I-Servo iyisisetshenziswa sokudlulisa amandla esihlinzeka ngokulawula ukusebenza kokunyakaza okudingwa yimishini ye-electromechanical.Ngakho-ke, ukuklama nokukhethwa kwesistimu ye-servo empeleni kuyinqubo yokukhetha amandla afanelekile kanye nezingxenye zokulawula zohlelo lokulawula ukunyakaza kwe-electromechanical lwemishini.Kubandakanya Imikhiqizo etholwe ikakhulukazi ihlanganisa:
Isilawuli esizenzakalelayo esisetshenziselwa ukulawula ukuma kokunyakaza kwe-eksisi ngayinye ohlelweni;
I-Servo drive eguqula amandla e-AC noma e-DC ene-voltage engaguquki kanye nemvamisa ibe amandla alawulwayo adingwa yi-servo motor;
I-Servo motor eguqula amandla ashintshayo asuka kumshayeli abe amandla emishini;
Indlela yokudlulisa ngomshini edlulisela amandla e-kinetic emishini emthwalweni wokugcina;
…
Uma kucatshangelwa ukuthi kukhona uchungechunge oluningi lwezobuciko bokulwa lwemikhiqizo ye-servo yezimboni emakethe, ngaphambi kokungena ekukhetheni umkhiqizo othile, sisadinga kuqala ngokwezidingo eziyisisekelo zohlelo lokusebenza lokulawula ukunyakaza kwemishini esikufundile, okubandakanya abalawuli, abashayeli, ama-motor Preliminary. ukuhlolwa kwenziwa ngemikhiqizo ye-servo efana nezinciphisi...njll.
Ngakolunye uhlangothi, lokhu kuhlola kusekelwe kuzibaluli zomkhakha, imikhuba yohlelo lokusebenza nezici zokusebenza zemishini ukuze kutholwe uchungechunge lomkhiqizo olungase lutholakale nezinhlanganisela zohlelo ezivela kumikhiqizo eminingi.Isibonelo, i-servo ekusetshenzisweni kwephimbo eliguquguqukayo lamandla omoya ngokuyinhloko iwukulawula indawo ye-engeli yeblade, kodwa imikhiqizo esetshenziswayo idinga ukwazi ukuzivumelanisa nesimo sokusebenza esinokhahlo nesinzima;isicelo se-servo emshinini wokunyathelisa sisebenzisa ukulawulwa kokuvumelanisa kwesigaba phakathi kwama-ax amaningi Ngesikhathi esifanayo, kuthambekele kakhulu ekusebenziseni uhlelo lokulawula ukunyakaza olunomsebenzi wokubhalisa ngokunemba okuphezulu;imishini yamasondo inaka kakhulu ukusetshenziswa okuphelele kwezinhlobonhlobo zokulawula ukunyakaza okuyingxubevange kanye nezinhlelo ezizenzakalelayo ezizenzakalelayo;imishini yomshini wepulasitiki idinga ukuthi uhlelo lusetshenziswe enqubweni yokucubungula umkhiqizo.I-torque nokulawula isikhundla kunikeza izinketho ezikhethekile zokusebenza kanye nama-algorithms wepharamitha….
Ngakolunye uhlangothi, ngokombono wokuma kwemishini, ngokuya ngezinga lokusebenza nezidingo zomnotho zemishini, khetha uchungechunge lomkhiqizo wegiya elihambisanayo kumkhiqizo ngamunye.Isibonelo: uma ungenazo izidingo eziphakeme kakhulu zokusebenza kwemishini, futhi ufuna ukonga isabelomali sakho, ungakhetha imikhiqizo yokonga;ngokuphambene, uma unezidingo eziphezulu zokusebenza zokusebenza kwemishini ngokunemba, isivinini, impendulo eguquguqukayo, njll., khona-ke ngokwemvelo Kuyadingeka ukwandisa okokufaka kwesabelomali kukho.
Ngaphezu kwalokho, kuyadingeka futhi ukucabangela izici zendawo yohlelo lokusebenza ezihlanganisa izinga lokushisa kanye nomswakama, uthuli, izinga lokuvikela, izimo zokuqeda ukushisa, izindinganiso zikagesi, amazinga okuphepha, nokuhambisana nemigqa/amasistimu okukhiqiza akhona...njll.
Kungabonakala ukuthi ukukhetha okuyinhloko kwemikhiqizo yokulawula ukunyakaza kusekelwe kakhulu ekusebenzeni kochungechunge ngalunye lomkhiqizo embonini.Ngesikhathi esifanayo, ukuthuthukiswa okuphindaphindiwe kwezidingo zohlelo lokusebenza, ukufakwa kwemikhiqizo emisha nemikhiqizo emisha nakho kuzoba nomthelela othile kukho..Ngakho-ke, ukwenza umsebenzi omuhle ekwakhiweni nasekukhethweni kwezinhlelo zokulawula ukunyakaza, izinqolobane zolwazi lobuchwepheshe bezimboni zisadingeka kakhulu.
