Servo moto ihe ọmụma bụ isi

Servo moto ihe ọmụma bụ isi

Okwu "servo" sitere na okwu Grik "ohu". Enwere ike ịghọta "Servo moto" dị ka moto nke na-erube isi n'iwu nke akara akara: tupu ezipụ akara njikwa, rotor guzoro; mgbe ezigara akara njikwa, rotor na-atụgharị ozugbo; mgbe akara njikwa na-apụ n'anya, rotor nwere ike ịkwụsị ozugbo.

Moto servo bụ obere moto ejiri dị ka onye na-eme ihe n'ime ngwaọrụ njikwa akpaka. Ọrụ ya bụ ịtụgharị akara ọkụ eletrik ka ọ bụrụ ngbanwe akụkụ ma ọ bụ ngwa ngwa akụkụ nke aro na-atụgharị.

E kewara moto Servo ụzọ abụọ: AC servo na DC servo

Nhazi nke moto AC servo yiri nke moto induction AC (moto asynchronous). E nwere abụọ excitation windings Wf na njikwa windings WcoWf na a na-adọ ohere mgbanwe nke 90 ° eletriki n'akuku na stator, jikọọ a AC voltaji mgbe nile, na iji AC voltaji ma ọ bụ na-adọ mgbanwe etinyere Wc iji nweta nzube nke ịchịkwa ọrụ. nke moto. AC servo moto nwere njiri mara nke ọrụ kwụsiri ike, njikwa njikwa dị mma, nzaghachi ngwa ngwa, ikike dị elu, yana ihe ngosipụta siri ike na-egosi njirimara igwe na njirimara mmezi (chọrọ ka ọ bụrụ ihe na-erughị 10% ruo 15% na ihe na-erughị 15% ruo 25% n'otu n'otu).

Ọdịdị bụ isi nke moto DC servo yiri nke moto DC izugbe. Ọsọ moto n = E / K1j = (Ua-IaRa) / K1j, ebe E bụ armature counter electromotive ike, K bụ mgbe niile, j bụ magnetik flux kwa osisi, Ua, Ia bụ armature voltaji na armature ugbu a, Ra bụ The armature eguzogide, na-agbanwe Ua ma ọ bụ na-agbanwe φ nwere ike ijikwa ọsọ nke DC servo moto, ma usoro nke ịchịkwa armature voltaji na-ejikarị na-eji. Na magnetik DC servo moto na-adịgide adịgide, ihe ndọta na-adịgide adịgide na-edochi mkpagharị ikuku, na flux magnetik φ na-adịgide adịgide. . DC servo moto nwere ezigbo usoro nhazi usoro yana nzaghachi oge ngwa ngwa.

Uru na ọghọm dị na DC Servo Motors

Uru: njikwa ọsọ ziri ezi, njiri ike na njirimara ọsọ, ụkpụrụ njikwa dị mfe, dị mfe iji, yana ọnụ ala dị ọnụ ala.

Ọdịmma: ntugharị ahịhịa, mmachi ọsọ, nkwụsi ike agbakwunyere, na iyi ahụ (adịghị mma maka gburugburu enweghị uzuzu yana mgbawa)

Uru na ọghọm dị na AC servo moto

Uru: njirimara njikwa ọsọ dị mma, njikwa dị mma na oke ọsọ niile, ọ fọrọ nke nta ka ọ bụrụ oscillation, arụmọrụ dị elu karịa 90%, obere okpomọkụ ọgbọ, njikwa ọsọ ọsọ, njikwa ọnọdụ dị elu (dabere na ntinye koodu nke ọma), mpaghara arụ ọrụ gosiri. N'ime, nwere ike nweta torque na-adịgide adịgide, obere inertia, mkpọtụ dị ala, enweghị ahịhịa ahịhịa, nrụzi-free (dabara maka uzuzu-free, mgbawa gburugburu)

Ọdịmma: njikwa ahụ na-agbagwoju anya karịa, ọ dị mkpa ka edozi paramita draịva na saịtị iji chọpụta paramita PID, yana achọrọ njikọ ndị ọzọ.

