Se actuator,stepper motorchimwe chezvigadzirwa zvakakosha zve mechatronics, iyo inoshandiswa zvakanyanya mune dzakasiyana siyana otomatiki control system. Nekuvandudzwa kweiyo microelectronics uye tekinoroji yekombuta, kudiwa kwema stepper motors kuri kuwedzera zuva nezuva, uye anoshandiswa munzvimbo dzakasiyana dzehupfumi hwenyika.
01 Chii chinonzi astepper motor
Stepper mota chishandiso chemagetsi chinoshandura zvakananga mapurusi emagetsi kuita mekiniki kufamba. Nekudzora kutevedzana, kuwanda uye huwandu hwemagetsi emagetsi akaiswa kune mota coil, iyo inotsika mota inotungamira, kumhanya uye kutenderera angle inogona kudzorwa. Pasina kushandisa yakavharwa-loop mhinduro yekudzora sisitimu ine chinzvimbo inonzwa, chaiyo chinzvimbo uye kukurumidza kutonga inogona kuwanikwa uchishandisa yakapusa, yakaderera-yakaderera-yakavhurika-loop control system inoumbwa neanotsika mota uye anoperekedza mutyairi.
02 stepper motorchimiro chakakosha uye nheyo yekushanda
Basic chimiro:
Kushanda musimboti: inotsika mota mutyairi zvinoenderana neyekunze kudzora pulse uye chiratidzo chekutungamira, kuburikidza neiyo yemukati logic dunhu, dzora inotsika mota windings mune imwe nguva yekutevedzana kumberi kana kudzosera simba, kuti mota kumberi / kudzosera kutenderera, kana kukiya.
Tora 1.8 dhigirii maviri-chikamu stepper mota semuenzaniso: kana ese mahwindi akasimbiswa uye achinakidzwa, mota inobuda shaft ichamira uye yakakiyiwa munzvimbo. Iyo yakanyanya torque iyo inochengeta mota yakakiyiwa pane yakayerwa ikozvino ndiyo inobata torque. Kana ikozvino mune imwe yemhepo inotenderera ichidzoserwa, mota inotenderera nhanho imwe (1.8 madhigirii) mune yakapihwa gwara.
Saizvozvo, kana ikozvino mune imwe mhepo inovhuvhuta ichichinja nzira, mota inotenderera nhanho imwe (1.8 madhigirii) yakatarisana neyakare. Kana mafungu kuburikidza necoil windings ari sequentially redirected kune excitation, motokari inotenderera mune inoenderera nhanho mune yakapihwa gwara nekururama kwakanyanya. Kune 1.8 madhigirii maviri-chikamu stepper mota kutenderera kwevhiki kunotora mazana maviri matanho.
Maviri-phase stepper motors ane marudzi maviri emamhepo: bipolar uye unipolar. Bipolar motors ine imwe chete inomonereka coil pachikamu, iyo mota inotenderera inotenderera iripo mune imwechete coil kuti ive sequentially inosiyana excitation, dhizaini yedhiraivha yedhiraivha inoda sere emagetsi switch yekuteedzana switch.
Unipolar motors ane maviri anomonereka coils eyakatarisana polarity pachikamu chimwe nechimwe, uye mota
inotenderera ichienderera ichipa simba makoiri maviri anomonereka pachikamu chimwe chete.
Iyo dhiraivha yedunhu yakagadzirirwa kungoda mana emagetsi switch. Mune bipolar
drive mode, iyo inobuda torque yemota inowedzerwa neanosvika 40% kana ichienzaniswa ne
unipolar drive mode nekuti mapeji anomonereka echikamu chimwe nechimwe ari 100% kufara.
03, Stepper mota mutoro
A. Kutakura nguva (Tf)
Tf = G * r
G: Mutoro uremu
r: radius
B. Inertia mutoro (TJ)
TJ = J * dw/dt
J = M * (R12+R22) / 2 (Kg * cm)
M: Misa yakawanda
R1: Radhiyasi yemhete yekunze
R2: Radhiyasi yemhete yemukati
dω/dt: Angular kukurumidza
04, inotsika mota kumhanya-torque curve
Iyo yekumhanyisa-torque curve chiratidzo chakakosha cheyakabuda maitiro e stepper
mota.
A. Stepper mota inoshanda frequency point
Iko kukosha kwekumhanya kweiyo stepper mota mota pane imwe nzvimbo.
n = q * Hz / (360 * D)
n: rev/sec
Hz: Frequency kukosha
D: Dhiraivha redunhu kududzira kukosha
q: stepper mota nhanho kona
Semuenzaniso, mota inotsika ine pitch angle ye1.8°, ine 1/2 interpolation drive.(kureva, 0.9 ° per nhanho), ine sipidhi ye1.25 r/s panguva yekushanda ye500 Hz.
