Njenge actuator,i-motor ye-stepperyenye yeemveliso eziphambili ze-mechatronics, ezisetyenziswa ngokubanzi kwiinkqubo ezahlukeneyo zokulawula ukuzenzekelayo. Ngophuhliso lwe-microelectronics kunye netekhnoloji yekhompyuter, imfuno yeenjini ze-stepper iyanda imihla ngemihla, kwaye zisetyenziswa kwiinkalo ezahlukeneyo zoqoqosho lwelizwe.
01 Yintoni ai-motor ye-stepper
I-Stepper motor sisixhobo se-electromechanical esiguqula ngokuthe ngqo ii-pulses zombane zibe yintshukumo yoomatshini. Ngokulawula ulandelelwano, i-frequency kunye nenani lee-pulses zombane ezifakwe kwi-coil motor, i-stepper motor's steering, isantya kunye ne-angle yokujikeleza inokulawulwa. Ngaphandle kokusetyenziswa kwenkqubo yokulawula impendulo ye-loop evaliweyo kunye nokubona indawo, indawo echanekileyo kunye nokulawulwa kwesantya kunokufezekiswa ngokusebenzisa inkqubo yokulawula i-loop elula, ephantsi kwexabiso eliphantsi eyenziwe yi-motor stepper kunye nomqhubi ohamba nayo.
02 i-motor ye-stepperisakhiwo esisisiseko kunye nomgaqo wokusebenza
Ulwakhiwo olusisiseko:
Umgaqo-nkqubo osebenzayo: umqhubi we-stepper motor ngokolawulo lwangaphandle lwe-pulse kunye nomqondiso wesalathiso, ngokusebenzisa isekethe yangaphakathi ye-logic, lawula i-motor windings ngokulandelelana kwexesha elithile ukuya phambili okanye ukubuyisela umva amandla, ukwenzela ukuba i-motor phambili / umva ukujikeleza, okanye ukutshixa.
Thatha i-1.8 degree ye-motor stepper motor njengomzekelo: xa zombini i-windings inamandla kwaye inomdla, i-motor output shaft iya kuba imile kwaye itshixiwe kwindawo. I-torque ephezulu eya kugcina i-motor ivaliwe kwi-current rated yi-torque yokubamba. Ukuba i-current in one of windings iqondiswa ngokutsha, i-motor iya kujikeleza inyathelo elinye (i-1.8 degrees) kwicala elinikeziweyo.
Ngokufanayo, ukuba i-current kwenye i-winding itshintsha indlela, i-motor iya kujikeleza inyathelo elinye (i-1.8 degrees) kwelinye icala langaphambili. Xa imisinga ngokusebenzisa i-coil windings iphinda iqondiswe ngokulandelelana kwi-excitation, i-motor iya kujikeleza kwinyathelo eliqhubekayo kwicala elinikiweyo ngokuchaneka okuphezulu kakhulu. Kwi-1.8 degrees yesigaba sesibini sokujikeleza kweemoto zeveki kuthatha amanyathelo angama-200.
Iimotor zenqanaba ezibini zineentlobo ezimbini zomoya: i-bipolar kunye ne-unipolar. Iinjini ze-Bipolar zine-coil enye kuphela ejikelezayo ngesigaba ngasinye, ukujikeleza kwe-motor eqhubekayo yangoku kwi-coil efanayo ukuba ibe yi-excitation eguquguqukayo ngokulandelelana, uyilo lwesekethe yokuqhuba idinga utshintsho lwe-elektroniki olusibhozo lokutshintsha ngokulandelelana.
Iinjini zeUnipolar zineekhoyili ezimbini ezijikajikayo ezichaseneyo kwisigaba ngasinye, kunye nemoto
ijikeleza ngokuqhubekayo ngokutshintshana inika amandla iikhoyili ezimbini ezijikajikayo kwinqanaba elinye.
Isekethe yokuqhuba yenzelwe ukuba ifune iiswitshi ezine ze-elektroniki kuphela. Kwibipolar
imowudi yokuqhuba, i-torque yemveliso yemoto yanda malunga ne-40% xa kuthelekiswa ne
imowudi ye-unipolar drive ngenxa yokuba iikhoyili ezijikelezayo zesigaba ngasinye zinomdla we-100%.
I-03, umthwalo we-Stepper motor
A. Umthwalo womzuzwana (Tf)
Tf = G * r
G: Ubunzima bomthwalo
r: iradiyasi
B. Umthwalo we-Inertia (TJ)
TJ = J * dw/dt
J = M * (R12+R22) / 2 (Kg * cm)
M: Umthwalo womthwalo
I-R1: I-Radius yeringi yangaphandle
I-R2: I-Radius yeringi yangaphakathi
dω/dt: Isantya se-engular
I-04, i-stepper motor-speed-torque ijika
I-speed-torque curve yimbonakaliso ebalulekileyo yeempawu zemveliso ye-stepper
iinjini.
A. Stepper motor yokusebenza frequency point
Ixabiso lesantya se-stepper motor motor kwinqanaba elithile.
n = q * Hz / (360 * D)
n: rev/umzuzwana
Hz: Ixabiso lokuphindaphinda
D: Qhuba ixabiso le-interpolation yesekethe
q: i-engile yenyathelo lemotor
Umzekelo, i-stepper motor ene-pitch angle ye-1.8 °, ene-1/2 yokufaka i-interpolation drive.(oko kukuthi, i-0.9 ° ngesinyathelo), inesantya se-1.25 r / s kwi-frequency yokusebenza ye-500 Hz.
