Cov neeg hlau ua cov haujlwm tshwj xeeb uas tau npaj ua ntej xws li kev sib dhos ua haujlwm, kev pabcuam phais mob, khaws cia / khaws cia, thiab txawm tias muaj kev phom sij xws li kev tshem tawm hauv av Cov neeg hlau niaj hnub no muaj peev xwm tuav tsis tau tsuas yog ua haujlwm rov ua haujlwm xwb, tab sis kuj tseem ua haujlwm nyuaj uas yuav tsum tau ua kom yooj yim rau kev coj ua. thiab zog. Raws li kev siv thev naus laus zis, kev nrawm thiab dexterity nce, thiab cov nqi txo qis, cov neeg hlau yuav maj mam tau txais dav dav. Tus nqi kom zoo dua ntawm kev ua haujlwm qis dua kuj ua rau peb pom kev lag luam robotics. Tsis tas li ntawd, kev nce qib hauv tshuab pom, suav lub zog, thiab kev sib txuas kuj tseem yuav ua rau muaj kev nyiam ntawm cov neeg hlau siv, thiab cov tshuab ua haujlwm siab.
Lub realization ntawm tib neeg yog los ntawm cov nram qab no yam ntawm kev txhim kho:
1. Complex sensors
2. Kev suav lub zog thiab cov algorithms uas ua rau muaj kev txiav txim siab tiag tiag thiab txav mus los.
3. Lub cev muaj zog uas ua kom nrawm nrawm thiab ua tiav lub zog siv tshuab kom paub txog cov haujlwm nyuaj!
Thaum tshwj xeeb xaiv lub cev muaj zog thiab qauv, tus tsim qauv yuav tsum xav txog peb yam tseem ceeb uas tus tsim qauv yuav tsum xav txog.
1. Qhov tsawg kawg nkaus thiab siab tshaj plaws ceev (thiab acceleration) ntawm lub cev muaj zog.
2. Lub siab tshaj plaws torque lub cev muaj peev xwm xa tau, thiab kev sib raug zoo ntawm torque thiab ceev nkhaus.
3. qhov tseeb thiab rov ua haujlwm ntawm lub cev muaj zog (tsis muaj sensors thiab kaw-voj tswj); tau kawg, muaj ntau yam tseem ceeb uas yuav tsum tau xav txog thaum xaiv lub cev muaj zog, xws li qhov loj me, qhov hnyav, thiab tus nqi. Rau yuav luag txhua qhov me me mus rau nruab nrab-qhov loj me ntawm cov neeg hlau actuators, qhov kev xaiv ntawm cov tsav tsheb feem ntau yog nruab nrab ntawm brushed DC motors, brushless DC motors (BLDC) thiab stepper motors. (Txawm li cas los xij, qee zaum hydraulic vs. pneumatic presses yog qhov kev xaiv zoo tshaj plaws.)
Brushed DC motors yog qhov qub tshaj plaws DC lub cev muaj zog thev naus laus zis, qhov yooj yim tshaj plaws thiab kim tshaj plaws. Kev sib hloov ntawm lub cev muaj zog lub rotor keyboards (commutates) lub magnetic teb ntawm windings nyob ib ncig ntawm lub rotor vim yog kev sib cuag ntawm cov txhuam hniav thiab lub rotor. Qhov ceev ntawm lub cev muaj zog yog qhov ua haujlwm ntawm qhov kev siv hluav taws xob, yog li tsav tsheb yuav tsum muaj me ntsis, tab sis kev tswj lub zog yog qhov nyuaj. Kuj tseem muaj teeb meem kev ntseeg siab thaum ua haujlwm vim yog yam xws li txhuam hniav tawm, yuav tsum tau ntxuav thiab khaws cia, thiab muaj peev xwm ua rau muaj suab nrov hauv hluav taws xob (electromagnetic cuam tshuam). Raws li qhov tshwm sim ntawm cov teeb meem no, brushed DC motors yog, rau feem ntau, qhov tsawg tshaj plaws kev xaiv rau neeg hlau tsim.
