Ubushakashatsi ku kugenzura umutekano wa sisitemu servo ishingiye ku byiciro byinshi-byubwisanzure pneumatic manipulator

Hashingiwe ku ntege nke za sisitemu yo kugenzura imyanya gakondo ya servo igenzura ibyuma byoroshye byoroshye, manipulators ya pneumatic palletizing manipulator hamwe na sisitemu ya servo itajegajega ishingiye kuri coorite ya Cartesian.Ubwa mbere, imiterere shingiro ya Cartesian coordinate palletizing manipulator yarateguwe kandi iratangizwa, kandi sisitemu yo kugenzura imiyoboro ya pneumatike yibikombe byanyuma byokunywa bya manipulator byateguwe kandi birasesengurwa;noneho amahame yo kugenzura moteri ya servo mu cyerekezo cya X, Y na Z ya manipulatrice arasesengurwa kandi agaburira-kugaburira imihindagurikire y'ikirere igenzura algorithm ya sisitemu ya servo yateguwe;amaherezo, imyanya gakondo ifunze-izunguruka PID algorithm hamwe no kugaburira-guhuza imiyoborere igenzura algorithm iragereranijwe.Hanyuma, imyanya ikurikirana itekanye isanzwe ifunze-izenguruka PID algorithm hamwe nigaburo ryimbere yo kurwanya imihindagurikire y'ikirere igereranijwe.Ibisubizo byubushakashatsi byerekana ko Cartesian ihuza pneumatic palletiser hamwe na sisitemu ya servo ishinzwe kugenzura umutekano byateguwe neza kandi byujuje ibyangombwa bisabwa.