Njengengxenye eyinhloko yobuchwepheshe besimanje bokuzenzakalela, umqondo wokuklama wesistimu yokulawula ukunyakaza unquma ngokuqondile imingcele yokusebenza kwesistimu kanye nenani lohlelo lokusebenza. Iqhutshwa i-Industrial 4.0 kanye nokukhiqiza okuhlakaniphile, ukulawula ukunyakaza kushintshile kusukela ekulawuleni okujwayelekile komshini kuya enqubweni yobunjiniyela yesistimu eyinkimbinkimbi ehlanganisa ubuchwepheshe bezinzwa, ukuxhumana{2}}kwesikhathi sangempela, ubuhlakani bokwenziwa, nokusebenzisana kwemikhakha eminingi. Idizayini yayo ayisekho kuphela ekumisweni okunembile kwedivayisi eyodwa; iphishekela ukuhlanganiswa kokusabela okuguquguqukayo, ukwenziwa kahle kwamandla, nokwenza izinqumo ezihlakaniphile-kuyo yonke inqubo yokukhiqiza. Lokhu kudinga abaklami ukuthi basebenzise indlela ehleleke kakhudlwana futhi bachaze kabusha ubudlelwano phakathi kokulawula okunengqondo, ukwakheka kwezingxenyekazi zekhompuyutha, kanye ne-software ecosystem.
I. Ukunemba: I-Evolution esuka ku-Mechanical Precision kuya ku-Digital Closed Loop
Umgomo wokuqala wezinhlelo zokulawula ukunyakaza bekulokhu "ukunemba." Kungakhathaliseki ukuthi i-micron-izinga lokulawula iphutha ekucutshungulweni kwethuluzi lomshini we-CNC, i-nanometer{2}}indawo yokuma kweleveli yokudluliswa kwe-wafer kumshini we-semiconductor, noma ukuvumelanisa kweleveli ye-millisecond-yamalunga erobhothi, konke kuncike encazelweni enembile nokulawula ukunyakaza komzimba. Ngemiklamo evamile, ukunemba ngokuyinhloko kufinyelelwa ngesitaki sehadiwe esihlanganisa{5}}izifaki khodi zokucaca okuphezulu, izinciphisi ezinembayo, nama-servo motors. Kodwa-ke, imiqondo yesimanje yokuklama igcizelela ukwakhiwa "kwe-loop evaliwe yedijithali." Lokhu kuhlanganisa ukufaka kudijithali imodeli eguquguqukayo yesistimu (isb, ukuqina, ukumanzisa, kanye ne-inertia matrix) nokuyihlanganisa{10}}nedatha yempendulo yesikhathi sangempela/yesivinini/enamandla. Lokhu kuvumela i-feedforward ehlanganisiwe{12}}yempendulo yesinxephezelo samaphutha angaqondile (isb, isinxephezelo sokungqubuzana nokulungiswa kokushintsha kwe-thermal) ngaphakathi kwe-algorithm yokulawula. Isibonelo, isilawuli esinyakazayo{16}sesikhungo somshini wama-axis amahlanu silungisa ngokuguqukayo ijika lokuphumayo kwe-torque ye-servo motor ye-eksisi ngayinye ngokusekelwe{17}}ekugadweni kwesikhathi sangempela kwethuluzi{18}}amandla okuxhumana ocezu lokusebenza. Lokhu kuthuthukisa uhlelo lwe-loop olujwayelekile olukabili{20}}lwe-loop ye-position + ye-loop ye-loop" ukuze lube -olulophu oluthathu noma{23}}oluningi{23}}uhlelo oluhlanganisa ukulawula amandla, ngaleyo ndlela kuqedwe amaphutha anqwabelene kumishini eyinkimbinkimbi yendawo.