Brushless DC motors tau tshwm sim nyob rau xyoo 1860 thiab tau txais txiaj ntsig los ntawm ob txoj kev txhim kho: qhov tshwm sim ntawm cov hlau nplaum muaj zog, me me, tsis tshua muaj nqi mus tas li; Thiab qhov tshwm sim ntawm me me, siv hluav taws xob hloov hluav taws xob (feem ntau yog MOSFETs) los hloov qhov tam sim no ntws mus rau lub windings. nyob ib ncig ntawm thiab cov hlau nplaum ntawm cov rotating core hloov cov neeg kho tshuab commutation ntawm txhuam lub cev muaj zog, piv txwv li, nws siv kev sib cuam tshuam ntawm cov hlau nplaum thiab cov hluav taws xob. Los ntawm kev hloov pauv hloov zaus ntawm MOFSET, lub zog ceev tuaj yeem tswj tau. Tsis tas li ntawd, nws lub cev muaj zog tuaj yeem tswj tau lub cev muaj zog zoo dua piv rau cov motors brushed.
Txawm zoo dua, cov algorithms siab heev xws li PID (Proportional-Integral-Differential) kho algorithms los yog FOC (Field Oriented Control, qee zaum hu ua Vector Control) tswj algorithms tuaj yeem ua tiav rau hauv lub cev muaj zog. Qhov no tso cai rau kev ua haujlwm zoo tshaj plaws ntawm lub cev muaj zog kom ua tau raws li qhov tseeb ntawm kev thauj khoom thiab kev hloov pauv, uas ua rau muaj kev ua haujlwm zoo dua thiab raug lub cev muaj zog. Piv txwv li, kev tswj lub cev muaj zog algorithms / cov kev pab cuam tuaj yeem coj mus rau hauv tus account muaj feem cuam tshuam xws li rotor inertia thiab ua kom lub cev muaj zog hloov pauv thiab maj mam txo qhov yuam kev vim yog cov khoom siv tshuab. Xws li algorithms ua rau nws muaj peev xwm tswj tau qhov nrawm thiab torque.
Brushless motors (BLDC) yuav tsum muaj kev tswj xyuas ntau dua, tab sis tuaj yeem ua tau zoo dua li cov motors brushed. Feem ntau, BLDC motors yuav tsum tau nruab nrog ib txoj hauj lwm tawm tswv yim sensor, xws li Hall effect sensor, optical encoder, los yog rov qab muaj peev xwm nrhiav tau.
Lwm hom BLDC lub cev muaj zog feem ntau siv hauv cov neeg hlau yog lub cev muaj zog stepper, qhov chaw siv hluav taws xob hloov hluav taws xob, nyob ib sab ntawm lub hauv paus tseem ceeb ntawm lub nplhaib hlau nplaum ruaj khov. Stepper motors tsis "rotate" nyob rau hauv ib tug pa txoj kev; es tsis txhob, lawv maj mam nce lawv ceev nrog kev pab los ntawm ib tug tas li rotating ncej, yog li tso cai rau ib tug tej lub kaum sab xis ntawm kev sib hloov los yog nruam kev sib hloov. Stepper motors muaj peev xwm rov qab tswj tau: lawv tuaj yeem rov qab mus rau txoj haujlwm dhau los thaum xav tau.
Lub kaum sab xis ntawm 1.8 degree (200 kauj ruam / kiv puag ncig) txog 30 degree (12 kauj ruam / kiv puag ncig). Lub kaum sab xis lossis cov kauj ruam yog nyob ntawm tus naj npawb ntawm cov hlau nplaum ruaj khov uas lub cev muaj zog, tab sis qhov tseem ceeb sab nraud qhov no kuj tseem ua tau.
