Unodzora sei ac servo mota?

Nheyo dzakakosha dzeac servo motakutonga

Kuumbwa uye kushanda michina yeAc servo system

A AC Service System yakavharwa - Loop Motion Control System yakasimudzwa kunyanya yeAc servo mota, servo drive (amplifier), chishandiso chekupindura, uye dhizaini kana plc. Iyo servo drive inogamuchira yakaderera-magetsi yekuraira masaini uye inoshandurazve kuita matatu-pWM (pulse wakarongedzwa modulation) voltages kuti utore mota. Chaizvoizvo drive switching frequencies kubva ku10 KHz kusvika ku20 KHz, iyo inobvumira zvakanaka zvazvino kudzora neishoma torque ripple. Iyo mota rotor, yakagadzirirwa encoder kana gadziriso, inodzosera chinzvimbo uye nekumhanyisa mhinduro kune iyo nzvimbo yekudzora yemukati kuti isimbe torquel, kazhinji nenguva yekudzora ye62.5 μS kusvika 250 μs.

Torque, kumhanya, uye hukama hwechinzvimbo

Mune AC Service Motor, torque inotora chikamu chezvino mukati meiyo ratidziro: Kumhanya kwakatemerwa neiyo frequency yeiyo inoshandiswa voltage uye nhamba yedanda vaviri vaviri. Semuenzaniso, ne 4-pole mota uye 3,000 RPM yakavezwa kumhanya, iyo yemagetsi yekufambisa yakavezwa kumhanya ndeye 100 HZ. Chinzvimbo ndiko kuwirirana kwekumhanya nekufamba kwenguva. Kutonga kwakaringana saka kunovimba neyakajeka razvino kutonga (yeTorque) uye chaiyo yenguva-yakavakirwa mutemo wekumhanya uye chinzvimbo. Ukama uhwu hwakarukwa ndiko nei servo drives kazhinji dzichiita zvisharwe zvitatu zvine musoro: zvazvino (torque), kumhanya, uye chinzvimbo.

Kiyi zvikamu mune AC Service system

Ac servo mota dhizaini uye paramita

Iyo AC Service yemoto pachayo ndeyekugara kwemagrokronous mota (PMSM) yakagadzirirwa kuita dynamic. Key parameter inosanganisira yakasarudzika simba (kazhinji 0.1 KwW kw Rotor Inerthia, akataura muKg · 10, anofanira kunge akaenzana neye mutoro inertia ratio; A drive-kune-mutoro inertia chiyero pakati pe1: 1 uye 1: 5 inowanzokurudzirwa kuti isimbe yakanyanya kugadzikana. Iyo stator mhepo yakagadzirirwa kuti ishandise veVector kudzora, kutsigira munda-yakatarisana nemutemo wazvino mutemo.

Servo drive mabasa uye interfaces

Iyo servo drive ndiyo musimboti wekudzora. Inosanganisira chidimbu chectifier, bus dc (kazhinji 300-600 vdc ye220-400 vac appPut), uye internet stage ne igbt kana mosfet module. Zvinoshanda zvidhinha zvinonyorwa zvazvino kutonga, kumhanya uye positiancers, encoder interface, digital uye analog i / o, yakachengetedzwa matunhu (akadai seyakagwinya torque. Interfaces inogona kusanganisira pulse / kutungamira inopinda, Analog + / - 10 v yekumhanya kana torque mirairo, uye mabhazi maindasitiri akadai saEthevat, purofiti, kana conupent. MuWindoal uye fekitari emafekitari zvirongwa, kusarudzwa kwekutakura kutaurirana protocol kunofanirwa kuwirirana neiyo iripo plc plc kana kufamba kwekutora chiPuratiform, saka kusara kwekutengesa kwakakosha.

