Ama-stepper motorsingasetshenziswa ukulawula isivinini kanye nokulawula indawo ngaphandle kokusebenzisa amadivayisi okuphendula (okungukuthi ukulawula okuvulekile), ngakho-ke lesi sixazululo sokushayela singabizi futhi sithembekile. Emishinini yokwenza izinto, izinsimbi, i-stepper drive isetshenziswe kabanzi. Kodwa abasebenzisi abaningi bezisebenzi zobuchwepheshe mayelana nendlela yokukhetha i-stepper motor efanele, indlela yokwenza ukusebenza okuhle kakhulu kwe-stepper drive noma banemibuzo eminingi. Leli phepha lixoxa ngokukhethwa kwama-stepper motors, ligxile ekusetshenzisweni kolwazi oluthile lobunjiniyela be-stepper motor, ngithemba ukuthi ukuthandwa kwama-stepper motors emishinini yokwenza izinto kuzodlala indima ekubhekiseleni kuyo.
1. Isingeniso se-injini ye-stepper
I-stepper motor yaziwa nangokuthi i-pulse motor noma i-step motor. Iqhubekela phambili nge-engeli ethile njalo lapho isimo sokuvuselela sishintshwa ngokwesignali ye-pulse yokufaka, futhi ihlala ingashintshi endaweni ethile lapho isimo sokuvuselela singashintshi. Lokhu kuvumela i-stepper motor ukuguqula isignali ye-pulse yokufaka ibe yi-angular displacement ehambisanayo yokukhipha. Ngokulawula inani lama-pulse okufaka unganquma ngokunembile ukufuduka kwe-angular kokukhipha ukuze ufinyelele indawo engcono kakhulu; futhi ngokulawula imvamisa yama-pulse okufaka ungalawula ngokunembile ijubane le-angular lokukhipha futhi ufeze injongo yokulawulwa kwejubane. Ngasekupheleni kweminyaka yama-1960, kwavela izinhlobo ezahlukene zama-stepper motor asebenzayo, futhi eminyakeni engama-40 edlule kube nentuthuko esheshayo. Ama-Stepper motor akwazile ukusebenzisa ama-DC motor, ama-asynchronous motors, kanye nama-synchronous motors eceleni, abe uhlobo oluyisisekelo lwemoto. Kunezinhlobo ezintathu zama-stepper motors: i-reactive (uhlobo lwe-VR), i-permanent magnet (uhlobo lwe-PM) kanye ne-hybrid (uhlobo lwe-HB). I-hybrid stepper motor ihlanganisa izinzuzo zezinhlobo ezimbili zokuqala ze-stepper motor. Injini ye-stepper iqukethe i-rotor (i-rotor core, omakethi abangapheli, umgodi, ama-ball bearings), i-stator (i-winding, i-stator core), izivalo zangaphambili nangemuva, njll. Injini ye-stepper ye-hybrid ejwayelekile kakhulu enezigaba ezimbili ine-stator enamazinyo amakhulu ayi-8, amazinyo amancane angama-40 kanye ne-rotor enamazinyo amancane angama-50; imoto enezigaba ezintathu ine-stator enamazinyo amakhulu ayi-9, amazinyo amancane angama-45 kanye ne-rotor enamazinyo amancane angama-50.
2, isimiso sokulawula
Iinjini ye-stepperayikwazi ukuxhunywa ngqo nokunikezwa kwamandla, futhi ayikwazi ukuthola amasignali kagesi ngqo, kumele itholakale ngokusebenzisa isikhombikubona esikhethekile - umshayeli wemoto ye-stepper ukuze asebenzisane nokunikezwa kwamandla kanye nomlawuli. Umshayeli wemoto ye-stepper ngokuvamile wakhiwe ngumsabalalisi wendandatho, kanye nesekethe ye-amplifier yamandla. Umhlukanisi wendandatho uthola amasignali okulawula avela kumlawuli. Isikhathi ngasinye lapho kwamukelwa isignali ye-pulse, ukuphuma kwesihlukanisi sendandatho kuguqulwa kanye, ngakho-ke ukuba khona noma ukungabikho kanye nemvamisa yesignali ye-pulse kunganquma ukuthi isivinini semoto ye-stepper siphezulu noma siphansi, sisheshisa noma sinciphisa ukuqala noma ukuma. Umsabalalisi wendandatho kumele futhi aqaphe isignali yesiqondiso esivela kumlawuli ukuze anqume ukuthi izinguquko zesimo sayo sokuphuma zihlelekile noma zilungile, futhi ngaleyo ndlela anqume ukuqondisa kwemoto ye-stepper.
3, Amapharamitha Ayinhloko
①Inombolo yebhulokhi: ikakhulukazi 20, 28, 35, 42, 57, 60, 86, njll.
