




                






i
 
L ...................................................................................................... i
 ............................................................v
 ......................................................................... viii
 ...................................................................................................... ix
 ................................................................................................................. xii
CH
 ............................................................................................................2
 ? ..........................................................2
 .......................................................................................3
  ...........................................................6
CH .......7
 khí ......................................................................11
...................................................................................13
2.2.1 Ctam giác ......................................................................14
 ...........................................................................15
 ........................................................................16
2.2.4 Phép tính   ..................................................................18
2.2.5 Các ph ......................................20
2  .............................................................................................21
2.2.6.1  .....................................................................25
 .....................................................................................................31
2.3.1.T  ...............................................................................35
2.3.2. Quán tính  và mômen  ..............................................................35
2.3.3 Mômen  .............................................................37
 ...........................................................................................42
2 cho các  ..........................................43
 b .....................................................................................44
  ........................................................45

ii
   .................................................45
  ..............................................................................46
 ................................................................................46
 ......................................................................47
mômen ................................................49
 servo ................................................49
 b ............................................................54
  b .........................................55
 ................................................................................56
 ........................................................................56
2.5.2. Các ymômen   ............................................58
 ..........................................................................62
2 .....................................................................................................64
2.5.5  ...........................................................................66
 Y - Z) ..................................................................68
2.5.7 N .......................................................................................70
 .................................................................................................72
CHMÔMEN  .....................75
3.1. Các tính toán c  .......................................................................................75
3.1.1 Các phng trình c ...........................................................................75
 ..............................................................................................76
 .............................................................................................77
 ............................................................................78
 khí ......................................................................79
 ....................................................................................................80
 .............................................................................81
 ...................................................................................................83
 .............................................................................84
 .............................................................................86

iii
 3.2.6 Puli- ..........................................................................................87
 .............................................................................................89
3.2.8 C  me ............................................................................................91
3.2.9 C  .........................................................................92
3.2.10 C  ......................................................................................94
3.2.11 C  ...............................................................96
3.2.12 Bàn xoay .................................................................................................98
 ....................................................................99
 ..............................................................100
 ............................................................................................................103
 ....................................................................................104

iv
 
Hình 1.1.1: Chi phí   ..................................................2
 .............................................4
  ..........................................................5
Hình 2.1.1:  ...................................................................12
 ................................................................14
 ....................................................................15
 ......................................................................16
 ....................................17
Hình 2 theo hình tam giác và hình thang .18
Hình 2.2.4.1:  ............................................................19
Hình 2.2.6.1: mômen .....................................................22
Hình 2.2.6.2: . ...................................................23
Hình 20% .................................................................................23
Hình 250% ...............................................................................24
Hình 2100% .............................................................................24
Hình 2.2.6.6:  ..................................................25
 ................................................................................25
 .....................................27
i ...............................28
Hình 2.2.6.1.5:  ..............................................28
Hình 2.2.6.1.6: phng trình S thông qua MS-Excel .............29
Hình 2.3.1:  ............................................................................................31
 .............................................................32
.......................................................................35
 ..............................................36
 .........................................38
.3.3.2:  các phân ..................................40
 ....................................................................................47

v
Hình 2.4.2.3 servo .........50
 .............................51
  ..............................................................52
  ...................................................52
 .....................................53
Hình 2.4.2.4.1:  b .......................54
  b .....................................55
 .................................................................................58
Hình 2 .59
 ...................................................................60
 ...........60
 .......................61
 ..................................................................61
 ......................................................................63
 ...........................................................................65
Hình  ................................................................................66
 .............................................................66
-  ........................................................67
  .....................67
-  ..........................................................68
Hình 2.5.6.1:   ........................................................69
 .............................................70
Hình 3.1.2.1:  .........................................................................................76
Hình 3.1.3.1:  .......................................................................................77
Hình 3.1.4.1:  .......................................................................78
Hình 3.2.1.1:  ..............................................................................................81
Hình 3.2.2.1:  .......................................................................81
Hình 3.2.3.1:  ..............................................................................................83
 ........................................................................84

vi
Hình  ..................................................................................................86
Hình 3.2.6.1 Puli- ......................................................................................87
Hình 3.2.7.1 C  .............................................................................89
Hình 3.2.8.1 C  ........................................................................................91
Hình 3.2.9.1 C  ....................................................................92
Hình 3.2.10.1 C ..................................................................................94
Hình 3.2.11.1 C  ..........................................................96
Hình 3.2.12.1 Bàn xoay.............................................................................................98
  ...............................................................99
 ..........................................................................................100

vii
 

 . ...............................10

 .....................................................................42

 ........................................................44

viii
 
 
Aend 
Aside Di
a G
cos 
 
D 
DGL 
DGM 
Dp 
DPL 
DPM 
DRL 
DRM 
DSL 
DSM 

e 
Fg 
Ffr ma sát
FP 
g Hng s gia tc trng g = 9,81m/s 2
h C
Mômen RMS
I RMS
JA Mômen 
Ja-a Quán tính tính theo trc a-a
Japp Q
Jb-b Q-b

ix
J Mômen 
JDisk Mômen 
JC 
J 
JDisk Mômen Mômen 
Mômen 
JGL 
J 
JGM 
JL  
J  Mômen 

JP Mômen 
JPL Mômen 
J Mômen 
JPM Mômen 
Jroto Q
JRL Mômen 
J Mômen 
JRM Mômen 
J 
JSM Quán tính 
Jtotal 
Jtotal Mômen 

Jsystem Q
L Chiu dài tr/ b dày c Chiu dài khp ni/ Chiu dài khi
m 
Nr 
Nr T

x
NTL  
NTM  
PS 
PD 

r Bán kính
r0 Bán kính ngoài
ri Bán kính trong
sin  

Ta Mômen 
TC Mômen 
TL Mômen 
TL-M Mômen 
Ttotal Mômen 
TP Mômen 
t 
ta 
tc  
td 
to 
V T
v 
v max 
vL T
vM T
Vf 
W 
WB 
WC 

xi
WL 
WM 
WT 
w 
w B rng khi ch nht
 
 max 
 
 
a 
c 
d 
 
 
 

xii
 

1. 
   

