文献类型：期刊文献

中文题名：机器人用伺服系统性能测试加载系统的设计

英文题名：Design of Loading System for Performance Test of Servo Systems in Robots

作者：卿湘运[1];陆聪[2]

机构：[1]华东理工大学信息科学与工程学院,上海200237;[2]上海安规机电设备有限公司,上海201612

年份：2023

卷号：50

期号：11

起止页码：80

中文期刊名：电机与控制应用

外文期刊名：Electric machines & control application

收录：CSTPCD

语种：中文

中文关键词：电机性能测试;加载试验;Sinamics S120;S7-1500;闭环控制

外文关键词：motor performance test;loading test;Sinamics S120;S7-1500;close-loop control

摘要：采用西门子S7-1500可编程控制器和Sinamics S120变频器设计了机器人用伺服系统性能测试加载系统。介绍了性能测试系统的组成以及加载系统的软硬件设计方法。给出了加载闭环控制系统的建模方法,设计了转矩比例积分控制器和转矩微分负反馈控制器,以消除加载转矩静差和抑制转矩超调。实际应用结果表明,该系统各项性能指标均满足设计要求。
A loading system for performance test of servo systems in robots is designed by using a programmable logic controller S7-1500 and a variable frequency converter Sinamics S120.The compositions of performance test system,hardware and software designs of the loading system are presented.The close-loop control of loading system was modeled,and the torque proportional-integral controller and torque differential negative feedback controller are introduced to eliminate static torque errors and suppress torque overshoots.The practical application results show that the system performance indicators can meet design requirements.