Nrog rau txoj kev loj hlob sai ntawm cov cuab yeej siv hluav taws xob niaj hnub, niaj hnub siv hluav taws xob hluav taws xob thev naus laus zis, microelectronics thev naus laus zis, cov khoom siv hlau nplaum ruaj khov, AC adjustable ceev tswj tshuab thiab tswj tshuab, cov hlau nplaum ruaj khov AC servo tshuab muaj kev txhim kho zoo. Kev ua tau zoo ntawm cov hlau nplaum ruaj khov AC servo system yog kev txhim kho ib hnub dhau ib hnub, thiab tus nqi zoo li tsim nyog, uas ua rau cov hlau nplaum ruaj khov AC servo system hloov DC servo system, tshwj xeeb tshaj yog nyob rau hauv kev ua haujlwm siab, kev ua haujlwm siab ntawm servo tsav tau dhau los. txoj kev loj hlob ntawm niaj hnub hluav taws xob servo tsav system.
Cov hlau nplaum tas mus li AC servo system muaj qhov zoo hauv qab no:
Lub cev muaj zog tsis muaj txhuam thiab commutator, txhim khu kev qha ua haujlwm, yooj yim txij nkawm thiab txij nkawm;
Stator winding tshav kub dissipation ceev;
me me inertia, yooj yim los txhim kho qhov ceev ntawm qhov system;
Haum rau kev kub ceev thiab loj torque ua hauj lwm lub xeev;
Nyob rau hauv tib lub hwj chim, ntim me me thiab qhov hnyav, dav siv hauv cov cuab yeej siv tshuab, cov cuab yeej siv tshuab, tuav mechanism, tshuab luam ntawv, sib dhos neeg hlau, ua tshuab, tshuab winding ceev, textile machinery thiab lwm yam, kom tau raws li qhov xav tau ntawm kev tsim kho. kis tau tus mob.
Tom qab kev txhim kho ntawm analog thiab hybrid hom, tus neeg tsav tsheb ntawm cov hlau nplaum ruaj khov AC servo system tau nkag mus rau digital era. Tag nrho cov digital servo tsav tsis tsuas yog kov yeej qhov loj dispersion, xoom drift, tsis tshua muaj kev ntseeg siab thiab lwm yam kev txiav txim siab ntawm analog servo, tab sis kuj muab tag nrho cov kev ua si rau qhov zoo ntawm digital tswj hauv kev tswj precision thiab saj zawg zog tswj txoj kev, ua rau servo tsav tsis tsuas yog yooj yim. qauv, tab sis kuj txhim khu kev qha kev ua tau zoo. Tam sim no, kev ua haujlwm siab servo system, feem ntau ntawm cov hlau nplaum ruaj khov AC servo system suav nrog cov hlau nplaum ruaj khov synchronous AC servo lub cev muaj zog thiab tag nrho cov AC cov hlau nplaum ruaj khov synchronous servo tsav tsheb ob ntu.
Lub servo tsav muaj ob ntu: lub hardware tsav thiab tswj algorithm. Tswj algorithm yog ib qho ntawm cov thev naus laus zis tseem ceeb los txiav txim siab qhov ua tau zoo ntawm AC servo system, uas yog ib feem tseem ceeb ntawm txawv teb chaws AC servo technology blockade thiab lub hauv paus ntawm kev siv tshuab monopoly.
Cov qauv yooj yim ntawm AC ruaj khov hlau nplaum servo system
Ac ruaj khov hlau nplaum synchronous servo tsav tsheb feem ntau yog tsim los ntawm servo tswj chav tsev, lub zog tsav tsheb, chav sib txuas lus sib txuas, servo lub cev muaj zog thiab cov lus pom zoo sib xws. Nws cov qauv yog pom nyob rau hauv daim duab 1. Lub servo tswj chav muaj xws li txoj hauj lwm maub los, ceev maub los, torque thiab tam sim no maub los thiab lwm yam. Peb AC cov hlau nplaum ruaj khov synchronous tsav tsheb sib xyaw ua ke kev tswj hwm thev naus laus zis thiab kev tswj hwm lub tswv yim, yog li nws tsim nyog rau kev ua haujlwm siab, kev ua haujlwm siab ntawm servo tsav teb, tab sis kuj qhia txog kev txawj ntse muaj zog, kev hloov pauv tsis zoo rau cov tsoos tsav.
Tam sim no, tus neeg tsav tsheb servo lub ntsiab tau txais cov teeb liab digital processor (dsp) ua tus tswj core. Nws qhov zoo dua yog tias nws tuaj yeem paub ntau txoj hauv kev tswj cov txheej txheem, thiab cov teeb meem yog digitized, networked thiab ntse. Cov cuab yeej hluav taws xob feem ntau siv cov khoom siv hluav taws xob ntse (ipm) raws li tus qauv tsim ntawm lub voj voog tsav, ipm sab hauv kev sib xyaw tsav hauv Circuit Court, thiab muaj overvoltage, overcurrent, overheating, undervoltage thiab lwm yam txhaum kev tiv thaiv Circuit Court, nyob rau hauv lub ntsiab Circuit Court kuj ntxiv soft start circuit. , txhawm rau txo qhov cuam tshuam ntawm kev pib ntawm tus neeg tsav tsheb.
