2 ph\u1ea7n ch\u00ednh (l\u1eafp r\u00e1p Stato v\u00e0 rotor)<\/strong><\/td>\n| Cao (Tr\u1ee5c, b\u00e1nh r\u0103ng, v\u1ecf, r\u00e3nh kh\u00f3a, ni\u00eam phong)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n Trong khi m\u1ed9t b\u1ed9 kit truy\u1ec1n \u0111\u1ed9ng tr\u1ee5c-frameless tr\u1ea3i nghi\u1ec7m t\u1ed5n th\u1ea5t copper I\u00b2R khi ch\u1ecbu t\u1ea3i m\u00f4-men t\u0129nh cao, n\u00f3 tr\u00e1nh \u0111\u01b0\u1ee3c ma s\u00e1t c\u01a1 h\u1ecdc li\u00ean t\u1ee5c t\u1eeb 15% \u0111\u1ebfn 30% v\u1ed1n c\u00f3 trong gi\u1ea3m t\u1ed1c b\u1eb1ng b\u00e1nh r\u0103ng. Trong c\u00e1c chu tr\u00ecnh \u0111\u1ed9ng t\u1ea3i cao, truy\u1ec1n \u0111\u1ed9ng tr\u1ef1c ti\u1ebfp mang l\u1ea1i hi\u1ec7u su\u1ea5t r\u00f2ng v\u01b0\u1ee3t tr\u1ed9i, \u1ed5n \u0111\u1ecbnh nhi\u1ec7t \u0111\u1eb7c bi\u1ec7t v\u00e0 t\u00ednh l\u1eb7p l\u1ea1i \u0111\u1ed9ng h\u1ecdc nh\u1ea5t qu\u00e1n.<\/p>\n L\u1ef1a ch\u1ecdn m\u00f4-t\u01a1 m\u00f4-men xo\u1eafn frameless v\u00e0 c\u00e1c ch\u1ec9 s\u1ed1 hi\u1ec7u su\u1ea5t<\/h2>\nVi\u1ec7c ch\u1ecdn \u0111\u00fang b\u1ed9 kit m\u00f4-t\u01a1 m\u00f4-men xo\u1eafn frameless \u0111\u00f2i h\u1ecfi nh\u00ecn xa h\u01a1n c\u00e1c con s\u1ed1 danh m\u1ee5c \u1edf c\u1ea5p \u0111\u1ed9 b\u1ec1 m\u1eb7t. V\u00ec m\u1ed9t b\u1ed9 kit truy\u1ec1n \u0111\u1ed9ng tr\u1ef1c ti\u1ebfp t\u00edch h\u1ee3p tr\u1ef1c ti\u1ebfp v\u00e0o v\u1ecf m\u00e1y c\u1ee7a b\u1ea1n, hi\u1ec7u su\u1ea5t \u0111\u01b0\u1ee3c x\u00e1c \u0111\u1ecbnh b\u1edfi c\u00e1ch \u0111\u1ed9ng l\u1ef1c \u0111i\u1ec7n, chuy\u1ec3n nhi\u1ec7t v\u00e0 t\u1ea3i c\u01a1 h\u1ecdc t\u01b0\u01a1ng t\u00e1c khi v\u1eadn h\u00e0nh th\u1ef1c t\u1ebf.<\/p>\n \u0110i\u1ec3m \u0111\u1ec9nh so v\u1edbi M\u00f4-men xo\u1eafn li\u00ean t\u1ee5c qua c\u00e1c chu k\u1ef3 l\u00e0m vi\u1ec7c<\/h3>\nKhi thi\u1ebft k\u1ebf m\u00f4-t\u01a1 cho chuy\u1ec3n \u0111\u1ed9ng tu\u1ea7n ho\u00e0n, ch\u00fang ta t\u00e1ch bi\u1ec7t kh\u1ea3 n\u0103ng ch\u1ecbu nhi\u1ec7t li\u00ean t\u1ee5c kh\u1ecfi c\u00f4ng su\u1ea5t t\u0103ng t\u1ed1c ng\u1eafn h\u1ea1n:<\/p>\n \n- \n
\n- M\u00f4-men xo\u1eafn li\u00ean t\u1ee5c ($T_c$):<\/strong> M\u00f4-men xo\u1eafn \u1edf tr\u1ea1ng th\u00e1i \u1ed5n \u0111\u1ecbnh do m\u00f4-t\u01a1 t\u1ea1o ra m\u00e0 kh\u00f4ng v\u01b0\u1ee3t qu\u00e1 gi\u1edbi h\u1ea1n nhi\u1ec7t c\u1ee7a cu\u1ed9n d\u00e2y t\u1ed1i \u0111a (th\u01b0\u1eddng t\u1eeb 130\u00b0C \u0111\u1ebfn 155\u00b0C). \u0110\u00e1nh gi\u00e1 n\u00e0y ph\u1ee5 thu\u1ed9c nhi\u1ec1u v\u00e0o c\u00e1ch v\u1ecf m\u00e1y ch\u1ee7 d\u1eabn nhi\u1ec7t kh\u1ecfi stato.<\/li>\n
- M\u00f4-men xo\u1eafn \u0111\u1ec9nh ($T_p$):<\/strong> M\u00f4-men xo\u1eafn qu\u00e1 \u0111\u1ed9 t\u1ed1i \u0111a c\u00f3 s\u1eb5n \u0111\u1ec3 t\u0103ng t\u1ed1c nhanh, gi\u1ea3m t\u1ed1c ho\u1eb7c t\u1ea3i s\u1ed1c (th\u01b0\u1eddng t\u1eeb 2\u00d7 \u0111\u1ebfn 4\u00d7 m\u00f4-men xo\u1eafn li\u00ean t\u1ee5c). V\u1eadn h\u00e0nh \u1edf \u0111\u00e2y trong th\u1eddi gian d\u00e0i c\u00f3 nguy c\u01a1 d\u1eabn \u0111\u1ebfn qu\u00e1 t\u1ea3i nhi\u1ec7t ho\u1eb7c l\u00e0m m\u1ea5t t\u1eeb t\u00ednh c\u1ee7a nam ch\u00e2m.<\/li>\n
