Te Whakatau i ngā Take Whakararuraru Hikohiko (EMI) i ngā Wāhanga Motuka Servo

Neke atu i te iwa tau mātou e hanga ana i ngā atamira ā-ringa me ngā atamira ā-mīhini. Ka hangaia hoki e mātou ngā papa whakahāngai aunoa. Nō reira, kua kite mātou i te maha o ngā raruraru EMI. Ko ētahi he māmā. Ko ētahi ka hiahia koe ki te kukume i ō makawe.

Ki te mahi koe me te whakarārangi whatu, e mōhio ana koe ki te āhua. Ka neke te atamira. Ka titiro te kāmera. He haruru te ahua. He he te tūranga mā te torutoru maikorona. Ka tirohia e koe ngā tikanga. He piri katoa. Kātahi ka mōhio koe ehara i te mea hangarau te raruraru. He haruru hiko.

Mā ngā kaihoko, ngā miihini, me te hunga katoa e hiahia ana ki tēnei aratohuatamira motuka servoe mahi ana i roto i tētahi wheketere tūturu. Kāore he mahi whakakatakata. He mea mahi noa iho i akohia e mātou mai i ngā kaupapa tūturu.

Ngā Mahi a te EMI ki te Atamira Motor Servo

Ko te EMI he whakarāpopototanga mō te whakararuraru hikohiko. He haruru hiko kāore e hiahiatia. Ka taea te haere mā roto i ngā taura, mā te hau rānei. Ina tae ki tō atamira, ka whakararuraru i te puku, te encoder, te kāmera, ngā pūoko rānei.

Ko te hua?Te pokanoa o te whakahaere nekehangaKāore te atamira e neke tika ki te wāhi i whakahaua e koe. He hapa iti noa iho i ētahi wā. He hapa nui anō hoki i ētahi wā. I roto i te whakaritenga whatu, he mea nui tonu te hapa iti noa iho.

Kua kite mātou i tētahi atamira paerewa me te kaha ki te whakahoki i te 2 µm i roto i te taiwhanga. I te raina whakaputa, i heke ki te 15 µm. Ko taua atamira anō. Ko taua tikanga anō. Ko te rerekētanga anake ko te EMI mai i ngā taputapu tata.

Te Putanga Mai o te EMI i ngā Wāhanga Motopaika

EMI i ngā wāhanga motukae ahu mai ana i ngā wāhi e whā. Me wehewehe tātou i a rātou.

Ko te Puku te Mea Matua e Whakapaetia Ana

Ko te nuinga o ngā puku servo e whakamahi ana i te PWM. Ko te tikanga he tere rawa te whakaweto me te whakakā i te mana. Kei te kōrero tātou i waenga i te 10 kHz ki te 100 kHz, neke atu rānei. Mā tēnei whakawhiti tere ka puta he haruru auau teitei. Koinei te pūtake nui rawa o te EMI i roto i te nuinga o ngā pūnaha.

Ngā Taura me te Whakatakotoranga Whenua: Ngā Mea Whakapae Noa

Kaua rawa ngā taura hiko me ngā taura tohu e rere tahi. Ki te pērā, ka peke te haruru mai i tētahi ki tētahi. Kua kite tātou i tētahi taura encoder kāore i te āraihia e 3 mita te roa i te taha o tētahi taura hiko 220 V. Nā tēnā i tāpiri te hapa 10 µm. Nō te ara taura anake.

Ko tētahi atu raruraru nui ko te whenua kino. He rite te mahi a te koropiko whenua ki te pūihi. Ka kohia te haruru ka tukuna tika atu ki tō kaikōnae, ki tō kāmera rānei.

Ko ngā Kaiwhakamāori Kōtui me ngā Kāmera ngā Pānga

Ka tukuna e ngā kaiwhakakōwaehere ngā tohu ngaohiko iti. He ngāwari te whakararuraru. Ki te kore te taura kaiwhakakōwaehere e āraia, ka taea e te haruru te whakarerekē i ngā pāorooro. Kātahi ka whakaaro te puku kei tētahi wāhi kāore te atamira.

He tairongo hoki ngā kāmera. Ka puta te EMI hei rārangi, hukarere, hei pae hurihuri rānei i roto i te ahua. Ka kite te pūmanawa i te taha hē. Ka tatau i te āputa hē. Ka neke te atamira ki te wāhi hē.

Ētahi atu Puna Kāore Pea Koe e Whakaaro Ana

Ka taea e ngā kaiwhakarewa, ngā papu, ngā taiaho, tae noa ki ngā rama kanapa te whakaputa i te EMI. I mua, i pāngia tō mātou atamira e te hapa i ia wā ka tahuri te kaiwhakarewa tata. I pai te atamira. Ko te taiao te raruraru.

