Servo motor aqoonta aasaasiga ah

Servo motor aqoonta aasaasiga ah

Ereyga "servo" wuxuu ka yimid ereyga Giriigga "addoon". "Servo motor" waxaa loo fahmi karaa sida matoor si buuxda u adeeca amarka signalka xakamaynta: ka hor inta aan calaamada xakamaynta la dirin, rotor-ku wuu taagan yahay; marka calaamada xakamaynta la diro, rotor-ku isla markiiba wuu wareegaa; marka calaamada xakamaynta meesha ka baxdo, rotor-ku isla markiiba wuu istaagi karaa.

Matoorka servo waa matoor yar oo loo isticmaalo kicin ahaan qalabka kontoroolka otomaatiga ah. Shaqadeedu waa inay u beddesho calaamadda korantada u beddelashada xaglaha ama xawaraha xaglaha ah ee shafka wareegta.

Matoorada Servo waxa loo qaybiyaa laba qaybood: AC servo iyo DC servo

Qaab dhismeedka aasaasiga ah ee matoorka servo-ga AC wuxuu la mid yahay matoorka kicinta AC (matoorka aan la wada soconin). Waxaa jira laba dabaylo kicin Wf iyo kontoroolka dabaylaha WcoWf oo leh meel bannaan oo wareeg ah oo ah 90 ° xagal koronto oo ku taal stator, oo ku xidhan danab AC joogto ah, iyo iyadoo la adeegsanayo korantada AC ama isbeddelka wajiga lagu dabaqo Wc si loo gaaro ujeedada xakamaynta hawlgalka ee matoorka. Matoorka servo AC wuxuu leeyahay sifooyinka hawlgalka xasilloon, xakamaynta wanaagsan, jawaab celinta degdega ah, dareen sare, iyo tilmaamayaasha adag ee aan toosnayn ee sifooyinka farsamada iyo sifooyinka hagaajinta (loo baahan yahay in ka yar 10% ilaa 15% iyo in ka yar 15% ilaa 25%) siday u kala horreeyaan).

Qaab dhismeedka aasaasiga ah ee mashiinka servo DC wuxuu la mid yahay kan matoorka DC-ga guud. Xawaaraha mootada n=E/K1j=(Ua-IaRa)/K1j,halka E ay tahay awooda qalabka korantada ee qalabka korontada,K waa joogto ah,j waa qulqulka magnetic halkii tiirba waa iska caabbinta hubka, bedelida Ua ama bedelida φ waxay xakameyn kartaa xawaaraha DC servo motor, laakiin habka loo xakameeyo danabka armature ayaa guud ahaan la isticmaalaa. Magnetka joogtada ah ee DC servo motor, dabaysha kicinta waxaa lagu bedelay magnet joogto ah, iyo qulqulka magnetic φ waa joogto. . Matoorka servo DC wuxuu leeyahay sifooyin sharci oo toosan oo wanaagsan iyo jawaabta waqtiga degdega ah.

Faa'iidooyinka iyo khasaarooyinka DC Servo Motors

Faa'iidooyinka: Xakamaynta xawaaraha saxda ah, sifada qulqulka adag iyo xawaaraha, mabda'a xakamaynta fudud, fududahay in la isticmaalo, iyo qiimo jaban.

Khasaaraha: buraashka ku-socodka, xaddidaadda xawaaraha, iska caabin dheeri ah, iyo xirashada walxaha (kuma habboona meelaha aan boodhka lahayn iyo kuwa qarxa)

Faa'iidooyinka iyo khasaarooyinka AC servo motor

Faa'iidooyinka: sifooyinka xakamaynta xawaaraha wanaagsan, xakamaynta siman ee xawaaraha xawaaraha oo dhan, ku dhawaad ​​ma jiro oscillation, wax ku oolnimada sare ee ka sarreeya 90%, kuleyl yar oo ka sarreeya, xakamaynta xawaaraha sare, kontoroolka saxda ah ee saxda ah (waxay kuxirantahay saxnaanta encoder), goobta hawlgalka lagu qiimeeyay Gudaha, waxay gaari kartaa ruxruxo joogto ah, firfircooni hooseysa, buuq yar, ma xirto burush, dayactir la'aan (ku habboon boodhka-free, jawiga qarxa)

Khasaaraha: Kontroolka ayaa aad u dhib badan, cabbirrada wadista waxay u baahan yihiin in lagu hagaajiyo goobta si loo go'aamiyo cabbirrada PID, waxaana loo baahan yahay xiriiro badan.

