Ukulawulwa okuhlakaniphile kwamarobhothi e-servo: ukuvula isahluko esisha ezenzakalelayo zezimboni

Ukulawulwa okuhlakaniphile kwamarobhothi e-servo: ukuvula isahluko esisha ezenzakalelayo zezimboni

isingeniso
Egagasini lanamuhla elikhulayo lokukhiqiza emhlabeni jikelele, ubuchwepheshe bokuzenzakalela bushintsha izindlela zokukhiqiza ngesivinini esingakaze sibonwe ngaphambili, futhi amarobhothi e-servo idlala indima ebalulekile njengamandla abalulekile. Ayigcini nje ngokuthuthukisa kakhulu ukusebenza kahle kokukhiqiza, kodwa futhi ithuthukisa kakhulu ikhwalithi yomkhiqizo kanye nokuvumelana, ibe yinto egxile kubathengi abaningi bamazwe ngamazwe lapho bethenga imishini yokuzenzakalela. Lesi sihloko sizohlola ngokujulile ukuthi amarobhothi e-servo angafinyelela kanjani ubuhlakani ngobuchwepheshe bokulawula obuthuthukisiwe, kanye nezinzuzo eziningi kanye namathuba amaningi okusetshenziswa alethwa yilokhu kulawula okuhlakaniphile, okuhlinzeka ngolwazi oluphelele nolubalulekile lwereferensi kubathengi abacabanga ukwethula noma ukuthuthukisa amarobhothi e-servo.

1. Ukwakheka okuyisisekelo kanye nesimiso sokusebenza serobhothi ye-servo
(I) Izingxenye eziyinhloko
Irobhothi le-servo lakhiwe kakhulu ngezingxenye zesakhiwo semishini, izinhlelo ze-servo drive, izinhlelo zokulawula kanye nezinzwa ezahlukahlukene. Ingxenye yesakhiwo semishini ihlanganisa izingalo, amalunga, ama-end effectors, njll., okunikeza isisekelo sokunyakaza nokusekelwa kwerobhothi. Uhlelo lwe-servo drive luwumthombo wamandla oqhuba ukunyakaza kwejoyinti ngalinye lerobhothi. Ngokuvamile lwakhiwe yi-servo motor, umshayeli, njll., engalawula ngokunembile ijubane, i-torque kanye nendawo yemoto. Njengobuchopho obuyinhloko berobhothi lonke le-servo, uhlelo lokulawula lunesibopho sokucubungula izimpawu ezahlukahlukene zokufaka, ukusebenzisa ama-algorithms okulawula kanye nokukhipha imiyalelo yokulawula ukuze kufezwe ukusebenza okunembile kwerobhothi. Izinzwa zisatshalaliswa ezingxenyeni ezahlukene zerobhothi futhi zisetshenziselwa ukuzwa ulwazi olufana nendawo, isivinini, amandla, umbono kanye nolunye ulwazi ngesikhathi sangempela, okunikeza isisekelo sokwenza izinqumo zesistimu yokulawula.
(II) Isimiso sokusebenza
Lapho irobhothi le-servo lithola umyalo ovela ohlelweni lokulawula, uhlelo lokushayela i-servo luzokhiqiza i-torque yokushayela ehambisanayo ngokuya ngomyalo, futhi ijoyinti ngalinye lesakhiwo somshini wokushayela lihamba ngokuya ngomzila nesivinini esinqunyiwe. Kule nqubo, inzwa izodlulisela njalo ulwazi lwempendulo njengesikhundla sangempela serobhothi kanye nesivinini ohlelweni lokulawula. Uhlelo lokulawula lulungisa izimpawu zokulawula zokukhipha ngesikhathi sangempela ngokusekelwe kumehluko phakathi kwalolu lwazi lwempendulo kanye nemiyalelo eqondiwe, ukuze Ithini Lerobhothi njalo yenza imisebenzi emisiwe ngokunembile, njengokubamba, ukuphatha, ukuhlanganisa kanye neminye imisebenzi. Isimiso sifana nenqubo yokusebenza ngesandla lapho ukunyakaza kwesandla kwamukela khona imiyalelo yobuchopho futhi kulungiswa njalo ngokwendlela yokubona, ukuthinta kanye neminye impendulo.
2. Ubuchwepheshe obubalulekile bokulawula okuhlakaniphile kwamarobhothi e-servo
(I) Ubuchwepheshe bokulawula i-servo obunembile kakhulu
Isimiso sokulawula i-closed-loop: Ukulawulwa kwe-servo okunembe kakhulu kuyisisekelo sokuqaphela ubuhlakani bamarobhothi e-servo. Ngokuvamile kusebenzisa isakhiwo sokulawula i-loop esivaliwe kathathu sesikhundla, isivinini kanye nogesi. Indandatho yesikhundla ikhipha imiyalo yesivinini ukulawula indawo yokuhamba kwerobhothi ngokuya ngokuphambuka kwesikhundla esinikeziwe kanye nendawo yangempela; indandatho yesivinini ilungisa i-torque yokukhipha yemoto ngokuya ngokuphambuka komphumela womyalo wesivinini kusuka esivinini sangempela, ukuze irobhothi likwazi ukusebenza ngesivinini esizinzile; indandatho yamanje isetshenziswa kakhulu ukulawula ugesi wokushayela wemoto ukuqinisekisa ukuthi imoto ikhipha i-torque waveform engcono kakhulu enkambisweni enamandla, ngaleyo ndlela ifinyelele ukulawula kokubeka okusheshayo, okunembile nokuzinzile, kanye nokunemba kokubeka kungafinyelela ezingeni eliphezulu kakhulu, kuhlangatshezwane ngempumelelo nezidingo eziqinile zokusebenza okunembile ekukhiqizweni kwezimboni.
