Kodi mumayendetsa bwanji galimoto ya AC secro?

Mfundo zoyambiraac serdo motakulamula

Kapangidwe kake ndi makina ogwirira ntchito a AC sestations

An AC servo system is a closed-loop motion control system composed primarily of an AC servo motor, a servo drive (amplifier), a feedback device, and a motion controller or PLC. Kuyendetsa kwa servo kumalandira zikwangwani zotsika kwambiri ndikuwatembenuza iwo kukhala magawo atatu a pwm (ma pulseem kukula) magetsi) magetsi) mafuta kuyendetsa galimoto. Kuyendetsa pafupipafupi kumachokera ku 10 KHZ mpaka 20 Khz, komwe kumalola kuwongolera bwino kwaposachedwa ndi furqual torquy. Rotor ya Mota, yokhala ndi malo osungirako kapena obwezera, amabweza maulendo othamanga kuti ayendetse Torque, kuthamanga, nthawi zambiri amakhala ndi gawo lenileni la 62.5 mpaka 250 μs.

Torque, liwiro, ndi maubwenzi

Mu ma ac seva, torque imakhala yofanana ndi yomwe ili pakalipano: t ≈ kt × kt ndi top / a) ndi gawo laposachedwa. Kuthamanga kumatsimikiziridwa ndi kuchuluka kwa magetsi omwe amagwiritsidwa ntchito ndi kuchuluka kwa awiriawiri. Mwachitsanzo, ndi phazi la 4-Pole ndi 3,000 RPM yovota, magetsi amagetsi pamtunda wothamanga ndi 100 hz. Malo ndi gawo lolowera nthawi yayitali. Kuwongolera molondola motero kumadalira kuwongolera komwe kumachitika (kwa torque) ndi lamulo lolondola la nthawi yothamanga ndi udindo. Chiyanjano chojambulidwachi ndichifukwa chake kuyendetsa kwa servo nthawi zambiri kumangokhalira ma loops atatu:

Zigawo zazikulu mu dongosolo la ac senta

Makina a Gra seva ndi magawo

Makina a ac seva pawokha ndi makina okhazikika a ma zamatsenga okhazikika (PMPMM) omwe amakonzedwa kuti azichita mwamphamvu. Magawo ofunikira amaphatikizira mphamvu yovotera (nthawi zambiri 0.1 kw mpaka 7.5 kw mu nkhwangwa zambiri zamafakitale), nthawi zambiri 2,5-1,000 RPM). Rotor Detia, afotokozedwa ku KGERIM, iyenera kufanana ndi katundu wa SERTITA; Chiwerengero choyendetsa ku USRRITIA pakati pa 1: 1 ndi 1: 5 nthawi zambiri chimalimbikitsidwa kuti chikhale chokhazikika. Mphepo yamkuntho imapangidwa kuti ikhale yowongolera bwino, yothandizira boma lapano.

Servo drive ntchito ndi mawonekedwe

The servo drive ndi gawo lolamulira. Zimaphatikizaponso gawo la rectifier, bus ya DC (nthawi zambiri 300-600 VDC ya 220-400 ndulu), komanso ma module a iGBT kapena Morft. Zogwirira Ntchito Zogwirira Ntchito Panja Zophatikizira zitha kuphatikizapo zolowetsa za pulse / Componse, analog + / - 10 - 11 Malangizo a Torque, ndi mabasi a mafakitale monga Ethercat, kapena Chuma. Mu wolowerera ndi mafakitale oyendetsa mafakitale, kusankha kwa protecol yolumikizana kuyenera kuphatikiza papulatifomu ya PLC kapena yoyenda, motero wogwirizanitsa ndi wotsutsa.

Mosiyanasiyana mosiyanasiyana: malo, liwiro, ndi torque

Makhalidwe owongolera mawonekedwe

Makina olamulira amagwiritsidwa ntchito ngati cholinga chachikulu ndi cholinga chachikulu, monga axates kapena malo osungirako malo. Woyang'anira nthawi zambiri amatumiza ma pulouse, pomwe phazi limodzi limafanana ndi malo amodzi kapena kutanthauzira magetsi. Mwachitsanzo. Kuyendetsa kwa servo kumatseka malo omwe alipo, kuchepetsa cholakwika pakati pa olamulira komanso malo enieni. Makamaka kulondola kungakhale kulondola kungathetse kuwerengera kwa enge 1 encoder, kulingana ndi kulondola kwa angular kuposa 0.0004 kusintha.

