2) Motar jujjuyawa na gaske

Anan, a matsayin wata hanya mai amfani ta jujjuya injinan lantarki, an ƙaddamar da hanyar samar da filin maganadisu mai jujjuyawar ta amfani da alternating current da coils.
(AC guda uku siginar AC ce tare da tazarar lokaci na 120°)

• Filin maganadisu na roba a cikin sama ① jihar yayi daidai da adadi mai zuwa ①.
• Filin maganadisu na roba a cikin jihar ② na sama yayi daidai da ② a cikin hoton da ke ƙasa.
• Filin maganadisu na roba a cikin jihar da ke sama ③ yayi daidai da adadi mai zuwa ③.

Kamar yadda aka bayyana a sama, raunin nada a kusa da ainihin ya kasu kashi uku, kuma ana shirya coil U-phase, coil V-phase, da W-phase coil a tazarar 120°.Nada mai babban ƙarfin lantarki yana haifar da N pole, kuma naɗa mai ƙarancin wuta yana haifar da sandar S.
Tun da kowane lokaci yana canzawa azaman igiyar sine, polarity (N pole, S pole) wanda kowane coil ya haifar da filin maganadisu (ƙarfin maganadisu) yana canzawa.
A wannan lokacin, kawai ku kalli coil ɗin da ke samar da sandar N, sannan ku canza a jere bisa ga na'urar U-phase →V-phase coil→W-phase coil→U-phase coil, don haka tana juyawa.

Tsarin ƙaramin mota

Hoton da ke ƙasa yana nuna ƙayyadaddun tsari da kwatancen injinan guda uku: Motar stepper, motor brushed direct current (DC) motor, da brushless direct current (DC).Abubuwan da ake amfani da su na waɗannan injinan sun fi yawa coils, magnets da rotors.Bugu da kari, saboda nau'ikan nau'ikan, an raba su zuwa nau'in kafaffen na'ura mai kayyadadden nau'in na'ura da nau'in tsayayyen nau'in maganadisu.

Mai zuwa shine bayanin tsarin da ke da alaƙa da zanen misali.Tunda ana iya samun wasu sifofi akan madaidaicin tsari, da fatan za a fahimci cewa tsarin da aka bayyana a cikin wannan labarin yana cikin babban tsari.

Anan, an daidaita murhun injin stepper a waje, kuma magnet yana juyawa a ciki.

Anan, maganadisu na injin DC ɗin da aka goge ana gyara su a waje, kuma ana jujjuya coils a ciki.Gogagi da na'urar tafi da gidanka suna da alhakin samar da wuta ga nada da canza alkiblar halin yanzu.

Anan, ana gyara murhun injin ɗin da ba shi da goga a waje, kuma magnet yana juyawa a ciki.

Saboda nau'ikan injina daban-daban, ko da ainihin abubuwan da ake buƙata iri ɗaya ne, tsarin ya bambanta.Za a yi bayani dalla-dalla dalla-dalla a kowane sashe.

goga motor

Tsarin injin goga

A ƙasa akwai abin da injin DC ɗin da aka goge akan yi amfani da shi a cikin ƙira, da kuma fashewar ƙirƙira na gama gari guda biyu (2 maganadiso) nau'in injin ramuka uku (3 coils).Wataƙila mutane da yawa suna da ƙwarewar ƙwanƙwasa injin da fitar da maganadisu.

Ana iya ganin cewa madawwamin maganadisu na injin DC ɗin da aka goga an gyara su, kuma coils ɗin injin ɗin DC ɗin da aka goge na iya juyawa a tsakiyar tsakiyar ciki.Gefen tsaye ana kiransa “stator” kuma gefen juyi ana kiransa “rotor”.

Mai zuwa shine zane-zane na tsarin da ke wakiltar tsarin tsarin.

Akwai guda uku commutators (lanƙwasa zanen gado na karfe don sauyawa na yanzu) akan gefen tsakiyar axis mai juyawa.Don gujewa cudanya da juna, ana shirya masu zirga-zirga a tazara na 120° (360°÷3 guda).Mai kewayawa yana jujjuyawa yayin da ramin ke juyawa.

