Njengomchwephesha wokuqhuba,imoto ye-stepperyenye yeemveliso eziphambili ze-mechatronics, esetyenziswa kakhulu kwiinkqubo ezahlukeneyo zolawulo lwe-automation. Ngophuhliso lwe-microelectronics kunye netekhnoloji yekhompyutha, imfuno yee-stepper motors iyanda imihla ngemihla, kwaye zisetyenziswa kwiinkalo ezahlukeneyo zoqoqosho lwesizwe.
01 Yintoni iimoto ye-stepper
I-Stepper motor sisixhobo se-electromechanical esiguqula ngokuthe ngqo ii-electrical pulses zibe yi-mechanical motion. Ngokulawula ulandelelwano, i-frequency kunye nenani lee-electrical pulses ezisetyenziswa kwi-motor coil, i-stepper stepper motor stepper ...
02 imoto ye-stepperulwakhiwo olusisiseko kunye nomgaqo wokusebenza
Isakhiwo esiSiseko:
Umgaqo wokusebenza: umqhubi we-stepper motor ngokwe-pulse yokulawula yangaphandle kunye nesignali yesikhokelo, ngokusebenzisa isekethe yayo yangaphakathi ye-logic, ulawula ii-windings ze-stepper motor kulandelelwano oluthile lwexesha oluya phambili okanye olubuyela umva olunamandla, ukuze i-motor ijikelezise phambili / ijike okanye itshixe.
Umzekelo, thabatha i-1.8 degrees two-phase stepper motor: xa zombini ii-windings zinamandla kwaye zivuselelwe, i-motor output shaft iya kuhlala imile kwaye itshixiwe kwindawo yayo. Eyona torque iphezulu eya kugcina i-motor itshixiwe kumbane olinganisiweyo yi-holding torque. Ukuba umbane kwenye yee-windings ujikiswa, i-motor iya kujikeleza inyathelo elinye (ii-1.8 degrees) kwicala elithile.
Ngokufanayo, ukuba umbane kwelinye icala utshintsha indlela, i-motor iya kujika inyathelo elinye (ii-degrees ezili-1.8) kwicala elichasene nelokuqala. Xa umbane ohamba ngee-coil windings uqondiswa ngokulandelelana ukuya kwi-excitation, i-motor iya kujika inyathelo eliqhubekayo kwicala elinikiweyo ngokuchanekileyo okuphezulu kakhulu. Kwi-1.8 degrees ye-two-phase stepper motor rotation yeveki ithatha amanyathelo angama-200.
Iimoto ze-stepper ezinezigaba ezibini zineentlobo ezimbini ze-windings: i-bipolar kunye ne-unipolar. Iimoto ze-bipolar zine-winding coil enye kuphela kwisigaba ngasinye, ukujikeleza okuqhubekayo kwe-motor kwe-current kwi-coil efanayo kuya kuba yi-excitation eguquguqukayo ngokulandelelana, uyilo lwesekethe ye-drive lufuna ii-switches ezisibhozo ze-elektroniki zokutshintsha ngokulandelelana.
Iimoto ze-Unipolar zinee-coil ezimbini ezijikelezayo ze-polarity echaseneyo kwisigaba ngasinye, kwaye imoto
ijikeleza ngokuqhubekekayo ngokunika amandla iikhoyili ezimbini ezijikelezayo kwisigaba esinye.
Isekethe yokuqhuba yenzelwe ukuba ifune iiswitshi ezine ze-elektroniki kuphela.
imo yokuqhuba, i-torque yokukhupha yemoto inyuswe malunga ne-40% xa ithelekiswa ne-
imo ye-unipolar drive kuba ii-winding coils zesigaba ngasinye zinomdla ngokupheleleyo.
03, umthwalo wemoto yeStepper
A. Umthwalo wexesha elifutshane (Tf)
Tf = G * r
G: Ubunzima bomthwalo
r: irediyasi
B. Umthwalo we-Inertia (TJ)
TJ = J * dw/dt
J = M * (R12+R22) / 2 (Kg * cm)
M: Ubunzima bomthwalo
R1: Irediyasi yesangqa sangaphandle
R2: Irediyasi yeringi yangaphakathi
dω/dt: Ukukhawulezisa kwe-angular
04, ijika le-torque ye-stepper motor
Ijika le-torque yesantya yindlela ebalulekileyo yokubonakalisa iimpawu zemveliso ye-stepper
iimoto.
A. Indawo yokusebenza rhoqo kwe-Stepper motor
Ixabiso lesantya semoto ye-stepper motor kwindawo ethile.
n = q * Hz / (360 * D)
n: uhlaziyo/umzuzwana
I-Hz: Ixabiso lefrikhwensi
D: Ixabiso lokufakelwa kwesekethe yeDrive
q: i-engile yenyathelo le-stepper motor
Umzekelo, i-stepper motor ene-engile ye-pitch ye-1.8°, ene-1/2 interpolation drive(oko kukuthi, i-0.9° ngenyathelo ngalinye), inesantya se-1.25 r/s kwi-frequency yokusebenza ye-500 Hz.
B. Indawo yokuziqalela imoto yeStepper
Indawo apho i-stepper motor inokuqaliswa ize imiswe khona ngokuthe ngqo.
