Ulwazi oluyisisekelo lwe-Servo motor

Ulwazi oluyisisekelo lwe-Servo motor

Igama elithi "servo" livela egameni lesiGreki elithi "inceku"."I-Servo motor" ingaqondwa njengemoto elalela ngokuphelele umyalo wesiginali yokulawula: ngaphambi kokuba isignali yokulawula ithunyelwe, i-rotor imile;lapho isignali yokulawula ithunyelwa, i-rotor ijikeleza ngokushesha;lapho isignali yokulawula inyamalala, i-rotor ingayeka ngokushesha.

I-servo motor iyinjini encane esetshenziswa njenge-actuator kudivayisi yokulawula okuzenzakalelayo.Umsebenzi wayo ukuguqula isignali kagesi ibe i-angular displacement noma i-angular velocity ye-shaft ejikelezayo.

Ama-Servo motors ahlukaniswe izigaba ezimbili: i-AC servo ne-DC servo

Isakhiwo esiyisisekelo se-AC servo motor siyefana naleso se-AC induction motor (asynchronous motor).Kunamawindi ashukumisayo amabili e-Wf kanye namawindi okulawula i-WcoWf ane-engeli yesigaba kagesi engu-90° ku-stator, exhunywe ku-voltage ye-AC engashintshi, nokusebenzisa amandla kagesi e-AC noma ukuguqulwa kwesigaba okusetshenziswe ku-Wc ukuze kufezwe injongo yokulawula ukusebenza. yemoto.I-AC servo motor inezici zokusebenza okuzinzile, ukulawuleka okuhle, ukusabela okusheshayo, ukuzwela okuphezulu, nezinkomba eziqinile ezingezona umugqa wezimpawu zomshini nezici zokulungisa (kudingeka zibe ngaphansi kuka-10% kuya ku-15% futhi zibe ngaphansi kuka-15% kuya ku-25% ngokulandelana).

Isakhiwo esiyisisekelo se-DC servo motor siyefana nesenjini ye-DC ejwayelekile.Isivinini semoto n=E/K1j=(Ua-IaRa)/K1j, lapho u-E engamandla we-armature counter electromotive, u-K akaguquki, u-j uwukuguquguquka kazibuthe ngesigxobo ngasinye, i-Ua, i-Ia amandla kagesi engalo kanye ne-armature current, i-Ra kuyinto Ukumelana nezikhali, ukushintsha i-Ua noma ukushintsha u-φ kungalawula isivinini se-DC servo motor, kodwa indlela yokulawula i-voltage ye-armature isetshenziswa ngokuvamile.Kuzibuthe unomphela we-DC servo motor, i-excitation winding ithathelwa indawo yizibuthe unomphela, futhi i-flux magnetic φ ihlala njalo..I-DC servo motor inezici ezinhle zokulawula umugqa kanye nokuphendula kwesikhathi esisheshayo.

Izinzuzo kanye Nobubi be-DC Servo Motors

Izinzuzo: Ukulawula isivinini okunembile, i-torque eqinile nezici zesivinini, isimiso esilula sokulawula, ukusetshenziswa okulula, kanye nentengo eshibhile.

Ukungalungi: ukushintshwa kwebhulashi, umkhawulo wejubane, ukumelana okwengeziwe, nezinhlayiya ezigqokwayo (akuzifanele izindawo ezingenalo uthuli neziqhumane)

Izinzuzo kanye nokubi kwe-AC servo motor

Izinzuzo: izici zokulawula isivinini ezinhle, ukulawula okubushelelezi kulo lonke uhla lwejubane, cishe akukho-oscillation, ukusebenza kahle okuphezulu ngaphezu kuka-90%, ukukhiqizwa kokushisa okuncane, ukulawulwa kwesivinini esikhulu, ukulawulwa kwesikhundla sokunemba okuphezulu (kuye ngokuthi ukunemba kwesishumeki), indawo yokusebenza elinganiselwe. Ngaphakathi, ingafinyelela i-torque engaguquki, inertia ephansi, umsindo ophansi, ukungagqoki kwebhulashi, ukungalungiswa (ilungele indawo engenalo uthuli, indawo eneziqhumane)

Ukubi: Ukulawula kuyinkimbinkimbi kakhulu, imingcele yedrayivu idinga ukulungiswa esizeni ukuze kunqunywe imingcele ye-PID, nokuxhumana okwengeziwe kuyadingeka.