Dzora Modes: Nzvimbo, kumhanya, uye torque

Chinzvimbo kudzora maitiro maitiro

Nzvimbo yekudzora chinzvimbo inoshandiswa kana precise precise chimiro chikuru, chakadai seCNC lexs kana sarudza-uye-nzvimbo marobhoti. Iye anodzora anowanzo kutumira kuraira Pulses, uko imwe pulse yakaenzana nemumwe encoder kuverenga kana iyo inotsanangurwa yemagetsi giya retio. Semuenzaniso, ne20-bit encoder (1,048,576 inoverengeka pakuchinja) uye giya remagetsi rezviuru zvechiuru, 1 pulse inoenderana ne1.30 madhigirii ekutenderera shaft. Iyo servo drive inovhara chinzvimbo chechinzvimbo, kuderedza iyo chinzvimbo chekukanganisa pakati peakarairwa uye chinzvimbo chaicho. Chaizvoizvo mamiriro ezvinhu anogona kusvika

Kumhanya uye torque kudzora mashandisirwo

Speed ​​control mode inogadzirisa iyo motokari kumhanya ichitevera analog kana digital rairo. Zvakajairika mukutsvedza, kuendesa, kana kupomba uko kunomhanyisa kwekumhanya kuri kutsoropodza. Speed ​​Loop Bandwidths ye80-200 Hz Bvumira Kurumidza Kupindura, Kubata Speed ​​mukati megumi 0.1% kunyangwe ne20-30% yekudzora nhanho shanduko. Torque Control Mode inogadzirisa torque yakavakirwa pamhinduro dzazvino uye inofarirwa mukudzora kushushikana, kudzvanya, uye kusimbisa mashandiro. Set torque inogona kugadziriswa kubva pa0% kusvika ku150% yeiyo rated torque, neTorque mhinduro nguva muhuwandu hwe 1-5 ms. Mune akawanda anotyaira, chinzvimbo, kumhanya, uye nzira dzeTorque dzinogona kusanganiswa kana kuchinjiswa zvine simba kuti ugone kugonesa kuoma motifiti.

Mhinduro yekudyira uye yakavharwa-loop control logic

Encoders, gadzirisa, uye mhinduro yekugadzirisa

Midziyo yekudzora inopa ruzivo rwakakosha rwezvikwereti zvakavharwa-loop. Inowedzera Encders inoburitsa A / B / Z PLANES, nepo mhedziso yenzvimbo inopa yakawanda-tendeuka chinzvimbo ruzivo pasina chikonzero chekushayiwa. Mhedziso yemazuva ano inonzwisisika kazhinji ine 17-23 mabheti ekugadzirisa, kuenzana ne131,072 kusvika pamamiriyoni masere emamiriyoni ekuchinja. Chisarudzo chinopa simba rakanakisa kurwisa tembiricha uye vibration asi kuve nekudzikira solution inobudirira uye inoda kutsanangurwa kwekushandurwa kwekutendeuka kwekutyaira. Sarudzo yeMhinduro Chiyero pakati pekunyatsoita pakati pekunyatsoita basa, uye mutengo wakatemerwa, uye zvinokonzerwa nemapurojekiti makuru emapurojekiti anosanganisira mazana emazana eServes.

Nested kudzora zvishwe uye kudzora nguva dzekutenderera

Iyo servo dhiraivha kazhinji inomhanya matatu ested reulator zvishwe. Iyo yemukati yazvino chiuno chinorumbidza chikamu chemahosi ine nguva yekufamba kwazvo kwenguva, kazhinji 10-50 μs, uchishandisa yakazvimirira kudzora D- uye q-axis mahosi. Iyo yekumhanyisa chiuno Kugadzikana uye kuita kunoenderana neyakagadzirirwa nzvimbo inowana uye chikamu chemarangi; Chinhu chakajairika cheshandiso chinangwa chikamu chemaruva e30-60 degrees uye kuwana margin pamusoro 6 DB. Iyi tarisiro nhamba dzinoona kuti hurongwa hunopindura nekukurumidza uchiramba wakaderera overshoot uye kudzivisa oscilation yakasimbiswa.

Kugadzika uye kuitisa servo drive parameter

Data data, miganhu, uye kuchengetedza marongero

Servo axis axis anogona kushanda zvakachengeteka, kiyi mota uye kufambisa paramita kunofanirwa kuiswa. Izvi zvinosanganisira mota yakatemwa zvazvino, yakatemwa kumhanya, pole vaviri, encoder resolution, uye inertia data. Torque miganhu inowanzoiswa pakati pa120% uye 200% yerimende torque, ine miganhu yazvino inoenderana netsika idzi kudzivirira demagnization kana kufarirwa. Miganho yekumhanyisa inofanirwa kuremekedza zviyero zvekutarisa; Kune mota yakaiswa pamakumi matatu rpm ine yakanyanya kumhanya ye5,000 RPM, muganho wakachengeteka we4,500 rpm inopa margin. Kunyanyisa, undervoltage, uye overvoliture, uye zvakanyanyisa zvidimbu zvinofanirwa kugadziriswa kudzivirira kukuvara, kunyanya mumitsetse yemafekitori uko kusingatarisirwi kwekurumidzira uye kushanduka kwemagetsi zvinowanzoitika.

