频率分析.pptVIP

? GE Fanuc Automation ? GE Fanuc Automation Frequency analyses 频率分析Bode diagram伯德图 Basics 概述 How to measure 描绘伯德图 Interpretation of results 结果分析 How to avoid Resonance 避免谐振 Targets What you will learn 学习内容 How to measure servo performance – response stability, stiffness and noise 伺服系统品质的观测 How to optimize servo performance 伺服品质的最佳化 How to tune velocity loop 速度回路的调整 Responsiveness What is responsiveness 伺服响应性能 Responsiveness describes the ability of a servo system to react to a command 响应是伺服系统对输入指令的反映能力 The reaction time is the key way to measure 关键是测量反映（响应时间） fast response is the aim目的是快速响应 High servo gain makes the system more responsive系统增益越高，响应越快 Stiffness What is Stiffness 伺服刚性 Stiffness describes the ability of a servo system to overcome disturbance torque刚性表示伺服系统克服扰动力矩的能力 It’s difficult to measure because it’s hard to identify disturbances 因为难以识别扰动，故刚性测量不易 The stiffer the better刚性越高越好 High servo gain makes the system stiffer 伺服增益高系统惯性好 Stability What is Stability稳定性 Measures of stability describes with what margin a servo system avoid natural oscillation 稳定性由系统不产生自然振动的裕度来描述 All servo systems must have a reasonable margin of stability 任何伺服系统都必须有足够的稳定裕度 Stability is commonly measured by overshoot to square wave 通常，稳定性由对方波响应的超调测量（描述） High servo gain makes the system less stable 伺服增益高，系统稳定性差 Noise What is Noise 噪音 Noise immunity describes how much a servo system amplifies a noise source 抗躁性由系统对躁原的放大能力描述 Common noise sources are feedback resolution and electro-magnetic influences mainly on feedback cable.普通躁原为反馈和电磁波对反馈电缆的影响 Noise generates heat on the motor (OVC), vibration, torque disturbances and acoustical noise.噪音使电机发热（OVC），振动，力矩扰动和杂声 High servo gain increase noise sensitivity 伺服增益高，对噪音即敏感 Tuning Tuning target 调整目的 The process of setting servo gains for optimal combination of responsiveness, stiffness, stability, and noise generation Tuning What does influence tuning results? There are many thing affecting servo p