-
5-1 5-2 5-3 5-4 5-5 5-6 5-7
-
5-1
-
Servo System)CNC
-
CNC
-
.CNC
-
1 2
-
34
-
mm0.01~0.005 mm 0.2s /=1/1000~1/10000
-
5-2 0.0020.02mm/m10"/360 0.0010.01mm2"
-
1
-
2
-
3
-
2. (0.250.05)mm
-
W22(a2b2)a2b2WW2mm, W12(a1b1)a1b1W1W2W1W2/3
-
1/43.
-
uUmsinte ekUmcoscos t
-
uUmsinte ekUmcoscos t Um(V) (rad/s) k Wx 2x/W W
-
90 usUmsint ucUmcost usuc eskUmcoscost eckUmcos( /2)sint
kUmsinsint3. 1
-
e eesec kUmcoscostkUmsinsint kUmcos(t) kUmcos(t 2x/W)
=1.8W=2mm = 2x/W=0.01mm
-
usUmsindsint ucUmcosdsint d eskUmsindcoscost
eckUmcosdcos(/2)cost kUm cosd sincost 2
-
ees ec k Um (sind coscosd sin) cost k Um sin(d ) cost k Um sin(d
2x /W) cost de0 ek Um x cost= 2 x / W xexexxdd,e0dx
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4.
-
1.
-
2. 1
-
2
-
B w w B w = 0.01mm = 0.01 red B = 1mm100
-
,
()()
-
3 1/490904 w = 0.01mm 1mm.
-
5 1 0.5-3mm 0.1mm 2 3 1 2
-
() NC 1 NC 20000-30000p/r 2000-3000p/r
-
2. 1 ()
-
2 ()
-
3 AB(90)ABBA
-
4 ()
-
3. 1 ()
-
3 10
-
4 N(N360)
-
5-1 5-2 5-3 5-4 5-5 5-6 5-7
-
Servo System)CNC
-
5-3
-
1. (1) (2) () ()(3) ()()(4) (5)
-
2. ()
-
3. 60940360/4091
-
2 1/mm
C
C
B
B
A
A
-
ABCA()BC1/3(3)2/3(6) BAC3BAC CAB3CAB A B C A
-
A C B A 3 A B C A 3()
-
AB BC CA AB AB BC CA AB 3
-
A AC C BC B AB A 1.5 A AB B BC C CA A 1.5AABAB3BABAB1.5
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4. 5.
-
1.
m Z K K=p/m
-
S(mm) S()
-
2. Tjmax (Nm) eT Te (e0)
-
Tjmax
F N wkg m h i TF TF =0.2~0.4 Tjmax
-
fq
J1J2(Nms2)J3 d (mm) fqF fq(Hz)T(Nm) J(Nms2) fqF fq3. fq /s
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4.
-
5. fmax /s fmax fmax 6. Tf(F) T
-
1. 2. 1 2 3 4
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3. 1 CNC JK EPROM
-
CH250
-
ABC ABC 100 110 010
A
B
C
1
1
0
0
2
1
1
0
3
0
1
0
4
0
1
1
5
0
0
1
6
1
0
1
-
xZABCabcPIO()PA0PA5
-
2 ()
-
RcRcCVDRCVT LRa
-
U180vU220v U1 VT1VT2U2
-
VT1VT2U1ReVT1VT1U2 ReVT1
-
5-1 5-2 5-3 5-4 5-5 5-6 5-7
-
Servo System)CNC
-
5-4 1.
-
1000~1500r/min
-
2. 1 a A abcd B abcd b A 2 B 1 A dcba B abcd
-
2 EaURa Ia Ra() Ia(A)Ea EaCen Ce (Wb) n(r/min)
-
Te(Nm) TeCTIa CT
n0 n
-
3.
-
tR tF
-
. . tR (min) dtR(tRtF) ()
:tmd.
-
1.