He aha te take he tino tairongo ai te Whakatikatika Whatu Aunoa

EMI i roto i ngā Wāhanga Miihini mō ngā Pūhara Whakarite Whatu Aunoahe take noa, he take utu nui hoki. Anei te take.

He tukanga porowhita kati te whakahāngai whatu. Ka titiro te kāmera ki tētahi tohu. Ka tatau te pūmanawa i te taurite. Ka neke te atamira hei whakatika. Kātahi ka tirohia anō e te kāmera. Ki te uru te EMI ki te tohu kāmera, kāore te ahua e mārama. Ki te uru te EMI ki te tohu encoder, ka pōhēhē te puku. Kāore te porowhita e tau.

I roto i te maha o ngā wheketere, ko te whāinga he 1 µm ki te 5 µm. Ka taea e te EMI te tāpiri ngāwari i te 10 µm ki te 50 µm o te hapa. Koinei te rerekētanga i waenga i te paahitanga me te korenga.

Me pēhea te whakaiti i te pokanoa o te whakahaere nekehanga i roto i ngā wāhanga motuka servo mō ngā tūāpapa whakaritenga whatu aunoa?

Koinei te pātai nui.Me pēhea te whakaiti i te pokanoa o te whakahaere nekehanga i roto i ngā wāhanga motuka servo mō ngā tūāpapa whakaritenga whatu aunoa?Ehara te whakautu i te wāhanga makutu kotahi. He huarahi pūnaha.

Anei ngā mea e waru e mahia ana e mātou i roto i ngā kaupapa tūturu.

1. Whakamahia ngā Taura Takirua-Miro kua Parea

Ka ārai te parepare i ngā papa hiko. Ka whakakorea ngā papa aukume e te takai. Whakamahia te takirua takai kua āraia mō ngā waehere. Whakamahia ngā taura kua āraia mō te mana o te motuka. Honoa te parepare i ngā pito e rua mō te haruru auau teitei. Mō te haruru auau iti, ngana ki te taha kotahi. Whakamātauria ngā mea e rua.

Ka taea e te whakangungu rakau pai te whakaiti i te haruru mā te 20 dB ki te 40 dB. Arā, 10 ki te 100 ngā wā ka iti ake te ngaohiko haruru.

2. Kia wehea ngā waea hiko me ngā waea tohu

Kia 20 henimita te tawhiti o ngā taura hiko mai i ngā taura tohu. Ki te mea me whiti, whiti i te 90 nekehanga. Kaua rawa e rere whakarara mō ngā tawhiti roa. Mā tēnei ture māmā ka whakaiti i tete pokanoa o te whakahaere nekehangamā te haurua, neke atu rānei.

3. Whakatikahia tō Papa Whenua

Whakamahia he whenua kotahi-ira mō ngā tohu anaro. Whakamahia he papa whenua mō te haruru auau teitei. Kia poto, kia matotoru hoki ngā waea whenua. Āta karohia ngā mekameka daisy. Ka kino ake te EMI i te whenua kino, ehara i te mea pai ake.

4. Tāpirihia ngā Tātari EMI me ngā Matua Ferrite

Tāutahia he tātari EMI ki te tāuru AC o te puku. Tāpirihia ngā matua ferrite ki ngā taura motuka me te encoder. Ka taea e te matua ferrite te tāpiri i te 10 dB ki te 30 dB o te aukati i te auau teitei. Ka aukati i te haruru kei haere i te taura.

5. Kōwhiria ngā Puku me ngā Mōta iti-EMI

Kāore e ōrite ana ngā puku katoa. He pana ngāwari ētahi. He tātari ā-roto ētahi. He pai ake te hoahoa takai o ētahi motuka. Pātaihia ngā raraunga whakamātautau EMI. He iti te EMIatamira motuka servotērā pea ka nui ake te utu mā te 10% ki te 20%. Engari ka taea te penapena i te 50% o te wā rapu hapa.

6. Whakapai ake i te Urupare a te Kaiwhakamāori

Whakamahia ngā kaikōwae rerekētanga hei utu mō te pito kotahi. Ka whakakorehia e ngā tohu rerekētanga te haruru aratau-noa. Whakamahia ngā kaikōwae whatu i roto i ngā papa aukume kaha. Whakamahia ngā kaikōwae aukume i roto i ngā taiao paru. Tātaitia te kaikōwae ki te mahi.

7. Inehia i mua i te Whakatika

Kāore e taea te whakatika i te mea kāore e taea te ine. Whakamahia he oscilloscope hei tirotiro i ngā tohu encoder. Whakamahia he kaiwhiwhi EMI hei kimi i te haruru i tukuna. Tirohia tata ki te kāmera, te encoder, me te puku. Tuhia te taumata haruru i mua atu, ā, i muri i ia whakatikanga.

