Ukuqina kunye nokuqina:
Ukuqina kubhekisa kubuchule bezinto okanye ulwakhiwo ukumelana ne-elastic deformation xa unyanzeliswa, kwaye luphawu lobunzima bokwehla kwe-elastic kwento okanye ulwakhiwo. Ukuqina kwemathiriyeli kuhlala kulinganiswa ngemodyuli ye-elasticity E. Kuluhlu lwe-macro elastic, ukuqina kukulingana kokulingana kwenxalenye yomthwalo kunye nokufuduswa, okungamandla afunekayo okubangela ukufuduka kweyunithi. Ukuphindaphinda kwayo kubizwa ngokuba kukuguquguquka, ukufuduka okubangelwa ngumkhosi weyunithi. Ukuqina kungahlulahlulwa kubungqingqwa bokuqina kunye nokuqina okuguqukayo.
Ukuqina (k) kwesakhiwo kubhekisa kubuchule bokomelela komzimba wokuxhathisa ukusilela kunye noxinzelelo.
k = P / δ
P ngamandla ahlala esebenza kubume kunye no-formation kukuchasana ngenxa yamandla.
Ukuqina kokujikeleza (k) kwesakhiwo esijikelezayo ngolu hlobo lulandelayo:
k = M / θ
M ngumzuzu kwaye θ yikona yokujikeleza.
Umzekelo, umbhobho wentsimbi unzima ngokwentelekiso, ngokubanzi i-deformation phantsi kwamandla angaphandle incinci, ngelixa ibhendi yerabha ithambile, kunye nokususwa okubangelwa ngulo mandla mkhulu. Emva koko sithi umbhobho wensimbi uqinile, kwaye ibhendi yerabha ibuthathaka kwaye iyaguquguquka.
Ukusetyenziswa kwe-servo motor, luqhagamshelo oluqinileyo oluqhelekileyo ukudibanisa iimoto kunye nomthwalo ngokudibanisa, ngelixa uqhagamshelo oluqhelekileyo oluguquguqukayo kukudibanisa iimoto kunye nomthwalo ngebhanti ehambelanayo okanye ibhanti.
Ukuqina kweemoto kukukwazi kwesikhondo semoto ukuxhathisa ukuphazamiseka kwangaphandle. Singalungelelanisa ukuqina kweemoto kumqhubi we-servo.
Ukuqina koomatshini be-servo motor kunxulumene nesantya sokuphendula. Ngokubanzi, okuphezulu ukuba ngqongqo, kokukhona isantya sokuphendula, kodwa ukuba silungelelaniswe siphezulu kakhulu, imoto iya kuvelisa isandi somatshini. Ke ngoko, kwiiparamitha zokuqhuba ze-AC servo ngokubanzi, kukho iindlela zokuhlengahlengisa ngesandla isantya sokuphendula. Ukuhlengahlengisa isantya sokuphendula ngokwendawo yesandi kumatshini, kufuna ixesha lamava kunye namava (enyanisweni, ngokulungelelanisa iiparameter zenzuzo).
Kwimowudi yokuma kwenkqubo yeservo, iimoto ziphambukisiwe ngokusebenzisa amandla. Ukuba amandla makhulu kwaye i-angle yokuphambuka incinci, inkqubo ye-servo ithathwa njengengqongqo, kungenjalo, inkqubo ye-servo ithathwa njengobuthathaka. Oku kuqina kusondele kumxholo wesantya sokuphendula. Ukusuka kwimbono yomlawuli, ukuqina okunene yiparameter equlunqwe isantya, indawo yokuma kunye nexesha elihambelanayo. Ubungakanani bayo buchaza isantya sokuphendula kumatshini.
Kodwa ukuba awudingi ukubeka indawo ngokukhawuleza kwaye ufuna ukuchaneka kuphela, ke xa uxhathiso lincinci, ukuqina kuphantsi, kwaye ungafezekisa ukubeka ngokuchanekileyo, kodwa ixesha lokubeka lide. Kungenxa yokuba ukubekwa kancinci kuhamba kancinci xa ubungqongqo busezantsi, ukungaxeli indawo engachanekanga kuya kubakho kwimeko yokuphendula ngokukhawuleza kunye nexesha elifutshane lokuma.
Umzuzu we-inertia uchaza i-inertia yesindululo sento, kwaye umzuzu we-inertia ngumlinganiso we-inertia yento ejikeleze i-axis. Umzuzu we-inertia uhambelana kuphela nomjikelezo wokujikeleza kunye nobunzima bento. Ngokubanzi, inertia yomthwalo ingaphezulu kwamaxesha ali-10 erotor inertia yemoto.
