Monga actuator,stepper motandi imodzi mwazinthu zofunika kwambiri zamakina, zomwe zimagwiritsidwa ntchito kwambiri pamakina osiyanasiyana owongolera makina. Ndi chitukuko cha ma microelectronics ndi ukadaulo wamakompyuta, kufunikira kwa ma stepper motors kukukulirakulira tsiku ndi tsiku, ndipo amagwiritsidwa ntchito m'magawo osiyanasiyana azachuma padziko lonse lapansi.
01 Kodi astepper mota
Stepper motor ndi chipangizo chamagetsi chomwe chimasintha mwachindunji ma pulse amagetsi kukhala oyenda pamakina. Poyang'anira ndondomeko, mafupipafupi ndi kuchuluka kwa mphamvu zamagetsi zomwe zimagwiritsidwa ntchito pa coil ya galimoto, chiwongolero cha stepper motor, liwiro ndi ngodya yozungulira imatha kuwongoleredwa. Popanda kugwiritsa ntchito njira yotsekera ndemanga yotsekedwa ndi chidziwitso cha malo, malo enieni ndi kuwongolera liwiro kungathe kupezedwa pogwiritsa ntchito njira yosavuta, yotsika mtengo yotseguka yopangidwa ndi stepper motor ndi dalaivala wotsagana naye.
02 stepper motakapangidwe koyambira ndi mfundo yogwirira ntchito
Basic kapangidwe:
Mfundo yogwira ntchito: dalaivala wa stepper motor molingana ndi kuwongolera kwakunja ndi chiwongolero chamayendedwe, kudzera mumayendedwe ake amkati, wongolera ma windings a ma stepper motor motsatana ndi nthawi yopita patsogolo kapena m'mbuyo molimbikitsidwa, kuti mota ipite patsogolo / mozungulira kuzungulira, kapena loko.
Tengani 1.8 digiri ya magawo awiri ma stepper mota mwachitsanzo: makhoma onsewo akakhala amphamvu komanso okondwa, shaft yotulutsa injini imakhala yoyima ndikutseka pamalo ake. Torque yayikulu yomwe ingasungitse injini yotsekeka pakalipano ndi torque yogwira. Ngati mphamvu yapano mu imodzi mwa ma windings ilowetsedwa, galimotoyo idzazungulira sitepe imodzi (madigiri 1.8) m'njira yoperekedwa.
Momwemonso, ngati mafunde a mafunde ena asintha kolowera, injiniyo imazungulira sitepe imodzi (madigiri 1.8) mosiyana ndi yoyambayo. Pamene mafunde kudzera mu mapindikidwe koyilo ndi sequentially apatutsira ku chisangalalo, galimoto adzakhala atembenuza mu sitepe mosalekeza mu malangizo anapatsidwa molondola kwambiri. Kwa madigiri 1.8 a magawo awiri a stepper motor kuzungulira kwa sabata kumatenga masitepe 200.
Ma motors omwe ali ndi magawo awiri ali ndi mitundu iwiri ya ma windings: bipolar ndi unipolar. Ma Bipolar Motors ali ndi koyilo imodzi yokha yokhotakhota pagawo lililonse, kuzungulira kwamotoko kopitilira apo mu koyilo yomweyi kuti ikhale yosangalatsa motsatizana, kapangidwe kake kagalimoto kamafunikira masiwichi asanu ndi atatu amagetsi kuti asinthe motsatana.
Ma motors a Unipolar ali ndi ma coil awiri okhotakhota a polarity pagawo lililonse, ndi mota
imazungulira mosalekeza popatsa mphamvu zokhotakhota ziwiri pagawo limodzi.
Dera loyendetsa lidapangidwa kuti lingofunikira masiwichi anayi okha amagetsi. Mu bipolar
pagalimoto mode, linanena bungwe makokedwe a galimoto chiwonjezeke pafupifupi 40% poyerekeza ndi
unipolar drive mode chifukwa makoyilo okhotakhota a gawo lililonse amakhala okondwa 100%.
03, Stepper motor katundu
A. Moment load (Tf)
Tf = G*r
G: Kulemera kwa katundu
r: gawo
B. Inertia load (TJ)
TJ = J * dw/dt
J = M * (R12+R22) / 2 (Kg * cm)
M: katundu wambiri
R1: Radius ya mphete yakunja
R2: Radius ya mphete yamkati
dω/dt: Kuthamanga kwa angular
04, stepper motor speed-torque curve
Kupindika kwa liwiro la torque ndi chiwonetsero chofunikira cha mawonekedwe a stepper
magalimoto.
A. Stepper galimoto ntchito pafupipafupi mfundo
Kuthamanga kwa injini ya stepper motor panthawi inayake.
n = q * Hz / (360 * D)
n: rev/mphindi
Hz: Mtengo wafupipafupi
D: Thamangitsani mtengo wotanthauzira dera
q: stepper motor step angle
Mwachitsanzo, injini yotsika yomwe ili ndi ngodya ya 1.8 °, yokhala ndi 1/2 interpolation drive.(ie, 0.9 ° pa sitepe), ali ndi liwiro la 1.25 r / s pa mafupipafupi ogwiritsira ntchito 500 Hz.
