E nwere ọtụtụ echiche maka akwụkwọ na analysis of servo moto jitter kpatara:
Akpa,
1. Mgbe PID uru ukpụhọde bụ oke buru ibu, ọ dị mfe na-akpata moto jitter, karịsịa mgbe na-agbakwunye D, nke bụ karịsịa njọ, ya mere, na-agbalị na-amụba P ma belata m, ọkacha mma adịghị tinye D.
2. Mgbe ndị encoder wiring ọjọọ, jitter ga-erukwa.
3. Ọ bụrụ na ibu inertia bụ oke buru ibu, dochie ibu moto na-akwọ ụgbọala.
4. The nsogbu nke analọg input mmiri n'ọdụ ụgbọ mmiri na-eme jitter. Tinye magnetik mgbanaka na input akara moto na ike ọkọnọ input akara nke servo ọkwọ ụgbọala na-mgbaàmà akara efep ike akara.
5. E nwekwara a rotary encoder interface moto, nke dị mfe na-akpata vibration bụrụ na nke ogbenye grounding.
Nke abụọ.
1. Servo wiring:
A. ego ma ọkọlọtọ ike USB, encoder cable, akara USB na cable na-mebiri emebi;
B. ego ma e nwere na nnyonye anya nso akara akara na ma ọ bụ ihe yiri ka ọ bụ oké nso nso elu ugbu a ike cable;
C. ego ma nwere nke grounding ọnụ mgbanwe, ma hụ ihe ọma na grounding.
2. Servo parameters:
A. na servo uru ọnọdụ bụ oke buru ibu. Ọ na-atụ aro ịgbazigharị ndị servo kwa aka ma ọ bụ na-akpaghị aka;
B. egosi ọnọdụ nke oge mgbe nile nke na-agba nzaghachi iyo, mbụ uru bụ 0, ma na-agbalị ka iwelie ọnọdụ uru;
C. na electronic gia ruru bụ oke buru ibu, ọ na-atụ aro iji weghachi na factory ọnọdụ;
D. resonance nke servo usoro na n'ibu usoro, na-agbalị ka ịhazie ugboro na njupụta nke notch iyo.
3. Mechanical usoro:
A. na njikọ na njikọ moto aro na akụrụngwa usoro a na wezụgaruworo, na-arịọnụ kposara na-adịghị tightened;
B. ogbenye aka nke pole ma ọ bụ gia ga-eme ka ibu torque mgbanwe, na-agbalị na-arụ ọrụ na-enweghị ibu. Ọ bụrụ na ọrụ nkịtị enweghị ibu, elele ma nkwonkwo akụkụ nke n'ibu usoro bụ ndiiche;
c. Chọpụtakwa ma ibu inertia, torque na ọsọ na-oke buru ibu. Gbalịa mee enweghị ibu. Ọ bụrụ na ndị mba-ibu ọrụ nkịtị, belata ibu ma ọ bụ dochie na-akwọ na moto na ibu ikike.
Nke atọ.
Servo moto jitter e mere site n'ibu Ọdịdị, ọsọ loop, akwụ ụgwọ osisi nke servo usoro, servo ampilifaya, ibu inertia, eletriki akụkụ ndị ọzọ mmejọ.
1. ọma jijiji mere site n'ibu Ọdịdị nwere ike kere atọ ọnọdụ:
1) Ọ dịghị ibu jitter:
a. The moto ntọala bụ bụghị ike, na rigidity ezughị ma ọ bụ na-fixation bụghị uko.
b. Onye ofufe agụba mebiri emebi, nke nbibi n'ibu itule nke rotor.
c. The aro kpebisiri ma ọ bụ gbawara. Ọ nwere ike na-edozi site kpọgide kposara, dochie ofufe pupụtara, dochie akụ, wdg
2) Ọ bụrụ na vibration e mere site kpatara nke nnyefe ngwaọrụ mgbe ibu na kwukwara, ọ nwere ike ikpe na ndị na-esonụ akụkụ bụ ntụpọ:
a. Ekwesịghị adiana nke belt pole ma ọ bụ njikọ.
b. The center akara nke njikọ ekwekọghị, nke mere na moto na n'ibu axis nke mbanye adịghị coincident.
c. Ekwesịghị drive belt nkwonkwo. Ọ nwere ike na-edozi site ukpụhọde na-akwọ ụgbọala ngwaọrụ iji mee ka ọ echiche ziri ezi.
2. Jitter mere site ọsọ loop nsogbu: The parameters dị ka integral uru, proportional uru na osooso nzaghachi uru nke ike ọsọ loop-ekwesịghị ekwesị. The ibu na uru, nke ukwuu na-agba, nke ukwuu inertia ike, nta ndiiche, na ndị na-enwekarị jitter. Isetịpụ a obere uru nwere ike ịnọgide na-enwe ndị na-agba omume na-adịghị mfe n'ịwa jitter.
3. Jitter mere site kpatara nke akwụ ụgwọ osisi na servo ampilifaya nke servo usoro: N'oge moto ije, na mberede ike odida na-akwụsị na-akpata oké jitter, nke na-metụtara BRK ọnụ nke servo ampilifaya na-ekwesịghị ekwesị ọnọdụ kwa. The osooso na deceleration oge mgbe nile nwere ike mụbara, na PLC ike ga-eji na-amalite ma ọ bụ kwụsị moto nwayọọ nwayọọ nke na ọ na-adịghị ịma jijiji.
4. Jitter mere site ibu inertia: The nsogbu nke ndu okporo ígwè na ịghasa-edu ndú ka ndị na-abawanye nke ibu inertia. Oge nke inertia nke ndu okporo ígwè na opù ịghasa nwere oké mmetụta na rigidity nke servo moto mbanye usoro. N'okpuru ofu uru, nke ukwuu oge nke inertia, nke ukwuu rigidity, ndị ọzọ yiri ka na-akpata moto jitter; nta oge nke inertia, nta rigidity, na obere yiri ụgbọala jitter. Ọ nwere ike belata oge nke inertia nke ibu site dochie ndu okporo ígwè na ịghasa mkpara nta n'obosara, nke mere na moto anaghị nkpatu.
5. Jitter mere site eletriki akụkụ:
a. The breeki na-adịghị meghere, na nzaghachi voltaji bụ ejighị n'aka. Lelee ma na breeki agbanwuru. Tinye efu servo ọrụ nke encoder vector akara, na mmepụta a na-torque n'ụzọ nke torque Mbelata dozie jitter. Ọ bụrụ na nzaghachi voltaji bụ ndiiche, mbụ elele ma na vibration oge na-metụtara ndị na-agba. Ọ bụrụ na ọ na-metụtara, na ego ma njikọ dị n'etiti isi aro na isi aro moto bụ ezighị ezi, na ma isi aro na usu generator arụnyere na njedebe nke AC isi aro moto na-mebiri emebi. Ọ bụrụ na ọ bụghị, elele ma ndị e biri ebi circuit osisi bụ na-ezighị ezi. Lelee circuit osisi ma ọ bụ gbazie ya.
b. Mgbe moto mberede vibrates ini ọrụ, ọtụtụ nke na-kpatara adọ ọnwụ, ọ dị mkpa ka elele ma fuuz gbazee na-gwakọtara, ma mgba ọkụ kọntaktị nke ọma, nakwa ma ọ bụla na-adọ nke ike okporo nwere ike.
Key okwu: servo moto jitter | servo moto bufee | servo moto kpatara | servo moto mmezi | servo moto kpatara mmezi |
Post oge: Mar-04-2020