04 Puku Hiko: Ka Whakatauhia e te Piriti MOS-Wāhanga-3 te Kaha Taipana Putanga o te Hononga

Pikitia 5: Kua honoa ngā waea motuka toru-wāhanga ki te wāhanga mana MOS, me ngā ātete tauira, ngā taraiwa me ngā wāhanga tātari kua whakaritea huri noa.

 

Kua hangaia tēnei taraiwa hononga mō ngā motuka kore paraihe-toru-wāhanga. Ko te whakahaere mahi-teitei o ngā motuka BLDC-toru-wāhanga e hiahiatia ana kia toru ngā haurua-piriti, e hanga ana i tētahi kaitahuri-toru-wāhanga me te iti rawa o te ono MOSFET mana. He maha ngā taputapu MOS mōkihi-rahi.kēnekia kitea i runga i te PCBA e karapoti ana i ngā pūwāhi honohono putanga-toru, e hangai ana ki tēnei hoahoa.

 

Ka taea te whakangawari i te arorau whakahaere o te piriti-toru-wāhanga penei:

Ka whāngaihia te ngaohiko pākahiko, te ngaohiko pahi rānei mā P+ me P-; Mā te whakawhiti tere-tiketike o ngā haurua-piriti MOS ka huri te ngaohiko DC hei iahiko toru-wāhanga;

Ka rere te iahiko toru-wāhanga ki roto i ngā takai motuka hei whakaputa i tētahi papa aukume hurihuri; Ka whakarerekē tonu te kaiwhakahaere i ngā huringa mahi PWM i runga i te tūranga o te encoder me te urupare iahiko;

Hei whakamutunga, ka taea e te hononga te whakaputa i te taipana, te tere, te tūranga rānei e hiahiatia ana.

Ka hua ake i te hoahoa ngoikore o tēnei wāhanga ētahi take noa: te wera nui o te MOS, te wiri tere-iti, te ngaru taipana nui, te whakaoho parenga iahiko rūpahu, me te pokanoa EMI e pā ana ki ngā kaiwhakawaehere me ngā ara iahiko whakawhitiwhiti kōrero. Nā tēnei take, he tino uaua ake te hoahoa papa hiko mō ngā hononga karetao i ērā o ngā papa taraiwa motuka iti noa.

 

Pikitia 6: Ka kitea te kaiwhakahaere hiko TLV767 i runga i te papa, i te taha o ngā inductors, ngā capacitors me ētahi wāhanga hiko ngaohiko-iti.

He mea tika hoki kia tātarihia te rākau tuku hiko. Ka kitea ngā kaiwhakahaere LDO pēnei i te TLV767 me ngā inductors hiko kua tohua "100" i runga i te PCB. I runga i te horopaki tono o ngā hononga 48V-rated, ka taea te whakatau ko te pūnaha ngaohiko-iti kāore pea e heke tika mai i te ngaohiko teitei mā roto i ngā LDO anake. Engari, ka whakamahia he hoahoa tuku hiko e rite ana ki tēnei e whai ake nei:

Pahi ngaohiko-tiketike → Tahuritanga whakaheke-whakawhiti → Reriwe ngaohiko-iti (5V / 3.3V, me ētahi atu) → Whakahaere LDO tuarua / tātari haruru ā-rohe

He whaitake ake tēnei hoahoa hiko. Me whakamahi te MCU, te kaikōwae, ngā whakakaha tauira me ngā tuku whakawhiti kōrero i te hiko iti-ngaohiko ma, pumau, ko ngā pana MOS me ngā raina ā-wāhanga motuka ia ka whakaputa i te haruru nui. Mēnā kāore i te rawaka te mahi ārai-whakararuraru a te pūtake hiko iti-ngaohiko, ko ngā hapa tuatahi ka puta ko ngā hapa motuka, engari ko ngā peke koki ohorere, ko ngā wehenga whakawhitiwhiti kōrero, ko ngā pānui tauira iahiko e rere ana rānei.

05 Te Pūoko o te Au me te Pāmahana: Me Aroturuki ngā Hononga Robot i te Taipana Putanga i te Wā Tūturu

 

Pikitia 7: Kei raro i te wāhanga mana toru-wāhanga ngā ātete mohio uara-iti R001 maha.

He mea nui ngā wāhanga R001 ki tēnei papa, e tohu ana i ngā ātete mohio uara iti taumata-mōhm (1 mΩ te tikanga) e whakamahia ana hei ine i te iahiko ā-wāhanga motuka, i te iahiko pahi rānei. Ko te mohiotanga iahiko te uho o te mana whakahaere porowhita-kati mō ngā hononga karetao, nā te mea he hononga kaha te taipana putanga o te motuka BLDC ki tōna iahiko ā-wāhanga.

Ara, kāore te kaiwhakahaere e "whakapae" i te putanga taipana o te hononga; engari, ka tatau i te iahiko mā te ine i te maturuturunga ngaohiko iti puta noa i ngā ātete ine:

Te maturuturunga o te ngaohiko puta noa i te ātete mohio → Te whakanui me te tātari → Te tauira ADC → Te tatau i ia au → Te whakahaere taipana FOC

Ka pā tika te tika o tēnei mekameka tohu ki:

Te Tika o te Whakahaere Taipana: Mena he hē te whakatau tata o nāianei, ka hē hoki te putanga taipana.

