Iinkqubo zeServo ezisebenzayo kwiiRobhothi

Kwishishini lerobhothi, iidrive ze-servo sisihloko esiqhelekileyo.Ngotshintsho olukhawulezileyo lweShishini 4.0, i-servo drive yerobhothi nayo iphuculwe.Inkqubo yerobhothi yangoku ayifuni kuphela inkqubo yokuqhuba ukulawula ii-axes ezininzi, kodwa kunye nokufezekisa imisebenzi ekrelekrele ngakumbi.

Kwi-node nganye ekusebenzeni kwe-robot ye-multi-axis industrial, kufuneka isebenzise amandla obukhulu obahlukeneyo kwimilinganiselo emithathu ukugqiba imisebenzi efana nokuphatha iseti. Iinjinikwirobhothi ziiyakwazi ukubonelela ngesantya esiguquguqukayo kunye ne-torque kwiindawo ezichanekileyo, kwaye umlawuli uzisebenzisayo ukulungelelanisa intshukumo kunye nee-axes ezahlukeneyo, okwenza kube lula ukubeka indawo echanekileyo.Emva kokuba irobhothi igqibezele umsebenzi wokuphatha, imotor iyayinciphisa itorque ngelixa ibuyisela ingalo yerobhothi kwindawo yayo yokuqala.

Idityaniswe kukusetyenzwa kophawu lolawulo olusebenza kakhulu, impendulo echanekileyo ye-inductive, izibonelelo zamandla, kunye nobukrelekreleiimoto eziqhuba, le nkqubo ye-servo ephezuluibonelela ngobuchwephesha obusondele-ngoko nangoko impendulo yesantya esichanekileyo kunye nolawulo lwetorque.

Isantya esiphezulu solawulo lwe-servo loop-ulawulo lwesignali yokulawula kunye nempendulo esebenzayo

Isiseko sokuqonda ulawulo olukhawulezayo lwedijithali lwexesha lokwenyani lwe-servo loop ayinakwahlulwa kuphuculo lwenkqubo yokwenziwa kwe-microelectronics.Ukuthatha eyona moto yerobhothi enezigaba ezithathu ixhaphakileyo njengomzekelo, i-PWM yenqanaba lesithathu inverter ivelisa i-high-frequency pulsed voltage waveforms kwaye ikhupha ezi fom zamaza kumaza omoya amanqanaba amathathu enjini kwizigaba ezizimeleyo.Kwimiqondiso emithathu yamandla, utshintsho kumthwalo wemoto luchaphazela impendulo yangoku ebonwayo, efakwe kwidijithali, kwaye ithunyelwe kwiprosesa yedijithali.Iprosesa yedijithali emva koko yenza i-algorithms yokucwangcisa isantya esiphezulu ukumisela imveliso.

Hayi kuphela ukusebenza okuphezulu kweprosesa yedijithali efunekayo apha, kodwa kukho iimfuno ezingqongqo zoyilo lonikezelo lwamandla.Makhe sijonge inxalenye yeprosesa kuqala. Isantya esingundoqo secomputing kufuneka sihambisane nesantya sohlaziyo oluzenzekelayo, olungaseyongxaki.Ezinye iitshiphusi zokulawula ukusebenzahlanganisa i-A / D converters, isikhundla / isantya sokubona izinto zokubala zokuphindaphinda, iijeneretha ze-PWM, njl njl. eziyimfuneko kulawulo lweemoto kunye ne-core processor, enciphisa kakhulu ixesha lesampuli ye-loop yokulawula i-servo kwaye iphunyezwe yi-chip enye. Yamkela ukukhawulezisa okuzenzekelayo kunye nolawulo lokunciphisa, ulawulo lokulungelelaniswa kwegiya, kunye nolawulo lwembuyekezo yedijithali yezilophu ezintathu zesikhundla, isantya kunye nangoku.

Ulawulo lwe-algorithms olunje ngesantya sokuhambisa phambili, ukuhanjiswa kwesantya sokukhawulezisa, ukuhluza okudlula okuphantsi, kunye nokucoca i-sag nazo ziphunyeziwe kwitshiphu enye.Ukhetho lomqhubekekisi aluzukuphindwa apha. Kumanqaku angaphambili, izicelo ezahlukeneyo zerobhothi ziye zahlalutywa, nokuba ngaba isicelo esiphantsi okanye isicelo esineemfuno eziphezulu zeprogram kunye ne-algorithms. Sele kukho ukhetho oluninzi kwimarike. Iinzuzo ezahlukeneyo.

