Chidziwitso choyambirira cha Servo motor

Chidziwitso choyambirira cha Servo motor

Mawu oti "servo" amachokera ku liwu lachi Greek "kapolo". "Servo motor" ikhoza kumveka ngati injini yomwe imamvera kwathunthu lamulo la chizindikiro chowongolera: chizindikiro chisanatumizidwe, rotor imayima; pamene chizindikiro chowongolera chikutumizidwa, rotor imazungulira nthawi yomweyo; pamene chizindikiro chowongolera chimatha, rotor ikhoza kuyimitsa nthawi yomweyo.

Servo motor ndi injini yaying'ono yomwe imagwiritsidwa ntchito ngati actuator pazida zowongolera zokha. Ntchito yake ndikusintha chizindikiro chamagetsi kuti chisamuke pakona kapena liwiro la angular la shaft yozungulira.

Ma Servo motors amagawidwa m'magulu awiri: AC servo ndi DC servo

Mapangidwe oyambira a AC servo motor ndi ofanana ndi a AC induction motor (asynchronous motor). Pali ma windings awiri osangalatsa a Wf ndi ma windings owongolera WcoWf okhala ndi gawo la 90 ° lamagetsi amagetsi pa stator, olumikizidwa ndi voteji ya AC nthawi zonse, ndikugwiritsa ntchito voteji ya AC kapena kusintha kwa gawo komwe kumagwiritsidwa ntchito ku Wc kukwaniritsa cholinga chowongolera ntchito. cha motere. AC servo galimoto ali ndi makhalidwe a ntchito khola, controllability wabwino, kuyankha mofulumira, tilinazo mkulu, ndi okhwima sanali linearity zizindikiro za makina ndi makhalidwe kusintha (zofunika kukhala zosakwana 10% mpaka 15% ndi zosakwana 15% mpaka 25% motsatana).

Mapangidwe oyambira a DC servo motor ndi ofanana ndi a general DC motor. Liwiro la injini n=E/K1j=(Ua-IaRa)/K1j, komwe E ndi mphamvu yamagetsi yamagetsi, K imakhala yosasunthika, j ndi mphamvu ya maginito pamtengo, Ua, Ia ndi mphamvu yamagetsi ndi zida zamakono, Ra ndi Kukana kwa zida, kusintha Ua kapena kusintha φ kumatha kuwongolera liwiro la mota ya DC servo, koma njira yowongolera mphamvu yamagetsi imagwiritsidwa ntchito nthawi zambiri. Mu maginito okhazikika a DC servo motor, mafunde osangalatsa amasinthidwa ndi maginito okhazikika, ndipo maginito otuluka φ amakhala osasintha. . DC servo motor ili ndi mawonekedwe abwino a mzere komanso kuyankha mwachangu.

Ubwino ndi Kuipa kwa DC Servo Motors

Ubwino: Kuwongolera liwiro lolondola, torque yolimba ndi mawonekedwe othamanga, mfundo yosavuta yowongolera, yosavuta kugwiritsa ntchito, komanso mtengo wotsika mtengo.

Zoyipa: kusintha maburashi, kuchepetsa liwiro, kukana kwina, ndi tinthu tating'onoting'ono (zosayenera malo opanda fumbi komanso ophulika)

Ubwino ndi kuipa kwa AC servo mota

Ubwino: mawonekedwe abwino owongolera liwiro, kuwongolera kosalala pa liwiro lonselo, pafupifupi palibe oscillation, kugwiritsa ntchito bwino kwambiri kuposa 90%, kutulutsa kutentha pang'ono, kuwongolera mwachangu, kuwongolera mwatsatanetsatane malo (malingana ndi kulondola kwa encoder), malo opangira ovotera. Mkati, amatha kukwaniritsa torque nthawi zonse, kutsika pang'ono, phokoso lochepa, kusavala burashi, kusamalidwa (koyenera malo opanda fumbi, malo ophulika)

Zoyipa: Kuwongolera kumakhala kovuta kwambiri, magawo oyendetsa amayenera kusinthidwa pamalopo kuti adziwe magawo a PID, ndipo maulumikizidwe ambiri amafunikira.

DC servo motors amagawidwa kukhala ma brushed ndi brushless motors

Ma motors opukutidwa ndi otsika mtengo, osavuta kupanga, akulu poyambira ma torque, okulirapo pakuwongolera liwiro, osavuta kuwongolera, amafunikira kukonza, koma osavuta kusamalira (m'malo mwa burashi ya kaboni), amapanga kusokoneza kwamagetsi, amakhala ndi zofunikira pakugwiritsa ntchito, ndipo nthawi zambiri amagwiritsidwa ntchito pazochitika zamafakitale ndi zachiwembu zomwe zimakhala zotsika mtengo.