   
khách quan.
  liên quan  
  , còn có các thành
  và .
 tiên cho   
    là  
 có kích   mômen
và    . Tuy nhiên các  
  ,     tính toán
 momen  .
T               

2. 

  mômen
3. 
Các  
4. 
Quá trình tính kích        các phép tính mômen và
quán tính 
an toàn
 mômen 

1


kích  
hành. Kích  
 giá thành 
  

1kích 
Các           chi phí có   
           do giá thành, mà còn
 mômen  
 
 mômen              
                
trong khi


-96%

Giá mua -2%

 2%

Hình 1.1.1: Chi phí 

     servo phù        
               tính
2
 kích  servo   
kích 
 mômen bù vào 

 servo         
riêng nó, và quán tính này tham gia vào mômen ,  mômen
 q.  tính toán mômen 
hành 

                 
servo               
do nguyên nhân 
  
.
 do chính khi quá kích 
- Các không rõ ràng
- 
-  
        
quan 
1
 
             ), và trong
u 
tá mát
 kém 
trình tình  g


3
                 .

.
 
là                 
 , là khi   
  
.
 

 tr %

Hình1.2.1:  

Hình 1
               
30% .
 
Khi
 , 
 


4
mômen trung bình
(RMS) và mômen  này.
Tuy nhiên, có  :
  khí (ví    
     mài mòn    
tham gia vào mômen không
.
 

 
  

 
 
   1.2.2) và phù


cao
 





Hình 1 

5
1  kích  
 tính kích   tiêu chí kinh doanh:
 
 
 Chi phí mua hàng - 2%
 - 2%
 - 96%
 
             có mômen   
moomen     . C          
mômen  
                
.


và quán tính rotor là  

    không       

 
   

    thành           
.
 n 
 
 Mômen mômen 
 Quán   
 

6
  

Quá trình tính kích các phép tính mômen và

quán tính  theo yêu
 
hành an toàn mômen 

               
mômen 

Quá trình xác  

a.
Các  

 
 
 chính xác?
 
  hay theo 
?
  -  xung quanh?
 nào cho 
b.
         nào    cho  
. Ví  vít 
 .
 r
  hay  
  ính: dùay ,
?
7
  G - , vv?
 - 
 gia 
a.  trình (
         , gia      
trình  ,          , vv,   cho 
 .
 ,  
   hình tam giác, hình thang hay hình khác?
   chu trình 

 ?
 
  có chu trình ?
 Có g phanh không khi  ?
d.
 mômen  .
 mômen   
 trên 
 Tính 
  
 trên 
 Tính toán mômen trên 
 không 
 Tính toán mômen ktrên 
   và mômen  (RMS)  trình làm
) trên 
e. Ln 
 mômen 

8
  mômen    chính          
rotor riêng mômen 
mômen 
  m có 
 
  )
                

  gia  ()  
mômen  (RMS)
 Mômen     có   mômen     ?

 Mômen     có   mômen     
không
     (mômen theo  ) có  
 mômen và  không?  không
 .
    quán tính rotor   (
 servo là 6:1)  xem xét    
  có.  không nên   10:1.
 t quá   20% là
hoàn toàn   .  này nên  trong
quá trình  tra mômen .
Quá trình      
     kích   . Quá trình      
mômen cho     có          
     có    .      kích 
      và 
B  quá trình tính kích 

9
 



trình (








Thêm quán tính/ mômen 

thê 


Mômen 

sai
mômensai Mômen 
sai  
men RMS? không?

sai
sai mômen 
 
Mômen
-  không?
men 
Thêm bánh
 
 

ng


sai



 2.1: uá trình tính kích .

10
*  mômen 
thông tin mômen mômen 
 (mômen    có  hãy  các 

* Mômen mômen RMS và
.
* Mômen  mô-
 
Các  sau        "  các   
khí và  có  .
2.1  
               
 . , m       
.   , .
  .
 
  hay  
  ùay 
?
 G - , vv?
 - 
 gia 
Các    là:
   :
 
 B 
 dây xích
   n tính:
 

11
  
 
 
  :
 Ghép 
 Phanh
 
 :
 quay
 Máy cán
 
 
Mô 
 này, tuy nhiên  tính   ,
 tính toán mômen và quán tính  C  3 -
Tính toán mômen quán tính và mômen          
tính toán quán tính và mômen      
 

 ta  



Hình 2.1.1: 

12
 này  khi tính
, ta 



 
        
này  
 t
  
 inch inch.
1  
 3

2.2.  

                
 
 mômen  
  
lý  trình  
mômen 
 chuy
               
bao
trùm ph. 
 phân tích  
mômen mômen  (ng quãng
trình 
 các        ,  
,   ,    và ,  vv, 

 
13
     hình tam giác, hình thang và hình khác?
             

  ?
 
   làm vi?
  ?
Có 2   (và     (chu trình ):
 
  theo hình thang
2.2.1 Ctam giác

Hình 2.2.1.1 C  hình tam giác.

 
v 
v max 
t 
ta 
td 
to          

    và sau   

 .               
gian.

14
    ,  
   theo góc lên  ,        
  bù vào    trong  
  phanh,    mômen .
2.2.2 C

Hình 2.2.2.1 C hình thang.

u 
v 
v max 
t 
tc 
ta 
td 
to  

     ,       
gian   không.    
còn  .
   ,  
   theo góc lên  , lúc này v     
  bù vào    trong  
  phanh,    mômen .

