Pali njira zitatu zowongolera za servo motor: kugunda, analogi ndi kulumikizana.Kodi tiyenera kusankha bwanji kuwongolera kwa injini ya servo muzochitika zosiyanasiyana zogwiritsira ntchito?
1. Kuwongolera kwamphamvu kwa injini ya servo
Pazida zing'onozing'ono zoyima zokha, kugwiritsa ntchito mphamvu ya pulse kuzindikira malo agalimoto kuyenera kukhala njira yodziwika bwino yogwiritsira ntchito.Njira yowongolera iyi ndi yosavuta komanso yosavuta kumvetsetsa.
Lingaliro loyambira lowongolera: kuchuluka kwa ma pulse kumatsimikizira kusamutsidwa kwagalimoto, ndipo pafupipafupi kugunda kumatsimikizira kuthamanga kwagalimoto.Kugunda kumasankhidwa kuti azindikire kuwongolera kwa injini ya servo, tsegulani buku la injini ya servo, ndipo nthawi zambiri padzakhala tebulo ngati ili:
Onsewa ndi owongolera ma pulse, koma kukhazikitsa kwake ndikosiyana:
Choyamba ndi chakuti dalaivala amalandira ma pulse awiri othamanga kwambiri (A ndi B), ndipo amasankha njira yozungulira ya galimoto kupyolera mu kusiyana kwa gawo pakati pa ma pulse awiriwo.Monga momwe tawonetsera m'chithunzi pamwambapa, ngati gawo B ndi madigiri 90 mofulumira kuposa gawo A, ndi kuzungulira kutsogolo;ndiye gawo B ndi 90 madigiri pang'onopang'ono kuposa gawo A, ndi kuzungulira mobwerera.
Panthawi yogwira ntchito, zigawo ziwiri za kayendetsedwe kameneka zimasinthana, choncho timatchanso njira yolamulira yosiyana.Lili ndi zizindikiro za kusiyana, zomwe zimasonyezanso kuti njira yolamulira iyi, mphamvu yolamulira imakhala ndi mphamvu zotsutsana ndi kusokoneza, muzochitika zina zogwiritsira ntchito ndi kusokoneza kwakukulu, njira iyi ndiyo yabwino.Komabe, motere, shaft imodzi yamagalimoto iyenera kukhala ndi madoko awiri othamanga kwambiri, omwe si oyenera momwe madoko othamanga kwambiri amakhala olimba.
Chachiwiri, dalaivala amalandirabe ma pulse awiri othamanga kwambiri, koma maulendo awiri othamanga kwambiri samakhalapo nthawi imodzi.Pamene kugunda kumodzi kuli kotulutsa, kwina kuyenera kukhala kolakwika.Njira yowongolera iyi ikasankhidwa, iyenera kutsimikiziridwa kuti pamakhala chiwopsezo chimodzi chokha panthawi imodzi.Ma pulse awiri, kutulutsa kumodzi kumayendera njira yabwino ndipo inayo kumayendera molakwika.Monga momwe zilili pamwambapa, njirayi imafunikiranso madoko awiri othamanga kwambiri pa shaft imodzi yamagalimoto.
Mtundu wachitatu ndikuti chizindikiro chimodzi chokha cha pulse chiyenera kuperekedwa kwa dalaivala, ndipo kuyendetsa kutsogolo ndi kumbuyo kwa galimoto kumatsimikiziridwa ndi chizindikiro chimodzi cha IO.Njira yowongolera iyi ndiyosavuta kuwongolera, ndipo kugwiritsa ntchito zida zapa doko lothamanga kwambiri ndikocheperako.Nthawi zambiri kachitidwe kakang'ono, njirayi ingakhale yabwino.
