Hei kaiwhakaoho,mōta hikoiKo tētahi o ngā hua matua o te mechatronics, e whakamahia whānuitia ana i roto i ngā pūnaha whakahaere aunoatanga. I te whanaketanga o te hikohiko iti me te hangarau rorohiko, kei te piki haere te hiahia mō ngā motuka stepper i ia rā, i ia rā, ā, e whakamahia ana i roto i ngā mara ōhanga o te motu.
01 He aha temōta hikoi
He taputapu hikohiko te mōta hiko e huri tika ana i ngā pāoro hiko hei nekehanga ā-ringa. Mā te whakahaere i te raupapa, te auau me te maha o ngā pāoro hiko e pā ana ki te koiri mōta, ka taea te whakahaere i te urungi, te tere me te koki hurihuri o te mōta hiko. Ki te kore e whakamahia he pūnaha whakahaere urupare porowhita-katia me te pūoko tūranga, ka taea te whakatutuki i te whakahaere tūranga me te tere tika mā te whakamahi i tētahi pūnaha whakahaere porowhita-tuwhera ngāwari, iti te utu e titoa ana i tētahi mōta hiko me tōna taraiwa e haere tahi ana.
02 mōta hikoihanganga taketake me te mātāpono mahi
Hanganga taketake：
Mātāpono mahi: Ko te taraiwa o te motuka stepper e ai ki te tohu o waho me te tohu aronga, mā roto i tana ara iahiko arorau ā-roto, ka whakahaerehia te hiko o te motuka stepper i roto i tētahi raupapa wā kua whakakahangia whakamua, whakamuri rānei, kia taea ai e te motuka te huri whakamua/whakamuri, te raka rānei.
Hei tauira, tangohia te motuka hiko-rua-wāhanga 1.8 nekehanga: ina whakakahangia, ina whakaohokia hoki ngā takai e rua, ka tū tonu te pou whakaputa o te motuka, ka mau tonu hoki ki tōna tūranga. Ko te taipana mōrahi e pupuri ana i te motuka kia mau tonu i te ia kua tohua ko te taipana pupuri. Mena ka hurihia te ia i roto i tētahi o ngā takai, ka huri te motuka i te kotahi taahiraa (1.8 nekehanga) ki tētahi ahunga kua whakaritea.
Waihoki, ki te huri te ahunga o te iahiko i roto i te takai kē atu, ka huri te motuka i te kotahi taahiraa (1.8 nekehanga) ki te ahunga ke atu i te ahunga o mua. Ina tukuna ngā iahiko i roto i ngā takai koiri kia whakaohohia, ka huri te motuka i te taahiraa tonu i te ahunga kua hoatu me te tino tika. Mō te 1.8 nekehanga o te takai motuka takai-rua-wāhanga, e 200 ngā taahiraa te roa o te hurihanga o te wiki.
E rua ngā momo takai o ngā motuka hiko takirua-wāhanga: he takai bipolar me he takai unipolar. Kotahi noa te takai o ngā motuka hiko bipolar mō ia wāhanga, ka huri tonu te iahiko o te motuka i roto i te takai kotahi kia puta ai te whakaohooho rerekētanga raupapa, e waru ngā pana hiko e hiahiatia ana mō te whakawhiti raupapa.
E rua ngā koiri takai o ngā motuka unipolar, he rerekē te polarity i ia wāhanga, ā, ko te motuka
ka hurihuri tonu mā te tuku whakakaha i ngā koiri takai e rua i te āhua kotahi.
Kua hangaia te ara iahiko taraiwa kia whā noa ngā pana hiko e hiahiatia ana. I roto i te bipolar
aratau taraiwa, ka piki ake te taipana putanga o te motuka mā te 40% ki te whakaritea ki te
aratau taraiwa kotahi-polar nā te mea he 100% te whakaoho o ngā koiri takai o ia wāhanga.
03, Kawenga motuka hikoi
A. Kawenga wā (Tf)
Tf = G * r
G: Taumaha kawenga
r: te pūtoro
B. Kawenga ātete (TJ)
TJ = J * dw/dt
J = M * (R12+R22) / 2 (Kg * cm)
M: Papatipu kawenga
R1: Te whānui o te mowhiti o waho
R2: Te pūtoro o te mowhiti o roto
dω/dt: Whakaterenga koki
04, te pihi tere-taipana o te motuka stepper
He whakaaturanga nui te pihi tere-taipana o ngā āhuatanga putanga o te stepper
ngā motuka.
A. Pūwāhi auau whakahaere o te motuka stepper
Ko te uara tere o te motuka stepper i tētahi pūwāhi.
n = q * Hz / (360 * D)
n: tere/hēkona
Hz: Uara auau
D: Uara whakawehewehenga ara iahiko taraiwa
q: koki hikoi mō te motuka stepper
Hei tauira, he mōta hikoi he koki piko 1.8°, me te puku whakapūtanga 1/2(arā, 0.9° ia taahiraa), he tere 1.25 r/s i te auau whakahaere o te 500 Hz.
