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4Problem
Under what circumstances will the servo motor shake? How can we solve the problems caused by the jitter of these servo motors? How are they solved?
For example, if the acceleration and deceleration time is set too small, the servo motor will produce high inertia jitter when it suddenly starts or stops This problem can be solved by increasing the acceleration and deceleration time respectively.
The following is a selection of netizens' analysis of the causes of servo motor jitter for your reference:
Viewpoint 1
When the servo motor jitters at zero speed, the gain should be set high to reduce the gain value. If it shakes when starting, it will give an alarm and stop. It is most likely that the motor phase sequence is incorrect. Point two
1. When the PID gain adjustment is too large, it is easy to cause motor jitter, especially after adding D, so try to increase P and reduce I, and it is best not to add D.
2. Jitter will also occur when the encoder is connected incorrectly.
3. If the load inertia is too large, replace the larger motor and driver.
4. The disturbance of analog input port causes jitter. Add a magnetic ring on the motor input line and servo driver power input line to keep the signal line away from the power line.
5. There is also a rotary encoder interface motor, which is easy to cause vibration in case of poor grounding.
three
Point three
① Servo wiring:
a. Use standard power cable, encoder cable, control cable and check whether the cable is damaged;
b. Check whether there is interference source near the control line and whether it is parallel to or too close to the nearby high current power cable;
c. Check whether the potential of the grounding terminal changes to ensure good grounding.
② Servo parameters:
a. If the servo gain setting is too large, it is recommended to readjust the servo parameters manually or automatically;
b. Confirm the setting of the time constant of the speed feedback filter, the initial value is 0, and try to increase the setting value;
c. The electronic gear ratio setting is too large, it is recommended to restore to the factory setting;
d. The resonance of servo system and mechanical system, try to adjust the frequency and amplitude of harmonic filter.
③ Mechanical system:
a. The coupling connecting the motor shaft and the equipment system is offset, and the mounting screws are not tightened;
b. Poor engagement of pulley or gear will also lead to load torque variation. Try no-load operation. If no-load operation is normal, check whether the joint part of the mechanical system is abnormal;
c. Confirm whether the load inertia, torque and speed are too large, and try no-load operation. If the no-load operation is normal, reduce the load or replace the driver and motor with larger capacity
Point four
Servo motor jitter is caused by mechanical structure, speed loop, compensation board of servo system, servo amplifier, load inertia, electrical part and other faults.
five
summary
I Jitter caused by mechanical structure can be divided into two cases: 1) No load jitter:
a. The motor foundation is not firm, the stiffness is not enough or the motor is not fixed tightly.
b. The fan blades are damaged and the mechanical balance of the rotor is damaged.
c. The shaft is bent or cracked. It can be solved by fastening screws, replacing fan blades, replacing shaft, etc.
2) If the shaking after loading is generally caused by the failure of the transmission device, it can be judged that the following parts have defects: a. The rotation of belt pulley or coupling is unbalanced. b. The center line of the coupling is inconsistent, so that the motor does not coincide with the mechanical axis driven.
c. The drive belt joint is unbalanced. It can be solved by correcting the transmission device to make it balanced.
II Jitter caused by speed loop problem:
The integral gain, proportional gain and acceleration feedback gain of velocity loop are improper. The greater the gain, the greater the speed, the greater the inertial force, the smaller the deviation, and the more prone to jitter. Setting a small gain can maintain the speed response and is not easy to produce jitter.
III Jitter caused by fault of compensation board and servo amplifier of servo system:
Sudden power failure and stop during motor movement, resulting in great jitter, which is related to improper BRK terminal of servo amplifier and setting parameters. The acceleration and deceleration time constant can be increased, and the motor can be started or stopped slowly by PLC so that it does not shake.
IV Jitter caused by load inertia:
The problem of guide rail and screw rod causes the increase of load inertia. The moment of inertia of guide rail and lead screw has a great influence on the rigidity of servo motor drive system. Under fixed gain, the greater the moment of inertia, the greater the rigidity, and the easier it is to cause motor jitter; The smaller the moment of inertia, the smaller the rigidity, and the less likely the motor is to shake. The motor does not shake by replacing the guide rail and screw rod with smaller diameter to reduce the moment of inertia, so as to reduce the load inertia.
V Jitter caused by electrical part:
a. Failure to open the brake, unstable feedback voltage and other factors. Check whether the brake is on, add encoder vector control zero servo function, and output a certain torque by reducing torque to solve jitter. If the feedback voltage is abnormal, first check whether the vibration cycle is related to the speed. If so, check whether the connection between the main shaft and the main shaft motor is faulty, and whether the main shaft and the pulse generator installed at the tail of the AC main shaft motor are damaged. If not, check whether the printed circuit board is faulty, and check the circuit board or readjust it.
b. The sudden shaking of the motor during operation is mostly caused by lack of phase. Focus on checking whether the fuse melt is blown, whether the switch contact is good, and measuring whether each phase of the power grid has power.
With the analysis of these netizens, do you have a general understanding of the causes of servo motor jitter during operation? In this case, you can troubleshoot according to the reasons analyzed in the opinions of netizens. In addition, you can also pay attention to these problems in ordinary times to avoid running of servo motor