Mfundo yogwirira ntchito ya servo motor

A mota ya servondi mota yomwe imatha kuwongolera bwino malo, liwiro, ndi kuthamanga ndipo nthawi zambiri imagwiritsidwa ntchito m'mapulogalamu omwe amafunikira kuwongolera kolondola kwambiri. Itha kumveka ngati mota yomwe imatsatira lamulo la chizindikiro chowongolera: chizindikiro chowongolera chisanaperekedwe, rotor imakhala yosasuntha; Chizindikiro chowongolera chikatumizidwa, rotor imazungulira nthawi yomweyo; Chizindikiro chowongolera chikatayika, rotor imatha kuyima nthawi yomweyo. Mfundo yake yogwirira ntchito imaphatikizapo dongosolo lowongolera, encoder ndi feedback loop. Izi ndi kufotokozera mwatsatanetsatane momwe ma servo motors amagwirira ntchito:

Dongosolo Lowongolera: Dongosolo lowongolera la mota ya servo nthawi zambiri limakhala ndi wowongolera, woyendetsa ndi mota. Wowongolera amalandira zizindikiro zowongolera kuchokera kunja, monga malangizo a malo kapena malangizo a liwiro, kenako amasintha zizindikirozi kukhala zizindikiro zamagetsi kapena magetsi ndikuzitumiza kwa woyendetsa. Woyendetsa amawongolera kuzungulira kwa mota malinga ndi chizindikiro chowongolera kuti akwaniritse malo ofunikira kapena kuwongolera liwiro.

Chojambulira: Ma motor a Servo nthawi zambiri amakhala ndi chojambulira kuti ayesere malo enieni a rotor ya mota. Chojambuliracho chimabwezera chidziwitso cha malo a rotor ku makina owongolera kuti makina owongolera athe kuyang'anira malo a mota nthawi yeniyeni ndikuyisintha.

Kuzungulira kwa mayankho: Dongosolo lowongolera la ma servo motors nthawi zambiri limagwiritsa ntchito closed-loop control, yomwe imasintha kutulutsa kwa mota mwa kuyeza nthawi zonse malo enieni ndikuyerekeza ndi malo omwe mukufuna. Kuzungulira kwa mayankho kumeneku kumatsimikizira kuti malo a mota, liwiro, ndi kuthamanga kwake zikugwirizana ndi chizindikiro chowongolera, zomwe zimathandiza kuwongolera bwino mayendedwe.

Algorithm yowongolera: Dongosolo lowongolera la mota ya servo nthawi zambiri limagwiritsa ntchito njira yowongolera ya PID (proportional-integral-derivative), yomwe imasintha nthawi zonse kutulutsa kwa mota kuti malo enieni akhale pafupi momwe mungathere ndi malo omwe mukufuna. Algorithm yowongolera ya PID imatha kusintha kutulutsa kwa mota kutengera kusiyana pakati pa malo enieni ndi malo omwe mukufuna kuti ikwaniritse kuwongolera kolondola kwa malo.

Pa ntchito yeniyeni, pamene makina owongolera alandira malangizo a malo kapena liwiro, dalaivala adzayang'anira kuzungulira kwa injiniyo kutengera malangizo awa. Nthawi yomweyo, makina owongolera nthawi zonse amayesa malo enieni a injiniyo ndikubwezera chidziwitsochi ku makina owongolera. Makina owongolera adzasintha kutulutsa kwa injiniyo kudzera mu njira yowongolera ya PID kutengera chidziwitso chenicheni cha malo chomwe chimaperekedwa ndi makina owongolera, kuti malo enieniwo akhale pafupi momwe angathere ndi malo omwe mukufuna.

Mfundo yogwirira ntchito ya mota ya servo imatha kumveka ngati njira yowongolera yotsekedwa yomwe imayesa nthawi zonse malo enieni ndikuyerekeza ndi malo omwe mukufuna, ndikusintha kutulutsa kwa mota malinga ndi kusiyana kwake kuti ikwaniritse malo enieni, liwiro ndi kuwongolera kuthamanga. Izi zimapangitsa kuti mota ya servo igwiritsidwe ntchito kwambiri pazinthu zomwe zimafuna kuwongolera mayendedwe molondola kwambiri, monga zida zamakina a CNC, maloboti, zida zodziyimira pawokha ndi zina.