Inzira irambuye yo gutoranya servo

Servo nigikoresho cyohereza amashanyarazi gitanga igenzura ryimikorere isabwa nibikoresho bya elegitoroniki.Kubwibyo, gushushanya no guhitamo sisitemu ya servo mubyukuri ni inzira yo guhitamo imbaraga zikwiye no kugenzura ibice bya sisitemu yo kugenzura ibikoresho bya elegitoroniki.Harimo Ibicuruzwa byakiriwe ahanini birimo:

Igenzura ryikora ryakoreshejwe mugucunga igihagararo cya buri axe muri sisitemu;

Drive ya servo ihindura ingufu za AC cyangwa DC hamwe na voltage ihamye hamwe ninshuro mumashanyarazi agenzurwa asabwa na moteri ya servo;

Moteri ya Servo ihindura imbaraga zisimburana ziva mumushoferi imbaraga za mashini;

Uburyo bwo gukwirakwiza imashini itanga imbaraga za kinetic imbaraga zumutwaro wanyuma;

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Urebye ko hari amasoko menshi yubukorikori bwuruganda rwibicuruzwa bya servo ku isoko, mbere yo kwinjira mu guhitamo ibicuruzwa byihariye, turacyakeneye mbere na mbere dukurikije ibikenerwa byibanze bikenerwa na progaramu yo kugenzura ibikoresho twize, harimo abagenzuzi, ibinyabiziga, moteri ibanziriza Kugenzura bikorwa hamwe na servo ibicuruzwa nka kugabanya… nibindi.

Ku ruhande rumwe, iri genzura rishingiye ku nganda ziranga inganda, akamenyero ko gukoresha hamwe n'ibiranga imikorere y'ibikoresho kugirango ubone ibicuruzwa bimwe na bimwe bishobora kuboneka hamwe na porogaramu ihuza ibicuruzwa byinshi.Kurugero, servo mumashanyarazi yumuyaga ihindagurika ikoreshwa cyane cyane kugenzura imyanya igenzura inguni, ariko ibicuruzwa byakoreshejwe bigomba kuba bishobora guhuza nibikorwa bibi kandi bikaze;porogaramu ya servo mubikoresho byo gucapa ikoresha icyiciro cyo guhuza igenzura hagati yamashoka menshi Mugihe kimwe, birarushijeho kuba byiza gukoresha sisitemu yo kugenzura ibintu hamwe nibikorwa byanditse neza;ibikoresho by'ipine byita cyane kubikorwa byogukoresha uburyo butandukanye bwo kugenzura ibinyabiziga hamwe na sisitemu rusange yo gukoresha;ibikoresho bya mashini ya pulasitike bisaba sisitemu gukoreshwa mugutunganya ibicuruzwa.Torque nu mwanya wo kugenzura bitanga imikorere idasanzwe hamwe nibisobanuro bya algorithm….

Kurundi ruhande, ukurikije uko ibikoresho bihagaze, ukurikije urwego rwimikorere nibisabwa mubukungu mubikoresho, hitamo ibicuruzwa byuruhererekane rwibikoresho bijyanye na buri kirango.Kurugero: niba udafite ibisabwa cyane mubikorwa byimikorere, kandi ukaba ushaka kuzigama bije yawe, urashobora guhitamo ibicuruzwa byubukungu;muburyo bunyuranye, niba ufite imikorere ihanitse yo gukora ibikoresho mubijyanye nukuri, umuvuduko, igisubizo cyingirakamaro, nibindi, noneho mubisanzwe Birakenewe kongera ingengo yimari yabyo.

Byongeye kandi, birakenewe kandi kuzirikana ibintu bikoreshwa mubidukikije birimo ubushyuhe nubushuhe, umukungugu, urwego rwo kurinda, ibihe byo gukwirakwiza ubushyuhe, ibipimo byamashanyarazi, urwego rwumutekano, hamwe no guhuza imirongo isanzwe / sisitemu… nibindi.

Birashobora kugaragara ko guhitamo kwambere ibicuruzwa bigenzura ibicuruzwa ahanini bishingiye kumikorere ya buri kirango cyuruganda.Mugihe kimwe, kuzamura itera ibisabwa mubisabwa, kwinjiza ibicuruzwa bishya nibicuruzwa bishya nabyo bizagira ingaruka kuri yo..Kubwibyo, gukora akazi keza mugushushanya no guhitamo sisitemu yo kugenzura ibyerekezo, ububiko bwa tekiniki yinganda za buri munsi buracyakenewe cyane.