15
2 
 
hình thang,             
 
     mômen có      

 Mômen  (RMS):
  chu trình
 Tt
 T              

 T  không)
 Mômen  (:
   (Mômen = Quán tính  
 mômen  
 
Vmax
 aa 
ta
Vmax
2.  ad 
ta

sai
aa ad ?



a max a a amax ad

Hình 2

16
  
          . Mômen       

              
        mômen     mômen  
(không 
 (xem ).



V1 V0
 a 
t
Hình 2.2.3.2: Tính toán t

. V
   (    và      
 ,  xác 
 mômen .
Hình         
giác và hình thang do mômen.

17
Vòng
/phút

Vòng
/phút

Hình 2.2.3.3: Mômen  theo hình tam giác và hình thang

  . Tuy

nhiên,  hình thang    và  mômen

 
      

ta = td = 1s
tc = 2s
to = 1s
Vmax = 1000rpm = 16,67 rev/s.
C
ttotal = 4s
amax = v max / ta = 16,67 / 1 = 16,67
rev/sec2

2.2.4 Phép tính  

            


18
          2      
.

Hình 2.2.4.1: 

 
 
 max 
 
 
a 
c 
d 
t 
tc 
ta 
td 

g trình .2.4.1):

ta td  Total
Total    
a  c d max  tc ; max 
2 2  t a td 
 tc  
2 2
  t c = 0) (2.2.4.2):
ta td Total
Total  
a
 d  max
    ; max 
2 2 ta td 
 tc  
2 2 
Total
v t a t d ; max 
ta
19
 C

             



max  2 
(2)
ta

o  o 

max
 2  P2.2.4.4:  0 0
ta
              
 mômen 
               

công 
2quá trình .
    
 
(radians) 0 , t ,  at 2
( 0 t) 
2

m ax , 0 , t t
max  0 
2
max , o,  m2 ax 02

2 
2
max , t, max t a t
2

max 0 , t ,  max 0  

t

20
(rad/sec) , 0 , t 2 
max  o
t
, 0 ,  max  02 2  

, t ,   t
max  
t 2

0 max, t,  0 max  

t
(rad/sec) , max , t 2 
0  max
t
, max ,  0  2max 2   

, t ,   t
0  
t 2
t max , o ,  max  o
t
(sec) 
, max , o 2 
t
m ax 0
 , max , 0 m2 ax 02

(rad/sec 2) 2 
max , 0 , t max 0

t
, 0 , t   
 2  2  0 
t t 

, max , t  
 2  max 2 
 t t 

2 
 


21




 
       
                
 



Vòng Vòng
/phút /phút

Không c 

Hình 2.2.6.1: mômen

22
 
 

 
 

 khi  

  (100%)

Hình 2.2.6.2: .

Hình 2.  
tính ).
       mômen         
 mômen 
  mômen  
mômen có .
 khác nhau
mômen khác nhau:

Hình 2 0%
23
 mômen .
Mômen ) -lbs.

Hình 2 50%

 
 r Mômen  mômen 
 -lbs.

Hình 2 100%

Hình 2  100% (
  mômen  hình tam giác, các
mômen  -lbs.
 mômen g
3 in-lbs. Qunói   mômen 

2
nhân mômen khi .

24
 Hình 2.2.6.6: 

 mômen 
2.2.6.1 Tính 
 
 


Vòng
/phút

Hình 2
    100%.
2

25
 a max t
f  (2.2.6.1.1: 
2
v f 
amax .
t: t.
                
 2.2.6.1.2 


t1 : 
t2 : gia .
t 3 
t 1 = t3 = 0  = 0%.
t2 = 0   = 100%.
Hình 2.2.6.1.2: 
Hình 2 cho  60%.

 là

.
             t1 và t 3 



26
 amax t1 a t
f  amax 
t2 max 3
2 2

 t1 t 3 : f amax t1 amax t2

f a max t1 t 2
2S ().)
 
       ng          , các
nào.
vf  
gia .
f
a max 
t1 t2
2.2.6.1.3: Gia S
ba   gia 


 .
0  t  t 1

Hình 2
a.
t
a a max 
t1

27
 b. vt 
t
a max  t
a t t1 amax t 2
t  ; t  t 
2 2 ; 2 t1

2. t 1  t  (t 1+t2)

Hình 2
1. Gia . a amax

2. T  t t t1

a max t1
 vt  t  amax 
t
2
t 
t am ax 1 
t 
2 
3.  (t1 + t 2) t  (t 1+t2+t3)

Hình 2.2.6.1.5: 

 t
1.. a amax 1 
 t3
2. T  t t t1 t2

28
 am ax t1 a t
 vt  t  amax 
t2 
2 2
 t 
am ax 1  
t
amax t1 t
 3 
t  a max 
t2 
2 2
 t2 
t t 
t
t  a max  2 t2  3 
2 2 
 
 
       , c    
phép tính 
.
Cdùng trong :
 1000 vòng/ph.
 100 msec./(mili giây)
  50%.
t1 25 msec (mili giây)
t2 50 msec (mili giây)
t3 25 msec(mili giây)
13,33 rev/msec2 (mili giây2)

Hình 2.2.6.1.6: S thông qua MS-Excel

   2,5 mili giây):
29
 t vt
1.  0 0.00
2.5 1.67
5 6.67
7.5 15.00
10 26.67
12.5 41.67
15 60.00
17.5 81.67
20 106.67
22.5 135.00
25 166.67
2.  27.5 200.00
30 233.33
32.5 266.67
35 300.00
37.5 333.33
40 366.67
42.4 400.00
45 433.33
47.5 466.67
50 500.00
52.5 533.33
55 566.67
57.5 600.00
60 633.33
62.5 666.67
65 700.00
67.5 733.33
70 766.67
72.5 800.00
75 833.33
3.  77.5 865.00

82.5 918.33
85 940 00
87.5 958.33
90 973.33
92.5 985.00
95 993.33
97.5 998.33
100 1000.00

30
2
mômen quán tínmômen
quán tính  mômen 

Hình 2



 