A na-ekewa moto DC servo ka ọ bụrụ moto brushed na brushless

Moto ndị a na-akpụ akpụ dị ọnụ ala, dị mfe na nhazi, buru ibu na mmalite torque, obosara na usoro iwu ọsọ, dị mfe ijikwa, chọrọ mmezi, mana ọ dị mfe idowe (dochie brush carbon), mepụta nnyonye anya electromagnetic, nwere ihe achọrọ maka gburugburu ojiji, na a na-ejikarị eme ihe maka ọnụ ahịa -enwe mmetụta nke ụlọ ọrụ mmepụta ihe na oge obodo.

Moto na-enweghị brush dị ntakịrị na nha na ìhè dị arọ, dị elu na mmepụta na ngwa ngwa nzaghachi, dị elu na ọsọ na obere na inertia, kwụsiri ike na torque na ire ụtọ na ntụgharị, mgbagwoju anya na njikwa, ọgụgụ isi, mgbanwe na ọnọdụ ngbanwe eletrọnịkị, enwere ike ịmegharị ya. na square ife ma ọ bụ sine ife, mmezi-free moto, elu arụmọrụ na ike ịzọpụta , obere electromagnetic radieshon, ala okpomọkụ ịrị elu na ogologo ndụ, adabara dị iche iche gburugburu.

AC servo Motors bụkwa moto enweghị brush, nke kewara na moto synchronous na asynchronous. Ugbu a, a na-ejikarị moto synchronous na njikwa ngagharị. Oke ike dị ukwuu, ike nwere ike ibu ibu, inertia buru ibu, oke ọsọ dị ala, na ọsọ na-abawanye na mmụba nke ike. Uwe agba - ọsọ ọsọ, dabara maka obere ọsọ na oge ịgba ọsọ dị larịị.

Rotor n'ime moto servo bụ magnet na-adịgide adịgide. Onye ọkwọ ụgbọ ala na-achịkwa ọkụ eletrik U/V/W atọ iji mepụta mpaghara electromagnetic. Rotor na-atụgharị n'okpuru ọrụ nke oghere magnetik a. N'otu oge ahụ, koodu ntinye nke na-abịa na moto na-ebufe mgbaàmà nzaghachi nye onye ọkwọ ụgbọ ala. A na-atụnyere ụkpụrụ ka ịhazigharị akụkụ nke ntụgharị rotor. Izi ezi nke moto servo na-adabere na izi ezi nke encoder (ọnụọgụ nke ahịrị).

Kedu ihe bụ moto servo? Ụdị ole dị? Kedu ihe bụ njirimara ọrụ?

Azịza: A na-eji moto servo, nke a makwaara dị ka moto onye isi, dị ka onye na-eme ihe na sistemụ njikwa akpaka iji gbanwee akara ọkụ eletrik enwetara ka ọ bụrụ ngbanwe angular ma ọ bụ mmepụta ngwa ngwa angular na ogwe moto.

E kewara moto Servo ụzọ abụọ: DC na AC servo Motors. Isi njirimara ha bụ na ọ dịghị ntụgharị onwe ya mgbe voltaji mgbaàmà bụ efu, na ọsọ na-ebelata na otu ọsọ ọsọ na mmụba nke torque.

Kedu ihe dị iche na arụmọrụ n'etiti moto AC servo na moto DC servo na-enweghị brush?

Azịza: Arụmọrụ nke AC servo moto ka mma, n'ihi na AC servo na-achịkwa sine ife na torque ripple dị obere; ebe trapezoidal ife na-achịkwa servo na-enweghị brushless DC. Mana njikwa servo DC na-enweghị brush dị mfe yana ọnụ ala.