II. Intelligence: Ushintsho lusuka ku-Preset Logic ukuya ekuthatheni isinqumo esizihambelayo{1}}
I-logic yedizayini yamasistimu okulawula ukunyakaza kwangaphambi kwesikhathi "yayiqhutshwa-ngomthetho." Onjiniyela babhale izinhlelo zokulawula ezingaguquki (isb, imidwebo yesitebhisi noma-ikhodi) ngokusekelwe ezidingweni zenqubo, futhi isistimu yayisebenza ngokuvumelana nomgudu ochazwe ngaphambilini. Kodwa-ke, ngobunkimbinkimbi obukhulayo bezimo zohlelo lokusebenza (ezifana-njengokukhiqizwa kwenqwaba ephezulu,{7}}okuphansi{7}}ekukhiqizweni okuguquguqukayo kanye nesithiyo{8}}ukugwema ukuqondiswa kwamarobhothi esevisi ezindaweni ezingaziwa), lo mklamo oqinile awusaneli. Umqondo wedizayini ehlakaniphile wezinhlelo zesimanje zokulawula ukunyakaza uhlanganisa ngokuyisisekelo iluphu evaliwe "yokubona{10}}kokubona{11}}isinqumo{12}}sokwenza" ekwakhiweni kokulawula. Ngokuhlanganisa izinzwa ezibukwayo (njengamakhamera e-3D), izinzwa zamandla ({15}}njengezinzwa ze-torque eziyisithupha), namamojula okubona kwemvelo, isistimu ingathola izici zejiyomethri, izici ezibonakalayo, nolwazi lwesithiyo oluguqukayo lwento yomsebenzi ngesikhathi sangempela. Amayunithi ekhompiyutha e-Edge (njengama-control ashumekiwe afakwe ama-accelerator chips) asebenzisa amamodeli okufunda omshini (njengamanethiwekhi e-convolutional neural okuqaphela into nokufunda okuqiniswayo kokuhlela indlela) ukuze kuguqulwe idatha yokubona ibe amasu okulawula. Okokugcina, imiyalelo yesinqumo isatshalaliswa kuyunithi ngayinye yokusebenza ngebhasi lokulawula elisabalalisiwe (njenge-EtherCAT noma isikhathi se-TSN{18}}inethiwekhi ezwelayo). Isibonelo, isilawuli esinyakazayo se-AGV (imoto eqondisiwe ngokuzenzakalela) asisancikile emicu kazibuthe yaphansi noma amakhodi e-QR ukuze azulazule. Kunalokho, isebenzisa i-lidar ukwakha imephu yemvelo{21}yesikhathi sangempela futhi ihlela ngendlela eshukumisayo izindlela zokugwema izithiyo ngokusekelwe kumasu okufunda okuqiniswa okujulile, kuyilapho ididiyela isivinini semoto kanye ne-engeli yokuqondisa ukuze kuzuzwe ukunyakaza okushelelayo. Lo mklamo uvumela isistimu ukuthi ivumelane nezinguqulo zesakhiwo se-warehouse ngaphandle kokuhlela kabusha.
III. Ukusebenzisana: I-Evolution ukusuka ku-Standalone Control kuya ekuhlanganisweni kwesistimu
Ezimweni eziyinkimbinkimbi zezimboni, ukuthuthukisa ukusebenza kweyunithi eyodwa yokulawula ukunyakaza akusanele ukubhekana nezinselele zokusebenza kahle. Izimo ezifana nokuhlanganisa okuhlanganyelwe okubandakanya amarobhothi amaningi, ukukhanda okuhlanganisiwe kusetshenziswa{1}}imishini eminingi ye-CNC ye-axis, kanye nokusebenza okuvunyelanisiwe kwayo yonke imigqa yokukhiqiza kudinga amasistimu okulawula ukunyakaza ukuze abe "nobuhlakani obuswebezelayo." Umqondo womklamo oyinhloko ushintshela kokuthi "ukuhlanganyela," okusho ukuzuza ukuvumelanisa ukunyakaza nokuthuthukiswa kwensiza kuwo wonke amathuluzi kanye nezinyathelo zokucubungula ngenkundla yokushejula ehlanganisiwe. Ngokucacile, lokhu kudinga i-architecture yokulawula enezingqimba: Phansi isendlalelo esingezansi yisilawuli sokunyakaza sangempela esizimele{4}}(ngokuvamile esinesikhathi somjikelezo esingaphansi kuka-1ms), esinesibopho sokulandela{6}}ukunemba kwe-trajectory. Isendlalelo esimaphakathi kukhona umugqa wokukhiqiza-wezinga lokulawula isilawuli (nesikhathi somjikelezo esicishe sibe ngu-10-}100ms), esisingatha izithiyo zesikhathi kuwo wonke amadivayisi amaningi (okufana nokufanisa isigqi sezingalo zamarobhothi namabhande okuthutha) futhi sixazulule ukungqubuzana (isibonelo, ukuvimbela i-AGV eminingi ngesikhathi esisodwa). Phezulu kwesendlalelo kukhona-isistimu yokulawula ukukhiqizwa kwezinga lasefekthri (umjikelezo wesikhathi esidlula amasekhondi), olwaba imisebenzi ngokususelwe kuhlelo olubalulekile kanye nesimo sezisetshenziswa. Isibonelo, endaweni yokusebenzela yokushisela izimoto, izilawuli zokunyakaza zamarobhothi amaningi okushisela afinyelela ukuvumelanisa kweleveli ye-microsecond nge-Profinet IRT (I-Isochronous Real{16}}Inethiwekhi Yesikhathi). Ziphinde zihlanganyele nesistimu yokuthunyelwa emaphakathi ukuze kulungiswe ukulandelana kwe-welding namapharamitha endlela ngokusekelwe{18}}ekushintsheni kwemodeli yemoto yesikhathi sangempela, okuqinisekisa izikhathi zomjikelezo ezingaguquki kuwo wonke umugqa wokukhiqiza. Lo mklamo wokuhlanganyela awugcini nje ngokuthuthukisa ukusebenza kahle kokukhiqiza kodwa futhi unika amandla ukuphathwa kokwethembeka komjikelezo wempilo ephelele ngokwabelana ngedatha (njengezici zomthwalo kanye nolwazi lokuqagela amaphutha kudivayisi ngayinye).