Māeneene Tere-Iti: Ka puta te wiri i ngā tere iti i te nui o te haruru tauira.

Te Parenga Auaha: Mā te puhoi o te urupare ka tahuna pea ngā MOSFET, engari mā ngā tautuhinga tairongo rawa ka hua ake he ārai teka.

Rautaki Whakahaere Wera: Mā te au teitei tonu ka piki ake te pāmahana i roto i ngā takai motuka, ngā MOSFET me ngā ātete ira-au.

Mai i te tirohanga tahora, mā te whakanoho i ngā ātete au-aronga tata ki ngā MOSFET me ngā waea ā-wāhanga ka whakapoto i te koropiko au-teitei, ka āwhina i te whakaiti i te ine i te ine ira me ngā hapa tauira. He maha ngā ātete me ngā pūnga iti kua whakaritea tata ki ia wāhanga, e whakamahia whānuitia ana mō te whakamātao kuaha, te tātari tauira, te whakaū taraiwa me te wetewete ā-rohe.

He mea nui anō hoki te kimi i te pāmahana. Ko te tapanga NTC o te MOTOR e tohu ana i tētahi thermistor kua tāutahia ki roto i te motuka, i te taha rānei o ngā takai. Mō ngā hononga karetao humanoid, ko te mahi taipana-teitei tere-iti, te pupuri pūmau roa, me te pānga rangitahi i te wā e tū ana, e noho piko ana rānei, ka nui ake te pikinga o te pāmahana. Mā te NTC ka taea e te kaiwhakahaere te mahi i ngā mahi matua e toru e pā ana ki te pāmahana:

Te whakawhāiti i te au: Whakaitihia te au putanga mōrahi i te pikinga o te pāmahana; Te whakaheke i te taipana: Te taupoki i te taipana tihi i raro i ngā kawenga taumaha tonu;

Whakaweto parepare: Tomo ki te aratau hapa ina neke ake te pāmahana i te paepae haumaru.

He pūkenga taketake anō hoki tēnei mō ngā hononga karetao ngaio. Ki te kore he mana whakahaere pāmahana-katia, e kore e taea e te hononga te mahi pono mō ngā wā roa ahakoa tōna taumata taipana teitei.

06 Te Kitenga Tūnga: Ka Tahurihia e ngā Kaiwhakawaehere Aukume Takirua me ngā Taputapu ngā Koki Huri-Kotahi ki ngā Pānui Tūnga Huri-Maha

I muri i te tango i te PCBA, ka kitea he huinga hanganga taputapu iti i te taha whakamuri. Ehara ēnei i te mea ko ngā taputapu whakaiti matua, engari he taputapu āwhina i hangaia mō te kimi koki.

 

Pikitia 8: Te wāhi taputapu me te wāhi whakakā aukume i te taha whakamuri o te papa whakahaere

 

Pikitia 9: Mā te hurihanga o te pou waenga ka hurihia ngā taputapu pinion e rua e tata ana i runga i te tukutahi.

I roto i te hanganga, ko te hurihanga o te pou matua te mea e akiaki ana i ngā taputapu iti e rua. Kua whakauruhia he wāhanga aukume ki waenganui o ia taputapu iti, me ngā IC encoder aukume e mau ana ki ngā tūranga ōrite i te taha muri o te PCBA. Ka ine ngā encoder aukume i ngā rerekētanga koki o ngā papa aukume, ka kore e hiahiatia he kōpae whatu whatu. He ātete ki te poke hinu iti me te puehu, ka pai ake ai mō ngā hononga karetao kua kati katoa.

 

Pikitia 10: Ka whakapai ake te hanganga taputapu-rua me te hanganga whakamāori-rua i te taumira koki, ā, ka taea ai te kite i ngā tūranga huri-maha.

Ko te mea tino kitea i konei ko te whirihoranga "tāpiri-rua + tāpiri-aukume rua". He nui atu tōna uara i tua atu i te tāpiri noa i tētahi pūoko tuarua mō te tika ake; he mea hanga pea hei whakatutuki i tētahi kaupapa tāpiri-tūnga tino maha-huringa:

Ka ine tika te taputapu aukume kotahi i ngā koki i roto i te 0–360°;

heoi, ka taea e te hononga te huri i ngā hurihanga maha, ā, kāore e taea e te kaikōnae hurihanga kotahi te whakatau i te maha o ngā hurihanga i a ia anō;

Mena he rerekē te maha o ngā niho, te ōwehenga rānei o ngā taputapu e rua, ka hangaia he hononga rite ki te vernier;

Mā te whakakotahi i ngā pānui koki e rua, ka tatau te kaiwhakahaere i te tūranga tino tika i runga i te awhe whānui ake.

He nui te uara o tēnei hanganga ki ngā karetao āhua tangata. Whai muri i te whakawetonga, ka nekehia pea ngā waewae, ngā ringa, ngā hononga hope rānei e ngā kaha o waho. Ina whakakāhia anō te hiko, ka iti te whai huatanga o ngā hononga e hiahia ana kia nui te nekehanga whakahoki, ā, ka tūpono hoki ki te haumaru. Mā te tirotiro tūnga tino maha-huringa ka taea e ngā hononga te tiki tonu i ngā raraunga tū i te wā tonu ka whakahokia mai te hiko.