Matoorada servo DC waxay u qaybsan yihiin matoorada burush iyo burush la'aan

Matoorada la caday waa qiimo jaban, qaab-dhismeed fudud, ballaaran oo bilawga bilawga ah, ballaaran oo kala duwan oo xakameynaya xawaaraha, fududahay in la xakameeyo, u baahan dayactir, laakiin si sahlan loo ilaaliyo (beddelka burushka kaarboonka), abuurista faragelinta elektromagnetic, waxay leeyihiin shuruudo loogu talagalay deegaanka isticmaalka, waxaana badanaa loo isticmaalaa kharash-xasaasi ah munaasabadaha warshadaha iyo madaniga ah ee caadiga ah.

Matoorada buraash la'aanta ah ee cabbirkoodu yar yahay iyo miisaanka khafiifka ah, wax soo saarka sare iyo degdegga ah ee jawaabta, xawaare sare iyo yar yar oo firfircoon, xasilloon oo wareeg ah oo siman wareegga, xakamaynta adag, caqli-galnimada, dabacsanaanta habka elektaroonigga ah, waa la bedeli karaa in mowjad laba jibbaaran ama mawjadda sinaha, dayactirka-free motor, hufnaan sare iyo tamarta badbaadinta , shucaaca elektromagnetic yar, kor u kaca heerkulka hoose iyo nolosha dheer, ku haboon jawi kala duwan.

Matoorada AC servo sidoo kale waa matoor aan burush lahayn, kuwaas oo u kala qaybsan matoorrada isku midka ah iyo kuwa aan asynkronous ahayn. Waqtigan xaadirka ah, matoorada isku midka ah ayaa guud ahaan loo adeegsadaa xakamaynta dhaqdhaqaaqa. Kala duwanaanshaha korontadu waa weyn yahay, awooddu waxay noqon kartaa mid weyn, qallafsanaantu waa weyn tahay, xawaaraha ugu badan waa hooseeyaa, xawaaruhu wuxuu kordhiyaa kororka awoodda. Labis-xawaaraha soo degid, ku habboon xawaare hooseeya iyo munaasabadaha orodka siman.

Rotor-ka gudaha matoorka servo waa magnet joogto ah. Darawalku waxa uu koontaroolaa U/V/W saddex-weji koronto si uu u sameeyo goob korantada. Rotor-ku wuxuu ku wareegaa ficilka goobtan birlabeedka. Isla mar ahaantaana, codeeyaha la socda mootada ayaa u gudbiya calaamadda jawaab celinta darawalka. Qiimaha waxaa la barbar dhigayaa in lagu hagaajiyo xagasha wareegga rotor. Saxnimada matoorka servo waxay kuxirantahay saxnaanta cod-bixiyaha (tirada xadhkaha).

Waa maxay matoorka servo? Immisa nooc ayaa jira? Waa maxay sifooyinka shaqadu?

Jawaab: Matoorka servo, oo sidoo kale loo yaqaan motor fulinta, ayaa loo adeegsadaa sidii firfircooniye ee nidaamka xakamaynta tooska ah si loogu beddelo calaamada korantada ee la helay barokac xagal ama wax soo saarka xawliga xagal ee shafka mootada.

Matoorada Servo waxa loo qaybiyaa laba qaybood: DC iyo AC servo motors. Sifooyinkooda ugu muhiimsan waa in aysan jirin is-wareejin marka korontadu ay eber tahay, xawaaruhuna wuxuu hoos u dhacayaa xawaare isku mid ah iyadoo kororka qulqulka.

Waa maxay farqiga u dhexeeya waxqabadka u dhexeeya AC servo motor iyo matoor servo DC ah oo aan burush lahayn?

Jawaab: Waxqabadka AC servo motor waa ka fiican yahay, sababtoo ah AC servo waxaa maamula mawjadaha sinaha iyo qulqulka qulqulka waa yar yahay; halka servo DC ee aan burushka lahayn ay gacanta ku hayso mowjadda trapezoidal. Laakiin kantaroolka servo DC ee aan burushka lahayn waa mid fudud oo jaban.

