Neeg xav tsav xaiv qhov kev xav tau
Tus neeg tsav tsheb ua ntej npaj cov haujlwm tshwj xeeb xws li kev sibtham ua haujlwm, kev pabcuam kev phais, khoom noj khoomtshis tos / rov qab, thiab kev ua haujlwm txawm tias kuv raug tshem tawm. Niaj hnub no cov neeg hlau tsis yog hais txog kev ua haujlwm zoo tib yam nkaus xwb, tiam sis tseem ua haujlwm nyuaj uas yuav tsum ua kom yooj yim rau hauv kev coj ua thiab cov lus tsa suab. Nrog rau kev siv technology, ceev thiab yooj, thiab txo nqi, robots yuav dav txais yuav. Tus nqi zoo dua hauv qab haujlwm kuj qhia tau tias peb kaj ntug ntawm kev lag luam neeg hlau. Tsis tas li ntawd, lub tshuab tsis pom kev, kev muaj zog thiab kev nce qib hauv lub network kuj yuav tsav cov ntaub ntawv siv los kho robotic.
Qhov kev siv ntawm cov kev ua tau zoo ntawm robots los ntawm cov kev txhim kho nram qab no:
1. Sib tshau cov teeb meem;
2. Paub lub zog ntawm kev xam phaj thiab kev siv algorithm ntawm kev txiav txim siab tiag tiag thiab sijhawm;
3. Ib lub cav uas ceev nrooj thiab meej meej txog cov cuab yeej hluav taws xob kom ua tiav tes haujlwm tiav;
Thaum xaiv hom thiab qauv ntawm lub tshuab, tus kws tsim qauv yuav tsum xav txog peb yam tseem ceeb los xav txog:
1. Qhov qis thiab siab tshaj ntawm kev tsav tsheb (thiab acceleration);
2. Qhov siab tshaj plaws lub zog uas lub cav tau muab, nrog rau txoj kev sib raug zoo ntawm lub zog thiab qhov ceev qhov nkhaus;
3. Paub tseeb thiab rov ua tau ntawm qhov kev lag luam (thaum tsis siv lub voj voos thiab cov voj kev siv kaw);
Muaj ntau yam tseem ceeb uas yuav tau xav txog thaum xaiv ib lub cev, xws li qhov loj me, qhov hnyav, thiab nqi. Yuav luag tag nrho cov me me thiab loj tshaj plaws ntawm cov neeg tsav tsheb, qhov tsav ntawm tsav lub cev yog feem ntau brushed DC motor, brushless DC tsav (BLDC) thiab stepper tsav. (Txawm li cas los xij, hydraulic thiab pneumatic cov cav tov yog qhov kev xaiv zoo tshaj nyob rau qee rooj plaub.)
Brushed DC motors yog qhov qub tshuab DC cav, qhov yooj yim thiab qis tshaj tus nqi. Vim yog kev sib cuag ntawm txhuam thiab lub rotor, txoj kev sib hloov ntawm lub rotor keyboards (reverses) cov cua tshuab magnetic ncig lub rotor. Cov kev tsav ntawm lub tshuab yog ib qho tseem ceeb ntawm qhov siv qhov hluav taws xob, yog li cov tsav kev cai tsis siab, tab sis tswj cov teeb meem nyuaj. Kev ntseeg txog teeb meem tshwm sim thaum ua haujlwm vim hnav thiab rhuav ntawm txhuam, xav tau kev tu thiab tu, thiab tseem muaj qhov hluav taws xob hauv hluav taws xob (electromagnetic cuam tshuam). Vim muaj cov teeb meem no, feem ntau, brushed DC motors tau ua qhov tsis tsim nyog txaus tsim nyob rau hauv kev tsim neeg hlau.
Kev Txhuam Txhaum Kev Siv Hluav Taws Xob (DC) muaj nyob rau hauv 1860s, thiab lawv tau txais txiaj ntsim los ntawm ob qho kev tsim kho: thawj, qhov tshwm sim ntawm ib lub zog, me me, pheej yig magnet; Qhov thib ob, qhov tshwm sim me thiab kev hloov hluav taws xob (feem ntau MOSFETs)) hloov qhov kev ntws tam sim no mus rau qhov kev sib tw. "Hluavtaws hluav taws xob" yog hloov lub tshuab hluav taws xob ntawm cov nplhaib kom tswj tau cov kev sib hloov ntawm cov hlau nplaum. Kev sib cuam tshuam ntawm cov chaw nyob ib ncig ntawm kev sib tsoo thiab cov hlau nplaum nyob rau hauv cov cwj pwm coj los hloov qhov kev sib txuas lus ntawm lub pob txha brushed, piv txwv li lub teb chaw magnetic thiab cov hluav taws xob siv. kev sib cuam tshuam ntawm. Los ntawm kev hloov lub sij hawm sib hloov ntawm MOFSET, qhov tsav lub zog ua li no yuav raug tswj. Tsis tas li ntawd, qhov kev tswj xyuas lub cev muaj peev xwm tswj tau qhov kev ua tau zoo dua qub dua li lub tshuab txhuam.
