Ukuqina nokuqina:
Ukuqina kusho ikhono lezinto noma isakhiwo ukumelana nokusonteka okunwebeka lapho kuphoqelelwa ukuphoqelelwa, futhi kuyisici sobunzima bokunwebeka kokunwebeka kwento noma isakhiwo. Ukuqina kwento ethile kuvame ukulinganiswa nge-modulus ye-elasticity E. Kububanzi be-macro elastic, ukuqina kungukulingana okulinganayo kwenxenye yokulayisha nokuhamba, okungamandla adingekayo okubangela ukufuduka kweyunithi. Ukuphindaphinda kwayo kubizwa ngokuthi ukuguquguquka, ukufuduka okubangelwa yi-unit force. Ukuqina kungahlukaniswa kube ukuqina okuqinile nokuqina okunamandla.
Ukuqina (k) kwesakhiwo kubhekisa emandleni omzimba wokunwebeka wokumelana nokuguquguquka kanye nokungezwani.
k = P / δ
P amandla ahlala njalo asebenza esakhiweni futhi i-formation yiyona deformation ngenxa yamandla.
Ukuqina kokujikeleza (k) kwesakhiwo esijikelezayo kanje:
k = M / θ
M umzuzu futhi u-θ yi-engeli yokujikeleza.
Isibonelo, ipayipi lensimbi liqine ngokwedlulele, imvamisa ukusonteka ngaphansi kwamandla angaphandle kuncane, kuyilapho ibhande lenjoloba lithambile, nokuncipha okubangelwa amandla afanayo kukhulu ngokuqhathaniswa. Bese sithi ipayipi lensimbi liqinile, nebhande lenjoloba libuthakathaka futhi liyaguquguquka.
Ekusetshenzisweni kwe-servo motor, ukuxhumana okujwayelekile okuqinile ukuxhuma imoto nomthwalo ngokuhlanganisa, ngenkathi ukuxhumana okujwayelekile okuguqukayo ukuxhuma imoto nokulayisha ngebhande noma ibhande elihambisanayo.
Ukuqina kwezimoto yikhono le-motor shaft ukumelana nokuphazamiseka kwangaphandle kwe-torque. Singalungisa ukuqina kwemoto kumshayeli we-servo.
Ukuqina komshini we-servo motor kuhlobene nejubane lokuphendula. Ngokuvamile, ukuphakama kobulukhuni kuphakama, ijubane lokuphendula liphakeme, kepha uma lilungiswa kakhulu, imoto izokhiqiza ukugqama kwemishini. Ngakho-ke, kumapharamitha we-AC servo drive ajwayelekile, kunezinketho zokulungisa ngokwakho imvamisa yokuphendula. Ukulungisa imvamisa yokuphendula ngokuya ngephuzu lomshini, kudinga isikhathi nesipiliyoni sabasebenzi sokulungisa amaphutha (empeleni, ukulungisa amapharamitha wenzuzo).
Kwimodi yokuma kwesistimu ye-servo, isithuthi siphambukisiwe ngokusebenzisa amandla. Uma amandla emakhulu futhi i-engela yokuphambuka incane, uhlelo lwe-servo lubhekwa njengolukhuni, uma kungenjalo, uhlelo lwe-servo lubhekwa njengolubuthakathaka. Lokhu kuqina kusondele kumqondo wejubane lokuphendula. Ngokombono wesilawuli, ukuqina empeleni kuyipharamitha eyakhiwe ngejubane le-loop, ukuma kwe-loop kanye nokuhlangana kwesikhathi okuhlangene. Usayizi wayo unquma isivinini sokuphendula komshini.
Kepha uma ungadingi ukubekwa ngokushesha futhi udinga ukunemba kuphela, lapho ukumelana kuncane, ukuqina kuphansi, futhi ungafinyelela ukuma okunembile, kepha isikhathi sokubekwa side. Ngoba ukuma kuhamba kancane lapho ukuqina kuphansi, ukukhohlisa kokuma okungalungile kuzoba khona lapho kuphendula ngokushesha nesikhathi esifushane sokubeka.
Isikhathi se-inertia sichaza i-inertia yokunyakaza kwento, futhi umzuzu we-inertia isilinganiso se-inertia yento ezungeze i-eksisi. Isikhathi se-inertia sihlobene kuphela nobubanzi bokujikeleza nobukhulu bento. Ngokuvamile, i-inertia yomthwalo ingaphezu kwezikhathi eziyi-10 ze-Rotor inertia yemoto.
