Semugadziri wemagetsi,mota yekutsikandeimwe yezvigadzirwa zvikuru zvemechatronics, iyo inoshandiswa zvakanyanya muhurongwa hwakasiyana-siyana hwekudzora otomatiki. Nekuvandudzwa kwemicroelectronics netekinoroji yemakombiyuta, kudiwa kwemota dzestepper kuri kuwedzera zuva nezuva, uye dzinoshandiswa muminda yakasiyana-siyana yehupfumi hwenyika.
01 Chii chinonzimota yekutsika
Stepper motor mudziyo wemagetsi unoshandura zvakananga mapulse emagetsi kuita kufamba kwemuchina. Nekudzora kutevedzana, frequency uye huwandu hwemapulse emagetsi anoshandiswa pamota coil, steering, speed uye rotation angle yemota yestepper inogona kudzorwa. Pasina kushandisa closed-loop control control system ine position sensing, nzvimbo chaiyo uye speed control zvinogona kuwanikwa uchishandisa open-loop control system iri nyore, inodhura zvishoma inoumbwa nestepper motor nemutyairi wayo.
02 mota yekutsikachimiro chekutanga uye musimboti wekushanda
Chimiro chikuru:
Nheyo yekushanda: mutyairi wemota yestepper zvichienderana nekunze kwekudzora kurira kwemhepo uye chiratidzo chekutungamirira, kuburikidza nedunhu rayo remukati relogic, kudzora mawindings emota yestepper mune imwe nguva yakatarwa yekumberi kana yekudzokera shure ine simba, kuitira kuti mota iende mberi / kutenderera shure, kana kukiya.
Semuenzaniso, tora mota ine stepper ye1.8 degrees two-phase: kana mawinding ese ari maviri awedzerwa simba uye achifara, mupini unobuda uchava wakamira uye wakakiyiwa panzvimbo yawo. Torque yepamusoro ichaita kuti mota igare yakakiyiwa pa rated current ndiyo holding torque. Kana current iri mune imwe ye windings ikadzoserwa, mota ichatenderera nhanho imwe (1.8 degrees) munzira yakatarwa.
Saizvozvowo, kana magetsi ari mune imwe nzira yekutenderera akachinja divi, mota inotenderera nhanho imwe (1.8 degrees) kune imwe nzira yakatarisana neyekutanga. Kana magetsi ari kuburikidza ne coil windings akadzoserwa ku excitation, mota inotenderera nhanho inoenderera mberi munzira yakapihwa nekunyatsojeka. Kune 1.8 degrees ye two-phase stepper, kutenderera kwemotokari kwevhiki kunotora matanho mazana maviri.
Mota dzematanho maviri dzinofamba netsoka dzine mhando mbiri dzemawindings: bipolar neunipolar. Mota dzeBipolar dzine coil imwe chete inotenderera pachikamu chimwe chete, mota inotenderera nguva nenguva yemagetsi mucoil imwe chete kuti ive inochinja-chinja sequentially, dhizaini yedhiraivha inoda maswitch masere emagetsi ekuchinja sequentially.
Mota dzeUnipolar dzine mavhiri maviri anotenderera ane polarity yakatarisana pachikamu chimwe nechimwe, uye mota
inotenderera nguva dzose nekupa simba mavhiri maviri anotenderera ari padanho rimwe chete.
Dunhu rekutyaira rakagadzirwa kuti ringoda maswichi mana emagetsi chete.
nzira yekutyaira, torque yekubuda kwemota inowedzerwa neinenge 40% zvichienzaniswa ne
unipolar drive mode nekuti mawinding coils echikamu chimwe nechimwe anofara zvizere.
03, mutoro wemota yeStepper
A. Mutoro wenguva pfupi (Tf)
Tf = G * r
G: Kurema kwemutoro
r: nharaunda
B. Mutoro wekusagadzikana (TJ)
TJ = J * dw/dt
J = M * (R12+R22) / 2 (Kg * cm)
M: Mutoro wehuremu
R1: Nharaunda yemhete yekunze
R2: Nharaunda yemhete yemukati
dω/dt: Kukurumidza kweAngular
04, stepper motor speed-torque curve
Kutenderera kwe speed-torque chiratidzo chakakosha chehunhu hwe stepper
mota.
A. Nzvimbo yekushanda kwema frequency emota yeStepper
Kukosha kwekumhanya kwemota yestepper motor pane imwe nzvimbo.
n = q * Hz / (360 * D)
n: rev/sek
Hz: Kukosha kwefrequency
D: Kukosha kwekushandura dunhu reDrive
q: kona yedanho remota inotsika
Semuenzaniso, mota yestepper ine angle yekukwira ye1.8°, ine 1/2 interpolation drive(kureva, 0.9° padanho), ine kumhanya kwe1.25 r/s pafrequency yekushanda ye500 Hz.
B. Nzvimbo yekuzvitangira mota yeStepper
Nzvimbo iyo mota yestepper inogona kutanga nekumira zvakananga.