Ama-DC servo motors ahlukaniswe abe ama-brushed kanye nama-brushless motors

Amamotho amabhulashi anezindleko eziphansi, alula ngokwakheka, makhulu ekuqaliseni itorque, ububanzi ebangeni lokulawula isivinini, kulula ukuwalawula, adinga ukunakekelwa, kodwa kulula ukuwagcina (shintsha ibhulashi lekhabhoni), akhiqiza ukuphazamiseka kukazibuthe, anezidingo zendawo esetshenziswayo, futhi imvamisa isetshenziselwa imicimbi yezezimboni neyomphakathi engazweli kakhulu.

Ama-brushless motors mancane ngosayizi futhi alula ngesisindo, aphezulu ekuphumeni futhi ayashesha ekuphenduleni, isivinini esikhulu futhi amancane ku-inertia, azinzile ku-torque futhi abushelelezi ekujikelezeni, ayinkimbinkimbi ekulawuleni, ahlakaniphile, aguquguqukayo kwimodi yokuguqulwa kwe-elekthronikhi, angashintshwa ku-square wave noma i-sine wave, i-motor-free motor, ukusebenza kahle okuphezulu nokonga amandla, imisebe emincane ye-electromagnetic, ukuphakama okuphansi kwezinga lokushisa kanye nempilo ende, ilungele izindawo ezahlukahlukene.

Ama-AC servo motors nawo angama-brushless motors, ahlukaniswe ngama-motor synchronous kanye ne-asynchronous.Njengamanje, ama-synchronous motors asetshenziswa ngokujwayelekile ekulawuleni ukunyakaza.Ibanga lamandla likhulu, amandla angaba makhulu, inertia inkulu, isivinini esiphezulu siphansi, futhi ijubane liyakhula ngokukhula kwamandla.Ukwehla okulinganayo -isivinini, kulungele izikhathi zokugijima ezinejubane eliphansi nezishelelayo.

I-rotor ngaphakathi kwe-servo motor iyizibuthe unomphela.Umshayeli ulawula ugesi we-U/V/W wezigaba ezintathu ukuze akhe inkambu kazibuthe kagesi.I-rotor ijikeleza ngaphansi kwesenzo sale nsimu kazibuthe.Ngesikhathi esifanayo, isishumeki esifika nenjini sidlulisela isignali yempendulo kumshayeli.Amanani aqhathaniswa nokulungisa i-engeli yokuzungezisa i-rotor.Ukunemba kwe-servo motor kuncike ekunembeni kwe-encoder (inani lemigqa).

Iyini i-servo motor?Zingaki izinhlobo ezikhona?Yiziphi izici zokusebenza?

Impendulo: I-servo motor, eyaziwa nangokuthi i-executive motor, isetshenziswa njenge-actuator ohlelweni lokulawula okuzenzakalelayo ukuguqula isignali kagesi eyamukelwe ibe yi-angular displacement noma ukuphuma kwe-angular velocity ku-motor shaft.

Ama-Servo motors ahlukaniswe izigaba ezimbili: DC kanye ne-AC servo motors.Izici zabo eziyinhloko ukuthi akukho ukuzishintshanisa lapho i-voltage yesignali ingu-zero, futhi isivinini siyancipha ngesivinini esifanayo ngokunyuka kwe-torque.

Uyini umehluko ekusebenzeni phakathi kwe-AC servo motor kanye ne-brushless DC servo motor?

Impendulo: Ukusebenza kwe-AC servo motor kungcono, ngoba i-AC servo ilawulwa yi-sine wave futhi i-torque ripple incane;kuyilapho i-brushless DC servo ilawulwa yi-trapezoidal wave.Kodwa i-brushless DC servo control ilula futhi ishibhile.

Ukuthuthukiswa okusheshayo kobuchwepheshe obuhlala njalo bukazibuthe we-AC servo drive kwenze uhlelo lwe-DC servo lwabhekana nenkinga yokuqedwa.Ngokuthuthuka kobuchwepheshe, ubuchwepheshe obuhlala njalo be-AC servo drive buzuze intuthuko evelele, futhi abakhiqizi bakagesi abadumile emazweni ahlukahlukene baye bethula uchungechunge olusha lwama-AC servo motors nama-servo drives.Uhlelo lwe-AC servo seluphenduke inkomba eyinhloko yokuthuthukiswa kohlelo lwesimanje lwe-servo olusebenza kahle, okwenza uhlelo lwe-DC servo lubhekane nenkinga yokuqedwa.

Uma kuqhathaniswa nama-DC servo motors, izinjini ezihlala unomphela ze-AC servo motors zinezinzuzo eziyinhloko ezilandelayo:

⑴Ngaphandle kwebhulashi ne-commutator, ukusebenza kunokwethenjelwa kakhulu futhi akunakekelo.

(2) Ukushisa kwe-Stator winding kuncishiswe kakhulu.

⑶ I-inertia incane, futhi uhlelo lunokusabela okuhle okusheshayo.