Horumarka degdega ah ee tignoolajiyada wadista magnetka ee AC servo ayaa ka dhigtay nidaamka servo DC inuu wajaho dhibaatada la ciribtirayo. Horumarinta tikniyoolajiyada, tignoolajiyada joogtada ah ee magnet AC servo drive waxay gaadhay horumar aad u wanaagsan, iyo soosaarayaasha korantada caanka ah ee wadamo kala duwan waxay si joogto ah u bilaabeen taxane cusub oo AC servo matoorada iyo servo drives. Nidaamka servo AC wuxuu noqday jihada ugu weyn ee horumarinta nidaamka servo ee wax-qabadka sare ee casriga ah, kaas oo ka dhigaya nidaamka servo DC inuu wajaho dhibaatada la tirtirayo.

Marka la barbardhigo matoorada DC servo, matoorada magnet AC servo ee joogtada ah waxay leeyihiin faa'iidooyinka ugu muhiimsan ee soo socda:

⑴La'aanteed buraashka iyo isu socodka, qalliinku waa mid la isku halayn karo oo dayactir la'aan ah.

(2) Kuleyliyaha dabaylaha isteetarka aad ayaa loo dhimay.

⑶ Inertia waa yar tahay, nidaamkuna wuxuu leeyahay jawaab degdeg ah oo wanaagsan.

⑷ Xawaaraha sare iyo xawliga sare ee shaqada xaaladdu waa wanaagsan tahay.

⑸ Cabbir yar iyo miisaan fudud oo isku awood ah.

Servo motor mabda'a

Qaab dhismeedka istator-ka matoorka AC servo wuxuu asal ahaan la mid yahay kan capacitor-ka kala qaybsan ee waji-hal-waji asynchronous motor. Stator-ku wuxuu ku qalabaysan yahay laba dabaylo oo leh farqi u dhexeeya 90 °, mid waa dabaylaha kicinta Rf, kaas oo had iyo jeer ku xiran korantada AC Uf; Midda kale waa dabaylaha kontoroolka L, kaas oo ku xiran korantada kontoroolka Uc. Markaa AC servo motor waxaa sidoo kale loo yaqaan laba matoor.

Rotor-ka AC servo motor waxaa badanaa laga sameeyaa qafis dabagaalle, laakiin si loo sameeyo matoorka servo wuxuu leeyahay xawaare ballaaran, sifooyin farsamo oo toosan, ma jiro "autorotation" ifafaale iyo waxqabadka jawaabta degdega ah, marka la barbar dhigo matoorada caadiga ah, waa inay noqotaa leeyihiin Caabbinta rotor-ku waa weyn tahay, xilliga inertia-na waa yar yahay. Waqtigan xaadirka ah, waxaa jira laba nooc oo qaab-dhismeedka rotor-ka ah oo si weyn loo isticmaalo: mid waa rotor-ka-qafiska rotor-ka oo leh baararka hagaha sare ee caabbinta oo ka samaysan qalab sare oo adkaysi ah. Si loo yareeyo daqiiqada inertia ee rotor-ka, rotor-ka ayaa la sameeyaa caato; Midka kale waa koob godan - rotor qaabaysan oo ka samaysan aluminium aluminium ah, derbiga koobku waa 0.2 -0.3mm oo kaliya, daqiiqada inertia ee koobka godan ee rotor-qaabeeya waa yar yahay, jawaabtu waa dhakhso, hawlgalkuna waa xasiloon. sidaas awgeed aad ayaa loo isticmaalaa.

Marka AC servo motor uusan lahayn korantada kontoroolka, waxaa jira kaliya garoonka magnetic pulsating ee ay dhaliso dabaylaha xiisaha ee stator-ka, rotorkuna waa taagan yahay. Marka uu jiro korantada kontoroolka, goob magnetic wareeg ah ayaa laga soo saaraa stator-ka, rotorkuna wuxuu u wareegayaa jihada wareegga magnetic. Marka culeysku yahay mid joogto ah, xawaaraha matoorku wuxuu isbeddelaa xajmiga korantada xakamaynta. Marka wajiga korantada kontoroolka uu ka soo horjeedo, matoorka servo waa la rogi doonaa.

