Servo ke sesebelisoa sa phetisetso ea matla se fanang ka taolo bakeng sa ts'ebetso ea motsamao e hlokoang ke lisebelisoa tsa electromechanical.Ka hona, moralo le khetho ea sistimi ea servo ha e le hantle ke ts'ebetso ea ho khetha likarolo tse nepahetseng tsa matla le taolo bakeng sa sistimi ea tsamaiso ea motlakase ea lisebelisoa.E kenyelletsa Lihlahisoa tse amohetsoeng haholo-holo li kenyelletsa:
Taolo ea othomathike e sebelisetsoang ho laola boemo ba motsamao oa axis ka 'ngoe tsamaisong;
Servo drive e fetolang matla a AC kapa DC ka voltage e tsitsitseng le frequency ho phepelo ea motlakase e laoloang e hlokoang ke servo motor;
Servo motor e fetolang tlhahiso ea matla e tsoang ho mokhanni hore e be matla a mochini;
Mochine oa phetisetso ea mochini o fetisang matla a kinetic ea mochini ho mojaro oa ho qetela;
…
Ha re nahana hore ho na le lihlopha tse ngata tsa lipapali tsa ntoa tsa lihlahisoa tsa servo tsa indasteri 'marakeng, pele re kena khethong e khethehileng ea lihlahisoa, re ntse re lokela ho qala ka litlhoko tsa motheo tsa ts'ebeliso ea lisebelisoa tsa tsamaiso eo re ithutileng eona, ho kenyelletsa le balaoli, li-drive, motors Preliminary. ho hlahlojoa ho etsoa ka lihlahisoa tsa servo tse kang li- reducers ... joalo-joalo.
Ka lehlakoreng le leng, tlhahlobo ena e ipapisitse le litšoaneleho tsa indasteri, mekhoa ea ts'ebeliso le litšoaneleho tsa ts'ebetso ea lisebelisoa ho fumana letoto la lihlahisoa tse ka bang teng le motsoako oa mananeo ho tsoa ho mefuta e mengata.Mohlala, servo ts'ebelisong ea matla a moea a feto-fetohang haholo-holo ke taolo ea boemo ba sekhutlo sa lehare, empa lihlahisoa tse sebelisoang li hloka ho khona ho ikamahanya le maemo a thata le a thata a ho sebetsa;kopo ea servo ka thepa ea khatiso e sebelisa taolo ea ho lumellana ha mekhahlelo pakeng tsa lilepe tse ngata Ka nako e ts'oanang, e na le tšekamelo ea ho sebelisa tsamaiso ea tsamaiso e nang le mosebetsi oa ho ngolisa ka mokhoa o nepahetseng;lisebelisoa tsa thaere li ela hloko haholo ts'ebeliso e felletseng ea mefuta e fapaneng ea taolo ea motsamao oa lebasetere le litsamaiso tse akaretsang tsa othomathike;lisebelisoa tsa mochini oa polasetiki li hloka hore sistimi e sebelisoe ts'ebetsong ea ts'ebetso ea lihlahisoa.Torque le taolo ea maemo li fana ka likhetho tse khethehileng tsa ts'ebetso le li-algorithms tsa paramente….
Ka lehlakoreng le leng, ho ea ka pono ea boemo ba lisebelisoa, ho ea ka boemo ba ts'ebetso le litlhoko tsa moruo tsa thepa, khetha letoto la lihlahisoa tsa lisebelisoa tse tsamaellanang le mofuta o mong le o mong.Ka mohlala: haeba u se na litlhoko tse phahameng haholo bakeng sa ts'ebetso ea lisebelisoa, 'me u batla ho boloka tekanyetso ea hau, u ka khetha lihlahisoa tsa moruo;ka lehlakoreng le leng, haeba u na le litlhoko tse phahameng tsa ts'ebetso bakeng sa ts'ebetso ea lisebelisoa ho latela ho nepahala, lebelo, karabelo e matla, joalo-joalo, joale ka tlhaho Hoa hlokahala ho eketsa tlhahiso ea tekanyetso bakeng sa eona.
Ho phaella moo, ho boetse hoa hlokahala ho ela hloko maemo a tikoloho ea kopo ho kenyeletsa mocheso le mongobo, lerōle, boemo ba tšireletso, maemo a ho senya mocheso, litekanyetso tsa motlakase, maemo a tšireletso, le ho lumellana le mela/litsamaiso tse teng tsa tlhahiso ... joalo-joalo.
Ho ka bonoa hore khetho ea mantlha ea lihlahisoa tsa taolo ea motsamao e thehiloe haholo ts'ebetsong ea letoto la mofuta o mong le o mong indastering.Ka nako e ts'oanang, ntlafatso e pheta-phetoang ea litlhoko tsa kopo, ho kenngoa ha lihlahisoa tse ncha le lihlahisoa tse ncha le tsona li tla ba le tšusumetso e itseng ho eona..Ka hona, ho etsa mosebetsi o motle moralong le khethong ea litsamaiso tsa taolo ea motsamao, mehloli ea litaba ea indasteri ea letsatsi le letsatsi e ntse e hlokahala haholo.
