Ulawulo lokuziSebenzisa koMbane: iMigaqo yoLawulo lweShishini, iMigaqo yokuSebenza kunye neMilinganiselo
Ulawulo lokuziSebenzisa koMbane: iMigaqo yoLawulo lweShishini, iMigaqo yokuSebenza kunye neMilinganiselo
Ulawulo lwemizi-mveliso
Ivaliwe - Ulawulo lweLuphu
Ingqikelelo esisiseko kwithiyori yolawulo, evaliweyo - yolawulo lwelophu iyahluka kulawulo oluvulekileyo - lwelophu ngokondla imveliso elawulwayo emva kwesiphelo segalelo ukuphembelela ulawulo. Le ndlela yokuphendula ivumela imveliso ukuba ibuyele kwigalelo ngokusebenzisa "ikhonkco elisecaleni," eyenza igalelo libe nolawulo kwimveliso. Eyona njongo iphambili yolawulo oluvaliweyo kukuphumeza ummiselo osekelwe kwingxelo.
Amanqaku e-I/O
Igama elisetyenziswa rhoqo kwiinkqubo zolawulo, amanqaku e-I/O abhekisa kumanqaku oNgeniso/Imveliso. Izinto ezifakwayo ziziiparamitha zokulinganisa ukusuka kwizixhobo ezingena kwisixokelelwano solawulo, ngelixa iziphumo ziziiparamitha zolawulo ezithunyelwa ukusuka kwinkqubo ukuya kwii-actuators. Isikali senkqubo yolawulo sihlala sichazwa ngenani eliphezulu lamanqaku e-I/O anokwamkela.
I-Analog kunye noTshintsho lobungakanani
Kwiinkqubo zokulawula, iiparameters zinokuba yi-analog okanye ukuguqula amanani. Ubungakanani be-analog buhlala buguquguquka amaxabiso ngaphakathi koluhlu oluthile, olufana nobushushu okanye uxinzelelo. Ukutshintsha amanani, nangona kunjalo, aneendawo ezimbini kuphela, njengendawo yokucima / yokucima isitshixo okanye isilayidi.
Lawula iLuphu
Ukulawulwa kwe-analog, umlawuli ulungelelanisa imveliso esekelwe kwigalelo usebenzisa imigaqo ethile kunye ne-algorithms, ukwenza i-loop yokulawula. I-loops yokulawula inokuvulwa - okanye ivaliwe - loop. Kuvaliwe - ulawulo lwelophu, okanye ulawulo lwempendulo, lolona hlobo luqhelekileyo, apho imveliso ibuyiselwa kwigalelo ukuze kuthelekiswe nexabiso elimiselweyo.
Ezimbini - Ulawulo lweNdawo
Eyona ndlela ilula yolawulo lwempendulo, ekwabizwa ngokuba lulawulo lokutshintsha. Ibangela isignali yokutshintsha xa ixabiso elilinganisiweyo lifikelela kwinqanaba eliphezulu okanye elincinci. Nangona ixabiso elilinganisiweyo linokuba yi-analog, isiphumo solawulo sidijithali. Le ndlela isetyenziswa ngokuqhelekileyo kwi-industrial thermoregulators kunye nokutshintsha kwenqanaba.
Ulawulo olulinganayo
Isiphumo somlawuli silingana nokutenxa phakathi kwexabiso elilinganisiweyo kunye nexabiso elimiselweyo okanye indawo yesalathiso. Ulawulo olulungelelanisiweyo lubonelela ngolawulo olugudileyo kunesibini - ulawulo lwendawo kwaye luphelise imiba ye-oscillation ehambelana nolawulo lwendawo ezimbini.
Ulawulo oluPhambili
Kulawulo oludityanisiweyo, utshintsho kwinguqu elawulwayo inxulumene nexesha elithathayo ukuze imveliso yenkqubo yolawulo isebenze. Imveliso ye actuator ngokuthe ngcembe ifikelela kwixabiso elimiselweyo. Le ndlela yokulawula isetyenziswa ngokuqhelekileyo kwiinkqubo zokulawula ubushushu.
