The influence of the accuracy resolution of the servo encoder on the servo speed loop

When the encoder is used as the feedback link of the closed-loop system, the performance of the control system is mainly affected by the following three aspects:

1 Response speed: The response speed is easy to understand. The slow response encoder is like an ideal sensor series low-pass filter. This will produce a phase lag in the entire closed-loop control system, affecting the high frequency band of the entire system. stability. In most applications at present, the encoder feedback speed of the servo motor is very fast can be regarded as an ideal sensor. However, some serial communication encoders (SSI) with lower communication speed will inevitably cause a certain delay in the communication method, thereby limiting the bandwidth of the speed loop.

2 Precision: For the impact of precision, the concept of speed precision needs to be defined first. Accuracy is the measurement of the repeatable average deviation between the actual value the set value. The description of speed accuracy is shown in Figure 1, which represents the total deviation between the set value the actual value in a period of time. Therefore, the so-called speed accuracy can be understood as the absolute steady-state error between the adjusted value the specified given value.

three. Stability: Although many adjustment targets involve accuracy, in most cases, we prefer the "stability" of the adjustment process. This stability can be understood as the "volatility" of speed. The definition of speed volatility is: volatility is an undesirable characteristic of the actual value, which is superimposed on the average speed.

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