Kuthamanga ndi kuwongolera kwa torque

Makina othamanga amawongolera liwiro la magalimoto kutsatira analog kapena lamulo la digito. Ndizofala pamtanda, kuperekera, kapena kupompa pomwe kuthamanga ndikofunikira. Liwiro lop lop la 80-200 Hz limalola kuyankha mwachangu kunyamula mitundu yosiyanasiyana, ndikugwira liwiro mkati mwa ± 0,1% ngakhale ndi kusintha kwa magawo 20-30%. Makina olamulira a torque amawongolera tourque malinga ndi ndemanga yomwe ilipo ndipo imakondedwa ndi kuwongolera kwa kusamvana, kukanikiza, ndi kuyang'anira. Khazikitsani Torque imatha kusintha kuchokera ku 0% mpaka 150% ya tourque, ndi nthawi yoyankha torque m'mitundu ya 1-5. M'mayendedwe ambiri, udindo, liwiro, ndi torque ya torqu ingaphatikizidwe kapena kuyimitsidwa mwamphamvu kuti igwirizane ndi mitundu yoyenda.

Zipangizo zamagetsi ndi zojambula zotsekedwa

Encaders, Othetsa Maganizo, Ndi Kusintha Mayankho

Zipangizo zamagulu zimapereka chidziwitso chofunikira kwa chotseka chotseka. Zowonjezera zowonjezera zimatulutsa / b / z zikuwoneka, pomwe mithersion imapereka chidziwitso chambiri chosatembenukira popanda chifukwa chovutikira. Madera amakono amtheradi nthawi zambiri amakhala ndi zibadwe 17-23 zofanizira, zomwe zimafanana ndi 131,072 mpaka zopitilira 8 miliyoni zowerengera 8 miliyoni kuti zisinthe. Othetsani ndalama zambiri molimbana ndi kutentha ndi kugwedezeka koma kukhala ndi mwayi wotsika ndipo zimafuna kutembenuka kotsimikizika kotsimikizika poyendetsa. Kusankhidwa kwa mayankho ndi njira yabwino pakati pa chilengedwe, kukhazikika kwa chilengedwe, ndi mtengo, komwe kumakhala kofunikira m'mapulojekiti akulu okwera komwe kumapangitsa kuti mitundu yambiri ya servo yomwe ipangitse kuchepa.

Zopindika zowonongeka ndi nthawi yoyendetsa

Kuyendetsa servo nthawi zambiri kumathamangitsa matopu atatu oyeserera. Mwala womwe ulipo womwe ulipo umabwezera CASESE CATSES ndi nthawi yothamanga kwambiri, nthawi zambiri 10-50 μ, pogwiritsa ntchito zowongolera (kuyang'ana) modziyimira pawokha d- ndi Q-axis mafunde. Kuthamanga kwa liwiro, kuthamanga pa 0,5-2 khz, kumatulutsa malamulo apano potengera cholakwika cha kuthamanga, pomwe malo owombera, kuthamanga pa 0.5-1 khz, kumapereka mabungwe othamanga kuchokera ku zolakwika. Kukhazikika komanso kugwira ntchito kumadalira zopindulitsa zoyenera ndi gawo lamanzere; Cholinga chodziwika bwino ndi gawo la madigiri 30-60 ndi gawo lambiri kuposa 6 DB. Ngomu izi zopezeka zimatsimikizira kuti kachitidweko kakuyankha mwachangu kwinaku akukhala okwera pang'ono ndikupewa oscillations.

Kukhazikitsa ndi kuyika magawo a servo drive

Deta yamagalimoto, malire, ndi chitetezo

Axis isanachitike itha kugwira ntchito mosatekeseka, chipata chachikulu chagalimoto ndi ma drimes ayenera kukhazikitsidwa. Izi zimaphatikizapo kuthamanga kwa matope, kuthamanga kwapakati, awiriawiri, Encder Resence, ndi deta ya inertia. Malire a torque amakhazikitsidwa pakati pa 120% ndi 200% ya torque, yomwe ili ndi malire omwe akufanizira zomwe zikugwirizana ndi zomwe zimagwirizana ndi zomwe zimalepheretsa kusokoneza kapena kusokoneza. Malire othamanga ayenera kulemekeza makina opanga; Kwa owotchera magalimoto pa 3,000 RPM yokhala ndi liwiro lalikulu la 5,000 RPM, malire otetezeka a 4,500 RPM amapereka malire. Overvoltage, kuperewera, owonjezera, komanso olumala okwera ayenera kukhazikitsidwa kuti ateteze zowonongeka, makamaka muzochitika zadzidzidzi pomwe zachitika mwadzidzidzi zomwe zimasiya ndi kusintha kwamphamvu.