Ulawulo lokunye
Ulawulo lwe-derivative ludla ngokusetyenziswa ngokudityaniswa nolungelelwaniso kunye nolawulo oludityanisiweyo. Ivumela inkqubo yokulawula ukuba iphendule ukunxaxha ngokukhawuleza, ukuthintela iimpendulo zenkqubo evilayo. Kunye nolawulo olulungelelanisiweyo kunye noludibeneyo, inceda ukuguquguquka okulawulwayo ukufikelela kwisimo esizinzileyo ngokukhawuleza ngaphandle kwe-oscillation.
Ulawulo lwe-PID
Ngokuxhomekeke kwiimfuno ezithile zenkqubo yokulawula, iindlela zokulawula zingaba yiP (Proportional), PI (Proportional - Integral), PD (Proportional - Derivative), okanye i-PID (Proportional - Integral - Derivative) yokulawula. Ulawulo lwe-PID yeyona ndlela yokulawula ixhaphakileyo kwiinkqubo zolawulo.
Ulawulo lokulibazisa
* Ngokuqhelekileyo isetyenziselwa ukutshintshwa kwezicelo zokulawula, ulawulo lokulibaziseka luzisa ukulibaziseka kwexesha phakathi kokutshintsha kwemeko yokutshintsha kunye nesenzo sokuphuma komlawuli. Umzekelo, kwimizila yemveliso, ukutshintshwa kokusondela kudla ngokufuna ukulibaziseka kwemizuzwana emininzi ngaphambi kokuba i-roller elandelayo iqale ukusebenza emva kokuba i-workpiece ibekwe.
Ulawulo lonxibelelwano
* Isetyenziswa rhoqo ekutshintsheni iimeko zolawulo, ulawulo lwe-interlock luseka ubudlelwane phakathi kokutshintsha. Umzekelo, ukutshintshela u-C kunokusebenza kuphela xa iiswitshi A no-B zivuliwe zombini, okanye tshintsha uC kufuneka uvule xa kuvulwa u-A. Ukulawulwa kwe-Interlock kuqhelekileyo kukhuseleko - izicelo ezibalulekileyo, ezifana nevalve ye-vent kwi-reactor, ekufuneka ivule ngokukhawuleza xa uxinzelelo lufikelela kwinqanaba elithile.
Ulawulo loMbane
* Ibhekisa kwiisistim zolawulo apho imveliso iphunyezwa ngezixa zombane okanye iisignali zombane, ezijolise kumalungu aqhutywa ngombane afana neereyilayi, iivalvu zesolenoid, kunye nabaqhubi beservo. Uninzi lweenkqubo zolawulo oluzenzekelayo zibandakanya izinto zokulawula umbane.
Ulawulo lweHydraulic
* Iinkqubo zokulawula i-hydraulic zisetyenziswa kumatshini kunye nokusebenza kwezixhobo, ngakumbi kwizicelo eziqhubekayo zokulawula isantya. Ulawulo lwe-hydraulic luhlala ludityaniswa kunye nolawulo lwe-servo yombane ukwenza i-electro-electric actuators esebenza kakuhle kwaye echanekileyo.
Ulawulo lwe-Pneumatic
* Iinkqubo zolawulo lwe-pneumatic zisetyenziswa kwiimeko ezahlukeneyo. Basebenzisa umoya ocinezelweyo njengomthombo wamandla wokuhambisa umqondiso okanye ukusebenza. Umoya ocinezelweyo usetyenziswa kakhulu kwiifektri ngenxa yokufumaneka kwayo, ukucoceka, ukhuseleko, kunye nokusebenza okulula kokulawula, ukwenza izixhobo ze-pneumatic eziqhelekileyo kwimigca emininzi yokuvelisa.
