1、位置控制：位置控制模式一般是通过外部输入的脉冲的频率来确定转动速度的大小，通过脉冲的个数来确定转动的角度，也有些伺服可以通过通讯方式直接对速度和位移进行赋值，由于位置模式可以对速度和位置都有很严格的控制，所以一般应用于定位装置。
2、转矩控制：转矩控制方式是通过外部模拟量的输入或直接的地址的赋值来设定电机轴对外的输出转矩的大小，可以通过即时的改变模拟量的设定来改变设定的力矩大小，也可通过通讯方式改变对应的地址的数值来实现。
应用主要在对材质的手里有严格要求的缠绕和放卷的装置中，例如绕线装置或拉光纤设备，转矩的设定要根据缠绕的半径的变化随时更改以确保材质的受力不会随着缠绕半径的变化而改变。
3、速度模式：通过模拟量的输入或脉冲的频率都可以进行转动速度的控制，在有上位控制装置的外环PID控制时速度模式也可以进行定位，但必须把电机的位置信号或直接负载的位置信号给上位反馈以做运算用。位置模式也支持直接负载外环测试位置信号，此时的电机轴端的编码器只测试室电机转速，位置信号就由直接的终负载端的测试装置来提供了，这样的优点在于可以减少中间传动过程中的误差，增加了整个系统的定位精度。
Generally, there are three control modes for servo: position control mode, torque control mode and speed control mode.1. Position control: the position control mode generally determines the rotation speed through the frequency of external input pulses, and determines the rotation angle through the number of pulses. Some servos can directly assign values to the speed and displacement through communication. Since the position mode can strictly control the speed and position, it is generally applied to the positioning device.
2. Torque control: the torque control mode is to set the external output torque of the motor shaft through the input of external analog quantity or direct address assignment. The set torque can be changed by changing the setting of analog quantity in real time, or by changing the value of the corresponding address through communication.
It is mainly used in winding and unwinding devices that have strict requirements on the material, such as winding devices or optical fiber pulling equipment. The torque setting should be changed at any time according to the change of winding radius to ensure that the stress of the material will not change with the change of winding radius.
3. Speed mode: the rotation speed can be controlled through the input of analog quantity or the frequency of pulse. The speed mode can also be positioned during the outer loop PID control with upper control device, but the position signal of motor or the position signal of direct load must be fed back to the upper for calculation. The position mode also supports the direct load outer ring test position signal. At this time, the encoder at the motor shaft end only tests the motor speed in the chamber, and the position signal is provided by the direct final load end test device. This has the advantage that it can reduce the error in the intermediate transmission process and increase the positioning accuracy of the whole system.
客服1