I n’a fɔ bi otomatiki fɛɛrɛ koloma dɔ, lamaga-lamagali-minɛn dɔ dilanni hakilina bɛ o sigida baarakɛcogo dancɛw n’a baarakɛcogo nafa jira k’a ɲɛsin a yɛrɛ ma. Industry 4.0 ani hakililata dilanni sababu fɛ, lamaga-lamagali kɔlɔsili jiginna ka bɔ laadala masin-cikan-ci-kɔlɔsili la ka kɛ sistɛmu injiniyɛri taabolo gɛlɛn ye min bɛ sensɛri fɛɛrɛbɔ, waati lakika- kumaɲɔgɔnya, hakililata, ani jɛ-ka-baara caman fara ɲɔgɔn kan. A dilanni tɛ dan minɛn kelen jɔyɔrɔ tigitigi dɔrɔn ma tugun; a bɛ tugu jaabi fangama, fanga sɔrɔcogo ɲuman, ani latigɛ hakilitigi-kɛɲɔgɔnya kɔ sɛnɛko taabolo bɛɛ kɔnɔ. O b’a ɲini dilanbagaw fɛ u ka fɛɛrɛ dɔ ta min bɛ sigi senkan kosɛbɛ ani ka jɛɲɔgɔnya min bɛ control logic, hardware architecture ani software ecosystem cɛ, o ɲɛfɔ kokura.
I. Tiɲɛni: Yɛlɛma ka bɔ masinw ka tiɲɛni na ka taa ni numɛriki dagalen ye
Lamaga-lamagali-minɛnw sariya fɔlɔ kɛra "tiɲɛni" ye tuma bɛɛ. A kɛra filiw kɔlɔsili ye mikro-ni CNC masina baarakɛminɛnw baara la, nanomɛtiri-dafalen jɔyɔrɔfalen ye wafer jiginni ye semikɔndukiri minɛnw kɔnɔ, walima milisekɔndi-dafalen robo jogindaw ka ɲɔgɔndɛmɛ, o bɛɛ bɛ tali kɛ farikolo lamagacogo ɲɛfɔli tigitigi n’a kɔlɔsili la. Laadalata dilancogo la, tiɲɛni bɛ sɔrɔ fɔlɔ ni fɛnɲɛnamafagalanw kulu ye min bɛ kɛ ni encoders (encoders) ye minnu ka bon-resolution (encoders) ye, precision reducers (daɲɛw dɔgɔyalifɛnw) ani servo moteurs (servo moteurs). Nka, bi dilancogo hakilinaw bɛ sinsin "digital closed loop" jɔli kan. O bɛ tali kɛ masinko siratigɛ ka fanga modɛli digitɛrili la (misali la, gɛlɛya, damping, ani inertie matrix) ani k’a fara ɲɔgɔn kan ni waati jɔyɔrɔ/teliya/fanga jaabi kunnafoniw ye tiɲɛ na-. O bɛ sira Di filiw ma minnu tɛ sinsinni ye (misali la, sɔgɔsɔgɔninjɛ musaka ni funteni bɔgɔbɔli latilenni) faralen ɲɔgɔn kan, o bɛ se ka kɛ kunnafoni-falen-falen-falen-falen-falen-falen ye. Misali la, masin santiri duuru-la lamaga-lamagalikɛla bɛ aksidan kelen-kelen bɛɛ ka servo motɛri ka girinya bɔli kuru ladilan ni fanga ye ka da baarakɛminɛn-baarakɛminɛnw ka ɲɔgɔnkanu fanga kɔlɔsili waati lakika kan. O bɛ laadala dual closed-loop system "position loop + velocity loop" sɛgɛsɛgɛli kɛ ka kɛ saba-loop system ye walima hali multi{23}}loop system min kɔnɔ fanga kɔlɔsili bɛ a la, o la, filiw dalajɛlenw bɛ ban surface machining complexes kɔnɔ.