Chachiwiri, servo motor analog control njira
Muzochitika zogwiritsira ntchito zomwe zimayenera kugwiritsa ntchito galimoto ya servo kuti tizindikire kuthamanga kwa liwiro, tikhoza kusankha mtengo wa analogi kuti tizindikire kuthamanga kwa galimotoyo, ndipo mtengo wamtengo wapatali wa analogi umatsimikizira kuthamanga kwa galimotoyo.
Pali njira ziwiri zosankhira kuchuluka kwa analogi, panopa kapena voteji.
Mawonekedwe a Voltage: Mumangofunika kuwonjezera magetsi ena pamagetsi owongolera.Muzochitika zina, mutha kugwiritsa ntchito potentiometer kuti mukwaniritse kuwongolera, komwe kumakhala kosavuta.Komabe, magetsi amasankhidwa ngati chizindikiro chowongolera.M'malo ovuta, magetsi amasokonezeka mosavuta, zomwe zimapangitsa kuti pakhale kulamulira kosakhazikika.
Mawonekedwe apano: Gawo lofananira lotulutsa likufunika, koma chizindikiro chapano chili ndi mphamvu zotsutsana ndi kusokoneza ndipo chingagwiritsidwe ntchito pazovuta zovuta.
3. Kuyankhulana kwamtundu wa servo motor
Njira zodziwika bwino zodziwira kuwongolera kwamagalimoto a servo polumikizana ndi CAN, EtherCAT, Modbus, ndi Profibus.Kugwiritsa ntchito njira yolumikizirana kuti muwongolere mota ndiye njira yoyendetsera yomwe imakonda pazochitika zina zovuta komanso zazikulu zogwiritsira ntchito dongosolo.Mwanjira iyi, kukula kwa dongosolo ndi kuchuluka kwa shafts zamagalimoto zitha kupangidwa mosavuta popanda waya wowongolera ovuta.Dongosolo lopangidwa ndi losinthika kwambiri.
Chachinayi, gawo lokulitsa
1. Servo motor torque control
Njira yowongolera ma torque ndikuyika torque yakunja ya shaft yamoto kudzera pakulowetsa kwa kuchuluka kwa analogi akunja kapena kugawa kwa adilesi yachindunji.Ntchito yeniyeni ndi yakuti, mwachitsanzo, ngati 10V ikugwirizana ndi 5Nm, pamene kuchuluka kwa analogi kwakunja kumayikidwa ku 5V, shaft yamoto ndi The linanena bungwe ndi 2.5Nm.Ngati katundu wa shaft yamagalimoto ndi wotsika kuposa 2.5Nm, injiniyo ili pamlingo wothamangitsa;pamene katundu wakunja ndi wofanana ndi 2.5Nm, galimotoyo ili mu liwiro lokhazikika kapena kuyimitsa;pamene katundu wakunja ndi wapamwamba kuposa 2.5Nm, galimotoyo imakhala yochepetsera kapena kubwezeretsanso.Ma torque a seti amatha kusinthidwa mwa kusintha kusintha kwa kuchuluka kwa analogi mu nthawi yeniyeni, kapena mtengo wa adilesi yofananirayo ungasinthidwe kudzera kulumikizana.
Amagwiritsidwa ntchito kwambiri pazida zokhotakhota ndi zopumula zomwe zimakhala ndi zofunikira pamphamvu yazinthu, monga zida zomangira kapena zida zokoka za fiber.Kuyika kwa torque kuyenera kusinthidwa nthawi iliyonse malinga ndi kusintha kwa utali wozungulira kuti zitsimikizire kuti mphamvu ya zinthuyo sisintha ndi kusintha kwa radius yokhotakhota.kusintha ndi mafunde ozungulira.
2. Servo galimoto udindo ulamuliro
Mumayendedwe owongolera malo, liwiro lozungulira limatsimikiziridwa ndi kuchuluka kwa ma pulse akunja, ndipo ngodya yozungulira imatsimikiziridwa ndi kuchuluka kwa ma pulse.Ma servos ena amatha kugawa mwachindunji kuthamanga ndi kusamuka kudzera mukulankhulana.Popeza malo akafuna akhoza kukhala okhwima kwambiri kulamulira liwiro ndi udindo, nthawi zambiri ntchito zipangizo udindo, CNC makina zida, makina osindikizira ndi zina zotero.
