ʻIke kumu kumu kaʻa kaʻa Servo

ʻIke kumu kumu kaʻa kaʻa Servo

ʻO ka huaʻōlelo "servo" mai ka huaʻōlelo Helene "kauā".Hiki ke hoʻomaopopoʻia ka "Servo motor" ma keʻano he motika e hoʻolohe pono i ke kauoha o ka hōʻailona mana: ma mua o ka hoʻounaʻiaʻana o ka hōʻailona mana, kū mālie ka rotor;i ka hoʻouna ʻia ʻana o ka hōʻailona hoʻomalu, huli koke ka rotor;i ka nalo ʻana o ka hōʻailona mana, hiki i ka rotor ke kū koke.

ʻO ka mīkini servo kahi mīkini micro i hoʻohana ʻia ma ke ʻano he mea hoʻokele i kahi mea mana mana.ʻO kāna hana ʻo ia ka hoʻololi ʻana i kahi hōʻailona uila i kahi neʻe angular a i ʻole ka wikiwiki angular o kahi lāʻau wili.

Hoʻokaʻawale ʻia nā motika Servo i ʻelua mau ʻāpana: AC servo a me DC servo

ʻO ke ʻano kumu o kahi kaʻa AC servo ua like ia me kahi kaʻa induction AC (asynchronous motor).ʻElua wili hoʻohiwahiwa Wf a me nā makani hoʻomalu WcoWf me ka neʻe ʻana o ke kaʻina o ka 90 ° uila uila ma ka stator, i hoʻopili ʻia i kahi voli AC mau, a me ka hoʻohana ʻana i ka volta AC a i ʻole ka hoʻololi ʻana o ka pae i hoʻopili ʻia i Wc e hoʻokō i ke kumu o ka hoʻomalu ʻana i ka hana. o ka moto.Loaʻa i ka AC servo motor nā hiʻohiʻona o ka hana paʻa, ka mana maikaʻi, ka pane wikiwiki, ka naʻau kiʻekiʻe, a me nā hōʻailona non-linearity koʻikoʻi o nā hiʻohiʻona mechanical a me nā hiʻohiʻona hoʻoponopono (pono e emi ma lalo o 10% a 15% a emi iho ma mua o 15% a 25% pakahi).

ʻO ke ʻano kumu o kahi kaʻa servo DC ua like ia me kahi kaʻa DC maʻamau.ʻO ka māmā holo kaʻa n=E/K1j=(Ua-IaRa)/K1j, kahi ʻo E ka ikaika electromotive counter armature, he mea mau ʻo K, ʻo j ka neʻe manaʻo ma ke kia, Ua, ʻo ia ka voluma lima a me ka au lima, Ra. ʻO ka pale kaua, hoʻololi Ua a hoʻololi paha φ hiki ke hoʻomalu i ka wikiwiki o ka DC servo motor, akā hoʻohana maʻamau ke ʻano o ka hoʻomalu ʻana i ka volta armature.I loko o ka mīkini paʻa DC servo motor, ua hoʻololi ʻia ka wili hoʻohiwahiwa e kahi magnet mau, a ʻo ka flux magnetic φ mau..Loaʻa i ka mīkini servo DC nā hiʻohiʻona hoʻoponopono laina laina a me ka pane manawa wikiwiki.

ʻO nā pono a me nā pōʻino o DC Servo Motors

Pōmaikaʻi: ʻO ka hoʻomalu wikiwiki pololei, ka torque paʻakikī a me nā hiʻohiʻona wikiwiki, ke kumu hoʻomalu maʻalahi, maʻalahi e hoʻohana, a me ke kumu kūʻai.

Nā pōʻino: ka hoʻololi ʻana i ka pulupulu, ka palena wikiwiki, ke kūpaʻa hou aʻe, a me nā ʻāpana lole (ʻaʻole kūpono no nā wahi lepo ʻole a pahū)

ʻO nā pono a me nā hemahema o ka AC servo motor

Pōmaikaʻi: nā hiʻohiʻona hoʻomalu wikiwiki maikaʻi, ka mana maʻemaʻe i ka holo holoʻokoʻa holoʻokoʻa, aneane ʻaʻohe oscillation, kiʻekiʻe kiʻekiʻe ma luna o 90%, liʻiliʻi ka wela wela, kiʻekiʻe-wikiwiki mana, kiʻekiʻe-precision kūlana mana (e pili ana i ka encoder pololei), helu wahi hana. I loko, hiki ke hoʻokō i ka torque mau, ka haʻahaʻa haʻahaʻa, haʻahaʻa haʻahaʻa, ʻaʻohe palaki ʻaʻahu, mālama ʻole (kūpono no ka lepo ʻole, nā wahi pahū)

