(Luận văn) nghiên cứu phương pháp tính chọn thông số động cơ chấp hành cho truyền động điện

                      lu  an n va gh tn to p ie  d oa nl w nf va an lu z at nh oi lm ul z m co l gm @ an Lu n va i ac th si  L i  v  viii  ix  xii CH   ? lu an  .3 n va    khí 11 gh tn to CH .7 p ie  13 2.2.1 Ctam giác 14 oa nl w  15  16 d an lu 2.2.4 Phép tính   18 nf va 2.2.5 Các ph 20 lm ul 2  .21 2.2.6.1  .25 z at nh oi  .31 2.3.1.T  .35 z 2.3.2 Quán tính  mômen  35 @ gm 2.3.3 Mômen  .37 l  42 m co 2 cho  43 an Lu  b .44   45 n va ii ac th si   45   46  46  47 mômen 49  servo 49  b 54   b 55  56 lu  56 an va 2.5.2 Các ymômen   58 n  62 to 2.5.5  66 ie gh tn 2 .64 p  Y - Z) 68 nl w 2.5.7 N .70 d oa  72 an lu CHMÔMEN  .75 nf va 3.1 Các tính tốn c  .75 3.1.1 Các phng trình c  75 lm ul  76 z at nh oi  .77  78  khí 79 z gm @  80  .81 l co  83 m  .84 an Lu  .86 n va iii ac th si 3.2.6 Puli- 87  .89 3.2.8 C  me 91 3.2.9 C  92 3.2.10 C  94 3.2.11 C  .96 3.2.12 Bàn xoay 98  99  100 lu  103 an n va  104 p ie gh tn to d oa nl w nf va an lu z at nh oi lm ul z m co l gm @ an Lu n va iv ac th si  Hình 1.1.1: Chi phí    .4   Hình 2.1.1:  12  14  15  16  17 lu an Hình 2 theo hình tam giác hình thang 18 n va Hình 2.2.4.1:  19 Hình 2.2.6.2:  .23 gh tn to Hình 2.2.6.1: mômen .22 p ie Hình 20% 23 Hình 250% .24 nl w Hình 2100% .24 d oa Hình 2.2.6.6:  25 an lu  25 nf va  .27 i .28 lm ul Hình 2.2.6.1.5:  28 z at nh oi Hình 2.2.6.1.6: phng trình S thơng qua MS-Excel .29 Hình 2.3.1:  31 z  .32 gm @  .35 l  36 co  38 m .3.3.2:  phân  40 an Lu  47 n va v ac th si Hình 2.4.2.3 servo 50  .51   52   52  .53 Hình 2.4.2.4.1:  b .54   b .55  58 Hình 2 59 lu  60 an n va  60  61 gh tn to  .61 ie  63 p  65 nl w Hình  66 d oa  .66 an lu -  67 nf va   .67 -  68 lm ul Hình 2.5.6.1:   69 z at nh oi  .70 Hình 3.1.2.1:  76 Hình 3.1.3.1:  .77 z gm @ Hình 3.1.4.1:  .78 Hình 3.2.1.1:  81 l co Hình 3.2.2.1:  .81 m Hình 3.2.3.1:  83 an Lu  84 n va vi ac th si Hình  86 Hình 3.2.6.1 Puli- 87 Hình 3.2.7.1 C  .89 Hình 3.2.8.1 C  91 Hình 3.2.9.1 C  92 Hình 3.2.10.1 C  94 Hình 3.2.11.1 C  96 Hình 3.2.12.1 Bàn xoay 98   .99 lu  100 an n va p ie gh tn to d oa nl w nf va an lu z at nh oi lm ul z m co l gm @ an Lu n va vii ac th si    10  .42  44 lu an n va p ie gh tn to d oa nl w nf va an lu z at nh oi lm ul z m co l gm @ an Lu n va viii ac th si    lu an n va  Aside Di a G  cos   D  DGL  DGM  Dp  DPL  DPM  DRL  ie gh tn to Aend DRM p    oa nl w DSM DSL d  lu  Fg  Ffr ma sát FP  g Hng s gia tc trng g = 9,81m/s h C nf va z at nh oi lm ul Mômen RMS z @ I RMS an e Mômen  Ja-a Quán tính tính theo trc a-a Japp Q Jb-b Q-b m co l gm JA an Lu n va ix ac th si J Mômen  