Sisitɛmu min be baara kɛ ni yɛlɛmani ye, o ye fɛɛrɛ dɔ ye min be kɛ ka fɛɛn dɔ ka tagamasiɲɛ kɔlɔsi tigitigi. A be baara kɛ kosɔbɛ izini ka ɔridinatɛri, roboti, CNC ka masinw ani yɔrɔ wɛrɛw la. A ka laɲinita jɔnjɔn ye ka fɛɛn min kɔlɔsira, o ka tagamacogo kɔlɔsi sira dɔ kan min latigɛra ka kɔn, a teliya wala a be to ka yɛlɛma n’a be baarakɛla ka baara labɛn.
O yɔrɔ la, mɔgɔw be se ka ɲɔgɔn sɔrɔ ka baro kɛ ɲɔgɔn fɛ, ka ɲɔgɔn lamɛn. O yɔrɔ la, a be se ka kɛ ko a be ni “kunsɛmɛ” ye, a ka ca a la, a be kɛ ni fɛɛrɛ dɔ ye min be don a kɔnɔ wala PLC (Logic Controller min be se ka kɛ). A ka baara ye ka mɔgɔw lasun u ka koow kɛ ka kɛɲɛ ni mɔgɔw ka yɛlɛmaniw ye. Sofɛri be sɛgɛsɛgɛrikɛla ka kuran tagamasiɲɛw yɛlɛma ka kɛ kuran tagamasiɲɛw ye minw be ɲini ka kɛ, i n’a fɔ tansɔn wala kuran min be motɛri la. O yɔrɔ ye yɔrɔ ye min be tagamasiɲɛw lawuli ka ɲɛ, ani misaliya minw ka ca, olu ye servo motɛriw, trackper motɛriw, wala hydraulique/pneumatique minɛnw ye. Feedback minɛnw (i n’a fɔ encoders ani linear encoders) be baarakɛla ka lɔyɔrɔ, a ka teliya, walima a ka fanga kɔlɔsi wagati yɛrɛ yɛrɛ la ani ka o kunnafoniw segi ka taga n’a ye, o min be kɛ ni-loop control system ye.
Lamagacogo kɔlɔsili fɛɛrɛw ka baarakɛcogo sariyaw be se ka tilan ka kɛ dayɛlɛnin-loop ani datugunin-loop cogoyaw ye. Open-loop systems be jigi la mɔgɔw ka cikanw dɔrɔn lo kan ani u tɛ bɔli yɛrɛ yɛrɛw kɔlɔsi, o lo b’a to u ka tiɲɛni be dɔgɔya. U bɛnnin lo baara dɔw ma yɔrɔ minw na, tiɲɛn fɔli tɛ koo fɔlɔ ye. Closed-loop systems, fan dɔ fɛ, u be baara kɛ ni feedback fɛɛrɛw ye walisa ka to ka yɛlɛmani sanga ɲɔgɔn ma bɔli yɛrɛ yɛrɛ ni laɲini sɔngɔ cɛ ani ka yɛlɛmani tagamasiɲɛw labɛn wagati yɛrɛ yɛrɛ la, o cogo la, u be se ka yɛlɛmanibaw kɛ. Ɲɛyirali fɛ, servo sisitɛmu dɔ kɔnɔ, sɛgɛsɛgɛrikɛla be motɛri ka yɛlɛmaniw yɛlɛma ka kɛɲɛ ni yɔrɔ filiw ye minw be bɔ encoder la, o min b’a to robo bolo be se ka se yɔrɔ min na a laɲinina.
Ka fara o kan, bi tile tagamasiɲɛw kɔlɔsili fɛɛrɛw be to ka baara kɛ ni algorithme yiriwalenw ye i n’a fɔ PID (propportion{-integral-}yenderivitɛri) kɔlɔsili, kɔlɔsili ɲuman, ani yɛlɛmani kɔlɔsili ka se ka baara kɛ ni baarakɛcogo gɛlɛnw ye. Ni izini 4.0 yiriwali ye, yɛlɛmani kɔlɔsili be don ɲɔgɔn na kosɛbɛ ni fɛnw ka ɛntɛrinɛti ye ani hakilidiya ye, min be hakilimaya dilan ka se hakɛba dɔ ma.
