第五章 伺服驱动系统
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Transcript of 第五章 伺服驱动系统
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5-1 5-2 5-3 5-4 5-5 5-6 5-7
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5-1
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Servo System)CNC
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CNC
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.CNC
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1 2
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34
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mm0.01~0.005 mm 0.2s /=1/1000~1/10000
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5-2 0.0020.02mm/m10"/360 0.0010.01mm2"
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1
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2
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3
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2. (0.250.05)mm
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W22(a2b2)a2b2WW2mm, W12(a1b1)a1b1W1W2W1W2/3
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1/43.
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uUmsinte ekUmcoscos t
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uUmsinte ekUmcoscos t Um(V) (rad/s) k Wx 2x/W W
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90 usUmsint ucUmcost usuc eskUmcoscost eckUmcos( /2)sint kUmsinsint3. 1
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e eesec kUmcoscostkUmsinsint kUmcos(t) kUmcos(t 2x/W)
=1.8W=2mm = 2x/W=0.01mm
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usUmsindsint ucUmcosdsint d eskUmsindcoscost eckUmcosdcos(/2)cost kUm cosd sincost 2
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ees ec k Um (sind coscosd sin) cost k Um sin(d ) cost k Um sin(d 2x /W) cost de0 ek Um x cost= 2 x / W xexexxdd,e0dx
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4.
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1.
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2. 1
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2
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B w w B w = 0.01mm = 0.01 red B = 1mm100
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,
()()
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3 1/490904 w = 0.01mm 1mm.
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5 1 0.5-3mm 0.1mm 2 3 1 2
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() NC 1 NC 20000-30000p/r 2000-3000p/r
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2. 1 ()
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2 ()
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3 AB(90)ABBA
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4 ()
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3. 1 ()
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3 10
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4 N(N360)
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5-1 5-2 5-3 5-4 5-5 5-6 5-7
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Servo System)CNC
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5-3
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1. (1) (2) () ()(3) ()()(4) (5)
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2. ()
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3. 60940360/4091
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2 1/mm
C
C
B
B
A
A
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ABCA()BC1/3(3)2/3(6) BAC3BAC CAB3CAB A B C A
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A C B A 3 A B C A 3()
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AB BC CA AB AB BC CA AB 3
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A AC C BC B AB A 1.5 A AB B BC C CA A 1.5AABAB3BABAB1.5
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4. 5.
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1.
m Z K K=p/m
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S(mm) S()
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2. Tjmax (Nm) eT Te (e0)
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Tjmax
F N wkg m h i TF TF =0.2~0.4 Tjmax
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fq
J1J2(Nms2)J3 d (mm) fqF fq(Hz)T(Nm) J(Nms2) fqF fq3. fq /s
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4.
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5. fmax /s fmax fmax 6. Tf(F) T
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1. 2. 1 2 3 4
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3. 1 CNC JK EPROM
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CH250
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ABC ABC 100 110 010
A
B
C
1
1
0
0
2
1
1
0
3
0
1
0
4
0
1
1
5
0
0
1
6
1
0
1
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xZABCabcPIO()PA0PA5
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2 ()
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RcRcCVDRCVT LRa
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U180vU220v U1 VT1VT2U2
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VT1VT2U1ReVT1VT1U2 ReVT1
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5-1 5-2 5-3 5-4 5-5 5-6 5-7
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Servo System)CNC
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5-4 1.
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1000~1500r/min
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2. 1 a A abcd B abcd b A 2 B 1 A dcba B abcd
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2 EaURa Ia Ra() Ia(A)Ea EaCen Ce (Wb) n(r/min)
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Te(Nm) TeCTIa CT
n0 n
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3.
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tR tF
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. . tR (min) dtR(tRtF) ()
:tmd.
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1.
