伺服電機(jī)工作原理：

1、伺服系統(tǒng)（servo mechanism）是使物體的位置、方位、狀態(tài)等輸出被控量能夠跟隨輸入目標(biāo)（或給定值）的任意變化的自動(dòng)控制系統(tǒng)。伺服主要靠脈沖來(lái)定位，基本上可以這樣理解，伺服電機(jī)接收到1個(gè)脈沖，就會(huì)旋轉(zhuǎn)1個(gè)脈沖對(duì)應(yīng)的角度，從而實(shí)現(xiàn)位移，因?yàn)椋欧姍C(jī)本身具備發(fā)出脈沖的功能，所以伺服電機(jī)每旋轉(zhuǎn)一個(gè)角度，都會(huì)發(fā)出對(duì)應(yīng)數(shù)量的脈沖，這樣，和伺服電機(jī)接受的脈沖形成了呼應(yīng)，或者叫閉環(huán)，如此一來(lái)，系統(tǒng)就會(huì)知道發(fā)了多少脈沖給伺服電機(jī)，同時(shí)又收了多少脈沖回來(lái)，這樣，就能夠很***的控制電機(jī)的轉(zhuǎn)動(dòng)，從而實(shí)現(xiàn)***的定位，可以達(dá)到0.001mm。直流伺服電機(jī)分為有刷和無(wú)刷電機(jī)。有刷電機(jī)成本低，結(jié)構(gòu)簡(jiǎn)單，啟動(dòng)轉(zhuǎn)矩大，調(diào)速范圍寬，控制容易，需要維護(hù)，但維護(hù)不方便（換碳刷），產(chǎn)生電磁干擾，對(duì)環(huán)境有要求。因此它可以用于對(duì)成本敏/感的普通工業(yè)和民用場(chǎng)合。
無(wú)刷電機(jī)體積小，重量輕，出力大，響應(yīng)快，速度高，慣量小，轉(zhuǎn)動(dòng)平滑，力矩穩(wěn)定?？刂茝?fù)雜，容易實(shí)現(xiàn)智能化，其電子換相方式靈活，可以方波換相或正弦波換相。電機(jī)免維護(hù)，效率很高，運(yùn)行溫度低，電磁輻射很小，長(zhǎng)壽命，可用于各種環(huán)境。
2、交流伺服電機(jī)也是無(wú)刷電機(jī)，分為同步和異步電機(jī)，目前運(yùn)動(dòng)控制中一般都用同步電機(jī)，它的功率范圍大，可以做到很大的功率。大慣量，轉(zhuǎn)動(dòng)速度低，且隨著功率增大而快速降低。因而適合做低速平穩(wěn)運(yùn)行的應(yīng)用。
3、伺服電機(jī)內(nèi)部的轉(zhuǎn)子是永磁鐵，驅(qū)動(dòng)器控制的U/V/W三相電形成電磁場(chǎng)，轉(zhuǎn)子在此磁場(chǎng)的作用下轉(zhuǎn)動(dòng)，同時(shí)電機(jī)自帶的編碼器反饋信號(hào)給驅(qū)動(dòng)器，驅(qū)動(dòng)器根據(jù)反饋值與目標(biāo)值進(jìn)行比較，調(diào)整轉(zhuǎn)子轉(zhuǎn)動(dòng)的角度。伺服電機(jī)的精度決定于編碼器的精度（線數(shù)）。
交流伺服電機(jī)和無(wú)刷直流伺服電機(jī)在功能上的區(qū)別：交流伺服要好一些，因?yàn)槭钦也刂?，轉(zhuǎn)矩脈動(dòng)小。直流伺服是梯形波。但直流伺服比較簡(jiǎn)單，便宜。

?伺服電機(jī)（servo motor ）是指在伺服系統(tǒng)中控制機(jī)械元件運(yùn)轉(zhuǎn)的發(fā)動(dòng)機(jī)，是一種補(bǔ)助馬達(dá)間接變速裝置。

伺服電機(jī)可使控制速度，位置精度非常準(zhǔn)確，可以將電壓信號(hào)轉(zhuǎn)化為轉(zhuǎn)矩和轉(zhuǎn)速以驅(qū)動(dòng)控制對(duì)象。伺服電機(jī)轉(zhuǎn)子轉(zhuǎn)速受輸入信號(hào)控制，并能快速反應(yīng)，在自動(dòng)控制系統(tǒng)中，用作執(zhí)行元件，且具有機(jī)電時(shí)間常數(shù)小、線性度高、始動(dòng)電壓等特性，可把所收到的電信號(hào)轉(zhuǎn)換成電動(dòng)機(jī)軸上的角位移或角速度輸出。分為直流和交流伺服電動(dòng)機(jī)兩大類，其主要特點(diǎn)是，當(dāng)信號(hào)電壓為零時(shí)無(wú)自轉(zhuǎn)現(xiàn)象，轉(zhuǎn)速隨著轉(zhuǎn)矩的增加而勻速下降。

