Zicotha njani isantya seemotor?

Iinjini zeStepperzizixhobo ze-electromechanical eziguqula ngokuthe ngqo iimpembelelo zombane zibe yintshukumo yomatshini. Ngokulawula ulandelelwano, i-frequency kunye nenani leempembelelo zombane ezisetyenziswa kwii-coil ze-motor, ii-motor stepper ziyakwazi ukulawulwa kwi-steering, isantya kunye ne-angle yokujikeleza. Ngaphandle koncedo lwenkqubo yokulawula impendulo evaliweyo kunye nokubona indawo, indawo echanekileyo kunye nokulawulwa kwesantya kunokufezekiswa ngokusebenzisa inkqubo yokulawula i-loop elula, enexabiso eliphantsi elibandakanya i-motor stepper kunye nomqhubi ohamba nayo.

Ukunyathela i-motor njengento elawulayo, yenye yeemveliso eziphambili ze-mechatronics, ezisetyenziswa ngokubanzi kwiinkqubo ezahlukeneyo zolawulo oluzenzekelayo. Ngophuhliso lwetekhnoloji ye-microelectronics kunye netekhnoloji yokuvelisa ngokuchanekileyo, imfuno yeemotor ezinyathelayo iyanda imihla ngemihla, kwaye iimotor ze-stepper kunye nesixhobo sokuhambisa igiya zidityaniswe neebhokisi zegiya, nakwiimeko ezininzi zesicelo ukubona, namhlanje kunye nomntu wonke ukuba aqonde olu hlobo lwebhokisi yegiya.

Indlela yokunciphisa isantyai-motor ye-stepper?

Njengesixhobo sokuqhuba esiqhele ukusetyenziswa kwaye sisetyenziswa ngokubanzi, i-stepper motor ihlala isetyenziswa kunye nezixhobo zokuthoba ukufezekisa isiphumo esifanelekileyo sothumelo; kunye nezixhobo zokunciphisa isantya kunye neendlela ze-stepper motor zinje ngebhokisi yegiya yokunciphisa, ii-encoders, abalawuli, imiqondiso ye-pulse njalo njalo.

Ukwehla komqondiso we-Pulse: isantya se-stepper motor, sisekwe kutshintsho lwegalelo lophawu lwepulse ukuze lutshintshe. Ngokwethiyori, nika umqhubi i-pulse, ii-motor ye-stepperijikelezisa i-engile yenyathelo (yahlulwe kwi-engile yesinyathelo esahluliweyo). Ngokwenza, ukuba umqondiso we-pulse utshintsha ngokukhawuleza, i-motor stepper, ngenxa yempembelelo yokutshatyalaliswa kwamandla e-electromotive yangaphakathi, ukusabela kwamagnetic phakathi kwe-rotor kunye ne-stator ayiyi kukwazi ukulandela utshintsho kwi-signal yombane, eya kukhokelela ekuthinteleni kunye nokulahleka kwesinyathelo.

Ukucutha ibhokisi yegiya yokunciphisa: I-stepper motor enebhokisi yegiya yokunciphisa esetyenziswa kunye, i-stepper motor iphuma ngesantya esiphezulu, isantya esisezantsi se-torque, eqhagamshelwe kwibhokisi yegiya yokunciphisa, ibhokisi yegiya yangaphakathi yokunciphisa i-mesh transmission eyenziwe ngumlinganiselo wokunciphisa, i-stepper motor output yokunciphisa isantya esiphezulu, kunye nokuphucula i-torque yokuhambisa, ukufezekisa umphumo ofanelekileyo wokuhambisa; isiphumo sokuthomalalisa sixhomekeke kumlinganiselo wokunciphisa ibhokisi yegiya, kokukhona umlinganiselo wokunciphisa omkhulu, umncinci isantya sokuphuma, kunye nokunye. Isiphumo sokunciphisa isantya sixhomekeke kumlinganiselo wokunciphisa i-gearbox, umlinganiselo omkhulu wokunciphisa, umncinci isantya sokuphuma kunye ne-vice versa.

Isantya solawulo lwe-Curve exponential: i-exponential curve, kwiprogram yesoftware, ukubalwa kokuqala kwexesha eligcinwe kwimemori yekhompyuter, umsebenzi okhomba kukhetho. Ngokwesiqhelo, ukukhawulezisa kunye nexesha lokwehlisa ukugqiba i-stepper motor ingaphezulu kwe-300ms. Ukuba usebenzisa ukukhawulezisa okufutshane kakhulu kunye nexesha deceleration, kuba uninzi kakhuluiinjini zokunyathela, kuya kuba nzima ukufezekisa ukujikeleza kwesantya esiphezulu se-motor stepper.

I-encoder-controlled deceleration: Ulawulo lwe-PID, njengendlela elula kunye nesebenzayo yokulawula, isetyenziswe ngokubanzi kwii-motor motor drives. Isekelwe kwixabiso elinikiweyo r ( t ) kunye nelona xabiso lemveliso c ( t ) libandakanya ukuphambuka kolawulo e ( t ), ukuphambuka komlinganiselo, ukudibanisa kunye nokwahlula ngokudibanisa umgca wobuninzi bolawulo, ulawulo lwento elawulwayo. I-sensor ye-position edibeneyo isetyenziswe kwi-motor-phase hybrid stepper motor, kwaye i-auto-adjustable PI isilawuli sesantya senziwe ngesiseko somtshini wendawo kunye nolawulo lwe-vector, olunokubonelela ngeempawu zexeshana ezanelisayo phantsi kweemeko zokusebenza eziguquguqukayo. Ngokwemodeli yemathematika yemoto enyathelayo, inkqubo yokulawula i-PID ye-stepper motor iyilwe, kwaye i-algorithm yokulawula i-PID isetyenziselwa ukufumana ubungakanani bolawulo, ukuze kulawulwe i-motor ukuya kwindawo echaziweyo.

Ekugqibeleni, ulawulo luqinisekiswa ngokulinganisa ukuba neempawu ezintle zokuphendula eziguqukayo. Ukusetyenziswa komlawuli we-PID kuneenzuzo zesakhiwo esilula, ukuqina, ukuthembeka kunye nokunye, kodwa ayikwazi ukujongana ngokufanelekileyo nolwazi olungaqinisekanga kwinkqubo.