Dị ka onye actuator,stepper motobụ otu n'ime isi ngwaahịa nke mechatronics, nke a na-ejikarị na sistemụ njikwa akpaaka dị iche iche. Site na mmepe nke microelectronics na teknụzụ kọmputa, ọchịchọ nke stepper motors na-abawanye kwa ụbọchị, a na-ejikwa ha na mpaghara akụ na ụba mba dị iche iche.
01 Gịnị bụ astepper moto
Stepper moto bụ ngwaọrụ eletrọnịkị nke na-agbanwe ọkụ eletrik ozugbo ka ọ bụrụ mmegharị igwe. Site n'ịchịkwa usoro, ugboro na ọnụọgụ ọkụ eletrik etinyere na eriri moto, enwere ike ijikwa steper moto, ọsọ na akụkụ ntụgharị. Na-enweghị iji usoro njikwa nzaghachi mechiri emechi nwere nghọta ọnọdụ, enwere ike nweta ọnọdụ ziri ezi na njikwa ọsọ site na iji usoro njikwa oghere dị mfe, dị ọnụ ala nke mejupụtara moto stepper na onye ọkwọ ụgbọ ala na-eso ya.
02 stepper motousoro nhazi na ụkpụrụ ọrụ
Nhazi nhazi:
Ụkpụrụ na-arụ ọrụ: onye na-anya ụgbọ ala stepper dị ka mgbanaka njikwa mpụga na akara ntụziaka, site na sekit mgbanaka nke ime ya, na-achịkwa windings moto stepper n'usoro oge n'ihu ma ọ bụ tụgharịa ike, nke mere na moto ahụ na-aga n'ihu / tụgharịa ntụgharị, ma ọ bụ mkpọchi.
Were 1.8 degrees abụọ-phase stepper moto dị ka ọmụmaatụ: mgbe ma windings na-agba ume na obi ụtọ, moto mmepụta aro ga-anọ na-akpọchi na ọnọdụ. Oke kachasị nke ga-eme ka moto ahụ kpọchie ya na ọkwa ugbu a bụ ihe na-ejide ya. Ọ bụrụ na a na-atụgharị ugbu a n'otu n'ime windings, moto ahụ ga-atụgharị otu nzọụkwụ (ogo 1.8) na ntụziaka enyere.
N'otu aka ahụ, ọ bụrụ na nke dị ugbu a na ntụgharị nke ọzọ na-agbanwe ntụziaka, moto ahụ ga-atụgharị otu nzọụkwụ (ogo 1.8) n'akụkụ nke ọzọ nke mbụ. Mgbe a na-ebugharị ikuku ndị na-esi na ikuku ikuku n'usoro gaa na mkpali, moto ahụ ga-atụgharị na nzọ ụkwụ na-aga n'ihu n'ụzọ enyere ya n'ụzọ ziri ezi. N'ihi na 1.8 degrees nke abụọ-phase stepper moto ntụgharị nke otu izu na-ewe 200 nzọụkwụ.
Igwe stepper nke nwere akụkụ abụọ nwere ụdị windings abụọ: bipolar na unipolar. Moto bipolar nwere naanị otu eriri ikuku kwa nkeji, moto na-aga n'ihu na-atụgharị nke ugbu a n'otu eriri ahụ ka ọ bụrụ mkpali na-agbanwe n'usoro, nhazi nke sekit mbanye chọrọ mgba ọkụ elektrọnik asatọ maka mgbanwe n'usoro.
Moto Unipolar nwere eriri ikuku abụọ nke na-emegide polarity na akụkụ nke ọ bụla, yana moto
na-aga n'ihu na-aga n'ihu site n'itinye ike ikuku abụọ ikuku n'otu oge.
Emebere sekit mbanye ka ọ chọọ naanị igwe ọkụ eletrik anọ. Na bipolar
mbanye mode, mmepụta torque nke moto na-abawanye site banyere 40% tụnyere nke
Unipolar mbanye mode n'ihi na winding eriri igwe nke oge ọ bụla na-enwe obi ụtọ 100%.
03, ibu moto Stepper
A. Ibu oge (Tf)
Tf = G * r
G: Ibu ibu
r: radius
Ibu Inertia (TJ)
TJ = J * dw/dt
J = M * (R12+R22) / 2 (Kg * cm)
Nna-ukwu: Ibu ibu
R1: Radius nke mgbanaka mpụta
R2: Radius nke mgbanaka ime
dω/dt: Osooso akụkụ
04, stepper moto ọsọ-torque akụkụ
Ọsọ ọsọ-torque bụ okwu dị mkpa nke njirimara mmepụta nke stepper
moto.
A. Stepper moto na-arụ ọrụ ugboro ugboro
Ọnụ ahịa ọsọ nke moto stepper moto n'otu ebe.
n = q * Hz / (360 * D)
n: mkpu/sk
Hz: Uru ugboro
D: Uru interpolation sekit mbanye
q: stepper moto nzọụkwụ akụkụ
Dịka ọmụmaatụ, moto stepper nwere akụkụ pitch nke 1.8°, yana draịva interpolation 1/2.(ya bụ, 0.9° kwa steepụ), nwere ọsọ nke 1.25 r/s na oge ọrụ nke 500 Hz.
