Njengenxalenye engundoqo yetekhnoloji ye-automation yanamhlanje, ingcamango yoyilo lwenkqubo yokulawula intshukumo imisela ngokuthe ngqo imida yokusebenza yenkqubo kunye nexabiso lesicelo. Iqhutywa nguShishino 4.0 kunye nokuveliswa okukrelekrele, ulawulo lwentshukumo luye lwavela kulawulo losasazo ngoomatshini lwemveli ukuya kwinkqubo yobunjineli entsonkothileyo edibanisa ubuchwephesha boluvo, unxibelelwano lwexesha lokwenyani,{2}}ubukrelekrele bokwenziwa, kunye nentsebenziswano kwiinkalo ezininzi. Uyilo lwayo alusekho kuphela ekubekweni okuchanekileyo kwesixhobo esinye; ilandela indibaniselwano yempendulo eguquguqukayo, ukusetyenziswa kakuhle kwamandla, kunye nokwenza izigqibo ezikrelekrele{4}}kuyo yonke inkqubo yemveliso. Oku kufuna ukuba abaqulunqi bamkele indlela ecwangciseke ngakumbi kwaye bachaze kwakhona ubudlelwane phakathi kwengqiqo yolawulo, uyilo lwehardware, kunye nenkqubo yendalo yesoftware.
I. Ukuchaneka: I-Evolution esuka kwi-Mechanical Precision ukuya kwi-Digital Closed Loop
Umgaqo wokuqala weenkqubo zokulawula ukunyakaza uhlala "uchanekileyo." Nokuba yimicron -inqanaba lolawulo lwemposiso kumatshini weCNC wokusetyenzwa kwesixhobo, i-nanometer{2}}inqanaba lokubekwa kwe-wafer kwisixhobo se-semiconductor, okanye i-millisecond{3}}inqanaba longqamaniso lwamalungu erobhothi, zonke zixhomekeke kwinkcazelo echanekileyo kunye nolawulo lwentshukumo yomzimba. Kuyilo lwesiNtu, ukuchaneka kuphunyezwa ikakhulu ngesitaki sehardware esibandakanya-izisombululo eziphezulu zeekhowudi, izinciphisi ezichanekileyo, kunye neenjini ze-servo. Nangona kunjalo, iingqiqo zoyilo zanamhlanje zigxininisa ukwakhiwa kwe "loop evaliweyo yedijithali." Oku kubandakanya ukufaka edijithali imodeli yenkqubo yomatshini (umzekelo, ukuqina, ukumanzisa, kunye ne-inertia matrix) kunye nokuyidibanisa{10}}nexesha lokwenyani lendawo/isantya/idatha yengxelo yokunyanzeliswa. Oku kuvumela unikezelo oludityanisiweyo{12}}imbuyekezo yempendulo yeempazamo ezingezizo (umzekelo, imbuyekezo yefriction kunye nolungiso lotshintsho lwe-thermal) ngaphakathi kwe-algorithm yolawulo. Umzekelo, isilawuli esishukumayo seziko lomatshini -lomgca ohamba phambili ulungelelanisa ngokuguquguqukayo ijiko lokuphuma kwetorque ye-axis nganye yemoto ye-servo ngokusekwe kwixesha lokwenyani{17}lokujongwa kwesixhobo{18}}imikhosi yoqhagamshelwano. Oku kuphucula inkqubo yesiqhelo evaliweyo -yeluphu yelophu ye "loop yesikhundla + iluphu yesantya" ukuya kuntathu{22}}iluphu okanye imininzi-inkqubo yeluphu equka ulawulo lwamandla, ngokwenjenjalo isusa iimpazamo eziqokelelweyo kumatshini onzima womphezulu.
