Ama-stepper motors ehliswa kanjani ijubane?

Izinjini ze-stepperzingamadivayisi e-electromechanical aguqula ngokuqondile ama-impulses kagesi abe ukunyakaza komshini. Ngokulawula ukulandelana, imvamisa kanye nenani lama-impulses kagesi asetshenziswa kumakhoyili emoto, ama-stepper motors angalawulwa ngokuqondisa, isivinini kanye ne-angle yokujikeleza. Ngaphandle kosizo lwesistimu yokulawula impendulo ye-loop evaliwe enenzwa yendawo, indawo eqondile kanye nokulawulwa kwesivinini kungafinyelelwa ngokusebenzisa uhlelo olulula, olungabizi oluphansi lokulawula iluphu oluhlanganisa i-stepper motor kanye nomshayeli wayo ohambisana nayo.

I-stepping motor njengento ephezulu, ingenye yemikhiqizo ebalulekile ye-mechatronics, esetshenziswa kabanzi ezinhlelweni zokulawula ezishintshayo. Ngokuthuthuka kobuchwepheshe be-microelectronics kanye nobuchwepheshe bokukhiqiza obunembayo, isidingo sama-stepper motors sikhula usuku nosuku, futhi ama-stepper motors kanye nendlela yokuhambisa igiya ehlanganiswe namabhokisi wegiya, futhi ezimweni ezikhulayo zohlelo lokusebenza ongazibona, namuhla nawo wonke umuntu ukuqonda lolu hlobo lomshini wokuhambisa ugiya.

Unganciphisa kanjanii-stepper motor?

Njengemoto yokushayela esetshenziswa kakhulu futhi esetshenziswa kabanzi, i-stepper motor ivamise ukusetshenziswa kanye nemishini yokwehlisa izinga lejubane ukuze kuzuzwe umphumela ofanele wokudlulisela; kanye nemishini evame ukusetshenziswa yokwehlisa amandla nezindlela ze-stepper motor zifana nama-gearbox e-deceleration, ama-encoder, izilawuli, amasignali we-pulse nokunye.

Ukwehla kwesignali ye-Pulse: isivinini se-stepper motor, sisekelwe ekushintsheni kwesignali ye-pulse ukuze kuguquke. Ngokwethiyori, nikeza umshayeli ishayela, ii-stepper motorizungezisa i-engeli yesinyathelo (ihlukaniselwe i-engeli yesinyathelo ehlukanisiwe). Ngokwenza, uma isignali ye-pulse ishintsha ngokushesha kakhulu, i-stepper motor, ngenxa yomphumela wokudambisa amandla wangaphakathi we-reverse electromotive, ukusabela kazibuthe phakathi kwe-rotor kanye ne-stator ngeke ikwazi ukulandela izinguquko kusignali kagesi, okuzoholela ekuvinjweni nasekulahlekeni kwesinyathelo.

Ukuncishiswa kwebhokisi legiya lokuncishiswa: I-stepper motor ifakwe ibhokisi legiya lokunciphisa elisetshenziswa ndawonye, ​​i-stepper motor ephuma ngesivinini esikhulu, isivinini esiphansi se-torque, exhunywe ebhokisini legiya lokunciphisa, ibhokisi legiya lokwehliswa kwangaphakathi kwamagiya okuhanjiswa kwe-mesh okwakhiwa ngenani lokunciphisa, ukuphuma kwe-stepper motor yokunciphisa isivinini esikhulu, nokuthuthukisa i-torque yokudlulisela, ukufeza umphumela ofanele wokudlulisela; umphumela wokuncishiswa uncike esilinganisweni sokunciphisa ibhokisi legiya, sikhulu isilinganiso sokunciphisa, sibe sincane isivinini sokuphumayo, ngokuphambene nalokho. Umthelela wokuncishiswa uncike esilinganisweni sokunciphisa i-gearbox, sikhulu isilinganiso sokunciphisa, sibe sincane isivinini sokuphumayo futhi okuphambene nalokho.

Ijubane lokulawula umchazi wejika: ijika lomchazi, ohlelweni lwesofthiwe, ukubala kokuqala kwesikhathi esigcinwe kumemori yekhompyutha, umsebenzi okhomba okukhethiwe. Imvamisa, isikhathi sokusheshisa nesokwehlisa ukuqedela i-stepper motor singaphezu kwama-300ms. Uma usebenzisa ukusheshisa okufushane kakhulu kanye nesikhathi sokunciphisa, ngobuningi beama-stepper motors, kuzoba nzima ukufeza ukujikeleza kwesivinini esikhulu se-stepper motor.

Ukunciphisa okulawulwa yi-Encoder: Ukulawulwa kwe-PID, njengendlela yokulawula elula nesebenzayo, kusetshenziswe kabanzi kumadrayivu e-stepper motor. Isekelwe enanini elinikeziwe elingu-r ( t ) kanye nenani langempela lokuphumayo c ( t ) lihlanganisa ukuchezuka kokulawula u-e ( t ), ukuchezuka kwesilinganiso, okubalulekile nokuhlukanisayo ngokusebenzisa inhlanganisela yomugqa wenani lokulawula, isilawuli sento elawulwayo. Inzwa yokuma edidiyelwe isetshenziswa kumotho ye-hybrid stepper motor enezigaba ezimbili, futhi isilawuli sesivinini se-PI esizishintshela ngokuzenzakalela siklanywe ngesisekelo somtshina wendawo kanye nokulawulwa kwe-vector, okunganikeza izici zesikhashana ezanelisayo ngaphansi kwezimo zokusebenza eziguquguqukayo. Ngokusho kwemodeli yezibalo ye-stepper motor, uhlelo lokulawula lwe-PID lwe-stepper motor lwakhiwe, futhi i-algorithm yokulawula ye-PID isetshenziselwa ukuthola inani lokulawula, ukuze ulawule imoto ukuze ihambe endaweni ecacisiwe.

Okokugcina, isilawuli siqinisekiswa ngokulingisa ukuze sibe nezici ezinhle zokuphendula eziguqukayo. Ukusetshenziswa kwesilawuli se-PID kunezinzuzo zesakhiwo esilula, ukuqina, ukwethembeka nokunye, kodwa asikwazi ukubhekana ngokuphumelelayo nolwazi olungaqinisekile ohlelweni.