II. Hakilila: Tɛmɛni ka bɔ hakilina kɔrɔlen na ka taa yɛrɛmahɔrɔnya latigɛ-Tali la
Lamaga-lamagali-kɔlɔsili-sitɛmu fɔlɔw ka dilancogo hakilina tun ye "sariya-driven" ye. Ɛntɛrinɛti ɲɛmɔgɔw ye kɔrɔsili porogaramu jɔlenw sɛbɛn (misali la, lada ja walima G-kode) ka da baarakɛcogo wajibiyalenw kan, wa o sitɛmu tun bɛ baara kɛ kosɛbɛ ka kɛɲɛ ni sira latigɛlen ye. Nka, ni baarakɛcogo misaliw ka gɛlɛya bɛ ka caya (i n’a fɔ -suguya caman, batch bɔli dɔgɔya-batch bɔli la fɛn dilanni na min bɛ se ka wuli ka bɔ a nɔ na ani bali-kɔlɔsili manɛwɛrɛw ma baarakɛminɛnw robow ye sigida dɔnbaliw la), nin dilan gɛlɛn in tɛ se ka kɛ tugun. Bi lamaga-lamagali-minɛnw ka dilancogo hakilitigi hakilina bɛ "hakilila-dɔnniya-desizɔn-walekɛcogo" dakun datugulen don a jɔyɔrɔba la kɔlɔsili jɔcogo la. Ni yecogo jateminɛnanw (i n’a fɔ 3D kameraw), fanga jateminɛnanw (i n’a fɔ torque sensɛriw hakɛ wɔɔrɔ-), ani sigida faamuyali moduluw faralen ɲɔgɔn kan, o sigida bɛ se ka jateminɛfɛnw sɔrɔ, fɛnw cogoyaw, ani baarakɛfɛn ka balilan fangama kunnafoniw sɔrɔ waati yɛrɛ la. Edge computing units (i n’a fɔ embedded controllers minnu bɛ ni AI accelerator chips ye) bɛ masin kalanni misaliw kɛ (i n’a fɔ convolutional neural networks for object recognition ani reinforcement learning for path planning) walasa ka perception data caman sɛmɛntiya ka kɛ control strategies ye. A laban na, latigɛ cikanw bɛ tila-tila waleyali yɔrɔ kelen-kelen bɛɛ la, kunnafoni-falen-falen-basi fɛ (i n’a fɔ EtherCAT walima TSN waati-rezo sensitive). Misali la, AGV (mobili min bɛ ɲɛminɛ otomatiki) ka lamaga-lamagali-minɛn tɛ a jigi da dugukolo kan magɛnni-minɛnw walima QR kode kan tugun walasa ka taama. O nɔ na, a bɛ baara kɛ ni lidar ye walasa ka waati yɛrɛyɛrɛ-lamini kariti dɔ jɔ ani ka gɛlɛyaw kɛlɛli siraw labɛn ni fanga ye ka da fanga jugu kalanni algorisimuw kan, ka sɔrɔ fana ka motɛri teliya ni bolifɛn ɲɛminɛcogo bɛn ɲɔgɔn ma walasa ka lamaga ɲuman sɔrɔ. O dilancogo in b’a to sistɛmu bɛ se ka ladamu fɛnmarayɔrɔw labɛncogo caman yeli la k’a sɔrɔ a ma porogaramu kura kɛ.
