自動控制元件16解析講課教案

1、自動控制元件16解析22229.55260PPPTnnaaaaaaaaaaaaaaaaaaaaEUI RUEI Rdiei RLudtdiuei RLdt10021020ememememTTTTTTdTTTJdtdTTTJdt20aaaaemaeeeemmataUEI RTTTECnK nKTCIK I eetmKCKC602eeKK 2aemaeemaemaeetUT RnCC CUT RnKK K00femaeafetnnk TUnKRkK KadttdaUTKK IR1aaceetcabceacbetUR TnKK Knk UnkKR TnconstK K階躍控制電壓作用下直流伺服電動機

2、的過渡過程( )( )( )( )( )( )( )aaaaaaemcaeemt adiUe ti t RLdtdTtTJdte tK n tTtK i t222222( )( )( )6060( )( )( )aaaacteteetememcafcJLJRUR Td n tdn tn tK KdtK KdtKK Kd n tdn tn tk Uk Tdtdt 00260220.1056060aeaametaaemaetddtaLRJRK KUJJRKJnJUK KTTKR直流測速發(fā)電機10afafafaemafeeemmaftafUEI RTTTECnK nTCIK I 輸出特性的誤差分析0

3、0afsifUkR 1efafsfknUnkR步進電動機的常用術(shù)語mchbrZp( )Tf步進電動機的常用術(shù)語maxjTmax( )jTf Istfmaxf()emdcpTf f()stfff T( )stff J徑向分相反應(yīng)式步進電動機22pm360chrZ3602p12 ()rZp Km360brNZ步進電動機的轉(zhuǎn)速60()cprfnrpmNZcpf步進電動機的轉(zhuǎn)速60()rfnrpmZf通電相極產(chǎn)生的電磁轉(zhuǎn)矩（矩角特性）maxsinemAjeTT 用電角度表示的齒距角erZerZmaxmaxmaxmaxsin2sin()32sin()3sin()3emAjeemBjeemCjeemABe

4、mAemBjeTTTTTTTTTT 矩角特性曲線族maxsinemAjeTT 三相反應(yīng)式步進電機矩角特性曲線族max2sin()3emBjeTT max2sin()3emCjeTT maxmaxmaxmaxsinsin()2sin()3sin()2emAjeemBjeemCjeemDjeTTTTTTTT maxsinemAjeTT max2sin()3emBjeTT max2sin()3emCjeTT 三相反應(yīng)式步進電機繞組通電方式雙三拍單雙六拍 22通電方式，6拍三相混合式步進電機繞組通電方式233通電方式，6拍23通電方式，12拍ACACBCBCBABABACBACBACBACBACBAC

5、四相反應(yīng)式步進電機繞組通電方式ABBCCDDAAABBBCCCDDDA二相混合式步進電機繞組通電方式ABBAABBAAABBBAAABBBA三相反應(yīng)式空載情況下三相反應(yīng)式負(fù)載情況下，比較a, q, a”三種負(fù)載三相反應(yīng)式多拍情況下，負(fù)載能力提高112qdqshTTT132qsTTfemqTTmaxmaxmax121232emqjemqjemqjTTTTTTmaxmaxmax3233emqjemqjemqjTTTTTT三相混合式步進電機負(fù)載能力sincoscossinsujcujujccfccfccujssfssfssEk UEk Uk UEIzzzzk UEIzzzz sincoscossinsincoscsujujfccfssfccfsscszfcfsfIIk Uk Uzzzzzzzzzzzzzz 原邊補償?shù)恼嘞倚D(zhuǎn)變壓器qzjzqjzz力矩式自整角機1cos(90)sinscscmscmEEE控制式自整角機的工作原理sinscscmUEcos(90)sinscscmscmEEE1212