- Ph\u00e2n t\u00edch chu k\u1ef3 l\u00e0m vi\u1ec7c:<\/strong> Ch\u00fang t\u00f4i s\u1eed d\u1ee5ng t\u00ednh to\u00e1n m\u00f4-men xo\u1eafn hi\u1ec7u RMS tr\u00ean to\u00e0n b\u1ed9 chu tr\u00ecnh chuy\u1ec3n \u0111\u1ed9ng (gia t\u1ed1c, t\u1ed1c \u0111\u1ed9 c\u1ed1 \u0111\u1ecbnh, gi\u1ea3m t\u1ed1c v\u00e0 th\u1eddi gian d\u1eebng) \u0111\u1ec3 x\u00e1c nh\u1eadn t\u1ea3i nhi\u1ec7t trung b\u00ecnh lu\u00f4n n\u1eb1m d\u01b0\u1edbi m\u1ee9c x\u1ebfp h\u1ea1ng li\u00ean t\u1ee5c.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
T\u1ec9 l\u1ec7 m\u00f4-men xo\u1eafn v\u1edbi inertia v\u00e0 b\u0103ng th\u00f4ng gia t\u1ed1c \u0111\u1ed9ng<\/h3>\nLo\u1ea1i b\u1ecf h\u1ed9p s\u1ed1 c\u01a1 h\u1ecdc l\u00e0m thay \u0111\u1ed5i ph\u01b0\u01a1ng tr\u00ecnh \u0111\u1ed9ng. Kh\u00f4ng c\u00f3 t\u1ef7 l\u1ec7 truy\u1ec1n \u0111\u1ec3 chia t\u1ea3i \u0111\u1ed9ng c\u01a1 m\u1ed9t c\u00e1ch nh\u00e2n t\u1ea1o, rotor \u0111\u1ed9ng c\u01a1 k\u1ebft n\u1ed1i tr\u1ef1c ti\u1ebfp v\u1edbi t\u1ea3i \u1ee9ng d\u1ee5ng.<\/p>\n \n- \n
\n- T\u1ed1i \u0111a h\u00f3a T responsiveness:<\/strong> M\u1eadt \u0111\u1ed9 m\u00f4-men xo\u1eafn cao k\u1ebft h\u1ee3p v\u1edbi inertia rotor th\u1ea5p cho m\u1ed9t t\u1ef7 l\u1ec7 m\u00f4-men xo\u1eafn tr\u00ean qu\u00e1n t\u00ednh v\u01b0\u1ee3t tr\u1ed9i. \u0110i\u1ec1u n\u00e0y cho ph\u00e9p v\u00f2ng \u0111i\u1ec1u khi\u1ec3n servo ho\u1ea1t \u0111\u1ed9ng \u1edf b\u0103ng th\u00f4ng cao h\u01a1n m\u00e0 kh\u00f4ng g\u00e2y c\u1ed9ng h\u01b0\u1edfng k\u1ebft c\u1ea5u.<\/li>\n
- Lo\u1ea1i b\u1ecf s\u1ef1 tu\u00e2n th\u1ee7 c\u01a1 h\u1ecdc:<\/strong> Giao di\u1ec7n truy\u1ec1n \u0111\u1ed9ng tr\u1ef1c ti\u1ebfp c\u1ee9ng b\u1ecf qua ca\u0309m gi\u00e1c dao \u0111\u1ed9ng ng\u1eadp ngh\u1ecbch, quay v\u00f2ng torsion v\u00e0 s\u1ef1 tu\u00e2n th\u1ee7 h\u1ec7 th\u1ed1ng truy\u1ec1n \u0111\u1ed9ng, cung c\u1ea5p s\u1ef1 ch\u1ec9nh s\u1eeda v\u1ecb tr\u00ed t\u1ee9c th\u00ec v\u00e0 th\u1eddi gian \u0111\u1ecbnh v\u1ecb d\u01b0\u1edbi c\u1ea5p gi\u00e2y th\u1ea7n.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
\n\n\n| Ch\u1ec9 s\u1ed1 Hi\u1ec7u su\u1ea5t<\/th>\n | Y\u1ebfu t\u1ed1 \u0111\u00e1nh gi\u00e1 quan tr\u1ecdng<\/th>\n | \u1ea2nh h\u01b0\u1edfng \u0111\u1ebfn thi\u1ebft k\u1ebf h\u1ec7 th\u1ed1ng<\/th>\n<\/tr>\n<\/thead>\n | \n\nH\u1eb1ng s\u1ed1 \u0111\u1ed9ng c\u01a1 ($K_m$)<\/strong><\/td>\n| Momen xo\u1eafn sinh ra tr\u00ean m\u1ed7i watt g\u1ed1c c\u1ee7a t\u1ed5n th\u1ea5t tr\u1edf kh\u00e1ng ($Nm \/ \\sqrt{W}$)<\/td>\n | \u0110o l\u01b0\u1eddng hi\u1ec7u su\u1ea5t l\u00f5i \u0111\u1ed9ng c\u01a1 \u0111\u1ed9c l\u1eadp v\u1edbi \u0111i\u1ec7n \u00e1p qu\u1ea5n<\/td>\n<\/tr>\n | \nBack-EMF ($K_e$)<\/strong><\/td>\n| \u0110i\u1ec7n \u00e1p sinh ra tr\u00ean m\u1ed7i \u0111\u01a1n v\u1ecb t\u1ed1c \u0111\u1ed9 quay ($V_{rms} \/ k_{rpm}$)<\/td>\n | Quy \u0111\u1ecbnh t\u1ed1c \u0111\u1ed9 t\u1ed1i \u0111a