②Inombolo yesigaba: inani lama-coil ngaphakathi kwe-stepper motor, inombolo yesigaba se-stepper motor ngokuvamile inezigaba ezimbili, ezintathu, nezigaba ezinhlanu. I-China isebenzisa kakhulu ama-stepper motor anezigaba ezimbili, kanti nezigaba ezintathu nazo zinezinhlelo zokusebenza ezithile. I-Japan ivame ukusetshenziswa kakhulu ama-stepper motor anezigaba ezinhlanu.
③I-engeli yesinyathelo: ihambisana nesignali ye-pulse, ukufuduka kwe-engeli kokuzungeza kwe-rotor yemoto. Ifomula yokubala i-engeli yesinyathelo se-Stepper motor ilandelayo
I-engeli yesinyathelo = 360° ÷ (2mz)
m inani lezigaba zemoto ye-stepper
Z inani lamazinyo e-rotor yemoto ye-stepper.
Ngokusho kwefomula engenhla, i-engeli yesinyathelo sama-stepper motors anezigaba ezimbili, ezintathu kanye nezigaba ezinhlanu ingu-1.8°, 1,2° kanye no-0.72° ngokulandelana.
④ I-torque yokubamba: i-torque yokugoqa kwe-stator yemoto ngokusebenzisa ugesi olinganisiwe, kodwa i-rotor ayijikelezi, i-stator ikhiya i-rotor. I-torque yokubamba iyipharamitha ebaluleke kakhulu yama-stepper motors, futhi iyisisekelo esiyinhloko sokukhetha imoto.
⑤ I-torque yokubeka: i-torque edingekayo ukuze kujikelezwe i-rotor ngamandla angaphandle lapho imoto ingadluli ugesi. I-torque ingenye yezinkomba zokusebenza ukuhlola imoto, uma ezinye izilinganiso zifana, i-torque yokubeka incane isho ukuthi "umphumela wesikhala" mncane, kuzuzisa kakhulu ukushelela kwemoto esebenza ngezici zemvamisa ye-torque yesivinini esiphansi: ikakhulukazi ibhekisela ezicini zemvamisa ye-torque edonswe ngaphandle, ukusebenza okuzinzile kwemoto ngesivinini esithile kungamelana ne-torque ephezulu ngaphandle kokulahlekelwa yisinyathelo. I-curve yemvamisa yesikhashana isetshenziselwa ukuchaza ubudlelwano phakathi kwe-torque ephezulu kanye nesivinini (imvamisa) ngaphandle kokulahlekelwa yisinyathelo. I-curve yemvamisa ye-torque iyipharamitha ebalulekile yemoto ye-stepper futhi iyisisekelo esiyinhloko sokukhethwa kwemoto.
⑥ Isilinganiso samanje: i-motor winding current edingekayo ukuze kugcinwe i-torque elinganisiwe, inani elisebenzayo
4, Ukukhetha amaphuzu
Izicelo zezimboni ezisetshenziswa kwisivinini semoto ye-stepper esifinyelela ku-600 ~ 1500rpm, isivinini esiphezulu, ungacabanga nge-closed-loop stepper motor drive, noma ukhethe izinyathelo zokukhetha imoto ye-stepper efaneleke kakhulu yohlelo lwe-servo drive (bheka isithombe esingezansi).
(1) Ukukhetha i-angle yesinyathelo
Ngokwenani lezigaba zemoto, kunezinhlobo ezintathu ze-engeli yesinyathelo: 1.8° (isigaba ezimbili), 1.2° (isigaba ezintathu), 0.72° (isigaba ezinhlanu). Vele, i-engeli yesinyathelo sesigaba ezinhlanu inokunemba okuphezulu kakhulu kodwa imoto yayo nomshayeli wayo kuyabiza kakhulu, ngakho-ke ayisetshenziswa kakhulu eShayina. Ngaphezu kwalokho, abashayeli be-stepper abajwayelekile manje basebenzisa ubuchwepheshe bokushayela i-division, ku-division ezine ngezansi, ukunemba kwe-engeli yesinyathelo se-division kusaqinisekiswa, ngakho-ke uma izinkomba zokunemba kwe-engeli yesinyathelo zodwa kusukela ekucabangeni, imoto ye-stepper yesigaba ezinhlanu ingashintshwa yimoto ye-stepper yesigaba ezimbili noma ezintathu. Isibonelo, ekusetshenzisweni kohlobo oluthile lwe-lead lomthwalo wesikulufu esingu-5mm, uma kusetshenziswa imoto yokunyathela enezigaba ezimbili futhi umshayeli usethwe ezindaweni ezi-4, inani lama-pulse ngokujikeleza ngakunye kwemoto lingu-200 x 4 = 800, kanti okulingana ne-pulse kungu-5 ÷ 800 = 0.00625mm = 6.25μm, lokhu kunemba kungahlangabezana nezimfuneko eziningi zohlelo lokusebenza.