Basic kuwana uye kupindura zvinangwa

Pakutanga paramende inowanzo tanga ne auto-tuning, uko iyo drive injekets bvunzo masaini kuratidza mutoro inertiya uye kupfava, zvinobva zvaverenga kudzora kwakakurudzirwa. Kune maAxes akawanda, chinzvimbo cheLoop bandwidth ye20-60 Hz yakaringana, ine kumhanya loop bandwidth kutenderedza 100-200 hz. Iyi tsika inopa chinzvimbo chekugadzirisa nguva ye50-150 ms ine overshoot pazasi 10%. Kune yakakwirira-yakakwirira-systems yekushandisa, bandemonductor michina, bandwidth inogona kusundidzirwa kumusoro, asi pamutengo wekushivirira kwakadzika kusvika pakuzvinyudza kwemuchina uye misalignment. Muchengeti akavimbika haangapizve zvekutyaira asiwo tuning nhungamiro uye sampule paramende seti, ayo anonyanya kukosha panguva yekukohwa kwemaoko akawanda mune hombe system.

Pid control uye uwane nzira dzekutamba

Chimiro che servo pid controllers

Zvishambwe chikuru chekudzora mune servo drive inowanzoitwa sePID kana PI vanodzora. Chiuno chazvino chinowanzoitika pi (chikamu-chinobatanidza) kuve nechokwadi che zero yakasimba-nyika kukanganisa, nepo mhanya uye chinzvimbo zvishongedzo zvinogona kusanganisira mazwi anobva kana mafirita. Mukumhanya kweLoop Zvakafanana zviyero zvinogadziriswa kuti zvigadziriswe

Inoshanda matanho ekutambisa uye manhamba ekutarisa

Maitiro anoshanda ekutambisa anotanga aine akaderera kuwana. Kutanga, chiuno chazvino chinosimbiswa nekutarisa kwaakaraira torque kunogadzira kukurumidza kusarudzika pasina oscilllation. Inotevera, kumhanya loop kuwana kusvika 0-100% yekumhanyisa nhanho (semuenzaniso, 0 Pakupedzisira, nzvimbo yemidziyo yechiitiko inowedzera panguva yekufamba-famba-nhanho kutenderera kana 100 mm mutsara unogara pasi pechinangwa, chakadai se100 ms, nechinzvimbo chikanganiso chisingasviki 0,01 mm kana 0.01 madhigirii. Kana rannical resonance inoonekwa, notch mafirita akaenzana pakuyera resonance frequance

Motion Kudzora uchishandisa plc kana motion controller

Command interfaces uye kutaurirana protocols

Mirairo yemitambo inotangira kubva plc, motion controller, kana maindasitiri PC. Nhaka dzezvemitemo dzinowanzoshandisa pulse / kutungamira kwekunze kwekudzora chinzvimbo, nePulse Frequences Kusvikira 500 KHz Kupa Kugadziriswa Kwakanyanya Kunyangwe neyekugadzirisa mwero emagetsi. Systems yemazuva ano inowedzera kuvimba neDigital Fieldbuses yakadai saEthitalsbuses yakadai seEthercat, iyo inogona kuenzanisa madekisi akawanda ane nguva dzekutenderera dze 250 μs kana pazasi. Izvi zvinobvumira zvakarongeka motifiles motifiles, senge magetsi magetsi uye kutyisidzira kuyambuka rakawanda servo maxes. Kusarudza protocol inowirirana panguva yekuita nekurova kwekutyaira uye vanopokana, nekuti mismated kutaurirana zvinodiwa kunogona kuwedzera mutengo wekubatanidza kufekitori.

