Sv: o Ngc Chu Bu 1020016

Hunh Minh Trit 1020239

ng c DC v ng c bc vn l nhng h hi
tip vng h, v vy vic thit lp mt h thng iu
khin xc nh nhng g ngn cn chuyn ng
quay ca ng c hoc lm ng c khng quay cng
khng d dng.

Mt khc, ng c servo c thit k cho nhng h
thng hi tip vng kn. Tn hiu ra ca ng c c
ni vi mt mch iu khin. Khi ng c quay, vn
tc v v tr s c hi tip v mch iu khin ny.
1. Motor
2. Electronic board
3. Positive Power Wire (Red)
4. Signal Wire (Yellow or White)
5. Negative or Ground Wire (Black)
6. Potentiometer
7. Output shaft/ Gear
8. Servo Attachment Horn/Wheel/Arm
9. Servo Case
10. Integrated Control Chip
ng c v vn k ni vi mch iu khin to thnh mch
hi tip vng kn. C mch iu khin v ng c u
c cp ngun DC (thng t 4.8 7.2 V).
Tn hiu ny khi ng ng c, thng qua chui bnh
rng, ni vi vn k. V tr ca trc vn k cho bit v tr trc
ra ca servo.
ng c servo c thit k quay c gii hn ch
khng phi quay lin tc nh ng c DC hay ng c
bc. Mc d ta c th chnh ng c servo R/C quay lin
tc nhng cng dng chnh ca ng c servo l t c
gc quay chnh xc trong khong t 90o 180o
V bn cht, vic iu khin ng c servo ging nh
ng c 1 chiu bnh thng, iu lm nn s khc
bit y l ng c servo c kh nng iu khin
chnh xc v tr n n vi tc ty theo khong cch.

V iu khin c n th phi c 1 b phn iu
khin ring. B phn iu khin ny gm nhiu loi c
cu to t n gin n phc tp nhng nguyn l
chung l cung cp cho ng c Servo mt xung in
vi gi tr xc nh.
iu khin s vng quay hay vn tc ng c th
chng ta nht thit phi c c gc quay ca motor.
Mt s phng php c th c dng xc nh
gc quay ca motor bao gm tachometer (tht ra
tachometer o vn tc quay), dng bin tr xoay, hoc
dng encoder.
Trong 2 phng php u tin l phng php
analog v dng optiacal encoder (encoder quang)
thuc nhm phng php digital.
H thng optical
encoder bao gm mt
ngun pht quang
thng l hng ngoi
mt cm bin quang
v mt a c chia rnh.
iu khin ng c, bn phi bit phn gii
ca encoder ang dng. phn gii nh hng n
chnh xc iu khin v c phng php iu
khin. Khng c v trong hnh , tuy nhin trn cc
encoder cn c mt cp thu pht khc c t trn
cng ng trn vi knh A nhng lch mt cht (lch
M+0,5 rnh), y l knh B ca encoder. Tn hiu
xung t knh B c cng tn s vi knh A nhng lch
pha 90o. Bng cch phi hp knh A v B ngi c
s bit chiu quay ca ng c.