Uma uthumela isignali ye-duty cycle engu-100% kumamotho amabili e-DC afanayo kwirobhothi elisebenzisa i-differential drive, irobhothi cishe njalo liyaphambukela kwesobunxele noma kwesokudla. Lokhu kwenzeka ngoba amamotho amabili e-DC akhiqizwa ngobuningi awasoze afane ncamashi ngokukagesi noma ngokwemishini, futhi umehluko omncane ekungqubuzaneni kwangaphakathi, emandleni kazibuthe, nasekubambeni kwesondo phansi udala izivinini zokujikeleza ezehlukene nakuba kufakwe ugesi ofanayo ncamashi.

Ekilasini noma esifundweni esifushane somncintiswano, lokhu kuphambuka kungesinye sezithiyo zokuqala ezicasulayo abafundi abahlangabezana nazo. Ukuqonda ukuthi kungani kwenzeka—nokuthi kungani amaqhinga esheshayo esofthiwe engakuxazululi—kuyibhuloho eliphakathi koburobhothi bokudlala nobunjiniyela bangempela.

Ukwakheka Komehluko Wamamotho

Amamotho amancane anamagiya asebenza ngogesi oqondile (DC), ikakhulukazi amamotho okuzilibazisa asekhaveni eliphuzi ajwayeleke kakhulu emakhithini emfundo, akhiwa ngamazinga okukhiqiza axegayo. Umehluko othile omncane kakhulu uqinisekisa ukuthi uMotho A uzosebenza ngendlela ehlukile kuMotho B:

• Ukusongwa kwewaya nokumelana kwangaphakathi: Iwaya lethusi elisongwe ku-armature lihluka kancane ngobude nangokuqiniswa, okudala umehluko omncane ekumelaneni nakwi-back-EMF (amandla kagesi abuyayo).
• Amandla kazibuthe ohlala njalo: Ozibuthe be-ferrite abashisiwe banomehluko omncane ekuminyaneni kwe-magnetic flux, okushintsha i-torque ekhishwayo.
• Ukungqubuzana kwamabhulashi: Amabhulashi emishini acindezela ku-commutator ngamandla entwabantwaba ahlukene, okwengeza ukudonseka okungalingani.
• Amazinga okuhluka ebhokisi lamagiya: Amabhokisi amagiya e-spur anezigaba eziningi anamathiselwe kula mamotho abhekana namazinga ahlukene okungqubuzana kuya ngokungaguquki kwesimo samazinyo, ukuqondaniswa kwe-shaft, nokusabalala kukaoyela wangaphakathi.

Ngisho nangaphandle kwemotho uqobo, izinto ezithinta imishini ziyayandisa le nkinga. Uma ithaya lenjoloba elilodwa lihlala li-0.5 mm ngaphakathi kakhulu erimini, i-radius yalo esebenzayo yokugingqika iyashintsha. Uma isikhwama sebhethri lerobhothi sisekwesobunxele nge-10 mm kusukela emugqeni ophakathi, isondo langakwesobunxele libhekana namandla acindezelayo amakhulu nokumelana nokugingqika okukhulu. Umphumela yisisekelo sokushayela esingalingani nhlangothi zombili.

Kungani ‘Ukulungiswa’ Okubhalwe Ngqo Ekhodini Kuhluleka Njalo

Impendulo evamile yomfundi ukulinganisa amamotho ngesandla ekhodini:

// Iqhinga elijwayelekile labaqalayo
motorLeft.setSpeed(255);
motorRight.setSpeed(238); // yehlisa imotho esheshayo

Lokhu kwaziwa ngokuthi ukulawula kwe-open loop: ukuthumela umyalo bese ucabanga ukuthi umphumela emhlabeni wangempela uhambisana nesicelo ngaphandle kokuhlola. Nakuba ukulungisa ngesandla kungenza irobhothi lihambe ngqo amamitha amathathu phezu kwephansi le-linoleum elibushelelezi ngamabhethri asanda kufakwa, kuyahluleka ngokuqinisekile ngaphansi kwezimo zangempela:

• Amajika okuphelelwa amandla kwebhethri: Njengoba i-voltage yebhethri yehla phakathi nesifundo esingamaminithi angu-45, amamotho e-DC awalahlekelwa isivinini ngokulinganayo. Ukulungiswa okukaliwe ku-8.2V kuzodonsela eceleni uma isikhwama sesehle saya ku-7.4V.
• Izinguquko ekungqubuzaneni kwendawo: Ukusuka kumathayela abushelelezi elabhu uye ekhaphethini elifushane lezentengiselwano kushintsha ukumelana nokugingqika ngokungalingani kuwo womabili amathaya.
• Izinguquko zokushisa: Njengoba amabhokisi amagiya nezisongo zemotho zishisa ngesikhathi sokusebenza okungapheli, ukungqubuzana kwangaphakathi kuyehla, okushintsha isilinganiso sesivinini phakathi kwezinhlangothi zombili.

Isixazululo: Impendulo Ye-closed Loop Ngama-encoder

Ukuze irobhothi lihambe ngomugqa oqondile kungakhathaliseki i-voltage yebhethri noma ubunjalo bendawo elihamba kuyo, i-microcontroller kudingeka ikale ukuthi amasondo enzani ngempela ngaleso sikhathi. Lokhu kudinga ukulawula kwe-closed loop.

Indlela elula kunazo zonke yokukwenza lokhu ukusebenzisa ama-encoder amasondo ajikelezayo. I-encoder yakhiwe yisinzwa (imvamisa i-optical interrupter noma isinzwa sikazibuthe se-Hall effect) nengxenye ejikelezayo enamathiselwe ku-shaft yemotho noma esondweni (idiski enezikhala noma indandatho kazibuthe enezigxobo eziningi). Njalo uma isondo lijika, isinzwa sikhipha isignali.

Ukusebenzisa Ukulawulwa Kwesivinini Ngokulinganisa

Awudingi ulwazi olujulile lwe-calculus ukuze wakhe isilawuli se-closed loop esisebenzayo. I-loop eyisisekelo yokulawula ngokulinganisa (P) esebenza njalo emva kwama-millisecond angu-50 kuya ku-100 yanele kuburobhothi basekilasini.

Esikhundleni sokuyala amandla emotho ngqo, uhlelo lwakho lukala ukujikeleza kwamasondo esikhathini esimisiwe bese lulungisa amandla ukuze kususwe umehluko:

1. Bala izignali ze-encoder kuwo womabili amasondo esikhathini esimisiwe (isibonelo, njalo emva kwama-50 ms).
2. Bala iphutha: error = leftTicks - rightTicks.
3. Uma error > 0, isondo langakwesobunxele lijikeleza ngokushesha kunelangakwesokudla. Yehlisa kancane i-PWM yemotho yangakwesobunxele, ukhuphule kancane i-PWM yemotho yangakwesokudla, noma usebenzise inani lokulungisa elilingana nobukhulu bephutha: correction = error * Kp (lapho Kp kuyinani elingaguquki elikaliwe).
4. Buyisela izibali zamathikhi ekuqaleni bese uphinda.

Uma wakha uhlelo lwakho lwezifundo lwasekilasini noma uthenga izinhlaka zehadiwe, ukukhetha amakhithi afaka ama-microcontroller akwazi ukusebenzisa ama-hardware interrupt kanye nama-encoder kazibuthe ahlanganisiwe—njengezinhlelo ezakhiwe ngamamojula ezisekelwa ezinhlakeni ezifana ne-Sheen Canvas noma izinhlaka zoburobhothi ezingaphansi kwe-Infinity—kwehlisa amahora amaningi okucasuka kwabafundi. Kususa ukugxila kokufunda ekulweni namaphutha emishini kuye ekwazini kahle impendulo yezinzwa nethiyori yokulawula.

Isifundo Esiyinhloko

Ukungapheleli kwemishini akuwona amaphutha okumele afihlwe ngamabhandeji esofthiwe esikhashana; kuyiqiniso eliyisisekelo lokusebenzisa amakhompyutha ezintweni eziphathekayo. Ukufundisa abafundi ukukala okukhishwa yimotho ngempela besebenzisa ama-encoder nama-algorithm e-closed loop kuguqula umthombo ojwayelekile wokucasuka esifundweni esifushane kube yisifundo esifinyeleleka kalula, esisebenzayo ngezinhlelo zokulawula zomhlaba wangempela.