Hình 2.3.1: 

    quán tính và mômen        
                
thêm mômen quán tính riêng và mômen  nó. , các 
quán tín

mômen  mômen 
là mômen mômen mômen mômen 
Mômen  gây ra  mômen 

Hình 2 mômen 


31
 Tính quán tính 
quán tính và mô- men
 

Tính mômen 

thêm quán tính  vít, ,
mômen 


T
thêm , gia
mômen  


thêm quán tính rotor,

quán tính . Dùng quán tính 
và mômen gia


Hình 2.3.2:  


 
 Mômen 
 Mômen 
 Quán 
 - 



32

 AutomationDirect.Com
 SVL   quán tính 
 SVL-204
 SVA-2040
 3000 (vòng/ph)
Mômen  11,236 in- lb
Mômen  33,798 in- lb
Quán tính roto 0.00030082 in- lb  s 2
Kt 0 in  lb/A

 3000 (vòng/ph)
Mômen  2,8353 in- lb
Mômen RMS 5,2295 in- lb
Mômen  10,525 in- lb
Q 0.00247237 in- lb  s 2
q/rotor 8,2188 :1
Dhquán tính
Rotor):
Mômen RMS 5,7357 in- lb
Mômen  11,46 in- lb
Quán tính  0.00277319 in- lb  s 2
       Servo vuông
góc Shimpo Driver, INC
 NEVKFE15P20019011LR
 15 :1
 0.002472 in- lb  s 2
Mômen quán tính 2,777 in - lb
 trong 92 %
 27,6 in - lb
 956 in - lb
Mômen  1.744 in - lb
Mômen  5000 rpm (vòng/ph)

 
 3000 (vòng/ph)
Quán tính t 0.00247237 in- lb  s 2
Q 0.002472 in- lb  s 2
Mômen  2,8353 in  lb
Mômen  10,525 in - lb
 :
Mômen RMS  0.685827 in  lb
Mômen   0.820157 in  lb

33
 2: 
 Blue Sky Lead Screws
 BSLS 001
 vít 0,35 in
 25 in
 0,28 lb / in ³
 25 rev / in
 96,8 %
 ma sát 0,11
Mômen  0,8 in- l
 0 lb
 bàn 2,7 lb
Góc 0 0
 0,00005 in- lb  s 2
 0 (vòng/ph)

V  200 vòng/ph
Quán tính t 0.00007733 in- lb  s2
Q 0.000027 in- lb  s2
Mômen  0.804124 in  lb
Mô-  0.820157 in  lb
C :
 
 3 lb

1.  àn .
2. Tính quán tính   và  thêm quán tính bàn  và  tác
 lên 
3. Coi mômen  mômen 

4. Thêm mômen quán tính servo  mômen 
gán vào 


                
 mômen 
dài. Vi 

34
              
           mômen     
g trình sau:
rpm T ftlb
PHP 
5250
1Hp=746Watts =550ft-lb/sec.
2.3.1.T 
     v 2
là .

Hình 2.3.1.2: Xác  

 
  
     
      

vmax = 1000 vòng/phút

2.3.2. Quán tính  và mômen 

   mômen           
mômen 

35
1. Mômen    .  mômen     
c kéo khác.
2. Mômen   mômen     

  trong quá trình    , quán tính rotor   
  vào quán tính .

Vòng
/phút

Hình 2.3.2.1:  mômen mômen 

mômen 
J system J app J rotor

Ta  J system a

Ttotal Ta Tc

(2.3.2.1mômen )
 M
Jsystem quán tính 
Japp  
Jroto 
Ta mômen 
a 
Ttotal mômen 
TC mômen 

36
   , chúng ta  :
 Tính toán mômen mômen 
 max =16.67 vòng/giây2 

Q
2
D 
 w    L 

2 
Q
w r 2  L  r4
J d isk  
2 g 2 g
        ,

J disk = 0.00137 in  lb  s 2
       quán tính
rotor là 0.0011 in  lb  s2:
J system = 0.00137 + 0.0011 = 0.00247 in  lb  s 2
   
mômen       mômen  
mômen 
Ta =Ttotal = Jsystem x  x 2 x  = 0.259 in lb

W 
 
D 
L 
P 
J disk 
R 
G  2 )

 quán tính   trình bày v   
 b 
 . V  v       , bàn quay,  ,
vv trên 
2.3.3 Mômen RMS
Trong khi   a mômen  ( )    
    mômen   RMS      Mômen RMS

37
(Root Mean Squared ")  mômen  .
mômen RMS 
 Mômen kh
 Mômen 
 Mômen khi 
 Th 
 
 T
  gian 


Vòng/phút

Hình 2.3.3.1: Mmômen 

 M
Ta Mômen 
Tc Mômen 
Td Mômen 

38
 ta 
tc  
td 
th 

Ta , Tc, Td và T h  liên quan mômen , mômen

. P
mômen RMS:
2
( Ta Tc ) 2 t a 
Tc2  tc Td Tc  t d Th t h
2
TRMS 
t a tc td 
th

2.3.3.1: Phép tính mômen RMS

 M
Ta Mômen 
Tc Mômen 
Td Mômen 
Th Mômen 
ta 
tc  
td 
th 
Ta , Tc, Td và T h là Mômen  
. Tuy nhiên,   mômen 
í .
 ng hình tam giác (không
xem xét c) 

(Ta Tc )2 ta Td 

Tc  t
d T
h
2
2
th 
TRMS 
  
d h
 2.3.3.2:Tính toán mômen RMS cho  .
Các tính toán mômen           
á trình tính toán mômen 
  
Ta  J system 

39
 Td J system d

2mômen 
 M
J system Quán tính t
Ta Mômen 
a 
Td Mômen 
d 
               
rad/s2.
Mômen mômen 
 
   mômen              .
 3 Tính toán Mômen  và quán tính ).
          
xem 

Vòng/phút

.3.3.2:  các phân mômen 

40
 Tính mômen RMS
    mômen    
,  mômen ,
là:
2
(Ta Tc ) 2 ta Tc2 tc Td T c  td
 Th2 t h
TRMS 
ta tc td th
          
    mômen       

sau:
Ta2 Td2 (2 0.259) 2
TRMS   0.164in  lb
ta tc td  th 5

 M
Ta Mômen t
Tc Mômen 
Td Mômen 
Th Mômen 
ta 
tc  
td 
th 

41
2
 2.4.1) có thkhi 




 Không
v

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mô-
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Mômen  Mômen 
mômen 
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Mômen  Không
Mômen 
> mômen 

 ?