B. Stepper motor indawo yokuziqalela
Indawo apho i-stepper motor inokuqaliswa kwaye imiswe ngokuthe ngqo.
C. Indawo yokusebenza ngokuqhubekayo
Kule ndawo, i-motor stepper ayikwazi ukuqaliswa okanye imiswe ngokuthe ngqo. Iinjini zeStepper ngaphakathilo mmandla kufuneka uqale udlule kwindawo yokuziqalela kwaye emva koko ukhawuleziswe ukufikelelaindawo yokusebenza. Ngokufanayo, i-motor stepper kule ndawo ayinakunyanyiswa ngokuthe ngqo,Ngaphandle koko kulula ukwenza ukuba i-stepper motor iphume kwinqanaba, kufuneka iqale ithotyweindawo yokuziqalela kwaye emva koko iqhoboshe.
D. I-Stepper motor ubuninzi bokuqala ukuqala rhoqo
Imotor akukho mthwalo, ukuqinisekisa ukuba i-stepper motor ayiphulukani nomsebenzi wenyatheloubuninzi be-pulse frequency.
E. Stepper motor ubuninzi frequency yokusebenza
Ubuninzi be-pulse frequency apho i-motor iyavuya ukuqhuba ngaphandle kokulahlekelwa inyathelophantsi komthwalo.
F. Stepper motor iqala torque / tsala-in torque
Ukudibana ne-stepper motor kwi-pulse frequency ethile ukuqala kunye nokuqalisa ukubaleka, ngaphandleukulahlekelwa ngamanyathelo e-torque ephezulu yomthwalo.
G. I-Stepper motor eqhuba itorque / itorque yokutsala
I-torque ephezulu yomthwalo eyanelisa ukusebenza okuzinzile kwe-motor stepper kwi-ai-pulse frequency ethile ngaphandle kokulahleka kwenyathelo.
05 Ukukhawulezisa kwemoto yeStepper/ukunciphisa intshukumo yolawulo
Xa i-stepper motor yokusebenza kwinqanaba le-frequency kwi-curve yesantya-torque eqhubekayoummandla wokusebenza, indlela yokunciphisa ukuqalisa kwemoto okanye ukuyeka ukukhawulezisa okanye ukwehlaixesha, ukuze i-motor ibaleke ixesha elide kwimo yesantya esiphezulu, ngaloo ndlela inyusa iIxesha elisebenzayo lokubaleka kwemoto libaluleke kakhulu.
Njengoko kubonisiwe kulo mzobo ungezantsi, ijiko eliguqukayo letorque ye-motor stepperumgca othe tye othe tye ngesantya esiphantsi; ngesantya esiphezulu, ijika liyancipha ngokukhawulezangenxa yempembelelo ye-inductance.
Siyazi ukuba umthwalo we-stepper motor yi-TL, cinga ukuba sifuna ukukhawulezisa ukusuka ku-F0 ukuya kwi-F1elona xesha lifutshane (tr), libalwa njani elona xesha lifutshane tr?
(1) Ngokuqhelekileyo, i-TJ = 70% Tm
(2) tr = 1.8 * 10 -5 * J * q * (F1-F0)/(TJ -TL)
(3) F (t) = (F1-F0) * t/tr + F0, 0
B. Ukukhawuleza okubonakalayo kwimeko yesantya esiphezulu
(1) Ngokuqhelekileyo
TJ0 = 70%Tm0
TJ1 = 70%Tm1
TL = 60%Tm1
(2)
tr = F4 * Ku [(TJ 0-TL)/(TJ 1-TL)]
(3)
F (t) = F2 * [1 - e^(-t/F4)] + F0, 0
F2 = (TL-TJ 0) * (F1-F0)/TJ 1-TJ 0)
F4 = 1.8 * 10-5 * J * q * F2/(TJ 0-TL)
Amanqaku.
I-J ibonisa inertia ejikelezayo ye-motor rotor phantsi komthwalo.
q yi-engile yokujikeleza yenyathelo ngalinye, elinyathelo le-engile ye-stepper motor kwi
imeko ye drive yonke.
Kumsebenzi wokunciphisa, buyisela umva oku ngasentla kokukhawulezisa i-pulse frequency ingaba
zibaliwe.
06 stepper motor vibration kunye nengxolo
Ngokubanzi, i-stepper motor ekusebenzeni akukho mthwalo, xa i-motor isebenza rhoqoisondele okanye ilingana ne-motor rotor's inherent frequency iya kuvakala, izimiselekwenzeke ngaphandle kwenyathelo.
Izisombululo ezininzi ze-resonance:
A. Gwema indawo yokungcangcazela: ukuze i-frequency yokusebenza yemoto ingangeni ngaphakathiuluhlu lokungcangcazela
B. Yamkela imowudi ye-drive yokwahlulahlula: Sebenzisa imowudi ye-micro-step drive ukunciphisa i-vibration nge
Ukwahlula inyathelo lokuqala libe ngamanyathelo amaninzi ukwandisa isisombululo ngasinye
inyathelo motor. Oku kunokufezekiswa ngokulungelelanisa isigaba kumlinganiselo wangoku wemoto.
I-Microstepping ayinyusi ukuchaneka kwe-angle yesinyathelo, kodwa yenza i-motor iqhube ngakumbi
kakuhle kunye nengxolo encinci. Itorque ngokuqhelekileyo i-15% ingaphantsi kwi-half-step operation
kunokusebenza kwenyathelo elipheleleyo, kunye ne-30% esezantsi kulawulo lwe-sine wave.
Ixesha lokuposa: Nov-09-2022