Mwatsatanetsatane ndondomeko ya kusankha servo pagalimoto

Servo ndi chipangizo chotumizira mphamvu chomwe chimapereka chiwongolero pamayendedwe ofunikira ndi zida zamagetsi.Choncho, kupanga ndi kusankhidwa kwa servo system kwenikweni ndi njira yosankha mphamvu zoyenera ndi zigawo zolamulira za electromechanical motion control system ya zipangizo.Zimakhudza Zomwe zimalandiridwa makamaka:

Wowongolera wodziwikiratu yemwe amagwiritsidwa ntchito kuwongolera kaimidwe kake kamtundu uliwonse mu dongosolo;

Servo drive yomwe imasintha mphamvu ya AC kapena DC yokhala ndi ma voliyumu osasunthika komanso ma frequency kukhala magetsi oyendetsedwa ndi injini ya servo;

Servo motor yomwe imasintha mphamvu zosinthira kuchokera kwa dalaivala kukhala mphamvu zamakina;

Njira yopatsira makina yomwe imatumiza mphamvu yamakina yamakina kupita kumalo omaliza;

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Poganizira kuti pali masewera ankhondo ambiri amtundu wazinthu zamafakitale servo pamsika, tisanalowe muzosankha zenizeni, tifunikabe choyamba malinga ndi zofunikira za zida zoyendetsera ntchito zomwe taphunzira, kuphatikiza owongolera, ma drive, ma motors Preliminary kuwunika kumachitika ndi zinthu za servo monga zochepetsera ... etc.

Kumbali imodzi, kuwunikaku kumatengera zomwe kampaniyo imachita, machitidwe ogwiritsira ntchito komanso magwiridwe antchito a zida kuti mupeze mndandanda wazogulitsa womwe ungakhalepo komanso kuphatikiza kwa mapulogalamu kuchokera kumitundu yambiri.Mwachitsanzo, servo mu mphamvu ya mphepo kusinthasintha phula ntchito makamaka kulamulira malo ngodya tsamba, koma mankhwala ntchito ayenera kutha kuzolowera ndi nkhanza ndi nkhanza malo ntchito;ntchito ya servo mu zida zosindikizira imagwiritsa ntchito njira yolumikizira gawo pakati pa nkhwangwa zingapo Panthawi imodzimodziyo, imakonda kugwiritsa ntchito kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe kake;zida zamatayala zimayang'ana kwambiri kugwiritsa ntchito kwathunthu kwa mitundu yosiyanasiyana ya kayendetsedwe ka haibridi ndi machitidwe odzichitira okha;zida zamakina apulasitiki zimafunikira kuti dongosololi ligwiritsidwe ntchito pokonza zinthu.Torque ndi kuwongolera malo kumapereka zosankha zapadera ndi ma aligorivimu a parameter….

Kumbali inayi, potengera kuyika kwa zida, malinga ndi kuchuluka kwa magwiridwe antchito komanso zofunikira pazachuma pazida, sankhani mndandanda wazinthu zomwe zikugwirizana ndi mtundu uliwonse.Mwachitsanzo: ngati mulibe zofunikira kwambiri pakugwiritsa ntchito zida, ndipo mukufuna kusunga bajeti yanu, mutha kusankha zinthu zandalama;mosiyana, ngati muli ndi zofunikira zogwirira ntchito pazida zolondola, kuthamanga, kuyankha kwamphamvu, ndi zina zotero, ndiye kuti mwachibadwa M'pofunika kuwonjezera kuyika kwa bajeti kwa izo.

Kuonjezera apo, m'pofunikanso kuganizira za chilengedwe cha ntchito kuphatikizapo kutentha ndi chinyezi, fumbi, mlingo wa chitetezo, kutentha kwa kutentha, miyezo ya magetsi, miyeso ya chitetezo, komanso kugwirizanitsa ndi mizere / machitidwe omwe alipo kale ... etc.

Zitha kuwoneka kuti kusankha koyambirira kwazinthu zowongolera zoyenda kumatengera magwiridwe antchito amtundu uliwonse pamsika.Panthawi imodzimodziyo, kukonzanso mobwerezabwereza kwa zofunikira zogwiritsira ntchito, kulowetsa zatsopano ndi zatsopano zidzakhudzanso zina..Chifukwa chake, kuti muchite ntchito yabwino pakupanga ndi kusankha njira zowongolera zoyenda, nkhokwe zaukadaulo zamakampani tsiku lililonse ndizofunikira kwambiri.

