karetao ahumahis e whakamahia whānuitia ana i roto i ngā mahi hanga ahumahi, pērā i te hanga motuka, ngā taputapu hiko, te kai, me ētahi atu. Ka taea e rātou te whakakapi i ngā mahi miihini auau, ā, he mīhini e whakawhirinaki ana ki ō rātou ake mana me ngā āheinga whakahaere hei whakatutuki i ngā mahi maha. Ka taea e ia te tu atu ki te whakahau a te tangata, ā, ka taea hoki te mahi i runga i ngā kaupapa kua whakaritea i mua. Inaianei ka kōrero tātou mō ngā wāhanga matua okaretao ahumahis.
1.Kaupapa
Ko te mīhini matua ko te turanga mīhini me te tikanga whakaoho, tae atu ki te ringa nui, te ringaringa, te pūnga me te ringaringa, e hanga ana i tētahi pūnaha mīhini maha-tohu-o-te-herekore. He tikanga hīkoi anō hoki ā ētahi karetao.karetao ahumahise 6 ngā nekehanga herekore, neke atu rānei. Ko te tikanga, 1 ki te 3 ngā nekehanga herekore o te ringaringa.
2. Pūnaha taraiwa
Ko te pūnaha taraiwa okaretao ahumahisE toru ngā wāhanga o te pūnaha hiko: te waipēhi, te hauhautanga, me te hiko. Ka taea hoki te whakakotahi i ēnei momo e toru ki roto i tētahi pūnaha taraiwa hiato i runga i ngā whakaritenga. Mā te taraiwa ā-kore rānei mā roto i ngā tikanga tuku miihini pēnei i ngā whitiki tukutahi, ngā tereina taputapu, me ngā taputapu. He taputapu hiko me he tikanga tuku kei roto i te pūnaha taraiwa, e whakamahia ana hei whakatinana i ngā mahi e rite ana ki te tikanga. He āhuatanga motuhake tō ia o ēnei momo pūnaha taraiwa taketake e toru. Ko te pūnaha taraiwa hiko te mea matua o nāianei. Nā te iti o te ātete, he whānui te whakamahinga o ngā motuka servo AC me DC taipana nui me ā rātou puku servo tautoko (ngā kaitahuri auau AC, ngā kaiwhakatikatika whānui pāoro DC). Kāore tēnei momo pūnaha e hiahia ki te tahuritanga pūngao, he ngāwari ki te whakamahi, ā, he mana whakahaere tairongo. Ko te nuinga o ngā motuka e hiahia ana ki tētahi tikanga tuku ngāwari: he whakaiti. Ka whakamahia e ōna niho he kaitahuri tere taputapu hei whakaiti i te maha o ngā hurihanga whakamuri o te motuka ki te maha e hiahiatia ana o ngā hurihanga whakamuri me te whiwhi i tētahi taputapu taipana nui ake, ā, ka whakaitihia te tere me te whakanui ake i te taipana. Ina nui te kawenga, ka whakanuia matapotia te motuka servo. He tino whai hua te mana, ā, ka taea te whakanui ake i te taipana putanga mā te whakaiti i roto i te awhe tere e tika ana. He ngāwari ngā motuka servo ki te wera me te wiri auau iti ina whakahaerehia i ngā auau iti. Kāore te mahi roa me te auau e pai ana ki te whakarite i te mahi tika me te pono. Mā te noho o te motuka whakaiti tika ka taea e te motuka servo te mahi i te tere e tika ana, ka whakapakari i te pakari o te tinana mīhini me te whakaputa taipana nui ake. E rua ngā whakaiti matua i ēnei rā: te whakaiti harmonic me te whakaiti RV.
