Ini ndinosarudza sei yakakwira torque stepper mota?

Kunzwisisa Zvinonyatsorehwa ne "High Torque".

Static inobata torque maringe ne dynamic torque

Kana vanhu vachitaura nezve "yakakwirira torque" inotsika mota, ivo vanowanzo reva iyo yekubata torque kukosha pane dhetabheti. Kubata torque ndiyo torque yakakura iyo mota inogona kuramba yakamira isina kurasikirwa nenhanho, inowanzoratidzwa muN·m (newton metres) kana oz·in. Akajairika NEMA 23 mota dzinopa 1.0–3.0 N·m inobata torque, ukuwo yakakwirira-torque NEMA 34 modhi inogona kudarika 8–12 N·m. Nekudaro, maapplication chaiwo haawanzo kushanda akamira. Kana mota ichingotanga kutenderera, torque iripo inotanga kuderera; iyi i dynamic torque, iyo inofanirwa kuongororwa painodiwa yekushanda kumhanya.

Pamota yakapihwa, unogona kuona 3 N·m yakabata torque pa0 rpm asi 2 N·m chete pa300 rpm uye 1 N·m pa800 rpm. Kusarudza "yakakwirira torque" modhi chete nekubata torque inogona kutungamira kune yakaderera kana yakawandisa mhinduro. Gara uchienzanisa torque pane yako chaiyo yekumhanyisa kumhanya kubva pakumhanya-torque curve.

Dhonza - mu torque, dhonza - kunze torque, uye muganho wekumisa

Dynamic torque inogona kuputsika kuita kudhonza - mukati uye kudhonza - kunze torque. Dhonza - mu torque ndiyo yakanyanya kuremerwa torque iyo mota inogona kutanga, kumisa, kana kudzosera kumashure synchronously pasina kurasikirwa matanho. Dhonza - kunze torque ndiyo yakanyanya kuremerwa torque inogona kufambiswa nekumhanya kwakapihwa, uchifungidzira kuti mota yave kutomhanya nekumhanya ikoko. Kuti ishande yakavimbika, torque yemutoro inofanira kugara pazasi kudhonza - mu torque panguva yekumhanyisa uye pazasi kudhonza - kunze torque panguva yekumhanya nguva dzose.

Semuenzaniso, kana mota ine yekudhonza - kunze torque ye 1.2 N · m pa 600 rpm asi inodiwa inotakura torque i 1.0 N·m, iyo danga remaseri chete (1.2 - 1.0) / 1.2 ≈ 17%. Maindasitiri maitiro anowanzo kurudzira angangoita 30-50% muganho kuti azvidavirire nekuda kwekuchinja kwekupokana, kukwira kwekushisa, uye kupfeka. Kana uchienzanisa masampuli kubva kumutengesi kana fekitori, simbirira pakudhonza kwakazara - mukati / kudhonza - kunze torque curves, kwete kungobata imwe chete yakabata torque yakatarwa.

Kujekesa Zvinodikanwa Zvekushandisa Pamberi peMota Sarudzo

Kutsanangura kumhanya, mutoro, uye basa kutenderera

Usati wabata mugadziri kana kubhurawuza makatalog, tsanangura matatu akakosha paramita: inodiwa kumhanya, inodiwa torque pakumhanya ikoko, uye basa kutenderera. Kumhanya kunowanzo kuratidzwa mu rpm kana nhanho pasekondi. Semuenzaniso, lead screw stage inoda 200 mm/s ine 8 mm pitch screw inoda 1500 rpm (nekuti 200 mm/s / 8 mm/rev = 25 rev/s ≈ 1500 rpm). Kana iyo mutsara mutoro uri 200 N uye mashandiro emuchina ari 0.8, chinodiwa torque ndechekuti:

• Torque = (Force × Lead) / (2π × Kunyatsogona) = (200 N × 0.008 m) / (6.283 × 0.8) ≈ 0.51 N·m

Kana iyo meshini ichishanda ichienderera kwemaawa gumi nematanhatu pazuva pane iyi torque uye nekumhanyisa, kutenderera kwebasa kwakakwira uye kufunga kwekupisa kunowedzera kukosha.

