Servo motor ulwazi olusisiseko

Servo motor ulwazi olusisiseko

Igama elithi "servo" livela kwigama lesiGrike elithi "ikhoboka"."I-Servo motor" inokuqondwa njengemoto ethobela ngokupheleleyo umyalelo wesignali yokulawula: ngaphambi kokuba umqondiso wokulawula uthunyelwe, i-rotor imile;xa umqondiso wokulawula uthunyelwa, i-rotor ijikeleza ngokukhawuleza;xa umqondiso wokulawula uphela, i-rotor inokumisa ngokukhawuleza.

I-servo motor yinjini encinci esetyenziswa njenge actuator kwisixhobo solawulo oluzenzekelayo.Umsebenzi wayo kukuguqula umqondiso wombane kwi-angular displacement okanye i-angular velocity ye-shaft ejikelezayo.

Iinjini zeServo zahlulwe zaba ngamacandelo amabini: i-AC servo kunye ne-DC servo

Ulwakhiwo olusisiseko lwe-AC servo motor luyafana nelo lwe-AC induction motor (i-asynchronous motor).Kukho ii-winding ezimbini zokuvuselela i-Wf kunye ne-windings yokulawula i-WcoWf enesithuba sesigaba sokufuduswa kwe-angle yombane engama-90 ° kwi-stator, eqhagamshelwe kumbane we-AC ongaguqukiyo, kunye nokusebenzisa amandla ombane we-AC okanye utshintsho lwesigaba olusetyenziswa kwi-Wc ukufezekisa injongo yokulawula ukusebenza. yemoto.I-AC servo motor ineempawu zokusebenza okuzinzileyo, ukulawuleka kakuhle, ukuphendula ngokukhawuleza, ubuntununtunu obuphezulu, kunye nezalathi ezingqongqo ezingalungelelananga zeempawu zoomatshini kunye neempawu zohlengahlengiso (kufuneka zibe ngaphantsi kwe-10% ukuya kwi-15% kwaye ngaphantsi kwe-15% ukuya kuma-25% ngokulandelelana).

Ulwakhiwo olusisiseko lwe-DC servo motor luyafana nelo lwemoto yeDC jikelele.Isantya semoto n=E/K1j=(Ua-IaRa)/K1j, apho u-E isisithinteli sombane we-armature counter, i-K ayiguquguquki, i-j yimagnethi eguquguqukayo kwipali nganye, i-Ua, i-Ia yi-armature voltage kunye ne-armature current, i-Ra yi Ukuxhathisa kwezixhobo, ukutshintsha i-Ua okanye ukutshintsha i-φ kunokulawula isantya se-DC servo motor, kodwa indlela yokulawula i-armature voltage isetyenziswa ngokubanzi.Kwimagnethi esisigxina ye-DC servo motor, i-excitation winding ithathelwa indawo yimagnethi esisigxina, kwaye i-magnetic flux φ ihlala njalo..I-DC servo motor ineempawu ezilungileyo zokulawula umgca kunye nokuphendula kwexesha elikhawulezayo.

Izinto eziluncedo kunye nezingeloncedo ze DC Servo Motors

Izinto eziluncedo: Ukulawulwa kwesantya esichanekileyo, itorque enzima kunye neempawu zesantya, umgaqo olula wokulawula, kulula ukuyisebenzisa, kunye nexabiso eliphantsi.

Ukungalungi: ukuguqulwa kwebrashi, ukunciphisa isantya, ukuchasana okongeziweyo, kunye namasuntswana okugqoka (ayifanelekanga indawo engenathuli kunye neendawo eziqhumayo)

Izinto eziluncedo kunye nokungalunganga kwe-AC servo motor

Izinto eziluncedo: iimpawu zokulawula isantya esilungileyo, ulawulo olugudileyo kulo lonke uluhlu lwesantya, phantse akukho oscillation, ukusebenza kakuhle okuphezulu ngaphezulu kwe-90%, ukuveliswa kobushushu obuncinci, ukulawulwa kwesantya esiphezulu, ulawulo oluchanekileyo lwendawo (kuxhomekeke kwi-encoder ukuchaneka), indawo yokusebenza elinganisiweyo. Ngaphakathi, inokufezekisa i-torque eqhubekayo, inertia ephantsi, ingxolo ephantsi, akukho kunxitywa kwebrashi, ukugcinwa-mahhala (ukulungele uthuli-uthuli, indawo eziqhumayo)

Ukungalungi: Ulawulo luyinkimbinkimbi ngakumbi, iiparameters zokuqhuba kufuneka zihlengahlengiswe kwisayithi ukuze zinqume iiparamitha ze-PID, kunye nokudibanisa okungaphezulu kuyadingeka.

