I-Servo sisixhobo sokuhambisa amandla esibonelela ngokulawula ukusebenza kwentshukumo efunwa zizixhobo ze-electromechanical.Ngoko ke, ukuyila kunye nokukhethwa kwenkqubo ye-servo ngokwenene yinkqubo yokukhetha amandla afanelekileyo kunye namacandelo olawulo lwenkqubo yokulawula intshukumo ye-electromechanical yesixhobo.Ibandakanya iimveliso ezifunyenwe ikakhulu ziquka:
Umlawuli ozenzekelayo osetyenziselwa ukulawula ukuhamba kwe-axis nganye kwinkqubo;
I-Servo drive eguqula amandla e-AC okanye e-DC kunye nombane osisigxina kunye ne-frequency kunikezelo lwamandla olulawulwayo olufunwa yi-servo motor;
I-Servo motor eguqula imveliso yamandla atshintshanayo ukusuka kumqhubi ukuya kumandla oomatshini;
Indlela yokuhambisa ngoomatshini ehambisa amandla ekinetic oomatshini kumthwalo wokugqibela;
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Ukuqwalasela ukuba kukho uthotho lweemveliso ezininzi ze-karate zemveliso ye-servo kwimarike, ngaphambi kokungena kukhetho oluthile lwemveliso, sisafuna kuqala ngokweemfuno ezisisiseko zesicelo solawulo lwezixhobo esizifundileyo, kubandakanya abalawuli, iidrive, iimotor Preliminary. ukuhlolwa kwenziwa ngeemveliso ze-servo ezifana nezinciphisi ... njl.
Ngakolunye uhlangothi, olu vavanyo lusekwe kwiimpawu zeshishini, imikhwa yesicelo kunye neempawu ezisebenzayo zezixhobo zokufumana uthotho lweemveliso ezinokuthi zifumaneke kunye nendibaniselwano yeprogram evela kwiimpawu ezininzi.Umzekelo, i-servo kusetyenziso lwepitch yokutshintsha kwamandla omoya ikakhulu lulawulo lwendawo ye-engile yeblade, kodwa iimveliso ezisetyenziswayo kufuneka zikwazi ukuziqhelanisa nemeko-bume yokusebenza erhabaxa nerhabaxa;isicelo se-servo kwisixhobo sokushicilela sisebenzisa ulawulo lokuvumelanisa isigaba phakathi kwee-axes ezininzi Ngexesha elifanayo, lithambekele ngakumbi ekusebenziseni inkqubo yokulawula intshukumo kunye nomsebenzi wokubhalisa ngokuchanekileyo;izixhobo itayara inika ingqwalasela ngakumbi kwisicelo esibanzi iintlobo ezahlukeneyo zolawulo lwentshukumo hybrid kunye neenkqubo ezizenzekelayo jikelele;izixhobo zoomatshini beplastiki zifuna ukuba inkqubo isetyenziswe kwinkqubo yokulungisa imveliso.Itorque kunye nolawulo lwesikhundla lubonelela ngeendlela ezikhethekileyo zomsebenzi kunye neparameter algorithms….
Ngakolunye uhlangothi, ngokwembono yokubeka izixhobo, ngokwezinga lokusebenza kunye neemfuno zezoqoqosho zezixhobo, khetha uluhlu lwemveliso yesixhobo esihambelanayo kwi-brand nganye.Umzekelo: ukuba awunazo iimfuno eziphezulu kakhulu zokusebenza kwesixhobo, kwaye ufuna ukugcina uhlahlo lwabiwo-mali lwakho, unokukhetha iimveliso zoqoqosho;ngokuchaseneyo, ukuba uneemfuno eziphezulu zokusebenza zokusebenza kwezixhobo ngokuchaneka, isantya, impendulo eguquguqukayo, njl., ngoko ngokwemvelo Kuyimfuneko ukwandisa igalelo lohlahlo lwabiwo-mali kuyo.
Ukongezelela, kuyimfuneko kwakhona ukuqwalasela iimeko zokusingqongileyo zesicelo ezibandakanya ukushisa kunye nomswakama, uthuli, izinga lokukhusela, iimeko zokutshatyalaliswa kobushushu, imigangatho yombane, amanqanaba okhuseleko, kunye nokuhambelana nemigca / iinkqubo ezikhoyo zokuvelisa ... njl njl.
Ingabonwa ukuba ukhetho oluphambili lweemveliso zolawulo lwentshukumo lusekwe kakhulu ekusebenzeni koluhlu lwemveliso nganye kwishishini.Ngexesha elifanayo, ukuphuculwa okuphindaphindiweyo kweemfuno zesicelo, ukungena kweempawu ezintsha kunye neemveliso ezintsha nazo ziya kuba nefuthe elithile kuyo..Ke ngoko, ukwenza umsebenzi olungileyo kuyilo kunye nokukhethwa kweenkqubo zokulawula intshukumo, oovimba bolwazi lobugcisa beshishini bemihla ngemihla basafuneka kakhulu.
