Ma Servo Systems Ogwira Ntchito mu Maloboti

M'makampani a robotics, ma servo drives ndi mutu wamba.Ndi kusintha kwachangu kwa Viwanda 4.0, servo drive ya loboti yakwezedwanso.Dongosolo lamakono la robot sikuti limangofunika kuti makina oyendetsa galimoto aziwongolera nkhwangwa zambiri, komanso kuti akwaniritse ntchito zanzeru.

Pa mfundo iliyonse pakugwira ntchito kwa loboti yamitundu yambiri, iyenera kugwiritsa ntchito mphamvu za kukula kosiyana mu miyeso itatu kuti imalize ntchito monga makonzedwe okhazikitsidwa. Ma motorsmu robot ndiamatha kupereka liwiro losinthika ndi torque pamalo enieni, ndipo wowongolera amawagwiritsa ntchito kuti agwirizane ndi nkhwangwa zosiyanasiyana, ndikupangitsa kuyika bwino.Loboti ikamaliza kugwira ntchito, injiniyo imachepetsa torque ndikubwezera mkono wa robot pamalo pomwe idayambira.

Wopangidwa ndi mawonekedwe apamwamba owongolera ma sigino, mayankho omveka bwino, zida zamagetsi, komanso zanzerumagalimoto, dongosolo lapamwamba la servo iliimapereka kuyankha kwakanthawi kochepa kwambiri komanso kuwongolera ma torque.

Kuwongolera kwamphamvu kwanthawi yeniyeni ya servo loop-kuwongolera ma siginecha ndi mayankho olimbikitsa

Maziko ozindikira kuwongolera kwanthawi yeniyeni kwa digito kwa servo loop sikungasiyanitsidwe ndi kukweza kwa njira zopangira ma microelectronics.Kutengera gawo lodziwika bwino la loboti yoyendetsedwa ndi magetsi ya magawo atatu monga chitsanzo, chosinthira chamagulu atatu cha PWM chimapanga ma waveform othamanga kwambiri ndikutulutsa ma waveform awa mumayendedwe amagawo atatu agalimoto modziyimira pawokha.Pazizindikiro zamphamvu zitatuzi, kusintha kwa kuchuluka kwa magalimoto kumakhudza zomwe zikuchitika zomwe zimamveka, zojambulidwa, ndikutumizidwa ku purosesa ya digito.Purosesa ya digito ndiye imapanga ma algorithms othamanga kwambiri kuti adziwe zomwe zatuluka.

Osati kokha ntchito yapamwamba ya purosesa ya digito yomwe ikufunika pano, koma palinso zofunikira zopangira zopangira magetsi.Tiyeni tiwone gawo la purosesa poyamba. Kuthamanga kwapaintaneti koyambira kuyenera kuyenderana ndi liwiro la zosintha zokha, zomwe sizilinso vuto.Zingwe zowongolera magwiridwe antchitophatikizani otembenuza A / D, ma counters ochulukitsa malo / liwiro, majenereta a PWM, ndi zina zotero zofunika kuti muzitha kuyendetsa galimoto ndi pulosesa yapakati, yomwe imachepetsa kwambiri nthawi yachitsanzo cha servo control loop ndipo imazindikiridwa ndi chipangizo chimodzi. Imatengera mathamangitsidwe odziwikiratu ndikuwongolera kutsika, kuwongolera kolumikizana ndi zida, ndikuwongolera chipukuta misozi pamiyendo itatu yamalo, liwiro ndi pano.

Ma algorithms owongolera monga velocity feedforward, kuthamangitsa feedforward, kusefa kwapansi, ndi kusefa kwa sag kumayikidwanso pa chip chimodzi.Kusankhidwa kwa purosesa sikudzabwerezedwa apa. M'nkhani zam'mbuyomo, mapulogalamu osiyanasiyana a robot adawunikidwa, kaya ndi ntchito yotsika mtengo kapena ntchito yomwe ili ndi zofunikira kwambiri pakupanga mapulogalamu ndi ma algorithms. Pali kale zosankha zambiri pamsika. Ubwino wosiyana.

