Servo mota ruzivo rwekutanga

Servo mota ruzivo rwekutanga

Izwi rekuti "servo" rinobva pashoko rechiGiriki rekuti "muranda". "Servo motor" inogona kunzwisiswa semotokari inoteerera zvachose murairo wechiratidzo chekutonga: chiratidzo chisati chatumirwa, rotor inomira; apo chiratidzo chekutonga chinotumirwa, rotor inotenderera pakarepo; apo chiratidzo chekutonga chinonyangarika, rotor inogona kumira pakarepo.

Iyo servo mota idiki mota inoshandiswa se actuator mune otomatiki control mudziyo. Basa rayo ndere kushandura chiratidzo chemagetsi kuita angular displacement kana angular velocity ye shaft inotenderera.

Servo mota dzakakamurwa kuita mapoka maviri: AC servo uye DC servo

Iyo yakakosha chimiro che AC servo mota yakafanana neyeiyo AC induction mota (asynchronous mota). Kune maviri ekusimudzira mamhepo Wf uye kudzora windings WcoWf ine chikamu nzvimbo yekusimuka ye90 ° yemagetsi angle pane stator, yakabatana kune inogara AC voltage, uye kushandisa AC voltage kana shanduko yechikamu inoiswa kuWc kuzadzisa chinangwa chekudzora kushanda. zvemotikari. AC servo mota ine hunhu hwekushanda kwakadzikama, kudzoreka kwakanaka, kukurumidza kupindura, kunzwisiswa kwakanyanya, uye yakasimba isiri-mutsara zviratidzo zvemakinika maitiro uye gadziriso hunhu (inoda kuve isingasviki gumi kusvika 15% uye isingasviki 15% kusvika 25% zvichiteerana).

Iyo yakakosha chimiro cheDC servo mota yakafanana neiyo general DC mota. Kumhanya kwemotor n=E/K1j=(Ua-IaRa)/K1j, uko E ndiko kugadziridza simba remagetsi remagetsi, K inoramba iripo, j ndiyo magineti inoyerera padanda, Ua, Ia ndiwo magetsi emagetsi uye azvino, Ra. is The armature kuramba, kushandura Ua kana kushandura φ inogona kudzora kumhanya kweDC servo mota, asi nzira yekudzora iyo armature voltage inowanzo shandiswa. Mune magineti echigarire DC servo mota, iyo yekumhanyisa mhepo inotsiviwa negineti yekusingaperi, uye iyo magineti flux φ inogara iripo. . DC servo mota ine yakanaka mutsara wemitemo maitiro uye nekukurumidza nguva mhinduro.

Zvakanakira uye Zvakaipa zveDC Servo Motors

Zvakanakira: Kwakaringana kumhanya kudzora, yakaoma torque uye kumhanya maitiro, nyore kudzora musimboti, nyore kushandisa, uye mutengo wakachipa.

Zvakaipa: kuchinjika kwebhurashi, kukurumidza kumisa, kuwedzera kuramba, uye kupfeka zvimedu (zvisina kukodzera nzvimbo isina guruva uye inoputika)

Zvakanakira uye zvakaipira zve AC servo mota

Zvakanakira: yakanaka kukurumidza kudzora maitiro, yakatsetseka kudzora mune yese yekumhanyisa renji, inenge isina oscillation, kugona kwakanyanya pamusoro pe90%, kushoma chizvarwa chekupisa, yakakwirira-kumhanya kudzora, yakakwirira-chaiyo chinzvimbo chekutonga (zvichienderana nekurongeka kwe encoder), yakatarwa nzvimbo yekushanda. Mukati, inogona kuwana inogara torque, yakaderera inertia, yakaderera ruzha, hapana kupfeka brashi, kugadzirisa-isina (yakakodzera guruva-isina, nzvimbo dzinoputika)

Zvakaipa: Kudzora kwacho kwakanyanya kuoma, dhiraivha paramita dzinoda kugadziridzwa pasaiti kuti ione iyo PID paramita, uye zvimwe zvinongedzo zvinodikanwa.

DC servo mota dzakakamurwa kuita brushed uye brushless mota

Mabhurashi mota ane mutengo wakaderera, akareruka muchimiro, akakura mukutanga torque, yakafara mukumhanya kudzora renji, nyore kudzora, inoda gadziriso, asi iri nyore kuchengetedza (tsiva kabhoni brashi), gadzira kupindira kwemagetsi, ine zvinodiwa zvenzvimbo yekushandisa, uye anowanzo shandiswa kune mutengo-usinganzwe Zvakajairwa maindasitiri uye zviitiko zvevagari.

