Njenge-actuator,i-stepper motoringenye yemikhiqizo eyinhloko ye-mechatronics, esetshenziswa kabanzi ezinhlelweni ezihlukahlukene zokulawula ezizenzakalelayo. Ngokuthuthuka kobuchwepheshe be-microelectronics kanye nobuchwepheshe bekhompyutha, isidingo sama-stepper motors sikhula usuku nosuku, futhi asetshenziswa emikhakheni ehlukahlukene yezomnotho kazwelonke.
01 Yini ai-stepper motor
I-Stepper motor iyithuluzi le-electromechanical eliguqula ngokuqondile ama-pulses kagesi abe ukunyakaza komshini. Ngokulawula ukulandelana, imvamisa kanye nenani lama-pulses kagesi asetshenziswa kukhoyili yemoto, isiteringi se-stepper motor, isivinini kanye ne-rotation angle ingalawulwa. Ngaphandle kokusetshenziswa kwesistimu yokulawula impendulo ye-loop evaliwe enenzwa yendawo, indawo eqondile kanye nokulawula isivinini kungafinyelelwa ngokusebenzisa uhlelo olulula, olungabizi oluphansi lokulawula iluphu oluvulekile olwakhiwe yi-stepper motor kanye nomshayeli wayo ohambisana nayo.
02 i-stepper motorisakhiwo esiyisisekelo kanye nesimiso sokusebenza
Isakhiwo esiyisisekelo:
Umgomo wokusebenza: umshayeli we-stepper motor ngokuya nge-pulse yokulawula yangaphandle kanye nesiginali yokuqondisa, ngokusebenzisa isekethe yayo yangaphakathi ye-logic, lawula i-stepper motor windings ngokulandelana kwesikhathi esithile ukuya phambili noma ukubuyisela emuva amandla, ukuze i-motor iya phambili / ihlehlise ukuzungeza, noma ikhiye.
Thatha i-1.8 degree enezigaba ezimbili ze-stepper motor njengesibonelo: lapho womabili ama-winding enikwe amandla futhi ejabule, i-motor output shaft izoba imile futhi ikhiyeke endaweni. I-torque ephezulu ezogcina i-motor ivaliwe ku-current rated yi-torque yokubamba. Uma i-current in one of the windings iqondiswa kabusha, injini izozungeza isinyathelo esisodwa (1.8 degrees) ngendlela enikeziwe.
Ngokufanayo, uma i-current kwenye i-winding ishintsha indlela, injini izozungeza isinyathelo esisodwa (amadigri angu-1.8) ibheke kolunye uhlangothi. Lapho ama-currents ngokusebenzisa ama-winding amakhoyili eqondiswa kabusha ngokulandelana kuya ekusaseni, injini izojikeleza ngesinyathelo esiqhubekayo endleleni esinikeziwe ngokunemba okuphezulu kakhulu. Kumadigri angu-1.8 wokuzungezisa i-stepper motor yezigaba ezimbili ngeviki kuthatha izinyathelo ezingu-200.
Ama-motor e-stepper ezigaba ezimbili anezinhlobo ezimbili zama-windings: i-bipolar ne-unipolar. Amamotho e-bipolar anekhoyili eyodwa kuphela enamazombezombe esigabeni ngasinye, ukuzungeza okuqhubekayo kwemoto yamanje kukhoyili efanayo ukuze kuguquguquke ngokulandelana, umklamo wesekethe yedrayivu udinga ukushintshwa kwe-elekthronikhi okuyisishiyagalombili ukuze kushintshwe ngokulandelana.
Amamotho e-unipolar anamakhoyili amabili asontekayo e-polarity ephambene esigabeni ngasinye, kanye nenjini
ijikeleza ngokuqhubekayo ngokunikeza amandla amakhoyili amabili asontekayo esigabeni esisodwa.
Isekethe yedrayivu yakhelwe ukudinga ukushintshwa kwe-elekthronikhi ezine kuphela. Ku-bipolar
Imodi yokushayela, i-torque ephumayo ye-motor ikhuphuka cishe ngama-40% uma iqhathaniswa ne-
imodi ye-unipolar drive ngoba amakhoyili asontekayo esigaba ngasinye ajabule ngo-100%.
I-03, umthwalo we-Stepper motor
A. Umthwalo wesikhashana (Tf)
Tf = G*r
G: Isisindo somthwalo
r: indawo
B. Inertia load (TJ)
TJ = J * dw/dt
J = M * (R12+R22) / 2 (Kg * cm)
M: Isisindo somthwalo
I-R1: I-Radius yeringi yangaphandle
I-R2: I-Radius yeringi yangaphakathi
dω/dt: Ukusheshisa kwe-angular
04, ijika le-stepper motor speed-torque
Ijika le-speed-torque iwukubonakaliswa okubalulekile kwezici zokuphuma kwe-stepper
izinjini.