Kamora tlhahlobo ea pele ea letoto la li-brand tse fumanehang, re ka tsoela pele ho etsa moralo le khetho ea sistimi ea taolo ea motsamao bakeng sa bona.
Ka nako ena, hoa hlokahala ho khetholla sethala sa taolo le meralo e akaretsang ea sistimi ho latela palo ea lilepe tse tsamaeang ka har'a lisebelisoa le ho rarahana ha liketso tse sebetsang.Ka kakaretso, palo ea lilepe e lekanya boholo ba sistimi.Ha palo ea lilepe e ntse e eketseha, ho na le tlhokahalo e phahameng ea matla a taolo.Ka nako e ts'oanang, ho boetse hoa hlokahala ho sebelisa theknoloji ea libese tsamaisong ea ho nolofatsa le ho fokotsa molaoli le likoloi.Palo ea likhokahano lipakeng tsa mela.Ho rarahana ha mosebetsi oa motsamao ho tla ama khetho ea boemo ba ts'ebetso ea molaoli le mofuta oa libese.Lebelo le bonolo la nako ea 'nete le taolo ea maemo li hloka feela ho sebelisa selaoli se tloaelehileng sa othomathike le bese ea lebaleng;khokahano ea nako ea nnete ea ts'ebetso e phahameng lipakeng tsa lilepe tse ngata (joalo ka likere tsa elektroniki le lik'hamera tsa elektroniki) e hloka taolo le bese ea lebaleng E na le ts'ebetso ea ho hokahanya oache e nepahetseng, ke hore, e hloka ho sebelisa molaoli le libese tsa indasteri tse ka etsang 'nete. -taolo ya motsamao wa nako;'me haeba sesebelisoa se hloka ho tlatsa sefofane kapa sebaka sa ho kenella pakeng tsa lilepe tse ngata kapa esita le ho kopanya taolo ea roboto, joale boemo ba ts'ebetso ea molaoli Litlhoko li phahame le ho feta.
Ho latela melao-motheo e ka holimo, ha e le hantle re khonne ho khetha balaoli ba fumanehang lihlahisoa tse khethiloeng pele le ho li sebelisa ho mehlala e tobileng haholoanyane;joale ho itšetlehile ka ho lumellana ha fieldbus, re ka khetha balaoli ba ka sebelisoang le bona.Mokhanni ea ts'oanang le likhetho tse tsamaellanang tsa servo motor, empa sena se sethaleng sa letoto la lihlahisoa.Ka mor'a moo, re hloka ho tseba haholoanyane mofuta o ikhethileng oa koloi le enjene ho latela tlhoko ea matla ea sistimi.
Ho ea ka inertia mojaro le mothinya mothinya oa axis e 'ngoe le e' ngoe litlhoko tsa kopo, ka mokhoa o bonolo oa fisiks F = m · a kapa T = J · α, ha ho thata ho bala tlhoko ea torque ka nako e 'ngoe le e' ngoe ea potoloho ea motsamao.Re ka fetolela litlhoko tsa torque le lebelo la axis e 'ngoe le e' ngoe pheletsong ea mojaro ho ea lehlakoreng la koloi ho latela karo-karolelano ea phetisetso e seng e setiloe, 'me motheong ona, re eketsa marang-rang a nepahetseng, re bale mefuta ea likoloi le likoloi ka bonngoe,' me ka potlako re etse the system draft for Pele o kenya palo e kholo ea mosebetsi oa khetho e hlokolosi le e tenang, etsa tlhahlobo e bolokang chelete e ngata ea letoto la lihlahisoa tse ling esale pele, ka hona o fokotsa palo ea mekhoa e meng.
Leha ho le joalo, re ke ke ra nka tlhophiso ena e hakantsoeng ho tloha torque ea mojaro, tlhokahalo ea lebelo le karolelano ea phetisetso e setisitsoeng e le tharollo ea ho qetela ea sistimi ea matla.Hobane litlhoko tsa torque le lebelo la enjene li tla angoa ke mokhoa oa phetisetso ea mochini oa sistimi ea matla le kamano ea eona ea lebelo la lebelo;ka nako e ts'oanang, inertia ea motlakase ka boeona e boetse e le karolo ea mojaro bakeng sa tsamaiso ea phetisetso, 'me motlakase o khannoa nakong ea ts'ebetso ea lisebelisoa.Ke tsamaiso eohle ea phetisetso e kenyelletsang mojaro, mochini oa phetiso le inertia ea eona.
