Irobhothi elilandela umugqa lisebenza ngokufunda ukuthi kungakanani ukukhanya okuphindiselwa emuva ngaphansi kwalo, libe selinquma ukuthi inzwa ngayinye ingaphezu komugqa omnyama yini noma ingaphezu kobuso obumhlophana, bese liqondisa ukuze umugqa uhlale uphakathi nendawo. Ifiziksi lapha ukuphindiselwa kokukhanya. Ikhodi yisiyingi esincane sokulawula esisebenza izikhathi ezingamakhulu ambalwa ngomzuzwana. Uma kokubili kulungile, irobhothi liyaligona ijika eliqinile; uma ukulungiswa kwamanani kuphambene, liyantengantenga liyoshayisa onyaweni lwetafula. Lo mhlahlandlela udlulisa indlela okusebenza ngayo, izindlela ezimbili ezijwayelekile zokuqondisa, nokuthi kungani ukulungiswa kwamanani kuyiyona ngxenye efundisa ubunjiniyela.

Indlela inzwa ewufunda ngayo umugqa

Ingxenye eyisisekelo yinzwa yokuphindisela ukukhanya kwe-infrared. Ihlanganisa i-LED encane ye-infrared ne-phototransistor elinganisa ukuthi kungakanani kwalokho kukhanya okubuyayo. Umugqa omnyama umunca iningi le-infrared, ngakho kubuya okuncane. Phansi okumhlophana kuphindisela iningi lakho, ngakho kubuya okuningi. Inzwa ihlala amamilimitha ambalwa ngaphezu komhlabathi bese ibika inani le-analog, elivame ukufundwa njengenombolo evela ku-analog-to-digital converter (ADC).

Amarobhothi amaningi abaqalayo asebenzisa ezimbili noma ngaphezulu zalezi zinzwa ziseceleni komunye, zibeke umugqa phakathi. Uma umugqa uphambukela ngaphansi kwenzwa yesobunxele, isibalo sesobunxele siyehla. Uma uphambukela kwesokudla, isibalo sesokudla siyehla. Lowo mehluko uyisisekelo sonke sokuqondisa. Kunamaqiniso amabili asebenzayo abalulekile lapha: ukuphakama kwenzwa kushintsha isibalo, futhi ukukhanya okuzungezile kuyangena. Irobhothi elihlolwe ngaphansi kwezibani zekilasi lingaziphatha ngendlela ehlukile eduze kwefasitela elinelanga, yingakho ukulinganisa kulandela manje.

Ukuguqula isibalo sibe yisinqumo

Inombolo eluhlaza ye-ADC ayisizi yodwa ngoba iyaguquka ngokobuso, ngokukhanya nangebhethri eliphelayo. Isixazululo ukubeka umkhawulo. Uhambisa izinzwa kancane phezu komugqa naphezu kwephansi, ubhale isibalo esiphansi kunazo zonke nesiphezulu kunazo zonke, bese ubeka umkhawulo maphakathi. Noma yini engaphansi komkhawulo ibalwa njengesemugqeni, noma yini engaphezulu ibalwa njengesephansi, noma okuphambene nalokho kuye ngokuxhumeka kwezintambo zakho.

Lesi sinyathelo sokulinganisa asikho okuzikhethela. Senze kuwo umzila wangempela, kulona kanye igumbi, njalo uma uthutha. Itheyipu kagesi emnyama engacwazimuli phansi okukhanyayo inikeza umehluko ocacile; itheyipu ecwazimulayo noma phansi elinamathayela amnyama kunikeza umehluko obuthakathaka. Imizuzu eyishumi yokulinganisa yonga ihora lokuxazulula amaphutha ngokudideka kamuva.

Izindlela ezimbili zokuqondisa: i-bang-bang nokulawula okulinganayo

Ukulawula okulula kakhulu yi-bang-bang, okubuye kubizwe ngokuthi ukuvula-ukuvala. Umqondo uthi: uma inzwa yesobunxele ibona umugqa, phendukela kwesobunxele; uma inzwa yesokudla ibona umugqa, phendukela kwesokudla; uma kungenjalo, hamba uqonde. Kulula ukukubhala futhi kulula ukukuqonda, kodwa kuqondisa ngokujika okunamandla. Irobhothi liyagwegwesa lehla emugqeni oqondile futhi kumele lihambe kancane ukuze lihlale emajikeni, ngoba lazi kuphela ukuthi kuvuliwe noma kuvaliwe, alazi ukuthi luphambuke kangakanani.

Ukulawula okulinganayo kulungisa lokho ngokusebenzisa izibalo ze-analog esikhundleni sempendulo ethi yebo noma cha. Ubala iphutha, isibonelo error = left - right, bese wenza amandla okujika alingane nalo: turn = Kp * error. Iphutha elincane liveza ukulungiswa okuthambile; iphutha elikhulu liveza okunamandla. Inombolo eyodwa, u-Kp, okungamandla okuphendula alinganayo, inquma ukuthi irobhothi liphendula ngesankahlu kangakanani. Lokhu kuwukuzwa kokuqala kwangempela kwethiyori yokulawula, futhi kwanele ukwenza irobhothi lishelele lizungeze umzila obungenza i-bang-bang lixokozele kuwo. Ukwengeza izingxenye u-I no-D ukuze kwakheke isiyingi esiphelele se-PID kuyisinyathelo esilandelayo esivamile uma okulinganayo sekuzinzile.