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


B 2

              mômen 

42
 



2.4.1    cho các 
 
và mômen


         

  


  cho các  là:
 
 
   ()
 
 ()



               
                
 mômen.
 2.4.1.1 
 (Y- có, N-không)

43
 

   

   




an



 Y Y Y N 
        


 N Y Y N  cao, ví
êm          
        
) 
 N Y Y N        
vòng/phút
 N N Y Y         
cao 
Mô- Y N Y Y        
men/ kích Mômen
cao khi     mômen   

 Y N N N       
servo.
M  N Y N N T         
 
 

2
2 
               



 mômen  
Tuy nhiên, mômen 

44
hành mômen  
 húng là 5000 vòng / phút khi mômen 

.
               
  khí. Tuy nhiên, có
 dùng 
 

2
, 
 mômen


             

              
                 

 mômen 

2
 ,   không
        trí. Tuy nhiên,     
 cho  servo
than   ,  

mômen 


45


 mômen

2

có  chúng trong rotor
 chúng ;
 .
ra     
và  . 
  mômen 
                

2

+   
+ Mômen  .
+ Mômen  mômen trung bình (RMS)

+    mômen    và mômen quán tính     

 
 

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 
 

Không




Thêm quán tính/ mômen 

Hình 2
   mômen  

mômen             
2mômen - 
2.4.2.1  quán tính
Q   mômen quán tính   
 mômen quán tính  

nguyên nhân mômen quán tính là:
1. 
 n  

n.
2. N mômen quán tính  
, 
  gây ra lãng phí 

 mômen 


47


Khi  quán tính     Tuy nhiên, 
           là   
mômen quán tính có   ra .
   là:
   mômen quán tính     rotor  quá    
  06:01) xem xét  
  có,   , vv  làm  mômen quán tính tác
.  không nên    10:0.
Trong quá trình        , vv 
 làm  mômen quán tính   và do 
 . Mômen quán tính  là mômen quán tính  chia
cho  .
 vi  mômen quán tính là 
các    . T
                 

 Bosch Rexroth  các  cho mômen quán tính không phù
 nh:
 <2:1 cho  nhanh
 <5:1 cho   
 <10:1    nhanh
   10:1        thích
 , tuy nhiên,  quá trình     dài và
không t.
  mômen               
.Tuy nhiên, nó không  
 mômen 

48
 Ví
 

2.mômen
 servo  / servo  so
   ,             
mômen         mômen        
 
 
     và      các      

2.4.2.3 rvo
 servo 
 chúng mômen  
g cong này.
  mômen   có      không hay      
                
 là bao nhiêut 
250 C và 400C
.
 
 mômen  

2 mômen/
cho 

49
 Mô Khu 
men


Khu   



Hình 2.4.2.3.1: mômen 

TPS  Mômen 
TPR  Mômen 
TCS  Mômen  
TCR  Mômen   
 R
 max

  có :

1. Khu   , trong    là  không

2. Khu  ,   là ,  
 .           có  duy trì
mômen     và    . Nó  
  0,05 và 30+ giây (  xem      
).
Các  góp chính cho mômen /mômen  là gia , vì
mômen  mômen . ,
  duy trì các mômen  sinh ra do  ma sát.

50
   mômen PS PR) cao
mômen  CS  CR).

Khu 

Mô
men

Khu 




HìnMômen 
Hình 2mômen
 Mômen 
 mômen t t 
mômen/A).
nh
                mômen 
mômen  mômen  mômen

mômen không


mômen             
cong mômen     Mômen        mômen
quán tính và  mômen 


51
 ây (hình 2  mômen


Mômen 


Mômen

Mômen







 

  các hình  (hình 2.4.2.3.4)  

mômen 

Mômen 


Mô-
men
Mômen







 

52
               
 mômen 
mômen  

Mô- men
 Mômen






Hình 2.4.2.3.5: , mômen RMS


mômen .
mômen RMS cao.

Mô Mômen
men 





Hình 2.4.2.3.6: mômen RMS cao

53
       mômen       mômen 


2.4.2.4 
              
  



 mômen lý

Mô
men mômen 



Hình 2.4.2.4.1: Quan  


mômen 

 

" mômen " trong hình 
                

ng h

54

 mômen lý 
 
  mômen        1   - 600
vòng/ph)   - 10%   mômen  TH   H   vòng/ph).
V n 
                 
 mômen -  ng cong

mômen 
và 
2.4.2.5. 

 
lý Hình  



Mô 
men






Hình trên      g cong mômen     
  .    mômen và

55
 mômen 
 mômen 

 mômen 

 1 cho  
 mômen mômen 
 2  minh   trung bình 
 không có mômen 
mômen 
  và   ,  nó
 mômen 
2.5 
 
               

   so
                
  mômen 
       

     thêm mômen quán tính  
 các mômen .
2
       
  
        mômen        
                


56
 TL
TL M 
Nr
2.5.1.1:    t  mômen 
TL-M  mômen 
TL  mômen 
Nr  
  2.5.1         mômen yêu
      mômen   
, 

VM VL N r
2.5.1.2. 
vM  
vL  
Nr  

mômen 
 H
 servo
 Dây curoa - 
 
 
 
 
Trong   không có, nó  .Trong 
   vít  dây curoa  
, và  tính toán 


57
2.5.2. Các ymômen  
           
  n các mômen 
, 
 mômen 
                mômen



            mômen quán tính
mômen 


 Mômen quán tính phanh mômen quán tín.
 .

toán các mômen   mômen  mômen     mômen 
 RMS     
mômen 
         



Hình 2.5.2.1: 

58
 Hình 2.             
chúng  
Mômen quán tính  0.00000182 in  lb  s2
Góc  
     0 
              
n  mômen  0,0025 in - lb.
 
