Kusankhidwa kwa mtundu wa mota ndikosavuta, komanso kovuta kwambiri.Ili ndi vuto lomwe limaphatikizapo zambiri zosavuta.Ngati mukufuna kusankha mwachangu mtundu ndikupeza zotsatira, zochitika ndizothamanga kwambiri.
M'makampani opanga makina opangira makina, kusankha ma mota ndi vuto lofala kwambiri.Ambiri a iwo ali ndi zovuta pakusankha, kaya zazikulu kwambiri kuti ziwonongeke, kapena zazing'ono kwambiri kuti asasunthe.Ndi bwino kusankha yaikulu, osachepera ingagwiritsidwe ntchito ndipo makina amatha kuthamanga, koma ndizovuta kwambiri kusankha kakang'ono.Nthawi zina, pofuna kusunga malo, makinawo amasiya malo ang'onoang'ono oyika makina ang'onoang'ono.Potsirizira pake, zimapezeka kuti galimotoyo imasankhidwa kukhala yaying'ono, ndipo mapangidwewo amasinthidwa, koma kukula kwake sikungayikidwe.
M'makampani opanga makina, pali mitundu itatu ya ma mota omwe amagwiritsidwa ntchito kwambiri: magawo atatu asynchronous, stepper, ndi servo.Ma motors a DC sapezeka.
Magetsi aasynchronous magawo atatu, otsika kwambiri, yatsani mukayatsidwa.
Ngati mukufuna kuwongolera liwiro, muyenera kuwonjezera chosinthira pafupipafupi, kapena mutha kuwonjezera bokosi lowongolera liwiro.
Ngati imayang'aniridwa ndi osinthira pafupipafupi, makina osinthira pafupipafupi amafunikira.Ngakhale ma mota wamba atha kugwiritsidwa ntchito molumikizana ndi ma frequency converter, kutulutsa kutentha ndizovuta, ndipo zovuta zina zidzachitika.Pazolakwika zinazake, mutha kusaka pa intaneti.Makina owongolera a bokosi la kazembe adzataya mphamvu, makamaka ikasinthidwa kukhala giya yaying'ono, koma chosinthira pafupipafupi sichidzatero.
Ma Stepper motors ndi ma motors otseguka omwe ali olondola kwambiri, makamaka ma stepper asanu.Pali ochepa kwambiri apakhomo a magawo asanu, omwe ndi gawo laukadaulo.Kawirikawiri, stepper ilibe zida zochepetsera ndipo imagwiritsidwa ntchito mwachindunji, ndiko kuti, shaft yotulutsa injini imalumikizidwa mwachindunji ndi katundu.Liwiro logwira ntchito la stepper nthawi zambiri limakhala lotsika, zosintha pafupifupi 300 zokha, koma palinso zochitika zakusintha chikwi chimodzi kapena ziwiri, komanso zimangokhala zopanda katundu ndipo zilibe phindu lililonse.Ichi ndichifukwa chake palibe accelerator kapena decelerator ambiri.
Servo ndi injini yotsekedwa yolondola kwambiri.Pali ma servos ambiri apanyumba.Poyerekeza ndi mitundu yakunja, pali kusiyana kwakukulu, makamaka chiŵerengero cha inertia.Zotumizidwa kunja zimatha kupitirira 30, koma zapakhomo zimatha kufika pafupifupi 10 kapena 20.
Malingana ngati galimotoyo ili ndi inertia, anthu ambiri amanyalanyaza mfundoyi posankha chitsanzo, ndipo nthawi zambiri ndizomwe zimatsimikizira ngati galimotoyo ndi yoyenera.Nthawi zambiri, kusintha servo ndikusintha inertia.Ngati kusankhidwa kwamakina sikuli bwino, kumawonjezera mota.Debugging katundu.
Ma servos oyambirira apakhomo analibe inertia yochepa, inertia yapakati, ndi inertia yapamwamba.Nditakumana koyamba ndi mawu awa, sindimamvetsetsa chifukwa chake injini yokhala ndi mphamvu yomweyo ingakhale ndi miyeso itatu yotsika, yapakatikati, ndi inertia yayikulu.