Mmepe ngwa ngwa nke teknụzụ ndọta AC servo na-adịgide adịgide emeela ka sistemụ servo DC chere nsogbu nke ikpochapụ ihu. Site na mmepe nke teknụzụ, teknụzụ magnet AC servo mbanye na-adịgide adịgide enwetawo mmepe pụtara ìhè, ndị na-emepụta ọkụ eletrik ama ama na mba dị iche iche ewepụtala usoro AC servo Motors na servo draịva ọhụrụ. Usoro AC servo aghọwo isi ntụziaka mmepe nke usoro servo dị elu nke oge a, nke na-eme ka usoro DC servo chere nsogbu nke ikpochapụ.

E jiri ya tụnyere DC servo Motors, magnet AC servo Motors nwere uru ndị a:

⑴ Na-enweghị brush na commutator, ọrụ ahụ bụ nke a pụrụ ịdabere na ya na nrụzi-free.

(2) Stator winding kpo oku na-ebelata nke ukwuu.

⑶ The inertia dị obere, na usoro nwere ezigbo nzaghachi ngwa ngwa.

⑷ Ọnọdụ arụ ọrụ na-agba ọsọ na elu dị elu dị mma.

⑸ Obere nha na ịdị arọ n'okpuru otu ike.

Servo moto ụkpụrụ

Ọdịdị nke stator nke AC servo moto yiri nke capacitor split-phase single-phase asynchronous moto. The stator na-onwem na abụọ windings na a ibe ọdịiche nke 90 °, otu bụ excitation winding Rf, nke a na-ejikọ mgbe niile na AC voltaji Uf; nke ọzọ bụ akara winding L, nke ejikọrọ na akara akara voltaji Uc. Ya mere, a na-akpọkwa moto AC servo moto abụọ.

A na-emekarị rotor nke AC servo moto ka ọ bụrụ oghere squirrel, mana iji mee ka moto servo nwee oke ọsọ ọsọ, njirimara usoro ahịrị, enweghị “autorotation” na arụmọrụ nzaghachi ngwa ngwa, ma e jiri ya tụnyere ndị ọkwọ ụgbọ ala nkịtị, ọ kwesịrị. nwere Nguzogide rotor buru ibu na oge inertia dị obere. Ka ọ dị ugbu a, e nwere ụdị ụdị rotor abụọ nke a na-ejikarị eme ihe: otu bụ squirrel -cage rotor nwere nnukwu ihe mgbochi nduzi ihe mgbochi nke ihe ndị na-eduzi ihe dị elu. Iji belata oge inertia nke rotor, a na-eme ka rotor dị gịrịgịrị; nke ọzọ bụ iko oghere - rotor ekara nke aluminom alloy, mgbidi iko bụ naanị 0.2 -0.3mm, oge inertia nke oghere oghere - rotor dị obere, nzaghachi ngwa ngwa, ọrụ ahụ kwụsiri ike, ya mere a na-eji ya eme ihe.

Mgbe moto AC servo enweghị voltaji na-achịkwa, enwere naanị oghere ndọta na-akpali akpali site na ikuku mkpali na stator, rotor na-anọkwa. Mgbe enwere voltaji na-achịkwa, a na-emepụta oghere magnetik na-atụgharị na stator, na rotor na-atụgharị na ntụziaka nke oghere magnetik. Mgbe ibu na-adịgide adịgide, ọsọ nke moto na-agbanwe na ịdị ukwuu nke voltaji njikwa. Mgbe akụkụ nke voltaji njikwa na-emegide, moto servo ga-atụgharị.

