XVME-674

XVME-674

XVME-674

XVME-674

XVME-674

XVME-674

XVME-674

XVME-674

XVME-674

XVME-674

   由于两个啮合在一起的马达分别受控于两个独立速度环，所以在运行过程中有可能出现两个马达的输出力矩不一致的现象，原因分析如下：

         首先，两个马达是通过传动机构啮合在一起的，所以当系统处于稳态运行时，两马达的转速是相等的。虽然两马达的转速相等，两速度环的输入指令Ugv1，Ugv2的幅值也相等，由于两马达所对应的测速机的性能客观上存在一定差异，致使两测速机输出电压的幅值不一定完全相等，也就是说两速度环的速度反馈信号Ufv1和Ufv2的幅值并不完全相等，使得|Ugv1-Ufv1|≠|Ugv2-Ufv2|，必然造成两电流环的输入指令Ugi1和Ugi2二者幅值不等。

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