Nigute ushobora kugenzura moteri ya ac servo?

Amahame shingiro yaAC Serdo Moterikugenzura

Ibigize na Gukora uburyo bwa AC Serdoms

Sisitemu ya ac servo ni ifunze - Sisitemu yo kugenzura igenzura cyane cyane kuri moteri ya ac, moteri ya ac, ibyuma (amplifier), igikoresho cyo gutanga ibitekerezo cyangwa pLC. Imodoka ya servo yakira ibimenyetso byamashanyarazi kandi ibahindura muri Pwm yicyiciro cya gatatu (PUGHIM MODITIM) Voltage yo gutwara moteri. Ibisanzwe byo guhinduranya inshuro ziva kuri 10 khz kugeza 20 khz, bituma igenzura ryubu hamwe na torque ntoya. Motor Rotor, ifite kodegisi cyangwa iyemeze, usubiza imyanya kandi yihuta yo kugenzura imbere, umuvuduko, hamwe numwanya mugihe cyo kugenzura 62.5 μs.

TORQU, Umuvuduko, N'UMURYANGO

Muri moteri ya ac, torque ni hafi kuri iki gihe murwego rwateganijwe: t ≈ kt × I, aho kt ari tt therque (e.g., 0.7 n) kandi ni icyiciro cyaho. Umuvuduko ugenwa na frequence ya voltage yakoreshejwe numubare wa pole ebyiri. Kurugero, hamwe na moteri ya 4-inkingi hamwe na 50.000 rpm yihuta, amashanyarazi kumuvuduko wapimwe ni 100 hz. Umwanya nibyihuta byihuta mugihe. Igenzura ryukuri rero rishingiye kubijyanye no kugenzura neza (kuri torque) hamwe nibisobanuro byigihe-bishingiye kumwanya wihuta numwanya. Iyi mibanire yubatswe niyo mpamvu servo itwara imirongo itatu yizewe: ubu (TORQU), umuvuduko, numwanya.

Ibice byingenzi muri sisitemu ya ac servo

AC Servo Imiterere hamwe nibipimo

Moteri ya AC ubwayo ni magnet ihoraho ya syntson (Pmmm) yegereye imikorere ya dinamike. Ibipimo by'ingenzi birimo imbaraga (mubisanzwe 0.1 kw kugeza 7.5 KW mushoro kinini cy'inganda), umubare wa torque (kenshi), n'umuvuduko ntarengwa wa 4.500). Rotor Inetia, yagaragajwe muri KGRI MO, igomba guhuzwa n'umutwaro wa Itertia Ratio; Ikigereranyo cyo gutwara abantu hagati ya 1: 1 na 1: 5 akenshi bisabwa kugenzura inyungu zihamye cyane. Umuyoboro uva kumurongo wateguwe kugirango ugenzure neza, ushyigikira amabwiriza-yerekeranye.

Servo Gutwara Imikorere N'IMIKORESHEREZE

Servo gutwara ni intangiriro yo kugenzura. Harimo icyiciro cya Rectifier, bisi ya DC (mubisanzwe 300-600 VDC kuri 220-400 Umwanya winjiza), hamwe na stade ihindagurika hamwe na module ya IgBT cyangwa Mosfet. Ibikoresho bikora bigizwe nubugenzuzi bwubu, umuvuduko numwanya, dimedital na analog i / o, ibyambu byitumanaho, hamwe numuzunguruko wumutekano (nka torque yumutekano). Imigaragarire irashobora kuba irimo pulse / icyerekezo incuts, analog + / - 10 v kumuvuduko cyangwa torque amategeko, na busse yinganda nka ethercat, cyangwa canat. Mubikorwa byo kwitoza no mu ruganda, gutoranya Porotocole itumanaho igomba guhuza na PLC isanzwe cyangwa icyerekezo cyo kugenzura, bityo guhuza ibicuruzwa ni ngombwa.

Uburyo bwo kugenzura: umwanya, umuvuduko, na torque

Umwanya wo kugenzura uburyo

Uburyo bwo kugenzura umwanya bukoreshwa mugihe imyanya nyayo niyo ntego nyamukuru, nko muri cnc axes cyangwa gutora. Umugenzuzi ubusanzwe yohereza umuyobozi Pulses, aho umuvuduko umwe uhwanye na kode imwe cyangwa igipimo cya elegitoroniki. Kurugero, hamwe na enterineti 20 (inyuguti 1.048.576 kuri revolution) hamwe nibikoresho bya elegitoroniki byihuta kuri revolution, 1 pulse ihuye na dogere ya 0,36 zizunguruka. Servo Trap ifunga imyanya, kugabanya ikosa ryakazi hagati yategetswe numwanya nyawo. Umwanya usanzwe ushobora kugera kuri ± 1 kode ya kodegisi, bihuye neza nukuri kurenza 0,0004 revolisiyo.

