Kusankhidwa kwa ma stepper motors mu zida zamagetsi

Stepper motorsangagwiritsidwe ntchito kuwongolera liwiro ndi kuwongolera malo popanda kugwiritsa ntchito zida zoyankhira (ie kuwongolera-loop), kotero njira yothetsera vutoli ndiyopanda ndalama komanso yodalirika. Mu zida zokha, zida, stepper drive wakhala ntchito kwambiri. Koma ogwiritsa ntchito ambiri aukadaulo amomwe angasankhire mota ya stepper yoyenera, momwe angapangire ntchito yabwino ya stepper drive kapena mafunso ambiri. Pepalali likukambirana za kusankha kwa ma stepper motors, ndikuwunika kugwiritsa ntchito luso laukadaulo la stepper motor, ndikuyembekeza kuti kutchuka kwa ma stepper motors mu zida zodzichitira kuti zithandizire.

 

1. Chiyambi chastepper mota

The stepper motor imadziwikanso kuti pulse motor kapena step motor. Imapita patsogolo pang'onopang'ono nthawi iliyonse chisangalalo chikasinthidwa molingana ndi chizindikiro cha kugunda kwamphamvu, ndipo imakhalabe pamalo ena pomwe chisangalalo sichisintha. Izi zimalola stepper motor kuti isinthe chizindikiro cha pulse kukhala chosinthira chofananira kuti chizitulutsa. Ndi kulamulira chiwerengero cha athandizira pulses mungathe kudziwa molondola kusamuka kwa angular kwa linanena bungwe kuti tikwaniritse malo abwino; ndi kulamulira mafupipafupi a pulses athandizira mungathe kulamulira molondola angular liwiro la linanena bungwe ndi kukwaniritsa cholinga cha liwiro lamulo. Chakumapeto kwa zaka za m'ma 1960, mitundu yosiyanasiyana ya ma stepper motors idakhalapo, ndipo zaka 40 zapitazi zakhala zikukula mwachangu. Ma motors a Stepper adatha ma motors a DC, ma asynchronous motors, komanso ma synchronous motors pambali, kukhala mtundu woyambira wamagalimoto. Pali mitundu itatu ya ma stepper motors: zotakataka (mtundu wa VR), maginito okhazikika (mtundu wa PM) ndi wosakanizidwa (mtundu wa HB). Galimoto ya hybrid stepper imaphatikiza zabwino zamitundu iwiri yoyambira ya stepper motor. The stepper galimoto tichipeza ozungulira (ozungulira pachimake, maginito okhazikika, kutsinde, mpira mayendedwe), ndi stator (mapiringa, stator pachimake), kutsogolo ndi kumbuyo mapeto zisoti, etc. Ambiri mmene awiri gawo wosakanizidwa stepper galimoto ali stator ndi mano 8 lalikulu, mano 40 ang'onoang'ono ndi rotor ndi mano 50 ang'onoang'ono; mota yamagawo atatu ili ndi stator yokhala ndi mano akulu 9, mano ang'onoang'ono 45 ndi rotor yokhala ndi mano ang'onoang'ono 50.

 

2, Kulamulira mfundo

Thestepper motasilingagwirizane mwachindunji ndi magetsi, komanso silingalandire mwachindunji zizindikiro zamagetsi, ziyenera kuzindikirika kudzera mu mawonekedwe apadera - dalaivala wa stepper motor kuti agwirizane ndi magetsi ndi olamulira. Dalaivala wa stepper motor nthawi zambiri amakhala ndi wogawa mphete, ndi chozungulira cha amplifier mphamvu. Wogawa mphete amalandira zizindikiro zowongolera kuchokera kwa wolamulira. Nthawi iliyonse chizindikiro cha pulse chikalandiridwa kutulutsa kwa wogawira mphete kumatembenuzidwa kamodzi, kotero kukhalapo kapena kusapezeka ndi mafupipafupi a chizindikiro cha pulse amatha kudziwa ngati stepper motor speed ndi yokwera kapena yotsika, ikufulumira kapena kutsika kuti iyambe kapena kuyimitsa. Wogawa mphete ayeneranso kuyang'anira chiwongolero chowongolera kuchokera kwa wowongolera kuti adziwe ngati kusintha kwake kukuchitika mwadongosolo kapena koyipa, ndikuzindikira chiwongolero cha stepper motor.

 

3, Magawo akuluakulu

①Lembani nambala: makamaka 20, 28, 35, 42, 57, 60, 86, etc.