Inkasta oo mabda'a shaqada ee AC servo motor uu la mid yahay ka capacitor-ka ku shaqeeya hal weji asynchronous motor, caabbinta rotor ee hore aad ayuu uga weyn yahay kan dambe. Sidaa darteed, marka la barbar dhigo capacitor-ku shaqeeya asynchronous motor, matoorka servo wuxuu leeyahay saddex astaamood oo muhiim ah:

1. Hirarka bilawga ah ee weyn: Caabbinta rotor-ka weyn awgeed, sifada torque-ga ( sifada makaanikada) waxay ku dhowdahay toosan, waxayna leedahay wareeg bilow weyn. Sidaa darteed, marka stator uu leeyahay danab kontorool ah, rotor-ku isla markiiba wuu wareegaa, kaas oo leh sifooyinka bilawga degdega ah iyo dareenka sare.

2. Kala duwanaansho hawleed ballaaran: hawlgal xasilloon iyo buuq yar. [/p][p=30, 2, bidix] 3. Ma jirto ifafaale is-wareejin: Haddii matoorka servo ee shaqaynaya uu lumiyo korantada xakamaynta, matoorku wuxuu joojin doonaa socodsiinta isla markiiba.

Waa maxay "matoorka yar ee gudbinta saxda ah"?

"Matoorka yar ee gudbinta saxda ah" ayaa si dhakhso ah oo sax ah u fulin kara tilmaamaha isbeddelka joogtada ah ee nidaamka, oo wadi kara habka servo si uu u dhamaystiro shaqada laga filayo tilmaamuhu, badankooduna waxay buuxin karaan shuruudaha soo socda:

1. Wuu bilaabi karaa, joojin karaa, jebin karaa, rogrogi karaa oo ku ordi karaa xawaare hoose si joogto ah, wuxuuna leeyahay awood farsamo oo sarreeya, heer sare oo iska caabbinta kulaylka iyo heerka dahaarka sare.

2. Awood jawaab celin degdeg ah oo wanaagsan, qulqul weyn, daqiiqad yar oo firfircooni ah iyo waqti yar oo joogto ah.

3. Darawalka iyo kontaroolaha (sida servo motor, motor stepping motor), waxqabadka xakamaynta ayaa wanaagsan.

4. Isku halaynta sare iyo saxnaanta sare.

Qaybta, qaab dhismeedka iyo waxqabadka "matoorka yar ee gudbinta saxda ah"

AC servo motor

(1) Cage -nooca laba-waji AC servo motor (qafiska caatada ah - nooca rotor, qiyaastii sifooyin farsamo toosan, mugga yar iyo xamaasad hadda, servo awood hoose, hooseeyo -xawaaraha hoose ma aha siman ku filan)

(2) Rotor-ka laba-waji ee AC servo motor (rotor-ka aan lahayn, sifooyinka farsamaysan ee toosan, mugga weyn iyo xiisaha hadda, servo awood yar, hawlgal siman oo xawaare hooseeya)

(3) Labada weji ee AC servo motor oo leh rotor koob ferromagnetic (koob rotor oo ka samaysan walxaha ferromagnetic, sifooyin farsamo oo toosan, daqiiqad weyn oo qallafsanaan rotor ah, saameyn yar oo cogging ah, hawlgal xasilloon)

(4) Magnet joogto ah AC servo motor (cutub isku dhafan oo isku dhafan oo ka kooban magnet joogto ah oo isku mid ah, tachometer iyo element ogaanshaha booska, stator waa 3-waji ama 2-phase, iyo rotor walxaha magnetic waa in lagu qalabeeyaa darawalnimada; xawaaraha xawaaraha waa ballaaran yahay iyo farsamada sifooyinku waxay ka kooban yihiin aagga qulqulka joogtada ah iyo aagga tamarta joogtada ah, kaas oo si joogto ah loo xiri karo, oo leh waxqabad degdeg ah oo degdeg ah, awoodda wax soo saarka ee weyn, iyo isbedbeddelka qulqulka yar; waxaa jira laba nooc oo ah wadida mawjada labajibbaaran iyo wadida wave wave, waxqabadka kontoroolka wanaagsan, iyo alaabada kiimikada isku dhafka ah ee elektiroonigga ah)

