Iindaba

Ukuze ingalo yerobhothi ikwazi ukuhamba kakuhle nokubamba izinto ngokuchanekileyo, undoqo kukulawula ngokuchanileyo ilungu ngalinye. Kulapho kanye ii-servo motors zidlala indima yazo. Njengeyona nxalenye yokuqhubela phambili yengalo yerobhothi, i-servo motor iguqula imiqondiso yombane ibe yintshukumo echanekileyo ye-angular, ngaloo ndlela ifezekisa ukuma nolawulo lwengalo yerobhothi.

Ukuqonda indlela ii-servo motors ezilawula ngayo iingalo zerobhothi linyathelo elibalulekileyo kwihlabathi loyilo lwerobhothi kunye nokwenza.

Ngowuphi umgaqo osisiseko wolawulo lwe-servo motor yengalo yerobhothi?

I-servo motor iqulethe i-motor encinci ye-DC, iseti yegiya, kunye ne-potentiometer yengxelo yendawo. Xa uthumela isignali yokulawula, isiphaluka solawulo sithelekisa loo mqondiso kunye ne-angle yangoku eyondliwe yi-potentiometer.

Ukuba kukho ukungangqinelani, i-motor iqala, isebenzisa isethi yegiya ukucotha kunye nokwandisa i-torque, ibangela ukuba i-shaft yokuphuma ijikeleze ide ifike kwindawo echongiweyo kwaye ime. Le nkqubo yokulawula i-loop evaliweyo iqinisekisa ukuchaneka kokulawula i-angle.

Kwiingalo zerobhothi,ilungu ngalinye lixhotyiswe nge-servo. Ngokulungelelanisa ii-angles ezijikelezayo zeemoto ezininzi ze-servo, umphumo wokugqibela wengalo yerobhothi unokulandela i-trajectory echazwe kwangaphambili kwindawo.

Umzekelo, ukwenza idigri ezintathu zenkululeko ingalo yerobhothi ithathe ikomityi ebekwe etafileni, iimotor ze-servo zegxalaba, ingqiniba, kunye namalungu esihlahla kufuneka zisebenze kunye ukubala kunye nokwenza uthotho lweenguqu eziqhubekayo.

Kutheni iimotor ze-servo zifanelekile kulawulo lwengalo yerobhothi?

I-Servo inenzuzo ebalulekileyo: ukudibanisa okuphezulu. Bafaka i-motor, i-gear yokunciphisa, kunye nolawulo lokujikeleza yonke into ngaphakathi kwendlu edibeneyo, inika abaphuhlisi isisombululo "seplagi kunye nokudlala".

Abavelisi beengalo zerobhothiakufuneki uthenge iinjini kunye nabaqhubi ngokwahlukeneyo, kwaye akufuneki ukuba benze uhlengahlengiso oluntsonkothileyo lweparamitha ye-PID. Oku kunciphisa kakhulu umqobo wokungena kwiingalo zerobhothi kwaye mfutshane umjikelo wophuhliso.

I-torque yestall ebonelelwa yi-servo motor ibalulekile kwingalo yerobhothi. Emva kokuba ingalo yerobhothi ifikelele kwindawo ekujoliswe kuyo, nangona iphazamiseka ngamandla angaphandle, i-servo motor iya kuqhubeka nokubonelela amandla okugcina i-angle kwaye ngaloo ndlela ibonise iqondo elithile "lokubamba amandla".

Luphawu olwenza ukuba ingalo yerobhothi ikwazi ukubamba izinto kwindawo ezinzileyo okanye ingasuki lula kwisimo esisetwe kwangaphambili xa ifumana ukungqubana okuncinci.

Ungayikhetha njani iModeli yeServo eLungileyo yeArm yeRobhothi

Xa ukhetha i-servo motor, i-torque kunye nesantya zezona parameters zibalulekileyo. I-torque imisela "amandla" emoto ye-servo, iyenza ukuba yoyise itorque eveliswa bubunzima bekhonkco lengalo yerobhothi kunye nomthwalo. Indlela yokulinganisa elula kukuba i-torque efunekayo kwi-joint kufuneka ibe ubuncinane amaxesha angama-1.5 i-torque eyenziwe ngamakhonkco kunye nomthwalo.

Isantya sichaphazela ukuguda kweentshukumo zengalo yerobhothi; ixabiso eliphantsi, elifana ne-0.1 sec/60 °, ngokukhawuleza intshukumo.

Kwiiprojekthi zengalo yerobhothi yezemfundo okanye yedesktop, eqhelekileyoI-DS-R003B Inkonzoimodeli yemoto ihlala isisisiqalo esihle esinexabiso elincomekayo elisebenzayo.

