Igikoresho c'umwidegemvyo (MDF) ni igikoresho gishobora gukora inyigisho zikomeye zo mu kirere. Ikoreshwa cane mu kwigana, mu gupima mu nganda, mu gusubiza mu buryo ubuvuzi, no mu vyo kwisamaza. Agaciro kayo nyamukuru kari mu kwigana inyifato zihinduka mu bidukikije vy’ukuri biciye mu kugenzura inyigisho z’ingero nyinshi, guha abakoresha ivy’igerageza vy’ukuri canke vy’ukuri. Iki kiganiro kizovuga ku ngingo ngenderwako zo guhingura, ubuhinga nyamukuru, uburyo busanzwe, n’ingene ama platforms ya MDF akoreshwa.
I. Ingingo ngenderwako z'ishimikiro n'ugushira mu migwi ama platforms ya MDF
Ivyuma vya MDF mu vy’ukuri bishika ku nyigisho zihinduka mu kibanza c’ingero zitatu- biciye mu guhuza imirongo myinshi y’inyigisho ishobora kugenzurwa yigenga (nk’uguhindura n’uguhindukiza). Hashingiwe ku mubare w’ingero z’umwidegemvyo, zishobora guca mu bwoko butatu-ingero{3}}z’-umwidegemvyo (3-DOF) n’ingero zitandatu-z’umwidegemvyo-(6-DOF). Ivyuma bitandatu vy’amabarabara ni vyo bikunze gukoreshwa cane, bishobora kugenzura icarimwe ukuntu ibintu bitatu bihinduka (X/Y/Z) be n’ibice bitatu vy’uguhinduka (uguhinduka, uguhinduka, n’uguhinduka).
Hashingiwe ku buryo bwo gutwara, amabarabara y'umwidegemvyo menshi -degree-y'-agabanywemwo ibice bibiri:
1. Ugutanga amakuru mu buryo bw’amashini: Ivyo bishingiye ku bikoresho vy’amazi, ku bikoresho vy’umuyagankuba canke ku bikoresho vy’umuyagankuba kugira ngo bikoreshe ubuhinga bwo guhuza. Zitanga ubushobozi bukomeye bwo kwikorera umuzigo-n’ugushikama kw’imiterere, bikaba bituma zishobora gukoreshwa mu bikoresho bikomeye (nk’ibikoresho vy’indege).
2. Uburyo bwo gukorana (nk’ibarabara rya Stewart): Ivyo bikoresha inyigisho y’amashami menshi kugira ngo bitunganye aho ibarabara riri. Bitanga ukuri gukomeye n'inyishu yihuta, kandi bikoreshwa cane mu gushiramwo ukuri no gutunganya neza-.
II. Uburyo bw'ubuhinga bw'ingenzi bw'Ivyigwa vyinshi -vy'Ibibanza vy'Umwidegemvyo
1. Uburyo bwo kugenzura inyigisho
Ingorane nyamukuru y'ibibanza vyinshi-degree-y'-ivy'umwidegemvyo iri mu kugenzura guhujwe kw'imirongo myinshi. Uburyo busanzwe burimwo:
Igenzura rya PID: Ivyo bikoresha igenzura ry’ibiharuro-integral-riva ku gutunganya umusohoka w’igikoresho cose, guhuza umuvuduko w’inyishu n’ugushikama. Ni vyiza ku bikorwa vy’ishimikiro vyo gushiramwo ibintu.
Inverse kinematics: Ivyo bihindura mu buryo buhindutse imfuruka canke ukugenda kw’imitsi bishingiye ku kibanza c’intumbero. Ivyo bisaba guhuza imibare y'imibare canke uburyo bwo gusesangura (nk'uburyo bwa Denavit-Hartenberg parameter) kugira ngo haboneke inyishu ku gufatanya bitagira umurongo.
Igenzura ry’uguhindura n’igenzura ry’imbere y’igihe: Guhindura mu buryo bukomeye ibipimo vy’igenzura mu kwishura ku mahinduka y’umuzigo canke ibihungabanya hanze kugira ngo utere imbere mu gukomera kw’urutonde.
2. Ivyuma bifatanya n'ibisubizo
Ugutahura neza inyigisho bishingiye ku gukorana kw'amakuru y'ibimenyetso vyinshi, nka:
• Encoders: Gukurikirana igihe nyaco-umwanya wa moteri canke ukugenda kw’umurongo;
• Ivyuma bipima ubuzima (IMUs): Gutanga amakuru yerekeye umuvuduko w’ukwihuta n’uw’imfuruka kugira ngo bifashe mu gupima inyifato;
• Ivyuma bipima uburebure bw’ibintu bikoreshwa n’umuyagankuba: Bikoreshwa mu gupima uburebure bw’ibintu vy’inyuma vy’ukuri.{0}}.