Ubuchwepheshe bokulawula i-Feedforward: Ngaphezu kokulawula kwendabuko okuvaliwe, ubuchwepheshe bokulawula i-feedforward busetshenziswa kabanzi ekulawuleni i-servo okunembe kakhulu. Ngokubikezela izici eziguquguqukayo zerobhothi ngesikhathi sokunyakaza, ukukhokhela izimpawu zokulawula kusenesikhathi, ukunciphisa ukubambezeleka kokuphendula kwesistimu kanye nokwenzeka ngokweqile, ukuthuthukisa ukunemba kokulawula nokusebenza okuguquguqukayo, ukuze irobhothi likwazi ukuzivumelanisa nezidingo zomsebenzi ezahlukahlukene eziyinkimbinkimbi kanye nokushaya okusheshayo kokukhiqiza ngokushesha.
(II) Ukuhlanganiswa kobuchwepheshe bokubona komshini
Ukwakheka kanye nomsebenzi wesistimu yokubona: Ukubona komshini kuyindlela ebalulekile yokubona amarobhothi e-servo ukuze afinyelele ukulawula okuhlakaniphile. Uhlelo olujwayelekile lokubona komshini luvame ukufaka izingxenye ezifana namakhamera, amalensi, imithombo yokukhanya, kanye nesofthiwe yokucubungula izithombe. Ikhamera isetshenziselwa ukuthwebula ulwazi lwesithombe endaweni yokusebenza yerobhothi, kuyilapho ilensi iqinisekisa ukuthwebula izithombe okucacile kwesithombe. Umthombo wokukhanya unikeza izimo ezinhle zokukhanya ukuze kuthathwe izithombe futhi uqokomisa izici zento eqondiwe. Isofthiwe yokucubungula izithombe inesibopho sokuhlaziya nokucubungula izithombe eziqoqiwe, kufaka phakathi ukucubungula isithombe kusengaphambili, ukukhipha izici, ukuqashelwa kwamaphethini kanye nezinye izinyathelo, ukuze kufezwe ukuhlonza okunembile kanye nokubeka indawo, ukuma, usayizi, umbala kanye nezinye izici zomsebenzi.
Isicelo ku Irobhothi Yiniukulawula: Ezinhlelweni ezisebenzayo, uhlelo lokubona lomshini lungaqondisa irobhothi le-servo ukuthi libone futhi libambe ngokuzenzakalelayo izinto ezinesimo, osayizi nezikhundla ezahlukene ukuze kufezwe ukukhiqizwa okuguquguqukayo. Isibonelo, embonini yokukhiqiza kagesi, uhlelo lokubona lungahlonza ngokunembile indawo yephini kanye nesiqondiso sezingxenye ezincane ze-elekthronikhi, futhi luqondise irobhothi ukuthi lenze imisebenzi yokuxhuma noma yokuhlanganisa enembile kakhulu; emkhakheni wokuhlunga izinto, ngokuhlonza ngokubonakalayo ulwazi lwesigaba kanye nesikhundla sezinto, irobhothi lingahlela ngokushesha nangokunembile futhi libeke izinto ezahlukene ezindaweni ezikhethiwe, lithuthukise ukusebenza kahle kokuhlunga kanye nokunemba, futhi linciphise izindleko zokungenelela ngesandla.
(III) Ubuchwepheshe bokuhlanganisa izinzwa eziningi
Izinhlobo nemisebenzi yezinzwa: Ngaphezu kwezinzwa zokubona komshini, amarobhothi e-servo angahlonyiswa nezinye izinhlobo ezahlukene zezinzwa, njengezinzwa zamandla, izinzwa ze-torque, izinzwa zokusondelana, izinzwa zokucindezela, njll. Izinzwa zamandla nezinzwa ze-torque zingaqapha amandla kanye nobukhulu be-torque yerobhothi ngesikhathi sokubamba nokusebenzisa izinto ngesikhathi sangempela, zivimbele into ukuthi ingasheleli noma yonakale, futhi zinikeze isisekelo sokuqaphela ukulawula amandla; izinzwa zokusondelana nezinzwa zokucindezela zisetshenziselwa ukuthola ibanga kanye nokucindezela kokuxhumana phakathi kwerobhothi nento, ukuqinisekisa ukuthi irobhothi lingasondela ngokuphephile nangokuzinzile futhi libambe into eqondiwe, ligweme ukushayisana kanye nokucindezelwa ngokweqile.
Indlela yokuhlanganisa kanye nezinzuzo: Ubuchwepheshe bokuhlanganisa ama-sensor amaningi bucubungula futhi buhlaziye ngokuphelele izinhlobo ezahlukene zedatha yama-sensor, okuvumela irobhothi ukuthi libone ngokuphelele nangokunembile imvelo ezungezile kanye nesimo salo. Ngokusebenzisa ama-algorithms okuhlanganisa idatha, njengokuhlunga kwe-Kalman, amanethiwekhi e-neural, njll., ulwazi lwama-sensor ahlukahlukene lungalungiswa futhi luhlanganiswe ukuze kuthuthukiswe ukuthembeka nokunemba kolwazi. Isibonelo, lapho irobhothi lenza imisebenzi eyinkimbinkimbi yokuhlanganisa, kuhlanganiswe nolwazi lwesikhundla se-visual sensor kanye nempendulo yamandla ye-force sensor, ukwahlulela okuphelele kohlelo lokulawula kungenza irobhothi lihlanganise ngokunembile izingxenye endaweni ekhethiwe ngamandla ne-engeli efanele, okuthuthukisa kakhulu izinga lempumelelo kanye nokuzinza kwekhwalithi yokuhlanganisa.
