Therobhoti control systemihuropi hwerobhoti, chinova ndicho chinhu chikuru chinotaridza kushanda uye kushanda kwerobhoti. Iyo yekudzora sisitimu inotora masaini ekuraira kubva kune yekutyaira system uye kuita meshini zvinoenderana nechirongwa chekuisa, uye inovadzora. Chinyorwa chinotevera chinonyanya kusuma marobhoti control system.
1. The control system yemarobhoti
Chinangwa che "kudzora" chinoreva chokwadi chokuti chinhu chinodzorwa chichaita nenzira inotarisirwa. Chimiro che "control" ndechekunzwisisa maitiro echinhu chinodzorwa.
Chinokosha ndechekudzora torque yekubuda yemutyairi. Iyo control system yemarobhoti
2. Nheyo yebasa rekutanga remarobhoti
Nheyo yekushanda ndeyekuratidza uye kubereka; Kudzidzisa, kunozivikanwawo sedzidziso inotungamirwa, irobhoti rekutungamira rinoshanda nhanho nhanho zvinoenderana nemaitiro chaiwo anodiwa. Munguva yekutungamira maitiro, iro robhoti rinorangarira otomatiki chimiro, chinzvimbo, maitiro paramita, mafambiro paramita, nezvimwe zvechiito chega chega chinodzidziswa, uye otomatiki inogadzira inoenderera chirongwa chekuuraya. Mushure mekupedza dzidziso, ingopa iro robhoti kuraira kwekutanga, uye iro robhoti rinozotevera otomatiki chiito chakadzidziswa kupedzisa hurongwa hwese;
3. Kurongeka kwekutonga kwebhobhoti
Zvinoenderana nekuvapo kana kusavapo kwemhinduro, inogona kukamurwa kuita yakavhurika-loop control, yakavharwa-loop control
Mamiriro ekuvhurika loop akanyatso kudzora: ziva muenzaniso wechinhu chinodzorwa nemazvo, uye iyi modhi inoramba isina kuchinjika mukutonga maitiro.
Zvinoenderana nehuwandu hunotarisirwa hutongi, hunogona kukamurwa kuita marudzi matatu: simba rekutonga, chinzvimbo chekutonga, uye hybrid control.
Position control yakakamurwa kuita imwechete yakabatana chinzvimbo chekutonga (chinzvimbo mhinduro, chinzvimbo velocity mhinduro, chinzvimbo velocity kukwidziridza mhinduro) uye akawanda akabatana chinzvimbo kutonga.
Multi joint joint position control inogona kukamurwa kuita yakaora motion control, centralized control force control, direct force control, impedance control, uye force position hybrid control.
4. Nzira dzekutonga dzakangwara
Fuzzy control, adaptive control, optimal control, neural network control, fuzzy neural network control, nyanzvi kutonga.
5. Hardware configuration uye maitiro ekugadzirisa maitiro - Electrical hardware - Software architecture
Nekuda kweiyo yakakura kurongeka shanduko uye interpolation mashandiro anobatanidzwa mukutonga maitiromarobhoti, pamwe chete nechepasi-chaiyo-nguva kutonga. Saka, parizvino, mazhinji marobhoti ekudzora masisitimu pamusika anoshandisa hierarchical microcomputer control masisitimu muchimiro, kazhinji achishandisa maviri-nhanho komputa servo control system.
6. Maitiro chaiwo:
Mushure mekugamuchira mirairo yebasa inoiswa nevashandi, iyo huru yekudzora komputa inotanga kuongorora nekududzira mirairo kuti ione mafambiro emaoko. Wobva waita kinematics, dynamics, uye interpolation mashandiro, uye pakupedzisira tora iyo yakarongedzerwa mafambiro emaparamita ega rega rega rerobhoti. Aya ma paramita anobuditswa kune servo control nhanho kuburikidza nemitsara yekutaurirana sekupihwa masaini kune yega yega yakabatana servo control system. Mutyairi weservo ari pajoinhi anoshandura chiratidzo ichi kuita D/A uye anotyaira imwe neimwe yakabatana kuti ibudise kufamba kwakarongeka.
Masensors anopindura masaini ekufamba anobuda ega rega rega kudzoka kune servo control level komputa kuti igadzire yemuno yakavharwa-loop control, kuwana chaiyo kutonga kwekufamba kwerobhoti muchadenga.
7. Pane nzira mbiri dzekudzora dzekufamba kutonga kwakavakirwa paPLC:
① Shandisa inobuda chiteshi chePLCkugadzira mirairo ye pulse kutyaira mota, uchishandisa universal I / O kana kuverenga zvikamu kuti uwane yakavharwa-loop chinzvimbo kutonga kwe servo mota.
② Iyo yakavharwa-loop chinzvimbo chekutonga chemota chinowanikwa nekushandisa yekunze yakawedzera chinzvimbo chekudzora module yePLC. Iyi nzira inonyanya kushandisa high-speed pulse control, inova yenzvimbo yekudzora nzira. Kazhinji, kutonga kwenzvimbo inzira yekunongedza-nzvimbo yekudzora nzira.
Nguva yekutumira: Zvita-15-2023
