1、电机的选型计算电机的选型计算作者:Michel COUPAT Michel COUPATM8 lex15 Lexium SizerSummary目录目录目录目录I关于机械的背景知识关于机械的背景知识II 再生能量再生能量 III 电机选型计算的步骤电机选型计算的步骤 IV 施耐德伺服的计算施耐德伺服的计算V 练习练习 Michel COUPATM8 lex15 Lexium SizerSummary电机和驱动器的选型计算电机和驱动器的选型计算电机和驱动器的选型计算电机和驱动器的选型计算I关于机械的背景知识关于机械的背景知识单位单位机械公式机械公式惯量的计算惯量的计算运动学运动学摩擦摩擦惯惯量的
2、比例量的比例 II 再生能量再生能量III 电机选型计算的步骤电机选型计算的步骤 IV 施耐德伺服的计算施耐德伺服的计算V 练习练习 Michel COUPATM8 lex15 Lexium SizerSummary单位单位单位单位关于机械的背景知识关于机械的背景知识关于机械的背景知识关于机械的背景知识 Michel COUPATM8 lex15 Lexium SizerSummary米制单位米制单位米制单位米制单位n3 个基本单位个基本单位:国际单位制国际单位制(SI)质量质量:m单位单位:千克(kg)长度长度:l单位单位:米(m)时间时间:t单位单位:秒(s)_推导单位:角度角度:单位:弧
3、度弧度(rad)360=2 radrl Michel COUPATM8 lex15 Lexium SizerSummaryn运动学运动学线速度线速度:l t-1单位单位:米每秒(m/s or m.s-1)角速度角速度:t-1单位单位:弧度每秒(rd/s or s-1)Wx in mWt in sWD in mWt in sW in radiansW in rd/sWN in rpm米制单位米制单位米制单位米制单位 Michel COUPATM8 lex15 Lexium SizerSummaryn运动学运动学:线加速度线加速度:l t-2单位单位:米每秒平方(m/s/s or m.s-2)角加
4、速度角加速度:t-2单位单位:弧度每平方秒(rad.s-2 or s-2)Wv in m/sWt in sWt in sW in rd/s米制单位米制单位米制单位米制单位 Michel COUPATM8 lex15 Lexium SizerSummaryn运动学运动学:力力:m l t-单位单位:牛顿(N)力等于质量与加速度的乘积:F=m重量重量 W:m l t-单位单位:牛顿(N)W=m.g (g:重力加速度=9,81m/s)力矩力矩 M:m l t-单位单位:牛米(Nm)力与长度的乘积:M=Fr(力与长度的方向垂直时)运动力矩运动力矩:M=J(J:转动惯量 kg.m)能量能量:m l t-
5、单位单位:焦耳(J)力与位移的乘积:E=F L或转矩与角度的乘积:E=M rF米制单位米制单位米制单位米制单位 Michel COUPATM8 lex15 Lexium SizerSummaryWE in JouleWt in sWF in NewtonWV in m/sWM in NmW in rad/s米制单位米制单位米制单位米制单位n运动学运动学:功率功率:m l t-3单位单位:Watt(W)1W=1J/s*直线运动直线运动:P=F v*角运动角运动:P=M Michel COUPATM8 lex15 Lexium SizerSummary英制单位英制单位英制单位英制单位质量质量,重量
6、重量,力力:单位单位:磅(lb)盎司(oz):1 lb=16 oz 长度长度:单位单位:英寸(in)1英尺(ft)=12 英寸 -1 码(yd)=3英尺 时间时间:单位单位:秒(s)线速度线速度:单位单位:英寸每秒(in/s)线加速度线加速度:单位单位:英寸每平方秒(in/s)力矩力矩:单位单位:英寸磅(in.lb)惯量惯量:单位单位:英寸磅平方秒英寸磅平方秒(in.lb.s)Michel COUPATM8 lex15 Lexium SizerSummary等效的米制和英制单位等效的米制和英制单位等效的米制和英制单位等效的米制和英制单位重量重量:1pound(lb)=453,59237g=0,
7、45359237kg=4,44822N 长度长度:1inch(in)=2,54cm=0,0254m力矩力矩:1inchpound(in.lb)=0,1130234Nm惯量惯量:1inchpoundsecondsquare(in.lb.s)=0,112961kg.m重力加速度重力加速度:g=386in/s=32,12ft/s=9,81m/s Michel COUPATM8 lex15 Lexium SizerSummary机械公式机械公式机械公式机械公式关于机械的背景知识关于机械的背景知识关于机械的背景知识关于机械的背景知识 Michel COUPATM8 lex15 Lexium SizerS
8、ummaryn 直线运动直线运动:n 角度运动角度运动:机械公式机械公式机械公式机械公式 Michel COUPATM8 lex15 Lexium SizerSummaryWE in JoulesWJ in kg.m2W in rad/sn 直线运动直线运动:n 转动转动:WE in JoulesWm in kgWv in m/s 动能动能动能动能 Michel COUPATM8 lex15 Lexium SizerSummary惯量的计算惯量的计算惯量的计算惯量的计算关于机械的背景知识关于机械的背景知识关于机械的背景知识关于机械的背景知识 Michel COUPATM8 lex15 Lexi
