Monga actuator,mota ya stepperndi chimodzi mwa zinthu zofunika kwambiri za mechatronics, zomwe zimagwiritsidwa ntchito kwambiri m'njira zosiyanasiyana zowongolera automation. Ndi chitukuko cha ma microelectronics ndi ukadaulo wa makompyuta, kufunikira kwa ma stepper motors kukuwonjezeka tsiku ndi tsiku, ndipo amagwiritsidwa ntchito m'magawo osiyanasiyana azachuma mdziko.
01 Kodi amota ya stepper
Stepper motor ndi chipangizo chamagetsi chomwe chimasintha mwachindunji ma pulse amagetsi kukhala kayendedwe ka makina. Mwa kuwongolera kutsatana, kuchuluka kwa ma pulse amagetsi omwe amagwiritsidwa ntchito pa coil ya mota, chiwongolero, liwiro ndi ngodya yozungulira ya mota ya stepper zitha kulamulidwa. Popanda kugwiritsa ntchito njira yowongolera mayankho yotsekedwa yokhala ndi kuzindikira malo, malo olondola komanso kuwongolera liwiro zitha kuchitika pogwiritsa ntchito njira yosavuta komanso yotsika mtengo yowongolera open-loop yopangidwa ndi mota ya stepper ndi driver wake.
02 mota ya stepperkapangidwe koyambira ndi mfundo yogwirira ntchito
Kapangidwe koyambira:
Mfundo yogwirira ntchito: dalaivala wa mota ya stepper motsatira kugunda kwakunja kwa mphamvu yamagetsi ndi chizindikiro chowongolera, kudzera mu logic circuit yake yamkati, kuwongolera kuzungulira kwa mota ya stepper munthawi inayake yotsatizana patsogolo kapena kumbuyo, kotero kuti mota izungulire kutsogolo / kumbuyo, kapena kutseka.
Mwachitsanzo, tengerani mota ya stepper ya madigiri 1.8-phase two-phase: pamene ma windings onse awiri ali ndi mphamvu komanso kusangalala, shaft yotulutsa injini idzakhala yosasunthika komanso yotsekedwa pamalo ake. Mphamvu yayikulu yomwe ingasunge motayo yotsekedwa pamagetsi oyesedwa ndi mphamvu yogwira. Ngati mphamvu yomwe ili mu imodzi mwa ma windings yasinthidwa, motayo idzazungulira sitepe imodzi (madigiri 1.8) mbali ina.
Mofananamo, ngati mphamvu yamagetsi yomwe ili mu chozungulira china isintha njira, mota idzazungulira sitepe imodzi (madigiri 1.8) mosiyana ndi yoyamba. Pamene mphamvu yamagetsi kudzera mu chozungulira cha coil ikusinthidwa motsatizana kukhala chosangalatsa, mota idzazungulira sitepe yopitilira mu njira yoperekedwa molondola kwambiri. Pa madigiri 1.8 a chozungulira cha magawo awiri, kuzungulira kwa mota kwa sabata kumatenga masitepe 200.
Ma mota oyendera magawo awiri ali ndi mitundu iwiri ya ma windings: bipolar ndi unipolar. Ma mota oyendera bipolar ali ndi coil imodzi yokha yozungulira pa gawo lililonse, injini yozungulira mosalekeza ya current mu coil yomweyo kuti ikhale yosinthasintha motsatizana, kapangidwe ka drive circuit kamafuna ma switch asanu ndi atatu amagetsi kuti asinthe motsatizana.
Ma mota a Unipolar ali ndi ma coil awiri ozungulira a polarity yotsutsana pa gawo lililonse, ndipo mota
imazungulira mosalekeza mwa kupatsa mphamvu ma coil awiri ozungulira omwe ali mu gawo lomwelo.
Dongosolo loyendetsera galimoto lapangidwa kuti lizifuna ma switch anayi okha amagetsi.
njira yoyendetsera galimoto, mphamvu yotulutsa ya injini imawonjezeka ndi pafupifupi 40% poyerekeza ndi
njira yoyendetsera unipolar chifukwa ma winding coils a gawo lililonse amakhala osangalatsa 100%.
03, katundu wa injini ya stepper
A. Katundu wa mphindi (Tf)
Tf = G * r
G: Kulemera kwa katundu
r: utali wozungulira
B. Kulemera kwa inertia (TJ)
TJ = J * dw/dt
J = M * (R12+R22) / 2 (Kg * cm)
M: Kulemera kwa katundu
R1: Utali wa mphete yakunja
R2: Utali wa mphete yamkati
dω/dt: Kuthamanga kwa Angular
04, stepper motor speed-torque curve
Mzere wozungulira wa liwiro ndi torque ndi njira yofunika kwambiri yofotokozera makhalidwe a stepper
mota.
A. Malo ogwiritsira ntchito ma frequency a injini ya stepper
Mtengo wa liwiro la mota ya stepper motor pamalo enaake.
n = q * Hz / (360 * D)
n: rev/sekondi
Hz: Mtengo wa pafupipafupi
D: Mtengo wolumikizira dera la Drive
Q: ngodya ya sitepe ya stepper motor
Mwachitsanzo, mota ya stepper yokhala ndi ngodya ya 1.8°, yokhala ndi 1/2 interpolation drive(mwachitsanzo, 0.9° pa sitepe iliyonse), ili ndi liwiro la 1.25 r/s pa frequency yogwira ntchito ya 500 Hz.
