I-Direct Drayivu VS. Ilungiselelwe i-Rotary Servilodor: Ukuncishiswa kwenzuzo yokuklama: Ingxenye 1

Izinhloso Zokufunda

• Izinhlelo zangempela ze-servo ezijikelezayo zomhlaba ziwela ukusebenza kahle ngenxa yokulinganiselwa kwezobuchwepheshe.
• Izinhlobo eziningana ze-rotary servodotors zinganikeza izinzuzo zabasebenzisi, kepha ngamunye unenselelo ethile noma umkhawulo.
• I-Direct Drayivu I-Rotary Servilototors inikeza ukusebenza okuhle kakhulu, kepha ibiza kakhulu kunama-gerpotors.

Sekungamashumi eminyaka, ama-servodotors ahlosiwe abe ngenye yamathuluzi ajwayelekile kakhulu ebhokisini lamathuluzi lezentengiselwano lezimboni. I-Sevromotors elungiselelwe i-Sevromotors inikeza ukuma, ukufana kwe-velocity, i-camming ye-elekthronikhi, umoya, ukungezwani, izinhlelo zokusebenza futhi ngempumelelo maqondana namandla we-servomator emthwalweni. Lokhu kuphakamisa umbuzo: Ingabe i-servodotor ehlongozwayo inketho engcono kakhulu ye-Rotary Motion Technology, noma ikhona ikhambi elingcono?

Emhlabeni ophelele, uhlelo lwe-rotary servo luzoba nezilinganiso ze-torque nezilinganiso ezihambelana nesicelo ukuze imoto ayilinganiswa ngokweqile noma usayizi. Inhlanganisela yemoto, izinto zokuhambisa, nomthwalo kufanele ube nokuqina kokuqina kwe-torsional kanye ne-zero backlash. Ngeshwa, izinhlelo zangempela ze-rotary servo ezihamba phambili zikude nalokhu kufanelekile ngamazinga ahlukahlukene.

Kuhlelo olujwayelekile lwe-serlo, i-baclash ichazwa njengokulahleka kokuhamba phakathi kwemoto nomthwalo okubangelwa ukubekezelelwa kwemishini kwezinto zokuhambisa; Lokhu kufaka noma yikuphi ukulahleka okunyakazayo kuwo wonke ama-Gearboxes, amabhande, amaketanga, nokuhlatshwa. Lapho umshini ekuqaleni unikwa amandla, umthwalo uzontanta ndawo ndawo phakathi kokubekezelelana kwemishini (isithombe 1a).

Ngaphambi kokuba umthwalo uqobo ungashukunyiswa yimoto, imoto kufanele ijikeleze ukuze ithathelwe konke okukhona ezintweni zokuhambisa (Umdwebo 1b). Lapho imoto iqala ukugcona ekugcineni kokunyakaza, isikhundla somthwalo singase sithole isimo semoto njengoba umfutho uthwala umthwalo ngaphezu kwesimo semoto.

Le moto kufanele iphinde ithathe i-slack ngakolunye uhlangothi ngaphambi kokufaka i-torque emthanjeni ukuze iluhlehlise (isithombe 1c). Lokhu kulahlekelwa ukunyakaza kubizwa ngokuthi i-backlash, futhi ngokujwayelekile kulinganiswa ngemizuzu ye-arc, okulingana no-1 / 60th ngezinga elithile. Ama-Geoboxes aklanyelwe ukusetshenziswa nge-servos ezisetshenziswayo zezimboni zivame ukuba nemininingwane yokubuyiselwa emuva kusuka emizuzwini emi-3 kuye kweli-9.

Ukuqina kweTorssional kungukumelana kokusonteka komgwaqo wezimoto, izinto zokuhambisa, kanye nomthwalo ngokuphendula ukusetshenziswa kwe-torque. Uhlelo oluqinile olungapheli lungadlulisela i-torque emthwalweni ngaphandle kokuphambuka kwe-angular mayelana ne-axis yokujikeleza; Kodwa-ke, ngisho ne-shaft eqinile yensimbi izosonta kancane ngaphansi komthwalo osindayo. Ubukhulu bokuphambuka kwehlukahluka kuyehluka nge-torque esetshenzisiwe, okuqukethwe kwezinto zokuhambisa, kanye nokwakheka kwazo; Izingxenye ezingezinhle, ezinde, ezingcolile zizosonta ngaphezu kwamafushane, amafutha. Lokhu kumelana nokusonteka yikho okwenza ukuthi i-Coil Springs isebenze, njengoba icindezela ukusonta kwentwasahlobo ngakunye kocingo kancane; I-Fatter Wire yenza intwasahlobo eqinile. Noma yini engaphansi kokuqina kwe-torsional idala ukuthi uhlelo lusebenze njengentwasahlobo, okusho ukuthi amandla angahle agcinwe ohlelweni njengoba umthwalo umelana nokujikeleza.

Lapho kuhlanganiswe ndawonye, ​​ukuqina kokuqina kwe-torsional kanye ne-backlash kungalimaza kakhulu ukusebenza kohlelo lwe-servo. I-Backlash ingaletha ukungaqiniseki, njengoba umgqomo wemoto ekhombisa isikhundla somgodi wemoto, hhayi lapho i-backlash ivumele khona umthwalo ukuthi axazulule. I-Backlash futhi yethula izingqinamba ezihlekisayo njengemibhangqwana yomthwalo kanye nokungacacisi okuvela ku-motor kafushane lapho umthwalo kanye nemoto ehlelela emuva. Ngaphezu kwe-Backlash, ukuqina kokuqina kweTorsional kugcina amandla ngokuguqula amanye amandla e-kinetic motor futhi alayishe amandla angaba khona, akhulule kamuva. Lokhu kukhishwa kwamandla okubambezelekile kubangela ukukhishwa kwe-log oscillation, kudubule kabusha, kunciphisa ukuthambekela okutholakalayo okusebenziseka kalula futhi kuthinta kabi isikhathi sokuphendula kanye nokuxazulula isikhathi sohlelo lwe-servo. Kuzo zonke izimo, ukunciphisa emuva emuva nokwandisa ukuqina kohlelo kuzokhulisa ukusebenza kwe-servo futhi kufezeke kahle.

Ukulungiswa kwe-rotary axis servodor

Ukucushwa kwe-rotary ekwi-axis okuvame kakhulu kune-selvodotor ejikelezayo ene-encoder eyakhelwe kwimpendulo yesikhundla kanye ne-gearbox ukufanisa i-torque etholakalayo nesivinini semoto edingekayo. I-GearBox iyithuluzi elingugesi elihlala njalo elingumuntu we-analog we-transformer wokufanisa umthwalo.

Ukucushwa kwe-Hardware okuthuthukile kusebenzisa i-Direct Drayivu I-Rotary Servilodor, eqeda izinto zokuhambisa ngokuhlanganisa ngokuqondile umthwalo emotweni. Ngenkathi ukucushwa kwe-graesmotor kusebenzisa ukuhambisana ne-shaft encane kakhulu yobubanzi, uhlelo oluqondile lwe-drive lubopha umthwalo ngqo ku-flange enkulu kakhulu ye-rotor. Lokhu kucushwa kuqeda ukubuyela emuva futhi kwandisa kakhulu ukuqina kwe-torsional. Ukubala okuphezulu kwesigxobo kanye nomoya ophakeme we-torque windings of Direct drive Motors uqondanisa i-torque nezimpawu zesivinini ze-graesgotor ngesilinganiso esingu-10: 1 noma ngaphezulu.