obtainable trong gi\u1edbi h\u1ea1n c\u1ee7a bus DC<\/td>\n<\/tr>\n | \n\u0110\u1ed9 nh\u1ea1y m\u00f4-men xo\u1eafn ($K_t$)<\/strong><\/td>\n| M\u00f4-men xo\u1eafn t\u1ea1o ra tr\u00ean m\u1ed7i amperes c\u1ee7a d\u00f2ng \u0111i\u1ec7n \u0111\u1ea7u v\u00e0o ($Nm \/ A_{rms}$)<\/td>\n | \u0110i\u1ec1u khi\u1ec3n y\u00eau c\u1ea7u d\u00f2ng \u0111i\u1ec7n li\u00ean t\u1ee5c v\u00e0 \u0111\u1ec9nh c\u1ee7a b\u1ed9 khu\u1ebfch \u0111\u1ea1i servo<\/td>\n<\/tr>\n | \nMomen r\u0103ng c\u01b0a<\/strong><\/td>\n| M\u00f4-men xo\u1eafn \u0111\u1ecbnh v\u1ecb t\u1eeb tr\u01b0\u1eddng \u0111\u1ec9nh-\u0111\u1ec9nh khi kh\u00f4ng c\u00f3 d\u00f2ng \u0111i\u1ec7n<\/td>\n | \u1ea2nh h\u01b0\u1edfng tr\u1ef1c ti\u1ebfp \u0111\u1ebfn s\u1ef1 r\u1ed1i \u0111\u1ed9ng t\u1ed1c \u0111\u1ed9 \u1edf t\u1ed1c \u0111\u1ed9 th\u1ea5p v\u00e0 \u0111\u1ed9 ch\u00ednh x\u00e1c qu\u00e9t<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\nPh\u00e2n t\u00e1n nhi\u1ec7t, gi\u1edbi h\u1ea1n cu\u1ed9n v\u00e0 \u00e1o l\u00e0m m\u00e1t<\/h3>\nStator kh\u00f4ng khung kh\u00f4ng c\u00f3 qu\u1ea1t l\u00e0m m\u00e1t b\u00ean ngo\u00e0i, c\u00f3 ngh\u0129a l\u00e0 khung m\u00e1y \u0111\u00f3ng vai tr\u00f2 nh\u01b0 b\u1ed9 khu\u1ebfch t\u1ea3n nhi\u1ec7t ch\u00ednh.<\/p>\n \n- \n
\n- \u0110\u01b0\u1eddng d\u1eabn d\u1eabn nhi\u1ec7t:<\/strong> Nhi\u1ec7t di chuy\u1ec3n t\u1eeb c\u00e1c cu\u1ed9n \u0111\u1ed3ng qua l\u1edbp c\u00e1ch \u0111i\u1ec7n \u0111\u1ea5t-t\u01b0\u1eddng, v\u00e0o x\u1ebfp t\u1ea7ng lam stator, v\u00e0 v\u01b0\u1ee3t qua giao di\u1ec7n c\u1ea5u tr\u00fac \u0111\u1ebfn v\u1ecf m\u00e1y. Ch\u00fang t\u00f4i thi\u1ebft k\u1ebf \u1ed1ng l\u1eafp v\u1edbi khe h\u1edf ch\u1ea1y tr\u00f2n ch\u1eb7t \u0111\u1ec3 t\u1ed1i thi\u1ec3u h\u00f3a \u0111i\u1ec7n tr\u1edf giao di\u1ec7n nhi\u1ec7t.<\/li>\n
- \u00c1o l\u00e0m m\u00e1t ch\u1ee7 \u0111\u1ed9ng:<\/strong> \u0110\u1ed1i v\u1edbi c\u00e1c h\u1ec7 th\u1ed1ng h\u1ea1n ch\u1ebf kh\u00f4ng gian v\u00e0 y\u00eau c\u1ea7u m\u00f4-men xo\u1eafn RMS cao, vi\u1ec7c b\u1ed5 sung \u00e1o l\u00e0m m\u00e1t b\u1eb1ng ch\u1ea5t l\u1ecfng t\u00edch h\u1ee3p ho\u1eb7c \u1ed1ng d\u1eabn gi\u00f3 quanh \u1ed1ng l\u00f3t stator s\u1ebd t\u0103ng g\u1ea5p \u0111\u00f4i c\u00f4ng su\u1ea5t m\u00f4-men xo\u1eafn li\u00ean t\u1ee5c m\u00e0 kh\u00f4ng l\u00e0m t\u0103ng k\u00edch th\u01b0\u1edbc khung \u0111\u1ed9ng c\u01a1.<\/li>\n
- B\u1ea3o v\u1ec7 cu\u1ed9n d\u00e2y:<\/strong> RTD ho\u1eb7c thermistor \u0111\u01b0\u1ee3c nh\u00fang b\u00ean trong c\u00e1c v\u00f2ng cu\u1ed1i c\u1ee7a cu\u1ed9n d\u00e2y cung c\u1ea5p gi\u00e1m s\u00e1t nhi\u1ec7t \u0111\u1ed9 th\u1eddi gian th\u1ef1c, c\u1ea5p d\u1eef li\u1ec7u cho ch\u1ebf \u0111\u1ed9 b\u1ea3o v\u1ec7 foldback nhi\u1ec7t c\u1ee7a b\u1ed9 \u0111i\u1ec1u khi\u1ec3n servo $I^2t$.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
