Kune matatu ekudzora modhi ye servo mota: pulse, analog uye kutaurirana.Tinofanira kusarudza sei kudzora modhi ye servo mota mune dzakasiyana application mamiriro?
1. Pulse control mode ye servo motor
Mune mimwe midziyo midiki yekumira-yega, kushandiswa kwepulse control kuona kumira kwemota kunofanirwa kunge iri nzira yakajairika yekushandisa.Iyi nzira yekudzora iri nyore uye iri nyore kunzwisisa.
Iyo yekutanga kudzora pfungwa: huwandu hwese hwemapurusi hunosarudza kutamiswa kwemota, uye iyo pulse frequency inosarudza kumhanya kwemota.Iyo pulse inosarudzwa kuti ione kutonga kweiyo servo mota, vhura bhuku reiyo servo mota, uye kazhinji pachave netafura senge inotevera:
Ose ari maviri pulse control, asi kuita kwakasiyana:
Chekutanga ndechekuti mutyairi anogamuchira maviri akakwira-kumhanya pulses (A uye B), uye anotarisisa kutenderera kwemota kuburikidza nemusiyano wechikamu pakati pemapuru maviri.Sezvinoratidzwa mumufananidzo uri pamusoro, kana chikamu B chiri 90 madhigirii nekukurumidza kupfuura chikamu A, inotenderera mberi;kozoti chikamu B chinononoka madhigirii makumi mapfumbamwe pane chikamu A, chinotenderera neshure.
Panguva yekushanda, maviri-phase pulses ekutonga uku ari kuchinjana, saka isu tinodaidzawo iyi nzira yekudzora musiyano wekutonga.Iyo ine maitiro ekusiyanisa, iyo inoratidzawo kuti iyi nzira yekudzora, iyo yekudzora pulse ine yakakwira anti-kupindira kugona, mune mamwe mamiriro ekushandisa nekupindira kwakasimba, iyi nzira inosarudzwa.Nekudaro, nenzira iyi, imwe mota shaft inoda kutora maviri akakwira-kumhanya pulse ports, iyo isingakodzeri mamiriro ezvinhu apo madhiri ekumhanya akasimba.
Chechipiri, mutyairi achiri kugamuchira maviri-high-speed pulses, asi maviri e-high-speed pulses haasipo panguva imwe chete.Kana imwe puruzi iri muchimiro chekubuda, imwe yacho inofanira kunge isiri iyo.Kana iyi nzira yekudzora yasarudzwa, inofanirwa kuve nechokwadi kuti pane imwechete pulse kubuda panguva imwe chete.Mapiritsi maviri, imwe inobuda inomhanya munzira yakanaka uye imwe inomhanya nenzira isina kunaka.Sezviri pamusoro apa, nzira iyi inodawo maviri akakwira-kumhanya pulse ports kune imwe mota shaft.
Rudzi rwechitatu nderekuti chiratidzo chimwe chete chekupuruzira chinoda kupihwa mutyairi, uye kumberi nekumashure kushanda kwemota kunotemerwa neimwe nzira IO chiratidzo.Iyi nzira yekudzora iri nyore kudzora, uye basa rekushandisa repamusoro-kumhanya pulse port zvakare ridiki.Muzhinji masisitimu madiki, nzira iyi inogona kufarirwa.
Chechipiri, iyo servo mota analog yekudzora nzira
Muchiitiko chekushandisa chinoda kushandisa servo mota kuona kumhanya kudzora, isu tinogona kusarudza iyo analog kukosha kuti tizive kumhanya kudzora kwemota, uye kukosha kweiyo analog kukosha kunotarisa kumhanya kwemota.
Pane nzira mbiri dzekusarudza analog uwandu, ikozvino kana voltage.
Voltage modhi: Iwe unongoda kuwedzera imwe voltage kune yekudzora chiratidzo terminal.Mune zvimwe zviitiko, unogona kushandisa potentiometer kuti uwane kutonga, izvo zviri nyore kwazvo.Nekudaro, iyo voltage inosarudzwa sechiratidzo chekudzora.Munzvimbo yakaoma, magetsi anovhiringidzika nyore nyore, zvichiita kuti pave nekutonga kusina kugadzikana.
Yazvino maitiro: Iyo inoenderana yazvino inobuda module inodiwa, asi iyo yazvino siginecha ine yakasimba anti-kupindira kugona uye inogona kushandiswa mumamiriro akaoma.
3. Kukurukurirana kutonga maitiro e servo motor
Nzira dzakajairika dzekuziva servo mota control nekutaurirana ndeye CAN, EtherCAT, Modbus, uye Profibus.Kushandisa nzira yekutaurirana kudzora mota ndiyo yakasarudzika nzira yekudzora kune imwe yakaoma uye yakakura system application mamiriro.Nenzira iyi, saizi yehurongwa uye huwandu hwemotokari shafts inogona kugadzirwa nyore nyore pasina kuomesesa kutonga wiring.Iyo sisitimu yakagadzirwa inochinjika zvakanyanya.