B. Malo odziyimbira okha a injini ya stepper
Malo omwe injini ya stepper ingayambitsidwe ndikuyimitsidwa mwachindunji.
C. Malo ogwirira ntchito mosalekeza
M'derali, mota ya stepper singathe kuyatsidwa kapena kuyimitsidwa mwachindunji.dera ili liyenera kudutsa kaye m'dera lodziyambitsa lokha kenako lifulumizitsidwe kuti lifikeMalo ogwirira ntchito. Mofananamo, mota ya stepper m'derali singagwedezeke mwachindunji,apo ayi n'zosavuta kuyambitsa injini ya stepper kuchoka pa sitepe, choyamba iyenera kuchepetsedwa mphamvu kutimalo oyambira okha kenako nkutseka mabuleki.
D. Ma frequency oyambira a mota ya stepper
Mkhalidwe wa injini yopanda katundu, kuonetsetsa kuti mota ya stepper sikutaya ntchito ya stepperkuchuluka kwa kugunda kwa mtima kwambiri.
E. Ma frequency ogwiritsira ntchito mota ya Stepper
Ma frequency apamwamba kwambiri omwe injini imathamanga popanda kutaya sitepepopanda katundu.
F. Mphamvu yoyambira ya mota ya stepper / mphamvu yokoka
Kuti mukumane ndi mota ya stepper mu pulse frequency inayake, yambani ndikuyamba kugwira ntchito, popandakutayika kwa masitepe a torque yayikulu yonyamula katundu.
G. Mota ya stepper yomwe imagwiritsa ntchito torque/draw-in torque
Mphamvu yayikulu kwambiri yonyamula katundu yomwe imakwaniritsa magwiridwe antchito okhazikika a mota ya stepper papafupipafupi inayake ya kugunda kwa mtima popanda kutayika kwa sitepe.
05 Kuwongolera kuthamanga kwa injini ya stepper/kuchepetsa mphamvu ya mayendedwe
Pamene ma frequency opareshoni a mota ya stepper afika pamlingo wothamanga ndi torque wa continuousdera logwirira ntchito, momwe mungafupikitsire kuyamba kwa injini kapena kuyimitsa kuthamanga kapena kuchepa kwa liwironthawi, kotero kuti injini imayenda nthawi yayitali mu liwiro labwino kwambiri, motero ikuwonjezeraNthawi yogwira ntchito bwino ya injini ndi yofunika kwambiri.
Monga momwe chithunzi chili pansipa chikusonyezera, mawonekedwe a torque yamphamvu ya mota ya stepper ndimzere wowongoka wopingasa pa liwiro lotsika; pa liwiro lalikulu, makona amachepa kwambirichifukwa cha mphamvu ya inductance.
Tikudziwa kuti katundu wa mota ya stepper ndi TL, tiyerekeze kuti tikufuna kuthamangitsa kuchokera ku F0 kupita ku F1 munthawi yochepa kwambiri (tr), momwe mungawerengere nthawi yochepa kwambiri tr?
(1) Kawirikawiri, 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 kwapadera mu liwiro lalikulu
(1) Kawirikawiri
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 kwa injini ya rotor yomwe ili pansi pa katundu.
q ndi ngodya yozungulira ya sitepe iliyonse, yomwe ndi ngodya yozungulira ya mota yoyendera
nkhani ya drive yonse.
Mu ntchito yochepetsa mphamvu ya mtima, kungosintha momwe ma pulse frequency amplitude omwe ali pamwambapa angasinthire.
kuwerengetsa.
06 kugwedezeka kwa injini ya stepper ndi phokoso
Kawirikawiri, mota ya stepper sikugwira ntchito popanda katundu, pomwe ma frequency a injini amagwira ntchitoili pafupi kapena yofanana ndi ma frequency a rotor ya injini, mphamvu yake yaikulu idzamveka,zochitika kunja kwa sitepe.
Mayankho angapo a resonance:
A. Pewani malo ogwedera: kuti ma frequency ogwirira ntchito a mota asagwere mkati mwamalo ogwedera
B. Gwiritsani ntchito njira yoyendetsera magawo: Gwiritsani ntchito njira yoyendetsera magawo ang'onoang'ono kuti muchepetse kugwedezeka ndi
kugawa gawo limodzi loyambirira m'magawo angapo kuti muwonjezere kutsimikiza kwa chilichonse
sitepe ya mota. Izi zitha kuchitika mwa kusintha chiŵerengero cha gawo ndi chamakono cha mota.
Kutsika pang'onopang'ono sikuwonjezera kulondola kwa ngodya ya sitepe, koma kumapangitsa kuti injini iziyenda bwino
bwino komanso phokoso lochepa. Mphamvu ya torque nthawi zambiri imakhala yotsika ndi 15% pa ntchito ya theka la sitepe
kuposa pa ntchito yonse, ndi 30% yotsika pakuwongolera mphamvu yamagetsi ya sine wave.
Nthawi yotumizira: Novembala-09-2022