Ukulawula Okuzenzakalelayo Kogesi: Imigomo Yokulawula Imboni, Amathuluzi Nemibandela Yokulinganisa

2025-08-25

Ukulawula Okuzenzakalelayo Kogesi: Imigomo Yokulawula Imboni, Amathuluzi Nemibandela Yokulinganisa

Ukulawulwa Kwezimboni

Kuvaliwe - Ukulawulwa Kweluphu

Umqondo oyisisekelo kuthiyori yokulawula, ivaliwe - isilawuli seluphu siyahluka kusukela ku-open - loop control ngokuphakela okukhiphayo okulawulwayo kubuyisele ekugcineni ekugcineni ukuze kuthonye ukulawula. Le nqubo yempendulo ivumela okukhiphayo ukuthi kubuyele kokokufakayo ngokusebenzisa "uchungechunge oluseceleni," oluvumela okokufaka ukuthi kube nokulawula kokuphumayo. Injongo eyinhloko yokulawulwa kweluphu evaliwe ukuzuza ukulawulwa okusekelwe kumpendulo.

I/O Amaphuzu

Itemu elisetshenziswa njalo ezinhlelweni zokulawula, amaphuzu e-I/O abhekisela kumaphoyinti Okufaka/Okukhiphayo. Okokufaka amapharamitha wokulinganisa asuka kumathuluzi angena kusistimu yokulawula, kuyilapho okuphumayo kuyimingcele yokulawula ethunyelwa isuka kusistimu iye kuma-actuator. Isikali sesistimu yokulawula ngokuvamile sichazwa ngenani eliphezulu lamaphoyinti e-I/O engawamukela.

I-Analog kanye nenani elishintshayo

Kuzinhlelo zokulawula, amapharamitha angaba analogi noma amanani ashintshayo. Amanani e-analogi amanani ahluka ngokuqhubekayo phakathi kwebanga elithile, njengezinga lokushisa noma ukucindezela. Ukushintsha amanani, nokho, kunezifunda ezimbili kuphela, njengezimo zokuvula/ukuvala zeswishi noma i-relay.

Iluphu yokulawula

Ngokulawulwa kwe-analog, isilawuli silungisa okukhiphayo ngokusekelwe kokokufaka sisebenzisa imithetho ethile nama-algorithms, sakhe iluphu yokulawula. Amaluphu okulawula angavuleka - noma avalwe - iluphu. Okuvaliwe - ukulawulwa kweluphu, noma ukulawulwa kwempendulo, kuwuhlobo oluvame kakhulu, lapho okukhiphayo kubuyiselwa khona kokokufakayo ukuze kuqhathaniswe nenani elimisiwe.

Okubili - Ukulawula Isikhundla

Indlela elula yokulawula impendulo, eyaziwa nangokuthi isilawuli sokushintshwa. Icupha isignali yokushintsha lapho inani elilinganisiwe lifinyelela umkhawulo noma ubuncane. Nakuba inani elilinganisiwe lingase libe i-analog, okukhiphayo kokulawula kuyidijithali. Le ndlela isetshenziswa kakhulu kuma-thermoregulators ezimboni kanye nokushintsha kwezinga.

I-Proportional Control

Okukhiphayo kwesilawuli kuhambisana nokuchezuka phakathi kwevelu elinganisiwe kanye nenani elimisiwe noma iphoyinti lesithenjwa. Ukulawula ngokulinganayo kunikeza ukulawulwa okushelelayo kunokubili - ukulawula indawo futhi kuqede izinkinga ze-oscillation ezihlobene nokulawulwa kwezikhundla ezimbili.

Ukulawula Okuphelele

Ekulawuleni okubalulekile, ukuguqulwa kokuguquguquka okulawulwayo kuhlobene nesikhathi esisithathayo ukuze okukhiphayo kwesistimu yokulawula kusebenze. Okukhiphayo kwe-actuator kancane kancane kufinyelela inani elimisiwe. Le ndlela yokulawula ivame ukusetshenziswa ezinhlelweni zokulawula izinga lokushisa.

Ukulawula Okususelwe

Ukulawulwa kokuphuma kokunye kuvame ukusetshenziswa kuhlanganiswe nokulawula okulinganayo nokuhlanganisayo. Ivumela isistimu yokulawula ukuthi iphendule ukuchezuka ngokushesha okukhulu, ivimbele izimpendulo zesistimu ezivilaphayo. Kanye nokulawula okulinganayo nokuhlanganisayo, kusiza okuguquguqukayo okulawulwayo ukuthi kufinyelele esimweni esizinzile ngokushesha ngaphandle kokuzungeza.

