Kusarudzwa kwema stepper motors mune otomatiki midziyo

Stepper motorsinogona kushandiswa kudzora kumhanya uye kudzora chinzvimbo pasina kushandiswa kwemhinduro midziyo (kureva yakavhurika-loop control), saka iyi dhiraivha mhinduro ine hupfumi uye yakavimbika. Mune otomatiki midziyo, zviridzwa, stepper drive yakashandiswa zvakanyanya. Asi vazhinji vashandisi vevashandi vehunyanzvi nezve nzira yekusarudza yakakodzera stepper mota, maitiro ekuita yakanakisa kuita kweiyo stepper drive kana kuve nemibvunzo yakawanda. Iri bepa rinokurukura kusarudzwa kwema stepper motors, yakatarisana nekushandiswa kweimwe stepper mota engineering ruzivo, ndinovimba kuti kufarirwa kwema stepper motors mune otomatiki michina kuita basa mukunongedza.

 

1、 Nhanganyaya yestepper motor

Iyo stepper mota inozivikanwawo seye pulse mota kana nhanho mota. Inofambira mberi neimwe kona pese panoshandurwa mamiriro emanyawi zvichienderana neinopinza pulse chiratidzo, uye inoramba yakamira pane imwe nzvimbo apo mamiriro ekusimudzira anoramba asina kushanduka. Izvi zvinobvumira iyo stepper mota kushandura iyo yekupinza pulse siginecha kuita inowirirana angular displacement yekubuda. Nekudzora huwandu hwemapulses ekuisa iwe unogona kunyatsoona iyo angular displacement yezvakabuda kuitira kuti uwane iyo yakanakisa chinzvimbo; uye nekudzora kuwanda kweiyo pulses yekupinda iwe unogona kunyatso kudzora angular kumhanya kwekubuda uye kuzadzisa chinangwa chekukurumidza kudzora. Mukupera kwema1960, akasiyana-siyana anoshanda stepper motors akavepo, uye makore makumi mana apfuura akaona kukurumidza kuvandudzwa. Stepper mota dzakakwanisa kuDC mota, asynchronous motors, pamwe nemasynchronous motors padivi, ichiva yakakosha mhando yemota. Kune matatu marudzi eanotsika mota: reactive (VR mhando), anogara magineti (PM mhando) uye yakasanganiswa (HB mhando). Iyo hybrid stepper mota inosanganisa zvakanakira maviri ekutanga mafomu eanotsika mota. The stepper injini ine rotor (rotor core, magineti echigarire, shaft, bhora mabheji), stator (mhepo, stator core), mberi uye shure kwekupedzisira zvivharo, etc. The most common two-phase hybrid stepper motor ine stator ine 8 mazino makuru, 40 mazino maduku uye rotor ine mazino maduku makumi mashanu; mota ine zvikamu zvitatu ine stator ine mazino makuru mapfumbamwe, mazino madiki makumi mana nemashanu uye rotor ine mazino madiki makumi mashanu.

 

2、Kudzora musimboti

Thestepper motorhaigone kuve yakabatana zvakananga kune magetsi, uye haigone kugamuchira zvakananga masaini emagetsi pulse, inofanirwa kuitika kuburikidza neakakosha interface - iyo stepper mota mutyairi kupindirana neiyo magetsi uye controller. Iyo stepper mota mutyairi kazhinji inoumbwa neinogovera mhete, uye simba amplifier redunhu. Iyo ring divider inogamuchira zviratidzo zvekutonga kubva kune controller. Nguva imwe neimwe iyo pulse signal inogamuchirwa kubuda kwemhete yemhete kunoshandurwa kamwe chete, saka kuvapo kana kusavapo uye kuwanda kweiyo pulse chiratidzo kunogona kuona kana iyo stepper mota kumhanya yakakwira kana yakaderera, ichimhanyisa kana kudzikisira kutanga kana kumira. Mugoveri wemhete anofanirwawo kutarisa chiratidzo chekutungamira kubva kune controller kuti aone kana kubuda kwayo mamiriro ekuchinja ari mune yakanaka kana yakaipa kurongeka, uye nekudaro sarudza inotsika mota.

 

3、Main parameters

①Block nhamba: kunyanya 20, 28, 35, 42, 57, 60, 86, nezvimwe.