Kumisa kurongeka, kugadzirisa, uye nhanho kona

Stepper motors inosarudzwa kwete chete kune torque asi kune chaiyo chinzvimbo. Standard hybrid stepper motors ane nhanho angle ye 1.8 ° (matanho mazana maviri pa revolution). Negumi mamicrostep padanho rakazara, iwe unowana zviuru zviviri zvema microstep pa revolution, kana 0.18° per microstep. Kune 5 mm pitch screw, inoturikira kuti 5 mm / 2000 ≈ 2.5 µm pa microstep.

Kana sisitimu yako ichida ± 10 µm yekumisikidza kwayo, haufanirwe kungofunga nezve zita rekugadzirisa microstep asiwo mechaniki backlash, mutyairi asina mutsara, uye torque ripple. High torque windings inowanzova nepamusoro inductance, iyo inogona kuwedzera zvishoma nhanho nonlinearity pakumhanya kukuru; kutengeserana uku - kure kunofanirwa kuongororwa pakutanga kwekugadzira.

Stepper Mota Saizi, Frame, uye Torque Hukama

Saizi yeframe uye yakajairika torque siyana

Saizi yeframe inowanzotsanangurwa neNEMA kana zviyero zvakafanana. Iwo anonyanya kuzivikanwa saizi yeakakwira torque application anosanganisira:

• NEMA 17 (42 mm): yakajairika kubata torque 0.4–0.8 N·m
• NEMA 23 (57 mm): yakajairika kubata torque 1.0–3.0 N·m
• NEMA 24 (60 mm): yakajairika kubata torque 2.0–4.0 N·m
• NEMA 34 (86 mm): yakajairika kubata torque 4.0–12.0 N·m

Mafuremu akakura anobvumira matura akareba uye madhayamita makuru e rotor, achiwedzera torque. Nekudaro, kuwedzeredza furemu kunowedzera inertia uye mutengo, uye zvinogona kuda mutyairi ane simba uye magetsi. Mumapurojekiti eOEM uye kutenga kwehorese, kuyera saizi yemhando ine zvakaverengerwa torque zvinodiwa ndiyo imwe yenzira huru dzekugadzirisa mutengo.

Stack kureba, rotor vhoriyamu, uye shaft dhayamita

Mukati mefuremu yakapihwa, iwe unowanzo kuona mapfupi, epakati, uye akareba stack shanduro. Kuwedzera kureba kwe stack kunowanzo wedzera rotor vhoriyamu uye torque zvakaenzana muchiyero, kunyangwe ichisimudzawo rotor inertia. Semuyenzaniso, chipfupi-stack NEMA 23 mota inogona kunge iine 1.0 N·m inobata torque uye 70 g·cm² inertia, ukuwo refu-stake shanduro mufuremu imwe chete inogona kupa 2.4 N·m inobata torque uye 160 g·cm² inertia.

Shaft dhayamita, kazhinji 6.35 mm (1/4) yeNEMA 23 uye 12–14 mm yeNEMA 34, nenzira isina kunanga inoratidza kusimba kwemuchovha. Kana chikumbiro chako chichida torque yepamusoro pamusoro pe150% yekudzokororwa kwezita kana kudzokororwa, mashaft akakura uye mabearings akasimba anova akakosha ekusarudza, kunyanya kana uchishandira pamwe nefekitori pane yakasarudzika yakakwira - torque dhizaini.

Kufurira kweStepper Motor Type paTorque

Inogara magineti inopesana neiyo hybrid stepper mota

Permanent magineti (PM) stepper motors kazhinji ane hombe nhanho angles (7.5 °, 15 °) uye yakaderera torque. Iwo akabatana uye akaderera mutengo, asi iwo haawanzo kusarudzwa nekuda kweakakwira torque application. Hybrid stepper motors inosanganisa maficha ePM uye akasiyana ekusada marudzi, kazhinji aine 1.8 ° kana 0.9 ° nhanho angles. Aya mamotor anoburitsa yakakwira torque density, zvirinani simba rekuita, uye inowirirana torque padanho.

Kune akawanda maindasitiri akakwira torque masisitimu, mahybrid steppers anosarudzwa. Iyo yakakwira-torque yakasanganiswa NEMA 34 mota inogona kupa 8–12 N·m yekubata torque mupasuru ine compact. Paunenge uchishanda nemugadziri, tarisa kana mota iri yakajairwa dhizaini yakasanganiswa kana yakasarudzika musiyano ine yakagadziridzwa rotor uye stator geometry ye torque.