Servo tsav tsheb tuaj yeem muab faib ua ob lub modules, lub hwj chim board thiab tswj board. Raws li pom nyob rau hauv daim duab 2, lub hwj chim phaj (tsav phaj) yog ib tug muaj zog hluav taws xob department, uas muaj xws li ob units. Ib qho yog lub hwj chim tsav tsev ipm siv los tsav lub cev muaj zog, thiab lwm qhov yog lub zog hloov hluav taws xob los muab lub zog digital thiab analog rau tag nrho lub cev.
Lub rooj tsavxwm tswj yog qhov tsis muaj zog tam sim no, tswj cov tub ntxhais ntawm lub cev muaj zog thiab cov cab kuj khiav ntawm cov tub ntxhais tswj algorithm ntawm servo tsav tshuab. Lub Rooj Tswjhwm Saib cov teeb liab tso tawm pwm teeb liab los ntawm qhov sib thooj algorithm, uas yog siv los ua lub teeb liab ntawm kev tsav tsheb los hloov lub zog tso zis ntawm inverter, thiaj li ua tiav lub hom phiaj ntawm kev tswj peb-theem mus tas li hlau nplaum synchronous AC servo lub cev muaj zog.
Lub zog tsav tsheb
Lub zog tsav tsheb ua ntej kho cov tswv yim peb-theem lossis lub zog hluav taws xob los ntawm peb-theem puv-bridge rectifier circuit kom tau txais cov khoom ncaj qha tam sim no. Peb-theem mus tas li hlau nplaum synchronous AC servo lub cev muaj zog yog tsav los ntawm peb-theem sinusoidal pwm voltage zaus converter tom qab zoo rectification. Tag nrho cov txheej txheem ntawm lub zog tsav tsheb tuaj yeem piav qhia yooj yim raws li cov txheej txheem ac-dc-ac. Lub ntsiab topological Circuit Court ntawm ac-dc yog peb-theem tag nrho-tus choj uncontrolled rectifier circuit.
Lub inverter ib feem (dc-ac) txais yuav lub ntse fais fab module (ipm) uas integrates lub tsav Circuit Court, tiv thaiv Circuit Court thiab lub hwj chim hloov. Lub ntsiab topology yog peb-theem inverter Circuit Court schematic daim duab qhia hauv daim duab 3. Siv cov txheej txheem ntawm pulse width modulation (pwm), pulse width modulation (PWM) hloov qhov zaus ntawm cov zis waveform ntawm lub inverter los ntawm kev hloov cov alternating rau. -off lub sij hawm ntawm lub hwj chim transistor, thiab hloov lub sij hawm on-off lub sij hawm piv ntawm lub transistor nyob rau hauv txhua txhua ib nrab voj voog. Uas yog hais, los ntawm kev hloov cov mem tes dav los hloov lub inverter tso zis voltage auxiliary tus nqi kom ua tiav lub hom phiaj ntawm kev tswj fais fab.
vt1 ~ vt6 nyob rau hauv daim duab 3 yog rau lub hwj chim hloov raj, s1, s2 thiab s3 feem sawv cev rau peb choj caj npab. Lub xeev hloov ntawm txhua tus choj caj npab tau teev tseg raws li hauv qab no: thaum lub raj hloov ntawm lub caj npab sab sauv yog nyob rau hauv lub xeev "on" (lub raj ntawm tus choj sab caj npab yuav tsum nyob rau hauv lub xeev "tawm" nyob rau lub sijhawm no), lub xeev hloov yog 1; Thaum tus choj sab caj npab hloov raj yog nyob rau hauv lub xeev "on" (ces tus choj sab caj npab hloov raj yuav tsum nyob rau hauv lub xeev "tawm"), lub xeev hloov pauv yog 0. Peb lub caj npab tsuas muaj ob lub xeev ntawm "0" thiab "1", yog li s1, s2 thiab s3 tsim yim hloov raj hom ntawm 000, 001, 010, 011, 100, 101 thiab 111 , ntawm cov 000 thiab 111 switching hom ua rau inverter tso zis voltage xoom, yog li no switching hom hu ua xoom xeev. Cov zis kab hluav taws xob yog uab, ubc thiab uca, thiab theem voltage yog ua, ub thiab uc, qhov twg udc yog DC fais fab mov voltage. Cov lus sib txuas lus tuaj yeem tau txais raws li cov lus saum toj no.