Txawm tias zoo dua, muaj kev tshaj li algorithms xws li PID (proportional-integral-derivative) kev hloov kho algorithms los yog FOC (kev tiv thaiv txog kev tswj, qee lub npe hu ua vector tswj) kev tswj algorithms yuav ua kom tau zoo rau cov tswj lub cev. Qhov no ntais ntawv ua haujlwm ntawm kev tsav tsheb rau qhov tseeb ntawm qhov tseeb thiab kev hloov ntawm kev hloov, ua rau kev tsav tsheb muaj zog dua thiab muaj tseeb. Piv txwv, lub cev tswj kev ua kom lub cev muaj zog / qhov kev zov me nyuam tuaj yeem coj mus rau hauv tus account muaj feem xyuam xws li rotor inertia thiab hloov lub tsav tsav thiab maj txo qhov yuam kev vim cov khoom siv dag zog. Xws li ib qho algorithm ua kom tau precisely tswj acceleration thiab torque.
Piv nrog brushed motors, brushless motors (BLDC) yuav tsum muaj kev tswj xyuas ntau dua qhov kev tshawb fawb, tiam sis tuaj yeem ua tau zoo dua. Feem ntau lub BLDC tsav yuav tsum tau nruab nrog ib txoj hauj lwm lus sensor xws li cov nyhuv nyhuv Hall, optical encoder, lossis EMF nrhiav kev ntaus.
Lwm hom BLDC tsav tsheb uas siv hauv cov neeg hlau yog cov cav ntoo. Nyob rau hauv cov ntaub ntawv no, ib hom hloov electromagnet siv, uas yog nyob ntawm ib sab ntawm lub hauv paus tub ntxhais ntawm cov nplhaib magnet. Lub cav ntaiv tsis tau "tsis hloov" hauv kev li ib txwm; Qhov no txhais tau hais tias, kev khiav ceev yog nce ntxiv los ntawm txoj kev sib txuas kom tsis muaj zog, thiaj li ua tau ib lub voj voog ntawm kev sib hloov los sis ua kom nruam tiav. Lub tshuab hluav taws xob muaj zog tau rov qab tswj kav; nws tuaj yeem xa rov mus rau nws txoj haujlwm dhau los thaum tsim nyog.
Cov kauj ruam ntawm lub kauj ruam yog los ntawm 1.8 ° (200 ruam / rev) mus txog 30 ° (12 ruam / rev). Cov kauj ruam kaum los yog tus naj npawb ntawm cov kauj ruam yog nyob ntawm tus lej ntawm cov hlau nplaum lub cev, tab sis qhov tseem ceeb ntawm qhov txawv ntawm qhov no kuj ua tiav. ntawm.
Rau cov cav ntoo, yog tias tsis muaj kauj ruam, lawv yuav nyob twj ywm rau hauv qhov chaw; stepper motors tau muab siab torque ntawm tsawg rpm. Qhov yoojyim tshaj plaws uas tig tau lub cav ntiv taw yog tig lub lauj kaub rau ntawm thiab tawm, tab sis qhov no tuaj yeem ua rau jitter lossis kev vibration. Muaj qee qhov overlaps nyob rau hauv qhov chaw thov ntawm brushless motors thiab stepper motors. Stepper motors yog zoo dua rau cov ntawv thov uas yuav tsum tau ua kom tiav thiab kev tawm tswv yim (xws li kev xaiv thiab kev tso chaw), tsis yog qhov chaw uas yuav tsum tau siv sij hawm ntev ntev, nrog rau cov ntawv me me uas muaj qhov siab tshaj lossis tsis ceev. Tsis tas li ntawd, stepper motors tau txo cov kev ua haujlwm kom muaj zog dua li brushless DC motors. Ntxiv rau cov motors uas tau teev tseg ntawm no, muaj ntau ntau hom kev xaiv los ntawm. Lub cev muaj zog ntau yam thiab muaj ntau, nrog ntau ceg. Piv txwv li, ib qho kev sib txuas ntawm lub tshuab hluav taws xob (PMSM) yog ib qho kev sib txuas ntawm DC brushless (txhawm rau ib lub rotor) thiab ib qho AC tes taw (AC ntais ntawm lub cev). Nws muaj cov yam ntxwv ntawm kev siv hluav taws xob siab, siab ceev ntim rau ib chav tsev ntim, lub zog mus rau qhov hnyav, lub sijhawm teb tuaj sai, thiab kev tswj tau yooj yim, tab sis tus nqi qis dua.
