Servo motor yooj yim paub

Servo motor yooj yim paub

Lo lus "servo" los ntawm Greek lo lus " qhev"."Servo lub cev muaj zog" tuaj yeem nkag siab tias yog lub cev muaj zog uas ua raws li cov lus txib ntawm kev tswj lub teeb liab: ua ntej xa cov teeb liab tswj, lub rotor sawv tseem;thaum lub teeb liab tswj tau xa, lub rotor tig tam sim ntawd;thaum lub teeb liab tswj tau ploj mus, lub rotor tuaj yeem nres tam sim ntawd.

Lub servo lub cev muaj zog yog micro lub cev muaj zog siv los ua tus actuator hauv kev tswj tsis siv neeg.Nws txoj haujlwm yog los hloov cov teeb liab hluav taws xob mus rau hauv qhov kev hloov pauv ntawm lub kaum sab xis lossis lub kaum sab xis tshaj tawm ntawm lub rotating ncej.

Servo motors tau muab faib ua ob pawg: AC servo thiab DC servo

Cov qauv yooj yim ntawm AC servo lub cev muaj zog zoo ib yam li AC induction motor (asynchronous motor).Muaj ob txoj hlua hluav taws xob Wf thiab tswj cov windings WcoWf nrog rau theem qhov chaw hloov chaw ntawm 90 ° hluav taws xob lub kaum sab xis ntawm lub stator, txuas nrog AC voltage tsis tu ncua, thiab siv AC voltage lossis theem hloov mus rau Wc kom ua tiav lub hom phiaj ntawm kev tswj cov haujlwm. ntawm lub cev muaj zog.AC servo lub cev muaj zog muaj cov yam ntxwv ntawm kev ua haujlwm ruaj khov, kev tswj tau zoo, cov lus teb ceev ceev, siab rhiab heev, thiab nruj tsis-linearity ntsuas ntawm cov yam ntxwv thiab kev hloov kho cov yam ntxwv (yuav tsum tsawg dua 10% mus rau 15% thiab tsawg dua 15% mus rau 25% raws).

Lub hauv paus qauv ntawm DC servo lub cev muaj zog zoo ib yam li ntawm DC lub cev muaj zog.Lub cev muaj zog ceev n = E / K1j = (Ua-IaRa) / K1j, qhov twg E yog armature counter electromotive force, K yog qhov tas li, j yog qhov sib nqus flux rau ib tus ncej, Ua, Ia yog armature voltage thiab armature tam sim no, Ra yog Lub armature tsis kam, hloov ua lossis hloov φ tuaj yeem tswj tau qhov ceev ntawm DC servo lub cev muaj zog, tab sis txoj kev tswj cov armature voltage feem ntau yog siv.Nyob rau hauv cov hlau nplaum ruaj khov DC servo lub cev muaj zog, qhov excitation winding yog hloov los ntawm cov hlau nplaum ruaj khov, thiab cov hlau nplaum sib nqus φ yog tas li..DC servo lub cev muaj zog muaj cov yam ntxwv zoo linear tswj thiab ceev lub sij hawm teb.

Qhov zoo thiab qhov tsis zoo ntawm DC Servo Motors

Qhov zoo: Kev tswj ceev ceev, lub zog torque thiab cov yam ntxwv ceev, yooj yim tswj txoj cai, siv tau yooj yim, thiab pheej yig tus nqi.

Disadvantages: txhuam commutation, ceev txwv, ntxiv tiv thaiv, thiab hnav hais (tsis haum rau plua plav-dawb thiab explosive ib puag ncig)

Qhov zoo thiab qhov tsis zoo ntawm AC servo lub cev muaj zog

Qhov zoo: zoo tswj cov yam ntxwv, kev tswj kom zoo nyob rau hauv tag nrho cov ceev ntau yam, yuav luag tsis muaj oscillation, high efficiency siab tshaj 90%, tsawg tshav kub tiam, high-ceev tswj, high-precision txoj hauj lwm tswj (nyob ntawm seb tus encoder raug), rated ua hauj lwm cheeb tsam Sab hauv, tuaj yeem ua tiav qhov torque, tsis tshua muaj zog, tsis muaj suab nrov, tsis muaj txhuam, txij nkawm-dawb (tsim rau plua plav-dawb, qhov chaw tawg)

Qhov tsis zoo: Kev tswj hwm yog qhov nyuaj dua, cov tsav tsheb yuav tsum tau hloov kho ntawm qhov chaw los txiav txim siab PID tsis, thiab yuav tsum muaj kev sib txuas ntxiv.

