Ama-Servo Systems asebenzayo kumarobhothi

Embonini yamarobhothi, ukushayela kwe-servo kuyisihloko esivamile.Ngoshintsho olusheshisiwe lwe-Industry 4.0, i-servo drive yerobhothi nayo isithuthukisiwe.Uhlelo lwamanje lwamarobhothi aludingi nje kuphela ukuthi uhlelo lokushayela lulawule izimbazo eziningi, kodwa futhi nokufeza imisebenzi ehlakaniphe kakhulu.

Ku-node ngayinye ekusebenzeni kwerobhothi yezimboni ezinama-axis amaningi, kufanele isebenzise amandla obukhulu obuhlukile ngobukhulu obuthathu ukuze iqedele imisebenzi efana nokubamba okusethiwe.Izinjinierobhothini kukhonaekwazi ukuhlinzeka ngesivinini esiguquguqukayo kanye ne-torque ezindaweni ezinembile, futhi isilawuli sizisebenzisa ukuxhumanisa ukunyakaza ngezimbazo ezihlukene, okuvumela ukuma okunembayo.Ngemva kokuba irobhothi liqedele umsebenzi wokuphatha, injini inciphisa itorque ngenkathi ibuyisela ingalo yerobhothi endaweni yayo yokuqala.

Yakhelwe ukucubungula isignali yokulawula ukusebenza okuphezulu, impendulo enembayo, izinsiza zamandla, nobuhlakanimotor drives, lolu hlelo lwe-servo olusebenza kahle kakhuluihlinzeka ngesivinini esinembile sokuphendula ngokushesha kanye nokulawulwa kwetorque.

Ukulawulwa kwe-servo loop yesikhathi sangempela ngesivinini esikhulu—lawula ukucubungula isignali kanye nempendulo efundisayo

Isisekelo sokubona ukulawulwa kwesikhathi sangempela sedijithali kwesivinini esikhulu se-servo loop asinakuhlukaniswa nokuthuthukiswa kwenqubo yokukhiqiza i-microelectronics.Sithatha isibonelo semotor yerobhothi esebenza ngogesi enezigaba ezintathu ezivame kakhulu, isiguquli sesigaba sesithathu se-PWM sikhiqiza amaza wamaza wamagagasi we-high-frequency pulsed voltage futhi sikhiphe lezi zinhlobo zamagagasi kumawindi ezigaba ezintathu zenjini ngezigaba ezizimele.Kumasiginali wamandla amathathu, izinguquko ekulayisheni kwemoto zithinta impendulo yamanje ezwakalayo, efakwe kudijithali, futhi ithunyelwe kuphrosesa yedijithali.Iphrosesa yedijithali ibe seyenza ama-algorithms okucubungula isignali yesivinini esiphezulu ukuze inqume okukhiphayo.

Akukhona kuphela ukusebenza okuphezulu kwephrosesa yedijithali okudingekayo lapha, kodwa futhi kunezidingo eziqinile zokuklama zokunikezwa kwamandla.Ake sibheke ingxenye yeprosesa kuqala.Isivinini sekhompiyutha esiwumongo kufanele sihambisane nesivinini sokuthuthukiswa okuzenzakalelayo, okungaseyona inkinga.Amanye ama-chips okulawula ukusebenzahlanganisa iziguquli ze-A/D, izinto zokubala zokuphindaphinda kokubona isikhundla/isivinini, amajeneretha e-PWM, njll. okudingekayo ekulawuleni injini nge-processor core, efinyeza kakhulu isikhathi sesampula seluphu yokulawula i-servo futhi itholwa chip eyodwa.Isebenzisa isilawuli sokusheshisa nokuncishiswa okuzenzakalelayo, isilawuli sokuvumelanisa igiya, nokulawulwa kwesinxephezelo sedijithali kwamalophu amathathu esikhundla, isivinini kanye namanje.

Ama-algorithms okulawula afana ne-velocity feedforward, i-acceleration feedforward, ukuhlunga kwephasi eliphansi, nokuhlunga kwe-sag nakho kuyasetshenziswa ku-chip eyodwa.Ukukhethwa kwephrosesa ngeke kuphindwe lapha.Ezihlokweni ezedlule, kuhlaziywe izinhlelo zokusebenza ezihlukahlukene zamarobhothi, kungakhathaliseki ukuthi uhlelo lokusebenza olunezindleko eziphansi noma uhlelo lokusebenza olunezidingo eziphezulu zokuhlela nama-algorithms.Sekuvele kunezinketho eziningi emakethe.Izinzuzo ezahlukene.