Iinjini ze-DC servo zahlulwe zaba ziimotor ezixutyiweyo kunye neebrashi

Iimoto ezixutyiweyo zinexabiso eliphantsi, zilula ngolwakhiwo, zinkulu ekuqaliseni itorque, zibanzi kuluhlu lolawulo lwesantya, kulula ukuzilawula, zifuna ukugcinwa, kodwa kulula ukuzigcina (ithathe indawo yebrashi yekhabhoni), zivelise ukuphazamiseka kwe-electromagnetic, zineemfuno zokusingqongileyo, kwaye ziqhele ukusetyenziselwa ukungakhathali kweendleko Imisitho eqhelekileyo yemizi-mveliso neyoluntu.

Iinjini ze-brushless zincinci ngobukhulu kwaye zilula ngobunzima, ziphezulu kwimveliso kwaye zikhawuleza ekuphenduleni, isantya esiphezulu kwaye sincinci kwi-inertia, izinzile kwi-torque kwaye igudileyo ekujikelezeni, i-complex in control, ihlakaniphile, iguquguqukayo kwimodi yokuguqulwa kwe-elektroniki, inokutshintshwa. Kwi-square wave okanye i-sine wave, imotor-engenawo ukugcinwa, ukusebenza kakuhle okuphezulu kunye nokonga amandla, imitha encinci ye-electromagnetic, ukunyuka kwamaqondo obushushu aphantsi kunye nobomi obude, obulungele iindawo ezahlukeneyo.

Iimotor ze-AC servo nazo ziimotor ezingenazintambo, ezahlulwe kwiimotor ezihambelanayo kunye ne-asynchronous.Okwangoku, ii-synchronous motors zisetyenziswa ngokubanzi kulawulo lwentshukumo.Uluhlu lwamandla lukhulu, amandla anokuba makhulu, inertia inkulu, isantya esiphezulu siphantsi, kwaye isantya sinyuka ngokunyuka kwamandla.Ukwehla okulinganayo -isantya esifanelekileyo, silungele isantya esisezantsi kunye nezihlandlo zokubaleka ezigudileyo.

I-rotor ngaphakathi kwe-servo motor yimagnethi esisigxina.Umqhubi ulawula i-U/V/W yombane wesigaba sesithathu ukwenza i-electromagnetic field.I-rotor ijikeleza phantsi kwesenzo sale ntsimi yamagnetic.Kwangaxeshanye, i-encoder eza nemoto idlulisela umqondiso wengxelo kumqhubi.Amaxabiso afaniswa nokulungelelanisa i-angle yokujikeleza kwe-rotor.Ukuchaneka kwe-servo motor kuxhomekeke ekuchanekeni kwe-encoder (inani lemigca).

Yintoni injini ye-servo?Zingaphi iindidi ezikhoyo?Ziziphi iimpawu zokusebenza?

Impendulo: I-servo motor, eyaziwa ngokuba yi-executive motor, isetyenziswe njenge-actuator kwinkqubo yokulawula ngokuzenzekelayo ukuguqula umqondiso ofunyenweyo wombane kwi-angular displacement okanye i-angular velocity output kwi-motor shaft.

Iinjini zeServo zahlulwe zaba ngamacandelo amabini: iinjini ze-DC kunye ne-AC servo.Iimpawu zabo eziphambili kukuba akukho-self-rotation xa i-voltage yesignali i-zero, kwaye isantya siyancipha kwisantya esifanayo kunye nokunyuka kwe-torque.

Yintoni umahluko ekusebenzeni phakathi kwe-AC servo motor kunye ne-brushless DC servo motor?

Impendulo: Ukusebenza kwe-AC servo motor kungcono, kuba i-AC servo ilawulwa yi-sine wave kunye ne-torque ripple encinci;ngelixa i-brushless DC servo ilawulwa yi-trapezoidal wave.Kodwa i-brushless DC servo control ilula kwaye itshiphu.

Uphuhliso olukhawulezayo lwemagnethi esisigxina ye-AC servo drive technology yenze inkqubo ye-DC servo ijongene nengxaki yokupheliswa.Ngophuhliso lwetekhnoloji, itekhnoloji yemagnethi esisigxina ye-AC servo drive izuze uphuhliso olubalaseleyo, kwaye abavelisi bombane abadumileyo kumazwe ahlukeneyo baye baqalisa ngokuqhubekayo uthotho olutsha lwee-AC servo motors kunye ne-servo drives.Inkqubo ye-AC servo iye yaba lelona khokelo lophuhliso lwenkqubo yangoku ye-servo ephezulu, eyenza inkqubo ye-DC servo ijongane nengxaki yokupheliswa.