Porogaramu yo kugenzura umuvuduko na torque

Uburyo bwo kugenzura umuvuduko bugenga umuvuduko wa moteri nyuma ya Analog cyangwa Digital. Birasanzwe ko bigenda, bigatanga, cyangwa kuvoma aho umuvuduko uhora unegura. Umuvuduko wa Loop urwidths wo 80-200 HZ yemerera igisubizo cyihuse cyo kwikorera ibice, gufata umuvuduko muri ± 0.1% ndetse na 20-30% yikorera intambwe zihinduka. Uburyo bwo kugenzura torque bugenga ibisohoka kuri Torque ishingiye kubitekerezo byubu kandi bikunzwe na terefone, gukanda, no gukomera, no gukomera. Shiraho Torque birashobora guhindurwa kuva 0% kugeza 150% bya torque ya torque, hamwe nibibazo bya torque murwego rwa 1-5. Muri Drives nyinshi, umwanya, umuvuduko, na torque, hamwe nuburyo bwo muri torque burashobora guhuzwa cyangwa guhindurwa imbaraga kugirango bakire imyirondoro igoye.

Ibikoresho byo kugitekerezo hamwe na Log-Loop Igenzura

Encoders, abakemurabikorwa, hamwe nibitekerezo

Ibikoresho byo gutanga ibitekerezo bitanga amakuru yingenzi kugirango agenzure. Kwiyongera Encossers bisohoka A / B / z Proses, mugihe Envicers Yuzuye itanga amakuru yimiterere myinshi adakeneye gutaha. Aba Envicess bagezweho bafite imyaka 17-23 yo gukemura, kugereranya na 1301,072 kugeza kuri miliyoni zirenga 8. Iyemezabumwe tanga ubushuhe buhebuje ku bushyuhe no kunyeganyega ariko bikagira umusaruro mwiza kandi bisaba icyemezo cya cyemewe-kuri-digital muri disiki. Guhitamo ibitekerezo ni impirimbanyi hagati yubusobanuro, ibidukikije, nibiciro biba ngombwa mumishinga minini yinshi ikubiyemo amajana ya servo axes aho ibice bigabanya ibarura.

Kwigarurira kugenzura no kugenzura ibihe byizunguruka

Disiki ya servo mubusanzwe ikora imirongo itatu yashyizwe ahagaragara. Imbere y'imbere yishyura imigezi yicyiciro cyigihe cyihuta cyane, akenshi 10-50 μs, ukoresheje kugenzura umurima (kwibanda kubijyanye nigenga kugenga D- na Q-axis. Umuvuduko wihuta, wiruka kuri 0.5-2 khz, bitanga amategeko ahari hashingiwe kumakosa yihuta, mugihe umwanya uhagaze, wiruka kuri 0.5-1 khz, utanga itegeko rya 0.5-1 Guhagarara no gukora biterwa no kunguka byihuse hamwe nicyiciro cyicyiciro; Intego isanzwe ni icyiciro cya dogere 30-60 ninyungu hejuru ya 6 db. Iyi mibare yimibare iremeza ko sisitemu isubiye vuba mugihe ikomeje kwishyurwa hasi kandi irinde impyisi irambye.

Gushiraho no gutunganya serdo gutwara

Amabara, imipaka, hamwe nigenamiterere

Mbere yuko Serdo Axis ishobora gukora neza, ibipimo byingenzi moteri na disiki bigomba gushyirwaho. Harimo moteri yagenwe, yihuta, inkingi ebyiri, kodegisi, na iertia data. Imipaka ya Torque isanzwe ishyirwaho hagati ya 120% na 200% ya Torque, hamwe nibigabanya imipaka ihuye nizingagaciro kugirango wirinde kwambuka cyangwa kwishyuza. Imipaka yihuta igomba kubahiriza amanota ya Karike; kuri moteri yafashwe kuri 3.000 rpm ifite umuvuduko ntarengwa wa 5.000 rpm, imipaka itekanye ya 4,500 za RPM itanga margin. Urwego rwinshi, wice witonda, ubushyuhe, hamwe nuduce twinshi bigomba kugirwa kugirango birinde ibyangiritse, cyane cyane mumirongo yuruganda aho hatunguranye hatunguranye hamwe nibihindagurika byihutirwa ari kenshi.

