Irobhothi elandela umgca isebenza ngokufunda ukuba bungakanani ubukhanya obubuyayo emgangathweni ophantsi kwayo, ize igqibe ukuba isivamvo ngasinye siphezu komgca omnyama na okanye siphezu komphezulu oqaqambileyo, emva koko ijike ukuze igcine umgca uphakathi. Ifiziksi apha kukubuyiselwa kokukhanya. Ikhowudi yona yi-control loop encinane ebaleka izihlandlo ezimakhulu ambalwa ngomzuzwana. Ukuba uzenze kakuhle zombini, irobhothi izinamathela kwijika elingqingqwa; ukuba ukutyuna kuphosakele, izulazule iye kungqubeka umlenze wetafile. Esi sikhokelo sicacisa indlela esebenza ngayo, iindlela ezimbini eziqhelekileyo zokujika, nesizathu sokuba ukutyuna yeyona nxalenye ifundisa ubunjineli ngokwenene.

Indlela isivamvo esiwufunda ngayo umgca

Eyona nxalenye ingundoqo sisivamvo se-infrared esilinganisa ukubuyiselwa kokukhanya. Sidibanisa i-LED encinci ye-infrared ne-phototransistor elinganisa ukuba bungakanani obo bukhanya bubuyayo. Umgca omnyama uyibamba uyimunce uninzi lwe-infrared, ngoko kubuya into encinci. Umgangatho oqaqambileyo ubuyisela uninzi lwayo, ngoko kubuya okuninzi. Isivamvo sihlala kwiimilimitha ezimbalwa ngaphezu komhlaba size sinike ixabiso le-analog, elidla ngokufundwa njengenani elivela kwi-analog-to-digital converter (ADC).

Uninzi lweerobhothi zabaqalayo lusebenzisa ezimbini okanye ngaphezulu kwezi zivamvo zicaleleneyo, zibambe umgca phakathi. Xa umgca utyibilikela phantsi kwesivamvo sasekhohlo, ukufundwa kwasekhohlo kuyehla. Xa utyibilikela ngasekunene, ukufundwa kwasekunene kuyehla. Loo mahluko sisiseko sokujika sisonke. Zimbini izinyaniso eziphathekayo ezibalulekileyo apha: ubude besivamvo emhlabeni butshintsha ukufundwa, kwaye ukukhanya okungqongileyo kuyangena. Irobhothi evavanywe phantsi kwezibane zegumbi lokufundela inokuziphatha ngokwahlukileyo xa ikufuphi nefestile enelanga, yiloo nto ukukalibhreyitha kulandelayo.

Ukuguqula okufundiweyo kube sisigqibo

Inani elikrwada le-ADC alilunganga lodwa kuba liyatshintsha ngokomphezulu, ngokwezibane, nkqu nangebhetri ephelayo. Isisombululo kukumisela umda. Utshova izivamvo kancinci ngaphezu komgca nangaphezu komgangatho, ubhale phantsi okona kufundwa kusezantsi nokona kuphezulu, uze ubeke umda phakathi kwawo. Nantoni na engaphantsi komda ibalwa njengesemgceni, nantoni na engaphezulu ibalwa njengesemgangathweni, okanye kube ngokuchaseneyo ngokweentambo zakho.

Eli nyathelo lokukalibhreyitha alikho ngokuzikhethela. Lenze kwitrakhi yokwenene, kwelo gumbi lokwenene, ngalo lonke ixesha ushenxa. Itheyiphu yombane emnyama engabengezeliyo emgangathweni okhanyayo inika umahluko ocacileyo; itheyiphu ebengezelayo okanye umgangatho weethayile ezimnyama unika omdaka. Imizuzu elishumi yokukalibhreyitha ikonga iyure yokubhideka usalungisa iimpazamo kamva.

Iindlela ezimbini zokujika: i-bang-bang ne-proportional

Olona lawulo lulula yi-bang-bang, ekwabizwa ngokuba yi-on-off. Ingqiqo ifundeka ngolu hlobo: ukuba isivamvo sasekhohlo siyawubona umgca, jika ngasekhohlo; ukuba isivamvo sasekunene siyawubona, jika ngasekunene; ngaphandle koko, hamba ngqo. Kulula ukuyibhala kwaye kulula ukuyiqonda, kodwa ijika ngokutshiza okuqatha. Irobhothi iyazigzagza ihla ngomgca othe tye kwaye kufuneka ikhase ukuze ihlale kumajika, kuba yazi kuphela ukuba ikho okanye ayikho, ayaze ukuba ikude kangakanani.

Ulawulo lwe-proportional lulungisa oko ngokusebenzisa ukufundwa kwe-analog endaweni yempendulo ethi ewe okanye hayi. Ubala impazamo, umzekelo error = left - right, uze wenze amandla okujika alingane nayo: turn = Kp * error. Impazamo encinci ivelisa ulungiso oluthambileyo; impazamo enkulu ivelisa olunamandla. Inani elinye Kp, i-proportional gain, ligqiba ukuba irobhothi iphendula ngobukhali obungakanani. Le yeyona ncasa yokuqala yokwenene ye-control theory, kwaye yanele ukwenza irobhothi itshelele kwitrakhi ebeya kugxadazelwa yi-bang-bang. Ukongeza i-I ne-D ukuze wenze i-PID loop epheleleyo linyathelo elilandelayo elizenzekelayo xa i-proportional isiziva iqinile.