Ana haɗe guda ɗaya tare da ƙarshen coil ɗaya da sauran ƙarshen coil, kuma masu haɗawa uku da coils uku suna yin gaba ɗaya (zobe) azaman hanyar sadarwa.

Ana gyara goga biyu a 0° da 180° don tuntuɓar mai motsi.Ana haɗa wutar lantarki ta waje ta DC zuwa goga, kuma halin yanzu yana gudana bisa ga hanyar goga → commutator → coil → brush.

Ƙa'idar jujjuyawar motar goga

① Juya kissan agogo daga yanayin farko

Coil A yana saman, haɗa wutar lantarki zuwa goga, bari hagu ya kasance (+) kuma dama ya kasance (-).Wani babban halin yanzu yana gudana daga goga na hagu zuwa nada A ta hanyar sadarwa.Wannan shine tsarin da sashin sama (gefen waje) na coil A ya zama sandar S.

Tunda 1/2 na halin yanzu na coil A yana gudana daga goga na hagu zuwa nada B da coil C a kishiyar hanya zuwa nada A, ɓangarorin na waje na coil B da coil C sun zama rarraunan sandunan N (wanda aka nuna ta ƙananan haruffa a cikin adadi) .

Filayen maganadisu da aka ƙirƙira a cikin waɗannan coils da abubuwan banƙyama da ban sha'awa na maganadisu suna sa coils ɗin zuwa jujjuyawar agogon agogo baya.

② Ci gaba da jujjuya kishiyar agogo

Bayan haka, ana ɗauka cewa goga na dama yana hulɗa da masu tafiya guda biyu a cikin jihar da ke jujjuya coil A kusa da agogo ta 30°.

A halin yanzu na coil A yana ci gaba da gudana daga goga na hagu zuwa goga na dama, kuma wajen nada yana kula da sandar S.

Iri ɗaya na yanzu kamar Coil A yana gudana ta Coil B, kuma wajen Coil B ya zama sandar N mai ƙarfi.

Tunda duka ƙarshen nada C suna gajeriyar kewayawa ta goge, babu kwararar ruwa na yanzu kuma babu filin maganadisu.

Ko da a cikin wannan yanayin, ana samun ƙarfin jujjuyawar agogo baya.

Daga ③ zuwa ④, babban coil yana ci gaba da karɓar ƙarfi zuwa hagu, kuma ƙananan murɗa yana ci gaba da karɓar ƙarfi zuwa dama, kuma yana ci gaba da juyawa a kan agogo.

Lokacin da aka juya coil zuwa ③ da ④ kowane 30 °, lokacin da aka sanya coil sama da axis na kwance na tsakiya, gefen waje na nada ya zama sandar S;lokacin da aka sanya coil a ƙasa, ya zama sandar N, kuma ana maimaita wannan motsi.

A wasu kalmomi, ana ta tilasta wa nada na sama akai-akai zuwa hagu, kuma ana ta tilasta wa ƙananan naɗa zuwa dama (dukansu a kan gaba da agogo).Wannan yana kiyaye rotor yana jujjuya agogo baya kowane lokaci.

Idan kun haɗa wutar lantarki zuwa gefe na hagu (-) da goge (+) na dama, ana ƙirƙirar filayen maganadisu gaba ɗaya a cikin coils ɗin, don haka ƙarfin da ake amfani da shi a kan coils shima yana cikin kishiyar hanya, yana juya agogo.

Bugu da kari, lokacin da aka kashe wutar lantarki, rotor na injin da aka goge ya daina jujjuyawa saboda babu filin maganadisu da zai ci gaba da jujjuyawa.

Motar da ba ta da buroshi mai hawa uku

Bayyanawa da tsarin injin mai cika fuska uku-uku

Hoton da ke ƙasa yana nuna misalin kamanni da tsarin injin mara gogewa.

A gefen hagu akwai misalin motar faifai da ake amfani da ita don juyar da faifan gani a cikin na'urar sake kunna diski na gani.Jimlar kashi uku × 3 jimlar coils 9.A hannun dama akwai misalin injin sandal na na'urar FDD, tare da jimlar coils 12 (tsari uku × 4).An kafa nada a kan allon kewayawa kuma ya raunata a kusa da tsakiyar ƙarfe.

