伺服电机选型技术指南
1
T-
1
v(t)a(t)F(t)(t)(t)T(t)P P T n =/n =T/Tn n
2
n M
1
n V max u 103n nom P h
n nom rpm n rpm V x m a
m/minu u=n/nP h mm
2
, J L
2.5J M J L 2. 5J M
2j 2N V j J L J j () m j () j 1j 1M
J j kg.m 2j rad/minm j kg V j m/minrad/min 3
80%
T max 2n (J L J M ) T F T A max 80% 60t ac
T A max N.m T x m a
N.m T F N.m t ac ms
4
T ms T MS 80%
T ms T c D T MS 80%
T c N.m D
5
12t lon t Mon
T L F L T C 2
T L N.m F N L m T C N.m
F F c (W f g F cf )
F c N f g N W N F cf N F (W f g )
a
b
c
d ()
e 4
ACC/DEC5J M J L
1J L 5 J M
a
J
332D 4L kg cm2 (kg/cm) D (cm)L (cm)
b
J W (L 2) kg cm2 2
W (kg)L (cm) c
J J 0WR 2kg cm2
J 0(kgcm2)W (kg)R (cm)
d Jo
J
N 1N 2
5
1 N 1J 0kg cm2 N 2
T n m 1
a 2
60104t (J M J L )(1e Ksta ) N.m
a
n m t a J M kg.cm 2kg.cm 2K s
n 1
r n m [1t (1e Ksta )]
a K s
2
To
T 1
O 2n m
60104t (J M J L ) N.m
e
t e
3
Ta To ts=Ks
T n m 1
a 2
60104t (J M J L ) N.m
s
J L
6
T rms
(T a T f ) 2t 1T f t 2(T a T f ) 2t 1T o t 3T 22 T a Nm T f Nm T o Nm t 1t 2t 3T
t 1t 2t 3T
8
1
ta td
2GD 2
T P
GD l 2
8LD 4104(kg . m 2)
L cm D cm
GD 2
L (N l 214) GD l 2() 2l 2d 2l 1d 14(kg . m 2) N m R 88
l 2d 2l 1d 1GD l kg.m 2N l rpm N m rpm 1/R
3
Po T L T L 2
T L N l T l N m
T l
P o T l N l 9535. 4
4
2(GD m GD l 2) N m t a 38. 3(T p T l )
2(GD m GD l 2) N m t d 38. 3(T p T l )
510ms T P T P 510 5
a
T rms
T P 2t a T l t c T P t d f w t 22t a s t l s t d s f w T rms