I-multi{{0}degree-ye{2}}yenkundla yenkululeko (MDF) iyithuluzi lomshini elikwazi ukunyakaza okuyinkimbinkimbi kwendawo. Isetshenziswa kabanzi ekulingiseni, ekuhlolweni kwezimboni, ekuhlumelelweni kwezimilo kwezokwelashwa, nasekuzijabuliseni. Inani layo eliyinhloko lilele ekulingiseni ukuziphatha okuguquguqukayo ezindaweni zangempela ngokusebenzisa{5}}ukulawula ukunyakaza kwe-dimensional, okuhlinzeka abasebenzisi ngezimo zokuhlola ezigxilile noma{6}}ezinembayo eziphezulu. Lesi sihloko sizoxoxa ngezimiso zokuklama, ubuchwepheshe obubalulekile, izindlela ezijwayelekile, kanye nezimo zokusetshenziswa kwamapulatifomu e-MDF.
I. Izimiso Eziyisisekelo kanye Nokuhlelwa Kwezinkundla ze-MDF
Izinkundla ze-MDF zifinyelela umnyakazo oguquguqukayo-esikhaleni sobukhulu obuthathu ngokuhlanganiswa kwama-eksisi amaningi okunyakaza alawuleka ngokuzimela (njengokuhumusha nokuzungezisa). Ngokusekelwe enanini lamadigri enkululeko, angahlukaniswa ngezinhlobo ezintathu-zenkululeko-ze{4}}zenkululeko (3-i-DOF) kanye-neziqu eziyisithupha{{8}ze{11}}zenkululeko (6-DOF) izinhlobo. Amaplathifomu e-DOF ayisithupha awuhlobo oluvame kakhulu, olukwazi ukulawula ngesikhathi esisodwa ukususwa komugqa okuthathu (X/Y/Z) nama-engeli ajikelezayo amathathu (roll, pitch, and yaw).
Ngokusekelwe endleleni yokushayela, izinkundla -eziningi{1}}ze{2}}zenkululeko zihlukaniswa kakhulu zibe izigaba ezimbili:
1. Ukudluliswa kwemishini: Lokhu kuncike kumasilinda asebenza ngogesi, ama-actuator kagesi, noma ama-servo motors ukushayela indlela yokuxhuma. Zinikeza amandla okuthwala{2}oqinile kanye nokuzinza kwesakhiwo, okuzenza zifaneleke izinto ezisetshenziswayo ezinzima (njengezifanisi zendiza).
2. Indlela efanayo (njengenkundla ye-Stewart): Lokhu kusebenzisa ukunyakaza okuvumelanayo kwamagatsha amaningi ukuze kulungiswe indawo yenkundla. Zinikeza ukunemba okuphezulu nokusabela okusheshayo, futhi ngokuvamile zisetshenziselwa ukubeka kahle nokulungisa{2}}.
II. Izindlela Zobuchwepheshe Ezibalulekile Zeningi-Iziqu{2}}ze-zeZinkundla Zenkululeko
1. Ama-Algorithms okulawula ukunyakaza
Inselele enkulu-yeziqu{1}eziningi{2}zezinkundla zenkululeko ilele-ekulawuleni okudidiyelwe kwama-eksisi amaningi. Izindlela ezijwayelekile zifaka:
Ukulawulwa kwe-PID: Lokhu kusebenzisa ukulawula{0}}okuphelele{1}}okuphuma kokunye ukuze kulungiswe okukhiphayo kwe-actuator ngayinye, ukulinganisa isivinini sokuphendula nokuzinza. Ifanele imisebenzi eyisisekelo yokubeka.
I-Kinematics ephambene: Lokhu kwehlisa ngokuphambene ama-engeli ahlangene noma ukugudluka ngokusekelwe endaweni okuqondiwe kuyo. Lokhu kudinga inhlanganisela yezibalo zezinombolo noma izindlela zokuhlaziya (njenge-Denavit{1}}indlela yepharamitha ye-Hartenberg) ukuze kubhekwane nokuhlanganisa okungaqondile.
Ukulawula okuguquguqukayo nokulawula okubikezela: Lungisa ngokunamandla amapharamitha okulawula ukuphendula izinguquko zokulayisha noma ukuphazamiseka kwangaphandle ukuze uthuthukise ukuqina kwesistimu.
2. Ukuhlanganiswa Kwenzwa kanye Nempendulo
Ukubona ukunyakaza okunembile kuncike-ekuhlanganiseni kwedatha yezinzwa eziningi, njengalokhu:
• Izifaki khodi: Ukuqapha{0}}isikhathi sangempela se-engeli yemoto noma ukususwa komugqa;
• Amayunithi Wokulinganisa Angabambeki (ama-IMU): Ukuhlinzeka ngedatha yokusheshisa kanye ne-angular velocity ukusiza ekulinganisweni kwesimo sengqondo;
• I-Laser rangefinder/amasistimu okubona: Isetshenziselwa-ukulinganisa kwangaphandle okunembayo okuphezulu.