Control unit
Lub chaw tswj hwm yog lub hauv paus ntawm tag nrho AC servo system, paub txog qhov system txoj haujlwm tswj, tswj ceev, lub zog thiab cov tswj tam sim no. Cov teeb liab digital processor (dsp) tsis tsuas yog muaj peev xwm ua tau cov ntaub ntawv ceev, tab sis kuj sib xyaw ua ke nplua nuj ASIC rau kev tswj lub cev muaj zog, xws li a/d converter, pwm generator, lub sij hawm txee Circuit Court, asynchronous kev sib txuas lus Circuit Court, muaj peev xwm tsheb npav transceiver thiab kev kub ceev programmable zoo li qub. ram thiab muaj peev xwm loj program nco. Tus neeg tsav tsheb servo paub txog vector tswj (vc) los ntawm kev siv lub hauv paus ntsiab lus ntawm kev tswj xyuas ntawm magnetic field orientation (foc) thiab kev sib koom ua ke, thiab tswj lub cev muaj zog los ntawm kev sib txuas ntawm sinusoidal pulse width modulation (spwm) tswj hom. Lub vector tswj ntawm cov hlau nplaum ruaj khov synchronous lub cev muaj zog feem ntau tswj cov stator tam sim no lossis qhov hluav taws xob los ntawm kev txheeb xyuas lossis kwv yees txoj hauj lwm thiab qhov amplitude ntawm lub rotor flux ntawm lub cev muaj zog. Nyob rau hauv txoj kev no, lub zog ntawm lub cev muaj zog tsuas yog cuam tshuam nrog cov flux thiab tam sim no, uas zoo ib yam li kev tswj hwm ntawm DC lub cev muaj zog thiab tuaj yeem tau txais kev tswj xyuas siab. Rau cov hlau nplaum ruaj khov synchronous lub cev muaj zog, qhov flux txoj hauj lwm ntawm lub rotor yog tib yam li cov neeg kho tshuab txoj hauj lwm ntawm lub rotor. Nyob rau hauv txoj kev no, qhov flux txoj hauj lwm ntawm lub rotor ntawm lub cev muaj zog tuaj yeem paub los ntawm kev kuaj xyuas qhov tseeb ntawm lub rotor, kom lub vector tswj ntawm cov hlau nplaum ruaj khov synchronous lub cev muaj zog yog yooj yim piv nrog cov asynchronous lub cev muaj zog.
Servo tsav tswj AC ruaj khov hlau nplaum Servo Tsav (pmsm)
Thaum tus neeg tsav tsheb servo tswj lub AC mus tas li hlau nplaum servo lub cev muaj zog, nws tuaj yeem ua haujlwm raws li qhov tam sim no (torque), ceev thiab txoj hauj lwm tswj hom feem. Kev tswj cov qauv thaiv daim duab ntawm lub kaw lus yog pom nyob rau hauv daim duab 4. Txij li thaum AC mus tas li hlau nplaum servo lub cev muaj zog (pmsm) siv cov hlau nplaum tas mus li excitation, nws cov magnetic teb tuaj yeem suav tias yog tas li. Nyob rau tib lub sij hawm, lub cev muaj zog ceev ntawm AC mus tas li hlau nplaum servo lub cev muaj zog yog synchronous ceev, uas yog, nws kiv puag ncig yog xoom. Cov xwm txheej no txo qis qhov nyuaj ntawm cov qauv lej ntawm AC servo tsav tsav lub AC mus tas li hlau nplaum servo lub cev muaj zog. Raws li tuaj yeem pom los ntawm daim duab 4, lub kaw lus yog raws li kev ntsuas ob theem tam sim no tawm tswv yim (ia, ib) ntawm lub cev muaj zog thiab txoj haujlwm ntawm lub cev muaj zog. Los ntawm kev sib txuas cov ntsuas theem tam sim no (ia, ib) nrog cov ntaub ntawv txoj haujlwm, id thiab iq Cheebtsam tau txais los ntawm kev hloov pauv ntawm kev tswj hwm (los ntawm kev tswj hwm qhov system a, b, c mus rau rotor coordinate system d, q), thiab tom qab ntawd nkag mus rau hauv lawv cov regulators tam sim no. Cov zis ntawm tus tswj tam sim no mus los ntawm kev hloov pauv hloov pauv (los ntawm d, q kev tswj hwm qhov system mus rau a, b, c kev tswj hwm qhov system) kom tau txais cov lus qhia peb-theem voltage. Lub nti tswj, los ntawm cov lus qhia peb-theem voltage, tom qab thim rov qab thiab ncua, tau txais 6 pwm nthwv dej tawm mus rau lub tshuab hluav taws xob los tswj lub cev muaj zog. Nyob rau hauv lub kaw lus nyob rau hauv cov lus qhia sib txawv input hom, kev qhia thiab tawm tswv yim los ntawm cov coj tswj regulator, tau txais qib tom ntej ntawm kev qhia siv. Nyob rau hauv lub voj tam sim no, lub torque tam sim no tivthaiv (iq) ntawm d, q axes yog cov zis los yog sab nraud muab los ntawm tus tswj ceev tswj. Feem ntau, cov flux tivthaiv yog xoom (id=0), tab sis thaum lub nrawm tshaj qhov txwv tus nqi, tus nqi siab dua tuaj yeem tau los ntawm kev sib nqus tsis muaj zog (id "0").
Kev hloov pauv los ntawm a, b, c kev sib koom ua ke rau d, q kev sib koom ua ke yog pom tau los ntawm clarke thiab kev hloov pauv chaw ua si; Kev hloov pauv ntawm dq mus rau a, b, c coordinates yog pom tau tias nrog kev hloov pauv ntawm Clark thiab Parker.