Winding dhizaini, bipolar oparesheni, uye torque kubuda

Kugadziriswa kwemhepo kunopesvedzera zvakasimba torque-kumhanya curve. Bipolar oparesheni inoshandisa kutenderera kwakazara uye kazhinji inopa inosvika 30–40% torque yakawanda pane unipolar operation panguva imwe cheteyo, nekuti yakawanda mhangura inoshandiswa nemazvo. Vazhinji vatyairi vemazuva ano stepper uye maapplication anoshandisa bipolar control chete nechikonzero ichi.

Coil kuramba uye inductance inosarudza nguva yemagetsi emota. Iyo yakaderera - inductance inotenderera, semuenzaniso 2 mH pachinzvimbo che8 mH, inogona kupindura nekukurumidza, kuchengetedza yakakwira torque pakumhanya, uye kushanda zvinobudirira pamatanho epamusoro. Zvakadaro, izvi zvinowanzoda zviyero zvepamusoro zvazvino (semuenzaniso, 4.2 A pachinzvimbo che2.0 A). Kushanda zvakananga nefekitari kana mutengesi wekutengesa kunobvumira kugadziridzwa kweanotenderedza paramita-kupokana, inductance, yakayerwa ikozvino-kunanga kune chaiyo torque uye kumhanya kwehuwandu hwekushandisa kwako.

Voltage, Yazvino, uye Mutyairi Sarudzo yeTorque

Yakayerwa ikozvino, dhiraivha ikozvino, uye torque kushandiswa

Stepper mota madatabase anotsanangura chikamu chakayerwa chazvino, senge 2.8 A kana 5.0 A. Iyi ikozvino inowanzotsanangurwa kuti iite yakayerwa yakabata torque pane imwe tembiricha inokwira (semuenzaniso, 80 °C pamusoro pe ambient). Kushandisa zvakanyanya kushoma ikozvino kunoderedza inowanikwa torque zvakaenzana muchiyero. Semuenzaniso, kutyaira mota ine 3.0 A yakayerwa pa 1.5 A kazhinji inoburitsa 50-60% yetorque yezita.

Kuti uwane torque izere ine simba, mutyairi wako anofanira kugovera kanenge kakayerwa ikozvino neyazvino mutemo. Mutyairi ane chiyero che 3.5 Peak inogona kusatsigira 3.5 A RMS pachikamu, iyo inokanganisa torque headroom. Gara uchisimbisa RMS inopesana nepeak tsananguro kana uchienzanisa vatyairi. MuOEM uye mapurojekiti akazara, paired mota-mutyairi kuyedza pafekitori inokurudzirwa zvakanyanya kuratidza chaiyo torque kubuda.

Simba rekupa voltage uye yakakwirira - yekumhanyisa torque

Stepper inductance inopikisa shanduko mune ikozvino. Pakumhanya kwepamusoro, ikozvino ine nguva shoma yekukwira munhanho imwe neimwe, iyo inoderedza torque. Kushandisa yakakwira bhazi voltage kunogona kuvandudza zvakanyanya - yekumhanyisa torque nekukunda inductive mhedzisiro. Semuenzaniso, imwe mota yeNEMA 23 inotyairwa pa24 V inogona kupa 0.5 N·m pa1000 rpm, nepo pa48 V inogona kuchengetedza 0.9 N·m pakumhanya kwakafanana—inoda kusvika 80%.

Mutemo unoshanda wegunwe ndeyekushandisa magetsi ekupa 10-20 yakakwira kupfuura mota yechikamu chevoltage rating (sekuverengerwa kubva kune yakayerwa ikozvino uye kuramba), uchiramba uri mukati memutyairi. Kana mota ine 2.1 Ω phase resistance uye 2.0 A rated current, the phase voltage is 4.2 V. A 48 V supply inoenderana nenguva dzinenge 11.4 iyi kukosha, iyo inowanzoenderana. Kubatanidza mota, mutyairi, uye magetsi ekupa paramita kuburikidza nemugadziri mumwe chete kunorerutsa izvi optimizations.