Bangaren mai siffa faifai zuwa dama na nada shine na'urar maganadisu na dindindin.Gefen abin maganadisu ne na dindindin, ana shigar da shaft ɗin rotor a tsakiyar ɓangaren naɗaɗɗen kuma ya rufe ɓangaren coil, kuma magnet ɗin dindindin yana kewaye da kewayen nada.

Tsarin tsari na ciki da haɗin murɗa daidai da'irar injin mai cike da igiyar ruwa mai hawa uku

Na gaba akwai zane-zane na tsarin ciki da kuma zane-zane na daidai da'irar haɗin coil.

Wannan zane na ciki misali ne na matuƙar sauƙi 2-pole (2 maganadiso) 3-slot (3 coils).Yana kama da tsarin injin da aka goge tare da adadin sanduna da ramummuka iri ɗaya, amma gefen coil ɗin yana daidaitawa kuma maganadisu na iya juyawa.Tabbas, babu goge.

A wannan yanayin, coil ɗin yana da haɗin Y, ta yin amfani da nau'in semiconductor don samar da na'urar tare da halin yanzu, kuma ana sarrafa shigar da fitarwa na halin yanzu gwargwadon matsayin magnet mai juyawa.A cikin wannan misali, ana amfani da kashi na Hall don gano matsayin maganadisu.An shirya ɓangaren Hall ɗin tsakanin coils, kuma ana gano ƙarfin lantarki da aka samar bisa ƙarfin filin maganadisu kuma ana amfani dashi azaman bayanin matsayi.A cikin hoton Motar spindle na FDD da aka bayar a baya, ana kuma iya ganin cewa akwai sinadarin Hall (a sama da coil) don gano matsayi tsakanin coil da coil.

Abubuwan hall sune sanannun firikwensin maganadisu.Girman filin maganadisu na iya canzawa zuwa girman ƙarfin lantarki, kuma ana iya bayyana alkiblar filin maganadisu a matsayin tabbatacce ko korau.A ƙasa akwai zane-zane mai nuna tasirin Hall.

Abubuwan hallara suna amfani da abin mamaki cewa “lokacin da I_{H yana gudana ta hanyar semiconductor kuma magnetic flux B yana wucewa a kusurwoyi daidai zuwa na yanzu, ƙarfin lantarki V.H}Ana haifar da shi a cikin shugabanci perpendicular zuwa halin yanzu da filin maganadisu", Masanin kimiyyar lissafi dan Amurka Edwin Herbert Hall (Edwin Herbert Hall) ya gano wannan al'amari kuma ya kira shi "Tasirin Hall".Sakamakon ƙarfin lantarki V_Hana wakilta ta da dabara mai zuwa.

V_H= (K_H/ d) ・ I_H・B ※K_H: Ƙaƙƙarfan zauren, d: kauri na saman shigar da motsin maganadisu

Kamar yadda tsari ya nuna, mafi girma na halin yanzu, mafi girma da ƙarfin lantarki.Ana amfani da wannan fasalin sau da yawa don gano matsayin rotor (magnet).

Ƙa'idar jujjuyawar injin mai cike da igiyar ruwa mai cika fuska uku

Za a yi bayanin ƙa'idar jujjuyawar injin da ba ta da gogewa a cikin matakai masu zuwa ① zuwa ⑥.Don sauƙin fahimta, ana sauƙaƙa da maganadisu na dindindin daga da'ira zuwa rectangles anan.

①

Daga cikin nau'o'in coils uku, ana zaton cewa coil 1 yana daidaitawa a cikin al'amuran karfe 12 na agogo, an daidaita nada 2 zuwa 4 na agogo, kuma nada 3 yana daidaitawa a cikin al'ada. wajen karfe 8 na dare.Bari sandar N na maganadisu na dindindin na 2-pole ya kasance a hagu da sandar S a dama, kuma ana iya juya shi.

Io na yanzu yana gudana a cikin coil 1 don samar da filin maganadisu na S-pole a wajen nada.Ana yin halin yanzu Io/2 don gudana daga Coil 2 da Coil 3 don samar da filin maganadisu N-pole a wajen nada.