Kupeza koyambira ndikuyankha

Pafupifupi parameterization nthawi zambiri imayamba ndi kuyika magalimoto, komwe kumayendetsa kuyika zigawenga kuti azindikire katundu ndi mikangano, ndiye kuti amawerengera kuti amadziletsa. Kwa ma axel ambiri, malo owonera bandwidth wa 20-60 Hz ndi wokwanira, ndikuthamanga kuthamanga kwa bandwidth kuzungulira 100-200 Hz. Izi zimapereka nthawi yokhazikika ya 50-150 ms ndikuwongolera pansipa 10%. Kuti mugwiritse ntchito bwino kwambiri, monga zida za Semiconductor, bandwidth ikhoza kudutsidwa kwambiri, koma pamtengo wocheperako pakusintha makina ndi zolakwika. Wogulitsa wodalirika sangangopereka zolemba pamanja komanso kuyika zitsogozo ndi ziwonetsero zatsamba, zomwe ndizofunika kwambiri pakuvomerezedwa ndi nkhwangwa zingapo m'dongosolo lalikulu.

Kuwongolera kwa PID ndikupeza njira zopezera

Kapangidwe ka olamulira a servo pid

Malupu akuluakulu owongolera mu drive drive nthawi zambiri amakhazikitsidwa ngati wolamulira kapena pa PY. Chotupa chaposachedwa chimakhala pi (mogwirizana-chophatikizidwa) kuti zitsimikizire cholakwa cha Stadey, pomwe kuthamanga ndi malupu kungaphatikizire mawu kapena zosefera. Mu kuthamanga kwa liwiro, kuchuluka kwa phindu kumatsimikizira momwe mtengo wothamanga umawongoleredwa, mawu ophatikizira amathetsa cholakwika cha nthawi yayitali, ndipo chilichonse chochokera kumathandiza kusintha kwadzidzidzi. Kupeza kofananako kumasinthidwa kuti akwaniritse pafupifupi 5-15% oversuot pagawo la masitepe, pomwe ophatikizidwa nthawi zambiri amakhazikitsidwa kotero kuti cholakwika chokhazikikacho chimatsika pansipa 1% pasanathe milioni mazana angapo.

Kutulutsa masitepe ndi macheke

Kutulutsa kothandiza kumayamba ndi zopindulitsa. Choyamba, chiuno chomwe chilipo ndi chotsimikizidwa poyang'ana zomwe zimakulamula kuti chiwongoleke chimatulutsa mpweya wosalala popanda oscillation. Kenako, phindu lothamanga limachulukitsidwa mpaka liwiro la 0-100% (mwachitsanzo, 0,500 RPM) limatulutsa nthawi yozungulira 50-100 mminal. Pomaliza, phindu lalamu limakulitsidwa pomwe likuwunika malo ogwiritsira ntchito madigiri kapena madigiri 100, ndikuyang'ana kuti nthawi yokhazikika ikhale pansi pa chandamale, monga cholakwika chokwanira 0.01 mm kapena madigiri. Ngati masinthidwe amakina amawonedwa, Notch zosefera zoyesedwa pafupipafupi (nthawi zambiri pakati pa 100-1,000 hz) zitha kugwiritsidwa ntchito, ndi ma bandwidths a 10-20% ya masinthidwe a reponance.

Kuwongolera koyenda pogwiritsa ntchito Plc kapena Mod Controller

Malamulo a Commucements ndi Protacocolols

Malamulo oyenda amachokera ku wowongolera wa PLC, woyenda, kapena pc yogulitsa mafakitale. Makina am'mbuyomu nthawi zambiri amagwiritsa ntchito zotulutsa / njira zothandizira kuwongolera, ndikuyika pafupipafupi mpaka 500 Khz ndikupereka chiwonetsero chambiri ngakhale muli ndi magetsi otsetsereka. Makina amakono amadalira malo a digito monga Ethercat, omwe amatha kuluma nkhwangwa zingapo ndi nthawi za 250 μs kapena pansipa. Izi zimalola zolemba zoyenda, monga misasa yamagetsi ndi masinthidwe a ma ax angapo a servo. Kusankha protocol yogwirizana ndiyofunikira pakugulitsa kwa nthawi yonyamula katundu ndi owongolera, chifukwa miyezo yoyankhulirana yolakwika imatha kuwonjezera ndalama zophatikizira pamlingo wa fakitale.

