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{"title":"EMERSON Control Techniques MG Servo Motor, 230VAC, 2" MGE-208-CONS-0000 SERVO","imgUrl":"https:\/\/img.chinax.com\/nimg\/b3\/04\/190b4893c77a29cb66e0fc468067-200x200-1\/emerson_control_techniques_mg_servo_motor_2c_230vac_2c_2_22_mge_208_cons_0000_servo_motor_encoder_230v.jpg","attrs":{"Brand Name":"Emerson","Model Number":"MGE-208-CONS-0000","Certification":"CE","Place of Origin":"U.S.A."}}
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A type 2 servo has two integrators (usually one motor and one "software" integrator) as part of the amplifier. The A term takes the form (KI/ω2 )∠-180°. Since the A term approaches ∞ as ω approaches 0, there will be no error (E) when the system is at rest. In this respect, it is similar to the type 1 servo.
If one considers the condition when a position ramp (constant velocity) is commanded, there are two logical inferences that can be made. The second integrator (the motor) must have a constant input to provide a velocity output. This means that the first integrator needs to supply a constant signal to the second integrator, thus the input to the first integrator must be 0. If the input to the first integrator is 0, then there is no position error in this system in the constant velocity mode. This is exactly the case and explains why so much effort has gone into developing type 2 systems.
In addition to no position error at rest, a type 2 system has the additional feature of no position error with a steady state ramp input in position (after the acceleration is complete.)
Final Comments It would appear that one should simply use a type 2 servo. Needless to say, it isn't that easy. A type 2 servo isinherently unstable. One must use compensation techniques to make it a type 2 servo which converts to a type 1 near bandwidth frequencies where stability is determined. The earlier discussion on PID described just such a technique to give the low frequency benefits of a type 2 servo, yet achieve stability. If zero position error is important under steady state positional ramping (constant velocity) conditions, then the PID approximation of a type 2 system is the answer. Don't complicate the design if you don't need it, though.
An example of the need for zero position error would be in master/slave applications where the slave is expected to stay in precise position synchronism with the master even though an operator may choose to change the "speed" of the master. So much for this class in classifying servos.
Company Details
Bronze Gleitlager
,
Bronze Sleeve Bushings
and
Graphite Plugged Bushings
from Quality China Factory
Business Type:
Importer,Exporter,Trading Company,Seller
Year Established:
2010
Total Annual:
1000000-5000000
Employee Number:
100~120
Ecer Certification：
Verified Supplier
Shenzhen Wisdomlong Technology CO.,LTD Mainly engaged in automation parts, PLCS,DCS,sensors, relays, dirves,encoder, servo drive,soft starter,touch screen,instrument,process control,electric transmission and factory automation aspects of the project design,software programming,technical service and ... Shenzhen Wisdomlong Technology CO.,LTD Mainly engaged in automation parts, PLCS,DCS,sensors, relays, dirves,encoder, servo drive,soft starter,touch screen,instrument,process control,electric transmission and factory automation aspects of the project design,software programming,technical service and ...
