Kungani ama-servo asekilasini edlidliza futhi ashise ngokweqile (nokuthi ungakulungisa kanjani ukuxhuma izintambo)
Ama-servo motor asekilasini ayadlidliza, avunge futhi ashise ngokweqile ngoba ama-microcontroller awakwazi ukunikeza umsinga ophakeme kakhulu odingwa ngamamotho. Nakhu ukuthi ungawaxhuma kanjani ngendlela efanele emandleni angaphandle.
Ama-servo motor asekilasini ayadlidliza, avunge futhi ashise ngokweqile ngoba athatha amandla ngqo kuzipinini zamandla ze-5V noma ze-3.3V zebhodi le-microcontroller. Amabhodi okuthuthukisa e-microcontroller aklanyelwe umqondo nokuzwa okusebenzisa amandla amancane, hhayi ukunikeza imisinga ephezulu esuka ngamandla edingwa yimithwalo yamamotho e-inductive. Uma ama-servo amaningi edonsa umsinga ngasikhathi sinye, i-voltage yebhodi iyehla, kudaleke i-brownout eyenza isignali yokulawula ingazinzi, iqale kabusha iprosesa, futhi iphoqe i-servo ukuba ilwe njalo ngomsinga ophezulu ifuna indawo yayo.
Ukungahambisani kukagesi: umqondo bhekene namandla
I-micro servo ejwayelekile (njenge-SG90 eluhlaza okwesibhakabhaka ka-9g evamile) ibukeka ingenangozi kanti ayinjalo. Uma ingasebenzi, ingaphethe mthwalo, i-micro servo eyodwa idonsa phakathi kuka-10mA no-20mA. Kodwa, ngomzuzwana imoto engaphakathi eqala ukunyakaza noma ihlangabezana nokumelana kwemishini, umsinga ukhuphuka ngokushesha:
- Ingasebenzi: 10mA kuya ku-20mA
- Ukunyakaza okujwayelekile: 100mA kuya ku-250mA
- Ukubambeka / ukusheshisa okuzumayo: 500mA kuya ku-800mA
Ama-servo ajwayelekile amakhulu (njenge-MG995 noma i-MG996R) avamise ukudonsa u-1.2A kuya ku-2.5A uma ebambekile.
Manje ake sibheke i-microcontroller. I-Arduino Uno evamile, ibhodi lokuthuthukisa le-ESP32, noma i-adaptha ye-micro:bit enikwa amandla ngembobo ye-USB yelaptop yesikole ivinjelwe yisabelo samandla esiphelele esingu-500mA. Ngisho noma inikwa amandla nge-barrel jack yangaphandle ye-9V noma ye-12V, i-linear voltage regulator ekubhodi (njenge-AMS1117 noma efana nayo) ingakwazi ukumelana ngokuphephile namakhulu ambalwa kuphela wama-milliamp omthwalo oqhubekayo ngaphambi kokuba iphungule ngenxa yokushisa noma yehlise i-voltage ephumayo.
Uma iphrojekthi yekilasi—njengengalo yerobhothi ene-axis ezintathu noma irobhothi elihambayo—iqhuba ama-micro servo amathathu ngasikhathi sinye, isidingo esiphakeme somzuzwana singadlula kalula u-2A. Umugqa we-5V we-microcontroller uwa khona manjalo.
Kungani ukwehla kwe-voltage kubanga ukudlidliza nokushisa okukhulu
Uma i-voltage engenayo yehla ngaphansi komkhawulo we-brownout we-microcontroller, kwenzeka izindlela ezimbili zokwehluleka ngasikhathi sinye:
- Ukudlidliza kwesignali nokuqala kabusha kweprosesa: Njengoba i-voltage yehla, i-microcontroller iyaziqala kabusha njalo noma ikhiphe izignali zesikhathi ze-Pulse Width Modulation (PWM) ezisontekile. I-potentiometer engaphakathi ye-servo ifunda i-voltage entengantengayo njengephutha lendawo, okwenza imoto engaphakathi idlidlize iye emuva naphambili ngokushesha (i-chatter).
- Ukushisa okungalawuleki ngaphakathi kwe-servo: Ngenxa yokuthi umugqa we-voltage uhlala wehla, i-servo ayifiki nhlobo endaweni eyiqondile futhi ayikwazi ukuzola iphumule isebenzisa amandla amancane. I-H-bridge driver engaphakathi ihlala inikeza umsinga osezingeni lokubambeka emakhoyili emoto. Emizuzwini emihlanu ihleli etafuleni ingenzi msebenzi ozuzisayo, i-micro servo edlidlizayo iyoshisa kabuhlungu uma uyithinta futhi ingancibilikisa ibhokisi layo lepulasitiki noma yephuce amagiya ayo amazinyo.
Isixazululo: hlukanisa amandla, wabelane nge-ground
Ukuze usebenzise ama-servo ngokwethembeka ekilasini, kumele wehlukanise isekethe yamandla emoto enomsinga ophezulu nesekethe yomqondo ye-microcontroller ezwelayo kodwa ugcine i-ground eyodwa yokubhekisela.
Isinyathelo 1: Sebenzisa umthombo wamandla ozimele we-5V noma we-6V
Nika ama-servo amandla ngomthombo wangaphandle okwazi ukuletha okungenani u-2A kuya ku-3A womsinga oqhubekayo. Izinketho ezithembekile zamalebhu amarobhothi esikole zibandakanya:
- Iphakethe lamabhethri ama-AA amane: Ukusebenzisa amabhethri e-NiMH ashajekayo kunikeza cishe u-4.8V; amabhethri e-alkaline anikeza cishe u-6V. Womabili asebenza ngaphakathi kobubanzi be-voltage ephephile bama-servo ejwayelekile e-5V okuzilibazisa.