3. Pūnaha whakahaere
Tepūnaha whakahaere karetaoKo te roro o te karetao, ā, ko te mea matua e whakatau ana i ngā mahi me ngā mahi a te karetao. Ka tukuna e te pūnaha whakahaere ngā tohu whakahau ki te pūnaha taraiwa me te tikanga whakahaere e ai ki te kaupapa whakauru, ā, ka whakahaere i aua tohu. Ko te mahi matua okaretao ahumahi Ko te hangarau whakahaere he whakahaere i te whānuitanga o ngā mahi, te tū me te huarahi, me te wā mahi okaretao ahumahikei roto i te wāhi mahi. He ngāwari te hōtaka, he ngāwari te whakahaere i te tahua pūmanawa, he hoa te atanga taunekeneke tangata-rorohiko, he tohutohu whakahaere ipurangi, ā, he watea te whakamahi. Ko te pūnaha whakahaere te uho o te karetao, ā, e tata ana ngā kamupene o tāwāhi ki ā mātou whakamātautau. I ngā tau tata nei, me te whanaketanga o te hangarau hiko iti, kua piki haere te mahi a ngā tukatuka iti, ā, kua iti haere te utu. Ināianei, kua puta mai ngā tukatuka iti 32-moka ki te mākete, he 1-2 tāra US te utu. Nā ngā tukatuka iti utu-whai hua kua kawea mai he whai wāhitanga whanaketanga hou ki ngā kaiwhakahaere karetao, kia taea ai te whakawhanake i ngā kaiwhakahaere karetao iti te utu, teitei te mahi. Kia rawaka ai ngā āheinga rorohiko me te rokiroki o te pūnaha, ko te nuinga o ngā kaiwhakahaere karetao he raupapa ARM kaha, raupapa DSP, raupapa POWERPC, raupapa Intel me ētahi atu maramara. Nā te mea kāore e taea e ngā mahi me ngā mahi a ngā maramara whānui o nāianei te whakatutuki i ngā whakaritenga o ētahi pūnaha karetao e pā ana ki te utu, te mahi, te whakaurunga me ngā atanga, kua ara ake te hiahia mō te hangarau SoC (Pūnaha i runga i te Maramara) i roto i ngā pūnaha karetao. Kua whakauruhia te tukatuka ki ngā atanga e hiahiatia ana, ka taea te whakahaere i te hoahoa o ngā ara iahiko taha pūnaha, te whakaiti i te rahi o te pūnaha, me te whakaiti i ngā utu. Hei tauira, ka whakauruhia e Actel ngā matua tukatuka NEOS, ARM7 rānei ki roto i āna hua FPGA hei hanga i tētahi pūnaha SoC katoa. Mō ngā kaiwhakahaere hangarau karetao, ko tana rangahau kei te nuinga o te wā e aro ana ki te United States me Hapani, ā, kei reira ngā hua kua pakeke, pērā i te American DELTATAU Company, te Pengli Co., Ltd. o Hapani, me ētahi atu. Ka whakamahia e tana kaiwhakahaere nekehanga te hangarau DSP hei matua, ā, ka whakamahia he hanganga tuwhera e hangai ana ki te PC. 4. Kaiwhakaputa mutunga Ko te pūwhakamahi mutunga he wāhanga e hono ana ki te hononga whakamutunga o te kaiwhakahaere. E whakamahia ana hei hopu i ngā mea, hei hono atu ki ētahi atu tikanga, hei mahi i ngā mahi e hiahiatia ana. Kāore ngā kaihanga karetao e hoahoa, e hoko rānei i ngā pūwhakamahi mutunga; i te nuinga o te wā, he pūmau noa iho tā rātou e whakarato ana. I te nuinga o te wā ka tāutahia te pūwhakamahi mutunga ki te flange tuaka-6 o te karetao hei whakaoti i ngā mahi i roto i tētahi taiao, pērā i te whakarewa, te peita, te whakapiri, me te uta me te tango i ngā wāhanga, arā, ngā mahi e hiahiatia ana kia oti i ngā karetao.
He tirohanga whānui mō ngā motuka servo Ko te taraiwa servo, e mōhiotia ana ko te "kaiwhakahaere servo" me te "whakakaha servo", he kaiwhakahaere e whakamahia ana hei whakahaere i ngā motuka servo. He rite tana mahi ki te kaitahuri auau i runga i ngā motuka AC noa, ā, he wāhanga o te pūnaha servo. I te nuinga o te wā, e toru ngā tikanga e whakahaeretia ana te motuka servo: te tūranga, te tere me te taipana hei whakatutuki i te tūranga tika o te pūnaha tuku.
1. Te whakarōpūtanga o ngā motuka servo E rua ngā wāhanga: ngā motuka servo DC me te AC.
Ka wehea anō ngā motuka servo AC ki ngā motuka servo kore-tukutahi me ngā motuka servo tukutahi. I tēnei wā, kei te whakakapi haere ngā pūnaha AC i ngā pūnaha DC. Ki te whakatauritea ki ngā pūnaha DC, he pai ngā painga o ngā motuka servo AC, arā, he pono teitei, he pai te tohatoha wera, he iti te wā o te inertia, me te kaha ki te mahi i raro i te pēhanga teitei. Nā te mea kāore he paraihe me ngā taputapu urungi, ka huri te pūnaha servo AC hei pūnaha servo kore-paraihe, ā, ko ngā motuka e whakamahia ana i roto ko ngā motuka kore-tukutahi momo-whare me ngā motuka tukutahi aukume tuturu me te hanganga kore-paraihe. 1) Ka wehea ngā motuka servo DC ki ngā motuka paraihe me ngā motuka kore paraihe
①He iti te utu o ngā motuka paraihe, he ngāwari te hanganga, he nui te taipana tīmatanga, he whānui te awhe tere, he ngāwari te whakahaere, me tiaki, engari he ngāwari ki te tiaki (whakakapi i ngā paraihe waro), ka puta he pokanoa hikohiko, he whakaritenga mō te taiao whakamahinga, ā, he mea whakamahi noa mō te whakahaere utu. He tairongo ki ngā āhuatanga ahumahi me ngā āhuatanga ā-iwi whānui;
②He iti te rahi o ngā mōta kore paraihe, he māmā hoki te taumaha, he nui te putanga me te tere o te urupare. He tere teitei, he iti te ātete, he pūmau te taipana, ā, he maeneene te hurihanga. He uaua, he atamai hoki te whakahaere. He ngāwari te tikanga whakawhiti hiko. Ka taea te whakawhiti me te ngaru tapawhā, te ngaru sine rānei. Kāore he tiaki, he pai hoki te mōta. He penapena pūngao, he iti te irahiko hiko, he iti te pikinga pāmahana, he roa te ora, he pai mō ngā taiao rerekē.
