Inoda kusvika hafu yesimba rinoshandiswa pasi rose rinopedzwa nemamota. Naizvozvo, kuvandudza kushanda kwemamota kunonzi ndiyo chiyero chinoshanda chekugadzirisa matambudziko enyika.
Motokari mhando
Kazhinji, inoreva kushandura simba rinogadzirwa nekuyerera kwazvino musimba remagineti kuita inotenderera, uye inosanganisirawo mutsara kufamba muhupamhi.
Zvinoenderana nerudzi rwemagetsi emagetsi anofambiswa nemota, inogona kupatsanurwa kuita DC mota uye AC mota.Zvinoenderana nemusimboti wekutenderera kwemota, inogona kupatsanurwa zvakaenzana mumhando dzinotevera.(kunze kwemamota akakosha)
About Currents, Magnetic Fields, uye Forces
Chekutanga, kuitira kurerukira kunotevera tsananguro yemisimboti yemota, ngationgororei iyo yakakosha mitemo / mitemo nezve mafungu, magineti, uye masimba.Kunyangwe paine pfungwa yekushuvira, zviri nyore kukanganwa ruzivo urwu kana iwe usingashandisi magineti zvikamu kazhinji.
Isu tinobatanidza mifananidzo uye mafomula kuti tiratidze.
Kana iyo inotungamira furemu ine rectangular, iyo simba rinoshanda pane yazvino inotariswa.
Simba F rinoshanda kumativi a uye c ndiro
Inogadzira torque yakatenderedza yepakati axis.
Semuenzaniso, kana uchifunga nezve nyika iyo kona yekutenderera iri cheteθ, simba rinoshanda pamakona akarurama kuna b uye d chiviθ, saka torque Ta yechikamu a inoratidzwa neinotevera fomula:
Tichifunga chikamu c nenzira imwecheteyo, torque inopetwa kaviri uye inopa torque yakaverengerwa ne:
Sezvo nzvimbo yerectangle iri S=h · l, kuitsiva nefomera iri pamusoro kunoburitsa zvinotevera:
Iyi fomula inoshanda kwete chete rectangles, asiwo kune mamwe maumbirwo akajairika semadenderedzwa.Motors vanoshandisa musimboti uyu.
Mota inotenderera sei?
1) Motokari inotenderera nerubatsiro rwemagineti, simba remagineti
Kutenderedza magineti asingagumi ane shaft inotenderera,① inotenderedza magineti(kugadzira magnetic field inotenderera),② zvinoenderana nemusimboti weN uye S matanda anokwezva akapesana mapango uye anodzosera padanho rimwe chete,③ iyo magineti ine shaft inotenderera inotenderera.
Uyu ndiwo musimboti wekutanga wekutenderera kwemota.
Magineti inotenderera (magnetic force) inogadzirwa yakatenderedza waya kana yazvino ichiyerera nepawaya, uye magineti inotenderera, inova ndiyo mamiriro ekushanda akafanana.
Uye zvakare, kana waya yakakuvadzwa muchimiro checoil, simba remagineti rinosanganiswa, yakakura magineti inoyerera (magnetic flux) inoumbwa, uye N pole uye S pole inogadzirwa.
Pamusoro pezvo, nekuisa simbi pakati pewaya yakamonerwa, zvinova nyore kuti simba remagineti ripfuure, uye simba remagineti rakasimba rinogona kugadzirwa.
2) Chaiyo chinotenderera mota
Pano, senzira inoshanda yekutenderera michina yemagetsi, nzira yekugadzira inotenderera magnetic field uchishandisa matatu-phase alternating current uye coils inotangwa.
(Matatu-chikamu AC chiratidzo cheAC chine nguva yechikamu che120 °)
- Iyo yekugadzira magineti iri pamusoro ① mamiriro inoenderana neinotevera nhamba ①.
- Iyo yekugadzira magineti mudunhu ② pamusoro inoenderana ne ② mumufananidzo uri pazasi.
- Iyo yekugadzira magineti munzvimbo iri pamusoro ③ inoenderana neinotevera nhamba ③.
