Umgomo wokusebenza we-servo motor

A injini ye-servoiyimoto engakwazi ukulawula ngokunembile isikhundla, isivinini, kanye nokusheshisa futhi ivame ukusetshenziswa ezinhlelweni zokusebenza ezidinga ukulawulwa kokunyakaza okunembe kakhulu. Ingaqondwa njengemoto elalela umyalo wesignali yokulawula: ngaphambi kokuba kukhishwe isignali yokulawula, i-rotor ayimi; Lapho isignali yokulawula ithunyelwa, i-rotor ijikeleza ngokushesha; Lapho isignali yokulawula ilahlekile, i-rotor ingayeka ngokushesha. Umgomo wayo wokusebenza uhilela uhlelo lokulawula, i-encoder kanye ne-feedback loop. Okulandelayo incazelo eningiliziwe yokuthi ama-servo motors asebenza kanjani:

Uhlelo Lokulawula: Uhlelo lokulawula lwemoto ye-servo luvame ukuba nomlawuli, umshayeli kanye nemoto. Umlawuli uthola izimpawu zokulawula ezivela ngaphandle, njengemiyalelo yendawo noma imiyalelo yesivinini, bese eguqula lezi zimpawu zibe izimpawu zamanje noma ze-voltage bese ezithumela kumshayeli. Umshayeli ulawula ukujikeleza kwemoto ngokwesignali yokulawula ukuze afinyelele isikhundla noma ukulawula isivinini okudingekayo.

I-Encoder: Ama-Servo motors avame ukuhlonyiswa nge-encoder ukukala indawo yangempela ye-motor rotor. I-encoder idlulisela ulwazi lwendawo ye-rotor ohlelweni lokulawula ukuze uhlelo lokulawula lukwazi ukuqapha indawo ye-motor ngesikhathi sangempela futhi luyilungise.

I-Feedback loop: Uhlelo lokulawula lwama-servo motors luvame ukusebenzisa ukulawula kwe-closed-loop, okulungisa ukuphuma kwemoto ngokuhlala ulinganisa indawo yangempela bese uyiqhathanisa nendawo oyifunayo. Le feedback loop iqinisekisa ukuthi indawo yemoto, isivinini, kanye nokusheshisa kwayo kuhambisana nesignali yokulawula, okwenza kube lula ukulawula ukunyakaza okunembile.

I-algorithm yokulawula: Uhlelo lokulawula lwe-servo motor luvame ukusebenzisa i-algorithm yokulawula ye-PID (proportional-integral-derivative), ehlala ilungisa umphumela wemoto ukuze yenze indawo yangempela isondele ngangokunokwenzeka endaweni oyifunayo. I-algorithm yokulawula ye-PID ingalungisa umphumela wemoto ngokusekelwe kumehluko phakathi kwendawo yangempela nendawo oyifunayo ukuze kufezwe ukulawula okunembile kwesikhundla.

Emsebenzini wangempela, lapho uhlelo lokulawula luthola imiyalelo yesikhundla noma yesivinini, umshayeli uzolawula ukujikeleza kwemoto ngokusekelwe kule miyalelo. Ngesikhathi esifanayo, i-encoder iqhubeka nokulinganisa indawo yangempela ye-rotor yemoto bese inika lolu lwazi emuva ohlelweni lokulawula. Uhlelo lokulawula luzolungisa ukuphuma kwemoto nge-algorithm yokulawula ye-PID ngokusekelwe kulwazi lwendawo lwangempela olunikezwa yi-encoder, ukuze indawo yangempela isondele ngangokunokwenzeka endaweni oyifunayo.

Isimiso sokusebenza semoto ye-servo singaqondwa njengohlelo lokulawula oluvaliwe olulinganisa njalo indawo yangempela bese luyiqhathanisa nendawo oyifunayo, futhi lulungise ukuphuma kwemoto ngokuya ngomehluko ukuze kufezwe indawo eqondile, isivinini kanye nokulawula ukusheshisa. Lokhu kwenza amamotha e-servo asetshenziswe kabanzi ezinhlelweni ezidinga ukulawulwa kokunyakaza okunembe kakhulu, njengamathuluzi omshini we-CNC, amarobhothi, imishini yokuzenzakalela kanye neminye imikhakha.