III. Baarakɛɲɔgɔnya: Yɛlɛma ka bɔ Standalone Control la ka taa System Integration la
Industriw ka ko gɛlɛnw na, ka lamaga-lamagali-minɛn kelen ka baara kɛcogo ɲɛ, o tɛ se ka kɛ tugun walasa ka baarakɛcogo bɛɛ lajɛlen gɛlɛyaw ɲɛnabɔ. Fɛn minnu bɛ kɛ i n’a fɔ jɛ-ka-baara minnu bɛ kɛ ni robo caman ye, masinw dilanni jɛlen ni CNC masinw ye minnu bɛ kɛ ni fɛn caman ye, ani fɛn dilanni sira bɛɛ baarakɛcogo ɲɔgɔn fɛ, olu b’a ɲini lamaga-lamagali-minɛnw fɛ u ka kɛ ni “swarm intelligence” ye. Dilancogo hakilina jɔnjɔn bɛ wuli ka taa « jɛkafɔ » la, o kɔrɔ ye ka lamaga-lamagali ni nafolomafɛnw ɲɛnabɔli sɔrɔ minɛnw ni taabolo taabolo bɛɛ kɔnɔ, waatibolodacogo kelen fɛ. Kɛrɛnkɛrɛnnenya la, o bɛ layɛrɛ-kɔlɔsili-sɛnɛcogo de wajibiya: Jiginni layɛrɛ la, waati yɛrɛyɛrɛ-waati lamaga-lamagali-kɔlɔsilikɛlan dɔ bɛ yen (a ka c’a la, a sɛrɛkili waati tɛ 1ms bɔ), min ka baara ye ka taamasiyɛnw nɔfɛtaama kɛ ni fɛn caman ye. Cɛmancɛ-yɔrɔ la, fɛn dilanni sira-nivo coordination controller (min ka cycle waati bɛ se 10-100ms ma), min bɛ waati gɛlɛyaw ɲɛnabɔ minɛn caman kɔnɔ (i n’a fɔ ka robo bolow ni conveyor belts ka ritmɛ bɛn) ani ka bɛnbaliyakow ɲɛnabɔ (misali la, ka AGV caman bali ka sira kelen minɛ o waati kelen na). Sanfɛla la, izini-dakun na sɛnɛko ɲɛnabɔli sira dɔ bɛ yen (ni sɛgɛsɛgɛli waati bɛ tɛmɛ segin kan), min bɛ baara tila-tila cogo la min bɛ se ka kɛ ka kɛɲɛ ni komandi fɔlɔ ye ani minɛnw cogoya. Misali la, mobili solda baarakɛyɔrɔ dɔ la, solda robo tan ni caman ka lamaga-lamagalikɛlaw bɛ se ka ɲɔgɔn sɔrɔ mikrosekɔndi-nivo la Profinet IRT (Isochronous Real-Time Network) fɛ. U bɛ jɛɲɔgɔnya kɛ fana ni cɛmancɛ cikan sira ye walasa ka welding sinsinniw ni siraw paramɛtiriw ladilan ka da waati yɛrɛyɛrɛ-mobili modɛli caman yeli kan, ka sɛgɛsɛgɛli waatiw sabatili sabati fɛn dilanni sira bɛɛ kɔnɔ. Nin jɛ-ka-baara in tɛ dan fɛn dilanni nafa dɔrɔn ma, nka a bɛ kɛ sababu ye fana ka dannayakow ɲɛnabɔ ɲɛnamaya dafalen na kunnafonidilanw tilatilali fɛ (i n’a fɔ doni hakɛw ani filiw fɔcogo kunnafoniw minɛn kelen-kelen bɛɛ la).