Ukutolikwa
* Utoliko yinkqubo apho isixhobo somatshini seCNC simisela indlela yesixhobo sisebenzisa indlela ethile. Kubandakanya ukubala amanqaku aphakathi phakathi kwamanqaku edatha awaziwayo kwigophe, eyaziwa ngokuba "yi-data point densification." Inkqubo ye-CNC ivelisa i-contour trajectory efunekayo ngokuxinisa idatha phakathi kwendawo yokuqala kunye nesiphelo secandelo leprogram.
Isikhundla, isantya, kunye neeLophu zangoku
* Ingqikelelo ye-loops ibandakanya ukusebenzisa ingxelo ukuqinisa uzinzo kunye nokusebenza kweenkqubo zosetyenziso.
* Ulawulo lwangoku lwe-loop lujolise ekulawuleni amandla ombane ngokusebenzisa ukuhanjiswa komqondiso wangoku ukubuyisela ilahleko, ukuhla kwamandla ombane, kunye nengxolo ngexesha lokuhanjiswa kwamandla ombane.
* Ubudlelwane phakathi kwesantya kunye nesikhundla sisekwe kwifomula: umgama = isantya × ixesha. Ukwahluka okuqhubekayo kwesantya kwisithuba sexesha kuphumela ekudibaneni kwesantya eso sithuba, esihambelana nomgama ohanjiweyo (indawo).
* Ubudlelwane phakathi kwesantya kunye nesangoku sichazwa: isantya = isantya × ixesha. Ukukhawuleza kuxhomekeke kwi-current esetyenzisiweyo, kunye ne-integrated of acceleration kwi-interval ye-time ivelisa isantya sangoko.
* Kwimo yokulawula i-torque, i-servo motor ijikeleza kwi-torque esetyenzisiweyo ngokugcina imveliso eqhubekayo ukusuka kwi-loop yangoku. Ukuba i-torque yomthwalo wangaphandle ilingana okanye idlula i-torque ye-motor set output torque, i-torque ye-motor ye-motor ihlala ihleli, kwaye i-motor ilandela intshukumo yomthwalo. Ngakolunye uhlangothi, ukuba i-torque yomthwalo wangaphandle ingaphantsi kwe-torque ye-motor set output torque, i-motor iyaqhubeka nokukhawuleza ide ifikelele kwisantya esiphezulu esivumelekileyo se-motor okanye i-drive, apho i-alarm ibangelwa kwaye imoto iyayeka.
* Kwimo yesantya, isantya semoto simiselwe, kwaye impendulo yesantya evela kwi-encoder yemoto yenza inkqubo evaliweyo yokulawula iluphu. Injongo kukuqinisekisa ukuba isantya sangempela se-servo motor sihambelana nesantya esimiselweyo.
* Imveliso yolawulo lwelophu yesantya isebenza njengetorque - imowudi yangoku - i-loop torque setpoint. Kwimowudi yolawulo lwendawo, indawo yokubeka indawo ebonelelwa yikhompyuter yenginginya kunye nophawu lwengxelo yendawo ukusuka kwikhowudi yemoto okanye ingxelo yomlinganiselo wendawo ethe ngqo evela kwisixhobo ithelekiswa nokwenza iluphu yendawo. Oku kuqinisekisa ukuba i-servo motor ihamba kwindawo emiselweyo. Isiphumo sendawo yeluphu sifakwa kwiluphu yesantya njengesantya - isethi yelophu. Ke, i-torque-imo yokulawula isebenzisa i-loop yangoku-yolawulo njengolona maleko lusisiseko. Isantya - iluphu yolawulo yakhiwe phezu kwangoku - iluphu yolawulo, kwaye indawo - iluphu yolawulo yakhiwe kuzo zombini isantya - kunye nesangoku - iilophu zolawulo.
