Ukulawulwa kwezimboni kuhlukaniswe ikakhulukazi izinkomba ezimbili.Enye iwukulawula ukunyakaza, okuvame ukusetshenziswa emkhakheni wemishini;Okunye ukulawulwa kwenqubo, okuvame ukusetshenziswa embonini yamakhemikhali.Ukulawula ukunyakaza kubhekisela ohlotsheni lwesistimu ye-servo eyaqalwa ekuqaleni, esekelwe ekulawuleni injini ukuze ibone ukulawulwa koshintsho lwenani elibonakalayo elifana nokugudluka kwe-diagonal, torque, isivinini, njll. .
Kusukela endaweni yokukhathazeka, ukukhathazeka okuyinhloko kwe-servo motor ukulawula ipharamitha eyodwa noma ngaphezulu ku-torque, isivinini kanye nesimo semoto eyodwa ukuze ufinyelele inani elinikeziwe.Ukugxila okuyinhloko kokulawula ukunyakaza ukuxhumanisa amamotho amaningi ukuze kuqedelwe ukunyakaza okucacisiwe (i-synthetic trajectory, isivinini sokwenziwa), ngokugcizelela kakhulu ukuhlelwa kwe-trajectory, ukuhlela isivinini, nokuguqulwa kwe-kinematics;Isibonelo, i-XYZ axis motor kufanele ihlanganiswe ethuluzini lomshini we-CNC ukuze kuqedelwe isenzo sokuhumusha.
Ukulawulwa kwezimoto kuvame ukuthathwa njengesixhumanisi sesistimu yokulawula ukunyakaza (imvamisa iluphu yamanje, esebenza ngemodi yetorque), egxile kakhulu ekulawulweni kwemoto, ngokuvamile okuhlanganisa ukulawula indawo, ukulawula isivinini kanye nokulawula itorque, futhi ngokuvamile ayinakho ukuhlela. ikhono (abanye abashayeli banesikhundla esilula kanye nekhono lokuhlela isivinini).
Ukulawula ukunyakaza kuvame ukucacisa emikhiqizweni, okuhlanganisa okomshini, isofthiwe, ugesi namanye amamojula, njengamarobhothi, izimoto zasemoyeni ezingenamuntu, izinkundla ezinyakazayo, njll. Kuwuhlobo lokulawula ukulawula nokuphatha indawo kanye nesivinini sezingxenye ezihambayo eziwumshini isikhathi sangempela, ukuze bakwazi ukunyakaza ngokuvumelana ne-trajectory yokunyakaza elindelekile kanye nemingcele yokunyakaza ecacisiwe.
Okunye okuqukethwe kwakho kokubili kuyaziqondana nje: iluphu yendawo/iluphu yesivinini/iluphu yetorque ingabonakala kumshayeli wenjini noma kusilawuli esinyakazayo, ngakho-ke okubili kudideka kalula.Isakhiwo esiyisisekelo sesistimu yokulawula ukunyakaza sihlanganisa: isilawuli esinyakazayo: sisetshenziselwa ukukhiqiza amaphoyinti omzila (okukhiphayo okufunayo) kanye neluphu yempendulo yendawo evaliwe.Izilawuli eziningi zingaphinda zivale iluphu yesivinini ngaphakathi.
Izilawuli zokunyakaza zihlukaniswe ikakhulukazi izigaba ezintathu, okuyi-PC-based, isilawuli esizinikele kanye ne-PLC.Isilawuli sokunyakaza esisekelwe ku-PC sisetshenziswa kakhulu kwezobuchwepheshe, i-EMS nakwezinye izimboni;Izimboni ezimele isilawuli esikhethekile amandla omoya, i-photovoltaic, i-robot, imishini yokubumba, njll;I-PLC idumile kwezenjoloba, ezimotweni, ezensimbi nakwezinye izimboni.
Idrayivu noma i-amplifier: isetshenziselwa ukuguqula isignali yokulawula (imvamisa isivinini noma isignali ye-torque) isuke kusilawuli esinyakazayo iyise kumandla aphezulu wamanje noma isignali ye-voltage.Idrayivu ehlakaniphile ethuthuke kakhulu ingavala iluphu yendawo kanye nelophu yesivinini ukuze ithole ukulawula okunembe kakhudlwana.
I-Actuator: njengepompo ye-hydraulic, isilinda, i-actuator eqondile noma i-motor ekuphumeni komnyakazo.Inzwa yempendulo: njengesishumeki se-photoelectric, i-rotary transformer noma idivayisi ye-Hall-effect, esetshenziselwa ukuphendula indawo ye-actuator kusilawuli sendawo ukuze kufinyelelwe ukuvala iluphu yokulawula indawo.Izingxenye eziningi zemishini zisetshenziswa ukuguqula ifomu elinyakazayo le-actuator libe yifomu lokunyakaza elifiswayo, okuhlanganisa ibhokisi legiya, i-shaft, isikulufu sebhola, ibhande elinamazinyo, i-coupling namabheringi alayini kanye nama-rotary.
Ukuvela kokulawula ukunyakaza kuzophinde kukhuthaze isisombululo sokulawulwa kwe-electromechanical.Isibonelo, esikhathini esidlule, amakhamera namagiya kwakudingeka abonwe ngesakhiwo somshini, kodwa manje angabonakala ngokusebenzisa amakhamera namagiya e-elekthronikhi, aqede ukubuya, ukungqubuzana nokugqoka ngesikhathi sokufezeka komshini.
Imikhiqizo yokulawula ukunyakaza okuvuthiwe ayidingi nje kuphela ukunikeza ukuhlela indlela, ukulawula phambili, ukuxhumanisa ukunyakaza, ukuhumusha, isixazululo se-kinematics eya phambili nephambene kanye nokukhishwa komyalo we-drive motor, kodwa futhi idinga ukuba nesofthiwe yokumisa ubunjiniyela (njenge-SCOUT of SIMOTION), umhumushi we-syntax. (akubhekiseli olimini lwayo kuphela, kodwa futhi kufaka phakathi ukwesekwa kolimi lwe-PLC kwe-IEC-61131-3), umsebenzi olula we-PLC, ukuqaliswa kokulawulwa kwe-algorithm yokulawula i-PID, isikhombimsebenzisi esisebenzisanayo se-HMI, nesixhumi esibonakalayo sokuxilongwa kwephutha, isilawuli sokunyakaza esithuthukisiwe singakwazi futhi ukubona ukulawula ukuphepha.
Isikhathi sokuthumela: Mar-14-2023