Emva kokuhlolwa kwangaphambili koluhlu olukhoyo lwe-brand, sinokuqhuba ngakumbi uyilo kunye nokukhethwa kwenkqubo yokulawula intshukumo kubo.
Ngeli xesha, kuyimfuneko ukumisela iqonga lokulawula kunye noyilo lonke lwenkqubo ngokwenani lee-axes ezihambayo kwisixhobo kunye nobunzima bezenzo zokusebenza.Ngokuqhelekileyo, inani leezembe limisela ubungakanani benkqubo.Okukhona inani lama-axes, liphezulu imfuno yomthamo womlawuli.Kwangaxeshanye, kuyafuneka ukuba kusetyenziswe itekhnoloji yebhasi kwinkqubo yokwenza lula nokunciphisa umlawuli kunye nokuqhuba.Inani loqhagamshelwano phakathi kwemigca.Ubunzima bomsebenzi wentshukumo buya kuchaphazela ukhetho lwenqanaba lokusebenza komlawuli kunye nohlobo lwebhasi.Isantya esilula sexesha lokwenyani kunye nolawulo lwendawo lufuna kuphela ukusebenzisa isilawuli esizihambelayo esiqhelekileyo kunye nebhasi yasendle;ukusebenza okuphezulu ngexesha langempela ungqamaniso phakathi kwee-axes ezininzi (ezifana nezixhobo ze-elektroniki kunye neekhamera ze-elektroniki) zifuna zombini umlawuli kunye nebhasi yentsimi Inomsebenzi wokuvumelanisa iwotshi echanekileyo, oko kukuthi, kufuneka isebenzise umlawuli kunye nebhasi yezoshishino ekwazi ukwenza ngokwenene. -ulawulo lwentshukumo yexesha;kwaye ukuba ifowuni ifuna ukugqiba indiza okanye isithuba phakathi kwe-axes ezininzi okanye idibanise ulawulo lwerobhothi, ngoko umgangatho womsebenzi womlawuli.
Ngokusekelwe kule migaqo ingentla, siye sakwazi ukukhetha abalawuli abakhoyo kwiimveliso ezikhethiweyo ngaphambili kwaye siziphumeze kwiimodeli ezithile;ke ngokusekwe ekubanjeni i-fieldbus, sinokukhetha abalawuli abanokusetyenziswa nabo.Umqhubi ohambelanayo kunye neendlela ezihambelanayo ze-servo motor, kodwa oku kuphela kwinqanaba loluhlu lweemveliso.Emva koko, kufuneka sijonge ngakumbi imodeli ethile yedrive kunye nemoto ngokwemfuno yamandla yenkqubo.
Ngokutsho kwe-inertia yomthwalo kunye ne-motion curve ye-axis nganye kwiimfuno zesicelo, ngokusebenzisa ifomula ye-physics elula F = m · a okanye T = J · α, akunzima ukubala imfuno yabo ye-torque ngexesha ngalinye kwi-motion cycle.Singakwazi ukuguqula i-torque kunye neemfuno zesantya se-axis nganye eshukumayo ekupheleni komthwalo ukuya kwicala lemoto ngokomlinganiselo wokuhanjiswa kwangaphambili, kwaye kwesi siseko, yongeza imida efanelekileyo, ubale imodeli yokuqhuba kunye neemoto nganye nganye, kwaye ngokukhawuleza uzobe. Idrafti yenkqubo Ngaphambi kokungena kwinani elikhulu lomsebenzi wokhetho olucokisekileyo noludinayo, yenza uvandlakanyo olungabizi kakhulu loluhlu lweemveliso ezizezinye kwangaphambili, ngokwenjenjalo unciphisa inani lezinye iindlela.
Nangona kunjalo, asikwazi ukuthatha olu lungelelwaniso luqikelelwe kwi-torque yomthwalo, imfuno yesantya kunye nomlinganiselo wokuhanjiswa kwangaphambili njengesisombululo sokugqibela senkqubo yamandla.Ngenxa yokuba i-torque kunye neemfuno zesantya semoto ziyakuchatshazelwa yimowudi yokuhambisa ngoomatshini yenkqubo yamandla kunye nobudlelwane bomlinganiso wesantya;ngelo xesha, i-inertia yemoto ngokwayo nayo inxalenye yomthwalo wenkqubo yokuhambisa, kwaye i-motor iqhutywe ngexesha lokusebenza kwezixhobo.Yiyo yonke inkqubo yothumelo equka umthwalo, indlela yothumelo kunye ne-inetia yayo.
