Nidaamyada Servo ee waxtarka leh ee Robots

Warshadaha robotics-ka, servo drives waa mawduuc caan ah.Isbeddelka degdega ah ee Warshadaha 4.0, wadista servo ee robotka ayaa sidoo kale la cusboonaysiiyay.Nidaamka robot-ka ee hadda jira ma aha oo kaliya inuu u baahan yahay nidaamka wadista si loo xakameeyo faashash badan, laakiin sidoo kale si loo gaaro hawlo badan oo caqli-gal ah.

Meel kasta oo ka mid ah hawlgalka robot warshadaha dhidibo badan leh, waa in ay isticmaashaa xoogag kala duwan oo saddex cabbir ah si ay u dhamaystirto hawlaha sida maaraynta dejisan. MatooradaRobot ku jiraawood u leh in uu ku bixiyo xawaaraha doorsoomiyaha iyo wareegyada saxda ah, koontarooluhuna waxa uu u isticmaalayaa in uu isku xidho dhaqdhaqaaqa faasas kala duwan, isaga oo awood u siinaya meelaynta saxda ah.Ka dib marka uu robotku dhamaystiro hawsha maaraynta, matoorku waxa uu yareeyaa qulqulka marka uu ku soo celinayo cududda robotiga booskeedii hore.

Ka kooban habaynta calaamadaha xakamaynta waxqabadka sare, jawaab celinta saxda ah ee saxda ah, sahay koronto, iyo caqli badanmatoorada, nidaamkan servo ee waxtarka sare lehwaxay bixisaa jawaab-celin degdeg ah oo casri ah oo degdeg ah oo sax ah iyo kontoroolka qulqulka.

Xawaaraha sare ee-waqtiga-dhabta ah ee loop-servo loop-processing signal control and inductive feedback

Saldhigga lagu xaqiijinayo xawaaraha sare ee dhijitaalka ah ee kontoroolka-waqtiga dhabta ah ee loop loop waa mid aan kala sooc lahayn cusboonaysiinta habka wax soo saarka microelectronics.Qaadashada mashiinka robot-ka ee saddex-waji ee korantada ku shaqeeya ee ugu caansan, PWM saddex-waji robot ah ayaa soo saara mowjadaha korantada ee garaaca-sare ee soo noqnoqda oo soo saara waveform-yadan dabaysha saddexda weji ee matoorka ee wejiyada madaxbannaan.Seddexda calaamadood ee tamarta, isbeddelada culeyska mootada waxay saameeyaan jawaab celinta hadda jirta ee la dareemo, la digitized, oo loo diro processor-ka dhijitaalka ah.Processor-ka dhijitaalka ah ayaa markaas sameeya algorithms-ka habaynta calaamadaha xawaaraha sare leh si loo go'aamiyo wax-soo-saarka.

Ma aha oo kaliya waxqabadka sare ee processor-ka dhijitaalka ah ayaa halkan looga baahan yahay, laakiin sidoo kale waxaa jira shuruudo naqshad adag oo loogu talagalay korontada.Aynu marka hore eegno qaybta processor-ka. Xawaaraha xisaabinta xudunta u ah waa in uu la socdaa xawaaraha casriyaynta tooska ah, taas oo aan hadda dhibaato ahayn.Qaar ka mid ah jajabyada xakamaynta hawlgalkaIsku-dubbarid beddelayaasha A/D, xisaabiyeyaasha isku-dhufashada booska/xawaaraha ogaanshaha, koronto-dhaliyeyaasha PWM, iwm. lagama maarmaanka u ah kontoroolka mootada ee udub-dhexaadka processor-ka, taas oo si weyn u soo gaabinaysa wakhtiga muunadda ee loop-ka xakamaynta servo waxaana lagu gartaa hal jajab. Waxay qabataa dardargelinta otomaatiga ah iyo xakamaynta xajinta, kontoroolka wada shaqaynta qalabka, iyo xakamaynta magdhowga dhijitaalka ah ee saddexda wareeg ee booska, xawaaraha iyo hadda.

Algorithms-yada kontoroolka sida gudbinta xawaaraha, gudbinta dardargelinta, shaandhaynta baasas hoose, iyo shaandhaynta sag ayaa sidoo kale lagu fuliyaa hal jajab.Xulashada processor-ka halkan laguma soo celin doono. Maqaaladii hore, codsiyada robotyada kala duwan ayaa la falanqeeyay, haddii ay tahay codsi jaban ama codsi leh shuruudo sare oo loogu talagalay barnaamijyada iyo algorithms. Waxaa durba jira doorashooyin badan oo suuqa ah. Faa'iidooyinka kala duwan.