Sezvatsanangurwa pamusoro apa, coil ronda rakapoteredza core rakakamurwa kuita zvikamu zvitatu, uye U-phase coil, V-phase coil, uye W-phase coil inorongwa panguva dze120 °. Iyo coil ine yakakwira voltage inogadzira N pole, uye coil ine yakaderera voltage inoburitsa S pole.
Sezvo chikamu chimwe nechimwe chichichinja seine wave, iyo polarity (N pole, S pole) inogadzirwa nekoiri yega yega uye magineti yayo (magnetic simba) inoshanduka.
Panguva ino, ingotarisa coil inogadzira N pole, uye shandura mukutevedzana maererano neU-phase coil → V-phase coil → W-phase coil → U-phase coil, nokudaro ichitenderera.
Chimiro chemota diki
Mufananidzo uri pazasi unoratidza chimiro chakajairwa uye kuenzanisa kwemamotor matatu: stepper mota, brushed yakananga ikozvino (DC) mota, uye brushless yakananga ikozvino (DC) mota.Izvo zvakakosha zvemamotor aya zvinonyanya makoiri, magineti uye rotor. Mukuwedzera, nekuda kwemhando dzakasiyana, dzakakamurwa kuita coil yakatarwa mhando uye magineti yakatarwa mhando.
Inotevera irondedzero yechimiro chakabatana nemuenzaniso dhayagiramu.Sezvo panogona kunge paine zvimwe zvimiro pane imwe granular hwaro, ndapota nzwisisa kuti chimiro chinotsanangurwa muchinyorwa chino chiri mukati mehombe.
Pano, iyo coil ye stepper motor inogadziriswa kunze, uye magineti anotenderera mukati.
Pano, magineti eiyo brushed DC mota akaiswa kunze, uye makoiri anotenderedzwa mukati.Mabhurashi uye commutator vane basa rekupa simba kune coil uye kushandura mafambiro ezvino.
Pano, coil ye brushless motor inogadziriswa kunze, uye magnet inotenderera mukati.
Nekuda kwemhando dzakasiyana dzemotor, kunyangwe izvo zvakakosha zvikamu zvakafanana, chimiro chakasiyana.Izvo zvakananga zvichatsanangurwa zvakadzama muchikamu chimwe nechimwe.
brushed motor
Chimiro chebrashi injini
Pazasi pane izvo brushed DC mota inowanzoshandiswa mumamodhiyo inoita senge, pamwe neyakaputika schematic yeyakajairwa matanda maviri (2 magineti) matatu-slot (3 coils) mhando mota.Pamwe vanhu vazhinji vane ruzivo rwekubvisa mota nekubvisa magineti.
Izvo zvinogona kuoneka kuti magineti echigarire eiyo brushed DC mota akagadziriswa, uye macoils eiyo brushed DC mota anogona kutenderera mukati memukati.Divi rakamira rinonzi “stator” uye divi rinotenderera rinonzi “rotor”.
Izvi zvinotevera dhayagiramu yechirongwa chechimiro chinomiririra pfungwa yechimiro.
Kune matatu ma commutators (akabhenda esimbi mashiti ekuchinja ikozvino) padivi peiyo inotenderera yepakati axis.Kuti udzivise kusangana kune mumwe nemumwe, ma commutators anorongwa pane imwe nguva ye120 ° (360 ° ÷3 zvidimbu).Komitator inotenderera sezvo shaft inotenderera.
Imwe commutator yakabatana neimwe coil end uye imwe coil end, uye matatu macommutator nematatu coil anoumba yakazara (ring) sedunhu network.
Mabhurashi maviri akaiswa pa 0 ° uye 180 ° yekusangana neanoenda.Iyo yekunze DC magetsi yakabatana nebhurashi, uye yazvino inoyerera zvinoenderana nenzira yebhurashi → commutator → coil → bhurasho.
Kutenderera musimboti webrashi mota
① Tenderedza kubva kune yekutanga mamiriro
Coil A iri pamusoro, batanidza magetsi kune bhurashi, kuruboshwe ruve (+) uye kurudyi kuve (-).Ikozvino hombe inoyerera ichibva kuruboshwe bhurashi kuenda kunokoira A kuburikidza nemukombi.Ichi ndicho chimiro umo chikamu chepamusoro (chekunze) chekoiri A chinova S pole.
