Umgaqo osebenzayo we-servo motor

A injini ye-servoyimoto enokulawula ngokuchanekileyo indawo, isantya, kunye nesantya kwaye iqhele ukusetyenziswa kwizicelo ezifuna ulawulo lwentshukumo oluchanekileyo. Inokuqondwa njengemoto ethobela umyalelo wesignali yokulawula: ngaphambi kokuba isignali yokulawula ikhutshwe, i-rotor imile; Xa umqondiso wokulawula uthunyelwa, i-rotor ijikeleza ngokukhawuleza; Xa umqondiso wokulawula ulahlekile, i-rotor inokumisa ngokukhawuleza. Umgaqo wayo wokusebenza ubandakanya inkqubo yokulawula, i-encoder kunye ne-feedback loop. Oku kulandelayo yinkcazo eneenkcukacha zendlela ii-servo motors ezisebenza ngayo:

Inkqubo yokulawula: Inkqubo yokulawula ye-servo motor idla ngokuba nomlawuli, umqhubi kunye nemoto. Umlawuli ufumana imiqondiso yolawulo evela ngaphandle, njengemiyalelo yendawo okanye imiyalelo yesantya, aze aguqule le miqondiso ibe yimiqondiso yangoku okanye yombane kwaye ayithumele kumqhubi. Umqhubi ulawula ukujikeleza kwemoto ngokuhambelana nomqondiso wokulawula ukufezekisa indawo efunekayo okanye ukulawula isantya.

I-encoder: Iinjini ze-Servo zihlala zixhotyiswa nge-encoder ukulinganisa eyona ndawo yerotor yemoto. I-encoder ibuyisela ulwazi lwendawo ye-rotor kwinkqubo yokulawula ukuze inkqubo yokulawula ikwazi ukubeka iliso kwindawo yemoto ngexesha langempela kwaye ilungise.

I-loop yempendulo: Inkqubo yokulawula yee-motor ze-servo ngokuqhelekileyo ithatha ulawulo oluvaliweyo, olulungelelanisa imveliso yemoto ngokuqhubekayo ukulinganisa indawo yokwenyani kunye nokuyithelekisa nendawo oyifunayo. Le luphu yempendulo iqinisekisa ukuba indawo yemoto, isantya, kunye nesantya sihambelana nophawu lolawulo, luvumela ulawulo lwentshukumo oluchanekileyo.

I-algorithm yokulawula: Inkqubo yokulawula ye-servo motor idla ngokuthatha i-PID (i-proportional-integral-derivative) i-algorithm yokulawula, ehlala ilungelelanisa imveliso yemoto ukwenza indawo yokwenyani isondele kangangoko kwindawo oyifunayo. I-algorithm yokulawula i-PID inokulungelelanisa imveliso yemoto ngokusekelwe kumahluko phakathi kwendawo eyiyo kunye nendawo efunwayo ukufezekisa ulawulo oluchanekileyo.

Ngomsebenzi wangempela, xa inkqubo yokulawula ifumana imiyalelo yesikhundla okanye isantya, umqhubi uya kulawula ukujikeleza kwemoto ngokusekelwe kule miyalelo. Ngelo xesha, i-encoder ngokuqhubekayo ilinganisa indawo yokwenene ye-rotor ye-motor kwaye isondla olu lwazi kwakhona kwinkqubo yokulawula. Inkqubo yokulawula iya kulungelelanisa imveliso yemoto ngokusebenzisa i-algorithm yokulawula i-PID esekelwe kulwazi lwendawo yokwenyani eyondliwe yi-encoder, ukuze indawo yokwenyani isondele kangangoko kwindawo oyifunayo.

Umgaqo wokusebenza we-servo motor unokuqondwa njengenkqubo yokulawula i-loop evaliweyo eqhubekayo ilinganisa indawo eyiyo kwaye ithelekise indawo efunwayo, kwaye ilungelelanise imveliso yemoto ngokomahluko ukufezekisa indawo echanekileyo, isantya kunye nokulawula ukukhawuleza. Oku kwenza ukuba ii-motor ze-servo zisetyenziswe ngokubanzi kwizicelo ezifuna ulawulo lwentshukumo oluchanekileyo, olufana nezixhobo zoomatshini be-CNC, iirobhothi, izixhobo ezizenzekelayo kunye nezinye iinkalo.