8. Whakamahia ngā Tātari Pūmanawa hei Huarahi Whakamutunga

Kāore e ranea ngā taputapu i ētahi wā. Ka taea e koe te tāpiri i tētahi tātari notch ki te puku. Ka taea e koe te tāpiri i tētahi tātari low-pass ki te pūmanawa kāmera. Ka taea e koe te tatau i ngā pānui maha. Kāore ēnei tikanga e tango i te EMI, engari ka whakaitihia tōna pānga.

E whakaatu ana te Ripanga 1 i te momo whakapainga ka taea e koe te tumanako.

Te Wāhanga Mōta Servo EMI Iti me te Wāhanga Mōta Servo Paerewa mō te Whakaritenga Whatu Aunoa

Ina hoko koe i tētahi atamira, he kōwhiringa tāu. Ka taea e koe te hoko i tētahi atamira paerewa. Ka taea rānei e koe te hoko i tētahi atamira EMI iti. Ko teTe Wāhanga Mōta Servo EMI Iti me te Wāhanga Mōta Servo Paerewa mō te Whakaritenga Whatu AunoaHe mea nui te whakatairite. Ka pā ki te utu, te wā arahi, me te mahi.

Anei tā rātou whakataurite.

He pai te atamira paerewa mō ngā mahi māmā. Ki te neke koe mai i te pūwāhi A ki te pūwāhi B me te tika 50 µm, kāore pea he pānga o te EMI. Engari ki te whakarite koe i ngā wāhanga whatu me te tika 1 µm, ka rahua pea te atamira paerewa.

He nui ake te utu mō te wāhanga iti o te EMI. Engari ka whakaiti i te mōrearea. Ka penapena i te wā hangarau. Ka whakapai ake i te hua. I roto i te maha o ngā kaupapa, ka utua te utu tāpiri i roto i ngā wiki.

He Rārangi Arowhai Kōwhiringa Māmā

Me pēhea te whiriwhiri i te mea tikaatamira motuka servoWhakamahia tēnei rārangi arowhai.

Hipanga 1: Tautuhia tō taiao EMI.Whakarārangihia ngā taputapu e tata ana. He tino haruru ngā mīhini whakarewa, ngā papu, ngā taiaho, me ngā taraiwa. Tirohia te tawhiti. Tirohia te auau.

Hipanga 2: Tirohia te āheinga whakahoki, kaua te taumira anake.Tērā pea he 0.1 µm te taumira o tētahi atamira. Engari, ki te 5 µm te auautanga, kāore e taea te pupuri i te 1 µm te whakarārangi. Pātaihia ngā raraunga whakamātautau i raro i te EMI.

Hipanga 3: Pātai atu mō te ārai me te whakapūmau whenua.Kei te āraihia ngā taura? Me pēhea te hononga o te ārai? He papa whenua kei reira? Ka taea e koe te whakarato i tētahi hoahoa whenua?

Hipanga 4: Arotakehia te hoahoa o te taura me te hononga.He pai ake ngā hononga whakarewa i te kirihou. Ka whakaratohia he parenga. Tirohia te whānui o te piko o te taura. Ka taea e te piko piri te whati i te parenga.

Hipanga 5: Tonoa ngā raraunga whakamātautau EMI.Pātaihia ngā raraunga tukunga irahiko me ngā raraunga tukunga irahiko. Pātaihia ngā raraunga whakamātautau ārai mate. Ki te kore e taea e te kaiwhakarato te whakarato, kia tūpato.

Hipanga 6: Whakaarohia te utu katoa.Kaua e whakatauritea te utu atamira anake. Whakaurua te wā hangarau, te wā whakatika hapa, te wā whakamutu mahi, me te ngaronga hua.

Ngā Kete Tuturu mai i tō Mātou Papa Toa

Kua kite tātouEMI i ngā wāhanga motukai roto i ngā ahumahi maha. Anei ētahi tauira tūturu e whā.

Take 1: Tirotiro i te anga whakarewa haurua-arataki.I whakamahia e te kiritaki he paerewaatamira motuka servoI kite te kāmera i te haruru 5 µm. Ko te āheinga o te atamira he 3 µm. I muri i te tāpiri i ngā taura ārai me te matua ferrite, ka heke te haruru ki te 1 µm. I piki ake te hua mā te 8%.

Take 2: Te whakatika i te papa whakaatu.I puta he hapa puku matapōkere i tētahi pūnaha whakatika whakaaturanga i ia huringa 20–30. Ko te take he koropiko whenua i waenganui i te atamira me te taiaho. Nā te whenua kotahi-ira me tētahi whakawhiti wehewehe i whakatika. I mutu katoa ngā hapa.

Take 3: Matawai kiriata hauora.I hiahiatia he nekehanga maeneene mō te matawai hauora. I wiri te atamira i te 100 Hz. Ko te haruru PWM mai i te puku te take. Nā te tātari pā-iti me te puku EMI-iti i whakaiti te wiri mā te 90%.

