Iimoto ze-stepper zicothiswa njani isantya?

Iimoto ze-stepperzizixhobo ze-electromechanical eziguqula ngokuthe ngqo ii-electrical impulses zibe yi-mechanical motion. Ngokulawula ulandelelwano, i-frequency kunye nenani lee-electrical impulses ezisetyenziswa kwii-motor coils, ii-stepper motors zinokulawulwa ukuze ziqhube, isantya kunye ne-engile yokujikeleza. Ngaphandle koncedo lwenkqubo yokulawula impendulo evaliweyo enokubonwa kwendawo, indawo echanekileyo kunye nolawulo lwesantya zinokufezekiswa ngokusebenzisa inkqubo yokulawula i-open-loop elula, engabizi kakhulu equka i-stepper motor kunye nomqhubi ohamba nayo.

I-Stepping motor njengesixhobo esilawulayo, yenye yeemveliso eziphambili ze-mechatronics, esetyenziswa kakhulu kwiinkqubo ezahlukeneyo zolawulo lwe-automation. Ngophuhliso lwetekhnoloji ye-microelectronics kunye netekhnoloji yokuvelisa ngokuchanekileyo, imfuno yee-stepper motors iyanda imihla ngemihla, kwaye ii-stepper motors kunye ne-gear transmission mechanism zidibene nee-gearboxes, nakwimeko ezininzi zesicelo ekufuneka zibonwe namhlanje kwaye wonke umntu uyayiqonda le ndlela yokudlulisa ii-gearbox.

Indlela yokunciphisa isantya somoyaimoto ye-stepper?

Njengemoto yokuqhuba esetyenziswa kakhulu nesetyenziswa kakhulu, imoto ye-stepper idla ngokusetyenziswa kunye nezixhobo zokunciphisa umbane ukuze kufezekiswe isiphumo esifanelekileyo sokudlulisela; kwaye izixhobo zokunciphisa umbane ezisetyenziswa rhoqo kunye neendlela zemoto ye-stepper zifana neebhokisi zegiya zokunciphisa umbane, ii-encoders, abalawuli, imiqondiso ye-pulse njalo njalo.

Ukuhla kwesantya sesignali yepulse: isantya semoto yestepper, sisekelwe kutshintsho lwesignali yepulse yokufaka ukuze itshintshe. Ngokwethiyori, nika umqhubi ipulse,imoto ye-stepperijikeleza i-engile yenyathelo (eyahlulwe ngokwe-engile yenyathelo elahlulwe ngokwe-engile). Ngokwenyani, ukuba isignali ye-pulse itshintsha ngokukhawuleza kakhulu, i-stepper motor, ngenxa yesiphumo sokudambisa kwamandla angaphakathi e-reverse electromotive, impendulo yemagnethi phakathi kwe-rotor kunye ne-stator ayizukukwazi ukulandela utshintsho kwisignali yombane, eya kukhokelela ekuvalekeni nasekulahlekeni kwenyathelo.

Ukucotha kwebhokisi yegiya yokunciphisa: I-stepper motor ixhotyiswe ngebhokisi yegiya yokunciphisa esetyenziswa kunye, i-stepper motor ikhupha isantya esiphezulu, isantya esiphantsi se-torque, iqhagamshelwe kwibhokisi yegiya yokunciphisa, i-gear box yangaphakathi yegiya yokunciphisa i-mesh transmission eyenziwe yi-reduction ratio, i-stepper motor output ye-high speed reduction, kwaye iphucula i-transmission torque, ukuze kufezekiswe isiphumo esifanelekileyo sokudlulisa; isiphumo sokucotha sixhomekeke kwi-reduction ratio yebhokisi yegiya, kokukhona i-reduction ratio inkulu, isantya sokuphuma sincinci, kwaye ngokuchaseneyo. Isiphumo sokucotha sixhomekeke kwi-reduction ratio yegiya, kokukhona i-reduction ratio inkulu, kokukhona i-reduction ratio inkulu, isantya sokuphuma sincinci kwaye ngokuchaseneyo.

Isantya solawulo lwe-Curve exponential: i-exponential curve, kwisoftware programming, ukubalwa kokuqala kwexesha elihlala lihleli eligcinwe kwimemori yekhompyutha, umsebenzi ukhomba kukhetho. Ngokwesiqhelo, ixesha lokukhawulezisa kunye nokuhla kwesantya ukugqiba i-stepper motor lingaphezulu kwe-300ms. Ukuba usebenzisa ixesha elifutshane kakhulu lokukhawulezisa kunye nokuhla kwesantya, uninzi lwazoiimoto ze-stepper, kuya kuba nzima ukufikelela ekujikelezeni ngesantya esiphezulu kwe-stepper motor.

Ukwehla kwesantya okulawulwa yi-encoder: Ulawulo lwe-PID, njengendlela elula nesebenzayo yokulawula, lusetyenziswe kakhulu kwii-stepper motor drives. Lusekelwe kwixabiso elinikiweyo r (t) kwaye ixabiso lokwenyani lemveliso c (t) lenza ukuphambuka kolawulo e (t), ukuphambuka komlinganiselo, i-integral kunye nomahluko ngokusebenzisa indibaniselwano ethe tye yobungakanani bolawulo, ulawulo lwezinto ezilawulwayo. I-integrated position sensor isetyenziswa kwi-motor ye-hybrid stepper enezigaba ezimbini, kwaye i-auto-adjustable speed controller ye-PI yenzelwe ngokusekelwe kwi-position detector kunye ne-vector control, enokubonelela ngeempawu zesikhashana ezanelisayo phantsi kweemeko zokusebenza eziguquguqukayo. Ngokwemodeli yezibalo ye-stepper motor, inkqubo yokulawula ye-PID ye-stepper motor yenzelwe, kwaye i-PID control algorithm isetyenziselwa ukufumana ubungakanani bolawulo, ukuze ilawule i-motor ukuba ihambe iye kwindawo echaziweyo.

Okokugqibela, ulawulo luqinisekiswa ngokulinganisa ukuba luneempawu ezilungileyo zokuphendula ngokuguquguqukayo. Ukusetyenziswa kwesilawuli se-PID kuneenzuzo zesakhiwo esilula, ukomelela, ukuthembeka njalo njalo, kodwa alunakujongana ngempumelelo nolwazi olungaqinisekanga kwinkqubo.