse stream from which the processor can determine the distance travelled, and by calculating the pulse frequency it is possible to measure velocity. The digital drive performs the same operations as its analog counterpart, but does so by solving a series of equations. The microprocessor is programmed with a mathematical model (or “algorithm”) of the equivalent analog system. This model predicts the behavior of the system. In response to a given input demand and output position. It also takes into account additional information like the output velocity, the rate of change of the input and the various tuning settings. To solve all the equations takes a finite amount of time, even with a fast processor this time is typically between 100ms and 2ms. During this time, the torque demand must remain constant at its previously-calculated value and there will be no response to a change at the input or output. This “update time” therefore becomes a critical factor in the performance of a digital servo and in a high-performance system it must be kept to a minimum. The tuning of a digital servo is performed either by pushbuttons or by sending numerical data from a computer or terminal. No potentiometer adjustments are involved. The tuning data is used to set various coefficients in the servo algorithm and hence determines the behavior of the system. Even if the tuning is carried out using pushbuttons, the final values can be uploaded to a terminal to allow easy repetition. In some applications, the load inertia varies between wide limits think of an arm robot that starts off unloaded and later carries a heavy load at full extension. The change in inertia may well be a factor of 20 or more, and such a change requires that the drive is re-tuned to maintain stable performance. This is simply achieved by sending the new tuning values at the appropriate point in the operating cycle. 步进电机和伺服电机的系统控制 运动的控制者 -软件：只要有了软件，它可以帮助我们配置改装、诊断故障、调试程序等。数控电动机的设计者会是一个微软窗口 基于构件的软件开发工具，可以为 6000 系列产品设置代码，同时可以控制设计者与执行者的运动节目，并创造一个定制运 营商的测试小组。运动建筑师的心脏是一个空壳，它可以为进入以下模块提供一个综合环境。 1. 系统配置 这个 模块提示您填写所有相关初成立信息启动议案。配置向具体6000 系列产品的选择，然后 这些信息将 用于产生实际 的 6000 - 语言代码，这是你的 开始 计划。 2. 程序编辑器 允许你编辑代码。它也有 可行的“帮助”命令菜单。 A 用户指南提供了相关的磁盘指南。 3. 终端模拟器 本模块，可让您 直接与 6000 系列产品互动。他所提供的“帮助”是再次参考所有命令和定义。 4. 测试小组 你可以使用本模块，模拟程序，调试程序，并跟踪检测程序 。 运动建筑师已经将所有的 6000 系列产品都运用在了步进电机和伺服电机的技术上。由于丰富的对话窗口和 6000 系列语言，使得你能够从简单到复杂的解决问题。 运动建筑师的 6000 系列产品的标准配置工具，能够使得这些控制器更加简单，相当大的缩短项目开发时间。它的另外一个增值特点是使用 6000 伺服控制器的调谐助手。基于调谐价值观，这个额外的模块可以以图形化的方式为你展示各种参数。看看这些参数是如何让变化的。用 运动的建筑师，你可以 一次性 打开多个窗口。举例来说，无论是程序编辑器和终端模拟器窗口， 你都可以 打开运行程序， 得到信息，然后改变 这一程序 。 运动建筑师可以利用在线帮助，在整个互动接触内容中为数控电机 6000 系列软件做参考指南。 从简单到复杂的解决应用 伺服控制是你 用 伺服调谐器软件 控制。数控电机与 6000 系列伺服控制器相结合并应用 伺服调谐器软件 。 伺服调谐器是一个新增功能模块 ，它 扩展和提高 运动 建筑师 的能力。 议案建筑师与伺服调谐器结合起来，以提供图形化的反馈 方式，反馈 实时运动信息并提供简便环境设置微调收益及相关制参数以及提供文件操作，以保存并记得微调会议。 请你用运动工具箱软件解决自己的运动控制。