What are the dynamic parameters of the servo system

The time response characteristic is a characteristic that reflects whether the system can quickly track the rapidly changing command. It consists of two parts: transient response and steady-state response. The system contains multiple energy storage components, so when the input is transmitted to the system, the output of the system cannot immediately follow the change of the input, and it should be reflected as a transient response process (or excessive process) before the system reaches stability. Stable response refers to the output condition of the system when the joining time t tends to infinity. If in the steady state, the output and the input cannot be completely consistent, then the system is considered to have a steady state error. The time response characteristics of the system are not only determined by the system structure and performance (for example, the first-order system and the second-order system are different), but also by the type of input signal, and change with different machining targets and cutting parameters. Especially considering the control conditions such as start, stop, forward and reverse directions, the change of the speed signal of each coordinate axis is extremely complicated.

The time response characteristic is based on the differential equation to study the change law of the system response with time, that is, when the transfer function is known, the dynamic characteristic is obtained from the response speed and the oscillation process of the system during the step input and ramp input. parameter. But in many cases, the transfer function is fuzzy, so the dynamic characteristics can only be obtained through experimental methods. The so-called frequency response characteristic is the reflection of the system to the sinusoidal input signal, that is, it obtains its dynamic characteristics by considering the law of the system's response to the sinusoidal input signal. Due to the close relationship between frequency characteristics and transfer function, more and more applications are used in engineering. The transfer function can be fitted from the frequency response data to establish a mathematical model.

The basic requirement of the control system is the stability of the work. Only stable work can further explore performance indicators. The stability of the system is affected by many factors, including the inertia, damping, rigidity and transmission ratio of the mechanical transmission components. In order to investigate the influence of the parameters of mechanical transmission components on the stability of the system, a calculation program was compiled according to the stability judgment formula.

The so-called rapid analysis refers to the rapid response performance of the analysis system, and the rapidity reflects the transient quality of the system.

There are many methods to explain the rapidity of the system, including direct solution method, indirect evaluation method and computer simulation method. The direct solution method is more troublesome, and it is difficult to obtain the influence law of the system structure and parameters on the transient quality; computer simulation is very simple, and it can also be applied to complex system structures, multivariable systems and nonlinear systems, which are difficult to obtain mathematical models. System, but it requires a set of software and operating conditions. The indirect evaluation method is relatively simple, and can clearly see the influence of the system structure and parameters on the transient quality, so it is widely used in system analysis and design.

Regarding the linear feed servo system, because it contains various circuits, electromechanical conversion devices, and mechanical transmission mechanisms, each link of the system has a time constant, which cannot respond to high-frequency signals in time, and is only a low-pass filter. The frequency bandwidth of this type of system has a fast response speed to high-frequency information, so from the open-loop frequency characteristic diagram, the response speed of the closed-loop loop should be improved.

The size of the servo accuracy is balanced by the size of the error. The often-speaking servo error is the difference between the command position and the actual position of the servo system in a steady state, which reflects the steady state quality of the system. The ideal servo system is that the output and input are synchronized at any time, without error, but this is impossible. There are many reasons for the out-of-synchronization. The system's dynamic characteristics, external load, internal disturbance, etc. may cause the actual position to deviate from the commanded position.

If you want to request the servo error, you must find the output response of the system under the combined action of the input signal and the external load, etc., and then superimpose all the responses according to the superposition principle of the linear system to know the actual position, and then use The servo error can be obtained by subtracting the actual position from the command position.

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