-
2. PWM (PWM)
-
u-++-UsrTGUsfPWM ++-+MTGUsf
-
1 THPWMH H
-
H VT1VT2VT3VT4 0tt1VT1VT2VT4ABEd t1tTVT1VT2VT3AB0VT4VD2
VT3VT4
-
H VT3VT4ub1ub4ub2ub3ub1 0tt1VT1VT4EdABuABEd t1tTVT2VT3EdBAuABEd
t1T/2AB t1T/2AB t1T/2AB
-
H
-
(2) CNC u uueruer
-
uuerub1ub2ub3ub4
-
() uer0ub1ub2ub3ub4VT1VT3VT2VT4VT2VT4VT1VT3uAB0
uer0ub1ub2(uuer)ub3ub4(uuer) 0tt1ub1ub4VT1VT4 EdVT1VT4
t1tt2ub2ub4ub1VT1VD3VT1
-
t2tt30tt1 t3tTub1ub3,VT1VT3ub4VT4VT4VD2 ueruAB
uer0uAB (PWM)
-
FANUC PWM CNC PWMV1V4H CDRCD1CD2MOLDBRMCC
-
5-1 5-2 5-3 5-4 5-5 5-6 5-7
-
CNC
-
5-4 2080
-
5-4
-
2.
-
nsns ns nns60f/p (r/min) f p n
-
1. nns60f/p (r/min) f 2.
-
PWMPWMPWMSPWM()3. SPWM
-
1 UVT1VT4VT1VT4
VS
_
A
+
Ud
VT
_1051032637.unknown
_1051032645.unknown
_1051032650.unknown
-
2 VT1VT4uA=Ed/2VT1VD4uA=Ed/2 VT4VT1
-
4. SPWM
-
1. (1)
-
(2)
-
2. (1) U
-
X-Y
-
210g
-
3.
-
5-6 2.2~250kw 1100~1000110
-
207080
-
1. 2.
-
3. f Ia
-
1.
-
2.
r/min
f1Hz p s
-
3. f1 E1 Kr1 N1 mU1 KEKE4.44Kr1 N1
-
f1fm CT I2 cos y 2 f Te U1f 1f U1 f U1f 1,
-
(1) TI2TU1/f1 U1/f1Tmf1f1E1U1U1E1f1E1 U1 U1 E1U1 Tm
2000
1000
0 10 20 30 T(Nm)
T
f1
f2
f3
f4
f1>f2>f3>f4
n
_1051032637.unknown
_1051032645.unknown
_1051032650.unknown
-
(2) Tm TmE1/f1=Tm
2000
1000
0 10 20 30 T(Nm)
f3
f2
f1>f2>f3>f4
f1
f4
T
T
f1
f2
f3
n
f4
f1>f2>f3>f4
n
_1051032637.unknown
_1051032645.unknown
_1051032650.unknown
-
3 mf1
2000
1000
0 10 20 30 T(Nm)
f3
f2
f1>f2>f3>f4
f1
f4
T
T
f1
f2
f3
n
f4
f1>f2>f3>f4
n
_1051032637.unknown
_1051032645.unknown
_1051032650.unknown
-
4. 1971F.Blachke f Ia
-
Id Iq If Ia
-
1 aofb9009000f abcdqidiqf 0a
-
2 / ABC ABC90 f 0ab
-
iaib /
-
d q 0
-
5-1 5-2 5-3 5-4 5-5 5-6 5-7
-
Servo System)CNC
-
5-7 1.
-
2.
-
(1) F0Pf =0 eFPf 00 (2) FoPf 0 eFPf0 F=Pf eFPf0 (2) Fo (3) Foeo
(2) Fo (3) Fo (4) eDA3. ()
-
4.
-
1.
-
2.
-
: F=0
-
(1) F0PAPBq00 (2) F0PA +qoPB0q PAPB +qooq 0 (2) F0 (3) F0PA - qo
q 0 3. ()
-
:
-
1.
-
2.
-
qdq Fsqd
-
(1) F0 qd=q 0Pf=0sFPfo0 (2) F0 sFPf 0 D/APfsFPf s 0 (2) F0 (3)
F0sFPf 0 s 0 3. ()
-
CPUCNCRAM
-
PWMCPUPWMPGPWMPWM
-
2.
-
P-PI--PID
-
3. feedforward control ""
-
PIPIPI
