서보교육자료배포용.ppt

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2 1. ; + - & (22kW )

3 1. ; DC AC (Ferrite) (NdFeB; ) /, Hybrid Power Thyrister TR IGBT IPM Analog Digital 16 bit 32 bit DSP RISC Dip SMD(Surface Mount Device) P, P/I &

4 ( ;NdFeB) AC (1992 ~1997) (1998 ~ ) DC Micro ( ) (, 200W ) - (50W ~ 400W) - (750W ~ 5kW) AC - - (OA ) - (2.2kW ~37kW) - (10000 ~ 80000r/min) AC (7.5~110kW) Micro ( ) (, 200W ) - (10W ~ 400W) - (750W ~ 5kW) - (7.5kW ~ 37kW) (OA ) - - Direct Drive - (2.2kW ~37kW) - (10000 ~ 80000r/min) - - (7.5~110kW) AC Direct Drive Serial - : 5 ~ 10% - : Size - ( ) 3D FEM Linear Motor

5 Digital 2 (1992~1997) Digital 3 (1998~ ) - : 200 ~ 250Hz - : 1: : 300kpps - Encoder(Inc.) : 2000~3000 ppr (Abs.) : 11/13 bit - - I/O - RS232 Hardware - Power Module : IPM - 32bit CPU - Encoder ( ) [YE] Series [ ] J Series [Panasonic] MINAS Series [ ] [LG] FDA5000 Series [ ]CSDJ/CSDP Series - : 400 ~ 500Hz - : [1:5000] - : 500 ~ 2500kpps - Encoder(Inc.) : 8192~16000 ppr (Abs.) : 16/17 bit I/O - RS232, (SERCOS) Hardware - Power Module : ASIPM - 32bit CPU - Encoder (Serial) - U/L & CE [YE] 2 Series [ ] J2 Series [Panasonic] MINAS A Series [ ] DS3 Series : 500Hz Encoder - (17bit,16000ppr) - Absolute Serial ( ) Global U/L & CE - EMC / Noise Serial

6 1. ; DC SERVO MOTOR AC SERVO MOTOR

7 1. ; / :Tacho Generator

8 1. ; / : 2,

9 1. ; / : Encoder

10 1. ; SCR(Thyrister) GTO(Gate Turn Off Thyrister) G K G A Turn on/off Turn on MW Turn off Minimum Turn-On Time on Hz K

11 1. ; Transistor C FET(Field Effect Transistor) D B G E S SCR 2~6msecOn-time khz Power Capacity. nsecon-time khz

12 1. ; IGBT(Insulated Gate Bipolar Transistor) IPM(Intelligent Power Module) G C E Transistor + FET 200 nsecon-time 20 khz IGBT + Protection circuit 200 nsecon-time 20 khz (OC) (SC) (OT) (UV) (Fo)

13 1. ; : CSDJ Series: 1:3000

14 1. ;,

15 1. ; TORQUE CONTROL

16 1. ;

17 1. ;

18 1. ; X-Y Table CSDx Series,. System 1) + UNIT + PLC 2) + Motion Controller CSDx Series.. System 1) + UNIT + PLC 2) + Motion Controller

19 1. ; CSDx Series UNIT. UNIT System 1) + UNIT + UNIT,,. System 1) + UNIT + PLC 2) + Motion Controller

20 1. ; CSDx Series. ATC System 1) + UNIT +. System 1) + UNIT +

21 1. ; CSDx Series,. System 1) + UNIT +, 2. System 1) + UNIT +

22 2. ; DC, AC Amp1:1 AC,

23 2. ; AC AC Encoder 1) Tr1Tr4ON, 2). 3). 4) Tr2Tr3ON ( ). A B Z U,,, V W

24 ; 2. : + 1) : 2) : : PWM, 85~90%.( 220Vac 185Vac ) -.

25 2. ; Ki a

26 2. ; Ki a φ. i a. φ ( ). Winding, (i f ). MMF( ) = N i f = φ R i a.

27 2. ; Series Series

28 2. ; : 0~ +55[ ] : 80% RH [ ] : -20~ +80[ ] : 90% RH [ ] :, : ( X,Y ) 19.6m/s² (2g)...

29 3. ; 1) * LOOP : * LOOP : * LOOP : 2) POWER * CONVERTER: 3 DC * INVERTER : DC 3

30 3. ;

31 3. ; 1 FF 1 2 FF Notch Overfolw, 1 S

32 3. ; m 1 T S T T D m 2 N (T d ) (m 1 f 60X = 2πT d 60X = 2π( T + T) c 2πm = P X 1 P m 2 f c [Hz] Nf T s T d = m f 2 c N f = 60 f cm Pm 2 1

33 3. ; T e ( ) ˆ ( ) T L 1 J 1 s + B J ωˆ ( ) θ ( ) 1 s θˆ ( ) L 3 L2 L1 1 s L1, L2, L3 :

34 3. ; M/T Low Pass Filter Low Pass Filter 1-a a Low Pass Filter

35 3. ; E = Jω 2 E = 1 2 C C V 2 ( 2 V1 ) 2 E R = 2 I Rt

36 3. ;

37 3. ; t = Capacitor = + ( )

38 3. ;

39 4. ;

40 4. ; Encoder Encoder(CN2) -15 INCREMENTAL ENCODER

41 4. ;

42 4. ; Operator

43 4. ; Operator

44 4. ; Operator

45 4. ; Operator Error

46 4. ; Operator JOG

47 4. ; Set[51]

48 4. ; Set[52]

49 4. ;

50 4. ; Pulse : Open Collector or Line Driver : 450,000 (pulse/sec) Feedforward ( 1:3000) ( ) (Zero Clamp)

51 4. ;

52 4. ;

53 4. ; ( SEt[36 ] ~ SEt[37 ] )

54 4. ; Block Feed Forward Set[7] F.F. Set[34] + Set[35] _ [SEt[35]] Feed Back Set[4] [SEt[4]] + + Feed Forward [SEt[34]] Feed Forward [SEt[7]]

55 4. ;

56 4. ;

57 4. ; Zero Clamp Zero Clamp Set[17]

58 4. ; Block (Set[3]) (Set[2])

59 4. ;

60 4. ;

61 4. ; /

62 4. ;

63 4. ; Block 1 (SEt[6]) 2 (SEt[49])

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