A matsayin actuator,stepper motoryana ɗaya daga cikin mahimman samfuran injiniyoyi, waɗanda ake amfani da su sosai a cikin tsarin sarrafa sarrafa kansa daban-daban. Tare da ci gaban microelectronics da fasahar na'ura mai kwakwalwa, buƙatun motocin stepper yana ƙaruwa kowace rana, kuma ana amfani da su a fannoni daban-daban na tattalin arzikin ƙasa.
01 Menene astepper motor
Motar Stepper na'urar lantarki ce wacce ke juyar da bugun wutar lantarki kai tsaye zuwa motsi na inji. Ta hanyar sarrafa jeri, mita da adadin fitilun lantarki da aka yi amfani da su a kan coil ɗin motar, za a iya sarrafa tuƙin injin stepper, saurin gudu da kusurwar juyawa. Ba tare da yin amfani da tsarin kula da martani na rufaffiyar madauki tare da fahimtar matsayi ba, ana iya samun madaidaicin matsayi da kulawar sauri ta amfani da tsarin kulawa mai sauƙi, mai sauƙi mai sauƙi wanda ya ƙunshi motar stepper da direban da ke tare da shi.
02 stepper motortsari na asali da ka'idar aiki
Tsarin asali:
Ƙa'idar aiki: direban motar motsa jiki bisa ga bugun bugun jini na waje da siginar jagora, ta hanyar da'irar dabaru na ciki, sarrafa motsin motsi na stepper a cikin wani takamaiman tsarin lokaci gaba ko baya da kuzari, ta yadda motar ta gaba / juyawa juyawa, ko kulle.
Ɗauki 1.8 digiri na mataki biyu stepper motor a matsayin misali: lokacin da duka windings suna da kuzari da kuma farin ciki, da mota fitarwa shaft zai zama a tsaye da kuma kulle a matsayi. Matsakaicin juzu'in da zai kiyaye motar a kulle a halin yanzu mai ƙima shine ƙarfin riƙewa. Idan an juyar da na yanzu a ɗaya daga cikin iskar, injin ɗin zai jujjuya mataki ɗaya (digiri 1.8) a wata hanyar da aka bayar.
Hakazalika, idan na yanzu a cikin sauran iskar ya canza alkibla, motar za ta juya taki ɗaya (digiri 1.8) a kishiyar na farko. Lokacin da magudanan ruwa ta cikin iskar coil aka bi da su zuwa ga tashin hankali, motar za ta ci gaba da jujjuya ci gaba a cikin hanyar da aka bayar tare da daidaito sosai. Don digiri 1.8 na jujjuyawar motsi mai hawa biyu na mako guda yana ɗaukar matakai 200.
Motocin stepper guda biyu suna da nau'ikan windings guda biyu: bipolar da unipolar. Motocin Bipolar suna da coil guda ɗaya ne kawai a kowane lokaci, injin ci gaba da jujjuyawar na yanzu a cikin wannan coil ɗin don zama mai canzawa a jere, ƙirar da'irar tuƙi tana buƙatar musanya lantarki guda takwas don juyawa jere.
Motocin Unipolar suna da coils guda biyu masu jujjuya kiban polarity akan kowane lokaci, da kuma motar
yana jujjuyawa akai-akai ta hanyar canza madaidaicin kuzarin coils guda biyu a lokaci guda.
An ƙera da'irar tuƙi don buƙatar maɓallan lantarki huɗu kawai. A cikin bipolar
Yanayin tuƙi, ƙarfin fitarwa na motar yana ƙaruwa da kusan 40% idan aka kwatanta da na
Yanayin tuƙi na unipolar saboda jujjuyawar iska na kowane lokaci suna jin daɗi 100%.
03, Motar Stepper
A. Lokacin Load (Tf)
Tf = G*r
G: Nauyin kaya
r: ruwa
B. Inertia Load (TJ)
TJ = J * dw/dt
J = M * (R12+R22) / 2 (Kg * cm)
M: Yawan nauyi
R1: Radius na zobe na waje
R2: Radius na zobe na ciki
dω/dt: Haɗawar angular
04, Matsakaicin saurin juzu'i
Matsakaicin saurin-ƙarfi shine mahimmancin magana na halayen fitarwa na stepper
motoci.
A. Matsayin mitar motsi na Stepper
Ƙimar gudun mashin ɗin stepper a wani wuri.
n = q * Hz / (360 * D)
n: rev/s
Hz: ƙimar mitar
D: Ƙimar da'ira ta tuƙi
q: kusurwar mataki na stepper
Misali, injin stepper mai kusurwar farar 1.8°, tare da 1/2 drive interpolation.(watau 0.9° kowane mataki), yana da gudun 1.25r/s a mitar aiki na 500 Hz.
