Gukemura Ibibazo by'Ihungabana ry'Amashanyarazi (EMI) mu byiciro bya Servo Moteri

Tumaze imyaka irenga 9 twubaka ibyiciro byakoreshejwe n'intoki na moteri. Dukora kandi urubuga rwo guhuza ibintu mu buryo bwikora. Bityo twabonye ibibazo byinshi bya EMI. Bimwe biroroshye. Bimwe bituma ushaka gukuramo umusatsi.

Iyo ukoresheje uburyo bwo guhuza amashusho, uzi uko ibintu bimeze. Urubyiniro ruri kugenda. Kamera isa. Ishusho irimo urusaku. Aho iherereye hari mikoroni nke. Ugenzura imiterere. Byose birakomeye. Hanyuma umenya ko ikibazo atari imiterere. Ni urusaku rw'amashanyarazi.

Iyi mfashanyigisho ni iy'abaguzi, injeniyeri, n'undi wese ukeneyeIcyiciro cya moteri ya servoIbyo koko bikora mu ruganda nyarwo. Nta kintu na kimwe gifatika. Ni ibintu by'ingirakamaro twize mu mishinga nyayo.

Icyo EMI ikora kuri Servo Motor Stage

EMI isobanura interference ya electromagnetic. Ni urusaku rw'amashanyarazi rudakenewe. Rushobora kunyura mu nsinga cyangwa mu kirere. Iyo rugeze ku rwego rwawe, rucamo ibice bya disiki, encoder, kamera, cyangwa sensor.

Ingaruka zabaye izihe?Kubangamira uburyo bwo kugenzura imikorere y'umubiri. Urubyiniro ntirwimuka neza aho warubwiye. Hari igihe biba ari ikosa rito. Hari n'igihe biba ari rinini. Mu bijyanye no guhuza amashusho, n'ikosa rito ni ikintu gikomeye.

Twabonye icyiciro gisanzwe gifite ubushobozi bwo gusubiramo bwa 2 µm muri laboratwari. Ku murongo wo gukora, cyagabanutse kigera kuri µm 15. Icyiciro kimwe. Imikanishi imwe. Itandukaniro ryonyine ryari EMI ugereranyije n'ibikoresho byari hafi aho.

Aho EMI ituruka mu byiciro bya moteri

EMI mu byiciro bya moteriubusanzwe ituruka ahantu hane. Reka tubicemo ibice.

Ubusanzwe imodoka ni yo ikekwaho icyaha gikomeye

Disiki nyinshi za servo zikoresha PWM. Bivuze ko zicana kandi zigafunga vuba cyane. Tuvuga ko 10 kHz kugeza 100 kHz cyangwa irenga. Uku guhinduranya vuba bitanga urusaku rwinshi. Ni yo soko nini ya EMI muri sisitemu nyinshi.

Insinga n'Ubutaka: Abakekwaho Ubusanzwe

Insinga z'amashanyarazi n'insinga z'ibimenyetso ntibigomba gukorana. Iyo bigenze bityo, urusaku ruva kuri rumwe rujya ku rundi. Twabonye insinga ya metero 3 idafite uburinzi igenda iruhande rw'insinga y'amashanyarazi ya 220 V. Ibyo byongereyeho µm 10 z'ikosa. Biturutse gusa ku nzira y'insinga.

Guhagarika nabi ni ikindi kintu kinini. Umuyoboro w'ubutaka ukora nk'antene. Ufata urusaku hanyuma urwohereza kuri encoder yawe cyangwa kamera.

Abakoresha imashini zikodesha (Encoders) na kamera nibo bahohotewe

Imashini zikoresha insinga zohereza ibimenyetso bifite voltage nkeya. Biroroshye kubihungabanya. Iyo insinga ya insinga idakingiwe, urusaku rushobora guhindura impumuro. Hanyuma, icyuma gifata insinga kigatekereza ko aho iherereye hari aho kitari.