Ayisiyiyo kuphela ingxelo yangoku, kodwa enye idatha evakalayo ithunyelwe kumlawuli ukulandelela utshintsho kumbane wenkqubo kunye nobushushu. Isisombululo esiphezulu sangoku kunye nengxelo yokuva amandla ombane ibisoloko ingumngeniulawulo lwemoto. Ukubona impendulo kuzo zonke ii-shunts/izinzwa zeHolo/ iinzwa zemagneti ngexesha elinye ngokungathandabuzekiyo zezona zilungileyo, kodwa oku kufuna kakhulu kuyilo, kwaye amandla ekhompyuter kufuneka aqhubeke.

Ngexesha elifanayo, ukwenzela ukuba ugweme ukulahleka komqondiso kunye nokuphazamiseka, umqondiso ufakwe kwidijithali kufuphi nomda wenzwa. Njengoko ireyithi yesampulu isanda, kukho iimpazamo ezininzi zedatha ezibangelwa yi-signal drift. Uyilo kufuneka luhlawulele olu tshintsho ngokufakwa kunye nohlengahlengiso lwe-algorithm.Oku kuvumela inkqubo ye-servo ukuba ihlale izinzile phantsi kweemeko ezahlukeneyo.

I-servo drive ethembekileyo kunye nechanekileyo-ubonelelo lwamandla kunye ne-motor drive ekrelekrele

Unikezelo lwamandla kunye nemisebenzi yokutshintsha kwe-ultra-high-speed kunye ne-stable high-resolution control power ethembekileyo kunye nolawulo oluchanekileyo lwe-servo. Okwangoku, abaninzi abavelisi badibanise iimodyuli zamandla ngokusebenzisa izinto eziphezulu ze-frequency, ezilula kakhulu ukuyila.

Unikezelo lwamandla emowudi yokutshintsha lusebenza kwisilawuli esisekwe kulawulo oluvaliweyo lonikezelo lwamandla ombane, kwaye izitshixo zamandla ezibini ezisetyenziswa ngokuqhelekileyo ziiMOSFET zamandla kunye nee-IGBTs.Abaqhubi besango baxhaphakile kwiinkqubo ezisebenzisa amandla ombane wemodi yokutshintsha ezilawula i-voltage kunye ne-current kumasango ezi zitshintshi ngokulawula isimo se-ON / OFF.

Kuyilo lwezixhobo zombane zemowudi yokutshintsha kunye ne-inverters yesigaba sesithathu, abaqhubi besango be-smart abahlukeneyo bentsebenzo ephezulu, abaqhubi abanee-FET ezakhelwe ngaphakathi, kunye nabaqhubi abanemisebenzi yokulawula edibeneyo baphuma kumlambo ongapheliyo.Uyilo oludityanisiweyo lwe-FET eyakhelwe-ngaphakathi kunye nomsebenzi wesampula wangoku unokunciphisa kakhulu ukusetyenziswa kwamacandelo angaphandle. Ukucwangciswa kwengqiqo ye-PWM kunye nokuvumela, i-transistors ephezulu kunye nezantsi, kunye nokufakwa kwesignali yeHolo kwandisa kakhulu ukuguquguquka koyilo, okungekho lula nje inkqubo yophuhliso, kodwa iphucula ukuSebenza koMbane.

Ii-IC zomqhubi we-Servo zikwanyusa inqanaba lokudityaniswa, kwaye ii-IC zomqhubi we-servo ezidityanisiweyo ngokupheleleyo zinokulifinyeza kakhulu ixesha lophuhliso lokusebenza okubalaseleyo okuguquguqukayo kweenkqubo ze-servo.Ukudibanisa i-pre-driver, inzwa, iisekethe zokukhusela kunye nebhulorho yamandla kwiphakheji enye kunciphisa ukusetyenziswa kwamandla kunye neendleko zenkqubo.Uluhlu apha luyi-Trinamic (ADI) ye-servo edibeneyo yomqhubi we-IC block diagram, yonke imisebenzi yokulawula iphunyezwa kwi-hardware, i-ADC edibeneyo, i-interface ye-sensor ye-position, i-interpolator yesikhundla, isebenze ngokupheleleyo kwaye ifanelekile kwizicelo ezahlukeneyo ze-servo.

 

Umqhubi we-servo odityaniswe ngokupheleleyo IC, Trinamic (ADI)

isishwankathelo

Kwinkqubo ye-servo esebenza kakuhle kakhulu, ukusetyenzwa kophawu lolawulo oluphezulu, impendulo echanekileyo yokungeniswa, unikezelo lwamandla kunye nokuqhuba okukrelekrele kuyafuneka. Ukubambisana kwezixhobo zokusebenza eziphezulu kunokubonelela i-robot ngesantya esichanekileyo kunye nokulawulwa kwe-torque ephendula ngokukhawuleza ngexesha lokunyakaza ngexesha langempela.Ukongeza ekusebenzeni okuphezulu, ukudityaniswa okuphezulu kwemodyuli nganye kukwabonelela ngeendleko eziphantsi kunye nokusebenza kakuhle okuphezulu.