Ma prine ndi kuwongolera mayendedwe

Woyang'anira amatanthauzira mafayilo osunthira molingana ndi kuthamanga, liwiro losasinthika, ndi kudziletsa. Mbiri yosavuta ya trapezoidal ya trapezoidal imatha kutulutsa matalala 500 mm / s, kuthamanga kwa 300 mm, ndikusungunuka kwa 500 mm. Kupitilira kwapamwamba kwambiri kwa Sturve malire malire a jek (kuchuluka kwa kusintha kwamphamvu), zomwe zimachepetsa kugwedezeka, makamaka ku katundu wambiri-wartia. Kukhazikitsa mizere ayenera kulemekeza utoto wowotle komanso mphamvu; Ngati kuthamanga kumapitilira zomwe galimoto imatha kukwaniritsa chimbudzi chake chovota, kanthawi kochepa liyenera kuwonjezeka kapena kuwola kwambiri-borque-torque kuyenera kugwiritsidwa ntchito. Manambala osokoneza bongo akuyika mozungulira amathandizira kusankha mawonekedwe oyenera a servo asanakhazikike.

Kukhazikitsa kulondola, nthawi yoyankha, komanso kukhazikika

Zinthu zomwe zikukhudza kulondola komanso kubwereza

Kukhazikitsa kulondola sikuyenera kutsimikiziridwa ndi encoder yekha. Ngakhale kuti malo opezekapo angayambitse maphunziro a 1,000,000 osasinthika, zenizeni zenizeni padziko lapansi zimadalira magetsi, kuuma kwa shaft, komanso kukula kwa mafuta. Kwa dongosolo lolowera mpira wokhala ndi gawo la 5 mm ndi 20-bioder, kuwerengera kamodzi kumafanana ndi 4.77 nm, pansi pautona kosinthika. Pochita izi, moyenera kulondola kwa ± 0,01-0.02 mm ndi kubwereza mkati mwa ± 0.005 mm ndi zomwe zimapangidwa ndi nkhwangwa zopangidwa bwino. Njira zosinthika, monga matebulo olipiritsa, amatha kukonza zolakwika zomwe zimayambitsidwa ndi kusiyanasiyana kosiyanasiyana ndi kulolera kokwera.

Kuyankha mwamphamvu ndi kuwononga mphamvu

Kuchita mwamphamvu nthawi zambiri kumadziwika ndi mayankho, kuyankha pafupipafupi, komanso kulakwitsa koyenda. Axis yolumikizidwa imatha kutsata lamulo la sinuyonasoidal pa 5-10 hz ndi cholakwika chotsatira pansipa 1% ya matalikidwe. Kuti izi zitheke, mafayilo osinthika azikina ayenera kukhala osachepera 3-5 apamwamba kuposa gulu lomwe likufuna. Kulimbikitsidwa, zazifupi kwambiri, ndi kuphatikizira kwa mawu onse kumathandizira kuti zikhale pafupipafupi. Pa drive, zosefera ndi zosefera zochepa zimagwiritsidwa ntchito kupondereza nsonga kwinaku posunga ma bandwidth. Mukakhazikitsa zozungulira zapamwamba m'malo othamanga, kuyeza kugwedeza kosavuta ndi kusintha ma frequencies 10-20 hz komwe kumatha kusintha kwambiri.

Zolakwa Zofala, Ma alarms, ndi Maganizo Ovuta

Mitundu ya alamu ndi zoyambitsa

Marvo oyendetsa ma alarm amaphatikizapo ochulukirapo Ma alarm a ma Aporm amachitika nthawi yomweyo pompopompo, mwachitsanzo, 300% ya zamakono, nthawi zambiri chifukwa cha mitundu yopanga kapena yopanda mphamvu. Overvultage nthawi zambiri imawoneka ngati magetsi obowola amakweza mabasi a DC pamwambapa, makamaka pafupifupi 410 VDC pa 310 vdc ya ma 400 ma strams 400. Kutsatira ma alarm a ma alarm akadzatuluka kupatuka kopitilira muyeso, monga malo osungirako 1,000, ndipo atha kuchitika chifukwa chongofuna kuwunikira, kapena kuwongolera kolakwika. Mafakitale ogwira mtima amakhalabe ndi mbiri yalankhulidwe kuti azindikire kubwereza mizere yopanga mapangidwe.