Ukulawulwa kwe-PID

Ngokuya ngezidingo ezithile zohlelo lokulawula, izindlela zokulawula zingaba yi-P (Proportional), PI (Proportional - Integral), PD (Proportional - Derivative), noma i-PID (Proportional - Integral - Derivative) control. Ukulawulwa kwe-PID kuyindlela yokulawula evamile ezinhlelweni zokulawula.

Ukulawula Ukubambezeleka

* Ngokuvamile kusetshenziswa ekushintsheni izinhlelo zokusebenza zokulawula, ukulawula ukubambezeleka kwethula ukubambezeleka kwesikhathi phakathi kokushintsha kwesimo sokushintsha kanye nesenzo sokukhipha isilawuli. Isibonelo, emigqeni yokukhiqiza, amaswishi e-proximity ngokuvamile adinga ukubambezeleka kwamasekhondi ambalwa ngaphambi kokuba i-roller elandelayo iqale ukusebenza ngemva kokumiswa kocezu lokusebenza.

I-Interlock Control

* Okuvame ukusetshenziswa ekushintsheni izimo zokulawula, isilawuli sokuxhuma sisungula ubudlelwano phakathi kwamaswishi. Isibonelo, inkinobho engu-C ingasebenza kuphela lapho amaswishi A no-B evuliwe womabili, noma inkinobho C kufanele ivuleke lapho kuvulwa isishintshi A. Ukulawulwa kwe-Interlock kuvamile ekuphepheni - izinhlelo zokusebenza ezibucayi, njenge-valve yokukhipha umoya ku-reactor, okumele ivuleke ngokushesha lapho ingcindezi ifinyelela izinga elithile.

Ukulawula Ugesi

* Isho amasistimu okulawula lapho okukhiphayo kufinyelelwa ngamanani kagesi noma amasignali kagesi, okuqondiswe ezintweni ezishayelwa ngogesi njengama-relay, ama-solenoid valve, nama-servo driver. Amasistimu amaningi okulawula okuzenzakalelayo ahlanganisa izinto zokulawula ugesi.

Ukulawulwa Kwe-Hydraulic

* Amasistimu okulawula ama-Hydraulic asetshenziswa ekusebenzeni kwemishini nemishini, ikakhulukazi ezinhlelweni eziqhubekayo zokulawula isivinini. Ukulawulwa kwe-hydraulic kuvame ukuhlanganiswa nokulawulwa kwe-servo kagesi ukuze kwakheke ama-electro-hydraulic actuators asebenza kahle kakhulu futhi anembe.

I-Pneumatic Control

* Amasistimu okulawula umoya asetshenziswa ezimeni ezahlukahlukene. Basebenzisa umoya ocindezelwe njengomthombo wamandla wokudlulisa isignali noma ukucupha. Umoya ocindezelwe usetshenziswa kakhulu ezimbonini ngenxa yokutholakala kwawo, ukuhlanzeka, ukuphepha, nokusebenza okulula kokulawula, okwenza amathuluzi omoya abejwayelekile emigqeni eminingi yokukhiqiza.

Ukuhunyushwa

* Ukuhumusha kuyinqubo lapho ithuluzi lomshini uhlelo lwe-CNC lunquma indlela yamathuluzi lisebenzisa indlela ethile. Kubandakanya ukubala amaphuzu aphakathi nendawo phakathi kwamaphoyinti edatha aziwayo kwijika, eyaziwa nangokuthi "iphoyinti ledatha." Uhlelo lwe-CNC lukhiqiza i-contour trajectory edingekayo ngokuhlanganisa idatha phakathi kwezindawo zokuqala nezokugcina zesegimenti yohlelo.

Ukuma, isivinini, kanye nezihibe zamanje

* Umqondo wamalophu ubandakanya ukusebenzisa impendulo ukuze kuthuthukiswe ukuzinza nokusebenza kwezinhlelo zohlelo lokusebenza.

* Ukulawula iluphu yamanje kuhlose ukulawula i-voltage ngokusebenzisa ukudluliswa kwesignali yamanje ukunxephezela ukulahlekelwa, ukwehla kwamandla kagesi, nomsindo phakathi nokudluliswa kwamandla kagesi.

* Ubudlelwano phakathi kwejubane nendawo busekelwe kufomula: ibanga = isivinini × isikhathi. Ukushintshashintsha okuqhubekayo kwesivinini phakathi nesikhawu kuphumela ekuhlanganisweni kwesivinini kuleso sikhawu, esihambisana nebanga elihanjiwe (indawo).

* Ubudlelwano phakathi kwejubane nelamanje buchazwa ngokuthi: isivinini = ukusheshisa × isikhathi. Ukusheshisa kuncike kumanje osetshenzisiwe, futhi okubalulekile kokusheshisa ngesikhathi sokuphumula kuveza isivinini esisheshayo.

