Amakuru

Mperuka, nabajijwe kenshi nabanyeshuri kubijyanye no gukoresha servo, harimo insinga eshatu, amabara ya buri cyuma, uburyo bwo guhuza servo, hamwe nu nsinga ya servo enye. Kugira ngo usubize neza ibibazo byawe, nanditse iyi ngingo, nizeye ko izafasha.

Serivisi irashobora gushyirwa mubyiciro byubwoko bwibimenyetso: Serivisi ya signal ya PWM, serivise za RS-485, serivise za TTL, hamwe na bisi ya CAN. Mugihe uburyo bwo gukoresha uburyo bwa buri buryo bwitumanaho butandukanye gato, byose birimo imirongo ibiri myiza kandi itari myiza. Amabara muri rusange akoreshwa mugutandukanya imikorere yabo: insinga itukura hagati ni umurongo mwiza w'amashanyarazi, umugozi wijimye niwo murongo w'amashanyarazi, naho insinga ya orange isigaye ni umurongo w'ikimenyetso.

Ariko, hariho kandi aho umurongo mwiza utukura, umurongo mubi ni umukara, naho umurongo wikimenyetso ni umweru. Usibye ibara risanzwe ryibara rya seriveri eshatu, hari nigihe usanga insinga zose zirabura numupaka wera uzengurutse umurongo wibimenyetso.

PWM servo wiring:

Mugihe cyo kohereza ibimenyetso bya PWM, harakenewe umugozi umwe gusa wohereza ibimenyetso no kwakira. Ni ukubera ko ibimenyetso bya PWM ari ibimenyetso bya digitale, bigizwe na leta ebyiri gusa: hejuru na hasi. Impinduka hagati yibi bihugu byombi zirashobora kwanduzwa hakoreshejwe umugozi umwe.

Ni ngombwa kumenya ko nubwo ikimenyetso cya PWM gikoresha umugozi umwe gusa, inshuro zacyo ninshingano zacyo birashobora guhindurwa na microprocessor cyangwa indi chip yo kugenzura. Ibimenyetso bitandukanye bya PWM birashobora kubara muburyo butandukanye ibimenyetso bisa, bityo ukagera kubikorwa bitandukanye byo kugenzura.

Usibye serivise zisanzwe-eshatu, hari na seriveri eshanu. Aba babuze ikibaho cyo kugenzura servo. Ahubwo, inguni ya sensor na moteri ihujwe neza na elegitoronike yihuta (ESC), bivamo insinga ebyiri nziza kandi mbi kuri potentiometero.

RS-485 servo:

Ibimenyetso bya RS-485 bikoresha insinga ebyiri kuko ikoresha ibimenyetso bitandukanye, bisaba insinga ebyiri zohereza itandukaniro mububasha bwikimenyetso. Izi nsinga zisanzwe zigaragazwa na A na B cyangwa D + na D-. Iyo wohereza amakuru, utanga amakuru yohereza amakuru hejuru yinsinga ebyiri, kandi uyakira yakira akagereranya amakuru. Kubera ko ibimenyetso ku nsinga zombi bihabanye, uwakira ashobora gukuramo ibimenyetso byingirakamaro.

Kubera ko ibimenyetso bya RS-485 bitanga imbaraga zikomeye zo kurwanya-kwivanga, intera ndende, hamwe n’ibimenyetso bihamye, bikoreshwa cyane mu gukoresha inganda mu nganda, intwaro za robo, kugenzura kure, no mu zindi nzego.

TTL servo:

Kimwe na serivise za PWM, serivise za TTL zifite umurongo umwe wibimenyetso. Itandukaniro nuko ibimenyetso bya TTL byoherezwa hakoreshejwe urwego rwa voltage. Mumuzunguruko wa TTL, iyo ibyinjijwe ari byinshi, ibisohoka nabyo ni byinshi; iyo ibyinjijwe ari bike, ibisohoka nabyo ni bike. Imigaragarire ya TTL mubusanzwe ifite insinga enye: VCC, GND, TXD, na RXD. Nyamara, seriveri-imwe-imwe-imwe-imwe-yihindura irashobora gukoreshwa muguhuza ibyuma-bibiri, byuzuye-duplex igikoresho kimwe na bisi imwe, igice cya duplex.

Uburyo bwo kohereza no kwakira amakuru bugenzurwa nigikoresho gikuru, kigena niba bisi ikoreshwa mugukwirakwiza cyangwa kwakirwa mugihe runaka.

Mubyongeyeho, ibimenyetso bya TTL bifite imbaraga zo kurwanya-interineti kandi bigira ingaruka byoroshye kubangamira amashanyarazi, bityo intera yabo yoherejwe ni mugufi.

CAN bisi servo:

Bisi ya CAN, isa na RS485, ikoresha sisitemu yo gutandukanya ibyuma bibiri, igabanijwemo bisi ebyiri: CAN_H na CAN_L. Iyo CAN node yohereje amakuru, yohereza icyarimwe hejuru yumurongo wa CAN_H na CAN_L. Kwakira node igena amakuru yumvikana mugereranya itandukaniro rya voltage hagati yimirongo yombi. Kubera ko ibimenyetso biri kumirongo ibiri bihabanye, kwakirwa birashobora gukuramo ibimenyetso byingirakamaro.

Bisi ya CAN itandukanye na RS485 kubera ko RS485 ikoresha ubwubatsi bumwe bwa shebuja-imbata, bivuze ko umutware umwe gusa ashobora gukora muri bisi. Bus ya CAN, kurundi ruhande, ikoresha byinshi-shobuja-imbata yubatswe. Buri node ifite umugenzuzi wa CAN. Iyo imitwe myinshi yohereje, ihita ikemura ishingiye kumibare yabo. Ibi byemeza ko amakuru ya bisi adasizwe.

Byongeye kandi, iyo node imwe irangije kohereza, indi node irashobora kumenya ko bisi idakora kandi igahita yohereza. Ibi bivanaho gukenera shobuja kubaza, kunoza imikoreshereze ya bisi, no kongera umuvuduko. Kubwibyo, CAN ya bisi ikoreshwa kenshi muri sisitemu ifite ibyangombwa bisabwa cyane, nk'imodoka n'inzu zifite ubwenge.

Muri rusange, insinga za servo kuri buri protocole y'itumanaho iratandukanye, kandi nta bipimo bihamye byerekana amabara y'umurongo. Kubwibyo, niba ushaka kumva insinga za servo yawe bwite, urashobora kwifashisha amakuru ajyanye, kugereranya uburyo bwo gukoresha insinga za protocole zitandukanye, gusesengura no guca urubanza ukurikije ibyo ukeneye, cyangwa ukabaza umunyamwuga. Abatari abanyamwuga barasabwa kudasenya imashini nta ruhushya, kuko ishobora kwangiza servo byoroshye.