Mamota estepper anoderedzwa sei kumhanya?

Mota dzematanhozvishandiso zvemagetsi zvinoshandura zvakananga ma "electrical impulses" kuita "mechanical motion". Nekudzora kutevedzana, frequency uye huwandu hwe "electrical impulses" dzinoshandiswa kuma "motor coils", ma "stepper motors" anogona kudzorwa kuti atungamirire, amhanye uye aronge angle yekutenderera. Pasina rubatsiro rwe "closed-loop feedback control system" ine "position sensing", nzvimbo chaiyo uye "speed control" zvinogona kuwanikwa nekushandisa "open-loop control system" iri nyore, inodhura zvishoma ine "stepper motor" nemutyairi wayo.

Stepping motor sechikamu che executive, chimwe chezvinhu zvakakosha zve mechatronics, chinoshandiswa zvakanyanya muhurongwa hwakasiyana-siyana hwekudzora otomatiki. Nekuvandudzwa kwetekinoroji ye microelectronics uye tekinoroji yekugadzira chaiyo, kudiwa kwe stepper motors kuri kuwedzera zuva nezuva, uye stepper motors uye gear transmission mechanism pamwe chete nema gearboxes, zvakare mune akawanda mashandisirwo ekushandisa kuona, nhasi uye munhu wese anonzwisisa rudzi urwu rwe gearbox transmission mechanism.

Maitiro ekudzikamisa speedmota yekutsika?

Semota inofambiswa nemotokari inoshandiswa zvakanyanya uye inoshandiswa zvakanyanya, mota inofambiswa nemotokari inowanzo shandiswa pamwe chete nemidziyo inodzikisa kufambisa kuti iwane mhedzisiro yakanaka yekutumira; uye michina inodzikisa kufambisa nekushandisa nzira dzemota dzinofambiswa nemotokari dzinofambiswa nemotokari dzakadai semabhokisi emagetsi anodzikisa kufambisa, maencoder, macontroller, masaini ekurova kwemoyo nezvimwewo.

Kuderera kwesimba remasaini ekurova kwemoyo: kumhanya kwemota yestepper, kunoenderana nekuchinja kwesimba remasaini ekurova kwemoyo kuti richinje. Padzidziso, ipai mutyairi kurova kwemoyo,mota yekutsikainotenderera kona yedanho (yakakamurwa kuita kona yedanho yakakamurwa). Mukuita, kana chiratidzo chekurova kwemoyo chichichinja nekukurumidza, mota yestepper, nekuda kwemhedzisiro yekudzikira kwesimba remagetsi remukati, maitiro emagineti pakati perotor nestator haazokwanisi kutevedzera shanduko muchiratidzo chemagetsi, izvo zvinozotungamira mukuvharika uye kurasikirwa nenhanho.

Kuderedza magiya ekuderedza: mota yestepper ine bhokisi rekuderedza magiya rinoshandiswa pamwe chete, mota yestepper inoburitsa kumhanya kwakanyanya, kumhanya kwakaderera kwetorque, yakabatana nebhokisi rekuderedza magiya, giya remukati rekuderedza magiya ekuderedza mesh anogadzirwa nereduction ratio, kubuda kwemota yestepper yekuderedza kumhanya kwakanyanya, uye kusimudzira torque yekutumira, kuti uwane mhedzisiro yakakodzera yekutumira; deceleration effect inoenderana nereduction ratio yegiya, reduction ratio yakakura, output speed ishoma, uye vice versa. Mhedzisiro yekuderera kwemagetsi inoenderana nereduction ratio yegiya, reduction ratio yakakura, output speed ishoma uye vice versa.

Kumhanya kwekutonga kwe exponential curve: exponential curve, musoftware programming, kuverenga kwekutanga kwenguva inochengetwa mundangariro yekombuta, basa richinongedzera kusarudzo. Kazhinji, nguva yekumhanyisa uye yekudzikamisa kupedzisa mota yestepper inopfuura 300ms. Kana ukashandisa nguva pfupi yekumhanyisa uye yekudzikamisa, kune ruzhinji rwemota dzestepper, zvichave zvakaoma kuwana kutenderera kwemota yestepper nekumhanya kukuru.

Kuderedza simba kwemagetsi kunodzorwa neEncoder: Kudzora kwePID, senzira iri nyore uye inoshanda yekudzora, kwave kuchishandiswa zvakanyanya mumadhiraivha emota dzestepper. Yakavakirwa pamutengo wakapihwa r (t) uye kukosha chaiko kwekubuda c (t) kunosanganisira kutsauka kwekutonga e (t), kutsauka kwehuwandu, hunobatanidzwa uye hwakasiyana kuburikidza nemusanganiswa wehuwandu hwekudzora, kutonga kwechinhu chinodzorwa. Sensor yenzvimbo yakabatanidzwa inoshandiswa mumota ye stepper ine zvikamu zviviri, uye PI speed controller inogadziriswa otomatiki yakagadzirwa zvichibva pakushandisa position detector uye vector control, izvo zvinogona kupa hunhu hunogutsa hwe transient pasi pemamiriro ekushanda akasiyana. Zvichienderana nemuenzaniso wemasvomhu wemota yestepper, PID control system yemota yestepper yakagadzirwa, uye PID control algorithm inoshandiswa kuwana huwandu hwekudzora, kuitira kuti mota ikwanise kufamba panzvimbo yakatarwa.

Chekupedzisira, kutonga kunosimbiswa nekushandisa simulation kuti kune hunhu hwakanaka hwekupindura. Kushandiswa kwePID controller kune zvakanakira zvechimiro chiri nyore, kusimba, kuvimbika nezvimwewo, asi hakugone kubata neruzivo rusina chokwadi rwuri musystem.