Brushless motors idiki muhukuru uye huremu huremu, yakakwira mukubuda uye nekukurumidza mukupindura, yakakwira mukumhanya uye idiki inertia, yakagadzikana mu torque uye yakatsetseka mukutenderera, yakaoma mukutonga, yakangwara, inochinjika mumagetsi commutation mode, inogona kuchinjika. musquare wave kana sine wave, kuchengetedza-yemahara mota, kushanda kwakanyanya uye kuchengetedza simba, diki remagetsi emagetsi, yakaderera tembiricha kusimuka uye hupenyu hurefu, inokodzera kwakasiyana nharaunda.

AC servo motors zvakare brushless mota, iyo yakakamurwa kuita synchronous uye asynchronous mota. Parizvino, masynchronous motors anowanzo shandiswa mukufambisa kudzora. Simba remagetsi rakakura, simba rinogona kuve rakakura, inertia yakakura, iyo yakanyanya kumhanya yakaderera, uye kumhanya kunowedzera nekuwedzera kwesimba. Uniform -speed descent, yakakodzera kune yakaderera-kumhanya uye yakatsetseka kumhanya nguva.

Iyo rotor mukati meiyo servo mota ndeye isingaperi magineti. Mutyairi anodzora U/V/W three-phase magetsi kuti aumbe electromagnetic field. Iyo rotor inotenderera pasi pechiito cheiyo magnetic field. Panguva imwecheteyo, encoder inouya nemota inoendesa chiratidzo chemhinduro kumutyairi. Mitemo inofananidzwa kugadzirisa kona ye rotor rotation. Kurongeka kweiyo servo mota kunoenderana nekurongeka kweiyo encoder (nhamba yemitsara).

Chii chinonzi servo mota? Marudzi mangani aripo? Ndeapi maitiro ekushanda?

Mhinduro: Iyo servo mota, inozivikanwawo seye Executive mota, inoshandiswa se actuator mune otomatiki control system kushandura iyo yakagamuchirwa chiratidzo chemagetsi kuita angular displacement kana angular velocity kubuda pane mota shaft.

Servo mota dzakakamurwa kuita mapoka maviri: DC uye AC servo mota. Hunhu hwavo hukuru ndehwekuti hapana kuzvitenderedza kana chiratidzo chemagetsi chiri zero, uye kumhanya kunodzikira pakumhanya kwakafanana nekuwedzera kwe torque.

Ndeupi mutsauko mukuita pakati peAC servo mota uye brushless DC servo mota?

Mhinduro: Kuita kwe AC servo motor iri nani, nokuti AC servo inotungamirirwa neine wave uye torque ripple idiki; nepo brushless DC servo inodzorwa ne trapezoidal wave. Asi brushless DC servo control iri nyore uye yakachipa.

Iko kukurumidza kusimudzira kwechigarire magineti AC servo drive tekinoroji yakaita kuti DC servo system itarise dambudziko rekubviswa. Nekuvandudzwa kwetekinoroji, tekinoroji yekusingaperi AC servo drive tekinoroji yakawana budiriro yakatanhamara, uye vagadziri vemagetsi vane mukurumbira munyika dzakasiyana vakaramba vachitangisa nyowani nyowani dzeAC servo motors uye servo drives. Iyo AC servo system yave iyo huru yekusimudzira nzira yemazuva ano yepamusoro-inoshanda servo system, izvo zvinoita kuti iyo DC servo system itarise dambudziko rekubviswa.

Kuenzaniswa neDC servo motors, magineti echigarire AC servo mota ane anotevera mabhenefiti makuru:

⑴Pasina bhurashi uye commutator, kushanda kwacho kunonyanya kuvimbika uye kugadzirisa-kwemahara.

(2) Stator winding heat inoderedzwa zvikuru.

⑶ Iyo inertia idiki, uye sisitimu ine mhinduro yakanaka nekukurumidza.

⑷ High-speed uye yakakwirira-torque kushanda mamiriro akanaka.

⑸Diki saizi uye huremu huremu pasi pesimba rimwe chete.

Servo mota musimboti

Chimiro cheiyo stator ye AC servo mota yakangofanana neye capacitor split-phase single -phase asynchronous mota. Iyo stator yakashongedzerwa nemhepo mbiri ine mutsauko we90 °, imwe ndeye excitation winding Rf, iyo inogara yakabatana ne AC voltage Uf; imwe yacho ndeye control winding L, iyo yakabatana neiyo control signal voltage Uc. Saka iyo AC servo mota inonziwo maviri servo mota.

