Ukuqhuba ngokuthe ngqo vs. I-servomotor yerotary elungiselelwe: Ubungakanani benzuzo yoyilo: Icandelo 1

IiNjongo zokuFunda

• Iinkqubo ze-servo ezijikelezayo zelizwe lokwenyani ziyasilela ekusebenzeni okufanelekileyo ngenxa yemida yobugcisa.
• Iindidi ezininzi zee-servomotors ezijikelezayo zinokubonelela ngezibonelelo kubasebenzisi, kodwa nganye inomngeni othile okanye umda.
• Ii-servomotors ezijikelezayo zokuqhuba ngokuthe ngqo zibonelela ngeyona ndlela isebenzayo, kodwa zibiza kakhulu kuneegiya.

Kangangamashumi eminyaka, ii-servomotors ezilungiselelweyo ziye zaba zezona zixhobo zixhaphakileyo kwibhokisi yezixhobo ezizenzekelayo kwimizi-mveliso. Ii-sevromotors ezilungiselelweyo zibonelela ngokuma, ukuthelekisa isantya, ikhamera ye-elektroniki, ukujikajika, ukuxinana, ukuqinisa usetyenziso kunye nokudibanisa ngokufanelekileyo amandla e-servomotor kumthwalo. Oku kuphakamisa umbuzo: ngaba i-servomotor elungiselelwe yeyona ndlela ilungileyo yetekhnoloji yentshukumo ejikelezayo, okanye ngaba kukho isisombululo esingcono?

Kwihlabathi eligqibeleleyo, inkqubo ye-servo ejikelezayo iya kuba ne-torque kunye nesantya sokulinganisa okuhambelana nesicelo ukuze imoto ingabikho kakhulu okanye ingaphantsi kobungakanani. Ukudityaniswa kwemoto, izinto zothumelo, kunye nomthwalo kufuneka ube nokuqina okungapheliyo kunye ne-zero backlash. Ngelishwa, iinkqubo ze-servo ezijikelezayo zehlabathi zokwenyani ziyasilela koku kufanelekileyo ukuya kumaqondo ahlukeneyo.

Kwinkqubo ye-servo eqhelekileyo, i-backlash ichazwa njengokulahlekelwa kwentshukumo phakathi kwemoto kunye nomthwalo obangelwa ukunyamezela komatshini kwizinto zokuhambisa; oku kubandakanya nayiphi na intshukumo yelahleko kuzo zonke iibhokisi zegiya, amabhanti, amatyathanga, kunye neekhonkco. Xa umatshini unikwe amandla ekuqaleni, umthwalo uya kudada kwindawo ethile phakathi kokunyamezela koomatshini (Umfanekiso 1A).

Ngaphambi kokuba umthwalo ngokwawo uhanjiswe yinjini, i-motor kufuneka ijikeleze ukuze ithathe konke ukudodobala okukhoyo kwizinto zothumelo (Figure 1B). Xa i-motor iqala ukwehla ekupheleni kwentshukumo, indawo yomthwalo inokuthi idlule kwindawo yemoto njengoko amandla athwala umthwalo ngaphaya kwendawo yemoto.

I-motor kufuneka iphinde ithathe i-sleck kwelinye icala ngaphambi kokufaka i-torque kumthwalo ukuyinciphisa (Umfanekiso 1C). Oku kulahleka kwentshukumo kubizwa ngokuba yi-backlash, kwaye ngokuqhelekileyo kulinganiswa kwi-arc-imizuzu, ilingana ne-1/60 yedigri. Iibhokisi zegiya ezilungiselelwe ukusetyenziswa kunye ne-servos kwizicelo zemizi-mveliso zihlala zineenkcazo zokubuyela umva ukusuka kwi-3 ukuya kwi-9 arc-imizuzu.

