Ma stepper motors anodzikira sei?

Se actuator,stepper motorchimwe chezvigadzirwa zvakakosha zve mechatronics, iyo inoshandiswa zvakanyanya mune dzakasiyana siyana otomatiki control system. Nekuvandudzwa kweiyo microelectronics uye chaiyo yekugadzira tekinoroji, kudiwa kwema stepper motors kuri kuwedzera zuva nezuva, uye stepper motors uye giya rekufambisa nzira inosanganiswa mubhokisi rekudzikisa giya, asi zvakare mune akawedzera uye akawedzera mamiriro ekushandisa kuona, nhasi madiki uye wese munhu pamwe chete kuti anzwisise iyi mhando yekudzikisa giya rekufambisa nzira.

 

Ma stepper motors anodzikira sei?

Stepper mota seinowanzo shandiswa, inonyanya kushandiswa dhiraivha mota, inowanzo shandiswa nedeceleration michina kuti iwane yakanakira kutapurirana maitiro; uye stepper mota inowanzoshandiswa deceleration michina uye nzira, senge yekudzikisa giya bhokisi, encoder, controller, pulse chiratidzo, nezvimwe.

 

Pulse chiratidzo kudzikira:stepper mota kutenderera kumhanya, yakavakirwa pakuchinja kweiyo yekuisa pulse chiratidzo kuti ichinje. Mune dzidziso, ipa mutyairi kupomba, mota inotsika inotenderera nhanho angle (kupatsanura kwechikamu chechikamu chedanho). Mukuita, kana iyo pulse chiratidzo ichichinja nekukurumidza, iyo stepper mota nekuda kwemukati damping mhedzisiro ye reverse magetsi emagetsi, iyo magineti mhinduro pakati pe rotor uye stator haizoteveri shanduko muchiratidzo chemagetsi, ichatungamira kuvharira uye kurasikirwa matanho.

 

Kuderedza gearbox deceleration:stepper mota yakashongedzerwa negiya rekudzikisa giya rinoshandiswa pamwechete, stepper mota inobuda yakakwira kumhanya, yakaderera torque kumhanya, yakabatana negiya rekudzikisa giya, giya bhokisi remukati rekudzikisa giya seti meshing kutapurirana rakaumbwa nereshiyo yekudzikisa, iyo inotsika mota inobuda nekumhanya ichaderedzwa, uye inosimudzira torque yekutapurirana kuti iwane yakanakira kutapurirana maitiro; kudzikisira mhedzisiro inoenderana neiyo giya bhokisi rekudzikisira reshiyo, iyo yakakura yekudzikisa reshiyo, iyo idiki yekumhanyisa kumhanya, uye zvinopesana. Uye zvakasiyana.

 

Curve exponential control speed:exponential curve, muchirongwa chesoftware, kutanga kuverenga nguva dzenguva dzakachengetwa mundangariro yekombuta, inonongedza kusarudzo paunenge uchishanda. Kazhinji, kupedzwa kweiyo stepper mota kukwirisa uye deceleration nguva ye300ms kana kupfuura. Kana iwe ukashandisa yakawedzera kupfupika kumhanyisa uye kudzikamisa nguva, kune yakawanda yakawanda yeanotsika mota, zvichave zvakaoma kuwana yakakwira-kumhanya kutenderera kwema stepper motors.

 

Encoder control deceleration:PID kutonga senzira yakapusa uye inoshanda yekudzora, mune inotsika mota drive yakawana yakafara application. Inobva pane yakapiwa kukosha r ( t ) uye chaiyo yakabuda kukosha c ( t ) kuumba kudzora kutsauka e ( t ), kutsauka kwekuenzanisa , kubatanidzwa uye kusiyanisa kuburikidza nemutsara wekubatanidza kwehuwandu hwekutonga , kutonga chinhu chekutonga . Iro bepa rinoshandisa yakasanganiswa chinzvimbo sensor mune maviri-chikamu hybrid stepper mota uye inogadzira otomatiki inogadziriswa PI yekumhanyisa controller yakavakirwa pane chinzvimbo detector uye vector control, iyo inopa inogutsa yenguva pfupi hunhu pasi pemamiriro ekushanda akasiyana. Zvichienderana nemuenzaniso wemasvomhu weiyo stepper mota, iyo PID yekudzora sisitimu yeinotsika mota inogadzirwa uye iyo PID control algorithm inoshandiswa kuwana huwandu hwekutonga kudzora kufamba kwemota kune yakatsanangurwa chinzvimbo. Chekupedzisira, inosimbiswa nekuenzanisa kuti kutonga kune yakanaka dynamic mhinduro maitiro. Iyo PID controller ine zvakanakira chimiro chakareruka, kusimba kwepamusoro uye kuvimbika kwepamusoro, asi haigone kubata nemazvo ruzivo rusina chokwadi muhurongwa.

 

Stepper mota inogona kuenzaniswa neicho chinoderedza? Mune inotsika mota uye giya bhokisi sarudzo pasuru inoda kutarisisa kune izvo zvinhu, uye rudzii rwegiya bhokisi rinogona kusarudzwa kuti rishandiswe pamwechete?

 

1. Chikonzero che stepper mota ine reducer

 

Stepper mota chinja iyo frequency ye stator phase yazvino, sekushandura pulse yekupinza ye stepper mota drive wedunhu, kuti ive yakaderera-kumhanya kufamba. Yakaderera-speed stepper mota pakumirira kuraira kwekutsika, rotor iri pakamira, mukufamba kwakaderera-kumhanya, kukurumidza kuchinjika kuchave kwakakura kwazvo, panguva ino, sekuchinja kuenda ku-high-speed oparesheni, inogona kugadzirisa dambudziko rekuchinja kwekukurumidza, asi torque inenge isina kukwana. Ndokunge, iyo yakaderera kumhanya ichachinja torque, uye kumhanya kwakakwira kuchave kusina kukwana torque, kudiwa kwekushandisa inoderedza.

