Servo motors are generally operated by three circuits. To put it bluntly, the three circuits are three closed-loop control negative feedback PID control systems.
The first innermost PID loop is the current loop, which is implemented completely inside the servo controller. The output current from the controller to the motor is checked by the Hall components, and the negative feedback current is set according to the PID, so that the output current is as close to the set current as possible. The torque of the motor is controlled by the current loop, so that the operator operates in the torque form with minimal operation and daily dynamic response. It should be faster.
The second cycle is the velocity cycle. The negative feedback PID is adjusted by the data signal of the motor servo motor. The output of the PID in the loop is directly the setting of today's loop. Thus, the velocity loop includes a velocity loop and a current loop. In other words, the current loop must be applied in full form. The current circuit is the basis of the operation. In addition, the system has in fact implemented current manipulation. (torque) control to complete the relative speed and azimuth control.
The third ring is the positioning ring, which is the outermost ring. Depending on the situation, it can be set up in the controller and motor servo motor center, as well as in the external controller and motor servo motor or final load center. Since the internal output of the azimuth control loop is the setting of the speed loop, the system operates all three circuits in the azimuth control form. At this time, the measurement volume of the system is quite large, and the daily dynamic response speed is relatively slow.
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