Servo Motor debugging
1, pib tsis
Ua ntej thaiv, pib qhov tsis.
Ntawm daim npav tiv thaiv: xaiv hom kev tswj; tshem qhov PID parameter; ua qhov kev tswj fais fab ntawm lub neej ua haujlwm kom khiav tawm;
Ntawm lub cav servo: teev hom kev tswj hwm: teev tau kev tswj ntawm lwm tus; encoder teeb liab zis muaj pes tsawg; teeb tsa cov teeb liab tswj thiab lub zog ceev ceev. Feem ntau, pom zoo tias qhov siab tshaj plaws kev tsim kho nyob rau hauv qhov kev pab cuam servo sib haum mus rau 9V tswj qhov hluav taws xob.
2, thaiv
Txiav tawm lub hwj chim ntawm kev tswj daim ntawv, txuas lub teeb liab ntawm daim ntawv tswj thiab qhov kev pab cuam. Cov nram qab no
cables yuav tsum tau txuas nrog: tus tswj daim npav analog zis cable, pab cuam lub teeb meem cable, servo tso zis encoder teeb liab. Kos cov hlua tsis muaj kev ua yuam kev, servo motor thiab tswj daim npav (thiab PC) raug xa rau. Nyob rau ntawm lub sij hawm no, servo lub cev yuav tsum tsis txhob tsiv mus, thiab tau yooj yim tig nrog sab nraud quab yuam, yog tias tsis zoo li no, kos lub teeb liab qhov chaw thiab thaiv. Tig lub cav nrog ib qho quab yuam sab nraud los xyuas yog tias daim npav tswj xyuas tau txhim kho qhov kev hloov ntawm txoj haujlwm. Txwv tsis pub kos cov hlua thiab qhov teeb meem ntawm qhov teeb meem ntawm encoder
3, sim qhov kev taw qhia
Rau cov kaw lus kaw kaw, yog tias qhov kev taw qhia ntawm cov teeb meem tawm tswv yim tsis yog lawm, qhov yuav tshwm sim yog qhov tseeb . Qhib cov suab paj nruag pab cuam ntawm daim npav tswj hwm.Thaum qhov no, servo motor yuav tsum tig ntawm qeeb ceev , uas yog legendary "zero drift". Daim npav tiv thaiv dav dav yuav muaj cov lus qhia los sis tsis pub nqes dej xoom. Siv qhov kev hais kom ua los yog qhov ntsuas kom pom tau tias qhov tsav lub zog thiab kev coj ua tau tswj los ntawm qhov kev ua no (parameter). Yog tias tsis muaj peev xwm tswj tau, xyuas cov analog thaiv thiab tswj cov kev ntsuas parameter. Tswj kom muaj tus lej zoo, lub cev muaj zog , lub tshuab encoder nce; muab cov naj npawb tsis zoo, lub cav rov qab, thiab qhov encoder count decreases.Yog hais tias lub cav yog loaded, nrog ib tug tsawg stroke, tsis txhob siv hom no. Tsis txhob sim ua kom muaj hluav taws xob ntau, pom zoo hauv qab 1V. Yog hais tias qhov kev taw qhia tsis haum xeeb, hloov kho daim npav lossis lub tshuab
tsis tau ua kom zoo li qub.
4, kom tsis txhob xoom xoom
Hauv kev kaw cov kev kaw-kev tswjhwm, lub neej ntawm xoom drift yuav muaj qee yam kev cuam tshuam rau kev tswjfwm, nws yog qhov zoo tshaj rau kev txhawb nqa nws. Siv daim ntawv tswj kav lossis kev pabcuam tsis rau suppress xoom drift, ua tib zoo kho, kom tus tsav lub cev nce xoom. Raws li qhov xoom xuas nws tus kheej kuj muaj ib qho kev xaiv, ces tsis tas yuav nug cov tsav ceev yog xoom kiag li.
5, tsim kom muaj kev tswj kaw
Los ntawm kev tswj daim ntawv tso cai rau cov kev pab cuam tso cai rau kev tso cai, tawm tswv yim ntxiv me me ntawm cov lus tsa suab tswj xyuas, yog tias nws tsis paub meej, koj tuaj yeem nkag rau hauv kev tswj daim ntawv uas cia tus nqi qis kawg nkaus. Lub sijhawm no, lub cav yuav tsum tau ua raws li cov lus taw kev qhia ua kom tau dav dav.
6.txim qhov tsis-kaw tsis tau
Kev tswj tsis tau zoo kom ntseeg tau tias lub cav khiav raws li cov lus qhia ntawm daim npav tiv thaiv, nws yog txoj hauj lwm yuav tsum tau ua, thiab qhov no ntawm txoj hauj lwm, raws li kev nplua nuj kev paub.