Kuomarara uye kuomarara:
Kuomarara zvinoreva kugona kwechinhu kana chimiro chekumisikidza deformation kana yaiswa kumanikidza, uye hunhu hwekunetsekana kwekudzikiswa kwechinhu kana chimiro. Iko kuomarara kwechinhu kunowanzo kuyerwa nemodulus yekusimba E. Mune macro elastic renji, kuomarara ndiko kuenzana kwekuenzana kwechikamu mutoro uye kusuduruka, rinova iro simba rinodiwa kukonzera iyo yunifomu yekubva. Kudzoreredza kwayo kunodaidzwa kuchinjika, iko kusuduruka kunokonzerwa nechikwata chechikwata. Iko kuomarara kunogona kuganhurwa mukuomarara kuomarara uye kuomarara kwakasimba.
Kuomarara (k) kwechimiro kunoreva kugona kwemuviri wakasimba kuti urambe kushanduka nekushushikana.
k = P / δ
P isimba rinogara richiita pane chimiro uye δ ndiko kushanduka nekuda kwesimba.
Iko kuomarara kuomarara (k) kwechimiro chinotenderera chiri zvinotevera:
k = M / θ
M inguva uye θ ndiyo kona yekutenderera.
Semuenzaniso, iyo simbi pombi yakaomarara, kazhinji kushanduka pasi pesimba rekunze idiki, nepo iro bhendi rebhendi rakapfava, uye deformation inokonzerwa neyakafanana simba iri rakakura. Ipapo isu tinoti iyo pombi yesimbi inoomarara, uye iro bhendi rerabha haina simba uye inochinjika.
Mukushandisa kweservo mota, iko kwakajairika kuomarara kubatana kubatanidza mota uye mutoro nekubatanidza, nepo iko kunowirirana kubatana kuri kubatanidza mota uye kutakura neinopindirana bhandi kana bhandi.
Mota kuomarara ndiko kugona kwe mota shaft yekudzivirira ekunze kupokana kwetoriki. Tinogona kugadzirisa kuomarara kwemotokari mu servo driver.
Iko kuomarara kuomarara kweservo mota kunoenderana nekumhanyisa kwayo mhinduro. Kazhinji, iyo inowedzera kuomarara, inowedzera kumhanya kwekupindura, asi kana ikagadziriswa zvakanyanya, mota inoburitsa mehendi resonance. Naizvozvo, mune zvakajairika AC servo drive parameter, pane sarudzo dzekugadzirisa manhamba ekupindura kakawanda. Kugadzirisa frequency yekupindura zvinoenderana nesonance poindi yemuchina, zvinoda iyo yekugadzirisa nguva yevashandi uye ruzivo (muchokwadi, kugadzirisa iyo paramita yekuwana).
Mune iyo servo system chinzvimbo modhi, mota yakatsauswa nekushandisa simba. Kana simba iri rakakura uye kona yekutsauka iri diki, saka iyo servo system inoonekwa seyakaomarara, zvikasadaro, iyo servo system inoonekwa seisina simba. Uku kuomarara kuri padyo nepfungwa yekumhanyisa mhanyisa. Kubva pakuona kwemutongi, kuomarara iri paramende inoumbwa nekumhanyisa loop, chinzvimbo chiuno uye nguva inoenderana. Saizi yayo inotarisa mhinduro yekumhanyisa yemuchina.
Asi kana iwe usingade kumisikidza nekumira nekukurumidza uye uchingoda kunyatso, saka kana kushomeka kuri kushoma, kuomarara kuri pasi, uye iwe unogona kuwana kumisikidzwa kwakaringana, asi nguva yekumisikidza yakareba. Nekuti chinzvimbo chinononoka kana kuomarara kuri kushoma, kunyepedzera kwekumisikidza zvisirizvo kuchavapo mune yekukurumidza kupindura uye pfupi yekumisa nguva.
Iyo nguva yeinertia inotsanangura inertia yekufamba kwechinhu, uye iyo nguva yeinertia ndiko kuyerwa kweiyo inertia yechinhu chakakomberedza akabatana. Iyo nguva ye inertia inongoenderana chete neiyo radius yekutenderera uye uremu hwechinhu. Kazhinji, iyo inertia yemutoro inopfuura kagumi nguva yeiyo rotor inertia yemota.