Nā pōʻino: ʻoi aku ka paʻakikī o ka mana, pono e hoʻoponopono ʻia nā ʻāpana kaʻa ma ka pūnaewele e hoʻoholo ai i nā ʻāpana PID, a ʻoi aku ka nui o nā pilina.

Ua hoʻokaʻawale ʻia nā kaʻa servo DC i nā kaʻa brushed a me ka brushless

He haʻahaʻa ke kumu kūʻai, maʻalahi ke ʻano, nui i ka torque hoʻomaka, ākea i ka laulā hoʻoponopono wikiwiki, maʻalahi e hoʻomalu, pono ka mālama ʻana, akā maʻalahi ka mālama ʻana (hoʻololi i ke kalapona kalapona), hana i ka interference electromagnetic, loaʻa nā koi no ke kaiapuni hoʻohana, a hoʻohana mau ʻia no nā hanana ʻoihana maʻamau a me nā manawa kīwila pili i ke kumu kūʻai.

He liʻiliʻi ka nui a me ke kaumaha o nā mīkini Brushless, kiʻekiʻe i ka hoʻopuka a me ka wikiwiki i ka pane, kiʻekiʻe i ka wikiwiki a me ka liʻiliʻi i ka inertia, paʻa i ka torque a maʻalahi i ka rotation, paʻakikī i ka mana, naʻauao, maʻalahi i ke ʻano uila commutation mode, hiki ke hoʻololi. i ka nalu huinahalike a i ʻole ka hawewe sine, mālama ʻole ka mīkini, kiʻekiʻe kiʻekiʻe a me ka mālama ʻana i ka ikehu, liʻiliʻi electromagnetic radiation, piʻi haʻahaʻa haʻahaʻa a me ke ola lōʻihi, kūpono no nā ʻano like ʻole.

ʻO nā kaʻa AC servo kekahi mau kaʻa brushless, i hoʻokaʻawale ʻia i nā mīkini synchronous a me asynchronous.I kēia manawa, hoʻohana pinepine ʻia nā ʻenekini synchronous i ka mana neʻe.Nui ka mana, hiki ke nui ka mana, nui ka inertia, haʻahaʻa ka wikiwiki, a piʻi ka wikiwiki me ka piʻi ʻana o ka mana.ʻO ka iho holoʻokoʻa like ʻole, kūpono no nā manawa holo haʻahaʻa a me ka maʻalahi.

ʻO ka rotor i loko o ka mīkini servo he magnet mau loa.Hoʻoponopono ka mea hoʻokele i ka uila U/V/W ʻekolu manawa e hana ai i kahi kahua electromagnetic.Hoʻololi ka rotor ma lalo o ka hana a kēia māla magnetic.I ka manawa like, hoʻouna ka encoder e hele mai me ka moto i ka hōʻailona manaʻo i ka mea hoʻokele.Hoʻohālikelike ʻia nā waiwai e hoʻoponopono i ke kihi o ka rotation rotor.ʻO ka pololei o ka mīkini servo e pili ana i ka pololei o ka encoder (helu o nā laina).

He aha ka mīkini servo?ʻEhia mau ʻano?He aha nā ʻano hana?

Pane: Hoʻohana ʻia ka ʻenekini servo, ʻike ʻia ʻo ka ʻenekini hoʻokō, ma ke ʻano he mea hoʻokele i ka ʻōnaehana hoʻokele aunoa e hoʻololi i ka hōʻailona uila i loaʻa i kahi neʻe ʻana a i ʻole ka wikiwiki o ka angular velocity output ma ke kumu kaʻa.

Hoʻokaʻawale ʻia nā mīkini Servo i ʻelua mau ʻāpana: DC a me AC servo motors.ʻO kā lākou mau hiʻohiʻona nui, ʻaʻohe ʻano hoʻololi ponoʻī i ka wā ʻaʻohe o ka volta hōʻailona, ​​a emi ka wikiwiki i ka wikiwiki like me ka piʻi ʻana o ka torque.