Ma motors opanda brush ndi ang'onoang'ono kukula ndi kulemera kwake, kutulutsa kwakukulu komanso kufulumira poyankha, kuthamanga kwambiri komanso kochepa mu inertia, okhazikika mu torque ndi osalala mozungulira, ovuta kulamulira, anzeru, osinthasintha pamagetsi oyendetsa magetsi, akhoza kusinthidwa. mu square wave kapena sine wave, motor-free motor, kuyendetsa bwino kwambiri komanso kupulumutsa mphamvu, ma radiation ang'onoang'ono amagetsi, kutentha kochepa komanso moyo wautali, woyenera madera osiyanasiyana.

Ma AC servo motors ndi ma motors opanda brush, omwe amagawidwa kukhala ma synchronous ndi asynchronous motors. Pakalipano, ma synchronous motors amagwiritsidwa ntchito poyendetsa kayendedwe. Mphamvu yamagetsi ndi yayikulu, mphamvu imatha kukhala yayikulu, inertia ndi yayikulu, liwiro lalikulu ndi lotsika, ndipo liwiro limawonjezeka ndi kuchuluka kwa mphamvu. Uniform -kutsika kothamanga, koyenera kumayendedwe otsika komanso osalala.

Rotor mkati mwa servo motor ndi maginito okhazikika. Dalaivala amawongolera magetsi a U / V / W magawo atatu kuti apange gawo lamagetsi. Rotor imazungulira pansi pakuchita kwa maginito awa. Nthawi yomweyo, encoder yomwe imabwera ndi mota imatumiza chizindikiro kwa dalaivala. Makhalidwe amafananizidwa ndi kusintha kozungulira kozungulira. Kulondola kwa injini ya servo kumadalira kulondola kwa encoder (chiwerengero cha mizere).

Kodi servo motor ndi chiyani? Pali mitundu ingati? Makhalidwe ogwirira ntchito ndi otani?

Yankho: The servo motor, yomwe imadziwikanso kuti Executive motor, imagwiritsidwa ntchito ngati actuator mu makina owongolera okha kuti asinthe ma siginecha amagetsi omwe alandilidwa kukhala osasunthika kapena kutulutsa kothamanga kwa angular pa shaft yamoto.

Ma Servo motors amagawidwa m'magulu awiri: DC ndi AC servo motors. Makhalidwe awo akuluakulu ndi oti palibe kudzizungulira pamene mphamvu yamagetsi ndi zero, ndipo liwiro limachepa pa liwiro lofanana ndi kuwonjezeka kwa torque.

Kodi pali kusiyana kotani pakati pa AC servo motor ndi brushless DC servo motor?

Yankho: Kuchita kwa AC servo motor ndi bwino, chifukwa AC servo imayendetsedwa ndi sine wave ndi torque ripple ndi yaying'ono; pomwe brushless DC servo imayendetsedwa ndi trapezoidal wave. Koma brushless DC servo control ndiyosavuta komanso yotsika mtengo.

Kukula mwachangu kwaukadaulo wokhazikika wa maginito a AC servo drive kwapangitsa makina a DC servo kuyang'anizana ndi vuto lakuthetsedwa. Ndi chitukuko chaukadaulo, ukadaulo wokhazikika wa maginito a AC servo drive wapeza chitukuko chodabwitsa, ndipo opanga magetsi odziwika m'maiko osiyanasiyana apitiliza kuyambitsa ma AC servo motors ndi ma servo drives. Dongosolo la AC servo lakhala gawo lalikulu lachitukuko cha makina amasiku ano ochita bwino kwambiri, zomwe zimapangitsa kuti DC servo system ikumane ndi vuto lakuthetsedwa.

Poyerekeza ndi ma DC servo motors, maginito okhazikika a AC servo motors ali ndi zotsatirazi:

⑴Popanda burashi ndi commutator, ntchitoyo ndi yodalirika komanso yosakonza.

(2) Kutentha kwa stator kumachepetsedwa kwambiri.

⑶ The inertia ndi yaying'ono, ndipo dongosolo limayankha bwino mwachangu.

⑷ Mayendedwe othamanga kwambiri komanso othamanga kwambiri ndi abwino.

⑸Kukula kochepa ndi kulemera kochepa pansi pa mphamvu yomweyo.

Servo motor mfundo

Mapangidwe a stator ya AC servo motor kwenikweni ndi ofanana ndi a capacitor split-gawo limodzi -gawo asynchronous motor. Stator ili ndi ma windings awiri omwe ali ndi kusiyana kwapakati pa 90 °, imodzi ndi yothamanga yothamanga Rf, yomwe nthawi zonse imagwirizanitsidwa ndi AC voltage Uf; winayo ndi kuwongolera kokhotakhota L, komwe kumalumikizidwa ndi voteji yowongolera Uc. Chifukwa chake AC servo motor imatchedwanso ma servo motors.

