"position", "speed" and "torque" in servo system control mode - News - Global IC Trade Starts Here.

SMD aluminum electrolytic capacitor

Single chip microcomputer STM32L151CCU6

Brand AVX TPSE226M035R0125 Low impedance tantalum capacitor AVX 22

“Position”, “Speed” and “Torque” are three closed-loop control methods for the servo system from the outside to the inside. The position control mode has servos to complete all three closed-loop control. The computer only needs to send the pulse train to the servo unit. The computer side does not need to complete the PID control algorithm. When the speed control mode is used, the servo completes the speed and torque (current). Two closed-loop control, the computer needs to send the analog quantity to the servo unit, the computer side needs to complete the PID position control algorithm, and then pass the D/A output; in general, our system that needs position control can use the position of the servo. The control method can also use the speed control method, but the processing of the upper computer is different. In addition, some people think that the position control method is susceptible to interference. The torque control mode is that the servo system only performs the closed-loop control of the torque, that is, the current control. The algorithm of the upper computer is also simple, and only needs to send a target torque value to the servo unit, which is an analog quantity. It is often used in a single torque control scenario, such as in a press system where one motor is speed or position controlled to determine the print position and the other is used as a torque control to create a constant tension. These three modes of operation are actually implemented by three control loops. The position control mode is realized by the position loop, that is, the output position is compared with the command position to generate a control amount, so that the output position is consistent with the input position. In the speed mode, the speed loop is realized, and the speed loop compares the output speed with the command speed to generate a control amount, and the position loop is disconnected. Keep the output speed consistent with the input speed signal. In the torque mode, the current loop is realized, and the speed loop is disconnected from the position loop. Its purpose is to make the output current consistent with the input current.

The current loop is the innermost loop, the speed loop is the outer outer loop, and the position loop is the outer loop.