交流電機(jī)一般分為同步和異步電機(jī)
1、交流同步電機(jī)：就是轉(zhuǎn)子是由永磁材料構(gòu)成，所以轉(zhuǎn)動(dòng)后，隨著電機(jī)的定子旋轉(zhuǎn)磁場(chǎng)的變化，轉(zhuǎn)子也做響應(yīng)頻率的速度變化，而且轉(zhuǎn)子速度=定子速度，所以稱“同步”。
2、交流異步電機(jī)：轉(zhuǎn)子由感應(yīng)線圈和材料構(gòu)成。轉(zhuǎn)動(dòng)后，定子產(chǎn)生旋轉(zhuǎn)磁場(chǎng)，磁場(chǎng)切割定子的感應(yīng)線圈，轉(zhuǎn)子線圈產(chǎn)生感應(yīng)電流，進(jìn)而轉(zhuǎn)子產(chǎn)生感應(yīng)磁場(chǎng)，感應(yīng)磁場(chǎng)追隨定子旋轉(zhuǎn)磁場(chǎng)的變化，但轉(zhuǎn)子的磁場(chǎng)變化永遠(yuǎn)小于定子的變化，一旦等于就沒(méi)有變化的磁場(chǎng)切割轉(zhuǎn)子的感應(yīng)線圈，轉(zhuǎn)子線圈中也就沒(méi)有了感應(yīng)電流，轉(zhuǎn)子磁場(chǎng)消失，轉(zhuǎn)子失速又與定子產(chǎn)生速度差又重新獲得感應(yīng)電流。。。所以在交流異步電機(jī)里有個(gè)關(guān)鍵的參數(shù)是轉(zhuǎn)差率就是轉(zhuǎn)子與定子的速度差的比率。
3、對(duì)應(yīng)交流同步和異步電機(jī)變頻器就有相映的同步變頻器和異步變頻器，伺服電機(jī)也有交流同步伺服和交流異步伺服，當(dāng)然變頻器里交流異步變頻常見(jiàn)，伺服則交流同步伺服常見(jiàn)。
五、應(yīng)用
由于變頻器和伺服在性能和功能上的不同，所以應(yīng)用也不大相同：
1、在速度控制和力矩控制的場(chǎng)合要求不是很高的一般用變頻器，也有在上位加位置反饋信號(hào)構(gòu)成閉環(huán)用變頻進(jìn)行位置控制的，精度和響應(yīng)都不高?，F(xiàn)有些變頻也接受脈沖序列信號(hào)控制速度的，但好象不能直接控制位置。
2、在有嚴(yán)格位置控制要求的場(chǎng)合中只能用伺服來(lái)實(shí)現(xiàn)，還有就是伺服的響應(yīng)速度遠(yuǎn)遠(yuǎn)大于變頻，有些對(duì)度的精度和響應(yīng)要求高的場(chǎng)合也用伺服控制，能用變頻控制的運(yùn)動(dòng)的場(chǎng)合幾乎都能用伺服取代，關(guān)鍵是兩點(diǎn)：一是價(jià)格伺服遠(yuǎn)遠(yuǎn)高于變頻，二是功率的原因：變頻的能做到幾百KW，甚至更高，而伺服就幾十KW。但隨著伺服電機(jī)技術(shù)不斷提高，功率逐步也能達(dá)到幾百KW了。

REXROTH力士樂(lè)伺服電機(jī)MSK061C-0600-NN-M1-UP1-NNNN

REXROTH力士樂(lè)伺服電機(jī)MSK061C-0600-NN-M1-UP1-NNNN

力士樂(lè)數(shù)控伺服系統(tǒng)

?力士樂(lè)REXROTH伺服電機(jī)

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HLR01.1N-0780-N07R0-A-007-NNNN R911305933
HLR01.1N-04K5-N07R4-A-007-NNNN R911306921
HLR01.1N-08K3-N08R0-A-007-NNNN R911306872
HLR01.1N-10K3-N07R3-A-007-NNNN R911306873
HLR01.1N-15K0-N08R1 -A-007-NNNN R911306875
HLR01.1N-22K0-N07R2-A-007-NNNN R911305865
HAS01.1-225-NNN-CN R911306667
HAS01.1-225-072-CN R911306666
HAS02.1-005-NNN-NN R911306721
HNK01.1A-A075-E0080-A-500-NNNN R911305936
HAS02.1-007-NNN-NN R911306723
HNL01.1 E-0362-N0080-A-500-NN NN R911307204
HLR01.1 N-0470-N 11R7-A-007-NNNN R911305932
HLR01.1 N-02K0-N 15R0-A-007-NNNN R911306870
HLR01.1 N-05K0-N 15R0-A-007-NNNN R911306881
HLR01.1 N-06K3-N 14R0-A-007-NNNN R911306871
HLR01.1 N-09K1-N13R0-A-007-NNNN R911306880
HLR01.1 N-13K3-N 13R0-A-007-NNNN R911305864
HAS01.1-125-NNN-CN R911306665
HAS01.1-125-072-CN R911306664
HAS02.1-004-NNN-NN R911306720
HNK01.1A-A075-E0050-A-500-NNNN R911305935
HAS02.1-006-NNN-NN R911306722
HNL01.1E-0571-N0050-A-500-NN NN R911307205
HLR01.1N-0300-N17R5-A-007-NNNN R911305931
HLR01.1N-01K6-N18R0-A-007-NNNN R911306869
HLR01.1N-03K4-N19R0-A-007-NNNN R911306748
HLR01.1N-04K2-N18R0-A-007-NNNN R911306878
HLR01.1N-05K9-N18R0-A-007-NNNN R911306879
HLR01.1N-09K0-N18R0-A-007-NNNN R911305863
HCS03.1E-W0070-A-05-NNNN R911297849
HCS03.1E-W0070-A-05-NNBN R911299240
HCS03.1E-W0100-A-05-NNNN R911297850
HCS03.1E-W0100-A-05-NNBN R911299241
HCS03.1E-W0150-A-05-NNNN R911297851
HCS03.1E-W0150-A-05-NNBN R911299238
HCS03.1E-W0210-A-05-NNNN
HCS03.1E-W0210-A-05-NNBN R911299239