In this system , according to the performance requires of servo - system in rapid character , high precision , drive - stiffness and high - speed stability , we adopted a closed - loop control structure that includes three closed - loops : position closed - loop , speed closed - loop and current closed - loop 根據(jù)伺服系統(tǒng)對(duì)快速性、高精度以及傳動(dòng)的剛性和高的速度穩(wěn)定性等方面的性能要求,系統(tǒng)采用了位置、速度、電流三閉環(huán)的控制結(jié)構(gòu)。
The other way , theoretical analysis of weld tracking system with a leading sensor is stated , based on the analyzing of movement process of the tracking system , a loop control structure diagram is presented , the deuce vision feedback system is used and realized the repeated and automatic tracking in multiplayer seam and controlling of system of tracking and system of motion 同時(shí)就傳感器超前檢測(cè)式焊縫自動(dòng)跟蹤系統(tǒng)進(jìn)行了深入的理論分析,在分析該系統(tǒng)跟蹤過程運(yùn)動(dòng)關(guān)系的基礎(chǔ)上,建立了系統(tǒng)的閉環(huán)控制關(guān)系圖,并提出了其系統(tǒng)數(shù)學(xué)離散控制結(jié)構(gòu)簡(jiǎn)化圖。采用兩點(diǎn)式視覺伺服反饋系統(tǒng),實(shí)現(xiàn)機(jī)器人在多層多道焊接時(shí)的重復(fù)自動(dòng)跟蹤以及跟蹤機(jī)構(gòu)的控制和焊炬橫向調(diào)節(jié)機(jī)構(gòu)的控制,并使之協(xié)調(diào)聯(lián)動(dòng),滿足焊接過程的要求。