Inyungu shingiro zishyiraho no gutanga intego

Ibipimo byambere mubisanzwe bitangirana na Auto-Guhuza, aho gutwara bishishikarije ibimenyetso byikizamini kugirango tumenye inertia no guterana amagambo, hanyuma kubara byasabwe kugenzura. Ku nsinge nyinshi, umwanya uhuza umurongo wa 20-60 hz birahagije, hamwe numuvuduko wa loop urwidth hafi 100-200 hz. Indangagaciro zitanga umwanya wa 50-150 MS hamwe na Overshoot munsi ya 10%. Kubisabwa kugirango bigerweho cyane, nkibikoresho bya semiconductor, umurongo wa bandidth birashobora gusunikwa hejuru, ariko ku kiguzi cyo kwihanganira imiyoboro yo hasi no kudakunda nabi. A reliable supplier will not only provide drive manuals but also tuning guidelines and sample parameter sets, which are particularly valuable during commissioning of multiple axes in a large system.

Kugenzura no kubona uburyo bwo guhuza

Imiterere ya servo pid

Imirongo nyamukuru yo kugenzura muri servo muri rusange ishyirwa mubikorwa nkibishushanyo cyangwa PI kugenzura PI. Ubuhu bwaho busanzwe buringaniye Pi (ugereranije-Interral) kugirango hakemurwe kuri zeru zihamye-leta, mugihe umuvuduko numwanya wihuta ushobora kubamo amagambo atandukanye cyangwa muyungurura. Mumuvuduko wihuta, inyungu zingana zigena uburyo ikosa ryihuta ryihuta, ijambo ryimikorere rikuraho ikosa ryigihe kirekire, kandi ibikorwa byose bikomokaho bifasha gutobora impinduka zitunguranye. Inyungu zisanzwe zimenyerejwe kugirango ugere kuri 5-15% Overshoot kumwanya wintambwe, mugihe igihe cyimiterere yashizweho kugirango ikosa rihamye rigabanuka munsi ya 1% muri milisegonda ijana.

Intambwe zifatika hamwe na cheque yumubare

Uburyo bufatika bwo gukemura butangirana ninyungu nke. Ubwa mbere, ubuziji bwaho bwemejwe nigenzura ryategetse torque itanga kwihuta neza nta oscaciolation. Ibikurikira, inyungu yihuta yiyongereye kugeza ku ntambwe yihuta 0-100% (urugero, 0 kugeza 1.500 rpm) itanga igihe cya mugitondo cya 50-100 ms hamwe na endkoot. Hanyuma, inyungu ya loop yiyongereye mugihe ukurikirana ingingo-kuri-yerekana, kurugero dogere 360 ​​kuzenguruka ibisabwa, hamwe na mm 100, hamwe na datage ya MM cyangwa 0,01. Niba resonances resonance igaragara, ya OnCH iyungurura iringaniye inshuro nyinshi zapimwe (akenshi hagati ya 100-1,000 HZ) irashobora gukoreshwa, hamwe na bandidthths 10-20% ya resonance.

Kugenzura icyerekezo ukoresheje PLC cyangwa Umugenzuzi

Tegeka Interfaces na Porotokole

Amabwiriza yo gutondekanya ako kanya ya PLC, umugenzuzi, cyangwa pc yinganda. Sisitemu yumurage ikunze gukoresha Pulse / icyerekezo ibisubizo byo kugenzura umwanya, hamwe na freque ya pulse kugeza 500 Khz gutanga imyanzuro myinshi ndetse nibikoresho bisanzwe bya elegitoronike. Sisitemu zigezweho zigenda zishingiye kuri digital. Ibi bituma ibiganiro bihujwe byihariye, nk'ibiro bya elegitoroniki hamwe n'interabwoba hirya no hino. Guhitamo protocole ihuza ni ngombwa mugihe cyamasoko ya drives nabashinzwe kugenzura, kuko ibipimo byitumanaho bihimbano birashobora kongera ikiguzi cyuruganda kurwego rwuruganda.