IV. Sigida sabatili : Ka jateminɛ kɛ fanga sɔrɔcogo ɲuman ni a sɛgɛsɛgɛli la
Bi lamaga-lamagali-minɛnw dilanni fana ka kan ka ɲɛsin fɛn dilanni jɛlenw ka ɲininiw ma-ka fanga tacogo dɔgɔya ka sɔrɔ ka baara kɛcogo sabati ani ka ladamu taabolo segin-ka-bɔnye nataw la, ni fɛn dilanni ye min bɛ kɛ ni modulu ye. Walasa ka fanga sɔrɔcogo ɲuman sɔrɔ, dilanbagaw bɛ fanga tiɲɛni dɔgɔya ni motɛri baarakɛcogo cogoyaw sɛgɛsɛgɛli ye (misali la, ka wuli ka bɔ teliya basigilen na ka taa teliya caman na), ka frein regeneratif (kuran wulicogo segin ka bɔ deceleration na ka taa grid la), ani ka doni tali hakilitigi (ka servo motɛri fanga hakɛ ladilan ni fanga ye ka da baara wajibiyalenw kan). Misali la, alifanta lamaga-lamagali-minɛnw bɛ teliya hakɛ ɲuman jatebɔ waati yɛrɛ la ka da mobili doni kan ani yɔrɔjan min bɛ se ka kɛ duguma laɲini ye, o bɛ dɔ bɔ motɛri fanga dɔgɔyali la k’a sɔrɔ u bɛ mɔbili kɔnɔmɔgɔw lafiya. Dilancogo min bɛ se ka sɛgɛsɛgɛ, o bɛ ye fɛnɲɛnamafagalanw ka ɲɔgɔndanw sigicogo la (i n’a fɔ dɛmɛni min bɛ kɛ ka ɲɛsin kumaɲɔgɔnya protocole caman ma) ani porozɛw baarakɛcogo sɛgɛsɛgɛli (i n’a fɔ ka fɛnɲɛnamafagalanw dakunw da wuli APIw fɛ baarakɛlaw yiriwali kama). O b’a to kunnafonisɛbɛn kelen bɛ se ka ladamu joona izini suguya wɛrɛw la (i n’a fɔ ka bɔ 3C ɛntɛrinɛti lajɛ la ka taa furaw foroko la) walima fɛɛrɛ kuraw (i n’a fɔ ka sɛgɛsɛgɛli kɛcogo ɲɛnama dɔ fara a kan). Nin "dilan siɲɛ kelen, ka baara kɛ kokura siɲɛ caman" hakilina in bɛ minɛnw yiriwali siratigɛw surunya kosɛbɛ ani ka dɔ bɔ baarakɛlaw ka musaka kuntaalajan-la.
K’a ta masin ka kamera kɔlɔsili la, wazi motɛri waati la ka se nizɛri waati jɛ-ka-baara hakilitigiw ma, lamaga-lamagali siratigɛw dilanni hakilila jiginna tuma bɛɛ ka ɲɛsin sariyakolow ma minnu ye « lamaga ɲɛfɔli tigitigi ye, jaabi hakilitigi ye fɛn caman Changements, ani nafolo doncogo ɲuman ». Dilan nataw bɛna fɛɛrɛw fara ɲɔgɔn kan ka taa a fɛ i n’a fɔ filaninw nizɛri (kɔlɔsili fɛɛrɛw lajɛ fɔlɔ ni modɛli virtuwɛli ye), edge-sankaba jɛ-ka-baara (ka jatebɔ baara dɔw jigin sankaba la), ani biyo-inspired control (ka hadamaden farikolo ka baarakɛcogo sɛgɛsɛgɛlenw ladege). O bɛna lamaga-lamagali jɔyɔrɔ sɛmɛntiya ka bɔ "baarakɛminɛn" la ka kɛ "jɛɲɔgɔn" ye-min tɛ cikanw waleya dɔrɔn, nka a bɛ taabolo laɲini fana faamuya, ka farati minnu bɛ se ka sɔrɔ, olu makɔnɔ, ani ka a yɛrɛ ka kɛwalew ɲɛnabɔ ni timinandiya ye. O b’a ɲini dilanbagaw fɛ u ka bɔ fɛɛrɛ kelen dancɛw la, ka mekanikiniw, ɛntɛrinɛti, porogaramuw ani hakililata don ɲɔgɔn na kosɛbɛ ni sistɛmu injiniyɛri hakilina ye, ka laban ka lamaga-lamagali kɔlɔsili sira nata-sɛnɛfɛnw jɔ, min bɛ se ka da a kan, min bɛ se ka ladamu ani min bɛ se ka wuli.