 (hình 2.5.2.2). T
 mômen 


Vòng/phút

Hình 2.5.2.2:   và mômen  

 ý: các mômen yêu  hình 2 mômen quán


59
 Chú ý mômen             
thêm mômenmômen.
2.5.2.2
mômen                
 mômen 
                



Hình 2
 
       mômen    ng mômen   
phanh là 0.0001 in-lb-s 2  mômen 

Hình 2 mômen mômen 

 hình 2 minh rõ ràng  mômen quán tính phanh
lên mômen tmômen 
 mômen 


60
      g          


Hình 2.5.2.5: Mômen 

        


Trong  hình 2.5.2.5  mômen 
 Mômen  -
duy trì mômen 

Hình 2.5.2.6. Mômen 

 2.5.2.6 mômen 


61
 Mômen 
-lb.
 mômen R  mômen  
mômen 
Các  tính toán mômen RMS  sau:
2
(Ta Tc )2 ta 
Tc2 tc Td T c  td  Th  th
2

TRMS 
ta tc td  th
2.5.2.1.Tính toán mômen RMS
 M
Ta Mômen 
Tc Mômen 
Td Mômen 
Th Mômen 
ta 
tc  
td 
th 

Ta , Tc , Td và Th    là giá  . Mômen 

            mômen   

2.5.3  
    các             
 mà  nào  0. Góc 00

Tuy nhiên,   
2 là 


62
 








 theo
 -  
-

 ta  Y 
 X,  . 
 ngang 
 
các  
mômen , mômen 
   sau    cho  ma sát     
mômen    
  
F f W 
L 
Ffr
WL 
 
 Theta (g
2

63
 FG WL sin 

FG 
WL 

ng trình 2

F fr FG
Tc 
2  P 
TC Mômen 
Ffr
FG 


2.5.3.3. Mômen 
2
 là các   
    vít,       , vv.. L   
mômen RMS và mômen       



               
khoan. 



64
 
 

 
 "âm")
k





               


65
 






2.5.5 


 n
x2 v y2  
2.5.5.1.


T







                 
                 . T   
 
66
 
1. 
2.   
3.  

Hình: 2.5.5.2: G- 

4.   ra.
5.   hành trìnhcòn
6. không còn

Hình: 2 

 mômen RMS và mômen 

X và  cho  


67
  



Mômen

Hình: 2.5.5.4:  - mômen

Hình: 2  (
X) mômen.
  mômen    
    mômen quán tính
 
 khi  mômen quán tính
 vítmômen 
2.5.6  (X  Y - Z)
 X  Y - Z là 
                C  


 mômen 


68
 Hình 2.5.6.1: G 
 
1.  
2. hành trình
3. 
4. 
5. hành trình
6. 
         là       
   là 
                
Y.
2.5.6.1   
 
            
  
           
  
      
 
          

 T  

69
2.5.7 N
                

 
         ng là, khi
    0C thì      là khi 
trong phòng là 20-25 0 C .
        
          
.
Hình 2       (mômen -  ) 
              
quanh 20, 50 và 80 ° C.

Mô-
men
(in-lbs)



Hình 2
        lên 
     có mômen  khi    
xung quanh 

70
 G          

  
   
 H nam châm
 
 
 

vì   -  hàm  - n
               
  

 
 
                 

 tính toán và xác  
  
1. mômen K T  (mômen/A)
2.  nóng, Ohms
3. N °C
4. RTH, °C /W
tính toán mô-
men       2.3.3 mômen   . Mômen RMS
(Root Mean Squared)  cho mômen 


71
 TRMS
I RMS  (2.5.7.1: Tính toán RMS )
KT
tiêu tán 

PD I RMS 2 RT (P  2.5.7.2:       
)


T PD 
RTH (2.5.7.3: )
     ,         
 


TA  T TM max (2.5.7.4: )

2.6 
              
 là:
  1000 vòng/phút
 Mômen  0,164 in  lb
 Mômen  0,259 in - lb )
 Mômen quán tính Rotor 0.000137 ... 0.000822-lb-sec2
mômen 
 
      
   ch        

 không..
 inch và  1.2inch. V là thép,
có  là 0,28 lbs/in 3.


72
C           

ta = td = 1 giây
tc = 2 giây
t0 = 1 giây
vmax = 1000 vòng/phút = 16,67 rev / s2

ttotal = 4 giây
amax = v max / ta = 16,67 / 1 = 16,67 rev/sec 2

T
là:
vmax = 1000 vòng/phút
Tính toán mômen mômen 
  a max = 16,67 rev/sec2    
. 
2
D 
g : W  
  L 

2 

W r 2  L  
r4
Mômen quán tính : J disk  
2 g 2 g
            mômen


= 0.00137 in - lb sec2
J di k
mômen - lb sec 2
Do          mômen  
bng mômen 
J system = 0.00137 + 0.0011= 0.00247 in - lb sec2

73
Tính toán mômen RMS
   mômen   cho   
hình thang,   mômen     mômen quán

2
(Ta Tc ) 2 ta 
Tc2 tc  Td T
 c  td  Th  th
2
TRMS 
ta tc td 
th


 mômen           


T a2 T d2 (2 0.259)2
TRMS   0.164in 
lb
ta tc td  th 5

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 MÔMEN 

  


mômen

3.1. Các tính t
mômen.



- khi tr c
- khi tr rng
- khi ch nhc
Vic tính toán các kt cn trên cùng vc
gii thích c th trong các phn sau c
3
1.Trng: 
- th tích ca vt (in 3)
-trng riêng ca vt liu (lb/in 3)
2. Khng:
w in m 
m g 386 9.80
 
g sec2 sec2 
ng s gia tc trng g = 386in/sec 2 = 9,80 m/sec2
khng (lb.sec 2/in) = Trng (lb)/gia tc trng (in/sec 2 )