C. Indawo yokusebenza eqhubekayo
Kule ndawo, i-stepper motor ayinakuqalwa okanye imiswe ngokuthe ngqo.le ndawo kufuneka iqale idlule kwindawo yokuziqalela ize emva koko ikhawuleziswe ukuze ifikeleleindawo yokusebenza. Ngokufanayo, i-stepper motor kule ndawo ayinakuqhoboshelwa ngokuthe ngqo,kungenjalo kulula ukuba injini ye-stepper iphume kwinyathelo, kufuneka kuqala incitshiswe ukuzeindawo yokuziqalela yaza yaqhoboshelwa.
D. Isantya esiphezulu sokuqala se-Stepper motor
Imeko yokungasebenzi kwemoto, ukuqinisekisa ukuba imoto ye-stepper ayilahlekelwa kukusebenza kwenyatheloubuninzi bexesha lokubetha kwentliziyo.
E. Isantya esiphezulu sokusebenza kwe-Stepper motor
Isantya esiphezulu se-pulse apho imoto inomdla wokubaleka ngaphandle kokulahlekelwa yinyathelophantsi komthwalo.
F. I-torque yokuqala ye-Stepper motor / i-torque yokutsala
Ukudibana ne-stepper motor kwi-pulse frequency ethile ukuqala nokuqalisa ukusebenza, ngaphandleukulahlekelwa ngamanyathelo e-torque ephezulu yomthwalo.
G. Injini yeStepper esebenzisa i-torque/i-torque yokutsala
I-torque ephezulu yomthwalo eyanelisa ukusebenza okuzinzileyo kwe-stepper motor kwi-ai-pulse frequency ethile ngaphandle kokulahleka kwenyathelo.
05 Ulawulo lokukhawulezisa/ukunciphisa intshukumo ye-Stepper motor
Xa i-frequency yokusebenza kwe-stepper motor ikhomba kwi-curve ye-speed-torque ye-continuousindawo yokusebenza, indlela yokufinyeza ukuqala kwemoto okanye ukuyeka ukukhawulezisa okanye ukunciphisa isantyaixesha, ukuze injini isebenze ixesha elide kwisantya esifanelekileyo, ngaloo ndlela yonyusaIxesha lokusebenza kakuhle kwenjini libaluleke kakhulu.
Njengoko kubonisiwe kumfanekiso ongezantsi, ijika elinophawu lwe-dynamic torque ye-stepper motor yiumgca othe tye othe tye ngesantya esiphantsi; ngesantya esiphezulu, igophe liyancipha ngokukhawulezangenxa yempembelelo ye-inductance.
Siyazi ukuba umthwalo we-stepper motor yi-TL, masithi sifuna ukukhawulezisa ukusuka kwi-F0 ukuya kwi-F1 ngaphakathiixesha elifutshane (tr), indlela yokubala ixesha elifutshane tr?
(1) Ngokwesiqhelo, i-TJ = 70% i-Tm
(2) tr = 1.8 * 10 -5 * J * q * (F1-F0)/(TJ -TL)
(3) F (t) = (F1-F0) * t/tr + F0, 0
B. Ukukhawulezisa okubonakalayo kwimeko yesantya esiphezulu
(1) Ngokwesiqhelo
TJ0 = 70%Tm0
I-TJ1 = 70%Tm1
I-TL = 60%Tm1
(2)
tr = F4 * Kwi [(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 i-inertia yokujikeleza kwe-motor rotor phantsi komthwalo.
u-q yi-engile yokujikeleza yenyathelo ngalinye, eyi-engile yenyathelo ye-stepper motor kwi
ityala ledrive yonke.
Kwinkqubo yokuhlisa umfutho, buyisela umva nje isantya sokukhawulezisa esingentla
kubalwe.
06 ukungcangcazela kunye nengxolo yemoto ye-stepper
Ngokubanzi, i-stepper motor ayisebenzi kakuhle, xa i-frequency yokusebenza kwe-motor ingasebenzi.isondele okanye ilingana nesantya se-motor rotor, isandi sayo siya kuvakala, intando enzulukwenzeka ngaphandle kwenyathelo.
Izisombululo ezininzi ze-resonance:
A. Kuphephe indawo yokungcangcazela: ukuze isantya sokusebenza kwemoto singaweli ngaphakathiuluhlu lokungcangcazela
B. Sebenzisa imo yokuqhuba eyahlulahlulweyo: Sebenzisa imo yokuqhuba enenyathelo elincinci ukunciphisa ukungcangcazela
ukwahlula inyathelo lokuqala libe ngamanyathelo amaninzi ukwandisa isisombululo sento nganye
inyathelo lemoto. Oku kunokufezekiswa ngokulungelelanisa umlinganiselo wesigaba ukuya kumlinganiselo wangoku wemoto.
Ukunyuka nge-Microstepping akunyusi ukuchaneka kwe-engile yenyathelo, kodwa kwenza imoto isebenze ngakumbi
ngokutyibilikayo nangokungxola okuncinci. I-torque ngokubanzi iphantsi nge-15% xa usebenza kwisiqingatha senyathelo
kuneyokusebenza kwenyathelo elipheleleyo, kwaye iphantsi ngama-30% kulawulo lwamandla ombane we-sine wave.
Ixesha lokuthumela: Novemba-09-2022