Irobhothi le-deltawuhlobo lwerobhothi elihambisanayo elivame ukusetshenziswa ezishintshayo zezimboni. Iqukethe izingalo ezintathu ezixhunywe kusisekelo esivamile, nengalo ngayinye equkethe uchungechunge lwezixhumanisi ezixhunywe amalunga. Izingalo zilawulwa amamotho nezinzwa ukuze zihambe ngendlela ehlelekile, okwenza irobhothi likwazi ukwenza imisebenzi eyinkimbinkimbi ngesivinini nangokunemba. Kulesi sihloko, sizoxoxa ngokusebenza okuyisisekelo kwesistimu yokulawula irobhothi le-delta, okuhlanganisa i-algorithm yokulawula, izinzwa, nama-actuator.
Lawula i-algorithm
I-algorithm yokulawula irobhothi le-delta yinhliziyo yesistimu yokulawula. Inesibopho sokucubungula amasignali okokufaka asuka kuzinzwa zerobhothi futhi iwahumushele emiyalweni enyakazayo yamamotho. I-algorithm yokulawula isetshenziswa kusilawuli se-programmable logic (PLC) noma i-microcontroller, eshumekwe ngaphakathi kwesistimu yokulawula irobhothi.
I-algorithm yokulawula iqukethe izingxenye ezintathu eziyinhloko: i-kinematics, ukuhlela umzila, nokulawula impendulo. I-Kinematics ichaza ubudlelwano phakathiama-engeli ahlangene werobhothi kanye nendawokanye nokuma kwesiphetho serobhothi (imvamisa into yokubamba noma ithuluzi). Ukuhlelwa kwe-trajectory kuphathelene nokukhiqizwa kwemiyalo enyakazayo ukuhambisa irobhothi lisuke endaweni yalo lamanje liye endaweni elifiswayo ngokuvumelana nendlela ethile. Ukulawula impendulo kuhilela ukulungisa ukunyakaza kwerobhothi ngokusekelwe kumasiginali wempendulo yangaphandle (isb. ukufundwa kwenzwa) ukuze kuqinisekiswe ukuthi irobhothi lilandela umgudu eliwufunayo ngokunembile.
Izinzwa
Isistimu yokulawula irobhothi le-deltaithembele kusethi yezinzwa ukuqapha izici ezihlukahlukene zokusebenza kwerobhothi, njengendawo yalo, isivinini, nokusheshisa. Izinzwa ezisetshenziswa kakhulu kumarobhothi e-delta ama-optical encoder, ezikala ukujikeleza kwamalunga erobhothi. Lezi zinzwa zinikeza impendulo yendawo engu-angular ku-algorithm yokulawula, eyinika amandla ukunquma indawo yerobhothi nesivinini ngesikhathi sangempela.
Olunye uhlobo olubalulekile lwenzwa esetshenziswa kumarobhothi e-delta izinzwa zamandla, ezikala amandla nama-torque asetshenziswa isiphetho serobhothi. Lezi zinzwa zivumela irobhothi ukuthi lenze imisebenzi elawulwa ngamandla, njengokubamba izinto ezintekenteke noma ukusebenzisa amandla anembile ngesikhathi sokuhlanganisa.
Ama-Actuator
Isistimu yokulawula irobhothi le-delta inesibopho sokulawula ukunyakaza kwerobhothi ngesethi yama-actuator. Ama-actuator asetshenziswa kakhulu kumarobhothi e-delta amamotho kagesi, ashayela amalunga erobhothi ngamagiya noma amabhande. Amamotho alawulwa i-algorithm yokulawula, ebathumela imiyalo yokunyakaza enembile ngokusekelwe kokokufaka okuvela kuzinzwa zerobhothi.
Ngokungeziwe kumamotho, amarobhothi e-delta angaphinda asebenzise ezinye izinhlobo zama-actuator, njengama-hydraulic noma ama-pneumatic actuators, kuye ngezidingo ezithile zohlelo lokusebenza.
Sengiphetha, uhlelo lokulawula lwerobhothi le-delta luwuhlelo oluyinkimbinkimbi futhi olulungiselelwe kakhulu oluvumela irobhothi ukuthi lenze imisebenzi ngesivinini esikhulu nangokunemba. I-algorithm yokulawula iyinhliziyo yesistimu, icubungula amasignali okokufaka kusukela kuzinzwa zerobhothi futhi ilawula ukunyakaza kwerobhothi ngesethi yama-actuator. Izinzwa kurobhothi le-delta zinikeza impendulo ngokuma kwerobhothi, isivinini, nokusheshisa, kuyilapho ama-actuator ashayela ukunyakaza kwerobhothi ngendlela ehlelekile. Ngokuhlanganisa ama-algorithms okulawula anembayo nobuchwepheshe benzwa obuthuthukisiwe kanye ne-actuator, amarobhothi e-delta aguqula indlela okwenziwa ngayo okuzenzakalelayo kwezimboni.
Isikhathi sokuthumela: Sep-27-2024
