Servo motor tsebo ea motheo

Servo motor tsebo ea motheo

Lentsoe "servo" le tsoa lentsoeng la Segerike "lekhoba". "Servo motor" e ka utloisisoa e le motlakase o mamelang ka ho feletseng taelo ea letšoao la taolo: pele letšoao la taolo le romelloa, rotor e ema; ha pontšo ea taolo e romeloa, rotor e potoloha hang-hang; ha letšoao la taolo le nyamela, rotor e ka emisa hang-hang.

Servo motor ke enjene e nyane e sebelisoang e le actuator sesebelisoa sa taolo ea othomathiki. Mosebetsi oa eona ke ho fetola lets'oao la motlakase hore e be sebaka sa ho falla ha angular kapa lebelo la angular la shaft e potolohang.

Servo motors li arotsoe ka mekhahlelo e 'meli: AC servo le DC servo

Sebopeho sa motheo sa AC servo motor se tšoana le sa AC induction motor (asynchronous motor). Ho na le li-winding tse peli tse hlasimollang Wf le li-winding tse laolang WcoWf tse nang le phallo ea sebaka sa 90° ea motlakase ho stator, e hokahaneng le motlakase o sa fetoheng oa AC, le ho sebelisa motlakase oa AC kapa phetoho ea mohato e sebelisoang ho Wc ho fihlela sepheo sa ho laola ts'ebetso. ea enjene. Enjene ea AC servo e na le litšobotsi tsa ts'ebetso e tsitsitseng, taolo e ntle, karabelo e potlakileng, kutlo e phahameng, le matšoao a sa tsitsang a sebopeho sa mochini le litšobotsi tsa tokiso (e hlokehang ho ba ka tlase ho 10% ho isa ho 15% le ka tlase ho 15% ho isa ho 25% ka tatelano).

Sebopeho sa mantlha sa enjene ea servo ea DC se ts'oana le enjene e akaretsang ea DC. Lebelo la motor n=E/K1j=(Ua-IaRa)/K1j, moo E e leng matla a motlakase, K e sa fetoheng, j ke matla a khoheli ka palo, Ua, Ia ke motlakase oa lihlomo le hona joale, Ra ke Ho hanyetsa lihlomo, ho fetola Ua kapa ho fetola φ ho ka laola lebelo la koloi ea servo ea DC, empa mokhoa oa ho laola motlakase oa lihlomo o sebelisoa ka kakaretso. Ho magnet e sa feleng ea DC servo motor, moea o tsosang takatso o nkeloa sebaka ke makenete o sa feleng, 'me matla a khoheli φ a lula a le teng. . DC servo motor e na le litšobotsi tse ntle tsa melawana le karabelo ea nako e potlakileng.

Melemo le Mathata a DC Servo Motors

Melemo: Taolo e nepahetseng ea lebelo, torque e thata le litšobotsi tsa lebelo, molao-motheo o bonolo oa taolo, ho bonolo ho e sebelisa, le theko e tlase.

Mefokolo: phetisetso ea borashe, moeli oa lebelo, khanyetso e eketsehileng, le likaroloana tsa ho roala (ha li loketse libaka tse se nang lerōle le tse phatlohang)

Melemo le bofokoli ba AC servo motor

Melemo: litšoaneleho tse ntle tsa taolo ea lebelo, taolo e boreleli sebakeng sohle sa lebelo, hoo e batlang e se na oscillation, ts'ebetso e phahameng ka holimo ho 90%, tlhahiso e fokolang ea mocheso, taolo ea lebelo le phahameng, taolo ea maemo a holimo (ho latela ho nepahala ha encoder), sebaka sa ts'ebetso se lekantsoeng. Ka hare, e ka fihlella torque e sa feleng, inertia e tlase, lerata le tlase, ha ho roala borashe, ha e na tlhokomelo (e loketseng libaka tse se nang lerōle, tse phatlohang)

Mefokolo: Taolo e rarahane ho feta, litekanyetso tsa koloi li hloka ho lokisoa sebakeng sa marang-rang ho fumana li-parameter tsa PID, 'me ho hlokahala likhokahano tse ling.