DC servo motors muab faib ua txhuam thiab txhuam tsis siv neeg

Brushed motors yog tus nqi qis, yooj yim hauv cov qauv, loj hauv kev pib torque, dav hauv kev tswj ceev, yooj yim rau kev tswj, xav tau kev saib xyuas, tab sis yooj yim los tswj (hloov cov pa roj carbon txhuam), tsim hluav taws xob cuam tshuam, muaj cov cai rau kev siv ib puag ncig, thiab feem ntau yog siv rau cov nqi-sensitive Common industrial thiab civil zaus.

Brushless motors yog me me thiab lub teeb nyob rau hauv hnyav, siab nyob rau hauv cov zis thiab ceev nyob rau hauv cov lus teb, siab ceev thiab me me inertia, ruaj khov nyob rau hauv torque thiab du nyob rau hauv kev sib hloov, complex nyob rau hauv kev tswj, ntse, hloov tau nyob rau hauv hluav taws xob commutation hom, yuav commutated. nyob rau hauv square yoj los yog sine yoj, txij nkawm-dawb lub cev muaj zog, kev ua haujlwm siab thiab kev txuag hluav taws xob, hluav taws xob me me hluav taws xob, qhov kub tsis tshua muaj siab thiab lub neej ntev, haum rau ntau qhov chaw.

AC servo motors kuj yog brushless motors, uas tau muab faib ua synchronous thiab asynchronous motors.Tam sim no, synchronous motors feem ntau yog siv hauv kev tswj cov lus tsa suab.Lub zog ntau yam yog qhov loj, lub zog tuaj yeem loj, qhov inertia loj, qhov siab tshaj plaws ceev yog qhov tsawg, thiab qhov nrawm nrawm nrog qhov nce ntawm lub zog.Uniform -speed qhovntsej thiaj tsis mob, haum rau tsawg-ceev thiab du khiav zaus.

Lub rotor hauv lub servo lub cev muaj zog yog cov hlau nplaum ruaj khov.Tus tsav tsheb tswj U/V/W peb-theem hluav taws xob los ua ib qho chaw electromagnetic.Lub rotor rotates nyob rau hauv qhov kev txiav txim ntawm no magnetic teb.Nyob rau tib lub sijhawm, tus encoder uas tuaj nrog lub cev muaj zog xa cov lus qhia tawm tswv yim rau tus tsav tsheb.Cov nqi raug muab piv rau kho lub kaum sab xis ntawm rotor rotor.Qhov tseeb ntawm servo lub cev muaj zog nyob ntawm qhov tseeb ntawm tus encoder (ntau kab).

Dab tsi yog servo motor?Muaj pes tsawg hom?Cov yam ntxwv ua haujlwm yog dab tsi?

Teb: Lub servo lub cev muaj zog, tseem hu ua tus thawj tswj lub cev muaj zog, yog siv los ua tus actuator hauv kev tswj tsis siv neeg los hloov cov teeb liab tau txais hluav taws xob mus rau hauv qhov kev hloov pauv ntawm lub kaum sab xis lossis lub kaum sab xis tshaj tawm ntawm lub cev muaj zog.

Servo motors tau muab faib ua ob pawg: DC thiab AC servo motors.Lawv cov yam ntxwv tseem ceeb yog tias tsis muaj kev sib hloov ntawm tus kheej thaum lub teeb liab voltage yog xoom, thiab qhov ceev yuav txo qis ntawm qhov sib xws nrog qhov nce ntawm torque.

Dab tsi yog qhov txawv ntawm kev ua haujlwm ntawm AC servo lub cev muaj zog thiab lub tshuab tsis muaj DC servo lub cev muaj zog?

Teb: Qhov kev ua tau zoo ntawm AC servo lub cev muaj zog yog qhov zoo dua, vim tias AC servo yog tswj los ntawm sine yoj thiab lub torque ripple me me;thaum lub brushless DC servo yog tswj los ntawm ib tug trapezoidal yoj.Tab sis brushless DC servo tswj yog qhov yooj yim thiab pheej yig.

