Kusankha ma stepper motors mu zida zodzichitira zokha

Ma mota oyendera masitepeingagwiritsidwe ntchito powongolera liwiro ndi kulamulira malo popanda kugwiritsa ntchito zida zoyankhira (monga kulamulira kotseguka), kotero yankho la drive iyi ndi lotsika mtengo komanso lodalirika. Mu zida zodziyimira pawokha, zida, stepper drive yagwiritsidwa ntchito kwambiri. Koma ogwiritsa ntchito ambiri aukadaulo amomwe angasankhire mota yoyenera ya stepper, momwe angapangire magwiridwe antchito abwino a stepper drive kapena ali ndi mafunso ambiri. Pepalali likukambirana za kusankha ma stepper motors, kuyang'ana kwambiri pakugwiritsa ntchito luso la stepper motor engineering, ndikuyembekeza kuti kufalikira kwa ma stepper motors mu zida zodziyimira pawokha kudzatenga gawo lofunika kwambiri.

 

1. Chiyambi chamota ya stepper

Mota ya stepper imadziwikanso kuti pulse motor kapena step motor. Imapita patsogolo ndi ngodya inayake nthawi iliyonse yomwe mkhalidwe wa excitation ukasinthidwa malinga ndi chizindikiro cha input pulse, ndipo imakhala yosasuntha pamalo enaake pamene mkhalidwe wa excitation sunasinthe. Izi zimathandiza mota ya stepper kusintha chizindikiro cha input pulse kukhala malo ofanana a angular displacement kuti ituluke. Mwa kuwongolera kuchuluka kwa ma input pulses mutha kudziwa molondola kusintha kwa angular kwa output kuti mupeze malo abwino kwambiri; ndipo mwa kuwongolera pafupipafupi kwa ma input pulses mutha kuwongolera molondola liwiro la angular la output ndikukwaniritsa cholinga chowongolera liwiro. Kumapeto kwa zaka za m'ma 1960, mitundu yosiyanasiyana ya ma stepper motors othandiza idapangidwa, ndipo zaka 40 zapitazi zawona chitukuko chachangu. Ma stepper motors akwanitsa ma DC motors, asynchronous motors, komanso ma synchronous motors pamodzi, kukhala mtundu woyambira wa mota. Pali mitundu itatu ya ma stepper motors: reactive (mtundu wa VR), permanent magnet (mtundu wa PM) ndi hybrid (mtundu wa HB). Hybrid stepper motor imaphatikiza zabwino za mitundu iwiri yoyamba ya stepper motor. Mota ya stepper imakhala ndi rotor (rotor core, maginito okhazikika, shaft, mipira), stator (yozungulira, stator core), zipewa zakutsogolo ndi zakumbuyo, ndi zina zotero. Mota ya stepper yophatikizana ya magawo awiri imakhala ndi stator yokhala ndi mano akuluakulu 8, mano ang'onoang'ono 40 ndi rotor yokhala ndi mano ang'onoang'ono 50; mota ya magawo atatu ili ndi stator yokhala ndi mano akuluakulu 9, mano ang'onoang'ono 45 ndi rotor yokhala ndi mano ang'onoang'ono 50.

 

2, mfundo yolamulira

Themota ya stepperSizingalumikizidwe mwachindunji ndi magetsi, komanso sizingalandire zizindikiro zamagetsi, ziyenera kuchitika kudzera mu mawonekedwe apadera - dalaivala wa mota ya stepper kuti agwirizane ndi magetsi ndi chowongolera. Dalaivala wa mota ya stepper nthawi zambiri amakhala ndi chogawa mphete, ndi dera lokulitsa mphamvu. Chogawa mphete chimalandira zizindikiro zowongolera kuchokera kwa chowongolera. Nthawi iliyonse chizindikiro cha pulse chikalandiridwa, kutulutsa kwa chogawa mphete kumasinthidwa kamodzi, kotero kukhalapo kapena kusakhalapo ndi kuchuluka kwa chizindikiro cha pulse kumatha kudziwa ngati liwiro la mota ya stepper ndi lalikulu kapena lotsika, kufulumizitsa kapena kuchepetsa liwiro kuti liyambe kapena kuyima. Wogawa mphete ayeneranso kuyang'anira chizindikiro chowongolera kuchokera kwa wowongolera kuti adziwe ngati kusintha kwa momwe zinthu zimayendera kuli bwino kapena ayi, motero kudziwa chiwongolero cha mota ya stepper.

 

3, Main magawo

①Nambala ya block: makamaka 20, 28, 35, 42, 57, 60, 86, ndi zina zotero.

②Nambala ya gawo: chiwerengero cha ma coil mkati mwa mota ya stepper, nambala ya gawo la mota ya stepper nthawi zambiri imakhala ndi magawo awiri, magawo atatu, ndi magawo asanu. China imagwiritsa ntchito makamaka ma mota a stepper a magawo awiri, magawo atatu nawonso ali ndi ntchito zina. Japan nthawi zambiri imagwiritsidwa ntchito ndi ma mota a stepper a magawo asanu.