Rotor ya AC servo motor nthawi zambiri imapangidwa kukhala khola la gologolo, koma kuti injini ya servo ikhale ndi liwiro lalikulu, mawonekedwe amtundu wamakina, palibe zochitika za "autorotation" komanso kuyankha mwachangu, poyerekeza ndi ma mota wamba, ziyenera kukhala ndi Kukana kwa rotor ndi kwakukulu ndipo mphindi ya inertia ndi yaying'ono. Pakali pano, pali mitundu iwiri ya zozungulira zozungulira zomwe zimagwiritsidwa ntchito kwambiri: imodzi ndi gologolo - khola rotor yokhala ndi mipiringidzo yapamwamba ya resistivity yopangidwa ndi zipangizo zamakono zopangira. Pofuna kuchepetsa nthawi ya inertia ya rotor, rotor imapangidwa pang'ono; winayo ndi chikho chopanda kanthu - chozungulira chopangidwa ndi aluminium alloy, khoma la chikho ndi 0.2 -0.3mm, mphindi ya inertia ya chikho choyezera - rotor yooneka ngati yaying'ono, yankho liri mofulumira, ndipo ntchitoyo ndi yokhazikika, choncho amagwiritsidwa ntchito kwambiri.

Pamene AC servo galimoto alibe ulamuliro voteji, pali kokha pulsating maginito munda kwaiye ndi chisangalalo mapiringidzo mu stator, ndi rotor ndi kuyima. Pakakhala mphamvu yamagetsi, mphamvu ya maginito yozungulira imapangidwa mu stator, ndipo rotor imazungulira kumbali ya maginito ozungulira. Pamene katundu ali wokhazikika, liwiro la galimoto limasintha ndi kukula kwa mphamvu yamagetsi. Pamene gawo lamagetsi owongolera likutsutsana, injini ya servo idzasinthidwa.

Ngakhale mfundo yogwira ntchito ya AC servo motor ndi yofanana ndi ya capacitor - yoyendetsedwa ndi gawo limodzi -gawo la asynchronous motor, kukana kwa rotor wakale ndikokulirapo kuposa komaliza. Choncho, poyerekeza ndi capacitor -oyendetsedwa asynchronous galimoto, servo galimoto ali mbali zitatu zamphamvu:

1. Kukula kwakukulu koyambira: Chifukwa cha kukana kwakukulu kwa rotor, mawonekedwe a torque (mawonekedwe a makina) ali pafupi ndi mzere, ndipo amakhala ndi torque yayikulu. Choncho, pamene stator ili ndi mphamvu yowonongeka, rotor imazungulira nthawi yomweyo, yomwe ili ndi makhalidwe oyambira mofulumira komanso kutengeka kwakukulu.

2. Wide ntchito osiyanasiyana: ntchito khola ndi otsika phokoso. [/p] [p=30, 2, kumanzere] 3. Palibe chodzizungulira chokha: Ngati servo motor ikugwira ntchito itaya mphamvu yamagetsi, injiniyo imasiya kuthamanga nthawi yomweyo.

Kodi "precision transmission micro motor" ndi chiyani?

"Precision transmission micro motor" imatha kuchita mwachangu komanso molondola malangizo omwe amasintha pafupipafupi pamakina, ndikuyendetsa makina a servo kuti amalize ntchito yomwe ikuyembekezeredwa ndi malangizowo, ndipo ambiri aiwo amatha kukwaniritsa izi:

1. Ikhoza kuyamba, kuyimitsa, kuphwanya, kubwerera kumbuyo ndi kuthamanga mofulumira kwambiri, ndipo imakhala ndi mphamvu zamakina, kukana kutentha kwambiri komanso kutentha kwakukulu.

2. Kutha kuyankha mwachangu, torque yayikulu, kamphindi kakang'ono ka inertia ndi nthawi yaying'ono yosasinthika.

3. Ndi dalaivala ndi wolamulira (monga servo motor, stepping motor), kuyendetsa bwino ntchito ndikwabwino.

4. Kudalirika kwakukulu ndi kulondola kwambiri.

Gulu, kapangidwe ndi magwiridwe antchito a "precision transmission micro motor"

AC servo injini

(1) Khola -mtundu wa magawo awiri a AC servo motor (wocheperako khola -mtundu wa rotor, pafupifupi mizere yamakina ozungulira, voliyumu yaying'ono ndi chisangalalo chapano, servo yotsika, yotsika -liwiro silokwanira)

(2) Non -magnetic cup rotor two phase AC servo motor (coreless rotor, pafupifupi liniya makina makhalidwe, lalikulu voliyumu ndi chisangalalo panopa, yaing'ono mphamvu servo, ntchito yosalala pa liwiro lotsika)

