Dynamic compensation of parameters in servo drives
In this paper, we studied a servo drive with an unlimited increase in the gain coefficients of the speed contour. We demonstrated dynamic compensation of parameters associated with the formation of differential components based on the coverage of the real coordinates of the control object using static model. It was shown that dynamics of the transient processes is caused by real differentiating links determining the fast and slow components of the transient process. The static velocity error in this case did not depend on the ratio of large and small time constants, as in a single integrating system of subordinate regulation of parameters. Therefore, we considered that parametric disturbances and their compensation occur due to the external astatic circuit. We demonstrated an equivalent transition to the position contour, the speed structure and position generator, corresponding to the organization of the servo drive in the CNC systems. We investigated features of the phase discriminator during the operation of the position sensor in the phase difference mode and carried out modeling of the servo drive structures and comparative analysis of two and three-circuit systems.