Osati mayankho apano okha, komanso zina zomveka zimatumizidwanso kwa wowongolera kuti awone kusintha kwamagetsi amagetsi ndi kutentha. Mayankho amphamvu kwambiri apano komanso ma voltage sensing akhala akuvuta nthawi zonsekuwongolera magalimoto. Kuzindikira mayankho kuchokera ku masensa onse a shunts / Hall/ maginito masensa nthawi yomweyo mosakayikira zabwino kwambiri, koma izi ndi zofunika kwambiri pa kapangidwe, ndipo mphamvu kompyuta ayenera kupitiriza.

Pa nthawi yomweyi, pofuna kupewa kutayika kwa chizindikiro ndi kusokoneza, chizindikirocho chimayikidwa pafupi ndi m'mphepete mwa sensa. Pamene chiwerengero cha zitsanzo chikuwonjezeka, pali zolakwika zambiri za deta zomwe zimayambitsidwa ndi kusuntha kwa chizindikiro. Mapangidwewa amayenera kulipira zosinthazi kudzera mu induction ndi algorithm kusintha.Izi zimathandiza kuti dongosolo la servo likhalebe lokhazikika pazikhalidwe zosiyanasiyana.

Ma servo drive odalirika komanso olondola-mphamvu yamagetsi ndi kuyendetsa galimoto yanzeru

Zida zamagetsi zokhala ndi ma Ultra-high-speed switching ntchito zokhala ndi mphamvu zokhazikika zowongolera zowongolera zodalirika komanso zolondola za servo. Pakalipano, opanga ambiri amaphatikiza ma modules amphamvu pogwiritsa ntchito zipangizo zamakono, zomwe zimakhala zosavuta kupanga.

Mphamvu zamagetsi zosinthira ma switch-mode zimagwira ntchito mumtundu wamagetsi otsekeka, ndipo ma switch awiri omwe amagwiritsidwa ntchito kwambiri ndi ma MOSFET amphamvu ndi ma IGBT.Madalaivala a zipata ndizofala m'makina omwe amagwiritsa ntchito mphamvu zamagetsi zomwe zimayang'anira magetsi ndi magetsi pazipata za masiwichiwa polamulira boma la ON/OFF.

Popanga magetsi osinthira ma switch-mode ndi ma inverter a magawo atatu, madalaivala osiyanasiyana apamwamba anzeru, oyendetsa omwe ali ndi ma FET omangidwa, ndi madalaivala okhala ndi ntchito zowongolera zophatikizika amatuluka mosalekeza.Mapangidwe ophatikizika a FET omangidwa ndi ntchito zaposachedwa zitha kuchepetsa kugwiritsa ntchito zida zakunja. Kukonzekera kwamalingaliro a PWM ndikuthandizira, ma transistors apamwamba ndi otsika, ndi kulowetsa chizindikiro cha Hall kumawonjezera kusinthasintha kwa mapangidwe, zomwe sizimangopangitsa kuti chitukuko chikhale chosavuta, komanso chimapangitsanso Mphamvu Yamphamvu.

Ma IC driver driver amakulitsanso kuchuluka kwa kuphatikiza, ndipo ma IC oyendetsa ma servo ophatikizika amatha kufupikitsa kwambiri nthawi yachitukuko kuti azichita bwino kwambiri machitidwe a servo.Kuphatikiza ma pre-driver, sensing, mabwalo oteteza ndi mlatho wamagetsi mu phukusi limodzi kumachepetsa kugwiritsa ntchito mphamvu zonse komanso mtengo wamakina.Zomwe zili pano ndi Trinamic (ADI) yophatikizidwa kwathunthu ndi servo driver IC block diagraph, ntchito zonse zowongolera zimayendetsedwa mu hardware, Integrated ADC, mawonekedwe a sensor sensor, interpolator position, yogwira ntchito mokwanira komanso yoyenera ntchito zosiyanasiyana za servo.

 

IC, Trinamic (ADI) yophatikizidwa kwathunthu ndi servo driver

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Pamakina apamwamba kwambiri a servo, makina owongolera magwiridwe antchito apamwamba, mayankho olondola, magetsi komanso kuyendetsa bwino kwamagalimoto ndikofunikira. Kugwirizana kwa zida zogwira ntchito kwambiri kumatha kupatsa loboti liwiro lolondola komanso kuwongolera ma torque omwe amayankha nthawi yomweyo pakuyenda munthawi yeniyeni.Kuphatikiza pa magwiridwe antchito apamwamba, kuphatikiza kwakukulu kwa gawo lililonse kumaperekanso mtengo wotsika komanso magwiridwe antchito apamwamba.