Мехатроника 1 Бөлім mechatronics
partially placed inside the hollow rotor 6 of the engine
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Мехатроника 1 том Баймухамедов М.Ф., Джаманбалин Қ.Қ.,Ақгул м.К.
partially placed inside the hollow rotor 6 of the engine. The rotor 6 of the motor contains 20 highly efficient permanent magnets. On the stator 5 having 24 slots, phase windings 7 of the motor armature are placed, as well as three-phase tachometric windings for measuring the speed of rotation of the rotor and the excitation winding of the rotor position sensor (RPS). The design of RPS has features that significantly simplify the design and reduce the volume of the mechatronic motion module. In contrast to the com- monly used RPS based on Hall sensors, the RPS used in this module is not an independent constructive element but rather an «implicit» device. Its functions are realized with the help of several elements: tachometric windings, excitation windings located in specially manufactured stator orifices in the immediate vicinity of tachometric windings, and electronic equipment of mechatronic motion module. The advantage of the «implicit» RPS under consideration is that there is no need for phasing it when setting up the module, since it is provided by the engine design. In addition, such a RPS signals the rotor position continuously, which allows without any problems to form sinusoidal currents in the phase windings of the motor. This capability improves the properties of the mecha- tronic module as a result of reducing the ripple of the motor torque. The stationary part of the induction position sensor (IPS), inside which the screw moves forward, has a screw thread similar to the screw itself, and is, in fact, a nut. The difference is that the screw has a left thread, and the sensor nut is the right one. In addition, to ensure a free movement of the screw inside the IPS, the inner diameter of the sensor nut must be slightly larger than the outer diameter of the screw. The fixed part of the IPS consists of two half-wings, one of which is rotated relative to the other half a turn. Inside it are located the axial winding of excitation and the output windings wound in the grooves (sinus and cosine of the sensor winding), each of which has four sections, connected in series and in pairs in pairs. The magnetic flux generated by the alternating current flowing through the excitation windings is closed through the first half-nut, the screw and the second half-nut. In doing so, it permeates the sine and cosine windings of the IPS and induces an electromotive force (EMF) in them. The threads of the screw thread and the sensor nuts play the role of pole pieces. 160 When the position of the screw is changed as a result of the displacement of the protrusions of the threads of the screw relative to the protrusions of the threads of the sensor nut, the resistance of the magnetic circuits causing the formation of EMF induced in the output windings of the IPS varies differently. As a result, the EMF amplitudes in the sine and cosine of the sensor are diffe- rent and depend on the position of the screw relative to the fixed sensor nut. Thus, the harmonic signals induced in the windings are modulated in amplitude in function of the displacement of the screw. If the voltages arising in the sinus and cosine windings are subjected to phase-sensitive rectification, signals are generated whose envelopes are propor- tional to the sinus and cosine from the displacement of the screw, their periods corresponding to one step of the screw. Fig. 1.6 shows the mechatronic module of linear motion of the output link. It consists of an asynchronous electric motor 1 with a hollow shaft 2, a ball screw drive transducer including a screw 3, balls 4, a compound nut 5 rigidly attached to the shaft 2, the guide 6, the electromagnetic brake 7, the photo impulse sensor 8 and the housing 9. Figure 1.6 – Mechatronic module of linear motion of the output link When the rotor of the electric motor 1 rotates, the shaft 2 rotates the nut 5 which, through the balls 4, causes the screw 3 to move forward. To prevent the rotation and reduce friction, when the screw 3 is moved, three longitudinal grooves are made in it, into which the balls 10 of the guide 6 enter. The amount of movement of the screw 3 fixes the photoimpulse sensor 8. The electromagnetic brake 7 fixed in the housing 9, in the event of a power failure, triggers and stops the screw. 161 Figure 1.7 – The design of a two-degree (two-coordinate) mechatronic motion module The construction of a two-degree (two-coordinate) mechatronic module of motion is shown in Fig. 1.7. The module consists of two motors 1 and 2, a wave converter of motion with a fixed flexible wheel 3, a movable rigid wheel 4 and a cam wave generator 5, a two-stage motion transducer consisting of a bevel gear 6 and 7, a wave motion converter with a fixed rigid wheel 8, a flexible flexible wheel 9 and a cam wave generator 10, two photo-pulse sensors 11 and 12. When the motor 1 is turned on, the wave generator 5 starts to rotate and the rigid wheel 4 together of the associated housing 13 is set in motion. When the motor 2 is turned on, rotation of its shaft through a pair of gears 6 and 7 drives the wave generator 10 and the flexible wheel 9 together with the output shaft associated with it is driven. The pulse sensors 11 and 12 are designed to determine the position and movement of the housing 13 and output shaft 14, respectively. The MAXON mechatronic motion module is shown in Fig. 1.8 [9]. It consists of a collector motor 1, a two-stage motion transducer 2 and a photo-impulse sensor of position 3. The motor includes a winding 4, a magnet 5, a collector 6, brushes 7, a flange 8, a bearing 9, a shaft 10 ending with a pinion 11 (pinion shaft) and the cover 12. Each stage of the 2K-H planetary motion transducer with one external and one internal gearing has two central wheels 11 and 13 (the first stage), a carrier 14 and satellites 15. For mounting the bearing 9, there is a special plate 16. Bearing 17 is mounted in the flange 18, the motion converter, through which the output shaft 19. 162 Figure 1.8 – Mechatronic motion module by MAXON The photo-pulse position sensor is used to determine the position and displacement of the output shaft of the mechatronic motion module. The most important stage in the development of mechatronic modules of motion has been the development of modules of the «engine-working organ» type. Such constructive modules are of particular importance for technological mechatronic systems, the purpose of which is to implement the purposeful action of the working body on the work object. Mechatronic motion modules of the «motor-working» type are widely used in grinding and milling machines called motor-spindles. жүктеу/скачать 11,25 Mb. Достарыңызбен бөлісу:
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