I-prop drive vs i-vsomoomor ye-Roteromotor: Isixa senzuzo yoyilo: Icandelo 1

Iinjongo zokufunda

• I-Real-World Resontal Servisis Systems zisilela kwintsebenzo efanelekileyo ngenxa yokusikelwa umda kwezobugcisa.
• Iindidi eziliqela zenkonzo zokujikeleza ezijikelezayo zinokubonelela ngezibonelelo zabasebenzisi, kodwa nganye inomngeni othile okanye umda.
• I-CREARRE CREAREARSOOTORS EROTOTOTOTOTOTORS ibonelela ngeyona ndlela ilungileyo, kodwa babiza kakhulu kunegiyator.

Kumashumi eminyaka, i-sersomootors yenkonzo yenye yezona zixhobo ziqhelekileyo kwiBhokisi yeNdlela yokuSebenza yeMveliso. I-Sevromoators ibonelela ngendawo, ukungqinelana kwe-velocity, umlo we-elektroniki, umoya ovuthuzayo, ukuqina, ukuqinisa izicelo kunye nokutshatisa ngokufanelekileyo amandla enkonzo. Oku kuphakamisa umbuzo: Ngaba i-sersomotor yenkonzo efanelekileyo yetekhnoloji yokuhambahamba, okanye ngaba kukho isisombululo esingcono?

Kwilizwe elifezekileyo, inkqubo ye-serge ye-rosso ejikelezayo yayiya kuba ne-torque kunye nemilinganiselo yesantya ehambelana nesicelo ukuze i-motor ayinakwenziwa ngaphezulu okanye incinci. Indibaniselwano yemoto, izinto zothumelo, kunye nomthwalo kufuneka ube ne-toriffen engapheliyo kunye ne-lero verkash. Ngelishwa, i-World Retor Services Iinkqubo ze-servo zasilela kule nto ilungele ukuyahluka.

Kwinkqubo eqhelekileyo ye-serso, i-backlash ichazwa njengelahleko phakathi kwemoto kunye nomthwalo obangelwe kukuqina koomatshini wezinto zothumelo; Oku kubandakanya nayiphi na ilahleko yokuhamba yonke i-Gearts, amabhanti, amakhonkco, kunye nokuhlangana. Xa umatshini wawuqala, umthwalo uza kuqhuma kwenye indawo embindini woomatshini (umzobo 1A).

Phambi kokuba umthwalo ngokwakhe unokushukunyiswa yimoto, imoto kufuneka ijikeleze ukufikelela kuzo zonke izilayidi ezikhoyo kwizinto zothumelo (umzobo 1B). Xa imoto iqala ukukhohlisa ekupheleni kwentshukumo, isikhundla somthwalo sinokusivula isikhundla semoto njengoko ixesha lithatha umthwalo ongaphaya kwesikhundla esingaphaya kwesikhundla.

Imoto kufuneka iphinde ithathe i-slack kwicala elichaseneyo ngaphambi kokufaka isicelo seTorque ukuya kumthwalo wokuphelisa (umzobo 1c). Oku kuphulukana nesindululo kubizwa ngokuba yi-backlash, kwaye iqhele ukulinganiswa kwimizuzu ye-ARC, ilingane ne-1 / 60th yenqanaba. I-Gearboxs yenzelwe ukusetyenziswa kunye nenkonzo kwizicelo zemveliso zihlala zinemigaqo ye-backlash esusela kwi-3 ukuya kwi-9 imizuzu ye-ARC.

Ukuqina kwe-Torrsional kukuphikisana nokujija kwe-shaft yemoto, izinto zokuhambisa, kunye nomthwalo ekuphenduleni ukusetyenziswa kweTorque. Inkqubo elukhuni engapheliyo iya kudlulisa i-torque kumthwalo ngaphandle kwe-angcular ye-axis yokujikeleza; Nangona kunjalo, nkqu ne-shaft yentsimbi eqinileyo iya kujija kancinci phantsi komthwalo onzima. Ubukhulu bokungasebenziyo uyahlukaniswa ne-torque esetyenzisiweyo, izinto ezibonakalayo zezinto zokuhambisa, kunye nobume bazo; Imvakalelo, ubude, amalungu amancinci aya kujija ngaphezulu komfutshane, otyebileyo. Oku kuxhathisa ukujija yinto eyenza ukuba i-Coil Springs isebenze, njengokucinezela intwasahlobo ijikajika i-wire incinci; Ucingo lwe-sureter lwenza i-stiffer intwasahlobo. Nantoni na engaphantsi kwe-torsiness ebangela ukuba le nkqubo isebenze njengentwasahlobo, intsingiselo yamandla iya kugcinwa kwinkqubo njengoko umthwalo ubambe ukujikeleza.

Xa udityaniswa kunye, ukuqina okukhuselekileyo kwe-torsional kunye ne-backlash kunokubangela ukuntywila kwenkqubo yenkqubo ye-servo. Ukubuyela umva kunokwazisa ukungaqiniseki, njengoko i-motorddy ibonisa imeko yeshafti yemoto, hayi apho i-backlash ivumele umthwalo wokuhlala. Ukubuyela umva kwazisa imiba yokutsala imiba njengoko isibini esibonisa umthwalo kunye nokungaziphathi kakuhle kwi-motor kancinci xa umthwalo kunye nefomati ye-for. Ukongeza kwi-backlash, ukuqina okukhuselekileyo kwe-ristas igcina amandla ngokuguqula amanye amandla e-kinetic yemoto kunye nomthwalo kumandla anokubakho, ukhulula kamva. Oku kukhuthazelwa amandla okuba nokulibaziseka kubangela i-oscimo yokucoca umthwalo, kunciphisa iindlela ezinokusetyenziswa kakhulu kwaye zichaphazela kakubi ukuphendula kunye nexesha lokuhlala inkqubo yenkqubo ye-servo. Kuzo zonke iimeko, ukunciphisa i-backlash kunye nokukhulisa ukuqina kwenkqubo kuya kwandisa intsebenzo ye-serno kunye nokwenza lula ukumba.

I-Axis ye-Axis ye-Axis ye-Axis

Olona tshintsho luxhaphakileyo lwe-Axis i-Axis ye-Axis Inshom ye-Rost-equise-kwi-encode eyakhelweyo yeNgxelo kunye nebhokisi yegiya yokutshatisa i-torque kunye nesantya semoto esifunwayo. Ibhokisi yegiya sisixhobo samandla esihlala sisixhobo se-analog yoomatshini bokuguqula umthwalo.

Isimo esiphuculweyo sobuchwephesha sisebenzisa i-servesomotor ethe qengqelekayo, esusa izinto zothumelo ngokudibanisa umthwalo ngqo kwimoto. Ngelixa i-gearmotor yoqwalaselo isebenzisa i-coupling kwi-shaft encinci yedazi, inkqubo ye-drive yokuqhuba ibonisa umthwalo ngqo kwi-ronger enkulu kakhulu. Olu hlengahlengiso lususa i-backlash kwaye yonyusa kakhulu ubuqhetseba. I-Pole ephezulu ye-Pole kunye nemimoya ephezulu ye-trique ye-positing cotors ziyahambelana neTorque kunye neempawu zesantya zegisha ngomyinge we-10: 1 okanye ngaphezulu.