Description
ABB 3HAC0977-1 module
Contact: Mr. Lai
Wechat:17750010683
Whats app：+86 17750010683
Skype：+86 17750010683
QQ: 3221366881
3221366881@qq.com
1. Development of servo system
The word “servo” comes from Greek and means “slave”. “Servo mechanism” refers to that before the arrival of the action control signal according to the requirements of the control signal, the controlled object is stationary after receiving the control signal, and the controlled object can stop automatically after the action control signal disappears according to the requirements. It is precisely based on the characteristics of the actuator that we call it the servo system.
The servo control system is an automatic control system, which can make the output follow a target process accurately. It is usually used to control the rotation angle or displacement of the specified object, and can make the controlled object show the requirements of the input control commands accurately.
Since the rise of modern industry, the servo control system has mainly experienced mechanical, hydraulic and electrical servo stages. In the modern sense, the servo control system usually refers to the electrical servo. The electric servo has gone through several different historical stages:
In the first stage, before the invention of the electric servo system in 1960, the electric servo system generally used the power stepping motor as the power source, and generally did not design a feedback loop, but mainly used open-loop control;
In the second stage, between 1960 and 1970, DC motors began to be widely used in the field of electrical servo. In this stage, DC brushless motors were mainly used as the driving source, and the closed-loop control system was composed of multi use rotary transformers, tachogenerators, encoders and other sensing devices;
The third stage, since the 1980s, the leap of new technology and new materials has promoted the electric servo to enter the era of AC servo. The executive motor is usually represented by permanent magnet synchronous motor, and gradually occupies the main market in the servo field today.
2. Research status of servo system at home and abroad
The research on AC speed regulation system abroad is relatively early. In the 1970s, F Blaschkc et al. proposed vector control, also known as field oriented control. Based on the principle of magnetic field power or amplitude equivalence, the mathematical model of AC motor is transformed into a separately excited DC motor through vector transformation. The three-phase alternating current of the stator is transformed into two orthogonal components in the three reference coordinates. In the vector space, there is an orthogonal relationship. Let the d-axis current be 0 for decoupling control to obtain a good dynamic speed regulation performance similar to that of the DC motor. The excitation current and torque current are decoupled, and then controlled separately. The system has obtained good linear characteristics [14] – [16]. Direct torque control was first proposed by German scholars in the 1980s. It is a high-performance AC variable frequency speed regulation technology which is simplified on the basis of vector control and gradually widely used. Different from vector control, it does not use a rotating coordinate system, and directly realizes flux calculation and output torque control in a three-phase static coordinate system. Based on the simplified control mode, it omits the current control link, directly derives the relationship between electronic flux space vector and torque control, simplifies the relationship between control variables, and improves the torque response capability. Its essence is still stator magnetic field oriented technology, which generates PWM wave driving signal through two-point jump control mode. Obviously, this method also has disadvantages. In essence, it is a discontinuous control method, and there is torque fluctuation in practical application. Therefore, more theoretical and practical research is needed for DTC [17] – [19].
The popularization of AC speed regulation technology has greatly improved the speed regulation performance of the system, creating modern servo drive products with energy saving, low cost, high efficiency and accuracy. Because foreign research on AC servo technology is relatively early and the technology is leading, foreign servo drive products have occupied the domestic market, such as GE, Rexroth Indramat, Germany Siemens, etc, The servo products produced in these countries have great advantages compared with those in China.
In recent years, domestic research on AC permanent magnet synchronous motor servo control system has been very active. Tianjin University, Huazhong University of Science and Technology, Shenyang University of Technology, etc. have developed a full digital AC permanent magnet synchronous motor servo control system composed of single chip computers. Predictive control and space vector control technologies have been used to improve the current control performance and system response accuracy. The application of digital control technology not only makes the system obtain high precision and reliability, but also provides a basis for the application of new control theories and methods. Chinese domestic brands mainly include Senchuang (Hollysys Motor), Huazhong CNC, Guangzhou CNC, Nanjing Easton and Lanzhou CNC. DA98 full digital AC servo driver produced by Guangzhou CNC, GY-2000 series digital AC servo driver produced by Plateau CNC Yantai Company have opened up the situation in China”s high-precision CNC servo drive industry, breaking the monopoly pattern of foreign companies and creating a new era of national brands.