Sezvo 1/2 yeikoiri yekoiri A inoyerera ichibva kuruboshwe bhurashi kuenda kunokoira B uye coil C iri mhiri kuenda kune coil A, mativi ekunze ecoil B necoil C anova asina kusimba N mapango (anoratidzwa nemavara madiki zvishoma mu mufananidzo).
Iwo magineti akagadzirwa mumakoiri aya uye zvinosemesa uye zvinoyevedza zvinokonzeresa zvemagineti zvinoisa makoiri kune simba rinotenderera rinotenderedza wachi.
② Kuenderera mberi nekutendeuka
Tevere, zvinofungidzirwa kuti bhurasho rekurudyi rinosangana nevatambi vaviri munzvimbo iyo iyo coil A inotenderedzwa counterclockwise ne 30 °.
Ikozvino yecoil A inoramba ichiyerera kubva kuruboshwe bhurashi kuenda kubhurashi rekurudyi, uye kunze kwekoiri inochengetedza S pole.
Iyo yazvino seCoil A inoyerera nemuCoil B, uye kunze kweCoil B inova iyo N pole yakasimba.
Sezvo magumo ese ecoil C ari mapfupi-akatenderedzwa nemabhurashi, hapana ikozvino inoyerera uye hapana magineti inogadzirwa.
Kunyange munyaya iyi, simba rekutenderera rinotenderera rinosangana.
Kubva ③ kusvika ④, iyo yekumusoro coil inoramba ichigamuchira simba kuruboshwe, uye iyo yepasi coil inoramba ichigamuchira simba kurudyi, uye inoramba ichitenderera ichitenderera.
Kana iyo coil ichitenderedzwa kuenda ku ③ uye ④ yega 30 °, kana coil yaiswa pamusoro pepakati yakachinjika axis, rutivi rwekunze rwekoiri inova S pole; kana coil yaiswa pazasi, inova N pole, uye kufamba uku kunodzokororwa.
Mune mamwe mazwi, iyo yekumusoro coil inodzokororwa kumanikidzwa kuruboshwe, uye iyo yakaderera coil inodzokororwa kumanikidzwa kurudyi (zvese zviri zviviri munzira inopesana newachi).Izvi zvinoita kuti rotor irambe ichitenderera newachi nguva dzese.
Kana ukabatanidza simba kune mhiri kuruboshwe (-) uye kurudyi (+) mabhurashi, magineti akatarisana anogadzirwa mumakoiri, saka simba rinoiswa kumakoiri ririwo kune rimwe divi, richitenderera newachi.
Mukuwedzera, kana simba richidzimwa, rotor yemotokari yakasvibiswa inomira kutenderera nokuti hapana magnetic field kuti irambe ichitenderera.
Matatu-chikamu akazara-wave brushless mota
Kutaridzika uye chimiro chetatu-chikamu chizere-wave brushless mota
Mufananidzo uri pazasi unoratidza muenzaniso wekutaridzika uye chimiro cheiyo brushless mota.
Kuruboshwe kune muenzaniso wemotikari yechipindo inoshandiswa kupepeta dhisiki rekuona mune imwe optical disc playback device.Huwandu hwematatu-chikamu × 3 huwandu hwe9 coils.Kurudyi kune muenzaniso weiyo spindle mota yeFDD mudziyo, ine huwandu hwegumi nemaviri makoiri (matatu-chikamu × 4).Iyo coil inogadziriswa pabhodhi redunhu uye yakakuvadzwa yakatenderedza simbi yesimbi.
Iyo disk-yakaita chikamu kurudyi kwekoiri ndiyo inogara magineti rotor.Iyo periphery igineti yekusingaperi, shaft ye rotor inoiswa mukati mechikamu checoil uye inovhara iyo coil chikamu, uye magineti echigarire anotenderedza periphery yecoil.
Yemukati chimiro dhayagiramu uye coil yekubatanidza yakaenzana dunhu rematatu-chikamu akazara-wave brushless mota
Inotevera dhiyabhorosi dhizaini yemukati dhizaini uye dhizaini dhizaini yeyakaenzana dunhu rekubatanidza coil.
