Isi Isi Ihe Nhọrọ Moto Servo na Draịvụ

I. Nhọrọ Moto Isi

Nyocha Ibu

1. Ndakọrịta Inertia: Inertia ibu JL kwesịrị ịbụ ≤3× inertia moto JM. Maka sistemụ dị oke nkenke (dịka ọmụmaatụ, robotik), JL/JM<5:1 iji zere mgbanwe.
2. Ihe achọrọ maka Torque: Torque na-aga n'ihu: ≤80% nke torque enyere ọkwa (na-egbochi oke okpomọkụ). Tok Tok: Na-ekpuchi usoro osooso/mbelata (dịka ọmụmaatụ, torque enyere ọkwa 3×).
3. Oke Ọsọ: Ọsọ e nyere ọkwa ga-agafe oke ọsọ kachasị na oke 20%–30% (dịka ọmụmaatụ, 3000 RPM → ≤2400 RPM).

Ụdị moto

1. Moto Njikọta Magnet Na-adịgide Adịgide (PMSM): Nhọrọ Mainstream nwere njupụta ike dị elu (30%–50% karịa moto induction), nke dị mma maka robotik.
2. Induction Servo Motor: Ọ na-eguzogide okpomọkụ dị elu ma na-efu obere ego, ọ dabara adaba maka ngwa ndị dị arọ (dịka ọmụmaatụ, kreen).

Ihe Ndekọ na Nzaghachi

1. Mkpebi: 17-bit (131,072 PPR) maka ọtụtụ ọrụ; nhazi ọkwa nanometer chọrọ 23-bit (8,388,608 PPR).
2. Ụdị: Ihe zuru oke (ebe nchekwa dị na mgbanyụ ọkụ), ihe na-eme ka ọ dị nro (chọrọ ka a na-akpọ homing), ma ọ bụ magnetik (mgbochi nnyonye anya).

Mgbanwe Gburugburu Ebe Obibi

1. Ọkwa Nchedo: IP65+ maka gburugburu ebe dị n'èzí/uzuzu (dịka ọmụmaatụ, injin AGV).
2. Oke Okpomọkụ: Ọkwa ụlọ ọrụ mmepụta ihe: -20°C ruo +60°C; ọkachamara: -40°C ruo +85°C.

II. Ihe dị mkpa maka nhọrọ mbanye

Ndakọrịta moto

1. Ndakọrịta Ugbu a: draịva ọkwa ugbu a ≥ ọkwa ugbu a nke draịva ọkwa (dịka ọmụmaatụ, 10A moto → ≥12A draịva).
2. Ndakọrịta nke voltaji: voltaji bọs DC ga-adabarịrị (dịka ọmụmaatụ, bọs DC 400V AC → ~700V).
3. Ike Nrụgide Ike: Ike draịva kwesịrị ịgafe ike moto site na 20%–30% (maka ibufe ibu nwa oge).

Ụdị njikwa

1. Ụdịdị: Ụdị ọnọdụ/ọsọ/torque; mmekọrịta ọtụtụ-axis chọrọ gia eletrọniki/cam.
2. Usoro: EtherCAT (obere oge), Profinet (ọkwa ụlọ ọrụ mmepụta ihe).

Arụmọrụ Ike

1. Bandwit: Bandwit loop dị ugbu a ≥1 kHz (≥3 kHz maka ọrụ ndị na-agbanwe agbanwe).
2. Ike ibufe ibu: 150%–300% nke ike a kwadoro (dịka ọmụmaatụ, rọbọt ndị na-eme ka pallet dị).

Atụmatụ Nchedo

1. Ihe mgbochi brek: A chọrọ maka mmalite/nkwụsị ugboro ugboro ma ọ bụ ibu dị oke ọkụ (dịka ọmụmaatụ, igwe mbuli elu).
2. Nhazi EMC: Ihe nzacha/ihe nchekwa agbakwunyere maka iguzogide mkpọtụ ụlọ ọrụ mmepụta ihe.

III. Nhazi Mmekọrịta

Mgbanwe Inertia

1. Jiri igbe gear iji belata oke inertia (dịka ọmụmaatụ, igbe gear nke ụwa 10:1 → oke inertia 0.3).
2. Draịva ozugbo (DD moto) na-ewepụ njehie igwe maka oke nkenke dị elu.

Ọnọdụ Pụrụ Iche

1. Ibu kwụ ọtọ: Moto ndị nwere brek (dịka ọmụmaatụ, traction nke igwe mbuli elu) + njikọ nke mgbaàmà brek draịva (dịka ọmụmaatụ, akara SON).
2. Nkọcha Dị Elu: Algọridim njikọ cross-coupling (<5 μm njehie) na nkwụghachi esemokwu.

IV. Usoro Ọrụ Nhọrọ

1. Ihe achọrọ: Kọwaa ike ibu, ọsọ kachasị elu, izi ezi nke ọnọdụ, na usoro nkwukọrịta.
2. Ntụnyere: Kwado mmeghachi omume na-agbanwe agbanwe (MATLAB/Simulink) na nkwụsi ike okpomọkụ n'okpuru oke ibu.
3. Nnwale: Gbanwee paramita PID ma tinye mkpọtụ maka nlele siri ike.

Nchịkọta: Nhọrọ Servo na-ebute ụzọ n'ibu, arụmọrụ, na iguzogide gburugburu ebe obibi. Ngwa ZONCN servo moto na draịva na-azọpụta gị nsogbu nke ịhọrọ ugboro abụọ, naanị tụlee Torque, Peak RPM, na Precision.