Servo motor ilimin asali

Servo motor ilimin asali

Kalmar "servo" ta fito ne daga kalmar Helenanci "bawa". "Servo motor" za a iya gane a matsayin mota cewa cikakken biyayya da umarnin da iko siginar: kafin a aika siginar sarrafawa, rotor ya tsaya cak; lokacin da aka aika siginar sarrafawa, rotor yana juyawa nan da nan; lokacin da siginar sarrafawa ta ɓace, rotor na iya tsayawa nan da nan.

Motar servo ƙaramin mota ce da ake amfani da ita azaman mai kunnawa a cikin na'urar sarrafawa ta atomatik. Ayyukansa shine jujjuya siginar lantarki zuwa maɓalli na kusurwa ko saurin kusurwa na madaidaicin juyi.

Motocin Servo sun kasu kashi biyu: AC servo da DC servo

Tushen tsarin injin AC servo yayi kama da na injin shigar da AC (motar asynchronous). Akwai biyu tashin hankali windings Wf da iko windings WcoWf tare da wani zamani sarari gudun hijira na 90 ° lantarki kwana a kan stator, da alaka da akai-akai AC ƙarfin lantarki, da kuma yin amfani da AC ƙarfin lantarki ko zamani canji amfani da Wc don cimma manufar sarrafa aikin. na motar. Motar AC servo tana da halaye na barga aiki, mai kyau iko, amsa mai sauri, babban hankali, da tsauraran alamun rashin daidaituwa na halayen injina da halayen daidaitawa (wanda ake buƙata ya zama ƙasa da 10% zuwa 15% kuma ƙasa da 15% zuwa 25% bi da bi).

Tushen tsarin injin DC servo yayi kama da na injin DC na gaba ɗaya. Motar gudun n = E/K1j = (Ua-IaRa)/K1j, inda E shine karfin wutar lantarki na armature, K shine akai-akai, j shine jujjuyawar maganadisu ta kowane sanda, Ua, Ia sune wutar lantarki da armature na yanzu, Ra shine Juriya na armature, canza Ua ko canza φ na iya sarrafa saurin motar DC servo, amma ana amfani da hanyar sarrafa wutar lantarki gabaɗaya. A cikin injin maganadisu na dindindin na DC servo, ana maye gurbin motsin motsa jiki da maganadisu na dindindin, kuma motsin maganadisu φ koyaushe ne. . Motar DC servo tana da kyawawan halaye na ka'ida na layi da amsawar lokaci mai sauri.

Abũbuwan amfãni da rashin amfani na DC Servo Motors

Abũbuwan amfãni: Madaidaicin kula da saurin gudu, ƙaƙƙarfan juzu'i da halaye na sauri, ƙa'idar sarrafawa mai sauƙi, sauƙin amfani, da farashi mai arha.

Hasara: goga commutation, iyakance gudun, ƙarin juriya, da sawa barbashi (bai dace da ƙura ba da mahalli masu fashewa)

Amfani da rashin amfanin AC servo motor

Abũbuwan amfãni: kyawawan halaye na sarrafa saurin gudu, kulawa mai santsi a cikin kewayon saurin gudu, kusan babu oscillation, babban inganci sama da 90%, ƙarancin samar da zafi, sarrafa saurin sauri, matsakaicin matsayi mai girma (dangane da daidaiton encoder), rated yankin aiki A ciki, na iya cimma madaidaicin juzu'i, ƙarancin rashin ƙarfi, ƙaramar amo, babu gogewar gogewa, kyauta - kyauta (wanda ya dace da ƙura ba tare da ƙura ba, mahalli masu fashewa)

Hasara: Gudanarwa ya fi rikitarwa, ana buƙatar daidaita sigogin tuƙi akan rukunin yanar gizon don tantance sigogin PID, kuma ana buƙatar ƙarin haɗin gwiwa.

Motocin servo na DC sun kasu kashi-kashi zuwa injunan goge-goge da mara goge

Motocin da aka goge ba su da tsada, mai sauƙi a cikin tsari, babba a fara jujjuyawar ƙarfi, faɗin kewayon ƙa'idodin saurin gudu, sauƙin sarrafawa, buƙatar kulawa, amma mai sauƙin kulawa (maye gurbin goga na carbon), haifar da tsangwama na lantarki, suna da buƙatu don yanayin amfani, kuma yawanci ana amfani da su don tsada-m na gama-gari na masana'antu da na jama'a.

