Kugeza ubu, benshi mu bakora ku isoko bafite uburyo bubiri bwo kugenzura imbaraga:
1. Kugenzura imbaraga zubu
Biroroshye cyane gushyira mubikorwa uburyo busanzwe bwo kugenzura imbaraga, butahura kugenzura imbaraga muguhindura imbere yimbere ya moteri.Akarusho nuko bitoroshye kubishyira mubikorwa, kandi birashobora kugera kugenzura imbaraga zingana na 5% -15% byukuri;ibibi ni uko umuvuduko wo kugenda utinda, ntushobora gutwarwa inyuma, kandi ntushobora guhuza ibyifuzo bimwe na bimwe bisabwa neza.Nyuma yigihe cyo gukoresha, kwambara imashini bizazana amakosa kandi birusheho kugabanya ukuri.
Imikorere nkiyi isanzwe idafite sensor, kandi niyo haba hari sensor, zikoreshwa gusa nka "kwerekana" imbaraga kandi ntizitabira kugenzura.Kurugero, kongeramo sensor mubinyamakuru, sensor isoma ingano yingufu, kandi ikerekana agaciro binyuze muri metero, ikoreshwa mugufasha muguhindura intoki ingano yububasha, ariko ihinduka nkiryo muri rusange ntakintu na kimwe gikora hamwe nukuri kwimbaraga.
Igishushanyo mbonera, ntabwo kijyanye nigishushanyo ninyandiko
2. Sensor ifunze-izunguruka imbaraga
Ubundi buryo bwo kugenzura imbaraga ni ukongeramo imbaraga zisanzwe sensor hamwe na algorithm isanzwe ifunze-loop igenzura algorithm.Akarusho nuko ubunyangamugayo bwanonosowe, ariko ibibi ni uko umuvuduko ukiri muto.Muri ubu buryo, imbaraga zo kugenzura imbaraga zirashobora kwiyongera kuva 5% kugeza kuri 1%.Niba nta gutunganya algorithm ikwiye, cyangwa umuvuduko wa sensor ntabwo yihuta bihagije, birashoboka "kurenza urugero".
Imbaraga Zigenzurwa
Byanze bikunze "kurenza urugero"?
Gufunga-loop imbaraga zo kugenzura uburyo bwa sensor biragoye guhangana ningaruka zingaruka.Ikigaragara cyane ni uko "kurenza urugero" byoroshye kugaragara mugihe ukorana nibintu bifite umuvuduko mwinshi.
urugero
Mubisanzwe, mugihe cyumuvuduko mwinshi nibisohoka binini, umwanya mugihe umukoresha ahuza akazi kenshi ni nini cyane.Kurugero, niba imbaraga zo gusunika za actuator zashyizwe kuri 10N, biroroshye kugera kuri 11N na 12N mugihe ikora ku gihangano, hanyuma ikitwa 10N ikoresheje kugenzura algorithm.Ibibazo nkibi bikunze kubaho mugihe ibyuma bifata ibyuma byitwa imbaraga hamwe nibyo bita imbaraga zigenzurwa nimbaraga zongerewe kumasoko.
Nicyo kibazo ko umuvuduko wo gusubiza utihuta bihagije.Umuvuduko mwinshi kandi utomoye kandi uhamye nibisohoka bivuguruzanya ubwabo.Niba hari ikirenga (overhoot), imbaraga nyazo ziri mubusa.
Cyane cyane muburyo bwibikoresho byuzuye byo guteranya igitutu, ibice byoroshye kandi bihenze cyane, kurenza urugero ntabwo byemewe.
Kugenzura imbaraga zuzuye, inshuro nyinshi n'umuvuduko mwinshi nta shusho?
TA ibikora ite?
Kubisobanuro bihanitse byerekana ibintu, uburyo "bworoshye bwo kugwa" bwakoreshejwe kugirango harebwe ibisabwa byihuta kandi byihuse, ni ukuvuga kugenzura imbaraga.Acuator yihutira kwegera igicapo binyuze mumwanya wimikorere, ihita ihinduranya uburyo bwo kugenzura imbaraga kumwanya uri hafi kuvugana nakazi, hanyuma ikongera buhoro buhoro ibisohoka kugeza igeze ku gaciro kateganijwe.Uburyo bwimyanya + imbaraga zo kugenzura uburyo + imbaraga zo guhagarika umwanya, igihe cyose cyakoreshejwe nuburyo bumwe bwo gukora neza.
Hamwe na moteri yihuta yihuta hamwe na moderi-ishingiye ku guhanura kugenzura algorithm, SoftForce®2.0 igenzurwa nimbaraga ziyobowe na moteri irashobora guhita imenya aho ikorera hamwe na reta ihuza hamwe nakazi, kugirango ikore, nkurangiza ryikora. ibikoresho, bifite imikorere imwe nki kiganza cyumuntu.ubwenge bwubwenge, kugenzura no gushyira mubikorwa ubwenge.
Kuri intera imwe, umuvuduko woroshye wo kugwa wa "SoftForce ®2.0 Igenzura rya Precision Force Igenzura" ryiyongereye, kwihanganira ni binini, ndetse birashobora no kugera ku kugenzura imbaraga zose, biteza imbere byimazeyo umusaruro kandi bikagabanya cyane ikiguzi cyikigereranyo kandi kugenzura amakosa.