IV. Ukusimama: Kucatshangelwa Ukusebenza Kwamandla Nokuguquguquka
Idizayini yezinhlelo zesimanje zokulawula ukunyakaza kufanele futhi ibhekane nezidingo zokukhiqiza okuluhlaza-ukunciphisa ukusetshenziswa kwamandla kuyilapho kuqinisekisa ukusebenza nokujwayela ukuphindaphinda kwenqubo yesikhathi esizayo ngesakhiwo semodular. Ukuze kuthuthukiswe ukusebenza kahle kwamandla, abaklami banciphisa ukumosheka kwamandla ngokuhlaziya amaphrofayili okusebenza kwezimoto (isb., ukushintsha ukusuka kusivinini esingaguquki kuya esivinini esiguquguqukayo), basebenzise amabhuleki okuvuselela kabusha (ukubuyisela amandla e-kinetic ukusuka ekuncipheni ukuya kugridi), kanye nokumadanisa komthwalo ohlakaniphile (ukulungisa ngokuguquguqukayo izinga lamandla e-servo motor ngokusekelwe ezidingweni zomsebenzi). Isibonelo, amasistimu okulawula ukunyakaza kwekheshi abala iphrofayili yokusheshisa efanele ngesikhathi sangempela ngokusekelwe emthwalweni wemoto kanye nebanga eliya endaweni eqondiwe, enciphisa ukusetshenziswa kwamandla emoto kuyilapho eqinisekisa ukunethezeka kwabagibeli. Idizayini eguquguqukayo ibonakala ekumisweni kokusebenzelana kwezingxenyekazi zekhompuyutha (njengokusekela izivumelwano eziningi zokuxhumana) kanye nokwanda kokusebenza kwesofthiwe (njengokuvula izixhumanisi ze-algorithm eziyinhloko ngama-API ukuze kuthuthukiswe umsebenzisi). Lokhu kuvumela isistimu yokulawula efanayo ukuthi iguqulelwe ngokushesha ezimbonini ezahlukene (njengokusuka ku-3C electronics ukuhlanganiswa kuya emaphaketheni emithi) noma izinqubo ezintsha (njengokwengeza isinyathelo sokuhlola okubukwayo). Le filosofi "yomklamo kanye, sebenzisa kabusha izikhathi eziningi" imfushane kakhulu imijikelezo yokuthuthukiswa kwemishini futhi yehlise{9}}izindleko zesikhathi eside zobunikazi kubasebenzisi.
Kusukela ekulawuleni kwekhamera komshini wenkathi yenjini yesitimu kuya kumasistimu okusebenzisana ahlakaniphile enkathi yedijithali, ifilosofi yokuklama yezinhlelo zokulawula ukunyakaza iye yavela ngokuqhubekayo eduze nezimiso "zencazelo enembe kakhudlwana yokunyakaza, ukusabela okuhlakaniphe kakhulu kuzinguquko, kanye nokuhlanganiswa kwensiza okusebenza kahle kakhulu." Imiklamo yesikhathi esizayo izophinde ihlanganise ubuchwepheshe obufana namawele edijithali (ukuhlola kuqala amasu okulawula ngamamodeli abonakalayo), ukusebenzisana{1}namafu (ukukhipha eminye imisebenzi yekhompuyutha efwini), kanye nokulawula okuphefumulelwe kwe-bio-(ukulingisa izici zokusebenzisa eziguquguqukayo zemisipha yomuntu). Lokhu kuzoguqula indima yokulawula ukunyakaza ukusuka "ethuluzini" ukuya "kuzakwethu"{4}}okungagcini nje ngokwenza imiyalelo kodwa futhi oqondayo injongo yenqubo, elindele izingozi ezingaba khona, futhi ethuthukisa ngokuqhubekayo ukuziphatha kwayo. Lokhu kudinga ukuthi abaklami bagqashule emikhawulweni yobuchwepheshe obubodwa futhi bahlanganise ngokujulile oomakhenikha, ama-electronics, isofthiwe nobuhlakani bokwenziwa ngomcabango wobunjiniyela bezinhlelo, ekugcineni bakhe uhlelo olulandelayo{6}}lokulawula ukunyakaza kwesizukulwane olunokwethenjelwa, oluvumelana nezimo futhi oluguquguqukayo.
