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伺服一般为三个环控制,所谓三环就是3个闭环负反馈PID调节系统。最内的PID环就是电流环,此环完全在伺服驱动器内部进行,通过霍尔装置检测驱动器给电机的各相的输出电流,
The servo is generally three-ring control, the so-called three-ring is the three closed-loop negative feedback PID regulation system. The innermost PID loop is the current loop, which is entirely inside the servo drive. The output current of each phase of the drive to the motor is detected by the Hall device,