Ma aha oo kaliya jawaab celinta hadda jirta, laakiin xogta kale ee la dareemay ayaa sidoo kale loo diraa maamulaha si uu ula socdo isbeddelada ku yimaada tamarta nidaamka iyo heerkulka. Xallinta sare ee hadda iyo jawaab celinta dareenka danabku had iyo jeer waxay ahayd caqabadxakamaynta matoorka. Helitaanka jawaab celinta dhammaan shunts/dareemaha Hoolka/ Dareemayaasha magnetic isla mar ahaantaana shaki la'aan waa kuwa ugu fiican, laakiin tani aad bay u baahan tahay naqshadeynta, iyo awoodda xisaabinta waxay u baahan tahay inay sii socoto.

Isla mar ahaantaana, si looga fogaado luminta calaamadaha iyo faragelinta, calaamaduhu waa la digitized meel u dhow cidhifka dareemayaasha. Marka uu heerka muunadku kordho, waxa jira khaladaad badan oo xog ah oo ay sababto leexashada ishaarada. Naqshadu waxay u baahan tahay in lagu kabo isbeddeladan iyada oo la adeegsanayo kicinta iyo hagaajinta algorithm.Tani waxay u ogolaaneysaa nidaamka servo inuu ahaado mid deggan xaalado kala duwan.

servo Drive la isku halayn karo oo sax ah — koronto iyo wadis garaad leh

Sahayda korantada ee leh hawlaha beddelka xawaaraha aadka u sarreeya ee leh kontoroolka xallinta sare ee xasilloon ee kontoroolka servo ee saxda ah. Waqtigan xaadirka ah, wax-soo-saarayaal badan ayaa leh qaybo koronto oo isku dhafan oo isticmaalaya qalab aad u sarreeya, kuwaas oo aad u sahlan in la naqshadeeyo.

Sahayda korantada ee qaabka beddelka ah waxay ku shaqeysaa korantada ku salaysan korantada xiran-loop, iyo laba dab-damis oo inta badan la isticmaalo waa MOSFET-yada iyo IGBTs.Dareewalada albaabku waxay ku badan yihiin nidaamyada ka shaqeeya sahayda korantada ee hab-bedelka kuwaas oo nidaamiya danabka iyo hadda ee albaabada furayaashan iyagoo xakameynaya gobolka ON/OFF.

Naqshadeynta sahayda korantada ee qaabka beddelka iyo rogayaasha saddex-waji ah, darawallada iridaha caqliga leh ee kala duwan ee wax qabadkoodu sarreeyo, darawallada leh FET-yada la dhisay, iyo darawallada leh hawlaha xakamaynta isku dhafan ayaa ku soo baxaya qulqul aan dhammaad lahayn.Naqshadaynta isku dhafan ee FET-ku-dhisan iyo shaqada muunad ee hadda jirta waxay si weyn u dhimi kartaa isticmaalka qaybaha dibadda. Qaabeynta macquulka ah ee PWM iyo karti, transistor sare iyo hoose, iyo gelinta calaamadda Hall waxay si weyn u kordhisaa dabacsanaanta naqshadeynta, taas oo aan fududayn kaliya habka horumarinta, laakiin sidoo kale waxay hagaajinaysaa waxtarka Awoodda.

Darawalka Servo ICs sidoo kale waxay sare u qaadaan heerka isdhexgalka, iyo darawalka servo ICs oo si buuxda isku dhafan ayaa si weyn u gaabin kara waqtiga horumarinta waxqabadka firfircoon ee ugu wanaagsan ee nidaamyada servo.Isku dhafka darawalka ka hor, dareenka, wareegyada ilaalinta iyo buundada korantada ee hal xirmo waxay yaraynaysaa isticmaalka guud ee korontada iyo kharashka nidaamka.Halkan waxaa ku qoran Trinamic (ADI) ee si buuxda isku dhafan servo darawal IC block jaantus, dhammaan hawlaha kantaroolka waxaa lagu hirgeliyaa hardware, isku dhafan ADC, interface dareenka booska, interpolator booska, si buuxda u shaqeeya oo ku haboon codsiyada servo kala duwan.

 

Darawalka IC, Trinamic (ADI) oo dhamaystiran

soo koobid

Nidaamka servo ee waxtarka sare leh, habaynta calaamadaha xakamaynta waxqabadka sare, jawaab celinta saxda ah ee kicinta, sahayda korantada iyo wadista garaadka mootada waa lama huraan. Wadashaqeynta aaladaha waxqabadka sare waxay ku siin karaan robot-ka xawaaraha saxda ah iyo kantaroolka qulqulka oo si degdeg ah uga jawaaba inta lagu jiro dhaqdhaqaaqa waqtiga dhabta ah.Marka lagu daro waxqabadka sare, isdhexgalka sare ee cutub kastaa wuxuu sidoo kale bixiyaa kharash hoose iyo hufnaan shaqo oo sarreeya.