I-Stepper motor: ukudityaniswa kweArduino

Isithuthi se-Stepper

Iimoto zombane ziya zisiba yimfuno, phakathi kwazo mhlawumbi ezo zisebenza ngokuthe ngqo ngoku, ezona zithandwa kakhulu kwiiprojekthi zabenzi ngeArduino, kuba zibonelela ngokuhamba. Phakathi kwazo, phawula Iimoto ezihamba ngaphandle Ezisetyenziselwa usetyenziso oluninzi, ngakumbi iirobhothi, ezinje ngeeactuators, njl.

Iimoto zombane, iirobhothi ezincinci ezizimeleyo, izicelo zeshishini zokuzenzekelayo, izixhobo zokuhamba eziphindaphindayo, njl. Isizathu sokuba ii-motors ze-servo kunye nee-stepper motors zilunge kakhulu kwezi zicelo kukuba banako yenza intshukumo ecothayo okanye ekhawulezayo, kodwa ngaphezulu kwako konke okulawulwayo. Ukongeza, ukuqhuba kuyaqhubeka kwizicelo apho uninzi lokumisa kunye nokuqala lufuneka khona ngokuchanekileyo.

Iindidi zeenjini zombane

Ngaphakathi iimoto zombane ezi ntlobo zilandelayo zinokuqaqanjiswa:

  • DC okanye DC motor: Ii-Motors ze-DC zisebenza nolu hlobo lwangoku, njengoko igama lisitsho. Banokuhla ukusuka kumbane wamandla ombane ukuya kwi-MW ezimbalwa kwezona zinamandla nezinkulu, ezisetyenziselwa izicelo zeshishini, izithuthi, iilifti, iibhanti zokuhambisa, abalandeli, njl. Isantya sayo sokujika (RPM) kunye ne-torque esetyenzisiweyo inokulawulwa ngokungqinelana nesondlo.
  • I-AC okanye i-AC motor (i-asynchronous kunye ne-rotor yenxeba): Basebenza ngokutshintshana okwangoku, kunye ne-rotor ekhethekileyo esebenza ngenxa yezigaba zokuba olu hlobo lwangoku lunegalelo ekujikelezeni ngokujikeleza kwemagnethi ye-elektromagnet ngendlela efanayo nendlela ezenziwa ngayo zi-DC. Zingabizi kakhulu kwaye zinyuka zaya kwi-kW ezininzi. Zingalawulwa ngesantya sokujikeleza, kodwa izinto zolawulo zibiza kakhulu kunezo zeDC. Ezi zihlala zisetyenziselwa izixhobo zasekhaya.
  • Isithuthi se-Stepper-Zikwaziwa njengabahambi, ziyafana ngeendlela ezininzi ukuya kwi-DC, kodwa ngesantya esisezantsi sokujikeleza kunye namandla. Nantsi eyona nto ibonakalayo kukuma kwe-axis, oko kukuthi, ukuchaneka kokubeka kwindawo ethile. I-engile yabo yokujikeleza kunye nesantya sinokulawulwa kakhulu, yiyo loo nto bebehlala besetyenziswa kwiifloppy drives, hard drive (HDD), iirobhothi, inkqubo esizisebenzelayo, njl.
  • Umncedisi: Kunokuthiwa kukuzivelela kwemoto ekuhamba kuyo, isebenza ngamandla amancinci kunye nesantya esiya kuthi ga kwi-7000 RPM kwezinye iimeko. Le moto ibandakanya ibhokisi yokunciphisa izixhobo kunye nesekethe yokulawula. Banobume obufanayo bokuma njengabahambi kwaye bazinzile ngokwemiqathango ye-torque esetyenzisiweyo, ebenza balungele ezinye iirobhothi kunye nokusetyenziswa kwemizi-mveliso.

Iimoto ezihamba kunye nee-servo motors

Rotor kunye stator

Sele uyazi ukuba zezi ntlobo zimbini zeemoto zombane, kodwa ndingathanda ukuthi into ngakumbi ngabahambi. Ukujika abakwenziyo ngokuqhubekayo, kodwa ngamanyathelo amancinci, kungoko igama labo. I-Rotor (icandelo elijikelezayo) linobume bevili elinamazinyo, ngelixa i-stator (icandelo elingahambeliyo) lenziwe ngama-electromagnet adibeneyo. Ngale ndlela, xa umntu "enziwe ukuba asebenze" emacaleni ayo ayenziwanga isebenze, nto leyo etsala izinyo elijikelezayo kuyo, ivumela ukuba kuchazwe kwangaphambili.

yifvd
Inqaku elidibeneyo:
I-DRV8825: umqhubi we-stepper motors

Kuxhomekeka kwifayile ye- amazinyo e Rotor, kuyakwenzeka ukuba uqhubele phambili ngakumbi okanye ngaphantsi kwisithuba. Ukuba unamazinyo angaphezulu, amanyathelo afunekayo ukugqibezela ukujika, kodwa amanyathelo aya kuba mafutshane, ke iya kuba yimoto echanekileyo. Ukuba unamazinyo ambalwa, amanyathelo aya kuba kukutsiba ngokukhawuleza okukhulu, ngaphandle kokuchaneka okungako. Ke ngoko, amanyathelo anokunyanzelwa yimoto yokuhamba ukugqibezela ujiko aya kuxhomekeka kumanyathelo e-angular.

