Njengezixhobo ezingundoqo kulawulo lwangoku oluchanekileyo lwentshukumo, ezininzi-zezidanga{1}}ze{2}}zeqonga lenkululeko, kunye nesakhono sazo sokuhlengahlengisa isimo sengqondo esiguquguqukayo kunye{3}}nendawo echanekileyo echanekileyo, zidlala indima engenakuthathelwa indawo kwiimeko ezifana nokulinganisa i-aerospace, iirobhothi zemizi-mveliso, ukubuyisela kwimo yempilo, kunye nenkqubo yokwenyani yokwenziwa komsebenzi ngokuthe ngqo. Imilinganiselo ephambili yokulinganisa le ntsebenzo ibandakanya zombini izibonakaliso ezimileyo (ezifana nomthamo womthwalo kunye nokuchaneka kwendawo) kunye neempawu eziguqukayo (ezifana nesantya sokuphendula kunye nokuhamba kakuhle).
I. Inkcazo yobuGcisa yeZalathi zokuSebenza eziNgqondo
Ukusebenza kweqonga-lokuninzi{1}}kwe{2}}kweqonga lenkululeko kuboniswa ikakhulu kubuchule balo bokufumana inkululeko yentshukumo emacala amaninzi. Amaqonga amathathu aqhelekileyo{{5}edigri{6}}ze{7}}enkululeko (inguqulelo yeXYZ) angahlangabezana neemfuno ezisisiseko zokubeka, kodwa usetyenziso oluphambili (ezifana nezifanisi zokubhabha kunye nesiphelo esintsonkothileyo serobhothi -so{9}}sokumisa ingalo) zihlala zifuna ulawulo olulungelelanisiweyo lwezidanga ezintandathu zenkululeko (inguqulelo yeXYZ + yaw/pitch/roll rotation) okanye nangaphezulu. Umzekelo, isiphekepheke sokumisa iqonga lokulinganisa lifuna amadigri amathandathu enkululeko ukuphindaphinda ngokuchanekileyo utshintsho lwemo yemo engqongileyo yemicrogravity ngolawulo olulungelelanisiweyo, ibeka iimfuno eziphezulu kakhulu kulawulo oludityanisiweyo phakathi kwedigri nganye yenkululeko.
Umlinganiselo womthamo womthwalo kubunzima sesinye isalathisi esibalulekileyo. Uyilo lwesakhiwo seqonga kufuneka lugcine ukuqina okuphezulu ngelixa uqinisekisa umthamo owaneleyo womthwalo (ukusuka kwiikhilogram ezimbalwa ukuya kwishumi leetoni). Ngokuqhelekileyo, phantsi komthwalo opheleleyo, i-platform ye-elastic deformation kufuneka ibe ngaphantsi kwe-submillimeter. Ngaphandle koko, ukuchaneka kokumiswa kwesiphumo sokuphela kuya kuchaphazeleka ngokuthe ngqo. Umzekelo, iqonga elinzima -lomsebenzi wokuhlola umzi-mveliso udibanisa isakhelo se-aluminiyam ye-honeycomb kunye ne-carbon fiber composite materials, ukunciphisa ubunzima ngelixa kwandisa ukuqina ngokubanzi ngaphezu kwe-30%.
Ukubeka ukuchaneka kunye nokuphindaphinda kubonisa ngokuthe ngqo imida yenkqubo yokulawula. Isiphelo sangoku-esiphezulu-seqondo eliphezulu-{4}}lokumaqonga enkululeko, ngokuvalwa{5}}ingxelo yelophu evela kwisikali esibonakalayo/i-laser interferometers kwaye idityaniswa{6}}nesisombululo esiphezulu seemotor ze-servo (okanye iimotor zelinear), inokufikelela kumanqanaba apheleleyo okuma ± μm kunye nokuchaneka okukhulu ± μm kunye nokuphindaphinda ukuchaneka kwe-±μm. Eli nqanaba lokuchaneka libalulekile ekubekweni kwe-wafer kwisixhobo sokupakisha se-semiconductor chip kunye nokuguqulwa kwesixhobo kwiirobhothi ze-microsurgical.
II. Ukusebenza okuDynamic: Ukusuka kwisantya sokuphendula ukuya kuMgangatho weMotion
Undoqo wokusebenza okuguquguqukayo ulele kubuchule beqonga bokulandelela ngokukhawuleza imiqondiso yomyalelo. I-Bandwidth (ngokuqhelekileyo i-frequency apho isistim izuza khona ihla ukuya kwi- -}3dB) imisela ubuninzi bolawulo lwefrikhwensi iqonga elinokusabela kulo. Okukhona iphezulu i-bandwidth, kokukhona iqonga linokulandela -imiyalelo yamaxesha amaninzi (efana nokulandela umqondiso okhawulezayo kunxibelelwano lweVR). Okwangoku, amaqonga omgangatho wemizi-mveliso{7} aqhelekileyo ane-bandwidth ye-50-100Hz, ngelixa iimveliso zelabhoratri zide zagqitha kuphawu lwe-200Hz ngokulungiswa kwe-algorithms ye-motor drive kunye noyilo lokunciphisa ukungcangcazela.