Kutsika kwa inertia kumatanthauza kuti galimotoyo imapangidwa kuti ikhale yosalala komanso yayitali, ndipo inertia ya shaft yaikulu ndi yaying'ono.Pamene galimoto ikuchita maulendo obwerezabwereza, inertia ndi yaying'ono ndipo mbadwo wa kutentha ndi wochepa.Chifukwa chake, ma mota omwe ali ndi inertia yotsika ndi oyenera kuyenda mobwerezabwereza pafupipafupi.Koma torque wamba ndi yaying'ono.
Koyilo ya injini ya servo yokhala ndi inertia yayikulu ndi yayikulu, inertia ya shaft yayikulu ndi yayikulu, ndipo torque ndi yayikulu.Ndiwoyenera nthawi zokhala ndi torque yayikulu koma osati kusuntha mwachangu.Chifukwa cha mayendedwe othamanga kwambiri kuti ayime, dalaivala amayenera kupanga voteji yayikulu yosinthira kuti ayimitse inertia yayikuluyi, ndipo kutentha kumakhala kwakukulu kwambiri.
Nthawi zambiri, injini yokhala ndi inertia yaying'ono imakhala ndi mabuleki abwino, imayamba mwachangu, kuyankha mwachangu ndikuyimitsa, kubwezanso mwachangu, ndipo ndiyoyenera nthawi zina yokhala ndi katundu wopepuka komanso kuyika kothamanga kwambiri.Monga ena liniya mkulu-liwiro maimidwe njira.Ma motors okhala ndi inertia yapakatikati ndi yayikulu ndi yoyenera nthawi zokhala ndi katundu wambiri komanso zofunikira zokhazikika, monga mafakitale a zida zamakina okhala ndi njira zozungulira zozungulira.
Ngati katunduyo ndi wokulirapo kapena mawonekedwe a mathamangitsidwe ndi aakulu, ndipo injini yaing'ono ya inertia yasankhidwa, shaft ikhoza kuonongeka kwambiri.Kusankhidwa kuyenera kutengera zinthu monga kukula kwa katundu, kukula kwa mathamangitsidwe, etc.
Motor inertia ndi chizindikiro chofunikira cha ma servo motors.Zimatanthawuza ku inertia ya servo motor yokha, yomwe ndi yofunika kwambiri kuti ipititse patsogolo komanso kuchepetsa kuthamanga kwa galimoto.Ngati inertia sikugwirizana bwino, zochita za galimotoyo zimakhala zosakhazikika.
M'malo mwake, palinso zosankha zama injini ena, koma aliyense wafooketsa mfundo iyi pamapangidwe, monga mizere wamba yonyamula lamba.injini ikasankhidwa, imapezeka kuti siyingayambike, koma imatha kusuntha ndi kukankha kwa dzanja.Pankhaniyi, ngati muwonjezera kuchepetsa kuchepetsa kapena mphamvu, imatha kuthamanga bwinobwino.Mfundo yofunikira ndikuti palibe inertia yofananira pakusankha koyambirira.
Pakuwongolera kuyankha kwa dalaivala wa servo motor ku servo motor, mulingo woyenera kwambiri ndikuti chiŵerengero cha inertia yonyamula katundu ku motor rotor inertia ndi chimodzi, ndipo kuchuluka kwake sikungapitirire kasanu.Kupyolera mu kapangidwe ka chipangizo chotumizira makina, katundu akhoza kupangidwa.
Chiŵerengero cha inertia ndi motor rotor inertia chiri pafupi ndi chimodzi kapena chaching'ono.Pamene inertia ya katunduyo ndi yaikulu kwambiri, ndipo mapangidwe a makina sangathe kupanga chiŵerengero cha inertia ya katundu ku inertia ya injini ya rotor inertia zosakwana kasanu, injini yokhala ndi injini yaikulu ya rotor inertia ingagwiritsidwe ntchito, ndiko kuti, chotchedwa chachikulu. injini ya inertia.Kuti mukwaniritse yankho lina mukamagwiritsa ntchito mota yokhala ndi inertia yayikulu, mphamvu ya dalaivala iyenera kukhala yayikulu.
