Gabatarwa:A cikin masana'antar mutum-mutumi, servo drive batu ne na kowa.Tare da haɓakar canjin masana'antu 4.0, an haɓaka aikin servo na robot ɗin.Tsarin mutum-mutumi na yanzu ba wai kawai yana buƙatar tsarin tuƙi don sarrafa ƙarin gatari ba, har ma don samun ƙarin ayyuka masu hankali.
A cikin masana'antar robotics, servo drive ɗin batu ne na gama-gari.Tare da haɓakar canjin masana'antu 4.0, an haɓaka aikin servo na robot ɗin.Tsarin mutum-mutumi na yanzu ba wai kawai yana buƙatar tsarin tuƙi don sarrafa ƙarin gatari ba, har ma don samun ƙarin ayyuka masu hankali.
A kowane kumburi a cikin aiki na wani Multi-axis masana'antu robot, dole ne ta yi amfani da ƙarfi daban-daban a cikin girma uku don kammala ayyuka kamar saita sarrafa.Motocia cikin robot sunaiya samar da saurin canzawa da juzu'i a madaidaitan maki, kuma mai sarrafawa yana amfani da su don daidaita motsi tare da gatura daban-daban, yana ba da damar daidaitawa daidai.Bayan da mutum-mutumi ya kammala aikin sarrafa, motar tana rage karfin wuta yayin da yake mayar da hannun mutum-mutumi zuwa matsayinsa na farko.
Ya ƙunshi babban aiki sarrafa sigina, madaidaicin ra'ayin inductive, samar da wutar lantarki, da hankalimotsin motsi, wannan babban tsarin servo mai inganciyana ba da ƙwaƙƙwarar amsawar kusa-nan take daidai saurin gudu da iko mai ƙarfi.
Ikon madauki na servo mai saurin gaske-sarrafa siginar sarrafawa da ra'ayi mai ƙima
Tushen fahimtar babban saurin dijital na ainihin lokaci na servo madauki ba zai iya rabuwa da haɓaka tsarin masana'antar microelectronics.Ɗaukar mafi yawan injin robot ɗin da ke sarrafa wutar lantarki mai kashi uku a matsayin misali, PWM mai inverter mai hawa uku yana haifar da manyan raƙuman wutar lantarki mai ƙarfi kuma yana fitar da waɗannan sifofin cikin iska mai hawa uku na injin a cikin matakai masu zaman kansu.Daga cikin siginonin wutar lantarki guda uku, canje-canje a cikin lodin motar suna shafar ra'ayin halin yanzu wanda aka gane, digitized, da aika zuwa na'ura mai sarrafa dijital.Sa'an nan na'ura mai sarrafa dijital yana aiwatar da algorithms sarrafa sigina mai sauri don tantance fitarwa.
Ba wai kawai ana buƙatar babban aikin na'ura na dijital ba a nan, amma akwai kuma ƙaƙƙarfan ƙa'idodin ƙira don samar da wutar lantarki.Bari mu fara duba bangaren processor.Dole ne babban saurin sarrafa kwamfuta ya ci gaba da tafiyar da haɓakawa ta atomatik, wanda kuma ba shi da matsala.Wasu guntu masu sarrafa aikiHaɗa masu juyawa A/D, ƙididdiga masu yawa na gano matsayi / saurin ganowa, PWM janareta, da sauransu waɗanda suka wajaba don sarrafa motar tare da core processor, wanda ke rage girman lokacin ɗaukar madaidaicin madaidaicin servo kuma an gane shi ta guntu ɗaya.Yana ɗaukar hanzari ta atomatik da sarrafa ragewa, sarrafa kayan aiki tare, da sarrafa diyya na dijital na madaukai uku na matsayi, gudu da halin yanzu.
Algorithms na sarrafawa kamar saurin ciyarwa, saurin ciyarwa, ƙarancin wucewa, da tace sag ana kuma aiwatar da su akan guntu ɗaya.Ba za a maimaita zaɓin na'ura mai sarrafawa ba a nan.A cikin kasidun da suka gabata, an yi nazarin aikace-aikacen mutum-mutumi daban-daban, ko aikace-aikacen mai rahusa ne ko aikace-aikacen da ke da manyan buƙatu don shirye-shirye da algorithms.Akwai zaɓuɓɓuka da yawa a kasuwa.Abubuwan amfani daban-daban.