Xa kuthelekiswa ne-DC servo motors, imagnethi esisigxina ye-AC servo motors inezi nzuzo ziphambili zilandelayo:

⑴Ngaphandle kwebrashi kunye ne-commutator, umsebenzi uthembeke ngakumbi kwaye ukugcinwa-simahla.

(2) Ukufudumala kwe-stator kuyancipha kakhulu.

⑶ I-inertia incinci, kwaye inkqubo inempendulo entle ngokukhawuleza.

⑷ Isantya esiphezulu kunye ne-high-torque imeko yokusebenza ilungile.

⑸Isayizi encinci kunye nobunzima obulula phantsi kwamandla afanayo.

Umgaqo we-Servo motor

Ubume be-stator ye-AC servo motor ngokusisiseko iyafana neyo capacitor yokwahlula-isigaba esinye-isigaba se-asynchronous motor.I-stator ixhotyiswe ngee-windings ezimbini kunye nokwahlukana okufanayo kwe-90 °, enye i-excitation winding Rf, ehlala ixhunywe kwi-AC voltage Uf;enye ijiko lolawulo lwe-L, eliqhagamshelwe kwi-voltage yolawulo lwe-Uc.Ke i-AC servo motor ikwabizwa ngokuba yi-servo motors ezimbini.

I-rotor ye-AC servo motor ihlala yenziwe kwikheji ye-squirrel, kodwa ukuze wenze i-servo motor ibe noluhlu olubanzi lwesantya, iimpawu ezihambelana nomatshini, akukho nto "ye-autorotation" kunye nokusebenza ngokukhawuleza kokuphendula, xa kuthelekiswa neenjini eziqhelekileyo, kufuneka. babe Ukumelana ne-rotor kukhulu kwaye umzuzu we-inertia uncinci.Okwangoku, kukho iindidi ezimbini zezakhiwo ze-rotor ezisetyenziswa ngokubanzi: enye i-squirrel-cage rotor ene-high-resistive guide bars eyenziwe ngezinto eziphezulu zokuxilonga.Ukuze unciphise umzuzu we-inertia ye-rotor, i-rotor yenziwe i-slender;enye enye yikomityi engenanto - i-rotor eyenziwe nge-aluminium alloy, udonga lwendebe luyi-0.2 -0.3mm kuphela, umzuzu we-inertia yekomityi engenanto -i-rotor emile incinci, impendulo ikhawuleza, kwaye umsebenzi uzinzile, ngoko isetyenziswa ngokubanzi.

Xa i-AC servo motor ingenawo amandla olawulo, kukho kuphela i-pulsating field magnetic eyenziwa yi-excitation winding kwi-stator, kwaye i-rotor imile.Xa kukho i-voltage yokulawula, intsimi yamagnetic ejikelezayo yenziwa kwi-stator, kwaye i-rotor ijikeleza kwicala lentsimi yamagnetic ejikelezayo.Xa umthwalo uhlala, isantya semoto sitshintsha kunye nobukhulu bombane wokulawula.Xa isigaba solawulo lombane sichasene, i-servo motor iya kuguqulwa.

Nangona umgaqo osebenzayo we-AC servo motor ufana ne-capacitor - esebenza enye -isigaba se-asynchronous motor, ukuxhathisa kwe-rotor yangaphambili kukhulu kakhulu kunokokugqibela.Ke ngoko, xa kuthelekiswa ne-capacitor-esebenza nge-asynchronous motor, i-servo motor ineempawu ezintathu ezibalulekileyo:

1. I-torque enkulu yokuqala: Ngenxa yokumelana ne-rotor enkulu, uphawu lwe-torque (uphawu lomatshini) lusondele kumgca, kwaye lunokuqala okukhulu.Ngoko ke, xa i-stator ine-voltage yokulawula, i-rotor ijikeleza ngokukhawuleza, eneempawu zokuqalisa ngokukhawuleza kunye novakalelo oluphezulu.

2. Uluhlu olubanzi lokusebenza: ukusebenza okuzinzile kunye nengxolo ephantsi.[/p][p=30, 2, ekhohlo] 3. Akukho nto iyazijikelezisayo: Ukuba i-servo motor esebenzayo ilahlekelwa ngumbane wokulawula, i-motor iya kuyeka ukusebenza ngokukhawuleza.

Yintoni "injini encinci yothumelo echanekileyo"?

"Injini encinci yokuhanjiswa okuchanekileyo" inokuqalisa ngokukhawuleza nangokuchanekileyo imiyalelo etshintsha rhoqo kwinkqubo, kwaye iqhube inkqubo ye-servo ukugqiba umsebenzi olindelwe ngumyalelo, kwaye uninzi lwabo lunokuhlangabezana nezi mfuno zilandelayo:

1. Inokuqala, imise, ibhuleki, ibuyele umva kwaye ibaleke ngesantya esiphantsi rhoqo, kwaye inamandla omatshini aphezulu, inqanaba lokumelana nobushushu obuphezulu kunye nenqanaba eliphezulu lokugquma.