Kamera nazo zirakora neza. EMI igaragara nk'imirongo, urubura, cyangwa utubari twinjira mu ishusho. Porogaramu ibona impande zitari zo. Ibara aho umurongo utari wo. Urubyiniro rujya ahantu hatari ho.

Andi masoko ushobora kuba utatekerezaho

Imashini zo gusudira, pompe, laser, ndetse n'amatara ya fluorescent bishobora gukora EMI. Twigeze kugira umukiriya wari ufite ikibazo ku rubyiniro igihe cyose umusudira wari hafi aho yacanaga. Urubyiniro rwari rwiza. Ikibazo cyari ibidukikije.

Impamvu guhuza optique mu buryo bwikora ari ingenzi cyane

EMI mu byiciro bya moteri ku mbuga zihuza amatara zikoresha ikoranabuhangani ikibazo gikunze kugaragara kandi gihenze. Dore impamvu.

Kuboneza imiterere y'amajwi ni inzira ifunganye. Kamera ireba ikimenyetso. Porogaramu ibara aho ibintu bigarukira. Icyiciro kiragenda kugira ngo gikosorwe. Hanyuma kamera yongera kugenzura. Iyo EMI yinjiye mu kimenyetso cya kamera, ishusho ntigaragara neza. Iyo EMI yinjiye mu kimenyetso cya encoder, disiki irayoberana. Uruzitiro ntirwigera ruhagarara.

Mu nganda nyinshi, intego ni hagati ya µm 1 na µm 5. EMI ishobora kongeramo byoroshye µm 10 na µm 50 z'ikosa. Iryo ni ryo tandukaniro riri hagati yo gutsinda no gutsindwa.

Nigute wagabanya uburyo bwo kugenzura imikorere y'imodoka mu byiciro bya Servo moteri kuri porogaramu zikoresha ikoranabuhanga ryo guhuza imikorere y'amajwi?

Iki ni ikibazo gikomeye.Nigute wagabanya uburyo bwo kugenzura imikorere y'imodoka mu byiciro bya Servo moteri kuri porogaramu zikoresha ikoranabuhanga ryo guhuza imikorere y'amajwi?Igisubizo si igice kimwe cy'ubumaji. Ni uburyo bwo gukoresha sisitemu.

Dore ibintu 8 dukora mu mishinga nyayo.

1. Koresha insinga zizungurutse zifite uburinzi

Gukingira bibuza amashanyarazi. Guhindura amashanyarazi bihagarika amashanyarazi. Koresha ibyuma bikingira bikingira bikingira kuri encoders. Koresha insinga zikingira kugira ngo ubone ingufu za moteri. Huza ingabo ku mpera zombi kugira ngo ubone urusaku rwinshi. Kugira ngo ubone urusaku rwinshi, gerageza impera imwe. Gerageza byombi.

Ubwirinzi bwiza bushobora kugabanya urusaku ho 20 dB kugeza kuri 40 dB. Ibyo bigabanya urusaku inshuro 10 kugeza ku 100.

2. Gumana insinga z'amashanyarazi n'iz'ibimenyetso bitandukanye

Bika insinga z'amashanyarazi nibura cm 20 uvuye ku nsinga z'amakuru. Niba zigomba kwambuka, nyura kuri dogere 90. Ntuzigere uzikoresha mu ntera ndende. Iri tegeko ryoroshye rishobora kugabanyakubangamira uburyo bwo kugenzura ingendokimwe cya kabiri cyangwa kirenga.

3. Kosora imiterere yawe

Koresha ubutaka bufite umurongo umwe ku bimenyetso bya analog. Koresha urwego rw'ubutaka ku rusaku rwinshi. Komeza insinga z'ubutaka zibe ngufi kandi nini. Irinde iminyururu ya daisy. Ubutaka bubi bushobora gutuma EMI irushaho kuba mbi, ntabwo burushaho kuba bwiza.

