機(ji)(ji)器(qi)人電(dian)機(ji)(ji)驅(qu)動器(qi)用來使(shi)機(ji)(ji)器(qi)人發出動作的動力(li)機(ji)(ji)構。機(ji)(ji)器(qi)人驅(qu)動器(qi)可將(jiang)電(dian)能、液(ye)壓能和(he)氣壓能轉化為機(ji)(ji)器(qi)人的動力(li)。包括(kuo)直流伺服(fu)電(dian)機(ji)(ji)、步進電(dian)機(ji)(ji)和(he)交流伺服(fu)電(dian)機(ji)(ji)；常用的機(ji)(ji)器(qi)人電(dian)機(ji)(ji)驅(qu)動器(qi)有(you)如下幾種(zhong)：

1.直流伺服電動(dong)機驅動(dong)器

直流(liu)驅動(dong)器(qi)(qi)多采用脈(mo)寬調制(PWM)伺服驅動(dong)器(qi)(qi)，通過(guo)改變脈(mo)沖寬度來改變加在(zai)電(dian)動(dong)機(ji)電(dian)樞兩(liang)端(duan)的平均電(dian)壓，從而改變電(dian)動(dong)機(ji)的轉速(su)。PWM伺服驅動(dong)器(qi)(qi)具有(you)調速(su)范圍寬、低速(su)特性好、響(xiang)應快(kuai)、效(xiao)率高、過(guo)載能力強(qiang)等特點，在(zai)工業機(ji)器(qi)(qi)人中常作為直流(liu)伺服電(dian)動(dong)機(ji)驅動(dong)器(qi)(qi)。

2.同步式交流(liu)伺服電動機驅動器

同(tong)(tong)直(zhi)流伺(si)服電(dian)(dian)(dian)動(dong)機(ji)(ji)驅(qu)動(dong)系統相比(bi)，同(tong)(tong)步(bu)式交流伺(si)服電(dian)(dian)(dian)動(dong)機(ji)(ji)驅(qu)動(dong)器(qi)具(ju)有轉矩轉動(dong)慣量比(bi)高、無電(dian)(dian)(dian)刷及換向火花等優點，在工(gong)業(ye)機(ji)(ji)器(qi)人中得(de)到(dao)廣泛應用。同(tong)(tong)步(bu)式交流伺(si)服電(dian)(dian)(dian)動(dong)機(ji)(ji)驅(qu)動(dong)器(qi)通常采用電(dian)(dian)(dian)流型(xing)脈寬調制(PWM)相逆變(bian)器(qi)和具(ju)有電(dian)(dian)(dian)流環為內(nei)環、速度環為外(wai)環的(de)多(duo)閉(bi)環控制系統，以(yi)實現(xian)對三相永磁(ci)同(tong)(tong)步(bu)伺(si)服電(dian)(dian)(dian)動(dong)機(ji)(ji)的(de)電(dian)(dian)(dian)流控制。根(gen)據其(qi)工(gong)作(zuo)原(yuan)理(li)、驅(qu)動(dong)電(dian)(dian)(dian)流波形和控制方式的(de)不同(tong)(tong)，它又可分為兩種伺(si)服系統：

a.矩形波電流驅動的永磁交流伺(si)服(fu)系(xi)統(tong)。

b.正弦波電流驅動的永磁交(jiao)流伺(si)服系統。

采(cai)用矩形波電(dian)流(liu)(liu)驅動(dong)的(de)永(yong)磁交(jiao)流(liu)(liu)伺(si)(si)服(fu)電(dian)動(dong)機稱(cheng)為(wei)無刷直流(liu)(liu)伺(si)(si)服(fu)電(dian)動(dong)機，采(cai)用正(zheng)弦(xian)波電(dian)流(liu)(liu)驅動(dong)的(de)永(yong)磁交(jiao)流(liu)(liu)伺(si)(si)服(fu)電(dian)動(dong)機稱(cheng)為(wei)無刷交(jiao)流(liu)(liu)伺(si)(si)服(fu)電(dian)動(dong)機。

3.步進電動(dong)機驅(qu)動(dong)器

步(bu)進(jin)電(dian)動(dong)機是將(jiang)電(dian)脈(mo)沖(chong)(chong)信號變換為(wei)相(xiang)應的(de)角(jiao)位移(yi)或直線(xian)位移(yi)的(de)元件，它的(de)角(jiao)位移(yi)和(he)線(xian)位移(yi)量與(yu)脈(mo)沖(chong)(chong)數成正(zheng)比(bi)。轉(zhuan)速(su)或線(xian)速(su)度(du)與(yu)脈(mo)沖(chong)(chong)頻率(lv)成正(zheng)比(bi)。在(zai)負(fu)載(zai)能力的(de)范圍(wei)內，這些關(guan)系不(bu)因(yin)電(dian)源電(dian)壓、負(fu)載(zai)大小、環境條件的(de)波(bo)動(dong)而變化，誤差(cha)不(bu)長(chang)期積累，步(bu)進(jin)電(dian)動(dong)機驅動(dong)系統可以(yi)在(zai)較寬(kuan)的(de)范圍(wei)內，通過(guo)改(gai)變脈(mo)沖(chong)(chong)頻率(lv)來(lai)調速(su)，實(shi)現(xian)快速(su)起動(dong)、正(zheng)反轉(zhuan)制動(dong)。