Li-motors tsa DC servo li arotsoe ka li-motors tse brushed le tse se nang brush

Li-motors tsa Brush li theko e tlase, li bonolo ka sebopeho, li na le torque e kholo, e pharaletseng ka lebelo la taolo ea lebelo, ho bonolo ho li laola, li hloka tlhokomelo, empa ho bonolo ho li hlokomela (fetola brashi ea carbon), li hlahisa tšitiso ea motlakase, li na le litlhoko tsa tikoloho ea ts'ebeliso, 'me hangata li sebelisoa bakeng sa liketsahalo tse sa tsotelleng litšenyehelo tse tloaelehileng tsa indasteri le liketsahalo tsa lehae.

Li-motors tsa Brushless li nyane ka boholo le boima bo bobebe, li hlahisoa ka bongata ebile li potlakile ha li arabela, li lebelo haholo ebile li nyane ho inertia, li tsitsitse ka torque ebile li boreleli ha li potoloha, li rarahane ho laola, li bohlale, li feto-fetoha le maemo ka mokhoa oa ho feto-fetoha ha elektronike. ka square wave kapa sine wave, motor e sa hlokeng tlhokomelo, ts'ebetso e phahameng le ho boloka matla, mahlaseli a manyane a motlakase, ho phahama ha mocheso o tlase le bophelo bo bolelele, bo loketseng maemo a fapaneng.

Li-motors tsa AC servo le tsona ke li-motor tse se nang brush, tse arotsoeng ka li-motor tsa synchronous le asynchronous. Hajoale, li-motor tsa synchronous hangata li sebelisoa ho laola motsamao. Matla a matla a maholo, matla a ka ba maholo, inertia e kholo, lebelo le leholo le tlaase, 'me lebelo le eketseha ka ho eketseha ha matla. Ho theoha ka mokhoa o ts'oanang - ka lebelo, ho loketse bakeng sa liketsahalo tse tsamaeang ka lebelo le tlase le boreleli.

Rotor ka hare ho servo motor ke makenete e sa feleng. Mokhanni o laola U/V/W motlakase oa mekhahlelo e meraro ho etsa lebala la motlakase. Rotor e potoloha tlas'a ketso ea matla ana a khoheli. Ka nako e ts'oanang, encoder e tlang le enjene e fetisetsa lets'oao la maikutlo ho mokhanni. Litekanyetso li bapisoa le ho lokisa angle ea ho potoloha ha rotor. Ho nepahala ha servo motor ho itšetlehile ka ho nepahala ha encoder (palo ea mela).

Servo motor ke eng? Ho na le mefuta e mekae? Litšobotsi tsa ts'ebetso ke life?

Karabo: Enjene ea servo, eo hape e tsejoang ka hore ke motor motor, e sebelisoa e le actuator tsamaisong ea othomathike ea taolo ho fetolela lets'oao la motlakase le amohetsoeng hore e be phallo ea angular kapa phallo ea lebelo la angular ho shaft ea motor.

Servo motors li arotsoe ka mekhahlelo e 'meli: DC le AC servo motors. Litšobotsi tsa bona tse ka sehloohong ke hore ha ho na ho itšehla thajana ha motlakase oa pontšo e le zero, 'me lebelo le fokotseha ka lebelo le ts'oanang le ho eketseha ha torque.

Phapano ea ts'ebetso ke efe lipakeng tsa AC servo motor le brushless DC servo motor?

Karabo: Ts'ebetso ea motlakase oa AC servo e molemo, hobane servo ea AC e laoloa ke leqhubu la sine le torque ripple e nyenyane; ha brushless DC servo e laoloa ke leqhubu la trapezoidal. Empa taolo ea servo ea brushless DC e batla e le bonolo ebile e theko e tlase.