Speed ​​​​-Torque Curves uye Kududzira Datasheets

Kuverenga kumhanya-torque magirafu nenzira kwayo

Iyo yekumhanyisa-torque curve ndiyo inonyanya kukosha chati mune inotsika mota dhatabheti. Iyo yakatwasuka axis inoratidza kumhanya, kazhinji mu rpm kana pps, uye yakatwasuka axis inoratidza iripo torque. Macurves akawanda anogona kumiririra akasiyana ekupa voltages kana drive currents. Chinangwa chako ndechekuona torque iripo pane inodiwa yekumhanyisa kumhanya uye kuienzanisa neyako yakaverengerwa mutoro torque pamwe nekuchengetedza margin.

Semuenzaniso, ngatiti application yako inoda 0.8 N·m pa600 rpm. Iyo database inoratidza 1.4 Nm pa600 rpm pasi pemamiriro ekutyaira akataurwa. Mucheto ndeye (1.4 - 0.8) / 0.8 = 75%. Izvi zvinowanzogamuchirwa, kunyangwe uchifunga kukwira kwekushisa uye diki parameter kusiyana. Kana iyo curve ikawira pazasi pe torque yako inodiwa pakumhanya kwaunovavarira, iwe unofanirwa kusarudza mota hombe, kuwedzera voltage, kuderedza kumhanya, kana kugadziridzazve mashandiro emuchina.

Kuongorora miganhu yekupisa uye kuderedza

Torque ratings inotora imwe tembiricha yepamusoro inomonereka, kazhinji 80–100 °C inokwira pamusoro pe40 °C ambient. Kushanda nepamusoro-soro munzvimbo yakavharwa pasina kutonhora kwakaringana kunogona kukonzera tembiricha kudarika kukosha uku, zvichiita kuti zvishoma nezvishoma kuderedzwa kwekudzivirira uye hupenyu hupfupi. Vazhinji vagadziri vanoburitsa yakaderedzwa torque kukosha kune yakakwira ambient tembiricha.

Sekutungamira, kuderedzwa kwe20% muchikamu chazvino kunogona kukonzera kuderera kwe15-25% mukubata torque. Kana sisitimu yako ichishanda mu50–60 °C nharaunda ine mhepo shoma, isa inochengetedza derating pachine nguva pane kungovimba nekamuri-tembiricha yedata data. Paunenge uchishanda newaunoshanda naye mufekitori, kumbira marepoti ekuyedza kupisa patembiricha dzakasiyana uye mabasa ekutenderera kuti usimbise kuvimbika kwenguva refu.

Mechanical Load, Inertia, uye Torque Safety Margin

Kuverengera torque kubva kumitsetse uye inotenderera mitoro

Kushandura zvinodiwa zvemakanika kuita torque kwakakosha. Kune mutsara axis inofambiswa ne screw, torque inogona kuverengerwa uchishandisa:

• Torque (N·m) = (F × Lead) / (2π × η)

apo F iri simba remutsetse (N), Lead iscrew pitch (m/rev), uye η kuita zvakanaka (0.3–0.9 zvichienderana nekukwesha). Zvemabhanhire ekutyaira:

• Torque (N·m) = (F × r) / η

uko r iri pulley radius (m). Kune inotenderera inertia mitoro, torque inodiwa kuti ikwidze ndeiyi:

• Torque (N · m) = J × α

uko J izere inertia (kg·m²) uye α iri kona yekusimudzira (rad/s²). Kuregeredza iyi inertial uye frictional mipiro ndicho chikonzero chakajairika chekurasikirwa kwenhanho mu "high torque" masisitimu anotaridzika akakwana pabepa asi achikundikana mukuita.

Inertia ratio uye optimum performance

Stepper motors inoita zvakanyanya kana inertia yemutoro isiri yakakura kudarika rotor inertia. Yakajairika inokurudzirwa reshiyo ndeiyi:

• Load inertia / Rotor inertia ≤ 10:1 (zvichida 3–5:1)

Ngatitii motor's rotor inertia i120 g·cm² (1.2×10⁻⁵ kg·m²). Nechiyero che5:1, iyo inertia inotangwa inosvika 6×10⁻⁵ kg·m² kana pasi. Kana mutoro inertia iri 1×10⁻³ kg·m² (kanenge ka80 rotor inertia), sisitimu inogona kuda giya bhokisi (semuenzaniso 5:1 kana 10:1) kana furemu hombe. Iyi inertia yekufananidza inonyanya kukosha kana uchisarudza mota muhuwandu hwekugadzirwa kweOEM, uko chikamu chega chega chekurasikirwa kwekuita kunounganidza zviuru zvemayuniti.

