Urwego rwinshi - urwego - rwa platform- urubuga rwubwisanzure (MDF) nigikoresho cya mechatronic gishobora kugendagenda ahantu hatandukanye. Ikoreshwa cyane mukwigana, gupima inganda, gusubiza mu buzima busanzwe, no kwidagadura. Agaciro kayo yibanze mu kwigana imyitwarire yingirakamaro mubidukikije nyabyo binyuze muri - igenzura ryimikorere, igaha abakoresha ibintu byimbitse cyangwa birebire -. Iyi ngingo izaganira ku mahame yo gushushanya, tekinoroji yingenzi, uburyo busanzwe, hamwe nuburyo bukoreshwa bwa platform ya MDF.
I. Amahame shingiro no gutondekanya amahuriro ya MDF
Ihuriro rya MDF ahanini rigera ku cyerekezo cyoroshye muri bitatu - umwanya munini binyuze mu guhuza amashoka menshi yigenga ashobora kugenzurwa (nko guhindura no kuzunguruka). Ukurikije umubare wubwisanzure, barashobora kugabanywa mubice bitatu - dogere - by - umudendezo (3 - DOF) nubwoko butandatu - - bwubwoko-} 6 Ibice bitandatu-DOF ni ubwoko busanzwe, bushobora icyarimwe kugenzura icyarimwe imirongo itatu yimurwa (X / Y / Z) hamwe nu mpande eshatu zizunguruka (kuzunguruka, ikibuga, na yaw).
Ukurikije uburyo bwo gutwara, byinshi - impamyabumenyi - ya - urubuga rwubwisanzure rugabanijwemo ibyiciro bibiri:
1. Gukwirakwiza imashini: Izi zishingiye kuri silindari ya hydraulic, moteri ikoresha amashanyarazi, cyangwa moteri ya servo kugirango itware uburyo bwo guhuza. Batanga umutwaro ukomeye - ubushobozi bwo gutwara no guhagarara neza, bigatuma bikenerwa nibikoresho biremereye (nka simulator biguruka).
2. Uburyo bubangikanye (nka platform ya Stewart): Ibi bifashisha icyerekezo cyo guhuza amashami menshi kugirango uhindure umwanya wurubuga. Zitanga ibisobanuro bihanitse kandi byihuse, kandi zirakoreshwa muburyo buhagaze neza kandi neza - guhuza.
II. Uburyo bwingenzi bwa tekinike ya Multi - Impamyabumenyi - ya - Amahuriro yubwisanzure
1. Igenzura ryimikorere Algorithms
Ikibazo cyibanze cyinshi - dogere - ya - urubuga rwubwisanzure ruri muri - axis ihuza igenzura. Uburyo busanzwe burimo:
Igenzura rya PID: Ibi bifashisha igereranyo - integral - igenzura ryibikomokaho kugirango uhindure umusaruro wa buri mukoresha, kuringaniza umuvuduko no gutuza. Birakwiriye kubikorwa byibanze byakazi.
Kinematiki ihindagurika: Ibi bihinduranya impande zombi cyangwa kwimuka ukurikije intego. Ibi bisaba guhuza imibare cyangwa uburyo bwo gusesengura (nka Denavit - Uburyo bwa parameter ya Hartenberg) kugirango bikemure guhuza umurongo.
Igenzura rijyanye no kurwanya imihindagurikire y'ikirere no kugenzura ibiteganijwe: Hindura mu buryo bugaragara ibipimo byo kugenzura hasubijwe impinduka z'umutwaro cyangwa imvururu zo hanze kugirango tunoze imbaraga za sisitemu.
2. Sensor Fusion hamwe nibitekerezo
Imyumvire nyayo yimyumvire ishingiye kuri byinshi - sensor data fusion, nka:
• Encoders: Nukuri - kugenzura igihe cya moteri cyangwa kwimura umurongo;
• Ibipimo bipima bidafite ishingiro (IMUs): Gutanga amakuru yihuta namakuru yumuvuduko wimpande zifasha mukugereranya imyifatire;
• Laser rangefinders / sisitemu yo kureba: Yifashishijwe murwego rwo hejuru - neza na kalibrasi yo hanze.
