Kusarudzwa kwemotokari yemhando iri nyore kwazvo, asiwo yakaoma zvikuru. Iri idambudziko rinosanganisira zvakawanda zviri nyore. Kana iwe uchida kukurumidza kusarudza rudzi uye kuwana mhedzisiro, ruzivo ndiyo inokurumidza.
Muchikanika dhizaini otomatiki indasitiri, kusarudzwa kwemamota idambudziko rakajairika. Vazhinji vavo vane matambudziko mukusarudza, ingave yakakura kwazvo kutambisa, kana idiki kuti ifambe. Zvakanaka kusarudza hombe, zvirinani inogona kushandiswa uye muchina unogona kumhanya, asi zvinonetsa kusarudza diki. Dzimwe nguva, kuitira kuchengetedza nzvimbo, muchina unosiya diki yekuisa nzvimbo yemuchina mudiki. Pakupedzisira, inowanikwa kuti motokari inosarudzwa kuva duku, uye dhizaini inotsiviwa, asi ukuru hahugoni kuiswa.
Muindasitiri yemagetsi otomatiki, kune marudzi matatu emotor anoshandiswa zvakanyanya: matatu-chikamu asynchronous, stepper, uye servo. DC mota dziri kunze kwechikamu.
Matatu-chikamu asynchronous magetsi, yakaderera chaiyo, batidza kana yabatidzwa.
Kana iwe uchida kudzora kumhanya, iwe unofanirwa kuwedzera frequency inoshandura, kana iwe unogona kuwedzera bhokisi rekumhanyisa kudzora.
Kana ichidzorwa ne frequency converter, yakakosha frequency conversion mota inodiwa. Kunyangwe mamotor akajairwa achigona kushandiswa pamwe chete nema frequency converters, kupisa kupisa idambudziko, uye mamwe matambudziko achaitika. Nekukanganisa chaiko, unogona kutsvaga online. Iyo mota yekudzora yebhokisi regavhuna inorasikirwa nesimba, kunyanya kana ichinge yagadziridzwa kune giya diki, asi frequency inoshandura haizodaro.
Stepper motors dzakavhurika-loop motors dzine yakanyanya kurongeka, kunyanya mashanu-chikamu nhanho. Kune mashoma emumba mashanu-chikamu steppers, inova yehunyanzvi chikumbaridzo. Kazhinji, iyo stepper haina kurongedzerwa neinoderedza uye inoshandiswa zvakananga, ndiko kuti, iyo shaft yekubuda yemota yakabatana zvakananga kumutoro. Kumhanya kwekushanda kwe stepper kunowanzo kuderera, kungoita mazana matatu ekuchinja, hongu, kunewo zviitiko zvechiuru chimwe chete kana zviviri zvechimurenga, asi zvakare chinogumira pasina-mutoro uye haina kukosha kunoshanda. Ichi ndicho chikonzero pasina accelerator kana decelerator zvachose.
Iyo servo imota yakavharwa ine yakanyanya kurongeka. Kune akawanda maservos epamba. Kuenzaniswa nemhando dzekunze, kuchine musiyano mukuru, kunyanya inertia ratio. Dzinotengwa kunze kwenyika dzinogona kusvika pamakumi matatu, asi dzemumba dzinongosvika gumi kana makumi maviri chete.
Chero bedzi mota iine inertia, vanhu vazhinji vanofuratira iyi poindi pakusarudza modhi, uye ichi kazhinji ndicho chinhu chakakosha chekuona kana mota yacho yakakodzera. Muzviitiko zvakawanda, kugadzirisa servo ndiko kugadzirisa inertia. Kana iyo mechanical sarudzo isina kunaka, inowedzera motokari. Debugging mutoro.
Maservos ekutanga epamba akange asina yakaderera inertia, yepakati inertia, uye yakakwira inertia. Pandakatanga kusangana netemu iyi, handina kunzwisisa kuti sei mota ine simba rakafanana iine zviyero zvitatu zvepasi, zvepakati, uye zvepamusoro inertia.
Low inertia inoreva kuti mota inogadzirwa yakati sandara uye yakareba, uye inertia yegomba guru idiki. Kana mota ichiita yakakwira-frequency kudzokorora kufamba, inertia idiki uye chizvarwa chekupisa idiki. Naizvozvo, mota dzine yakaderera inertia dzakakodzera kune yakakwira-frequency kudzoreredza kufamba. Asi general torque idiki.
Iyo coil ye servo mota ine yakakwira inertia yakakora, iyo inertia yeiyo huru shaft yakakura, uye torque yakakura. Inokodzera zviitiko zvine torque yakakwira asi isiri kukurumidza kudzoreredza mafambiro. Nekuda kwekumhanya-mhanya kumisa, mutyairi anofanirwa kugadzira hombe reverse drive voltage kumisa iyi inertia yakakura, uye kupisa kwakakura kwazvo.
Kazhinji kutaura, mota ine inertia diki ine yakanaka braking performance, kukurumidza kutanga, kukurumidza kupindura kumhanyisa uye kumira, yakanaka-yekumhanya kudzoreredza, uye yakakodzera kune dzimwe nguva ine kuremerwa uye yakakwirira-kumhanya chinzvimbo. Zvakadai semamwe mutsara wepamusoro-kumhanya kwekumisa nzira. Mota dzine yepakati uye hombe inertia dzakakodzera nguva dzine mitoro mikuru uye yakanyanya kugadzikana zvinodiwa, senge mamwe maindasitiri ezvishandiso zvemuchina ane denderedzwa inofamba masisitimu.
