Okwangoku, uninzi lwee-activators kwimarike zineentlobo ezimbini zeendlela zokulawula amandla:
1. Ulawulo lwangoku lwamandla e-loop
Indlela elula yokuphumeza indlela yokulawula amandla aqhelekileyo, eqonda ulawulo lwamandla ngokulungelelanisa umsinga wangaphakathi wemoto.Inzuzo kukuba kunzima ukuphumeza, kwaye inokufikelela kulawulo lwamandla ngaphakathi koluhlu lwe-5% -15% ngokuchanekileyo;into engalunganga kukuba isantya sentshukumo sicotha, asikwazi ukuqhutyelwa umva, kwaye asinakukwazi ukuhlangabezana neemfuno zeemeko ezithile ezineemfuno ezichanekileyo eziphezulu.Emva kwexesha lokusetyenziswa, ukunxiba komatshini kuya kuzisa iimpazamo kwaye kunciphise ngakumbi ukuchaneka.
Ii-actuator ezinjalo zihlala zingenazo izinzwa, kwaye nokuba kukho izinzwa, zisetyenziselwa kuphela "njengeziboniso" zamandla kwaye zingathathi nxaxheba kulawulo.Umzekelo, ukongeza inzwa kushicilelo, inzwa ifunda ubungakanani bamandla, kwaye ibonise ixabiso ngemitha, esetyenziselwa ukuncedisa uhlengahlengiso lwezandla lobungakanani bamandla, kodwa uhlengahlengiso olunjalo alunanto yakwenza. ngokuchaneka kwamandla.
Umzobo weSchematic, awunxulumananga nemizobo kunye nokubhaliweyo
2. Ulawulo lwamandla enzwa evaliweyo
Enye indlela yokulawula amandla kukongeza i-sensor yamandla eqhelekileyo kunye ne-algorithm yokulawula i-loop evamile.Inzuzo kukuba ukuchaneka kuphuculwe, kodwa ukungahambi kakuhle kukuba isantya sisacotha.Ngale ndlela, ukuchaneka kokulawulwa kwamandla kunokunyuswa ukusuka kwi-5% ukuya kwi-1%.Ukuba akukho nkqubo ye-algorithm echanekileyo, okanye isantya senzwa asikhawulezi ngokwaneleyo, sithambekele "kwi-overshoot".
Ukunyanzelisa iActuator eLawulwayo
“Ukudutyulwa” okungenakuphepheka?
Indlela yokulawula i-loop-loop force control ye-sensor inzima ukujongana namandla empembelelo.Eyona nto ibonakalayo ngokuthe ngqo kukuba "i-overshoot" kulula kakhulu ukwenzeka xa ujongana nemiboniso eneemfuno eziphezulu zetempo.
umzekelo
Ngokubanzi, kwimeko yesantya esiphezulu kunye nemveliso enkulu, umzuzu xa i-actuator inxibelelana nomsebenzi idla ngokuba nkulu ngokukodwa.Ngokomzekelo, ukuba i-push force ye-actuator isethelwe kwi-10N, kulula ukufikelela kwi-11N kunye ne-12N xa ichukumisa i-workpiece, kwaye emva koko ibizwa ngokuba yi-10N ngokusebenzisa i-algorithm yokulawula.Iingxaki ezinjalo zihlala zisenzeka xa ii-sensor zamandla kunye nezinto ezibizwa ngokuba yi-force-controlled actuators zongezwa kwimarike.
Le yingxaki yokuba isantya sokuphendula asikhawulezi ngokwaneleyo.Isantya esiphezulu kunye nesiphumo esichanekileyo kunye nesizinzileyo yibini yokuphikisana ngokwabo.Ukuba kukho i-overshoot (i-overshoot), amandla achanekileyo akhoyo awanantsingiselo.
Ngokukodwa kwinkqubo yezixhobo ezichanekileyo zokuhlanganisa uxinzelelo, iindawo ezibuthathaka kunye neendleko eziphezulu, ukugqithiswa kwe-overshoot akuvumelekanga ngokubanzi.