(2) Ukukhetha i-torque eqinile (i-torque ebambekayo)
Izindlela zokudlulisa umthwalo ezisetshenziswa kakhulu zifaka amabhande ahambisanayo, imigoqo yefilament, i-rack kanye ne-pinion, njll. Amakhasimende aqala ngokubala umthwalo wawo womshini (ikakhulukazi i-acceleration torque kanye ne-friction torque) eguqulwe ibe yi-load torque edingekayo ku-motor shaft. Bese kuthi, ngokwejubane eliphezulu lokusebenza elidingwa yizimbali zikagesi, kusetshenziswe izimo ezimbili ezahlukene zokukhetha i-torque efanelekile yokubamba ye-stepper motor ① ukuze kusetshenziswe ijubane le-motor elidingwayo elingu-300pm noma ngaphansi: uma umthwalo womshini uguqulwa ube yi-motor shaft edingekayo i-load torque T1, khona-ke le torque yomthwalo iphindaphindwa nge-safety factor SF (ngokuvamile ithathwa njengo-1.5-2.0), okungukuthi, i-stepper motor edingekayo yokubamba i-torque Tn ②2 yezinhlelo zokusebenza ezidinga ijubane le-motor elingu-300pm noma ngaphezulu: setha ijubane eliphezulu i-Nmax, uma umthwalo womshini uguqulwa ube yi-motor shaft, i-load torque edingekayo yi-T1, khona-ke le load torque iphindaphindwa nge-safety factor SF (ngokuvamile i-2.5-3.5), enikeza i-holding torque Tn. Bheka uMfanekiso 4 bese ukhetha imodeli efanelekile. Bese usebenzisa ijika lemvamisa ukuze uhlole futhi uqhathanise: kujika lemvamisa, isivinini esiphezulu i-Nmax edingekayo ngumsebenzisi sihambisana ne-torque ephezulu yesinyathelo esilahlekile ye-T2, khona-ke i-torque ephezulu yesinyathelo esilahlekile i-T2 kufanele ibe ngaphezu kuka-20% kune-T1. Ngaphandle kwalokho, kuyadingeka ukukhetha injini entsha ene-torque enkulu, bese uhlola futhi uqhathanise futhi ngokwejika lemvamisa ye-torque yenjini esanda kukhethwa.
(3) Uma inombolo yesisekelo senjini inkulu, i-torque yokubamba inkulu.
(4) ngokuya ngogesi olinganisiwe ukuze ukhethe umshayeli we-stepper ohambisanayo.
Isibonelo, ugesi olinganiselwe wemoto engu-57CM23 ungu-5A, bese ufanisa ugesi ovunyelwe wemoto ongaphezu kuka-5A (sicela uqaphele ukuthi yinani elisebenzayo kunesiqongo), ngaphandle kwalokho uma ukhetha ugesi ophakeme wemoto ongu-3A kuphela, i-torque ephezulu yokukhipha yemoto ingaba ngu-60% kuphela!
5, ulwazi lohlelo lokusebenza
(1) inkinga ye-stepper motor frequency resonance ephansi
I-Subdivision stepper drive iyindlela ephumelelayo yokunciphisa i-low frequency resonance yama-stepper motors. Ngaphansi kuka-150rpm, i-division drive iyasebenza kakhulu ekunciphiseni ukudlidliza kwemoto. Ngokwethiyori, uma i-division inkulu, umphumela uba ngcono ekunciphiseni ukudlidliza kwemoto ye-stepper, kodwa isimo sangempela siwukuthi i-division iyanda ibe ngu-8 noma u-16 ngemuva kokuthi umphumela wokuthuthuka ekunciphiseni ukudlidliza kwemoto ye-stepper usufinyelele ezingeni eliphezulu.
Eminyakeni yamuva nje, kube khona abashayeli be-stepper abalwa ne-resonance frequency ephansi ababhalwe ekhaya nakwamanye amazwe, uchungechunge lwemikhiqizo ye-DM kaLeisai, i-DM-S, ubuchwepheshe be-resonance obulwa ne-frequency ephansi. Lolu chungechunge lwabashayeli lusebenzisa isinxephezelo se-harmonic, ngokusebenzisa isinxephezelo sokufanisa ubukhulu kanye nesigaba, lunganciphisa kakhulu ukudlidliza kwe-frequency ephansi kwemoto ye-stepper, ukuze kufezwe ukusebenza kokudlidliza okuphansi kanye nomsindo ophansi wemoto.
(2) Umthelela wokuhlukaniswa kwemoto ye-stepper ekuqondeni kokubeka
Isekethe yokushayela yokuhlukanisa i-Stepper motor ayikwazi nje ukuthuthukisa ukushelela kokunyakaza kwedivayisi, kodwa futhi ingathuthukisa ngempumelelo ukunemba kokubekwa kwemishini. Ukuhlolwa kubonisa ukuthi: Epulatifomu yokunyakaza yokushayela i-belt ehambisanayo, i-stepper motor 4 subdivision, imoto ingabekwa ngokunembile esinyathelweni ngasinye.
Isikhathi sokuthunyelwe: Juni-11-2023