- Umthombo wamandla we-DC olawulwayo ozinikele we-5V 2A–3A: Ulungele amatafula omsebenzi asekilasini angantengantengi.
- I-step-down (buck) converter: Uma isikole sakho sisebenzisa amakhithi amarobhothi asekelwe ngamabhethri asebenza ngo-7.4V (amaphakethe e-2S LiPo noma e-18650), yehlisa i-voltage ibe ngu-5V noma ngu-6V ozinzile ngqo womugqa we-servo.
Isinyathelo 2: Xhuma i-ground evamile (iphutha elenzeka kakhulu)
Umugqa opozithivu (+ / obomvu) womthombo wamandla wangaphandle kumele uxhume kuphela entanjeni epozithivu ye-servo. Umugqa onegethivu (- / omnyama) womthombo wamandla wangaphandle kumele uxhume entanjeni enegethivu ye-servo kanye nesipinini se-GND se-microcontroller yakho.
Ngaphandle kwale ntambo ye-ground eyabelwana ngayo, isignali yokulawula ye-PWM ye-microcontroller ayinawo umgudu wokubuyela emuva futhi ayinaso isibhekiselo se-0V. I-servo izontanta ngokukagesi, kuphume ukudlidliza okungazinzile nokungabikezeleki ngisho noma unamandla angaphandle anele.
Isinyathelo 3: Faka ama-decoupling capacitor emugqeni
Uma ama-servo amaningi eqala ngokuzumayo, adala umsindo kagesi one-frequency ephezulu nokwehla kwe-voltage kwesikhashana emugqeni wamandla. Ukubeka i-electrolytic capacitor (100µF kuya ku-470µF, elinganiselwe u-10V noma ngaphezulu) phezu kwezixhumi ezipozithivu nezinegethivu zomthombo wamandla wangaphandle eduze kwama-servo kubuthisa lokhu kukhuphuka komsinga okwedlulayo.
Ukuqhathaniswa kwezindlela zokuxhuma izintambo
| Ukuhlelwa | Ukuziphatha ekilasini | Ukufaneleka |
|---|---|---|
| Wonke ama-servo axhunywe ngqo esipinini se-5V se-MCU nge-breadboard | Ukudlidliza njalo, ibhodi liziqala kabusha ngokungahleliwe, ama-servo ashisa uma uwathinta. | Ayisebenziseki uma kunge-micro servo engaphezu koku-1. |
| Iphakethe lebhethri elehlukene kuma-servo, kodwa i-ground AYIXHUNYIWE ku-MCU | Ama-servo aziphatha ngokungazinzile, anganaki imiyalo yama-engeli, noma adlidlize ngokungalawuleki. | Isekethe ephukile (kushoda isibhekiselo). |
| Umthombo wamandla wangaphandle one-ground evamile exhunywe ku-MCU | Ukunyakaza okubushelelezi, ukubamba indawo buthule uma ingasebenzi, izinga lokushisa elijwayelekile elipholile noma elifudumele. | Ukuxhuma izintambo okulungile okujwayelekile. |
| I-Servo Driver Shield ezinikele / ibhodi le-PCA9685 I2C | Kufika kuma-servo ayi-16 kubhasi elilodwa elabelwene, kunamandla asuka esixhumini sesikulufu sangaphandle nokuthwalelwa kwe-PWM yizingxenyekazi. | Ilungele kakhulu izingalo zamarobhothi ezinamalunga amaningi nemincintiswano yamarobhothi. |
Ukusuka kuma-breadboard uye kuma-shield asekilasini
Nakuba ama-breadboard efanele ukufundisa ukuxhuma okuyisisekelo kwe-servo eyodwa, imigqa yamandla ye-breadboard yengeza ukumelana kokuthintana okwenza ukwehla kwe-voltage kube kubi nakakhulu uma abafundi befaka ama-servo amane noma amahlanu. Ekwakhiweni okunama-servo amaningi njengezingalo zamarobhothi, ama-humanoid, noma izinhlelo zokuhlunga ezizenzakalelayo, nikela nge-shield yezingxenyekazi eyakhelwe amandla emoto.
Ama-shield okwandisa izinzwa anezixhumi zezikulufu zamandla angaphandle ezinikele noma amabhodi e-I2C driver azinikele (njenge-PCA9685 enamashaneli ayi-16) asusa isiminyaminya sezintambo, avimbele ukuxhumeka kwe-polarity engalungile ukuba kulimaze amalaptop esikole, futhi avumele amakilasi aphelele ukwakha izinhlelo ezinama-servo amaningi ngaphandle kwemijikelezo ye-brownout.
Uma uhlomisa ilebhu yamarobhothi yesikole noma ubuyekeza amakhithi ezingxenyekazi asekilasini emisebenzini ebambekayo ye-CAPS Coding and Robotics, hlola izinketho zezingxenye esitolo sethu sezingxenyekazi noma ukhulume nonjiniyela bethu bekharikhulamu ngokuthola izinto zelebhu ukuze uthole impahla yetafula lomsebenzi elingana nezinga elimisiwe, evikelekile ku-short circuit.
