步進電機和伺服電機的系統(tǒng)控制外文翻譯-其他專業(yè)-文庫吧資料
2025-01-27 00:57本頁面
【正文】 quivalent analog system. This model predicts the behavior of the system. It also takes into account additional information like the output velocity, the rate of change of the input and the various tuning settings. To solve all the equations takes a finite amount of time, even with a fast processor – this time is typically between 100ms and 2ms. During this time, the torque demand must remain constant at its previouslycalculated value and there will be no response to a change at the input or output. This ―update time‖ therefore bees a critical factor in the performance of a digital servo and in a highperformance system it must be kept to a minimum. The tuning of a digital servo is performed either by pushbuttons or by sending numerical data from a puter or terminal. No potentiometer adjustments are involved. The tuning data is used to set various coefficients in the servo algorithm and hence determines the behavior of the system. Even if the tuning is carried out using pushbuttons, the final values can be uploaded to a terminal to allow easy repetition. Some applications, the load inertia varies between wide limits – think of an arm robot that starts off unloaded and later carries a heavy load at full extension. The change in inertia may well be a factor of 20 or more, and such a change requires that the drive is retuned to maintain stable performance. This is simply achieved by sending the new tuning values at the appropriate point in the operating cycle. 步進電機和伺服電機的系統(tǒng)控制 運動控制，在其最廣泛的意義上說，可能與任何移動式起重機 中 焊接機器人液壓系統(tǒng) 有關(guān) 。. However, to align with this new field, the rotor only has to turn through 176。 phase shift between them (see Fig. 6). The motor is now being driven very much as though it is a conventional AC synchronous motor. In fact, the stepper motor can be driven in this way from a 60 HzUS (50HzEurope) sine wave source by including a capacitor in series with one phase. It will rotate at 72 rpm. Fig. 6 Phase currents in micro step mode Standard 200Step Hybrid Motor The standard stepper motor operates in the same way as our simple model, but has a greater number of teeth on the rotor and stator, giving a smaller basic step size. The rotor is in two sections as before, but has 50 teeth on each section. The halftooth displacement between the two sections is retained. The stator has 8 poles each with 5 teeth, making a total of 40 teeth (see Fig. 7). 200step hybrid motor If we imagine that a tooth is placed in each of the gaps between the stator poles, there would be a total of 48 teeth, two less than the number of rotor teeth. So if rotor and stator teeth are aligned at 12 o’clock, they will also be aligned at 6 o’clock. At 3 o’clock and 9 o’clock the teeth will be misaligned. However, due to the displacement between the sets of rotor teeth, alignment will occur at 3 o’clock and 9 o’clock at the other end of the rotor. The windings are arranged in sets of four, and wound such that diametrical
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