B. Stepper motor kai-fara yankin
Wurin da za'a iya fara motar stepper da tsayawa kai tsaye.
C. Yankin aiki na ci gaba
A wannan yanki, ba za a iya farawa ko dakatar da motar ta kai tsaye ba. Motocin Stepper a cikiwannan yanki dole ne da farko ya wuce ta wurin farawa da kai sannan a hanzarta isa wurinyankin aiki. Hakazalika, motar stepper a wannan yanki ba za a iya yin birki kai tsaye ba,in ba haka ba yana da sauƙi don haifar da motar stepper daga mataki, dole ne a fara ƙaddamar da shi zuwawurin da yafara kai sannan ya taka birki.
D. Motar Stepper matsakaicin mitar farawa
Motar babu-load jihar, don tabbatar da cewa stepper motor baya rasa mataki aiki namatsakaicin mitar bugun jini.
E. Stepper motor matsakaicin mitar aiki
Matsakaicin mitar bugun bugun da motar ke jin daɗin gudu ba tare da rasa mataki bakarkashin babu kaya.
F. Motar Stepper mai farawa karfin juyi / jujjuyawar juzu'i
Don saduwa da injin stepper a cikin mitar bugun jini don farawa da fara gudu, ba tare darasa matakan matsakaicin karfin juyi.
G. Motar Stepper mai gujewa karfin juyi/ jawo-in juyi
Matsakaicin jujjuyawar lodi wanda ke gamsar da tsayayyen aikin injin stepper a waniwasu mitar bugun jini ba tare da asarar mataki ba.
05 Stepper Motar hanzari / rage motsi iko
Lokacin da stepper motor aiki mita a cikin gudun-torque kwana na ci gabayankin aiki, yadda za a gajarta farawa ko dakatar da hanzari ko raguwalokaci, sabõda haka, da cewa motor gudu tsawon a cikin mafi kyau gudun jihar, game da shi yana ƙara daingantaccen lokacin gudu na motar yana da matukar mahimmanci.
Kamar yadda aka nuna a cikin hoton da ke ƙasa, ƙaƙƙarfan jujjuyawar jujjuyawar sifa mai jujjuyawar injin stepper shinemadaidaiciya madaidaiciya a kwance a ƙananan gudu; a babban gudun, lankwasa yana raguwa sosaisaboda tasirin inductance.
Mun san cewa nauyin motar stepper shine TL, a ce muna son haɓaka daga F0 zuwa F1 a ciki.mafi guntu lokaci (tr), yadda za a lissafta mafi guntu lokaci tr?
(1) Yawanci, 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. Exponential hanzari a cikin babban gudun yanayin
(1) Yawanci
TJ0 = 70% Tm0
TJ1 = 70% Tm1
TL = 60% Tm1
(2)
tr = F4 * A cikin [(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)
Bayanan kula.
J yana nuna jujjuyawar inertia na injin rotor a ƙarƙashin kaya.
q shine kusurwar jujjuyawar kowane mataki, wanda shine kusurwar mataki na motar stepper a cikin
hali na dukan drive.
A cikin aikin ragewa, kawai juya mitar bugun bugun jini na sama na iya zama
lissafta.
06 stepper motsin motsi da amo
Gabaɗaya magana, injin stepper a cikin aiki mara nauyi, lokacin da mitar ke aikiyana kusa da ko dai-dai da mitar na'ura mai jujjuyawar motsin motsi zai sake fitowa, niyya mai tsananifaruwa daga mataki sabon abu.
Magani da yawa don resonance:
A. Kauce wa yankin girgiza: don kada mitar aikin motar ta faɗo cikikewayon girgiza
B. Ɗauki yanayin tuƙi na yanki: Yi amfani da yanayin tuƙi mai ƙaramin mataki don rage girgiza ta
rarraba ainihin mataki ɗaya zuwa matakai da yawa don ƙara ƙudurin kowane
mataki mota. Ana iya samun wannan ta hanyar daidaita lokaci zuwa rabon injin na yanzu.
Microstepping baya ƙara daidaiton kusurwar mataki, amma yana sa motar ta ƙara gudu
a hankali kuma tare da ƙarancin hayaniya. Ƙarfin wutar lantarki gabaɗaya yana da ƙasa 15% don aikin rabin mataki
fiye da aikin cikakken mataki, kuma 30% ƙasa don sarrafa sine na yanzu.
Lokacin aikawa: Nuwamba-09-2022