Iyo nguva ye inertia yeinotungamira njanji uye lead lead ine simba rakakura pane kuomarara kweservo mota drive system. Pasi pekugadziriswa kwakagadziriswa, iyo huru nguva yeinertia iri, iyo inowedzera kuomarara iri, zviri nyore kwazvo kukonzeresa mota; iyo diki iyo nguva yeinertia, idiki kuomarara, iko kashoma kuti mota izununguke. Iyo inogona kudzikisira iyo nguva ye inertia nekutsiva gwara njanji uye sikuruu tsvimbo ine diki dhayamita, kuitira kuti udzikise mutoro inertia kuti uwane kusazunguzika kwemota.
Kazhinji, mukusarudzwa kweservo system, pamusoro pekufunga nezve parameter senge torque uye yakayerwa kumhanya kwemota, isu tinodawo kuverenga inertia inoshandurwa kubva kune yemagetsi system kuenda kune mota shaft, uye wosarudza mota ine inertia yakakodzera saizi zvinoenderana neicho chaicho chinamato chiito chinodiwa uye hunhu hunodiwa hweanogadzirwa zvikamu.
Mukugadzirisa (manual mode), kumisikidza inertia reshiyo parameter nenzira kwayo ndiyo fungidziro yekupa kutamba kuzere kunyatsoita kweanogadzira uye servo masystem.
Chii chinonzi inertia inoenderana?
Zvinoenderana neMutemo waNiu Er:
Iyo inodikanwa torque yekudyisa system = system nguva yeinertia J × angular kukurumidza θ
Izvo zvidiki angular kumhanyisa θ, iyo yakareba iyo nguva kubva kumutongi kusvika kumagumo ehurongwa hwekuita, uye inononoka kuita system mhinduro. Kana θ shanduko, iyo system mhinduro ichachinja nekukurumidza uye zvishoma nezvishoma, zvinova zvinokanganisa iwo machining kunyatso.
Mushure mekunge servo mota yasarudzwa, iyo yakakwira goho kukosha inoramba isina kuchinja. Kana iwe uchida kuti shanduko ye θ ive diki, saka J inofanira kunge iri diki sezvazvinogona.
Iyo system nguva yeinertia J = servo mota kutenderera inertia kuwedzera JM + mota shaft kutendeuka mutoro inertia kuwedzera JL.
Iyo inertia inertia JL inoumbwa neiyo inertia yeiyo inoshanda, fixture, workpiece, sikuruu, coupling uye zvimwe zvakaenzana uye zvinotenderera zvikamu zvinofamba zvakashandurwa kuita inertia yemota shaft. JM ndiyo inertia yeservo mota rotor. Mushure mekunge servo mota yasarudzwa, kukosha uku kukosha kwakatemwa, nepo JL ichichinja neshanduko yemutoro webasa. Kana iwe uchida kuti chiyero chekuchinja kweJ kuve chidiki, zvirinani kuti chikamu cheJL chidiki. Kazhinji kutaura, mota ine inertia diki ine mabhureki akanaka ekuita, kumhanya kupindura kutanga, kumhanyisa uye kumira, uye yakanaka yekumhanyisa-kudzosera mashandiro, ayo akakodzera kune mamwe mwenje mutoro uye epamusoro-kukurumidza mamiriro ekumisikidza. Pakati nepakakura inertia motors anokodzera hombe mutoro uye yakakwira kugadzikana zvinodiwa, senge mamwe madenderedzwa mafambiro enzira uye mamwe emuchina turu maindasitiri.
Saka kuomarara kwe AC servo mota kwakanyanya uye kuomarara hakuna kukwana. Kazhinji, kuwana kwe AC servo mutyairi kunofanirwa kuchinjwa kuti uchinje maitiro ekupindura. Iyo inertia yakakura kwazvo uye inertia haina kukwana. Iko kuenzanisa kunoenderana pakati peiyo inertia shanduko yemutoro uye inertia ye AC servo mota.
Uye zvakare, simba rekudzora pane rakaomarara mutoro rinofanirwa kutariswa: iro giya rinogona kuchinja inertia kuenderana. Kazhinji, kana inertia reshiyo yemutoro kune mota iri kudarika mashanu, iyo yokuderedza inoonekwa seinosimudzira inertia inoenderana. Iyo inertia ratio inopesana zvakaenzana nekwere yeiyo yekudzora chiyero.
Post nguva: Sep-02-2020