Njengamanje, iningi lama-actuator emakethe linezinhlobo ezimbili zezindlela zokulawula amandla:
1. Ukulawula amandla e-loop yamanje
Indlela elula yokusebenzisa indlela evamile yokulawula amandla, ebona ukulawulwa kwamandla ngokulungisa amandla angaphakathi enjini.Inzuzo iwukuthi akulula ukuyisebenzisa, futhi ingafinyelela ukulawula kwamandla ngaphakathi kwebanga lokunemba okungu-5% -15%;okubi ukuthi isivinini sokunyakaza sihamba kancane, asikwazi ukushayelwa emuva, futhi asikwazi ukuhlangabezana nezidingo zezinye izimo ezinezidingo ezinembayo eziphezulu.Ngemuva kwesikhathi sokusetshenziswa, ukugqoka komshini kuzoletha amaphutha futhi kunciphise nakakhulu ukunemba.
Ama-actuator anjalo ngokuvamile awanazo izinzwa, futhi ngisho noma kukhona izinzwa, asetshenziswa kuphela “njengemibukiso” yamandla futhi awahlanganyeli ekulawuleni.Isibonelo, ukwengeza inzwa emshinini wokunyathelisa, inzwa ifunda usayizi wamandla, futhi ibonise inani ngemitha, esetshenziselwa ukusiza ukulungiswa ngesandla kosayizi wamandla, kodwa ukulungiswa okunjalo ngokuvamile akunalutho. ngokunemba kwamandla.
Umdwebo wohlelo, awuhlobene nezithombe nombhalo
2. Ukulawula amandla enzwa evaliwe
Enye indlela yokulawula amandla ukwengeza inzwa yamandla evamile kanye ne-algorithm evamile yokulawula iluphu.Inzuzo ukuthi ukunemba kuyathuthukiswa, kodwa okubi ukuthi ijubane lisahamba kancane.Ngale ndlela, ukunemba kokulawulwa kwamandla kungakhuphuka kusuka ku-5% kuya ku-1%.Uma kungekho ukucutshungulwa kwe-algorithm okulungile, noma isivinini senzwa asisheshi ngokwanele, sithambekele “ekudubuleni ngokweqile”.
Phoqa I-Actuator Elawulwayo
"I-overshoot" engenakugwenywa?
Indlela yokulawula amandla e-closed-loop yenzwa inzima ukubhekana namandla omthelela.Ukubonakaliswa okuqondile kakhulu ukuthi "i-overshoot" kulula kakhulu ukwenzeka lapho usebenza nezigcawu ezinezidingo ze-tempo ephezulu.
Ngokwesibonelo
Ngokuvamile, esimweni sesivinini esikhulu nokukhipha okukhulu, isikhathi lapho i-actuator ithinta ucezu lokusebenza ngokuvamile siba sikhulu ngokukhethekile.Isibonelo, uma amandla aphushayo e-actuator asethelwe ku-10N, kulula ukufinyelela ku-11N no-12N uma ithinta ucezu lokusebenza, bese ibizelwa emuva ku-10N nge-algorithm yokulawula.Izinkinga ezinjalo zivame ukwenzeka lapho izinzwa zamandla kanye nalokho okubizwa ngokuthi ama-actuator alawulwa ngamandla engezwa emakethe.
Lena inkinga yokuthi isivinini sokuphendula asisheshi ngokwanele.Isivinini esikhulu kanye nokuphumayo okunembayo nokuzinzile kuyipheya lokungqubuzana ngokwakho.Uma kukhona i-overshoot (overshoot), amandla angempela akhona awasho lutho.
Ikakhulukazi enqubweni yokunemba kwemishini yokuhlanganisa ingcindezi, izingxenye ezintekenteke nezinezindleko eziphakeme, ukudubuleka ngokweqile ngokuvamile akuvunyelwe.
Ukulawula amandla agcwele, imvamisa ephezulu kanye nesivinini esikhulu ngaphandle kokudlula ngokweqile?
I-TA ikwenza kanjani?
