Mota dzematanhoinogona kushandiswa pakudzora kumhanya uye kudzora nzvimbo pasina kushandisa zvishandiso zvekupindura (kureva kudzora kwakavhurika), saka mhinduro iyi yekutyaira haina mari yakawanda uye yakavimbika. Mumidziyo yekuzvigadzira, zvishandiso, stepper drive yakashandiswa zvakanyanya. Asi vashandisi vazhinji vevashandi vehunyanzvi pakusarudza mota yestepper yakakodzera, maitiro ekuita mashandiro akanakisa estepper drive kana kuti vane mimwe mibvunzo. Pepa rino rinokurukura kusarudzwa kwemota dzestepper, richitarisa pakushandiswa kweruzivo rweinjiniya yestepper motor, ndinotarisira kuti kufarirwa kwemota dzestepper mumidziyo yekuzvigadzira kuchabatsira zvikuru.
1. Nhanganyaya yemota yekutsika
Mota yestepper inozivikanwawo sepulse motor kana kuti step motor. Inofambira mberi neimwe angle pese painochinjwa mamiriro e excitation zvichienderana ne input pulse signal, uye inoramba yakamira panzvimbo imwe kana excitation state isingachinji. Izvi zvinobvumira mota yestepper kushandura input pulse signal kuita angular displacement inoenderana ne angular displacement. Nekudzora huwandu hwe input pulses unogona kuona nemazvo angular displacement ye output kuti uwane nzvimbo yakanakisisa; uye nekudzora frequency ye input pulses unogona kudzora nemazvo angular speed ye output uye kuzadzisa chinangwa chekudzora speed. Mukupera kwema1960, mhando dzakasiyana dze practical stepper motors dzakavapo, uye makore makumi mana apfuura akaona kukura nekukurumidza. Stepper motors dzakakwanisa DC motors, asynchronous motors, pamwe ne synchronous motors pamwe chete, dzichiva mhando ye basic motors. Kune mhando nhatu dze stepper motors: reactive (VR type), permanent magnet (PM type) uye hybrid (HB type). Hybrid stepper motor inosanganisa mabhenefiti emhando mbiri dzekutanga dze stepper motor. Mota yestepper ine rotor (rotor core, permanent magnets, shaft, ball bearings), stator (winding, stator core), front and rear end caps, nezvimwewo. Mota yestepper ine maphase maviri ine stator ine mazino masere makuru, mazino madiki makumi mana uye rotor ine mazino madiki makumi mashanu; mota yechitatu ine stator ine mazino mapfumbamwe makuru, mazino madiki makumi mana nemashanu uye rotor ine mazino madiki makumi mashanu.
2, musimboti wekudzora
Iyomota yekutsikaHaikwanise kubatanidzwa zvakananga kune simba, uye haigone kugamuchira zvakananga masaini emagetsi ekupusha, inofanira kuonekwa kuburikidza neinterface yakakosha - stepper motor driver kuti ishande nemagetsi uye controller. Stepper motor driver inowanzo kuve nemutengesi wering, uye power amplifier circuit. Ring divider inogamuchira masaini ekudzora kubva kumutongi. Nguva imwe neimwe chiratidzo chekupusha chinogamuchirwa, kubuda kwering divider kunoshandurwa kamwe chete, saka kuvapo kana kusavapo uye frequency yechiratidzo chekupusha kunogona kuona kana kumhanya kwemota yestepper kwakakwira kana kwakaderera, kuchikurumidza kana kunonoka kutanga kana kumira. Ring divider inofanirawo kutarisa chiratidzo chekutungamira kubva kumutongi kuti ione kana shanduko dzayo dziri muhurongwa hwakanaka kana husina kunaka, uye nokudaro inoona stepper motor stepper steering.
3, Main parameters
①Nhamba yebhuroko: inonyanya kuva 20, 28, 35, 42, 57, 60, 86, nezvimwewo.
