Iuhlelo lokulawula amarobhothiubuchopho berobhothi, okuyisici esiyinhloko esinquma umsebenzi nomsebenzi werobhothi. Isistimu yokulawula ithola amasignali emiyalo ohlelweni lokushayela kanye nendlela yokuqalisa ngokohlelo lokufaka, futhi iyawalawula. Isihloko esilandelayo sethula ngokuyinhloko uhlelo lokulawula amarobhothi.
1. Uhlelo lokulawula amarobhothi
Inhloso "yokulawula" ibhekisela eqinisweni lokuthi into elawulwayo izoziphatha ngendlela elindelekile. Umbandela oyisisekelo we "control" ukuqonda izici zento elawulwayo.
Ingqikithi iwukulawula i-torque ephumayo yomshayeli. Uhlelo lokulawula amarobhothi
2. Umgomo oyisisekelo wokusebenza weamarobhothi
Umgomo wokusebenza uwukukhombisa nokukhiqiza kabusha; Ukufundisa, okwaziwa nangokuthi ukufundisa okuqondisiwe, irobhothi eliqondisayo elisebenza isinyathelo ngesinyathelo ngokuya ngenqubo yesenzo esidingekayo. Phakathi nenqubo yokuqondisa, irobhothi likhumbula ngokuzenzakalelayo ukuma, isikhundla, imingcele yenqubo, imingcele yokunyakaza, njll. yesenzo ngasinye esifundiswayo, futhi ngokuzenzakalelayo ikhiqiza uhlelo oluqhubekayo lokwenziwa. Ngemva kokuqeda ukufundisa, mane unikeze irobhothi umyalo wokuqala, futhi irobhothi lizolandela ngokuzenzakalelayo isenzo esifundisiwe ukuqedela yonke inqubo;
3. Ukuhlukaniswa kwe-robot control
Ngokuya ngobukhona noma ukungabikho kwempendulo, ingahlukaniswa ngolawulo lwe-open-loop, control-loop control
Isimo sokulawula okunembile kwe-loop evulekile: yazi imodeli yento elawulwayo ngokunembile, futhi le modeli ihlala ingashintshiwe kunqubo yokulawula.
Ngokwenani lokulawula elilindelekile, ingahlukaniswa ngezinhlobo ezintathu: ukulawulwa kwamandla, ukulawulwa kwendawo, nokulawula okuxubile.
Ukulawulwa kwesikhundla kuhlukaniswe ngokuhlanganyela okukodwa kokulawula indawo (impendulo yendawo, impendulo yesivinini sendawo, impendulo yokusheshisa isivinini sokuma) kanye nokulawula ukuma okuhlangene okuningi.
Ukulawulwa kwezikhundla okuhlanganyelwe okuningi kungahlukaniswa ngokulawulwa kokunyakaza okubolile, ukulawulwa kwamandla okulawula okuphakathi, ukulawulwa kwamandla aqondile, ukulawulwa kwe-impedance, nokulawulwa kwe-hybrid position.
4. Izindlela zokulawula ezihlakaniphile
Ukulawula okungaqondakali, ukulawula okuguquguqukayo, ukulawula okuphelele, ukulawulwa kwenethiwekhi ye-neural, ukulawulwa kwenethiwekhi okungaqondakali kwe-neural, ukulawula kochwepheshe
5. Ukucushwa kwe-Hardware kanye nesakhiwo sezinhlelo zokulawula - Ihadiwe kagesi - Isakhiwo seSoftware
Ngenxa yokudidiyelwa okubanzi kwemisebenzi yoguquko kanye nokuhunyushwa okuhilelekile ohlelweni lokulawulaamarobhothi, kanye nezinga eliphansi lokulawula isikhathi sangempela. Ngakho-ke, okwamanje, izinhlelo eziningi zokulawula amarobhothi emakethe zisebenzisa amasistimu okulawula amakhompiyutha amancane ngokwesakhiwo, imvamisa kusetshenziswa amasistimu wokulawula ama-servo wekhompyutha anezigaba ezimbili.
6. Inqubo ethize:
Ngemva kokuthola okokufaka kweziyalezo zomsebenzi ngabasebenzi, ikhompuyutha yokulawula eyinhloko iqala ihlaziye futhi ihumushe imiyalelo ukuze inqume imingcele yokunyakaza kwesandla. Bese wenza imisebenzi ye-kinematics, dynamics, kanye ne-interpolation, futhi ekugcineni uthole amapharamitha okunyakaza ahlanganisiwe welunga ngalinye lerobhothi. Lawa mapharamitha aphuma esigabeni sokulawula i-servo ngokusebenzisa imigqa yokuxhumana njengezimpawu ezinikeziwe zohlelo ngalunye lokulawula i-servo oluhlanganyelwe. Umshayeli we-servo ekuhlanganyeleni uguqula lesi siginali ibe yi-D/A futhi ashayele ilunga ngalinye ukuze akhiqize ukunyakaza okuhlanganisiwe.
Izinzwa ziphendula amasignali okukhipha umnyakazo wejoyinti ngalinye emuva kukhompyutha yezinga lokulawula i-servo ukuze zakhe isilawuli sendawo esivaliwe, esizuza ukulawula okunembile kokunyakaza kwerobhothi emkhathini.
7. Kunezindlela ezimbili zokulawula zokulawula ukunyakaza okusekelwe ku-PLC:
① Sebenzisa imbobo yokuphumayo yeI-PLCukukhiqiza imiyalo ye-pulse ukushayela injini, ngenkathi usebenzisa i-I/O yendawo yonke noma izingxenye zokubala ukuze uzuze ukulawulwa kwendawo evaliwe ye-servo motor
② Ukulawula ukuma kwe-loop evaliwe yenjini kufinyelelwa ngokusebenzisa imojula yokulawula indawo enwetshiwe ye-PLC. Le ndlela ikakhulukazi isebenzisa ukulawulwa kwe-pulse ngesivinini esikhulu, okungeyendlela yokulawula indawo. Ngokuvamile, ukulawulwa kwesikhundla kuyindlela yokulawula indawo ye-point-to-point.
Isikhathi sokuthumela: Dec-15-2023
