系统稳健运行的关键在于它处理机械和电气故障的方式。本文讨论了稳健且容错的运动控制系统的设计，其反馈路径包含正交编码器。伺服系统现代自动化系统采用闭环反馈进行运动控制。它们通常包括一个伺服系统，该系统由电机驱动器和反馈元件组成，以精确和稳定的方式组合在一起，以对速度和位置进行控制。典型伺服系统的各种系统级组件如图 1 所示。图 1。该直流无刷伺服系统使用正交光学编码器向运动控制器提供速度和位置反馈。

The key to robust operation in a system lies in the way it handles mechanical and electrical faults. This article discusses the design of a robust and fault-tolerant motion-control system whose feedback paths incorporate quadrature encoders.

Servo Systems

Modern automated systems incorporate closed-loop feedback for motion control. They typically include a servo system that consists of a motor driver and feedback elements combined in a manner that gives accurate and stable control over speed and position. The various system-level components of a typical servo system are illustrated in Figure 1.

Figure 1. This DC brushless servo system uses quadrature optical encoders to provide velocity and position feedback to the motion controller.