(IV) I-algorithm yokulawula ukunyakaza ethuthukisiwe
I-algorithm yokulawula esekelwe kumodeli: I-algorithm yokulawula ukunyakaza okuthuthukisiwe iyisihluthulelo sokusebenzisa ukulawula okuhlakaniphile kwamarobhothi e-servo. Ama-algorithm okulawula asekelwe kumodeli, njengokulawula imodi yokushelela, ukulawula ukuphazamiseka kokuzivikela komzimba, njll., angacindezela ngempumelelo umthelela wokuphazamiseka kwangaphandle kanye nezinguquko zamapharamitha ekusebenzeni kokulawula ngokusungula nokuhlaziya ngokunembile imodeli eguquguqukayo yerobhothi, futhi athuthukise ukuqina kanye nokuzivumelanisa nezimo kwerobhothi. Isibonelo, ezindaweni zokukhiqiza zezimboni, lapho irobhothi libamba izinto ezinesisindo esihlukene noma liphazanyiswa umoya wangaphandle, i-algorithm yokulawula esekelwe kumodeli ingalungisa ngokushesha isu lokulawula ngokusekelwe ekubikezelweni kwemodeli kanye nolwazi lwempendulo yesikhathi sangempela ukuqinisekisa ukuthi indlela yokuhamba kwerobhothi kanye nokunemba kokusebenza akuthinteki futhi njalo igcina isimo sokusebenza esizinzile nesithembekile.
I-algorithm yokulawula ehlakaniphile: Ama-algorithm okulawula ahlakaniphile, njengokulawula okufiphele, ukulawula inethiwekhi ye-neural, ama-algorithms ofuzo, njll., anekhono lokufunda, ukuzivumelanisa nokuzihlela, futhi angakwazi ukulungisa ngokuzenzakalelayo amapharamitha okulawula futhi athuthukise amasu okulawula ngokuya ngokusebenza kwangempela kwerobhothi. Ama-algorithm okulawula afiphele angachaza futhi aphethe ukuziphatha kwesistimu yokulawula okuyinkimbinkimbi ngemithetho efiphele ngokusekelwe kokuhlangenwe nakho kochwepheshe nolwazi ukuze kufezwe ukulawula okungekona okuqondile kwerobhothi, ikakhulukazi okufanelekela izimo zokusebenza eziyinkimbinkimbi okunzima ukusungula amamodeli anembile ezibalo; ukulawula inethiwekhi ye-neural kukhipha ngokuzenzakalelayo ubudlelwano bokufaka nokukhipha imephu yerobhothi ngokufunda nokuqeqeshwa kwenani elikhulu ledatha yesampula, ukuze kufezwe ukuhlonza okusheshayo nokulawula okunembile kwamaphethini okunyakaza ayinkimbinkimbi; ama-algorithms ofuzo angasetshenziswa ukwenza ngcono ukuhlela kwerobhothi ukunyakaza kanye nokwenza ngcono amapharamitha okulawula, ukuthola uhlelo lokulawula olufanele, kanye nokuthuthukisa ukusebenza kahle kanye nokusebenza kwerobhothi.
(V) Ukuxhumana kwenethiwekhi kanye nobuchwepheshe bokuqapha kude
Ukusetshenziswa kobuchwepheshe bokuxhumana kwenethiwekhi: Ngokuthuthuka okusheshayo kwe-inthanethi yezimboni, ubuchwepheshe bokuxhumana kwenethiwekhi budlala indima ebaluleke kakhulu ekulawuleni okuhlakaniphile kwamarobhothi e-servo. Ngokwamukela ubuchwepheshe bokuxhumana obufana ne-Ethernet ne-fieldbus, irobhothi le-servo lingaqhuba ukuxhumana kwedatha okusheshayo nokuthembekile namakhompyutha aphezulu, ama-PLC (abalawuli be-logic abahlelekayo), abalawuli bamarobhothi namanye amadivayisi, ukusebenzisana ngesikhathi sangempela kanye nokwabelana ngolwazi. Isibonelo, Irobhothi ingalayisha isimo sayo sokusebenza, ulwazi lwamaphutha, idatha yokukhiqiza, njll. ohlelweni lokuqapha lwekhompyutha oluphezulu ngesikhathi esifanele, futhi ngesikhathi esifanayo ithole imiyalelo yokulawula kanye nemingcele yomsebenzi ekhishwe yikhompyutha ephezulu ukuqinisekisa ukusebenza okuhlelekile nokuzenzakalelayo kwenqubo yonke yokukhiqiza.
Ukuqapha nokuxazulula izinkinga kude: Ngosizo lobuchwepheshe bokuxhumana kwenethiwekhi, abasebenzisi bangaqaphela ukuqapha nokuxazulula izinkinga kude kwamarobhothi e-servo. Ngokubonisa amapharamitha ahlukahlukene okusebenza kanye nesimo sokusebenza kwerobhothi ngesikhathi sangempela kusofthiwe yokuqapha ikhompyutha ephezulu, opharetha bangasebenza, balungise futhi baqaphe irobhothi besendaweni ekude nendawo yokukhiqiza, bathole futhi baxazulule izinkinga ngesikhathi esifanele, banciphise isikhathi sokungasebenzi, futhi bathuthukise ukusetshenziswa kwemishini kanye nokusebenza kahle kokukhiqiza. Ngaphezu kwalokho, uhlelo lokuhlonza amaphutha olusekelwe ekuhlaziyweni kwedatha enkulu kanye nama-algorithm okufunda komshini lungamba ngokujulile futhi luhlaziye idatha yokusebenza yomlando kanye nedatha yokuqapha yerobhothi ngesikhathi sangempela, babikezele izingozi ezingaba khona zokuhluleka kusenesikhathi, banikeze ukwesekwa okuqinile kokugcinwa kokuvimbela, futhi banciphise izindleko zokulungisa kanye nezingozi zomonakalo wemishini.