③Ngodya ya sitepe: yofanana ndi chizindikiro cha pulse, kusuntha kwa angular kwa kuzungulira kwa rotor ya mota. Fomula yowerengera ngodya ya sitepe ya mota ya stepper ndi iyi:

Ngodya ya sitepe = 360° ÷ (2mz)

m chiwerengero cha magawo a mota ya stepper

Z chiwerengero cha mano a rotor ya mota yoyendera.

Malinga ndi njira yomwe ili pamwambapa, ngodya ya masitepe a ma mota oyendera magawo awiri, magawo atatu ndi magawo asanu ndi 1.8°, 1,2° ndi 0.72° motsatana.

④ Mphamvu yogwira: ndi mphamvu ya stator yomwe imazungulira mota kudzera mu mphamvu yovotera, koma rotor sizungulira, stator imatseka rotor. Mphamvu yogwira ndiyo gawo lofunika kwambiri la ma stepper motors, ndipo ndiye maziko akuluakulu osankha mota.

⑤ Mphamvu yoyika: ndi mphamvu yofunikira kuti mutembenuze rotor ndi mphamvu yakunja pamene mota sidutsa mphamvu yamagetsi. Mphamvu yamagetsi ndi chimodzi mwa zizindikiro zoyezera magwiridwe antchito a injini, pankhani ya magawo ena omwewo, mphamvu yoyika mphamvu yamagetsi ikakhala yaying'ono, mphamvu yoyika mphamvu yamagetsi ikakhala yaying'ono, "zotsatira za malo" zimakhala zochepa, zomwe zimapangitsa kuti injini ikhale yosalala komanso yogwira ntchito pa liwiro lotsika: makamaka zimatanthauza mphamvu yotulutsa mphamvu yamagetsi, injini ikakhala yokhazikika pa liwiro linalake imatha kupirira mphamvu yamagetsi yamagetsi popanda kutaya sitepe. Mphamvu yamagetsi yamagetsi yamagetsi imagwiritsidwa ntchito kufotokoza ubale pakati pa mphamvu yamagetsi yamagetsi ndi liwiro (pafupipafupi) popanda kutaya sitepe. Mphamvu yamagetsi yamagetsi yamagetsi ndi chinthu chofunikira kwambiri pa injini yoyenda ndipo ndiye maziko ofunikira pakusankha injini.

⑥ Mphamvu yovotera: mphamvu yozungulira ya injini imafunika kuti mphamvu yovotera ikhale yovotera, ndipo mphamvu yake ndi yothandiza.

 

4, Kusankha mfundo

Kugwiritsa ntchito mafakitale komwe kumagwiritsidwa ntchito mu liwiro la mota ya stepper mpaka 600 ~ 1500rpm, liwiro lapamwamba, mutha kuganizira za closed-loop stepper motor drive, kapena kusankha njira yoyenera kwambiri yosankha stepper motor program (onani chithunzi pansipa).

 

(1) Kusankha ngodya ya sitepe

Malinga ndi kuchuluka kwa magawo a mota, pali mitundu itatu ya ngodya ya sitepe: 1.8° (magawo awiri), 1.2° (magawo atatu), 0.72° (magawo asanu). Zachidziwikire, ngodya ya sitepe ya magawo asanu ili ndi kulondola kwakukulu koma mota yake ndi dalaivala wake ndi okwera mtengo kwambiri, kotero siigwiritsidwa ntchito kawirikawiri ku China. Kuphatikiza apo, madalaivala akuluakulu a stepper tsopano akugwiritsa ntchito ukadaulo woyendetsa magawo, m'magawo 4 pansipa, kulondola kwa ngodya ya sitepe ya magawo kungakhale kotsimikizika, kotero ngati zizindikiro zolondola za ngodya ya sitepe zokha kuchokera pamalingaliro, mota ya stepper ya magawo asanu ikhoza kusinthidwa ndi mota ya stepper ya magawo awiri kapena atatu. Mwachitsanzo, pogwiritsira ntchito mtundu wina wa lead pa screw load ya 5mm, ngati mota yoyendera magawo awiri ikugwiritsidwa ntchito ndipo dalaivala wayikidwa pa magawo anayi, chiwerengero cha ma pulse pa kuzungulira kwa mota ndi 200 x 4 = 800, ndipo pulse yofanana ndi 5 ÷ 800 = 0.00625mm = 6.25μm, kulondola kumeneku kungakwaniritse zofunikira zambiri zogwiritsira ntchito.