3. Bán kính r D
2
Bán kính (in)ng kính/2 (in)
4. Mômen tng
Ttotal Ta Tc

75
 total (in-lb) = mômen gia tc (in-lb) + mômen cn (in-lb)
5. Mômen gia tc:
Ta  J total 
Mômen gia tc (in-lb) = gia tc quán tính tng (in-lb-sec2 ) x gia tc góc
(rad/sec2)
max
6. Gia tc góc  2 
ta
   c góc (rad/sec2) = t  t  i gian gia tc
(sec) x chuy 
7. Mômen cn
F fr FG
Tc 
2  P 

T C là mômen do các lc ma sát, lykéo, trng lc, ti tr
8. Mômen RMS
TRMS (mômen      mômen trung bình trong
mt chu k ti
2

TRMS 
(Ta Tc )2 ta 
Tc2 tc 
Td T c  td  Th  th
2

ta tc td th

9. Lc ma sát
Ffr  wL
Lc ma sát Ffr (lb) = h s ma sát x trng ti (lb)
3

Hình 3.1.2.1: 

76
 Aend  r 2 V  Aend L
;

m r 2 w  r2  
L  r
 4
J a a   
2 2 g 2 g
m
J b b 
12
3r 2 L2


 Aend din tích m

g: Hng s gia tc trng g = 9,81m/s 2
J a-a: quán tính tính theo trc a-a
J b-b: quán tính tính theo trc b-b
L: Chiu dài tr
m: Khng tr
ng riêng
r: bán kính
V: th tích
W: Trng
3.1

Hình 3.1.3.1: 

Aend  ro2 
ri 2 V  Aend L
;

J a a  m ro2 ri2 w ro2 

ri2 L  r 4
 4
ri
2  2g  2g 
o

m
Jb b 
2
3r02 3ri 2 L2


end din tích m

77
 g: Hng s gia tc trng g = 9,81m/s 2
J a-a: quán tính tính theo trc a-a
J b-b: quán tính tính theo trc b-b
L: Chiu dài tr
m: Khng tr
ng riêng
r0: bán kính ngoài
ri : bán kính trong
V: th tích
W: Trng
3

Hình 3.1.4.1: 

Aend h w ; Aside  L h
;V L h 
w

m m
J a a 
2

h 2 w 2 J b b 
12

4 L2 w 2
; 
m 2
J bb  L
3 
end 
Aside

Ja-a : -a
Jb-b : -b



78
 

3.




               




- 
+ 
+Bàn xoay
+
- 

              



+
+
+C
-

         tính        


79
+ai- 
+
- 
+Phanh
+
 quay

 


1. 
2.  
               
        mômen      


 sau


thép.



momen cho phép.
3.2.1 

 


80
 Hình 3.2.1.1: 
 quay 
quay 
m r 2 w r 2    r
L  4
J disk   
2 2 g 2 g

 2
J Disk



r: Bán kính

3

Dây xích ra) xích



ính bánh xích

Hình 3.2.2.1: 

81
 Tr




 2
J Disk



r: Bán kính

 

DSL N
Nr   TL
DSM NTM

Nr
DSL
DSM
NTL
NTM 
Q
xích,  
tác  
J total  J SM J SL  M 
J C M J L
 M

2
2
 1  J SL w D  
2

J SL  M   J C M  C  SM  J L  M  1 J L
N r  e ; g e  2 ; N r  e

82
 

2
DSM
J total: Q
J SM: Q 
J : Q 
J : Q
J : Q 
J L: Q
Nr
WC
TL
TL M 
N r e


Nr
T : Mômen  
T L: Mômen 
3.2.3 

Hình 3.2.3.1: 

83
 



Aend  ro2 
ri 2 ; V  Aend L

m 2 L 
Jc 
2

ro ri 2 2wg r  o
2
ri 2
 

2g
ro2 r 
i
2


Aend
2
J C: Q 



r0: Bán kính ngoài
ri: Bán kính trong


3



kính
bánh



Hình 3

84
              


m r 2 w r 2  
L  r
4
Jd isk   
2 2 g 2 g
3.2.4.1: Q
2
J Disk: Q



r: Bán kính

              

DGl N
Nr   TL
DGm N TM
3

Nr
DGL
DGM
NTL
NTM
Q            uán tín 


J total  J GM J GL  M J L M

85
 2 2
 1  J GL 1  J L
J GL  M   J L M  
N r  e ; N r  e

h 3.2.4.3: Tính toán mômen quán tính



2
J total: Qmômen 
J GM: Q
J : Q
J L: Q
J GL: Q
J L: Q
Nr
TL
TL  M 
N r e
3.2.4.4: Mômen 


Nr
T : Mômen 
T L : Mômen 
3

Hình 3
86
                 

các công n tro

        
  
.

mômen 
3.2.6 Puli-
ai R


Hình 3.2.6.1 Puli-

  

  

m r 2 w r 2  
L  4
 r
J disk   
2 2 g 2 g
3.2.6.1 Q

2
J Disk: Mômen 


87
 

r: bán kính
W: 

DPl
Nr 
DPM
3

Nr
DPL
DPM
Mômen    i    mômen quán tính
mômen

J total  J PM J PL  M J B M 
J L M
2 2 2
 1  J PL w D  1  J L
J PL  M   J B M  B  PM  J L M  
Nr  e ; g e  2 ; N r  e

