电流环控制力矩输出;速度环控制加减速过程;位置环控制最终停位。三者层层嵌套,由内到外响应依次变慢。
有无抖动与啸叫、定位是否过冲、负载变化时是否稳定。参数整定不当会导致轨迹偏差或报警。
更换电机或驱动器后需要重新整定,不能直接沿用旧参数。
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