\u0110i\u1ec7n gh\u00e9p n\u1ed1i: Back-EMF, H\u1eb1ng s\u1ed1 \u0111\u1ed9ng c\u01a1 v\u00e0 B\u1ed9 ch\u1ec9nh k\u1ef9 thu\u1eadt s\u1ed1<\/h3>\nM\u1ed9t \u0111\u1ed9ng c\u01a1 m\u00f4-men xo\u1eafn kh\u00f4ng khung ph\u1ea3i \u0111\u01b0\u1ee3c gh\u00e9p n\u1ed1i \u0111i\u1ec7n v\u1edbi ngu\u1ed3n DC v\u00e0 m\u1ee9c c\u00f4ng su\u1ea5t c\u1ee7a b\u1ed9 khu\u1ebfch \u0111\u1ea1i servo. Ch\u00fang t\u00f4i t\u00f9y bi\u1ebfn c\u1ea5u h\u00ecnh winding (s\u1ed1 v\u00f2ng v\u00e0 k\u00edch th\u01b0\u1edbc d\u00e2y) \u0111\u1ec3 t\u1ed1i \u01b0u h\u00f3a \u0111\u01b0\u1eddng cong m\u00f4-men\u2013t\u1ed1c \u0111\u1ed9:<\/p>\n \n- \n
\n- Qu\u00e1 tr\u00ecnh s\u1eed d\u1ee5ng \u0111\u1ed9ng c\u01a1 c\u1ee7a xe bu\u00fdt DC:<\/strong> L\u1ef1c back-EMF c\u1ee7a \u0111\u1ed9ng c\u01a1 \u1edf v\u1eadn t\u1ed1c \u0111\u1ec9nh, k\u1ebft h\u1ee3p v\u1edbi s\u1ee5t \u00e1p do \u0111i\u1ec7n tr\u1edf v\u00e0 c\u1ea3m kh\u00e1ng, ph\u1ea3i lu\u00f4n \u1edf m\u1ee9c an to\u00e0n d\u01b0\u1edbi \u0111i\u1ec7n \u00e1p \u0111\u1ea7u ra t\u1ed1i \u0111a c\u1ee7a driver.<\/li>\n
- \u0110i\u1ec1u khi\u1ec3n t\u1ea7n s\u1ed1 t\u1ef1 \u0111\u1ed9ng th\u1ea5p:<\/strong> \u0110\u1ed9ng c\u01a1 \u0111\u1ed3ng b\u1ed9 v\u0129nh vi\u1ec5n c\u00f3 t\u1eeb tr\u01b0\u1eddng (PMSM) c\u00f3 \u0111i\u1ec7n c\u1ea3m th\u1ea5p cho th\u1eddi gian t\u0103ng d\u00f2ng nhanh \u0111\u1ec3 \u0111\u00e1p \u1ee9ng m\u00f4-men xo\u1eafn nhanh, nh\u01b0ng ch\u00fang \u0111\u00f2i h\u1ecfi b\u1ed9 \u0111i\u1ec1u khi\u1ec3n servo s\u1ed1 c\u00f3 t\u1ea7n s\u1ed1 PWM cao (th\u00f4ng th\u01b0\u1eddng t\u1eeb 16 kHz \u0111\u1ebfn 32 kHz) \u0111\u1ec3 gi\u1ea3m thi\u1ec3u s\u1ef1 r\u00f2 r\u1ec9 d\u00f2ng v\u00e0 ti\u1ebfng \u1ed3n \u00e2m thanh.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
Gi\u1ea3m m\u00f4-men xo\u1eafn cogging cho c\u00e1c c\u01a1 c\u1ea5u quang h\u1ecdc v\u00e0 g\u1eafn h\u1ed9p quan s\u00e1t nh\u1ea1y c\u1ea3m<\/h3>\n\u0110\u1ed1i v\u1edbi c\u00e1c h\u1ec7 th\u1ed1ng gimbal h\u00ecnh \u1ea3nh, b\u00e0n qu\u00e9t quang h\u1ecdc v\u00e0 qui m\u00f4 \u0111o l\u01b0\u1eddng b\u00e1n d\u1eabn, s\u1ef1 rung l\u1eafc quay l\u00e0m gi\u1ea3m \u0111\u1ed9 ph\u00e2n gi\u1ea3i \u0111o l\u01b0\u1eddng. M\u00f4-men xo\u1eafn \u0111i\u1ec3m d\u1eebng do s\u1ef1 h\u1ea5p d\u1eabn t\u1eeb nam ch\u00e2m v\u0129nh vi\u1ec5n rotor v\u00e0 r\u0103ng stator t\u1ea1o ra s\u1ef1 r\u00ec r\u00e0o m\u00f4-men xo\u1eafn \u0111\u1ecbnh k\u1ef3.<\/p>\n \n- \n
\n- C\u01a1 c\u1ea5u h\u00ecnh Fractional Slot-to-Pole:<\/strong> S\u1ed1 r\u0103ng stator v\u00e0 s\u1ed1 c\u1ef1c nam ch\u00e2m rotor \u0111\u01b0\u1ee3c c\u00e2n b\u1eb1ng to\u00e1n h\u1ecdc \u0111\u1ec3 ph\u00e2n b\u1ed5 l\u1ef1c t\u1eeb t\u1eeb v\u00e0 lo\u1ea1i b\u1ecf c\u00e1c c\u1ed9ng h\u01b0\u1edfng r\u00f2 r\u1ec9 t\u1ea7n s\u1ed1 th\u1ea5p.<\/li>\n
- L\u00e0m l\u1ec7ch l\u00e1 th\u00e9p (Lamination Skewing):<\/strong> L\u00e0m l\u1ec7ch c\u00e1c khe stator ho\u1eb7c nam ch\u00e2m rotor theo m\u1ed9t pitch khe s\u1ebd l\u00e0m m\u01b0\u1ee3t c\u00e1c chuy\u1ec3n ti\u1ebfp t\u1eeb tr\u01b0\u1eddng, gi\u1ea3m cogging xu\u1ed1ng d\u01b0\u1edbi 1% c\u1ee7a m\u00f4-men xo\u1eafn li\u00ean t\u1ee5c.<\/li>\n