Tsoelo-pele e potlakileng ea theknoloji e sa feleng ea magnet AC servo drive e entse hore sistimi ea servo ea DC e tobane le bothata ba ho felisoa. Ka nts'etsopele ea mahlale a morao-rao, theknoloji e sa feleng ea AC servo drive e fihletse nts'etsopele e ikhethang, 'me baetsi ba motlakase ba tsebahalang linaheng tse fapaneng ba ntse ba tsoela pele ho qala letoto le lecha la li-AC servo motors le li-servo drives. Sistimi ea AC servo e fetohile tataiso e ka sehloohong ea nts'etsopele ea sistimi ea sejoale-joale e sebetsang hantle, e etsang hore sistimi ea servo ea DC e tobane le koluoa ​​​​ea ho felisoa.

Ha ho bapisoa le li-motors tsa DC servo, li-motor tsa AC servo motors li na le melemo e latelang:

⑴Kantle le borashe le lisebelisoa, ts'ebetso e ts'epahala haholoanyane ebile ha e lokisoe.

(2) Mocheso oa stator winding o fokotsehile haholo.

⑶ The inertia e nyane, 'me sistimi e na le karabelo e ntle e potlakileng.

⑷ Boemo ba ho sebetsa ka lebelo le phahameng le bo phahameng ba torque bo botle.

⑸Saese e nyane le boima bo bobebe tlasa matla a tšoanang.

servo motor molao-motheo

Sebopeho sa stator ea AC servo motor ha e le hantle se tšoana le sa capacitor split-phase single -phase asynchronous motor. Stator e na le li-winding tse peli tse nang le phapang e fapaneng ea 90 °, e 'ngoe ke e tsosang takatso ea Rf, e lulang e amana le AC voltage Uf; e 'ngoe ke taolo ea matsoelintsoeke L, e hokahaneng le matla a lets'oao la taolo Uc. Kahoo AC servo motor e boetse e bitsoa servo motors tse peli.

Rotor ea AC servo motor hangata e etsoa ka lesaka la squirrel, empa molemong oa ho etsa hore koloi ea servo e be le lebelo le pharalletseng, litšoaneleho tsa mochini o ts'oanang, ha ho na ts'ebetso ea "autorotation" le ts'ebetso ea karabelo e potlakileng, ha e bapisoa le li-motor tse tloaelehileng, e tlameha ho etsoa. na le The rotor resistance is great and the moment of inertia e nyane. Hona joale, ho na le mefuta e 'meli ea mehaho ea rotor e sebelisoang haholo: e' ngoe ke squirrel -cage rotor e nang le lisebelisoa tse phahameng tsa ho hanyetsa tse entsoeng ka lisebelisoa tse phahameng tsa ho hanyetsa. E le ho fokotsa nako ea inertia ea rotor, rotor e etsoa e nyenyane; E 'ngoe ke senoelo se se nang letho - rotor e entsoeng ka motsoako oa aluminium, lebota la senoelo ke 0.2 -0.3mm feela, nako ea inertia ea mohope o se nang letho - rotor e nang le sebōpeho e nyenyane, karabelo e potlakile, 'me ts'ebetso e tsitsitse, kahoo e sebelisoa haholo.

Ha motlakase oa AC servo o se na matla a ho laola, ho na le matla a khoheli a matla feela a hlahisoang ke moea o tsosang takatso ho stator, 'me rotor e eme. Ha ho na le matla a ho laola, matla a khoheli a potolohang a hlahisoa ho stator, 'me rotor e potoloha ka tsela ea matla a khoheli a potolohang. Ha mojaro o sa fetohe, lebelo la enjene le fetoha ka boholo ba matla a taolo. Ha karolo ea motlakase oa taolo e fapana, mochini oa servo o tla khutlisoa.