Nyuma yo kwerekana mbere yikimenyetso kiboneka, turashobora gukomeza gukora igishushanyo mbonera no guhitamo sisitemu yo kugenzura ibyerekezo kuri bo.

Muri iki gihe, birakenewe kumenya urubuga rwo kugenzura nuburyo rusange bwububiko bwa sisitemu ukurikije umubare wamashoka yimikorere mubikoresho hamwe nuburemere bwibikorwa bikora.Muri rusange, umubare w'amashoka ugena ubunini bwa sisitemu.Umubare munini wamashoka, niko bisabwa kubushobozi bwubugenzuzi.Mugihe kimwe, birakenewe kandi gukoresha tekinoroji ya bisi muri sisitemu kugirango yoroshye no kugabanya umugenzuzi na drives.Umubare w'amasano hagati y'imirongo.Ingorabahizi yimikorere izagira ingaruka kumahitamo yimikorere yimikorere nubwoko bwa bisi.Umuvuduko woroheje-wihuse hamwe nigenzura ryumwanya ukeneye gusa gukoresha imashini isanzwe ikora na bisi yo mumurima;imikorere-nyayo-nyayo-isanisha hagati yamashoka menshi (nkibikoresho bya elegitoronike na cam ya elegitoronike) bisaba byombi kugenzura hamwe na bisi yo mu murima Ifite imikorere-yuzuye yisaha yo guhuza amasaha, ni ukuvuga ko ikeneye gukoresha umugenzuzi na bisi yinganda zishobora gukora nyabyo kugenzura igihe;kandi niba igikoresho gikeneye kurangiza indege cyangwa umwanya interpolation hagati yamashoka menshi cyangwa no guhuza igenzura rya robo, noneho urwego rwimikorere rwumugenzuzi Ibisabwa birarenze.

Dushingiye ku mahame yavuzwe haruguru, ahanini twashoboye guhitamo abagenzuzi baboneka kubicuruzwa byatoranijwe mbere no kubishyira mubikorwa byihariye;noneho dushingiye kubihuza na fieldbus, dushobora guhitamo abagenzuzi bashobora gukoreshwa nabo.Guhuza umushoferi hamwe na servo ya moteri ihuye, ariko ibi biri murwego rwibicuruzwa.Ibikurikira, dukeneye kurushaho kumenya icyitegererezo cyihariye cya moteri na moteri dukurikije ingufu za sisitemu.

Ukurikije umutwaro inertia hamwe nu murongo ugenda wa buri murongo mubisabwa mubisabwa, ukoresheje formulaire yoroheje ya fiziki F = m · a cyangwa T = J · α, ntabwo bigoye kubara ibyifuzo byabo byumuriro kuri buri mwanya mugihe cyizunguruka.Turashobora guhindura torque n'umuvuduko ukenewe kuri buri cyerekezo cyerekezo ku mutwaro urangirira kuruhande rwa moteri ukurikije igipimo cyagenwe cyoherejwe, kandi dushingiye kuri ibyo, ongeraho imipaka ikwiye, ubare ibinyabiziga na moteri imwe imwe, hanyuma ushushanye vuba. sisitemu umushinga wa Mbere yo kwinjiza umubare munini wibikorwa byitondewe kandi birambiranye, kora igiciro cyiza cyibicuruzwa byakurikiranye mbere, bityo ugabanye umubare wubundi buryo.

Ariko, ntidushobora gufata iboneza ryagereranijwe uhereye kumitwaro yumuriro, ibisabwa byihuta no kugereranya ibipimo nkibisubizo byanyuma kuri sisitemu yingufu.Kuberako moteri n'umuvuduko bisabwa bya moteri bizagerwaho nuburyo bwo guhererekanya imashini ya sisitemu yingufu nubusabane bwayo bwihuta;icyarimwe, inertia ya moteri ubwayo nayo ni igice cyumutwaro wa sisitemu yo kohereza, kandi moteri itwarwa mugihe cyo gukora ibikoresho.Nuburyo bwose bwo kohereza harimo umutwaro, uburyo bwo kohereza hamwe nubusembure bwabwo.