⑷ Isimo sokusebenza sejubane eliphezulu netorque ephezulu sihle.

⑸Usayizi omncane nesisindo esincane ngaphansi kwamandla afanayo.

Isimiso se-Servo motor

Isakhiwo se-stator ye-AC servo motor ngokuyisisekelo sifana naleso se-capacitor split-phase single -phase asynchronous motor.I-stator ifakwe ama-windings amabili anomehluko ohlangene we-90 °, enye i-excitation winding Rf, ehlala ixhunywe ku-AC voltage Uf;enye i-control mawinding L, exhunywe ku-voltage yesiginali yokulawula Uc.Ngakho-ke i-AC servo motor ibizwa nangokuthi ama-servo motors amabili.

I-rotor ye-AC servo motor imvamisa yenziwa ikheji le-squirrel, kodwa ukuze kwenziwe i-servo motor ibe nebanga elibanzi lejubane, izici zemishini ewumugqa, akukho mkhuba "we-autorotation" nokusebenza okusheshayo kokuphendula, uma kuqhathaniswa namamotho ajwayelekile, kufanele. babe Ukumelana ne-rotor kukhulu futhi umzuzu we-inertia mncane.Njengamanje, kunezinhlobo ezimbili zezakhiwo ze-rotor ezisetshenziswa kabanzi: enye i-squirrel -cage rotor enemigoqo yokuqondisa ephezulu yokuphikiswa eyenziwe ngezinto ezisebenzayo zokumelana ne-high-resistivity.Ukuze unciphise umzuzu we-inertia ye-rotor, i-rotor yenziwe ibe mncane;enye inkomishi engenalutho - i-rotor ebunjiwe eyenziwe nge-aluminium alloy, udonga lwenkomishi luyi-0.2 -0.3mm kuphela, umzuzu we-inertia yenkomishi engenalutho -i-rotor encane, impendulo iyashesha, futhi ukusebenza kuzinzile, ngakho isetshenziswa kabanzi.

Uma i-AC servo motor ingenayo i-voltage yokulawula, kukhona kuphela inkambu kazibuthe ephehlayo ekhiqizwa ukuvunguza okujabulisayo ku-stator, futhi i-rotor imile.Uma kukhona i-voltage yokulawula, inkambu yamagnetic ejikelezayo ikhiqizwa ku-stator, futhi i-rotor ijikeleza ekuqondeni kwendawo yamagnetic ejikelezayo.Uma umthwalo ungashintshi, ijubane lemoto liyashintsha ngobukhulu be-voltage yokulawula.Lapho isigaba se-voltage yokulawula siphambene, i-servo motor izohlehliswa.

Nakuba isimiso sokusebenza se-AC servo motor sifana naleyo ye-capacitor - esebenza nge-single-phase asynchronous motor, ukumelana ne-rotor yangaphambili kukhulu kakhulu kunaleyo yokugcina.Ngakho-ke, uma kuqhathaniswa ne-capacitor -esebenza nge-asynchronous motor, i-servo motor inezici ezintathu ezibalulekile:

1. I-torque enkulu yokuqala: Ngenxa yokumelana ne-rotor enkulu, isici se-torque (isici somshini) siseduze nomugqa, futhi sine-torque enkulu yokuqala.Ngakho-ke, lapho i-stator ine-voltage yokulawula, i-rotor ijikeleza ngokushesha, enezici zokuqalisa okusheshayo nokuzwela okuphezulu.

2. Uhla olubanzi lokusebenza: ukusebenza okuzinzile nomsindo ophansi.[/p][p=30, 2, kwesokunxele] 3. Ayikho into ezishintshayo: Uma i-servo motor esebenzayo ilahlekelwa amandla kagesi okulawula, injini izoyeka ukusebenza ngokushesha.

Iyini "injini encane yokudlulisa ukunemba"?

I-"Precision transmission micro motor" ingakwazi ukwenza ngokushesha nangendlela efanele imiyalelo eshintshashintsha njalo ohlelweni, futhi ishayele indlela ye-servo ukuze iqedele umsebenzi olindelwe yiziyalezo, futhi iningi lawo lingahlangabezana nalezi zidingo ezilandelayo:

1. Ingakwazi ukuqala, ime, ibhuleki, ihlehle futhi igijime ngesivinini esiphansi njalo, futhi inamandla amakhulu okusebenza, izinga eliphezulu lokumelana nokushisa kanye nezinga eliphezulu lokwehlukanisa.

2. Ikhono elihle lokuphendula ngokushesha, i-torque enkulu, isikhashana esincane se-inertia kanye nesikhathi esincane esingaguquki.