Ba wai kawai martani na yanzu ba, har ma ana aika wasu bayanai masu ma'ana zuwa ga mai sarrafawa don bin sauye-sauye a wutar lantarki da zafin jiki.Babban mahimmin ƙuduri na halin yanzu da martanin jin ƙarfin lantarki koyaushe ya kasance ƙalubale a cikisarrafa mota.Gano martani daga duk shunts/Hall firikwensin/ Magnetic firikwensin a lokaci guda babu shakka shine mafi kyau, amma wannan yana da matukar buƙata akan ƙira, kuma ikon sarrafa kwamfuta yana buƙatar ci gaba.
A lokaci guda, don guje wa asarar sigina da tsangwama, ana ƙididdige siginar a kusa da gefen firikwensin.Yayin da adadin samfurin ya karu, akwai kurakuran bayanai da yawa da ke haifar da sigina.Ƙirar tana buƙatar rama waɗannan canje-canje ta hanyar shigarwa da daidaitawar algorithm.Wannan yana ba da damar tsarin servo ya kasance barga a ƙarƙashin yanayi daban-daban.
Dogaro da madaidaicin servo drive — samar da wutar lantarki da injin tuƙi mai hankali
Samfuran wutar lantarki tare da ayyuka masu saurin-sauri mai saurin gaske tare da ingantaccen ingantaccen iko mai ƙarfi abin dogaro da ingantaccen iko na servo.A halin yanzu, masana'antun da yawa sun haɗa nau'ikan nau'ikan wutar lantarki ta amfani da kayan haɓaka mai girma, waɗanda ke da sauƙin ƙira.
Kayayyakin wutar lantarki na yanayin sauyawa suna aiki a cikin rufaffiyar tushen wutar lantarki mai rufaffiyar madauki, kuma maɓallan wutar lantarki guda biyu da aka saba amfani da su sune MOSFETs masu ƙarfi da IGBTs.Direbobin ƙofa sun zama ruwan dare a cikin tsarin da ke amfani da kayan wuta na yanayin sauyawa waɗanda ke daidaita ƙarfin lantarki da na yanzu akan ƙofofin waɗannan maɓallai ta hanyar sarrafa jihar ON/KASHE.
A cikin ƙira na samar da wutar lantarki da yanayin sauya yanayi da inverters na matakai uku, direbobin ƙofofi masu inganci iri-iri, direbobi masu ginannun FETs, da direbobi masu haɗakar ayyukan sarrafawa suna fitowa a cikin rafi mara iyaka.Haɗe-haɗen ƙira na ginanniyar FET da aikin samfur na yanzu na iya rage yawan amfani da abubuwan waje.Tsarin tunani na PWM da kunnawa, babba da ƙananan transistor, da shigar da siginar Hall yana ƙaruwa da sauƙi na ƙira, wanda ba kawai sauƙaƙe tsarin ci gaba ba, har ma yana haɓaka Ƙarfin Wuta.
Direban Servo ICs kuma yana haɓaka matakin haɗin kai, kuma cikakken haɗin servo direba ICs na iya rage lokacin haɓakawa don kyakkyawan aiki mai ƙarfi na tsarin servo.Haɗa kafin direba, ganewa, da'irori na kariya da gadar wuta cikin fakiti ɗaya yana rage yawan amfani da wutar lantarki da farashin tsarin.An jera a nan shi ne Trinamic (ADI)'s cikakken hadedde servo direba IC block zane, duk iko ayyuka da ake aiwatar a hardware, hadedde ADC, matsayi firikwensin dubawa, matsayi interpolator, cikakken aiki da kuma dace da daban-daban servo aikace-aikace.
Cikakken hadedde direban servo IC, Trinamic (ADI)
taƙaitawa
A cikin ingantaccen tsarin servo, babban aiki mai sarrafa siginar aiki, daidaitaccen martanin shigarwa, samar da wutar lantarki da tuƙin mota masu hankali suna da mahimmanci.Haɗin gwiwar na'urori masu ƙarfi na iya ba wa robot ɗin ingantaccen saurin gudu da iko mai ƙarfi wanda ke amsawa nan take yayin motsi a ainihin lokacin.Bugu da ƙari ga mafi girma aiki, babban haɗin kai na kowane nau'i kuma yana ba da ƙananan farashi da ingantaccen aiki.
Lokacin aikawa: Oktoba-22-2022