#中英对照#伺服与步进电机的开闭环控制逻辑与低频&矩频特性

开闭环 Open closed loop——————关于伺服电机和步进电机的部分原理差异

步进电机与伺服电机的本质都是通过驱动器控制电机，但是在控制原理上有不同之处。
Step and servo are actually control motors through the similar drivers, but different in the control principle.

步进电机是开环控制，所谓开环控制，即单向的输出控制，在输出一个脉冲信号之后，电机会转过一个固定的角度，但是不对速度做测定，也就是说是一种“不负责”的输出控制。伺服电机则是闭环控制，在一个或几个，更多的脉冲之中，在输出脉冲信号驱动电机转动的同时，角度的值将会被反馈给驱动器，让驱动器实时知道转过了多少度，然后反馈给电机实时控制。
Generally Step Motor( simplified:SteM) is controlled in an open loop, which is a single-forward output control, the motor will roll for a specific angle after receiving a pulse signal, but it will never do any feedback of itself, in the other word, it could be seen as a poor output control logic. Servo Motor(simplified: SerM) work with a closed control loop, for instance, when SerM sends a series of pulse signals but still in process, the mechanic motor will not only receive and roll, it also has its own work to feedback, like the real-time angle or spin speed, these values will pass back to the driver and calculated, then generate a new pulse count(which may change) and send to motors.

举一个我个人设想的场景来解释和形容“开闭环”的区别。当我们发起，需要电机转动一万转的需求，对步进电机而言，一万转即需要100004096（以分辨率4096为例）个脉冲，于是就会输出40960000个脉冲信号电机，但是在实际过程中，尤其是转动幅度比较大的情况下，我们需要考虑各种环境因素，比如摩擦和打滑（联轴器的松紧程度会显著影响），那么实际我们的电机可能转的就不是刚好的一万转了。对伺服电机的闭环控制来说，由于在转动的过程中电机一直在返回当前的转动角度值给驱动器，那么由于摩擦所耗损的或打滑的误差就会被实时的记录，驱动器会根据当前的实际转动角度和明确的目标角度进行输出一个脉冲数，所以这个实际脉冲数就可能不是409610000的值，但是实际转动的数就可以很精确是一万转。
Now giving a personal demo to explain, the open and closed logic loop.
When we give a requirement of 10 thousand roll for a motor. To SteM with closed-loop, for some reasons, the motor will keep sending back the current angle value to the driver, then the missed roll, due to friction or the other, will be recorded in real-time. Further, the driver will give a new output signal in pulse, according to real-time angle changes and required commands, that makes the final pulse counts may not the predicted calculation: 4096*10000, 10000 rolls and 4096 in frequency, but surely roll for 10000 times.

大概的区别为了方便理解，可以参详上图，简单来说步进电机和伺服电机的控制方式是不一样的，一个控制脉冲的个数来带动电机，一个通过控制脉冲输出的时间长短（其实也就是需要持续比对实时值，然后控制脉冲个数的一种体现）来控制电机。
Giving a short word, that two different principles of the motor are both generate pulses, but one on the pulse count, another on the pulse output time.

低频特性

低频特性一般和矩频特性放在一起，通常是干扰一个电机在低速运转时候产生振动的原因。低频特性之所以是电机的一个重要参数之一，在于电机在低频率（转速低）工作中，既要考虑电机的扭矩力也要考虑电机本身的负载情况。当我们需要以较低频率的状态运作一个电机时候，电机的启动脉冲是肯定大于我们实际需要的低频率的，电机输出扭矩也较小（形容一下就是我们人体关节需要执行一个很缓慢的动作，但是开始动的瞬间是需要发力较大的时刻，但同时又不能幅度特别大，所以抖动就产生了）。
Generally, Low-Frequency characteristics(Low-Fre) is considered with Torque-Frequency characteristics(Tor-Fre) and lead to irregular vibration when a motor running at a low speed. The reason of Low-Fre being one of the most significant parameters to a motor is that requiring the motor machine to work in low-frequency(generally means the spinning speed) and both considering the torque of machine and machine itself, I mean load capacity of the machine or motor. The start volt pulse could be much larger than the practical required low-frequency volt, and the output torque also be smaller when we need a motor to keep work in a low-frequency status(sheng lue hao li de wo jiu bu fan yi la).

步进电机的低频特性显著影响，在低速运转中容易出现低频振动的现象，这种由低频振动出现的现象对正常运转是非常不利的，一般情况下采用阻尼技术来克服低频振动的现象。比如在电机上添加阻尼器，或者在驱动器端采用细分计数。
Low-Fre of StepM has a significant effect on low speed running, this vibration occurs will lead to some problems, commonly we would like to use the damping tech to solve it, like an extra damper, or replacing algorithm on the driver side, sub-dividing and counting principle of pulses.
***阻尼器：***提供运动的阻力，耗减运动能量的装置，或称为减震器更为常见。一般分为液体阻尼器，气体阻尼器和电磁阻尼器（以材料特性分）。

细分驱动技术：

仅步进电机采用的硬件技术，简单来说，是通过使用n个晶体管构成的n个并联回路，从而分解电流，使电流在从零电流上升到最大电流之间，产生若干的稳定中间电流状态。
以上两种计数均用于步进电机以克服振动，伺服电机即使在低速运作也不会出现振动现象。

矩频特性

步进电机的输出力矩会随着转速升高而下降，这是不能忽视的一个参数。
The output torque parameter of StepM will be falling with the raising speed, which it can not be ignored.

伺服电机（交流）一般为恒力矩输出，即在额定转速内保持力矩不变。
SerM(AC power) usually has constant torque output, which means the motor machine will keep torque without any changes in rated speed.

首先所有的电机都存在矩频特性，从书面含义上，矩频特性的意思是：运行频率与负载转矩大小的关系值，其中频率是我们的输入变量，转矩是被变量或结果。
Mostly the motors have their Tor-Fre, in literal meaning, torque frequency meaning could be explained that the related value of load speed frequency and a load torque of the motor machine.

在生产过程中，我们需要保证转矩是固定不变的，不论在什么转速下，都要求扭矩必须满足工作要求。
In the productive process, we have to make sure that changeless torque at any speed could satisfy the requirement of industrial production.

过载能力

步进电机一般不具有过载能力，伺服电机具有较强的过载能力。