However, domestic products are mainly used in middle and lower grade products. The speed regulation range is above 1:1000, generally 1:5000~1:10000; The foreign high-performance servo control system can reach more than 1:100000. In general, the positioning accuracy at home should reach ± 1 pulse and speed stabilization accuracy, especially at low speeds. For example, when 1 rpm is given, the speed stabilization accuracy is generally within ± 0.1 rpm, while that at abroad with high performance can reach ± 0.01 rpm. In terms of dynamic response, the usually measured index is the highest response frequency of the system, that is, given the sinusoidal speed command of the highest frequency, the phase lag of the system output speed waveform is not more than 90 degrees or the amplitude is not less than 50%. The response frequency of imported Mitsubishi servo motor MR-J3 series is as high as 900Hz, while the frequency of domestic mainstream products is 200~500Hz. In terms of operation stability, it mainly refers to the ability of the system to maintain stable operation and ensure certain performance indicators under voltage fluctuation, load fluctuation, motor parameter change, upper controller output characteristic change, electromagnetic interference and other special operating conditions. In this respect, domestic products, including some * * * products, are far from the world”s advanced level.
3. Development trend of servo system
From the research status and development history of the above servo control system at home and abroad, we can see some communication problems
The latest development trend of the server system:
(1) High precision and high reliability. The torque and speed are smoother, the response is faster, and the positioning is more accurate.
(2) Intelligence. Parameter self tuning, fault self diagnosis and self adaptation.
(3) No position sensor control.
(4) The advanced control theory is introduced.
(5) Openness and networking.
4. Servo system related technology
(1) Development of permanent magnetic materials
Permanent magnet materials mainly include aluminum nickel cobalt, ferrite and rare earth permanent magnets [20]. In recent years, through continuous improvement and improvement, the maximum working temperature of NdFeB permanent magnet material has reached 180 ° C, and generally can also reach 150 ° C, which is enough to meet the use requirements of most motors. The advantage of using permanent magnet in synchronous motor is that the structure is simplified, the slip ring and electric brush of rotor are eliminated, the brushless structure is realized, the rotor volume is reduced, and the excitation loss and heating are eliminated. The vast majority of medium and small power synchronous motors have adopted permanent magnet structure [21].
(2) Power Electronics Technology
With the development of conductor technology, the servo control technology has entered a full digital era, and the volume of the servo controller has been further reduced. The application of high-speed switching devices has become the mainstream due to the fine processing technology of large-scale integrated circuits (LSI) and the improvement of switching characteristics. Insulated gate bipolar transistor (IGBT) has developed into the fifth generation product [22].
(3) Microprocessor technology
Microprocessor has greatly changed the servo motor control technology. Microprocessor simplifies the servo motor control hardware, realizes digital control, and improves the anti-interference ability and reliability of the servo system. Moreover, it is convenient to realize artificial intelligence to diagnose the running state of the system, which provides a great development platform for the development of motor motion control system.
(4) Motor speed regulation theory
With the development of power electronics technology, microprocessor technology and the continuous improvement of motor control technology, the constant voltage frequency ratio control theory can not meet people”s requirements. At present, the high-performance control strategies of AC motor electromagnetic torque mainly include vector control and direct torque control
GE DS200DCFBG1B
GE DS200DCFBG1A
GE DS200CTBAG1ADD
GE DS200ADGIH1AAA
ABB 5SHY4045L0006 3BHB030310R0001
ABB 5SHY4045L0006
D20ME-VME
MOOG D138-002-002
MOOG D138-002-001
D136E001-001
MOOG D136-001-008
MOOG D136-001-007
ABB 5SHY4045L0004 3BHB021400R0002
YOKOGAWA CP461-50
YOKOGAWA CP451-10
Foxboro CP40B
CIMR-SSA4055
ABB 5SHY4045L0004 3BHB021400R0002
ABB 5SHY4045L0004
ABB 5SHY4045L0001
ABB 5SHY35L4520
ABB 5SHY35L4512
ABB 5SHY35L4510
ABB 5SHY3545L0020
ABB 5SHY3545L0016 3BHB020720R0002
ABB 5SHY3545L0016
ABB 5SHY3545L0014
ABB 5SHY3545L0010
ABB 5SHY3545L0009 3BHB013085R0001
ABB 5SHX2645L0006
ABB 5SHX2645L0004
CHK0520
EMERSON CE5009
EMERSON CE3008
HONEYWELL CC-PFB401
HONEYWELL CC-PCNT02
ELAU C600/10/1/1/1/00
ELAU C400/A8/1/1/1/00
ELAU C200/10/1/1/1/00
ABB 5SHX1960L0004
GE BK698CPA15B0
Company advantage service:
1.Has been engaged in industrial control industry for a long time, with a large number of inventories.
2.Industry leading, price advantage, quality assurance
3.Diversified models and products, and all kinds of rare and discontinued products
4.15 days free replacement for quality problems
1.Has been engaged in industrial control industry for a long time, with a large number of inventories.
