Me kana ɗaya mai sarrafa motoci Servo?

Mai wa Mafi Kontrola na Motorin Servo Ne?

Takardun Mafi Kontrola na Motorin Servo

Mafi kontrola na motorin servo (ko mafi yawan motorin servo) yana nufin kabilu mai amfani da ita don kontrola matsayinta motorin servo.

Kabilu na Mafi Yawan Motorin Servo

Kabilu na mafi yawan motorin servo ta ƙunshi mikro-kontrola, mafi yawa, potentiometer, da kabilu, wanda ke taimaka da kontrola masu inganci na motori.

Ruhuntar Mikro-Kontrola

Mikro-kontrola ya kika shiga pulse na PWM a wasu kungiyoyi don kontrola matsayinta motorin servo da masu inganci.

Mafi Yawa

Takardun mafi yawa na mafi kontrola na motorin servo yana da alaka da adadin motori da aka tsara. Motorin servo suna yi amfani da mafi yawa na 4.8V zuwa 6V, kuma 5V ce mai yawa. Idan ka fi mafi yawa daidai zai iya haɗa suka rawa motori. Amfani da mafi yawa yana yanayi da torque, kuma ana da daga cikin rike da zai ɗauke a lokacin da yake ɗauke zuwa zai ɗauke a lokacin da yake rike. Amfani da mafi yawa na ɗaya zai iya haɗa zuwa 1A saboda wasu motori.

Don kontrola motori ɗaya, za a yi amfani da mafi yawan voltage kamar LM317 tare da heat sink. Don kontrola motori daɗi, yana bukatar mafi yawa na mafi yawa da amfani da current mai yawa. SMPS (Switched Mode Power Supply) yana cewa baki daya.

Block Diagram ta haka-ta bayyana interconnections a cikin Mafi Yawan Motorin Servo

Kontrola Motorin Servo

Motorin servo na da uku terminal.

• Signal na matsayi (Pulse na PWM)

• Vcc (Daga Mafi Yawa)

• Ground

Matsayinta motorin servo yana kontrola da amfani da pulse na PWM na kungiyoyi. Tsawonta pulse na yin mayar da 0.5ms zuwa 2.2ms. Pulse suna ba da frequencies da take da 50Hz zuwa 60Hz.

Don kika shiga waveform na PWM (Pulse Width Modulation), kamar yadda aka baka a sashen, za a iya yi amfani da internal PWM module na mikro-kontrola ko timers. Yi amfani da block na PWM yana cewa baki daya saboda yawancin micro-controller families design, kuma block na PWM yana daidaita hanyar applications kamar motorin servo. Don kungiyoyi da pulse na PWM, za a program internal registers ta haka.

Sannan, za ku iya ba mikro-kontrola shi ne da yake bukata ita ɗauke. Don wannan abin, za a iya yi amfani da potentiometer da kuma ADC don samun angle na ɗauke ko kuma accelerometer don abubuwa masu inganci.

Algoritmin Program

Babu a yi takarda program don kontrola motorin servo ɗaya, kuma input na matsayi yana ba da potentiometer da ke tsara a pin na controller.

• Initialize port pins for input/output.

• Read the ADC for desired servo position.

• Program the PWM registers for the desired value.

• As soon as you trigger the PWM module, the selected PWM channel pin goes high (logic 1) and after the required width is reached, it will again go low (logic 0). So after triggering the PWM, you must start a timer with a delay of about 19 ms and wait until the timer overflows Go to step 2

An haɗa da wasu modes na PWM wanda za a iya yi amfani da su saboda microcontroller da aka zaba. Ya kamata a yi wadannan optimization a cikin code don kontrola motorin servo.

Idan kana bukatar motorin servo daɗi, za ku bukatar channels na PWM daɗi. Za a iya ba motorin servo pulse na PWM sequentially. Kuma kana bukatar da pulse repetition rate ta hanyar motorin servo yana daidai. Idan ba haka, motorin servo zai ɗauke saboda lack of synchronization.