②Nambala yagawo: kuchuluka kwa ma coils mkati mwa stepper motor, stepper motor gawo nambala nthawi zambiri imakhala ndi magawo awiri, magawo atatu, magawo asanu. China imagwiritsa ntchito ma motors agawo awiri makamaka, magawo atatu alinso ndi ntchito zina. Japan nthawi zambiri amagwiritsidwa ntchito ma mota a magawo asanu

③Ngodya yoyendera: yogwirizana ndi siginecha ya kugunda, kusamuka kwa kozungulira kwa kuzungulira kwa mota. Njira yowerengera ma stepper motor step angle ili motere

Step angle = 360° ÷ (2mz)

m chiwerengero cha magawo a stepper motor

Z chiwerengero cha mano a rotor ya stepper motor.

Malingana ndi ndondomeko yomwe ili pamwambayi, masitepe a magawo awiri, magawo atatu ndi asanu ndi asanu ndi awiri ndi 1.8 °, 1,2 ° ndi 0.72 ° motsatira.

④ Kugwira makokedwe: ndi torque ya stator yokhotakhota ya injini kudzera pakali pano, koma rotor sizungulira, stator imatseka rotor. Kugwira torque ndiye gawo lofunikira kwambiri la ma stepper motors, ndipo ndiye maziko akulu pakusankha kwamagalimoto

⑤ Torque yoyika: ndi torque yomwe imafunikira kuti mutembenuze rotor ndi mphamvu yakunja pomwe mota siyidutsa pano. The makokedwe ndi chimodzi mwa zizindikiro ntchito kuwunika galimoto, ngati magawo ena ndi ofanana, ang'onoang'ono torque malo zikutanthauza kuti "kagawo zotsatira" ndi yaing'ono, zopindulitsa kwambiri kusalala kwa galimoto kuthamanga otsika liwiro makokedwe mafupipafupi makhalidwe: makamaka amatanthauza kukokedwa mafupipafupi makhalidwe makokedwe, galimoto khola ntchito pa liwiro linalake akhoza kupirira sitepe pazipita. Mphepete mwa mphindi-fupipafupi amagwiritsidwa ntchito kufotokoza mgwirizano pakati pa torque yayikulu ndi liwiro (nthawi zambiri) popanda kutaya masitepe. Kupindika kwa ma torque ndi gawo lofunikira la stepper motor ndipo ndiye maziko akulu pakusankha kwamagalimoto.

⑥ Zovoteledwa pano: mphamvu yokhotakhota yamagalimoto yofunikira kuti musunge ma torque ovotera, mtengo wake

 

4, Kusankha mfundo

Ntchito zamafakitale zomwe zimagwiritsidwa ntchito mu stepper motor liwiro mpaka 600 ~ 1500rpm, kuthamanga kwambiri, mutha kuganizira zotsekera-loop stepper motor drive, kapena kusankha njira yoyenera kwambiri ya servo drive posankha masitepe (onani chithunzichi pansipa).

 

(1) Kusankha kolowera

Malingana ndi chiwerengero cha magawo a injini, pali mitundu itatu ya masitepe: 1.8 ° (gawo ziwiri), 1.2 ° (magawo atatu), 0.72 ° (gawo zisanu). Zachidziwikire, mbali zisanu za magawo asanu ndizolondola kwambiri koma mota yake ndi dalaivala ndizokwera mtengo, kotero sizigwiritsidwa ntchito kawirikawiri ku China. Komanso, madalaivala waukulu stepper tsopano ntchito Magawo pagalimoto luso, mu 4 Magawo pansipa, kugawanika sitepe ngodya molondola akhoza kutsimikiziridwa, ngati sitepe ngodya zolondola zizindikiro yekha kuchokera kuganizira, magawo asanu stepper galimoto akhoza m'malo ndi magawo awiri kapena atatu gawo stepper galimoto. Mwachitsanzo, pakugwiritsa ntchito mtundu wina wa kutsogolera kwa 5mm wononga wononga, ngati gawo limodzi la magawo awiri lopondapo likugwiritsidwa ntchito ndipo dalaivala wakhazikitsidwa pazigawo 4, kuchuluka kwa mafunde pakusintha kwagalimoto ndi 200 × 4 = 800, ndipo kugunda kofanana ndi 5 ÷ 800 = 0.006.5mm accura = 0.006.5mm zofunika.

(2) Kusankha torque (yogwira torque).