Kugovera Simba, Wiring, uye Kufunga Kwekupisa

Conductor saizi, kureba kwewaya, uye kudonha kwevoltage

Tambo refu inomhanya pakati pemutyairi uye mota inowedzera kuramba uye inogona kuderedza inoshanda magetsi pamaterminals emota, ichidzikira torque-kunyanya pakumhanya kwakanyanya. Kudonha kwevoltage ndiko:

• Vdrop = I × Rcable

Kana chikamu chazvino chiri 4.0 A uye kutenderera - rwendo tambo kuramba iri 0.5 Ω, kudonha kuri 2.0 V. Nekupa 24 V, izvi zvakaenzana ne8.3% kurasikirwa kwemagetsi. Kusarudza akakora maconductor kana mapfupi tambo anoderedza Rcable uye anovandudza dynamic torque. Kune hombe- kuisirwa zvikero kana mapurojekiti akazara, kuenzanisa kureba kwetambo uye geji zvinogona kudzikamisa mashandiro.

Kubvisa kupisa uye ambient mamiriro

Stepper motors inogadzira kupisa kubva mukurasikirwa kwemhangura (I²R) uye kurasikirwa kwesimbi. Kushanda kwe torque yakakwirira pairi kana pamusoro yakayerwa ikozvino kunofanirwa kupetwa neyakakwana yekubvisa kupisa. Mucherechedzo wakajairika ndeyekuchengetedza tembiricha yemota iri pasi pe80–90 °C yakayerwa panzvimbo inopisa kwazvo. Munzvimbo ye25 °C, izvi zvinoreva kukwira kunobvumirwa kukwira kwe55-65 °C.

Kupisa kunyura, kukwira kune zvivakwa zvesimbi, mafeni, kana kumanikidzwa kwemhepo kuvharirwa kunogona kuwedzera iyo torque kugona panguva yakapihwa uchichengetedza tembiricha yakachengeteka. Inyanzvi inogadzira inogona kupa yekudziya yekufananidza kana yekuyedza data pasi pechokwadi chekumisikidza uye kutonhora mamiriro, kuve nechokwadi chekuti torque yakatarwa inosangana pasina kuwandisa.

Noise, Vibration, uye Motion Quality Versus Torque

Microsteping, resonance, uye kufamba kwakatsetseka

Nepo torque yakakosha, mhando yekufamba haigone kuregeredzwa. Stepper motors inoratidza resonances echisikigo, kazhinji muhuwandu hwe100-300 rpm yeyakajairwa NEMA 17 kana 23 saizi, izvo zvinogona kukonzera kudedera, ruzha runonzwika, uye nhanho kurasikirwa. Vatyairi veMicrostepping - se8, 16, kana 32 microsteps padanho rakazara - kuderedza torque ripple uye mechanical resonance, zvichiita kuti kutenderera kwakanaka uye kushanda kwakanyarara.

Nekudaro, microsteping haina kuenzana kuwedzera kwakaringana torque resolution. Motokari yakarongwa pa 1.0 N · m yakabata torque haisati yakwanisa kuburitsa 0.01 N·m ine mutsara chaiwo pane imwe neimwe microstep. Chaizvoizvo, iyo shoma yakagadzikana yakawedzera torque inogona kunge iri padyo ne5-10% yeyakayerwa torque. Paunenge uchitsanangura mhinduro kufekitori, kumbira data pane resonance frequency range, microstepping performance, uye chero matanho ekunyorovesa akavakirwa mukugadzira mota.

Kuenzanisa torque, ruzha, uye kushanda nesimba

Kumhanyisa mota pakukwira kwayo kwazvino kunowedzera torque asi zvakare kunokwidza ruzha, vibration, uye mashandisiro emagetsi. Mune akawanda maapplication, kushanda pa60-80% yeyakayerwa ikozvino uye kushandisa microstepping inorova chiyero chirinani pakati pe torque uye kutsetseka. Semuenzaniso, mota inoburitsa 2.0 N·m pa3.0 A inogona kuramba ichiunza 1.5 N·m pa2.2 A, ine ruzha rushoma uye tembiricha iri pakati nepakati.

