Izinjini ze-stepper zehliswa kanjani ijubane?

Ama-stepper motorsyimishini kagesi eguqula ngqo ama-pulse kagesi abe ukunyakaza komshini. Ngokulawula ukulandelana, imvamisa kanye nenani lama-pulse kagesi asetshenziswa kuma-motor coil, ama-stepper motors angalawulwa ukuze aqondise, asheshise futhi ajikelezise. Ngaphandle kosizo lohlelo lokulawula impendulo oluvaliwe olunokuzwa isikhundla, indawo eqondile kanye nokulawula isivinini kungatholakala ngokusebenzisa uhlelo lokulawula oluvulekile olulula, olungabizi kakhulu oluqukethe i-stepper motor kanye nomshayeli ohambisana nayo.

I-Stepping motor njengesici esiphezulu, ingenye yemikhiqizo eyinhloko ye-mechatronics, esetshenziswa kabanzi ezinhlelweni ezahlukene zokulawula ezenzakalelayo. Ngokuthuthuka kobuchwepheshe be-microelectronics kanye nobuchwepheshe bokukhiqiza ngokunemba, isidingo sama-stepper motors siyakhula usuku nosuku, futhi ama-stepper motors kanye ne-gear transmission mechanism kuhlanganiswe nama-gearbox, futhi ezimweni eziningi zokusetshenziswa okufanele zibonwe namuhla futhi wonke umuntu aqonde lolu hlobo lwe-gearbox transmission mechanism.

Indlela yokunciphisa ijubaneinjini ye-stepper?

Njengemoto yokushayela esetshenziswa kakhulu futhi esetshenziswa kabanzi, imoto ye-stepper ivame ukusetshenziswa kanye nemishini yokwehlisa umfutho ukuze kufezwe umphumela omuhle wokudlulisa; futhi imishini yokwehlisa umfutho esetshenziswa kakhulu kanye nezindlela zemoto ye-stepper njengebhokisi lamagiya lokunciphisa umfutho, ama-encoder, abalawuli, amasignali e-pulse njalo njalo.

Ukwehla kwesignali ye-pulse: isivinini se-stepper motor, kusekelwe ekushintsheni kwesignali ye-pulse yokufaka ukuze ishintshe. Ngokwethiyori, nikeza umshayeli i-pulse, i-injini ye-stepperijikeleza i-engeli yesinyathelo (ehlukaniswe i-engeli yesinyathelo ehlukaniswe). Empeleni, uma isignali ye-pulse ishintsha ngokushesha kakhulu, i-stepper motor, ngenxa yomphumela wokudambisa we-internal reverse electromotive force, ukusabela kwamagnetic phakathi kwe-rotor ne-stator ngeke kukwazi ukulandela izinguquko esignalini kagesi, okuzoholela ekuvinjweni nasekulahlekelweni kwesinyathelo.

Ukunciphisa ijubane lebhokisi lamagiya: I-stepper motor ifakwe ibhokisi lamagiya okunciphisa elisetshenziswa ndawonye, ​​i-stepper motor ikhipha isivinini esikhulu, isivinini se-torque ephansi, exhunywe ebhokisini lamagiya okunciphisa, i-gear box yangaphakathi yokunciphisa amagiya okunciphisa eyakhiwe yisilinganiso sokunciphisa, i-stepper motor ekhipha isivinini esikhulu, futhi ithuthukise i-torque yokudlulisa, ukuze kufezwe umphumela ofanele wokudlulisa; umphumela wokunciphisa ijubane uncike kwisilinganiso sokunciphisa ibhokisi lamagiya, lapho isilinganiso sokunciphisa sikhulu, isivinini sokukhipha sincane, futhi ngokuphambene nalokho. Umphumela wokunciphisa ijubane uncike kwisilinganiso sokunciphisa ibhokisi lamagiya, lapho isilinganiso sokunciphisa sikhulu, isivinini sokukhipha sincane futhi ngokuphambene nalokho.

Ijubane lokulawula i-exponential curve: i-exponential curve, ohlelweni lwesofthiwe, ukubalwa kokuqala kwesikhathi esihlala njalo esigcinwe kwimemori yekhompyutha, umsebenzi okhomba ekukhetheni. Ngokuvamile, isikhathi sokusheshisa kanye nokwehlisa ijubane ukuqedela i-stepper motor singaphezu kwama-300ms. Uma usebenzisa isikhathi esifushane kakhulu sokusheshisa kanye nokwehlisa ijubane, iningi laboama-stepper motors, kuzoba nzima ukufeza ukujikeleza kwesivinini esikhulu semoto ye-stepper.

Ukwehla kwejubane okulawulwa yi-encoder: Ukulawulwa kwe-PID, njengendlela yokulawula elula nesebenzayo, kuye kwasetshenziswa kabanzi kuma-stepper motor drive. Kusekelwe enanini elinikeziwe r (t) futhi inani langempela lokukhipha c (t) lakha ukuphambuka kokulawula e (t), ukuphambuka kokulingana, okuhlanganisiwe kanye nokwehluka ngokusebenzisa inhlanganisela eqondile yenani lokulawula, ukulawula into elawulwayo. Inzwa yesikhundla esihlanganisiwe isetshenziswa ku-motor hybrid stepper enezigaba ezimbili, futhi isilawuli sejubane le-PI esilungisekayo ngokuzenzakalela sakhiwe ngesisekelo se-position detector kanye nokulawula kwe-vector, okunganikeza izici zesikhashana ezanelisayo ngaphansi kwezimo zokusebenza eziguquguqukayo. Ngokusho kwemodeli yezibalo ye-stepper motor, uhlelo lokulawula lwe-PID lwe-stepper motor luklanyelwe, futhi i-algorithm yokulawula ye-PID isetshenziselwa ukuthola inani lokulawula, ukuze kulawulwe imoto ukuthi ihambe iye endaweni ecacisiwe.

Okokugcina, ukulawula kuqinisekiswa ngokulingiswa ukuthi kunezimpawu ezinhle zokuphendula eziguquguqukayo. Ukusetshenziswa kwesilawuli se-PID kunezinzuzo zesakhiwo esilula, ukuqina, ukuthembeka nokunye, kodwa akukwazi ukubhekana ngempumelelo nolwazi olungaqinisekile ohlelweni.