(5) Asynchronous three-phase AC servo motor (rotor-ku waxa uu la mid yahay qafiska nooca asynchronous motor, oo waa in lagu qalabeeyaa darawalka Nidaamyada nidaaminta xawaaraha Spindle-ka ee mashiinka)

Matoorka servo DC

(1) Dabaysha dabaysha DC servo motor (disk rotor iyo disc stator ayaa axially ku xidhan bir cylindrical magnetic, daqiiqada rotor ee inertia waa yar yahay, ma jiraan saamayn cogging, ma saamayn saturation, iyo wax soo saarka waa weyn yahay)

(2) Wire-bound disk nooca DC servo motor (disk rotor iyo stator ayaa axially ku xidhan bir cylindrical magnetic, daqiiqad rotor ee inertia waa yar yahay, waxqabadka gacanta ku waa ka fiican yahay kuwa kale DC servo matoorada, hufnaan waa sare, iyo Qulqulka wax soo saarku waa weyn yahay)

(3) Nooca koobabka qalabka birta ee magnet DC ee joogtada ah (rotor-ka aan core lahayn, daqiiqad yar oo rotor ah oo firfircooni ah, oo ku habboon nidaamka servo dhaqdhaqaaqa dhaqdhaqaaqa)

(4) Matoorka servo DC ee aan buraash lahayn (statorku waa dabayl badan oo weji leh, rotor-ku waa magnet joogto ah, oo leh dareeraha booska rotor, faragelin la'aan, nolol dheer, buuq yar)

matoor torque ah

(1) Matoorka qulqulka DC (qaabka fidsan, tirada tiirarka, tirada boosaska, tirada qaybaha isdhaafsiga, tirada kirishbooyada taxanaha ah; qulqulka wax soo saarka weyn, shaqo joogto ah oo xawaare hoose leh ama fadhiid ah, sifooyin farsamo iyo hagaajin wanaagsan, waqti yar oo koronto ah oo joogto ah )

(2) Matoorka qulqulka DC ee aan burushka lahayn (oo la mid ah qaab dhismeedka mashiinka servo DC ee aan burushka lahayn, laakiin fidsan, leh tiirar badan, boosas iyo kirishtaan taxane ah; qulqulka wax soo saarka weyn, sifada makaanikada iyo hagaajinta wanaagsan, nolol dheer, dhimbiil la'aan, qaylo la'aan Hoose)

(3) Nooca qafiska AC torque motor (qafiska nooca rotor, qaab dhismeed fidsan, tiro badan oo tiirar ah iyo boosasyo, qulqulka bilawga weyn, waqti yar oo koronto-mechanical joogto ah, hawlgal muddo dheer quful-rotor ah, iyo sifooyinka farsamada jilicsan)

(4) rotor adag AC torque motor (rotor adag oo ka samaysan walxaha ferromagnetic, qaab dhismeed siman, tiro badan oo tiirarka iyo boosaska, muddo dheer quful-rotor, hawlgal siman, sifooyinka farsamada jilicsan)

motor stepper

(1) Matoorka tallaabo falcelineed (stator iyo rotor waxay ka samaysan yihiin xaashiyo bir silicon ah, ma jiro dabaylo ku saabsan xudunta rotor-ka, waxaana jira dabaylo kontorool ah oo ku yaal stator-ka; xagasha tillaabadu waa yar tahay, inta jeer ee bilawga iyo socodsiinta waa sarraysaa. , saxnaanta xagasha tilaabadu waa yar tahay, mana jirto wax is-quful ah)

(2) Matoorka talabada magnetka joogtada ah (rotor magnet joogto ah, radial magnetization polarity; xagal weyn oo xagal, bilawga hoose iyo soo noqnoqoshada hawlgalka, xajinta wareega, iyo isticmaalka tamarta ka yar nooca falcelinta, laakiin garaaca wadnaha togan iyo taban ayaa loo baahan yahay hadda)

(3) Matoorka tallaabo-qaadista ee isku-dhafan (rotor magnet joogto ah, polarity axial magnetization; saxnaanta xagasha sare ee xagal, haynta wareegga, hadda gelinta yar, labadaba fal-celin iyo magnet joogto ah