Iinkqubo yokulawula irobhothibubuchopho berobhothi, eyona nto iphambili emisela umsebenzi kunye nomsebenzi werobhothi. Inkqubo yokulawula ibuyisela imiqondiso yomyalelo kwinkqubo yokuqhuba kunye nokuphunyezwa kwendlela ngokwenkqubo yokufaka, kwaye ilawula. Inqaku elilandelayo lazisa ikakhulu inkqubo yokulawula irobhothi.
1. Inkqubo yokulawula iirobhothi
Injongo "yokulawula" ibhekiselele kwinto yokuba into elawulwayo iya kuziphatha ngendlela elindelekileyo. Imeko esisiseko "yokulawula" kukuqonda iimpawu zento elawulwayo.
Undoqo kukulawula itorque yemveliso yomqhubi. Inkqubo yokulawula iirobhothi
2. Umgaqo osisiseko wokusebenza weiirobhothi
Umgaqo wokusebenza kukubonisa nokuvelisa kwakhona; Ukufundisa, okwakwaziwa njengokufundisa okukhokelwayo, yirobhothi yokwenziwa kwesikhokelo esebenza inyathelo ngenyathelo ngokweyona nkqubo ifunekayo. Ngethuba lenkqubo yesikhokelo, i-robot ikhumbula ngokuzenzekelayo i-posture, isikhundla, i-parameters yenkqubo, i-motion parameters, njl. kwisenzo ngasinye esifundiswayo, kwaye ngokuzenzekelayo ivelise iprogram eqhubekayo yokuphunyezwa. Emva kokugqiba ukufundisa, vele unike irobhothi umyalelo wokuqala, kwaye irobhothi iya kulandela ngokuzenzekelayo isenzo esifundisiweyo ukugqiba yonke inkqubo;
3. Ukuhlelwa kolawulo lwerobhothi
Ngokobukho okanye ukungabikho kwempendulo, inokwahlulwa ibe yi-open-loop control, i-closed-loop control
Imeko yolawulo oluchanekileyo oluvulekileyo: yazi imodeli yento elawulwayo ngokuchanekileyo, kwaye lo mzekelo uhlala ungatshintshi kwinkqubo yokulawula.
Ngokomlinganiselo wolawulo olulindelekileyo, lunokwahlulwa lube ziindidi ezintathu: ulawulo lwamandla, ulawulo lwendawo, kunye nolawulo oluxutyiweyo.
Ulawulo lwesikhundla lwahlulwe lwaba lulawulo lwendawo enye (ingxelo yendawo, ingxelo yesantya sendawo, ingxelo yokukhawulezisa isantya) kunye nolawulo lwendawo edibeneyo emininzi.
Ulawulo lweendawo ezininzi ezidityanisiweyo lunokwahlulwa lube lulawulo lwentshukumo olubolayo, ulawulo lwamandla olawulo oluphakathi, ulawulo oluthe ngqo lwamandla, ulawulo lwe-impedance, kunye nolawulo oluxubileyo lwendawo.
4. Iindlela zokulawula ezikrelekrele
Ulawulo olungekho ngqiqweni, ulawulo oluguquguqukayo, ulawulo olululo, ulawulo lwenethiwekhi ye-neural, ulawulo lwenethiwekhi ye-neural engaqondakaliyo, ulawulo lweengcali
5. Ukucwangciswa kwe-Hardware kunye nesakhiwo seenkqubo zokulawula - I-hardware yombane - i-Software architecture
Ngenxa yolungelelwaniso olubanzi lwenguqu kunye nemisebenzi yokudibanisa ebandakanyeka kwinkqubo yolawuloiirobhothi, kunye nenqanaba elisezantsi lolawulo lwexesha lokwenyani. Ke, okwangoku, uninzi lweenkqubo zolawulo lwerobhothi kwimarike zisebenzisa iinkqubo zolawulo lwe-microcomputer ye-hierarchical kwisakhiwo, zihlala zisebenzisa amanqanaba amabini eenkqubo zokulawula i-servo yekhompyuter.
6. Inkqubo ethile:
Emva kokufumana igalelo lemiyalelo yomsebenzi ngabasebenzi, ikhompyuter yolawulo ephambili ihlalutya kuqala kwaye itolike imiyalelo ukumisela iiparamitha ezishukumayo zesandla. Emva koko yenza i-kinematics, i-dynamics, kunye nokusebenza kwe-interpolation, kwaye ekugqibeleni ufumane imilinganiselo yentshukumo elungelelanisiweyo yejoyini nganye yerobhothi. Ezi parameters ziphuma kwinqanaba lolawulo lwe-servo ngokusebenzisa imigca yonxibelelwano njengoko kunikwe imiqondiso yenkqubo yolawulo ye-servo edibeneyo. Umqhubi we-servo kwi-joint uguqula lo mqondiso kwi-D / A kwaye uqhube umdibaniso ngamnye ukuvelisa intshukumo elungelelanisiweyo.
Iingxelo zezivamvo zemiqondiso yentshukumo yesiphumo sejoyinti ngalinye libuyela kwinqanaba lolawulo lwekhomputha ye-servo ukwenza ulawulo lwendawo oluvaliweyo, ukuphumeza ulawulo oluchanekileyo lwesindululo serobhothi esithubeni.
7. Zimbini iindlela zolawulo lolawulo lwentshukumo olusekelwe kwi-PLC:
① Sebenzisa izibuko lemveliso yePLCukuvelisa imiyalelo ye-pulse ukuqhuba i-motor, ngelixa usebenzisa i-I/O yendawo yonke okanye ukubala amacandelo ukufezekisa ulawulo lwendawo evaliweyo ye-servo motor.
② Ukulawulwa kwendawo evaliweyo ye-motor kufezekiswa ngokusebenzisa imodyuli yokulawula indawo eyandisiweyo yangaphandle ye-PLC. Le ndlela isebenzisa ikakhulu isantya esiphezulu solawulo lwepulse, eyeyendlela yokulawula indawo. Ngokuqhelekileyo, ulawulo lwendawo yindlela yokulawula i-point-to-point.
Ixesha lokuposa: Dec-15-2023
