Njengomshini wokusebenza,injini ye-stepperingenye yemikhiqizo ebalulekile ye-mechatronics, esetshenziswa kabanzi ezinhlelweni ezahlukene zokulawula ezenzakalelayo. Ngokuthuthuka kwe-microelectronics kanye nobuchwepheshe bekhompyutha, isidingo sama-stepper motors siyakhula usuku nosuku, futhi asetshenziswa emikhakheni eyahlukene yezomnotho kazwelonke.
01 Kuyini i-injini ye-stepper
I-Stepper motor iyithuluzi le-electromechanical eliguqula ngqo ama-pulse kagesi abe ukunyakaza komshini. Ngokulawula ukulandelana, imvamisa kanye nenani lama-pulse kagesi asetshenziswa kukhoyili yemoto, isiteringi, isivinini kanye ne-engeli yokujikeleza kwemoto ye-stepper kungalawulwa. Ngaphandle kokusebenzisa uhlelo lokulawula impendulo oluvaliwe olunokuzwa isikhundla, indawo eqondile kanye nokulawula isivinini kungafezwa kusetshenziswa uhlelo lokulawula oluvulekile olulula, olungabizi kakhulu olwakhiwe yi-stepper motor kanye nomshayeli ohambisana nayo.
02 injini ye-stepperisakhiwo esiyisisekelo kanye nomgomo wokusebenza
Isakhiwo esiyisisekelo:
Isimiso sokusebenza: umshayeli we-stepper motor ngokuya nge-pulse yokulawula yangaphandle kanye nesignali yesiqondiso, ngokusebenzisa isekethe yayo yangaphakathi ye-logic, lawula ukugoba kwe-stepper motor ngokulandelana kwesikhathi esithile phambili noma emuva kunikwe amandla, ukuze i-motor ijikelezise phambili/ibuyele emuva, noma ikhiye.
Thatha injini ye-stepper enezigaba ezimbili engu-1.8 degrees njengesibonelo: lapho womabili ama-windings enikwe amandla futhi evuselelwe, i-shaft yokukhipha injini izohlala ingashintshi futhi ivalwe endaweni yayo. I-torque ephezulu ezogcina injini ikhiyiwe ku-current elinganisiwe yi-torque ebambayo. Uma u-current kwenye yama-windings uqondiswa kabusha, imoto izojikeleza isinyathelo esisodwa (ama-degree angu-1.8) ngendlela ethile.
Ngokufanayo, uma ugesi kwenye indlela ejikelezayo ushintsha indlela, injini izojikeleza isinyathelo esisodwa (amadigri angu-1.8) ngakolunye uhlangothi. Lapho ugesi odlula kuma-coil windings uqondiswa ngokulandelana ukuze uvuseleleke, injini izojikeleza ngesinyathelo esiqhubekayo ohlangothini olunikeziwe ngokunemba okuphezulu kakhulu. Kumadigri angu-1.8 we-stepper yesigaba ezimbili ukujikeleza kwenjini kuthatha izinyathelo ezingu-200 ngesonto.
Ama-motor e-stepper anezigaba ezimbili anezinhlobo ezimbili zokujikijela: i-bipolar kanye ne-unipolar. Ama-motor e-bipolar ane-coil eyodwa yokujikijela ngesigaba ngasinye, ukujikeleza okuqhubekayo kwe-motor kwamanje ku-coil efanayo ukuze kube ukuvusa okuguqukayo okulandelanayo, ukwakheka kwesekethe yokushayela kudinga ukushintsha okungu-elekthronikhi okuyisishiyagalombili kokushintsha okulandelanayo.
Ama-motor e-Unipolar anama-coil amabili ajikelezayo ane-polarity ephambene esigabeni ngasinye, kanye ne-motor
ijikeleza njalo ngokunika amandla ama-coil amabili ajikelezayo ngokushintshana esigabeni esifanayo.
Isekethe yokushayela yenzelwe ukudinga amaswishi kagesi amane kuphela. Ku-bipolar
imodi yokushayela, i-torque yokukhipha yemoto inyuswe cishe ngo-40% uma kuqhathaniswa ne-
imodi yokushayela ye-unipolar ngoba ama-winding coils esigaba ngasinye ajabule ngokuphelele.
03, umthwalo wemoto ye-Stepper
A. Umthwalo wesikhashana (Tf)
I-Tf = G * r
G: Isisindo somthwalo
r: irediyasi
B. Umthwalo we-Inertia (TJ)
TJ = J * dw/dt
J = M * (R12+R22) / 2 (Kg * cm)
M: Isisindo somthwalo
R1: Irediyasi yendandatho yangaphandle
R2: Irediyasi yendandatho yangaphakathi
dω/dt: Ukusheshisa kwe-angular
04, ijika le-torque ye-stepper motor
Ijika le-torque yesivinini liyisibonakaliso esibalulekile sezimpawu zokukhipha ze-stepper
ama-motor.
A. Iphuzu lemvamisa yokusebenza kwe-Stepper motor
Inani lesivinini semoto ye-stepper motor endaweni ethile.
n = q * Hz / (360 * D)
n: i-rev/isekhondi
I-Hz: Inani lemvamisa
D: Inani lokuhumusha kwesekethe yedrayivu
q: i-angle yesinyathelo se-stepper motor
Isibonelo, imoto ye-stepper ene-angle ye-pitch engu-1.8°, ene-1/2 interpolation drive(okungukuthi, 0.9° ngesinyathelo ngasinye), inesivinini esingu-1.25 r/s ngemvamisa yokusebenza engu-500 Hz.
B. Indawo yokuziqalela imoto ye-Stepper
Indawo lapho injini ye-stepper ingaqaliswa futhi imiswe khona ngqo.