4. Ongeraho EMI Filters na Ferrite Cores

Shyiramo akayunguruzo ka EMI kuri AC yinjiye muri disiki. Shyiramo ferrite cores kuri moteri na encoder insinga. Ferrite core ishobora kongeramo impedance ya 10 dB kuri 30 dB ku muvuduko wo hejuru. Ihagarika urusaku ku nsinga.

5. Hitamo imodoka na moteri bifite ubushobozi bwo gutwara ibintu bike

Disiki zose ntizingana. Zimwe zifite switching yoroshye. Zimwe zifite filters zubatswemo. Zimwe zifite imiterere myiza yo kuzunguruka. Saba amakuru y'ikizamini cya EMI. Ingano nto ya EMIIcyiciro cya moteri ya servobishobora gutwara 10% kugeza kuri 20% byiyongereyeho. Ariko bishobora kuzigama 50% by'igihe cyo gukosora amakosa.

6. Kunoza ibitekerezo bya Encoder

Koresha imashini zihinduranya aho gukoresha inyuguti imwe. Ibimenyetso bitandukanya byanga urusaku rw'uburyo busanzwe. Koresha imashini zihinduranyanyanyanyanya mu miterere ikomeye ya rukuruzi. Koresha imashini zihinduranya ...koranyakintuki.

7. Pima mbere yo gukosora

Ntushobora gukosora ibyo udashobora gupima. Koresha oscilloscope kugira ngo urebe ibimenyetso bya encoder. Koresha EMI receiver kugira ngo ubone urusaku rw'imirasire. Reba hafi ya kamera, encoder, hanyuma ugende. Andika urugero rw'urusaku mbere na nyuma ya buri gikoso.

8. Koresha porogaramu za firime nk'uburyo bwa nyuma bwo kuzikoresha

Hari igihe ibikoresho bidahagije. Ushobora kongeramo akayunguruzo k'amanota muri disiki. Ushobora kongeramo akayunguruzo k'amanota make muri porogaramu ya kamera. Ushobora gukoresha impuzandengo y'amanota menshi. Ubu buryo ntibukuraho EMI, ariko bugabanya ingaruka zayo.

Imbonerahamwe ya 1 igaragaza ubwoko bw'iterambere ushobora kwitega.

Icyiciro cya moteri cya Servo yo mu bwoko bwa EMI yo hasi ugereranyije n'igice gisanzwe cya moteri ya Servo yo guhuza optique mu buryo bwikora

Iyo uguze icyiciro, uba ufite amahitamo. Ushobora kugura icyiciro gisanzwe. Cyangwa ushobora kugura icyiciro gito cya EMI.Icyiciro cya moteri cya Servo yo mu bwoko bwa EMI yo hasi ugereranyije n'igice gisanzwe cya moteri ya Servo yo guhuza optique mu buryo bwikoraKugereranya ni ingenzi. Bigira ingaruka ku giciro, igihe cyo kwishyura, n'imikorere.

Dore uko bagereranya.

Icyiciro gisanzwe ni cyiza ku mirimo yoroshye. Iyo uvuye ku gice cya A ujya ku cya B ufite 50 µm accuracy, EMI ishobora kuba ntacyo itwaye. Ariko iyo uhuje ibice by'urumuri n'ubuziranenge bwa 1 µm, igice gisanzwe gishobora kwangirika.

Icyiciro gito cya EMI gitwara amafaranga menshi. Ariko bigabanya ibyago. Bizigama igihe cy'ubuhanga. Bituma umusaruro urushaho kwiyongera. Mu mishinga myinshi, ikiguzi cy'inyongera cyishyurwa mu byumweru.

Urutonde rworoshye rwo guhitamo

Ni gute wahitamo nezaIcyiciro cya moteri ya servoKoresha uru rutonde rw'ibintu ugomba gukora.

