Tonghamang Khoom Series thiab Xaiv Cov Lus Qhia
Dab tsi yog hluav taws xob servo tsav
Ib lub hluav taws xob servo drive yog lub cuab yeej hluav taws xob siv los tswj kev ua haujlwm ntawm servo lub cev muaj zog. Los ntawm tau txais cov cim tswj hwm (xws li txoj haujlwm, nrawm, thiab kho lub cev muaj zog, ua tiav} ceev} precision suab tsa suab tswj. Nws sib xyaw ua ke ua kom sov, teeb liab kev ua haujlwm, thiab cov tswv yim tswj cov haujlwm, thiab yog siv dav hauv kev muaj tshuab automation, hlau, cuab yeej, thiab lwm thaj teb. Raws li ib tug tseem ceeb tivthaiv ntawm servo systems, nws ua kom muaj zog ruaj khov thiab ua kom muaj zog tsav txav raws li cov lus txib.
Cov kev siv kho vajtse kev siv ntawm Servo tswj
Lub zog loj hluav taws xob kho vajtse tsim
Lub zog hluav taws xob tseem ceeb hauv lub zog hluav taws xob tau muab faib ua kev tswj hwm lub zog thiab lub hwj chim fais fab. Lub zog tswj hwm siv 220V, thiab lub zog hluav taws xob siv 380V. Tom qab lub zog loj circuit Court- kev xeem thiab rov ua haujlwm ib txwm, lub system tswj qhov kev txiav tawm thiab kev sib txuas ntawm 380V cov khoom siv hluav taws xob. Cov khoom siv hluav taws xob tso tawm yog rectified thiab lim kom tau txais lub npav dc voltage, uas ua haujlwm raws li lub tsheb loj voltage rau txhua lub zog fais fab tuag. Lub zog hluav taws xob tseem ceeb tau pom cov laj thawj tiag tiag- lub sij hawm nrhiav tau ntawm undervoltage, oveVoltage, thiab theem poob ntawm cov khoom siv fais fab. Nws tseem ua tiag tiag-}}}} lub sijhawm nrhiav tau ntawm undervoltage thiab overvoltage braking ntawm DC chaw tsheb voltage. Yog kuaj pom kev txawv txav, lub tswb yog tsim tawm, thiab kev tswj hwm lub tswb lub ntsej muag tau txais kev kuaj pom qhov laj thawj ntawm lub zog hauv lub zog loj hauv Circuit Court.
Kev tswj hwm cov khoom kho vajtse tsim
Txoj kev tswj hwm cov khoom kho teeb meem tsim siv DSP + FPGA architecture. DSP yog qhov tseem ceeb ntawm tag nrho servo tswj system, kev siv lub cev muaj zog tswj algorithm. Lub nti khav theeb lub moos ntau tshaj plaws ntawm 150MHz thiab muab cov khoom siv hluav taws xob nplua nuj (muaj)) Interface (SPI), thiab ib cheeb tsam txhim kho hauv zos network (Ecan) tswj hwm.
Lub Cev Muaj Zog Plastection Kev tshawb nrhiav tau siv cov qauv resistor los hloov cov teeb liab tam sim no los ntawm cov nyhuv tam sim no sensor hauv lub zog hluav taws xob rau hauv lub ntsuas hluav taws xob. Tom qab ua los ntawm kev mob op amp Circuit Court, lub tshwm sim voltage yog ib tug 0-3V tus nqi, uas yog tom qab ntawd ua tiav los ntawm DSP. Tam sim no yog hnov ntawm ADC analog cov tswv yim.
Sab Nraud Tawm Cov cim hluav taws xob raug cais tawm thiab ua tiav siv Opocoudlers, tom qab ntawd Qib}- hloov mus rau DSP's I / O Ports.
Txhawm rau tso cai DSP sijhawm ntxiv los ua kom lub cev muaj zog tswj cov algorithm, tus tsim qauv siv FPGA rau cov ntaub ntawv sib txuas lus thiab kev pab tau. Ib tug dual -}}}}}}}}}}}}}}}}}} los pab cov ntaub ntawv kis nrog DSP ntawm lub tsheb npav.
