伺服电机的三种控制方式：

<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-family: system-ui, -apple-system, BlinkMacSystemFont, &quot;Helvetica Neue&quot;, &quot;PingFang SC&quot;, &quot;Hiragino Sans GB&quot;, &quot;Microsoft YaHei UI&quot;, &quot;Microsoft YaHei&quot;, Arial, sans-serif; font-size: 17px; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px; caret-color: red;">伺服电机速度控制和转矩控制都是用模拟量来控制，位置控制是通过发脉冲来控制。具体采用什么控制方式要根据客户的要求以及满足何种运动功能来选择。</span><br/></p><p style="margin-top: 0px; margin-bottom: 0em; padding: 12px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-family: system-ui, -apple-system, BlinkMacSystemFont, &quot;Helvetica Neue&quot;, &quot;PingFang SC&quot;, &quot;Hiragino Sans GB&quot;, &quot;Microsoft YaHei UI&quot;, &quot;Microsoft YaHei&quot;, Arial, sans-serif; font-size: 17px; letter-spacing: 0.544px; text-wrap: wrap; background-color: rgb(255, 255, 255); text-align: center; vertical-align: inherit; visibility: visible; box-sizing: border-box !important; overflow-wrap: break-word !important;"><img class="rich_pages wxw-img" src="https://mmbiz.qpic.cn/mmbiz_png/IbK8vRh9Eqka0EOSUqCLjrkHBzZlg2TLCLOib5d21iabHKAc4tURLcIhTyyKTrrZW9GuMicz3DTUBEviaVmwrscEZA/640?wx_fmt=png&wxfrom=13&tp=wxpic" alt="图片" style="margin: 0px 8px 8px 0px; padding: 0px; outline: 0px; vertical-align: inherit; box-shadow: rgb(151, 152, 153) 3.53553px 3.53553px 8px; border-radius: 0px; box-sizing: border-box !important; overflow-wrap: break-word !important; height: auto !important; visibility: visible !important; width: 464.615px !important;"/></p><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-family: system-ui, -apple-system, BlinkMacSystemFont, &quot;Helvetica Neue&quot;, &quot;PingFang SC&quot;, &quot;Hiragino Sans GB&quot;, &quot;Microsoft YaHei UI&quot;, &quot;Microsoft YaHei&quot;, Arial, sans-serif; font-size: 17px; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; background-color: rgb(255, 255, 255); vertical-align: inherit; visibility: visible; box-sizing: border-box !important; overflow-wrap: break-word !important;"><br/></p><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-family: system-ui, -apple-system, BlinkMacSystemFont, &quot;Helvetica Neue&quot;, &quot;PingFang SC&quot;, &quot;Hiragino Sans GB&quot;, &quot;Microsoft YaHei UI&quot;, &quot;Microsoft YaHei&quot;, Arial, sans-serif; font-size: 17px; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; background-color: rgb(255, 255, 255); vertical-align: inherit; visibility: visible; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; font-size: 15px; color: rgb(56, 165, 251); visibility: visible;"><strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; visibility: visible;">伺服电机的三种控制方式：</strong></span></p><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-family: system-ui, -apple-system, BlinkMacSystemFont, &quot;Helvetica Neue&quot;, &quot;PingFang SC&quot;, &quot;Hiragino Sans GB&quot;, &quot;Microsoft YaHei UI&quot;, &quot;Microsoft YaHei&quot;, Arial, sans-serif; font-size: 17px; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"><br/></p><p><section><section><section><section><section><section><ul class=" list-paddingleft-2" style="list-style-type: square;"><li><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; vertical-align: inherit; visibility: visible; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px; visibility: visible;">如果您对电机的速度、位置都没有要求，只要输出一个恒转矩，当然是用转矩模式。</span></p></li><li><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; vertical-align: inherit; visibility: visible; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px; visibility: visible;">如果对位置和速度有一定的精度要求，而对实时转矩不是很关心，用速度或位置模式比较好。</span></p></li><li><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; vertical-align: inherit; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px;">如果上位控制器有比较好的闭环控制功能，用速度控制效果会好一点。如果本身要求不是很高，或者基本没有实时性的要求，用位置控制方式对上位控制器没有很高的要求。</span></p></li></ul></section><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; vertical-align: inherit; box-sizing: border-box !important; overflow-wrap: break-word !important;"><br/></p><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; vertical-align: inherit; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; font-size: 15px; color: rgb(56, 165, 251);"><strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">就伺服驱动器的响应速度来看：</strong></span><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; font-size: 15px;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63);">转矩模式运算量最小，驱动器对控制信号的响应最快；位置模式运算量最大，驱动器对控制信号的响应最慢。