Chechina, chikamu chekuwedzera
1. Servo mota torque control
Iyo torque yekudzora nzira ndeyekuseta yekunze inobuda torque yemota shaft kuburikidza nekupinza kweiyo yekunze analog huwandu kana kugoverwa kwekero yakananga.Iyo chaiyo yekuita ndeyekuti, semuenzaniso, kana 10V inoenderana ne5Nm, kana iyo yekunze analog chiyero ichiiswa ku5V, iyo mota shaft ndiyo Inobuda ndeye 2.5Nm.Kana iyo mota shaft mutoro wakadzikira kupfuura 2.5Nm, mota iri munzvimbo yekumhanyisa;apo mutoro wekunze wakaenzana ne 2.5Nm, motokari iri mukumhanya nguva dzose kana kumira;kana mutoro wekunze wakakwira kupfuura 2.5Nm, mota iri mudeceleration kana reverse acceleration state.Iyo set torque inogona kuchinjwa nekushandura kugadzika kwehuwandu hweanalog munguva chaiyo, kana kukosha kwekero inoenderana inogona kuchinjwa kuburikidza nekukurukurirana.
Inonyanya kushandiswa mumhepo uye kusunungura michina ine zvakaomesesa zvinodikanwa pasimba rezvinhu, senge mhepo midziyo kana optical fiber yekudhonza midziyo.Iyo torque yekumisikidza inofanirwa kuchinjwa chero nguva zvichienderana nekushandurwa kweiyo inotenderera radius kuve nechokwadi chekuti simba rezvinhu harizoshanduke nekushandurwa kweradius inotenderera.kuchinja neradius inomonereka.
2. Servo mota chinzvimbo chekudzora
Muchinzvimbo chekudzora modhi, kumhanya kwekutenderera kunowanzo kutariswa nehuwandu hwekunze kwekupinza pulses, uye kona yekutenderera inotarwa nenhamba yemapulses.Mamwe maservos anogona kugovera zvakananga kumhanya uye kutamiswa kuburikidza nekutaurirana.Sezvo iyo chinzvimbo modhi inogona kuve nekutonga kwakasimba pamusoro pekumhanya uye chinzvimbo, inowanzo shandiswa mukumisikidza zvishandiso, CNC muchina maturusi, muchina wekudhinda uye zvichingodaro.
3. Servo mota yekumhanyisa maitiro
Iyo yekutenderera inomhanyisa inogona kudzorwa kuburikidza nekupinza kweanalog uwandu kana pulse frequency.Iyo yekumhanyisa modhi inogona zvakare kushandiswa pakumisikidza kana yekunze loop PID kutonga kweyepamusoro dhizaini yakapihwa, asi chinzvimbo chiratidzo chemota kana chiratidzo chechinzvimbo chemutoro wakananga unofanirwa kutumirwa kune yekumusoro komputa.Mhinduro yekushandiswa kwekushandisa.Iyo chinzvimbo modhi inotsigirawo yakananga mutoro wekunze loop kuti uone chiratidzo chechinzvimbo.Panguva ino, iyo encoder pamugumo wemotor shaft inongoona kumhanya kwemota, uye chiratidzo chechinzvimbo chinopihwa neakananga yekupedzisira mutoro wekuona mudziyo.Kubatsira kweizvi ndeyekuti inogona kuderedza nzira yepakati yekufambisa.Iko kukanganisa kunowedzera kurongeka kweiyo system yese.
4. Taura nezvezvindori zvitatu
Iyo servo inowanzodzorwa nezvishwe zvitatu.Iwo anonzi matatu zvishwe matatu akavharwa-loop asina kunaka mhinduro PID kugadzirisa masisitimu.
Iyo yemukati PID loop ndiyo yazvino loop, iyo inoitwa zvizere mukati me servo driver.Iyo inobuda ikozvino yechikamu chimwe nechimwe chemota kune mota inowonekwa neHoro mudziyo, uye iyo yakaipa mhinduro inoshandiswa kugadzirisa ikozvino kugadzika kwePID kugadziridzwa, kuitira kuti uwane iyo inobuda ikozvino padhuze sezvinobvira.Yakaenzana neyakagadzikwa ikozvino, iyo yazvino loop inodzora mota torque, saka mune torque mode, mutyairi ane diki oparesheni uye inokurumidza kukurumidza mhinduro.
Yechipiri loop ndiyo inomhanyisa loop.Iyo yakaipa mhinduro PID kugadziridzwa kunoitwa kuburikidza neyakaonekwa chiratidzo chemota encoder.Iyo PID inobuda muchiuno chayo ndiyo yakananga kuseta kweiyo loop, saka iyo yekumhanyisa loop control inosanganisira yekumhanyisa loop uye yazvino loop.Mune mamwe mazwi, chero modhi inofanirwa kushandisa yazvino loop.Ikozvino loop ndiyo nheyo yekutonga.Nepo kumhanya uye chinzvimbo zvichidzorwa, sisitimu iri kunyatso kudzora yazvino (torque) kuti iwane inoenderana kutonga kwekumhanya uye chinzvimbo.
Lop yechitatu inzvimbo yechiuno, inova loop yekunze.Inogona kuvakwa pakati pemutyairi nemotor encoder kana pakati pemutongi wekunze nemotor encoder kana mutoro wekupedzisira, zvichienderana nemamiriro chaiwo.Sezvo kuburitsa kwemukati kweiyo chinzvimbo chekutonga loop kuri kuseta kweyekumhanyisa loop, mune iyo chinzvimbo chekutonga modhi, sisitimu inoita mashandiro ezvishwe zvese zvitatu.Panguva ino, sisitimu yacho ine huwandu hukuru hwekuverenga uye inononoka zvakanyanya dynamics yekupindura.
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Nguva yekutumira: May-31-2022