Take 4: Te whakatikatika taiaho.He hapa tūranga 10 µm te tūnga o tētahi tūāpapa whakahāngai taiaho. Kāore i āraia te taura encoder. I rere i te taha o tētahi taura hiko 220 V mō te 3 mita. I muri i te wehewehe i ngā taura me te whakamahi i tētahi taura encoder āraia, ka heke te hapa ki te 1.5 µm.

Ngā Pātai Auau

Me pēhea te whakaiti i te pokanoa o te whakahaere nekehanga i roto i ngā wāhanga motuka servo mō ngā tūāpapa whakaritenga whatu aunoa?
Whakamahia ngā taura ārai. Wehea te hiko me te tohu. Whakatakotoria te whenua kia tika. Tāpirihia ngā tātari me ngā ferrite. Kōwhiria he wāhanga EMI-iti. Whakamātauria ki te oscilloscope. Ka whakaitihia e ēnei mahite pokanoa o te whakahaere nekehangamā te 80% ki te 95% i te nuinga o ngā wā.

He aha te pūtake nui rawa o te EMI i roto i te atamira motuka servo?
Ko te puku servo PWM te pūtake nui rawa atu. Ko ngā taura motuka te tuarua. Ko ngā koropiko whenua te tuatoru.

Ka taea e au te whakatika i te EMI me te kore e whakarerekē i te atamira?
Āe. Ka taea e koe te tāpiri i ngā tātari, ngā ferrite, me ngā taura ārai. Ka taea e koe te whakapai ake i te whenua. Engari ki te kore e pai te hoahoa o te atamira, tera pea ka paku noa te whakapainga.

E hia te utu mō tētahi atamira motuka servo EMI iti?
Ko te utu mō te taumata iti o te EMI he 10% ki te 30% te nui ake i te taumata paerewa. Ko te utu tika e whakawhirinaki ana ki te haere, te kawenga, me te tika.

Me whai taumata EMI iti ahau mō tētahi rūma ma?
Kāore te rūma horoi e tango i te EMI. Engari he maha ngā wā he tairongo ngā taputapu rūma horoi. He kōwhiringa pai te taumata EMI iti mō te whakatikatika whatu rūma horoi.

Me pēhea taku whakamātautau i te EMI?
Whakamahia he oscilloscope mō te haruru tohu. Whakamahia he kaiwhiwhi EMI mō te haruru irahiko. Whakamātauria te kāmera, te encoder, me te puku. Whakatauritea i mua me muri i ia whakatikatika.

He aha ai koe ka mahi tahi ai me mātou?

Neke atu i te iwa tau mātou e mahi ana i tēnei pakihi. Ka hangaia e mātou ngā atamira ā-ringa me ngā atamira ā-mīhini. Ka hangaia hoki e mātou ngā papa whakahāngai aunoa. Ka arotahi mātou ki te R&D, te whakaputa, me te hoko. E mārama ana mātou ki te EMI nā te mea ka whakamatautauria e mātou i ia rā.

Tō mātouatamira motuka servongā kōwhiringa ko:

Ngā huinga taura EMI iti.

Ngā taura encoder kua whakamarumarutia.

Ngā tātari EMI kua hangaia.

Ngā kaikōwae rerekētanga.

Hoahoa whenua ritenga.

Ngā raraunga whakamātautau EMI ina tonoa.

Kāore mātou e hoko noa i tētahi atamira. Ka āwhina mātou i a koe ki te whakaoti i te raruraru nekehanga katoa. Mena he raruraru EMI tāu, tukuna mai tō tatūnga. Ka taea e mātou te arotake i ō taura, te whenua, me ngā tautuhinga puku. Ka taea e mātou te tūtohu i tētahi atamira EMI iti e rite ana ki tō tahua.

Me Kōrero Tātou mō tō Raru EMI

Kei te hanga koe i tētahi tūāpapa whakahāngai whatu aunoa? Kua hoha koe kite pokanoa o te whakahaere nekehangaMe hiahia koe ki tētahiatamira motuka servoe mahi ana i roto i tētahi wheketere haruru?

Whakapā mai ki a mātou i tēnei rā. Kōrero mai ki a mātou tō whāinga tika, te whānuitanga haere, te kawenga, me te taiao. Ka hoatu e mātou he taunakitanga mārama ki a koe. Ka tohaina hoki e mātou ngā raraunga whakamātautau me ngā tohutohu whiriwhiri. Me whakaiti i te EMI me te whakapai ake i tō hua.

Īmēra mai inaianei. Tikina he whakatau tere. Whakatauhia tō raruraru EMI me tētahi atamira i hangaia mō te mahi whakaari tūturu.