Kutheni iiservo zeklasi zingcangcazela zize zishushu ngokugqithisileyo (nendlela yokulungisa iintambo)
Iimoto zeeservo zeklasi ziyangcangcazela, ziyavuvuzela, zize zishushu ngokugqithisileyo kuba iimayikhrokhontrola azikwazi ukunika umbane ophezulu ofunwa ziimoto. Nantsi indlela yokutsala amandla angaphandle ngendlela echanekileyo.
Iimoto zeeservo zeklasi ziyangcangcazela, ziyavuvuzela, zize zishushu ngokugqithisileyo kuba zitsala amandla ngqo kwiipini zamandla ze-5V okanye ze-3.3V zebhodi yemayikhrokhontrola. Iibhodi zophuhliso zemayikhrokhontrola zenzelwe ilojiki nokuva okusebenzisa amandla amancinci, hayi ukunika umbane omninzi ophuma ngesiquphe ofunwa yimithwalo yeemoto ze-inductive. Xa iiservo ezininzi zitsala umbane ngaxeshanye, umbane webhodi uyehla, kwenzeke i-brownout eyenza umqondiso wolawulo ungazinzi, iphinde iqalise iprosesa kwakhona, kwaye inyanzele iservo ukuba ingene kumzabalazo ongapheliyo wokufuna indawo osebenzisa umbane omninzi.
Ukungangqinelani kombane: ilojiki ngokuchasene namandla
Imicro servo eqhelekileyo (njengale iluhlaza okwesibhakabhaka ye-9g SG90 eqhelekileyo) ibonakala ingenangozi ngendlela ekhohlisayo. Xa ingasebenzi, ingaphathanga mthwalo, imicro servo enye itsala phakathi kwe-10mA ne-20mA. Kodwa, kanye xa imoto engaphakathi iqala ukushukuma okanye ihlangana nokuchaswa kwemishini, umbane unyuka ngesantya:
- Ingasebenzi: 10mA ukuya ku-20mA
- Ukushukuma okuqhelekileyo: 100mA ukuya ku-250mA
- Ukumisa / ukukhawuleza ngesiquphe: 500mA ukuya ku-800mA
Iiservo eziqhelekileyo ezinkulu (njenge-MG995 okanye i-MG996R) zitsala i-1.2A ukuya ku-2.5A xa zimisiwe.
Ngoku khawuqwalasele imayikhrokhontrola. I-Arduino Uno eqhelekileyo, ibhodi yophuhliso ye-ESP32, okanye i-adaptha ye-micro:bit efumana amandla kwisikhonkco se-USB selaptop yesikolo ithintelwe yibhajethi yamandla epheleleyo ye-500mA. Nokuba ifumana amandla kwi-barrel jack yangaphandle ye-9V okanye ye-12V, isilawuli sombane esithe tye esikwibhodi (njenge-AMS1117 okanye esifanayo) sinokuchitha ngokukhuselekileyo amakhulu ambalwa eemilliamps zomthwalo oqhubekayo kuphela ngaphambi kokuba sizicuthe ngenxa yobushushu okanye sithobe umbane osiphumayo.
Ukuba iprojekthi yeklasi—njengengalo yerobhothi ene-3-axis okanye irobhothi ehambayo—ivula iimicro servo ezintathu ngaxeshanye, imfuno ephezulu yomzuzwana inokugqitha lula ku-2A. Umzila we-5V wemayikhrokhontrola uwa kwangoko.
Kutheni ukwehla kombane kubangela ukungcangcazela nobushushu obugqithisileyo
Xa umbane ongenayo usehla ngaphantsi komda we-brownout wemayikhrokhontrola, kwenzeka iindlela ezimbini zokusilela ngaxeshanye:
- Ukungcangcazela komqondiso nokuziqalisa kweprosesa: Njengoko umbane usihla, imayikhrokhontrola iyaziqalisa ngokuphindaphindiweyo okanye ikhuphe imiqondiso yexesha ye-Pulse Width Modulation (PWM) egwenxa. Iphothenshiyomitha engaphakathi yeservo ifunda umbane oguqugukayo njengempazamo yendawo, into ebangela ukuba imoto engaphakathi itsalele ngaphambili nangasemva ngesantya (i-chatter).
- Ubushushu obuphuma phantsi kolawulo ngaphakathi kweservo: Ngenxa yokuba umzila wombane usihla rhoqo, iservo ayifiki kwindawo eyijoliseyo kwaye ayikwazi ukuzinza kwimeko yokungasebenzi esebenzisa amandla amancinci. Umqhubi we-H-bridge ongaphakathi unika umbane osemgangathweni wokumisa ngokungapheliyo kwiikhoyili zemoto. Kwimizuzu emihlanu ihleli edesikeni ingenzi msebenzi uluncedo, imicro servo engcangcazelayo iya kutshisa kabuhlungu xa uyichukumisa, kwaye inokunyibilikisa ityhoyi yayo yeplastikhi okanye yonakalise iigiya zayo.
Isisombululo: amandla ahlukileyo, umhlaba owabelwanayo
Ukuze uqhube iiservo ngokuthembekileyo eklasini, kufuneka wahlule isekethe yamandla emoto enombane omninzi kwisekethe yelojiki yemayikhrokhontrola ebuthathaka, ugcine kodwa umhlaba wereferensi owabelwanayo.