②Nhamba yechikamu: huwandu hwema coils ari mukati memota ye stepper, nhamba yechikamu chemota ye stepper inowanzo kuve nezvikamu zviviri, zvikamu zvitatu, zvikamu zvishanu. China inonyanya kushandisa mota dze stepper dzechikamu zviviri, zvikamu zvitatu zvine mamwe mashandisirwo. Japan inowanzoshandiswa nemota dze stepper dzechikamu chishanu
③Kona yedanho: inoenderana nechiratidzo chekurova kwemoyo, kutenderera kwekona kwemota yerotor. Fomura yekuverenga kona yedanho remota yeStepper ndeiyi inotevera.
Kona yedanho = 360° ÷ (2mz)
m nhamba yezvikamu zvemota yestepper
Z nhamba yemazino erotor yemota inokwira.
Zvichienderana nefomura iri pamusoro apa, kona yematanho emota dzematanho maviri, matatu uye mashanu ndeye 1.8°, 1,2° uye 0.72° zvichiteerana.
④ Kubata torque: ndiko kutenderera kwe stator yemota kuburikidza ne rated current, asi rotor haitenderere, stator inovhara rotor. Kubata torque ndiyo inonyanya kukosha pa stepper motors, uye ndiyo hwaro hukuru hwekusarudza mota.
⑤ Positioning torque: ndiyo torque inodiwa kuti rotor itenderedzwe nesimba rekunze kana mota isingapfuure magetsi. Torque ndeimwe yezviratidzo zvekushanda kuti iongorore mota, kana paine mamwe ma parameter akafanana, kana positioning torque idiki zvinoreva kuti "slot effect" idiki, zvinobatsira zvikuru pakutsvedzerera kwemota inomhanya ne low speed torque frequency hunhu: zvinonyanya kureva hunhu hwe drawn out torque frequency, motor stable operation pa some speed inogona kumira torque yepamusoro pasina kurasikirwa ne step. Moment-frequency curve inoshandiswa kutsanangura hukama huripo pakati pe maximum torque nekumhanya (frequency) pasina kurasikirwa ne step. Torque frequency curve i parameter inokosha ye stepper motor uye ndiyo hwaro hukuru hwekusarudza mota.
⑥ Rated current: motor winding current inodiwa kuchengetedza rated torque, kukosha kwayo kunoshanda
4, Kusarudza mapoinzi
Mashandisirwo emaindasitiri anoshandiswa mukumhanya kwemota yestepper kusvika 600 ~ 1500rpm, kumhanya kwakakwira, unogona kufunga nezve closed-loop stepper motor drive, kana kusarudza matanho akakodzera ekusarudza stepper motor program (ona mufananidzo uri pazasi).
(1) Sarudzo yekona yedanho
Zvichienderana nehuwandu hwezvikamu zvemota, kune mhando nhatu dzekona yematanho: 1.8° (zvikamu zviviri), 1.2° (zvikamu zvitatu), 0.72° (zvikamu zvishanu). Ehe, kona yematanho mashanu ine kururama kwakanyanya asi mota yayo nemutyairi zvinodhura, saka haiwanzo shandiswa muChina. Pamusoro pezvo, madhiraivha makuru ematanho ekufambisa ari kushandisa tekinoroji yedhiraivha yezvikamu, muzvikamu zvina zviri pazasi, kururama kwekona yezvikamu kunogona kuvimbiswa, saka kana zviratidzo zvekururama kwekona yematanho zviri zvega kubva pakufunga nezvazvo, mota yematanho mashanu inogona kutsiviwa nemota yematanho maviri kana matatu. Semuenzaniso, pakushandisa imwe mhando ye lead ye 5mm screw load, kana mota ine ma phase maviri ikashandiswa uye dhiraivha yakaiswa pazvikamu zvina, huwandu hwema pulses pa revolution yemota i200 x 4 = 800, uye pulse yakaenzana nayo i5 ÷ 800 = 0.00625mm = 6.25μm, kururama uku kunogona kusangana nezvakawanda zvezvinodiwa zvekushandisa.
