Ua haujlwm zoo Servo Systems hauv Robots

Hauv kev lag luam neeg hlau, servo drives yog ib lub ntsiab lus sib txawv.Nrog rau kev hloov pauv ceev ntawm Kev Lag Luam 4.0, servo tsav ntawm tus neeg hlau kuj tau hloov kho dua tshiab.Cov neeg hlau tam sim no tsis tsuas yog yuav tsum tau tsav lub kaw lus kom tswj tau cov axes ntau dua, tab sis kuj ua tiav cov haujlwm ntse dua.

Ntawm txhua qhov hauv kev ua haujlwm ntawm ntau lub axis muaj neeg hlau, nws yuav tsum siv zog ntawm qhov sib txawv ntawm peb qhov ntev kom ua tiav cov haujlwm xws li teeb tsa. Cov motorshauv neeg hlau yogmuaj peev xwm muab qhov sib txawv ntawm qhov ceev thiab lub zog ntawm cov ntsiab lus meej, thiab tus maub los siv lawv los tswj kev txav mus los ntawm cov axes sib txawv, ua kom pom tseeb qhov chaw.Tom qab tus neeg hlau ua tiav txoj haujlwm tuav, lub cev muaj zog txo lub zog thaum rov qab lub caj npab neeg hlau mus rau nws txoj haujlwm pib.

Tsim los ntawm kev ua haujlwm siab tswj cov teeb liab ua, cov lus qhia meej inductive, khoom siv hluav taws xob, thiab ntselub cev muaj zog tsav, no high-efficiency servo systemmuab sophisticated nyob ze-instantaneous teb meej ceev thiab torque tswj.

High-speed real-time servo voj tswj-tswj teeb liab ua thiab inductive tawm tswv yim

Lub hauv paus rau realizing high-speed digital real-time tswj ntawm servo voj yog inseparable los ntawm kev kho dua tshiab ntawm microelectronics manufacturing txheej txheem.Noj cov feem ntau peb-theem hluav taws xob ua haujlwm neeg hlau lub cev muaj zog ua piv txwv, PWM peb-theem inverter generates high-frequency pulsed voltage waveforms thiab outputs cov waveforms rau hauv peb-theem windings ntawm lub cev muaj zog nyob rau hauv cov theem ywj siab.Ntawm peb lub zog hluav taws xob, kev hloov pauv ntawm lub cev muaj zog muaj feem cuam tshuam rau cov lus qhia tam sim no uas tau hnov, digitized, thiab xa mus rau cov processor digital.Cov processor digital ces ua cov teeb liab ceev ceev ua cov algorithms los txiav txim qhov tso zis.

Tsis yog tsuas yog kev ua haujlwm siab ntawm cov processor digital yuav tsum tau muaj ntawm no, tab sis kuj tseem muaj cov qauv tsim nruj rau cov khoom siv hluav taws xob.Cia peb saib ntawm lub processor ua ntej. Qhov tseem ceeb ntawm kev suav ceev yuav tsum ua raws li cov kev hloov kho uas siv tau, uas tsis muaj teeb meem ntxiv lawm.Qee qhov kev ua haujlwm tswj chipsintegrate A / D converters, txoj hauj lwm / ceev nrhiav kom tau ntau lub txee, PWM generators, thiab lwm yam tsim nyog rau kev tswj lub cev muaj zog nrog lub processor core, uas zoo heev shortens lub sij hawm piv txwv ntawm lub servo tswj voj thiab yog paub los ntawm ib tug nti. Nws txais yuav tsis siv neeg acceleration thiab deceleration tswj, iav synchronization tswj, thiab digital them nyiaj tswj ntawm peb lub voj voog ntawm txoj hauj lwm, ceev thiab tam sim no.

Tswj algorithms xws li kev tshaj tawm feedforward, acceleration feedforward, low-pass filtering, thiab sag filtering kuj yog siv rau ntawm ib nti.Kev xaiv ntawm lub processor yuav tsis rov qab los ntawm no. Hauv cov ntawv dhau los, ntau yam kev siv neeg hlau tau raug tshuaj xyuas, txawm tias nws yog daim ntawv thov raug nqi qis lossis ib daim ntawv thov uas xav tau siab rau kev ua haujlwm thiab algorithms. Muaj ntau txoj kev xaiv nyob rau hauv kev ua lag luam. Qhov zoo sib txawv.

