Ita shuwa zvekunyoroveswa: Tarisa kuti servo runyanga, kubatana, uye mamwe mechanics anofamba akasununguka pasina kusunga mapoinzi. Kukakavara kwakanyanya kunowedzera zvakanyanya servo mutoro.

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Kana matanho akaomeswa ari munzvimbo, software inogona kuwedzera kugadzirisa simba.

1. Shandisa nzvimbo yakafa

Muchirongwa chekutonga, ita nzvimbo diki yakafa yeiyo kona yekona. Semuenzaniso, tumira chete mutsva wePWM Command kana shanduko mune iyo target kona inopfuura ± 2 °. Izvi zvinodzivirira yakakwira-frequency jitter inokonzerwa neyechidiki chiratidzo chinonhuwirira.
2. Software Kufefetera Algorithms
Median zvinoreva kusefa: Tora akawanda akateedzana samples eiyo chiratidzo chechiratidzo, rasa iyo yepamusoro uye yakaderera tsika, uye shandisa avhareji yezvinhu zvakasara zvekubuda sekubuda. Uku kudzvinyirira zvinobudirira pulse kupindira.
Chekutanga-kuraira kuderera-pass filter: yakatsemuka mutemo wekutonga. Shandisa formula: `itswa = (α * yapfuura_output) + ((((1) Izvi zvinoguma nekuita servo servo kufamba uye kuderedza jerk kunokonzerwa nekuchinja kamwe kamwe.
3. Kunze kwekutarisa nekudzivirira
Kana Hardware ichitsigira (i.e., zvazvino kunzwa), chirongwa chacho chinogona kuongorora servo razvino kana stall mamiriro. Kana iyo yazvino isingabvumirane inodarika chikumbaridzo chakasungirirwa, pakarepo imbomira chiratidzo chekubuda uye isa mamiriro ekudzivirira kudzivirira kupera simba.
4. Pfupiso uye inoshanda cheki
Kuvandudza kusava nemhosva kunofanirwa kutevera iyo nheyo ye "Hardware yekutanga, software yechipiri." Iwe unogona kushandisa iyi yekutarisa kuti uongorore uye uwedzere yako system:
1. [] Tarisa SIMBA SWORKLY: Shandisa multimeter kuyera voltage kuSerto Terminals paunenge uchishanda. Ita shuwa kuti yakagadzikana uye mukati memukati marovhu (i.e., 4.8V-6.0V). Kana kuchinjika kwakakura, kusimbisa kuwanikwa kwesimba.
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4.. Edza kuita nyeredzi ichitaura nziyo.

5. [] Filter Signals: kuyedza nekuwedzera iyo yakapfava RC faira pane iyo Signal mitsara.
6. [] Optimize software: Wedzera nzvimbo yakafa uye software kufefetesa algorithm kune yako kodhi.
7. [] mhinduro yekupedzisira: Kana kukanganiswa kwakasimba, funga uchishandisa Opto-Isolator module kana kupa bhatiri rakazvitsaurira kune servos.
Nekushandisa izvi zviyero zvakarongeka, unogona kusimudzira zvakanyanya ruzha kusanzwisisika uye kugadzikana kwakazara kwehurongwa hwako serman, kuona kuti robhoti yako ishandire nekuvimbika kwakanyanya uye kuvimbika.
Zvakare vachengeti vaitengesa A 0,1F ~ 1μf ceramic capacitor mukufananidza kusvina yakakwira-frequency ruzha.
Pro ZANO: Pedyo izvo capacitors ndeyekune servo's Simba connector, ivo vari nani vanoshanda.
Shandisa RC Dunhu reRC: Isa yakaderera-kukosha-kukosha-kukosha

2. Signal yekuzviparadzanisa uye dziviriro
Chengetedza chiratidzo Wires kure neWive Wires: Munguva yekushandisa, simbisai waya yePWM chiratidzo chakaparadzaniswa kubva kune mota drive waya uye tambo dzemapa. Dzivisa kumumanikidza. Kana ivo vachifanira kuyambuka, ita kudaro kuma 90-degree angle.
Shandisa Wirivedzo Wirivha Wires Wires: Nemitsetse yemasaini, shandisa waya ine nhoo yakakwenenzverwa, inobatanidza nhoo yekuvhurwa (pane imwe nzvimbo chete, kazhinji inotora nzvimbo * kuita zvinobudirira kugadzirisa EMI. Makona maviri aires anokwanisawo kubatsira kudzvinyirira anowanzo kukanganiswa-maitiro.
Wedzera chiratidzo cheSignal Firtuit: Isa diki phamba (i.e., 100ωω) mune signal mutsara, ichiteverwa neSignal mutsara, kugadzira yakaderera firita kuti ibvise chiratidzo.
Shandisa Opto-Isolator: Ndiwo mhinduro yekupedzisira. Kuisa Opto-Isolator module pakati petsotsi uye servo inokatyamadza iyo yemagetsi yekubatanidza, kudzivirira ruzha rwekupindirana nekukanganiswa kwekuparadzira kune iyo controller kuburikidza neSignal mutsara. Inowedzera mutengo asi inoshanda zvakanyanya.

3. Kugadziriswa (GND) Optimization
Ita shuwa kuverengerwa pasi panobatana uye zvakaderera-zvisina kufanira: Shandisa zvakakwana waya dzakakwana dzekubatanidza kwepasi. Simbisa nzvimbo dzese (simba ivhu, controller ivhu, nhoo gadziro) Goverana yakajairwa nzvimbo poindi nenzira yakakodzera kudzivirira kugadzira "zvishwe zvega".
Shandisa nyeredzi ichivhara chirongwa: Batanidza wiresi kubva pamidziyo yese kune imwe central point pane iyo simba nzvimbo nzvimbo, pane kudhiraivha. Izvi zvinodzivirira pasi zvinogona kusiyana pakati pemidziyo.

4. Mechanical kufunga uye kusarudzwa
Sarudza iyo yakakodzera servo: Sarudza servo ine leple torque uye mhanya mhanya kune iyo yakatemwa mutoro. Ngwarira kumhanyisa servo nguva dzose pamiganhu yayo, sezvo izvi zvinowedzera kupisa uye ikozvino dhirowa.