Ulawulo lwamandla apheleleyo, i-frequency ephezulu kunye nesantya esiphezulu ngaphandle kwe-overshoot?
Iyenza njani loo nto?
Kwiimeko zesicelo ezichanekileyo, indlela "yokuhlalisa i-soft" yamkelwe ukuba ithathele ingqalelo iimfuno zesantya esiphezulu kunye nokuchaneka okuphezulu, oko kukuthi, ukulawulwa kwamandla ahlukeneyo.I-actuator isondela ngokukhawuleza kwi-workpiece ngokusebenzisa imo ye-motion motion mode, itshintshe ngokukhawuleza kwimo yokulawula amandla kwindawo apho iza kuqhagamshelana ne-workpiece, kwaye ngokuthe ngcembe yandisa imveliso ide ifikelele kwixabiso elisetyenzisiweyo.Imo yesikhundla + imo yokulawula amandla + ixesha lokuzinzisa amandla, ixesha elipheleleyo elisetyenzisiweyo yindlela enye yokuphumeza i-actuator.
Idityaniswe ne-speed-speed force sensor kunye ne-model-based predictive control algorithm, iSoftForce®2.0 echanekileyo elawulwa ngamandla i-activator inokuchonga ngokuzenzekelayo indawo ye-actuator kunye nelizwe loqhagamshelwano kunye ne-workpiece, ukwenzela ukuba i-actuator, njengesiphelo se-automation. izixhobo, inomsebenzi ofanayo njengesandla somntu.ukuqonda okuchukumisekileyo, ulawulo kunye nobukrelekrele bokwenza.
Kumgama ofanayo, isantya sokufika esithambileyo se "SoftForce ®2.0 Precision Force Control" inyusiwe, ukunyamezela kukhulu, kwaye kunokufikelela kulawulo olupheleleyo lwamandla, oluphucula ngokuthe ngqo umjikelezo wemveliso kunye nokunciphisa kakhulu iindleko zovavanyo kunye impazamo yokuqinisekisa.
▋Ukusetyenzwa okuphezulu ukuphindaphinda ukufumana ukusebenza okungcono
Umjikelo wokubala we-"axis-axis force sensor + robot" isikimu solawulo lwamandla esisetyenziswa ngokuqhelekileyo kwimarike yi-5-10 milliseconds, oko kukuthi, i-frequency processing yi-100-200 Hz.I-frequency processing yeSoftForce®2.0 i-actuator yolawulo oluchanekileyo oluchanekileyo inokufikelela kwi-4000Hz (oko kukuthi i-0.25 milliseconds), kunye neemodeli ze-high-frequency series zingafikelela kwi-8000Hz, eyi-4-8 amaxesha okusebenza kwe-activator jikelele ye-robot force-controlled actuators.
▋ Ulawulo lwamandla oluthobelayo olusebenzayo, olunokulandela utshintsho lwamandla angaphandle
Izinga lokuphendula elisebenzayo kunye nokunyanzeliswa kwempendulo ngokukhawuleza kwenza ukuba i-activator iphendule ngokukhawuleza kumandla angaphandle kwaye ifezekise ulawulo lwamandla olusebenzayo.Nangona amandla angaphandle adibana nawo ngexesha lokusebenza, inokulungiswa ngexesha, okwenza inkqubo ichaneke ngakumbi.Ukhuseleko olungcono lwee-workpieces.
Isantya esiphezulu kunye nesantya esiphezulu ngaphandle kwe-overshoot
Naphantsi kwe-high-frequency kunye ne-high-speed motion, isagcina ukuchaneka okuphezulu kwemveliso, kwaye kwangaxeshanye iqinisekisa "ukuhla okuthambileyo" kwaye "akukho overshoot", iqhagamshelana nomphezulu weendawo ezinesantya esiphezulu, amandla amancinci, kwaye yenza ukuguquguquka. ukuchongwa kunye nokubekwa kwamalungu, njl., ukuphepha umonakalo kwiindawo ezithambileyo kunye ezibuthathaka.Amacandelo.
