Mekhoa e Sebetsang ea Servo ho Liroboto

Indastering ea liroboto, li-drive tsa servo ke taba e tloaelehileng.Ka phetoho e potlakileng ea indasteri ea 4.0, servo drive ea roboto le eona e ntlafalitsoe.Sistimi ea hajoale ea liroboto ha e hloke feela sistimi ea ho khanna ho laola lilepe tse ngata, empa hape le ho fihlela mesebetsi e bohlale haholoanyane.

Sebakeng se seng le se seng ts'ebetsong ea roboto ea liindasteri tse ngata, e tlameha ho sebelisa matla a boholo bo fapaneng ka litekanyo tse tharo ho phetha mesebetsi e kang ho sebetsana le sete. Lienjeneka roboto bae khona ho fana ka lebelo le feto-fetohang le torque lintlheng tse nepahetseng, 'me molaoli o li sebelisa ho hokahanya motsamao ho latela lilepe tse fapaneng, ho etsa hore maemo a be teng hantle.Ka mor'a hore roboto e phethe mosebetsi oa ho sebetsana, enjene e fokotsa torque ha e khutlisetsa letsoho la robotiki sebakeng sa eona sa pele.

E entsoe ka ts'ebetso ea mats'oao a ts'ebetso e phahameng ea ts'ebetso, maikutlo a nepahetseng a inductive, lisebelisoa tsa motlakase, le bohlalelikoloi tsa makoloi, tsamaiso ena ea servo e sebetsang hantle haholoe fana ka karabelo e tsoetseng pele e haufi-hang hang-hang lebelo le taolo ea torque.

Taolo ea nako ea 'nete ea servo loop ea lebelo le holimo-taolo ea ts'ebetso ea lets'oao le maikutlo a susumetsang

Motheo oa ho hlokomela taolo ea nako ea 'nete ea dijithale e potlakileng haholo ea servo loop e ke ke ea arohanngoa le ntlafatso ea ts'ebetso ea tlhahiso ea li-microelectronics.Ho nka mohlala oa motlakase oa liroboto tse nang le mekhahlelo e meraro e tloaelehileng haholo, mochine oa PWM oa mekhahlelo e meraro o hlahisa maqhubu a matla a maqhubu a matla a maqhubu 'me o ntša maqhubu ana ho kena mapheong a mekhahlelo e meraro ea motlakase ka mekhahlelo e ikemetseng.Har'a mats'oao a mararo a matla, liphetoho tsa moroalo oa enjene li ama maikutlo a hajoale a utluoang, a fetotsoeng, 'me a romelloa ho processor ea dijithale.Joale processor ea dijithale e etsa li-algorithms tsa ts'ebetso ea mats'oao a lebelo le phahameng ho fumana sephetho.

Ha se feela ts'ebetso e phahameng ea processor ea dijithale e hlokahalang mona, empa ho boetse ho na le litlhoko tse thata tsa moralo bakeng sa phepelo ea motlakase.Ha re shebeng karolo ea processor pele. Lebelo la mantlha la komporo e tlameha ho tsamaisana le lebelo la lintlafatso tse ikemetseng, e seng bothata.Li-chips tse ling tsa taolo ea ts'ebetsokopanya li-converter tsa A / D, li-multiplier counters tsa boemo / lebelo, lijenereithara tsa PWM, joalo-joalo tse hlokahalang bakeng sa taolo ea motlakase ka processor core, e khutsufatsang haholo nako ea sampuli ea loop ea taolo ea servo 'me e lemohuoa ke chip e le' ngoe. E amohela taolo ea ho potlakisa le ho theola lebelo ka boiketsetso, taolo ea khokahano ea lisebelisoa, le taolo ea matšeliso ea dijithale ea loops tse tharo tsa boemo, lebelo le hona joale.

Li-algorithms tsa ho laola tse kang velocity feedforward, acceleration feedforward, low pass filtering, le sag filtering le tsona li kengoa tšebetsong chip e le 'ngoe.Khetho ea processor e ke ke ea phetoa mona. Lihloohong tse fetileng, mekhoa e fapaneng ea liroboto e 'nile ea hlahlobisisoa, ebang ke kopo e theko e tlaase kapa kopo e nang le litlhoko tse phahameng tsa mananeo le li-algorithms. Ho se ho na le likhetho tse ngata 'marakeng. Melemo e fapaneng.