9、um SizerSummaryn 密度密度:单位单位:千克每立方米千克每立方米(Kg/m3)磅每立方英尺(lb/in3)某个体积承载的重量取决于构成的材料.常见材料的密度常见材料的密度:Wm:质量 in Kg or lbWV:体积 in m3 or in3W :密度 in Kg/m3 or lb/in3o 钢:7750 Kg/m30,286 lb/in3o 铝:2720 Kg/m30,098 lb/in3o 黄铜:8170 Kg/m30,295 lb/in3o 紫铜:8910 Kg/m30,322 lb/in3o 塑料:1110 Kg/m3 0,040 lb/in3密度密度密度密度 Miche
10、l COUPATM8 lex15 Lexium SizerSummary长方体长方体长方体长方体(if h and W nMAX.nNominaltorque:MNMt+Mf.Michel COUPATM8 lex15 Lexium SizerSummaryStage3:Stage3:DynamicsizingDynamicsizingDifferentstagesofsizingDifferentstagesofsizing Michel COUPATM8 lex15 Lexium SizerSummaryELEMENTSTODEFINE:nAccelerationtorque:MACC=J
11、From all the data of the kinematics,calculate the torque to reach the acceleration requirements.nFrictiontorqueMf.Calculate or evaluate if possible the friction torque on the axis.FIRSTAPPROACHOFDRIVECHOICE:nMaximaltorque:MMAXMACC+Mf.The maximal torque available on the motor is defined by the maxim
12、al current available on the drive.DynamicsizingDynamicsizing Michel COUPATM8 lex15 Lexium SizerSummaryStage4:Stage4:ThermalverificationThermalverificationDifferentstagesofsizingDifferentstagesofsizing Michel COUPATM8 lex15 Lexium SizerSummaryThermalverificationThermalverificationnFrom the first moto
13、r-drive association defined previously,it is necessary to check its appropriatenesswiththeworkingcycle.nPlotspeed versus time and torque versus time fortheentiremotioncycle.Michel COUPATM8 lex15 Lexium SizerSummaryThermalverificationThermalverificationnCalculatingtheaveragespeed.nCalculatingtheequiv
14、alentthermaltorque.Duringtheaccelerationanddecelerationtimes:Michel COUPATM8 lex15 Lexium SizerSummary M(Nm)n(rpm)MthnavgIntermittent regionContinuous regionnavgMthThermalverificationThermalverificationABnComparethecalculationresultswiththeTorquecurveofmotor:CaseA:Motorwellsizedfortheworkingcycle.Ca
15、seB:Chooseanothermotorwithhighercontinuoustorque.Michel COUPATM8 lex15 Lexium SizerSummaryStage5:Stage5:InertiaratioInertiaratioDifferentstagesofsizingDifferentstagesofsizing Michel COUPATM8 lex15 Lexium SizerSummaryInertiaratioInertiaration From machine data calculate the inertia ratio between load
16、 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 the new inertia data.nTypicalratios of load to motor inertia can be:from1:1to3:1-forroboticapplications.fr
17、om4:1to7:1-formachinetooltypeapplications.from8:1to10:1-forotherfactoryautomationapplications.n More practically,we can advise to limit the inertia ratio to:5:1 for dynamical and accurate machines.10:1 for standard machines.Higher if we only need stop accuracy without time cycle constraint.Michel CO
