1. Imodi Yokulawula Khomba Kuya Ephuzwini
Isistimu yokulawula amaphuzu empeleni iyisistimu ye-servo yesikhundla, futhi isakhiwo sazo esiyisisekelo kanye nokwakheka kuyafana, kodwa ukugxila kuhlukile, futhi inkimbinkimbi yokulawula nayo ihlukile. Isistimu yokulawula iphuzu ngokuvamile ihlanganisa i-actuator yokugcina, imishini yokudlulisa, isici samandla, isilawuli, idivayisi yokulinganisa indawo, njll. I-activator engumshini ingxenye yesenzo eqeda izidingo zokusebenza, njengeingalo yerobhothi yerobhothi elishiselayo, ibhentshi lomshini womshini we-CNC, njll. Ngomqondo obanzi, ama-actuator afaka nezingxenye ezisekela ukunyakaza njengama-guide rails, adlala indima ebalulekile ekumiseni ukunemba.
Le ndlela yokulawula ilawula kuphela indawo kanye nokuma kwamaphoyinti athile ahlukene ashiwo wetheminali yamarobhothi ezimboni endaweni yokusebenza. Ekulawuleni, amarobhothi ezimboni adingeka kuphela ukuthi ahambe ngokushesha nangokunembile phakathi kwamaphoyinti aseduze, ngaphandle kokudinga umkhondo wephoyinti eliqondiwe ukuze afinyelele iphuzu eliqondiwe. Ukunemba kokuma kanye nesikhathi esidingekayo sokunyakaza yizinkomba ezimbili eziyinhloko zobuchwepheshe zale ndlela yokulawula. Le ndlela yokulawula inezici zokuqaliswa okulula nokunemba kokuma okuphansi. Ngakho-ke, ijwayele ukusetshenziselwa ukulayisha nokuthulula, ukushisela indawo, kanye nokubekwa kwezingxenye kumabhodi esekethe, okudinga kuphela ukuma nokuma kwe-actuator yetheminali ukuthi kunembile endaweni okuhlosiwe. Le ndlela ilula, kodwa kunzima ukufeza ukunemba kokubeka kuka-2-3 μ m.
2. Indlela yokulawula i-trajectory eqhubekayo
Le ndlela yokulawula ilawula ngokuqhubekayo isikhundla nokuma komphumela wokugcina werobhothi lemboni endaweni yokusebenza, idinga ukuthi ilandele ngokuqinile umzila onqunywe kusengaphambili nesivinini ukuze ihambe phakathi kwebanga elithile lokunemba, ngesivinini esilawulekayo, i-trajectory eshelelayo, nokunyakaza okuzinzile, ukuze uqedele umsebenzi wokusebenza. Phakathi kwazo, ukunemba kwe-trajectory kanye nokuzinza kokunyakaza yizinkomba ezimbili ezibaluleke kakhulu.
Amalunga amarobhothi ezimboni anyakaza ngokuqhubekayo nangokuvumelanayo, futhi iziphetho zamarobhothi ezimboni zingakha ama-trajectories aqhubekayo. Izinkomba zobuchwepheshe eziyinhloko zale ndlela yokulawula ziyiukunemba kokulandela umkhondo nokuzinzawomphumela wokugcina wamarobhothi ezimboni, avame ukusetshenziswa ekushiseleni i-arc, ukupenda, ukususwa kwezinwele, kanye namarobhothi okubona.
3. Phoqelela imodi yokulawula
Lapho amarobhothi eqeda imisebenzi ehlobene nendawo ezungezile, njengokugaya nokuhlanganisa, ukulawula indawo okulula kungaholela emaphutheni abalulekile okuma, okubangele ukulimala kwezingxenye noma amarobhothi. Lapho amarobhothi ehamba kule ndawo enomkhawulo wokunyakaza, ngokuvamile adinga ukuhlanganisa ukulawula amandla ukuze asetshenziswe, futhi kumelwe asebenzise (i-torque) imodi ye-servo. Isimiso sale ndlela yokulawula ngokuyisisekelo sifana nokulawula i-servo yesikhundla, ngaphandle kokuthi okokufaka kanye nempendulo akuzona izimpawu zesikhundla, kodwa amasiginali we-force (torque), ngakho uhlelo kufanele lube nenzwa ye-torque enamandla. Kwesinye isikhathi, ukulawula okuguquguqukayo nakho kusebenzisa izinzwa ezifana nokuba seduze nokuslayida.
4. Izindlela zokulawula ezihlakaniphile
Ukulawula okuhlakaniphile kwamarobhothiukuthola ulwazi ngendawo ezungezile ngokusebenzisa izinzwa nokwenza izinqumo ezihambisanayo ngokusekelwe kusisekelo solwazi lwazo lwangaphakathi. Ngokwamukela ubuchwepheshe bokulawula okukhaliphile, irobhothi linamandla okuguquguquka kwemvelo kanye nekhono lokuzifundela. Ukuthuthukiswa kobuchwepheshe bokulawula okuhlakaniphile kuncike ekuthuthukisweni okusheshayo kobuhlakani bokwenziwa, njengamanethiwekhi okwenziwa kwemizwa, ama-algorithms ofuzo, ama-algorithms wezakhi zofuzo, izinhlelo zochwepheshe, njll. Mhlawumbe le ndlela yokulawula inokunambitheka kokufika kobuhlakani bokwenziwa kwamarobhothi ezimboni, okuyiwo. futhi okunzima kakhulu ukulawula. Ngokungeziwe kuma-algorithms, iphinde incike kakhulu ekunembeni kwezingxenye.
Isikhathi sokuthumela: Jul-05-2024
