I-multi{{0}degree degree-ye{2}}iqonga lenkululeko (MDF) sisixhobo esinomatshini okwaziyo ukushukuma kwesithuba esinzima. Isetyenziswa ngokubanzi kukulinganisa, uvavanyo lwamashishini, ukuvuselelwa kwezonyango, kunye namava okuzonwabisa. Ixabiso layo eliphambili likukulinganisa ukuziphatha okuguquguqukayo kwindawo yokwenyani ngolawulo -lobukhulu bentshukumo, ukubonelela abasebenzisi ngeemeko zokuntywila okanye eziphezulu{6} ezichanekileyo zovavanyo. Eli nqaku liza kuxubusha imigaqo yokuyila, iteknoloji engundoqo, iindlela eziqhelekileyo, kunye neemeko zokusetyenziswa kweeplatifomu ze-MDF.
I. Imigaqo-siseko esisiseko kunye noHlelo lweePlatifomu ze-MDF
Amaqonga e-MDF aphumeza intshukumo ebhetyebhetye kwisithuba esine-dimensional-entathu ngokudityaniswa kwee-axes ezilawulekayo ezizimeleyo zentshukumo (ezifana noguqulo kunye nojikelezo). Ngokusekelwe kwinani lezidanga zenkululeko, zingohlulwa zibe zintathu-zeqondo{3}}ze{4}}zenkululeko (3-DOF) nezintandathu{7}}nedigri{8}ze{11}}intlobo zenkululeko (6-DOF). Amaqonga amathandathu e-DOF awona didi luxhaphakileyo, olukwaziyo ukulawula ngaxeshanye ukufuduswa kwemigca emithathu (X/Y/Z) kunye nee-engile ezintathu ezijikelezayo (i-roll, pitch, and yaw).
Ngokusekwe kwindlela yokuqhuba, amaqonga -aninzi{1}}e{2}}enkululeko ahlulwe kakhulu ngokwamacandelo amabini:
1. Usasazo ngoomatshini: Ezi zixhomekeke kwiisilinda zehydraulic, ii-actuator zombane, okanye ii-servo motors ukuqhuba indlela yonxibelelaniso. Banikezela ngomthwalo owomeleleyo-umthamo wokuthwala kunye nokuzinza kwesakhiwo, kubenza bafanelekele izixhobo ezinzima (ezifana nezilingisi zokubhabha).
2. Indlela enxuseneyo (efana neqonga leStewart): Ezi zisebenzisa intshukumo ehambelanayo yamasebe amaninzi ukulungisa indawo yeqonga. Zinikezela ngochaneko oluphezulu kunye nempendulo ekhawulezayo, kwaye ziqhele ukusetyenziselwa indawo echanekileyo kunye nolungiso olufanelekileyo-.
II. Iindlela ezingundoqo zobuGcisa kwiiMulti-iSidanga{2}}se{3}} samaqonga eNkululeko
1. Ii-Algorithms zokulawula ukunyakaza
Owona mceli mngeni -wokuninzi{1}}kwe{2}}kumaqonga enkululeko ulele -kulawulo olulungelelanisiweyo. Iindlela eziqhelekileyo ziquka:
Ulawulo lwe-PID: Oku kusebenzisa ulawulo -lokudityaniswa{1}}lokuphuma kokunye ukunyenyisa imveliso ye-actuator nganye, ukulinganisa isantya sokuphendula kunye nokuzinza. Ifanelekile kwimisebenzi esisiseko yokubeka.
I-inverse kinematics: Oku kuphazamisa ngokuphambeneyo ii-angles ezidibeneyo okanye ukufuduka ngokusekelwe kwindawo ekujoliswe kuyo. Oku kufuna indibaniselwano yokubala kwamanani okanye iindlela zohlalutyo (ezifana ne-Denavit{1}}indlela yeparamitha ye-Hartenberg) ukujongana nonxulumano olungenamgca.
Ulawulo oluguquguqukayo kunye nolawulo oluqikelelwayo: Ukulungelelanisa ngamandla iiparitha zokulawula ekuphenduleni utshintsho lomthwalo okanye ukuphazamiseka kwangaphandle ukuphucula ukuqina kwenkqubo.
2. I-Sensor Fusion kunye neNgxelo
Uluvo lwentshukumo oluchanekileyo luxhomekeke kumxube wedatha-ezininzi, ezifana:
• Iikhowudi: ixesha lokwenyani{0}}lokujongwa kwe-engile yemoto okanye ukufuduswa komgca;
• IiYunithi zoMlinganiselo we-Inertial (IMUs): Ukubonelela ngedatha yokukhawulezisa kunye ne-angular velocity ukunceda kuqikelelo lwengqondo;
• Izifumanisi zeLaser/iinkqubo zombono: Isetyenziselwa{0}}ukuchaneka okuphezulu kwangaphandle.