Ni muri ubwo buryo, guhitamo imbaraga za servo sisitemu ntabwo bishingiye gusa kubara torque n'umuvuduko wa buri cyerekezo axis… nibindi.Buri murongo wimikorere uhujwe nimbaraga zikwiye.Ihame, mubyukuri rishingiye kuri misa / inertia yumutwaro, umurongo ukora, hamwe nuburyo bwogukwirakwiza imashini, gusimbuza indangagaciro za inertia hamwe nibipimo byo gutwara (ibiranga umwanya-inshuro) biranga moteri zitandukanye ziyinjizamo, no kugereranya itara ryayo (cyangwa imbaraga) hamwe no gutwarwa n'umuvuduko mubiranga umurongo, inzira yo gushakisha uburyo bwiza.Muri rusange, ugomba kunyura mu ntambwe zikurikira:

Ukurikije uburyo butandukanye bwo kohereza, shushanya umuvuduko wihuta na inertia yumutwaro na buri kintu cyogukwirakwiza imashini kuruhande rwa moteri;

Inertia ya buri mukandida moteri irengerwa nubusembure bwumutwaro hamwe nuburyo bwo kohereza bwashizwe kumurongo wa moteri, kandi umurongo wa tike isabwa uboneka muguhuza umurongo wihuta kuruhande rwa moteri;

Gereranya igipimo na inertia bihuye n'umuvuduko wa moteri hamwe na torque umurongo mubihe bitandukanye, hanyuma ushakishe uburyo bwiza bwo guhuza ibinyabiziga, moteri, uburyo bwo kohereza no kugereranya umuvuduko.

Kubera ko imirimo yo mu byiciro byavuzwe haruguru igomba gukorwa kuri buri murongo muri sisitemu, umutwaro wo gutoranya ingufu za progaramu ya servo mubyukuri ni nini cyane, kandi umwanya munini mugushushanya sisitemu yo kugenzura ibintu bisanzwe bikoreshwa hano.Ikibanza.Nkuko byavuzwe haruguru, birakenewe kugereranya icyitegererezo binyuze mumashanyarazi kugirango ugabanye umubare wubundi buryo, kandi nubusobanuro.

Nyuma yo kurangiza iki gice cyakazi, tugomba kandi kumenya amahitamo yingirakamaro yingirakamaro ya drayike na moteri nkuko bikenewe kugirango turangize moderi zabo.Ihitamo ryabafasha ririmo:

Niba ibinyabiziga bisanzwe bya DC byatoranijwe, ubwoko bwibice bikosora, muyungurura, reaktor hamwe nibice bya bisi bihuza DC (nka bus inyuma yindege) bigomba kugenwa hakurikijwe ikwirakwizwa ryinama y'abaminisitiri;

Koresha ibikoresho (s) runaka cyangwa sisitemu yose yo gutwara hamwe na feri irwanya feri cyangwa ibice bya feri bishya nkuko bikenewe;

Niba igisohoka gisohoka cya moteri izunguruka ni urufunguzo cyangwa uruzitiro rwiza, kandi niba rufite feri;

Moteri ifite umurongo ikeneye kumenya umubare wa stator ukurikije uburebure bwa stroke;

Serivo yo gutanga ibitekerezo protocole no gukemura, kwiyongera cyangwa byuzuye, guhindukira umwe cyangwa guhinduka;

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Kuri iyi ngingo, twagennye ibipimo byingenzi byingenzi byerekana urutonde rwibindi bikoresho bitandukanye muri sisitemu yo kugenzura ibintu kuva mugenzuzi kugeza kuri servo drives ya buri cyerekezo, icyitegererezo cya moteri hamwe nuburyo bwo gukwirakwiza imashini.

Hanyuma, dukeneye kandi guhitamo bimwe mubikorwa bikenewe kugirango sisitemu igenzurwe, nka:

Kodegisi ifasha (spindle) ifasha umurongo runaka (sisitemu) cyangwa sisitemu yose guhuza hamwe nibindi bikoresho bitari servo;

Umuvuduko mwinshi I / O module yo kumenya umuvuduko mwinshi winjiza cyangwa ibisohoka;

Intsinga zinyuranye z'amashanyarazi, zirimo: insinga z'amashanyarazi ya servo, ibitekerezo hamwe ninsinga za feri, insinga zitumanaho za bisi hagati yumushoferi nuyobora…;

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Muri ubu buryo, guhitamo ibikoresho byose servo yimikorere ya sisitemu irangiye.