Nrog stepper motors, yog tias siv fais fab tab sis tsis muaj cov kauj ruam taw qhia, lawv yuav nyob twj ywm hauv lawv txoj haujlwm qub; stepper motors muab siab torque ntawm tsawg rpm. Txoj kev ncaj tshaj plaws kom tau txais lub tshuab stepper tig yog kom muaj zog thiab de-energize lub solenoid nyob rau hauv ib qho kev txiav txim zoo, tab sis qhov no tuaj yeem qhia txog jitter lossis vibration. Brushless motors thiab stepper motors muaj qee qhov sib tshooj ntawm daim ntawv thov. Stepper motors yog qhov zoo dua rau cov ntawv thov uas xav tau cov lus tsa suab hauv-thiab-tawm (xws li xaiv thiab qhov chaw) tsis yog lub sijhawm ntev ntawm kev sib hloov, nrog rau cov ntawv me me uas tsis tas yuav muaj lub zog siab lossis ceev ntawm lub cev muaj zog. Tsis tas li ntawd, stepper motors muaj kev siv hluav taws xob qis dua li brushless DC motors. Ntxiv rau cov motors tau teev nyob rau ntawm no, muaj ntau ntau hom muaj. Cov tsev neeg tsav tsheb muaj ntau thiab complex, nrog ntau subdivisions. Piv txwv li, cov hlau nplaum ruaj khov synchronous lub cev muaj zog (PMSM) yog kev sib xyaw ua ke ntawm lub cev tsis muaj zog DC (nrog rau lub rotor) thiab AC induction lub cev muaj zog (nrog rau cov qauv stator). Nws yog tus cwj pwm los ntawm kev siv hluav taws xob siab, kev txheeb ze siab ntawm ib chav tsev ntawm qhov ntim me me, qhov sib piv torque-rau-qhov hnyav, lub sij hawm teb ceev ceev, thiab tus txheeb ze tswj tau yooj yim, tab sis nws kuj tseem kim.
Cov neeg hlau motion system muaj ntau tshaj li cov motors xwb; nws suav nrog peb lub ntsiab ua haujlwm modules.
1.Real-time maub los, manifested nyob rau hauv peb daim ntawv nram qab no.
Fast la computational processors rau lub hom phiaj dav dav, khiav motion-control firmware.
DSP-oriented FPGAs rau kev tswj kev siv.
Tshwj xeeb maub los IC circuits nrog hardwiring thiab built-in algorithms.
2. Ib lossis ntau tus neeg tsav tsheb cov khaubncaws sab nraud povtseg cascaded coj cov teeb liab qis tawm ntawm cov khoom siv hluav taws xob thiab tso tawm qhov hluav taws xob siab / tam sim no xav tau los tig cov khoom hluav taws xob tswj / tawm.
3.MOSFET (los yog lwm yam khoom siv hloov pauv, xws li IGBT lossis bipolar transistors), uas tswj cov dej ntws tam sim no rau lub cev muaj zog windings.
Kev xaiv MOSFET feem ntau nyob ntawm lub cev muaj zog thiab cov windings ntawm qhov xav tau tam sim no thiab qhov hluav taws xob loj. MOSFET qauv los txiav txim siab los xaiv tus neeg tsav tsheb tom qab MOSFET tsav tsheb xaiv los ntawm MOSFET kev ntsuam xyuas: qee zaum yuav xav tau cov tsav tsheb nce mus txog qhov siab, qhov kev txiav txim siab tshwj xeeb los txiav txim rau tus tsav tsheb. Qee lub sij hawm yuav tsum muaj cov tsav tsheb txhawb zog, nyob ntawm qhov loj ntawm MOSFETs.
4. Cov teeb meem uas yuav ntsib thaum xaiv tus tswj
Kev xaiv tus qauv tswj kuj tseem muaj tswv yim heev thiab yuav tsum tau txiav txim siab ua ntej xaiv tus neeg muag khoom tshwj xeeb thiab qauv. Muaj ntau qhov kev lag luam tawm thaum xaiv seb puas yuav siv cov txheej txheem dav dav rau kev tswj lub cev muaj zog nkaus xwb, FPGA nrog lub zog suav hauv zos, lossis tshwj xeeb tswj IC Circuit Court (feem ntau yog los ntawm cov neeg muag khoom tshwj xeeb tswj lub cev muaj zog). Designers yuav tsum xav txog yam xws li.
Dab tsi nyuaj ntawm kev tswj algorithm koj xav tau, thiab muaj pes tsawg I/0 chaw nres nkoj?