▋Ibihe byinshi byo gutunganya kugirango ugere ku mikorere myiza
Inzira yo kubara ya "esheshatu-axis force sensor + robot" gahunda yo kugenzura ingufu zikunze gukoreshwa ku isoko ni milisegonda 5-10, ni ukuvuga ko inshuro zitunganyirizwa ari 100-200 Hz.Inshuro zitunganyirizwa za SoftForce®2.0 zikora neza zigenzurwa nimbaraga zishobora kugera kuri 4000Hz (ni ukuvuga milisegonda 0,25), naho moderi yumurongo mwinshi irashobora kugera kuri 8000Hz, ikaba ikubye inshuro 4-8 inshuro zitunganyirizwa ingufu za robo rusange ziyobowe ningufu.
ControlIbikorwa bifatika byubahiriza kugenzura, bishobora gukurikira ihinduka ryimbaraga zo hanze
Igipimo cyiza cyo gusubiza hamwe nigitekerezo cyo guhita gitanga imbaraga zituma abayobora basubiza ako kanya imbaraga ziva hanze kandi bakagera kubikorwa bigenzura imbaraga.Nubwo imbaraga zo hanze zahura nazo mugihe gikora, zirashobora guhinduka mugihe, bigatuma inzira irushaho kuba nziza.Kurinda neza ibihangano.
Umuvuduko mwinshi n'umuvuduko mwinshi nta kurenza
Ndetse no munsi yumuvuduko mwinshi kandi wihuta cyane, iracyakomeza kugumya gusohora neza, kandi mugihe kimwe ikanatanga "kugwa hasi" kandi "nta shusho", ihuza ubuso bwibice bifite umuvuduko mwinshi, imbaraga nto, kandi ikora byoroshye gutoranya no gushyira ibice, nibindi, kugirango wirinde kwangirika kubice byoroshye kandi byoroshye.Ibigize.
SoftForce®2.0 Igenzura ryimbaraga
HF ikurikirana
Ubushobozi bukomeye bwo kurwanya imitwaro
Ukurikije ubushishozi bwimbitse bwibikorwa kurubuga hamwe nibisubirwamo byinshi, Chengzhou iherutse kuvugururwa rya SoftForce®2.0 igenzura imbaraga za HF muri Gashyantare uyu mwaka ifite igishushanyo mbonera cya sensor, kandi ubushobozi bwayo bwo kurwanya imitwaro burenze inshuro nyinshi ugereranije no muri kahise, hamwe nigihe kirekire kandi cyoroshye cyo gukoresha.Ihangane nibihe bigoye.
An Ntushobora kuzirikana imbaraga ntoya n'ibisohoka binini
Hamwe na SoftForce®2.0 sisitemu yo kugenzura imbaraga zidasanzwe, kugenzura imbonerahamwe igenzurwa nimbaraga zo kugenzura hamwe no gusunika inkoni hamwe na stroke nini kandi umutwaro munini urashobora kubyara imbaraga nto kandi zisobanutse munsi yumutwaro mwinshi, kandi ushobora no kuzirikana imbaraga kuri kimwe igihe, kandi ibisohoka ni binini.Kinini, ni ukuvuga imbaraga nini zingirakamaro *.
* Imbaraga Dynamic Range: Ikigereranyo kiri hagati yingufu ntarengwa nimbaraga zishobora gusohoka.
Igenzura ryimbaraga zishobora gukoreshwa gusa kumurongo umwe
SoftForce®2.0 ikora neza igenzurwa nimbaraga ntishobora gukoreshwa mumurongo umwe gusa, ariko kandi itanga ibishoboka byinshi kubisubizo byinshi byo guteranya.Kurugero, "RM Chengzhou 2D Synchronous Precision Force Control Platform Control System" yatangijwe na tekinoroji ya Chengzhou igizwe nimbaraga ebyiri zikoreshwa na amashanyarazi ya Chengzhou, zishobora gusimbuza imbaraga za gahunda yo kugenzura “esheshatu axis sensor + robot”, ikoreshwa mugusya neza no gusiba kumurongo wimbere ya terefone igendanwa, nibindi.
Chengzhou 2D synchronous precision force igenzura sisitemu yo kugenzura
(Bifite ibikoresho bya SoftForce®2.0 sisitemu yo kugenzura imbaraga)
Byoroshye kandi byoroshye-gukoresha-serivisi zumwuga
Igenzura ryambere algorithm hamwe nuburyo bworoshye bwo gukemura bizana uburambe bwabakoresha kubakiriya.Ndetse numukoresha ufite urwego rwo hasi arashobora gutangira muminota 5, mubyukuri "gucomeka no gukina".
Muri icyo gihe, itsinda rya serivisi ya tekinike ya Chengzhou kandi ikomeye nyuma yo kugurisha irashobora guha abakiriya inkunga ya tekiniki ku gihe, yuzuye kandi idafite impungenge ku nshuro yambere, haba gushidikanya kwa tekiniki, kwigisha, gukemura ibibazo cyangwa kubungabunga.
Ikoranabuhanga rya Chengzhou ryamye rifite ubutwari bwo kwagura imipaka.Nimbaraga zayo zikomeye kandi zigezweho, yagiye itangiza ibicuruzwa byinshi byubwenge, bisobanutse neza kandi bihujwe n’ibicuruzwa byiza byo mu rwego rwo hejuru kugira ngo bitange ibicuruzwa bigezweho byo gupakira no gupimisha semiconductor, 3C automatike, gukora neza, ubuvuzi bwubwenge n’inganda zindi.ibice byingenzi nka sisitemu yo kugenzura neza na sisitemu.
Igihe cyo kohereza: Gicurasi-31-2022