Yeyiphi ifomathi ethile yophawu lolawulo lweemoto ze-servo?

Ii-Servo zisebenzisa kakhulu imiqondiso ye-PWM (i-Pulse Width Modulation) yolawulo. I-pulse yokulawula ayinqunywanga kwinqanaba lombane, kodwa ngexesha layo. Ixesha eliqhelekileyo lokulawula ipulse lidla ngokuba yi-20 milliseconds.

Ngeli xesha, ubude besignali yezinga eliphezulu buhluka phakathi kwe-0.5 kunye ne-2.5 millisecond. Olu bubanzi be-pulse buhambelana ngokuthe ngqo nokufuduka kwe-angular ye-shaft yokuphuma ukusuka kwi-0 ° ukuya kwi-180 °.

Ngokukodwa, i-0.5ms ububanzi be-pulse ngokubanzi ihambelana nendawo ye-0 °, i-1.5ms ukuya kwi-90 ° indawo engathathi hlangothi, kunye ne-2.5ms ukuya kwi-180 ° isikhundla. Kufuneka usebenzise i-microcontroller's I/O izibuko ukuvelisa le pulse waveform enobubanzi obuthile.

Indlela yokucwangcisa intshukumo elungelelanisiweyo yengalo yerobhothi?

Owona mba ubalulekileyo wokusebenzisa inkqubo ukulawula idigri eninzi yenkululeko ingalo yerobhothi ilele kwizibalo zekinematic. Kufuneka useke ubudlelwane bemephu ukusuka "kwindawo edibeneyo" ukuya "kwindawo yeCartesian."

Ukuthatha intshukumo yomgca yesiphumo sengalo yerobhothi njengomzekelo, kufuneka ubale le ndlela ethe tye kwicala elichaseneyo, uyiguqule ibe kulandelelwano lwee-engile eziguqukayo ngokuhamba kwexesha kwi-servo nganye edibeneyo.

Kwinkqubo yokwenyani, wena kuqalacwangcisa umzila ofunekayo wesiphumo sengalo yerobhothi. Emva koko, usebenzisa i-kinematics eguquguqukayo, ubala i-angle ekujoliswe kuyo ekufuneka i-servo nganye ijikeleze ngexesha langempela.

Ibhodi yokulawula emva koko ithumela izibonakaliso ze-PWM ezihambelanayo kwi-servo nganye ngokulandelelana, ukuqinisekisa ukuba bafika kwiindawo zabo ezichongiweyo ngaxeshanye okanye ngokulandelelana. Oku kuphumeza iintshukumo ezidityanisiweyo ezigudileyo, ezilungelelanisiweyo.

Iingxaki eziqhelekileyo xa kusakha iServo Mounted Robotic Arm

Kwabaqalayo, eyona ngxaki ixhaphakileyo kukuba iingalo zengalo zerobhothi zinokungcangcazela okanye zisilele ukufikelela ngokuchanekileyo kwiindawo zazo. Oku kubangelwa jikelele kukungonelanga kombane. Xa ii-servos ezininzi zisebenza ngaxeshanye, umzobo wangoku uphezulu kakhulu, apho i-port ye-USB yekhompyutheni okanye i-pack yebhetri elula ayikwazi ukuhlangabezana, ekhokelela ekuhlahleni kombane obukhali.

Isisombululo kukusebenzisa unikezelo lwamandla olwahlukileyo, olulawulwayo olunamandla awoneleyo, kunye nokongeza umthamo omkhulu we-capacitor ngokunxusene nentambo yombane ye-servo nganye ukuze ukhusele imfuno yangoku.

Ukungonelanga kokuqina komatshini okukhokelela ekudibaneni ngqongqo ngokugqithisileyo yenye ingxaki eqhelekileyo. Ukushukuma kolwakhiwo kuya kutshabalalisa i-servo torque, ngelixa ukudityaniswa okuqinileyo kuya konyusa ukuxhathisa. Zombini ezi meko zinokukhokelela ekumiseni okungachanekanga kwe-servo kunye nokushisa.

Qinisekisa ukuba iingalo zakho zerobhothi zenziwe ngoomatshini ngokuchanekileyo, ziqhagamshelwe ngokukhuselekileyo, kunye nokubaiipleyiti zokuqhuba i-servo zifakwe ngokufanelekileyo ngaphandle kokutyibilika. Ukongeza ukulibaziseka kwentshukumo efanelekileyo kwikhowudi kunokuthintela ukungcangcazela kwe-servo ngenxa yokudubuleka.