* Kumodi yokulawula i-torque, i-servo motor izungeza ku-torque esethi ngokugcina okukhiphayo okungaguquki ku-loop yamanje. Uma i-torque yomthwalo wangaphandle ilingana noma idlula i-torque yesethi ye-motor, i-torque ephumayo yemoto ihlala ingashintshi, futhi injini ilandela ukunyakaza komthwalo. Ngokuphambene, uma i-torque yomthwalo wangaphandle ingaphansi kwe-torque yesethi ye-motor, injini iyaqhubeka nokusheshisa ize ifinyelele isivinini esivunyelwe semoto noma ukushayela, lapho kuqaliswa khona i-alamu bese ima.

* Kumodi yesivinini, isivinini semoto siyasethwa, futhi impendulo yesivinini evela kusishumeki semoto sakha isistimu yokulawula iluphu evaliwe. Inhloso ukuqinisekisa ukuthi ijubane langempela le-servo motor lihambisana nesivinini esibekiwe.

* Ukulawulwa okukhiphayo kwe-loop yesivinini kusebenza njenge-torque - imodi yamanje - i-loop torque setpoint. Kumodi yokulawula indawo, indawo yokubeka ehlinzekwe ikhompuyutha engusokhaya kanye nesiginali yempendulo yendawo evela kusishumeki semoto noma impendulo yokulinganisa indawo eqondile evela kusisetshenziswa kuqhathaniswa nokwenza iluphu yendawo. Lokhu kuqinisekisa ukuthi i-servo motor iya endaweni emisiwe. Okukhiphayo kweluphu yendawo kufakwa ku-loop yesivinini njenge-velocity - loop setpoint. Ngakho-ke, imodi yokulawula ye-torque isebenzisa iluphu yokulawula yamanje njengesendlalelo esibaluleke kakhulu. Isivinini - iluphu yokulawula yakhelwe phezu kweluphu yokulawula yamanje, futhi indawo - iluphu yokulawula yakhelwe kukho kokubili isivinini - kanye namalophu okulawula amanje.

Amathuluzi Nemibandela Yokulinganisa

Ibanga

Isikhawu esiqhubekayo senani elichazwe imikhawulo engaphezulu nephansi.

Ibanga Lokulinganisa

Ububanzi bamanani alinganisiwe lapho ithuluzi lingafinyelela ukunemba okucacisiwe.

Umkhawulo Ophansi Wokulinganisa Ububanzi: Inani elincane elilinganiselwe ithuluzi elingafinyelela kulo ukunemba okucacisiwe.

Umkhawulo Wokulinganisa Ububanzi Ongaphezulu: Inani eliphakeme elikaliwe ithuluzi elingafinyelela kulo ukunemba okucacisiwe.

I-span

Umehluko we-algebraic phakathi kwemikhawulo engaphezulu nephansi yobubanzi. Isibonelo, uma ububanzi busuka ku -20°C ukuya ku-100°C, ubude besikhathi bungu-120°C.

Isici Sokusebenza

Amapharamitha achaza umsebenzi namandla ensimbi nezinkulumo zawo zobuningi.

Isici Sokusebenza Okuyisethenjwa: Isici sokusebenza esifinyelelwe ngaphansi kwezimo zokusebenza zereferensi.

Isikali Somugqa

Isilinganiso lapho isikhala phakathi kokuhlukaniswa kwezikali namanani alinganiselwe ahambisanayo anobudlelwano obulinganayo obuqhubekayo.

I-Nonlinear Scale

Isilinganiso lapho isikhala phakathi kokuhlukaniswa kwezikali namanani alinganiselwe anobudlelwano obungaguquki bokulinganisa.

Kucindezelwe - Isikali esinguZiro

Isilinganiso lapho ububanzi besikali bungabandakanyi inani lesikali elihambisana nevelu enguziro yenani elilinganiselwe.

Isikali Esinwetshiwe

Isilinganiso lapho ingxenye engalingani yobude besikali ithathwa yisigaba esinwetshiwe sesikali.

Isikali

Isethi yamamaki esikali a-odwe nezinombolo ezihambisanayo ezakha ingxenye yedivayisi ekhombisayo.

Ibanga lesikali

* Ububanzi obuchazwe amanani okuqala nawokugcina esikalini.

Isikali Mark

* Uphawu kudivayisi ekhombisayo elihambisana nevelu elinganiselwe eyodwa noma ngaphezulu.

I-Zero Scale Mark

* Umaki wesikali noma umugqa esikalini ohambisana nevelu enguziro yenani elilinganiselwe.

I-Scale Division

* Ingxenye yesikali phakathi kwanoma imaphi amamaki esikali amabili ancikene.