- T\u00f9y ch\u1ecdn Stator kh\u00f4ng c\u00f3 khe:<\/strong> \u0110\u1ed1i v\u1edbi c\u00e1c \u1ee9ng d\u1ee5ng y\u00eau c\u1ea7u kh\u00f4ng c\u00f3 detent t\u1eeb, c\u00e1c c\u1ea5u h\u00ecnh stator kh\u00f4ng khe thay th\u1ebf c\u00e1c r\u0103ng s\u1eaft c\u00f3 khe b\u1eb1ng cu\u1ed9n \u0111\u1ed3ng \u0111\u01b0\u1ee3c \u0111\u00f3ng g\u00f3i c\u1ea5u tr\u00fac, cung c\u1ea5p v\u00f2ng quay thu\u1ea7n t\u00fay, m\u01b0\u1ee3t m\u00e0 xu\u1ed1ng v\u1eadn t\u1ed1c \u0111o \u1edf c\u1ea5p vi-radian m\u1ed7i gi\u00e2y.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
T\u01b0\u01a1ng th\u00edch v\u00e0 Th\u1ef1c h\u00e0nh L\u1eafp r\u00e1p C\u01a1 kh\u00ed cho \u0110\u1ed9ng c\u01a1 M\u00f4-men xo\u1eafn Frameless<\/h2>\nT\u00edch h\u1ee3p b\u1ed9 kit truy\u1ec1n \u0111\u1ed9ng tr\u1ef1c ti\u1ebfp v\u00e0o housing \u0111\u00f2i h\u1ecfi th\u1ef1c thi c\u01a1 kh\u00ed ch\u00ednh x\u00e1c. V\u00ec m\u1ed9t \u0111\u1ed9ng c\u01a1 m\u00f4-men xo\u1eafn kh\u00f4ng khung<\/strong> thi\u1ebfu v\u00f2ng bi, tr\u1ee5c v\u00e0 v\u00f2ng \u0111\u1ea7u cu\u1ed1i cho nh\u00e0 m\u00e1y, c\u1ea5u tr\u00fac m\u00e1y c\u1ee7a b\u1ea1n ho\u1ea1t \u0111\u1ed9ng nh\u01b0 khung \u0111\u1ed9ng c\u01a1. Ch\u00fang t\u00f4i t\u1eadp trung v\u00e0o b\u1ed1n ti\u00eau chu\u1ea9n c\u01a1 h\u1ecdc c\u1ed1t l\u00f5i \u0111\u1ec3 \u0111\u1ea3m b\u1ea3o hi\u1ec7u n\u0103ng \u0111\u1ed9ng t\u1ed1i \u0111a, ti\u1ebfng \u1ed3n \u00e2m thanh th\u1ea5p v\u00e0 tu\u1ed5i th\u1ecd d\u00e0i.<\/p>\n+——————————————————————-+
\n| V\u1ecf Ng\u01b0\u1eddi d\u00f9ng \/ C\u1ea5u tr\u00fac C\u01a1 kh\u00ed |
\n| +———————————————————–+ |
\n| | L\u1eafp r\u00e1p Stator (Co r\u00fat nhi\u1ec7t \/ Epoxy c\u1ea5u tr\u00fac) | |
\n| | +\u2014\u2014\u2014\u2014\u2014\u2014- \u0110\u1ed9 dung sai kh\u00f4ng kh\u00ed \u2014\u2014\u2014\u2014\u2014+ | |
\n| | | L\u1eafp r\u00e1p Rotor (Nam ch\u00e2m Neodymium tr\u00ean Tr\u1ee5c\/N\u00fat) | | |
\n| | | +———————————————–+ | | |
\n| | | | H\u1ec7 th\u1ed1ng \u1ed4 \u0111\u1ee1 \/ \u1ed4 \u0111\u1ee1 M\u1ecfng | | | |
\n| | | | +——————————————-+ | | | |
\n| | | | | Tr\u1ee5c r\u1ed7ng \/ Tr\u1ee5c v\u00e0 L\u00f5i Quang h\u1ecdc & D\u00e2y c\u00e1p | | | | |<\/p>\n G\u1eafn Stator v\u00e0 Rotor: Co r\u00fat nhi\u1ec7t so v\u1edbi Keo d\u00ednh<\/h3>\nKh\u00f3a l\u1eafp r\u00e1p<\/strong> ng\u0103n ng\u1eeba tr\u01b0\u1ee3t d\u01b0\u1edbi chu tr\u00ecnh m\u00f4-men xo\u1eafn c\u1ef1c \u0111\u1ea1i m\u1ed9t c\u00e1ch ch\u1eafc ch\u1eafn m\u00e0 kh\u00f4ng l\u00e0m bi\u1ebfn d\u1ea1ng v\u1eadt li\u1ec7u luy\u1ec7n t\u1eeb tr\u01b0\u1eddng.<\/p>\n\n- \n
\n- Co r\u00fat nhi\u1ec7t:<\/strong> Ch\u00fang t\u00f4i l\u00e0m n\u00f3ng v\u1ecf \u0111\u1ec3 gi\u00e3n l\u1ed7 trong v\u00e0 tr\u01b0\u1ee3t stator v\u00e0o b\u00ean trong, cho ph\u00e9p n\u00f3 co l\u1ea1i \u0111\u1ed3ng \u0111\u1ec1u. \u0110i\u1ec1u n\u00e0y t\u1ea1o li\u00ean k\u1ebft ma s\u00e1t \u0111\u1ed3ng nh\u1ea5t, c\u00f3 \u0111\u1ed9 b\u1ec1n cao tr\u00ean to\u00e0n \u0111\u01b0\u1eddng k\u00ednh ngo\u00e0i m\u00e0 kh\u00f4ng g\u00e2y t\u1eadp trung \u1ee9ng su\u1ea5t.<\/li>\n