A. Stepper motor yokusebenza frequency point
Inani lejubane le-stepper motor motor endaweni ethile.
n = q * Hz / (360 * D)
n: rev/isb
Hz: Inani lemvamisa
D: Ivelu yokuhunyushwa kwesekethe yeDrayivu
q: i-engeli yesinyathelo se-stepper motor
Isibonelo, i-stepper motor ene-pitch angle engu-1.8°, ene-1/2 interpolation drive.(okungukuthi, 0.9° ngesinyathelo ngasinye), inesivinini esingu-1.25 r/s kufrikhwensi yokusebenza engu-500 Hz.
B. Stepper motor self-start indawo
Indawo lapho i-stepper motor ingaqalwa futhi imiswe khona ngqo.
C. Indawo yokusebenza eqhubekayo
Kule ndawo, i-stepper motor ayikwazi ukuqaliswa noma imiswe ngokuqondile. Izinjini ze-stepper ngaphakathile ndawo kufanele iqale idlule endaweni yokuziqalela bese isheshiswa ukuze ifinyeleleindawo yokusebenza. Ngokufanayo, i-stepper motor kule ndawo ayikwazi ukubhuleka ngokuqondile,ngaphandle kwalokho kulula ukubangela ukuthi i-stepper motor iphume esinyathelweni, kumele iqale yehliselwe phansiindawo yokuziqalela bese ibhreka.
D. Stepper motor esiphezulu imvamisa yokuqala
I-motor no-load state, ukuqinisekisa ukuthi i-stepper motor ayilahlekelwa ukusebenza kwesinyatheloimvamisa ye-pulse ephezulu.
E. Stepper motor esiphezulu imvamisa yokusebenza
Imvamisa yokushaya kwenhliziyo ephezulu lapho injini ijabulela ukusebenza ngaphandle kokulahlekelwa isinyathelongaphansi komthwalo.
F. I-stepper motor eqala i-torque / i-torque yokudonsa
Ukuhlangabezana ne-stepper motor ku-pulse frequency ethile ukuze uqale futhi uqale ukusebenza, ngaphandleukulahlekelwa izinyathelo ze-torque enkulu yokulayisha.
G. Stepper motor egijima torque/draw-in torque
I-torque ephezulu yokulayisha enelisa ukusebenza okuzinzile kwe-stepper motor at aimvamisa ye-pulse ethile ngaphandle kokulahlekelwa isinyathelo.
05 Ukulawula ukunyakaza kwe-Stepper motor/deceleration
Lapho i-stepper motor yokusebenza imvamisa iphuzu ijika ijubane-torque okuqhubekayoisifunda sokusebenza, indlela yokunciphisa ukuqala kwemoto noma ukumisa ukusheshisa noma ukwehlaisikhathi, ukuze motor ugijima isikhathi eside in the best isivinini isimo, ngaleyo ndlela andise theisikhathi sokusebenza esisebenzayo se-motor sibaluleke kakhulu.
Njengoba kukhonjisiwe emfanekisweni ongezansi, ijika lesici se-torque eguqukayo ye-stepper motorumugqa oqondile ovundlile ngesivinini esiphansi; ngesivinini esikhulu, ijika liyancipha ngokuqhubekayongenxa yethonya le-inductance.
Siyazi ukuthi umthwalo we-stepper motor yi-TL, ake sithi sifuna ukusheshisa ukusuka ku-F0 kuye ku-F1 ngo.isikhathi esifushane (tr), kanjani ukubala isikhathi esifushane tr?
(1) Ngokuvamile, i-TJ = 70% 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 sejubane eliphezulu
(1) Ngokujwayelekile
TJ0 = 70%Tm0
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.
U-J ubonisa inertia ejikelezayo ye-motor rotor ngaphansi komthwalo.
q i-engeli yokuzungezisa yesinyathelo ngasinye, okuyi-engeli yesinyathelo se-stepper motor ku-
icala lokushayela lonke.
Ekusebenzeni kokunciphisa, vele uhlehlise ukusheshisa okungenhla kwe-pulse frequency kungaba
kubaliwe.
06 stepper motor vibration kanye nomsindo
Ngokuvamile, i-stepper motor ekusebenzeni okungalayishiwe, lapho imvamisa yokusebenza kwemotoiseduze noma ilingana nemvamisa yemvelo ye-motor rotor izozwakala, intando ebucayizenzeka ngaphandle kwesinyathelo.
Izixazululo eziningi ze-resonance:
A. Gwema indawo yokudlidliza: ukuze imvamisa yokusebenza kwenjini ingangeni ngaphakathiububanzi bokudlidliza
B. Yamukela imodi yedrayivu yokuhlukanisa: Sebenzisa imodi ye-micro-step drive ukuze unciphise ukudlidliza ngakho
ukuhlukanisa isinyathelo sokuqala sibe izinyathelo eziningi ukuze ukhuphule ukuxazulula ngakunye
motor isinyathelo. Lokhu kungafezwa ngokulungisa isigaba nesilinganiso samanje semoto.
I-Microstepping ayikhulisi ukunemba kwe-engeli yesinyathelo, kodwa yenza injini isebenze kakhulu
ngokushelelayo nangomsindo omncane. I-torque ngokuvamile iphansi ngo-15% ekusebenzeni kwesinyathelo esiyingxenye
kunokusebenza okugcwele, kanye no-30% okuphansi kokulawula i-sine wave current.
Isikhathi sokuthumela: Nov-09-2022