Thng s k thut ca servo

Servo R/C c mt vi tiu chun. S ging nhau ny c p dng ch yu cho cc

servo kch thc chun - khong 1,6 x 0,8 x 1,4 inch. Vi cc kiu servo khc, kch
thc thay i theo nhn hiu v chng c thit k cho nhng nhim v c th.

Bng 1: cho ta cc thng s in hnh cho nhiu kiu servo, bao gm kch thc, khi
lng, moment xon v thi gian transit. D nhin ngoi tr kch thc ca servo chun,
cc thng s khc c th thay i ty theo mu v nhn hiu.

Moment xon ca ng c l tng ngu lc m n sinh ra. n v chun ca

moment xon trong servo R/C l ounce.inch. Cc servo c moment xon rt cao nh
vo h thng bnh rng gim tc.
Thi gian transit (cn gi l t l quay slew rate) l thi gian trc servo quay mt
gc X (X thng l 60o). Cc servo nh quay khong 0,25s/60o trong khi cc servo ln
quay chm hn. Thi gian transit cng nhanh th servo hot ng cng nhanh. T
thi gian transit ta c th tnh c vn tc quay theo vng / pht ca trc ng c.
Nhiu servo R/C c thit k cho nhng ng dng c bit c th thch ng vi
robot. V d: servo dng cho m hnh thuyn bum s khng b v nc, v vy rt
hu dng cho robot lm vic trong hay gn nc.

Cc kiu ni v u dy
Trong khi nhiu c im ca servo c chun ha th hnh dng v tip im in
ca connector gn servo vi my thu li rt khc nhau gia cc nh sn xut. D
robot c th khng dng my thu v tuyn nhng ta vn phi gn servo vi mt
1

connector thch hp trn mch iu khin hay trn my tnh. Nu thy qu phc tp
ta c th u cng connector ln mch in t nhng iu ny khin vic thay th
servo kh khn hn.
C 3 kiu u dy chnh:
- kiu J / Futaba
- kiu A / Airtronics
- kiu S / Hitec-JR
Dy ra:
Hnh dng ca connector cng ng quan tm v s u dy cho connector (cn gi
l dy ra) cng c gii hn. a s cc servo s dng cng kiu dy ra nh hnh 20.5.

Hnh 5: cc dy ra chun ca servo: dy 1 l dy tn hiu, dy 2 ni ngun, dy 3 ni t.

Vi m hnh ny, h hng khng thng xy ra nu ta l o v tr connector
Trong mt vi ngoi l, connector ca servo R/C s dng 3 dy: ngun, t v tn
hiu iu khin.

Bng 2: lit k cc dy ra ca mt vi hiu servo thng dng.

M ha bng mu:
a s servo s dng mu biu th chc nng ca dy ni nhng mu s dng
cng thay i ty theo nh sn xut.

Bng 3: lit k cc mu thng dng nht cua mt vi hiu thng dng.

S dng cm snap-off cho cc connector tng thch:
Cc cm trn a s servo R/C c thit k thch hp vi cc chu cm cch
nhau 0,01 inch. y l khong cch chu thng dng trong in t v cc cm
thch hp cng c sn. S a dng cc snap-off ca cm rt c li v ta c th
mua mt si di v tch ng s chu cn thit. i vi servo, ta tch thnh 3 chu
sau gn vo mch iu khin nh hnh sau

Hnh 6: Ta c th t lm connector cho servo

bng cch dng cm snap-off gn cht vo mch iu khin robot
3

Ta d dng o v tr connector v cm li vo cm m khng lm h servo hay

mch in v o v tr connector ch l o dy tn hiu v dy t. Tuy nhin i
vi servo loi c, dy tn hiu v dy ngun b o s lm h c servo ln mch in
t.

Mch iu khin servo

Khng ging ng c DC ta ch cn lp pin vo l chy, ng c servo i hi mt
mch in t chnh xc quay trc ra ca n. C th mt mch in t s lm vic
s dng servo phc tp hn mt mc no nhng thc ra mch in t ny
rt n gin. Nu ta mun iu khin servo bng my tnh hay bng b vi x l th
ch cn mt vi dng lnh l .
Mt ng c DC in hnh cn cc transistor cng sut, MOSFET hay relay nu
mun kt ni vi my tnh. Cn servo c th gn trc tip vi my tnh hay b vi x
l m khng cn mt linh kin in t no c. Tt c yu t cn thit iu khin
cng sut u c qun l bi mch iu khin trnh rc ri. y l li ch ch
yu khi s dng servo cho cc robot iu khin bng my tnh.
iu khin servo bng IC nh th 555:
Ta c th khng cn n c my tnh iu khin servo. Mt IC 555 c th cung cp
cc xung cn thit cho servo.

Hnh 7: Mt phng php ph bin dng IC 555 iu khin servo.