Lokacin da filayen maganadisu na coil 2 da coil 3 suka zama vectorized, ana samar da filin maganadisu N-pole zuwa ƙasa, wanda ya ninka girman filin maganadisu sau 0.5 da aka samar lokacin da Io na yanzu ya wuce ta coil ɗaya, kuma yana da girma sau 1.5 idan aka ƙara. zuwa filin maganadisu na coil 1.Wannan yana haifar da filin maganadisu na sakamako a kusurwa 90° zuwa maganadisu na dindindin, don haka za'a iya haifar da iyakar juzu'i, magnet ɗin dindindin yana juyawa a agogo.

Lokacin da halin yanzu na coil 2 ya ragu kuma na yanzu na coil 3 ya karu bisa ga matsayin juyi, sakamakon maganadisu shima yana jujjuya agogon agogo kuma magnet ɗin dindindin shima yana ci gaba da juyawa.

②

A cikin jihar da aka juya ta 30 °, Io na yanzu yana gudana a cikin coil 1, halin yanzu a cikin coil 2 an yi sifili, kuma Io na yanzu yana gudana daga cikin coil 3 .

A waje na nada 1 ya zama sandar S, kuma waje na coil 3 ya zama sandar N.Lokacin da aka haɗu da vectors, filin maganadisu ya zama √3 (≈1.72) sau da yawa filin maganadisu lokacin da Io na yanzu ke wucewa ta cikin nada.Wannan kuma yana haifar da filin maganadisu a kusurwar 90° zuwa filin maganadisu na dindindin kuma yana jujjuya agogon agogo.

Lokacin da mai shigowa na yanzu Io na coil 1 ya ragu gwargwadon matsayin juyi, shigar da ke cikin coil 2 yana ƙaruwa daga sifili, kuma fitowar na'urar 3 tana ƙaruwa zuwa Io, sakamakon magnetic filin shima yana jujjuya agogon agogo. kuma magnet din din din din shima yana ci gaba da juyawa.

※ Zaton cewa kowane lokaci halin yanzu na sinusoidal waveform ne, darajar yanzu a nan ita ce Io × sin(π⁄3) = Io × √3⁄2 Ta hanyar haɗin vector na filin maganadisu, ana samun jimlar girman filin maganadisu azaman ( √ 3⁄2)²× 2= sau 1.5.Lokacin da kowane lokaci halin yanzu ya zama sine igiyar ruwa, ba tare da la'akari da matsayin maganadisu na dindindin ba, girman filin maganadisu mai hadewar vector ya ninka sau 1.5 na filin maganadisu da aka samar da nada, kuma filin maganadisu yana kan kusurwa 90° dangi. zuwa filin maganadisu na maganadisu na dindindin.

③

A cikin yanayin ci gaba da juyawa ta 30 °, Io / 2 na yanzu yana gudana a cikin coil 1, Io / 2 na yanzu yana gudana a cikin coil 2, kuma Io na yanzu yana gudana daga cikin coil 3 .

A waje na nada 1 ya zama S pole, waje na nada 2 kuma ya zama S pole, kuma waje na nada 3 zama N sandar.Lokacin da aka haɗu da vectors, filin maganadisu yana da sau 1.5 na filin maganadisu lokacin da Io na yanzu ke gudana ta cikin nada (daidai da ①).Anan ma, ana haifar da filin maganadisu a kusurwar 90° dangane da filin maganadisu na maganadisu na dindindin kuma yana juyawa a agogo.

④～⑥

Juyawa kamar yadda ① zuwa ③.

Ta wannan hanyar, idan halin yanzu da ke gudana a cikin nada yana ci gaba da sauyawa a jere bisa ga matsayin maganadisu na dindindin, maganadisu na dindindin zai juya zuwa madaidaiciyar hanya.Haka kuma, idan kun juyar da kwararar da ke gudana a halin yanzu kuma kuka juyar da sakamakon maganadisu, zai juya gaba da agogo.

Hoton da ke ƙasa yana ci gaba da nuna halin yanzu na kowane coil a kowane mataki ① zuwa ⑥ sama.Ta hanyar gabatarwar da ke sama, ya kamata a iya fahimtar dangantakar dake tsakanin canji na yanzu da juyawa.

stepper motor

Motar stepper mota ce wacce zata iya sarrafa daidai kusurwar juyi da saurin aiki tare da siginar bugun jini.Ana kuma kiran motar stepper “motar bugun jini”.Saboda matakan motsa jiki na iya cimma daidaitattun matsayi kawai ta hanyar sarrafa madauki ba tare da amfani da na'urori masu auna matsayi ba, ana amfani da su sosai a cikin kayan aiki da ke buƙatar matsayi.