Ngale ndlela, ukhetho lwenkqubo yamandla e-servo alusekelwanga kuphela ekubalweni kwetorque kunye nesantya se-axis yentshukumo nganye…njl.I-axis nganye yentshukumo ihambelana neyunithi yamandla efanelekileyo.Ngokomgaqo, isekwe kubunzima / inertia yomthwalo, ijika elisebenzayo, kunye neemodeli zothumelo zoomatshini ezinokubakho, endaweni yamaxabiso e-inertia kunye neeparitha zokuqhuba (iimpawu zomzuzwana) zeenjini ezahlukeneyo ezizezinye kuyo, kunye nokuthelekisa. torque yayo (okanye amandla) kunye Ukuhlala isantya kwigophe uphawu, inkqubo yokufumana indibaniselwano ilungileyo.Ngokuqhelekileyo, kufuneka ulandele la manyathelo alandelayo:
Ngokusekwe kwiinketho ezahlukeneyo zothumelo, imephu ijika lesantya kunye ne-inertia yomthwalo kunye necandelo ngalinye lokuhambisa koomatshini ukuya kwicala lemoto;
I-inertia yemoto yomviwa ngamnye ibekwe phezulu kunye ne-inertia yomthwalo kunye ne-transmission mechanism eboniswe kwicala le-motor, kwaye i-curve yemfuno ye-torque ifunyenwe ngokudibanisa i-curve yesantya kwicala lemoto;
Thelekisa umlinganiselo kunye ne-inertia ehambelana nesantya semoto kunye ne-torque curve phantsi kweemeko ezahlukeneyo, kwaye ufumane indibaniselwano efanelekileyo yokuqhuba, i-motor, imo yokuhambisa kunye nomlinganiselo wesantya.
Ekubeni umsebenzi kwezi zigaba zingentla kufuneka uqhutywe kwi-axis nganye kwinkqubo, umthwalo wokukhetha amandla okukhethwa kweemveliso ze-servo ngokwenene mkhulu kakhulu, kwaye ixesha elininzi kuyilo lwenkqubo yokulawula intshukumo idla ngokusetyenziswa apha.Indawo.Njengoko bekutshiwo ngaphambili, kuyimfuneko ukuqikelela imodeli ngemfuno yetorque ukunciphisa inani lezinye iindlela, kwaye le yintsingiselo.
Emva kokugqiba le nxalenye yomsebenzi, kufuneka kwakhona simisele ezinye iinketho ezibalulekileyo zokuncedisa kwi-drive kunye ne-motor njengoko kufuneka ukugqiba iimodeli zabo.Olu khetho luncedisayo lubandakanya:
Ukuba umqhubi webhasi we-DC oqhelekileyo ukhethiwe, iintlobo zeeyunithi zokulungisa, izihlungi, ii-reactors kunye namacandelo oqhagamshelwano lwebhasi ye-DC (njenge-backplane yebhasi) kufuneka igqitywe ngokusasazwa kwekhabhinethi;
Ukuxhobisa i-axis ethile (s) okanye yonke inkqubo yokuqhuba kunye ne-resistors yokuqhomfa okanye iiyunithi zokunyathela ngokutsha njengoko kufuneka;
Ingaba i-shaft ye-output ye-motor ejikelezayo yindlela engundoqo okanye i-shaft optical, kwaye ingaba i-brake;
Imoto yomgca idinga ukucacisa inani leemodyuli ze-stator ngokobude be-stroke;
Iprothokholi yengxelo ye-Servo kunye nesisombululo, ngokunyuka okanye ngokupheleleyo, ukujika okukodwa okanye ukujika okuninzi;
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Kweli nqanaba, sizimisele iiparamitha eziphambili zoluhlu olulolunye uhlobo lophawu kwinkqubo yolawulo olushukumayo ukusuka kumlawuli ukuya kwi-servo drives ye-axis eshukumayo nganye, imodeli yemoto kunye nesixhobo sokuhambisa ngoomatshini.
Okokugqibela, kufuneka sikhethe amanye amacandelo asebenzayo enkqubo yokulawula intshukumo, efana nale:
Iikhowudi ezincedisayo (zokujiya) ezinceda ii-axis ezithile okanye inkqubo iyonke ukungqamanisa namanye amacandelo entshukumo angeyo-servo;
Imodyuli ye-high-speed ye-I / O yokuqonda igalelo lekhamera ye-high-speed okanye imveliso;
Iintlobo ezahlukeneyo zonxibelelwano lweentambo zombane, kubandakanywa: iintambo zamandla e-servo motor, impendulo kunye neentambo zebrake, iintambo zonxibelelwano lwebhasi phakathi komqhubi kunye nomlawuli…;
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Ngale ndlela, ukukhethwa kwenkqubo yokulawula intshukumo ye-servo yonke yezixhobo kugqityiwe.
Ixesha lokuposa: Sep-28-2021