3. Izinzuzo zokulawula okuhlakaniphile kwamarobhothi e-servo
(I) Thuthukisa ukusebenza kahle kokukhiqiza
Amarobhothi e-servo ahlakaniphile angafeza ukwenziwa kwesenzo okusheshayo nokunembile, anciphise kakhulu isikhathi sokuqeda umsebenzi. Emgqeni wokukhiqiza, angasebenza ngokuzikhandla futhi alondoloze isigqi sokukhiqiza esizinzile. Uma kuqhathaniswa nokusebenza ngesandla, ukusebenza kahle kokukhiqiza kungathuthukiswa izikhathi eziningana noma ngisho nezikhathi eziningi, kuhlangatshezwane ngempumelelo nezidingo zokukhiqiza okukhulu futhi kuthuthukiswe ukuncintisana kwemakethe kwebhizinisi.
Ngama-algorithms okulawula ukunyakaza athuthukisiwe kanye nokuhlela okuthuthukisiwe kwendlela, irobhothi lingagwema ukunyakaza okungadingekile kanye nezindlela eziphambukayo, lithuthukise ukusebenza kahle kanye nokushelela kokusebenza. Ngesikhathi esifanayo, amarobhothi amaningi e-servo angafeza imisebenzi yokubambisana ngokuxhumana kwenethiwekhi ukuze aqedele imisebenzi yokukhiqiza eyinkimbinkimbi ngokubambisana, aqaphele ukwabiwa kahle kwezinsiza zokukhiqiza kanye nokuxhumana okungenamthungo phakathi kwezinqubo zokukhiqiza, futhi andise ukusebenza kahle kohlelo lonke lokukhiqiza.
(II) Thuthukisa ikhwalithi yomkhiqizo
Ubuchwepheshe bokulawula i-servo obunembile kakhulu buqinisekisa ukuthi irobhothi lingasebenza ngokunembile ngokwezinqubo ezibekiwe kanye nemingcele, lifeze izenzo zokukhiqiza ezihambisanayo kakhulu neziphindaphindwayo, ngaleyo ndlela linciphise ngempumelelo ukuguquguquka kwekhwalithi yomkhiqizo okubangelwa izici zabantu noma ukunemba kwemishini okungazinzile. Isibonelo, ngesikhathi sokucubungula nokuhlanganisa izingxenye, irobhothi lingalawula ngokunembile izinga lokuphakelwa kwethuluzi, indawo yokufaka kanye ne-engeli yezingxenye, njll., ukuqinisekisa ukuthi ukunemba kobukhulu kanye nekhwalithi yokuhlanganisa yomkhiqizo ngamunye kuhlangabezana nezindinganiso eziqinile futhi kuthuthukise izinga lokukhiqiza kanye nokuthembeka komkhiqizo.
Umsebenzi wokuthola ikhwalithi wohlelo lokubona lomshini ungenza ukusebenza kwesikhathi sangempela kokuhlolwa kokubukeka komkhiqizo, ukulinganisa usayizi, ukuhlonza amaphutha kanye neminye imisebenzi ngesikhathi senqubo yokukhiqiza, ukuthola ngokushesha imikhiqizo engafaneleki bese uyihlola ngokuzenzakalelayo futhi uyibhekane nayo, ukuvimbela imikhiqizo emibi ukuthi ingene enkambisweni elandelayo noma emakethe, futhi kuqinisekiswe ukuzinza nokuvumelana kwekhwalithi yomkhiqizo. Ngokuhlaziywa kwezibalo kwedatha yokuthola, kunganikeza futhi isisekelo sokwenza ngcono kanye nokuthuthukiswa kwezinqubo zokukhiqiza, kusize amabhizinisi athuthukise njalo ikhwalithi yomkhiqizo.
(III) Thuthukisa ukuguquguquka kokukhiqiza
Uhlelo lokulawula oluhlakaniphile lwamarobhothi e-servo lunokuhleleka okuhle kanye nokukhula, futhi lungazivumelanisa kalula nezidingo zokukhiqiza kanye nokushintsha kwenqubo yemikhiqizo ehlukene. Ngokushintsha nje uhlelo lokulawula kanye nokulungisa amapharamitha, irobhothi lingashintsha imisebenzi yokukhiqiza ngokushesha, lifeze imodeli yokukhiqiza eguquguqukayo yezinhlobo eziningi kanye namaqoqo amancane, futhi lihlangabezane nesidingo esikhulayo semakethe semikhiqizo eyenziwe ngokwezifiso eyenzelwe wena. Isibonelo, embonini yokukhiqiza imikhiqizo ye-elekthronikhi, ebhekene nokuvuselelwa okuqhubekayo kwamamodeli omkhiqizo nezidingo ezisebenzayo, amabhizinisi angasebenzisa ukuguquguquka kwamarobhothi e-servo ukulungisa ngokushesha ukwakheka komugqa wokukhiqiza kanye nezinqubo zokusebenza, aqalise imikhiqizo emisha ngesikhathi esifanele, futhi abambe amathuba emakethe.
Irobhothi le-servo elihlanganisa umbono womshini kanye nobuchwepheshe bokuhlanganisa ama-sensor amaningi linombono oqinile wemvelo kanye nokuzivumelanisa nezimo, futhi lingabona ngokuzenzakalelayo futhi liphathe izimo ezahlukahlukene zokukhiqiza eziyinkimbinkimbi nezishintshashintshayo. Kungakhathaliseki ukuthi ukuphambuka kwesikhundla sento yokusebenza, ukushintsha kwesimo, noma izinguquko ekukhanyeni, izinga lokushisa kanye nezinye izimo zendawo yokusebenza, irobhothi lingawuqeda ngempumelelo umsebenzi ngokulungisa amasu okulawula kanye nezindlela zokusebenza ngesikhathi sangempela, ukunciphisa ukuncika ekungeneleleni ngesandla kanye nokuthuthukisa ukuguquguquka kanye nokwenza ngokuzenzakalelayo kokukhiqiza.