2. Ngā āhuatanga o ngā momo motuka servo rerekē
1) Ngā painga me ngā ngoikoretanga o te motuka servo DC Ngā Painga: te whakahaere tere tika, ngā āhuatanga taipana me te tere tino pakari, te mātāpono whakahaere māmā, te ngāwari ki te whakamahi, me te utu iti. Ngā ngoikoretanga: te whakawhiti paraihe, te tere tere, te ātete tāpiri, te whakaputanga o ngā matūriki kakahu (kāore i te pai mō ngā taiao kore puehu me ngā taiao pahū)
2) Ngā painga me ngā ngoikoretanga o te motuka servo AC Ngā Painga: ngā āhuatanga whakahaere tere pai, te whakahaere maeneene i te awhe tere katoa, tata kore he wiri, he pai te mahi neke atu i te 90%, he iti ake te whakaputa wera, he whakahaere tere-tiketike, he tino tika te whakahaere tūranga (i runga i te tika o te encoder), he rohe whakahaere kua whakatauria. I roto, ka taea te whakatutuki i te taipana pumau, te iti o te ātete, te iti o te haruru, te kore e mau te paraihe, me te kore tiaki (he pai mō ngā taiao kore puehu me te pahū). Ngā Huakore: He uaua ake te whakahaere, me whakarite ngā tawhā taraiwa i te papaanga, me te whakatau i ngā tawhā PID, ā, me nui ake ngā hononga e hiahiatia ana. I tēnei wā, ko ngā puku servo matua e whakamahi ana i ngā tukatuka tohu mamati (DSP) hei matua whakahaere, ka taea te whakatinana i ngā rauropi whakahaere uaua me te whakatutuki i te mamati, te whatunga me te mohio. Ko te tikanga, ka whakamahia e ngā taputapu hiko ngā ara iahiko taraiwa kua hangaia me ngā kōwae hiko atamai (IPM) hei matua. Ka whakauruhia e te IPM te ara iahiko taraiwa, ā, he ara iahiko kimi me te tiaki hapa pērā i te ngaohiko nui, te iahiko nui, te wera nui, me te ngaohiko iti. Ka tāpirihia hoki he pūmanawa ki te ara iahiko matua. Ara iahiko tīmatanga hei whakaiti i te pānga o te tukanga tīmatanga ki te taraiwa. Ka whakatikahia tuatahitia e te waeine puku hiko te mana whakauru-toru-wāhanga, te mana matua rānei mā te ara iahiko whakatikatika piriti-katoa-toru-wāhanga hei whiwhi i te iahiko tika e rite ana. Kātahi ka hurihia te mana matua, te mana matua rānei kua whakatikatikahia ki te auau e te kaitahuri ngaohiko PWM sinusoidal-toru-wāhanga hei taraiwa i te motuka servo AC tukutahi aukume tuturu-toru-wāhanga. Ko te tukanga katoa o te waeine puku hiko ka taea te kī noa ko te tukanga AC-DC-AC. Ko te ara iahiko topological matua o te waeine whakatikatika (AC-DC) he ara iahiko whakatikatika piriti-katoa-toru-wāhanga kāore i te whakahaeretia.
Tirohanga pahū o te whakaiti harmonic E 6-7 tau te roa o te Kamupene Nabtesco Hapanihi mai i te whakaaro mō te hoahoa RV i te tīmatanga o te tekau tau atu i 1980 ki te whakatutuki i tētahi whanaketanga nui i roto i te rangahau whakaiti RV i te tau 1986; ā, e 6-8 tau anō hoki te roa o te wā i pau i a Nantong Zhenkang me Hengfengtai, ko rāua ngā tuatahi ki te whakaputa hua i Haina. Ko te tikanga tēnei kāore he whai wāhitanga a ā tātou umanga ā-rohe? Ko te rongo pai, i muri i ētahi tau o te whakatinanatanga, kua tutuki i ngā kamupene Haina ētahi whanaketanga.
*I tangohia mai te tuhinga i te Ipurangi, tēnā whakapā mai ki a mātou kia mukua ai te takahi ture.
Wā tuku: Hepetema-15-2023
