Akwai hanyoyin sarrafawa guda uku na servo motor: bugun jini, analog da sadarwa.Ta yaya za mu zaɓi yanayin sarrafawa na servo motor a cikin yanayin aikace-aikacen daban-daban?
1. Yanayin sarrafa bugun jini na servo motor
A cikin wasu ƙananan kayan aiki na tsaye, amfani da sarrafa bugun jini don gane matsayi na motar ya kamata ya zama hanyar aikace-aikacen da aka fi sani.Wannan hanyar sarrafawa yana da sauƙi kuma mai sauƙin fahimta.
Mahimmin ra'ayin kulawa: jimlar adadin bugun jini yana ƙayyade motsin motsi, kuma mitar bugun jini yana ƙayyade saurin motar.An zaɓi bugun bugun jini don gane ikon sarrafa motar servo, buɗe littafin motar servo, kuma gabaɗaya za a sami tebur kamar haka:
Dukansu suna sarrafa bugun jini, amma aiwatarwa ya bambanta:
Na farko shi ne cewa direban yana karɓar nau'i-nau'i masu sauri guda biyu (A da B), kuma yana ƙayyade alkiblar jujjuyawar motar ta hanyar bambancin lokaci tsakanin nau'i biyu.Kamar yadda aka nuna a cikin hoton da ke sama, idan lokaci na B yana da digiri 90 da sauri fiye da kashi A, juyawa ne na gaba;sannan lokaci na B yana da digiri 90 a hankali fiye da kashi A, yana juyawa baya.
A yayin aiki, kashi biyu na wannan sarrafawa suna canzawa, don haka muna kiran wannan ikon bambance na musamman.Yana da halaye na bambance-bambance, wanda kuma ya nuna cewa wannan hanyar sarrafawa, bugun jini mai sarrafawa yana da ikon hana tsangwama, a cikin wasu yanayin aikace-aikacen tare da tsangwama mai karfi, wannan hanya ta fi dacewa.Duk da haka, ta wannan hanya, motar motar guda ɗaya yana buƙatar ɗaukar tashar jiragen ruwa mai sauri guda biyu, wanda bai dace da yanayin da tashar jiragen ruwa mai sauri ba.
Na biyu, direban har yanzu yana karɓar nau'i-nau'i masu sauri guda biyu, amma nau'i biyu masu sauri ba su wanzu a lokaci guda.Lokacin da bugun bugun jini ɗaya yake cikin yanayin fitarwa, ɗayan dole ne ya kasance cikin yanayin mara inganci.Lokacin da aka zaɓi wannan hanyar sarrafawa, dole ne a tabbatar da cewa akwai fitarwar bugun jini guda ɗaya a lokaci guda.Ƙwaƙwalwar bugun jini guda biyu, ɗayan fitarwa yana gudana zuwa ingantacciyar alkibla kuma ɗayan yana gudana a cikin mummunan alkibla.Kamar yadda yake a cikin yanayin da ke sama, wannan hanyar kuma tana buƙatar tashar jiragen ruwa masu sauri guda biyu don shingen motar guda ɗaya.
Nau'i na uku shi ne cewa siginar bugun jini guda ɗaya kawai ake buƙatar ba wa direba, kuma aikin gaba da baya na motar ana ƙayyade siginar IO guda ɗaya.Wannan hanyar sarrafawa ta fi sauƙi don sarrafawa, kuma aikin albarkatun tashar jiragen ruwa mai saurin gudu shima shine mafi ƙanƙanta.A cikin ƙananan ƙananan tsarin, wannan hanya za a iya fifita.
Na biyu, hanyar sarrafa motar servo
A cikin yanayin aikace-aikacen da ke buƙatar amfani da motar servo don gane sarrafa saurin, za mu iya zaɓar ƙimar analog don gane saurin sarrafa motar, kuma ƙimar ƙimar analog ɗin tana ƙayyade saurin gudu na motar.
Akwai hanyoyi guda biyu don zaɓar adadin analog, halin yanzu ko ƙarfin lantarki.
Yanayin ƙarfin lantarki: Kuna buƙatar ƙara takamaiman ƙarfin lantarki kawai zuwa tashar siginar sarrafawa.A wasu al'amuran, har ma za ku iya amfani da potentiometer don cimma iko, wanda yake da sauƙi.Koyaya, an zaɓi ƙarfin lantarki azaman siginar sarrafawa.A cikin yanayi mai rikitarwa, ƙarfin lantarki yana da sauƙin damuwa, yana haifar da sarrafawa mara ƙarfi.
Yanayi na yanzu: Ana buƙatar daidaitaccen tsarin fitarwa na yanzu, amma siginar na yanzu yana da ƙarfin hana tsangwama kuma ana iya amfani dashi a cikin yanayi mai rikitarwa.
3. Yanayin kula da sadarwa na servo motor
Hanyoyin gama gari don gane sarrafa motar servo ta hanyar sadarwa sune CAN, EtherCAT, Modbus, da Profibus.Yin amfani da hanyar sadarwa don sarrafa motar ita ce hanyar sarrafawa da aka fi so don wasu hadaddun da manyan yanayin aikace-aikacen tsarin.Ta wannan hanyar, ana iya daidaita girman tsarin da adadin mashin ɗin cikin sauƙi ba tare da haɗaɗɗun sarrafa wayoyi ba.Tsarin da aka gina yana da sassauƙa sosai.
