Me pēhea te whakaroa i ngā motuka stepper?

Ngā motuka hikoihe taputapu hikohiko e huri tika ana i ngā nekehanga hiko ki te nekehanga miihini. Mā te whakahaere i te raupapa, te auau me te maha o ngā nekehanga hiko e pā ana ki ngā koiri motuka, ka taea te whakahaere i ngā motuka stepper mō te urungi, te tere me te koki hurihuri. Ki te kore he āwhina o tētahi pūnaha whakahaere urupare porowhita-kati me te pūoko tūranga, ka taea te whakatutuki i te whakahaere tūranga me te tere tika mā te whakamahi i tētahi pūnaha whakahaere porowhita-tuwhera ngāwari, iti te utu e whai ake nei ko tētahi motuka stepper me tana taraiwa e haere tahi ana.

Ko te mōtini takahanga hei wāhanga whakahaere, tētahi o ngā hua matua o te mechatronics, e whakamahia whānuitia ana i roto i ngā pūnaha whakahaere aunoatanga. I te whanaketanga o te hangarau hiko iti me te hangarau hanga tino tika, kei te piki haere te hiahia mō ngā mōtini takahanga i ia rā, i ia rā, ā, kei te honoa ngā mōtini takahanga me te tikanga tuku taputapu ki ngā pouaka miihini, kei te piki haere hoki te maha o ngā whakamahinga hei kite, i ēnei rā, ā, ka mārama te katoa ki tēnei momo tikanga tuku pouaka miihini.

Me pēhea te whakaroamōta hikoi?

Hei motuka taraiwa e whakamahia whānuitia ana, e whakamahia whānuitia ana hoki, ka whakamahia te motuka stepper me ngā taputapu whakaheke tere hei whakatutuki i te pānga tuku pai; ā, ko ngā taputapu me ngā tikanga whakaheke tere e whakamahia whānuitia ana mō te motuka stepper ko ngā pouaka pouaka whakaheke tere, ngā waehere, ngā kaiwhakahaere, ngā tohu pulse me ētahi atu.

Te whakaroa i te tere o te tohu pātere: te tere o te motuka stepper, e hangai ana ki te huringa tohu pātere tāuru ki te huri. I roto i te ariā, hoatu he pātere ki te taraiwa, temōta hikoika huri i tētahi koki hikoinga (ka wehea mō tētahi koki hikoinga kua wehea). I roto i te mahi, ki te tere rawa te huri o te tohu pā, nā te pānga whakaiti o te kaha hiko whakamuri o roto, kāore e taea e te motuka hikoinga te whai i ngā huringa o te tohu hiko, nā te pānga whakaiti o te kaha hiko whakamuri o roto, ka kore e taea e te tauhohenga aukume i waenga i te rotor me te stator te whai i ngā huringa o te tohu hiko, ka arahi atu ki te aukati me te ngaronga hikoinga.

Whakaiti tere o te pouaka taputapu whakaiti: he motuka stepper e whakamahia ana me te pouaka taputapu whakaiti, he tere teitei te putanga o te motuka stepper, he iti te tere o te taipana, e hono ana ki te pouaka taputapu whakaiti, ka hangaia he mata o te pouaka taputapu e te ōwehenga whakaiti, ka whakaitihia te putanga o te motuka stepper ki te tere teitei, ka whakarei ake i te taipana tuku, kia tutuki ai te pānga tuku pai; ko te pānga whakatiu ka whakawhirinaki ki te ōwehenga whakaiti o te pouaka taputapu, ko te nui ake o te ōwehenga whakaiti, ko te iti ake o te tere putanga, me te rereke. Ko te pānga o te whakatiu ka whakawhirinaki ki te ōwehenga whakaiti o te pouaka taputapu, ko te nui ake o te ōwehenga whakaiti, ko te iti ake o te tere putanga me te rereke.

Te tere whakahaere taupūnga pihi: te pihi taupūnga, i roto i te hōtaka pūmanawa, ko te tatau tuatahi o te pūmau wā e rongoa ana i roto i te mahara rorohiko, ka tohu te mahi ki te kōwhiringa. I te nuinga o te wā, ko te wā whakatere me te wā whakaroa hei whakaoti i te motuka stepper he nui ake i te 300ms. Mena he poto rawa te wā whakatere me te wā whakaroa, mo te nuinga ongā motuka stepper, ka uaua ki te whakatutuki i te hurihanga tere-teitei o te mōtini stepper.

Te whakaheke tere e whakahaerehia ana e te kaiwhakamāori: Ko te whakahaere PID, hei tikanga whakahaere māmā, whai hua hoki, kua whakamahia whānuitia i roto i ngā puku motuka stepper. E hangai ana ki te uara kua hoatuhia r (t) ā, ko te uara putanga tuturu c (t) e hanga ana i te rerekētanga whakahaere e (t), te rerekētanga o te ōwehenga, te whakauru me te rerekētanga mā te whakakotahitanga raina o te rahinga whakahaere, te whakahaere ahanoa whakahaere. Ka whakamahia te pūoko tūranga whakauru i roto i te motuka stepper ranu-wāhanga-rua, ā, kua hangaia he pūoko tere PI ka taea te whakarite aunoa i runga i te pūoko tūranga me te whakahaere whārite, ka taea te whakarato i ngā āhuatanga whakawhiti pai i raro i ngā āhuatanga whakahaere rerekē. E ai ki te tauira pāngarau o te motuka stepper, kua hangaia te pūnaha whakahaere PID o te motuka stepper, ā, ka whakamahia te raupapa whakahaere PID hei tiki i te rahinga whakahaere, kia taea ai te whakahaere i te motuka kia neke ki te tūranga kua tohua.

Hei whakamutunga, ka manatokohia te mana whakahaere mā te whakatauira kia pai ai ngā āhuatanga urupare hihiri. He pai ngā painga o te whakamahinga o te mana whakahaere PID, arā, he ngāwari te hanganga, he pakari, he pono, me ērā atu mea, engari kāore e taea te whakahaere tika i ngā mōhiohio kāore i te tino mārama i roto i te pūnaha.