Ngezimo zohlelo lokusebenza ezinembayo, indlela "yokwehla kancane" iyamukelwa ukuze kucatshangelwe izidingo zejubane eliphezulu nokunemba okuphezulu, okungukuthi, ukulawulwa kwamandla okuhlukanisiwe.I-actuator isondela ngokushesha kucezu lokusebenza ngemodi yokunyakaza kokuma, ishintshela ngokushesha kumodi yokulawula amandla endaweni lapho isizothintana nocezu lokusebenza, futhi kancane kancane ikhuphule okukhiphayo ize ifike enanini elisethiwe.Imodi yesikhundla + imodi yokulawula amandla + isikhathi sokuzinzisa amandla, isikhathi esiphelele esisetshenziswa ukusebenza kahle okukodwa kwe-actuator.
Ihlanganiswe nenzwa yamandla esivinini esikhulu kanye ne-algorithm yokulawula ukubikezela okusekelwe kumodeli, i-actuator elawulwa ngamandla enembile iSoftForce®2.0 ingakwazi ukuhlonza ngokuzenzakalelayo indawo ye-actuator kanye nesimo sokuxhumana nesiqeshana sokusebenza, ukuze i-actuator, njengokuphela kwe-automation. imishini, inomsebenzi ofanayo nowesandla somuntu.ukubona okuthintekayo, ukulawula kanye nobuhlakani bokwenza.
Ebangeni elifanayo, ibanga lejubane lokufika elithambile le-"SoftForce ®2.0 Precision Force Control" liyakhuphuka, ukubekezelelana kukhulu, futhi lingakwazi ngisho nokufeza ukulawula kwamandla aphelele, okuthuthukisa ngokuqondile umjikelezo wokukhiqiza futhi kunciphisa kakhulu izindleko zokuhlolwa kanye ukuqinisekiswa kwephutha.
▋Imvamisa yokucubungula ephezulu ukuze uthole ukusebenza okungcono
Umjikelezo wokubala we-"six-axis force sensor + robot" force control scheme evame ukusetshenziswa emakethe ingama-millisecond angu-5-10, okungukuthi, imvamisa yokucubungula ingu-100-200 Hz.Imvamisa yokucubungula yama-actuator alawulwa ngamandla e-SoftForce®2.0 ukunemba angafinyelela ku-4000Hz (okungukuthi ama-millisecond angu-0.25), futhi amamodeli ochungechunge lwamafrikhwensi aphezulu angafinyelela ku-8000Hz, okuyizikhathi ezingu-4-8 imvamisa yokucubungula yama-activator ajwayelekile erobhothi alawulwa ngamandla.
▋ Ukulawula amandla okuthobelana okusebenzayo, okungalandela ukuguqulwa kwamandla angaphandle
Izinga lokuphendula elisebenzayo kanye nempendulo esheshayo ephoqelelayo yenza i-actuator iphendule ngokushesha kumandla angaphandle futhi izuze ukulawula kwamandla okuthobela okusebenzayo.Ngisho noma amandla angaphandle ahlangana nawo ngesikhathi sokusebenza, angalungiswa ngesikhathi, okwenza inqubo inembe kakhudlwana.Ukuvikelwa okungcono kwama-workpieces.
Imvamisa ephezulu nesivinini esikhulu ngaphandle kwe-overshoot
Ngisho nangaphansi kwe-high-frequency and high-speed motion, isalokhu igcina ukunemba kokukhishwa okuphezulu, futhi ngesikhathi esifanayo iqinisekisa "ukufika okuthambile" futhi "akukho overshoot", ithinta ubuso bezingxenye ngesivinini esikhulu, amandla amancane, futhi yenza izinto eziguquguqukayo. ukukha nokubekwa kwezingxenye, njll., ukugwema ukulimala ezingxenyeni ezithambile nezintekenteke.Izingxenye.