He aha ka ʻokoʻa o ka hana ma waena o kahi kaʻa AC servo a me kahi kaila servo DC brushless?

Pane: ʻOi aku ka maikaʻi o ka hana o ka AC servo motor, no ka mea, hoʻomalu ʻia ka servo AC e kahi hawewe sine a liʻiliʻi ka ripple torque;ʻoiai ke hoʻomalu ʻia ka servo DC brushless e ka nalu trapezoidal.Akā ʻoi aku ka maʻalahi o ka mana brushless DC servo.

ʻO ka hoʻomohala wikiwiki ʻana o ka ʻenehana hoʻokele AC servo paʻa i hana i ka ʻōnaehana servo DC i ka pilikia o ka hoʻopau ʻia.Me ka hoʻomohala ʻana i ka ʻenehana, ua loaʻa i ka ʻenehana hoʻokele AC servo drive ka hoʻomohala koʻikoʻi, a ua hoʻomau mau nā mea hana uila kaulana ma nā ʻāina like ʻole i nā moʻo hou o AC servo motors a me servo drives.Ua lilo ka ʻōnaehana servo AC i alakaʻi hoʻomohala koʻikoʻi o ka ʻōnaehana servo hana kiʻekiʻe o kēia manawa, kahi e hana ai ka ʻōnaehana servo DC i ka pilikia o ka hoʻopau ʻia.

Ke hoʻohālikelike ʻia me nā motika servo DC, loaʻa i nā motika AC servo mau loa nā pono nui aʻe:

⑴Me ka ʻole o ka pulupulu a me ka commutator, ʻoi aku ka hilinaʻi o ka hana a me ka mālama ʻole.

(2) Hoʻemi nui ʻia ka hoʻomehana ʻana o stator.

⑶ He liʻiliʻi ka inertia, a he pane wikiwiki maikaʻi ka ʻōnaehana.

⑷ He maikaʻi ke kūlana hana kiʻekiʻe a me ka kiʻekiʻe-torque.

⑸Liʻiliʻi a me ke kaumaha māmā ma lalo o ka mana like.

Kuʻuna kaʻa kaʻa Servo

ʻO ke ʻano o ka stator o ka AC servo motor e like like me ka capacitor split-phase single-phase asynchronous motor.Hoʻolako ʻia ka stator me ʻelua wili me ka ʻokoʻa like ʻole o 90 °, hoʻokahi ka wili hoʻohiwahiwa Rf, i pili mau ʻia i ka volta AC Uf;ʻo ka mea ʻē aʻe ka mana wiliwili L, i hoʻopili ʻia me ka uila hōʻailona mana Uc.No laila ua kapa ʻia ka AC servo motor ʻelua servo motors.

ʻO ka rotor o ka AC servo motor ka mea maʻamau i hana ʻia i loko o ka hīnaʻi squirrel, akā i mea e loaʻa ai ka wikiwiki o ka mīkini servo, nā ʻano mechanical linear, ʻaʻohe mea "autorotation" a me ka hana pane wikiwiki, ke hoʻohālikelike ʻia me nā kaʻa maʻamau, pono ia. Loaʻa ka nui o ke kū'ē rotor a liʻiliʻi ka manawa o ka inertia.I kēia manawa, ʻelua ʻano o nā hale rotor i hoʻohana nui ʻia: ʻo ka squirrel -cage rotor me nā kiʻekiʻe - resistivity alakaʻi kaola i hana ʻia me nā mea conductive kiʻekiʻe.I mea e hōʻemi ai i ka manawa o ka inertia o ka rotor, ua hana ʻia ka rotor i ka slender;ʻO ka mea ʻē aʻe he kīʻaha kīʻaha - ʻano rotor i hana ʻia me ke alumini alumini, ʻo ka pā kīʻaha he 0.2 -0.3mm wale nō, ʻo ka manawa o ka inertia o ka rotor kīʻaha kīʻaha he liʻiliʻi, wikiwiki ka pane, a paʻa ka hana. no laila ua hoʻohana nui ʻia.