(IV) Nciphisa ukuqina kwabasebenzi kanye nezindleko zabasebenzi
Kwezinye izindawo zokusebenza eziyingozi, ezinzima noma ezinamandla kakhulu, njengokushisa okuphezulu, umfutho ophezulu, ukuphathwa kwemithwalo enzima okunobuthi nokulimazayo, njll., irobhothi le-servo lingathatha indawo yokusebenza ngezandla, likhulule abaqhubi emisebenzini enzima yomzimba nasezindaweni zokusebenza ezinobungozi obukhulu, linciphise ngempumelelo amandla abasebenzi, futhi liqinisekise ukuphepha kwezimpilo zabantu kanye nempilo yomzimba. Ngesikhathi esifanayo, ngokwanda kwezinga lokuzenzakalela, isidingo sabasebenzi ngamabhizinisi naso sehlile ngokufanele. Ngokuhamba kwesikhathi, singanciphisa kakhulu ukutshalwa kwezimali kwezindleko zabasebenzi futhi sithuthukise izinzuzo zomnotho zamabhizinisi.
Ngaphezu kwalokho, amarobhothi e-servo ahlakaniphile angafeza ukuphathwa kwezinto ezizenzakalelayo, ukulayisha nokukhipha, okunciphisa inani labasebenzi abasizayo kanye nabasebenzi abaphatha izinto ezisetshenziswayo emgqeni wokukhiqiza. Ngokuxhumeka okungenamthungo nezinhlelo zokugcina izinto ezizenzakalelayo, imigqa yokukhiqiza ezenzakalelayo kanye neminye imishini, kwakhiwa uhlelo lokukhiqiza oluhlakaniphile, inqubo yokukhiqiza ithuthukiswa kakhulu, ukusebenza kahle kokukhiqiza okuphelele kuyathuthukiswa, futhi izindleko zokusebenza zebhizinisi ziyancishiswa.
(V) Khuthaza ukuthuthukiswa kokukhiqiza nokuphathwa okuhlakaniphile kwamabhizinisi
Njengengxenye ebalulekile yesistimu yokukhiqiza ehlakaniphile, amarobhothi e-servo angahlangana ngokujulile nezinhlelo zokuphatha ukukhiqiza zebhizinisi (njenge-MES, i-ERP, njll.) ukuze kufezwe ukuqoqwa, ukudluliselwa kanye nokuhlaziywa kwedatha yokukhiqiza ngesikhathi sangempela. Ngokumba kanye nokusetshenziswa kwedatha yokukhiqiza, amabhizinisi angaqonda ngokugcwele ulwazi oluhlukahlukene enkambisweni yokukhiqiza, njengokusetshenziswa kwemishini, ukusebenza kahle kokukhiqiza, ikhwalithi yomkhiqizo, ukusetshenziswa kwezinto ezibonakalayo, njll., enikeza isisekelo sesayensi sokwakhiwa kwezinhlelo zokukhiqiza, ukwenza ngcono ukuhlela ukukhiqiza, kanye nokuphathwa kokugcinwa kwemishini, kanye nokufezwa kwezinqumo zokukhiqiza nokuphatha ezihlakaniphile.
Amarobhothi e-servo ahlakaniphile nawo akhuthaze amabhizinisi ukuthi athuthukele ezindaweni zokusebenzela zedijithali kanye nezimboni ezihlakaniphile. Amarobhothi amaningi kanye nemishini yokuzenzakalela engaphandle, amarobhothi, njll. akha inethiwekhi yokukhiqiza esebenza ngokubambisana nge-inthanethi yezimboni, eqaphela ukuxhumana kanye nokwabelana ngolwazi phakathi kwemishini, yakha uhlelo lokukhiqiza nokukhiqiza olusebenzayo, oluguquguqukayo noluhlakaniphile. Le modeli yokukhiqiza ehlakaniphile ayikwazi nje ukuthuthukisa ukusebenza kahle kokukhiqiza kanye nekhwalithi yomkhiqizo wamabhizinisi futhi ithuthukise ukuncintisana kwemakethe kwamabhizinisi, kodwa futhi iqhube ukuthuthukiswa kanye nentuthuko yochungechunge lonke lwezimboni futhi ifake ugqozi oluqinile ekuguqulweni nasekuthuthukisweni komkhakha wokukhiqiza.

4. Izimo zokusetshenziswa kanye nokuhlaziywa kwamacala okulawula okuhlakaniphile kwamarobhothi e-servo
(I) Imboni yokukhiqiza izimoto
Ekukhiqizeni nasekukhiqizweni kwezingxenye zezimoto eziphelele zezimoto, amarobhothi e-servo asetshenziswa kabanzi ekushiseni, ekumbozeni, ekuhlanganiseni, ekuphatheni nakwezinye izixhumanisi. Isibonelo, endaweni yokusebenzela yokushisisa umzimba wezimoto, amarobhothi amaningi e-servo angasebenza ndawonye, ​​​​futhi ngokulawula ukubeka kahle kakhulu kanye nokuhlela indlela yokushisisa ezinzile, ukushisisa okuzenzakalelayo kwezingxenye zomzimba kufezwa. Ikhwalithi yokushisisa kanye nokusebenza kahle kokukhiqiza kuphakeme kakhulu kunezindlela zendabuko zokushisisa ngesandla. Ngesikhathi esifanayo, uhlelo lokubona komshini lungabona ngokunembile futhi lubeke izikhundla zezingxenye zomzimba, luqinisekise ukuthi i-butt enembile ye-welding fixture kanye nokubekwa okunembile kwezindawo zokushisisa, futhi luthuthukise ukunemba kokuhlanganiswa kanye nekhwalithi iyonke yomzimba.