Tsis tsuas yog cov lus tawm tswv yim tam sim no, tab sis lwm cov ntaub ntawv xav tau kuj raug xa mus rau tus tswj hwm kom taug qab cov kev hloov pauv hauv qhov system voltage thiab kub. High-resolution tam sim no thiab voltage sensing tawm tswv yim yeej ib txwm muaj kev sib tw nyob rau hauvtswj lub cev muaj zog. Tshawb xyuas cov lus tawm tswv yim los ntawm txhua qhov shunts / Hall sensors/ magnetic sensors nyob rau tib lub sij hawm yog undoubtedly qhov zoo tshaj plaws, tab sis qhov no yog heev xav tau ntawm tus tsim, thiab lub xam lub hwj chim yuav tsum tau ceev.

Nyob rau tib lub sijhawm, txhawm rau kom tsis txhob poob teeb liab thiab cuam tshuam, lub teeb liab yog digitized ze ntawm ntug ntawm lub sensor. Raws li qhov piv txwv nce, muaj ntau cov ntaub ntawv yuam kev tshwm sim los ntawm cov teeb liab drift. Tus qauv tsim yuav tsum tau them nyiaj rau cov kev hloov pauv no los ntawm kev hloov kho induction thiab algorithm.Qhov no tso cai rau lub servo system nyob ruaj khov nyob rau hauv ntau yam kev mob.

Txhim khu kev qha thiab meej servo tsav-lub zog mov thiab ntse tsav tsav

Cov khoom siv hluav taws xob nrog ultra-high-speed switching functions nrog ruaj khov high-resolution tswj lub zog txhim khu kev qha thiab raug servo tswj. Tam sim no, ntau lub tuam txhab tsim khoom siv hluav taws xob sib xyaw ua ke siv cov khoom siv ntau zaus, uas yooj yim dua rau kev tsim.

Cov khoom siv hluav taws xob hloov hluav taws xob ua haujlwm hauv kev tswj hwm-raws li kaw-voj fais fab mov topology, thiab ob lub zog siv hluav taws xob feem ntau yog lub zog MOSFETs thiab IGBTs.Cov neeg tsav tsheb lub rooj vag muaj ntau hauv cov tshuab uas siv cov khoom siv hluav taws xob hloov hluav taws xob uas tswj cov hluav taws xob thiab tam sim no ntawm lub rooj vag ntawm cov keyboards no los ntawm kev tswj lub xeev ON / OFF.

Hauv kev tsim cov khoom siv hluav taws xob hloov hluav taws xob thiab peb-theem inverters, ntau yam kev ua tau zoo ntawm cov rooj vag ntse ntse, cov tsav tsheb nrog FETs built-in, thiab cov tsav tsheb nrog kev tswj hwm kev sib koom ua ke tau tshwm sim hauv cov kwj tsis kawg.Kev sib koom ua ke ntawm kev tsim ua hauv FET thiab cov qauv ntsuas tam sim no tuaj yeem txo qis kev siv cov khoom siv sab nraud. Lub logic configuration ntawm PWM thiab pab kom, sab sauv thiab sab transistors, thiab Hall teeb liab input zoo heev tsub kom qhov yooj ntawm kev tsim, uas tsis tsuas yog yooj yim rau kev loj hlob txheej txheem, tab sis kuj txhim kho lub hwj chim Efficiency.

Servo tsav tsheb ICs kuj ua kom tiav qib ntawm kev sib koom ua ke, thiab kev sib xyaw ua ke servo tsav tsheb ICs tuaj yeem txo lub sijhawm txhim kho rau kev ua haujlwm zoo ntawm servo systems.Kev sib koom ua ke ntawm tus tsav tsheb ua ntej, kev hnov ​​​​lus, kev tiv thaiv circuits thiab lub zog choj rau hauv ib pob txo qis kev siv hluav taws xob tag nrho thiab cov nqi hluav taws xob.Cov npe ntawm no yog Trinamic (ADI) tag nrho cov servo tsav tsheb IC thaiv daim duab, tag nrho cov kev tswj kev ua haujlwm yog siv hauv kev kho vajtse, kev sib xyaw ADC, txoj haujlwm sensor interface, txoj haujlwm interpolator, ua haujlwm tau zoo thiab tsim nyog rau ntau yam kev siv servo.

 

Kev sib xyaw ua ke servo tsav IC, Trinamic (ADI)

Cov ntsiab lus

Nyob rau hauv high-efficiency servo system, high-performance tswj teeb liab ua, meej induction tawm tswv yim, fais fab mov thiab ntse tsav tsav yog indispensable. Kev koom tes ntawm cov cuab yeej ua haujlwm siab tuaj yeem muab cov neeg hlau nrog qhov tseeb ceev thiab kev tswj lub zog uas teb tam sim ntawd thaum lub sijhawm txav ntawm lub sijhawm.Ntxiv nrog rau kev ua tau zoo dua, kev sib koom ua ke siab ntawm txhua qhov module kuj muab cov nqi qis dua thiab ua haujlwm ntau dua.