Iimpawu zokukhawuleza zibalulekile. -Iimeko eziguqukayo (ezifana nokuvelisa kwakhona ujiko olubukhali kwizilinganisi zenqwelomoya) zifuna iqonga likhuphe isantya esiphezulu (ukuya kuthi ga kwi-5g okanye ngaphezulu) ngexesha elifutshane. Oku akufuni kuphela ukuxinana kwetorque ephezulu ukusuka kwimoto kodwa kunye noyilo lolwakhiwo olukhaphukhaphu ukunciphisa imithwalo engaphakathi. Umzekelo, imodeli ethile yedigri-ezintathu-ze{7}}zenkululeko eguqukayo yesitulo isebenzisa iqokobhe lekhabhoni yefiber kunye nehollow linkage mechanism, inciphisa ubunzima bayo ngama-40% ngelixa igcina amandla, ngaloo ndlela ixhasa ukukhawulezisa okungaphaya kunye neentshukumo zokuthoba isantya.
Intshukumo egudileyo ibalulekile kumava omsebenzisi. Ngokusebenzisa i-S{1}}i-algorithm yesantya se-curve ye-curve (kunokuba ye-trapezoidal yendabuko yokukhawuleza), iqonga licinezela ngokufanelekileyo ukothuka kunye nokungcangcazela ngexesha lokuqalisa{2}}phezulu kunye nokuyeka izigaba. Ukungeniswa kobuchwepheshe bokudambisa obusebenzayo (obufana{4}}njengolungelelwaniso lwengxelo yexesha lokwenyani olusekwe kuluvo lwamandla) ngakumbi kuphelisa ijita encinci ebangelwa kumdlalo womatshini okanye uphazamiseko lwangaphandle, iqinisekisa ukuba umkhondo wentshukumo usondela kwimodeli efanelekileyo yemathematika.
III. Ukuphumelela kweTekhnoloji: Ubukrelekrele kunye noManyano
Ngeemfuno zesicelo eziphuhlayo, ulwandiso lokwenziwa komsebenzi-lokuninzi{1}}kwe{2}}kumaqonga enkululeko kuqhubela phambili kulawulo lobukrelekrele kunye nenkqubo edityanisiweyo. Ngakolunye uhlangothi, i-AI algorithms (efana ne-neural network PID control and adaptive filtering) isetyenziselwa ukuhlawulela izinto eziphazamisayo ezifana ne-friction nonlinear kunye nokuguqulwa kweqondo lokushisa ngexesha langempela, ukuqinisekisa ukuba iqonga ligcina ukuchaneka okuphezulu ngexesha elide{4}}lokusebenza. Kwelinye icala, ukwamkelwa okubanzi kweengqikelelo zoyilo lwemodyuli (ezifana nokudibanisa ii-activators, izivamvo, kunye nezilawuli zibe yiyunithi enye edityanisiweyo) yenze lula ngokubonakalayo ukudityaniswa kunye nokugcinwa kwedigri{6}}ezinzima{7}}ze{8}}zezixokelelwano zenkululeko.
Ngaphaya koko, ukusetyenziswa kweetekhnoloji ezintsha zokuqhuba (ezifana ne-ultra-echanekileyo encinci{1}}intshukumo ene-piezoelectric ceramic motors kunye ne-zero{2}}ukunxitywa koqhagamshelwano ngeenjini ezitsalwa ngomagnetic ezilayiniweyo) iye yandisa ngakumbi imida yokusebenza yeqonga. Eyangaphambili yenza imicro{4}}yolawulo lokufuduswa kunye ne-nanometer{5}}isisombululo senqanaba, ngelixa le yokugqibela isusa ingxaki yokubuyela umva eyayanyaniswa nokuhanjiswa koomatshini bemveli,
ibonelela ngamathuba amatsha eemeko ezichanekileyo{{0}eziphezulu{1}}ezichanekileyo.
Ukuqukumbela
Uphuculo lokwenziwa komsebenzi-kwezidanga{1}}ezininzi{2}}zenkululeko zisisiphumo somnqamlezo{3}}wobuchule boqeqesho kulwakhiwo loomatshini, ii-algorithms zolawulo, kunye nenzululwazi yemathiriyeli. Ukusuka "kwisandla esichanekileyo" sokwenziwa kwemizi-mveliso ukuya "kwibhulorho yokuntywiliselwa" yenyani yokwenyani, impumelelo nganye yetekhnoloji iqhuba iindawo eziyeleleneyo ukuya ekuchanekeni okuphezulu kunye nokusebenza okuphuculweyo. Kwixesha elizayo, ngokudityaniswa okunzulu kokuqonda okukrelekrele kunye nobuchwepheshe bolawulo olulungelelanisiweyo, amaqonga kaninzi-edigri{7}}ze{8}}enkululeko alindeleke ukuba abe liziko elingundoqo kwimveliso ekrelekrele kunye nenkqubo yamawele edijithali, ichaza ngokutsha imida yobuchwepheshe "yentshukumo eguquguqukayo."