Kuisa profiles uye kuronga kwekufamba

Anodzora anotsanangura mafomu ekufambisa maererano nekuwedzera, achimhanya, uye kuyengera. A iri nyore trapezoidal velocity profile inogona kutsanangura kukurumidza kwe500 mm / s², yakanyanya kumhanya ye300 mm / s, uye kuyananiswa kwe500 mm / s² yekufamba kwa2008 mm. Yakanyanya kufambira mberi s-curve profiles inotungamira jerk Positioning cycle inofanirwa kuremekedza zvese zviri zviviri mota torque uye mechan simba; Kana kukwirisa kunopfuura iyo mota inogona kuwana paTorque yayo yeTorque, ingave nguva yekufamba inofanira kuwedzerwa kana mota yepamusoro-torque inofanira kushandiswa. Kufungidzira kwenhamba kwekutenderera kwekutenderera kunobatsira kusarudza yakakodzera servo saizi pamberi pekuisa.

Kumisikidza chokwadi, mhinduro yenguva, uye kugadzikana

Zvinhu zvinokanganisa kurongeka uye kudzokorora

Kumisikidza kurongeka hakuna kutsanangurwa neiyo encoder yega. Nepo ma encoder anogona kuve neiyo gadziriso yezviuru zvezviuru zvezviuru zveChinzanhau Kune bhora-screw system ine 5 mm inotungamira uye 20-bit encoder, imwe kuverenga inoenderana ne 4,77 nm, kure pazasi mashandiro ekunyorwa. Mukuita Maitiro ematafura ekurapa, akadai sematafura ekumiratidza, anogona kugadzirisa zvakarongeka zvikanganiso zvakakonzerwa nekukanda mipendero misiyano uye inokwirisa zvisungo.

Kupindura kwakasimba uye kushungurudzika kweVibration

Kuita kweDynamic kunowanzoonekwa nemhinduro yekupindura, mhinduro yerefu, uye kutevera kukanganisa pasi pe profiles. All-tuned axis inogona kuteedzera sinusoidal chinzvimbo ku5-10 HZ nechishandiso chinotevera pazasi 1% yeamplitude. Kuti uwane izvi, iyo mechancal resonance frequency inofanira kunge iri kanenge 3-5 nguva yakakwira kupfuura iyo inodiwa bandwidth. Kuumbwa kwechimiro, kupfupika kuwanda, uye zvinonhuhwirira zvinokonzeresa zvese zvinobatsira pakukwirira. Mune drive, notch mafirita uye mafirita-epasi-mafirita anoshandiswa kudzvinyirira resonant mapepa apo kuchengetedza kudzora bandwidth. Kana kushandisa zvakakwirira-kumhanya matombo munzvimbo yefekitori, kuyera kuyaruka neakareruka accelorometer uye kugadzirisa firita freetence ne 10-20 hz kuwedzera kunogona kuvandudza kusimba.

Zvikanganiso zvakajairika, alarms, uye kugadzirisa pfungwa

Chaizvoizvo Alarm mhando uye zvinokonzeresa

Standard serto drive maaruro anosanganisira zvakanyanya, overvoltage, overvoltage, undervoltage, encoder zvikanganiso, akafunga, uye kutevera kukanganisa. Maaruro anowedzeredza anoitika kana paine pakarepo zvinopfuura, semuenzaniso, mazana matatu muzana ezvakanyorwa zvazvino, kazhinji nekuda kwekuita kwemakaniki kana kusaputa mimwe mitoro. Overvoltage kazhinji anowanzoita kana genenerative simba simba rinomutsa iyo DC bhazi pamusoro pechikumbaridzo, Kutevera maaramu ekukanganisa anomuka kana iyo chinzvimbo chekutsauka chinopfuura chikumbaridzo chakaiswa, senge chiuru encoder kuverenga, uye zvinogona kukonzerwa nehasha dzakatarisana, kana kuwedzeredza kukwidziridzwa, kana kutongwa zvisiri izvo zvinokwanisika. Mafekitori anoshanda anochengetedza alimm nhoroondo Logs kuti vaone kudzokorora maitiro mumitsara yekugadzira.

