外文翻译步进电机和伺服电机的系统控制.docx

外文翻译步进电机和伺服电机的系统控制.docx

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外文翻译步进电机和伺服电机的系统控制

StepMotor&ServoMotorSystemsandControls

MotionArchitect®SoftwareDoestheWorkforYou...Configure,Diagnose,DebugCompumotor’sMotionArchitectisaMicrosoft®Windows™-basedsoftwaredevelopmenttoolfor6000Seriesproductsthatallowsyoutoautomaticallygeneratecommentedsetupcode,editandexecutemotioncontrolprograms,andcreateacustomoperatortestpanel.TheheartofMotionArchitectistheshell,whichprovidesanintegratedenvironmenttoaccessthefollowingmodules.

•SystemConfigurator—Thismodulepromptsyoutofillinallpertinentset-upinformationtoinitiatemotion.Configurabletothespecific6000Seriesproductthatisselected,theinformationisthenusedtogenerateactual6000-languagecodethatisthebeginningofyourprogram.

•ProgramEditor—Thismoduleallowsyoutoeditcode.Italsohasthecommandsavailablethrough“Help”menus.Auser’sguideisprovidedondisk.

•TerminalEmulator—Thismoduleallowsyoutointeractdirectlywiththe6000product.“Help”isagainavailablewithallcommandsandtheirdefinitionsavailableforreference.

•TestPanel—Youcansimulateyourprograms,debugprograms,andcheckforprogramflowusingthismodule.

MotionArchitect®hasbeendesignedforusewithall6000Seriesproducts—forbothservoandsteppertechnologies.TheversatilityofWindowsandthe6000Serieslanguageallowyoutosolveapplicationsrangingfromtheverysimpletothecomplex.

MotionArchitectcomesstandardwitheachofthe6000Seriesproductsandisatoolthatmakesusingthesecontrollersevenmoresimple—shorteningtheprojectdevelopmenttimeconsiderably.Avalue-addedfeatureofMotionArchitect,whenusedwiththe6000ServoControllers,isitstuningaide.Thisadditionalmoduleallowsyoutographicallydisplayavarietyofmoveparametersandseehowtheseparameterschangebasedontuningvalues.

UsingMotionArchitect,youcanopenmultiplewindowsatonce.Forexample,boththeProgramEditorandTerminalEmulatorwindowscanbeopenedtoruntheprogram,getinformation,andthenmakechangestotheprogram.

On-linehelpisavailablethroughoutMotionArchitect,includinginteractiveaccesstothecontentsoftheCompumotor6000SeriesSoftwareReferenceGuide.

SOLVINGAPPLICATIONSFROMSIMPLETOCOMPLEX

ServoControlisYourswithServoTunerSoftware

Compumotorcombinesthe6000SeriesservocontrollerswithServoTunersoftware.TheServoTunerisanadd-onmodulethatexpandsandenhancesthecapabilitiesofMotionArchitect®.

MotionArchitectandtheServoTunercombinetoprovidegraphicalfeedbackofreal-timemotioninformationandprovideaneasyenvironmentforsettingtuninggainsandrelatedsystemparametersaswellasprovidingfileoperationstosaveandrecalltuningsessions.

DrawYourOwnMotionControlSolutionswithMotionToolboxSoftware

MotionToolbox™isanextensivelibraryofLabVIEW®virtualinstruments（VIs）foricon-basedprogrammingofCompumotor’s6000Seriesmotioncontrollers.

WhenusingMotionToolboxwithLabVIEW,programmingofthe6000Seriescontrollerisaccomplishedbylinkinggraphicicons,orVIs,togethertoformablockdiagram.

MotionToolbox’shasalibraryofmorethan150command,status,andexampleVIs.AllcommandandstatusVIsincludeLabVIEWsourcediagramssoyoucanmodifythem,ifnecessary,tosuityourparticularneeds.MotionToolboxalsusermanualtohelpyougutupandrunningquickly.

comprehensiveMSoftwareforComputer-AidedMotionApplications

CompuCAMisaWindows-basedprogrammingpackagethatimportsgeometryfromCADprograms,plotterfiles,orNCprogramsandgenerates6000codecompatiblewithCompumotor’s6000Seriesmotioncontrollers.AvailableforpurchasefromCompumotor,CompuCAMisanadd-onmodulewhichisinvokedasautilityfromthemenubarofMotionArchitect.

FromCompuCAM,runyourCADsoftwarepackage.Onceadrawingiscreated,saveitaseitheraDXFfile,HP-GLplotfileorG-codeNCprogram.ThisgeometryisthenimportedintoCompuCAMwherethe6000codeisgenerated.Aftergeneratingtheprogram,youmayuseMotionArchitectfunctionssuchaseditingordownloadingthecodeforexecution.

MotionBuilderSoftwareforEasyProgrammingofthe6000Series

MotionBuilderrevolutionizesmotioncontrolprogramming.Thisinnovativesoftwareallowsprogrammerstoprograminawaytheyarefamiliarwith—aflowchart-stylemethod.MotionBuilderdecreasesthelearningcurveandmakesmotioncontrolprogrammingeasy.

MotionBuilderisaMicrosoftWindows-basedgraphicaldevelopmentenvironmentwhichallowsexpertandnoviceprogrammerstoeasilyprogramthe6000Seriesproductswithoutlearninganewprogramminglanguage.Simplydraganddropvisualiconsthatrepresentthemotionfunctionsyouwanttoperform.