Emgqeni wokuhlanganisa wenjini yemoto, irobhothi le-servo linesibopho sokufaka nokuqinisa izingxenye ezahlukahlukene, njengezinhloko zesilinda, ama-crankshaft, izinduku zokuxhuma, njll. ezinqubweni zokuhlanganisa eziqinile kanye nokulandelana. Ngokusekelwe kubuchwepheshe bokulawula i-servo obunembile kakhulu kanye nokulawula impendulo ye-torque, irobhothi lingalawula ngokunembile amandla okuhlanganisa, ligweme ukulimala nokukhululeka kwezingxenye, futhi liqinisekise ikhwalithi yokuhlanganisa kanye nokuqina kokusebenza kwenjini. Ngaphezu kwalokho, ngokuhlanganiswa nohlelo lokuphatha ukukhiqiza, ukuqapha idatha yokukhiqiza kanye nesimo semishini ngesikhathi sangempela, ukulungiswa ngesikhathi esifanele kwezinhlelo zokukhiqiza kanye nokuxazulula izinkinga enqubweni yokukhiqiza, ukusebenza kahle kokukhiqiza kanye nezinga lokuzenzakalela komugqa wokuhlanganisa injini kuyathuthukiswa.
(II) Imboni Yokukhiqiza Izinto Ze-elekthronikhi
Enqubweni yokukhiqiza imikhiqizo kagesi, njengezingcingo eziphathwayo, amakhompyutha, izinto zasekhaya, njll., amarobhothi e-servo adlala indima ebalulekile kuma-plug-in, ama-patches, ukuhlanganiswa, kanye nokuhlolwa. Isibonelo, enqubweni yokuxhuma ibhodi lesifunda, amarobhothi e-servo ashesha kakhulu futhi anembile angafaka ngokushesha nangokunembile izingxenye ezahlukene ze-elekthronikhi ezindaweni ezikhethiwe zebhodi lesifunda, futhi ukunemba kwe-plug-in kungafinyelela ezingeni eliphezulu kakhulu, kuthuthukise kakhulu ukusebenza kahle kokukhiqiza kanye nekhwalithi yomkhiqizo. Uhlelo lokubona komshini lungabona futhi luhlele ngokunembile izikhundla zamaphedi kanye nezikhonkwane zezingxenye ebhodini lesifunda, kuqinisekiswe ukunemba nokuthembeka kwe-plug-in.
Ekuhlanganiseni nasekuhloleni imikhiqizo kagesi, irobhothi le-servo lingahlonyiswa ngezinto ezahlukahlukene ezikhethekile zokuqeda kanye nemishini yokuhlola, njengezikulufo, ama-tweezers, ama-test probe, njll., ukuze kufezwe ukuhlanganiswa okucwengekile kanye nokuhlolwa okuzenzakalelayo kwemikhiqizo kagesi. Ngokusebenzisa ama-algorithms okulawula ahlakaniphile kanye nobuchwepheshe bokuphendula kwenzwa, irobhothi lingalungisa ngokuzenzakalelayo amandla okusebenza kanye namapharamitha okuthola ngokuya ngamamodeli ahlukene omkhiqizo kanye nezidingo zokuthola, futhi liqedele imisebenzi eyinkimbinkimbi njengokuqinisa izikulufo, ukufakwa kwezingxenye, ukuhlolwa kokusebenza, njll., okuthuthukisa izinga lokuguquguquka kanye nobuhlakani bokukhiqizwa kwamabhizinisi okukhiqiza kagesi, kufinyeze umjikelezo wokukhiqiza umkhiqizo, futhi kunciphise izindleko zokukhiqiza.
(III) Imboni Yokudla Neziphuzo
Ekukhiqizeni, ekupakisheni nasekuphatheni ukudla neziphuzo, ukusetshenziswa kwamarobhothi e-servo kuya ngokuya kuba kukhulu. Isibonelo, endaweni yokusebenzela yokucubungula ukudla, irobhothi lingaba nesibopho sokuhlunga, ukubhokisa, ukufaka izikhwama kanye neminye imisebenzi yokudla okucutshunguliwe, futhi amakhono alo okubamba nokuphatha okusheshayo nokuzinzile angahlangabezana nezidingo ezikhiqiza kakhulu zokukhiqizwa kokudla. Ngesikhathi esifanayo, izinto zokudla ezisezingeni eliphezulu kanye nomklamo okhethekile wokuvikela kuqinisekisa ukuthi irobhothi lingasebenza ngokuphephile nangokuthembekile ezindaweni ezinzima njengezimanzi nezinamafutha, futhi lihambisane nezindinganiso zokuhlanzeka nokuphepha kwemboni yokudla.
Emigqeni yokukhiqiza ukugcwalisa nokupakisha iziphuzo, amarobhothi e-servo ingakwazi ukulayisha, ukuphatha, ukupakisha kanye nokufaka ama-pallet ngokuzenzakalelayo kwamabhodlela eziphuzo. Ngokulawula ukuxhumanisa nemishini yokugcwalisa, imishini yokupakisha kanye neminye imishini, irobhothi lingakwazi ukulungisa ngokuzenzakalelayo isigqi sokusebenza ngokwejubane lomugqa wokukhiqiza, futhi likwazi ukufeza inqubo yokukhiqiza ezenzakalelayo kanye neqhubekayo. Ngaphezu kwalokho, kuhlanganiswe nobuchwepheshe bokubona okubonakalayo kanye nohlelo lokulawula irobhothi, izandla zerobhothi zingazivumelanisa nezimo nezidingo zokupakisha zamabhodlela eziphuzo anezincazelo nezimo ezahlukene, zithuthukise ukuguquguquka nokuguquguquka komugqa wokukhiqiza, futhi zinciphise izindleko zokutshalwa kwezimali kwemishini yenkampani.