3. Servo motor liwiro mode
Liwiro lozungulira limatha kuwongoleredwa kudzera pakulowetsa kwa kuchuluka kwa analogi kapena kugunda pafupipafupi.Mayendedwe othamanga amathanso kugwiritsidwa ntchito poyika pomwe chiwongolero chakunja cha PID cha chipangizo chowongolera chapamwamba chikuperekedwa, koma chizindikiro cha malo agalimoto kapena chizindikiro cha katundu wolunjika chiyenera kutumizidwa ku kompyuta yapamwamba.Chidziwitso chogwiritsa ntchito.Mawonekedwe a malo amathandizanso kutulutsa kwakunja kwakunja kuti azindikire chizindikiro cha malo.Panthawiyi, encoder kumapeto kwa shaft ya injini imangozindikira kuthamanga kwagalimoto, ndipo chizindikiro cha malo chimaperekedwa ndi chipangizo chodziwikiratu chomaliza.Ubwino wa izi ndikuti ukhoza kuchepetsa njira yopatsirana yapakatikati.Cholakwikacho chimawonjezera kulondola kwa malo a dongosolo lonse.
4. Lankhulani za mphete zitatu
Servo nthawi zambiri imayendetsedwa ndi malupu atatu.Zomwe zimatchedwa malupu atatu ndi machitidwe atatu otsekeka osagwirizana ndi PID.
Chizungulire chamkati cha PID ndi chipika chaposachedwa, chomwe chimapangidwa kwathunthu mkati mwa driver wa servo.Zomwe zimatuluka pagawo lililonse la mota kupita kugalimoto zimazindikirika ndi chipangizo cha Hall, ndipo malingaliro oyipa amagwiritsidwa ntchito kusintha momwe makonzedwe a PID asinthira, kuti akwaniritse zomwe zatuluka posachedwa.Zofanana ndi zomwe zakhazikitsidwa, loop yapano imayang'anira ma torque, kotero mumayendedwe a torque, dalaivala ali ndi ntchito yaying'ono kwambiri komanso kuyankha kwachangu kwambiri.
Chingwe chachiwiri ndi liwiro la liwiro.Kusintha koyipa kwa PID kumachitika kudzera pa siginecha yomwe yadziwika ya encoder yamagalimoto.Kutulutsa kwa PID mu chipika chake ndikuyika mwachindunji kwa kuzungulira kwaposachedwa, kotero kuwongolera kwa liwiro kumaphatikizapo kuthamanga kwa liwiro ndi kuzungulira komwe kulipo.Mwanjira ina, mtundu uliwonse uyenera kugwiritsa ntchito loopu yapano.Lupu lamakono ndilo maziko a ulamuliro.Ngakhale kuti liwiro ndi malo zimayendetsedwa, dongosololi likuwongolera panopa (torque) kuti likwaniritse kulamulira kofanana kwa liwiro ndi malo.
Lupu lachitatu ndi loop ya malo, yomwe ndi yakunja kwambiri.Itha kupangidwa pakati pa dalaivala ndi choyimbira chamoto kapena pakati pa chowongolera chakunja ndi choyimbira chamoto kapena katundu womaliza, kutengera momwe zilili.Popeza kutulutsa kwamkati kwa gawo lowongolera ndikukhazikitsa liwiro, mumayendedwe owongolera, dongosololi limagwira ntchito za malupu onse atatu.Panthawiyi, makinawa ali ndi chiwerengero chachikulu kwambiri chowerengera komanso kuthamanga kwapang'onopang'ono kwambiri.
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Nthawi yotumiza: May-31-2022