NX-ID5442

NX-ID5442

即內(nèi)環(huán)換成了加速度環(huán)，細(xì)心的童鞋可能已經(jīng)注意到了某種規(guī)律——位置、速度、加速度，內(nèi)環(huán)是外環(huán)的導(dǎo)數(shù)？這貌似是有那么一點(diǎn)點(diǎn)規(guī)律！——其實(shí)呢內(nèi)環(huán)電流環(huán)和加速度環(huán)是等價(jià)的，因?yàn)閷?duì)于理想電機(jī)而言，其轉(zhuǎn)矩和電流成正比（比例就是轉(zhuǎn)矩系數(shù)），轉(zhuǎn)動(dòng)慣量可近似認(rèn)為是常值，這樣加速度就和電流成正比，因?yàn)殡姍C(jī)中電流更容易測(cè)量，所以呢一般用電流環(huán)來(lái)代替加速度環(huán)。

好了，那怎么理解這三個(gè)環(huán)路呢？為什么位置換控制器的輸出就是速度環(huán)呢?輸入呢？——可以這么簡(jiǎn)單的理解：要想控制位置，可以通過(guò)調(diào)節(jié)速度來(lái)實(shí)現(xiàn)，因?yàn)樗俣入S時(shí)間的積分就是位置，合適的速度經(jīng)過(guò)的時(shí)間就能達(dá)到想要的位置；同樣，速度可以通過(guò)調(diào)節(jié)合適的電流來(lái)實(shí)現(xiàn)；那么怎么調(diào)節(jié)電流呢？

NX-ID5442 

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