1、伺服培訓電機的選型計算伺服與驅動 Michel COUPATM8 lex15 Lexium Sizer目錄I關于機械的背景知識II再生能量 III電機選型計算的步驟IV施耐德伺服的計算V練習 Michel COUPATM8 lex15 Lexium Sizer電機和驅動器的選型計算I關于機械的背景知識單位機械公式 慣量的計算運動學摩擦慣量的比例 II再生能量III電機選型計算的步驟IV施耐德伺服的計算V練習 Michel COUPATM8 lex15 Lexium Sizer單位關于機械的背景知識 Michel COUPATM8 lex15 Lexium Sizer米制單位3 個基本單位 :

2、國際單位制 (SI)質量 : m單位 : 千克 (kg) 長度 : l單位 : 米 (m)時間 : t單位 : 秒 (s)_推導單位 :角度:單位 : 弧度 (rad) 360 = 2radrl Michel COUPATM8 lex15 Lexium Sizer運動學線速度 : l t-1單位 : 米每秒 (m/s or m.s-1)角速度 : t -1單位 : 弧度每秒 (rd/s or s-1) x in mt in sD in mt in s in radians in rd/sN in rpm米制單位 Michel COUPATM8 lex15 Lexium Sizer運動學 :線加

3、速度 : l t -2單位 : 米每秒平方 (m/s/s or m.s-2)角加速度 : t -2單位 : 弧度每平方秒 (rad.s-2 or s-2)v in m/st in st in s in rd/s米制單位 Michel COUPATM8 lex15 Lexium Sizer運動學 :力 : m l t -單位 : 牛頓 (N)力等于質量與加速度的乘積: F = m 重量 W : m l t - 單位 : 牛頓 (N) W = m.g (g : 重力加速度 = 9,81m/s ) 力矩 M : m l t -單位 : 牛米 (Nm)力與長度的乘積 : M = F r (力與長度的方

4、向垂直時) 運動力矩 : M = J (J : 轉動慣量 kg.m)能量: m l t - 單位 : 焦耳 (J)力與位移的乘積 : E = F L或轉矩與角度的乘積 : E = M rF米制單位 Michel COUPATM8 lex15 Lexium SizerE in Joulet in sF in NewtonV in m/sM in Nm in rad/s米制單位運動學 :功率 : m l t -3單位 : Watt (W) 1 W = 1 J/s* 直線運動 :P = F v* 角運動 : P = M Michel COUPATM8 lex15 Lexium Sizer英制單位質量

5、,重量,力 : 單位 : 磅 (lb) 盎司 (oz) : 1 lb = 16 oz 長度 : 單位 : 英寸 (in) 1英尺 (ft) = 12 英寸 - 1 碼 (yd) = 3英尺 時間 : 單位 : 秒 (s)線速度 : 單位 : 英寸每秒 (in/s)線加速度 : 單位 : 英寸每平方秒 (in/s) 力矩:單位 : 英寸磅 (in.lb)慣量 :單位 : 英寸磅平方秒 (in.lb.s) Michel COUPATM8 lex15 Lexium Sizer等效的米制和英制單位重量 : 1 pound (lb) = 453,59237 g = 0,45359237 kg = 4,4

6、4822 N 長度 : 1 inch (in) = 2,54 cm = 0,0254 m力矩 :1 inch pound (in.lb) = 0,1130234 Nm慣量 :1 inch pound second square (in.lb.s) = 0,112961 kg.m重力加速度 :g = 386 in/s = 32,12 ft/s = 9,81 m/s Michel COUPATM8 lex15 Lexium Sizer機械公式關于機械的背景知識 Michel COUPATM8 lex15 Lexium Sizer 直線運動 : 角度運動 :機械公式 Michel COUPATM8

7、lex15 Lexium SizerE in JoulesJ in kg.m2 in rad/s 直線運動 : 轉動 : E in Joulesm in kgv in m/s 動能 Michel COUPATM8 lex15 Lexium Sizer慣量的計算關于機械的背景知識 Michel COUPATM8 lex15 Lexium Sizer 密度 :單位 : 千克每立方米 (Kg/m3) 磅每立方英尺 (lb/in3) 某個體積承載的重量取決于構成的材料. 常見材料的密度:m : 質量 in Kg or lbV : 體積 in m3 or in3 : 密度 in Kg/m3 or lb/

8、in3 鋼: 7750 Kg / m30,286 lb / in3 鋁: 2720 Kg / m30,098 lb / in3 黃銅: 8170 Kg / m30,295 lb / in3 紫銅: 8910 Kg / m30,322 lb / in3 塑料: 1110 Kg / m3 0,040 lb / in3密度 Michel COUPATM8 lex15 Lexium Sizer長方體(if h and W nMAX.Nominal torque : MN Mt + Mf. Michel COUPATM8 lex15 Lexium SizerStage 3 : Dynamic sizin

9、gDifferent stages of sizing Michel COUPATM8 lex15 Lexium SizerELEMENTS TO DEFINE : Acceleration torque : MACC = J.From all the data of the kinematics, calculate the torque to reach the acceleration requirements.Friction torque Mf.Calculate or evaluate if possible the friction torque on the axis. FIR

10、ST APPROACH OF DRIVE CHOICE : Maximal torque : MMAX MACC + Mf.The maximal torque available on the motor is defined by the maximal current available on the drive.Dynamic sizing Michel COUPATM8 lex15 Lexium SizerStage 4 : Thermal verificationDifferent stages of sizing Michel COUPATM8 lex15 Lexium Size

11、rThermal verificationFrom the first motor - drive association defined previously, it is necessary to check its appropriateness with the working cycle.Plot speed versus time and torque versus time for the entire motion cycle. Michel COUPATM8 lex15 Lexium SizerThermal verificationCalculating the avera