(2) Sarudzo ye torque inomira (inobata torque)
Nzira dzinoshandiswa zvakanyanya dzekutumira mutoro dzinosanganisira mabhandi anowirirana, filament bars, rack nepinion, nezvimwewo. Vatengi vanotanga vaverenga mutoro wavo wemuchina (kunyanya acceleration torque pamwe ne friction torque) vachichinjwa kuita load torque inodiwa pamota shaft. Zvadaro, zvichienderana nekumhanya kwakanyanya kunodiwa nemaruva emagetsi, nzira mbiri dzakasiyana dzekushandisa dzinotevera kusarudza torque yakakodzera yekubata yemota yestepper ① yekushandisa kumhanya kwemota kunodiwa kwe300pm kana pasi: kana mutoro wemuchina uchichinjwa kuita mota shaft inodiwa load torque T1, ipapo load torque iyi inowedzerwa ne safety factor SF (inowanzo torwa se1.5-2.0), kureva kuti, stepper motor inodiwa inobata torque Tn ②2 yeKune maapplication anoda kumhanya kwemota kwe300pm kana kupfuura: isa kumhanya kwakanyanya Nmax, kana mutoro wemuchina uchichinjwa kuita mota shaft, load torque inodiwa iT1, ipapo load torque iyi inowedzerwa ne safety factor SF (kazhinji 2.5-3.5), iyo inopa holding torque Tn. Tarisa Mufananidzo 4 wosarudza modhi yakakodzera. Wobva washandisa moment-frequency curve kuti utarise uye uenzanise: pamoment-frequency curve, kumhanya kukuru kunodiwa nemushandisi Nmax kunoenderana nemotorque yepamusoro yakarasika yeT2, ipapo maximum lost step torque T2 inofanira kunge yakakura kupfuura T1 ne20%. Kana zvisina kudaro, zvinodikanwa kusarudza mota itsva ine torque yakakura, uye kutarisa uye kuenzanisa zvakare zvichienderana netorque frequency curve yemota ichangobva kusarudzwa.
(3) Kana nhamba yebase yemota yakakura, torque yekubatirira inowedzerawo kukura.
(4) zvichienderana nemagetsi akayerwa kuti usarudze mutyairi westepper anoenderana.
Semuenzaniso, simba remagetsi remota 57CM23 i5A, wobva waenzanisa simba remagetsi rinobvumidzwa remota rinodarika 5A (ndapota cherechedza kuti ndiro simba rinoshanda kwete peak), zvikasadaro kana ukasarudza simba remagetsi remota re3A chete, simba remagetsi remota rinogona kunge riri 60% chete!
5, ruzivo rwekushandisa
(1) dambudziko re "low frequency resonance" yemota yestepper motor
Subdivision stepper drive inzira inoshanda yekuderedza low frequency resonance yema stepper motors. Pasi pe 150rpm, subdivision drive inoshanda zvikuru mukuderedza vibration yemota. Panyaya yedzidziso, kana subdivision yakakura, mhedzisiro iri nani pakuderedza stepper motor vibration, asi mamiriro chaiwo ndeekuti subdivision inowedzera kusvika 8 kana 16 mushure mekunge mhedzisiro yekuvandudza pakuderedza stepper motor vibration yasvika padanho rakakwirira.
Mumakore achangopfuura, kwave kune madhiraivha ekudzivirira mafambiro emagetsi akaderera akanyorwa munyika nekune dzimwe nyika, zvigadzirwa zveLeisai's DM, DM-S, tekinoroji yekudzivirira mafambiro emagetsi akaderera. Iyi nhevedzano yemadhiraivha inoshandisa harmonic compensation, kuburikidza ne amplitude uye phase matching compensation, inogona kuderedza zvakanyanya low frequency vibration yemota yestepper, kuti iwane vibration yakaderera uye kushanda kweruzha rwakaderera kwemota.
(2) Kukanganiswa kwekupatsanurwa kwemota yestepper pane kunyatsorongeka kwenzvimbo
Stepper motor subdivision drive circuit haingogone chete kuvandudza kutsetseka kwekufamba kwemudziyo, asiwo inogona kuvandudza kunyatsorongeka kwenzvimbo yemudziyo. Miedzo inoratidza kuti: Mupuratifomu yekufamba kwebhandi re synchronous, stepper motor 4 subdivision, mota inogona kuiswa nemazvo padanho rega rega.
Nguva yekutumira: Chikumi-11-2023