Hhayi kuphela impendulo yamanje, kodwa enye idatha ezwiwayo iphinde ithunyelwe kusilawuli ukuze silandelele izinguquko ku-voltage yesistimu nezinga lokushisa.Impendulo yamanje yokulungiswa okuphezulu kanye nenzwa kagesi ibilokhu iyinselele njaloisilawuli semoto.Ithola impendulo evela kuzo zonke izinzwa ze-shunts/Hall/izinzwa kazibuthe ngesikhathi esifanayo ngokungangabazeki zihamba phambili, kodwa lokhu kufuna kakhulu ekwakhiweni, futhi amandla ekhompuyutha adinga ukuhambisana.

Ngesikhathi esifanayo, ukuze ugweme ukulahlekelwa kwesignali nokuphazamiseka, isignali ifakwe kwidijithali eduze komkhawulo wenzwa.Njengoba izinga lamasampula likhula, kunamaphutha amaningi edatha abangelwa ukukhukhuleka kwesignali.Idizayini idinga ukunxephezela lezi zinguquko ngokufakwa nokulungiswa kwe-algorithm.Lokhu kuvumela uhlelo lwe-servo ukuthi luhlale luzinzile ngaphansi kwezimo ezihlukahlukene.

Idrayivu ye-servo ethembekile nenembile—ukunikezwa kwamandla kanye nokushayela kwezimoto ezihlakaniphile

Izimpahla zamandla ezinemisebenzi yokushintsha enesivinini esiphezulu enamandla aqinile okulawula ukulungiswa okuphezulu okuthembekile nokulawula i-servo okunembile.Njengamanje, abakhiqizi abaningi banamamojula wamandla ahlanganisiwe basebenzisa izinto ezisezingeni eliphezulu, okulula kakhulu ukuklama.

Izinsiza zamandla zemodi yokushintsha zisebenza kusilawuli esisekelwe ku-closed-loop power supply topology, futhi amaswishi amabili kagesi asetshenziswa kakhulu ama-MOSFET kanye nama-IGBT.Abashayeli bamasango bavamile ezinhlelweni ezisebenzisa amandla kagesi emodi yokushintsha elawula amandla kagesi kanye namanje emasangweni ala maswishi ngokulawula isimo sokuVULA/UKUVALE.

Ekwakheni amandla kagesi wemodi yokushintsha kanye nama-inverter ezigaba ezintathu, abashayeli bamasango ahlakaniphile ahlukahlukene asebenza kahle kakhulu, abashayeli abanama-FET akhelwe ngaphakathi, kanye nabashayeli abanemisebenzi yokulawula edidiyelwe baphuma ngendlela engapheli.Idizayini edidiyelwe ye-FET eyakhelwe ngaphakathi kanye nomsebenzi wamasampula wamanje kunganciphisa kakhulu ukusetshenziswa kwezingxenye zangaphandle.Ukucushwa okunengqondo kwe-PWM nokunika amandla, ama-transistors aphezulu naphansi, kanye nokufaka isignali yeHholo kukhulisa kakhulu ukuguquguquka kwedizayini, okungagcini nje ngokwenza lula inqubo yokuthuthukisa, kodwa futhi kuthuthukisa Ukusebenza Kahle Kokusebenza.

Ama-IC abashayeli be-Servo nawo andisa izinga lokuhlanganisa, futhi ama-IC abashayeli be-servo ahlanganiswe ngokugcwele angafinyeza kakhulu isikhathi sokuthuthuka sokusebenza okuhle kakhulu okuguquguqukayo kwezinhlelo ze-servo.Ukuhlanganisa umshayeli wangaphambili, izinzwa, amasekhethi okuvikela kanye nebhuloho lamandla ephaketheni elilodwa kunciphisa ukusetshenziswa kwamandla sekukonke kanye nezindleko zesistimu.Uhlu lapha umdwebo we-IC block womshayeli we-servo ohlanganiswe ngokugcwele we-Trinamic (ADI), yonke imisebenzi yokulawula isetshenziswa ku-hardware, i-ADC edidiyelwe, isikhombimsebenzisi senzwa yendawo, i-interpolator yesikhundla, isebenza ngokugcwele futhi ifanele izinhlelo zokusebenza ezihlukahlukene ze-servo.

 

Umshayeli we-servo ohlanganiswe ngokugcwele IC, Trinamic (ADI)

isifinyezo

Kusistimu ye-servo esebenza kahle kakhulu, ukucubungula isignali yokulawula ukusebenza kahle, impendulo enembile yokungeniswa, ukunikezwa kwamandla kanye nokushayela kwezimoto ezihlakaniphile kubalulekile.Ukubambisana kwamadivayisi asebenza kahle kakhulu kunganikeza irobhothi isivinini esinembile nokulawula itorque ephendula ngokushesha phakathi nokunyakaza ngesikhathi sangempela.Ngaphezu kokusebenza okuphezulu, ukuhlanganiswa okuphezulu kwemojula ngayinye nakho kunikeza izindleko eziphansi nokusebenza kahle okuphezulu komsebenzi.