A servo injinindi injini yomwe imatha kuwongolera bwino malo, liwiro, ndi mathamangitsidwe ndipo imagwiritsidwa ntchito pamapulogalamu omwe amafunikira kuwongolera kolondola kwambiri. Zitha kumveka ngati galimoto yomwe imamvera lamulo la chizindikiro chowongolera: chizindikiro chowongolera chisanatulutsidwe, rotor imayima; Pamene chizindikiro chowongolera chikutumizidwa, rotor imazungulira nthawi yomweyo; Chizindikiro chowongolera chikatayika, rotor imatha kuyimitsa nthawi yomweyo. Mfundo yake yogwirira ntchito imakhudza dongosolo lowongolera, encoder ndi loop yoyankha. Nawa kufotokozera mwatsatanetsatane momwe ma servo motors amagwirira ntchito:
Dongosolo lowongolera: Dongosolo lowongolera la servo motor nthawi zambiri limakhala ndi wowongolera, dalaivala ndi mota. Wowongolera amalandira zidziwitso zowongolera kuchokera kunja, monga malangizo a malo kapena malangizo a liwiro, ndiyeno amatembenuza ma siginechawa kukhala ma siginecha apano kapena ma voltage ndikuwatumiza kwa dalaivala. Dalaivala amawongolera kuzungulira kwa injini molingana ndi chizindikiro chowongolera kuti akwaniritse malo ofunikira kapena kuwongolera liwiro.
Encoder: Ma Servo motors nthawi zambiri amakhala ndi encoder kuti ayeze komwe kuli kozungulira. Encoder imadyetsanso chidziwitso cha malo a rotor ku dongosolo lowongolera kuti dongosolo lowongolera lizitha kuyang'anira malo agalimoto munthawi yeniyeni ndikuwongolera.
Feedback loop: Dongosolo loyang'anira ma servo motors nthawi zambiri limatenga kuwongolera kotsekeka, komwe kumasintha kutulutsa kwamotoyo poyesa mosalekeza malo enieni ndikuyerekeza ndi malo omwe mukufuna. Njira yoyankha iyi imawonetsetsa kuti malo, liwiro, ndi mathamangitsidwe agalimoto zimagwirizana ndi chizindikiro chowongolera, ndikupangitsa kuwongolera kolondola.
Control algorithm: The control system of servo motor nthawi zambiri imatenga PID (proportional-integral-derivative) control aligorivimu, yomwe imasintha mosalekeza kutulutsa kwa mota kuti malo enieniwo akhale pafupi kwambiri ndi malo omwe mukufuna. PID control algorithm imatha kusintha zomwe injiniyo imatulutsa kutengera kusiyana pakati pa malo enieni ndi malo omwe mukufuna kuti mukwaniritse kuwongolera kolondola.
Mu ntchito yeniyeni, pamene dongosolo lolamulira limalandira malangizo a malo kapena liwiro, dalaivala adzayendetsa kuzungulira kwa galimoto motsatira malangizo awa. Pa nthawi yomweyo, encoder mosalekeza kuyeza malo enieni a galimoto rotor ndi kudyetsa mfundo imeneyi kubwerera ku dongosolo ulamuliro. Dongosolo lowongolera lidzasintha kutulutsa kwagalimoto kudzera mu algorithm yowongolera ya PID kutengera chidziwitso chomwe chimaperekedwa ndi encoder, kuti malo enieniwo akhale pafupi kwambiri ndi malo omwe mukufuna.
Mfundo yogwirira ntchito ya injini ya servo imatha kumveka ngati njira yotsekera-loop yomwe imayesa malo enieniwo ndikuiyerekeza ndi malo omwe mukufuna, ndikusintha zomwe zimapangidwira molingana ndi kusiyana kwake kuti zikwaniritse malo enieni, kuthamanga ndi kuwongolera. Izi zimapangitsa kuti ma servo motors agwiritsidwe ntchito kwambiri pamapulogalamu omwe amafunikira kuwongolera kolondola kwambiri, monga zida zamakina a CNC, maloboti, zida zamagetsi ndi magawo ena.
Nthawi zambiri, mfundo yogwirira ntchito ya servo motor imakhudzanso kulumikizana kwa dongosolo lowongolera, encoder ndi loop ndemanga. Kupyolera mu kuyanjana kwa zigawozi, kuwongolera molondola kwa malo a galimoto, kuthamanga ndi kuthamanga kumatheka.
Wolemba:Sharon
Nthawi yotumiza: Apr-12-2024