Introduction to the internal structure of servo motor 2

⑵It is more convenient to dissipate heat from the stator winding.

⑶ Small inertia, easy to improve the speed of the system.

⑷ Suitable for high-speed and high-torque working conditions.

⑸ Smaller size and weight at the same power.

Since the Indramat division of Rexroth of MANNESMANN, Germany, officially launched the MAC permanent magnet AC servo motor and drive system at the Hannover Trade Fair in 1978, it marked that this new generation of AC servo technology has entered the practical stage. By the mid-to-late 1980s, all companies had a complete series of products. The entire servo device market has turned to AC systems. Early analog systems have deficiencies in aspects such as zero drift, anti-interference, reliability, accuracy and flexibility, and cannot fully meet the requirements of motion control. In recent years, with the application of microprocessors and new digital signal processors (DSP), digital control systems have emerged, and the control part can be completely controlled by software, which are respectively called permanent magnet AC servo systems.

So far, most high-performance electric servo systems use permanent magnet synchronous AC servo motors, and the control drivers mostly use fast and accurate positioning full digital position servo systems. Typical manufacturers include Germany's Siemens, the United States' Kollmorgen, Japan's Panasonic and Yaskawa, etc.

The small AC servo motors and drivers launched by Yaskawa Electric Manufacturing Co., Ltd. of Japan, of which the D series is suitable for CNC machine tools (maximum speed of 1000r/min, torque of 0.25-2.8Nm), and the R series is suitable for robots (maximum speed of 3000r/min, torque of 0.016-0.16Nm). Later, six series, M, F, S, H, C, and G, were launched. In the 1990s, the new D series and R series were launched successively.

The old series of rectangular wave drive and 8051 single-chip microcomputer control were changed to sine wave drive, 80C, 154CPU and gate array chip control, and the torque fluctuation was reduced from 24% to 7%, and the reliability was improved. In this way, it took only a few years to form a relatively complete system of eight series (power range of 0.05~6kW), which met the different needs of working machinery, handling mechanisms, welding robots, assembly robots, electronic components, processing machinery, printing machines, high-speed winding machines, winding machines, etc.

Fanuc, a Japanese company famous for producing CNC machine tool devices, started

During this period, the company also launched the S series (13 specifications) and L series (5 specifications) permanent magnet AC servo motors.

It has a small moment of inertia and mechanical time constant and is suitable for position servo systems that require particularly fast response.

Other Japanese manufacturers, such as Mitsubishi Electric (HC-KFS, HC-MFS, HC-SFS, HC-RFS and HC-UFS series), Toshiba Seiki (SM series), Okuma Iron Works (BL series), Sanyo Electric (BL series), Tateishi Electric (S series) and many other manufacturers have also entered the competition for permanent magnet AC servo systems.

The MAC series AC servo motors of the Indramat division of Rexroth of Germany have a total of 7 frame sizes and 92 specifications.

The IFT5 series three-phase permanent magnet AC servo motors of Siemens of Germany are divided into two categories: standard type and short type, with a total of 8 frame sizes and 98 specifications. It is said that compared with the IHU series DC servo motors with the same output torque, the weight of this series of AC servo motors is only 1/2 of the latter, and the matching transistor pulse width modulation driver 6SC61 series can control motors of up to 6 axes.

BOSCH of Germany produces SD series (17 specifications) of ferrite permanent magnets and SE series (8 specifications) of rare earth permanent magnets AC servo motors and ServodynSM series drive controllers.

Gettys, a well-known American servo device manufacturer, was once a division of Gould Electronics (Motion Control Division), producing the M600 series of AC servo motors and the A600 series of servos.

After merging into AEG, the Gettys name was restored and the A700 fully digital AC servo system was launched.

The drive division of AB (ALLEN-BRADLEY) in the United States produces 1326 ferrite permanent magnet AC servo motors and 1391 AC PWM servo controllers. The motors include 3 frame sizes and 30 specifications.

ID (Industrial Drives) is the industrial drive division of the famous American Kollmorgen. It has produced 41 specifications of brushless servo motors and BDS3 servo drives in three series: BR-210, BR-310 and BR-510. Since 1989, it has launched a new series of Goldline permanent magnet AC servo motors, including three categories: B (small inertia), M (medium inertia) and EB (explosion-proof), with five frame sizes of 10, 20, 40, 60 and 80. Each category has 42 specifications, all of which are made of NdFeB permanent magnet materials, with a torque range of 0.84 to 111.2Nm and a power range of 0.54 to 15.7kW. The matching drives include three series: BDS4 (analog), BDS5 (digital, including position control) and SmartDrive (digital), with a maximum continuous current of 55A. The Goldline series represents the latest level of contemporary permanent magnet AC servo technology.

Inland in Ireland was originally a branch of Kollmorgen abroad, and now merged into AEG. It is famous for producing DC servo motors, DC torque motors and servo amplifiers. It produces 17 specifications of SmCo permanent magnet AC servo motors with three frame sizes of BHT1100, 2200 and 3300, and eight controllers.

The French Alsthom Group produces the LC series (long version) and the GC series (short version) at its Parvex plant in Paris.

There are 14 specifications of AC servo motors, and we also produce AXODYN series drivers.

The former Soviet Union developed two series of AC servo motors for CNC machine tools and robot servo control. The ДBy series uses ferrite permanent magnets, has two frame sizes, each with three core lengths, two winding data, a total of 12 specifications, and a continuous torque range of 7 to 35 N.m. The 2ДBy series uses rare earth permanent magnets, 6 frame sizes and 17 specifications, with a torque range of 0.1 to 170 N.m, and is equipped with a 3ДБ controller.

In recent years, Panasonic Corporation of Japan has launched the fully digital MINAS series AC servo system, among which the permanent magnet AC servo motors include the MSMA series small inertia type, with power ranging from 0.03 to 5kW, with a total of 18 specifications; the medium inertia type includes three series: MDMA, MGMA, and MFMA, with power ranging from 0.75 to 4.5kW, with a total of 23 specifications; the MHMA series large inertia motors have a power range from 0.5 to 5kW, with 7 specifications.

In recent years, Samsung Corporation of South Korea has developed fully digital permanent magnet AC servo motors and drive systems. Among them, the FAGA AC servo motor series includes CSM, CSMG, CSMZ, CSMD, CSMF, CSMS, CSMH, CSMN, and CSMX models with power ranging from 15W to 5kW.

At present, the comprehensive index of power rate is often used as the quality factor of servo motors to measure and compare the dynamic response performance of various AC and DC servo motors and stepper motors. The power rate of change indicates the ratio of the motor's continuous (rated) torque to the rotor's moment of inertia.

Calculation and analysis based on the power change rate show that the technical indicators of permanent magnet AC servo motors are best in the Goldline series of American ID, followed by the IFT5 series of German Siemens.