MotionBuilderisacompleteapplicationdevelopmentenvironment.Inadditiontovisuallyprogrammingthe6000Seriesproducts,usersmayconfigure,debug,download,andexecutethemotionprogram.

SERVOVERSUSSTEPPER...WHATYOUNEEDTOKNOW

MotorTypesandTheirApplications

Thefollowingsectionwillgiveyousomeideaoftheapplicationsthatareparticularlyappropriateforeachmotortype,togetherwithcertainapplicationsthatarebestavoided.Itshouldbestressedthatthereisawiderangeofapplicationswhichcanbeequallywellmetbymorethanonemotortype,andthechoicewilltendtobedictatedbycustomerpreference,previousexperienceorcompatibilitywithexistingequipment.

AhelpfultoolforselectingthepropermotorforyourapplicationisCompumotor’sMotorSizingandSelectionsoftwarepackage.Usingthissoftware,userscaneasilyidentifytheappropriatemotorsizeandtype.

Hightorque,lowspeed

continuousdutyapplicationsareappropriatetothestepmotor.Atlowspeedsitisveryefficientintermsoftorqueoutputrelativetobothsizeandinputpower.Microsteppingcanbeusedtoimprovesmoothnessinlowspeedapplicationssuchasameteringpumpdriveforveryaccurateflowcontrol.

Hightorque,highspeed

continuousdutyapplicationssuittheservomotor,andinfactastepmotorshouldbeavoidedinsuchapplicationsbecausethehigh-speedlossescancauseexcessivemotorheating.

Short,rapid,repetitivemoves

arethenaturaldomainofthestepperduetoitshightorqueatlowspeeds,goodtorque-to-inertiaratioandlackofcommutationproblems.ThebrushesoftheDCmotorcanlimititspotentialforfrequentstarts,stopsanddirectionchanges.

Lowspeed,highsmoothnessapplications

areappropriateformicrosteppingordirectdriveservos.

Applicationsinhazardousenvironments

orinavacuummaynotbeabletouseabrushedmotor.Eitherastepperorabrushlessmotoriscalledfor,dependingonthedemandsoftheload.Bearinmindthatheatdissipationmaybeaprobleminavacuumwhentheloadsareexcessive.

SELECTINGTHEMOTORTHATSUITSYOURAPPLICATION

Introduction

Motioncontrol,initswidestsense,couldrelatetoanythingfromaweldingrobottothehydraulicsysteminamobilecrane.InthefieldofElectronicMotionControl,weareprimarilyconcernedwithsystemsfallingwithinalimitedpowerrange,typicallyuptoabout10HP（7KW）,andrequiringprecisioninoneormoreaspects.Thismayinvolveaccuratecontrolofdistanceorspeed,veryoftenboth,andsometimesotherparameterssuchastorqueoraccelerationrate.Inthecaseofthetwoexamplesgiven,theweldingrobotrequiresprecisecontrolofbothspeedanddistance;thecranehydraulicsystemusesthedriverasthefeedbacksystemsoitsaccuracyvarieswiththeskilloftheoperator.Thiswouldn’tbeconsideredamotioncontrolsysteminthestrictsenseoftheterm.Ourstandardmotioncontrolsystemconsistsofthreebasicelements:

Fig.1Elementsofmotioncontrolsystem

Themotor.Thismaybeasteppermotor（eitherrotaryorlinear）,aDCbrushmotororabrushlessservomotor.Themotorneedstobefittedwithsomekindoffeedbackdeviceunlessitisasteppermotor.

Fig.2showsasystemcompletewithfeedbacktocontrolmotorspeed.Suchasystemisknownasaclosed-loopvelocityservosystem.

Fig.2Typicalclosedloop（velocity）servosystem

Thedrive.Thisisanelectronicpoweramplifierthatdeliversthepowertooperatethemotorinresponsetolow-levelcontrolsignals.Ingeneral,thedrivewillbespecificallydesignedtooperatewithaparticularmotortype–youcan’tuseastepperdrivetooperateaDCbrushmotor,forinstance.

ApplicationAreasofMotorTypes

StepperMotors

StepperMotorBenefits

Steppermotorshavethefollowingbenefits:

•Lowcost

•Ruggedness

•Simplicityinconstruction

•Highreliability

•Nomaintenance

•Wideacceptance

•Notweakingtostabilize

•Nofeedbackcomponentsareneeded

•Theyworkinjustaboutanyenvironment

•Inherentlymorefailsafethanservomotors.

Thereisvirtuallynoconceivablefailurewithinthestepperdrivemodulethatcouldcausethemotortorunaway.Steppermotorsaresimpletodriveandcontrolinanopen-loopconfiguration.Theyonlyrequirefourleads.Theyprovideexcellenttorqueatlowspeeds,upto5timesthecontinuoustorqueofabrushmotorofthesameframesizeordoublethetorqueoftheequivalentbrushlessmotor.Thisofteneliminatestheneedforagearbox.Astepper-driven-systemisinherentlystiff,withknownlimitstothedynamicpositionerror.

StepperMotorDisadvantages

Steppermotorshavethefollowingdisadvantages:

•Resonanceeffectsandrelativelylongsettling

times

•Roughperformanceatlowspeedunlessa

microstepdriveisused

•Liabilitytoundetectedpositionlossasaresultof

operatingopen-loop

•Theyconsumecurrentregardlessofload

conditionsandthereforetendtorunhot

•Lossesatspeedarerelativelyh