Iyo rotor ye AC servo mota inowanzo gadzirwa kuita squirrel cage, asi kuti iite kuti servo mota ive nehupamhi hwekumhanya, mutsara wemagetsi maitiro, hapana "autorotation" chiitiko uye nekukurumidza kupindura kuita, zvichienzaniswa neakajairika motors, zvinofanirwa. vane The rotor resistance yakakura uye nguva ye inertia idiki. Parizvino, kune marudzi maviri ezvivakwa zve rotor anoshandiswa zvakanyanya: imwe ndeye squirrel -cage rotor ine yakakwirira - resistivity guide bars yakagadzirwa nepamusoro-resistivity conductive zvinhu. Kuti kuderedze nguva ye inertia ye rotor, rotor inoitwa slender; imwe Imwe ikombe isina mhango - yakaumbwa rotor yakagadzirwa nealuminium alloy, mukombe rusvingo ingori 0.2 -0.3mm, nguva ye inertia yegomba mukombe -shaped rotor idiki, mhinduro inokurumidza, uye kushanda kwakagadzikana, saka rinoshandiswa zvakanyanya.

Kana iyo AC servo mota isina simba rekudzora, pane chete iyo inopuruzira magineti inogadzirwa nemhepo inosimudzira mu stator, uye rotor yakamira. Kana paine simba rekutonga, mhepo inotenderera yemagineti inogadzirwa mu stator, uye rotor inotenderera ichienda kune inotenderera magnetic field. Kana mutoro uchigara, kumhanya kwemota kunoshanduka nehukuru hwemagetsi ekudzora. Kana chikamu cheiyo control voltage yakatarisana, iyo servo mota inodzoserwa kumashure.

Kunyangwe iyo nheyo yekushanda ye AC servo mota yakafanana neye capacitor - inoshanda imwe -phase asynchronous mota, iyo rotor inopikisa yekutanga yakakura kupfuura iyo yekupedzisira. Naizvozvo, zvichienzaniswa neiyo capacitor -inoshanda asynchronous mota, iyo servo mota ine zvinhu zvitatu zvakakosha:

1. Yakakura yekutanga torque: Nekuda kweiyo yakakura rotor kuramba, torque hunhu (mechanical characteristic) iri padyo nelinear, uye ine yakakura kutanga torque. Nokudaro, kana stator ine simba rekutonga, rotor inotenderera pakarepo, iyo ine maitiro ekukurumidza kutanga uye kunzwisisika kwakanyanya.

2. Kuwanda kwekushanda kwakasiyana-siyana: kushanda kwakagadzikana uye ruzha rushoma. [/p] [p = 30, 2, kuruboshwe] 3. Hapana chiitiko chekuzvitenderedza: Kana servo motor iri kushanda ikarasikirwa nemagetsi ekudzora, mota inomira kumhanya nekukurumidza.

Chii chinonzi "precision transmission micro motor"?

"Precision transmission micro motor" inogona kukurumidza uye nemazvo kuita zvinogara zvichichinja mirairo musystem, uye kutyaira iyo servo michina yekupedzisa basa rinotarisirwa nerairo, uye mazhinji acho anogona kuita zvinotevera zvinodiwa:

1. Inogona kutanga, kumira, kubhureka, kudzoka shure uye kumhanya panguva yakaderera kazhinji, uye ine simba rakakwirira remagetsi, kukwirira kwekudzivirira kupisa uye yakakwirira yekudzivirira.

2. Yakanaka kukurumidza kupindura kugona, hombe torque, diki chinguva inertia uye diki nguva inogara.

3. Nemutyairi uye mutongi (akadai se servo motor, stepping motor), kutonga kwekuita kwakanaka.

4. Kuvimbika kwepamusoro uye kunyatsoruramisa.

Chikamu, chimiro uye kuita kwe "precision transmission micro mota"

AC servo mota

(1) Cage -mhando mbiri-chikamu AC servo mota (slender cage -type rotor, inenge mutsara wemichina maitiro, vhoriyamu diki uye excitation ikozvino, yakaderera-simba servo, yakaderera-kumhanya kushanda haina kutsetseka zvakakwana)

(2) Non -magnetic cup rotor maviri-phase AC servo mota (coreless rotor, rinenge linear mechanicha maitiro, hombe vhoriyamu uye excitation ikozvino, diki simba servo, yakatsetseka mashandiro pakumhanya kwakaderera)

(3) Maviri-chikamu AC servo mota ine ferromagnetic mukombe rotor (kapu rotor yakagadzirwa neferromagnetic zvinhu, ingangoita mutsara mechanicha maitiro, hombe nguva ye inertia ye rotor, diki cogging maitiro, yakagadzikana kushanda)