B. Stepper galimoto yodziyambitsa yokha
Malo omwe stepper motor ingayambike ndikuyimitsidwa mwachindunji.
C. Malo ogwiritsira ntchito mosalekeza
M'dera lino, stepper motor singakhoze kuyambitsidwa kapena kuyimitsidwa mwachindunji. Stepper motors mkatimalowa ayenera kaye kudutsa m'dera lodziyambitsa ndiyeno kufulumizitsa kufikamalo ogwirira ntchito. Momwemonso, stepper motor m'derali silingadulidwe mwachindunji,Kupanda kutero ndikosavuta kupangitsa kuti stepper motor ichoke, iyenera kuchepetsedwa kayem'dera lodziyambira ndiyeno braking.
D. Stepper galimoto pazipita poyambira pafupipafupi
Njinga yamoto yopanda katundu, kuonetsetsa kuti stepper motor sikutaya sitepe yogwira ntchitopazipita kugunda pafupipafupi.
E. Stepper galimoto pazipita ntchito pafupipafupi
The pazipita zimachitika pafupipafupi pamene galimoto ndi okondwa kuthamanga popanda kutaya sitepepopanda katundu.
F. Stepper motor yoyambira makokedwe / kukokera mkati
Kukumana ndi stepper mota mumtundu wina wogunda kuti muyambe ndikuyamba kuthamanga, popandakutaya masitepe a torque yayikulu kwambiri.
G. Stepper motor kuthamanga torque/draw-in torque
The pazipita katundu makokedwe kuti amakwaniritsa ntchito khola galimoto stepper papafupipafupi kugunda kwamtima popanda kutayika kwa sitepe.
05 Stepper motor mathamangitsidwe / deceleration kuwongolera zoyenda
Pamene stepper galimoto ntchito pafupipafupi mfundo mu liwiro-makokedwe pamapindikira mosalekezantchito dera, mmene kufupikitsa galimoto chiyambi kapena kusiya mathamangitsidwe kapena decelerationnthawi, kotero kuti galimoto imathamanga nthawi yayitali mu liwiro labwino kwambiri, potero ikuwonjezeranthawi yogwira ntchito ya injini ndi yofunika kwambiri.
Monga momwe tawonetsera pachithunzichi, mawonekedwe amphamvu a torque ya stepper motor ndimzere wopingasa wowongoka pa liwiro lotsika; pa liwiro lalitali, phirilo limachepa kwambirichifukwa cha mphamvu ya inductance.
Tikudziwa kuti stepper motor load ndi TL, tiyerekeze kuti tikufuna kukwera kuchokera ku F0 kupita ku F1 munthawi yaifupi kwambiri (tr), momwe mungawerengere nthawi yayifupi kwambiri?
(1) Nthawi zambiri, 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. Kuthamanga kwachangu mumkhalidwe wothamanga kwambiri
(1) Nthawi zambiri
TJ0 = 70% Tm0
TJ1 = 70% Tm1
TL = 60% Tm1
(2)
tr = F4 * Mu [(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)
Zolemba.
J imasonyeza kusinthasintha kozungulira kwa rotor yamoto pansi pa katundu.
q ndi ngodya yozungulira ya sitepe iliyonse, yomwe ndi gawo la stepper motor mu
nkhani ya galimoto lonse.
Mu ntchito deceleration, basi sinthani pamwamba mathamangitsidwe kugunda pafupipafupi kungakhale
owerengeka.
06 stepper motor vibration ndi phokoso
Nthawi zambiri, stepper mota mu ntchito palibe katundu, pamene galimoto ntchito pafupipafupiali pafupi kapena wofanana ndi mafupipafupi ozungulira a motor rotor adzamveka, kufuna kwakukuluzimachitika mongoyerekeza.
Pali mayankho angapo a resonance:
A. Pewani kugwedezeka kozungulira: kuti ma frequency oyendetsa galimoto asagwere mkatimtundu wa vibration
B. Adopt subdivision drive mode: Gwiritsani ntchito micro-step drive mode kuti muchepetse kugwedezeka
kugawa sitepe imodzi yoyambirira kukhala masitepe angapo kuti muwonjezere kusintha kwa chilichonse
sitepe yamagalimoto. Izi zitha kutheka posintha gawo ndi chiŵerengero chamakono cha galimoto.
Microstepping sikukulitsa kulondola kwa masitepe, koma imapangitsa injini kuthamanga kwambiri
bwino komanso ndi phokoso lochepa. Ma torque nthawi zambiri amakhala otsika ndi 15% pakugwira ntchito kwa theka
kuposa ntchito zonse, ndi 30% kutsika kwa sine wave control pano.
Nthawi yotumiza: Nov-09-2022