②Nhamba yechikamu: nhamba yemakoiri mukati meiyo stepper mota, stepper mota chikamu nhamba kazhinji ine maviri-chikamu, matatu-chikamu, shanu-chikamu. China inoshandisa maviri-chikamu stepper motors kunyanya, matatu-chikamu zvakare ine mamwe maapplication. Japan inonyanya kushandiswa mashanu-chikamu stepper mota

③Nhanho yekona: inoenderana nechiratidzo chekupuruzira, kusimuka kweangular yemotor rotor kutenderera. Stepper mota nhanho kona yekuverenga fomula ndeiyi inotevera

Nhanho yenhanho = 360° ÷ (2mz)

m nhamba yezvikamu zve stepper motor

Z nhamba yemazino e rotor ye stepper motor.

Zvinoenderana neformula iri pamusoro, iyo nhanho angle yezvikamu zviviri, nhatu-chikamu uye shanu-chikamu stepper motors ndeye 1.8 °, 1,2 ° uye 0.72 ° zvichiteerana.

④ Kubata torque: ndiyo torque ye stator inotenderera yemota kuburikidza neyakayerwa ikozvino, asi rotor haina kutenderera, iyo stator inokiya rotor. Kubata torque ndiyo inonyanya kukosha parameter ye stepper motors, uye ndiyo nheyo huru yekusarudza mota

⑤ Positioning torque: ndiyo torque inodiwa kushandura rotor nesimba rekunze kana mota isingapfuuri ikozvino. Iyo torque ndeimwe yeanoratidza maitiro ekuongorora mota, mune mamwe ma paramita akafanana, iyo diki yekumisikidza torque inoreva kuti "slot mhedzisiro" idiki, iyo inonyanya kubatsira kune kutsetseka kwemota inomhanya yakaderera torque frequency maitiro: inonyanya kureva iyo inodhonzwa torque frequency maitiro, iyo mota yakagadzika mashandiro pane imwe nhanho yekumhanyisa inogona kumira. Iyo nguva-frequency curve inoshandiswa kutsanangura hukama pakati peiyo torque yakakura uye kumhanya (frequency) pasina kurasikirwa kwenhanho. Iyo torque frequency curve yakakosha paramende yeinotsika mota uye ndiyo nheyo huru yekusarudzwa kwemota.

⑥ Yakayerwa ikozvino: iyo mota inotenderera ikozvino inodiwa kuchengetedza yakayerwa torque, iyo inoshanda kukosha

 

4, Kusarudza mapoinzi

Maindasitiri mashandisirwo anoshandiswa munhanho mota inomhanya kusvika 600 ~ 1500rpm, kumhanya kwepamusoro, unogona kufunga yakavharwa-loop stepper mota dhiraivha, kana kusarudza imwe yakakodzera servo drive chirongwa stepper mota sarudzo matanho (ona mufananidzo uri pazasi).

 

(1) Sarudzo yenhanho angle

Zvinoenderana nehuwandu hwezvikamu zvemota, kune marudzi matatu enhanho angle: 1.8 ° (mbiri-chikamu), 1.2 ° (nhatu-chikamu), 0.72 ° (chishanu-chikamu). Ehe, iyo nhanho-nhanho nhanho yeshanu ine yakanyanya kurongeka asi mota yayo nemutyairi zvinodhura, saka haiwanzo kushandiswa muChina. Uye zvakare, iwo mainstream stepper vatyairi vava kushandisa kupatsanura dhiraivha tekinoroji, mune 4 kupatsanura pazasi, kupatsanura nhanho yekona kurongeka kuchiri kuvimbiswa, saka kana nhanho yekona yechokwadi zviratidzo zvega kubva pakufunga, shanu-chikamu stepper mota inogona kutsiviwa maviri-chikamu kana matatu-chikamu stepper mota. Semuyenzaniso, mukushandiswa kweimwe mhando yemutobvu ye5mm screw load, kana maviri-phase stepping motor akashandiswa uye mutyairi akaiswa pazvikamu zvina, huwandu hwemapulses per revolution yemota i200 x 4 = 800, uye pulse yakaenzana i5 ÷ 800 = 0.006.5mm application inogona kusangana neaccura = 0.006.5mm zvinodiwa.