Ọ bụ ezie na ụkpụrụ ọrụ nke AC servo moto yiri nke capacitor - moto asynchronous na-arụ ọrụ otu-phase asynchronous moto, nguzogide rotor nke mbụ dị nnọọ ukwuu karịa nke ikpeazụ. Ya mere, ma e jiri ya tụnyere moto asynchronous na-arụ ọrụ capacitor, moto servo nwere atụmatụ atọ dị mkpa:

1. Nnukwu mmalite mmalite: N'ihi nnukwu nguzogide rotor, njirimara nke torque (ihe eji arụ ọrụ) dị nso na linear, ma nwee nnukwu mmalite mmalite. Ya mere, mgbe stator nwere voltaji na-achịkwa, rotor na-atụgharị ozugbo, nke nwere njirimara nke mmalite ngwa ngwa na nnukwu uche.

2. Ogologo ọrụ zuru oke: arụ ọrụ kwụsiri ike na mkpọtụ dị ala. [/ p] [p=30, 2, aka ekpe] 3. Ọ dịghị ihe ntụgharị onwe: Ọ bụrụ na moto servo na-arụ ọrụ na-efunahụ voltaji njikwa, moto ahụ ga-akwụsị ịgba ọsọ ozugbo.

Gịnị bụ "nkenke nnyefe Micro moto"?

"Micro moto nnyefe ziri ezi" nwere ike ime ngwa ngwa na-agbanwe ntuziaka na sistemụ, wee mee ka usoro servo rụchaa ọrụ a tụrụ anya na ntuziaka ahụ, ọtụtụ n'ime ha nwere ike mezuo ihe ndị a:

1. Ọ nwere ike ịmalite, kwụsị, breeki, tụgharịa ma na-agba ọsọ na obere ọsọ ugboro ugboro, ma nwee ike ọrụ dị elu, ọkwa nkwụsị ọkụ dị elu na ọkwa mkpuchi dị elu.

2. Ike nzaghachi ngwa ngwa dị mma, nnukwu torque, obere oge nke inertia na obere oge na-adịgide adịgide.

3. Site na onye ọkwọ ụgbọ ala na onye njikwa (dị ka servo moto, steepụ moto), njikwa njikwa dị mma.

4. Elu ntụkwasị obi na oke nkenke.

Ụdị, nhazi na arụmọrụ nke "micro moto nnyefe ziri ezi"

AC servo moto

(1) Cage -ụdị abụọ-phase AC servo moto (slender onu -ụdị rotor, ihe dị ka linear n'ibu e ji mara, obere olu na excitation ugbu a, obere ike servo, ala-speed ọrụ adịghị ezigbo mma)

(2) Igwe ọkụ na-abụghị magnetik rotor abụọ AC servo moto (rotor na-enweghị isi, njirimara usoro ihe fọrọ nke nta ka ọ bụrụ linear, nnukwu olu na mkpali ugbu a, obere ike servo, ọrụ dị nro na obere ọsọ)

(3) moto AC servo nke abụọ nwere rotor iko ferromagnetic (cup rotor mere nke ihe ferromagnetic, ihe fọrọ nke nta ka ọ bụrụ akara igwe, nnukwu oge inertia nke rotor, obere mmetụta cogging, arụ ọrụ kwụsiri ike)

(4) Magnet AC servo moto na-adịgide adịgide (otu coaxial jikọtara ọnụ nke nwere moto synchronous magnet na-adịgide adịgide, tachometer na ihe nchọpụta ọnọdụ, stator bụ 3-phase ma ọ bụ 2-phase, na rotor ihe magnetik ga-enwerịrị nke ọma. a mbanye; ọsọ nso bụ obosara na n'ibu The àgwà na-emi esịnede mgbe torque ebe na mgbe niile ike ebe, nke nwere ike na-ekpochi na-aga n'ihu, na ezi ngwa ngwa nzaghachi arụmọrụ, nnukwu mmepụta ike, na obere mgbanwe torque; enwere ụdị abụọ nke mbanye ebili mmiri na mbanye sine, njikwa njikwa dị mma, yana ngwaahịa kemịkalụ njikọ elektrọn)