(2) Kusankha mphamvu yokhazikika (yogwira mphamvu)

Njira zotumizira katundu zomwe zimagwiritsidwa ntchito nthawi zambiri zimaphatikizapo malamba ogwirizana, mipiringidzo ya filament, rack ndi pinion, ndi zina zotero. Makasitomala amayamba kuwerengera katundu wawo wa makina (makamaka acceleration torque kuphatikiza friction torque) zomwe zimasinthidwa kukhala torque yofunikira pa shaft ya mota. Kenako, malinga ndi liwiro lalikulu lothamanga lomwe maluwa amagetsi amafunikira, njira ziwiri zosiyana zogwiritsira ntchito posankha torque yoyenera yogwirira ya mota ya stepper ① kuti igwiritse ntchito liwiro lofunikira la mota la 300pm kapena kuchepera: ngati katundu wa makina wasinthidwa kukhala shaft ya mota torque yofunikira ya T1, ndiye kuti torque iyi imachulukitsidwa ndi chitetezo SF (nthawi zambiri imatengedwa ngati 1.5-2.0), ndiko kuti, torque yofunikira ya mota ya stepper yokhala ndi Tn ②2 ya Pa ntchito zomwe zimafuna liwiro la mota la 300pm kapena kupitirira apo: ikani liwiro lalikulu Nmax, ngati katundu wa makina wasinthidwa kukhala shaft ya mota, torque yofunikira ya katundu ndi T1, ndiye kuti torque iyi imachulukitsidwa ndi chitetezo SF (nthawi zambiri 2.5-3.5), chomwe chimapereka torque yogwirira Tn. Onani Chithunzi 4 ndikusankha chitsanzo choyenera. Kenako gwiritsani ntchito njira yozungulira nthawi kuti muwone ndikuyerekeza: pa njira yozungulira nthawi, liwiro lalikulu lomwe Nmax ikufunika ndi wogwiritsa ntchito likugwirizana ndi njira yozungulira nthawi yomwe yatayika ya T2, ndiye kuti njira yozungulira nthawi yomwe yatayika T2 iyenera kukhala yayikulu kuposa T1 ndi 20%. Apo ayi, ndikofunikira kusankha mota yatsopano yokhala ndi mphamvu yayikulu, ndikuwunikiranso ndikuyerekezanso malinga ndi njira yozungulira nthawi yomwe yasankhidwa kumene.

(3) Chiwerengero chachikulu cha maziko a injini, chimakhudzanso mphamvu yogwirira ntchito.

(4) malinga ndi mphamvu yovotera kuti musankhe dalaivala wofanana ndi stepper.

Mwachitsanzo, mphamvu yamagetsi ya mota ya 57CM23 ndi 5A, ndiye kuti mukugwirizana ndi mphamvu yamagetsi yovomerezeka ya mota yoposa 5A (chonde dziwani kuti ndi mphamvu yogwira ntchito osati ya peak), apo ayi ngati musankha mphamvu yamagetsi yoposa 3A drive yokha, mphamvu yamagetsi yotulutsa ya motayo ikhoza kukhala pafupifupi 60% yokha!

5, chidziwitso chogwiritsa ntchito

(1) vuto la kusinthasintha kwa ma frequency a stepper motor

Subdivision stepper drive ndi njira yothandiza yochepetsera kugwedezeka kwa ma frequency ochepa a ma stepper motors. Pansi pa 150rpm, division drive ndi yothandiza kwambiri pochepetsa kugwedezeka kwa mota. Mwachidziwitso, division ikakula, zotsatira zake zimakhala zabwino pochepetsa kugwedezeka kwa ma stepper motors, koma vuto lenileni ndilakuti division imawonjezeka kufika pa 8 kapena 16 pambuyo poti zotsatira zake zowongolera kuchepetsa kugwedezeka kwa ma stepper motors zafika pamlingo wapamwamba kwambiri.

M'zaka zaposachedwapa, pakhala pali madalaivala oletsa ma stepper oletsa ma frequency otsika omwe alembedwa m'dziko muno ndi kunja, zinthu za Leisai's DM, DM-S, ndi ukadaulo woletsa ma frequency otsika. Mndandanda wa madalaivala awa umagwiritsa ntchito harmonic compensation, kudzera mu amplitude ndi phase matching compensation, zomwe zingathandize kuchepetsa kwambiri kugwedezeka kwa ma frequency otsika kwa mota ya stepper, kuti injiniyo igwire ntchito movutikira komanso phokoso lochepa.

(2) Kuchuluka kwa kugawa kwa injini ya stepper pa kulondola kwa malo

Dongosolo loyendetsa galimoto la Stepper motor subdivision silingongowonjezera kusalala kwa kayendedwe ka chipangizocho, komanso lingathandize bwino kulondola kwa malo a chipangizocho. Mayeso akuwonetsa kuti: Mu nsanja yoyendetsera galimoto ya synchronous lamba, stepper motor 4 subdivision, motayo ikhoza kuyikidwa molondola pa sitepe iliyonse.