Motocin da ba su da gogewa suna da ƙananan girman da haske a cikin nauyi, babban fitarwa da sauri a cikin amsawa, babban sauri da ƙarami a cikin inertia, barga cikin juzu'i da santsi a cikin juyawa, hadaddun sarrafawa, hankali, sassauƙa a cikin yanayin motsi na lantarki, ana iya canzawa. a cikin square kalaman ko sine kalaman, tabbatarwa -free motor, high dace da makamashi ceto, kananan electromagnetic radiation, low zazzabi tashi da kuma tsawon rai, dace da daban-daban yanayi.

Motocin AC servo suma injinan buroshi ne, wadanda suka kasu kashi-kashi na injina da kuma asynchronous. A halin yanzu, gabaɗaya ana amfani da injunan aiki tare wajen sarrafa motsi. Ƙarfin wutar lantarki yana da girma, wutar lantarki na iya zama babba, rashin ƙarfi yana da girma, matsakaicin gudu yana da ƙananan, kuma gudun yana ƙaruwa tare da karuwar wutar lantarki. Saukowar Uniform-gudun gudu, dace da ƙananan sauri da lokutan gudu masu santsi.

Rotor a cikin motar servo shine maganadisu na dindindin. Direba yana sarrafa U/V/W uku-lokaci lantarki don samar da filin lantarki. Rotor yana juyawa ƙarƙashin aikin wannan filin maganadisu. A lokaci guda, mai rikodin da ya zo tare da motar yana watsa siginar martani ga direba. Ana kwatanta dabi'u don daidaita kusurwar jujjuyawar juyi. Daidaiton motar servo ya dogara da daidaiton mai rikodin (yawan layi).

Menene motar servo? Nau'i nawa ne? Menene halayen aiki?

Amsa: Motar servo, wanda kuma aka sani da motar zartarwa, ana amfani da ita azaman mai kunnawa a cikin tsarin sarrafawa ta atomatik don canza siginar lantarki da aka karɓa zuwa maɓalli na kusurwa ko fitowar saurin kusurwa a kan mashin motar.

Motocin Servo sun kasu kashi biyu: DC da AC servo Motors. Babban halayen su shine cewa babu jujjuyawar kai lokacin da ƙarfin siginar sifili ya zama sifili, kuma saurin yana raguwa a daidaitaccen gudu tare da haɓakar juzu'i.

Menene banbancin aiki tsakanin injin AC servo da injin DC servo mara goge?

Amsa: Ayyukan AC servo motor ya fi kyau, saboda AC servo ana sarrafa shi ta sine wave kuma karfin juyi yana karami; yayin da servo maras goge DC servo ke sarrafawa ta hanyar trapezoidal. Amma kula da servo na DC maras goge abu ne mai sauƙi kuma mai arha.

Haɓaka saurin ci gaba na fasaha na dindindin na magnet AC servo drive ya sanya tsarin servo na DC ya fuskanci rikicin da ake kawar da shi. Tare da haɓakar fasaha, fasahar magnet AC servo drive ta dindindin ta sami ci gaba mai ban sha'awa, kuma shahararrun masana'antun lantarki a ƙasashe daban-daban sun ci gaba da ƙaddamar da sabbin injinan AC servo da servo. Tsarin AC servo ya zama babban jagorar ci gaba na tsarin servo mai girma na zamani, wanda ke sa tsarin servo na DC ya fuskanci rikicin da ake kawar da shi.

Idan aka kwatanta da injina na DC servo, na'urorin magnet AC servo na dindindin suna da manyan fa'idodi masu zuwa:

⑴Ba tare da goga da mai motsi ba, aikin ya fi dogaro kuma ba tare da kulawa ba.

(2) Stator winding dumama ya ragu sosai.

⑶ Inertia karami ne, kuma tsarin yana da kyakkyawar amsa mai sauri.

⑷ Yanayin aiki mai sauri da ƙarfi yana da kyau.

⑸ Ƙananan girma da nauyi mai sauƙi a ƙarƙashin iko iri ɗaya.

Servo motor ka'idar

Tsarin stator na AC servo motor yana da kama da na capacitor tsaga-lokaci guda-lokaci asynchronous motor. The stator sanye take da biyu windings tare da bambancin juna na 90 °, daya ne excitation winding Rf, wanda kullum yana da alaka da AC ƙarfin lantarki Uf; ɗayan kuma shine na'urar sarrafa iska L, wacce ke haɗa da ƙarfin siginar sarrafawa Uc. Don haka ana kuma kiran motar AC servo motors guda biyu.