Nhanho-ne-nhanho yekuongorora uye nzira dzekururamisa

Kugadzirisa dambudziko kunotanga nekuparadzanisa kana dambudziko racho riri magetsi, michina, kana paramende-ine hukama. Yakayera mota yepamhepo kupesana inofanirwa kuenderana nemazita emitemo mukati mezasi muzana; kutsauka kukuru kunoratidza kukuvadzwa kukuvara. Mechanically, axes inofanira kufamba zvakasununguka neruoko kana kuderera jog kumhanya pasina ruzha rusina kusimba. Paramende Cheki inosanganisira kuratidza kuti encoder resolution, magetsi emagetsi, motoro constants, uye miganhu inoenderana chaizvo neyechokwadi. Oscilloscope kana drive trace maturusi anogona kurekodha zvazvino, kumhanya, uye chinzvimbo chekukanganisa panguva yekukanganisa. Semuenzaniso, kana chinzvimbo chikanganiso chikwangamire zvishoma nezvishoma pasi pemutoro wekutakura, miganhu yeTorque kana ikozvino kugona kungave kusakwana; Kana oscolation ichionekwa pane yakatarwa frequency, resonance uye mafirita ekugadzirisa anodikanwa. Mutengesi anokatyamadza anokwanisika anowanzo kupa kure kure neRuignostic rutsigiro uye paramende ongororo, iyo inonyanya kukosha mumabasa makuru euto.

Kuisirwa, wiring, uye zviitiko zvezuva nezuva zvekugadzirisa

Magetsi ekushandisa magetsi uye emc fungidziro

Kururamisa wiring kwakakosha kune yakagadzikana serto kutonga. Simba tambo uye encoder kana kutaurirana tambo dzinofanira kuiswa zvakasiyana, nekuparadzaniswa kwemhando yepamusoro Kudzivirira kwepasi kubatana kunofanirwa kuve kwakashata, nekudzikisira kwepasi kazhinji pazasi 10 ω muindasitiri kuyaridzwa. Zvekureba tambo inomhanya pamusoro 30-50 m, voltage kudonha uye ruzha rwekuwedzera kukura, saka hukuru conductor cross-zvikamu uye mafuro ezvipfuyo zvinogona kudiwa. MuWindoalale Ordery yefekitori yefekitiki kits, yakagadziriswa tambo inoenderana neyekutangira-yakarongedzwa connectors inoderedza zvikanganiso zvekuisa uye kutumira nguva zvakanyanya.

Mechanical kuiswa uye nguva yekuongorora

Padivi rechinahwe, kuumbwa kwedzinza pakati pemotokari shaft uye mutoro unofanirwa kuongororwa nokungwarira. Misangano yakanyanya kupfuura 0.05 mm Radial kana 0,2 degrees angular inogona kuunza yakawedzera kubereka mitoro, kuwedzera kushungurudzika uye kuderedza hupenyu hwebasa. Chandinochinjika Couplings inogona kudzorera zvidiki zvisirizvo asi inofanira kusarudzwa kubva pane torque chiyero uye nguva yeiyo inertia. Nguva yekugadzirisa nguva inosanganisira kuchenesa nzvimbo dzekuchenesa, kutarisa kweBlets dzakasarudzika, kuongorora mabheji emajinga ekupfeka, uye kuongorora nhoroondo yeAlarm. Zviyero zvekudzidzisa zvinofanirwa kusimbisa kuti tembiricha yemotokari inosara mukati memiganhu yakatarwa, kazhinji pazasi 80-90 ° C pakuenderera mberi kushanda. Aya maitiro anowedzera hupenyu hwehupenyu uye kuderedza isina kurongwa nguva yekudzvanya mufekitori rekushanda-kushanda.

Maxtech anopa mhinduro

Maxtech anotarisa pane akazara AC Service System Solutions evashandisi maindasitiri, kubva kuCommunity yekusarudza kuraira rutsigiro. Kubva paTorque, kumhanya, inertia, uye kumisikidza inodiwa, maxtech maInjiniya, nemidziyo yekubatanidza, kusanganisira yekubatanidza nePLC kana kufamba kwevatambi vachishandisa yakakodzera manicks. Kune mapurojekiti eupenzi ane mashandiro anosanganisira maAxes mazhinji, Maxtech akaisa mhando uye accessories kuderedza herventory uye kurerutsa kuchengetedza. Paramende Matemplates, Tuning Services, uye Nhungamiro Yeruzivo inopihwa kuitira kuti mumwe nemumwe agere ashandiswe kushanda nesimba neakakwana bandwidth uye mashoma vibration. Kuburikidza nekuronga kuronga uye kuenderera kwehunyanzvi hwekutsigira, Maxtech anobatsira vatengi kuzadzisa kubereka kwepamusoro uye kugadzikana kwekufamba kwekufamba kwemitsetse yavo yekugadzira.