I-SoftForce®2.0 yoLawulo lwaMandla oluchanekileyo
HF series uphuculo olutsha
▋ Isakhono esinamandla sokuchasana nokugcwala
Ngokusekwe ekuqondeni okunzulu kwenkqubo yesiza kunye nokuphindaphindwa okuphindaphindiweyo, iSoftForce®2.0 yeSoftForce®2.0 yolawulo oluchanekileyo lolawulo lweHF ngoFebruwari kulo nyaka inoyilo oludibeneyo lwenzwa, kwaye amandla ayo okuthintela ukulayishwa angaphezulu kaninzi kune ixesha elidlulileyo, kunye nokuqina okuphezulu kunye nokulula kokusetyenziswa.Ukumelana neemeko ezinzima ngakumbi.
▋Inokuthathela ingqalelo zombini amandla amancinci kunye nemveliso enkulu
Ixhotyiswe ngeSoftForce®2.0 inkqubo yokulawula amandla achanekileyo, itafile yesilayidi elawulwa ngamandla echanekileyo kunye ne-push intonga kunye ne-stroke enkulu kunye nomthwalo omkhulu unokuvelisa amandla amancinci kunye nachanekileyo phantsi komthwalo ophezulu, kwaye inokuqwalasela amandla ngokufanayo. ixesha, kwaye uluhlu lwemveliso lubanzi.Enkulu, oko kukuthi amandla abanzi aguquguqukayo uluhlu*.
*Force Dynamic Range: Umlinganiselo phakathi kowona mandla uphezulu kunye nowona mancinci amandla anokukhutshwa.
Ulawulo lwamandla oluchanekileyo lunokusetyenziswa kuphela kwi-axis enye
I-SoftForce®2.0 i-actuator yolawulo oluchanekileyo oluchanekileyo ayinakusetyenziswa kuphela kwi-axis enye, kodwa inikezela ngamathuba amaninzi kwizisombululo zendibano ye-multi-axis.Umzekelo, yamva nje "i-RM Chengzhou 2D Synchronous Precision Force Control Platform Control System" eqaliswe yiChengzhou Technology yenziwe ngamacandelo amabini ombane alawulwa ngokuchaneka kweChengzhou, anokuthi athathe indawo yamandla eskimu sokulawula "i-axis-axis sensor + robot", isetyenziselwa ukugaya ngokuchanekileyo kunye nokuchithwa kwesakhelo sangaphakathi seefowuni eziphathwayo, njl.
I-Chengzhou 2D i-synchronous precision force control platform control platform system
(Ixhotyiswe ngeSoftForce®2.0 inkqubo yokulawula amandla echanekileyo)
Iinkonzo eziphucukileyo nezilula ukuzisebenzisa
I-algorithm yolawulo oluphezulu kunye nenkqubo elula yokucoca izisa amava afanelekileyo omsebenzisi kubathengi.Nditsho nomsebenzisi onemvelaphi esezantsi unokuqalisa kwimizuzu emi-5, ngokwenene "iplagi kwaye udlale".
Kwangaxeshanye, iqela lenkonzo yobuchwephesha ye-Chengzhou Technology eyomeleleyo emva kokuthengisa inokubonelela abathengi ngexesha, elibanzi kunye nenkxaso yobugcisa ngaphandle kokukhathazeka okokuqala, nokuba ngamathandabuzo obugcisa, ukufundisa, ukulungisa iingxaki okanye ukulungisa.
ITekhnoloji yaseChengzhou ibisoloko ikhaliphile ngokwaneleyo yokwandisa imida yayo.Ngamandla ayo obugcisa obuqinileyo kunye nolutsha, iye yazisa ngokuqhubekayo ubukrelekrele ngakumbi, ichaneke ngakumbi kwaye ihambelana ngaphezulu kweemveliso ze-actuator ezikumgangatho ophezulu ukubonelela ngeemveliso eziphambili zokupakishwa kwe-semiconductor kunye novavanyo, i-automation ye-3C, ukuveliswa okuchanekileyo, unyango oluhlakaniphile kunye namanye amashishini.amacandelo angundoqo afana neenkqubo ezichanekileyo zokulawula intshukumo kunye ne-actuators.
Ixesha lokuposa: May-31-2022