Kwinjiza byinshi - amakuru yamakuru binyuze muri Kalman muyungurura cyangwa imiyoboro ya netorithm ya algorithms irashobora kugabanya cyane kwibeshya.
3. Igishushanyo mbonera nuburyo bwiza bwo gukanika
Gukomera hamwe na centre ya rukuruzi yo gukwirakwiza imiterere yimikorere ya platform bigira ingaruka kumikorere. Ibishushanyo mbonera birimo:
• Kuringaniza uburemere n'imbaraga: Gukoresha karubone fibre compte cyangwa aluminium alloy frame;
• Imiterere yimodoka ishyira mu gaciro: Kurugero, gukwirakwiza amashami murwego rwa Stewart birashobora kugabanya ubusumbane bwumuriro;
• Kugabanya no kugabanya ibishushanyo mbonera: Guhagarika - inshuro nyinshi zinyeganyega zibangamira kugenzura neza.
III. Uburyo busanzwe bwo gusaba hamwe nuburyo bufatika
1. Amahugurwa yo Kwigana / Ibinyabiziga
Impamyabumenyi esheshatu - urwego - rwa - urubuga rwubwisanzure rutanga imyitozo ifatika kubaderevu cyangwa abashoferi bigana ingaruka zikomeye nko kwihuta no kugoreka. Uburyo bwo kubishyira mu bikorwa burimo:
• Gukora icyerekezo cyerekezo gishingiye kuri moteri ya fiziki (nka MATLAB / Simulink);
• Kwinjiza hamwe na hydraulic servo sisitemu kugirango ugere ku kwimuka kwinshi no gusohora umuriro;
• Gutezimbere ibikorwa bifatika ukoresheje ibikoresho byo gutanga ibitekerezo.
2. Kugerageza Ibicuruzwa Byinganda
Mu igeragezwa ry’imodoka cyangwa igeragezwa ryibicuruzwa bya elegitoroniki, ibipimo byinshi - dogere - ya - urubuga rwubwisanzure rushobora kwigana imikorere ikabije. Urugero:
• Gukoresha uburyo bwo kugenzura ibizunguruka bitunguranye kugirango ubyare ibintu bishimishije (nka ISO 16750);
• Kugenzura ibicuruzwa biramba ukoresheje sensor - ibyuma byerekana neza.
3. Imashini za robo zo kuvura no gusubiza mu buzima busanzwe
Amahugurwa yo gusubiza mu buzima busanzwe abafasha abarwayi kugarura imikorere yingingo binyuze mubikorwa bigenda neza. Ikoranabuhanga ryingenzi ririmo:
• Guhindura amplitude yimikorere ishingiye kubimenyetso bya electromyografiya yumurwayi (EMG);
• Gushyira mubikorwa ingamba zokugenzura kugirango wirinde gukomeretsa kabiri.
IV. Icyerekezo cy'iterambere ry'ejo hazaza
Hamwe niterambere ryubwenge bwubuhanga hamwe nibikoresho bishya byikoranabuhanga, byinshi - dogere - ya platform- urubuga rwubwisanzure rugenda rugana ubwenge na miniaturizasi. Urugero:
Kwinjiza tekinoroji ya digitale kugirango igere icyarimwe icyarimwe {{0} control kugenzura nyabyo;
Gutezimbere ibyuma byoroheje bishingiye kumiterere yibikoresho byo kwibuka;
Kwaguka mumirima igaragara nka manipulator zo mu kirere hamwe na robo zo mu mazi.
Umwanzuro
Uburyo bushya bwuburyo bwinshi - dogere - ya - urubuga rwubwisanzure rukomeje gusunika imbibi zabantu - imashini n’imashini zikoresha. Binyuze muburyo bwimbitse bwo kugenzura ibitekerezo, igishushanyo mbonera, hamwe nuburyo butandukanye, ubushobozi bwabo buzashyirwa ahagaragara muburyo bwagutse.