18、UPATM8 lex15 Lexium SizerSummaryStage6:Stage6:BrakingresistorBrakingresistorDifferentstagesofsizingDifferentstagesofsizing Michel COUPATM8 lex15 Lexium SizerSummaryInertiaratioInertiarationCheckifanexternalbrakingresistanceisrequired:See chapter II.Michel COUPATM8 lex15 Lexium SizerSummarySchneiderM
19、otionSchneiderMotionSizerSizerIMechanical reminderII Energy regenerated III Different stages of sizingIV Schneider Motion SizerV Exercises Michel COUPATM8 lex15 Lexium SizerSummaryWhyaMotionWhyaMotionSizerSizer?nHelptochoosetherightmotor-driveassociationfrom:Kinematics definition.Velocity profile of
20、 the cycle.nHelptochoosethebestratioofinertiabetweenmotorandload.Michel COUPATM8 lex15 Lexium SizerSummarySetupunitsSetupunitsnChoosetheunitsofworks:Metric units.US standards(Anglo-Saxon units).Michel COUPATM8 lex15 Lexium SizerSummaryn nBelt-PulleyBelt-PulleyAxisDesign:KinematicsdefinitionAxisDesig
21、n:KinematicsdefinitionHELP!HELP!KinematicsparameterstodefineLoadInertian nConveyorConveyorn nDiskDiskn nGearboxGearboxn nLead screwLead screwn nRack-PinionRack-Pinionn nRotary tableRotary tablen nNip rollNip rollKinematics Kinematics:Michel COUPATM8 lex15 Lexium SizerSummaryVelocityprofileVelocitypr
22、ofilenDefinitionofthevelocityprofileofcyclework:Michel COUPATM8 lex15 Lexium SizerSummaryMotorselection:criteriaofchoiceMotorselection:criteriaofchoicenSelectthebestcriteriatochoosethemotor:Stability:selectthebestload/motorinertiamatch.Dynamic:selectthesmallestmotor.Michel COUPATM8 lex15 Lexium Size
23、rSummaryMotorselection:safetyfactorsMotorselection:safetyfactorsnTodefinethelimitsofvalueforselectingmotors:Michel COUPATM8 lex15 Lexium SizerSummaryMotorselectionMotorselectionListofmotorsselectedInertiaratio:Message“Gearbox?”is noted if inertia ratio 10 Michel COUPATM8 lex15 Lexium SizerSummaryMot
24、orselection:brakingresistorMotorselection:brakingresistorHere is indicated ifan externalbrakingresistor is requested Michel COUPATM8 lex15 Lexium SizerSummaryReportgeneratorReportgeneratornLexiumsizercreatesaprofessionallookingapplicationreportforeveryaxes.Michel COUPATM8 lex15 Lexium SizerSummaryPe
25、rformancescurvesPerformancescurvesnSelect the best inertia ratio can induce to choose an higher motor than the cycle requests.Michel COUPATM8 lex15 Lexium SizerSummarySchneiderMotionSchneiderMotionSizerSizerIMechanical reminderII Energy regenerated III Different stages of sizingIV Schneider Motion S
