Kafukufuku wowongolera kukhazikika kwa servo system yotengera ma degree-of-freedom pneumatic manipulator

Kutengera zofooka za machitidwe achikhalidwe a servo owongolera zitsulo zosalimba zamapepala, makina opangira pneumatic palletizing ndi dongosolo lowongolera kukhazikika kwa servo kutengera ma Cartesian coordinates adapangidwa.Choyamba, mawonekedwe oyambira a Cartesian coordinate palletizing manipulator adapangidwa ndikuyambitsidwa, ndipo makina owongolera ma pneumatic a makapu akumapeto a manipulator adapangidwa ndikuwunikidwa;ndiye mfundo zoyendetsera ma servo motors munjira za X, Y ndi Z za manipulator zimawunikidwa ndikuwongolera kuwongolera koyenera kwadongosolo la servo system;potsiriza, chikhalidwe malo otsekedwa-lupu PID aligorivimu ndi feed-forward adaptive control aligorivimu amafananizidwa.Potsirizira pake, kukhazikika kwa malo okhazikika a ochiritsira otsekeka a PID ndi ma feed forward adaptive control algorithm akufananizidwa.Zotsatira zoyeserera zikuwonetsa kuti Cartesian imagwirizanitsa pneumatic palletiser ndi dongosolo lowongolera kukhazikika kwa servo zidapangidwa bwino ndikukwaniritsa zofunikira zenizeni zopanga.