Ukulungiswa kwamanani kuyisona sifundo sangempela

Ikhodi engenhla imfushane. Cishe konke ukufunda kusekulungisweni kwamanani ayo, futhi lokho kuyisici esihle, hhayi umsebenzi olibazisayo. Ukulungiswa kwamanani yilapho abafundi behlangana khona nendlela yobunjiniyela: shintsha into eyodwa, uhlole, ubuke, uphinde. Kwenze ngalokhu kulandelana:

• Linganisa emzileni wangempela ngaphansi kwezibani zangempela ngaphambi kokuthinta noma yini enye.
• Beka isivinini esiyisisekelo esihamba kancane ngokwanele ukuze ukwazi ukubuka irobhothi futhi ulibambe.
• Qala u-Kp emncane bese uyawukhuphula uze ubone irobhothi lilandela umugqa kunokuba liphambuke.
• Uma liqala ukuntengantenga, lithe ngwadla emaceleni, yehlisa u-Kp kancane noma wehlise isivinini esiyisisekelo.
• Hlola ejikeni elilukhuni kunawo wonke emzileni, hhayi endaweni eqondile elula. Indawo eqondile iyakukhohlisa.

Gcina incwadi yokubhala futhi ushintshe into eyodwa ngesikhathi. Umfundi obhala phansi ukuthi amandla okuphendula aphakeme enze irobhothi lantengantenga ufunda okwengeziwe kunalowo ophenduphendula izinombolo ngokungahleliwe aze athi angqi ekutheni kusebenze.

Ukwehluleka okuvamile nendlela yokukuxazulula

Izinkinga eziningi zerobhothi elilandela umugqa ziwela ezinhlotsheni ezimbalwa. Fanisa uphawu nembangela engenzeka ngaphambi kokubhala kabusha noma iyiphi ikhodi:

• Irobhothi aliwunaki nhlobo umugqa: umkhawulo awulungile, izinzwa zifakwe phezulu kakhulu, noma ibhethri liphansi ngokwanele ukuthi lithobise ama-LED.
• Ukugwegwesa okunamandla: u-Kp noma isivinini esiyisisekelo siphakeme kakhulu. Yehlisa okukodwa ngesikhathi.
• Liyaphuma emajikeni abukhali: lihamba ngokushesha kakhulu, noma izinzwa ezimbili zisondelene kakhulu ukuthi zingabona ijika ngesikhathi.
• Liyaphambukela ohlangothini olulodwa endaweni eqondile: izimotha ezimbili azilingani ncamashi. Yengeza ukulungiswa okuncane okumisiwe kolunye uhlangothi.
• Lisebenza ekuseni, lihluleke ngemva kwesidlo sasemini: ilanga liwashintshile amanani. Phinda ulinganise ngokukhanya okusha.
• Zonke izinzwa zifunda cishe okufanayo: hlola izintambo nezinombolo zamaphini, uqinisekise ukuthi itheyipu ayicwazimuli.

Ukukuzama ekilasini

Irobhothi elilandela umugqa lingelinye lamaphrojekthi amahle kunawo wonke okuqala kubunjiniyela bamarobhothi ngoba isiyingi sonke, ukuzwa bese kunqunywa bese kwenziwa, siyabonakala ekuhambeni okukodwa phansi. Ukwakhiwa kwe-rover ebhodini lakwa-sheenbot∞ kunika abafundi izinzwa zokuphindisela ukukhanya nokulawulwa kwezimotha abakudingayo ebhodini elilodwa, futhi amakhithi aphelele ayatholakala esitolo. Uma ungathanda ukuthi kufundiswe, i-akhademi eKapa inezifundo zamasonto onke nama-workshop amaholide lapho ukulandela umugqa kuyinto eyakhiwa njalo.

Isifundo esisalayo

Ukuzwa ukuphindiselwa kokukhanya kutshela irobhothi ukuthi umugqa ukuphi, ukubeka umkhawulo kuguqula lokho kube yisinqumo esicacile, futhi ukulawula okulinganayo kuguqula isinqumo kube ukuqondisa okushelelayo. Ikhodi imfushane ngenhloso. Ikhono langempela ukulungisa amanani ngesineke, ngokushintsha into eyodwa ngesikhathi, kuze kuthi irobhothi ebelintengantenga selibambe ijika, futhi lelo khono liyadluliseleka cishe kuwo wonke amanye amaphrojekthi. Ukuthola okunye okubhaliwe ngokwakha, bheka igumbi lezindaba le-sheen.bot.

Imibuzo ebuzwa njalo

Zingaki izinzwa ezidingwa yirobhothi elilandela umugqa?

Ezimbili zanele ukuqondisa, ngoba ukuqondisa kudinga kuphela ukwazi ukuthi umugqa uphambukele kwesobunxele noma kwesokudla. Ukwengeza izinzwa eziningi, ezinhlanu kuvamile, kwenza irobhothi likwazi ukukala ngokunembayo ukuthi luphambuke kangakanani futhi liphathe amajika abukhali, okwenza ukulawula okulinganayo kushelele kangcono.

Kungani irobhothi lami lilandela umugqa kwelinye igumbi kodwa lingawulandeli kwelinye?

Ukukhanya okuzungezile nombala wephansi kushintsha ukuthi kubuya kangakanani kwe-infrared, ngakho umkhawulo olinganiswe kwelinye igumbi awulungile kwelinye. Phinda ulinganise ebusweni obusha nangaphansi kokukhanya okusha njalo uma uhambisa irobhothi.

Ingabe ukulawula okulinganayo kuyafana ne-PID?

Okulinganayo ngu-P we-PID futhi kuyingxenye yokuqala nebaluleke kakhulu. I-PID yengeza ingxenye ye-integral ukucisha ukuphambuka okuqhubekayo nengxenye ye-derivative ukudambisa ukweqa. Amaphrojekthi amaningi entsha asebenza kahle ngokulinganayo kodwa, bese engeza ezinye ezimbili njengokuthuthukisa.