Leha molao-motheo oa ts'ebetso oa AC servo motor o ts'oana le oa capacitor - e sebetsang e le 'ngoe-phase asynchronous motor, khanyetso ea rotor ea pele e kholo haholo ho feta ea morao-rao. Ka hona, ha ho bapisoa le capacitor -e sebetsang asynchronous motor, servo motor e na le likarolo tse tharo tsa bohlokoa:

1. Torque e kholo ea ho qala: Ka lebaka la khanyetso e kholo ea rotor, tšobotsi ea torque (tšobotsi ea mechine) e haufi le linear, 'me e na le torque e kholoanyane ea ho qala. Ka hona, ha stator e na le matla a ho laola, rotor e potoloha hang-hang, e nang le litšobotsi tsa ho qala ka potlako le kutloisiso e phahameng.

2. Mefuta e mengata ea ts'ebetso: ts'ebetso e tsitsitseng le lerata le tlaase. [/p][p=30, 2, leqele] 3. Ha ho na ketsahalo ea ho potoloha: Haeba servo motor e sebetsang e lahleheloa ke matla a ho laola, motlakase o tla emisa ho sebetsa hang-hang.

"Precision transmission micro motor" ke eng?

"Precision transmission micro motor" e ka etsa kapele le ka nepo litaelo tse fetohang khafetsa tsamaisong, 'me ea khanna mochini oa servo ho phethela mosebetsi o lebelletsoeng ke taelo,' me boholo ba bona bo ka fihlela litlhoko tse latelang:

1. E ka qala, ea emisa, ea roka, ea kheloha le ho matha ka lebelo le tlaase khafetsa, 'me e na le matla a holimo a mochine, boemo bo phahameng ba ho hanyetsa mocheso le boemo bo phahameng ba ho pata.

2. Bokhoni bo botle ba ho arabela ka potlako, torque e kholo, motsotso o monyenyane oa inertia le nako e nyenyane e tsitsitseng.

3. Ka mokhanni le molaoli (joaloka servo motor, stepping motor), ts'ebetso ea taolo e ntle.

4. Ho tšepahala ho phahameng le ho nepahala ho phahameng.

Sehlopha, sebopeho le tšebetso ea "precision transmission micro motor"

AC servo enjene

(1) Cage -mofuta oa likarolo tse peli tsa AC servo motor (rotor e nyane ea cage, hoo e batlang e le litšoaneleho tse tšoanang tsa mochini, molumo o monyane le hona joale e hlasimollang, servo ea matla a tlase, ts'ebetso ea lebelo le tlase ha e boreleli ka ho lekaneng)

(2) Non -magnetic cup rotor ea mekhahlelo e 'meli ea AC servo motor (coreless rotor, e batlang e tšoana le litšobotsi tsa mochini, molumo o moholo le monyaka oa hona joale, servo e nyane ea matla, ts'ebetso e boreleli ka lebelo le tlase)

(3) Mehato e 'meli ea AC servo motor e nang le ferromagnetic cup rotor (mohope oa rotor e entsoeng ka thepa ea ferromagnetic, e batlang e tšoana le likarolo tsa mochini, motsotso o moholo oa inertia ea rotor, phello e nyane ea ho khohlela, ts'ebetso e tsitsitseng)

(4) Synchronous permanent magnet AC servo motor (coaxial integrated motor e nang le motor synchronous motor e sa feleng, tachometer le karolo ea ho bona boemo, stator ke 3-mohato kapa 2-mohato, 'me rotor ea thepa ea makenete e tlameha ho ba le lisebelisoa. koloi; lebelo la lebelo le pharaletseng le mechine Litšobotsi li entsoe ka sebaka sa torque e sa khaotseng le sebaka sa matla sa kamehla, se ka koaloang ka ho tsoelang pele, ka karabelo e ntle e potlakileng ea ka potlako. ts'ebetso, matla a maholo a hlahisoang, le phetoho e nyane ea torque ho na le mekhoa e 'meli ea square wave drive le sine wave drive, ts'ebetso e ntle ea taolo, le lihlahisoa tsa lik'hemik'hale tse kopanyang motlakase)