C. Indawo yokusebenza eqhubekayo
Kule ndawo, imoto ye-stepper ayikwazi ukuqalwa noma ukumiswa ngqo. Ama-stepper motors kule ndawo kumele iqale idlule endaweni yokuziqalela bese isheshiswa ukuze ifinyeleleindawo yokusebenza. Ngokufanayo, imoto ye-stepper kule ndawo ayikwazi ukubhuleka ngqo,uma kungenjalo kulula ukubangela ukuthi injini ye-stepper iphume esinyathelweni, kumele kuqala yehlise ijubane ukuzeindawo yokuqalisa bese ibhulekiswa.
D. Imvamisa yokuqala ephezulu ye-Stepper motor
isimo sokungasebenzi kwenjini, ukuqinisekisa ukuthi injini ye-stepper ayilahlekelwa ukusebenza kwesinyathelo se-imvamisa ephezulu yokushaya kwenhliziyo.
Imvamisa yokusebenza ephezulu ye-Stepper motor
Imvamisa ephezulu kakhulu yokushaya kwenhliziyo lapho injini ijabulele khona ukugijima ngaphandle kokulahlekelwa yisinyathelongaphansi komthwalo.
F. I-torque yokuqala ye-Stepper motor / i-torque yokudonsa
Ukuze uhlangabezane ne-stepper motor ngesivinini esithile sokushaya kwenhliziyo, qala futhi uqale ukusebenza, ngaphandleizinyathelo zokulahlekelwa yi-torque ephezulu yomthwalo.
G. Injini ye-Stepper esebenzisa i-torque/i-torque yokudonsa
I-torque ephezulu yomthwalo eyanelisa ukusebenza okuzinzile kwemoto ye-stepper ku-imvamisa ethile yokushaya kwenhliziyo ngaphandle kokulahlekelwa yisinyathelo.
05 Ukulawula ukusheshisa/ukunciphisa ukunyakaza kwenjini ye-Stepper
Lapho imvamisa yokusebenza kwe-stepper motor ikhomba ekhoneni le-torque yesivinini esiqhubekayoindawo yokusebenza, indlela yokufinyeza ukuqala kwemoto noma ukuyeka ukusheshisa noma ukwehlisa ijubaneisikhathi, ukuze injini isebenze isikhathi eside esimweni sesivinini esihle kakhulu, ngaleyo ndlela kwandisweIsikhathi sokusebenza kahle kwenjini sibaluleke kakhulu.
Njengoba kuboniswe esithombeni esingezansi, ijika eliyisici se-torque enamandla yemoto ye-stepper liyiumugqa oqondile ovundlile ngesivinini esiphansi; ngesivinini esiphezulu, ijika liyancipha ngokusheshangenxa yethonya le-inductance.
Siyazi ukuthi umthwalo we-stepper motor uyi-TL, ake sithi sifuna ukusheshisa kusuka ku-F0 kuya ku-F1 ku-isikhathi esifushane kakhulu (tr), ungasibala kanjani isikhathi esifushane kakhulu tr?
(1) Ngokuvamile, i-TJ = 70% i-Tm
(2) tr = 1.8 * 10 -5 * J * q * (F1-F0)/(TJ -TL)
(3) F (t) = (F1-F0) * t/tr + F0, 0
B. Ukusheshisa okubonakalayo esimweni sesivinini esikhulu
(1) Ngokuvamile
I-TJ0 = 70%Tm0
I-TJ1 = 70%Tm1
I-TL = 60%Tm1
(2)
tr = F4 * Ku-[(TJ 0-TL)/(TJ 1-TL)]
(3)
F (t) = F2 * [1 - e^(-t/F4)] + F0, 0
F2 = (TL-TJ 0) * (F1-F0)/TJ 1-TJ 0)
F4 = 1.8 * 10-5 * J * q * F2/(TJ 0-TL)
Amanothi.
I-J ikhombisa ukungasebenzi kahle kokujikeleza kwe-rotor yemoto ngaphansi komthwalo.
u-q yi-engeli yokujikeleza yesinyathelo ngasinye, okuyi-engeli yesinyathelo semoto ye-stepper ku-
icala ledrayivu yonke.
Ekusebenzeni kokunciphisa ijubane, vele ubuyisele emuva imvamisa yokushaya kwenhliziyo yokusheshisa engenhla.
kubalwe.
06 ukudlidliza kwenjini ye-stepper kanye nomsindo
Ngokuvamile, i-stepper motor ayisebenzi kahle, lapho imvamisa yokusebenza kwemoto isebenza.isondele noma ilingana nemvamisa yemvelo ye-rotor yenjini izozwakala, intando engathi sínakwenzeka ngaphandle kwesinyathelo.
Izixazululo eziningana ze-resonance:
A. Gwema indawo yokudlidliza: ukuze imvamisa yokusebenza kwemoto ingaweli ngaphakathiububanzi bokudlidliza
B. Sebenzisa imodi yokushayela ehlukanisayo: Sebenzisa imodi yokushayela enezinyathelo ezincane ukuze unciphise ukudlidliza
ukuhlukanisa isinyathelo sokuqala sibe yizinyathelo eziningi ukuze kwandiswe isinqumo saso ngasinye
isinyathelo senjini. Lokhu kungafezwa ngokulungisa isilinganiso sesigaba nesamanje senjini.
Ukwenyuka kwe-Microstepping akukhulisi ukunemba kwe-engeli yesinyathelo, kodwa kwenza injini isebenze kakhulu
kahle futhi ngomsindo omncane. I-torque ngokuvamile iphansi ngo-15% ekusebenzeni kwesigamu sesinyathelo
kuneyokusebenza kwesinyathelo esigcwele, kanye no-30% ophansi wokulawula ugesi we-sine wave.
Isikhathi sokuthunyelwe: Novemba-09-2022