Variable ikozvino kutonga, uko ikozvino yakaderedzwa panguva yakaderera-yekuremedza kana kubata nguva, inogona zvakare kuderedza avhareji mashandisirwo emagetsi. Paunenge uchitsvaga mota kubva kuholesale chiteshi, simbisa kana mutyairi achitsigira kuderedzwa kwazvino uye kana iyo mota insulation uye mabearings akatsanangurwa kune yakazara yakazara yakarongwa mamiriro ekushanda.

Mutengo, Kuvimbika, uye Vendor Support Trade-Offs

Mutengo wese wevaridzi, kwete chete mutengo wemayuniti

yakakwira torque stepper motas inowanzobatanidzwa mumidziyo yakakosha uko nguva yekudzikira inodhura zvakanyanya kupfuura mota yacho pachayo. Kuongorora mutengo wakazara wemuridzi unosanganisira kutarisisa kwehupenyu hunotarisirwa, kutadza mitengo, kusimba kwekushisa, uye kuwanikwa kwerutsigiro rwehunyanzvi. Mutengo wakaderera weyuniti kubva kumutengesi asina kurongeka unogona kuvanza mareti ezvikara zvakakwirira, kusawirirana kwetorque, kana kunonoka kuburitsa nguva izvo zvinokanganisa kugadzirwa.

Kana uchienzanisa sarudzo kubva kune akasiyana ekugadzira makatalogi kana mapuratifomu akazara, ongorora kwete chete torque uye mutengo, asiwo bvunzo zviyero, mhando zvitupa, mishumo yekuongorora, uye waranti mazwi. Mota dzakaunganidzwa neanoenderana stator laminations, akakwira - giredhi magineti, uye chaiyo rotor balancing inoburitsa yakagadzikana torque curves uye hupenyu hwakareba, kunyangwe ichidhura 10-20% yakawanda payuniti.

Prototyping, kuyedza batch, uye kubatana nefekitori

Chaiyo-kusimbiswa kwenyika kwakakosha. Usati wazvipira kune yakakura odha, ita prototype bvunzo dzinodzokorora mutoro wako chaiwo, kumhanya chimiro, uye mamiriro ezvakatipoteredza. Kuyera torque margin, kukwira kwekushisa, uye kureba - kugadzikana kwenguva refu. Pamavhoriyamu ekugadzira, funga nezve batch kuyedza ingangoita 1-3% yezvikamu zvinopinda kuti uone kuti zvinosangana neiyo torque yakatsanangurwa pakumhanya kwakakosha.

Kudyidzana kwakananga nefekitari kunogonesa optimization kupfuura kabhuku sarudzo: yakagadziridzwa mahwindi kuti aenderane neyako magetsi ekupa, yakakosha shaft kureba kana makiyi, akasimbisa mabhengi ekutakura radial, kana akasanganiswa encoder ekuvhara - loop mashandiro. Aya magadzirirwo anogona kuvandudza zvakanyanya sisitimu mashandiro uye kuvimbika pasina kuwedzera zvakanyanya mutengo, kunyanya kana yakaderedzwa pamusoro pepamusoro - vhoriyamu OEM kana maodha akazara.

Maxtech Ipa mhinduro

Maxtech inotarisa pakufananidza hunhu hwemota kune chaiyo mechanic uye magetsi zvinodiwa. Zvichienderana nekumhanya kwako kwaunovavarira, torque yemutoro, kutenderera kwebasa, uye mamiriro ekunze, mainjiniya eMaxtech anoverenga inertia ratios, anorumbidza akakodzera NEMA furemu saizi, uye tsanangura akakodzera azvino uye voltage mazinga. Iyo fekitori inogona kugadzirisa mahwindi kuti ikwidziridze yakakwirira - yekumhanyisa torque, optimize rotor inertia, uye kubatanidza madhiraivha anowirirana uye magetsi emagetsi. Kunyangwe iwe uchida huwandu hwemhando kana kutengeswa kwemari, Maxtech inopa yakasimbiswa yekumhanyisa-torque data, inopisa mishumo yekuyedza, uye rutsigiro rwekushandisa, kuve nechokwadi chekuti imwe neimwe yakasarudzwa stepper mota inoburitsa yakagadzikana, yakakwira torque ine inodzorwa tembiricha inokwira uye hupenyu hurefu hwebasa.