Leej twg yuav muab cov txheej txheem tswj hwm thiab cov cai: tus neeg xa khoom IC, tus khub thib peb, lossis tus tsim tawm thib peb tsis cuam tshuam? Lawv yuav txheeb xyuas thiab siv tau li cas ntawm kev ua haujlwm ntawm lub cev muaj zog thiab nws daim ntawv thov?
Koj xav tau pes tsawg tus neeg siv programming peev xwm? Txawm tias mob siab rau, cov tswj tsis yog programmable yuav xav kom tus neeg siv xaiv hom algorithm, kaw-voj tswj hom (txoj hauj lwm, tshaj tawm, los yog acceleration), thiab yuav tsum tau teem ib tug xov tooj ntawm kev khiav hauj lwm tsis. Puas yog lub cev muaj zog thiab daim ntawv thov muaj cov khoom tshwj xeeb los teeb? Yog tias cov lus teb yog, ces nws yuav zoo dua los xaiv programmable I. Hloov pauv, yog tias tsis tas yuav hloov kho cov algorithms, lub siab IC nrog hardwired, solidified algorithms yog qhov zoo dua rau lub programmable IC tag nrho. Puas yog tus maub los yuav tsum txhawb ntau hom tsav tsheb? Txawm hais tias nws yog tib hom, tus maub los puas yuav tsum txhawb nqa ib qho loj ntawm lub cev muaj zog hauv cov qauv ntawd, lossis ntau qhov ntau thiab tsawg?
Tus neeg muag khoom muab kev txhawb nqa qib twg? Lawv muaj kev paub txog kev tsim lub cev muaj zog dab tsi? Lawv puas yuav muab cov qauv siv tshwj xeeb uas tau tsim thiab siv tau, suav nrog kev sib txuas sib txuas ntawm tus tswj IC thiab MOSFET tsav tsheb?
Puas muaj tej teeb meem kev cai yuav tsum paub txog? Piv txwv li, tso cai rau kev ntsuam xyuas kev siv hluav taws xob
(ntau daim ntawv thov lub cev muaj zog tam sim no yuav tsum tau ua raws li ntau yam "ntsuab" ib puag ncig yuav tsum tau). Yog tias muaj, tus neeg muag khoom puas nkag siab txog cov teeb meem no thiab puas lawv cov khoom thiab cov txheej txheem ua tau raws li cov cai no?
5. Cov khoom siv txhim kho ua kom pom kev tswj xyuas thiab kev ua haujlwm sib cuam tshuam
Rau ntau tus engineers, nqa tag nrho cov khoom ua ke - controllers, drivers, MOSFETs, thiab lwm yam nrog solidified los yog cais algorithms - yog ib tug ntau yam kev qhuab qhia, ib tug uas lawv tsis xav kom "pib los ntawm kos". Vim li no, ntau tus neeg muag khoom muab cov kev ntsuam xyuas los yog cov khoom siv ua tiav nrog cov qauv tswj hwm algorithms, tsav tsheb thiab MOSFETs. Piv txwv li, Freescale MTRCKTSPNZVM128 peb-theem sensorless PMSM cov khoom siv siv sensorless lub cev muaj zog tswj tshuab los tsav peb-theem BLDC lossis PMSM lub cev muaj zog, thiab yog tsim los rau kev tsim sai sai thiab kev ntsuam xyuas siv cov peev txheej thim rov qab txhawb nqa los ntawm kev sib xyaw ADC module nrog kev pab ntawm ib microcontroller. Tsis tas li ntawd, cov khoom siv no (featuring MC9S12ZVML12 microcontroller) kuj tuaj yeem teeb tsa rau kev ntsuas ntsuas ntawm kev ua haujlwm siv Hall sensors lossis kev daws teeb meem. Lub neej yav tom ntej ntawm cov neeg hlau kuj tseem muaj txiaj ntsig zoo raws li kev nce qib hauv thev naus laus zis, suav nrog kev ua kom muaj tseeb los ntawm kev txhim kho lub cev muaj zog thiab kev paub, yuav tsim cov hauv kev tshiab. Kev hloov pauv hauv thaj chaw tseem ceeb ntawm kev paub, tswj thiab lub cev muaj zog yuav txuas ntxiv cuam tshuam rau kev hloov pauv hauv cov neeg hlau.