Intambwe ya 1: Sobanura ibidukikije byawe bya EMI.Andika ibikoresho biri hafi aho. Imashini zisudira, ipompo, laser, na disiki ni isoko y'urusaku rukomeye. Reba intera. Reba inshuro.

Intambwe ya 2: Reba uburyo bwo gusubiramo, ntabwo ari ugukemura gusa.Icyiciro gishobora kugira ubushobozi bwo gupima 0.1 µm. Ariko niba ubushobozi bwo gusubiramo ari 5 µm, ntigishobora gufata 1 µm. Saba amakuru y'ikizamini muri EMI.

Intambwe ya 3: Baza ibijyanye no gukingira no gusiga hasi.Ese insinga zirakingiwe? Ni gute ingabo ihujwe? Ese hari urwego rw'ubutaka? Ese ushobora gutanga igishushanyo mbonera cy'ubutaka?

Intambwe ya 4: Suzuma imiterere y'insinga n'umuyoboro w'amashanyarazi.Ibihuza by'icyuma ni byiza kuruta pulasitiki. Bitanga uburinzi. Reba umurambararo w'insinga. Guhuza neza bishobora guca uburinzi.

Intambwe ya 5: Saba amakuru y'ikizamini cya EMI.Saba amakuru y’ibyuka bihumanya ikirere n’ibikomoka ku mirasire. Saba amakuru y’ibizamini by’ubudahangarwa bw’umubiri. Niba umutanga serivisi adashoboye kuyatanga, witondere.

Intambwe ya 6: Tekereza ku giciro cyose.Ntugereranye igiciro cy'icyiciro gusa. Shyiramo igihe cy'ubuhanga, igihe cyo gukemura ibibazo, igihe cyo kudakora, n'igihombo cy'umusaruro.

Ibikoresho nyabyo bivuye mu igorofa ryacu ry'iduka

TwabonyeEMI mu byiciro bya moterimu nganda nyinshi. Dore ingero enye nyazo.

Urugero rwa 1: Igenzura rya wafer ya semiconductor.Umukiriya yakoresheje uburyo busanzweIcyiciro cya moteri ya servoKamera yabonye urusaku rwa µm 5. Uburyo bwo gusubiramo urusaku bwari µm 3. Nyuma yo kongeramo insinga zikingira n'inyuma ya ferrite, urusaku rwagabanutseho µm 1. Umusaruro wariyongereyeho 8%.

Igice cya 2: Gusana paneli y'ibyerekanwa.Sisitemu yo gusana ecran yari ifite amakosa yo gutwara ibintu mu buryo butunguranye buri gihembwe cya 20-30. Impamvu yari ukugenda hagati y’urubyiniro na laser. Igikoresho cyo hasi gifite ingingo imwe n’icyuma gihindura imiterere y’icyuma cyabikosoye. Amakosa yarahagaze burundu.

Urubanza rwa 3: Gusuzuma amashusho y’ubuvuzi.Scanner yo kwa muganga yari ikeneye kugenda neza. Urubyiniro rwanyeganyegaga kuri 100 Hz. Impamvu yari urusaku rwa PWM rwavaga kuri disiki. Akayunguruzo k'amajwi gafite uburebure bwa low pass na disiki ifite uburebure bwa low EMI byagabanyije vibration ho 90%.

Igice cya 4: Gutunganya imirasire ya laser.Uburyo bwo guhuza imirasire bwa laser bwari bufite ikosa ryo gushyiramo µm 10. Insinga yo gukodesha yari idakingiye. Yagendaga iruhande rw'insinga y'amashanyarazi ya 220 V mu burebure bwa metero 3. Nyuma yo gutandukanya insinga no gukoresha insinga yo gukodesha ifite uburinzi, ikosa ryagabanutse rigera kuri µm 1.5.