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2. PWM (PWM)
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u-++-UsrTGUsfPWM ++-+MTGUsf
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1 THPWMH H
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H VT1VT2VT3VT4 0tt1VT1VT2VT4ABEd t1tTVT1VT2VT3AB0VT4VD2 VT3VT4
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H VT3VT4ub1ub4ub2ub3ub1 0tt1VT1VT4EdABuABEd t1tTVT2VT3EdBAuABEd t1T/2AB t1T/2AB t1T/2AB
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H
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(2) CNC u uueruer
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uuerub1ub2ub3ub4
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() uer0ub1ub2ub3ub4VT1VT3VT2VT4VT2VT4VT1VT3uAB0 uer0ub1ub2(uuer)ub3ub4(uuer) 0tt1ub1ub4VT1VT4 EdVT1VT4 t1tt2ub2ub4ub1VT1VD3VT1
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t2tt30tt1 t3tTub1ub3,VT1VT3ub4VT4VT4VD2 ueruAB
uer0uAB (PWM)
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FANUC PWM CNC PWMV1V4H CDRCD1CD2MOLDBRMCC
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5-1 5-2 5-3 5-4 5-5 5-6 5-7
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CNC
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5-4 2080
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5-4
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2.
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nsns ns nns60f/p (r/min) f p n
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1. nns60f/p (r/min) f 2.
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PWMPWMPWMSPWM()3. SPWM
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1 UVT1VT4VT1VT4
VS
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A
+
Ud
VT
_1051032637.unknown
_1051032645.unknown
_1051032650.unknown
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2 VT1VT4uA=Ed/2VT1VD4uA=Ed/2 VT4VT1
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4. SPWM
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1. (1)
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(2)
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2. (1) U
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X-Y
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210g
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3.
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5-6 2.2~250kw 1100~1000110
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207080
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1. 2.
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3. f Ia
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1.
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2.
r/min
f1Hz p s
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3. f1 E1 Kr1 N1 mU1 KEKE4.44Kr1 N1
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f1fm CT I2 cos y 2 f Te U1f 1f U1 f U1f 1,
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(1) TI2TU1/f1 U1/f1Tmf1f1E1U1U1E1f1E1 U1 U1 E1U1 Tm
2000
1000
0 10 20 30 T(Nm)
T
f1
f2
f3
f4
f1>f2>f3>f4
n
_1051032637.unknown
_1051032645.unknown
_1051032650.unknown
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(2) Tm TmE1/f1=Tm
2000
1000
0 10 20 30 T(Nm)
f3
f2
f1>f2>f3>f4
f1
f4
T
T
f1
f2
f3
n
f4
f1>f2>f3>f4
n
_1051032637.unknown
_1051032645.unknown
_1051032650.unknown
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3 mf1
2000
1000
0 10 20 30 T(Nm)
f3
f2
f1>f2>f3>f4
f1
f4
T
T
f1
f2
f3
n
f4
f1>f2>f3>f4
n
_1051032637.unknown
_1051032645.unknown
_1051032650.unknown
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4. 1971F.Blachke f Ia
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Id Iq If Ia
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1 aofb9009000f abcdqidiqf 0a
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2 / ABC ABC90 f 0ab
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iaib /
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d q 0
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5-1 5-2 5-3 5-4 5-5 5-6 5-7
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Servo System)CNC
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5-7 1.
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2.
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(1) F0Pf =0 eFPf 00 (2) FoPf 0 eFPf0 F=Pf eFPf0 (2) Fo (3) Foeo (2) Fo (3) Fo (4) eDA3. ()
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4.
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1.
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2.
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: F=0
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(1) F0PAPBq00 (2) F0PA +qoPB0q PAPB +qooq 0 (2) F0 (3) F0PA - qo q 0 3. ()
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:
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1.
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2.
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qdq Fsqd
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(1) F0 qd=q 0Pf=0sFPfo0 (2) F0 sFPf 0 D/APfsFPf s 0 (2) F0 (3) F0sFPf 0 s 0 3. ()
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CPUCNCRAM
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PWMCPUPWMPGPWMPWM
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2.
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P-PI--PID
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3. feedforward control ""
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PIPIPI