Pansipa tikufotokozera chodabwitsa munjira yeniyeni yogwiritsira ntchito mota yathu.
Galimotoyo imanjenjemera ikayamba, zomwe mwachiwonekere sizikhala zokwanira.
Palibe vuto lomwe linapezeka injiniyo ikathamanga pa liwiro lotsika, koma liwiro likakwera, inkatsetsereka ikayima, ndipo shaft yotulutsa imayenda kumanzere ndi kumanja.Izi zikutanthauza kuti inertia yofananira ili pamalire a injini.Panthawiyi, ndikwanira kuonjezera kuchepetsa kuchepetsa pang'ono.
Galimoto ya 400W imanyamula ma kilogalamu mazana kapena matani amodzi kapena awiri.Izi mwachiwonekere zimangowerengedwa mphamvu, osati torque.Ngakhale galimoto ya AGV imagwiritsa ntchito 400W kukoka katundu wa kilogalamu mazana angapo, liwiro la galimoto ya AGV ndilochepa kwambiri, zomwe sizili choncho muzochita zokha.
Servo motor ili ndi injini ya mphutsi.Ngati izo ziyenera kugwiritsidwa ntchito motere, tisaiwale kuti liwiro la galimoto sayenera kuposa 1500 rpm.Chifukwa chake ndi chakuti pali mikangano yotsetsereka mu giya ya nyongolotsi, liwiro ndilokwera kwambiri, kutentha kuli koopsa, kuvala kumathamanga, ndipo moyo wautumiki wachepa.Panthawiyi, ogwiritsa ntchito adzadandaula za momwe zinyalala zotere zilili.Magiya a nyongolotsi ochokera kunja adzakhala abwinoko, koma sangathe kupirira chiwonongeko choterocho.Ubwino wa servo wokhala ndi zida za nyongolotsi ndikudzitsekera, koma choyipa ndikutaya kulondola.
Inertia = radius yozungulira x misa
Malingana ngati pali misa, kuthamanga ndi kuchepa, pali inertia.Zinthu zomwe zimazungulira ndi zinthu zomwe zimayenda pomasulira zimakhala ndi inertia.
Pamene ma mota wamba a AC asynchronous amagwiritsidwa ntchito nthawi zambiri, palibe chifukwa chowerengera inertia.Makhalidwe a AC motors ndikuti pamene inertia yotulutsa sikokwanira, ndiye kuti, kuyendetsa kumakhala kolemera kwambiri.Ngakhale makokedwe amtundu wokhazikika ndi wokwanira, koma inertia yosakhalitsa ndi yayikulu kwambiri, ndiye injini ikafika pa liwiro losawerengeka poyambira, injiniyo imachedwetsa kenako imakhala yachangu, kenako imawonjezera liwiro, ndipo pamapeto pake imafika pa liwiro lovomerezeka. , kotero kuyendetsa sikugwedezeka, komwe kumakhala ndi zotsatira zochepa pakuwongolera.Koma posankha injini ya servo, popeza injini ya servo imadalira kuwongolera mayankho a encoder, kuyambika kwake kumakhala kolimba kwambiri, ndipo chandamale cha liwiro ndi chandamale chiyenera kukwaniritsidwa.Panthawi imeneyi, ngati kuchuluka kwa inertia yomwe injini imatha kupirira idutsa, galimotoyo idzanjenjemera.Chifukwa chake, powerengera injini ya servo ngati gwero lamagetsi, chinthu cha inertia chiyenera kuganiziridwa bwino.Ndikofunikira kuwerengera inertia ya gawo losuntha lomwe pamapeto pake limasinthidwa kukhala shaft yamoto, ndikugwiritsa ntchito inertia iyi kuwerengera torque mkati mwa nthawi yoyambira.
Nthawi yotumiza: Mar-06-2023