Guhindura imyirondoro no gutegura icyerekezo

Umugenzuzi asobanura imyirondoro y'ibitekerezo mubijyanye no kwihuta, umuvuduko uhoraho, no kwiyoroshya. Umwirondoro woroheje wa trapezoital urashobora kwerekana kwihuta kwa mm 500, umuvuduko ntarengwa wa mm 300 mm / s, kandi wihuta wa mm / s² / s² mugitondo cya mm 200. Umubare munini wa s-umurongo wambere ugarukira kuri crek (igipimo cyo guhindura kwihuta), bigabanya ibiranye, cyane cyane mububiko-musukukira. Umwanya uhagaze ugomba kubahiriza imbaraga za torque n'imbaraga; Niba kwihuta birenze ibyo moteri ishobora kugeraho kuri Torque yafashwe, haba mugihe cyurugendo bigomba kwiyongera cyangwa moteri-ndende-ndende igomba gukoreshwa. Umubare wimibare yimyanda ifasha guhitamo servo ikwiye mbere yo kwishyiriraho.

Gushiraho neza, igihe cyo gusubiza, no gutuza

Ibintu bireba neza kandi birasubirwamo

Gushiraho ukuri ntabwo bigenwa na kode wenyine. Mugihe kodegisi ishobora kuba ifite ibyemezo byibihe 1.000.000 kuri gahunda ya 1.000.000 kuri revolution, nyayo-yisi ishingiye kumushinga wa mashini ishyigikiye, shaft ikomeye, gukomera, no kwaguka. Kuri sisitemu ya Screw hamwe na MM 5 ya MM na Intebe 20-nto, kubara imwe ihuye na 4.77 Nm, kure yubusobanuro bufatika. Mubikorwa, muri rusange gushyira ukuri kwa ± 0.01-0 Uburyo bwa Calibration, nk'imbonerahamwe y'indishyi, irashobora gukosora amakosa yo gushyira mu gaciro yatewe no gutondekanya ibibanza byashizwemo no kwihanganira kwihanganira.

Gutanga igisubizo no kugenzura vibration

Imikorere ya Dinamike isanzwe irangwa nintambwe igisubizo, igisubizo cyiminota, no gukurikira amakosa munsi yimyirondoro. Axis yateguwe neza irashobora gukurikirana itegeko ryumwanya wa SinuyoiDal kuri 5-10 HZ hamwe namakosa akurikira munsi ya 1% ya amplitude. Kugirango ubigereho, urutonde rwamakoko rugomba kuba byibuze inshuro 3-5 hejuru yumurongo usabwa. Gushimangira ibyubaka, mugufi cyane, no guhagarika umutima byose bigira uruhare mumashanyarazi menshi. Muri disiki, kuyungurura hamwe na status-stand ya pasiporo ikoreshwa muguhagarika impinga zumvikana mugihe uzigama umurongo. Iyo ushyira mu bikorwa inzinguzi zihuta mu ruganda, gupima kunyeganyega hamwe n'imyandikire yoroshye hanyuma ugahindura imiterere filteri na 10-20 HZ Iyongera ku buryo bushobora guteza imbere umutekano.

Amakosa asanzwe, impuruza, hamwe nibitekerezo byo gukemura ibibazo

Ubwoko busanzwe bwo gutabaza nimpamvu

Impurugero ya servo igabanya ubushyuhe, bwiyongereye, burenze, burenze, Enteder Amakosa, arenze, kandi akurikira amakosa. Impuruza nyinshi zibaho mugihe ikigezweho ako kanya kirenze, kurugero, 300% yikigereranyo, akenshi kubera ko yashizwemo imashini cyangwa imitwaro itunguranye. Ukwishyurwa cyane hagaragara iyo ingufu zamashanyarazi zikaze zitera speeki hejuru ya DC hejuru yumubare wacyo, mubisanzwe hafi ya 40 VDC kuri sisitemu 220 cyangwa 820 VDC kuri sisitemu 400. Gukurikira impuruza zikavuka mugihe gutandukana kw'ikibanza birenze urugero rwashyizweho, nka kodegiteri 1.000, kandi irashobora guterwa na Torque idahagije, kwihuta cyane, cyangwa kugenzura nabi inyungu. Inganda zifatika zikomeza gutabaza ibiti byamateka kugirango umenye gusubiramo imirongo yumusaruro.

