滅火機器人結(jié)構(gòu)設(shè)計與控制

滅火機器人結(jié)構(gòu)設(shè)計與控制,滅火機器人結(jié)構(gòu)設(shè)計與控制,滅火,機器人,結(jié)構(gòu)設(shè)計,控制,節(jié)制 28 Chapter 1 Motor and Motion Control Systems fier in a silicon chip. This IC is capable of sensing the polarity of the rotors magnetic field and then sending appropriate signals to power transistors T1 and T2 to cause the motors rotor to rotate continuously. This is accomplished as follows: 1. With the rotor motionless, the HED detects the rotors north mag- netic pole, causing it to generate a signal that turns on transistor T2. This causes current to flow, energizing winding W2 to form a south- seeking electromagnetic rotor pole. This pole then attracts the rotors north pole to drive the rotor in a counterclockwise (CCW) direction. 2. The inertia of the rotor causes it to rotate past its neutral position so that the HED can then sense the rotors south magnetic pole. It then switches on transistor T1, causing current to flow in winding W1, thus forming a north-seeking stator pole that attracts the rotors south pole, causing it to continue to rotate in the CCW direction. The transistors conduct in the proper sequence to ensure that the exci- tation in the stator windings W2 and W1 always leads the PM rotor field to produce the torque necessary keep the rotor in constant rotation. The windings are energized in a pattern that rotates around the stator. There are usually two or three HEDs in practical brushless motors that are spaced apart by 90 or 120 around the motors rotor. They send the signals to the motion controller that actually triggers the power transis- tors, which drive the armature windings at a specified motor current and voltage level. The brushless motor in the exploded view Figure 1-24 illustrates a design for a miniature brushless DC motor that includes Hall-effect com- Figure 1-24 Exploded view of a brushless DC motor with Hall-effect device (HED) commutation.Chapter 1 Motor and Motion Control Systems 29 mutation. The stator is formed as an ironless sleeve of copper coils bonded together in polymer resin and fiberglass to form a rigid structure similar to cup-type rotors. However, it is fastened inside the steel lamina- tions within the motor housing. This method of construction permits a range of values for starting cur- rent and specific speed (rpm/V) depending on wire gauge and the num- ber of turns. Various terminal resistances can be obtained, permitting the user to select the optimum motor for a specific application. The Hall- effect sensors and a small magnet disk that is magnetized widthwise are mounted on a disk-shaped partition within the motor housing. Position Sensing in Brushless Motors Both magnetic sensors and resolvers can sense rotor position in brush- less motors. The diagram in Figure 1-25 shows how three magnetic sen- sors can sense rotor position in a three-phase electronically commutated brushless DC motor. In this example the magnetic sensors are located inside the end-bell of the motor. This inexpensive version is adequate for simple controls. In the alternate design shown in Figure 1-26, a resolver on the end cap of the motor is used to sense rotor position when greater positioning accuracy is required. The high-resolution signals from the resolver can Figure 1-25 A magnetic sensor as a rotor position indicator: sta- tionary brushless motor winding (1), permanent-magnet motor rotor (2), three-phase electroni- cally commutated field (3), three magnetic sensors (4), and the electronic circuit board (5).30 Chapter 1 Motor and Motion Control Systems be used to generate sinusoidal motor currents within the motor con- troller. The currents through the three motor windings are position inde- pendent and respectively 120 phase shifted. Brushless Motor Advantages Brushless DC motors have at least four distinct advantages over brush- type DC motors that are attributable to the replacement of mechanical commutation by electronic commutation. There is no need to replace brushes or remove the gritty residue caused by brush wear from the motor. Without brushes to cause electrical arcing, brushless motors do not present fire or explosion hazards in an environment where flammable or explosive vapors, dust, or liquids are present. Electromagnetic interference (EMI) is minimized by replacing mechanical commutation, the source of unwanted radio frequencies, with electronic commutation. Brushless motors can run faster and more efficiently with electronic commutation. Speeds of up to 50,000 rpm can be achieved vs. the upper limit of about 5000 rpm for brush-type DC motors. Figure 1-26 A resolver as a rotor position indicator: station- ary motor winding (1), perma- nent-magnet motor rotor (2), three-phase electronically com- mutated field (3), three magnetic sensors (4), and the electronic cir- cuit board (5).Chapter 1 Motor and Motion Control Systems 31 Brushless DC Motor Disadvantages There are at least four disadvantages of brushless DC servomotors. Brushless PM DC servomotors cannot be reversed by simply revers- ing the polarity of the power source. The order in which the current is fed to the field coil must be reversed. Brushless DC servomotors cost more than comparably rated brush- type DC servomotors. Additional system wiring is required to power the electronic commu- tation circuitry. The motion controller and driver electronics needed to operate a brushless DC servomotor are more complex and expensive than those required for a conventional DC servomotor. Consequently, the selection of a brushless motor is generally justified on a basis of specific application requirements or its hazardous operating environment. Characteristics of Brushless Rotary Servomotors It is difficult to generalize about the characteristics of DC rotary servo- motors because of the wide range of products available commercially. However, they typically offer continuous torque ratings of 0.62 lb-ft (0.84 N-m) to 5.0 lb-ft (6.8 N-m), peak torque ratings of 1.9 lb-ft (2.6 N-m) to 14 lb-ft (19 N-m), and continuous power ratings of 0.73 hp (0.54 kW) to 2.76 hp (2.06 kW). Maximum speeds can vary from 1400 to 7500 rpm, and the weight of these motors can be from 5.0 lb (2.3 kg) to 23 lb (10 kg). Feedback typically can be either by resolver or encoder. Linear Servomotors A linear motor is essentially a rotary motor that has been opened out into a flat plane, but it operates on the same principles. A permanent-magnet DC linear motor is similar to a permanent-magnet rotary motor, and an AC induction squirrel cage motor is similar to an induction linear motor. The same electromagnetic force that produces torque in a rotary motor also produces torque in a linear motor. Linear motors use the same con- trols and programmable position controllers as rotary motors.32 Chapter 1 Motor and Motion Control Systems Before the invention of linear motors, the only way to produce linear motion was to use pneumatic or hydraulic cylinders, or to translate rotary motion to linear motion with ballscrews or belts and pulleys. A linear motor consists of two mechanical assemblies: coil and mag- net, as shown in Figure 1-27. Current flowing in a winding in a magnetic flux field produces a force. The copper windings conduct current (I ), and the assembly generates magnetic flux density (B). When the current and flux density interact, a force (F) is generated in the direction shown in Figure 1-27, where F = I B. Even a small motor will run efficiently, and large forces can be created if a large number of turns are wound in the coil and the magnets are pow- erful rare-earth magnets. The windings are phased 120 electrical degrees apart, and they must be continually switched or commutated to sustain motion. Only brushless linear motors for closed-loop servomotor applications are discussed here. Two types of these motors are available commer- ciallysteel-core (also called iron-core) and epoxy-core (also called ironless). Each of these linear servomotors has characteristics and fea- tures that are optimal in different applications The coils of steel-core motors are wound on silicon steel to maximize the generated force available with a single-sided magnet assembly or way. Figure 1-28 shows a steel-core brushless linear motor. The steel in these motors focuses the magnetic flux to produce very high force den- sity. The magnet assembly consists of rare-earth bar magnets mounted on the upper surface of a steel base plate arranged to have alternating polarities (i.e., N, S, N, S) Figure 1-27 Operating princi- ples of a linear servomotor.