Ngemuva kokuhlolwa kokuqala kochungechunge lomkhiqizo olutholakalayo, singakwazi ukuqhubeka nokwenza ukwakheka nokukhethwa kwesistimu yokulawula ukunyakaza kwabo.
Ngalesi sikhathi, kuyadingeka ukunquma iplatifomu yokulawula kanye nesakhiwo sonke sesistimu ngokuya ngenani lama-axes anyakazayo kumishini kanye nobunzima bezenzo zokusebenza.Ngokuvamile, inani lezimbazo linquma ubukhulu besistimu.Uma isibalo sezimbazo sikhula, siphakama isidingo somthamo wesilawuli.Ngesikhathi esifanayo, kuyadingeka futhi ukusebenzisa ubuchwepheshe bebhasi ohlelweni ukwenza lula nokunciphisa isilawuli nokushayela.Inombolo yokuxhumana phakathi kwemigqa.Ubunkimbinkimbi bomsebenzi wokunyakaza buzothinta ukukhethwa kwezinga lokusebenza kwesilawuli kanye nohlobo lwebhasi.Isivinini esilula sesikhathi sangempela kanye nokulawula isikhundla kudinga kuphela ukusebenzisa isilawuli esizenzakalelayo esijwayelekile kanye nebhasi lasendle;ukusebenza okuphezulu kokuvumelanisa kwesikhathi sangempela phakathi kwezimbazo eziningi (njengamagiya e-elekthronikhi namakhamera kagesi) kudinga kokubili isilawuli kanye nebhasi yasendle Inomsebenzi wokuvumelanisa wewashi onokunemba okuphezulu, okungukuthi, idinga ukusebenzisa isilawuli nebhasi lezimboni elingenza okwangempela. - ukulawula ukunyakaza kwesikhathi;futhi uma idivayisi idinga ukuqedela ukuhlanganiswa kwendiza noma isikhala phakathi kwezimbazo eziningi noma ihlanganise nokulawula irobhothi, izinga lokusebenza lesilawuli Izidingo ziphakeme nakakhulu.
Ngokusekelwe ezimisweni ezingenhla, ngokuyisisekelo sikwazile ukukhetha izilawuli ezitholakalayo emikhiqizweni ekhethwe ngaphambilini futhi sizisebenzise kumamodeli athile;bese ngokusekelwe ekusebenzisaneni kwe-fieldbus, singakhetha abalawuli abangasetshenziswa nabo.Umshayeli ofanayo kanye nezinketho ze-servo motor ezihambisanayo, kodwa lokhu kusesiteji sochungechunge lomkhiqizo kuphela.Okulandelayo, sidinga ukuphinda sinqume imodeli ethile yedrayivu nemoto ngokuya ngesidingo samandla wesistimu.
Ngokusho kwe-inertia yomthwalo kanye nejika elinyakazayo le-eksisi ngayinye ezidingweni zohlelo lokusebenza, ngokusebenzisa ifomula elula ye-physics F = m · a noma T = J · α, akunzima ukubala isidingo sabo se-torque ngesikhathi ngasinye somjikelezo wokunyakaza.Singakwazi ukuguqula izidingo ze-torque nesivinini ze-eksisi ngayinye enyakazayo ekugcineni komthwalo ohlangothini lwemoto ngokuya ngesilinganiso sokudlulisa esethiwe, futhi ngalesi sisekelo, sengeze amamajini afanelekile, sibale amamodeli wokushayela kanye nemoto ngayinye ngayinye, bese udweba ngokushesha. uhlaka lwesistimu Ngaphambi kokufaka inombolo enkulu yomsebenzi wokukhetha ngokucophelela futhi oyisicefe, yenza ukuhlola okungabizi kakhulu kochungechunge lomkhiqizo ohlukile kusenesikhathi, ngaleyo ndlela wehlise inani lezinye izindlela.
Kodwa-ke, asikwazi ukuthatha lokhu kumisa okulinganiselwe kusukela ku-torque yokulayisha, isidingo sesivinini kanye nesilinganiso sokudlulisa esisethiwe njengesixazululo sokugcina sesistimu yamandla.Ngoba izidingo ze-torque nesivinini se-motor zizothintwa imodi yokudlulisa ngomshini yesistimu yamandla kanye nobudlelwano bayo besilinganiso sejubane;ngesikhathi esifanayo, inertia ye-motor ngokwayo nayo iyingxenye yomthwalo wesistimu yokudlulisa, futhi injini iqhutshwa ngesikhathi sokusebenza kwemishini.Iwuhlelo lonke lokudlulisa okuhlanganisa umthwalo, indlela yokudlulisa kanye ne-inertia yayo.