Kana mutoro wacho wakakura kana kuti hunhu hwekusimudzira hwakakura, uye diki inertia mota inosarudzwa, shaft inogona kukuvadzwa zvakanyanya. Kusarudzwa kunofanirwa kuve kwakavakirwa pazvinhu zvakaita sehukuru hwemutoro, saizi yekukurumidza, nezvimwe.
Motor inertia zvakare chiratidzo chakakosha che servo motors. Inoreva inertia ye servo motor pachayo, iyo inonyanya kukosha pakukurumidza uye kuderedza motokari. Kana iyo inertia isina kunyatsoenderana, kuita kwemota kunenge kusina kugadzikana.
Muchokwadi, kune zvakare inertia sarudzo dzemamwe mota, asi munhu wese akanetesa iyi poindi mukugadzira, seyakajairwa bhandi conveyor mitsara. Apo motokari inosarudzwa, inowanikwa kuti haigoni kutangwa, asi inogona kufamba nekusundira kweruoko. Muchiitiko ichi, kana iwe ukawedzera chiyero chekudzikisa kana simba, inogona kumhanya zvakajairika. Nheyo yakakosha ndeyekuti hapana inertia inoenderana mukutanga nhanho kusarudzwa.
Nekuda kwekupindura kutonga kwe servo mota mutyairi kune servo mota, iyo yakanyanya kukosha ndeyekuti chiyero chemutoro inertia kune mota rotor inertia imwe, uye iyo yakawanda haigone kudarika kashanu. Kuburikidza nekugadzirwa kweiyo mechanical transmission device, mutoro unogona kuitwa.
Chiyero che inertia kune motor rotor inertia iri pedyo neimwe kana diki. Kana iyo inertia yemutoro yakakura chaizvo, uye dhizaini yekugadzira haigone kuita chiyero chemutoro inertia kune mota rotor inertia isingasviki kashanu, mota ine hombe mota rotor inertia inogona kushandiswa, kureva, iyo inonzi yakakura. inertia injini. Kuti uwane imwe mhinduro kana uchishandisa mota ine inertia yakakura, kugona kwemutyairi kunofanirwa kuve kwakakura.
Pazasi tinotsanangura chiitiko mune chaiyo yekushandisa maitiro emota yedu.
Iyo mota inodedera kana ichitanga, izvo zviri pachena kuti hazvina kukwana inertia.
Hapana dambudziko rakaonekwa mota ichimhanya nespeed yakaderera, asi kana speed yacho yakakwira yaibva yatsvedza kana yamira, shaft yekubuda yaibva yaita zvekuenda kuruboshwe nekurudyi. Izvi zvinoreva kuti iyo inertia yekufananidza ingori pamuganho chinzvimbo chemota. Panguva ino, zvakakwana kuwedzera chiyero chekuderedza zvishoma.
Iyo mota ye400W inotakura mazana emakirogiramu kana tani imwe kana maviri. Izvi zviri pachena zvakaverengerwa simba chete, kwete torque. Kunyangwe iyo AGV mota inoshandisa 400W kudhonza mutoro wemazana akati wandei makirogiramu, kumhanya kwemotokari yeAGV kunononoka, izvo zvisingawanzo kuitika mumashandisirwo ekushandisa.
Iyo servo mota yakashongedzerwa nehonye giya mota. Kana ichifanira kushandiswa nenzira iyi, zvinofanirwa kucherechedzwa kuti kumhanya kwemota hakufanirwe kunge kwakakwira kupfuura 1500 rpm. Chikonzero ndechekuti kune kutsvedza kunotsvedza mugiya reworm deceleration, kumhanya kwakanyanyisa, kupisa kwakakomba, kupfeka kunokurumidza, uye hupenyu hwesevhisi hwakadzikira. Panguva ino, vashandisi vachanyunyuta nezvekuti marara akadaro ari sei. Magiya ehonye anotorwa kunze kwenyika achange ari nani, asi haakwanise kutsungirira kuparadzwa kwakadaro. Iyo mukana we servo ine worm giya ndeyekuzvivharira, asi iyo yakashata kurasikirwa kweiyo chaiyo.
Inertia = radius yekutenderera x kuwanda
Chero bedzi paine huwandu, kukurumidza uye kuderera, kune inertia. Zvinhu zvinotenderera uye zvinhu zvinofamba mukududzira zvine inertia.
Kana akajairwa AC asynchronous motors achiwanzo shandiswa, hapana chikonzero chekuverenga inertia. Hunhu hwe AC motors ndehwekuti kana iyo inertia yekubuda isina kukwana, ndiko kuti, drive inorema zvakanyanya. Kunyangwe iyo yakatsiga-yemamiriro torque yakakwana, asi iyo yenguva inertia yakakura kwazvo, ipapo Kana mota ichisvika pakumhanya kusingaenzaniswi pakutanga, mota inodzikira uye yobva yakurumidza, uye zvishoma nezvishoma inowedzera kumhanya, uye pakupedzisira inosvika payakayerwa kumhanya. , saka dhiraivha haizozununguki, iyo ine zvishoma mhedzisiro pakutonga. Asi pakusarudza servo mota, sezvo servo mota ichitsamira pane encoder mhinduro yekudzora, kutanga kwayo kwakaomarara, uye iyo yekumhanyisa chinangwa uye chinzvimbo chinofanirwa kuwanikwa. Panguva ino, kana huwandu hwe inertia iyo injini inogona kumira yakapfuura, motokari inodedera. Naizvozvo, kana uchiverenga iyo servo mota senge sosi yemagetsi, iyo inertia factor inofanirwa kutariswa zvizere. Izvo zvinodikanwa kuverenga inertia yechikamu chinofamba icho chinozoshandurwa kumota shaft, uye shandisa iyi inertia kuverenga torque mukati menguva yekutanga.
Nguva yekutumira: Mar-06-2023