Rotor na AC servo motor yawanci ana yin shi a cikin kejin squirrel, amma don sanya motar servo tana da kewayon saurin gudu, halayen injina na layi, babu abin "autorotation" da kuma saurin amsawa, idan aka kwatanta da na'urori na yau da kullun, ya kamata. suna da juriya na rotor yana da girma kuma lokacin inertia karami ne. A halin yanzu, akwai nau'ikan nau'ikan juzu'i guda biyu waɗanda ake amfani da su sosai: ɗaya shine squirrel -cage rotor tare da sanduna jagora masu tsayi waɗanda aka yi da kayan haɓakawa mai ƙarfi. Don rage lokacin inertia na rotor, an sanya rotor siriri; da sauran Daya ne m kofin - siffa rotor sanya daga aluminum gami, kofin bango ne kawai 0.2 -0.3mm, lokacin da inertia na m kofin -dimbin rotor ne karami, da mayar da martani ne da sauri, da kuma aiki ne barga. don haka ana amfani da shi sosai.

Lokacin da motar AC servo ba ta da ƙarfin sarrafawa, akwai kawai filin maganadisu mai jujjuyawa wanda iskar motsin motsa jiki ya haifar a cikin stator, kuma rotor yana tsaye. Lokacin da wutar lantarki mai sarrafawa, ana haifar da filin maganadisu mai jujjuya a cikin stator, kuma rotor yana juyawa a cikin yanayin filin maganadisu. Lokacin da nauyin ya kasance akai-akai, saurin motar yana canzawa tare da girman ƙarfin sarrafawa. Lokacin da yanayin ƙarfin ƙarfin sarrafawa ya bambanta, injin servo zai juya baya.

Ko da yake ka'idar aiki na AC servo motor yayi kama da na capacitor - sarrafa guda ɗaya-lokaci asynchronous motor, juriya na rotor na tsohon ya fi na ƙarshen girma. Sabili da haka, idan aka kwatanta da motar asynchronous mai sarrafa capacitor, motar servo tana da manyan siffofi guda uku:

1. Babban jujjuyawar farawa: Saboda babban juriya mai jujjuyawa, halayen juzu'i (halayen injina) ya fi kusa da layi, kuma yana da ƙarfin farawa mafi girma. Sabili da haka, lokacin da stator yana da wutar lantarki mai sarrafawa, rotor yana juyawa nan da nan, wanda ke da halaye na farawa da sauri da kuma babban hankali.

2. Wide aiki kewayon: barga aiki da ƙananan amo. [/p] [p=30, 2, hagu] 3. Babu wani al'amari na jujjuya kai: Idan servo motor da ke aiki ya rasa wutar lantarki, injin zai daina aiki nan da nan.

Mene ne "madaidaicin watsa micro motor"?

"Madaidaicin micro motor watsawa" na iya sauri da daidai aiwatar da canje-canje akai-akai a cikin tsarin, da kuma fitar da tsarin servo don kammala aikin da ake sa ran koyarwar, kuma yawancinsu na iya biyan buƙatu masu zuwa:

1. Yana iya farawa, dakatarwa, birki, juyawa da gudu a cikin ƙananan gudu akai-akai, kuma yana da ƙarfin ƙarfin injiniya, babban matakin juriya na zafi da babban matakin rufewa.

2. Kyakkyawan ƙarfin amsawa mai sauri, babban juzu'i, ƙaramin lokacin rashin ƙarfi da ƙaramin lokaci akai-akai.

3. Tare da direba da mai sarrafawa (kamar servo motor, motar motsa jiki), aikin sarrafawa yana da kyau.

4. Babban abin dogara da daidaitattun daidaito.

Nau'in, tsari da aikin "madaidaicin watsa micro motor"

AC servo motor

(1) Cage -type biyu-lokaci AC servo motor (slender keji -type rotor, kamar mikakke inji halaye, kananan girma da kuma tashin hankali halin yanzu, low-power servo, low-speed aiki ba santsi isa)

(2) Non-magnetic kofin rotor biyu-lokaci AC servo motor (coreless na'ura mai juyi, kusan linzamin kwamfuta halaye, babban girma da tashin hankali halin yanzu, karamin iko servo, santsi aiki a low gudun)

(3) Motar AC servo guda biyu tare da rotor kofin ferromagnetic (kofin na'ura mai juyi wanda aka yi da kayan ferromagnetic, kusan halayen injin layi, babban lokacin inertia na na'ura mai juyi, ƙaramin tasirin cogging, barga aiki)