(3) Magawo awiri a AC servo motor yokhala ndi ferromagnetic cup rotor (chikho chozungulira chopangidwa ndi ferromagnetic material, pafupifupi mizere yamakina, mphindi yayikulu ya inertia ya rotor, mphamvu yaying'ono yozungulira, ntchito yokhazikika)

(4) Synchronous okhazikika maginito AC servo motor (coaxial Integrated unit wopangidwa okhazikika maginito synchronous motor, tachometer ndi malo kuzindikira chinthu, stator ndi 3-gawo kapena 2-gawo, ndi maginito rotor ayenera kukhala okonzeka ndi mayendedwe othamanga ndi otakata ndi makina Makhalidwewa amapangidwa ndi malo okhazikika a torque ndi malo okhazikika amphamvu, omwe amatha kutsekedwa mosalekeza, ndikuyankha bwino mwachangu. magwiridwe antchito, mphamvu yayikulu yotulutsa, ndi kusinthasintha kwakung'ono kwa torque pali mitundu iwiri ya ma square wave drive ndi sine wave drive, magwiridwe antchito abwino, ndi zinthu zamagetsi zamagetsi zamagetsi)

(5) Asynchronous three-phase AC servo motor (rotor ndi yofanana ndi khola -type asynchronous motor, ndipo imayenera kukhala ndi dalaivala. Imatengera kuwongolera kwa vekitala ndikukulitsa kuwongolera kwamphamvu kwanthawi zonse. makina chida spindle speed regulation systems)

DC servo injini

(1) Makina osindikizira a DC servo motor (disc rotor ndi disc stator amalumikizidwa ndi chitsulo cha cylindrical maginito, mphindi ya rotor ya inertia ndi yaying'ono, palibe cogging, palibe machulukitsidwe, ndipo torque yotulutsa ndi yayikulu)

(2) Waya -wolonda litayamba mtundu DC servo galimoto (chimbale rotor ndi stator ndi axially omangika ndi cylindrical maginito zitsulo, mphindi rotor ya inertia ndi yaing'ono, kulamulira ntchito bwino kuposa ena DC servo motors, dzuwa ndi mkulu, ndi torque yotulutsa ndi yayikulu)

(3) Cup-mtundu armature okhazikika maginito DC motor (coreless rotor, kakang'ono rotor mphindi ya inertia, oyenera incremental motion servo system)

(4) Brushless DC servo motor (stator ndi mapindikidwe amitundu yambiri, rotor ndi maginito osatha, yokhala ndi sensa ya rotor, palibe kusokoneza, moyo wautali, phokoso lochepa)

torque motere

(1) DC torque motor (mawonekedwe athyathyathya, kuchuluka kwa mitengo, kuchuluka kwa mipata, kuchuluka kwa zidutswa zosinthira, kuchuluka kwa ma conductor angapo; torque yayikulu yotulutsa, ntchito yopitilira pa liwiro lotsika kapena kuyimitsidwa, mawonekedwe abwino amakina ndikusintha, nthawi yaying'ono yamagetsi yamagetsi )

(2) Brushless DC torque motor (yofanana ndi ma brushless DC servo motor, koma yathyathyathya, yokhala ndi mitengo yambiri, mipata ndi ma conductor angapo; torque yayikulu yotulutsa, mawonekedwe abwino amakina ndikusintha, moyo wautali, palibe zoseketsa, palibe phokoso Lochepa)

(3) Cage-type AC torque motor (khola -mtundu wa rotor, mawonekedwe athyathyathya, mizati yambiri ndi mipata, torque yayikulu yoyambira, nthawi yaying'ono yamagetsi, nthawi yayitali yokhoma, komanso makina ofewa)

(4) Solid rotor AC torque motor (rotor yolimba yopangidwa ndi zinthu za ferromagnetic, mawonekedwe athyathyathya, mizati yambiri ndi mipata, yokhoma nthawi yayitali, yosalala, yofewa yamakina)

stepper mota

(1) Reactive poponda galimoto (stator ndi rotor amapangidwa ndi pakachitsulo mapepala zitsulo, palibe mapiringidzo pa ozungulira pachimake, ndipo pali ulamuliro mapiringidzo pa stator; sitepe ngodya ndi yaing'ono, kuyambira ndi kuthamanga pafupipafupi ndi mkulu. , kulondola kwa masitepe ndikotsika, ndipo palibe torque yodzitsekera)

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(3) Hybrid stepping motor (permanent maginito rotor, axial magnetization polarity; high step angle kulondola, kugwira torque, athandizira ang'onoang'ono panopa, onse zotakataka ndi okhazikika maginito