1. DC servo motor driver, DC servo motor driver mostly uses pulse width modulation (PWM) servo driver, and changes the pulse width to change the uniform voltage added to both ends of the motor armature, so as to change the speed of the motor. PWM servo drive has the characteristics of wide speed regulation, good low-speed characteristics, fast response, high efficiency and strong overload capacity, and is often used as a DC servo motor drive in industrial robots.
2. Compared with the DC servo motor drive system, the synchronous communication servo motor drive has the advantages of high torque and moment of inertia ratio, no brushes and commutation sparks, and is widely used in industrial robots.
Synchronous communication servo motor drivers usually use current-type pulse-width modulation (PWM) phase inverters and a multi-closed-loop control system with the current loop as the inner ring and the speed loop as the outer ring to complete the current control of the three-phase permanent magnet synchronous servo motor. According to its operating principle, driving current waveform and control method, it can be divided into two servo systems: (1) permanent magnet communication servo system driven by rectangular wave current. (2) Permanent magnet communication servo system driven by sine wave current.
The permanent magnet communication servo motor driven by rectangular wave current is called brushless DC servo motor, and the permanent magnet communication servo motor driven by sine wave current is called brushless communication servo motor.
3. Stepper motor driver, stepper motor is a component that converts the electrical pulse signal into the corresponding angular displacement or linear displacement, and its angular displacement and linear displacement are proportional to the number of pulses. The rotational speed or linear velocity is proportional to the pulse frequency. In the scale of load capacity, these relationships do not change due to the fluctuation of power supply voltage, load size, and environmental conditions, and errors are not accumulated for a long time. As an open-loop digital control system, it is widely used in small robots. However, because of its shortcomings such as poor overload capacity, relatively small speed regulation scale, pulsation and imbalance in low-speed movement, it is generally only used in small or simple robots.
4. Direct drive, the so-called direct drive (DD) system, is that the motor and the load driven by it are directly coupled together, and there is no deceleration organization in the middle.
Compared with the traditional motor servo drive, the DD drive reduces the deceleration organization, thereby reducing the void and loosening of the deceleration organization during the system transmission process, which greatly improves the accuracy of the robot, and also reduces the reduction of the robot control accuracy formed by the friction of the deceleration organization and the transmission torque ripple. Because of the above-mentioned advantages, DD drive has good mechanical rigidity, can act at high speed and high precision, and has the characteristics of few parts, simple structure, simple maintenance and high reliability, which has attracted more and more attention in the use of high-precision and high-speed industrial robots.
As a key link in the DD drive skills is the DD motor and its drive. It should have the following characteristics: (1) Large output torque: 50-100 times of the output torque of the servo motor in the traditional drive method. (2) Small torque ripple: The torque ripple of DD motor can be suppressed within 5%-10% of the output torque. (3) Efficiency: Compared with the motor with reasonable impedance matching (under the traditional drive method), the DD motor operates under the condition of poor power conversion. Therefore, the larger the load, the more inclined it is to use a larger motor.
At present, DD motors are mainly divided into variable reluctance type and variable reluctance hybrid type, and there are the following two structural types: (1) double stator structure variable reluctance type DD motor; (2) Variable reluctance hybrid DD motor with central stator structure.
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