3.2.6.3 Mô 




DPM
J total: Mômen 
J PM: Mômen 
J : Mômen quán tính 
J : Mômen 
J : Mômen 
J PL: Mômen 
88
 J L: mômen 
Nr
WB 
TL
TL M 
Nr e
Mômen  


Nr
T : Mômen 
T L: Mômen 
3

 
phía   

Hình 3
 


m r 2 w r 2  
L  4
 r
J disk   
2 2 g 2 g
3.2.7.1 Mômen 

 2
J Disk: Mômen 
89
 


r: Bán kính

 
DPL
Nr 
DPM
3

Nr
DPL
DPM
Mômen      u     mômen quán tính
    mômen            mômen

J total J PM J PL M J B M

J L M
2 2 2
1  J  1  JL
J PL  M   PL J B M  w B D 
 PM  J L M  
N r  e ; g e  2 ; N r  e

3.2.7.3 Tính toán mômen 



 2
DPM
J total: Mômen 
J : Mômen 
J : Mômen 
J : Mô-
J PL: Mômen 
90
 J L: Mômen 
Nr
WB 
TL
TLM 
N r e
Tính toán mômen 

Nr

T : Mômen 
T L: Mômen 
3
bàn




Hình 3
   mômen            
mômen qu
).
Mômen quán tính        mômen    
 
mômen quán tính bulông

91
3

Hình 3

 
             
 
 mômen 

                 mômen
quán tính.
J toltal J s J L M
2
w w T  1 
J L M  L  
g e 2  PS 
3.2.9.1 Mômen 



J total: Mômen 
J A: Mômen 
J : Mômen 
PS
WL 
WT 
  mômen
mômen  
92
 , mômen              
mômen quán tính.
Fg w L w T sin y ; Ffr   w L wT 
cos y

F Fg F fr 
TL M  P TP
 2 PS
e 
3.2.9.2 Mômen 


 

Fg
Ffr
FP
PS
T : Mômen 
TP: Mômen 
WL 
WT 


 mômen 



93
3Máy cán




máy cán




Hình 3Máy cán

  Máy cán             
con l). 
)  
m r 2 w r 2  
L  r4
J disk   
2 2 g 2 g
.2.10.1 Mômen 


J Disk: Mômen 
 


r: Bán kính

 

 mômen quán  
.

94
 DRL
Nr 
DRM
3

Nr
DRL
DRM: 
Mômen   mômen quán tính Con
 mômen  
2
 1  J RL
J total  J RM J RL M J RL M  
; N r  e
P.2.10.3 Mômen 



J total: mômen 
J RM: Mômen 
J : Mômen 
J RL: Mômen 
Nr
TL
TL  M 
Nr e

3.2.10.4 Mômen 



Nr
T : Mômen 
TL: Mômen 

95
 
mômen 
3

 







Hình 3
             
 Mômen 
 quay.
m r 2 w r 2  
L  r
4
J disk   
2 2 g 2 g
3.2.11.1 Mômen 


J Disk: mômen quán 



r: Bán kính


96
               quan
 (xem .2.11.2), 
mômen quán tính. .2.11.3)
V L h 
w ; w V 

 3





V

2
w w R D 
Jtotal  J P J L  M J L M  L  P 
; g e 2 
3.2.11.3 Mômen 



J total: Mômen 

J P: Mômen 
J : Mômen 
WL 
WM 

Fg  w L w T sin y ; Ffr  w L w T cos

 y

F F F fr  D P
TL  M   P g 
 e  2
3.2.11.4 Mômen 

97
 Trong 
Dp



Fg
Ffr
Fp kéo
PS
T : Mômen 
WL 
WT 

              
          mômen quán tính tham gia vào làm
mômen mômen quán 
mômen  mômen 
trên nó).
3.2.12 Bàn xoay



bánh


Hình 3.2.12.1 Bàn xoay

góc 90
.             mômen    

98

m r 2 w r 2  L  r
4
J disk   
2 2 g 2 g
3.2.12.1 Mômen 


J Disk: Mômen 



r: bán kính

2
1  JL
J total  J GM J L M J L M  
;  r  e
N
3.2.12.2 Mômen 
TL
TL  M 
N r e
.2.12.3 Mômen 
3.2.1
 


 

Hình 3

99
 
 
mômen quán tính.
 

mômen quán tính

            
       mômen         

m r 2 w r 2  
L  r4
J disk   
2 2 g 2 g


mômen 
 
3
 

  

Hình 3

100
 
                 
chúng vào mômen quán tính.

         
mômen

        ,  
      mômen          

m r 2 w r 2   4
L  r
J disk   
2 2 g 2 g
3.2.14.1 Mômen 
3 mômen 
.


  mômen              


           mômen     
mômen 
DRL
Nr 
DRM

Mômen          mômen   
      mômen         


101
 2
1  J
J total  J RM J RL  M J RL M   RL
; Nr  e
3.2.14.3 Mômen 

mômen 

102
 

 n
. 
quy trình tính  



,



103
 

1.Motor Sizing - Calculating Speed, Inertia & Torque Requirements for Electrical
Motors
By Wilfried Voss. http://www.copperhilltech.com
2. A comprehensible guide to servo motor sizing. By Wilfried Voss. 2007
3.Motor Guide.
http://www.pge.com/biz/rebates/express_efficiency/useful_info/motor_guide.html
4. Technical Reference: Sizing Example. Oriental Motor General Catalog
2003/2004
5. Optimize Motor Control by Matching Motor Types to Applications
By Chuck Lewin, Performance Motion Devices. RTC Magazine, March 2007
Energy Efficient Motion. By Mark T. Hoske. Control Engineering, July 2007

T
/ 1 /http://www.copperhilltech.com
/ 2 /http://www.visualsizer.com
/ 3 /http://www.motorsmatter.org
/ 4 /http://zone.ni.com/devzone/cda/tut/p/id/3367
National Instruments Tutorial Fundamentals of Motion Control.
February 1, 2006

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