JDisk Mômen  JC  J  JDisk Mômen Mômen  Mômen  lu an  J  JGM  JL   J  Mômen   n va JGL Mômen  JPL gh Mômen  J Mômen  JPM Mômen  tn to JP p ie nl w Q d oa Jroto Mômen  J Mômen  JRM Mơmen  J  JSM Qn tính  Jtotal  Jtotal Mômen  Jsystem L Q Chiu dài tr/ b dày c Chiu dài khp ni/ Chiu dài khi m  Nr  Nr T nf va an lu JRL z at nh oi lm ul z m co l gm @ an Lu n va x ac th si    r: Bán kính    Nr  DPL DPM 3 lu  an va Nr n DPL to ie gh tn DPM Mômen      u     mômen quán tính p     mơmen            mômen nl w  d oa J total J PM J PL M J B 1  J   PL J B M  w B g e N r  e ; nf va an lu J PL  M  J L M M 2   JL D   PM  J L M    ; N r  e  z at nh oi  lm ul 3.2.7.3 Tính tốn mơmen   z DPM @ gm J total: Mômen  co l J : Mômen  m J : Mômen  J PL: Mômen  n va 90 an Lu J : Mô- ac th si J L: Mômen  Nr WB  TLM  TL N r e Tính tốn mơmen   Nr  lu T : Mômen  an n va T L: Mômen  tn to 3 bàn gh  p ie  d oa nl w nf va an lu Hình 3 lm ul    mơmen             z at nh oi mơmen qu ) Mơmen qn tính        mômen     z mơmen qn tính bulơng m co l gm @   an Lu n va 91 ac th si 3 Hình 3                  lu   an va  mômen  n  gh tn to                  mômen J toltal J s J L M p ie quán tính w J L M d oa nl  w w T   L   g e 2  PS  nf va  an lu 3.2.9.1 Mômen  lm ul   z at nh oi J total: Mômen  J A: Mômen  z J : Mômen  l gm WL  @ PS m co WT  an Lu   mômen mômen   n va 92 ac th si  , mômen               mơmen qn tính Fg w L w T sin y ; Ffr   w L wT cos y  F Fg F fr  TL M  P TP    P e S   3.2.9.2 Mômen    lu   an  va n Fg to tn Ffr PS p ie gh FP nl w T : Mômen  oa TP: Mômen  d WL  lu nf va an WT   lm ul  z at nh oi  mômen    z m co l gm @ an Lu n va 93 ac th si 3Máy cán   máy cán   lu an Hình 3Máy cán n va   Máy cán              tn to con l)  J disk  p ie gh )   m r w r   L  r4   2 g g oa nl w .2.10.1 Mômen  d  an lu  nf va J Disk: Mômen   r: Bán kính z  z at nh oi  lm ul   @ gm   l  n va 94 an Lu  m co  mômen quán   ac th si Nr  DRL DRM 3  Nr DRL DRM:  Mômen   mơmen qn tính Con  mơmen   lu an J total  J RM J RL M J RL M n va ;   J RL   N r  e tn to P.2.10.3 Mômen   p ie gh   nl w J total: mômen  d oa J RM: Mômen  an lu J : Mômen  TL Nr e z at nh oi TL  M  lm ul Nr nf va J RL: Mômen  3.2.10.4 Mômen   z Nr m TL: Mômen  co T : Mômen  l gm @  an Lu n va 95 ac th si  mômen  3     lu an  n va gh tn to p ie  Hình 3 nl w               d oa  Mômen   r m r w r   L    2 g g nf va J disk  an lu  quay lm ul 3.2.11.1 Mômen   z at nh oi  gm @  z J Disk: mômen quán   l co  m r: Bán kính an Lu  n va 96 ac th si               quan  (xem .2.11.2),  mơmen qn tính .2.11.3) V L h  w ; w V   3     lu an  n va V tn to  gh Jtotal  J P J L  M J L M D   P  2  p ie ; w w R  L