</span></span></p><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; vertical-align: inherit; box-sizing: border-box !important; overflow-wrap: break-word !important;"><br/></p><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; vertical-align: inherit; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; font-size: 15px; color: rgb(56, 165, 251);"><strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">对运动中的动态性能有比较高的要求时，需要实时对电机进行调整。</strong></span></p><section><section><section><section><section><section><ul class=" list-paddingleft-2" style="list-style-type: square;"><li><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; vertical-align: inherit; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px;">如果控制器本身的运算速度很慢（比如PLC，或低端运动控制器），就用位置方式控制。</span></p></li><li><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; vertical-align: inherit; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px;">如果控制器运算速度比较快，可以用速度方式，把位置环从驱动器移到控制器上，减少驱动器的工作量，提高效率；</span></p></li><li><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; vertical-align: inherit; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px;">如果有更好的上位控制器，还可以用转矩方式控制，把速度环也从驱动器上移开，这一般只是高端专用控制器才能这么做。</span></p></li></ul></section><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgb(34, 34, 34); letter-spacing: 0.544px; vertical-align: inherit; font-family: -apple-system, BlinkMacSystemFont, Arial, sans-serif; box-sizing: border-box !important; overflow-wrap: break-word !important;"><br/></p><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgb(34, 34, 34); letter-spacing: 0.544px; vertical-align: inherit; font-family: -apple-system, BlinkMacSystemFont, Arial, sans-serif; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; font-size: 15px;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63);">一般说驱动器控制的好坏，有个比较直观的比较方式，叫</span><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(56, 165, 251);"><strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">响应带宽</strong></span><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63);">。</span></span></p><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgb(34, 34, 34); letter-spacing: 0.544px; vertical-align: inherit; font-family: -apple-system, BlinkMacSystemFont, Arial, sans-serif; box-sizing: border-box !important; overflow-wrap: break-word !important;"><br/></p><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgb(34, 34, 34); letter-spacing: 0.544px; vertical-align: inherit; font-family: -apple-system, BlinkMacSystemFont, Arial, sans-serif; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px;">当转矩控制或速度控制时，通过脉冲发生器给它一个方波信号，使电机不断的正转、反转，不断的调高频率，示波器上显示的是个扫频信号，当包络线的顶点到达最高值的70.7%时，表示已经失步，此时频率的高低，就能说明控制的好坏了，一般电流环能做到1000HZ以上，而速度环只能做到几十赫兹。</span><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px;"></span></p><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgb(34, 34, 34); letter-spacing: 0.544px; vertical-align: inherit; font-family: -apple-system, BlinkMacSystemFont, Arial, sans-serif; box-sizing: border-box !important; overflow-wrap: break-word !important;"><br/></p><section><section><section><section><section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; font-size: 15px;"><strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">0</strong><strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">1</strong></span></section><section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; font-size: 15px;">转矩控制</span></section></section></section></section></section></section></section><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgb(34, 34, 34); letter-spacing: 0.544px; vertical-align: inherit; font-family: -apple-system, BlinkMacSystemFont, Arial, sans-serif; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px;">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，具体表现为例如10V对应5Nm的话，当外部模拟量设定为5V时电机轴输出为2.5Nm：如果电机轴负载低于2.5Nm时电机正转，外部负载等于2.5Nm时电机不转，大于2.5Nm时电机反转（通常在有重力负载情况下产生）。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。</span></p><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgb(34, 34, 34); letter-spacing: 0.544px; vertical-align: inherit; font-family: -apple-system, BlinkMacSystemFont, Arial, sans-serif; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px;">应用主要在对材质的受力有严格要求的缠绕和放卷的装置中，例如饶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。</span></p><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgb(34, 34, 34); letter-spacing: 0.544px; vertical-align: inherit; font-family: -apple-system, BlinkMacSystemFont, Arial, sans-serif; box-sizing: border-box !important; overflow-wrap: break-word !important;"><br/></p><section><section><section><section><section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; font-size: 15px;"><strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">0</strong><strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">2</strong></span></section><section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; font-size: 15px;">位置控制</span></section></section></section></section></section></section></section><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgb(34, 34, 34); letter-spacing: 0.544px; vertical-align: inherit; font-family: -apple-system, BlinkMacSystemFont, Arial, sans-serif; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px;">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。