Na hudu, bangaren fadadawa
1. Servo motor karfin juyi iko
Hanyar sarrafa karfin juyi shine saita ƙarfin fitarwa na waje na mashin motar ta hanyar shigar da adadin analog na waje ko aikin adireshin kai tsaye.Takamaiman aikin shine, alal misali, idan 10V yayi daidai da 5Nm, lokacin da aka saita adadin analog na waje zuwa 5V, shaft ɗin motar shine fitarwa shine 2.5Nm.Idan nauyin motar motar ya kasance ƙasa da 2.5Nm, motar tana cikin yanayin hanzari;lokacin da nauyin waje yayi daidai da 2.5Nm, motar tana cikin saurin gudu ko tasha;lokacin da nauyin waje ya fi 2.5Nm, motar tana cikin yanayin raguwa ko baya baya.Ana iya canza madaidaicin saiti ta hanyar canza saitin adadin analog a ainihin lokacin, ko kuma ana iya canza ƙimar adireshin daidai ta hanyar sadarwa.
Ana amfani da shi musamman a cikin na'urori masu jujjuyawar iska da kwancewa waɗanda ke da ƙaƙƙarfan buƙatu akan ƙarfin kayan, kamar na'urori masu jujjuyawa ko na'urorin cire fiber na gani.Ya kamata a canza saitin juzu'i a kowane lokaci bisa ga canjin radius na iska don tabbatar da cewa ƙarfin kayan ba zai canza tare da canjin radius na iska ba.yana canzawa tare da radius mai iska.
2. Servo motor matsayi iko
A cikin yanayin kula da matsayi, ana ƙaddamar da saurin jujjuya gabaɗaya ta yawan adadin abubuwan shigarwa na waje, kuma an ƙayyade kusurwar jujjuya ta adadin bugun.Wasu servos na iya ba da gudu da ƙaura kai tsaye ta hanyar sadarwa.Tun da yanayin matsayi na iya samun iko sosai kan saurin gudu da matsayi, ana amfani da shi gabaɗaya wajen saka na'urori, kayan aikin injin CNC, injin bugu da sauransu.
3. Yanayin saurin motar Servo
Ana iya sarrafa saurin juyawa ta hanyar shigar da adadin analog ko mitar bugun bugun jini.Hakanan za'a iya amfani da yanayin saurin don sakawa lokacin da aka ba da ikon sarrafa PID na waje na na'urar sarrafawa, amma siginar matsayi na motar ko siginar matsayi na ɗaukar nauyi kai tsaye dole ne a aika zuwa kwamfuta ta sama.Jawabin don amfanin aiki.Yanayin matsayi kuma yana goyan bayan madauki na waje kai tsaye don gano siginar matsayi.A wannan lokacin, mai ɓoyewa a ƙarshen shaft ɗin motar kawai yana gano saurin motar, kuma ana samar da siginar matsayi ta na'urar gano ƙarshen ɗaukar nauyi kai tsaye.Amfanin wannan shine cewa zai iya rage tsarin watsawa na tsaka-tsaki.Kuskuren yana ƙara daidaiton matsayi na duka tsarin.
4. Magana game da zobba uku
Gabaɗaya ana sarrafa servo ta madaukai uku.Abubuwan da ake kira madaukai uku sune tsarin daidaitawa na PID mara kyau na rufaffiyar madauki.
Madaidaicin madauki na PID shine madauki na yanzu, wanda gaba ɗaya ana aiwatar dashi a cikin direban servo.Ana gano fitar da halin yanzu na kowane lokaci na motar zuwa motar ta hanyar na'urar Hall, kuma ana amfani da ra'ayi mara kyau don daidaita yanayin halin yanzu don daidaitawar PID, ta yadda za'a cimma yanayin fitarwa kamar yadda zai yiwu.Daidai da saitin halin yanzu, madauki na yanzu yana sarrafa motsin motar, don haka a cikin yanayin juzu'i, direba yana da mafi ƙarancin aiki da amsa mai sauri mafi sauri.
Madauki na biyu shine madauki na sauri.Ana yin gyare-gyaren PID mara kyau ta hanyar siginar da aka gano na mai rikodin motsi.Fitowar PID a cikin madaukinsa kai tsaye shine saitin madauki na yanzu, don haka sarrafa madaidaicin saurin ya haɗa da madauki na sauri da madauki na yanzu.A wasu kalmomi, kowane yanayi dole ne ya yi amfani da madauki na yanzu.Madauki na yanzu shine tushe na sarrafawa.Yayin da ake sarrafawa da sauri da matsayi, tsarin yana sarrafa ainihin halin yanzu (ƙarfi) don cimma daidaitattun iko na sauri da matsayi.
Madauki na uku shine madauki na matsayi, wanda shine mafi girman madauki.Ana iya gina shi tsakanin direba da mai rikodin motar ko tsakanin mai kula da waje da na'urar rikodin motsi ko nauyin ƙarshe, dangane da ainihin halin da ake ciki.Tun da fitarwa na ciki na madaidaicin madaidaicin matsayi shine saitin madaidaicin madaidaicin, a cikin yanayin sarrafawa, tsarin yana aiwatar da ayyukan dukkan madaukai guda uku.A wannan lokacin, tsarin yana da mafi girman adadin ƙididdiga da mafi saurin amsawa mai ƙarfi.
Na sama sun fito daga Labaran Chengzhou
Lokacin aikawa: Mayu-31-2022