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1、Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型伺服选型1Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型选择伺服电机：v 计算有效运行点，效核电机的热载荷；v 计算最大运行点，效核电机和变频器的连接；v 计算负载和电机转动惯量的比值，用于检验速度闭环的稳定性；2Geared Servomotors Training 2005Driving the worldATD /
2、 Li Jianliang / 2005.11伺服选型事 例 13Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型用户提供的参数:序号名称参数值 1负载重量9000kg 2小车速度2m/s 3最大的加速度0.35 m/s2 4最大的减速度0.35 m/s2 5车轮直径500 mm 6摩擦系数100 N/t 7机械效率90 % 8附加的减速器直接传动 9上升时间5.7s 10运行时间5s 11下降时间5.7s 12等待时间8 s 13异步伺服电机3000 rpm4Geared Ser
3、vomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型要求:选择异步伺服电机（3000rpm）、K系列减速机5Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型步骤1:确定减速机速比noutput=vmax / (D )Isoll =3000(1/min) / 76.4 (1/min)=39.26D1.计算轮子角速度2.计算减速机理论速比=2(m/s) / (0.5(m) =76.4 (1/min
4、)6Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型步骤2:确定确定动态和静态转矩Mdyn1= F D/2 1/L =m a D/2 1/LMdyn2= m (-a) D/2 L1.计算加速时的动态转矩Fr2.计算减速时的动态转矩=9000Kg 0.35m/s2 0.5m/2 1/0.9=875 Nm=-9000Kg) 0.35m/s2) 0.5m/2 0.9=-709 Nm7Geared Servomotors Training 2005Driving the worldATD
5、/ Li Jianliang / 2005.11伺服选型步骤2:确定确定动态和静态转矩Mstat= FF D/2 1/L3.计算静态转矩=100N/t 9t 0.25 m 1/0.9=250 Nm8Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型步骤3：确定最大转矩M1max= Mstat + Mdyn1M2max= Mstat + Mdyn21.计算加速时所需的转矩2.计算减速时所需的转矩3. 最大转矩Mmax=1125Nm=250Nm + 875Nm =1125 Nm=250N
6、m - 709Nm =-459Nm9Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型选择KA77 的减速箱 I=40.044.初步选择减速箱型号和工程速比理论速比 I=39.26 最大转矩 M= 1125Nm10Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型步骤4：电机侧所需的加速转矩M1motor= M1max / (gear i) 步骤5：电机侧所需的减速转矩M2
7、motor= M2max gear / i=1125Nm / (0.94 40.04)=30 Nm=-459Nm 0.94 / 40.04=-10.8 Nm11Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型步骤6：电机侧的稳定运行转矩M1stat-Motor = Mstat / (gear I) =250Nm / (0.94 40.04)=6.6 Nm12Geared Servomotors Training 2005Driving the worldATD / Li Jianl
8、iang / 2005.11伺服选型步骤7：电机侧有效转矩(r.m.s)Meff =M12 t1+ Mf2 t2 + M32 t3 t1+ t2 + t3 + t4=302 5.7+ 10.82 5.7 + 6.62 5 5.7+ 5 + 5.7 + 8=15.6Nmt1t2t3t413Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型步骤8：电机侧的平均转速n =n1 t1+ n2 t2 + n3 t3 + + nv tv t1+ t2 + t3 + + tn=3060/2 5.7
9、+ 3060 5 + 3060/2 5.7 5.7+ 5 + 5.7 + 8=1342min-1t1t2t3t43060rpmt14Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型步骤9：电机的选择1.确认和K77减速箱匹配的异步伺服电机15Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型2.初步选择异步伺服电机额定转速：3000 rpm 稳态转矩：15.6 Nm 结论
10、：初步选择CV100L416Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型Meff=15.6Nm n=1342 rpmM1motor=30Nm nmax=3060 rpmCV100L4速度和转矩曲线如选择CV100L4:效验两个点:1.平均值点2.最大值点3.效验异步伺服电机CT100L4平均值点和最大值点都 满足要求。 变频器初步选择： MDV60A0110-5A3-4-0017Geared Servomotors Training 2005Driving the worldA
11、TD / Li Jianliang / 2005.11伺服选型步骤10：效验转动惯量的比值Jext / JmotorCV100L4的转动惯量0.0071kgm21.选择CV100L4电机的转动惯量18Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型Jext = m (D / 2 )2 2.计算减速机侧的负载转动惯量D=9000kg (0.5m 2)2=562.5kg m23.计算电机侧的负载转动惯量Jext =Jext i2=562.5kg m240.042= 0.351 kg m
12、219Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型选择CV100L4异步伺服电机:Jext Jmotor=0.351kgm2 71.10-4 kgm2=49.4结论：因为比例值太大， CV100L4异步伺服电机不适合。4.计算负载转动惯量和电机转动惯量的比值20Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型步骤10：效验转动惯量的比值Jext / Jmotor选择
13、CV132S4异步伺服电机:Jext Jmotor=0.351kgm2 158.10-4 kgm2=22.221Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型选择控制器:M1motor=30Nmnmax=3060 rpmMeff=15.6Nmn=1342 rpm平均值点和最大值点都 满足要求。 变频器初步选择： MDV60A0150-5A3-4-0022Geared Servomotors Training 2005Driving the worldATD / Li Jianli
14、ang / 2005.11伺服选型事 例 223Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型应用：v同步伺服电机的转子设计成低转动惯量。v在动态特性很高的应用场合是一种较佳的选择。v当加速度大于5m/S2时，选择同步伺服电机从技术和经济的角度时是最佳的。24Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型示意图：25Geared Servomotors Traini
15、ng 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型用户提供参数：序号名称参数值 1伺服电机额定转 速4500 rpm2减速箱型号PSF 3负载重量150 kg 4小车重量100 kg 5小车速度5m/s 6小车加速度10 m/s2 7小车减速度10 m/s2 8小车轮直径250 mm 9摩擦系数100 N/t 10机械效率90% 11环境温度20 12安装位置M4 13机械加工精度0.3mm 14选型要求总精度0.6mm26Geared Servomotors Training 2005Driving the worldATD /
16、Li Jianliang / 2005.11伺服选型要求:选择同步伺服电机？选择PSF低齿隙减速箱？核算定位总精度？27Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型t1t2t3t4ntt5t6t7运行示意图:t1=t3=t5=t7=0.5s 起动时间t2=t6=2.0s 停车时间t4=t8=1.5s 等待时间t828Geared Servomotors Training 2005Driving the worldATD / Li Jianliang / 2005.11伺服选型转矩图:选择PSF低齿隙减速箱 如上转矩图，计算最大转矩Mamax，利用该值初
