单轴伺服电机运动系统性能设置分析.doc

摘 要 本文主要探讨针对松下伺服电机而开发的PANATERM软件以及对松下MINAS A4系列的驱动器参数设置和调整。PANATERM软件的使用很好地减少了驱动器参数设置的工作量，加上PANATERM软件的监视器与警报功能，使参数的读取、传输和调整更为方便，更加智能化。PANATERM软件的波形图形功能，可将对电机发出的命令、电机的动作（速度、转矩命令、偏差脉冲）作为波形显示在微机的显示屏上，可以更快捷、正确地进行调整。PANATERM软件最强大的地方在于它还拥有频率特性解析功能，此功能可以测出共振频率，根据测出的共振频率设置相应的陷波滤波器，从而控制机械共振。 MINAS－A4系列的驱动器可以进行智能化的自动调整，速度响应最快可以达到1KHz。不管是刚性比较高的丝杆传动机构，还是易振动的传送带驱动机构，都可以方便地用自动调整功能来高速定位。所以如何更准确、快捷地对驱动器进行参数设置和调整，将是一个很有意义的研究课题。 关键词 PANATERM；伺服电机；MINAS A4；参数设置；频率特性 Abstract This paper mainly discusses the PANATERM software developed for panasonic servo motor and drive for panasonic MINAS A4 series parameters Settings and adjustments. PANATERM software is a good way to reduce the workload of drive parameter settings, it also has a monitor and alarm functions which make reading, conveying and adjusting parameter become more convenient and intelligent. The waveform graph function of PANATERM can make motor instruction and motion display as waveform on a computer that we can adjust more quickly and correctly . The advantage of PANATERM software is that it has a frequency characteristic analytic function, this function can be measured resonant frequencies. According to the measured resonance frequency we can set the corresponding notch filter, so as to control the mechanical resonance. MINAS A4 series of drives can be intelligent automatic adjustment with the speed of response of up to 1 KHz. Regardless of whether they are prone to vibration conveyor belt driven machinery, or high rigidity of lead screw transmission machinery, it also can use automatic adjustment function to achieve high-speed positioning.So how to be more accurate and fast to drive parameters Settings and adjustments will be a very meaningful research subject. Key words PANATERM servo motor MINAS A4 parameter settings frequency characteristic 目 录 摘 要 I Abstract II 目 录 III 第1章 绪论 1 1.1 伺服技术的发展状况 1 1.2 伺服装置发展现状 1 1.3 伺服驱动器 1 第2章 固高两轴运动平台 3 2.1 固高两轴运动平台的组成 3 2.2 固高运动控制平台软件 3 2.2.1 软件界面及操作说明 3 2.2.1.1 初始界