2. Ikhono lokuphendula ngokukhawuleza, i-torque enkulu, umzuzu omncinci we-inertia kunye nexesha elincinci elingaguqukiyo.

3. Ngomqhubi kunye nomlawuli (ofana ne-servo motor, i-steping motor), ukusebenza kokulawula kulungile.

4. Ukuthembeka okuphezulu kunye nokuchaneka okuphezulu.

Udidi, ulwakhiwo kunye nokusebenza "kwemoto encinci yosasazo oluchanekileyo"

AC servo motor

(1) I-Cage -uhlobo lwesigaba sesibini se-AC servo motor (i-slender cage-type rotor, malunga neempawu ze-mechanical linear, umthamo omncinci kunye ne-excitation yangoku, i-servo yamandla aphantsi, i-speed-speed operation ayigudi ngokwaneleyo)

(2) I-non-magnetic cup rotor yesigaba sesibini se-AC servo motor (i-coreless rotor, phantse imigca yeempawu zomatshini, umthamo omkhulu kunye novuselelo lwangoku, i-servo yamandla encinci, ukusebenza kakuhle ngesantya esiphantsi)

(3) Izigaba ezibini ze-AC servo motor ene-ferromagnetic cup rotor (i-rotor yekomityi eyenziwe ngezinto ze-ferromagnetic, phantse iimpawu zomatshini, umzuzu omkhulu we-inertia ye-rotor, isiphumo esincinci sokubamba, ukusebenza okuzinzileyo)

(4) I-synchronous umazibuthe osisigxina we-AC servo motor (iyunithi edityanisiweyo ye-coaxial ebandakanya i-magnetic synchronous motor esisigxina, i-tachometer kunye nendawo yokufumanisa indawo, i-stator sisigaba se-3 okanye isigaba se-2, kunye ne-rotor yemagnethi kufuneka ixhotyiswe Uluhlu lwesantya lubanzi kunye noomatshini Iimpawu zenziwa ngendawo ye-torque engaguqukiyo kunye nendawo yamandla eqhubekayo, enokuthi itshixeke ngokuqhubekayo, ngokusebenza kakuhle kokuphendula ngokukhawuleza, amandla amakhulu okuphuma, kunye nokuguquguquka kwetorque ezimbini; i-square wave drive kunye ne-sine wave drive, ukusebenza kakuhle kolawulo, kunye neemveliso zekhemikhali zokudibanisa i-electromechanical)

5 Iinkqubo zokulawula isantya sesixhobo somatshini somatshini)

DC servo motor

(1) I-DC servo motor eprintwayo (i-disc rotor kunye ne-disc stator ziboshwe nge-axially ngentsimbi ye-cylindrical magnetic, umzuzu we-rotor we-inertia uncinci, akukho mpembelelo yokudibanisa, akukho siphumo sokugcwalisa, kunye ne-torque enkulu)

(2) I-Wire-wound disk uhlobo lwe-DC servo motor (i-disc rotor kunye ne-stator ziboshwe nge-axially ngentsimbi ye-cylindrical magnetic, umzuzu we-rotor we-inertia uncinci, ukusebenza kokulawula kungcono kunezinye ii-motor servo ze-DC, ukusebenza kakuhle kuphezulu, kwaye itorque enkulu)

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(4) I-Brushless DC servo motor (i-stator i-multi-phase winding, i-rotor yimagnethi esisigxina, kunye ne-rotor position sensor, akukho ukuphazamiseka kwe-spark, ubomi obude, ingxolo ephantsi)

i-torque motor

(1) I-DC torque motor (isakhiwo esisicaba, inani leepali, inani leendawo zokubeka, inani leziqwenga zokutshintsha, inani lee-conductor zechungechunge; i-torque enkulu ephumayo, umsebenzi oqhubekayo ngesantya esiphantsi okanye esimisiwe, iimpawu ezilungileyo zoomatshini kunye nohlengahlengiso, ixesha elincinci le-electromechanical rhoqo. )

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i-motor ye-stepper

(1) I-motor yokunyathela esebenzayo (i-stator kunye ne-rotor zenziwe ngamacwecwe ensimbi ye-silicon, akukho moya kumbindi we-rotor, kwaye kukho ukujikeleza kokulawula kwi-stator; i-angle yesinyathelo incinci, ukuqala kunye nokuhamba rhoqo kuphezulu. , ukuchaneka kwe-engile yenyathelo kuphantsi, kwaye akukho torque yokuzitshixayo)

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