3. Ngomshayeli nesilawuli (njenge-servo motor, stepping motor), ukusebenza kokulawula kuhle.

4. Ukuthembeka okuphezulu nokunemba okuphezulu.

Isigaba, ukwakheka nokusebenza "kwemoto encane yokudlulisa ukunemba"

I-AC servo motor

(1) I-Cage -uhlobo lwe-AC servo motor enezigaba ezimbili (i-rotor encane yekheji, cishe izici zemishini eqondile, ivolumu encane kanye ne-excitation yamanje, i-servo yamandla aphansi, ukusebenza kwejubane eliphansi akubushelelezi ngokwanele)

(2) I-Non -magnetic cup rotor enezigaba ezimbili ze-AC servo motor (i-rotor engenalutho, izici zemishini ezicishe zifane, umthamo omkhulu wamanje kanye nesasasa elijabulisayo, i-servo yamandla amancane, ukusebenza okushelelayo ngesivinini esiphansi)

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4 idrayivu; ibanga lejubane libanzi futhi i-mechanical Izici zenziwe ngendawo ye-torque engaguquki kanye nendawo yamandla engashintshi, engakwazi ukukhiywa ngokuqhubekayo, ngokusebenza okuhle kokuphendula okusheshayo, amandla amakhulu okukhiphayo, nokuguquguquka okuncane kwe-torque; i-square wave drive kanye ne-sine wave drive, ukusebenza kahle kokulawula, kanye nemikhiqizo yamakhemikhali ehlanganisa i-electromechanical)

5 amasistimu okulawula isivinini sethuluzi lomshini)

I-DC servo motor

(1) I-DC servo motor ephrintiwe ephrintiwe (i-disc rotor ne-disc stator ziboshwe nge-axially nensimbi kazibuthe eyicylindrical, umzuzu we-rotor we-inertia mncane, awukho umphumela wokugoqa, awukho umphumela wokugcwala, futhi i-torque ephumayo inkulu)

(2) I-Wire-wound disk uhlobo lwe-DC servo motor (i-disc rotor ne-stator ziboshwe nge-axially ngensimbi kazibuthe eyi-cylindrical, umzuzu we-rotor we-inertia mncane, ukusebenza kokulawula kungcono kunamanye ama-DC servo motors, ukusebenza kahle kuphezulu, futhi itorque enkulu)

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(4) I-Brushless DC servo motor (i-stator inezigaba eziningi ezijikajikayo, i-rotor iyizibuthe unomphela, enenzwa yokuma kwe-rotor, akukho ukuphazamiseka kwenhlansi, impilo ende, umsindo ophansi)

i-torque motor

(1) I-DC torque motor (isakhiwo esiyisicaba, inombolo yezigxobo, inombolo yezingcezu zokushintsha, inani lamakhondatha ochungechunge; i-torque enkulu ephumayo, umsebenzi oqhubekayo ngesivinini esiphansi noma esimisiwe, izici ezinhle zokulungisa nokulungisa, isikhathi esincane se-electromechanical )

(2) I-Brushless DC torque motor (efana ngesakhiwo ne-brushless DC servo motor, kodwa iflethi, enezigxobo eziningi, izikhala nezikhondatha zochungechunge; i-torque enkulu ekhiphayo, izici ezinhle zokulungisa nokulungisa, impilo ende, azikho izinhlansi, akukho msindo Uphansi)

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(4) I-rotor eqinile ye-AC torque motor (i-rotor eqinile eyenziwe ngezinto ze-ferromagnetic, isakhiwo esiyisicaba, izigxobo eziningi nezikhala, i-rotor evaliwe isikhathi eside, ukusebenza kahle, izakhiwo ezithambile)

i-stepper motor

(1) Injini yokunyathela esebenzayo (i-stator ne-rotor zenziwe ngamashidi ensimbi ye-silicon, akukho ukusonteka ku-rotor core, futhi kukhona ukuvunguza kokulawula ku-stator; i-angle yesinyathelo incane, imvamisa yokuqala nokugijima iphezulu , ukunemba kwe-engeli yesinyathelo kuphansi, futhi ayikho itorque yokuzikhiya)

(2) Injini yokunyathela unomphela uzibuthe (irotha kazibuthe yaphakade, i-radial magnetization polarity; i-engeli enkulu yesinyathelo, ukuqala okuphansi kanye nemvamisa yokusebenza, ukubamba i-torque, kanye nokusetshenziswa kwamandla okuncane kunohlobo olusebenzayo, kodwa ama-pulses alungile noma angalungile ayadingeka njengamanje)

(3) I-Hybrid stepping motor (i-permanent magnet rotor, i-axial magnetization polarity; ukunemba kwe-engeli ephezulu yesinyathelo, i-torque ephethe, i-torque encane yokufaka, kokubili okusebenzayo kanye nezibuthe ezihlala njalo