(5) Asynchronous three-phase AC servo motor (rotor e tšoana le cage -type asynchronous motor, 'me e tlameha ho ba le mokhanni. E nka taolo ea li-vector le ho atolosa mefuta e mengata ea taolo ea lebelo la matla. Sistimi ea taolo ea lebelo la sesebelisoa sa mochini)

DC servo motor

(1) Motlakase o hatisitsoeng oa DC servo motor (disc rotor le disc stator li hokahane ka axially le cylindrical magnetic steel, nako ea rotor ea inertia e nyane, ha ho na phello ea cogging, ha ho na phello ea saturation, 'me torque ea tlhahiso e kholo)

(2) Wire -wound disk mofuta oa DC servo motor (disc rotor le stator li hokahantsoe ka axially le cylindrical magnetic steel, nako ea rotor ea inertia e nyane, ts'ebetso ea taolo e betere ho feta li-motor tse ling tsa DC servo, ts'ebetso e phahameng, 'me torque ea tlhahiso e kholo)

(3) Mochini oa mofuta oa Cuparature o sa feleng oa makenete ea DC (coreless rotor, motsotsoana o monyane oa inertia, o loketse sistimi e ntseng e eketseha ea servo)

(4) Brushless DC servo motor (stator e na le mekhahlelo e mengata, rotor ke makenete e sa feleng, e nang le sensor ea boemo ba rotor, ha ho na tšitiso ea tlhase, bophelo bo bolelele, lerata le tlase)

motlakase oa torque

(1) DC torque motor (sebopeho se bataletseng, palo ea lipalo, palo ea li-slots, palo ea likotoana tsa phetoho, palo ea li-conductors tsa letoto; torque e kholo ea tlhahiso, mosebetsi o tsoelang pele ka lebelo le tlase kapa o emisitsoe, litšobotsi tse ntle tsa mochini le phetoho, nako e nyane ea electromechanical kamehla. )

(2) Brushless DC torque motor (e ts'oanang ka sebopeho le brushless DC servo motor, empa e bataletse, e nang le lipalo tse ngata, li-slots le li-conductors tsa letoto; torque e kholo ea tlhahiso, litšobotsi tse ntle tsa mochini le tokiso, bophelo bo bolelele, ha ho litlhase, ha ho lerata le tlase)

(3) Cage-type AC torque motor (cage -type rotor, sebopeho se bataletseng, palo e kholo ea lipalo le slots, torque e kholo ea ho qala, nako e nyane ea motlakase, ts'ebetso ea nako e telele e notletsoeng, le thepa e bonolo ea mochini)

(4) Rotor e tiileng ea AC torque motor (rotor e tiileng e entsoeng ka thepa ea ferromagnetic, sebopeho se bataletseng, palo e kholo ea lipalo le li-slots, rotor e notletsoeng nako e telele, ts'ebetso e boreleli, thepa e bonolo ea mochini)

stepper motor

(1) Enjene ea ho hatakela e sebetsang (stator le rotor li entsoe ka lishiti tsa tšepe tsa silicon, ha ho na moea o kenang mokokotlong oa rotor, 'me ho na le moea oa taolo holim'a stator; angle ea mohato e nyane, lebelo la ho qala le ho matha le phahame. , ho nepahala ha angle ea mohato ho tlase, 'me ha ho na torque e itšebetsang)

(2) Motlakase o sa feleng oa makenete (magnet rotor e sa feleng, radial magnetization polarity; angle e kholo ea mohato, lebelo le tlase la ho qala le ho sebetsa, ho ts'oara torque, le ts'ebeliso e nyane ea matla ho feta mofuta o sebetsang, empa maqhubu a nepahetseng le a fosahetseng a hlokahala hajoale)

(3) Hybrid stepping motor (permanent magnet rotor, axial magnetization polarity; ho nepahala ha li-angle tse phahameng, ho ts'oara torque, lisebelisoa tse nyane tsa hajoale, makenete a sebetsang le a sa feleng.