- Keo d\u00ednh c\u1ea5u tr\u00fac:<\/strong> C\u00e1c h\u1ee3p ch\u1ea5t epoxy hai th\u00e0nh ph\u1ea7n ho\u1eb7c k\u1ef5 kh\u00ed ho\u1ea1t \u0111\u1ed9ng t\u1ed1t cho c\u00e1c l\u1eafp r\u00e1p m\u00e0 vi\u1ec7c l\u00e0m n\u00f3ng v\u1ecf l\u00e0 kh\u00f4ng th\u1ef1c t\u1ebf. Vi\u1ec7c \u00e1p d\u1ee5ng keo \u0111\u1ec1u d\u1ecdc theo giao di\u1ec7n tr\u1ee5c s\u1ebd l\u1ea5p \u0111\u1ea7y c\u00e1c l\u1ed7 ch\u00e2n l\u00f4ng, kh\u00f3a ch\u1ed1ng tr\u01b0\u1ee3t quay v\u00e0 gi\u1ea3m rung \u0111\u1ed9ng c\u01a1 h\u1ecdc.<\/li>\n
- V\u00f2ng k\u1eb9p c\u01a1 h\u1ecdc:<\/strong> H\u1eefu \u00edch cho nguy\u00ean m\u1eabu nhanh v\u00e0 b\u1ea3o tr\u00ec t\u1ea1i hi\u1ec7n tr\u01b0\u1eddng, v\u00f2ng k\u1eb9p c\u1ed1 \u0111\u1ecbnh c\u00e1c th\u00e0nh ph\u1ea7n theo ph\u01b0\u01a1ng tr\u1ee5c trong khi cho ph\u00e9p th\u00e1o l\u1eafp kh\u00f4ng ph\u00e1 h\u1ecfng.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
Qu\u1ea3n l\u00fd l\u1ec7ch run c\u01a1 h\u1ecdc v\u00e0 dung sai gi\u1eefa kho\u1ea3ng kh\u00f4ng kh\u00ed d\u01b0\u1edbi t\u1ea3i \u0111\u1ed9ng<\/h3>\nDuy tr\u00ec kho\u1ea3ng kh\u00f4ng kh\u00ed r\u00e3nh \u0111\u1ed3ng t\u00e2m b\u1eb1ng nhau \u2014 th\u01b0\u1eddng t\u1eeb 0,3 mm \u0111\u1ebfn 1,0 mm \u2014 l\u00e0 r\u1ea5t quan tr\u1ecdng \u0111\u1ec3 duy tr\u00ec c\u00f4ng su\u1ea5t m\u00f4-men xo\u1eafn \u1ed5n \u0111\u1ecbnh. M\u1ecdi s\u1ef1 xuy\u00ean t\u00e2m l\u00e0m thay \u0111\u1ed5i t\u00ednh \u0111\u1ed1i x\u1ee9ng t\u1eeb tr\u01b0\u1eddng, t\u1ea1o l\u1ef1c h\u00fat t\u1eeb b\u1ea5t c\u00e2n b\u1eb1ng (UMP) g\u00e2y h\u1ecfng b\u1ea1c \u0111\u1ea1n.<\/p>\n Strict k\u00edch th\u01b0\u1edbc v\u00e0 dung sai t\u1eeb t\u00ednh h\u00ecnh h\u1ecdc<\/a> ti\u00eau chu\u1ea9n nghi\u00eam ng\u1eb7t gi\u00fap b\u1ed9 gh\u00e9p quay gi\u1eef nguy\u00ean khi \u0111\u1ea3o ng\u01b0\u1ee3c nhanh v\u00e0 t\u1ea3i s\u1ed1c \u0111\u1ed9ng cao.<\/p>\n \n\n\n| Th\u00f4ng s\u1ed1 t\u00edch h\u1ee3p<\/th>\n | Dung sai \u0111\u01b0\u1ee3c \u0111\u1ec1 xu\u1ea5t<\/th>\n | R\u1ee7i ro c\u01a1 h\u1ecdc n\u1ebfu v\u01b0\u1ee3t qu\u00e1<\/th>\n<\/tr>\n<\/thead>\n | \n\nCh\u1ea1y l\u1ec7ch\u5f84 Radial Runout (TIR)<\/strong><\/td>\n| < 0.05 mm (0.002 in)<\/td>\n | Gia t\u0103ng cogging, ph\u00e2n b\u1ed1 nhi\u1ec7t kh\u00f4ng \u0111\u1ec1u, UMP<\/td>\n<\/tr>\n | \nCh\u1ea1y l\u1ec7ch tr\u1ee5c<\/strong><\/td>\n| < 0.08 mm (0.003 in)<\/td>\n | D\u1ecbch chuy\u1ec3n t\u00e2m t\u1eeb, l\u1ef1c \u0111\u1ea9y d\u1ecdc tr\u1ee5c<\/td>\n<\/tr>\n | \nKhoang housing h\u00ecnh tr\u1ee5<\/strong><\/td>\n| Ti\u00eau chu\u1ea9n IT6<\/td>\n | \u1ed0p Stator k\u1eb9p, bi\u1ebfn d\u1ea1ng khe r\u00e3nh<\/td>\n<\/tr>\n | \nsong song v\u1edbi tr\u1ee5c<\/strong><\/td>\n| < 0.03 mm (0.001 in)<\/td>\n | tr\u01b0\u1eddng h\u1ee3p h\u1ecfng tr\u01b0\u1edbc t\u1ea3i c\u1ee7a bearing, rung \u0111\u1ed9ng c\u1ee7a encoder<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\nT\u00edch h\u1ee3p \u0111\u1ed9ng c\u01a1 kh\u00f4ng khung v\u1edbi bi quay ch\u00e9o v\u00e0 bearing \u0111\u01b0\u1eddng k\u00ednh m\u1ecfng<\/h3>\nV\u00ec c\u00e1c b\u1ed9 kit kh\u00f4ng khung c\u00f3 v\u00f2ng bi, ch\u00fang t\u00f4i l\u1ef1a ch\u1ecdn bearing ch\u1ee7 d\u1ef1a tr\u00ean \u0111\u1ed9 c\u1ee9ng h\u01b0\u1edbng t\u00e2m, kh\u1ea3 n\u0103ng ch\u1ecbu t\u1ea3i d\u1ecdc tr\u1ee5c v\u00e0 footprint:<\/p>\n \n- \n
