Ulawulo lwemizi-mveliso lwahlulwe kakhulu lube ziindlela ezimbini.Olunye lulawulo lwentshukumo, oludla ngokusetyenziswa kwintsimi yoomatshini;Olunye lulawulo lwenkqubo, oludla ngokusetyenziswa kwishishini lemichiza.Ulawulo lwentshukumo lubhekiselele kuhlobo lwenkqubo ye-servo eyaqalwa kwinqanaba lokuqala, elisekwe kulawulo lwemoto ukuqonda ulawulo lokutshintsha kobungakanani bomzimba njengokufuduswa kwediagonal, torque, isantya, njl njl. .
Ukusuka kwindawo yokukhathazeka, eyona nto iphambili ye-servo motor kukulawula iparamitha enye okanye ngaphezulu kwi-torque, isantya kunye nendawo yemoto enye ukufikelela kwixabiso elinikiweyo.Ingqwalasela ephambili yokulawula ukunyakaza kukulungelelanisa iimoto ezininzi ukugqiba intshukumo echaziweyo (i-synthetic trajectory, isantya sokwenziwa), ngokugxininisa ngakumbi kwisicwangciso somkhondo, ukucwangciswa kwesantya, kunye nokuguqulwa kwe-kinematics;Umzekelo, i-axis motor ye-XYZ kufuneka ilungelelaniswe kwisixhobo somatshini we-CNC ukugqiba isenzo sofakelo.
Ulawulo lweemoto luhlala luthathwa njengekhonkco lenkqubo yokulawula intshukumo (ngokuqhelekileyo i-loop yangoku, esebenza kwimowudi ye-torque), egxininisa ngakumbi kulawulo lwe-motor, ngokubanzi kubandakanya ulawulo lwendawo, ulawulo lwesantya kunye nokulawula i-torque, kwaye ngokubanzi ayinalo ucwangciso. isakhono (abanye abaqhubi banendawo elula kunye nobuchule bokucwangcisa isantya).
Ulawulo lwentshukumo luhlala luthe ngqo kwiimveliso, kubandakanya oomatshini, isoftware, umbane kunye nezinye iimodyuli, ezinjengeerobhothi, izithuthi zasemoyeni ezingenamntu, amaqonga ashukumayo, njl. ixesha lokwenyani, ukuze bakwazi ukuhamba ngokwendlela elindelekileyo yesindululo kunye neeparamitha zentshukumo ezichaziweyo.
Eminye imixholo yezi zimbini zihambelana: i-loop yesikhundla / i-loop yesantya / i-torque loop inokuqondwa kumqhubi wemoto okanye kwisilawuli esishukumayo, ngoko ke ezi zibini zibhideka lula.Uyilo olusisiseko lwenkqubo yokulawula intshukumo lubandakanya: isilawuli esishukumayo: sisetyenziselwa ukuvelisa amanqaku omzila (isiphumo esifunwayo) kunye ne-loop yengxelo yendawo evaliweyo.Abalawuli abaninzi banokuvala i-loop yesantya ngaphakathi.
Izilawuli ezishukumayo zahlulwe ikakhulu ngokweendidi ezintathu, ezizezi, ezisekwe kwiPC, umlawuli ozinikeleyo kunye nePLC.I-PC-based motion controller isetyenziswa ngokubanzi kwi-electronics, i-EMS kunye namanye amashishini;Amashishini amele umlawuli okhethekileyo ngamandla omoya, i-photovoltaic, i-robot, oomatshini bokubumba, njl.I-PLC idumile kwirabha, iimoto, isinyithi kunye namanye amashishini.
Ukuqhuba okanye i-amplifier: isetyenziselwa ukuguqula isignali yokulawula (ngokuqhelekileyo isantya okanye isignali ye-torque) ukusuka kwisilawuli esishukumayo ukuya kumbane ophezulu wangoku okanye umqondiso we-voltage.Ukuqhubela phambili okukrelekrele ngakumbi kunokuvala i-loop yendawo kunye nesantya sesantya ukufumana ulawulo oluchanekileyo.
I-Actuator: njengempompo ye-hydraulic, i-cylinder, i-actuator ye-linear okanye i-motor kwi-output movement.Inzwa yempendulo: njenge-encoder ye-photoelectric, i-rotary transformer okanye i-Hall-effect device, esetyenziselwa ukuphendula indawo ye-actuator kwisilawuli se-position ukufezekisa ukuvala i-loop yokulawula indawo.Izinto ezininzi zoomatshini zisetyenziselwa ukuguqula ifom yentshukumo ye-actuator ibe yifom yentshukumo efunwayo, kubandakanya ibhokisi yegiya, i-shaft, i-ball screw, ibhanti elinamazinyo, ukudibanisa kunye neebheringi ezijikelezayo.
Ukuvela kokulawula ukunyakaza kuya kukhuthaza ngakumbi isisombululo solawulo lwe-electromechanical.Ngokomzekelo, kwixesha elidlulileyo, iikhamera kunye neegiya kufuneka ziqondwe ngokwakhiwa komatshini, kodwa ngoku zinokuqondwa ngokusebenzisa iikhamera ze-elektroniki kunye neegesi, ukuphelisa ukubuya, ukungqubuzana kunye nokunxiba kwinkqubo yokuqonda oomatshini.
Iimveliso zokulawula intshukumo ezivuthiweyo azidingi nje ukubonelela ngokucwangciswa kwendlela, ulawulo lwangaphambili, ulungelelwaniso lwentshukumo, ukuguqulelwa, phambili kunye nesisombululo se-kinematics esiguquguqukayo kunye nokukhutshwa komyalelo we-motor drive, kodwa kufuneka kwakhona ube nesoftware yoqwalaselo lobunjineli (njenge-SCOUT ye-SIMOTION), itoliki ye-syntax. (ayibhekiseli kuphela kulwimi lwayo, kodwa iquka inkxaso yolwimi lwe-PLC ye-IEC-61131-3), umsebenzi olula we-PLC, ukuphunyezwa kwe-algorithm yokulawula i-PID, i-interface esebenzayo ye-HMI, kunye ne-interface yokuxilongwa kwe-fault, Umlawuli wentshukumo oPhezulu unokuqaphela ulawulo lokhuseleko.
Ixesha lokuposa: Mar-14-2023