26、izerV Exercises Michel COUPATM8 lex15 Lexium SizerSummaryEx.1:ConveyorindexerEx.1:ConveyorindexerMachineData:-Motorpulley(mp):D:14 cm m:3,6 Kg-Gearboxpulley(gp):D:21 cm m:10 Kg -Beltmass:50 g-GearboxRatio:8,25 Inertia(gb):0,021 Kg.m Efficiency:98%-Mainpulley(md):D:20 cm m:9,2 Kg -Loadmass:700 Kg -Be
27、ltconveyormass:4,5 Kg-Coefficientfriction:0,1 Michel COUPATM8 lex15 Lexium SizerSummaryEx.1:ConveyorindexerEx.1:Conveyorindexer1-1:Calculatetheinertiareflectedtothemotorshaft.1-2:Calculatetheresistanttorquetothemotorshaft.1-2-1Horizontalaxis1-2-2Verticalaxis1-2-3Axis451-2-4CheckthecalculationwithSch
28、neiderSizer.Michel COUPATM8 lex15 Lexium SizerSummaryTriangularProfile:Ex.1a:TriangularprofileEx.1a:Triangularprofile-Movedistance:6 m-Movetime:5 s-Dwelltime:0 s 1a-1:Calculatethethermaltorqueforhorizontalaxis.1a-2:CheckthecalculationwithSchneiderSizer.Michel COUPATM8 lex15 Lexium SizerSummaryTrapez
29、oidalProfile:Ex.1b:TrapezoidalprofileEx.1b:Trapezoidalprofile-Movedistance:6 m-Movetime:5 s-Dwelltime:0 s 1b-1:CheckthecalculationwithSchneiderSizer.Michel COUPATM8 lex15 Lexium SizerSummaryTrapezoidalProfile:Ex.1c:TrapezoidalprofileEx.1c:Trapezoidalprofile-MoveSpeed:1 m/s-Movetime:5 s-Accel./Decelt
30、ime:0,2 s-Dwelltime:0 s 1c-1:Calculatethethermaltorqueforhorizontalaxis.1c-2:CheckthecalculationwithSchneiderSizer.Michel COUPATM8 lex15 Lexium SizerSummaryTrapezoidalProfile:Ex.1d:ConstantspeedEx.1d:Constantspeed-Movedistance:6 m-Movetime:3600 s-Accel./Deceltime:60 s-Dwelltime:0 s 1d-1:Checkthecalc
31、ulationwithSchneiderSizer.Michel COUPATM8 lex15 Lexium SizerSummaryEx.2:LeadscrewsystemEx.2:LeadscrewsystemLeadscrew:L:Screw length=1,4 mDs:Screw diameter=0,04 mp:Screw pitch=0,01 m/rev:Friction coefficient=0,2:Screw efficiency=0,95Load:mL:Load+table mass=500 kgCoupling:mL:Coupling mass=1 kgDc:Exter
32、nal diameter=0,06 mHorizontalaxis=0 JMJS,pmLJCFfrFP,Fg Michel COUPATM8 lex15 Lexium SizerSummaryEx.2:LeadscrewsystemEx.2:Leadscrewsystem2-1:Calculatetheinertiareflectedtothemotorshaft.2-2:Calculatetheresistanttorquetothemotorshaft.2-2-1Horizontalaxis2-2-2CheckthecalculationwithSchneiderSizer.Michel COUPATM8 lex15 Lexium SizerSummaryTrapezoidalProfile:Ex.2a:TrapezoidalprofileEx.2a:Trapezoidalprofile-Axisspeed:15 m/mn-Movetime:1,2 s-Dwelltime:0,3 s 2a-1:Calculatethethermaltorqueforhorizontalaxis.2a-2:CheckthecalculationwithSchneiderSizer.Michel COUPATM8 lex15 Lexium Sizer
