Servo motor rigidity is the ability of the motor shaft to resist external torque interference, and we can adjust the motor rigidity in the servo controller. Today, Dalan motor manufacturers will take you to understand the rigidity and inertia of servo motors.
1. Rigidity
(1) In the servo system position mode, apply force to deflect the motor. If the force is large and the deflection angle is small, then the servo system is considered to have strong rigidity, otherwise, the servo rigidity is considered to be weak. Note that the rigidity I mentioned here is actually closer to the concept of response speed. From the perspective of the controller, the rigidity is actually a parameter composed of a speed loop, a position loop and a time integration constant, and its size determines a response speed of the machine.
(2) In fact, if you do not require fast positioning, as long as it is accurate, when the resistance is not large, the rigidity is low, you can also achieve accurate positioning, but the positioning time is long. If the rigidity is low, the positioning is slow, and when the response is fast and the positioning time is short, there will be the illusion of inaccurate positioning.
2. Inertia
(1) Inertia describes the inertia of an object's movement, and rotational inertia is a measure of the inertia of an object's rotation around an axis. The moment of inertia is only related to the radius of rotation and the mass of the object. Generally, the load inertia exceeds 10 times of the motor rotor inertia, and it can be considered that the inertia is relatively large.
(2) The inertia of the guide rail and the screw has a great influence on the rigidity of the servo motor transmission system. At a fixed gain, the greater the inertia, the greater the rigidity, the easier it is to cause the motor to shake; the smaller the inertia, the lower the rigidity, the motor The less likely to shake. The motor can be shaken by replacing the guide rail and screw with a smaller diameter to reduce the moment of inertia and thus the load inertia.
(3) We know that when selecting the servo system, in addition to considering the parameters such as the torque and rated speed of the motor, we also need to first calculate the inertia of the mechanical system converted to the motor shaft, and then according to the actual action requirements and The quality requirements of the processed parts specifically select the motor with the appropriate inertia size.
(4) Generally speaking, the motor with small inertia has good braking performance, quick response to starting, accelerating and stopping, good high-speed reciprocity, suitable for some light load and high-speed positioning occasions. Medium and large inertia motors are suitable for occasions with high load and high stability requirements, such as some circular motion mechanisms and some machine tool industries.
In short, the servo motor is too rigid and insufficiently rigid. Generally, it is necessary to adjust the controller gain to change the system response. If the inertia is too large and the inertia is insufficient, it is a relative comparison between the load inertia change and the servo motor inertia.
----- Responsible Editor: Dalan Oil Pump Motor 02-Procurement Consultant
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