Ukutyuna sesona sifundo sokwenene

Ikhowudi engasentla mfutshane. Phantse konke ukufunda kuhleli ekuyityuneni, kwaye leyo yinzuzo, ayingomsebenzi obhidayo. Ukutyuna kulapho abafundi bedibana khona nendlela yobunjineli: tshintsha into enye, uvavanye, ubukele, uphinde. Yenza ngolu landelelwano:

• Kalibhreyitha kwitrakhi yokwenene phantsi kwezibane zokwenene phambi kokuba uchukumise nantoni na enye.
• Misela isantya sesiseko esicotha ngokwaneleyo ukuze ukwazi ukubukela irobhothi uze uyibambe.
• Qala u-Kp emncinci uze umnyuse ade irobhothi ilandele umgca endaweni yokutyibilika iphume.
• Ukuba iqala ukudlidliza, izulazula macala, yehlisa kancinci u-Kp okanye wehlise isantya sesiseko.
• Vavanya kwelona jika likhali kwitrakhi, hayi kumgca othe tye olula. Umgca othe tye uyakuxokisa.

Gcina incwadi yokubhalela uze utshintshe into enye ngexesha. Umfundi obhala phantsi ukuba i-gain ephakamileyo yenze irobhothi yazulazula ufunda okungaphezu kwalowo ujija amanani ngokungakhethiyo ade athi ngethamsanqa asebenze.

Ukusilela okuqhelekileyo nendlela yokukulungisa

Uninzi lweengxaki zerobhothi elandela umgca luwela kwiipatheni ezimbalwa. Dibanisa uphawu nonobangela onokwenzeka phambi kokuba uphinde ubhale nayiphi na ikhowudi:

• Irobhothi ayiwuhoyi kwaphela umgca: umda uphosakele, izivamvo zifakwe phezulu kakhulu, okanye ibhetri isezantsi kangangokuba ii-LED zibuthathaka.
• Ukuzigzagza okugqithisileyo: u-Kp okanye isantya sesiseko siphezulu kakhulu. Yehlisa esinye ngexesha.
• Iyaphaphazela iphume kumajika akhaliphileyo: ikhawuleza kakhulu, okanye izivamvo ezimbini zikufuphi kakhulu ukuze zibone ijika kwangethuba.
• Ityibilikela kwelinye icala emgceni othe tye: ii-motor ezimbini azilingani ncam. Yongeza i-trim encinci engatshintshiyo kwelinye icala.
• Isebenza kusasa, isilele emva kwesidlo sasemini: ilanga litshintshile ukufundwa. Phinda ukalibhreyitha ngokwezibane ezintsha.
• Zonke izivamvo zifunda into ephantse ifane: khangela iintambo namanani eepini, uze uqinisekise ukuba itheyiphu ayibengezeli.

Ukuyizama egumbini lokufundela

Irobhothi elandela umgca yenye yezona projekthi zilungileyo zokuqala kwiirobhothi, kuba lonke ityhubhu, ukuva uze ugqibe uze wenze, libonakala ngokubaleka okunye nje ecaleni komgangatho. Ulwakhiwo lwerova kwibhodi ye-sheenbot∞ lunika abafundi izivamvo zokubuyiselwa kokukhanya nolawulo lweemotor abazidingayo kwibhodi enye, kwaye izikhwama ezipheleleyo ziyafumaneka kwivenkile. Ukuba ungathanda ukuba ifundiswe, i-akhademi eseKapa iqhuba iiklasi zeveki neeworkshop zeeholide apho ukulandela umgca kukwakhiwa okuqhelekileyo.

Isishwankathelo

Ukuva ukubuyiselwa kokukhanya kuxelela irobhothi ukuba uphi umgca, umda uguqula oko kube sisigqibo esicacileyo, ize i-proportional control iguqule isigqibo kube kukujika okugudileyo. Ikhowudi mfutshane ngabom. Esona sakhono sokwenene kukutyuna ngomonde, utshintsha into enye ngexesha, oko kwenza irobhothi ezulazulayo ibambelele kwijika, kwaye eso sakhono siyadluliseleka phantse kuyo yonke enye iprojekthi. Ukufumana ezinye iingxelo zolwakhiwo, jonga igumbi leendaba le-sheen.bot.

Imibuzo ebuzwa rhoqo

Zingaphi izivamvo ezifunwa yirobhothi elandela umgca?

Ezimbini zanele ukujika, kuba ukujika kufuna nje ukwazi ukuba umgca utyibilikele ngasekhohlo na okanye ngasekunene. Ukongeza ezinye izivamvo, ezintlanu ziqhelekile, kwenza irobhothi ikwazi ukugweba ngokuchanekileyo ukuba ikude kangakanani ize ijongane namajika akhaliphileyo, into eyenza i-proportional control ibe gude ngakumbi.

Kutheni irobhothi yam iwulandela umgca kwelinye igumbi kodwa ingawulandeli kwelinye?

Ukukhanya okungqongileyo nombala womgangatho kutshintsha ubungakanani be-infrared ebuyayo, ngoko umda okalibhreyitwe kwelinye igumbi uphosakele kwelinye. Phinda ukalibhreyitha kumphezulu omtsha naphantsi kwezibane ezintsha ngalo lonke ixesha ushenxisa irobhothi.

Ingaba i-proportional control iyafana ne-PID?

I-proportional yiP ye-PID kwaye lelona gama lokuqala nelona libaluleke kakhulu. I-PID yongeza i-integral term ukurhoxisa ukutyibilika okuqhubekayo, kunye ne-derivative term ukudambisa ukugqitha. Uninzi lweeprojekthi zabafikisayo lusebenza kakuhle nge-proportional yodwa, luze longeze amanye amabini njengophuculo.