Isikhathi se-inertia sesitimela somhlahlandlela nesikulufu sokuhola sinethonya elikhulu ekuqineni kohlelo lwe-servo motor drive. Ngaphansi kwenzuzo engaguquki, lapho umzuzu we-inertia ukhula kakhulu, lapho kuba khona ukuqina okukhulu, kuba lula kakhulu ukwenza ukuzamazama kwemoto; okuncane ngesikhathi se-inertia, lapho kuba ukuqina okuncane, imoto ngeke ishaqise. Inganciphisa umzuzu we-inertia ngokufaka esikhundleni sesitimela somhlahlandlela nesikulufu esinobubanzi obuncane, ukuze kuncishiswe i-inertia yomthwalo ukuze kufinyelelwe ukunganyakaziswa kwemoto.
Ngokuvamile, ekukhetheni kohlelo lwe-servo, ngaphezu kokubheka imingcele efana ne-torque nesivinini esilinganisiwe semoto, sidinga futhi ukubala i-inertia eguqulwe isuka kuhlelo lwemishini iye kushaft yemoto, bese ukhetha imoto ene-inertia efanelekile usayizi ngokusho kwezidingo zangempela zomshini wokusebenza kanye nezidingo zekhwalithi zezingxenye ezenziwe ngomshini.
Ekulungiseni iphutha (imodi yesandla), ukusetha imingcele yesilinganiso se-inertia kuyisisekelo sokunikeza ukudlala okugcwele ekusebenzeni okuhle kakhulu kwezinhlelo zemishini ne-servo.
Yini i-inertia matching?
Ngokomthetho kaNiu Er:
I-torque edingekayo yokudla system = umzuzu wesistimu we-inertia J × ukushesha kwe-angular θ
Ukushesha kwe-angular ukushesha θ, isikhathi eside ukusuka kusilawuli kuze kube sekupheleni kokusebenza kwesistimu, nokuhamba kancane kwempendulo yohlelo. Uma θ izinguquko, impendulo uhlelo zizoshintsha ngokushesha futhi kancane, okuzothinta ukunemba machining.
Ngemuva kokuthi kukhethwe i-servo motor, inani eliphakeme lokukhipha lihlala lingashintshiwe. Uma ufuna ushintsho luka-θ lube lincane, uJ kufanele abe mncane ngangokunokwenzeka.
Isikhathi sesistimu ye-inertia J = servo motor rotation inertia umfutho JM + motor shaft conversion load inertia umfutho JL.
Umthwalo we-inertia JL wakhiwe nge-inertia yokusebenza, i-fixture, i-workpiece, i-screw, i-coupling nezinye izingxenye ezihambayo ezihamba phambili nezijikelezayo eziguqulwe zaba yi-inertia ye-motor shaft. I-JM yi-inertia ye-servo motor rotor. Ngemuva kokuthi kukhethwe i-servo motor, leli nani liyinani elinqunyelwe, kuyilapho i-JL ishintsha ngoshintsho lomthwalo womsebenzi. Uma ufuna izinga lokushintshwa kuka-J libe lincane, kungcono ukwenza inani le-JL libe lincane. Ngokuvamile, imoto ene-inertia encane inokusebenza okuhle kwama-braking, ukusabela okusheshayo ukuqala, ukusheshisa nokuma, nokusebenza okuhle okuphindaphindwayo kwejubane, okulungele umthwalo omncane wokukhanya nezikhathi zokubeka ngesivinini esikhulu. Izinjini ze-inertia eziphakathi nendawo ezinkulu zilungele umthwalo omkhulu kanye nezidingo zokuzinza okuphezulu, njengezindlela ezithile zokunyakaza eziyindilinga nezinye izimboni zamathuluzi omshini.
Ngakho-ke ukuqina kwemoto ye-AC servo kukhulu kakhulu futhi ukuqina akwanele. Ngokuvamile, ukuzuza komshayeli we-AC servo kufanele kushintshwe ukuze kushintshe impendulo yohlelo. I-inertia inkulu kakhulu futhi i-inertia ayanele. Ukuqhathanisa okuhlobene phakathi koshintsho lwe-inertia lomthwalo kanye ne-inertia yemoto ye-AC servo.
Ngaphezu kwalokho, kufanele kubhekwe ithonya lesinciphisi kumthwalo oqinile: u-gearbox ungashintsha ukufana kwe-inertia. Ngokuvamile, lapho isilinganiso se-inertia somthwalo emotweni singaphezu kuka-5, isinciphisi kubhekwa njengokuthuthukisa ukufaniswa kwe-inertia. Isilinganiso se-inertia silingana ngokuhlukile nesikwele sesilinganiso sokwehlisa.
Isikhathi Iposi: Sep-02-2020