1、位置控制：位置控制模式一般是通過外部輸入的脈沖的頻率來(lái)確定轉(zhuǎn)動(dòng)速度的大小，通過脈沖的個(gè)數(shù)來(lái)確定轉(zhuǎn)動(dòng)的角度，也有些伺服可以通過通訊方式直接對(duì)速度和位移進(jìn)行賦值，由于位置模式可以對(duì)速度和位置都有很嚴(yán)格的控制，所以一般應(yīng)用于定位裝置。
2、轉(zhuǎn)矩控制：轉(zhuǎn)矩控制方式是通過外部模擬量的輸入或直接的地址的賦值來(lái)設(shè)定電機(jī)軸對(duì)外的輸出轉(zhuǎn)矩的大小，可以通過即時(shí)的改變模擬量的設(shè)定來(lái)改變?cè)O(shè)定的力矩大小，也可通過通訊方式改變對(duì)應(yīng)的地址的數(shù)值來(lái)實(shí)現(xiàn)。
應(yīng)用主要在對(duì)材質(zhì)的手里有嚴(yán)格要求的纏繞和放卷的裝置中，例如繞線裝置或拉光纖設(shè)備，轉(zhuǎn)矩的設(shè)定要根據(jù)纏繞的半徑的變化隨時(shí)更改以確保材質(zhì)的受力不會(huì)隨著纏繞半徑的變化而改變。
3、速度模式：通過模擬量的輸入或脈沖的頻率都可以進(jìn)行轉(zhuǎn)動(dòng)速度的控制，在有上位控制裝置的外環(huán)PID控制時(shí)速度模式也可以進(jìn)行定位，但必須把電機(jī)的位置信號(hào)或直接負(fù)載的位置信號(hào)給上位反饋以做運(yùn)算用。位置模式也支持直接負(fù)載外環(huán)測(cè)試位置信號(hào)，此時(shí)的電機(jī)軸端的編碼器只測(cè)試室電機(jī)轉(zhuǎn)速，位置信號(hào)就由直接的終負(fù)載端的測(cè)試裝置來(lái)提供了，這樣的優(yōu)點(diǎn)在于可以減少中間傳動(dòng)過程中的誤差，增加了整個(gè)系統(tǒng)的定位精度。
Generally, there are three control modes for servo: position control mode, torque control mode and speed control mode.1. Position control: the position control mode generally determines the rotation speed through the frequency of external input pulses, and determines the rotation angle through the number of pulses. Some servos can directly assign values to the speed and displacement through communication. Since the position mode can strictly control the speed and position, it is generally applied to the positioning device.
2. Torque control: the torque control mode is to set the external output torque of the motor shaft through the input of external analog quantity or direct address assignment. The set torque can be changed by changing the setting of analog quantity in real time, or by changing the value of the corresponding address through communication.
It is mainly used in winding and unwinding devices that have strict requirements on the material, such as winding devices or optical fiber pulling equipment. The torque setting should be changed at any time according to the change of winding radius to ensure that the stress of the material will not change with the change of winding radius.
3. Speed mode: the rotation speed can be controlled through the input of analog quantity or the frequency of pulse. The speed mode can also be positioned during the outer loop PID control with upper control device, but the position signal of motor or the position signal of direct load must be fed back to the upper for calculation. The position mode also supports the direct load outer ring test position signal. At this time, the encoder at the motor shaft end only tests the motor speed in the chamber, and the position signal is provided by the direct final load end test device. This has the advantage that it can reduce the error in the intermediate transmission process and increase the positioning accuracy of the whole system.
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