Pambuyo poyang'ana koyambirira kwa mndandanda wamtundu womwe ulipo, titha kupititsa patsogolo mapangidwe ndi kusankha njira yoyendetsera kayendetsedwe kawo.

Panthawiyi, m'pofunika kudziwa malo olamulira ndi kamangidwe kake kachitidwe malinga ndi chiwerengero cha nkhwangwa zoyenda mu zipangizo ndi zovuta zomwe zimagwirira ntchito.Nthawi zambiri, kuchuluka kwa nkhwangwa kumatsimikizira kukula kwa dongosolo.Kuchulukirachulukira kwa nkhwangwa kumapangitsa kuti pakhale kufunikira kwa mphamvu yowongolera.Panthawi imodzimodziyo, m'pofunikanso kugwiritsa ntchito teknoloji yamabasi mu dongosolo kuti muchepetse ndi kuchepetsa owongolera ndi oyendetsa.Chiwerengero cha kugwirizana pakati pa mizere.Kuvuta kwa kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe kake ndi mtundu wa basi.Kuthamanga kwanthawi yeniyeni komanso kuwongolera malo kumangofunika kugwiritsa ntchito chowongolera wamba ndi basi yakumunda;kulunzanitsa kwanthawi yayitali pakati pa nkhwangwa zingapo (monga magiya amagetsi ndi makamera amagetsi) kumafuna onse owongolera ndi mabasi akumunda Ili ndi ntchito yolumikizira wotchi yolondola kwambiri, ndiko kuti, imayenera kugwiritsa ntchito wowongolera ndi mabasi amakampani omwe amatha kuchita zenizeni. - nthawi yoyendetsa;ndipo ngati chipangizocho chiyenera kumaliza ndege kapena kutanthauzira kwa danga pakati pa nkhwangwa zingapo kapena ngakhale kugwirizanitsa kulamulira kwa robot, ndiye kuti mlingo wa ntchito ya wolamulira Zofunikira ndizokwera kwambiri.

Malingana ndi mfundo zomwe zili pamwambazi, tatha kusankha olamulira omwe alipo kuchokera kuzinthu zomwe zasankhidwa kale ndikuzigwiritsira ntchito ku zitsanzo zenizeni;ndiye potengera kuyanjana kwa fieldbus, tikhoza kusankha olamulira omwe angagwiritsidwe ntchito nawo.Dalaivala wofananira ndi zosankha zofananira za servo motor, koma izi zimangokhala pagawo lazogulitsa.Kenako, tifunika kudziwanso mtundu wina wagalimoto ndi mota molingana ndi mphamvu yamagetsi.

Malinga ndi inertia yonyamula katundu ndi mayendedwe okhotakhota a olamulira aliwonse pazofunikira zogwiritsira ntchito, kudzera munjira yosavuta ya fizikisi F = m · a kapena T = J · α, sikovuta kuwerengera kufunikira kwawo kwa torque pa nthawi iliyonse mumayendedwe oyenda.Titha kutembenuza ma torque ndi liwiro la olamulira aliwonse oyenda pamapeto onyamula kupita ku mbali yagalimoto molingana ndi kuchuluka kwa kufalikira, ndipo pamaziko awa, kuwonjezera malire oyenera, kuwerengera ma drive ndi ma mota imodzi ndi imodzi, ndikujambula mwachangu. Kukonzekera kwadongosolo Musanalowe ntchito yosankha mosamala komanso yotopetsa, chitani kuwunika kotsika mtengo kwa mndandanda wazinthu zina pasadakhale, potero kuchepetsa kuchuluka kwa njira zina.

Komabe, sitingatenge kasinthidwe kameneka koyerekeza ndi torque ya katundu, kufunikira kwa liwiro ndi chiŵerengero cha kufala kwa preset monga njira yomaliza yamagetsi.Chifukwa ma torque ndi liwiro la mota zimakhudzidwa ndi njira yotumizira mphamvu yamakina ndi liwiro lake;panthawi imodzimodziyo, inertia ya injini yokha ndi gawo la katundu wa makina opatsirana, ndipo galimotoyo imayendetsedwa panthawi yogwiritsira ntchito zipangizo.Ndilo njira yonse yotumizira kuphatikizira katundu, njira yotumizira ndi inertia yake.

