Kusiyanasiyana kwa Magalimoto ndi Servo Motor

Tamalamulira njira zosiyanasiyana

Ma motor steping (ngodya ya pulse, open-loop control): chizindikiro champhamvu chamagetsi chimasinthidwa kukhala kusamuka kwa angular kapena kusamutsidwa kwa mzere wowongolera-loop control, ngati sikunachuluke, kuthamanga kwagalimoto, malo kuyimitsa kokha kumadalira pafupipafupi kwa chizindikiro cha pulse ndi chiwerengero cha ma pulse, popanda mphamvu ya 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 poponda galimoto akhoza kugawidwa mu magawo 400 ofanana pa kusintha, ndi magawo asanu akhoza kugawidwa mu magawo 1000 ofanana, kotero makhalidwe a magawo asanu makwerero galimoto bwino, mathamangitsidwe wamfupi ndi deceleration nthawi, ndi m'munsi. dynamic 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, kutsekeka-loop control): servo motor imakhalanso kudzera pakuwongolera kuchuluka kwa ma pulse, servo motor rotation angle, imatumiza kuchuluka kofananirako, pomwe dalaivala alandilanso mayankho. chizindikiro kumbuyo, ndi servo galimoto kupanga kufanizitsa pulses, kotero kuti dongosolo adziwe chiwerengero cha pulses anatumiza kwa servo galimoto, ndipo nthawi yomweyo ndi zingati pulses analandira mmbuyo, adzatha kulamulira kasinthasintha wa motere 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 pulses, ndipo imatumiza kuchuluka kofananira kwa ma pulses pamakona aliwonse a kasinthasintha, kotero kuti servo drive ndi servo motor encoder pulses imapanga echo, kotero ndi yotseka-loop control, ndipo ma step motor ndi otseguka-loop control.

Lma ow-frequency amasiyana

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 kuchuluka kotereku, kuti muthane ndi kusankha kwa mphindi iyi ya inertia, nthawi zambiri pamafunika kusankha torque yayikulu yagalimoto, ndipo makinawo safuna torque yochulukirapo panthawi yogwira ntchito bwino. kukhala kuwononga torque chodabwitsa.

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

Ma steping motor: kuwongolera ma mota kuti mutsegule-loop control, ma frequency oyambira ndi okwera kwambiri kapena katundu wokulirapo amatha kutaya masitepe kapena kutsekereza zochitika za kuyimitsidwa mwachangu kwambiri kumakonda kuchitika mopitilira muyeso, kotero kuonetsetsa kulondola kwa kuwongolera kwake, kuyenera kuthana ndi vuto la kukwera ndi kutsika liwiro.

Servo motor: AC servo drive system yowongolera-loop control, dalaivala amatha kukhala mwachindunji pamayendedwe amtundu wa encoder, mawonekedwe amkati a loop ndi liwiro loop, nthawi zambiri samawoneka pakutayika kwa masitepe kapena chodabwitsa cha overshooting, ntchito ulamuliro ndi odalirika.

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 bwino, kuchokera kuyima imathandizira mpaka liwiro lake lovoteledwa la 3000 r/min, ma milliseconds ochepa okha, omwe angagwiritsidwe ntchito pazofunikira pakuyimitsidwa kofulumira komanso kulondola kwapamalo pakuwongolera kwapamwamba. munda.

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