C. Nzvimbo yekushanda inoenderera mberi
Munzvimbo iyi, mota yestepper haigone kutanga kana kumiswa zvakananga.nzvimbo iyi inofanira kutanga yapfuura nepanzvimbo yekuzvitangira yoga yozokurumidziswa kuti isvikenzvimbo yekushanda. Saizvozvowo, mota yestepper munzvimbo iyi haigone kubhureki zvakananga,kana zvisina kudaro zviri nyore kukonzera kuti mota ye stepper isashande, inofanira kutanga yaderedzwa kusvikanzvimbo yekuzvitangira yega ndokuzobhureka.
D. Stepper motor yepamusoro yekutanga frequency
Mamiriro emota asina mutoro, kuve nechokwadi chekuti mota yestepper hairasikirwe nekushanda kwematanho emotafrequency yakanyanya yekurova kwemoyo.
E. Stepper motor yakanyanya kushanda frequency
Kuwanda kwekurova kwemoyo uko mota inofarira kumhanya pasina kurasikirwa nedanho rimwe chetepasi pemutoro.
F. Torque yekutanga yemota yestepper / torque yekudhonza-mukati
Kuti usvike pamota yestepper mune imwe frequency yekurova kwemoyo, kutanga nekutanga kumhanya, pasinakurasikirwa nematanho e torque yepamusoro yemutoro.
G. Mota yestepper inomhanya netorque/draw-in torque
Torque yepamusoro inogutsa kushanda kwakasimba kwemota yestepper panguva imwe chetekurova kwemoyo kwemwoyo kwakajairwa pasina kurasikirwa nedanho.
05 Kudzora kumhanya kwemota yeStepper/kudzikisa kufambisa
Kana frequency yekushanda kwemota yestepper ichipinda mu curve yekumhanya-kwe torque ye continuousnzvimbo yekushanda, maitiro ekupfupisa kutanga kwemota kana kumisa kukurumidza kana kudzikira kwesimbanguva, kuitira kuti mota imhanye kwenguva yakareba mukumhanya kwakanakisa, nokudaro zvichiwedzeraNguva inoshanda yekushanda kwemota yakakosha zvikuru.
Sezvakaratidzwa mumufananidzo uri pazasi, curve ine simba ye torque ye stepper motor ndeyemutsetse wakatwasuka wakatwasuka pakumhanya kwakaderera; pakumhanya kwakakwirira, curve inoderera zvakanyanyanekuda kwesimba re inductance.
Tinoziva kuti mutoro wemota yestepper iTL, ngatitii tinoda kukurumidza kubva kuF0 kuenda kuF1 mukatinguva pfupi (tr), maverengero enguva pfupi tr?
(1) Kazhinji, TJ = 70% Tm
(2) tr = 1.8 * 10 -5 * J * q * (F1-F0)/(TJ -TL)
(3) F (t) = (F1-F0) * t/tr + F0, 0
B. Kukurumidza kweExponential muchimiro chekumhanya kwakanyanya
(1) Kazhinji
TJ0 = 70%Tm0
TJ1 = 70%Tm1
TL = 60%Tm1
(2)
tr = F4 * Mukati [(TJ 0-TL)/(TJ 1-TL)]
(3)
F (t) = F2 * [1 - e^(-t/F4)] + F0, 0
F2 = (TL-TJ 0) * (F1-F0)/TJ 1-TJ 0)
F4 = 1.8 * 10-5 * J * q * F2/(TJ 0-TL)
Zvinyorwa.
J inoratidza kutenderera kwerotor yemota iri pasi pemutoro.
q ndiyo kona yekutenderera yedanho rega rega, inova kona yedanho remota yestepper iri mu
nyaya yedhiraivha yese.
Mukushanda kwekudzikamisa mafambiro emhepo, kungodzosera kumashure frequency yekumhanyisa pulse iri pamusoro apa kunogona kuitwa
zvakaverengerwa.
06 kudedera kwemota yestepper uye ruzha
Kazhinji, mota ye stepper haishande zvakanaka, kana mota ichishanda kakawandairi pedyo kana kuti yakaenzana nefrequency yemota yerotor inonzwika, kuda kukuruzvinoitika kunze kwedanho.
Mhinduro dzinoverengeka dze resonance:
A. Dzivisa nzvimbo yekudedera: kuitira kuti frequency yekushanda kwemota isawire mukatinzvimbo yekudedera
B. Shandisa nzira yekutyaira yekuparadzanisa: Shandisa nzira yekutyaira ye micro-step kuderedza kudedera ne
kupatsanura danho rekutanga kuita matanho akawanda kuwedzera mhinduro yeimwe neimwe
danho remota. Izvi zvinogona kuitwa nekugadzirisa chikamu chemota kusvika pari zvino.
Kutsika-tsika zvishoma hakuwedzere kururama kwekona yematanho, asi kunoita kuti mota imhanye zvakanyanya
zvakanaka uye pasina ruzha rwakawanda. Torque inowanzova yakaderera ne15% kana ichishanda nehafu yenhanho
pane kushanda kwematanho ese, uye 30% yakaderera yekudzora simba remagetsi resine wave.
Nguva yekutumira: Mbudzi-09-2022