(2) Static torque (yakabata torque) kusarudzwa

Inowanzo shandiswa mitoro yekutakura michina inosanganisira mabhandi e-synchronous, filament bars, rack uye pinion, nezvimwewo. Vatengi vanotanga kuverenga mutoro wavo wemuchina (kunyanya acceleration torque plus friction torque) inoshandurwa kune inodiwa torque pamotokari shaft. Zvino, zvichienderana nekumhanya kwakanyanya kunodiwa nemaruva emagetsi, anotevera maviri akasiyana makesi ekushandisa kusarudza yakakodzera kubata torque yeanotsika mota ① yekushandiswa kweinodiwa mota kumhanya kwe300pm kana pasi: kana muchina wemushini ukashandurwa kuita mota shaft inodiwa torque T1, ipapo iyi torque inowedzerwa nekuchengetedzwa kunodiwa 200 SF. mota inobata torque Tn ②2 yezvishandiso zvinoda kumhanya kwemota ye300pm kana kupfuura: isa iyo yakanyanya kumhanya Nmax, kana muchina wemushini uchichinjirwa kune mota shaft, inodiwa inotakura torque ndeye T1, ipapo iyi torque inowedzerwa nekuchengetedza factor SF (kazhinji 2.5-3.5), iyo inopa torque Tn. Tarisa kuMufananidzo 4 uye sarudza muenzaniso wakakodzera. Wobva washandisa iyo nguva-frequency curve kutarisa uye kuenzanisa: pane iyo nguva-frequency curve, iyo yakanyanya kumhanya Nmax inodiwa nemushandisi inoenderana neyakarasika nhanho torque yeT2, ipapo iyo yakanyanya kurasika nhanho torque T2 inofanira kunge inopfuura 20% yakakura kupfuura T1. Zvikasadaro, zvinodikanwa kusarudza mota nyowani ine torque yakakura, uye tarisa uye enzanisa zvakare zvinoenderana neiyo torque frequency curve yemota ichangobva kusarudzwa.

(3) Iyo yakakura nhamba yechigadziko chemotor, iyo torque inobatirira yakakura.

(4) zvinoenderana neyakayerwa ikozvino kuti usarudze inoenderana stepper mutyairi.

Semuenzaniso, yakayerwa ikozvino yemota 57CM23 ndeye 5A, wobva wafananidza nedhiraivha inotenderwa ikozvino inodarika 5A (ndapota cherechedza kuti ndiyo yakakosha kukosha kwete peak), zvikasadaro kana ukasarudza yakanyanya ikozvino ye3A drive chete, iyo yakanyanya kubuda torque yemota inogona kungosvika makumi matanhatu muzana!

5, ruzivo rwekushandisa

(1) stepper mota yakaderera frequency resonance dambudziko

Kupatsanura stepper drive inzira inoshanda yekudzikisa yakaderera frequency resonance yeanotsika mota. Pazasi pe150rpm, iyo kupatsanura dhiraivha inoshanda zvakanyanya mukudzikisa kuzunguzika kwemota. Sezvineiwo, iyo yakakura kupatsanura, zvirinani mhedzisiro yekudzikisa stepper mota vibration, asi mamiriro chaiwo ndeekuti kupatsanurwa kunowedzera kusvika pa8 kana 16 mushure mekuvandudza maitiro ekudzikisa stepper motor vibration yasvika pakunyanyisa.

Mumakore achangopfuura, kwave kune anti-yakaderera-frequency resonance stepper vatyairi vakanyorwa kumba nekune dzimwe nyika, Leisai's DM, DM-S yakatevedzana yezvigadzirwa, iyo anti-yakaderera-frequency resonance tekinoroji. Iyi nhevedzano yevatyairi inoshandisa harmonic muripo, kuburikidza neamplitude uye chikamu chekufananidza muripo, inogona kudzikisa zvakanyanya yakaderera frequency vibration yeinotsika mota, kuwana yakaderera vibration uye yakaderera ruzha kushanda kwemota.

(2) Mhedzisiro yeiyo stepper mota kupatsanura pakumisikidza chaiko

Stepper mota kupatsanura dhiraivha dhiraivha haingogone chete kunatsiridza kutsetseka kwechishandiso chekufamba, asi zvakare inogona kunyatso kuvandudza kurongeka kweiyo michina. Miedzo inoratidza kuti:Muiyo synchronous bhandi dhiraivha inofamba papuratifomu, stepper mota 4 kupatsanura, mota inogona kumisikidzwa nenzira kwayo padanho rega rega.