Izixhobo kunye nemiGaqo yoMlinganiselo
Uluhlu
Ikhefu eliqhubekayo lomyinge ochazwe yimida ephezulu nangaphantsi.
Uluhlu lokulinganisa
Uluhlu lwamaxabiso alinganisiweyo apho isixhobo sinokufikelela ukuchaneka okuchaziweyo.
Ukulinganisa iNqanaba elisezantsi: Ubuncinci bexabiso elilinganisiweyo apho isixhobo sinokufikelela ukuchaneka okuchaziweyo.
Ukulinganisa Uluhlu oluPhezulu: Ubuninzi bexabiso elilinganisiweyo apho isixhobo sinokufikelela ukuchaneka okuchaziweyo.
Ispan
Umahluko wealgebra phakathi kwemida ephezulu nasezantsi yoluhlu. Umzekelo, ukuba uluhlu luvela kwi -20 ° C ukuya kwi-100 ° C, i-span yi-120 ° C.
Uphawu lokuSebenza
Iiparamitha ezichaza umsebenzi kunye nobuchule besixhobo kunye nokubonakaliswa kwazo kobuninzi.
Iimpawu zeNdlela yokuSebenza: Uphawu lomsebenzi oluphunyezwe phantsi kweemeko zokusebenza zereferensi.
Isikali somgca
Isikali apho isithuba phakathi kwezahlulo zesikali kunye namaxabiso alinganisiweyo ahambelanayo anobudlelwane obulungelelanisiweyo.
I-Nonlinear Scale
Isikali apho isithuba phakathi kolwahlulo lwesikali kunye namaxabiso alinganisiweyo ahambelanayo anobudlelwane obungaguqukiyo obulungelelanisiweyo.
Icinezelwe - Zero Isikali
Isikali apho uluhlu lwesikali lungabandakanyi ixabiso lokulinganisa elihambelana nexabiso elingu-zero lobungakanani obulinganisiweyo.
Isikali Esandisiweyo
Isikali apho inxalenye engalinganiyo yobude besikali ikwicandelo elandisiweyo lesikali.
Isikali
Iseti yamanqaku acwangcisiweyo esikali kunye namanani ahambelanayo ayinxalenye yesixhobo sokubonisa.
Uluhlu lwesikali
* Uluhlu oluchazwe ngamaxabiso okuqala kunye nokuphela kwesikali.
Isikali Mark
* Uphawu kwisixhobo esibonisayo oluhambelana nexabiso elilinganisiweyo elinye okanye ngaphezulu.
Zero Isikali uphawu
* Uphawu lwesikali okanye umgca kwisikali esihambelana nexabiso elinguziro lobungakanani obulinganisiweyo.
ICandelo lokuKhala
* Isahlulo sesikali phakathi kwawo nawaphi na amanqaku amabini ajongeneyo.
Ixabiso loKwahlula isikali
* Umahluko phakathi kwamaxabiso alinganisiweyo ahambelana namanqaku amabini ajongeneyo.
ISithuba soKwahlula iSikala
* Umgama phakathi kwemigca esembindini yazo naziphi na iimpawu zesikali ezikufutshane kubude besikali.
Isikali Ubude
* Ubude becandelo lomgca, nokuba yinyani okanye yentelekelelo, edlula phakathi kwawona manqaku mafutshane phakathi kwamanqaku esikali sokuqala kunye nesiphelo.
Ixabiso lokuQalisa isikali
* Ixabiso elilinganisiweyo elihambelana nophawu lwesikali sokuqala.
Isikali Ukuphela Kwexabiso
* Ixabiso elilinganisiweyo elihambelana nophawu lwesikali sokuphela.
Ukulinganisa amanani
* Isethi yamanani kwisikali esihambelana namaxabiso alinganisiweyo achazwe ngamanqaku omlinganiselo okanye ebonisa ukulandelelana kwamanqaku omlinganiselo.
