1. Point To Point Control Mode
Iyo poindi yekudzora sisitimu ichokwadi chinzvimbo servo system, uye yavo yekutanga chimiro uye kuumbwa zvakangofanana, asi tarisiro yakasiyana, uye kuoma kwekutonga kwakasiyanawo. A point control system inowanzo sanganisira yekupedzisira mechanical actuator, mechanical transmission mechanism, power element, controller, position measurement device, nezvimweworuoko rwerobhoti rwerobhoti rewelding, bhenji rekushanda remuchina weCNC machining, nezvimwewo. Mupfungwa yakafara, ma actuators anosanganisirawo zvinhu zvinotsigira zvinofamba senge njanji, izvo zvinoita basa rakakosha mukumisa kurongeka.
Iyi nzira yekudzora inongotonga chinzvimbo uye chimiro chemamwe akatsanangurwa discrete mapoinzi eiyo indasitiri robhoti terminal actuator munzvimbo yebasa. Mukutonga, marobhoti eindasitiri anongodiwa kuti afambe nekukasira uye nemazvo pakati pemapoinzi ari padyo, pasina kudiwa nzira yenzvimbo inotarirwa kuti isvike painotangwa. Kurongeka kwenzvimbo uye nguva inodiwa yekufamba ndiyo miviri mikuru yehunyanzvi zviratidzo zveiyi nzira yekudzora. Iyi nzira yekudzora ine hunhu hwekushandisa nyore uye yakaderera yekumisikidza kururama. Naizvozvo, inowanzoshandiswa kurodha uye kuburitsa, nzvimbo welding, uye kuiswa kwezvikamu pamabhodhi edunhu, ichingoda chinzvimbo uye chimiro cheiyo terminal actuator kuti ive chaiyo pane inotangwa. Iyi nzira iri nyore, asi zvakaoma kuwana kurongeka kwe 2-3 μ m.
2. Kuenderera mberi trajectory kudzora nzira
Iyi nzira yekudzora inoramba ichidzora chinzvimbo uye chimiro chekupedzisira kweiyo robhoti yeindasitiri munzvimbo yebasa, ichida kuti inyatso kutevedzera yakafanotemerwa trajectory uye nekumhanyisa kufamba mukati meimwe nzira yechokwadi, nekumhanya kunodzoreka, yakatsetseka trajectory, uye yakagadzikana kufamba, kuti apedze basa rekushanda. Pakati pavo, trajectory yakarurama uye kugadzikana kwekufamba ndiyo zviratidzo zviviri zvakakosha.
Iwo majoini emarobhoti eindasitiri anofamba achienderera uye achienderana, uye ekupedzisira magadzirirwo emarobhoti emaindasitiri anogona kuumba anoenderera trajectories. Iyo huru yehunyanzvi zviratidzo zveiyi nzira yekudzora ndeyeiyo trajectory yekutevera kurongeka uye kugadzikanayemagumo ekupedzisira emarobhoti emaindasitiri, ayo anowanzo shandiswa muarc welding, kupenda, kubvisa bvudzi, uye kuona marobhoti.
3. Simba rekudzora maitiro
Kana marobhoti achinge apedza mabasa ane chekuita nenharaunda, senge kukuya uye kuungana, kudzora chinzvimbo kwakapusa kunogona kutungamira kune akakosha zvikanganiso, zvichikonzera kukuvadzwa kwezvikamu kana marobhoti. Kana marobhoti achifamba mune ino inofamba zvishoma nharaunda, anowanzo kuda kusanganisa kugona kutonga kuti ashandiswe, uye anofanirwa kushandisa (torque) servo mode. Nheyo yeiyi nzira yekudzora yakangofanana neiyo chinzvimbo servo control, kunze kwekuti iyo yekupinza uye mhinduro haisi masiginecha, asi simba (torque) masaini, saka sisitimu inofanirwa kuve ine simba torque sensor. Dzimwe nguva, adaptive control inoshandisawo mabasa ekunzwa akadai sepedyo uye kutsvedza.
4. Nzira dzekutonga dzakangwara
Kudzora kwakangwara kwemarobhotindiko kuwana ruzivo rwezvakatipoteredza kuburikidza nemasensor uye kuita sarudzo dzinoenderana zvichienderana neruzivo rwavo rwemukati. Nekutora hungwaru kudzora tekinoroji, iro robhoti rine simba rekuchinjika kwezvakatipoteredza uye kugona kuzvidzidzira. Kuvandudzwa kwehungwaru kudzora tekinoroji kunoenderana nekukurumidza kukura kwehungwaru hwekugadzira, senge artificial neural network, genetic algorithms, genetic algorithms, nyanzvi masisitimu, etc. Zvichida nzira iyi yekudzora ine chaizvo kuravira kwehungwaru hwekumhara kwemarobhoti eindasitiri, inova. uyewo yakanyanya kuoma kudzora. Pamusoro pealgorithms, zvakare inotsamira zvakanyanya pakurongeka kwezvikamu.
Nguva yekutumira: Jul-05-2024