 

2. Stepper mota kazhinji ine reducer chii

 

Reducer imhando yegiya dhiraivha, worm drive, giya - worm drive, iyo yakavharirwa mune yakaoma casing, inowanzoshandiswa senge inoderedza pakati peiyo prime mover nemuchina webasa, pakati peiyo prime mover nemuchina webasa kana actuator kuti ienderane nekumhanyisa uye kutapurirana torque; inoderedza ine huwandu hwakasiyana, zvinoenderana nerudzi rwekutapurirana inogona kukamurwa kuita giya rekudzikisira, worm giya rekudzora uye repasi giya rekudzora. Zvinoenderana nehuwandu hwematanho ekutapurirana anogona kukamurwa kuita imwe-nhanho uye yakawanda-nhanho inoderedza; zvinoenderana nechimiro chegiya rinogona kukamurwa kuita cylindrical giya rekudzora, bevel giya rekudzora uye bevel-cylindrical giya rekudzora; zvinoenderana nefomu rekutumira rekutumira rinogona kukamurwa kuita isina kuvhurika inoderedza, shunt reducer uye coaxial reducer. Stepper mota musangano inodzikisira inoderedza mapuraneti, worm giya inoderedza, parallel giya inoderedza, filament giya inoderedza.

 

 

Zvakadini nezve stepper mota yepuraneti inoderedza kurongeka?

 

 

Iko kurongeka kwekudzikisa kunonzi zvakare kudzoka clearance. Kana iyo yekubuda inopera yakagadziriswa uye iyo yekupinza magumo inotenderedzwa wachi uye neawachi kuti ibudise yakatemerwa torque + -2% torque painobuda inopera, pane diki angular displacement pamagumo ekuisa reducer, uye iyi angular displacement ndiyo yekudzoka clearance. Chikwata ichi "arc minutes", kureva chikamu chimwe pamakumi matanhatu edhigirii. Iwo akajairwa kudzoka clearance values ​​anoreva kune yakabuda divi regiya bhokisi. Stepper mota yepuraneti inodzikisira ine yakanyanya kuomarara, yakanyanya kurongeka (imwe nhanho inogona kuwanikwa mukati meminiti 1), yakanyanya kutapurirana zvakanaka (imwe nhanho mu97% -98%), yakakwirira torque / vhoriyamu reshiyo, kuchengetedza-isina, nezvimwe.

 

Stepper mota yekufambisa kurongeka haina kuchinjika, stepper mota inomhanya angle inotemerwa zvachose nehurefu hwenhanho uye huwandu hwemapulses, uye huwandu hwemapulses hunogona kuve hwakazara kuverenga, huwandu hwedhijitari haisi iyo pfungwa yekurongeka, nhanho imwe nhanho imwe, nhanho mbiri matanho maviri. Iko kurongeka kwazvino kunogona kuvandudzwa ndiko kurongeka kwegiya rekudzoka kwegearbox replanetary.

 

1. Spindle accuracy kugadzirisa nzira:iko kugadziridzwa kwepuraneti giya bhokisi spindle kutenderera kutenderera, kana iko kukanganisa kwemuchina kwe spindle pachayo kunosangana nezvinodiwa, ipapo iko kutenderera kweiyo inoderedza spindle inowanzo temwa nekutakura. Chinokosha chekugadzirisa iyo spindle kutenderera kurongeka ndeyekugadzirisa kutakura kubvumirwa. Kuchengetedza yakakodzera kutakura mvumo kwakakosha pakuita kwezvirukwa zvespindle uye kubereka hupenyu. Pakutenderedza, kana paine yakakura clearance, haingoite kuti mutoro wakanamerwa pane inotenderedza muviri wakananga kune simba, asi zvakare inoburitsa yakakomba yekushushikana chiitiko mukutakura mukati uye yekunze mhete yemujaho wekusangana, kupfupisa hupenyu hwekubereka, zvakare kuita kuti spindle centerline drift, nyore kukonzera kuzunguzika kwezvikamu zve spindle. Naizvozvo, iyo rolling inotakura gadziriso inofanirwa kuve yakaremerwa, Kuti ibudise imwe chiyero chekuvhiringidza mukati mekutakura, kuitira kuti ibudise imwe elastic deformation pakusangana pakati pemuviri unotenderedza uye yemukati uye yekunze mhete nhangemutange, nokudaro kuvandudza kuomarara kwekutakura.

2. Kugadzirisa gap nzira:bhokisi regiya remapuraneti riri mukati mekufamba rinoburitsa kukweshera, zvichikonzera shanduko muhukuru, chimiro uye kunaka kwepamusoro pakati pezvikamu, uye kupfeka, kuitira kuti gaka riri pakati pezvikamu nekuwedzera, isu tinofanirwa kuita gadziriso inonzwisisika kuti tive nechokwadi chekufamba kwehama pakati pezvikamu.

 

3. Kukanganisa nzira yekubhadhara:zvikamu zvacho pachazvo zvinokanganisa kuburikidza negungano rakakodzera, kuitira kuti chiitiko chekubatana kwekugadzirisa panguva yekuzorora-mukati, kuve nechokwadi chekururama kwechigadzirwa chekufamba trajectory.

 

1. Comprehensive compensation method:chigadziro chakaiswa nechekudzikisa pachacho kuita kuti kugadziriswa kwave kuendeswa nekugadzirisa kwakarurama kwetafura yebasa kuti ibvise migumisiro yakasanganiswa yekururama kwezvikanganiso.