Ngalo mqondo, ukukhethwa kwesistimu yamandla e-servo akusekelwe kuphela ekubalweni kwetorque nesivinini se-eksisi ngayinye enyakazayo...njll.I-eksisi ngayinye yokunyakaza ifaniswe neyunithi yamandla efanelekile.Empeleni, kususelwa kusisindo/i-inertia yomthwalo, ijika elisebenzayo, kanye namamodeli okuhambisa ngomshini, esikhundleni samanani e-inertia kanye nemingcele yokushayela (izici zemvamisa yesikhashana) yamamotho ahlukile ahlukile kuwo, nokuqhathanisa. i-torque yayo (noma amandla) kanye Ukuhlala kwejubane kwijika lesici, inqubo yokuthola inhlanganisela efanele.Ngokuvamile, udinga ukwenza lezi zinyathelo ezilandelayo:
Ngokusekelwe ezinkethweni ezihlukahlukene zokudlulisela, mephu ijika lejubane kanye ne-inertia yomthwalo kanye nengxenye ngayinye yokudlulisela ngomshini ohlangothini lwemoto;
I-inertia yemoto ngayinye yekhandidethi ibekwe phezulu nge-inertia yomthwalo kanye nendlela yokudlulisela efakwe kumephu ohlangothini lwemoto, futhi ijika lokudinga kwetorque litholwa ngokuhlanganisa ijika lejubane ohlangothini lwemoto;
Qhathanisa ubukhulu nokumataniswa kwe-inertia yejubane lemoto kanye nejika letorque ngaphansi kwezimo ezihlukahlukene, futhi uthole inhlanganisela efanele yokushayela, imoto, imodi yokudlulisela kanye nesilinganiso sejubane.
Njengoba umsebenzi osezigabeni ezingenhla udinga ukwenziwa ku-eksisi ngayinye ohlelweni, umthwalo wokukhetha amandla wemikhiqizo ye-servo empeleni mkhulu kakhulu, futhi isikhathi esiningi ekwakhiweni kwesistimu yokulawula ukunyakaza kuvame ukusetshenziswa lapha.Indawo.Njengoba kushiwo ngaphambili, kuyadingeka ukulinganisa imodeli ngokusebenzisa isidingo se-torque ukunciphisa inani lezinye izindlela, futhi lena incazelo.
Ngemuva kokuqeda le ngxenye yomsebenzi, kufanele futhi sinqume ezinye izinketho ezibalulekile zedrayivu nemoto njengoba kudingeka ukuze kuphothulwe amamodeli azo.Lezi zinketho ezisizayo zihlanganisa:
Uma idrayivu yebhasi ye-DC evamile ikhethiwe, izinhlobo zamayunithi okulungisa kabusha, izihlungi, ama-reactors kanye nezingxenye zokuxhuma ibhasi le-DC (njengendiza engemuva kwebhasi) kufanele zinqunywe ngokuya ngokusatshalaliswa kwekhabhinethi;
Hlomisa i(ama)eksisi ethile noma yonke isistimu yokushayela enezinqamuleli zokubhuleka noma amayunithi okubhuleka avuselelayo njengoba kudingeka;
Ukuthi i-shaft ephumayo yemoto ejikelezayo iwukhiye noma i-optical shaft, nokuthi inamabhuleki;
Injini yomugqa idinga ukunquma inani lamamojula we-stator ngokuya ngobude be-stroke;
Iphrothokholi yempendulo ye-Servo nokulungiswa, okukhuphukayo noma okuphelele, ukujika okukodwa noma ukujika okuningi;
…
Kuleli qophelo, sinqume amapharamitha angukhiye wochungechunge lomkhiqizo ohlukile ohlukile ohlelweni lokulawula ukunyakaza ukusuka kusilawuli ukuya kumadrayivu e-servo e-eksisi ngayinye enyakazayo, imodeli yenjini kanye nendlela yokudlulisa engumshini ehlobene.
Okokugcina, sidinga futhi ukukhetha izingxenye ezithile zokusebenza ezidingekayo zesistimu yokulawula ukunyakaza, njenge:
Izifaki khodi ezisizayo (zokuphotha) ezisiza i(ama)eksisi ethile noma isistimu yonke ukuthi ivumelanise nezinye izinto ezinyakazayo ezingezona eze-servo;
Imojula ye-I/O enesivinini esikhulu yokuthola okokufaka noma okuphumayo kwekhamera enesivinini esikhulu;
Izinhlobonhlobo zezintambo zikagesi zokuxhuma, okuhlanganisa: izintambo zamandla e-servo motor, impendulo kanye nezintambo zamabhuleki, izintambo zokuxhumana zamabhasi phakathi komshayeli nesilawuli…;
…
Ngale ndlela, ukukhethwa kwalo lonke uhlelo lokulawula ukunyakaza kwe-servo lwemishini kuyaqedwa.
Isikhathi sokuthumela: Sep-28-2021