Tus FPGA feem ntau pom nrawm thiab torque cov lus qhia tawm sai dua, kev tswj hwm thiab kuaj cov txheej txheem LED thiab cov txheej txheem hluav taws xob tseem ceeb thiab hluav taws xob lub tswb. Nws tseem xa cov phiaj xwm phiaj xwm rau cov kab ke ntawm cov npav npav.
Lub zog hluav taws xob cov khoom tsim kho
Cov qauv sib txawv yog xaiv raws li cov kev xav tau ntawm lub zog {{}}}}}}}}}} pegre. Kev Tsav Tsheb Circuitry kuj tseem ua ke, nrog rau Kev Txhaum Kev Txhaum Cai thiab kev tiv thaiv kab ke thiab kev tiv thaiv Circuittume rau kev ua haujlwm, overheating, thiab undervoltage. Lub rau PWM cov ntsiab lus tso zis los ntawm kev tswj hwm Circuit Court tau cais ntawm cov ceev khoom siv ntawm cov IPM module.
Lub zog hluav taws xob sib koom ua ke ib IPM ua txhaum kev tiv thaiv tshuab. Kev Tiv Thaiv Kev Tiv Thaiv raug kuaj pom nyob rau hauv lub sijhawm los ntawm kho vajtse. Thaum cov teeb tsa tswj hwm DSP kuaj pom kev tiv thaiv kev tiv thaiv kev txhaum, uas tam sim ntawd disables lub teeb liab tawm thiab teeb meem lub tswb ceeb toom rau servo tsav. Tam sim no cov qauv kev siv cov cuab yeej siv cov nyhuv tam sim no ntsuas qhov tam sim no ntawm lub cev muaj zog tam sim no ntawm lub sijhawm. Qhov ntsuas ntsuas tau tam sim no tau kis mus rau kev tswj hwm hluav taws xob rau kev ua thiab txuas nrog DSP's A / d analog channel.
Lub tswj hwm hluav taws xob muab cov hloov hluav taws xob siv hluav taws xob, siv hluav taws xob hloov khoom siv. Lub zog hluav taws xob hluav taws xob ua tau raws li qhov yuav tsum tau ua ntawm kev cog lus loj, muaj kev ntseeg siab, dav dav dav ripple.
SERVO TSAV TXIV NEEJ
Lub FORMO maub los software yog sau rau hauv C. Txhua algorithm siv cov qauv tsim qauv, ua rau cov qauv software compact thiab catch cors interfaces. Lub servo software muaj ib txoj kev kawm tseem ceeb thiab ib lub PWM kev cuam tshuam kev pab cuam cuam tshuam.
Qhov kev kawm tseem ceeb thawj cov haujlwm, suav nrog kev pib ntawm DSP peripherals (CLI, thiab, sci, thiab cuam tshuam rau cov chaw zov me nyuam) thiab cuam tshuam rau kev teeb tsa, thiab suav servo tsis. Nws kuj tseem ua haujlwm tsawg dua - lub sijhawm ua haujlwm hauv lub ntsiab.
Lub PWM kev cuam tshuam kev pab cuam tshuam kev cuam tshuam rau qhov tseeb - lub sij hawm- tseem ceeb heev tsav vector tswj cov algorithm nrog kev tswj lub voj voog ntawm 100μs. Nws yog cov ntaub ntawv xa tawm los ntawm FPGA ntawm lub tsheb npav (kev ua kom nrawm, ua si IU thiab IW theem hloov pauv Algorithm, thiab tsim cov cim taw qhia PWM paib. Tsis tas li ntawd, tom qab txhua txhua 10 PWM lub timer sib cuam tshuam, nws ua ceev kev laij thiab ceev lub voj pid tswj.
Cim npe nrov: Fais Servo Tsav, Tuam Tshoj Hluav Taws Xob Servo Tsav Chaw Tsim Tshuaj, Chaw muag khoom, Hoobkas