Txoj kev loj hlob sai ntawm cov hlau nplaum ruaj khov AC servo tsav tshuab tau ua rau DC servo system ntsib teeb meem ntawm kev tshem tawm.Nrog rau kev tsim cov thev naus laus zis, cov hlau nplaum ruaj khov AC servo tsav tshuab tau ua tiav txoj kev loj hlob zoo, thiab cov tuam txhab hluav taws xob nto moo hauv ntau lub teb chaws tau tsim tawm tshiab series ntawm AC servo motors thiab servo drives.AC servo system tau dhau los ua qhov kev txhim kho tseem ceeb ntawm kev ua haujlwm siab servo tam sim no, uas ua rau DC servo system ntsib teeb meem ntawm kev tshem tawm.

Piv nrog DC servo motors, cov hlau nplaum ruaj khov AC servo motors muaj qhov zoo hauv qab no:

⑴ Tsis muaj txhuam thiab commutator, kev ua haujlwm yog txhim khu kev qha thiab txij nkawm-dawb.

(2) Stator winding cua sov txo qis heev.

⑶ Lub inertia me me, thiab lub kaw lus muaj cov lus teb ceev ceev.

⑷ Kev kub ceev thiab siab-torque ua haujlwm zoo.

⑸ Me me thiab lub teeb yuag nyob rau hauv tib lub zog.

Servo motor txoj cai

Cov qauv ntawm lub stator ntawm AC servo lub cev muaj zog yog qhov zoo ib yam li cov capacitor split-theem ib-theem asynchronous lub cev muaj zog.Lub stator yog nruab nrog ob windings nrog kev sib nrig sib txawv ntawm 90 °, ib qho yog excitation winding Rf, uas yog ib txwm txuas nrog AC voltage Uf;lwm qhov yog tswj winding L, uas yog txuas nrog lub teeb liab tswj voltage Uc.Yog li AC servo lub cev muaj zog kuj hu ua ob lub servo motors.

Lub rotor ntawm AC servo lub cev muaj zog feem ntau yog ua rau hauv lub tawb squirrel, tab sis txhawm rau ua kom lub servo lub cev muaj qhov dav dav, cov yam ntxwv ntawm cov khoom siv, tsis muaj qhov tshwm sim "autorotation" thiab cov lus teb ceev ceev, piv nrog cov motors zoo tib yam, nws yuav tsum tau ua. muaj lub rotor tsis kam yog loj thiab lub sij hawm ntawm inertia yog me me.Tam sim no, muaj ob hom rotor qauv uas tau siv dav: ib qho yog squirrel -cage rotor nrog siab - resistivity qhia tuav ua los ntawm high-resistivity conductive cov ntaub ntawv.Yuav kom txo tau lub sij hawm ntawm inertia ntawm lub rotor, lub rotor yog slender;Lwm tus yog lub khob hollow - zoo li tus rotor ua los ntawm txhuas alloy, lub khob phab ntsa tsuas yog 0.2 -0.3mm, lub sijhawm ntawm inertia ntawm lub khob hollow-shaped rotor me me, cov lus teb yog ceev, thiab kev ua haujlwm ruaj khov, yog li nws yog dav siv.

Thaum lub AC servo lub cev muaj zog tsis muaj kev tswj qhov hluav taws xob, tsuas yog lub zog sib nqus ntawm lub tshuab nqus tsev uas tsim los ntawm qhov excitation winding nyob rau hauv stator, thiab lub rotor nyob ruaj ruaj.Thaum muaj kev tswj qhov hluav taws xob, lub tshuab hluav taws xob sib nqus yog tsim nyob rau hauv lub stator, thiab lub rotor tig nyob rau hauv cov kev taw qhia ntawm rotating magnetic teb.Thaum lub load tsis tu ncua, qhov ceev ntawm lub cev muaj zog hloov nrog qhov loj ntawm cov tswj voltage.Thaum cov theem ntawm kev tswj qhov hluav taws xob yog qhov sib txawv, lub servo lub cev muaj zog yuav thim rov qab.