Uziro wesixhobo sokulinganisa
* Isalathiso esithe ngqo sesixhobo sokulinganisa xa onke amandla ancedisayo afunekayo ekusebenzeni kwawo asetyenziswa kwaye ixabiso elilinganisiweyo lingu-zero.
* Kwiimeko apho isixhobo sokulinganisa sisebenzisa amandla ancedisayo, eli gama lidla ngokubizwa ngokuba yi "zero yombane."
* Xa isixhobo singasebenzi ngenxa yokungabikho kwamandla ancedisayo, igama elithi "mechanical zero" lihlala lisetyenziswa.
Isixhobo rhoqo
* I-coefficient apho isalathisi esithe ngqo sesixhobo sokulinganisa kufuneka siphindwe kabini ukufumana ixabiso elilinganisiweyo.
Ijika lophawu
* Igophe ebonisa unxulumano olusebenzayo phakathi kozinzo - ixabiso lemveliso yesixhobo kunye nobungakanani begalelo elinye, kunye nawo onke amanye amanani egalelo agcinwe kumaxabiso achaziweyo angatshintshiyo.
Ijika leMpawu ecacisiweyo
* Igophe elibonisa unxulumano olusebenzayo phakathi kozinzo - ixabiso lemveliso yesixhobo kunye nenani legalelo elinye phantsi kweemeko ezichaziweyo.
Uhlengahlengiso
* Imisebenzi eyenziwayo ukuqinisekisa ukuba isixhobo sikwimeko eqhelekileyo yokusebenza kunye nokuphelisa ukutenxa ukuze kusetyenziswe ngokufanelekileyo.
* **Uhlengahlengiso lomsebenzisi**: Uhlengahlengiso oluvumelekileyo ukuba lwenziwe ngumsebenzisi.
Ulungelelwaniso
* Ukusebenza kokumisela, phantsi kweemeko ezichaziweyo, ubudlelwane phakathi kwamaxabiso abonakaliswe sisixhobo sokulinganisa okanye inkqubo kunye nemilinganiselo eyaziwayo ehambelanayo yobungakanani obulinganisiweyo.
Ijika lokuKhawulisa
* Ijika elibonisa ubudlelwane phakathi kobungakanani obulinganisiweyo kunye nexabiso elilinganisiweyo langempela lesixhobo phantsi kweemeko ezichaziweyo.
Umjikelo wokuCalibration
* Indibaniselwano yegophe lolungelelwaniso oluya phezulu kunye negophe lokulinganisa elisezantsi phakathi kwemida yoluhlu lolungelelwaniso lwesixhobo.
Itheyibhile yoCalibration
* Umboniso wetheyibhile wegophe lolungelelwaniso.
Ukulandeleka
* Ipropati yesiphumo somlinganiselo esinokunxulumana nemigangatho efanelekileyo (ngokuqhelekileyo imigangatho yamazwe ngamazwe okanye yesizwe) ngekhonkco elingaqhawukiyo lokuthelekisa.
Uvakalelo
* I-quotient yotshintsho kwimveliso yesixhobo kunye noshintsho oluhambelanayo kwinani legalelo.
Ukuchaneka
* Iqondo lokungqinelana phakathi kwesalathiso sesixhobo kunye nexabiso lokwenyani lobungakanani obulinganisiweyo.
Iklasi yokuchaneka
* Ukuhlelwa kwezixhobo ngokuchaneka kwazo.
Imida yemposiso
* Impazamo enkulu evumelekileyo yesixhobo njengoko ichazwe ngokwemigangatho okanye iinkcukacha zobugcisa.
Imposiso esisiseko
* Impazamo yesixhobo phantsi kweemeko zesalathiso.
Ukuhambelana
* Iqondo lokungaguquguquki phakathi kwegophe eliqhelekileyo kunye negophe yeempawu ezichaziweyo (ezifana nomgca othe ngqo, ijiko lelogarithmic, igophe eliyiparabolic, njl. njl.).