AB第三方产品MVI69-101M

MVI69-101M

伺服电机中的刚度参数和速度环闭环？怎么互相影响的，本质关系是什么？

对于多数伺服而言，刚度往往是多个闭环参数配合电机/系统特性的综合作用结果，与闭环增益、内部指令滤波时间常数等有着直接联系。

也有些伺服系统将刚度抽象出来，作为系统调整的目标参数，比如kollmogen的某些伺服型号，既有传统的PID参数设置模式，也有刚度、频响等设置模式。

它是一个自动调整后系统自动提供出的一个值，但人为也可以改动。关键是它自动调整后，它会提供一个速度闭环的带宽。另，既然刚度是自动调整后系统自动提供出的一个值，人为也可以改动，那么该厂家的伺服算法模型应该不是传统的PID，至少也是经过转化的，否则没有直接的可供用户改动的刚度参数。

Parker Compax3控制器就采用了刚度、阻尼作为调整量，其中刚度、阻尼的具体公式与P、I甚至负载惯量比、电机常数有关。之所以这样让客户直接调整刚度、阻尼，估计是基于其物理意义比P、I、D明确的因素。

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