電機的選型計算

1、電機的選型計算電機的選型計算作者: Michel COUPATSummary Michel COUPATM8 lex15 Lexium SizerI I關(guān)于機械的背景知識關(guān)于機械的背景知識II II 再生能量再生能量 IIIIII 電機選型計算的步驟電機選型計算的步驟IVIV 施耐德伺服的計算施耐德伺服的計算V V 練習(xí)練習(xí)Summary Michel COUPATM8 lex15 Lexium SizerI I關(guān)于機械的背景知識關(guān)于機械的背景知識單位單位機械公式機械公式 慣量的計算慣量的計算運動學(xué)運動學(xué)摩擦摩擦慣量的比例慣量的比例 II II 再生能量再生能量IIIIII 電機選型計算的步驟

2、電機選型計算的步驟IVIV 施耐德伺服的計算施耐德伺服的計算V V 練習(xí)練習(xí)Summary Michel COUPATM8 lex15 Lexium SizerSummary Michel COUPATM8 lex15 Lexium Sizern 3 個基本單位個基本單位 : 國際單位制國際單位制 (SI)質(zhì)量質(zhì)量 : m單位單位 : 千克 (kg) 長度長度 : l單位單位 : 米 (m)時間時間 : t單位單位 : 秒 (s)_推導(dǎo)單位 :角度角度:單位 : 弧度弧度 (rad) 360 = 2radrlrlSummary Michel COUPATM8 lex15 Lexium Size

3、rn運動學(xué)運動學(xué)線速度線速度 : l t-1單位單位 : 米每秒 (m/s or m.s-1)角速度角速度 : t -1單位單位 : 弧度每秒 (rd/s or s-1) : : dxvdtDVt瞬時速度平均速度 : : tddt瞬時速度平均速度Wx in mWt in sWD in mWt in sW in radians60N2 W in rd/sWN in rpmSummary Michel COUPATM8 lex15 Lexium Sizern運動學(xué)運動學(xué) :線加速度線加速度 : l t -2單位單位 : 米每秒平方 (m/s/s or m.s-2)角加速度角加速度 : t -2單位

4、單位 : 弧度每平方秒 (rad.s-2 or s-2) : v : tdvdt瞬時加速度平均加速度d : dt : t 瞬間加速度平均加速度Wv in m/sWt in sWt in sW in rd/sSummary Michel COUPATM8 lex15 Lexium Sizern運動學(xué)運動學(xué) :力力 : m l t -單位單位 : 牛頓 (N)力等于質(zhì)量與加速度的乘積: F = m 重量重量 W : m l t - 單位單位 : 牛頓 (N) W = m.g (g : 重力加速度 = 9,81m/s ) 力矩力矩 M : m l t -單位單位 : 牛米 (Nm)力與長度的乘積 :

5、 M = F r (力與長度的方向垂直時) 運動力矩運動力矩 : M = J (J : 轉(zhuǎn)動慣量 kg.m)能量能量: m l t - 單位單位 : 焦耳 (J)力與位移的乘積 : E = F L或轉(zhuǎn)矩與角度的乘積 : E = M rFSummary Michel COUPATM8 lex15 Lexium SizertEP WE in JouleWt in sWF in NewtonWV in m/sWM in NmW in rad/sn運動學(xué)運動學(xué) :功率功率 : m l t -3單位單位 : Watt (W) 1 W = 1 J/s* 直線運動直線運動 :P = F v* 角運動角運動

6、: P = M Summary Michel COUPATM8 lex15 Lexium Sizer質(zhì)量質(zhì)量,重量重量,力力 : 單位單位 : 磅 (lb) 盎司 (oz) : 1 lb = 16 oz 長度長度 : 單位單位 : 英寸 (in) 1英尺 (ft) = 12 英寸 - 1 碼 (yd) = 3英尺 時間時間 : 單位單位 : 秒 (s)線速度線速度 : 單位單位 : 英寸每秒 (in/s)線加速度線加速度 : 單位單位 : 英寸每平方秒 (in/s) 力矩力矩:單位單位 : 英寸磅 (in.lb)慣量慣量 :單位單位 : 英寸磅平方秒英寸磅平方秒 (in.lb.s)Summar

7、y Michel COUPATM8 lex15 Lexium Sizer重量重量 : 1 pound (lb) = 453,59237 g = 0,45359237 kg = 4,44822 N 長度長度 : 1 inch (in) = 2,54 cm = 0,0254 m力矩力矩 :1 inch pound (in.lb) = 0,1130234 Nm慣量慣量 :1 inch pound second square (in.lb.s) = 0,112961 kg.m重力加速度重力加速度 :g = 386 in/s = 32,12 ft/s = 9,81 m/sSummary Michel C

8、OUPATM8 lex15 Lexium SizerSummary Michel COUPATM8 lex15 Lexium Sizern 直線運動直線運動 :n 角度運動角度運動 :ctions) (with friFJMJMMP tt t 2 2000221FvPmFxvv tvxtv tx 22120002Summary Michel COUPATM8 lex15 Lexium SizerWE in JoulesWJ in kg.m2W in rad/sn 直線運動直線運動 :n 轉(zhuǎn)動轉(zhuǎn)動 : 2CIN JE212CINv mE21WE in JoulesWm in kgWv in m/