Umzuzu we-inertia yesikhokelo sikaloliwe kunye ne-screw lead inefuthe elikhulu kuxinzelelo lwenkqubo yokuqhuba imoto ye-servo. Ngaphantsi kwenzuzo emiselweyo, kokukhona umzuzu we-inertia, kokukhona ubungqongqo bubanzi, kulula ngakumbi ukubangela ukungcangcazela kwemoto; lincinci ixesha le-inertia, kuncinci ukuqina, isantya semoto sokugungqisa. Inokunciphisa umzuzu we-inertia ngokutshintsha isikhokelo sikaloliwe kunye ne-screw rod ngobuncinci obuncinci, ukwenzela ukunciphisa umthwalo we-inertia ukufezekisa ukushukuma kwemoto.
Ngokubanzi, kukhetho lwenkqubo ye-servo, ukongeza ekuqwalaseleni iiparameter ezinje nge-torque kunye nesantya esilinganisiweyo semoto, kufuneka kwakhona ukubala i-inertia eguqulweyo ukusuka kwinkqubo yoomatshini iye kwi-shaft yemoto, emva koko ukhethe imoto ene-inertia efanelekileyo ubungakanani ngokweemfuno zentshukumo yoomatshini kunye neemfuno zomgangatho weenxalenye zomatshini.
Ukulungisa ingxaki (imowudi yemanyuwali), ukuseta i-inertia ratio yeparitha ngokuchanekileyo sisiseko sokunika umdlalo opheleleyo kukusebenza ngokukuko kweenkqubo zoomatshini kunye neeservo.
Yintoni inertia ehambelana nayo?
Ngokomthetho ka-Niu Er:
Itorque efunekayo yenkqubo yokondla = inkqubo yenkqubo ye-inertia J × ukukhawulezisa i-angular θ
Okuncinci ukukhawulezisa i-angular θ, lixesha elide ukusuka kumlawuli ukuya esiphelweni senkqubo, kunye nokucothisa ukuphendula kwenkqubo. Ukuba θ utshintsho, inkqubo impendulo iya kutshintsha ngokukhawuleza nangokucothayo, nto leyo eya kuchaphazela ukuchaneka machining.
Emva kokuba kukhethwe i-servo motor, elona xabiso liphezulu lemveliso lihlala lingaguqukanga. Ukuba ufuna utshintsho lwe-θ lube lincinci, ke uJ kufuneka ubencinci ngangokunokwenzeka.
Inkqubo yomzuzu we-inertia J = i-servo motor yokujikeleza inertia umfutho we-JM + we-motor shaft yokuguqula umthwalo kwi-inertia umfutho we-JL.
Umthwalo we-inertia JL ubhalwe kwi-inertia yendawo yokusebenza, indawo yokusebenza, iscrew, ukudibanisa kunye nezinye iindawo ezihamba ngokujikeleza kunye nokujikeleza eziguqulweyo kwi-inertia ye-motor shaft. I-JM yi-inertia ye-servo motor rotor. Emva kokuba kukhethwe i-servo motor, eli xabiso lixabiso eliqingqiweyo, ngelixa i-JL itshintsha notshintsho lomthwalo womsebenzi. Ukuba ufuna inqanaba lotshintsho lwe-J lube lincinci, kungcono wenze umyinge we-JL ube mncinci. Ngokubanzi, imoto ene-inertia encinci inebhuleki elungileyo, ukuphendula ngokukhawuleza ukuqala, ukukhawulezisa kunye nokuyeka, kunye nokusebenza okuhle okuphendula ngesantya esiphezulu, esifanelekile umthwalo wokukhanya kunye nezihlandlo zokuma kwisantya esiphezulu. Iimoto eziphakathi nezikhulu ze-inertia zilungele umthwalo omkhulu kunye neemfuno zokuzinza okuphezulu, ezinje ngeendlela zokuhamba ezijikelezayo kunye namanye amashishini esixhobo somatshini.
Ke ukuqina kwe-AC servo motor kukhulu kakhulu kwaye ukuqina akwanele. Ngokubanzi, inzuzo yomqhubi we-AC servo kufuneka ihlengahlengiswe ukutshintsha impendulo yenkqubo. I-inertia inkulu kakhulu kwaye i-inertia ayonelanga. Uthelekiso olulinganisiweyo phakathi kokutshintsha komthwalo kunye ne-inertia ye-AC servo motor.
Ukongeza, ifuthe lokunciphisa umthwalo ongqongqo kufuneka liqwalaselwe: ibhokisi yemiyalezo inokutshintsha ukuhambelana kwe-inertia. Ngokubanzi, xa umlinganiselo we-inertia womthwalo kwi-motor ungaphezulu kwe-5, isinciphisi sithathwa njengokuphucula ukuthelekiswa kwe-inertia. Umlinganiso we-inertia ulingana ngokuthe ngqo kwisikwere somyinge wokuncipha.
Ixesha Post: Sep-02-2020