(IV) Imboni Yezokuthutha kanye Nezindawo Zokugcina Izimpahla
Esikhungweni sezokuthutha kanye nesitoreji, amarobhothi e-servo asetshenziswa kakhulu ekuphatheni imithwalo, ukuhlunga, ukufaka amaphalethi kanye nemisebenzi yokungena nokuphuma esitorejini. Isibonelo, endaweni enkulu yokugcina impahla ezenzakalelayo enezinhlangothi ezintathu, ama-stacker aqhutshwa yi-servo kanye namaloli okuthutha angakwazi ukugcina nokuphatha izimpahla kahle phakathi kwamashalofu, kanye nokulawula kwawo ukubeka indawo okunembile kanye namakhono okusebenza ngesivinini esikhulu kuthuthukisa kakhulu ukusetshenziswa kwesikhala kanye nokugcina imithwalo yesitoreji. Ngesikhathi esifanayo, ngokuthunyelwa kanye nomyalo wohlelo lokuphatha isitoreji, irobhothi lingasebenza ngokubambisana namabhande okuhambisa impahla, ukuhlunga amarobhothi kanye neminye imishini ukuze kufezwe ukuhlunga nokusabalalisa izimpahla okuzenzakalelayo, futhi kuthuthukiswe ukusebenza kahle kwezimpahla kanye nekhwalithi yesevisi.
Emkhakheni wezokuthutha ezisheshayo, amarobhothi okuhlunga ahlakaniphile ahlanganisa umbono womshini kanye nobuchwepheshe bobuhlakani bokwenziwa ukuze abone ngokushesha ibhakhodi, ikhodi ye-QR noma ulwazi lwesithombe lwamaphasela asheshayo, futhi ahlukanise ngokuzenzakalelayo futhi ahlele imisebenzi ngokusekelwe kulwazi oluya lapho uya khona. Isivinini sokuhlunga kanye nokunemba kuphakeme kakhulu kunendlela yokuhlunga ngesandla. Lokhu akugcini nje ngokuthuthukisa ukusebenza kahle kwezinkampani zokulethwa kwe-express futhi kunciphisa izindleko zabasebenzi, kodwa futhi kunciphisa izikhalazo zamakhasimende kanye nokulahlekelwa okubangelwa amaphutha okuhlunga, futhi kuthuthukisa ukuncintisana kwemakethe yenkampani.

5. Izitayela zentuthuko yesikhathi esizayo kanye namathemba
(I) Izinga eliphezulu lobuhlakani
Ngokuthuthuka okuqhubekayo kanye nokusungula izinto ezintsha kubuchwepheshe bobuhlakani bokwenziwa, amarobhothi e-servo azoba nekhono lokufunda eliqinile kanye namakhono okuqonda. Ama-algorithms okufunda okuqinisiwe azosetshenziswa kabanzi ekwenzeni ngcono ukulawula kwamarobhothi, okuwavumela ukuthi alungise ngokuzenzakalelayo amasu okulawula kanye namaphethini okuziphatha ngokusebenzisana okuqhubekayo nokufunda nendawo ukuze azivumelanise nezidingo zomsebenzi eziyinkimbinkimbi nezishintshashintshayo kanye nezimo zomsebenzi. Isibonelo, amarobhothi angafunda ngokuzimela ukuthi angabamba kanjani, asebenzise amakhono kanye nokusebenza kwezinto ezahlukene, athuthukise ngokuqhubekayo ukusebenza kwawo kahle kanye nokuguquguquka, futhi anciphise ukuncika kwawo ekuhleleni nasekulungiseni amaphutha kwabantu.
Ubuchwepheshe bokubambisana phakathi kwabantu namakhompyutha buzothuthukiswa futhi buthandwe. Irobhothi le-servo lesikhathi esizayo ngeke lisaba amadivayisi e-automation ahlukanisiwe, kodwa umlingani ohlakaniphile ongasebenza eduze nangokuphepha nabasebenzi abangabantu. Ngokusebenzisa izixhumi zemvelo zokuxhumana phakathi kwabantu namakhompyutha, njengokulawula izwi, ukuqashelwa kwezimpawu, isixhumi esibonakalayo phakathi kobuchopho namakhompyutha kanye nobunye ubuchwepheshe, abaqhubi bangaqondisa amarobhothi ukuthi aqedele imisebenzi ehlukahlukene ngokwemvelo nangokulula, efinyelela izinzuzo ezihambisanayo phakathi kwabantu namakhompyutha. Ngesikhathi esifanayo, irobhothi lizoba nokuqonda okuphezulu kokuphepha kanye namakhono okuzivikela, futhi lingaqapha indawo kanye nokunyakaza kwabantu abazungezile ngesikhathi sangempela lapho labelana ngendawo yokusebenza nabantu, lilungise ngokuzenzakalelayo isivinini sokusebenza namandla, futhi liqinisekise ukuphepha nokuthembeka kokubambisana phakathi kwabantu namakhompyutha.
