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Quay khng ti
200mA 300mA
C ti nh
Kt ti
Khong 1.2A
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Tn IC
Dng in (A)
Tn s(Khz)
p ra (V)
Gi (VND)
LM2576
52
5 hoc ADJ
14.000
LM2596
150
5 hoc ADJ
14.000
MIC29302
100
5V
28.000
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Bn trong RC servo
1. Motor
2.Electronics 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
Bn trong ca mt ng c servo R/C. Servo bao gm
mt ng c,mt chui cc bnh rng gim tc, mt
mch iu khin v mt vn k
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).
quay ng c, tn hiu s c gi ti mch iu khin . 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 . Khi vn k t c v tr mong mun , mch iu khin s tt ng c . ng c servo
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Vai tr ca Vn k
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Vn k trong servo gi vai tr chnh trong vic cho php nh v tr ca trc ra. Vn k
c gn vo trc ra (trong mt vi servo, Vn k chnh l trc ra). Bng cch ny, v tr ca
Vn k phn nh chnh xc v tr trc ra ca servo. Ta bit Vn k hot ng nh cung cp
mt in p bin thin cho mch iu khin,
Khi cn chy bn trong Vn k chuyn ng , in th s thay i. Mch iu khin trong servo
so snh in th ny vi di cc xung s a vo v
phttn hiu sai s nu in th khng ng . Tn hiu sai s ny t l vi lch gia v tr ca
Vn k v di ca tn hiu vo. Mch iu khin s kt hp tn hiu sai s ny quay ng
c. Khi in th ca Vn k v di cc xung s bng nhau, tn hiu sai s c loi b v
ng c ngng.
Vn k thng c dng nh mt cu chia p.
Gii thut:
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Trong gii thut ny s dng 1 ngt thi gian 0.1s. Khi ngt xy ra ta tng bin m i v
v j.Bin i dng cp nht khi no th kch cho ng c chy , bin j dng tnh c
kch ng c chy bao nhiu ln da vo gc bt u v kt thc.Bin i s cp nht khi
no kch bng cch tnh s d khi ly i chia cho vn tc.
V d nh trng hp di cng vn tc=3 , trng hp gia vn tc=6 , trng hp trn
cng vn tc=9.Mt lu quan trng l thc ra vn tc ni n y ch l bin dng
cp nht vn tc thc s (dng tnh ton).Vn tc thc s ca ng c s t l nghch
vi bin vn tc c ni n trn.
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Trong gii thut ny bt buc mch s dng kch ng c chy phi l mch dung
PWM.Bi v trong thi gian nhy vo ngt lc s kch ng c chy.Thi gian ngt tng i
nh nn vic chy bng delay v gii thut so snh khng thc hin c. c bit nu s dng
18 ng c th thi gian tiu tn trong ngt ti thiu l 18*20ms.Thi gian ny ln hn rt nhiu
ln thi gian ngt 1ms.Dng PWM th thi gian ny ta khng quan tm m ch quan tm n thi
gian ln ca xung iu khin ca ng c v PWM chy c lp vi vi iu khin . Tt nhin
thi gian ti thiu gia 2 ln cp nht phi >=20ms.iu c m bo bng cch chn cc
bin vn tc v khong thi gian ngt thch hp.Tuy nhin nu iu kin ny khng m bo th
s c nhng ln kch chy ng c b b l ( thc ra l mch iu khin c kch nhng m
ng c khng p ng kp) v gc kch s c cng dn li khi no iu kin ny (thi gian 2
ln kch lin tip >=20ms) m bo.y chnh l u im tt vt tri m mch s dng PWM
c c so vi mch s dng 2 phng php so snh v delay nu ra trn.
Mr Cng Ngh
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