Iyi dhayagiramu yemukati muenzaniso weiyo yakapusa 2-pole (2 magineti) 3-slot (3 makoiri) mota.Iyo yakafanana neyakabhurwa mota chimiro ine nhamba yakafanana yemapango uye inotsvedza, asi iyo coil side yakagadziriswa uye magineti anogona kutenderera.Zvechokwadi, hapana mabhurashi.
Muchiitiko ichi, coil i-Y-yakabatana, uchishandisa semiconductor element kuti ipe coil ine ikozvino, uye iyo inopinda uye inobuda kunze kwezvino inodzorwa maererano nechinzvimbo chemagineti inotenderera.Mumuenzaniso uyu, chinhu cheHoro chinoshandiswa kuona pakamira magineti.Iyo Hall element yakarongedzwa pakati pemakoiri, uye iyo inogadzirwa voltage inowonekwa zvichienderana nesimba reiyo magineti uye inoshandiswa sechinzvimbo ruzivo.Mumufananidzo weFDD spindle mota yakapihwa kare, zvinogona zvakare kuoneka kuti kune Horo chinhu (pamusoro pecoil) yekuona chinzvimbo pakati pecoil necoil.
Horo zvinhu zvinozivikanwa magineti sensors.Ukuru hwemagineti hunogona kuchinjwa kuva hukuru hwemagetsi, uye kutungamirirwa kwemagnetic field kunogona kuratidzwa seyakanaka kana yakaipa.Pazasi pane dhizaini rinoratidza maitiro eHoro.
Zvinhu zvemuhoro zvinotora mukana wechiitiko chekuti "kana ikozvino IH inoyerera nepakati semiconductor uye magnetic flux B inopfuura pamakona chaiwo kune yazvino, voltage V.Hinogadzirwa mugwara perpendicular kune yazvino uye magineti", Nyanzvi yefizikisi yekuAmerica Edwin Herbert Hall (Edwin Herbert Hall) akawana chiitiko ichi ndokuchidaidza kuti "Hall effect".Mhedzisiro yemagetsi VHinomiririrwa nenzira inotevera.
VH= (KH/ d) · IniH・B ※KH: Horo coefficient, d: ukobvu hwemagineti flux kupinda mukati
Sezvinoratidzwa nefomula, iyo yakakwirira ikozvino, iyo yakakwirira yemagetsi.Ichi chimiro chinowanzoshandiswa kuona nzvimbo ye rotor (magnet).
Kutenderera musimboti wechitatu-chikamu chakazara-wave brushless mota
Iyo yekutenderera musimboti weiyo brushless mota inotsanangurwa mumatanho anotevera ① kusvika ⑥.Kuti unzwisise zviri nyore, magineti echigarire anorerutswa kubva kumatenderedzwa kuenda kumakona apa.
①
Pakati pematatu-chikamu makoiri, inofungidzirwa kuti coil 1 inogadziriswa munzira ye12 o'clock yewachi, coil 2 inogadziriswa munzira ye4 o'clock yewachi, uye coil 3 inogadziriswa mu. nzira ye8 o'clock yewachi.Rega N danda re2-pole risingaperi magineti rive kuruboshwe uye S pole kurudyi, uye inogona kutenderedzwa.
Iyo yazvino Io inoyerera ichipinda mucoil 1 kugadzira iyo S-pole magineti munda kunze kwecoil.Io/2 yazvino inogadzirwa kuti iyerere kubva kuCoil 2 uye Coil 3 kugadzira iyo N-pole magnetic field kunze kwecoil.
Kana magineti enzvimbo yecoil 2 uye coil 3 aiswa vectorized, N-pole magineti inogadzirwa ichidzika, inova yakapetwa ka0.5 saizi yemagineti inogadzirwa kana iyo yazvino Io ichipfuura nekoiri imwe, uye yakakura ka1.5 kana yawedzerwa. kune magnetic field ye coil 1.Izvi zvinogadzira mhedzisiro yemagineti pakona ye90 ° kune magineti anogara, saka torque yakakura inogona kugadzirwa, iyo magineti yechigarire inotenderera wachi.