Txawm hais tias lub hauv paus ntsiab lus ua haujlwm ntawm AC servo lub cev muaj zog zoo ib yam li lub capacitor - ua haujlwm ib leeg-theem asynchronous lub cev muaj zog, lub rotor tsis kam ntawm lub qub yog loj dua li yav tas los.Yog li ntawd, piv nrog lub capacitor-operated asynchronous lub cev muaj zog, servo lub cev muaj peb yam tseem ceeb:

1. Loj pib torque: Vim lub rotor loj tsis kam, lub torque yam ntxwv (tus yam ntxwv tshuab) yog ze rau linear, thiab muaj ib tug loj pib torque.Yog li ntawd, thaum lub stator muaj ib tug tswj voltage, lub rotor tig tam sim ntawd, uas muaj cov yam ntxwv ntawm ceev pib thiab siab rhiab heev.

2. Kev ua haujlwm dav dav: kev ua haujlwm ruaj khov thiab tsis muaj suab nrov.[/p][p=30, 2, sab laug] 3. Tsis muaj qhov tshwm sim ntawm nws tus kheej: Yog tias lub servo lub cev muaj zog hauv kev ua haujlwm poob qhov kev tswj qhov hluav taws xob, lub cev muaj zog yuav nres tam sim ntawd.

Dab tsi yog "precision kis tau tus mob micro motor"?

"Precision kis tau tus mob micro lub cev muaj zog" tuaj yeem ua tau sai thiab raug ua raws li cov lus qhia hloov pauv hauv lub cev, thiab tsav lub tshuab servo kom ua tiav cov haujlwm xav tau los ntawm cov lus qhia, thiab feem ntau ntawm lawv tuaj yeem ua tau raws li cov hauv qab no:

1. Nws tuaj yeem pib, nres, nres, thim rov qab thiab khiav ntawm qhov ceev tsis tu ncua, thiab muaj zog txhua yam, siab kub tsis kam thiab qib rwb thaiv tsev siab.

2. Zoo ceev teb muaj peev xwm, loj torque, me me lub sij hawm ntawm inertia thiab me me lub sij hawm tas li.

3. Nrog tus tsav tsheb thiab cov tswj (xws li servo motor, stepping motor), tswj kev ua tau zoo.

4. Kev ntseeg siab thiab siab precision.

qeb, qauv thiab kev ua tau zoo ntawm "precision kis tau tus mob micro motor"

AC servo lub cev muaj zog

(1) Cage -hom ob-theem AC servo lub cev muaj zog (slender tawb -type rotor, kwv yees li cov yam ntxwv ntawm cov khoom siv hluav taws xob, lub ntim me me thiab kev ua kom zoo siab tam sim no, qis-lub zog servo, qis-ceev ua haujlwm tsis zoo txaus)

(2) Tsis yog-magnetic khob rotor ob-theem AC servo lub cev muaj zog (coreless rotor, ze li ntawm cov neeg kho tshuab cov yam ntxwv, ntim loj thiab excitation tam sim no, lub zog me me servo, kev ua haujlwm du ntawm qis ceev)

(3) Ob-theem AC servo lub cev muaj zog nrog ferromagnetic khob rotor (khob rotor ua los ntawm cov khoom siv ferromagnetic, ze li ntawm cov neeg kho tshuab cov yam ntxwv, lub sij hawm loj ntawm inertia ntawm rotor, me me cogging nyhuv, kev ua haujlwm ruaj khov)

(4) Synchronous ruaj khov hlau nplaum AC servo lub cev muaj zog (ib coaxial integrated unit uas muaj cov hlau nplaum ruaj khov synchronous lub cev muaj zog, lub tachometer thiab ib txoj hauj lwm nrhiav kom tau, lub stator yog 3-theem lossis 2-theem, thiab cov khoom sib nqus rotor yuav tsum tau nruab nrog ib tug tsav; qhov ntau yam ceev yog qhov dav thiab cov neeg kho tshuab Cov yam ntxwv yog tsim los ntawm qhov chaw torque tas li thiab lub zog tsis tu ncua, uas tuaj yeem kaw tsis tu ncua, nrog kev ua haujlwm nrawm nrawm, lub zog tso tawm loj, thiab qhov hloov pauv me me muaj ob hom square yoj tsav thiab sine yoj tsav, tswj kev ua haujlwm zoo, thiab cov khoom siv hluav taws xob sib xyaw ua ke tshuaj lom neeg)