(II) Ukunemba okuphezulu kanye nesivinini
Ukuthuthukisa ama-servo motors nabashayeli abasebenza kahle kakhulu, ukuthuthukisa i-torque density, amandla density kanye nesivinini sokuphendula kwemoto, ngenkathi kunciphisa ukudlidliza nomsindo wemoto kuzoba ngenye yezindlela ezibalulekile zokuthuthukiswa kwesikhathi esizayo kwamarobhothi e-servo. Ukusetshenziswa kwezinto ezintsha zemoto kanye nezinqubo zokukhiqiza, njengezinto ezihlala njalo ze-rare earth magnet materials, ama-bearings anejubane eliphezulu, ubuchwepheshe bokushintshashintsha kwejubane eliphezulu, kuzothuthukisa kakhulu izinkomba zokusebenza kwama-servo motors futhi kuhlinzeke ngokusekelwa okuqinile kwamarobhothi ukuze kufezwe ukunemba okuphezulu kokunyakaza kanye nesivinini.
Ngokuphathelene nama-algorithm okulawula, amasu okulawula ukunyakaza athuthuke kakhulu azohlolwa njalo futhi athuthukiswe, njengokusetshenziswa kokuhlanganiswa kwama-algorithms ngokusekelwe ekulawuleni ukubikezela kwemodeli, ukulawula okuguquguqukayo, ukulawula isakhiwo esiguquguqukayo semodi eshelelayo kanye namanye ama-algorithms, ukuze kufezwe isinxephezelo esinembile kanye nokulawula ukwenza ngcono izici eziyinkimbinkimbi zerobhothi, futhi kuthuthukiswe ukunemba kokuqina kanye nokulandelela umkhondo werobhothi ekuhambeni okusheshayo nangokunembile. Ngaphezu kwalokho, ngokwenza ngcono ukwakheka kwesakhiwo kanye nohlelo lokudlulisela irobhothi, ukunciphisa ukucaca kwemishini kanye nomzuzu wokulinganisa i-inertia nakho kuzosiza ekuthuthukiseni ukusebenza okuguquguqukayo kanye nokunemba kokulawula irobhothi.
(III) Ukuqonda okunamandla kanye namakhono okuxhumana
Ukuthuthuka okuqhubekayo kobuchwepheshe bezinzwa kuzothuthukisa kakhulu ikhono lokubona lamarobhothi e-servo. Ngaphezu kwezinzwa ezikhona njengombono, amandla, isikhundla, kanye nesivinini, kuzovela izinzwa ezintsha nezisebenza kahle esikhathini esizayo, njengezinzwa ezithintayo, izinzwa zokuhogela, izinzwa zokushisa, njll., okuvumela amarobhothi ukuthi abone ngokuphelele nangokucophelela izici ezahlukahlukene zomzimba nezamakhemikhali zemvelo nezinto ezizungezile, okuhlinzeka ngolwazi olucebile lokufeza imisebenzi engokoqobo nengokwemvelo yokusebenzisana.
Ukuhlanganiswa okujulile kobuchwepheshe be-virtual reality (VR)/Augmented Reality (AR) kanye namarobhothi e-servo kuzohlinzeka abaqhubi ngolwazi olusebenziseka kalula nolujulile. Ngokugqoka imishini ye-VR/AR, abaqhubi bangabuka indawo yokusebenza kanye nolwazi lwesimo serobhothi ngesikhathi sangempela, futhi balawule kude irobhothi ukuze baqedele imisebenzi ehlukahlukene eyinkimbinkimbi ngemiyalo noma izenzo ezibonakalayo, njengokungathi ziyajulile. Le ndlela yokusebenzisana yokuhlanganisa i-virtual ne-real izoba namathuba amaningi okusebenzisa ekuhlinzeni kwezokwelapha nge-telemedicine, ukuhlola isikhala, imisebenzi yolwandle olujulile kanye neminye imikhakha, okwandisa ububanzi besicelo kanye nenani lamarobhothi e-servo.
(IV) Izicelo zemboni ezisakazeke kabanzi
Ngokuvuthwa okuqhubekayo kobuchwepheshe berobhothi ye-servo kanye nokwehla kancane kancane kwezindleko, izindawo zokusetshenziswa kwayo zizoqhubeka nokukhula futhi zingene ezimbonini eziningi. Ngaphezu kwezimboni zokukhiqiza zendabuko kanye nezokuthutha kanye nezindawo zokugcina impahla, ezolimo, amahlathi, ezokudoba, ezokwelapha kanye nezempilo, ezokwakha, ezindiza kanye nezinye izimboni nazo zizoba yisigaba esisha samarobhothi e-servo ukukhombisa amandla awo.
Emkhakheni wezolimo, amarobhothi e-servo angasetshenziswa ekutshaleni, ekuqoqeni, ekuhlungeni, ekupakisheni nakwezinye izici zezitshalo ukuthuthukisa ukusebenza kahle kokukhiqiza kwezolimo kanye nekhwalithi yomkhiqizo wezolimo, nokunciphisa ukushoda kwabasebenzi; emkhakheni wezokwelapha nowezempilo, amarobhothi angasiza odokotela emisebenzini yokuhlinzwa, ekuqeqeshweni kokuvuselelwa, ekusabalalisweni kwezidakamizwa nakweminye imisebenzi, futhi athuthukise izinga nokunemba kwezinsizakalo zezokwelapha; embonini yokwakha, amarobhothi angahlanganyela emisebenzini yokwakha efana nokuphatha, ukufaka, ukushisela izingxenye zokwakha, nokuthuthukisa indawo yokusebenza kanye nokuphepha kokwakha kwabasebenzi bokwakha; emkhakheni wezindiza, amarobhothi e-servo anembile kakhulu futhi anokwethenjelwa kakhulu azodlala indima engenakuphikwa ekukhiqizweni kwesathelayithi, ukuhlanganiswa kwezindiza, ukuhlola isikhala, njll., futhi akhuthaze ukuthuthukiswa kwemboni yezindiza zabantu.