Kana iyo yazvino yecoil 2 yadzikira uye yazvino yecoil 3 ichiwedzerwa zvinoenderana nenzvimbo yekutenderera, iyo inoguma magineti inotendererawo newachi uye magineti echigarire zvakare inoramba ichitenderera.
②
Munyika inotenderera ne 30 °, ikozvino Io inoyerera ichipinda mucoil 1, ikozvino mucoil 2 inogadzirwa zero, uye ikozvino Io inoyerera ichibva kune coil 3.
Kunze kwekoiri 1 kunova S pole, uye kunze kwekoiri 3 kunova N pole.Kana mavector abatanidzwa, iyo inokonzeresa magineti ndeye √3 (≈1.72) nguva iyo magineti inogadzirwa apo iyo ikozvino Io inopfuura nepacoil.Izvi zvinogadzirawo mhedzisiro yemagineti pakona ye90 ° kune inogara magineti yemagineti uye inotenderera newachi.
Kana iyo yekupinda ikozvino Io yecoil 1 inodzikira zvinoenderana nenzvimbo yekutenderera, iyo inoyerera ikozvino yekoiri 2 inowedzerwa kubva pa zero, uye kubuda kweiyo coil 3 inowedzerwa kuIo, inoguma magineti inotendererawo wachi, uye magineti echigarire zvakare anoramba achitenderera.
※ Tichifunga kuti chikamu chega chega chiripo chiri sinusoidal waveform, kukosha kwazvino kuno Io × sin(π⁄3)=Io × √3⁄2 Kuburikidza nevector synthesis yemagnetic field, saizi yese yemagineti inowanikwa se (√) 3⁄2)2× 2 = 1.5 nguva.Kana chikamu chega chega chiripo chiri sine wave, zvisinei nenzvimbo yegineti yekusingaperi, ukuru hwevector inoumba magineti inosvika 1.5 nguva yemagnetic field inogadzirwa necoil, uye iyo magineti iri pa90 ° angle hama. kune magineti echigarire magineti.
③
Mumamiriro ekuenderera mberi kutenderera ne 30 °, ikozvino Io / 2 inoyerera mucoil 1, ikozvino Io / 2 inoyerera mucoil 2, uye ikozvino Io inoyerera kunze kwekoil 3.
Kunze kwekoiri 1 kunova S pole, kunze kwekoiri 2 zvakare kunova S pole, uye kunze kwekoiri 3 kunova N pole.Kana mavector abatanidzwa, iyo inokonzeresa magineti ndeye 1.5 nguva iyo magineti inogadzirwa kana yazvino Io ichiyerera nepacoil (yakafanana ne①).Pano zvakare, mhedzisiro yemagineti inogadzirwa pakona ye90 ° maererano neiyo magineti yemagineti inogara uye inotenderera newachi.
④～⑥
Tenderedza nenzira imwechete se ① kuenda ku ③.
Nenzira iyi, kana iyo yazvino inoyerera ichipinda mucoil ichiramba ichichinjika mukutevedzana zvichienderana nenzvimbo yegineti isingaperi, iyo magineti isingaperi inotenderera munzira yakatarwa.Saizvozvo, kana iwe ukadzoreredza kuyerera kwazvino uye kudzosera iyo inokonzeresa magineti, inotenderera inopesana newachi.
Mufananidzo uri pazasi unoramba uchiratidza ikozvino kwecoil yega yega munhanho imwe neimwe ① kusvika ⑥ pamusoro.Kuburikidza nesumo iri pamusoro, zvinofanirwa kuve zvichigoneka kunzwisisa hukama pakati pekuchinja kwazvino nekutenderera.
stepper motor
A stepper mota imota inogona kunyatso kudzora kona yekutenderera uye kumhanya mukuwiriranisa nechiratidzo chekupuruzira. Iyo stepper mota inonzi zvakare "pulse mota".Nekuti stepper motors inogona kuwana chaiyo chinzvimbo chete kuburikidza yakavhurika-loop control pasina kushandisa chinzvimbo sensors, anoshandiswa zvakanyanya mumidziyo inoda chinzvimbo.
