Dynamic Characteristics of DC Servo Motor Driven by Conventional Servo Driver.

摘要

Conventional servo driver is generally used for driving a servo motor. The servo driver has not only a role of amplifying a control signal. Aiming at a high performance of the motion control such as decreasing the steady state error against the disturbances, compensation circuits should be involved in the servo driver. Therefore, the dynamic characteristic of DC servo motor becomes very complex. And some phenomena of which we cannot explain the reason appear if we suppose that the servo driver has only a role of amplifying a control signal. Also, in the field of controlling a robot, it has been difficult to decide the feedback gain of the force control signal theoretically. So, in this study the dynamic characteristics of DC servo motor driver by the conventional servo driver are verified in detail and the design process of the servo mechanism is also verified.