Analysis of servo motor jitter

He maha ngā tirohanga mō te tohutoro i roto i te tātari o te haapa'oraa i nekeneke jitter te takatu:

tuatahi,

1. A, no te he nui rawa te taonga whakarerekētanga PID, e mea ohie ki take nekeneke jitter, rawa i muri i te tāpiri D, i te mea nui rawa, kia ngana ki te whakapiki ake i P, ka whakaiti ahau, arā kore tāpiri D.

2. A, no te he he te waea encoder, ka puta ano hoki jitter.

3. Ki te he nui rawa te tūpuku utanga, whakakapi i te pūkaha nui me taraiwa.

4. Ko te ngangau o te tauranga tāuru tairitenga ai jitter. Tāpiri mowhiti autō i runga i te raina tāuru o te nekeneke me te mana supply raina tāuru o taraiwa te haapa'oraa i ki te pupuri i atu i te raina mana te raina tohu.

5. He hoki he pūkaha atanga encoder hurihuri, i te mea ngāwari ki te take wiri i te take o te uhupoho rawakore.

Tuarua.

1. te haapa'oraa i waea:

Taki A. ahakoa te taura te mana paerewa, taura encoder, taura mana me te taura e pakaru;

Taki B. ahakoa i reira he pokanoa tata te rārangi mana me ahakoa he reira whakarara ki tata rawa ki te taura te mana o nāianei tata nui ranei;

Taki C. ranei te pūmanawa o te huringa kāpeka Tuhinga, ka whakarite i te uhupoho waiwai pai.

2. tawhā haapa'oraa:

A. He nui rawa te tautuhinga taonga servo. E tūtohutia ana ki te faatitiaifaro ā aunoa ranei te tawhā haapa'oraa;

B. whakau te tautuhinga o te wā aumou o tātari urupare tere, te uara tuatahi ko 0, ka ngana ki te whakapiki ake i te uara tautuhinga;

C. Ko nui rawa te ōwehenga taputapu hiko, e tūtohu ana ki te whakahoki ki te tautuhinga wheketere;

D. te kōwarotanga o pūnaha servo me pūnaha mīhini, ngana ki te whakatika i te auau me te teitei o te tātari kakari.

3. pūnaha Mechanical:

Kei te hēhē A. te hononga honotanga te take pūkaha me te pūnaha taputapu, a kahore e nga tīwiri ekeeke tightened;

ka meinga B. te whai rawakore o te wīra taputapu ranei ano te kawenga taipana huringa, ka ngana ki te mahi i waho kawenga. Ki te he noa, kahore kawenga te mahi, tirohia ranei ko te wahi tahi o te pūnaha aunoa rerekē;

c. Whakaū ahakoa he nui rawa te kawenga tūpuku, taipana me te tere. Whakamātauria ki te mahi, kahore kawenga. Ki te he noa te mahi kahore-pikaunga, whakaiti i te kawenga whakakapi i te taraiwa me te nekeneke ki te kaha nui ranei.

Tuatoru.

meinga te haapa'oraa i nekeneke jitter e hanganga aunoa, tere koropiko, poari utu o te pūnaha servo, servo tīwerawera, kawenga tūpuku, wahi hiko, me te tahi atu hape.

meinga 1. wiri i te hanganga aunoa taea te wehea ki ngā āhuatanga e toru:

1) No jitter kawenga:

he. E kore te mea u te turanga nekeneke, e kore he nui te rigidity ranei kahore he raru te warea.

b. Kei te pakaru te mata tahi, te mea whakangaro o te toenga pūkaha o te rotor.

c. he piko ngatata ranei te take. e taea te whakatika te reira na roto i te whakamau pokekore, whakakapi matatahi tahi, whakakapi ngahaú, me ētahi atu

2) Ki te meinga te wiri e te te hape o te pūrere tuku i muri i te tāpiri i te pikaunga, e taea te whakawakia reira e nga wahi e whai ake nei he hapa:

he. huringa ta'emafamafatatau o whitiki wīra e honoa ranei.

b. He maiorooro te raina pokapū o te hononga, na e kore te pūkaha me te tuaka pūkaha o te puku he coincident.

c. Porangi tahi puku whitiki. e taea te whakatika te reira na roto i te huri i te pūrere peia ki te hanga i mafamafatatau reira.

2. Jitter meinga e tere koropiko raruraru: Ko te tawhā pērā i taonga wāhi, taonga hautanga me te whakaterenga urupare taonga o te tere koropiko e tano ore. Ko te nui o te taonga, te nui te tere, te nui te kaha tūpuku, te iti te ine, me te ake e pängia ana ki te jitter. Tautuhi ana i te taonga iti taea te pupuri i te whakautu tere, me te kore he ngāwari ki te whakaputa jitter.

3. Jitter meinga e te hape o te poari utu, me te te haapa'oraa i tīwerawera o pūnaha servo: I roto i te kaupapa pūkaha, te kore mana ohorere, me te mutu take jitter nui, e pā ana nei ki te kāpeka BRK o te haapa'oraa i tīwerawera me ngā tawhā tautuhinga ta'etotonú. Ka taea te nui haere te whakatere me te whakapōturinga wa tamau, a taea te whakamahi PLC ki tīmata mutu te pūkaha āta kia kore e ruru ai ranei.

4. Jitter meinga e kawenga tūpuku: Ko nga raruraru o te aratohu tereina me te takahuri mata ki te hua o te kawenga tūpuku. Ko te kau o te tūpuku o aratohu tereina me te takahuri mata kua he mana nui i runga i te rigidity o te pūnaha haapa'oraa puku nekeneke. I raro i te taonga whakaritea, te nui te kau o tūpuku, te nui te rigidity, te atu pea ki te take nekeneke jitter; te iti te kau o tūpuku, te iti te rigidity, te iti pea te pūkaha jitter. Ka taea e whakaiti i te reira i te taime o te tūpuku o te kawenga mā te whakakapi i te tereina aratohu me te tokotoko takahuri ki diameter iti, na e kore e te pūkaha ruru.

meinga 5. Jitter i wahi hiko:

he. E kore te te whawhati whakatuwheratia, a he iu te ngaohiko urupare. Tirohia ahakoa tahuri te te wahia i runga i. Tāpiri i te mahi kore te haapa'oraa i o mana encoder pere, me te putanga he tetahi taipana i te ara o te taipana whakaiti ki te whakaoti i te jitter. Ki te he rerekē te ngaohiko urupare, tuatahi tirohia ranei e pā ana te te wā wiri ki te tere. Ki te pā te reira, Taki ranei he hē te hononga i waenganui i te take matua, me te nekeneke take matua, me ranei e pakaru te take matua, me te generator ngātere tāuta i te mutunga o te AC take matua nekeneke. Ki te kore, taki mēnā he hē te poari taiawhio tāngia. Tirohia te poari ara iahiko fakatonutonu reira ranei.

b. A, no te ohorere pāoro te pūkaha i roto i te mahi, te nuinga o nei e meinga e wāhanga mate, he mea nui ki te taki mēnā tauta te wiki rewanga te, ahakoa te hoapā pana pai, a mehemea ia wā o te mātiti mana e te mana.

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wā Post: Mar-04-2020

Tātaritanga o te haapa'oraa i nekeneke jitter