9、s Summary Michel COUPATM8 lex15 Lexium SizerSummary Michel COUPATM8 lex15 Lexium Sizern 密度密度 :單位單位 : 千克每立方米千克每立方米 (Kg/m3) 磅每立方英尺 (lb/in3) 某個體積承載的重量取決于構(gòu)成的材料. 常見材料的密度常見材料的密度:VmWm : 質(zhì)量 in Kg or lbWV : 體積 in m3 or in3W : 密度 in Kg/m3 or lb/in3o 鋼: 7750 Kg / m30,286 lb / in3o 鋁: 2720 Kg / m30,098 lb / in3

10、o 黃銅: 8170 Kg / m30,295 lb / in3o 紫銅: 8910 Kg / m30,322 lb / in3o 塑料: 1110 Kg / m3 0,040 lb / in3Summary Michel COUPATM8 lex15 Lexium SizerwhLVVm(if h and W nMAX.n Nominal torque : MN Mt + Mf.Summary Michel COUPATM8 lex15 Lexium SizerSummary Michel COUPATM8 lex15 Lexium SizerELEMENTS TO DEFINE : n A

11、cceleration torque : MACC = J.From all the data of the kinematics, calculate the torque to reach the acceleration requirements.n Friction torque Mf.Calculate or evaluate if possible the friction torque on the axis. FIRST APPROACH OF DRIVE CHOICE : n Maximal torque : MMAX MACC + Mf.The maximal torque

12、 available on the motor is defined by the maximal current available on the drive.Summary Michel COUPATM8 lex15 Lexium SizerSummary Michel COUPATM8 lex15 Lexium Sizern From the first motor - drive association defined previously, it is necessary to check its appropriateness with the working cycle.nPlo

13、t speed versus time and torque versus time for the entire motion cycle.Summary Michel COUPATM8 lex15 Lexium Sizern Calculating the average speed.cycleiiavgTtnn2nniin Calculating the equivalent thermal torque.cycleiithTtMMDuring the acceleration and deceleration times : Summary Michel COUPATM8 lex15

14、Lexium Sizer M (Nm)n (rpm)MthnavgIntermittent regionContinuous regionnavgMthABn Compare the calculation results with the Torque curve of motor :Case A : Motor well sized for the working cycle.Case B : Choose another motor with higher continuous torque. Summary Michel COUPATM8 lex15 Lexium SizerSumma

15、ry Michel COUPATM8 lex15 Lexium Sizern From machine data calculate the inertia ratio between load and motor. If this 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 t

16、he new inertia data.n Typical ratios of load to motor inertia can be : from 1:1 to 3:1 - for robotic applications. from 4:1 to 7:1 - for machine tool type applications. from 8:1 to 10:1 - for other factory automation applications.n More practically, we can advise to limit the inertia ratio to : 5:1

17、for dynamical and accurate machines. 10:1 for standard machines. Higher if we only need stop accuracy without time cycle constraint. Summary Michel COUPATM8 lex15 Lexium SizerSummary Michel COUPATM8 lex15 Lexium Sizern Check if an external braking resistance is required :See chapter II.Summary Miche

18、l COUPATM8 lex15 Lexium SizerI IMechanical reminderMechanical reminderII II Energy regenerated Energy regenerated IIIIII Different stages of sizingDifferent stages of sizingIVIV Schneider Motion SizerSchneider Motion SizerV V ExercisesExercisesSummary Michel COUPATM8 lex15 Lexium Sizern Help to choo

19、se the right motor - drive association from :Kinematics definition.Velocity profile of the cycle.n Help to choose the best ratio of inertia between motor and load.Summary Michel COUPATM8 lex15 Lexium Sizern Choose the units of works :Metric units.US standards (Anglo-Saxon units).Summary Michel COUPA

20、TM8 lex15 Lexium SizerKinematics parameters to define Load InertiaSummary Michel COUPATM8 lex15 Lexium Sizern Definition of the velocity profile of cycle work :Summary Michel COUPATM8 lex15 Lexium Sizern Select the best criteria to choose the motor :Stability : select the best load/motor inertia mat

21、ch.Dynamic : select the smallest motor.Summary Michel COUPATM8 lex15 Lexium Sizern To define the limits of value for selecting motors :Summary Michel COUPATM8 lex15 Lexium SizerList of motors selectedInertia ratio : Message “Gearbox ?” is noted if inertia ratio 10Summary Michel COUPATM8 lex15 Lexium

22、 Sizer Here is indicated ifan external brakingresistor is requested Summary Michel COUPATM8 lex15 Lexium Sizern Lexium sizer creates a professional looking application report for every axes.Summary Michel COUPATM8 lex15 Lexium Sizern Select the best inertia ratio can induce to choose an higher motor

23、 than the cycle requests.Summary Michel COUPATM8 lex15 Lexium SizerI IMechanical reminderMechanical reminderII II Energy regenerated Energy regenerated IIIIII Different stages of sizingDifferent stages of sizingIVIV Schneider Motion SizerSchneider Motion SizerV V ExercisesExercisesSummary Michel COU

24、PATM8 lex15 Lexium Sizer 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,

25、5 Kg - Coefficient friction : 0,1 Summary Michel COUPATM8 lex15 Lexium Sizer1-1 : 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 Sizer. Summary

26、Michel COUPATM8 lex15 Lexium SizerTriangular 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. Summary Michel COUPATM8 lex15 Lexium SizerTrapezoidal Profile : - Move distance

27、: 6 m - Move time : 5 s - Dwell time : 0 s 1b-1 : Check the calculation with Schneider Sizer.Summary Michel COUPATM8 lex15 Lexium SizerTrapezoidal 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. Summary Michel COUPATM8 lex15 Lexium SizerTrapezoidal Profile :- Move distance :