Inyathelo 1: Sebenzisa umthombo wamandla ozimeleyo we-5V okanye we-6V
Nika iiservo amandla asuka kumthombo wangaphandle onako ukunika ubuncinane i-2A ukuya ku-3A yombane oqhubekayo. Ezinye izinto ezithembekileyo ezinokusetyenziswa kwiilebhu zerobhothiki zezikolo zezi:
- Ipakethi yeebhetri ezine ze-AA: Ukusebenzisa iibhetri ze-NiMH ezitshajwayo kunika malunga ne-4.8V; iibhetri ze-alkaline zinika malunga ne-6V. Zombini zisebenza ngaphakathi kohlu lombane olukhuselekileyo lweeservo eziqhelekileyo ze-5V zolonwabo.
- Umthombo wamandla we-DC olawulwayo ozinikeleyo we-5V 2A–3A: Ufaneleke kakhulu kwiibhentshi zokusebenzela ezingashukumiyo zeklasi.
- Isiguquli esithoba umbane (i-buck converter): Ukuba isikolo sakho siqhuba iikhithi zerobhothiki ezixhaswe ziibhetri ezisebenza nge-7.4V (iipakethi ze-2S LiPo okanye ze-18650), thoba umbane uye kwi-5V okanye kwi-6V ezinzileyo ngokukodwa kumzila weservo.
Inyathelo 2: Dibanisa umhlaba owabelwanayo (eyona mpazamo yenzeka rhoqo)
Umgca opositivu (+ / obomvu) womthombo wamandla wangaphandle kufuneka udibane kuphela nocingo olupositivu lweservo. Umgca onegetivu (- / omnyama) womthombo wamandla wangaphandle kufuneka udibane nocingo olunegetivu lweservo kunye nepini ye-GND kwimayikhrokhontrola yakho.
Ngaphandle kolu cingo lomhlaba lwabelwanayo, umqondiso wolawulo we-PWM wemayikhrokhontrola awunandlela yokubuyela kwaye awunareferensi ye-0V. Iservo iya kudada ngokombane, into ekhokelela ekuxhuzuleni okungazinzanga nokungalindelekanga, nokuba unamandla angaphandle aneleyo.
Inyathelo 3: Yongeza iikhapasitha zokwahlula kumzila
Xa iiservo ezininzi ziqala ngesiquphe, zenza ingxolo yombane enefrikhwensi ephezulu kunye nokwehla kombane komzuzwana kumzila wamandla. Ukubeka ikhapasitha ye-electrolytic (100µF ukuya ku-470µF, elinganiselwe ku-10V okanye ngaphezulu) phakathi kweetheminali ezipositivu nezinegetivu zomthombo wamandla wangaphandle kufuphi neeservo kuthambisa oku kunyuka kombane kwexeshana.
Uthelekiso lwereferensi yeentambo
| Ulungiselelo | Ukuziphatha eklasini | Ukufaneleka |
|---|---|---|
| Zonke iiservo zidityaniswe ngqo kwipini ye-5V ye-MCU nge-breadboard | Ukungcangcazela okungapheliyo, ibhodi iziqalisa ngokungalindelekanga, iiservo zishushu xa uzichukumisa. | Ayisebenziseki kwiimicro servo ezingaphezu kwenye. |
| Ipakethi yebhetri eyahlukileyo kwiiservo, kodwa umhlaba UNGADIBANANGA ne-MCU | Iiservo ziziphatha ngokungazinzanga, azihoyi imiyalelo yee-engile, okanye ziyaxhuzula ngaphandle kolawulo. | Isekethe eyaphukileyo (kulahleke ireferensi). |
| Umthombo wamandla wangaphandle onomhlaba owabelwanayo odityaniswe ne-MCU | Ukushukuma okugudileyo, ukubamba indawo ngokuthe cwaka xa ingasebenzi, ubushushu obuqhelekileyo bokusebenza obubandayo/obufudumeleyo. | Iintambo eziqhelekileyo ezichanekileyo. |
| I-Servo Driver Shield ezinikeleyo / ibhodi ye-PCA9685 I2C | Ukuya kutsho kwiiservo ezili-16 kwibhasi enye eyabelwanayo, inamandla asuka kwiitheminali zesikrufu zangaphandle kunye ne-PWM eyenziwa yihardware. | Ilungele kakhulu iingalo zeerobhothi ezinamalungu amaninzi nokhuphiswano lwerobhothiki. |
Ukusuka kwiibreadboard uye kwiishield zeklasi
Nangona iibreadboard zifanelekile ekufundiseni iintambo ezisisiseko zeservo enye, imizila yamandla yebreadboard yongeza ukuchaswa kwendawo yokudibana okwenza ukwehla kombane kube kubi ngakumbi xa abafundi bengenisa iiservo ezine okanye ezintlanu. Kwiiprojekthi ezineeservo ezininzi njengeengalo zeerobhothi, ii-humanoid, okanye iinkqubo zokwahlula ezizenzekelayo, misela i-shield yehardware eyenzelwe amandla eemoto.
Iishield zokwandisa iisenza ezineetheminali zesikrufu zamandla angaphandle ezizinikeleyo okanye iibhodi zomqhubi we-I2C ezizinikeleyo (njenge-PCA9685 eneetshaneli ezili-16) zisusa ukubhijelana kweentambo, zithintele ukuba uqhagamshelo lwepolarithi engachanekanga lonakalise iilaptop zesikolo, kwaye zivumele iiklasi zonke ukuba zakhe iinkqubo ezineeservo ezininzi ngaphandle kwezangqa ze-brownout.
Ukuba uxhobisa ilebhu yerobhothiki yesikolo okanye uhlaziya iikhithi zehardware zeklasi zezifundo ezisebenzayo ze-CAPS Coding and Robotics, jonga ukhetho lwezinto kwivenkile yethu yehardware okanye uthethe neenjineli zethu zekharityhulam ngeukufunyanwa kwezixhobo zelebhu ukuze ufumane izixhobo zebhentshi yokusebenzela ezisemgangathweni nezikhuselwe kwi-short circuit.