Inā ʻaʻohe mana o ka mana o ka AC servo motor, aia wale nō ka pulsating magnetic field i hana ʻia e ka wili ʻana i ka stator, a paʻa ka rotor.I ka loaʻa ʻana o ka mana mana, ua hoʻokumu ʻia kahi māla magnetic rotating i ka stator, a huli ka rotor i ke ala o ke kahua magnetic rotating.Ke hoʻomau ka ukana, hoʻololi ka wikiwiki o ka kaʻa me ka nui o ka mana mana.Ke kū'ē ka māhele o ka mana mana, e hoʻohuli ʻia ke kaʻa servo.

ʻOiai ʻo ka loina hana o ka AC servo motor e like me ka capacitor - operated single -phase asynchronous motor, ʻoi aku ka nui o ke kū'ē rotor o ka mua ma mua o ka mea hope.No laila, ke hoʻohālikelike ʻia me ka capacitor -operated asynchronous motor, ʻekolu mau hiʻohiʻona koʻikoʻi ka servo motor:

1. Nui hoʻomaka torque: Ma muli o ka nui o ka rotor kū'ē, ka torque hiʻona (mechanical hiʻona) kokoke i linear, a he nui hoʻomaka torque.No laila, i ka wā e loaʻa ai i ka stator ka mana mana, e huli koke ka rotor, nona nā ʻano o ka hoʻomaka wikiwiki a me ka naʻau kiʻekiʻe.

2. Laulā hana ākea: ka hana paʻa a me ka leo haʻahaʻa.[/p][p=30, 2, hema] 3. ʻAʻohe mea hoʻololi ponoʻī: Inā nalowale ka mana mana o ka mīkini servo, e pau koke ka holo ʻana o ke kaʻa.

He aha ke ʻano o ka "transmission micro motor"?

Hiki i ka "Precision transmission micro motor" ke hoʻokō i nā ʻōlelo kuhikuhi pinepine i ka ʻōnaehana, a hoʻokele i ka mīkini servo e hoʻopau i ka hana i manaʻo ʻia e ke aʻo ʻana, a hiki i ka hapa nui o lākou ke hoʻokō i kēia mau koi:

1. Hiki iā ia ke hoʻomaka, hoʻomaha, wāwahi, hoʻohuli a holo i ka wikiwiki haʻahaʻa pinepine, a loaʻa iā ia ka ikaika mechanical kiʻekiʻe, ke kiʻekiʻe o ka wela wela a me ka pae insulation kiʻekiʻe.

2. ʻO ka hiki ke pane wikiwiki maikaʻi, ka torque nui, ka manawa liʻiliʻi o ka inertia a me ka manawa liʻiliʻi mau.

3. Me ka mea hoʻokele a me ka mea hoʻoponopono (e like me ka servo motor, stepping motor), maikaʻi ka hana hoʻomalu.

4. ʻO ka hilinaʻi kiʻekiʻe a me ka pololei kiʻekiʻe.

ʻO ka waeʻano, ka hoʻolālā a me ka hana ʻana o "ka mīkini hoʻoili pololei pololei"

AC servo motor

(1) Cage -type ʻelua-phase AC servo motor (slender cage -type rotor, e pili ana i nā hiʻohiʻona linear mechanical, liʻiliʻi liʻiliʻi a me ka hoʻoulu ʻana i kēia manawa, haʻahaʻa -power servo, ʻaʻole maʻalahi ka hana haʻahaʻa haʻahaʻa)

(2) Non-magnetic kīʻaha rotor ʻelua-phase AC servo motor (coreless rotor, kokoke linear mechanical hiʻohiʻona, nui leo a me ka excitation o kēia manawa, liʻiliʻi mana servo, hana maʻemaʻe ma haʻahaʻa wikiwiki)

(3) ʻElua mau ʻāpana AC servo me ka ferromagnetic kīʻaha rotor (kiʻaha rotor i hana ʻia me nā mea ferromagnetic, kokoke i nā ʻano mechanical linear, ka manawa nui o ka inertia o ka rotor, ka hopena cogging liʻiliʻi, ka hana paʻa)

(4) Synchronous permanent magnet AC servo motor (kahi coaxial integrated unit i loaʻa i ka magnet synchronous motor, kahi tachometer a me kahi mea ʻike kūlana, ʻo ka stator he 3-phase a i ʻole 2-phase, a pono e hoʻolako ʻia ka rotor mea magnetic me. he kaʻa kaʻa; ka hoʻokele nalu square a me ka neʻe nalu sine, ka hana hoʻomalu maikaʻi, a me nā huahana kemika hoʻohui electromechanical)