Intambwe-by-Intambwe yo Gusuzuma no Gukosora

Gukemura ibibazo bitangirana no gutandukanya niba ikibazo gifite amashanyarazi, imashini, cyangwa parameter. Igipimo cyapimwe cyo kurwanya moteri kigomba guhuza indangagaciro zagaciro kuri bike; gutandukana binini byerekana ibyangiritse. Imashini, amashoka agomba kugenda mu bwisanzure ukoresheje intoki cyangwa ku muvuduko muto wa Jog udafite urusaku rudasanzwe. Kugenzura ibipimo birimo kugenzura ko kodegisi, ibikoresho bya elegitoronike, burigihe, kandi bigabanya ibyuma bifatika. Oscilloscope cyangwa Gutwara Ibikoresho birashobora kwandika ikiriho, umuvuduko, numwanya wamakosa mugihe cyamakosa. Kurugero, niba umwanya wamakosa igisambo buhoro buhoro umutwaro uhoraho, imipaka cyangwa ubushobozi bwa none birashobora kuba bidahagije; Niba OsCillations igaragara kumurongo ukwiye, resonance no kuyungurura ibisabwa. Utanga tekinike ishoboye akenshi itanga inkunga yo gusuzuma no gusuzuma ibipimo, bifite agaciro cyane mumishinga minini yikora.

Kwishyiriraho, kwisiga, no gukora siporo ya buri munsi

Ibipimo byinshi by'amashanyarazi hamwe n'ibitekerezo bya EMC

Gukosora neza nibyingenzi kubigenzura bihamye. Intsingamavu na kodegisi cyangwa insinga zitumanaho zigomba guterwa ukundi, hamwe na mm ntarengwa ya mm 100-150, kandi insinga zikingiwe zigomba kugereranywa ku mpera imwe cyangwa ukurikije ibyifuzo byo kugabanya urusaku. Ihuriro ryisi rigomba kuba rifite imbaraga nkeya, hamwe no kurwanya ubutaka mubisanzwe munsi ya 10 ω mubikoresho byinganda. Kugirango umugozi muremure ugenda hejuru ya 30-50, ikibazo cya voltage hamwe nurusaku rwiyongera, bityo umuyobozi munini wambukiranya na cores ya Ferrite irashobora gusabwa. Mubitumizwa kubyitwaramo ibikoresho byuruganda, umugozi usanzwe hamwe nabahuza mbere bahagaritswe bagabanya amakosa yo kwishyiriraho no gusaba neza.

Kwishyiriraho mashini no kugenzura buri gihe

Kuruhande rwubuka, guhuza amakabwoba hagati ya moteri n'umutwaro bigomba kugenzurwa neza. Kudahitana neza kurenza 0.05 kuringaniza kuri 0.2 Inguni irashobora kumenyekanisha imizigo yinyongera, yongera kunyeganyega no kugabanya ubuzima bwa serivisi. Guhumeka birashobora kwishyuza nabi ariko bigomba gutoranywa hashingiwe kuri TORQUE Rating na Inertia. Kubungabunga ibihe bikubiyemo ubuso bwo gukonjesha, kugenzura amakoti arekuye, agenzura amakoti ya cable yo kwambara, kandi asubiramo amateka yo gutabaza. Ibipimo byubushyuhe bigomba kwemeza ko ubushyuhe bwo hejuru bwubutaka buguma mu kugabanya imipaka, mubisanzwe munsi ya 80-90 ° C Kubikorwa bikomeza. Iyi myitozo yongera ibikoresho ubuzima no kugabanya igihe cyo hasi kidateganijwe muburyo buhoraho-imikorere.

Maxtech itanga ibisubizo

Maxtech yibanda kuri sisitemu yuzuye ya servo. Guhitamo Ibigize Inganda, uhereye kubice byo gutoranya Gushiraho inkunga. Hashingiwe kuri TORQUE, umuvuduko, inertia, no gushyira ahagaragara injeniyeri za Maxtech zirasaba moteri ihuye, drives, hamwe nibikoresho byo gutanga ibitekerezo, harimo kwishyira hamwe na plc cyangwa kugenzura imiyoboro ikwiye. Ku mishinga myinshi hamwe nimishinga yuruganda irimo amashoka menshi, maxtech asanzwe moderi nibikoresho kugirango igabanye ibarura no koroshya kubungabunga. Ibipimo byerekana, serivisi zo guhuza, no gusuzuma gusuzuma kugirango buri servo axis igera kubikorwa bihamye hamwe na karwi kandi nziza. Binyuze mu igenamigambi rya sisitemu kandi ukomeza tekiniki, maxtech ifasha abakiriya kugera ku musaruro mukuru no kumara imikorere yimikorere yabo.