B. Stepper mota yekuzvitanga nzvimbo
Iyo nharaunda iyo stepper mota inogona kutangwa uye kumiswa zvakananga.
C. Kuenderera mberi kwekushanda nzvimbo
Munzvimbo iyi, iyo stepper mota haigone kutangwa kana kumira zvakananga. Stepper motors mukatiiyi nharaunda inofanira kutanga yapfuura nepanzvimbo yekuzvitangira uye yozokwidziridzwa kusvika kunenzvimbo yekushanda. Saizvozvo, mota inotsika munzvimbo ino haigone kubhurwa zvakananga,zvikasadaro zviri nyore kuita kuti stepper mota ibude nhanho, inofanira kutanga yadzikiswanzvimbo yekuzvitangira ichibva yabhureki.
D. Stepper mota inonyanyisa kutanga frequency
Mota isina-mutoro mamiriro, kuve nechokwadi chekuti stepper mota haisi kurasikirwa nedanho rekushanda kweiyoyakanyanya pulse frequency.
E. Stepper mota inonyanyisa kushanda frequency
Iyo yakanyanya pulse frequency iyo mota inofara kumhanya pasina kurasikirwa nenhanhopasina mutoro.
F. Stepper mota inotanga torque / dhonza-mukati torque
Kusangana neinotsika mota mune imwe pulse frequency kutanga uye kutanga kumhanya, pasinakurasikirwa matanho eiyo yakanyanya mutoro torque.
G. Stepper mota inomhanya torque/draw-in torque
Iyo yakanyanya kuremerwa torque inogutsa yakagadzikana mashandiro eiyo stepper mota paimwe pulse frequency pasina kurasikirwa kwedanho.
05 Stepper mota kukwidziridza / deceleration inofamba kudzora
Kana iyo stepper mota inoshanda frequency point mune yekumhanyisa-torque curve yekuendereranharaunda yekushanda, kupfupisa mota kutanga kana kumisa kukwirisa kana kudzikisiranguva, kuitira kuti mota inomhanya kwenguva yakareba mune yakanakisa yekumhanyisa mamiriro, nekudaro ichiwedzera iyoinoshanda nguva yekumhanya yemota yakakosha zvikuru.
Sezvinoratidzwa mumufananidzo uri pazasi, iyo dynamic torque hunhu curve ye stepper mota irimutsara wakatwasuka wakatwasuka pamhepo yakaderera; pakumhanya kwakanyanya, curve inoderera zvakanyanyanekuda kwesimba re inductance.
Isu tinoziva kuti iyo stepper mota mutoro ndeye TL, tomboti tinoda kumhanyisa kubva F0 kuenda F1 mu.iyo ipfupi nguva (tr), sei kuverenga ipfupi nguva 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. Exponential acceleration in high speed condition
(1) Kazhinji
TJ0 = 70%Tm0
TJ1 = 70%Tm1
TL = 60% Tm1
(2)
tr = F4 * Mu[(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)
Notes.
J inoratidza kutenderera inertia yemota rotor iri pasi pemutoro.
q ndiyo kona yekutenderera yenhanho imwe neimwe, inova iyo nhanho angle ye stepper mota mu
nyaya yedhiraivha yese.
Mukushanda kwekudzikisira, ingo dzosera iyo iri pamusoro acceleration pulse frequency inogona kuva
yakaverengerwa.
06 stepper mota vibration uye ruzha
Kazhinji kutaura, stepper mota mune-isina-mutoro mashandiro, kana iyo mota inoshanda frequencyiri pedyo kana kuenzana nemotor rotor's inherent frequency inonzwika, zvakakomba kudakuitika kunze kwechiitiko chenhanho.
Mhinduro dzakawanda dze resonance:
A. Dzivisa iyo vibration zone: kuitira kuti injini yekushanda irege kuwira mukativibration range
B. Adopt subdivision drive mode: Shandisa micro-step drive mode kuderedza vibration ne
kupatsanura yekutanga nhanho kuita nhanho dzakawanda kuwedzera kugadzirisa kweimwe neimwe
motor step. Izvi zvinogona kuwanikwa nekugadzirisa chikamu kune ikozvino chiyero chemota.
Microstepping haiwedzere nhanho yekona kurongeka, asi inoita kuti mota imhanye zvakanyanya
zvakanaka uye neruzha rushoma. Iyo torque inowanzo 15% yakaderera kune hafu-nhanho kushanda
pane yekushanda-danho rakazara, uye 30% yakaderera kune sine wave ikozvino kutonga.
Nguva yekutumira: Nov-09-2022