\n- Bearing bi quay ch\u00e9o:<\/strong> C\u00e1c con l\u0103n h\u00ecnh tr\u1ee5 vu\u00f4ng g\u00f3c lu\u00e2n phi\u00ean mang l\u1ea1i \u0111\u1ed9 c\u1ee9ng moment cao v\u00e0 ch\u1ecbu t\u1ea3i \u0111a h\u01b0\u1edbng trong profile nh\u1ecf g\u1ecdn. Ch\u00fang l\u00fd t\u01b0\u1edfng cho c\u00e1c kh\u1edbp robot t\u1ea3i tr\u1ecdng cao v\u00e0 b\u1ed9 \u0111\u1ecbnh v\u1ecb quay ch\u00ednh x\u00e1c.<\/li>\n
- Bearing ph\u1ea7n m\u1ecfng:<\/strong> C\u1ea1nh ti\u1ebfp x\u00fac t\u00e2m v\u00e0 ti\u1ebfp x\u00fac b\u1ed1n \u0111i\u1ec3m c\u1ee7a bearing m\u1ecfng c\u1eaft gi\u1ea3m kh\u1ed1i l\u01b0\u1ee3ng v\u00e0 gi\u1ea3i ph\u00f3ng kh\u00f4ng gian b\u00ean trong, tr\u1edf th\u00e0nh l\u1ef1a ch\u1ecdn \u01b0u ti\u00ean cho c\u00e1c actuator l\u1ed7 tr\u1ed1ng l\u1edbn v\u00e0 gimbals pan-tilt \u0111i\u1ec7n-quang.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
C\u0103n ch\u1ec9nh ph\u1ea3n h\u1ed3i c\u1ee7a Encoder quay v\u00e0 Thi\u1ebft l\u1eadp \u0111\u1ed3ng b\u1ed9 pha<\/h3>\nC\u0103n ch\u1ec9nh \u0111i\u1ec7n ch\u00ednh x\u00e1c gi\u1eefa thi\u1ebft b\u1ecb ph\u1ea3n h\u1ed3i v\u00e0 c\u1ef1c t\u1eeb rotor \u0111\u1ec3 \u0111\u1ea3m b\u1ea3o chuy\u1ec3n \u0111\u1ed9ng m\u01b0\u1ee3t m\u00e0, kh\u00f4ng n\u1ea3y<\/p>\n \n- \n
\n- G\u1eafn c\u1ea3m bi\u1ebfn ch\u1eafc ch\u1eafn:<\/strong> Ch\u00fang t\u00f4i gh\u00e9p c\u00e1c encoder quang ho\u1eb7c c\u1ea3m bi\u1ebfn t\u1eeb v\u00f2ng c\u00f3 \u0111\u1ed9 ph\u00e2n gi\u1ea3i cao tr\u1ef1c ti\u1ebfp v\u1edbi tr\u1ee5c r\u1ed7ng b\u1ecb truy\u1ec1n \u0111\u1ec3 tr\u00e1nh sai l\u1ec7ch tu\u00e2n th\u1ee7.<\/li>\n
- C\u0103n ch\u1ec9nh v\u1ecb tr\u00ed b\u1eb1ng kh\u00f4ng:<\/strong> Gh\u00e9p k\u00eanh ch\u1ec9 s\u1ed1 m\u00e3 h\u00f3a v\u1edbi tr\u1ee5c d v\u1eadt l\u00fd c\u1ee7a tr\u01b0\u1eddng t\u1eeb l\u1ef1c rotor.<\/li>\n
- X\u00e1c th\u1ef1c \u0110i\u1ec1u h\u00f2a Giai \u0111o\u1ea1n:<\/strong> C\u1ea5p m\u1ed9t d\u00f2ng DC nh\u1ecf v\u00e0o pha U (\u0111o V v\u00e0 W n\u1ed1i \u0111\u1ea5t) \u0111\u1ec3 kh\u00f3a rotor \u1edf v\u1ecb tr\u00ed k\u1ecbch \u0111\u00ednh t\u1eeb tr\u01b0\u1eddng \u1ed5n \u0111\u1ecbnh, sau \u0111\u00f3 hi\u1ec7u ch\u1ec9nh v\u1ec1 zero l\u1ec7ch \u0111i\u1ec1u h\u00f2a trong b\u1ed9 \u0111i\u1ec1u khi\u1ec3n servo s\u1ed1. S\u1ef1 c\u0103n ch\u1ec9nh \u0111\u00fang lo\u1ea1i b\u1ecf rung \u0111\u1ed9ng m\u00f4-men xo\u1eafn v\u00e0 t\u1ed1i \u01b0u h\u00f3a c\u00f4ng su\u1ea5t tr\u00ean m\u1ed7i ampe.<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n