Gushiramwo amakuru menshi-inkomoko biciye mu kuyungurura kwa Kalman canke ubuhinga bw'uruja n'uruza rw'imitsi birashobora kugabanya cane ukwirundanira kw'amakosa.
3. Igishushanyo c'imibumbe n'ugutunganya neza
Ugukomera n’ugusangira kw’uburemere bw’isi kw’ibarabara biragira ico bikoze ata guca ku ruhande ku bijanye n’ugukora kw’inyigisho. Ivyiyumviro vy'uguhingura birimwo:
• Guhuza uburemere buke n’inkomezi: Gukoresha amabarabara akozwe mu nsinga za carbone canke aluminium;
• Gutegura umuduga mu buryo bubereye: Nk’akarorero, ugusangira amashami mu buryo buringaniye mu kibanza ca Stewart birashobora kugabanya ukudahukana kw’umuvuduko;
• Guhagarika uguhungabana no kugabanya ukunyiganyiga: Guhagarika ukunyiganyiga kw’incuro nyinshi-bibangamira ukuri kw’ubugenzuzi.
III. Ivyiyumviro bisanzwe vyo gukoresha n'uburyo ngirakamaro
1. Amahugurwa yo kwigana indege/imodoka
Ivyuma bitandatu-degree-vy-vy'umwidegemvyo bitanga ikibanza c'imyimenyerezo y'ukuri ku bapilote canke abashoferi mu kwigana ingaruka z'inguvu nk'ukwihutisha n'uguhengamira. Uburyo bwo kubishira mu ngiro ni:
• Guhingura inzira z’inyigisho z’intumbero zishingiye ku moteri za fizike (nka MATLAB/Simulink);
• Gufatanya n’ibikoresho vy’amazi kugira ngo umuntu ashike ku ntumbero nini y’uguhindura amazi n’ugutanga umuvuduko munini;
• Gutuma habaho ukuri kw’ibintu biciye ku bikoresho vy’ugutanga inyishu ku nguvu.
2. Igerageza ry'ibicuruzwa vy'inganda
Mu kugerageza impanuka z’imodoka canke mu kugerageza umutingito w’ibikoresho vy’ubuhinga bwa none, amabarabara menshi-degree-y’-umwidegemvyo arashobora gusubiramwo ibintu bikomeye cane vy’ibikorwa. Nk'akarorero:
• Gukoresha ubuhinga bwo kugenzura ukunyiganyiga kw’ibintu kugira ngo haboneke imirongo y’ugukangura ihuye n’ingingo mfatirwako (nk’iya ISO 16750);
• Gusuzuma uburemere bw’ibintu hakoreshejwe ibimenyetso vy’uguhinduka kw’ibintu vy’agaciro kanini.
3. Ubuhinga bwo kuvura no gusubiza mu buryo abantu
Ivyumba vy’amahugurwa yo gusubiza mu buryo abarwayi bifasha abarwayi gusubira gukora neza biciye mu nzira z’inyigisho zikora n’izidakora. Ivy'ubuhinga nyamukuru birimwo:
• Guhindura uburemere bw’inyigisho bishingiye ku bimenyetso vy’umurwayi vy’ubuhinga bw’amashanyarazi (EMG);
• Gushira mu ngiro ingamba zo kugenzura zihuye n’amategeko kugira ngo umuntu ntihagire uwundi akomereka.
IV. Amabwirizwa y'iterambere rya kazoza
Kubera iterambere ry’ubwenge bukoranye n’ubuhinga bushasha bw’ibikoresho, ama platforms y’umwidegemvyo w’ingero nyinshi -ariko aratera imbere mu bijanye n’ubwenge n’uguhindura ibintu bitobito. Nk'akarorero:
Gushiraho ubuhinga bw'amahasa y'ubuhinga bwa none kugira ngo umuntu ashike ku bugenzuzi nyakuri bw'igihe kimwe;
Gutegura ibikoresho bikoresha uburemere buke bishingiye ku bikoresho vy’ukwibuka imiterere;
Kwagura mu bikorwa bishasha nk’ibikoresho vyo mu kirere n’ibikoresho vyo mu mazi.
Iciyumviro
Uburyo bushasha mu bibanza vyinshi-degree-vy-vy'umwidegemvyo burabandanya gusunika imbibe z'ugukorana kw'abantu-imashini n'ubuhinga bwo kwikoresha. Biciye mu gushiramwo cane inyigisho y’ubugenzuzi, ubuhinga bwo guhingura ibintu, n’ugukoresha ibintu bitandukanye, ubushobozi bwavyo buzosohoka mu bihe vyinshi.
