外文翻译步进电机和伺服电机的系统控制.doc

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1、Step Motor& Servo Motor Systems and ControlsMotion Architect Software Does the Work for You. Configure ,Diagnose, Debug Compumotors Motion Architect is a Microsoft Windows-based software development tool for 6000Series products that allows you to automatically generate commented setup code, edit and

2、 execute motion control programs, and create a custom operator test panel. The heart of Motion Architect is the shell, which provides an integrated environment to access the following modules. System ConfiguratorThis module prompts you to fill in all pertinent set-up information to initiate motion.

3、Configurable to the specific 6000 Series product that is selected, the information is then used to generate actual 6000-language code that is the beginning of your program. Program EditorThis module allows you to edit code. It also has the commands available through “Help” menus. A users guide is pr

4、ovided on disk. Terminal EmulatorThis module allows you to interact directly with the 6000 product. “Help” is again available with all commands and their definitions available for reference. Test PanelYou can simulate your programs, debug programs, and check for program flow using this module.Motion

5、 Architect has been designed for use with all 6000 Series productsfor both servo and stepper technologies. The versatility of Windows and the 6000 Series language allow you to solve applications ranging from the very simple to the complex.Motion Architect comes standard with each of the 6000 Series

6、products and is a tool that makes using these controllers even more simpleshortening the project development time considerably. A value-added feature of Motion Architect, when used with the 6000 Servo Controllers, is its tuning aide. This additional module allows you to graphically display a variety

7、 of move parameters and see how these parameters change based on tuning values.Using Motion Architect, you can open multiple windows at once. For example, both the Program Editor and Terminal Emulator windows can be opened to run the program, get information, and then make changes to the program.On-

8、line help is available throughout Motion Architect, including interactive access to the contents of the Compumotor 6000 Series Software Reference Guide.SOLVING APPLICATIONS FROM SIMPLE TO COMPLEXServo Control is Yours with Servo Tuner SoftwareCompumotor combines the 6000 Series servo controllers wit

9、h Servo Tuner software. The Servo Tuner is an add-on module that expands and enhances the capabilities of Motion Architect.Motion Architect and the Servo Tuner combine to provide graphical feedback of real-time motion information and provide an easy environment for setting tuning gains and related s

10、ystemparameters as well as providing file operations to save and recall tuning sessions.Draw Your Own Motion Control Solutions with Motion Toolbox SoftwareMotion Toolbox is an extensive library of LabVIEW virtual instruments (VIs) for icon-based programming of Compumotors 6000 Series motion controll

11、ers.When using Motion Toolbox with LabVIEW, programming of the 6000 Series controller is accomplished by linking graphic icons, or VIs, together to form a block diagram.Motion Toolboxs has a library of more than 150 command,status, and example VIs. All command and status VIs include LabVIEW source d

12、iagrams so you can modify them, if necessary, to suit your particular needs. Motion Toolbox als user manual to help you gut up and running prehensiveM Software for Computer-Aided Motion Applications CompuCAM is a Windows-based programming package that imports geometry from CAD programs, plotter file

13、s, or NC programs and generates 6000 code compatible with Compumotors 6000 Series motion controllers. Available for purchase from Compumotor, CompuCAM is an add-on module which is invoked as a utility from the menu bar of Motion Architect.From CompuCAM, run your CAD software package. Once a drawing

14、is created, save it as either a DXF file, HP-GL plot file or G-code NC program. This geometry is then imported into CompuCAM where the 6000 code is generated. After generating the program, you may use Motion Architect functions such as editing or downloading the code for execution.Motion Builder Sof

15、tware for Easy Programming of the 6000 SeriesMotion Builder revolutionizes motion control programming. This innovative software allows programmers to program in a way they are familiar witha flowchart-style method. Motion Builder decreases the learning curve and makes motion control programming easy

16、.Motion Builder is a Microsoft Windows-based graphical development environment which allows expert and novice programmers to easily program the 6000 Series products without learning a new programming language. Simply drag and drop visual icons that represent the motion functions you want to perform.

