Kusiyana kwa Magalimoto ndi Magalimoto a Servo

Tamalamulira njira zosiyanasiyana

Ma motor steping (ngodya ya kugunda, kuwongolera kotseguka): chiwongolero champhamvu chamagetsi chimasinthidwa kukhala kusamuka kwa angular kapena kusamuka kwa mzere wowongolera-loop, pakakhala kusachulukira, kuthamanga kwagalimoto, kuyimitsidwa kumangotengera kuchuluka kwa ma pulse ndi kuchuluka kwa ma pulse, popanda kutengera kusintha kwa katundu.

Ma motors a Stepper amagawidwa molingana ndi kuchuluka kwa magawo, ndipo ma motors agawo awiri ndi magawo asanu amagwiritsidwa ntchito kwambiri pamsika. Awiri gawo makwerero galimoto akhoza kugawidwa mu magawo 400 ofanana pa kusintha, ndi magawo asanu akhoza kugawidwa mu magawo 1000 ofanana, kotero makhalidwe a masitepe asanu makwerero galimoto bwino, mathamangitsidwe wamfupi ndi deceleration nthawi, ndi m'munsi mphamvu inertia. Magawo awiri amtundu wosakanizidwa wopondapo nthawi zambiri amakhala 3.6 °, 1.8 °, ndipo mbali imodzi ya masitepe asanu ndi asanu ndi awiri amakhala 0.72 °, 0.36 °.

Servo motor (makona a ma pulses angapo, kuwongolera kotsekeka): servo motor imakhalanso kudzera pakuwongolera kuchuluka kwa ma pulse, servo motor rotation angle, imatumiza kuchuluka kofananirako, pomwe dalaivala adzalandiranso chizindikiro chobwerera, ndi mota ya servo kupanga kufananiza kwa ma pulses, kuti dongosololi lidziwe kuchuluka kwa ma pulses omwe adatumizidwa nthawi yomweyo. kumbuyo, adzatha kulamulira kasinthasintha wa galimoto molondola kwambiri. Kulondola kwa injini ya servo kumatsimikiziridwa ndi kulondola kwa encoder (chiwerengero cha mizere), ndiye kuti, injini ya servo palokha imakhala ndi ntchito yotumiza ma pulse, ndipo imatumiza kuchuluka kofananira kwa ma pulse pamakona aliwonse a kasinthasintha, kotero kuti servo drive ndi servo motor encoder pulses imapanga echo, kutsekeka-kuwongolera ndi kutseka, kuwongolera ndi kutsekeka.

Lmawonekedwe a ow-frequency ndi osiyanasiyana

Kutsika kwa injini: kugwedezeka kwapang'onopang'ono ndikosavuta kuchitika pa liwiro lotsika. Motor ikakhala yotsika kwambiri, nthawi zambiri imayenera kugwiritsa ntchito ukadaulo wotsitsa kuti igonjetse zochitika zotsika pafupipafupi, monga kuwonjezera chothirira pamotopo, kapena kuyendetsa pogwiritsa ntchito ukadaulo wogawa.

Servo motor: ntchito yosalala kwambiri, ngakhale pa liwiro lotsika sichidzawoneka chodabwitsa.

Tiye nthawi-pafupipafupi makhalidwe osiyana

Mayendedwe agalimoto: makokedwe otulutsa amachepetsa ndi kuchuluka kwa liwiro, ndipo amachepetsa kwambiri pa liwiro lapamwamba, motero liwiro lake lalikulu logwira ntchito nthawi zambiri ndi 300-600r/min.

Servo motor: kutulutsa kwa torque kosalekeza, ndiko kuti, pa liwiro lake lovotera (nthawi zambiri 2000 kapena 3000 r/min), ma torque ake otulutsa amavotera, pa liwiro lovotera pamwamba pa kutulutsa mphamvu kosalekeza.

Dkuchuluka kochulukira kosiyana

Masitepe amoto: nthawi zambiri sakhala ndi mphamvu zambiri. Kutsika kwa injini chifukwa kulibe mphamvu yotereyi, kuti muthane ndi kusankha kwa mphindi iyi ya inertia, nthawi zambiri pamafunika kusankha torque yayikulu ya injini, ndipo makinawo safuna torque yochulukirapo pakugwira ntchito bwino, padzakhala kuwonongeka kwa torque.

Ma Servo motors: ali ndi mphamvu zambiri zochulukira. Ili ndi liwiro lochulukira komanso mphamvu ya torque. Makokedwe ake okwera kwambiri ndi ma torque atatu ovotera, omwe angagwiritsidwe ntchito kuthana ndi nthawi ya inertia ya katundu wocheperako panthawi yoyambira ya inertia.

Dmagwiridwe antchito osiyanasiyana

Kutsika kwagalimoto: kuwongolera magalimoto owongolera otseguka, ma frequency oyambira ndi okwera kwambiri kapena katundu wokulirapo amatha kutaya masitepe kapena kutsekereza chodabwitsa cha kuyimitsidwa kwambiri ndi liwiro lomwe limakonda kuchitika mopitilira muyeso, kotero kuti zitsimikizire kulondola kwa kuwongolera kwake, ziyenera kuthana ndi vuto la kukwera ndi kugwa.

Servo galimoto: AC servo pagalimoto dongosolo la kutsekedwa- kuzungulira, dalaivala akhoza mwachindunji pa galimoto encoder ndemanga chizindikiro chitsanzo, zikuchokera mkati mwa malo kuzungulira ndi liwiro kuzungulira, kawirikawiri sizimaonekera mu makwerero galimoto imfa ya masitepe kapena chodabwitsa cha overshooting, ntchito ulamuliro ndi odalirika kwambiri.

Sntchito yoyankha peed ndi yosiyana

Mayendedwe agalimoto: imathandizira kuchoka pakuyima kupita ku liwiro logwira ntchito (nthawi zambiri zosintha mazana angapo pamphindi) zimafunikira 200 ~ 400ms.

Servo motor: AC servo system mathamangitsidwe ntchito ndi bwino, kuchokera kuyima imathandizira mpaka liwiro lake ovotera 3000 r/mphindi, milliseconds ochepa okha, angagwiritsidwe ntchito pa zofunika poyambitsa mofulumira kuyimitsidwa ndi kulondola malo zofunika kulamulira malo apamwamba.

Zogwirizana nazo: https://www.kggfa.com/stepper-motor/