Seyo musimboti wemidziyo otomatiki, kuita kweiyo inofamba yekudzora sisitimu inokonzeresa kurongeka kwekugadzira uye kushanda nesimba. Iyo inonzwika yekuyedza maitiro yakakosha kuti ive yakagadzikana system kushanda.
Danho 1: Hardware Status Check
Chekutanga, simbisa kuti kubatanidzwa kwemuviri kweanoshanda (senge mota uye servo drives) kwakachengeteka uye kuti magetsi emagetsi anosangana neakatemerwa paramita. Shandisa multimeter kuti utarise kuenderera uye kusungirirwa kwewaya kuti udzivise kusagadzikana kunokonzerwa nekusabatana zvakanaka kana mapfupi maseketi. Zvakare, tarisa kana zvikamu zvemhinduro senge encoder uye ma sensors akaiswa zvakasununguka kuti ave nechokwadi chekufambisa kwemasaini.
Danho 2: Kukurukurirana uye Interface Kuedzwa
Iyo inofamba inodzora uye dhiraivha inowanzo taurirana kuburikidza neprotocol yebhazi (senge CANopen kana EtherCAT). Shandisa maturusi ekugadzirisa akatsaurirwa kutarisa chaiyo-nguva yekuchinjana data packet uye kuona kuti kunonoka kupindura kwemirairo kuri mukati memiganhu inogamuchirika. Kana kurasikirwa kwepakeji kana zvikanganiso zvekusimbisa zvikaitika, ongorora kudzika kwetambo shield kana terminal resistor mismatch.
Danho rechitatu: Dynamic Performance Verification
Tanga sisitimu ichimhanya pasina mutoro, wozoiisa zvishoma nezvishoma kune yakayerwa mamiriro ekushanda, kurekodha makiyi ekuita zviratidzo:
- Positioning Kurongeka: Enzanisa kutsauka pakati penzvimbo yakanangwa uye chaiyo yekumira chinzvimbo uchishandisa laser rangefinder kana mutsara encoder.
- Yekumhanyisa Kugadzikana: Ongorora iyo yekumhanyisa kuchinjika curve sampled neoscilloscope kuti uongorore kushanda kwePID parameter kugadzirisa.
- Synchronicity: Kune akawanda-axis linkages, tarisa kana kukanganisa kwekuronda kweakisi imwe neimwe kuzadzisa zvinodiwa pakuita.
Nhanho 4: Kukanganisa Simulation uye Redundancy Testing
Taurira mamiriro ezvinhu asina kujairika akadai sokudzimwa kwemagetsi uye kukanganiswa kwemasaini kuti uone nguva yekumira kwechimbichimbi uye-kuzvigadzirisa. Nezvekuchengetedza-zvakakosha maapplications, ratidza kushanda kwezvinokonzeresa zvema switch switch nemabhureki.
Chekupedzisira, mushumo webvunzo unofanirwa kurekodha data rese zvakadzama, uye zvichibva pane zvabuda, gadzirisa algorithm yekutonga kana mekiniki chimiro kuvandudza kusimba kweiyo system yese. Iyi nzira haisi iyo chete hwaro hwekusimbiswa kwehutano asiwo mutsara wakakosha wekudzivirira kubva pakutadza kusingatarisirwi.