12、ge speed.Calculating the equivalent thermal torque.During the acceleration and deceleration times : Michel COUPATM8 lex15 Lexium Sizer M (Nm)n (rpm)MthnavgIntermittent regionContinuous regionnavgMthThermal verificationABCompare the calculation results with the Torque curve of motor :Case A : Motor w

13、ell sized for the working cycle.Case B : Choose another motor with higher continuous torque. Michel COUPATM8 lex15 Lexium SizerStage 5 :Inertia ratioDifferent stages of sizing Michel COUPATM8 lex15 Lexium SizerInertia ratio From machine data calculate the inertia ratio between load and motor. If thi

14、s ratio is to high (see typical ratio below) Either change eventually the kinematics (i.e. by using Gearbox), or use another motor with higher inertia. or both. Make a new sizing with the new inertia data. Typical ratios of load to motor inertia can be : from 1:1 to 3:1 - for robotic applications. f

15、rom 4:1 to 7:1 - for machine tool type applications. from 8:1 to 10:1 - for other factory automation applications. More practically, we can advise to limit the inertia ratio to : 5:1 for dynamical and accurate machines. 10:1 for standard machines. Higher if we only need stop accuracy without time cy

16、cle constraint. Michel COUPATM8 lex15 Lexium SizerStage 6 :Braking resistorDifferent stages of sizing Michel COUPATM8 lex15 Lexium SizerInertia ratioCheck if an external braking resistance is required :See chapter II. Michel COUPATM8 lex15 Lexium SizerSchneider Motion SizerIMechanical reminderIIEner

17、gy regenerated IIIDifferent stages of sizingIVSchneider Motion SizerVExercises Michel COUPATM8 lex15 Lexium SizerWhy a Motion Sizer ?Help to choose the right motor - drive association from :Kinematics definition.Velocity profile of the cycle.Help to choose the best ratio of inertia between motor and

18、 load. Michel COUPATM8 lex15 Lexium SizerSetup unitsChoose the units of works :Metric units.US standards (Anglo-Saxon units). Michel COUPATM8 lex15 Lexium SizerBelt - PulleyAxis Design : Kinematics definitionHELP !Kinematics parameters to define Load InertiaConveyorDiskGearboxLead screwRack - Pinion

19、Rotary tableNip rollKinematics : Michel COUPATM8 lex15 Lexium SizerVelocity profileDefinition of the velocity profile of cycle work : Michel COUPATM8 lex15 Lexium SizerMotor selection : criteria of choiceSelect the best criteria to choose the motor :Stability : select the best load/motor inertia mat

20、ch.Dynamic : select the smallest motor. Michel COUPATM8 lex15 Lexium SizerMotor selection : safety factorsTo define the limits of value for selecting motors : Michel COUPATM8 lex15 Lexium SizerMotor selectionList of motors selectedInertia ratio : Message “Gearbox ?” is noted if inertia ratio 10 Mich

21、el COUPATM8 lex15 Lexium SizerMotor selection : braking resistor Here is indicated ifan external brakingresistor is requested Michel COUPATM8 lex15 Lexium SizerReport generatorLexium sizer creates a professional looking application report for every axes. Michel COUPATM8 lex15 Lexium SizerPerformance

22、s curvesSelect the best inertia ratio can induce to choose an higher motor than the cycle requests. Michel COUPATM8 lex15 Lexium SizerSchneider Motion SizerIMechanical reminderIIEnergy regenerated IIIDifferent stages of sizingIV Schneider Motion SizerV Exercises Michel COUPATM8 lex15 Lexium SizerEx.

23、1 : Conveyor indexer Machine Data : - Motor pulley (mp) : D : 14 cm m : 3,6 Kg - Gearbox pulley (gp) : D : 21 cm m : 10 Kg - Belt mass : 50 g - Gearbox Ratio : 8,25 Inertia (gb) : 0,021 Kg.m Efficiency : 98% - Main pulley (md) : D : 20 cm m : 9,2 Kg - Load mass : 700 Kg - Belt conveyor mass : 4,5 Kg

24、 - Coefficient friction : 0,1 Michel COUPATM8 lex15 Lexium SizerEx.1 : Conveyor indexer 1-1 : Calculate the inertia reflected to the motor shaft.1-2 : Calculate the resistant torque to the motor shaft.1-2-1 Horizontal axis1-2-2 Vertical axis1-2-3 Axis 451-2-4 Check the calculation with Schneider Siz

25、er. Michel COUPATM8 lex15 Lexium SizerTriangular Profile :Ex.1a : Triangular profile - Move distance : 6 m - Move time : 5 s - Dwell time : 0 s 1a-1 : Calculate the thermal torque for horizontal axis.1a-2 : Check the calculation with Schneider Sizer. Michel COUPATM8 lex15 Lexium SizerTrapezoidal Pro

26、file : Ex.1b : Trapezoidal profile - Move distance : 6 m - Move time : 5 s - Dwell time : 0 s 1b-1 : Check the calculation with Schneider Sizer. Michel COUPATM8 lex15 Lexium SizerTrapezoidal Profile :Ex.1c : Trapezoidal profile - Move Speed : 1 m/s - Move time : 5 s - Accel./Decel time : 0,2 s - Dwell time : 0 s 1c-1 : Calculate the thermal torque for horizontal axis.1c-2 : Check the calculation with Schneider Sizer. Michel COUPATM8 lex15 Lexium SizerTrapezoidal Profile :Ex.1d : Constant speed - Move distance : 6 m - Move time : 3600 s - Accel./Decel time : 60 s - Dwell time : 0 s