Stepper motor ndi chipangizo choyenda cha discrete, chomwe chimakhala ndi kulumikizana kofunikira ndiukadaulo wamakono wowongolera digito.M'dongosolo lamakono lamakono la digito, ma stepper motors amagwiritsidwa ntchito kwambiri.Ndi kutuluka kwa makina onse a digito a AC servo, ma AC servo motors akugwiritsidwa ntchito kwambiri pamakina owongolera digito.Kuti agwirizane ndi kakulidwe kakuwongolera kwa digito, ma stepper motors kapena ma digito onse a AC servo motors amagwiritsidwa ntchito kwambiri ngati ma motors apamwamba pamakina owongolera.Ngakhale onsewa ndi ofanana mumayendedwe owongolera (sitima yapamtunda ndi siginecha yolowera), pali kusiyana kwakukulu pamachitidwe ndi nthawi zogwiritsira ntchito.Tsopano yerekezerani machitidwe a awiriwa.
Kulondola kowongolera ndi kosiyana
Magawo awiri a magawo awiri a ma hybrid stepper motors nthawi zambiri amakhala madigiri 3.6 ndi madigiri 1.8, ndipo masitepe a magawo asanu a ma hybrid stepper motors nthawi zambiri amakhala madigiri 0,72 ndi madigiri 0,36.Palinso ma stepper motors ochita bwino kwambiri okhala ndi ngodya zazing'ono.Mwachitsanzo, injini yodutsa yopangidwa ndi Stone Company pazida zamakina oyenda pang'onopang'ono ili ndi ngodya ya 0.09 madigiri; injini yagawo itatu yosakanizidwa yopangidwa ndi BERGER LAHR ili ndi ngodya ya 0,09. The DIP lophimba ndi madigiri 1.8, madigiri 0,9, madigiri 0,72, madigiri 0,36, madigiri 0,18, madigiri 0,09, madigiri 0,072, madigiri 0,036, amene n'zogwirizana ndi sitepe ngodya ya magawo awiri ndi asanu gawo hybrid poponda Motors.
Kulondola kowongolera kwa injini ya AC servo kumatsimikiziridwa ndi encoder yozungulira kumapeto kumbuyo kwa shaft yamoto.Kwa injini yokhala ndi encoder ya mizere 2500, kugunda kwamtundu wofanana ndi madigiri 360/10000=0.036 chifukwa chaukadaulo wama frequency anayi mkati mwa dalaivala.Kwa injini yokhala ndi encoder ya 17-bit, nthawi iliyonse dalaivala akalandira 217 = 131072 pulses, injini imapanga kusintha kumodzi, ndiko kuti, kugunda kwake ndi madigiri 360 / 131072 = 9.89 masekondi.Ndi 1/655 ya pulse yofanana ndi stepper motor yokhala ndi masitepe a 1.8 degrees.
Makhalidwe otsika pafupipafupi ndi osiyanasiyana:
Ma Stepper motors amatha kugwedezeka pang'onopang'ono pa liwiro lotsika.Kuthamanga kwafupipafupi kumagwirizana ndi momwe katundu alili komanso momwe dalaivala amachitira. Nthawi zambiri amakhulupirira kuti kugwedezeka kwafupipafupi ndi theka la ma frequency osanyamula katundu agalimoto.Chochitika chotsika kwambiri chogwedezeka ichi chomwe chimatsimikiziridwa ndi mfundo yogwirira ntchito ya masitepe opondapo sichikuyenda bwino pamakina.Pamene stepper motor ikugwira ntchito pa liwiro lotsika, ukadaulo wotsitsa uyenera kugwiritsidwa ntchito kuthana ndi kugwedezeka kwapang'onopang'ono, monga kuwonjezera chotsitsa chotsitsa pamotopo, kapena kugwiritsa ntchito ukadaulo wogawira dalaivala, ndi zina zambiri.
The AC servo motor imayenda bwino kwambiri ndipo simanjenjemera ngakhale pa liwiro lotsika.AC servo dongosolo ali ndi resonance kupondereza ntchito, amene akhoza kuphimba kusowa rigidity wa makina, ndi dongosolo ali pafupipafupi kusanthula ntchito (FFT) mkati dongosolo, amene akhoza kudziwa resonance mfundo ya makina ndi kutsogolera dongosolo kusintha.
Makhalidwe amafupipafupi ndi osiyanasiyana:
Ma torque a motor stepper amachepetsa ndi kuchuluka kwa liwiro, ndipo amatsika kwambiri pa liwiro lalikulu, chifukwa chake kuthamanga kwake kwakukulu kumakhala 300-600RPM.The AC servo motor imakhala ndi torque yosalekeza, ndiye kuti, imatha kutulutsa torque mkati mwa liwiro lake (nthawi zambiri 2000RPM kapena 3000RPM), ndipo imakhala yotulutsa mphamvu nthawi zonse pamwamba pa liwiro lake.
