Inkqubo yokulawula intshukumo yinkqubo yobugcisa esetyenziselwa ukulawula ngokuchanekileyo intshukumo yento. Isetyenziswa ngokubanzi kwimizi-mveliso ezenzekelayo, iirobhothi, izixhobo zoomatshini beCNC, kunye namanye amacandelo. Injongo yalo ephambili kukulawula ukuhamba kwento elawulwayo kunye ne-trajectory eqingiweyo, isantya, okanye i-torque ngokulawula isenzo se-actuator.
Amacandelo asisiseko enkqubo yokulawula intshukumo abandakanya umlawuli, umqhubi, i-actuator, kunye nesixhobo sempendulo. Umlawuli "yingqondo" yesixokelelwano, ebandakanya iprosesa edibeneyo okanye i-PLC (uMlawuli weNgcaciso yeProgrammable). Inoxanduva lokuvelisa imiyalelo yolawulo esekelwe kwi-preset motion trajectory. Umqhubi uguqula imiqondiso yombane yomlawuli ibe ziimpawu zamandla ezifunwa yi-actuator, njengombane okanye umsinga wemoto. I-activator licandelo elenza ngokuthe ngqo intshukumo, kwaye imizekelo eqhelekileyo ibandakanya iimotor ze-servo, iimotor stepper, okanye izixhobo zehydraulic/pneumatic. Izixhobo zengxelo (ezinje ngeekhowudi kunye neekhowudi zomgca) zibeka esweni eyona ndawo ye actuator, isantya, okanye amandla ngexesha lokwenyani kwaye zibuyisela le datha kumlawuli, zenze inkqubo evaliweyo yolawulo lwelophu.
Imigaqo yokusebenza yenkqubo yokulawula intshukumo ingahlelwa ngokweendlela ezivulekileyo-zezijikelezo kunye nezivaliweyo{1}}zeendlela. Vula-iisistim zeluphu zixhomekeke kuphela kwimiyalelo esetwe kwangaphambili yesilawuli kwaye ayijongi iziphumo ezizizo, ezikhokelela ekuchanekeni okusezantsi. Zifanelekile kwizicelo apho ukuchaneka kungeyona nto iphambili. Iinkqubo ezivaliweyo{6}}kwelinye icala, zisebenzisa iindlela zengxelo ukuthelekisa ngokuthe gqolo ukutenxa phakathi kwemveliso eyiyo kunye nexabiso ekujoliswe kulo kunye nokulungelelanisa imiqondiso yolawulo ngexesha lokwenyani, ngaloo ndlela kuqinisekiswe ulawulo lwentshukumo oluchanekileyo. Ngokomzekelo, kwinkqubo ye-servo, umlawuli ulungelelanisa ngokuguquguqukayo i-motor drive yangoku ngokusekwe kwingxelo yempazamo yendawo evela kwi-encoder, evumela ingalo yerobhothi ukuba ifikelele ngokuchanekileyo kwindawo ekujoliswe kuyo.
Ngaphaya koko, iisistim zolawulo lwentshukumo zangoku zihlala zisebenzisa i-algorithms ephucukileyo efana ne-PID (i-proportional-integral-derivative) yolawulo, ulawulo oluntsonkothileyo, kunye nolawulo olulungelelanisiweyo ukumelana neemeko zokusebenza ezinzima. Ngophuhliso loShishino lwe-4.0, ulawulo lwentshukumo ludityaniswe nzulu kunye ne-Intanethi yeZinto kunye nobukrelekrele bokwenziwa, ukuqhuba ukuveliswa okukrelekrele ukuya kwinqanaba eliphezulu.