Khi hot ng, IC 555 sinh ra mt tn hiu xung c chu k nhim v khc nhau
iu khin hot ng ca servo. Chnh Vn k nh v servo. V IC 555 c th d
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dng to xung rt di v rt ngn nn servo c th hot ng ngoi v tr bin thng

thng. Khi servo gp vt cn v ku lch cch ta phi ngt ngun lp tc, nu
khng cc bnh rng bn trong s b trn.
Dng b x l chuyn nghip:
Cc my thu R/C c thit k vi ti a 8 servo. My thu nhn xung s t my
pht, bt u bng mt xung di ng b, sau l cc xung ca 8 servo, mi xung
dnh cho mt servo. 8 xung cng vi xung ng b mt khong 20 ms. iu ny c
ngha l dy xung c th lp li 50 ln / giy, ta gi l t l lp li (refresh rate).
Khi t l ny gim, cc servo khng cp nht nhanh v s b mt v tr.
Tr khi mch in t ta dng c th cung cp xung ng thi cho nhiu servo (a
nhim v - multi-tasking), mch iu khin s khng th cung cp cc xung lp li
nhanh. V vy ta c th dng b x l servo chuyn nghip. B ny c th iu
khin 5, 8 ng c hay nhiu hn mt cch c lp, s lm gim bt chng trnh
tng cng ca my tnh hay b vi x l m ta ang dng.
u im chnh ca b x l servo chuyn nghip l ta c th iu khin ng thi
nhiu servongay c khi my tnh, b vi x l khng a nhim v.
V d: gi s robot cn 24 servo, c th l mt robot hnh nhn 8 chn, mi chn c 3
servo, mi servo iu khin mt bc t do ca chn. Phng php ta s dng l
phn chia cng vic cho 3 b x l servo, mi b c th iu khin 8 servo. Mi b
x l chu trch nhim cho mt loi bc t do: mt cho s quay ca c 8 chn, mt
cho linh hot ca cc chn v mt cho s quay ca t cui ca chn.
Cc b x l servo chuyn nghip phi c dng vi my tnh hay b vi x l v
chng cn c cung cp d liu thi gian thc iu khin servo. D liu ny
thng c gi trong mt cng thc d liu chui. Mt dy cc byte gi t my
tnh hay b vi x l c b x l servo gii m, m mi byte s tng ng mt
servo. Nhng b x l servo in hnh c ghi ch cc ng dng v cc chng trnh
mu ca cc my tnh v b vi x l thng dng nhng m bo ta cn c kin
thc v lp trnh v truyn chui.
S dng ln hn 7,2V:
Cc servo c thit k s dng vi b pin R/C recharge, c in th t 4,8
7,2V, ph thuc vo s pin s dng. Cc servo cho php khong in th vo kh
rng v b 4 pin AA 6V cung cp in. Tuy nhin khi pin ht, in th gim,
servo khng cn nhanh nh lc u. Khi in th khong 4 hay 4,5V, servo thm ch
khng chy.

Nu in th cao hn thng thng th sao? Thc ra, nhiu servo c th chy tm

khi in th ln n khong 12V m khng hoc t gy hu qu. Tuy nhin as
servo bt u nng ln 9 hay 10V v chng s khng th hot ng lu nu khng
c ngh lm ngui.
Tr khi ta cn tng moment xon hay tng tc , tt hn l gi in th cung cp
cho servo khng vt qu 9V, tt nht l trong khong 4,8 7,2V. Ta cng cn tham
kho bng d liu ca servo xc nh cc yu cu in th c bit khc.
Lm vic vi di cht v trnh di cht:
Tt c servo u th hin ci gi l di cht. Di cht ca servo l thi gian sai lch
ln nht gia tn hiu iu khin ng vo v tn hiu tham chiu ni sinh ra bi v tr
ca Vn k. Nu thi gian sai lch nh hn di cht 5 hay 6 ms servo khng cn
phi iu chnh ng c sa sai lch.
Nu khng c di cht, servo phi lin tc d ti lui tm im tng thch chnh
xc gia tn hiu vo v tn hiu tham chiu ni ca n. Di cht cho php servo
gim thiu s d tmny v s ly im ln cn im cn tm mc d khng c
chnh xc lm.
Di cht thay i ty theo servo v c coi nh mt thng s ca servo. Di cht
in hnh di 5 s. Nu servo quay 180o trong di 1000 s th di cht 5 s ch chim
1/200. Ta khng cn lu ti nh hng ca di cht nu mch iu khin c
phn gii thp hn di cht.
Tuy nhin nu mch iu khin c phn gii cao hn di cht, mt s thay i
nh v gi tr rng xung c th khng nh hng. V d: nu b x l c phn
gii l 2 s v nu servo c di cht 5 s th s thay i 1 hay 2 gi tr - tc l 2 hay 4
s trong b rng xung - s khng nh hng ln servo.
Nh vy ta nn chn servo c di cht hp nu ta cn chnh xc v mch iu
khin hay mi trng lp trnh c phn gii ln. Ngc li ta khng cn lu
ti di cht.
Di xung ln hn 1 2 s:
Servo in hnh p ng cho tn hiu t 1 2 s. Trong thc t, nhiu servo c th
c cung cp bi xung ngn hay di hn ti a ha gii hn quay. Di 1 2 s
thc ra c th quay servo theo hai hng nhng khng th quay ton b theo c hai
hng. Tuy nhin ta khng bit gi tr nh nht v ln nht ca servo cho n khi ta
chy th. Cn lu : th nghim ny c th nguy hi v vn hnh ng c servo

gii hn c th lm c cu ng vt cn bn trong, nu lu cc bnh rng ca

servo s b h.
Nu ta ch cn quay servo ti v tr max, hy chn lc mch iu khin. Bt u bng
cch thay i b rng xung mt lng nh hn 1 ms, c th l 10 s. Sau mi ln
thay i, dng chng trnh iu khin y servo tr li v tr gia / v tr trung ha.
Khi nghe thy servo gp vt cn bn trong (ting lch cch), lc ta tm c
gi tr bin di ca servo. Lp li qu trnh tm gi tr bin trn. C nhng servo
c cn di l 250 s, cn trn l 2200 s. Tuy nhin cc servo khc b hn ch n
ni chng thm ch khng th hot ng trong di 1- 2 ms. Cc gi tr bin ny cng
khc nhau i vi tng loi v tng nhn hiu servo.