B. Stepper moto onwe mmalite ebe
Mpaghara ebe enwere ike ịmalite moto stepper ma kwụsị ozugbo.
C. Mpaghara ọrụ na-aga n'ihu
N'akụkụ a, enweghị ike ịmalite ma ọ bụ kwụsịtụ moto stepper ozugbo. Stepper Motors nampaghara a ga-ebu ụzọ gafee ebe mmalite onwe ya wee mee ngwa ngwa irumpaghara ọrụ. N'otu aka ahụ, moto stepper dị na mpaghara a enweghị ike breeki ozugbo,ma ọ bụghị ya, ọ dị mfe ime ka stepper moto si nzọụkwụ, ga-akpa-decelerated kaebe na-amalite onwe ya wee breeki.
D. Stepper moto kacha mmalite ugboro
Motor dịghị-load steeti, iji hụ na stepper moto anaghị ida nzọụkwụ ọrụ nkekacha usu ugboro.
E. Stepper moto kacha arụ ọrụ ugboro
Ugboro pulse kachasị nke moto na-enwe obi ụtọ na-agba ọsọ na-enweghị atụfu nzọụkwụn'okpuru ibu.
F. Stepper moto na-amalite torque / ịdọrọ-na torque
Iji zute moto stepper n'otu oge ụfọdụ ka ịmalite ma malite ịgba ọsọ, na-enweghịida nzọụkwụ nke kacha ibu torque.
G. Stepper moto na-agba ọsọ torque/adọta-na torque
Oke ibu torque na-eju afọ kwụsiri ike nke moto stepper na aụfọdụ pulse ugboro na-enweghị ọnwụ nke nzọụkwụ.
05 Stepper moto osooso/deceleration njikwa ngagharị
Mgbe stepper moto na-arụ ọrụ ugboro n'ókè na-agba-torque curve nke na-aga n'ihumpaghara ọrụ, otu esi ebelata mmalite moto ma ọ bụ kwụsị ngwangwa ma ọ bụ mbelataoge, nke mere na moto na-agba ọsọ ogologo na kasị mma ọsọ ala, si otú na-abawanye naOge ịgba ọsọ dị irè nke moto dị oke egwu.
Dị ka e gosiri na ọnụ ọgụgụ dị n'okpuru ebe a, dynamic torque e ji mara curve nke stepper moto bụahịrị kwụ ọtọ na obere ọsọ; na oke ọsọ, usoro ahụ na-ebelata nke ukwuun'ihi mmetụta nke inductance.
Anyị maara na ibu moto stepper bụ TL, were ya na anyị chọrọ ịgbalite ngwa ngwa site na F0 ruo F1 na.oge kacha nso (tr), ka esi gbakọọ oge kacha nso tr ?
(1) Nọmalị, TJ = 70% Tm
(2) tr = 1.8 * 10 -5 * J * q * (F1-F0)/(TJ -TL)
(3) F (t) = (F1-F0) * t/tr + F0, 0
B. Exponential osooso na elu na-agba ọnọdụ
(1) Ọ na-emekarị
TJ0 = 70% Tm0
TJ1 = 70% Tm1
TL = 60% Tm1
(2)
tr = F4 * Na [(TJ 0-TL)/(TJ 1-TL)]
(3)
F (t) = F2 * [1 - e^ (-t/F4)] + F0, 0
F2 = (TL-TJ 0) * (F1-F0)/TJ 1-TJ 0)
F4 = 1.8 * 10-5 * J * q * F2/ (TJ 0-TL)
Ihe ndetu.
J na-egosi ngbanwe inertia nke moto rotor n'okpuru ibu.
q bụ ntụgharị ntụgharị nke nzọụkwụ ọ bụla, nke bụ akụkụ nzọụkwụ nke stepper moto na
ikpe nke dum mbanye.
Na deceleration ọrụ, dị nnọọ laa azụ n'elu osooso usu ugboro nwere ike ịbụ
gbakọọ.
06 stepper moto ịma jijiji na mkpọtụ
N'ikwu okwu n'ozuzu, stepper moto na-enweghị ibu ọrụ, mgbe moto na-arụ ọrụ ugborodị nso ma ọ bụ ha nhata ugboro ole moto rotor ga-adagharị, uche siri ikeime pụta na nzọụkwụ phenomen.
Ọtụtụ ngwọta maka resonance:
A. Zere mpaghara vibration: nke mere na moto na-arụ ọrụ ugboro adịghị ada n'imeoke vibration
B. Nabata ọnọdụ mbanye nkewa nkewa: Jiri ọnọdụ mbanye obere nzọụkwụ iji belata ịma jijiji site na
na-ekewa nzọụkwụ mbụ n'ime ọtụtụ usoro iji welie mkpebi nke ọ bụla
moto nzọụkwụ. Enwere ike nweta nke a site n'ịgbanwe usoro na nha nke moto ugbu a.
Microstepping anaghị amụba n'akụkụ nzọụkwụ ziri ezi, kama ọ na-eme ka moto na-agba ọsọ karịa
were were na obere mkpọtụ. Ike ike na-adịkarị 15% ala maka ọrụ ọkara nzọụkwụ
karịa maka ịrụ ọrụ zuru oke, yana 30% dị ala maka njikwa ugbu a sine.
Oge nzipu: Nov-09-2022