A05B-2255-C102#EAW   FANUC 机器人示教器

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技术说明  :A05B-2255-C102#EAW   FANUC 机器人示教器

零件号:A05B-2255-C102#ESW
描述:点焊I挂件,(无触摸)
产品系列:A05B-2255
可用性:要求可用性
旧件更换:可选
维修:是

交流伺服电动机在结构上类似于单相异步电动机,它的定子铁芯中安放着空间相差90°电角度的两相绕组。一相称为励磁绕组,一相称为控制绕组。电动机工作时,励磁绕组接单相交流电压,控制绕组接控制信号电压,要求两相电压同频率。
交流伺服电动机的转子有两种结构形式。一种是笼型转子,与普通三相异步电动机笼型转子相似,只不过在外形上更细长,从而减小了转子的转动惯量,降低了电动机的机电时间常数。笼型转子交流伺服电动机体积较大,气隙小,所需的励磁电流小,功率因数较高,电动机的机械强度大,但快速响应性能稍差,低速运行也不够平稳。
另一种是非磁性空心杯形转子,其转子做成了杯形结构,为了减小气隙,在杯形转子内还有一个内定子,内定子上不设绕组,只起导磁作用,转子用铝或铝合金制成,杯壁厚0.2~0.8mm,转动惯量小且具有较大的电阻。空心杯型转子交流伺服电动机具有响应快、运行平稳的优点,但结构复杂,气隙大载电流大,功率因数较低。
在交流伺服电动机中,除了要求电动机不能“自转”外,还要求改变加在控制绕组上的电压的大小和相位能够改变电动机转速的大小和方向。
根据旋转磁动势理论,励磁绕组和控制绕组共同作用产生的是一个旋转磁场,旋转磁场的旋转方向是由相位超前的绕组转向相位滞后的绕组。改变控制绕组中控制电压的相位,可以改变两相绕组的超前滞后关系,从而改变旋转磁场的旋转方向,交流伺服电动机转速方向也会发生变化。改变控制电压的大小和相位,可以改变旋转磁场的磁通,从而改变电动机的电磁转矩,交流伺服电动机转速也会发生变化。
交流电动机的转速控制方法有幅值控制、相位控制和幅相控制三种。
(1)幅值控制是通过改变控制电压Uc的幅值来控制电动机的转速,而Uc的相位始终保持不变,使控制电流Ic与励磁电流If保持90°电角度的相位关系。如Uc=0则转速为0,电动机停转。
(2)相位控制是通过改变控制电压Uc的相位,从而改变控制电流Ic与励磁电流If之间的相位角来控制电动机的转速,在这种情况下,控制电压Uc的大小保持不变。当两相电流Ic与If之间的相位角为0°时,则转速为0,电动机停转。
(3)幅相控制是指通过同时改变控制电压Uc的幅值及Ic与If之间的相位角来控制电动机的转速。具体方法是在励磁绕组回路中串入一个移相电容C以后,再接到稳压电源U1上,这时励磁绕组上的电压Uf=U1-Uef。控制绕组上加与U1相同的控制电压Uc,那么当改变控制电压Uc的幅值来控制电动机转速时,由于转子绕组与励磁绕组之间的耦合作用,励磁绕组的电流If也随着转速的变化而发生变化,而使励磁绕组两端的电压Uf及电容C上的电压Uef也随之变化。这样改変Uc幅值可改変Uc、Uf的幅值,以及它们之间的相位角以及相应电流。
在三种控制方法中,虽然幅相控制的机械特性和调节特性最差,但由于这种方法所采用的控制设备简单,不用移相装置,应用最为广泛。

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A05B-2255-C102#EAW

For the power amplification part of the drive motor of the DC servo system often used in radar, the linear weight is light, the speed is slow, the drive power is small, generally tens of watts, you can directly use the DC power to control the motor. When the driving power is required to be close to kW or more, the choice of driving scheme, that is, to amplify the armature current of DC motor, is an important part of the design of servo system. High power DC power supply uses more: transistor power amplifier, thyristor power amplifier and motor magnifying machine and so on. For kilowatt level transistor power amplifier used less. Thyristor technology has been rapidly developed and widely used in the 1960s and early 1970s, but because of various reasons at that time, such as reliability, many products gave up the thyristor control. Integrated driver modules are generally manufactured for transistors or thyristors. Motor enlarger is a traditional DC servo motor power amplifier device, because of its simple control, strong and durable, the new type of radar products are still used. The following is mainly to magnify the motor as an example, and AC servo motor to compare its advantages and disadvantages.
The amplifier motor is often called the expansion machine. It is generally used to drive the two-stage DC generator set in series by AC asynchronous induction motor, so as to achieve DC control. Two groups of control windings, the input impedance of each group is several thousand ohms, if the input impedance is about 10 thousand ohms, generally complementary balanced symmetrical input, when the system input is not zero, break its balance, so that the amplifier motor has an output signal. When the input current is more than ten to tens of milliamps, the output can reach more than 100v DC voltage and a few amps to tens of amps of current, directly connected to the armature winding of DC servo motor. Its main disadvantages are large volume weight, nonlinear degree, especially near zero is not very good, which needs careful treatment for high requirements of the system.
The AC servo motor is equipped with a special driver, its volume and weight is much less than the same power of the amplifier motor, it depends on the internal transistor or thyristor composed of switching circuit, according to the servo motor photoelectric encoder or hall device to judge the rotor position at that time, determine the drive motor A, b, c three corresponding output state, so its efficiency and stability are very good. So unlike the control amplifier motor need to do a special power amplifier circuit. This kind of motor is generally permanent magnet, a, b, c three-phase current generated by the driver to control the motor rotation, so called AC servo motor; The driver input control signal can be a pulse train, can also be a DC voltage signal (generally ±10v), so it is also called DC brushless motor.
Simple test comparison of two kinds of motors
A simple experimental comparison is made between the two kinds of motors: as long as the original DC error signal of the system is directly connected to the AC servo driver analog control input, the AC servo motor and its driver are used to replace the original differential power amplifier, motor enlarger and DC servo motor, while the control part and Angle measuring element are unchanged, the output characteristics of the two schemes are simply compared.

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