II. Ubukrelekrele: Utshintsho ukusuka kwiNgcaciso yokuSeta ukuya kwiSigqibo esiZimeleyo{1}}Ukwenza
Uyilo lwengqiqo yeenkqubo zolawulo lwentshukumo zakwangoko "yayiqhutywa-umgaqo." Iinjineli zibhale iinkqubo zolawulo ezisisigxina (umzekelo, imizobo ileli okanye ikhowudi ye-G{4}) ngokusekelwe kwiimfuno zenkqubo, kwaye inkqubo isebenze ngokungqongqo ngokwendlela echazwe kwangaphambili. Nangona kunjalo, ngokunyuka kokuntsonkotha kwemeko zesicelo (ezifana nophezulu{6}}intlobo ngeentlobo, ephantsi{7}}imveliso yebhetshi kwimveliso ebhetyebhetye kunye nomqobo{8}}ukuphepha ukulawulwa kweerobhothi zenkonzo kwindawo ezingaziwayo), oluyilo lungqongqo alusanele. Ingqikelelo yoyilo olukrelekrele lweenkqubo zala maxesha zolawulo lwentshukumo ngokuyimfuneko idibanisa iluphu evaliweyo "yengqiqo{10}}ingqiqo{11}}isigqibo{12}}ukwenza" kulwakhiwo lolawulo. Ngokudibanisa iimodyuli ezibonwayo (ezifana neekhamera ze-3D), izinzwa zokunyanzelisa (ezifana ne-6{15}}i-dimensional sensors ye-torque), kunye neemodyuli zombono wokusingqongileyo, inkqubo inokufumana iimpawu zejometri, iipropati eziphathekayo, kunye nolwazi lomqobo oguqukayo wento yomsebenzi ngexesha langempela. Iiyunithi ze-Edge computing (ezifana nabalawuli abafakelweyo abaxhotyiswe ngeetshiphusi ze-AI ze-accelerator) ziqhuba iimodeli zokufunda zoomatshini (ezifana ne-convolutional networks ze-neural ukuqondwa kwento kunye nokufunda ukomeleza ukucwangciswa kwendlela) ukuguqula idatha yokuqonda ibe yizicwangciso zokulawula. Ekugqibeleni, imiyalelo yesigqibo isasazwa kwiyunithi nganye yokubulawa ngokusebenzisa ibhasi yolawulo esasazwayo (efana ne-EtherCAT okanye ixesha le-TSN{18}}inethiwekhi ebuthathaka). Umzekelo, isilawuli esishukumayo se-AGV (isithuthi esikhokelwayo esizenzekelayo) asisathembeli kwimigca yemagnethi yasemhlabeni okanye iikhowudi zeQR zokukhangela. Endaweni yoko, isebenzisa i-lidar ukwakha{21}ixesha lokwenyani imephu yokusingqongileyo kwaye icwangcisa ngokuguqukayo iindlela zokuthintela imiqobo esekwe kuqikelelo olunzulu lwe-algorithms yokufunda, ngelixa ikwanxibelelanisa isantya semoto kunye ne-engile yokuqhuba ukuphumeza intshukumo egudileyo. Olu yilo lwenza ukuba inkqubo ikwazi ukuziqhelanisa neenguqu kwisakhiwo sogcino ngaphandle kokuhlelwa ngokutsha.
III. Intsebenziswano: I-Evolution ukusuka kuLawulo oluzimeleyo ukuya kuManyano lweNkqubo
Kwiimeko ezinzima zoshishino, ukuphucula ukusebenza kweyunithi yokulawula intshukumo enye akusekho ngokwaneleyo ukujongana nemingeni yokusebenza kakuhle. Iimeko ezifana nokudityaniswa kwendibano ebandakanya iirobhothi ezininzi, umatshini olungelelanisiweyo osebenzisa{1}}oomatshini be-CNC abaninzi, kunye nokusebenza ngaxeshanye kuyo yonke imigca yemveliso kufuna iinkqubo zokulawula intshukumo ukuze zibe "nobukrelekrele bobukrelekrele." Ingqikelelo yoyilo oluphambili itshintshela "kwintsebenziswano," okuthetha ukufezekiswa kolungelelwaniso lwentshukumo kunye nokulungiswa kwezixhobo kuzo zonke izixhobo kunye namanyathelo okuqhuba ngeqonga elidityanisiweyo lokucwangcisa. Ngokukodwa, oku kufuna ulwakhiwo lolawulo olunemaleko: Ezantsi umaleko sisilawuli sentshukumo esizimeleyo{4}}sexesha (ngokuqhelekileyo esinexesha lomjikelo elingaphantsi kwe-1ms), enoxanduva lokulandela{6}}ukuchaneka kwendlela yokulandelela. Kumaleko ophakathi ngumgca wemveliso -umlawuli wolungelelwaniso lwenqanaba (enexesha lomjikelo elimalunga ne-10{11}}100ms), elilawula imiqobo yexesha kwizixhobo ezininzi (ezifana nokuthelekisa isingqi seengalo zerobhothi kunye namabhanti okuhambisa) kwaye isombulule iingxabano (umzekelo, ukunqanda ukusebenzisana kwe-AGV ngaxeshanye). Kumaleko aphezulu yinkqubo yolawulo lwemveliso yenqanaba lomzi-mveliso ({13}}enexesha lomjikelo elidlula imizuzwana), eyaba ngokuguquguqukayo imisebenzi esekelwe kumyalelo ophambili kunye nobume besixhobo. Umzekelo, kwiwelding yewelding workshop, abalawuli abashukumayo bentaphane yerobhothi zewelding bafezekisa i-microsecond{14}}inqanaba longqamaniso ngeProfinet IRT (Isochronous Real{16}}Inethiwekhi yeXesha). Bakwanxibelelana nenkqubo yokuthumela esembindini ukulungelelanisa ulandelelwano lwe-welding kunye neeparitha zendlela ngokusekelwe kwimodeli yokwenene{18}}yexesha lokutshintsha imodeli yesithuthi, iqinisekisa amaxesha omjikelo angaguqukiyo kuwo wonke umgca wemveliso. Olu yilo lwentsebenziswano aluphuculi nje ukusebenza kakuhle kwemveliso kodwa luvumela ukulawulwa kokuthembeka kobomi obugcweleyo ngokwabelana ngedatha (njengezinto zomthwalo kunye nolwazi lokubikezelwa kwempazamo kwisixhobo ngasinye).