Ukuhlanganisa{0}}ulwazi lwemithombo eminingi ngokuhlunga kwe-Kalman noma ama-algorithms enethiwekhi ye-neural kunganciphisa kakhulu ukunqwabelana kwamaphutha.
3. Idizayini Yesakhiwo kanye Nokuthuthukiswa Kwemishini
Ukuqina nesikhungo sokusatshalaliswa kwamandla adonsela phansi kwesakhiwo somshini wenkundla kuthinta ngokuqondile ukusebenza kokunyakaza. Ukucatshangelwa kwedizayini kuhlanganisa:
• Ukulinganisa i-lightweight namandla: Ukusebenzisa i-carbon fiber composite noma amafreyimu e-aluminium alloy;
• Isakhiwo sedrayivu enengqondo: Isibonelo, ukusatshalaliswa okulinganayo kwamagatsha endaweni ye-Stewart kunganciphisa ukungalingani kwe-torque;
• Idizayini yokunciphisa i-Damping kanye nokudlidliza: Ukucindezela-ukudlidliza kwamaza aphezulu okuphazamisa ukunemba kokulawula.
III. Izimo Zokusebenza Ezijwayelekile kanye Nezindlela Ezisebenzayo
1. Ukuqeqeshwa Kokulingisa Indiza/Imoto
Izinkundla {{0}eziyisithupha}-ze{2}}zenkululeko zihlinzeka ngendawo yokuqeqeshwa engokoqobo kubashayeli bezindiza noma abashayeli ngokulingisa imiphumela eguqukayo njengokusheshisa nokutshekisa. Izindlela zokuqalisa zihlanganisa:
• Ukukhiqiza ama-trajectories okunyakaza okuqondiwe ngokusekelwe ezinjinini ze-physics (njenge-MATLAB/Simulink);
• Ukuhlanganisa nezinhlelo ze-hydraulic servo ukuze kuzuzwe ukufuduka okukhulu kanye nokuphuma kwe-torque;
• Ukuthuthukisa amaqiniso okusebenzisana ngokusebenzisa izisetshenziswa zokuphendula ngamandla.
2. Ukuhlolwa Kwemikhiqizo Yezimboni
Ekuhloleni ukuphahlazeka kwezimoto noma ukuhlolwa kwe-seismic komkhiqizo we-elekthronikhi, {{0}amadigri{1}}eningi-ezinkundla zenkululeko angaphindaphinda izimo zokusebenza ezidlulele. Ngokwesibonelo:
• Ukusebenzisa ama-algorithms okulawula ukudlidliza okungahleliwe ukuze kukhiqizwe i-spectra evusa amadlingozi ethobelana namazinga (afana ne-ISO 16750);
• Ukuqinisekisa ukuqina komkhiqizo kusetshenziswa{0}}izinzwa zokuthutha ezinembayo eziphezulu.
3. Amarobhothi Ezokwelapha Nokuvuselela
Izinkundla zokuqeqesha ukuhlunyeleliswa zisiza iziguli ukuthi ziphinde zisebenze nezitho ngokusebenzisa amaphethini okunyakaza okusebenzayo nokungenzi lutho. Ubuchwepheshe obubalulekile buhlanganisa:
• Ukulungisa i-amplitude yokunyakaza ngokusekelwe kumasignali esiguli se-electromyographic (EMG);
• Ukusebenzisa amasu okulawula athobelayo ukuze kuvinjelwe ukulimala kwesibili.
IV. Iziqondiso Zokuthuthukiswa Kwekusasa
Ngokuthuthuka kobuhlakani bokwenziwa kanye nobuchwepheshe obusha bezinto ezibonakalayo,{0}}amadigri amaningi--ezinkundla zenkululeko aqhubekela kubuhlakani kanye nokwenza kancane. Ngokwesibonelo:
Sethula ubuchwepheshe obungamawele edijithali ukuze sizuze ukulawula kwangempela ngesikhathi esisodwa-;
Ukuthuthukisa ama-actuator angasindi asekelwe kuma-alloys enkumbulo yomumo;
Ukunwebela ezinkambini ezisafufusa njengama-manipulators emkhathini namarobhothi angaphansi kwamanzi.
Isiphetho
Ukuqanjwa kwezinqubo kuzingxenyekazi{{0}eziningi{1}}ze{2}}zenkululeko ziyaqhubeka nokuphusha imingcele{3}}yokusebenzisa komshini komuntu kanye nobuchwepheshe bokuzenzakalela. Ngokuhlanganiswa okujulile kwethiyori yokulawula, idizayini yemishini, kanye nokusetshenziswa kwemikhakha eyahlukene, amandla azo azovezwa ezinhlobonhlobo ezibanzi zezimo.