Tsarin motar stepper (bipolar mai kashi biyu)

Hotuna masu zuwa daga hagu zuwa dama misali ne na bayyanar motar motsa jiki, zane-zane na tsarin ciki, da zane-zane na tsarin tsarin.

A cikin misalin bayyanar, an ba da bayyanar nau'in HB (Hybrid) da kuma PM (Permanent Magnet).Jadawalin tsarin da ke tsakiya kuma yana nuna tsarin nau'in HB da nau'in PM.

Motar takuwa wani tsari ne wanda aka kayyade coil ɗin kuma magnet ɗin dindindin yana juyawa.Tsarin ra'ayi na tsarin ciki na motar stepper a hannun dama misali ne na motar PM ta amfani da matakai biyu (tsari biyu) na coils.A cikin misalin tsarin asali na motar motsa jiki, an shirya kullun a waje kuma an shirya maɗaukaki na dindindin a ciki.Bugu da ƙari ga coils biyu, akwai nau'ikan nau'ikan matakai uku da na biyar tare da ƙarin matakai.

Wasu stepper Motors da wasu daban-daban Tsarin, amma asali tsarin na stepper motor aka bayar a cikin wannan labarin don sauƙaƙe gabatarwar da aiki ka'idar.Ta wannan labarin, ina fatan in fahimci cewa injin ɗin da ke tafiya yana ɗaukar tsarin kafaffen nada da maganadisu na dindindin.

Ka'idar aiki ta asali na motar motsa jiki (ɗaɗaɗɗen lokaci-ɗaya)

Ana amfani da adadi mai zuwa don gabatar da ainihin ƙa'idar aiki na injin stepper.Wannan misali ne na tashin hankali ga kowane lokaci (saitin coils) na coil bipolar mai kashi biyu a sama.Jigon wannan zane shine cewa jihar tana canzawa daga ① zuwa ④.Nada ya ƙunshi Coil 1 da Coil 2, bi da bi.Bugu da ƙari, kiban na yanzu suna nuna jagorancin gudana na yanzu.

①

• A halin yanzu yana gudana daga gefen hagu na coil 1 kuma yana gudana daga gefen dama na nada 1.
• Kar a bar halin yanzu ya gudana ta hanyar coil 2.
• A wannan lokacin, gefen ciki na nada na hagu 1 ya zama N, kuma gefen ciki na nada dama 1 ya zama S.
• Saboda haka, maganadisu na dindindin a tsakiya yana jan hankalin filin maganadisu na coil 1, ya zama yanayin hagu S da N dama, kuma yana tsayawa.

  ②

• An dakatar da halin yanzu na coil 1, kuma halin yanzu yana gudana daga gefen sama na coil 2 kuma yana gudana daga ƙananan gefen nada 2.
• Gefen ciki na babban coil 2 ya zama N, kuma gefen ciki na ƙananan nada 2 ya zama S.
• Magnet ɗin dindindin yana jan hankalin filin maganadisu kuma yana tsayawa ta juyawa 90° agogon agogo.

  ③

• An dakatar da halin yanzu na coil 2, kuma na yanzu yana gudana daga gefen dama na coil 1 kuma yana gudana daga gefen hagu na nada 1.
• Gefen ciki na nada hagu 1 ya zama S, kuma gefen ciki na nada dama 1 ya zama N.
• Wurin maganadisu na dindindin yana jan hankalin filin maganadisu kuma yana tsayawa ta hanyar juya agogon wani 90°.

  ④

• An dakatar da halin yanzu na coil 1, kuma halin yanzu yana gudana daga gefen ƙananan coil 2 kuma yana fitowa daga gefen sama na coil 2.
• Gefen ciki na babban nada 2 ya zama S, kuma gefen ciki na ƙananan nada 2 ya zama N.
• Wurin maganadisu na dindindin yana jan hankalin filin maganadisu kuma yana tsayawa ta hanyar juya agogon wani 90°.