Ukudibanisa-ulwazi lwemithombo emininzi ngohluzo lwe-Kalman okanye i-algorithms yenethiwekhi ye-neural kunokunciphisa kakhulu ukuqokelelana kweempazamo.
3. Uyilo loLwakhiwo kunye nokuPhuculwa koomatshini
Ukuqina kunye neziko lokusasazwa komxhuzulane wesakhiwo somatshini weqonga lichaphazela ngokuthe ngqo ukusebenza kwentshukumo. Iingqwalasela zoyilo ziquka:
• Ukulinganisa ubunzima kunye namandla: Ukusebenzisa i-carbon fiber composite okanye i-aluminium alloy frames;
• Uyilo lwe-Rational drive: Umzekelo, ukuhanjiswa okulingeneyo kwamasebe kwiqonga leStewart kunokunciphisa ukungalingani kwetorque;
• Uyilo lonciphiso lwe-Damping kunye ne-vibration: Ukucinezela ii-vibrations eziphezulu{0}}eziphazamisana nolawulo oluchanekileyo.
III. Iimeko zeSicelo esiQhelekileyo kunye neendlela eziSebenzayo
1. UQeqesho lokulinganisa iFlight/Isithuthi
Amaqonga amathandathu{{0}eqondo{1}}e{2}}enkululeko abonelela ngendawo yoqeqesho eyinyani kubaqhubi okanye abaqhubi ngokulinganisa iziphumo eziguqukayo ezifana nokukhawulezisa kunye nokuthambeka. Iindlela zokuphumeza ziquka:
• Ukuvelisa iindlela ezishukumayo ekujoliswe kuzo ezisekelwe kwiinjini zefiziksi (ezifana neMATLAB/Simulink);
• Ukudibanisa neenkqubo ze-hydraulic servo ukuphumeza ukufuduswa okukhulu kunye nokukhutshwa kwetorque;
• Ukuphucula ingqiqo yonxibelelwano ngokusebenzisa izixhobo zokunika ingxelo.
2. Uvavanyo lweMveliso yeShishini
Kuvavanyo lwengozi yemoto okanye kuvavanyo lwenyikima yemveliso ye-elektroniki, {{0}idigri{1}}e{2}}zamaqonga enkululeko zinokuphinda iimeko zokusebenza ezigqithisileyo. Umzekelo:
• Ukusebenzisa i-random vibration control algorithms ukuvelisa i-excitation spectra ehambelana nemigangatho (efana ne-ISO 16750);
• Ukuqinisekisa ukuqina kwemveliso kusetyenziswa{0}}izinzwa zokufuduswa ezichanekileyo.
3. IiRobhothi zoNyango kunye noBuyiselo kwimo yesiqhelo
Iiplatifti zoqeqesho lokubuyisela kwisimo sangaphambili zinceda izigulane ekubuyiseleni ukusebenza kwamalungu ngokusebenzisa iipateni zentshukumo ezisebenzayo kunye ne-passive. Iiteknoloji eziphambili ziquka:
• Ukulungelelanisa i-amplitude yokunyakaza ngokusekelwe kwizibonakaliso ze-electromyographic (EMG) yesigulane;
• Ukusebenzisa iindlela zokulawula ezithobelayo ukuthintela ukulimala okwesibini.
IV. Izalathiso zoPhuhliso lwexesha elizayo
Ngenkqubela phambili kubukrelekrele bokwenziwa kunye neteknoloji yemathiriyeli entsha, amaqondo amaninzi-e{2}}ze{2}}amaqonga enkululeko asiya kubukrelekrele nakwiminiaturization. Umzekelo:
Ukwazisa iteknoloji yamawele edijithali ukufikelela ngaxeshanye ulawulo lwenyani{0}};
Ukuphuhlisa ii-activators ezikhaphukhaphu ezisekwe kwimilo yealloys yememori;
Ukwandisa kwiindawo ezivelayo ezinje ngee-manipulators zasemkhathini kunye neerobhothi eziphantsi kwamanzi.
Ukuqukumbela
Iinguqulelo zemethodology kwiinqanaba ezininzi-ze{2}}zenkululeko yamaqonga aqhubeleka ukutyhala imida{3}}yentsebenziswano yoomatshini kunye nobuchwephesha bokuzenzela. Ngokudityaniswa okunzulu kwethiyori yolawulo, uyilo lomatshini, kunye nokusetyenziswa kwezifundo ezahlukeneyo, amandla abo aya kukhutshwa kuluhlu olubanzi lweemeko.
