Sida jilaa,motor stepperwaa mid ka mid ah alaabada muhiimka ah ee mechatronics, kaas oo si weyn loogu isticmaalo nidaamyada xakamaynta otomaatiga ee kala duwan. Horumarinta microelectronics iyo teknoolajiyada kombiyuutarka, baahida loo qabo matoorrada stepper ayaa sii kordhaya maalinba maalinta ka dambeysa, waxaana loo adeegsadaa dhinacyada kala duwan ee dhaqaalaha qaranka.
01 waa maxay amotor stepper
Matoorka Stepper waa qalab koronto oo si toos ah u beddela garaaca korantada dhaqdhaqaaqa farsamada. Iyadoo la xakameynayo isku xigxiga, inta jeer iyo tirada garaacyada korantada ee lagu rakibay gariiradda mootada, isteerinka mootada stepper-ka ayaa la xakameyn karaa. Iyadoo aan la isticmaalin nidaamka xakamaynta jawaab-celinta-xiran ee dareenka booska, booska saxda ah iyo kantaroolka xawaaraha ayaa lagu gaari karaa iyadoo la adeegsanayo nidaam fudud oo sahlan oo qiimo jaban oo ka kooban mashiinka stepper iyo darawalka la socda.
02 motor stepperqaabka aasaasiga ah iyo mabda'a shaqada
Qaab dhismeedka aasaasiga ah:
Mabda'a shaqada: darawalka matoorka stepper sida ku xusan garaaca wadnaha kontoroolka dibadda iyo calaamada jihada, iyada oo loo marayo wareeggeeda macquulka ah ee gudaha, ku xakameyso dabaylaha matoorrada jaranjarada waqti cayiman oo hore ama dib u noqosho tamar, si uu matoorku u soo hormariyo / u rogo wareegga, ama quful.
Qaado 1.8 digrii matoo laba-weji ah tusaale ahaan: marka labada dabaysha la tamarsiiyo oo la farxo, shafka wax-soo-saarka matoorku wuxuu noqonayaa mid taagan oo xidhan. Hirarka ugu badan ee ku hayn doona matoorku inuu ku xidhan yahay wakhtiga la qiimeeyay waa xajinta xajinta. Haddii dabaylaha mid ka mid ah dabaylaha dib loo hagayo, matoorku wuxuu u wareegayaa hal tallaabo (1.8 darajo) jihada la bixiyay.
Sidoo kale, haddii dabaysha hadda ku jirta dabaylaha kale uu beddelo jihada, matoorku waxa uu u wareegayaa hal tallaabo (1.8 darajo) oo ka soo horjeeda kii hore. Marka mawjadaha dhex mara dabaylaha gariiradda si isdaba joog ah loogu jiheeyo xamaasad, matoorku wuxuu u wareegayaa tallaabo joogto ah jihada la bixiyay isagoo si sax ah u sarreeya. 1.8 darajo laba weji wareeg ah oo matoorka stepper ah todobaadkii wuxuu qaataa 200 tillaabo.
Matoorada stepper-ka ee laba-waji ah waxay leeyihiin laba nooc oo dabaysha: laba-cirifoodka iyo unipolar. Matoorrada laba-cirifoodka ah waxay leeyihiin hal gariirad wareeg ah wajigiiba, matoorka wareegtada joogtada ah ee hadda ku jira gariiradda isku midka ah si ay u noqoto kicin isdaba-joog ah, naqshadaynta wareegga wadiddu waxay u baahan tahay siddeed shiddo oo elektaroonik ah oo isdaba-joog ah.
Matoorada Unipolar waxay leeyihiin laba gariirood oo dabeylo ah oo ka soo horjeeda polarity weji kasta, iyo matoorka
si joogto ah ayey u wareegtaa iyadoo si beddel ah u tamar gelinaysa labada gariirood ee dabaylaha oo isku weji ah.
Wareegga wadista waxaa loogu talagalay inuu u baahan yahay afar furaha elektarooniga ah. Laba-cirifoodka
habka wadista, qulqulka wax soo saarka ee mishiinka ayaa kordhay 40% marka la barbardhigo
Habka wadista unipolar sababtoo ah gariiradaha dabaylaha ee weji kasta waa 100% faraxsan.
03, Culayska matoorka Stepper
A. Culayska daqiiqada (Tf)
Tf = G * r
G: culeyska culeyska
r: raad
B. Culayska Inertia (TJ)
TJ = J * dw/dt
J = M * (R12+R22) / 2 (Kg * cm)
M: cufka culayska
R1: Radius giraanta dibadda
R2: Radius ee giraanta gudaha
dω/dt: Dardargelinta xagasha
04, qalooca xawaaraha mootada stepper
Qalooca-xawaaraha-wareegga waa muujin muhiim ah oo ka mid ah sifooyinka soo saarka ee stepper
matoorada
A. Stepper barta inta jeer ee shaqaynaysa
Qiimaha xawaaraha matoorka stepper motor ee meel gaar ah.
n = q * Hz / (360 * D)
n: rev/sek
Hz: Qiimaha soo noqnoqda
D: Wadida qiimaha isdhexgalka wareegga
q: xagal tallaabo matoorka stepper
Tusaale ahaan, matoor-steperer ah oo leh xagal qumman oo ah 1.8 °, oo leh 1/2 wadista isdhexgalka.(ie, 0.9° tilaaboba), waxa uu leeyahay xawaaruhu 1.25 r/s oo ah inta jeer ee shaqaynaysa 500 Hz.