(5) Asynchronous three-phase AC servo moto (rotor yiri chage -ụdị asynchronous moto, na a ga-akwadorịrị ya na onye ọkwọ ụgbọala. igwe ngwá ọrụ spindle ọsọ ụkpụrụ)

DC servo moto

(1) DC servo moto e biri ebi (disiki rotor na diski stator na-ejikọta ya na cylindrical magnetik steel, oge rotor nke inertia dị obere, enweghị mmetụta cogging, enweghị saturation mmetụta, na mmepụta torque dị ukwuu)

(2) Waya-ọnya diski ụdị DC servo moto (disiki rotor na stator na-axially bonded na cylindrical magnetik steel, rotor oge nke inertia dị obere, njikwa ọrụ dị mma karịa ndị ọzọ DC servo Motors, arụmọrụ dị elu, na Nrụpụta mmepụta buru ibu)

(3) Mpempe iko ụdị ihe mgbochi na-adịgide adịgide magnet DC moto (rotor na-enweghị isi, obere oge rotor nke inertia, dabara maka sistemụ servo ngagharị)

(4) DC servo moto na-enweghị brush (stator bụ ikuku multi-phase, rotor bụ magnet na-adịgide adịgide, yana ihe mmetụta ọnọdụ rotor, enweghị nnyonye anya ọkụ, ogologo ndụ, mkpọtụ dị ala)

moto torque

(1) DC torque moto (obere larịị, ọnụ ọgụgụ nke okporo osisi, ọnụ ọgụgụ nke oghere, ọnụ ọgụgụ nke commutation ibe, ọnụ ọgụgụ nke usoro nduzi; nnukwu mmepụta torque, na-aga n'ihu na-arụ ọrụ na obere ọsọ ma ọ bụ stalled, ezi n'ibu na nhazi àgwà, obere electromechanical oge mgbe niile. )

(2) moto DC torque nke na-enweghị brush (nke yiri ya na brushless DC servo moto, mana dị larịị, nke nwere ọtụtụ okporo osisi, oghere na ndị na-eduzi usoro; nnukwu ihe nrụpụta, ezigbo igwe na njiri ngbanwe, ogologo ndụ, enweghị ọkụ, enweghị mkpọtụ Low)

(3) Cage-ụdị AC torque moto (ọnụ -ụdị rotor, ewepụghị ihe owuwu, ọnụ ọgụgụ dị ukwuu nke okporo osisi na oghere, nnukwu mmalite torque, obere oge eletrọnịkị oge niile, ogologo oge akpọchiri rotor arụ ọrụ, yana akụrụngwa dị nro)

(4) Rotor AC torque moto siri ike (rotor siri ike nke ihe ferromagnetic, ihe owuwu dị larịị, ọnụ ọgụgụ dị ukwuu nke okporo osisi na oghere, ogologo oge akpọchiri rotor, arụ ọrụ dị nro, akụrụngwa dị nro)

stepper moto

(1) Reactive stepping moto (stator na rotor bụ nke silicon steel sheets, enweghị winding na rotor core, na e nwere njikwa winding na stator; akụkụ nzọụkwụ dị obere, mmalite na ịgba ọsọ ugboro dị elu. , ziri ezi n'akuku nzọụkwụ dị ala, ọ nweghịkwa ihe na-agbachi onwe ya)

(2) Igwe ihe nrịbama magnet na-adịgide adịgide (rotor magnet na-adịgide adịgide, polarity radial magnetization; nnukwu nzọụkwụ, mmalite dị ala na ugboro ole na-arụ ọrụ, na-ejide torque, na obere ike oriri karịa ụdị mmeghachi omume, mana ọ dị mkpa ka ọ dị ugbu a).

(3) Ngwakọ steepụ moto (rotor magnet na-adịgide adịgide, polarity axial magnetization; elu nzọụkwụ ziri ezi, njide torque, obere ntinye ugbu a, ma ndọta na-arụ ọrụ na nke na-adịgide adịgide.