(4) Daidaitaccen Magnet AC servo Motor (nau'in haɗin gwiwar coaxial wanda ya ƙunshi injin maganadisu na dindindin na haɗin gwiwa, tachometer da nau'in gano matsayi, stator shine 3-phase ko 2-phase, kuma dole ne a sanye take da rotor abu na magnetic a drive; da gudun kewayon ne fadi da na inji Halayen sun hada da akai juzu'i yankin da kuma m ikon yankin, wanda za a iya kulle ci gaba, tare da mai kyau sauri amsa yi, babban fitarwa ikon, da ƙananan jujjuyawar juzu'i biyu; akwai nau'ikan tuƙi mai murabba'i biyu da tuƙin igiyar igiyar ruwa, aikin sarrafawa mai kyau, da samfuran sinadarai na haɗaɗɗiyar lantarki)

(5) Asynchronous three-phase AC servo motor (na'ura mai juyi yayi kama da keji -type asynchronous motor, kuma dole ne a sanye shi da direba. Yana ɗaukar ikon sarrafa vector kuma yana faɗaɗa kewayon ƙa'idodin saurin wutar lantarki akai-akai. Ana amfani dashi galibi a cikin Machine Tool spindle gudun tsari tsarin)

DC servo motor

(1) Motar da aka buga ta DC servo motor (disc rotor da disc stator suna da alaƙa da haɗin gwiwa tare da cylindrical magnetic karfe, lokacin juyi na inertia ƙarami ne, babu tasirin cogging, babu tasirin jikewa, kuma ƙarfin fitarwa yana da girma)

(2) Waya-rauni faifai nau'in DC servo motor (disc rotor da stator suna axially bonded tare da cylindrical Magnetic karfe, da rotor lokacin inertia ne karami, da iko yi ne mafi alhẽri daga sauran DC servo Motors, da yadda ya dace ne high, da kuma karfin fitarwa yana da girma)

(3) Nau'in nau'in ƙwanƙwasa na dindindin magnet DC motor (na'ura mai juyi mara nauyi, ƙaramin lokacin juyi na inertia, dace da tsarin servo na ƙara motsi)

(4) Brushless DC servo motor (stator is multi-phase winding, rotor ne m magnet, tare da rotor matsayi firikwensin, babu tartsatsi tsangwama, tsawon rai, low amo)

karfin juyi

(1) Motar juzu'i na DC (tsarin lebur, adadin sanduna, adadin ramummuka, adadin commutation guda, adadin jerin masu gudanarwa; babban ƙarfin fitarwa, ci gaba da aiki a cikin ƙananan gudu ko tsayawa, kyawawan injina da halayen daidaitawa, ƙaramin lokaci na electromechanical akai-akai. )

(2) Motar jujjuyawar wutar lantarki mara ƙarfi ta DC (mai kama da tsarin da babur ɗin DC servo motor, amma lebur, tare da sanduna da yawa, ramummuka da masu gudanar da jerin gwano; babban juzu'in fitarwa, ingantattun injiniyoyi da halayen daidaitawa, tsawon rayuwa, babu tartsatsi, babu hayaniya Low)

(3) Cage-type AC torque motor ( keji -type rotor, lebur tsarin, babban adadin sanduna da ramummuka, manyan farawar karfin wuta, kananan electromechanical lokaci akai, dogon lokaci kulle-rotor aiki, da taushi inji Properties)

(4) M rotor AC karfin juyi motor (m rotor sanya da ferromagnetic abu, lebur tsarin, babban adadin sanduna da ramummuka, dogon lokaci kulle-rotor, m aiki, taushi inji Properties)

stepper motor

(1) Motar motsa jiki mai amsawa (stator da rotor an yi su ne da zanen karfe na silicon, babu iska akan jigon rotor, kuma akwai iska mai sarrafawa akan stator; kusurwar matakin karami ne, mitar farawa da gudu yana da girma. , daidaiton kusurwar mataki yana da ƙasa, kuma babu jujjuyawar kulle kai)

(2) Dindindin na'ura mai magana da yawun stepping motor (diddigar maganadisu na'ura mai juyi, radial magnetization polarity; babban mataki kwana, low farawa da kuma aiki mita, rike karfin juyi, da karami ikon amfani fiye da amsa irin, amma tabbatacce kuma korau bugun jini ana bukatar halin yanzu)

(3) Hybrid steping motor (diddigar maganadisu na'ura mai juyi, axial magnetization polarity; babban mataki daidaici, rike da karfin juyi, karamin shigar da halin yanzu, duka amsawa da m maganadisu.