M'lingaliro ili, kusankha kwa mphamvu ya servo sikungotengera mawerengedwe a torque ndi liwiro la axis iliyonse yosuntha ... etc.Mzere uliwonse woyenda umagwirizanitsidwa ndi mphamvu yoyenera.M'malo mwake, zimatengera kuchuluka kwa katundu, mapindikira ogwiritsira ntchito, komanso njira zotumizira zamakina, m'malo mwa ma inertia ndi magawo oyendetsa (mawonekedwe amphindi) amitundu ina yosiyanasiyana momwemo, ndikufanizira. makokedwe ake (kapena mphamvu) ndi Kukhazikika kwa liwiro pamapindikira amtundu, njira yopezera kuphatikiza koyenera.Kawirikawiri, muyenera kudutsa njira zotsatirazi:

Kutengera njira zosiyanasiyana zopatsirana, jambulani mayendedwe othamanga ndi inertia ya katundu ndi gawo lililonse lotengera makina ku mbali yagalimoto;

Inertia ya injini iliyonse yosankhidwa imayikidwa pamwamba ndi inertia ya katunduyo ndi njira yotumizira yomwe imajambulidwa kumbali ya galimoto, ndipo mapindikidwe a torque amapezedwa pophatikiza mayendedwe othamanga kumbali ya galimoto;

Fananizani kuchuluka ndi inertia yofananira ya liwiro la mota ndi ma curve a torque pansi pamikhalidwe yosiyanasiyana, ndikupeza kuphatikiza koyenera kwagalimoto, mota, njira yotumizira ndi liwiro.

Popeza ntchito yomwe ili pamwambapa iyenera kuchitika kwa Axis iliyonse m'dongosolo la ndege, kusankha kwa magetsi ku servo kumakhala kwakukulu kwambiri, ndipo nthawi zambiri popanga dongosolo la chilengedwe cha Modeni nthawi zambiri zimadyedwa pano.Malo.Monga tanena kale, m'pofunika kuyerekezera chitsanzo kupyolera mu kufunikira kwa torque kuti muchepetse chiwerengero cha njira zina, ndipo ichi ndiye tanthauzo.

Pambuyo pomaliza gawo ili la ntchitoyi, tiyeneranso kudziwa zina zofunika zothandizira pagalimoto ndi mota ngati zikufunika kuti titsirize zitsanzo zawo.Zothandizira izi zikuphatikizapo:

Ngati ma drive wamba a DC asankhidwa, mitundu ya mayunitsi okonzanso, zosefera, ma reactors ndi zida zolumikizira mabasi a DC (monga ndege yakumbuyo ya basi) ziyenera kutsimikiziridwa molingana ndi kugawa kwa nduna;

Konzekerani ma axis kapena ma drive onse okhala ndi ma braking resistors kapena ma regenerative braking units ngati pakufunika;

Kaya tsinde lotulutsa la mota yozungulira ndi njira yayikulu kapena shaft ya kuwala, komanso ngati ili ndi brake;

Galimoto yozungulira imayenera kudziwa kuchuluka kwa ma modules a stator molingana ndi kutalika kwa sitiroko;

Servo ndemanga protocol ndi kusamvana, owonjezera kapena mtheradi, kutembenukira kamodzi kapena angapo;

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Pakadali pano, tatsimikiza magawo ofunikira amitundu yosiyanasiyana yamitundu yosiyanasiyana mumayendedwe owongolera kuchokera kwa wowongolera kupita ku ma servo drives axis iliyonse yoyenda, mtundu wa mota ndi njira yolumikizirana ndi makina.

Pomaliza, tifunikanso kusankha zinthu zina zofunika pamayendedwe owongolera, monga:

Ma encoder othandizira (spindle) omwe amathandiza ma axis (ma) ena kapena makina onse kuti alumikizike ndi magawo ena omwe si a servo;

Module yothamanga kwambiri ya I/O yozindikira kulowetsa kapena kutulutsa kwamakamera othamanga kwambiri;

Zingwe zolumikizira zamagetsi zosiyanasiyana, kuphatikiza: zingwe zamagetsi zamagetsi za servo, mayankho ndi zingwe zophwanyika, zingwe zolumikizirana mabasi pakati pa dalaivala ndi wowongolera…;

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Mwanjira iyi, kusankha kwa zida zonse za servo motion control system kumamalizidwa.