(5) Asynchronous ʻekolu-phase AC servo motor (ua like ka rotor me ka cage-type asynchronous motor, a pono e hoʻolako ʻia me ka mea hoʻokele. Hoʻohana ia i ka mana vector a hoʻonui i ka laulā o ka hoʻoponopono wikiwiki o ka mana. ʻōnaehana hoʻoponopono wikiwiki spindle mīkini mea hana)

DC servo motor

(1) Paʻi ʻia ʻo DC servo motor (disc rotor a me ka disc stator i hoʻopaʻa ʻia me ka cylindrical magnetic steel, liʻiliʻi ka manawa rotor o ka inertia, ʻaʻohe hopena cogging, ʻaʻohe hopena saturation, a nui ka torque output)

(2) Wire-wound disk type DC servo motor (disc rotor a me ka stator i hoʻopaʻa ʻia me ka cylindrical magnetic steel, liʻiliʻi ka manawa rotor o ka inertia, ʻoi aku ka maikaʻi o ka hoʻokele ma mua o nā kaʻa DC servo ʻē aʻe, ʻoi aku ka maikaʻi, a me ka nui ka puka makani)

(3) ʻO ke kīʻaha kīʻaha armature paʻa mau DC motor (coreless rotor, liʻiliʻi rotor manawa o ka inertia, kūpono no ka incremental motion servo system)

(4) Brushless DC servo motor (ʻo ka stator he multi-phase winding, he magnet mau ka rotor, me ka sensor kūlana rotor, ʻaʻohe mea hoʻopio, ola lōʻihi, haʻahaʻa haʻahaʻa)

kaʻa uila

(1) DC torque motor (ka hale paʻa, ka helu o nā pou, ka helu o nā slots, ka helu o nā ʻāpana commutation, ka helu o nā conductors series; ka puka puka nui, ka hana mau i ka wikiwiki haʻahaʻa a paʻa paha, nā hiʻohiʻona maikaʻi a me ka hoʻoponopono ʻana, nā manawa electromechanical liʻiliʻi. )

(2) Brushless DC torque motor (like me ka brushless DC servo motor, akā palahalaha, me ka nui o nā pou, slots a me nā mea hoʻokele series; nui puka puka, mechanical maikaʻi a me nā ʻano hoʻoponopono, lōʻihi ke ola, ʻaʻohe ʻula, ʻaʻohe leo haʻahaʻa)

(3) Cage-type AC torque motor (cage-type rotor, flat structure, nui o na pou a me na slots, nui hoʻomaka torque, liʻiliʻi electromechanical manawa mau, lōʻihi-lōʻihi laka-rotor hana, a me ka palupalu mechanical waiwai)

(4) Solid rotor AC torque motor (rotor paʻa i hana ʻia me ka mea ferromagnetic, ka hale palahalaha, ka nui o nā pou a me nā slots, lōʻihi paʻa-rotor, hana maʻemaʻe, nā waiwai mechanical soft)

stepper motor

(1) Reactive stepping motor (hana ʻia ka stator a me ka rotor i nā ʻāpana kila silika, ʻaʻohe wili ma ka rotor core, a aia kahi mana wili ma ka stator; liʻiliʻi ke kihi ʻanuʻu, kiʻekiʻe ka hoʻomaka a me ka holo ʻana. , haʻahaʻa ka pololei o ka ʻanuʻu ʻanuʻu, a ʻaʻohe torque paʻa ponoʻī)

(2) ʻO ke kaʻa kuʻekuʻe magnet paʻa (rotor magnet mau loa, polarity magnetization radial; ke kihi haʻahaʻa haʻahaʻa, hoʻomaka haʻahaʻa a me ka hana pinepine ʻana, paʻa ʻana i ka torque, a ʻoi aku ka liʻiliʻi o ka mana ma mua o ke ʻano reactive, akā pono nā pulses maikaʻi a maikaʻi ʻole i kēia manawa)

(3) Hybrid stepping motor (permanent magnet rotor, axial magnetization polarity; kiʻekiʻe kaʻanuʻu kihi kihi, paʻa torque, liʻiliʻi hoʻokomo i kēia manawa, ʻelua reactive a mau loa.