17、Motion Builder is a complete application development environment. In addition to visually programming the 6000 Series products, users may configure, debug, download, and execute the motion program. SERVO VERSUS STEPPER. WHAT YOU NEED TO KNOWMotor Types and Their ApplicationsThe following section wil

18、l give you some idea of the applications that are particularly appropriate for each motor type, together with certain applications that are best avoided. It should be stressed that there is a wide range of applications which can be equally well met by more than one motor type, and the choice will te

19、nd to be dictated by customer preference, previous experience or compatibility with existing equipment.A helpful tool for selecting the proper motor for your application is Compumotors Motor Sizing and Selection software package. Using this software, users can easily identify the appropriate motor s

20、ize and type.High torque, low speedcontinuous duty applications are appropriate to the step motor. At low speeds it is very efficient in terms of torque output relative to both size and input power. Microstepping can be used to improve smoothness in lowspeed applications such as a metering pump driv

21、e for very accurate flow control.High torque, high speedcontinuous duty applications suit the servo motor, and in fact a step motor should be avoided in such applications because the high-speed losses can cause excessive motor heating.Short, rapid, repetitive movesare the natural domain of the stepp

22、er due to its high torque at low speeds, good torque-to-inertia ratio and lack of commutation problems. The brushes of the DC motor can limit its potential for frequent starts, stops and direction changes.Low speed, high smoothness applications are appropriate for microstepping or direct drive servo

23、s.Applications in hazardous environmentsor in a vacuum may not be able to use a brushed motor. Either a stepper or a brushless motor is called for, depending on the demands of the load. Bear in mind that heat dissipation may be a problem in a vacuum when the loads are excessive.SELECTING THE MOTOR T

24、HAT SUITS YOUR APPLICATIONIntroductionMotion control, in its widest sense, could relate to anything from a welding robot to the hydraulic system in a mobile crane. In the field of Electronic Motion Control, we are primarily concerned with systems falling within a limited power range, typically up to

25、 about 10HP (7KW), and requiring precision in one or more aspects. This may involve accurate control of distance or speed, very often both, and sometimes other parameters such as torque or acceleration rate. In the case of the two examples given, the welding robot requires precise control of both sp

26、eed and distance; the crane hydraulic system uses the driver as the feedback system so its accuracy varies with the skill of the operator. This wouldnt be considered a motion control system in the strict sense of the term.Our standard motion control system consists of three basic elements:Fig. 1 Ele

27、ments of motion control systemThe motor. This may be a stepper motor (either rotary or linear), a DC brush motor or a brushless servo motor. The motor needs to be fitted with some kind of feedback device unless it is a stepper motor.Fig. 2 shows a system complete with feedback to control motor speed

28、. Such a system is known as a closed-loop velocity servo system.Fig. 2 Typical closed loop (velocity) servo systemThe drive. This is an electronic power amplifier thatdelivers the power to operate the motor in response to low-level control signals. In general, the drive will be specifically designed

29、 to operate with a particular motor type you cant use a stepper drive to operate a DC brush motor, for instance.Application Areas of Motor TypesStepper MotorsStepper Motor BenefitsStepper motors have the following benefits: Low cost Ruggedness Simplicity in construction High reliability No maintenan

30、ce Wide acceptance No tweaking to stabilize No feedback components are needed They work in just about any environment Inherently more failsafe than servo motors.There is virtually no conceivable failure within the stepper drive module that could cause the motor to run away. Stepper motors are simple

31、 to drive and control in an open-loop configuration. They only require four leads. They provide excellent torque at low speeds, up to 5 times the continuous torque of a brush motor of the same frame size or double the torque of the equivalent brushless motor. This often eliminates the need for a gea

32、rbox. A stepper-driven-system is inherently stiff, with known limits to the dynamic position error.Stepper Motor DisadvantagesStepper motors have the following disadvantages: Resonance effects and relatively long settlingtimes Rough performance at low speed unless amicrostep drive is used Liability

33、to undetected position loss as a result ofoperating open-loop They consume current regardless of loadconditions and therefore tend to run hot Losses at speed are relatively high and can causeexcessive heating, and they are frequently noisy(especially at high speeds). They can exhibit lag-lead oscill