(4) Synchronous inogara magineti AC servo mota (iyo coaxial yakabatanidzwa unit inosanganisira inogara magineti synchronous mota, tachometer uye nzvimbo yekuona chinhu, stator ndeye 3-chikamu kana 2-chikamu, uye iyo magineti zvinhu rotor inofanirwa kunge ine dhiraivha; iyo yekumhanya siyana yakafara uye ma mechanical Maitiro anoumbwa neanogara torque nzvimbo uye inogara iine simba nzvimbo, iyo inogona kuvharwa nguva dzose, nemhinduro yakanaka yekukurumidza. kuita, hombe yekuburitsa simba, uye diki torque fluctuation kune maviri modhi yesquare wave drive uye sine wave drive, kuita kwakanaka kwekutonga, uye electromechanical yekubatanidza makemikari zvigadzirwa)

(5) Asynchronous three -phase AC servo motor (iyo rotor yakafanana necage -type asynchronous motor, uye inofanira kunge ine mutyairi. Inotora vector control uye inowedzera huwandu hwekugara kwesimba rekumhanya kwemagetsi. Inonyanya kushandiswa mumagetsi. muchina chishandiso spindle kumhanya kudzora masisitimu)

DC servo mota

(1) Yakadhindwa inomonereka DC servo mota (disc rotor uye disc stator yakasungirirwa axially necylindrical magineti simbi, iyo rotor nguva yeinertia idiki, hapana cogging maitiro, hapana saturation maitiro, uye inobuda torque yakakura)

(2) Waya -ronda dhisiki rudzi DC servo mota (disc rotor uye stator zvakasungirirwa axially necylindrical magnetic simbi, iyo rotor nguva ye inertia idiki, kutonga kuita kuri nani pane mamwe maDC servo motors, kushanda kwacho kwakakwira, uye iyo torque yekubuda yakakura)

(3) Cup-mhando armature inogara magineti DC mota (coreless rotor, diki rotor nguva ye inertia, yakakodzera kuwedzera inofamba servo system)

(4) Brushless DC servo mota (iyo stator ine-multi-phase mhepo, iyo rotor ndeye isingaperi magineti, ine rotor chinzvimbo sensor, hapana spark kupindira, hupenyu hurefu, yakaderera ruzha)

torque injini

(1) DC torque mota (flat chimiro, nhamba yemapango, nhamba yezvimedu, nhamba yezvimedu zvekuchinja, nhamba yeakatevedzana conductor; hombe inobuda torque, inoenderera ichishanda ichimhanya yakaderera kana yakamiswa, yakanaka mechanic uye gadziriso maitiro, diki electromechanical nguva inogara. )

(2) Brushless DC torque mota (yakafanana muchimiro kune brushless DC servo mota, asi yakafuratira, ine akawanda mapango, slots uye akatevedzana conductors; hombe yekubuda torque, yakanaka mekiniki uye gadziriso maitiro, hupenyu hwakareba, pasina spark, hapana ruzha Rushoma)

(3) Cage-mhando AC torque mota (cage -type rotor, chimiro chakafuratira, nhamba huru yemapango uye slots, hombe yekutanga torque, diki electromechanical nguva inogara, kwenguva refu yakakiyiwa-rotor mashandiro, uye zvinyoro nyoro zvivakwa)

(4) Solid rotor AC torque mota (yakasimba rotor yakagadzirwa neferromagnetic zvinhu, chimiro chakafuratira, nhamba huru yemapango uye inotsvedza, yakareba-yakakiyiwa-rotor, yakatsetseka kushanda, yakapfava michina zvivakwa)

stepper motor

(1) Reactive stepping mota (iyo stator uye rotor inogadzirwa nesilicon simbi mashiti, hapana mhepo inotenderera pane yerotor core, uye pane yekudzora mhepo pane stator; iyo nhanho angle idiki, yekutanga uye kumhanya frequency yakakwirira. , kurongeka kwekona kwakadzikira, uye hapana yekuzvivharira torque)

(2) Yechigarire magineti inotsika mota (chisingaperi magineti rotor, radial magnetization polarity; hombe nhanho angle, yakaderera kutanga uye kushanda frequency, inobata torque, uye mashandisiro emagetsi madiki pane reactive mhando, asi yakanaka uye yakaipa pulses inodiwa ikozvino)

(3) Hybrid stepping mota (permanent magineti rotor, axial magnetization polarity; yakakwirira nhanho kona kurongeka, kubata torque, diki yekupinza ikozvino, zvese inoshanda uye isingaperi magineti.