Ikoranabuhanga rya Chengzhou SoftForce®2.0 Kugenzura Imbaraga Zigenzura HF Urwego Rishya

Kugeza ubu, ibyinshi mubikorwa ku isoko bifite ubwoko bubiri bwuburyo bwo kugenzura imbaraga:

1. Kugenzura imbaraga zubu

Biroroshye cyane gushyira mubikorwa uburyo busanzwe bwo kugenzura imbaraga, bumenya kugenzura imbaraga muguhindura imbere ya moteri.Akarusho nuko bitoroshye kubishyira mubikorwa, kandi birashobora kugera kugenzura imbaraga murwego rwa 5% -15%;ibibi ni uko umuvuduko wo kugenda utinda, ntushobora gutwarwa inyuma, kandi ntushobora guhaza ibikenewe bimwe na bimwe bisabwa neza.Nyuma yigihe cyo gukoresha, imashini ikora izazana amakosa kandi irusheho kugabanya ukuri.

Imikorere nkiyi ntabwo iba ifite sensor, kandi niyo haba hari sensor, zikoreshwa gusa nka "kwerekana" imbaraga kandi ntizitabira kugenzura.Kurugero, kongeramo sensor mubinyamakuru, sensor isoma ingano yimbaraga, kandi ikerekana agaciro binyuze muri metero, ikoreshwa mugufasha guhinduranya intoki ingano yububasha, ariko ihinduka nkiryo muri rusange ntakintu na kimwe rikora. hamwe nukuri kwimbaraga.

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Igishushanyo mbonera, ntabwo kijyanye nubushushanyo ninyandiko

2. Sensor ifunze-izunguruka imbaraga

Ubundi buryo bwo kugenzura imbaraga ni ukongeramo imbaraga zisanzwe hamwe na algorithm isanzwe ifunze-loop igenzura.Akarusho nuko ubunyangamugayo butezimbere, 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 wihuta bihagije, birashoboka ko "birenze".

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 kubaho mugihe ukorana nibisabwa na tempo nyinshi.

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urugero

Mubisanzwe, mugihe cyumuvuduko mwinshi nibisohoka binini, umwanya iyo actuator ihuza akazi ni nini cyane.Kurugero, niba imbaraga zo gusunika za actuator zashyizwe kuri 10N, biroroshye kugera kuri 11N na 12N mugihe ikora kumurimo, 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.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 kurenza?

TA ibikora ite?

Kubisobanuro bihanitse byo gusaba, 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 yo gukorana nakazi, hanyuma ikongera buhoro buhoro ibisohoka kugeza igeze kubiciro byagenwe.Imyanya yumwanya + imbaraga zo kugenzura uburyo + imbaraga zo gutuza, igihe cyose cyakoreshejwe nuburyo bumwe bwo gukora neza.

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Hamwe na sensor yihuta yihuta hamwe na moderi-ishingiye ku guhanura kugenzura algorithm, SoftForce®2.0 igenzurwa nimbaraga zigenzurwa na moteri irashobora guhita imenyekanisha aho ikorera hamwe na reta ihuza hamwe nakazi, kugirango ibikorwa, nkurangiza ryikora. ibikoresho, bifite imikorere imwe nkukuboko kwabantu.imyumvire ya tactile, kugenzura no gushyira mubikorwa ubwenge.

Ku ntera imwe, umuvuduko woroshye wo kugwa wa "SoftForce ®2.0 Igenzura rya Precision Force" ryiyongereye, kwihanganira ni binini, ndetse birashobora no kugera ku mbaraga zuzuye, bigateza imbere uruzinduko kandi bikagabanya cyane ikiguzi cyo kugerageza kandi kugenzura amakosa.

▋Ibihe byinshi byo gutunganya kugirango ugere ku mikorere myiza

Inzira yo kubara ya "esheshatu-axis force sensor + robot" gahunda yo kugenzura imbaraga zikunze gukoreshwa ku isoko ni milisegonda 5-10, ni ukuvuga ko gutunganya inshuro 100-200 Hz.Inshuro yo gutunganya SoftForce®2.0 ikora neza igenzurwa ningufu 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.

ControlIbikorwa bifatika byubahiriza kugenzura, bishobora gukurikira ihinduka ryimbaraga zo hanze

Igipimo cyiza cyo gusubiza hamwe nigitekerezo cyingufu zingirakamaro zituma abayobora basubiza ako kanya imbaraga ziva hanze kandi bakagera kubikorwa bigenzura imbaraga.Nubwo imbaraga ziva hanze zihura nigikorwa, zirashobora guhinduka mugihe, bigatuma inzira irushaho kuba nziza.Kurinda neza ibihangano.

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Umuvuduko mwinshi n'umuvuduko mwinshi nta kurenza

Ndetse no munsi yumuvuduko mwinshi kandi wihuta cyane, iracyakomeza kugumya gusohora neza, kandi mugihe kimwe ikomeza "kugwa hasi" no "kutarenga", guhuza ubuso bwibice hamwe n'umuvuduko mwinshi, imbaraga nto, kandi bigakora byoroshye gutoranya no gushyira ibice, nibindi, kugirango wirinde kwangirika kubice byoroshye kandi byoroshye.Ibigize.

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SoftForce®2.0 Igenzura ryimbaraga

HF ikurikirana

Ubushobozi bukomeye bwo kurwanya imitwaro

Ukurikije ubushishozi bwimbitse bwibikorwa bikorerwa hamwe nibisubirwamo byinshi, Chengzhou iherutse kuvugururwa SoftForce®2.0 igenzura neza 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 nibintu byinshi bigoye.

An Ntushobora kuzirikana imbaraga ntoya n'ibisohoka binini

Bifite ibikoresho bya SoftForce®2.0 sisitemu yo kugenzura imbaraga zidasanzwe, kugenzura imbaraga ziyobowe na slide kumeza hamwe no gusunika inkoni nini hamwe nuburemere bunini birashobora kubyara imbaraga nto kandi zisobanutse munsi yumutwaro muremure, kandi birashobora 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.

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Kugenzura imbaraga zidasanzwe birashobora gukoreshwa gusa kumurongo umwe

SoftForce®2.0 itunganijwe neza igenzurwa nimbaraga ntishobora gukoreshwa gusa mumurongo umwe, ariko kandi itanga ibisobanuro byinshi kubisubizo byinshi byo guteranya.Kurugero, "RM Chengzhou 2D Synchronous Precision Force Control Platform Control System" yatangijwe na Chengzhou Technology igizwe nimbaraga ebyiri za Chengzhou ziyobowe ningufu zamashanyarazi, zishobora gusimbuza imbaraga za "gahunda ya gatandatu-axis sensor + robot", ikoreshwa mugusya neza no gusiba kumurongo wimbere ya terefone igendanwa, nibindi.

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Chengzhou 2D synchronous precision force igenzura sisitemu yo kugenzura

(Bifite ibikoresho bya SoftForce®2.0 sisitemu yo kugenzura imbaraga) 

Ubuhanga kandi bworoshye-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 tekinike ya tekinoroji ya Chengzhou kandi ikomeye nyuma yo kugurisha irashobora guha abakiriya ubufasha bwa tekiniki ku gihe, cyuzuye kandi nta mpungenge zirimo bwa mbere, 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 bihuza ibicuruzwa byiza byo mu rwego rwo hejuru kugirango bitange ibicuruzwa bigezweho byo gupakira no gupima, 3C ikora, gukora neza, ubuvuzi bwubwenge nizindi nganda.ibice byibanze nka sisitemu yo kugenzura neza na sisitemu.


Igihe cyo kohereza: Gicurasi-31-2022