Ibibazo Bikunze Kubazwa

Nigute wagabanya uburyo bwo kugenzura imikorere y'imodoka mu byiciro bya Servo moteri kuri porogaramu zikoresha ikoranabuhanga ryo guhuza imikorere y'amajwi?
Koresha insinga zikingiwe. Tandukanya ingufu n'ikimenyetso. Shyiramo insinga neza. Shyiramo ibyuma biyungurura n'ibinyabutabire. Hitamo urwego rwo hasi rwa EMI. Gerageza ukoresheje oscilloscope. Izi ntambwe zigabanyakubangamira uburyo bwo kugenzura ingendoku kigero cya 80% kugeza kuri 95% mu bihe byinshi.

Ni iyihe soko nini ya EMI muri sitade ya moteri ya servo?
PWM servo drive niyo soko nini cyane. Insinga za moteri ni iza kabiri. Imirongo yo hasi ni iya gatatu.

Ese nshobora gukosora EMI ntahinduye urwego?
Yego. Ushobora kongeramo filters, ferrites, n'insinga zikingira. Ushobora kunoza imiterere y'ubutaka. Ariko niba imiterere y'urubyiniro idahwitse, ushobora gusa kugira iterambere rito.

Imoteri ya servo ya EMI servo igura angahe?
Icyiciro gito cya EMI gitwara 10% kugeza kuri 30% kurusha icyiciro gisanzwe. Igiciro nyacyo giterwa n'ingendo, umutwaro, n'uburyo ibintu bimeze neza.

Ese nkeneye urwego rwo hasi rw'isuku kugira ngo nkore isuku?
Cleanroom ntabwo ikuraho EMI. Ariko ibikoresho byo mu cyumba cyo gusukura akenshi birakomera. Icyiciro cyo hasi cya EMI ni amahitamo meza yo guhuza optique yo mu cyumba cyo gusukura.

Nigute napima EMI?
Koresha oscilloscope ku rusaku rw'ikimenyetso. Koresha EMI receiver ku rusaku rw'imirasire. Gerageza kuri kamera, encoder, na drive. Gereranya mbere na nyuma ya buri gisubizo.

Kuki twakorana

Tumaze imyaka irenga 9 muri ubu bucuruzi. Dukora ibyiciro bikora intoki na moteri. Dukora kandi urubuga rwo guhuza ibintu mu buryo bwikora. Twibanda ku bushakashatsi n'iterambere, umusaruro, n'ibicuruzwa. Dusobanukiwe EMI kuko tuyigerageza buri munsi.

IbyacuIcyiciro cya moteri ya servoamahitamo arimo:

Insinga za EMI nkeya.

Insinga zo gukodesha zikingiranye.

Akayunguruzo ka EMI kubatswemo.

Imashini zitandukanya.

Igishushanyo mbonera cy'ubutaka cyihariye.

Amakuru y'ikizamini cya EMI iyo ubisabye.

Ntitugurisha gusa icyiciro. Turagufasha gukemura ikibazo cyose cy'ingendo. Niba ufite ikibazo cya EMI, ohereza imiterere yawe. Dushobora gusuzuma insinga zawe, imikoreshereze ya grounding, na drive. Dushobora kukugira inama yo gukoresha EMI nkeya ijyanye n'ingengo y'imari yawe.

Reka tuganire ku kibazo cyawe cya EMI

Ese urimo kubaka urubuga rwo guhuza urumuri rwikora? Ese urarambiwekubangamira uburyo bwo kugenzura ingendoEse ukeneyeIcyiciro cya moteri ya servoikora mu ruganda rukora urusaku?

Twandikire uyu munsi. Tubwire intego yawe yo gukora neza, aho ingendo zigarukira, umutwaro, n'ibidukikije. Tuzaguha inama isobanutse neza. Tuzasangira kandi amakuru y'ibizamini n'inama zo guhitamo. Reka tugabanye EMI kandi twongere umusaruro wawe.

Twoherereze ubutumwa kuri imeri ubu. Shaka ibiciro byihuse. Komeza ikibazo cyawe cya EMI ukoresheje urwego rwubatswe kugira ngo utange umusaruro nyawo.