Njira zotumizira katundu zomwe zimagwiritsidwa ntchito nthawi zambiri zimaphatikizapo malamba a synchronous, filament bars, rack ndi pinion, etc. Makasitomala amawerengera kaye kuchuluka kwa makina awo (makamaka mathamangitsidwe a torque kuphatikiza torque ya friction) kusinthidwa kukhala torque yofunikira pa shaft yamoto. Kenako, malinga ndi liwiro lalikulu lothamanga lomwe limafunikira ndi maluwa amagetsi, njira ziwiri zotsatirazi zogwiritsira ntchito posankha torque yoyenera ya mota ya stepper ① kuti mugwiritse ntchito liwiro lofunikira la 300pm kapena kuchepera: ngati makinawo asinthidwa kukhala shaft yamoto yofunikira torque T1, ndiye kuti torque yonyamula iyi imachulukitsidwa ndi chitetezo chofunikira, genera5 SF (01). injini yokhala ndi torque Tn ②2 ya ntchito zomwe zimafuna liwiro la mota 300pm kapena kupitilira apo: khazikitsani liwiro lalikulu la Nmax, ngati katundu wa makina asinthidwa kukhala shaft ya motor, torque yofunikira ndi T1, ndiye kuti torque iyi imachulukitsidwa ndi chitetezo SF (nthawi zambiri 2.5-3.5), yomwe imapatsa mphamvu Tn. Onani Chithunzi 4 ndikusankha chitsanzo choyenera. Kenako gwiritsani ntchito njira yokhotakhota pafupipafupi kuti muwone ndikuyerekeza: pamapindikira pafupipafupi, kuthamanga kwambiri kwa Nmax komwe kumafunikira ndi wogwiritsa ntchito kumafanana ndi torque yotayika kwambiri ya T2, ndiye kuti torque yotayika kwambiri T2 iyenera kukhala yokulirapo kuposa 20% kuposa T1. Kupanda kutero, ndikofunikira kusankha mota yatsopano yokhala ndi torque yokulirapo, ndikuyang'ana ndikuyerekezanso molingana ndi ma frequency a torque a motor yomwe yasankhidwa kumene.

(3) Nambala yoyambira ya injini ikakulirakulira, mphamvu yogwirizira imakulirakulira.

(4) molingana ndi zomwe zidavotera pano kuti musankhe woyendetsa wofananira.

Mwachitsanzo, oveteredwa pakali pano galimoto 57CM23 ndi 5A, ndiye mufanane pazipita kololeka panopa kuposa 5A (chonde dziwani kuti ndi mtengo wogwira osati nsonga), apo ayi ngati kusankha pazipita panopa yekha 3A pagalimoto, pazipita linanena bungwe makokedwe a galimoto akhoza kukhala pafupifupi 60%!

5, ntchito zinachitikira

(1) stepper motor low frequency resonance vuto

Kugawa stepper drive ndi njira yabwino yochepetsera kutsika kwafupipafupi kwa ma stepper motors. Pansi pa 150rpm, kugawa magawo kumakhala kothandiza kwambiri pakuchepetsa kugwedezeka kwagalimoto. Mwachidziwitso, kugawanika kwakukulu, kumapangitsanso kuchepetsa kugwedezeka kwa ma stepper motor, koma zenizeni ndikuti kugawanika kumawonjezeka kufika pa 8 kapena 16 pambuyo pa kusintha kwa kuchepetsa kugwedeza kwa stepper motor kufika pamlingo waukulu.

M'zaka zaposachedwa, pakhala pali madalaivala otsika otsika-frequency resonance stepper omwe adalembedwa kunyumba ndi kunja, Leisai's DM, DM-S mndandanda wazogulitsa, ukadaulo wotsutsa-otsika-frequency resonance. Mndandanda wa madalaivala amagwiritsa harmonic chipukuta misozi, kudzera matalikidwe ndi gawo yofananira chipukuta misozi, akhoza kwambiri kuchepetsa otsika pafupipafupi kugwedera wa galimoto stepper, kukwaniritsa otsika kugwedera ndi otsika phokoso ntchito galimoto.

(2) Zotsatira za magawo a stepper motor pakuwongolera kulondola

Stepper galimoto kugawikana galimoto dera sangathe kusintha kusalala kwa kayendedwe ka chipangizo, komanso akhoza bwino kusintha malo olondola zida. Mayesero akuwonetsa kuti: Pa nsanja yoyenda yolumikizira lamba, gawo la stepper motor 4, mota imatha kuyikidwa molondola pagawo lililonse.