Ukuqina kweTorsional kukuchasana nokuguqulwa kwe-motor shaft, izinto zokuhambisa, kunye nomthwalo ekuphenduleni ukusetyenziswa kwe-torque. Inkqubo eqinileyo engapheliyo ingathumela i-torque kumthwalo ngaphandle kokuphambuka kwe-angular malunga ne-axis yokujikeleza; nangona kunjalo, nokuba i-shaft yentsimbi eyomeleleyo iya kujija kancinane phantsi komthwalo onzima. Ubungakanani be-deflection buhluka kunye ne-torque esetyenzisiweyo, izinto eziphathekayo zezinto zokuhambisa, kunye nokuma kwazo; intuitively, ixesha elide, iindawo ezibhityileyo ziya kujika ngaphezu kokufutshane, ezityebileyo. Oku kuxhathisa ukujijwa yinto eyenza imithombo yekhoyili isebenze, njengoko icinezela intwasahlobo ijija ukujika kocingo kancinci; ucingo olutyebileyo lwenza intwasahlobo iqine. Nantoni na engaphantsi kokuqina okungapheliyo kwe-torsional kubangela ukuba inkqubo isebenze njengentwasahlobo, oku kuthetha ukuba amandla anokubakho aya kugcinwa kwinkqubo njengoko umthwalo uxhathisa ukujikeleza.

Xa zidityanisiwe kunye, ukuqina kobunzima obunqamlekileyo kunye nokubuyela umva kunokuthoba kakhulu ukusebenza kwenkqubo ye-servo. Ukubuyisela umva kunokwazisa ukungaqiniseki, njengoko i-encoder yemoto ibonisa indawo ye-shaft ye-motor, kungekhona apho i-backlash ivumele umthwalo ukuba uzinze. Ukubuyela umva kwakhona kwazisa imiba yokulungisa njengoko umthwalo izibini kunye uncouuples ukusuka motor ngokufutshane xa umthwalo kunye nemoto zibuyela umva kwicala elizalanayo. Ukongeza kwi-backlash, ukuqina okuguquguqukayo kwe-torsional kugcina amandla ngokuguqula amandla athile e-kinetic enjini kunye nomthwalo kumandla anokubakho, ukuwakhulula kamva. Oku kulibaziseka kokukhutshwa kwamandla kubangela ukushukuma komthwalo, kubangela ukuvakala kwesandi, kunciphisa iingenelo zolungelelwaniso ezisebenzisekayo kunye nefuthe elibi ekuphenduleni kunye nexesha lokuzinzisa inkqubo ye-servo. Kuzo zonke iimeko, ukunciphisa umva kunye nokwandisa ukuqina kwenkqubo kuya kwandisa ukusebenza kwe-servo kunye nokwenza lula ukulungiswa.

Ulungelelwaniso lwe-servomotor ye-axis ejikelezayo

Olona lungelelwaniso luqhelekileyo lwe-axis ye-rotary yi-servomotor ejikelezayo ene-encoder eyakhelwe-ngaphakathi yempendulo yesikhundla kunye nebhokisi yegiya ukutshatisa i-torque ekhoyo kunye nesantya semoto kwitorque efunekayo kunye nesantya somthwalo. Ibhokisi yegiya sisixhobo samandla esingaguqukiyo esiyi-analog yomatshini we-transformer yokulinganisa umthwalo.

Ubume be-hardware obuphuculweyo busebenzisa i-servomotor ye-rotary drive ngqo, ephelisa izinto zokuhambisa ngokudibanisa ngokuthe ngqo umthwalo kwi-motor. Ngelixa ulungelelwaniso lwe-gearmotor lusebenzisa udibaniso kwishafuti encinci yedayamitha, inkqubo yokuqhuba ngokuthe ngqo ibhonti umthwalo ngokuthe ngqo kwi-rotor flange enkulu. Olu lungelelwaniso luphelisa umva kwaye lwandisa kakhulu ukuqina kwe-torsional. Ubalo lwepali ephezulu kunye nokujika kwetorque ephezulu yeenjini zokuqhuba ngokuthe ngqo zihambelana netorque kunye neempawu zesantya segearmotor enomlinganiselo we-10: 1 okanye ngaphezulu.