Thetsarin sarrafa mutum-mutumiita ce kwakwalwar mutum-mutumi, wadda ita ce babban sinadarin da ke tantance aiki da aikin mutum-mutumi. Tsarin sarrafawa yana dawo da siginar umarni daga tsarin tuki da tsarin aiwatarwa bisa ga shirin shigar da su, kuma yana sarrafa su. Labari na gaba yana gabatar da tsarin sarrafa mutum-mutumi.
1. Tsarin sarrafa mutum-mutumi
Manufar "iko" yana nufin gaskiyar cewa abin da aka sarrafa zai yi aiki a hanyar da ake sa ran. Mahimmin yanayin don "sarrafawa" shine fahimtar halayen abin sarrafawa.
Mahimmancin shine sarrafa karfin fitarwa na direba. Tsarin sarrafawa na mutummutumi
2. Ka'idar aiki na asali namutummutumi
Ka'idar aiki ita ce nunawa da haifuwa; Koyarwa, wanda kuma aka sani da koyarwar jagora, mutum-mutumin jagora ne na wucin gadi wanda ke aiki mataki-mataki bisa ga ainihin aikin da ake buƙata. A lokacin tsarin jagoranci, robot ta atomatik yana tunawa da matsayi, matsayi, sigogi na tsari, sigogin motsi, da dai sauransu na kowane aikin da aka koyar, kuma ta atomatik yana haifar da ci gaba da shirin aiwatarwa. Bayan kammala koyarwar, kawai ba da mutum-mutumin umarni na farawa, kuma mutum-mutumin zai bi aikin da aka koyar ta atomatik don kammala dukkan aikin;
3. Rarraba sarrafa mutum-mutumi
Dangane da kasancewar ko rashi na amsawa, ana iya raba shi zuwa sarrafa madauki mai buɗewa, kulawar madauki
Yanayin madaidaicin madaidaicin madauki: san samfurin abin sarrafawa daidai, kuma wannan ƙirar ya kasance baya canzawa a cikin tsarin sarrafawa.
Dangane da adadin sarrafawa da ake sa ran, ana iya raba shi zuwa nau'ikan uku: sarrafa ƙarfi, sarrafa matsayi, da sarrafa matasan.
An raba iko da matsayi zuwa kulawar matsayi guda ɗaya (madaidaicin matsayi, amsa saurin matsayi, saurin saurin matsayi) da kuma sarrafa matsayi mai yawa.
Matsakaicin matsayi mai yawa na haɗin gwiwa za'a iya raba shi zuwa rarraba motsin motsa jiki, kulawar daɗaɗɗen iko mai ƙarfi, sarrafa ƙarfin kai tsaye, kulawar impedance, da ƙarfin matsayi na matasan.
4. Hanyoyin sarrafawa na hankali
Ikon dauɗaɗɗe, kulawar daidaitawa, kulawa mafi kyau, sarrafa cibiyar sadarwar jijiyoyi, sarrafa cibiyar sadarwar jijiyoyi mara nauyi, sarrafa ƙwararru
5. Tsarin kayan aiki da tsarin tsarin sarrafawa - Kayan aikin lantarki - Gine-ginen software
Saboda m daidaitawa canji da interpolation ayyuka da hannu a cikin iko tsari namutummutumi, kazalika da ƙananan matakin sarrafa lokaci na ainihi. Don haka, a halin yanzu, yawancin tsarin sarrafa mutum-mutumi a kasuwa suna amfani da tsarin sarrafa microcomputer a cikin tsari, yawanci suna amfani da tsarin sarrafa kwamfuta mai hawa biyu.
6. Takamaiman tsari:
Bayan karɓar shigarwar umarnin aiki ta ma'aikata, babban kwamfutar mai sarrafawa ta fara yin nazari da fassara umarnin don tantance sigogin motsi na hannu. Sa'an nan kuma yi kinematics, dynamics, da interpolation ayyuka, kuma a karshe sami daidaitawar sigogi na kowane haɗin gwiwa na robot. Ana fitar da waɗannan sigogi zuwa matakin sarrafa servo ta hanyar layin sadarwa kamar yadda aka ba da sigina don kowane tsarin kula da servo na haɗin gwiwa. Direban servo akan haɗin gwiwa yana jujjuya wannan siginar zuwa D/A kuma yana motsa kowane haɗin gwiwa don samar da motsi mai haɗin gwiwa.
Na'urori masu auna firikwensin suna mayar da siginar fitarwa na kowane haɗin gwiwa zuwa kwamfutar matakin sarrafa servo don samar da tsarin rufaffiyar madauki na gida, samun madaidaicin sarrafa motsin robot a sararin samaniya.
7. Akwai hanyoyin sarrafawa guda biyu don sarrafa motsi bisa PLC:
① Yi amfani da tashar fitarwa naPLCdon samar da umarnin bugun bugun jini don fitar da motar, yayin amfani da I/O na duniya ko ƙidayar abubuwan da aka gyara don cimma rufaffiyar matsayi na sarrafa motar servo.
② Rufaffen madaidaicin matsayi na motar yana samuwa ta hanyar amfani da tsarin kula da matsayi na waje na PLC. Wannan hanya galibi tana amfani da sarrafa bugun jini mai sauri, wanda ke cikin hanyar sarrafa matsayi. Gabaɗaya, kula da matsayi shine hanyar sarrafa matsayi-zuwa-aya.
Lokacin aikawa: Dec-15-2023