34、ation, which isdifficult to damp. There is a limit to their availablesize, and positioning accuracy relies on themechanics (e.g., ballscrew accuracy). Many ofthese drawbacks can be overcome by the use ofa closed-loop control scheme.Note: The Compumotor Zeta Series minimizes orreduces many of these d

35、ifferent stepper motor disadvantages.There are three main stepper motor types: Permanent Magnet (P.M.) Motors Variable Reluctance (V.R.) Motors Hybrid MotorsWhen the motor is driven in its full-step mode, energizing two windings or “phases” at a time (see Fig. 1.8), the torque available on each step

36、 will be the same (subject to very small variations in the motor and drive characteristics). In the half-step mode, we are alternately energizing two phases and then only one as shown in Fig. 1.9. Assuming the drive delivers the same winding current in each case, this will cause greater torque to be

37、 produced when there are two windings energized. In other words, alternate steps will be strong and weak. This does not represent a major deterrent to motor performancethe available torque is obviously limited by the weaker step, but there will be a significant improvement in low-speed smoothness ov

38、er the full-step mode.Clearly, we would like to produce approximately equal torque on every step, and this torque should be at the level of the stronger step. We can achieve this by using a higher current level when there is only one winding energized. This does not over dissipate the motor because

39、the manufacturers current rating assumes two phases to be energized the current rating is based on the allowable case temperature). With only one phase energized, the same total power will be dissipated if the current is increased by 40%. Using this higher current in the one-phase-on state produces

40、approximately equal torque on alternate steps (see Fig. 1.10).Fig. 1.8 Full step current, 2-phase onFig. 1.9 Half step currentFig. 1.10 Half step current, profiledWe have seen that energizing both phases with equal currents produces an intermediate step position half-way between the one-phase-on pos

41、itions. If the two phase currents are unequal, the rotor position will be shifted towards the stronger pole. This effect is utilized in the microstepping drive, which subdivides the basic motor step by proportioning the current in the two windings. In this way, the step size is reduced and the low-s

42、peed smoothness is dramatically improved. High-resolution microstep drives divide the full motor step into as many as 500 microsteps, giving 100,000 steps per revolution. In this situation, the current pattern in the windings closely resembles two sine waves with a 90 phase shift between them (see F

43、ig. 1.11). The motor is now being driven very much as though it is a conventional AC synchronous motor. In fact, the stepper motor can be driven in this way from a 60 Hz-US (50Hz-Europe) sine wave source by including a capacitor in series with one phase. It will rotate at 72 rpm.Fig. 1.11 Phase curr

44、ents in microstep modeStandard 200-Step Hybrid MotorThe standard stepper motor operates in the same way as our simple model, but has a greater number of teeth on the rotor and stator, giving a smaller basic step size. The rotor is in two sections as before, but has 50 teeth on each section. The half

45、-tooth displacement between the two sections is retained. The stator has 8 poles each with 5 teeth, making a total of 40 teeth (see Fig. 1.12).Fig. 1.12 200-step hybrid motorIf we imagine that a tooth is placed in each of the gaps between the stator poles, there would be a total of 48 teeth, two les

46、s than the number of rotor teeth. So if rotor and stator teeth are aligned at 12 oclock, they will also be aligned at 6 oclock. At 3 oclock and 9 oclock the teeth will be misaligned. However, due to the displacement between the sets of rotor teeth, alignment will occur at 3 oclock and 9 oclock at th

47、e other end of the rotor.The windings are arranged in sets of four, and wound such that diametrically-opposite poles are the same. So referring to Fig. 1.12, the north poles at 12 and 6 oclock attract the south-pole teeth at the front of the rotor; the south poles at 3 and 9 oclock attract the north

48、-pole teeth at the back. By switching current to the second set of coils, the stator field pattern rotates through 45. However, to align with this new field, the rotor only has to turn through 1.8. This is equivalent to one quarter of a tooth pitch on the rotor, giving 200 full steps per revolution.

49、Note that there are as many detent positions as there are full steps per rev, normally 200. The detent positions correspond with rotor teeth being fully aligned with stator teeth. When power is applied to a stepper drive, it is usual for it to energize in the “zero phase” state in which there is current in both