I-Scale Division Value

* Umehluko phakathi kwamanani akalwayo ahambisana namamaki esikali amabili asondelene.

Isikhala Sokuhlukaniswa Kwesikali

* Ibanga eliphakathi kwemigqa emaphakathi yanoma imaphi amamaki esikali amabili asondelene ngobude besikali.

Ubude Besikali

* Ubude bengxenye yomugqa, kungaba okwangempela noma okokucatshangelwa, edlula phakathi nendawo yawo wonke amamaki esikali amafushane kakhulu phakathi kwamamaki esikali sokuqala nesiphetho.

I-Scale Start Value

* Inani elilinganisiwe elihambisana nophawu lwesikali sokuqala.

Isikali Qeda Inani

* Inani elilinganisiwe elihambisana nophawu lwesikali sokuphela.

Ukukala izinombolo

* Isethi yezinombolo esikalini ehambisana namanani akalwayo achazwe amamaki esikali noma ebonisa ukuhleleka kwamamaki esikali.

Uziro Wensimbi Yokukala

* Inkomba eqondile yethuluzi lokulinganisa lapho wonke amandla asizayo adingekayo ekusebenzeni kwayo esetshenziswa futhi inani elilinganisiwe linguziro.

* Ezimeni lapho ithuluzi lokulinganisa lisebenzisa amandla asizayo, leli gama ngokuvamile libizwa ngokuthi "ziro kagesi."

* Uma ithuluzi lingasebenzi ngenxa yokungabikho kwamandla asizayo, igama elithi "mechanical zero" livame ukusetshenziswa.

I-Instrument Constant

* I-coefficient lapho inkomba eqondile yensimbi yokulinganisa kufanele iphindwe ukuze kutholwe inani elilinganisiwe.

Ijika lesici

* Ijika elibonisa ubudlelwano bokusebenza phakathi kwevelu ekhiphayo yesimo esingaguquki yethuluzi kanye nenani lokokufaka elilodwa, nawo wonke amanye amanani okokufaka agcinwe ngamavelu ashiwo angashintshi.

Ijika Lesici Esicacisiwe

* Ijika elibonisa ubudlelwano bokusebenza phakathi kwevelu ekhiphayo yesimo esiqinile yethuluzi kanye nenani lokokufaka elilodwa ngaphansi kwezimo ezithile.

Ukulungisa

* Imisebenzi eyenziwayo ukuze kuqinisekiswe ukuthi ithuluzi lisesimweni esivamile sokusebenza kanye nokususa ukuchezuka ukuze kusetshenziswe ngendlela efanele.

* **Ukulungiswa komsebenzisi**: Ukulungiswa kuvunyelwe ukwenziwa umsebenzisi.

Ukulinganisa

* Ukusebenza kokusungula, ngaphansi kwezimo ezithile, ubudlelwano phakathi kwamanani aboniswa ithuluzi lokulinganisa noma isistimu kanye namanani ahambisanayo aziwayo yenani elilinganisiwe.

Ijika Lokulinganisa

* Ijika elibonisa ubudlelwano phakathi kwenani elilinganisiwe kanye nenani langempela elilinganiselwe lethuluzi ngaphansi kwezimo ezithile.

Umjikelezo Wokulinganisa

* Inhlanganisela yekhevu yokulinganisa eya phezulu kanye nekhevu yokulinganisa eya phansi phakathi kwemikhawulo yobubanzi bokulinganisa bensimbi.

Ithebula Lokulinganisa

* Isethulo sethebula sejika lokulinganiswa.

Ukulandeleka

* Indawo yomphumela wokulinganisa engahlotshaniswa namazinga afanelekile (ngokuvamile amazinga omhlaba wonke noma kazwelonke) ngochungechunge olunganqamuki lokuqhathanisa.

Ukuzwela

* I-quotient yoshintsho okukhiphayo kwensimbi kanye noshintsho oluhambisanayo enanini lokokufaka.

Ukunemba

* Izinga lokuvumelana phakathi kwenkomba yethuluzi kanye nenani langempela lenani elilinganiselwe.

Ikilasi Lokunemba

* Ukuhlukaniswa kwezinsimbi ngokuvumelana nokunemba kwazo.

Imikhawulo Yephutha

* Iphutha elikhulu elivunyelwe lethuluzi njengoba licaciswe ngamazinga noma ukucaciswa kobuchwepheshe.

Iphutha Eliyisisekelo

* Iphutha lethuluzi ngaphansi kwezimo zereferensi.

Ukuvumelana

* Izinga lokuvumelana phakathi kwejika elijwayelekile kanye nejika lesici elishiwo (njengomugqa oqondile, ijika le-logarithmic, ijika le-parabolic, njll.).