</span></p><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgb(34, 34, 34); letter-spacing: 0.544px; vertical-align: inherit; font-family: -apple-system, BlinkMacSystemFont, Arial, sans-serif; box-sizing: border-box !important; overflow-wrap: break-word !important;"><br/></p><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgb(34, 34, 34); letter-spacing: 0.544px; vertical-align: inherit; font-family: -apple-system, BlinkMacSystemFont, Arial, sans-serif; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px;">应用领域如数控机床、印刷机械等等。</span><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px;"></span></p><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgb(34, 34, 34); letter-spacing: 0.544px; vertical-align: inherit; font-family: -apple-system, BlinkMacSystemFont, Arial, sans-serif; box-sizing: border-box !important; overflow-wrap: break-word !important;"><br/></p><section><section><section><section><section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; font-size: 15px;"><strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">0</strong><strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">3</strong></span></section><section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; font-size: 15px;">速度模式</span></section></section></section></section></section></section></section><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgb(34, 34, 34); letter-spacing: 0.544px; vertical-align: inherit; font-family: -apple-system, BlinkMacSystemFont, Arial, sans-serif; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px;">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检测位置信号，此时的电机轴端的编码器只检测电机转速，位置信号就由直接的最终负载端的检测装置来提供了，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。</span></p><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgb(34, 34, 34); letter-spacing: 0.544px; vertical-align: inherit; font-family: -apple-system, BlinkMacSystemFont, Arial, sans-serif; box-sizing: border-box !important; overflow-wrap: break-word !important;"><br/></p><section><section><section><section><section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; font-size: 15px;"><strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">0</strong><strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">4</strong></span></section><section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; font-size: 15px;">谈谈3环</span></section></section></section></section></section></section></section><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgb(34, 34, 34); letter-spacing: 0.544px; vertical-align: inherit; font-family: -apple-system, BlinkMacSystemFont, Arial, sans-serif; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px;">伺服电机一般为三个环控制，所谓三环就是3个闭环负反馈PID调节系统。最内的PID环就是电流环，此环完全在伺服驱动器内部进行，通过霍尔装置检测驱动器给电机的各相的输出电流，负反馈给电流的设定进行PID调节，从而达到输出电流尽量接近等于设定电流，电流环就是控制电机转矩的，所以在转矩模式下驱动器的运算最小，动态响应最快。</span></p><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgb(34, 34, 34); letter-spacing: 0.544px; vertical-align: inherit; font-family: -apple-system, BlinkMacSystemFont, Arial, sans-serif; box-sizing: border-box !important; overflow-wrap: break-word !important;"><br/></p><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgb(34, 34, 34); letter-spacing: 0.544px; vertical-align: inherit; font-family: -apple-system, BlinkMacSystemFont, Arial, sans-serif; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px;">第2环是速度环，通过检测的电机编码器的信号来进行负反馈PID调节，它的环内PID输出直接就是电流环的设定，所以速度环控制时就包含了速度环和电流环，换句话说任何模式都必须使用电流环，电流环是控制的根本，在速度和位置控制的同时系统实际也在进行电流（转矩）的控制以达到对速度和位置的相应控制。</span></p><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgb(34, 34, 34); letter-spacing: 0.544px; vertical-align: inherit; font-family: -apple-system, BlinkMacSystemFont, Arial, sans-serif; box-sizing: border-box !important; overflow-wrap: break-word !important;"><br/></p><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgb(34, 34, 34); letter-spacing: 0.544px; vertical-align: inherit; font-family: -apple-system, BlinkMacSystemFont, Arial, sans-serif; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px;">第3环是位置环，它是最外环，可以在驱动器和电机编码器间构建也可以在外部控制器和电机编码器或最终负载间构建，要根据实际情况来定。由于位置控制环内部输出就是速度环的设定，位置控制模式下系统进行了所有3个环的运算，此时的系统运算量最大，动态响应速度也最慢。</span></p></section></section></section></section></section></section></section></section></section></section></p><p><br/></p>