\u1ee8ng d\u1ee5ng C\u00f4ng nghi\u1ec7p cho B\u1ed9 kit \u0110\u1ed9ng c\u01a1 M\u00f4-men xo\u1eafn Kh\u00f4ng v\u1ecf h\u1ed9p (Frameless):<\/h2>\nKhi kh\u00f4ng gian, dung l\u01b0\u1ee3ng t\u1ea3i v\u00e0 \u0111\u1ed9ng h\u1ecdc \u0111\u1ecbnh v\u1ecb \u0111\u1ea9y c\u00e1c \u0111\u1ed9ng c\u01a1 c\u00f3 h\u1ed9p s\u1ed1 ti\u00eau chu\u1ea9n v\u01b0\u1ee3t qu\u00e1 gi\u1edbi h\u1ea1n, c\u1ea5u h\u00ecnh b\u1ed9 kit \u0111\u1ed9ng c\u01a1 truy\u1ec1n tr\u1ef1c ti\u1ebfp s\u1ebd h\u1ed7 tr\u1ee3. B\u1eb1ng c\u00e1ch lo\u1ea1i b\u1ecf h\u1ed9p s\u1ed1, c\u1eb7p gh\u00e9p v\u00e0 v\u1ecf ri\u00eang bi\u1ec7t, ch\u00fang ta t\u00edch h\u1ee3p stator v\u00e0 rotor tr\u1ef1c ti\u1ebfp v\u00e0o c\u01a1 h\u1ecdc ch\u1ee7. \u0111\u1ed9ng c\u01a1 m\u00f4-men xo\u1eafn kh\u00f4ng khung<\/strong> M\u1ed9t b\u1ed9 kit cho ph\u00e9p c\u00e1c k\u1ef9 s\u01b0 t\u1ed1i \u0111a h\u00f3a m\u1eadt \u0111\u1ed9 m\u00f4-men xo\u1eafn v\u00e0 lo\u1ea1i b\u1ecf \u0111\u1ed9 rung l\u1eafc quanh h\u1ec7 th\u1ed1ng c\u00f4ng nghi\u1ec7p \u0111\u00f2i h\u1ecfi.<\/p>\nThi\u1ebft k\u1ebf Tr\u1ee5c r\u00e0ng \u0111\u1ed9ng cho Kh\u1edbp h\u00e0n Robot c\u00f3 T\u1ea3i Tr\u1ecdng Cao (Cobots):<\/h3>\nRobot h\u1ee3p t\u00e1c hi\u1ec7n \u0111\u1ea1i (cobot) v\u00e0 c\u00e1c c\u00e1nh tay nhi\u1ec1u tr\u1ee5c c\u1ea7n c\u00f4ng su\u1ea5t xo\u1eafn t\u1ed1i \u0111a t\u1eeb c\u00e1c kh\u1edbp nh\u1eb9, nh\u1ecf g\u1ecdn.<\/p>\n \n- \n
\n- T\u00edch h\u1ee3p c\u1ea5u tr\u00fac tr\u1ef1c ti\u1ebfp:<\/strong> Stator g\u1eafn \u1edf b\u00ean trong v\u1ecf kh\u1edbp trong khi rotor kh\u00f3a tr\u1ef1c ti\u1ebfp v\u00e0o li\u00ean k\u1ebft \u0111\u1ea7u ra b\u1ecb truy\u1ec1n, gi\u1eef tr\u1ecdng l\u01b0\u1ee3ng t\u1eadp trung g\u1ea7n tr\u1ee5c quay.<\/li>\n
- \u0110\u01b0\u1eddng \u1ed1ng tr\u1ee5c r\u1ed7ng l\u1edbn:<\/strong> C\u00e1c profile \u0111\u1ed9ng c\u01a1 tr\u1ee5c r\u1ed7ng cung c\u1ea5p khe h\u1edf r\u1ed9ng cho \u0111\u01b0\u1eddng d\u00e2y ngu\u1ed3n n\u1ed9i b\u1ed9, c\u00e1p bus tr\u01b0\u1eddng v\u00e0 \u0111\u01b0\u1eddng \u1ed1ng kh\u00ed n\u00e9n m\u00e0 kh\u00f4ng c\u1ea7n b\u1ed9 trang tr\u00ed c\u00e1p b\u00ean ngo\u00e0i.<\/li>\n
- Kh\u1ea3 n\u0103ng m\u00f4-men xo\u1eafn \u0111\u1ec9nh cao:<\/strong> Stator \u0111\u01b0\u1ee3c qu\u1ea5n \u0111\u1ec3 t\u1eadn d\u1ee5ng t\u1ed1i \u0111a dung l\u01b0\u1ee3ng khe r\u0103ng cung c\u1ea5p gia t\u1ed1c \u0111\u1ed9ng v\u00e0 m\u00f4-men xo\u1eafn gi\u1eef \u1ed5n \u0111\u1ecbnh c\u1ea7n thi\u1ebft \u0111\u1ec3 h\u1ed7 tr\u1ee3 chu k\u1ef3 l\u00e0m vi\u1ec7c d\u1eebng v\u00e0 ch\u1ea1y nhanh m\u00e0 kh\u00f4ng c\u00f3 s\u1ef1 tu\u00e2n th\u1ee7 truy\u1ec1n \u0111\u1ed9ng.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
Gimbals Pan-Tilt ch\u00ednh x\u00e1c, B\u1ec7 radar v\u00e0 G\u1eafn Electro-Optical<\/h3>\n\u0110\u1ed9 ch\u00ednh x\u00e1c ch\u1ec9 \u0111\u1ecbnh trong c\u00e1c gimbal quan s\u00e1t v\u00e0 c\u00e1c n\u1ec1n radar d\u1ef1a v\u00e0o kh\u1ea3 n\u0103ng \u0111\u1ecbnh v\u1ecb l\u1eb7p l\u1ea1i \u1ed5n \u0111\u1ecbnh d\u01b0\u1edbi s\u1ef1 nhi\u1ec5u \u0111\u1ed9ng gi\u00f3 v\u00e0 n\u1ec1n t\u1ea3ng \u0111\u1ed9ng.<\/p>\n | | | | | | | | | | |