Njira zowerengera ndi njira zowerengera komanso njira zowongolera

Kuvutitsa kumayamba ndikuyika ngati vutoli ndi lamagetsi, makina, kapena okhudzana ndi paramu. Kuyesa Gawo la Moto Kukana kuyenera kufanana ndi zomwe dzina la dzina la dzina la dzina la matchula angapo peresenti; zopatuka zazikulu zikuwonetsa kuwonongeka kwa mphepo. Makina, axes amayenera kuyenda momasuka ndi dzanja kapena kuthamanga pang'ono popanda phokoso laphokoso. Macheke a paramu akuphatikiza kutsimikizira kuti malo osindikizira a pa ECODER, magetsi amagetsi, opanga magalimoto, komanso amafanana ndi zida zenizeni. Oscilloscope kapena zida zoyendetsa zimajambulidwa, liwiro, ndi cholakwika cha malo olakwika. Mwachitsanzo, ngati vuto la udindo lidayamba pang'onopang'ono pang'onopang'ono, malire a torque kapena luso lapano lingakhale losakwanira; Ngati oscillations imawoneka mu pafupipafupi, kusinthika ndi kusintha kwa kusefa kumafunikira. Wogulitsa mwaluso nthawi zambiri amapereka chithandizo chodziwikiratu komanso kuwunikanso, komwe kumakhala kofunika makamaka mu mapulogalamu ambiri.

Kukhazikitsa, Kuwombera, ndi Zochita Zokonza Tsiku ndi Tsiku

Miyezo yamagetsi yamagetsi ndi emc

Mawonekedwe olondola ndi ofunikira kuti athe kuwongolera ndalama. Chingwe champhamvu ndi malo olumikizira kapena zolumikizira ziyenera kuphikika payokha, osakhazikika kwa 100-150 mm, ndipo zingwe zotetezedwa ziyenera kukhala pamalo amodzi kapena malinga ndi malingaliro oyendetsa kapena kuwongolera phokoso. Kulumikizira dziko lapansi kuyenera kukhala kovuta kwambiri, ndi kukana pansi komwe kumapezeka m'munsi mwa 10 ω kuyika mafakitale. Kwa chingwe chambiri chimayenda pamwamba pa 30-50 m, voltuge dontho ndi phokoso kuwonjezeka, kotero zigawo zazikulu zodutsa ndi Fertir Cores zitha kufunikira. M'malamulo okwanira a fakitale ya faing, chingwe chokhazikika cholumikizidwa ndi zolumikizira zomwe zathetsedwa zisanachepetse kuyika kuyika ndikutumiza nthawi yayikulu kwambiri.

Makina opanga ndi pakuwunika kwakanthawi

Pamakina opanga, kuphatikizika kwa coax pakati pakati pa shaft yamoto ndi katundu ayenera kuyesedwa mosamala. Kulakwitsa kwambiri kuposa 0,05 mm radial kapena 0,2 madigiringu angular kungayambitse katundu wowonjezera, kukulitsa kugwedezeka ndikuchepetsa moyo wa ntchito. Kuphatikizira kosasinthika kumatha kulipirira zolakwa zazing'ono koma ziyenera kusankhidwa kutengera chiwonetsero cha torque ndi mphindi ya inertia. Kusamalira kwakanthawi kumaphatikizapo kuyeretsa malo ozizira, kuyang'ana ma bolts omasuka, kuyendera matekeni owoneka bwino kuti avale, ndikuwunikiranso mibadwo ya aphungu. Miyeso yamafuta iyenera kutsimikizira kuti kutentha kwamoto kumakhalabe malire, makamaka m'munsi mwa 80-90 ° C kuti agwire ntchito mosalekeza. Izi zimawonjezera zida zamoyo ndikuchepetsa kutaya kosakonzekera m'mafakitale ogwirira ntchito.

Maxtech amapereka mayankho

Maxtech amayang'ana pa njira zokwanira ma ac sersecs a mafakitale ogwiritsa ntchito mafakitale, kuchokera ku Dearction Kusankha Kutumiza Thandizo. Kutengera tokha, liwiro, ine, ndikuyika zofunikira, ma extech, ndi zida zothandizirana ndi maukonde a PLC kapena kuyenda pogwiritsa ntchito maukonde oyenera. Kwa oyang'anira ogulitsa ndi fakitale yokhudza ma axes ambiri, maxtech miyendo yambiri ndi zowonjezera kuti muchepetse kulingalira ndikusinthasintha. Ma template am'munda, ntchito zochulukitsa, ndi chitsogozo chofufuzira zimaperekedwa kuti adiresi iliyonse yokhazikika yolimbana ndi bandwidth yabwino komanso yotsika mtengo. Kudzera mu kukonzekera mwadongosolo komanso thandizo laukadaulo, maxtech amathandizira makasitomala amapeza zokolola zambiri ndikusunthika kokhazikika kumizere yawo.