項(xiàng)目1 緒論......................................................................................................................... 1
1.1 伺服控制系統(tǒng)概述.............................................................................................................1
1.2 伺服控制系統(tǒng)的結(jié)構(gòu)與典型產(chǎn)品.....................................................................................2
1.2.1 伺服系統(tǒng)的結(jié)構(gòu)....................................................................................................2
1.2.2 伺服系統(tǒng)的分類....................................................................................................2
1.2.3 伺服系統(tǒng)的性能要求............................................................................................3
1.2.4 伺服系統(tǒng)的主要特點(diǎn)............................................................................................3
1.2.5 伺服放大器的典型產(chǎn)品........................................................................................4
1.3 伺服控制系統(tǒng)在機(jī)床行業(yè)的應(yīng)用.....................................................................................8
1.4 伺服控制系統(tǒng)在紡織行業(yè)的應(yīng)用.....................................................................................9
項(xiàng)目2 伺服電動機(jī)與伺服測量系統(tǒng)................................................................................... 12
2.1 伺服電動機(jī)基本原理.......................................................................................................12
2.2 永磁同步伺服電動機(jī).......................................................................................................16
2.2.1 永磁同步伺服電動機(jī)的結(jié)構(gòu)與分類..................................................................16
2.2.2 永磁同步伺服電動機(jī)交流伺服系統(tǒng)..................................................................18
2.3 測量系統(tǒng)基本原理...........................................................................................................20
2.4 編碼器...............................................................................................................................22
2.4.1 編碼器原理..........................................................................................................22
2.4.2 輸出信號..............................................................................................................23
2.4.3 分類.......................................................................................................................23
2.4.4 從單圈**式編碼器到多圈**式編碼器......................................................24
2.5 旋轉(zhuǎn)變壓器.......................................................................................................................25
2.5.1 旋轉(zhuǎn)變壓器的用途..............................................................................................26
2.5.2 正余弦旋轉(zhuǎn)變壓器..............................................................................................28
2.5.3 線性旋轉(zhuǎn)變壓器..................................................................................................29
2.6 光柵尺...............................................................................................................................30
2.7 磁尺...................................................................................................................................32
項(xiàng)目3 伺服原理與系統(tǒng)..................................................................................................... 34
3.1 交流電的逆變...................................................................................................................34
3.1.1 逆變電路的基本形式..........................................................................................34
CONTENTS
2
伺服系統(tǒng)應(yīng)用技術(shù)
3.1.2 電流控制型逆變器..............................................................................................35
3.1.3 電壓控制型逆變器..............................................................................................36
3.2 PWM逆變原理................................................................................................................38
3.2.1 PWM逆變原理與特點(diǎn)........................................................................................38
3.2.2 PWM波形的產(chǎn)生................................................................................................41
3.3 永磁同步電動機(jī)伺服驅(qū)動系統(tǒng).......................................................................................42
3.3.1 交流永磁同步電動機(jī)的矢量控制原理..............................................................43
3.3.2 交流永磁同步電動機(jī)控制系統(tǒng)..........................................................................45
項(xiàng)目4 伺服驅(qū)動器工作原理.............................................................................................. 47
4.1 位置控制單元...................................................................................................................47
4.2 速度控制單元...................................................................................................................48
4.3 驅(qū)動單元...........................................................................................................................49
4.4 完整的電動機(jī)驅(qū)動器.......................................................................................................49
項(xiàng)目5 三菱伺服驅(qū)動器的硬件系統(tǒng)................................................................................... 52
5.1 產(chǎn)品規(guī)格與技術(shù)性能.......................................................................................................52
5.2 電氣連接總圖...................................................................................................................54
5.3 伺服驅(qū)動器引腳功能.......................................................................................................56
5.4 伺服驅(qū)動器的接線...........................................................................................................68
5.5 定位模塊的應(yīng)用...............................................................................................................71
5.5.1 QD75定位模塊特點(diǎn)............................................................................................71
5.5.2 定位模塊的選擇..................................................................................................72
5.5.3 QDP1的使用.......................................................................................................74
5.5.4 GX Configurator-QP的基本應(yīng)用操作...............................................................76
5.6 運(yùn)動控制CPU的應(yīng)用.....................................................................................................86
5.6.1 運(yùn)動控制CPU簡介.............................................................................................86
5.6.2 運(yùn)動控制CPU的使用.........................................................................................89
項(xiàng)目6 三菱伺服驅(qū)動器的操作與調(diào)試............................................................................. 128
6.1 狀態(tài)、診斷、報警和參數(shù)模式的顯示操作................................................................128
6.1.1 概要.....................................................................................................................128
6.1.2 狀態(tài)顯示............................................................................................................129
6.1.3 診斷模式............................................................................................................131
6.1.4 報警模式............................................................................................................132
6.1.5 參數(shù)模式............................................................................................................134
6.1.6 外部輸入/輸出信號顯示...................................................................................135
3