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 mīkini 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 e like me ke ʻano o ka mīkini 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 pōʻino 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 maʻalahi.

ʻO ka rotor i loko o ka mīkini servo he magnet mau loa. Mālama ka mea hoʻokele i ka uila U/V/W ʻekolu manawa e hana 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 drive 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 i ka uila hōʻailona mana Uc. No laila ua kapa ʻia ʻo AC servo motor ʻelua mau 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 "motera micro transmission precision"

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. kahi kaʻa kaʻa; a me ka liʻiliʻi torque fluctuation ʻelua mau ʻano o ka hoʻokele nalu square a me ka neʻe ʻana o ka hawewe 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.