Chimiro che stepper mota (mbiri-chikamu bipolar)
Aya anotevera manhamba kubva kuruboshwe kuenda kurudyi muenzaniso wekutaridzika kweinotsika mota, dhizaini yechimiro chemukati, uye dhizaini yedhizaini yechimiro chechimiro.
Mumuenzaniso wekutaridzika, kutaridzika kweHB (Hybrid) mhando uye PM (Permanent Magnet) mhando yekutsika mota inopihwa.Dhizaini yedhizaini iri pakati inoratidzawo chimiro cheHB mhando uye PM mhando.
A stepping motor chimiro umo iyo coil inogadziriswa uye inogara magineti inotenderera.Iyo yekufungidzira dhizaini yemukati chimiro cheanotsika mota kurudyi muenzaniso wePM mota inoshandisa maviri-chikamu (maviri seti) emakoiri.Mumuenzaniso weiyo yekutanga chimiro cheinotsika mota, makoiri akarongwa kunze uye magineti echigarire akarongwa mukati.Mukuwedzera kune maviri-phase coils, kune matatu-phase uye mashanu-phase marudzi ane mamwe nhanho.
Mamwe ma stepper motors ane zvimwe zvimiro zvakasiyana, asi iyo yakakosha chimiro cheiyo stepper mota inopiwa mune ino chinyorwa kuti ifambise kuunzwa kwayo kushanda musimboti.Kuburikidza nechinyorwa ichi, ndinotarisira kunzwisisa kuti mota inotsika inotora chimiro cheiyo yakagadziriswa coil uye inotenderera isingaperi magineti.
Musimboti wekushanda weiyo stepper mota (imwe-chikamu kunakidzwa)
Iyi inotevera nhamba inoshandiswa kusuma musimboti wekushanda weiyo stepper mota.Uyu muenzaniso wekunakidzwa kwechikamu chimwe nechimwe (seti yemakoiri) maviri-chikamu bipolar coil pamusoro.Mamiriro eiyo dhizaini ndeyekuti nyika inoshanduka kubva ① kuenda ④.Iyo coil ine Coil 1 uye Coil 2, zvichiteerana.Mukuwedzera, miseve yemazuva ano inoratidza nzira yekuyerera ikozvino.
①
- Ikozvino inoyerera ichibva kuruboshwe rworuboshwe 1 uye inoyerera ichibva kurutivi rworudyi rwekoiri 1.
- Usabvumira ikozvino kuyerera kuburikidza necoil 2.
- Panguva ino, rutivi rwemukati rweruboshwe coil 1 runova N, uye rutivi rwemukati rwerudyi coil 1 runova S.
- Naizvozvo, magineti anogara ari pakati anokwezvwa nemagnetic field yecoil 1, inova mamiriro ekuruboshwe S uye kurudyi N, uye inomira.
②
- Ikozvino yekoiri 1 inomira, uye ikozvino inoyerera ichibva nechepamusoro pekoiri 2 uye inoyerera ichibva kudivi rezasi rekoiri 2.
- Rutivi rwemukati rwepamusoro coil 2 runova N, uye rutivi rwemukati rweyepasi coil 2 runova S.
- Iyo magineti yechigarire inokwezvwa nemagineti ayo uye inomira nekutenderera 90° wachi.
③
- Ikozvino yecoil 2 inomiswa, uye ikozvino inoyerera ichibva kurutivi rworudyi rwekoil 1 uye inoyerera ichibva kuruboshwe rwekoil 1.
- Rutivi rwemukati rwekoiri yekuruboshwe 1 inova S, uye rutivi rwemukati rwerudyi coil 1 rinova N.
- Iyo magineti yechigarire inokwezvwa nemagineti ayo uye inomira nekutenderera newachi imwe 90°.
④
- Ikozvino yekoiri 1 inomira, uye ikozvino inoyerera ichibva kune yakadzika rutivi rwekoiri 2 uye inoyerera ichibva kumusoro kwekona 2.
- Rutivi rwemukati rwekoiri yekumusoro 2 inova S, uye rutivi rwemukati rweyepasi coil 2 inova N.
- Iyo magineti yechigarire inokwezvwa nemagineti ayo uye inomira nekutenderera newachi imwe 90°.
Nguva yekutumira: Jul-09-2022