IV. Ukuzinza: Ukuqwalasela ukusebenza kakuhle kwamandla kunye nokuguquguquka
Uyilo lweenkqubo zala maxesha zolawulo lwentshukumo kufuneka lujongane neemfuno zokwenza uhlaza-ukunciphisa ukusetyenziswa kwamandla ngelixa uqinisekisa ukusebenza kunye nokuziqhelanisa nophindaphindo lwenkqubo yexesha elizayo ngolwakhiwo lweemodyuli. Ukwandisa ukusebenza kakuhle kwamandla, abaqulunqi banciphisa inkcitho yamandla ngokuhlalutya iiprofayili zokusebenza kweemoto (umzekelo, ukutshintshela kwisantya esingaguqukiyo ukuya kwisantya esiguquguqukayo), ukusebenzisa i-braking yokuvuselela (ukubuyisela amandla e-kinetic ukusuka kwi-deceleration ukuya kwigridi), kunye nokulinganisa umthwalo ohlakaniphile (ukulungelelanisa ngokuguquguqukayo kwinqanaba lamandla eenjini ze-servo ngokusekelwe kwiimfuno zomsebenzi). Umzekelo, iisistim zolawulo lwentshukumo ye-elevator zibala iprofayili yokunyusa isantya esiphezulu ngexesha lokwenyani ngokusekwe kumthwalo wemoto kunye nomgama oya kumgangatho ojoliswe kuwo, ukunciphisa ukusetyenziswa kwamandla emoto ngelixa uqinisekisa ukukhululeka komkhweli. Uyilo oluguquguqukayo lubonakaliswe ngokusemgangathweni kwe-hardware interfaces (ezifana nenkxaso kwiiprotokholi zonxibelelwano ezininzi) kunye ne-scalability yokusebenza kwesofthiwe (njengokuvula i-interfaces ye-algorithm engundoqo ngokusebenzisa ii-APIs zophuhliso lwabasebenzisi). Oku kuvumela inkqubo efanayo yokulawula ukuba iguqulelwe ngokukhawuleza kumashishini ahlukeneyo (njengokutshintsha ukusuka kwi-3C ye-electronic assembly ukuya kwi-package yamayeza) okanye iinkqubo ezintsha (ezifana nokongeza inyathelo lokuhlola elibonakalayo). Olu "yilo kanye, phinda usebenzise amaxesha amaninzi" ifilosofi yenza mfutshane kakhulu imijikelo yophuhliso lwezixhobo kwaye yehlise{9}}ixesha elide iindleko zobunini kubasebenzisi.
Ukususela kulawulo lwekhamera ye-mechanical ye-injini ye-steam ukuya kwiinkqubo ezihlakaniphile zokusebenzisana ze-digital age, ifilosofi yoyilo lweenkqubo zokulawula intshukumo iye yaguquka ngokuqhubekayo malunga nemigaqo "yenkcazo echanekileyo yokunyakaza, impendulo ekrelekrele ngakumbi kwiinguqu, kunye nokudibanisa okusebenzayo kwezixhobo." Uyilo lwexesha elizayo luya kudibanisa ngakumbi ubugcisa obufana namawele edijithali (izicwangciso zolawulo lokujonga kwangaphambili kusetyenziswa imifuziselo ebonakalayo), edge{1}intsebenziswano yamafu (ukukhuphela eminye imisebenzi yekhompyutha efini), kunye ne-bio{2}}nolawulo oluphefumlelweyo (ukulinganisa iimpawu ezibhetyebhetye ze-actuation yesihlunu somntu). Oku kuya kuguqula indima yolawulo lwentshukumo ukusuka "kwisixhobo" ukuya "kwiqabane"{4}}elingasebenzisi imiyalelo kuphela kodwa liqonda injongo yenkqubo, lilindele ubungozi obunokubakho, kunye nokuphucula indlela yokuziphatha kwayo. Oku kufuna ukuba abaqulunqi bahlukane nemida yetekhnoloji enye kwaye badibanise ngokunzulu ubuchwephesha, i-electronics, isoftware kunye nobukrelekrele bokwenziwa ngengqondo yobunjineli benkqubo, ekugqibeleni bakhe inkqubo yolawulo lwentshukumo yesizukulwana esilandelayo ethembekileyo, ekwaziyo ukulungelelanisa kwaye enokuguquguquka.