Kuchuluka kochulukira kumasiyana:
Ma Stepper motors nthawi zambiri sakhala ndi mphamvu zambiri.AC servo motor ili ndi mphamvu zambiri zodzaza.Tengani Panasonic AC servo system mwachitsanzo, ili ndi liwiro lochulukira komanso mphamvu zodzaza ma torque.Makokedwe ake apamwamba ndi katatu a torque yovotera, yomwe ingagwiritsidwe ntchito kuthana ndi nthawi ya inertia ya inertia yolemetsa panthawi yoyambira.Chifukwa motor stepper ilibe mphamvu zochulukira ngati izi, kuti muthane ndi nthawi iyi ya inertia posankha chitsanzo, nthawi zambiri pamafunika kusankha mota yokhala ndi torque yayikulu, ndipo makinawo safuna torque yayikulu yotere panthawiyi. ntchito yachibadwa, kotero torque ikuwonekera. Chochitika cha zinyalala.
Kugwira ntchito kumasiyanasiyana:
Kuwongolera kwa injini yolowera ndikuwongolera kotseguka. Ngati ma frequency oyambira ndi okwera kwambiri kapena katundu ndi wokulirapo, kutsika kwa masitepe kapena kuyimitsidwa kumachitika mosavuta. Liwiro likakhala lalitali kwambiri, kuwomberana kudzachitika mosavuta pamene liwiro liri lalikulu kwambiri. Chifukwa chake, kuti atsimikizire kulondola kwake kowongolera, iyenera kusamaliridwa bwino. Mavuto a kukwera ndi kutsika.AC servo drive system ndi yotseka-loop control. Kuyendetsa kumatha kutsanzira mwachindunji chizindikiritso cha ma encoder a mota, ndipo mawonekedwe amkati ndi loop yothamanga amapangidwa. Nthawi zambiri, sipadzakhala kutaya sitepe kapena overshoot wa makwerero galimoto, ndi ntchito ulamuliro ndi odalirika.
Kuyankha mwachangu kumasiyanasiyana:
Pamafunika 200-400 milliseconds kuti stepper motor ifulumire kuchoka poyima kupita ku liwiro logwira ntchito (nthawi zambiri maulendo mazana angapo pamphindi).Kuthamanga kwa AC servo system ndikwabwinoko. Kutengera chitsanzo cha CRT AC servo motor, zimangotenga ma milliseconds ochepa kuti ifulumire kuchoka pa static kupita ku liwiro lake la 3000RPM, yomwe ingagwiritsidwe ntchito poyang'anira zochitika zomwe zimafuna kuyamba ndi kuyimitsa mofulumira.
Mwachidule, makina a AC servo ndi apamwamba kuposa ma stepper motor pamachitidwe ambiri.Koma nthawi zina zosafunikira kwenikweni, ma stepper motors amagwiritsidwa ntchito ngati ma motors oyendetsa.Chifukwa chake, popanga dongosolo lowongolera, zinthu zosiyanasiyana monga zofunikira zowongolera ndi mtengo wake ziyenera kuganiziridwa mozama, ndipo injini yoyenera yowongolera iyenera kusankhidwa.
Ma stepper motor ndi actuator yomwe imatembenuza ma pulse amagetsi kukhala osasunthika.M'mawu a layman: woyendetsa stepper akalandira chizindikiro cha pulse, amayendetsa galimotoyo kuti atembenuze ngodya yokhazikika (ndi sitepe) kumbali yomwe yakhazikitsidwa.
Mutha kuwongolera kusamuka kwa angular mwa kuwongolera kuchuluka kwa ma pulses, kuti mukwaniritse cholinga chokhazikika; pa nthawi yomweyo, mukhoza kulamulira liwiro ndi mathamangitsidwe wa kasinthasintha galimoto ndi kulamulira zimachitika pafupipafupi, kuti akwaniritse cholinga lamulo liwiro.
Pali mitundu itatu ya ma stepper motors: maginito okhazikika (PM), reactive (VR) ndi hybrid (HB).
Kutsika kwa maginito kokhazikika nthawi zambiri kumakhala magawo awiri, ndi torque yaing'ono ndi voliyumu, ndipo mbali yake nthawi zambiri imakhala madigiri 7.5 kapena madigiri 15;
Kupondapo mwachangu nthawi zambiri kumakhala magawo atatu, omwe amatha kuzindikira kutulutsa kwa torque yayikulu, ndipo kolowera nthawi zambiri kumakhala madigiri 1.5, koma phokoso ndi kugwedezeka kumakhala kwakukulu.M’maiko otukuka monga ku Ulaya ndi United States, unathetsedwa m’ma 1980;
hybrid stepper imatanthawuza kuphatikiza kwa ubwino wa mtundu wokhazikika wa maginito ndi mtundu wokhazikika.Imagawidwa mu magawo awiri ndi magawo asanu: mbali ziwiri zagawo nthawi zambiri zimakhala madigiri 1.8 ndipo mbali zisanu za magawo asanu nthawi zambiri zimakhala madigiri 0,72.Mtundu uwu wa stepper motor ndi womwe umagwiritsidwa ntchito kwambiri.
Nthawi yotumiza: Mar-25-2023