B. Aagga matoorka Stepper ee uu iskii isu bilaabo
Goobta matoorka jaranjarada laga bilaabi karo oo si toos ah loo joojin karo.
C. Goobta hawlgalka oo joogto ah
Goobtan, matoorka stepper si toos ah looma bilaabi karo ama looma joojin karo. Matoorada Stepper gudahaaaggan waa in marka hore la sii maraa aagga is-billowda ka dibna la dedejiyo si loo gaaro goobtagoobta shaqada. Sidoo kale, matoorka stepper ee aaggan si toos ah looma goyn karoHaddii kale way sahlan tahay in matoorka stepper-ka uu ka baxo tallaabada, marka hore waa in la dejiyaaaaggii is-bilaabi jiray ka dibna bireega.
D. Matoorka Stepper inta jeer ee bilawga ah
Matoorka wax-load-la'aan ah, si loo hubiyo in matoorka stepper-ka uusan lumin shaqada tallaabadainta jeer ee garaaca wadnaha ugu badan.
E. Stepper matoorka inta jeer ee uu shaqeeyo
Inta jeer ee ugu badan ee garaaca wadnaha ee matoorku uu ku faraxsan yahay inuu socdo iyada oo aan lumin tallaaborar la'aan.
F. Matoorka Stepper ee ku bilaabmaya qulqulka / jiid-jiidista
Si aad ula kulanto matoorka jaranjarada garaaca garaaca garaaca wadnaha qaarkood si aad u bilowdo oo aad bilowdo socodsiinta, la'aanteedluminta tillaabooyinka qulqulka culeyska ugu badan.
G. motoorka Stepper oo ordaya torque/jiid-jiid
Qulqulka culeyska ugu badan ee qanciya hawlgalka xasilloon ee matoorka stepper ee agaraaca garaaca garaaca qaar ka mid ah iyada oo aan lumin tallaabada.
05 Xakamaynta dhaqdhaqaaqa dhaqdhaqaaqa Stepper
Marka matoorka stepper ee ka shaqeeya barta inta jeer ee ku jira qalooca xawaaraha-torque ee joogtada ahgobolka hawlgalka, sida loo soo gaabiyo bilawga mootada ama joojinta dardargelinta ama hoos u dhacawaqti, si matoorku u socdo dheer ee gobolka xawaaraha ugu fiican, oo sidaas kor loogu qaado ahWakhtiga wax ku oolka ah ee matoorku waa mid aad muhiim u ah.
Sida ku cad shaxanka hoose, qalooca sifada dhaq-dhaqaaqa torque ee matoorka stepper waaxariiq toosan oo toosan oo xawaare hoose leh; Xawaaraha sare, qaloocadu aad buu u yaraadaasaamaynta inductance awgeed.
Waxaan ognahay in culeyska matoorka stepper uu yahay TL, ka soo qaad inaan rabno inaan ka dardargelinno F0 ilaa F1 gudahawakhtiga ugu gaaban (tr), sidee loo xisaabiyaa wakhtiga ugu gaaban tr ?
(1) Caadiyan, TJ = 70% Tm
(2) tr = 1.8 * 10 -5 * J * q * (F1-F0)/(TJ -TL)
(3) F (t) = (F1-F0) * t/tr + F0, 0
B. Dardargelinta jibbaaran ee xaalad xawli sare leh
(1) Caadiyan
TJ0 = 70%Tm0
TJ1 = 70%Tm1
TL = 60%Tm1
(2)
tr = F4 * gudaha [(TJ 0-TL)/(TJ 1-TL)]
(3)
F (t) = F2 * [1 - e^(-t/F4)] + F0, 0
F2 = (TL-TJ 0) * (F1-F0)/TJ 1-TJ 0)
F4 = 1.8 * 10-5 * J * q * F2/ (TJ 0-TL)
Xusuusin.
J waxa ay muujinaysaa inertia wareeg ee matoorka rotor ee culayska saaran yahay.
q waa xagasha wareegta ee talaabo kasta, taas oo ah xagasha tallabada ee matoorka jaranjarada gudaha
kiiska oo dhan drive.
Hawlgalka hoos u dhigista, kaliya ka noqo xawaaraha garaaca wadnaha ee kor ku xusan wuxuu noqon karaa
xisaabiyey.
06 gariir motor stepper iyo buuq
Guud ahaan, matoorka stepper-ka ee hawlgal la'aan, marka matoorku shaqeeyo inta jeerku dhow ama la siman yahay inta jeer ee rotor-ka matoorka ayaa soo noqnoqon doona, rabitaan dhab ahdhacaa dhacdo ka baxsan tallaabo tallaabo.
Dhowr xal oo loogu talagalay resonance:
A. Ka fogow aagga gariirka: si inta jeer ee matoorku uusan ugu dhicin gudahakala duwanaanshaha gariirka
B. Qabso qaabka wadista qayb-hoosaadka: Isticmaal habka wadida-tallaabo yar si aad u yarayso gariirka
u qaybinta tillaabada asalka ah ee tillaabooyin badan si loo kordhiyo xallinta mid kasta
tallaabo motor. Tan waxaa lagu gaari karaa in la isku hagaajiyo heerka iyo saamiga hadda ee matoorka.
Microstepping ma kordhiso saxnaanta xagasha tillaabada, laakiin waxay ka dhigtaa mootada in badan
si habsami leh oo buuq yar. Muruggu guud ahaan 15% wuu ka hooseeyaa hawlgalka nus-tallaabo
marka loo eego hawlgalka buuxa, iyo 30% ka hooseeya kantaroolka mawjadda sine ee hadda.
Waqtiga boostada: Nov-09-2022