B. Wāhi tīmatanga-ā-unoa o te motuka hiko
Ko te wāhi ka taea te tīmata me te whakamutu tika i te mōtini stepper.
C. Te rohe mahi tonu
I tēnei wāhi, kāore e taea te tīmata, te whakamutu rānei i te mōta hikoi. I roto ime haere tuatahi tēnei wāhi mā te wāhi tīmatanga-ake, kātahi ka whakatereterehia kia tae atu ki tewāhi whakahaere. Waihoki, kāore e taea te pēhi tika i te motuka stepper i tēnei wāhi,ki te kore, ka ngāwari te whakararu i te hikoi o te motuka stepper, me whakaroa tuatahi kiate wāhi tīmata-aunoa, kātahi ka pēki.
D. Auautanga tīmatanga mōrahi o te motuka stepper
Āhua kore-kawenga o te motuka, kia kore ai e ngaro te mahi taahiraa o te motuka stepperte auau pāoro mōrahi.
E. Auautanga whakahaere mōrahi o te motuka stepper
Ko te auau pāoro mōrahi e whakaohooho ana te motuka ki te oma me te kore e ngaro tetahi hikoingakāore he kawenga.
F. Te taipana tīmatanga o te motuka stepper / te taipana kume-roto
Hei tūtaki i te motuka stepper i roto i tētahi auau pātere hei tīmata me te tīmata oma, me te korete ngaronga o ngā hikoinga o te taipana kawenga mōrahi.
G. Mōta hiko e whakahaere ana i te taipana/taipana kume-roto
Ko te taipana kawenga mōrahi e tutuki ai te mahi pumau o te motuka stepper i tete auau pāorooro motuhake me te kore e ngaro te hikoinga.
05 Mana whakahaere nekehanga whakatere/whakaheke tere mō te motuka stepper
Ina te tohu auau whakahaere o te motuka stepper i roto i te pihi tere-taipana o te haere tonurohe mahi, me pēhea te whakapoto i te tīmatanga o te motuka, te whakamutu rānei i te whakaterenga, te whakaroa rāneiwā, kia roa ake ai te oma o te motuka i te āhua tere pai rawa atu, kia piki ake ai teHe mea tino nui te roa o te wā e oma ai te motuka.
E ai ki te pikitia i raro nei, ko te pihi āhuatanga taipana hihiri o te motuka stepper kohe rārangi tika whakapae i te tere iti; i te tere nui, ka heke haere te kōpikonā te awe o te inductance.
E mōhio ana tātou ko te kawenga o te motuka stepper he TL, me kī e hiahia ana tātou ki te whakateretere mai i te F0 ki te F1 i roto ite wā poto rawa (tr), me pēhea te tatau i te wā poto rawa tr?
(1) I te nuinga o te wā, ko te 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. Te whakaterenga taupū i te tere teitei
(1) I te nuinga o te wā
TJ0 = 70%Tm0
TJ1 = 70%Tm1
TL = 60%Tm1
(2)
tr = F4 * I roto i [(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)
Ngā Tuhipoka.
E tohu ana a J i te ātete hurihuri o te rotor motuka i raro i te kawenga.
Ko q te koki hurihuri o ia taahiraa, koinei te koki taahiraa o te motuka stepper i roto i te
te take o te puku katoa.
I roto i te mahi whakaheke tere, ka taea te whakahuri noa i te auau whakaterenga whakatere i runga ake nei
tātaihia.
06 te wiri me te haruru o te motuka stepper
I te nuinga o te wā, i roto i te mahi kore-kawenga, ka tere te mahi a te motukahe tata, he ōrite rānei ki te auau ā-roto o te rotor motuka ka haruru, ka tino kahaka puta he āhuatanga i waho o te taahiraa.
He maha ngā otinga mō te auorotanga:
A. Āta karohia te rohe wiri: kia kore ai te auau mahi a te motuka e taka ki roto i tete whānuitanga wiri
B. Whakamahia te aratau taraiwa wehewehe: Whakamahia te aratau taraiwa moroiti hei whakaiti i te wiri mā te
te wehewehe i te taahiraa taketake kotahi kia maha ngā taahiraa hei whakanui ake i te taumira o ia taahiraa
te taahiraa mōtini. Ka taea tēnei mā te whakarerekē i te ōwehenga ā-wāhanga ki te iahiko o te mōtini.
Kāore te mahi microstepping e whakanui ake i te tika o te koki taahiraa, engari ka nui ake te oma o te motuka.
māeneene, ā, he iti ake te haruru. Ko te taipana he 15% te iti iho mō te mahi haurua-taahiraa
i te mahi taahiraa-katoa, me te 30% iti iho mō te whakahaere iahiko ngaru sine.
Wā tuku: Whiringa-ā-rangi-09-2022