(5) Asynchronous peb-theem AC servo lub cev muaj zog (rotor zoo ib yam li lub tawb-hom asynchronous lub cev muaj zog, thiab yuav tsum tau nruab nrog tus tsav tsheb. tshuab cuab tam spindle ceev tswj systems)

DC servo lub cev muaj zog

(1) Printed winding DC servo lub cev muaj zog (disc rotor thiab disc stator yog axially bonded nrog cylindrical magnetic steel, lub rotor lub sij hawm ntawm inertia yog me me, tsis muaj cogging nyhuv, tsis muaj saturation nyhuv, thiab cov zis torque loj)

(2) Hlau-puab disk hom DC servo lub cev muaj zog (disc rotor thiab stator yog axially bonded nrog cylindrical sib nqus hlau, lub rotor lub sij hawm ntawm inertia me me, kev tswj kev ua tau zoo dua li lwm yam DC servo motors, efficiency siab, thiab cov tso zis torque yog loj)

(3) Khob hom armature mus tas li hlau nplaum DC lub cev muaj zog (coreless rotor, me me rotor lub sij hawm ntawm inertia, haum rau incremental suab servo system)

(4) Brushless DC servo lub cev muaj zog (lub stator yog multi-theem winding, lub rotor yog hlau nplaum ruaj khov, nrog rotor txoj hauj lwm sensor, tsis muaj txim cuam tshuam, lub neej ntev, tsis tshua muaj suab nrov)

lub cev muaj zog torque

(1) DC torque lub cev muaj zog (cov qauv tiaj tus, tus naj npawb ntawm tus ncej, tus naj npawb ntawm qhov sib txuas, tus lej ntawm cov khoom sib txuas, cov xov tooj ntawm cov khoom siv hluav taws xob, cov khoom siv loj loj, kev ua haujlwm tsis tu ncua ntawm qhov ceev los yog stalled, zoo mechanical thiab hloov cov yam ntxwv, me me electromechanical sij hawm tas li. )

(2) Brushless DC torque lub cev muaj zog (zoo ib yam li hauv cov qauv rau brushless DC servo lub cev muaj zog, tab sis tiaj tus, nrog ntau tus ncej, qhov thiab series conductors; loj tso zis torque, zoo txhua yam thiab hloov cov yam ntxwv, lub neej ntev, tsis muaj sparks, tsis muaj suab nrov tsawg)

(3) Cage-type AC torque lub cev muaj zog (lub tawb-hom rotor, tiaj tus qauv, ntau tus ncej thiab qhov, loj pib torque, me me electromechanical lub sij hawm tas li, lub sij hawm kaw-rotor ua haujlwm, thiab cov khoom muag muag)

(4) Khoom rotor AC torque lub cev muaj zog (cov khoom rotor ua los ntawm cov khoom siv ferromagnetic, cov qauv tiaj tus, ntau tus ncej thiab cov qhov, qhov ntev-lub sij hawm kaw-rotor, kev ua haujlwm du, mos mechanical zog)

stepper lub cev muaj zog

(1) Reactive stepping lub cev muaj zog (lub stator thiab rotor yog ua los ntawm silicon steel los xij, tsis muaj winding ntawm lub rotor core, thiab muaj kev tswj winding ntawm stator; lub kaum sab xis me me, qhov pib thiab khiav zaus yog siab. , lub kaum sab xis ntawm lub kaum sab xis yog qhov tsawg, thiab tsis muaj qhov ntsuas qhov ntsuas tus kheej)

(2) Cov hlau nplaum ruaj khov stepping lub cev muaj zog (cov hlau nplaum tas mus li rotor, radial magnetization polarity; lub kaum sab xis loj, qis pib thiab ua haujlwm zaus, tuav lub zog, thiab siv lub zog me dua li hom reactive, tab sis qhov zoo thiab tsis zoo pulses yuav tsum tau tam sim no)

(3) Hybrid stepping lub cev muaj zog (cov hlau nplaum tas mus li rotor, axial magnetization polarity; siab lub kaum ntse ntse, tuav lub zog, me me tam sim no, ob qho tib si reactive thiab ruaj khov hlau nplaum