Ha se maikutlo a hajoale feela, empa lintlha tse ling tse utloisitsoeng le tsona li romelloa ho molaoli ho latela liphetoho tsa motlakase oa sistimi le mocheso. Maikutlo a maemo a holimo a hona joale le a voltage ea motlakase esale e le phephetso hotaolo ea makoloi. Ho fumana maikutlo ho tsoa ho li-shunts / li-sensor tsa Hall/ magnetic sensors ka nako e ts'oanang ha ho pelaelo hore ke eona e ntle ka ho fetisisa, empa sena se boima haholo ho moralo, 'me matla a komporo a hloka ho tsoela pele.

Ka nako e ts'oanang, e le ho qoba tahlehelo ea matšoao le tšitiso, letšoao le digitized haufi le moeli oa sensor. Ha sekhahla sa sampole se ntse se eketseha, ho na le liphoso tse ngata tsa data tse bakoang ke ho hoholeha ha matšoao. Moralo o hloka ho lefella liphetoho tsena ka ho induction le tokiso ea algorithm.Sena se lumella tsamaiso ea servo hore e lule e tsitsitse tlas'a maemo a sa tšoaneng.

E ka tšeptjoang le e nepahetseng ea servo drive-phepelo ea matla le koloi e bohlale

Lisebelisoa tsa motlakase tse nang le lits'ebetso tsa ho fetoha ka lebelo le phahameng haholo tse nang le matla a tsitsitseng a taolo e phahameng a tšepahalang le a nepahetseng a servo. Hona joale, bahlahisi ba bangata ba na le li-modules tsa matla tse kopantsoeng tse sebelisang lisebelisoa tse phahameng, tse bonolo haholo ho li etsa.

Phepelo ea motlakase ea mofuta oa switjha e sebetsa ka har'a topology ea phepelo ea motlakase e koetsoeng, 'me li-switch tse peli tse sebelisoang hangata ke li-MOSFET tsa matla le li-IGBT.Bakhanni ba liheke ba atile lits'ebetsong tse sebelisang lisebelisoa tsa motlakase tsa li-switch-mode tse laolang motlakase le hona joale lihekeng tsa li-switches tsena ka ho laola boemo ba ON/OFF.

Moqaping oa lisebelisoa tsa motlakase oa li-switch-mode le li-inverters tsa mekhahlelo e meraro, bakhanni ba fapaneng ba liheke tse bohlale ba sebetsang hantle haholo, bakhanni ba nang le li-FET tse hahelletsoeng, le bakhanni ba nang le mesebetsi e kopaneng ea taolo ba hlaha ka molapo o sa feleng.Moralo o kopaneng oa FET e hahelletsoeng le ts'ebetso ea hajoale ea sampole e ka fokotsa haholo ts'ebeliso ea likarolo tsa kantle. Tlhophiso ea logic ea PWM le ho nolofalletsa, li-transistors tse ka holimo le tse tlaase, le ho kenya pontšo ea Holo ho eketsa haholo ho feto-fetoha ha moralo, e seng feela ho nolofatsa ts'ebetso ea nts'etsopele, empa hape e ntlafatsa Matla a Matla.

Li-IC tsa mokhanni oa servo le tsona li holisa boemo ba ho kopanya, 'me li-IC tsa mokhanni oa servo tse kenyellelitsoeng ka botlalo li ka khutsufatsa haholo nako ea nts'etsopele bakeng sa ts'ebetso e matla ea sistimi ea servo.Ho kopanya li-pre-driver, sensing, li-circuits tsa tšireletso le borokho ba motlakase ka har'a sephutheloana se le seng ho fokotsa tšebeliso ea motlakase ka kakaretso le litšenyehelo tsa sistimi.Ho thathamisitsoe mona ke setšoantšo sa IC block sa Trinamic (ADI) se kopantsoeng ka botlalo sa servo driver, mesebetsi eohle ea taolo e kengoa ts'ebetsong ka har'a hardware, ADC e kopantsoeng, sebopeho sa sensor ea boemo, interpolator ea boemo, e sebetsang ka botlalo ebile e loketse lits'ebetso tse fapaneng tsa servo.

 

Mokhanni oa servo o kopantsoeng ka botlalo IC, Trinamic (ADI)

kakaretso

Sistimi ea servo e sebetsang hantle haholo, ts'ebetso ea mats'oao a ts'ebetso e phahameng ea ts'ebetso, maikutlo a nepahetseng a induction, phepelo ea motlakase le koloi e bohlale li bohlokoa haholo. Tšebelisano ea lisebelisoa tse sebetsang hantle e ka fana ka roboto ka lebelo le nepahetseng le taolo ea torque e arabelang hang-hang nakong ea ho sisinyeha ka nako ea sebele.Ntle le ts'ebetso e phahameng, kopanyo e phahameng ea mojule ka 'ngoe e boetse e fana ka litšenyehelo tse tlase le katleho e phahameng ea mosebetsi.