Uwitekasisitemu yo kugenzura robotni ubwonko bwa robo, nikintu nyamukuru kigena imikorere nimikorere ya robo. Sisitemu yo kugenzura ikura ibimenyetso byerekana muri sisitemu yo gutwara no gushyira mubikorwa uburyo ukurikije gahunda yinjiza, ikanabigenzura. Ingingo ikurikira irerekana cyane cyane sisitemu yo kugenzura robot.
1. Sisitemu yo kugenzura ama robo
Intego yo "kugenzura" bivuga ko ikintu kigenzurwa kizitwara muburyo buteganijwe. Ibanze shingiro rya "kugenzura" ni ugusobanukirwa ibiranga ikintu kigenzurwa.
Ibyingenzi ni ukugenzura ibisohoka torque ya shoferi. Sisitemu yo kugenzura ama robo
2. Ihame ryibanze ryakazi ryarobot
Ihame ry'akazi ni ukugaragaza no kubyara; Kwigisha, bizwi kandi nk'inyigisho ziyobowe, ni robot iyobora ibihangano ikora intambwe ku yindi ukurikije ibikorwa bifatika bisabwa. Mugihe cyo kuyobora, robot ihita yibuka igihagararo, umwanya, ibipimo byimikorere, ibipimo byimikorere, nibindi bya buri gikorwa cyigishijwe, kandi gihita gitanga gahunda ihoraho yo gukora. Nyuma yo kurangiza kwigisha, tanga gusa robot itangire itegeko, hanyuma robot ihite ikurikira ibikorwa byigishijwe kugirango irangize inzira yose;
3. Gutondekanya kugenzura robot
Ukurikije kuboneka cyangwa kutagira ibitekerezo, birashobora kugabanywa kugenzura-gufungura, kugenzura-gufunga
Imiterere yo gufungura loop kugenzura neza: menya icyitegererezo cyikintu cyagenzuwe neza, kandi iyi moderi ntigihinduka mugikorwa cyo kugenzura.
Ukurikije umubare uteganijwe kugenzura, irashobora kugabanywamo ubwoko butatu: kugenzura imbaraga, kugenzura imyanya, no kugenzura imvange.
Kugenzura imyanya bigabanijwemo imyanya imwe ihuriweho kugenzura (ibitekerezo byerekana umwanya, ibitekerezo byihuta byihuta, ibitekerezo byihuta byihuta) hamwe no kugenzura imyanya myinshi.
Igenzura ryinshi rihuriweho rishobora kugabanywa kugenzura ibyangiritse, kugenzura imbaraga zishyizwe hamwe, kugenzura imbaraga zitaziguye, kugenzura imbogamizi, no kugenzura imbaraga za Hybrid.
4. Uburyo bwo kugenzura ubwenge
Igenzura rya Fuzzy, kugenzura imihindagurikire y'ikirere, kugenzura neza, kugenzura imiyoboro y'amashanyarazi, kugenzura imiyoboro ya fuzzy, kugenzura abahanga
5. Ibikoresho byimiterere nuburyo bwa sisitemu yo kugenzura - Ibyuma byamashanyarazi - Ubwubatsi bwa software
Bitewe no guhuza ibikorwa byinshi byo guhindura no guhuza ibikorwa bigira uruhare mubikorwa byo kugenzurarobot, Nka Nka Urwego rwo hasi-Igihe-Igenzura. Kugeza ubu, sisitemu nyinshi zo kugenzura robot kumasoko zikoresha sisitemu yo kugenzura microcomputer sisitemu muburyo, mubisanzwe ikoresha sisitemu yo kugenzura ibyiciro bibiri.
6. Inzira yihariye:
Nyuma yo kwakira amabwiriza yakazi yatanzwe nabakozi, mudasobwa nkuru igenzura ibanza gusesengura no gusobanura amabwiriza yo kumenya ibipimo byikiganza. Noneho kora kinematika, dinamike, hamwe na interpolation ibikorwa, hanyuma amaherezo ubone ibipimo byimikorere bihujwe na buri rugingo rwa robo. Ibipimo bisohoka kuri servo igenzura icyiciro binyuze mumirongo yitumanaho nkuko byatanzwe kubimenyetso kuri buri sisitemu yo kugenzura servo. Umushoferi wa servo ahuriweho ahindura iki kimenyetso muri D / A kandi atwara buri rugingo kugirango rutange icyerekezo gihuje.
Sensors itanga ibitekerezo byerekana ibyasohotse kuri buri rugingo rugaruka kuri mudasobwa igenzura urwego rwa mudasobwa kugirango ikore igenzura ryaho rifunze, bigere ku kugenzura neza imikorere ya robo mu kirere.
7. Hariho uburyo bubiri bwo kugenzura uburyo bwo kugenzura bushingiye kuri PLC:
Koresha ibyasohotse kuriPLCkubyara pulse amategeko yo gutwara moteri, mugihe ukoresheje I / O kwisi yose cyangwa kubara ibice kugirango ugere kumwanya ufunze-kugenzura imyanya ya servo moteri
Control Gufunga-gufunga imyanya igenzura moteri igerwaho hifashishijwe uburyo bwagutse bwo kugenzura imyanya yo hanze ya PLC. Ubu buryo bukoresha cyane cyane umuvuduko wihuse wo kugenzura, nuburyo bwo kugenzura imyanya. Mubisanzwe, kugenzura imyanya nuburyo bwo kugenzura imyanya.
Igihe cyo kohereza: Ukuboza-15-2023