Ka kutloisiso ena, khetho ea tsamaiso ea matla a servo ha ea itšetleha feela ka palo ea torque le lebelo la axis e 'ngoe le e' ngoe ea motsamao ... joalo-joalo.Axis e 'ngoe le e' ngoe ea motsamao e tsamaisana le yuniti e loketseng ea matla.Ha e le hantle, e ipapisitse le boima / inertia ea mojaro, lebelo la ts'ebetso, le mefuta e ka bang teng ea phetisetso ea mochini, e nkelang sebaka sa boleng ba inertia le liparamente tsa ho khanna (litšobotsi tsa nako le nako) tsa li-motor tse fapaneng ho eona, le ho bapisa. torque ea eona (kapa matla) le Ho lula ha lebelo lekokong la sebopeho, mokhoa oa ho fumana motsoako o nepahetseng.Ka kakaretso, o hloka ho latela mehato e latelang:
Ho ipapisitsoe le likhetho tse fapaneng tsa phetisetso, 'mapa lebelo la lebelo le inertia ea mojaro le karolo e' ngoe le e 'ngoe ea phetisetso ea mochini ho ea lehlakoreng la enjene;
Inertia ea enjene e 'ngoe le e' ngoe ea mokhethoa e behiloe holimo ka inertia ea mojaro le mochini oa phetisetso o bonts'itsoeng lehlakoreng la koloi, 'me sekhahla sa tlhokeho ea torque se fumanoa ka ho kopanya lebelo la lebelo lehlakoreng la koloi;
Bapisa karolo le inertia e bapisang lebelo la enjene le curve ea torque tlas'a maemo a fapaneng, 'me u fumane motsoako o nepahetseng oa koloi, koloi, mokhoa oa phetisetso le lebelo la lebelo.
Kaha mosebetsi oa mekhahlelo e ka holimo o hloka ho etsoa bakeng sa axis e 'ngoe le e' ngoe tsamaisong, mosebetsi oa ho khetha matla a lihlahisoa tsa servo ha e le hantle o moholo haholo, 'me boholo ba nako ea moralo oa tsamaiso ea tsamaiso ea tsamaiso hangata e sebelisoa mona.Sebaka.Joalokaha ho boletsoe pejana, hoa hlokahala ho hakanya mohlala ka tlhokahalo ea torque ho fokotsa palo ea mekhoa e meng, 'me sena ke moelelo.
Ka mor'a ho qeta karolo ena ea mosebetsi, re boetse re lokela ho tseba likhetho tse ling tsa bohlokoa tse thusang tsa koloi le motlakase ha ho hlokahala ho phethela mehlala ea bona.Likhetho tsena tse thusang li kenyelletsa:
Haeba koloi e tloaelehileng ea libese ea DC e khethiloe, mefuta ea li-rectifier units, li-filters, li-reactors le likarolo tsa khokahano ea libese tsa DC (joalo ka sefofane sa libese) li lokela ho khethoa ho latela kabo ea khabinete;
Hlomella li-axis tse itseng kapa tsamaiso eohle ea koloi e nang le li-resistors tsa braking kapa li-regenerative braking units ha ho hlokahala;
Ho sa tsotellehe hore na sekhahla sa tlhahiso ea mochine o potolohang ke senotlolo kapa shaft ea optical, le hore na e na le brake;
Mohala oa mohala o hloka ho tseba palo ea li-module tsa stator ho latela bolelele ba stroke;
Protocol ea maikutlo a servo le tharollo, e eketsang kapa e felletseng, e thinyetsa hang-hang kapa ea ho reteleha hangata;
…
Mothating ona, re khethile liparamente tsa bohlokoa tsa letoto la mefuta e meng e fapaneng tsamaisong ea taolo ea motsamao ho tloha ho molaoli ho ea ho li-drive tsa servo tsa axis e 'ngoe le e' ngoe ea motsamao, mohlala oa enjene le mochini o amanang le phetisetso ea mochini.
Qetellong, re boetse re hloka ho khetha likarolo tse ling tse hlokahalang bakeng sa sistimi ea taolo ea motsamao, joalo ka:
Li-encoder tse thusang (spindle) tse thusang li-axis tse itseng kapa sistimi eohle ho hokahana le likarolo tse ling tse sa tsamaeeng;
Mojule oa lebelo le phahameng oa I / O bakeng sa ho lemoha tlhahiso kapa tlhahiso ea khamera e potlakileng;
Lithapo tse fapaneng tsa khokahano ea motlakase, ho kenyelletsa: lithapo tsa motlakase tsa servo, likhoele tsa maikutlo le li-brake, likhoele tsa puisano tsa libese lipakeng tsa mokhanni le molaoli…;
…
Ka tsela ena, khetho ea sistimi eohle ea taolo ea tsamaiso ea servo e phethetsoe.
Nako ea poso: Sep-28-2021