运动工具箱实际上是一个为数 控电机和 6000 系列运动控制器而设计的广泛应用的虚拟图标式编程仪器。 当使用 运动 工具箱与 虚拟编程仪时， 编程 6000 系列控制器 实质上是 完成连接图形图标，或加上形成框图 使之可见 。 运动 工具箱中 包含了 1500 多 条命令 ， 状态栏 ，实例等 。所有 的命令、状态栏、实例都 包括 可视 的来源图表，使您可以修改他们，如果有必要， 可以 满足您的特殊的需要。 运动 工具箱同时还具有一个 可 视 窗口， 基于安装程序和一个全面的用户手册， 可 以帮助您运行得更好更快。 软 件 电脑辅助 运动应用软件 compucam compucam是 基于微软的 编程 包，它能从 CAD程序 、示波器文档、 数控程序和产生6000 系列数控电机密码相 兼容 的运动控制器中输入几何图形。 购买 数控电机是可行的 ， 因为 compucam 是一个附加模块，是 运动建筑师的菜单栏，它是作为 公用 部分而被引用的。程序 从 compucam 开始 运行 CAD 软件包。一旦 程序被起草创作 ， 它就会被 保存为 DXF 文件， 或 惠普 -吉尔 段文档， 或 G 代码数控 程序 。这 些 几 何图形 然后输入 compucam中，产生 6000 系列代码。在程序运行之后 ，你可使用的 运动 建筑师功能 块 ，如编辑或下载代码 等执行程序。 运动执行 者软件 可 轻松编程 6000 系列 运动执行 者 革命性 控制 运动编程 。 这一具有创新意义的软件允 许 程序员 以 他们所熟悉的 - 流程图式的方法 编程 。 运动执行者 降低 了 学习曲线，并 使 运动控制编程变得相当容易 。 运动执行者 是一套微软 软件， 基于 图形化窗口的发展， 让专家和新手程序员容易 学习 计划 6000 系列产品新的编程语言。 简单地拖放 代表议案职能的视觉图标，你 可以随时的进行你所需要的操作 。 运动执行者是 一个完整的应用开发环境 的软件 。除了视觉编程 6000 系列产品，用户 还 可 以 配置，调试，下载， 策划和执行的议案计划。 电机类型及其 应用 下一节将会给你介绍一些的适用特别场合的电 机，而某些应用是最好避免。应当强调说，在一个广范的应用范围，电机是可同样满足一个以上的汽车类型， 而选择往往是由客户偏好、以往经验或与现有的设备的兼容性决定的。一个非常有用的工具箱，可供你选择适当的运动，为你选择电机与选择软件包是 compumotor 软件包。使用这个软件，使用户可以轻松找出适当的电机大小和类型。 高扭矩，低 转 速 连续 脉冲 适宜 于步进电机时， 在低速时， 就相对于 扭矩输出规模和输入功率 而言， 它是非常高效率。 微步，在低速应用，可以用来提高平滑度 。 如 可 作为计量泵驱动非常精确的流量控制。 高扭矩，高 转 速 连续 脉冲 适应 于 伺服电机 时 ，其实步进电机应避免 使用 在 这种情况下。这是因为高速 可导致 负荷。 简捷 ，快速，重复性动作 仅是自然域的步进 电机 由于其在低速时高转矩， 因而存在 惯性比例 大， 及缺乏折算的问题。直流电动机 的电刷 可限制其潜 在的 频繁开始，停止和方向 的改变。 低速 ， 高光滑 的应用 这 是最 适合于 微步或直接驱动伺服 电机。 适用于 危险环境或在真空中可能不能够使用 电刷电机 。步进或无刷 电机是无所谓的 ，靠的 是对 负荷 的需求。 牢记当负载过高 时， 热耗散可能是个问题 。 选择适合你的电机 导言 运动控制，在其最广泛的意义上说，可能与 任何移动式起重机 中 焊接机器人液压系统 有关 。在电子运动控制领域，我们的主要关切系统范围内的有限 功率的大小 ， 通常高达约 10hp （ 7 千瓦），并要求在一个或多个方面 有严格 精密。这可能涉及精确控制的距离或速度，但很多时候 是 双方的，有时 还涉及 其它参数如转矩或加速率。在 以下 所举的 两个 例子 中 ，焊接机器人，需要精确 的 控制 双方 的速度和距离 ；吊臂液压系统采用 驱动 作为反馈系统 ， 因此，它的准确度会随 着操作者的 技能的不同而不同 。在严格意义上来说 ， 这将不会被视为一项 运动 控制系统。 我们的标准运动控制系统 由以下 三个基本要素组成： 图 1 运动控制系统 的组成 元件 高级命令 命令信号 混合式步进直流 伺服无刷电机 电机， 可能是一个步进电机（要么旋转或线性） ，也可能是 直流无刷电机或无刷伺服马达。 电机 必须配备一些种回馈装置，除非它是一个步进 电机 。 图 2 显示了一个完善 地 反馈控制电机转速 的系统 。这样一个 具有 闭环 控制 系统的速度伺服系统。 图 2 典型的闭环（ 速度）伺服系统 转速表 电压反馈 驱动器是一个电子功率放大器 ，以 提供电力操作电动机 来 回应低层次的控制信号。一般来说，驱动器将特别设计， 其 操作与特定电机类型 相配合。例如， 你不能用一个步进驱动器 来操作 直流无刷电机。 不同电机适应的不同领域 步进电机 ： 步进电机的好处 。 步进电机有以下好处： （ 1） 成本低廉 （ 2） 坚固耐用 （ 3）结构 简单 （ 4） 高可靠 性 （ 5） 无维修 （ 6）适用 广泛 （ 7） 稳定 性很高（ 8） 无 需 反馈元件 （ 8）适应多种 工作环境 （ 9）相对伺服电机更具有保险性 。 驱动器 电机 控制器 主计算机 或 PLC 控制器 /索引 驱动 电机 因此，几乎没有任何可以想象的失败 使 步进驱动模块 出错 。步进电机 驱动 简单 ，并且驱动和 控制在一个开放的闭环 系统内 。他们只需要 4 个 驱动器 。低速时 ，驱动器 提供良好的扭矩， 是有 刷电机同一帧大小 5 倍连续力 距， 或相当于无刷电机一倍扭矩。这往往不再需要变速箱。步进驱动 系统迟缓 ， 在限定的范围内，可以更好的减少 动态位置误差 。 步进电机弊端 。 步进电机有下列缺点： （ 1） 共振效应和相对长 的适应性（ 2） 在低速 ， 表现粗 糙，除非微驱动器 来驱动（ 3）开环系统可能导致未被查觉的损失（ 4）由于过载， 他们消耗 过多 电流 。 因此倾向于 过热运行。（ 5） 亏损速度比较高，并可产生过 多热量因此 ，他们 噪音很大（尤其是在高速下） 。（ 6） 他们 的 滞后 现象 导致振荡，这是很难 抑制的 。 对他们的可行性，这儿有 一个限度， 而 他们 的 大小，定位精度 主要 依靠的是 机器 （例如，滚珠丝杠的精确度） 。许多这些缺点是可以克服 的，通过 使用一个闭环控制方案。 注： compumotor 系列 能 很多 的 减小或降低了这些不同的步进电机不利之处。 主要有 3 类 步进电机： （ 1） 永磁 式步进电机 ，（ 2） 可变磁阻 式步进 电动机 ，（ 3）混合式步进电机