I-SoftForce®2.0 Precision Force Control
Ukuthuthukiswa okusha kochungechunge lwe-HF
▋ Amandla aqinile wokulwa nokugcwala ngokweqile
Ngokusekelwe ekuqondeni okujulile kwenqubo yasendaweni nokuphindaphinda kaningi, uchungechunge lwe-HF olusha lwe-SoftForce®2.0 olusanda kuthuthukiswa lwe-SoftForce®2.0 ngoFebhuwari walo nyaka lunomklamo ohlanganisiwe wezinzwa, futhi amandla alo okumelana nokugcwala aphakeme izikhathi eziningana kune- okwedlule, ngokuqina okuphezulu nokusebenziseka kalula.Ukubhekana nezimo eziyinkimbinkimbi.
▋Ingacabangela kokubili amandla amancane nokukhipha okukhulu
Ifakwe uhlelo lokulawula amandla okunemba okuphezulu kweSoftForce®2.0, ithebula lesilayidi elilawulwa ngamandla elilawulwa ngamandla kanye nenduku yokusunduza ene-stroke enkulu nomthwalo omkhulu kungenza amandla amancane nanembile ngaphansi komthwalo omkhulu, futhi ingacabangela amandla ngesikhathi esifanayo. isikhathi, futhi ububanzi bokukhiphayo bubanzi.Okukhudlwana, okungukuthi ububanzi obunamandla ashukumisayo*.
*Force Dynamic Range: Isilinganiso esiphakathi kwamandla amakhulu namandla amancane angaphuma.
Ukulawula amandla okunemba kungasetshenziswa kuphela ku-eksisi eyodwa
Ama-actuator alawulwa ngamandla e-SoftForce®2.0 awakwazi ukusetshenziswa kuphela ku-eksisi eyodwa, kodwa futhi ahlinzeke ngamathuba amaningi ezisombululo zokuhlanganisa ama-multi-axis.Isibonelo, i-"RM Chengzhou 2D Synchronous Precision Force Control Platform Control System" yakamuva eyethulwe i-Chengzhou Technology yakhiwe ama-activator kagesi amabili alawulwa ngokuqinile e-Chengzhou, angangena esikhundleni samandla ohlelo Lokulawula "i-axis-axis + irobhothi" Control, esetshenziselwa ukunemba kokugaya nokukhipha uhlaka lwangaphakathi lwamaselula, njll.
Chengzhou 2D synchronous ukunemba force control platform control system system
(Ifakwe iSoftForce®2.0 uhlelo lokulawula amandla olunembayo)
Izinkonzo ezisezingeni eliphezulu nezisebenziseka kalula
I-algorithm yokulawula ethuthukisiwe kanye nenqubo elula yokulungisa iphutha iletha ulwazi lomsebenzisi olulula kumakhasimende.Ngisho nomsebenzisi onesizinda esisezingeni eliphansi angakwazi ukuqalisa emizuzwini engu-5, “plug and play” ngempela.
Ngesikhathi esifanayo, ithimba lesevisi yezobuchwepheshe eliqeqeshiwe neliqinile langemva kokuthengisa le-Chengzhou Technology linganikeza amakhasimende ukwesekwa kobuchwepheshe okufika ngesikhathi, okuphelele nokungenakukhathazeka okokuqala ngqa, noma ngabe ukungabaza kobuchwepheshe, ukufundisa, ukuxazulula izinkinga noma ukunakekela.
I-Chengzhou Technology ibilokhu inesibindi ngokwanele ukuze yandise imingcele yayo.Ngamandla ayo obuchwepheshe aqinile futhi anobuhlakani obusha, iye yethula ngokuqhubekayo imikhiqizo ehlakaniphe kakhulu, enemba kakhudlwana futhi ehambisana kangcono ye-actuator yekhwalithi ephezulu ukuze ihlinzeke ngemikhiqizo ethuthukisiwe yokupakishwa nokuhlolwa kwe-semiconductor, i-3C automation, ukukhiqizwa okunembayo, i-smart medical kanye nezinye izimboni.izingxenye eziyinhloko njengamasistimu okulawula ukunyakaza okunembayo nama-actuator.
Isikhathi sokuthumela: May-31-2022