g e w 3.2.11.3 Mômen  oa nl  d  an lu  nf va J total: Mômen  lm ul  J P: Mômen  z at nh oi J : Mômen  WL  ; Ffr  w L w T  y cos l gm sin y @ Fg  w L w T z WM  m co F F F fr  D P TL  M   P g  e   n va 97 an Lu 3.2.11.4 Mômen  ac th si Trong  Dp    Fg Ffr Fp kéo PS lu T : Mômen  an WL  n va WT                 gh tn to  ie           mômen qn tính tham gia vào làm p mơmen mơmen qn   nf va an  lu 3.2.12 Bàn xoay d oa nó) nl w mơmen  mơmen  z at nh oi lm ul bánh  z m co l gm @ Hình 3.2.12.1 Bàn xoay an Lu góc 90              mômen     n va 98 ac th si  J disk  m r w r  L  r   2 g g 3.2.12.1 Mômen    J Disk: Mômen    lu  an r: bán kính n va  to J L M ; 3.2.12.2 Mômen  p ie gh tn J total  J GM J L M 1  JL   N  r  e oa nl w TL  M  TL N r e d .2.12.3 Mômen  lu an 3.2.1  nf va  z at nh oi lm ul z gm @  m co l   n va 99 an Lu Hình 3 ac th si    mơmen qn tính    mơmen quán tính                      mômen          lu  an va n J disk  m r w r   L  r4   2 g g to gh tn  ie  p mômen  nl w   d oa 3  nf va an lu  z at nh oi lm ul z @  m co Hình 3 l gm   an Lu n va 100 ac th si                    chúng vào mômen quán tính            mômen          ,         mômen           lu  an va m r w r   L  r    2 g g n J disk to  3 mômen  p ie gh tn 3.2.14.1 Mômen  nl w  d oa  an lu   mômen                nf va  lm ul            mômen      Nr  z DRL DRM z at nh oi mômen  gm @  l Mômen          mômen    co       mômen          m  an Lu n va 101 ac th si J total  J RM J RL  M J RL M ; 1  J   RL Nr  e 3.2.14.3 Mômen   mômen  lu an n va p ie gh tn to d oa nl w nf va an lu z at nh oi lm ul z m co l gm @ an Lu n va 102 ac th si   n   quy trình tính      lu , an  va n  p ie gh tn to d oa nl w nf va an lu z at nh oi lm ul z m co l gm @ an Lu n va 103 ac th si  1.Motor Sizing - Calculating Speed, Inertia & Torque Requirements for Electrical Motors By Wilfried Voss http://www.copperhilltech.com A comprehensible guide to servo motor sizing By Wilfried Voss 2007 3.Motor Guide http://www.pge.com/biz/rebates/express_efficiency/useful_info/motor_guide.html Technical Reference: Sizing Example Oriental Motor General Catalog lu 2003/2004 an va Optimize Motor Control by Matching Motor Types to Applications n By Chuck Lewin, Performance Motion Devices RTC Magazine, March 2007 ie gh tn to Energy Efficient Motion By Mark T Hoske Control Engineering, July 2007 p T nl w / /http://www.copperhilltech.com d oa / /http://www.visualsizer.com an lu / /http://www.motorsmatter.org nf va / /http://zone.ni.com/devzone/cda/tut/p/id/3367 National Instruments Tutorial Fundamentals of Motion Control z at nh oi lm ul February 1, 2006 z m co l gm @ an Lu n va 104 ac th si