2.Industry leading, price advantage, quality assurance
3.Diversified models and products, and all kinds of rare and discontinued products
4.15 days free replacement for quality problems
All kinds of module card driver controller servo motor servo motor embedded card wires and cables Power module control module is applicable to steel, hydropower, nuclear power, power generation, glass factory, tire factory, rubber, thermal power, paper making, shipping, navigation, etc
ABB — AC 800M controller, Bailey, PM866 controller, IGCT silicon controlled 5SHY 3BHB01 3BHE00 3HNA00 DSQC series
BENTLY — 3500 system/proximitor, front and rear card, sensor, probe, cable 3500/20 3500/61 3500/05-01-02-00-001 3500/40M 176449-01 3500/22M 138607-01
Emerson — modbus card, power panel, controller, power supply, base, power module, switch 1C31,5X00, CE400, A6500-UM, SE3008,1B300,1X00,
EPRO — PR6423 PR6424 PR6425 PR6426 PR9376 PR9268 Data acquisition module, probe, speed sensor, vibration sensor
FOXBORO — FCP270 FCP280 FCM10EF FBM207 P0914TD CP40B FBI10E FBM02 FBM202 FBM207B P0400HE Thermal resistance input/output module, power module, communication module, cable, controller, switch
GE —- IS200/215/220/230/420 DS200/215 IC693/695/697/698 VMICPCI VMIVME 369-HI-R-M-0-0-E 469 module, air switch, I/O module, display, CPU module, power module, converter, CPU board, Ethernet module, integrated protection device, power module, gas turbine card
HIMA — F3 AIO 8/4 01 F3231 F8627X Z7116 F8621A 984862160 F3236 F6217 F7553 DI module, processor module, AI card, pulse encoder
Honeywell — Secure digital output card, program module, analog input card, CPU module, FIM card
MOOG — D136-001-007 Servo valve, controller, module
NI — SCXI-1100 PCI – PXIE – PCIE – SBRIO – CFP-AO-210 USB-6525 Information Acquisition Card, PXI Module, Card
Westinghouse — RTD thermal resistance input module, AI/AO/DI/DO module, power module, control module, base module
Woodward — 9907-164 5466-258 8200-1300 9907-149 9907-838 EASYGEN-3500-5/P2 8440-2145 Regulator, module, controller, governor
YOKOGAWA – Servo module, control cabinet node unit
Main products:
PLC, DCS, CPU module, communication module, input/output module (AI/AO/DI/DO), power module, silicon controlled module, terminal module, PXI module, servo drive, servo motor, industrial display screen, industrial keyboard, controller, encoder, regulator, sensor, I/O board, counting board, optical fiber interface board, acquisition card, gas turbine card, FIM card and other automatic spare parts
ABB — AC 800M controller, Bailey, PM866 controller, IGCT silicon controlled 5SHY 3BHB01 3BHE00 3HNA00 DSQC series
BENTLY — 3500 system/proximitor, front and rear card, sensor, probe, cable 3500/20 3500/61 3500/05-01-02-00-001 3500/40M 176449-01 3500/22M 138607-01
Emerson — modbus card, power panel, controller, power supply, base, power module, switch 1C31,5X00, CE400, A6500-UM, SE3008,1B300,1X00,
EPRO — PR6423 PR6424 PR6425 PR6426 PR9376 PR9268 Data acquisition module, probe, speed sensor, vibration sensor
FOXBORO — FCP270 FCP280 FCM10EF FBM207 P0914TD CP40B FBI10E FBM02 FBM202 FBM207B P0400HE Thermal resistance input/output module, power module, communication module, cable, controller, switch
GE —- IS200/215/220/230/420 DS200/215 IC693/695/697/698 VMICPCI VMIVME 369-HI-R-M-0-0-E 469 module, air switch, I/O module, display, CPU module, power module, converter, CPU board, Ethernet module, integrated protection device, power module, gas turbine card
HIMA — F3 AIO 8/4 01 F3231 F8627X Z7116 F8621A 984862160 F3236 F6217 F7553 DI module, processor module, AI card, pulse encoder
Honeywell — Secure digital output card, program module, analog input card, CPU module, FIM card
MOOG — D136-001-007 Servo valve, controller, module
NI — SCXI-1100 PCI – PXIE – PCIE – SBRIO – CFP-AO-210 USB-6525 Information Acquisition Card, PXI Module, Card
Westinghouse — RTD thermal resistance input module, AI/AO/DI/DO module, power module, control module, base module
Woodward — 9907-164 5466-258 8200-1300 9907-149 9907-838 EASYGEN-3500-5/P2 8440-2145 Regulator, module, controller, governor
YOKOGAWA – Servo module, control cabinet node unit
Main products:
PLC, DCS, CPU module, communication module, input/output module (AI/AO/DI/DO), power module, silicon controlled module, terminal module, PXI module, servo drive, servo motor, industrial display screen, industrial keyboard, controller, encoder, regulator, sensor, I/O board, counting board, optical fiber interface board, acquisition card, gas turbine card, FIM card and other automatic spare parts
