Xa uthumela umqondiso we-duty cycle eyi-100% kwiimoto ezimbini ze-DC ezifanayo kwirobhothi ye-differential drive, irobhothi phantse ihlale igoba iye ekhohlo okanye ekunene. Oku kwenzeka kuba iimoto ezimbini ze-DC ezenziwe ngobuninzi azize zifane ngokupheleleyo ngokombane okanye ngokwemitshini, kwaye ukwahluka okuncinci kukukhuhlana kwangaphakathi, kumandla omazibuthe, nasekubambeleleni kwevili kuvelisa izantya zokujikeleza ezahlukeneyo kolo nyikelo lombane lunye ncam.

Kwigumbi lokufundela okanye kwiwokshophu yokhuphiswano, oku kutyibilika kolunye lwezona zithintelo zokuqala zicaphukisayo abafundi abadibana nazo. Ukuqonda ukuba kutheni kusenzeka—nokuba kutheni amaqhinga akhawulezileyo esoftwe engakusombululi—yibhulorho ephakathi kwerobhothiki yokudlala nobunjineli bokwenene.

Isakhiwo sokwahluka kweemoto

Iimoto ezincinci ezineegiya zombane oqhubeka ngqo (DC), ingakumbi iimoto zolonwabo ezinekhesi etyheli eziqhelekileyo kwiikhithi zemfundo, zakhiwa ngokunyamezelana okukhululekileyo ekuveliseni. Umahluko omncinci kakhulu oliqela uqinisekisa ukuba iMoto A iya kuziphatha ngokwahlukileyo kwiMoto B:

• Ukusongwa kwekhoyili nokumelana kwangaphakathi: Ucingo lobhedu olusongwe kwi-armature luyahluka kancinci ngobude nangokutsaleka, oko kudale umahluko omncinci ekumelaneni nakwi-back-EMF (amandla ombane ashukumisayo).
• Amandla omazibuthe osoloko ekho: Oomazibuthe be-ferrite abadityaniswe ngobushushu banokwahluka okuncinci kubuxinene bomsinga womazibuthe, into etshintsha imveliso ye-torque.
• Ukukhuhlana kweebrashi: Iibrashi zomatshini zicinezela kwi-commutator ngokutsaleka kwentsimbi okwahlukeneyo, zongeze ukutsalwa okungalinganiyo.
• Ukunyamezelana kwebhokisi yeegiya: Iibhokisi zeegiya ze-spur ezinamanqanaba amaninzi ezincanyathiselwe kwezi moto zifumana amanqanaba ahlukeneyo okukhuhlana, kuxhomekeke ekufaneni kwemilo yamazinyo, ekulungelelanisweni kwe-shaft, nasekusasazweni kweoli yangaphakathi.

Nangaphandle kwemoto ngokwayo, izinto zomatshini ziyandisa ingxaki. Ukuba ithayi elinye lerabha lihleli i-0.5 mm ngaphaya kwirim, i-radius yalo esebenzayo yokuqengqeleka iyatshintsha. Ukuba ipakethi yebhetri yerobhothi ihleli i-10 mm ngasekhohlo komgca ophakathi, ivili lasekhohlo lifumana amandla aqhelekileyo aphezulu nokumelana okukhulu nokuqengqeleka. Isiphumo sisiseko sokuqhuba esingalinganiyo macala omabini.

Kutheni 'ukulungelelanisa' okubhalwe ngqo kwikhowudi kusoloko kusilela

Impendulo eza kuqala engqondweni yomfundi kukulinganisa iimoto ngesandla kwikhowudi:

// Iqhinga eliqhelekileyo lomqalisi
motorLeft.setSpeed(255);
motorRight.setSpeed(238); // nciphisa imoto ekhawulezayo

Oku kwaziwa njengolawulo lwesangqa esivulekileyo (open-loop): ukuthumela umyalelo uze ucinge ukuba isiphumo sehlabathi lokwenene siyahambelana nesicelo ngaphandle kokujonga isiphumo. Nangona ukulungelelanisa ngesandla kunokwenza irobhothi ihambe ngqo iimitha ezintathu kumgangatho ogudileyo we-linoleum kwiiseti zeebhetri ezintsha, kuqinisekile ukuba kuyawohloka phantsi kweemeko zokwenene:

• Iikhava zokuphelelwa kwebhetri: Njengoko i-voltage yebhetri isehla kwisifundo esiyimizuzu engama-45, iimoto ze-DC azilahlekelwa sisantya ngomlinganiselo othe tye. Ukulungelelanisa okulinganiswe kwi-8.2V kuya kutsalela ecaleni xa ipakethi isehla iye kwi-7.4V.
• Utshintsho lokukhuhlana komphezulu: Ukusuka kwiithayela zelebhu ezigudileyo uye kwikhaphethi yorhwebo enoboya obufutshane kutshintsha ukumelana nokuqengqeleka ngokungalinganiyo kuwo omabini amathayi.
• Utshintsho lobushushu: Njengoko iibhokisi zeegiya nokusongwa kweemoto kufudumala ngexesha lokusebenza okungaphezi, ukukhuhlana kwangaphakathi kuyehla, kuguqule umlinganiselo wesantya phakathi kwamacala amabini.

Isisombululo: impendulo yesangqa esivaliweyo ngee-encoder

Ukwenza irobhothi ihambe ngomgca othe ngqo nokuba i-voltage yebhetri okanye ubume bomphezulu bunjani, imayikhrokhontrola kufuneka ilinganise oko amavili akwenzayo ngokwenene ngexesha lokwenyani. Oku kufuna ulawulo lwesangqa esivaliweyo.

Eyona ndlela ilula yokukufezekisa oku kusetyenziswa kwee-encoder zamavili ajikelezayo. I-encoder yenziwe sisenza (ngokuqhelekileyo yi-optical interrupter okanye isenza lomazibuthe le-Hall-effect) kunye nesiqwenga esijikelezayo esincanyathiselwe kwi-shaft yemoto okanye evilini (idiski enemisantsa okanye isangqa somazibuthe esineepali ezininzi). Ngalo lonke ixesha ivili lijikeleza, isenza liyabetha.

Ukusebenzisa ulawulo lwesantya olulinganayo

Akufuneki ube nesiseko sekhalkhulasi ephezulu ukuze usebenzise isilawuli sesangqa esivaliweyo esisebenzayo. Isangqa solawulo esisisiseko esilinganayo (P) esiqhuba rhoqo emva kwemilisekondi ezingama-50 ukuya kwikhulu sanele kwirobhothiki yegumbi lokufundela.

Endaweni yokuyalela amandla emoto akrwada, inkqubo yakho ilinganisa ukujikeleza kwamavili kwithuba lexesha elimisiweyo ize ilungise amandla ukususa umahluko:

1. Bala ukubetha kwe-encoder kuwo omabini amavili kwithuba elimisiweyo (umzekelo, rhoqo emva kwe-50 ms).
2. Bala impazamo: error = leftTicks - rightTicks.
3. Ukuba error > 0, ivili lasekhohlo lijikeleza ngokukhawuleza ngaphezu kwevili lasekunene. Nciphisa kancinci i-PWM yemoto yasekhohlo, wandise kancinci i-PWM yemoto yasekunene, okanye sebenzisa inani lolungiso elilingana nobungakanani bempazamo: correction = error * Kp (apho Kp iyi-constant yenzuzo elungelelanisiweyo).
4. Buyisela emva izibali zeetiki uze uphinde.

Ukuba wakha eyakho ikharityhulam yegumbi lokufundela okanye ukhangela amaqonga ehardware, ukukhetha iikhithi eziquka iimayikhrokhontrola ezikwazi ukuphazamiseka ngehardware kunye nee-encoder zomazibuthe ezidibanisiweyo—ezifana neenkqubo ezinamamojuli ezixhaswa kumaqonga anjenge-Sheen Canvas okanye amaqonga erobhothiki angaphantsi kwe-Infinity—kusindisa amashumi eeyure zokukhathazeka kwabafundi. Kutshintsha ugxininiso lokufunda kusuka ekulweni neziphene zomatshini kuye ekufundeni ngokupheleleyo impendulo yesenza nethiyori yolawulo.

Isifundo esiphambili

Ukungagqibeleli kwemitshini asizizo iziphene ekufuneka zifihlwe ngamaplasta esoftwe wexeshana; yinyaniso esisiseko yokubala ngekhompyutha okuphathekayo. Ukufundisa abafundi ukulinganisa imveliso yokwenene yemoto besebenzisa ii-encoder kunye nee-algorithm zesangqa esivaliweyo kwenza umthombo oqhelekileyo wokukhathazeka kwiwokshophu ube sisifundo esifikelelekayo, esisebenzayo kwiinkqubo zolawulo zehlabathi lokwenene.