Loo manyathelo ii-angular zibekiwe ngokulinganayo, nangona ungafumana ezinye iinjini ezingashukumiyo. Ii-angles zihlala zi: 1.8º, 5.625º, 7.5º, 11.25º, 18º, 45º, kunye 90º. Ukubala ukuba mangaphi amanyathelo esinyanzeliso seemoto ekufuneka sigqibile ukujika ngokupheleleyo okanye ukujika (360º), kufuneka wahlule nje. Umzekelo, ukuba unemoto engama-45º, unamanyathelo asi-8 (360/45 = 8).

ujikeleze ngokukhetha (isigaba)

Ngaphakathi kwezi motors une-unipolar (edume kakhulu), ngentambo ezi-5 okanye ezi-6, okanye ibipolar, ezineentambo ezi-4. Ngokwangoku, enye okanye enye iya kwenziwa Ukulandelelana kweparalization Ukudlula ngoku kwiikhoyili zayo:

  • Ukwahlulahlula Ibipolar:
Paso Isiphelo sendlela A Isiphelo B Isiphelo sendlela C Isiphelo sendlela D
1 +V -V +V -V
2 +V -V -V +V
3 -V +V -V +V
4 -V +V +V -V
  • Ku unipolar:
Paso Ikhoyili A Ikhoyili B Ikhoyili C Ikhoyili D
1 +V +V 0 0
2 0 +V +V 0
3 0 0 +V +V
4 +V 0 0 +V

Ukusebenza kuwo omabini la matyala kuyafana, kukhathaza iikhoyili ukutsala irotor apho ufuna ukuba i-axis ibekwe khona. Ukuba uyafuna yigcine kwindawo enye, kuya kufuneka ugcine ukwahlulahlulahlula kweso sikhundla kunye ne-voila. Kwaye ukuba ufuna iqhubele phambili, polarize umazibuthe olandelayo kwaye iya kuthatha elinye inyathelo, njalo njalo ...

Ukuba usebenzisa a umncedisi, Sele uyazi ukuba sisiseko se-stepper motor ke ngoko yonke into eyithethileyo iyasebenza kubo. Ekuphela kwento ebandakanya ezo zixhobo zokunciphisa ukufumana amanyathelo amaninzi ngethuba ngalinye kwaye ke unendlela ephezulu kakhulu. Umzekelo, unokufumana isithuthi esinamanyathelo asi-8 kwicala ngalinye ukuba ibine-gearbox eyi-1: 64, kuba oko kuthetha ukuba inyathelo ngalinye kula masibhozo lahlulwe langamanyathelo amancinci angama-64, anokunika amanyathelo angama-512 ubuninzi ngokujika. Oko kukuthi, inyathelo ngalinye liya kuba malunga no-0.7º.

l298n
Inqaku elidibeneyo:
I-L298N: imodyuli yokulawula iimoto zeArduino

Yongeza ukuba kuya kufuneka usebenzise ezinye umlawuli ngawo ukulawula ukwahlulahlula, isantya, njl., kunye, umzekelo, H-Bridge. Ezinye iimodeli zi-L293, ULN2003, ULQ2003, njl.

Ukuthenga phi

Unako yithenge kwiindawo ezahlukeneyo ezikwi-intanethi okanye kwiivenkile ezikhethekileyo zombane. Kwakhona, ukuba usaqala, ungasebenzisa iikiti ezibandakanya yonke into oyifunayo kunye nepleyiti Arduino UNO kunye nencwadana yemigaqo ukuqala ukuzama nokwenza iiprojekthi zakho. Ezi khithi zibandakanya yonke into oyifunayo, ukusuka kwimoto uqobo, abalawuli, iibhodi, isonka, njl.

Umzekelo weemoto ezihamba kunye noArduino

IArduino eneemoto ezihambayo kunye nomlawuli

Okokugqibela, bonisa Umzekelo osebenzayo noArduino, usebenzisa umlawuli we-ULN2003 kunye ne-28BYJ-48 motor stepper. Ilula kakhulu, kodwa iya kwanela ukuba uqalise ukuziqhelanisa nendlela esebenza ngayo ukuze uqale ukwenza uvavanyo kwaye ubone ukuba iziphatha njani ...

Njengoko kubonwe kuyo Inkqubo yonxibelelwano, ii-motor coils A (IN1), B (IN2), C (IN3) kunye no-D (IN4) zabelwe unxibelelwano 8, 9, 10, kunye no-11 ngokwahlukeneyo kwibhodi yeArduino. Kwelinye icala, umqhubi okanye ibhodi yolawulo kufuneka ondliwe kwizikhonkwane zayo ezi-5-12V (ukuya kwi-GND kunye ne-5V ye-Arduino) ngombane ofanelekileyo ukuze ikwazi ukondla imoto exhunywe kwisinxibelelanisi esimhlophe seplastiki esinalo mqhubi okanye umlawuli.

Este Injini ye-28BYJ-48 Luhlobo lwe-unipolar stepper motor eneekhoyili ezine. Ke ngoko, ukukunika umbono wokuba isebenza njani, ungathumela amaXabiso aphezulu (1) okanye AMANQAKU (0) kwiikhoyili ezivela kwibhodi yeArduino ngolu hlobo lulandelayo:

Paso Ikhoyili A Ikhoyili B Ikhoyili C Ikhoyili D
1 EZIPHAKATHI EZIPHAKATHI NJE NJE
2 NJE EZIPHAKATHI EZIPHAKATHI NJE
3 NJE NJE EZIPHAKATHI EZIPHAKATHI
4 EZIPHAKATHI NJE NJE EZIPHAKATHI

Ngokuphathelele sketch okanye ikhowudi efunekayo kwinkqubo yokuhamba kwakho, njengoko kunokuba koku kulandelayo kusetyenziswa I-Arduino IDE (lungisa kwaye uvavanye ukuvavanya ukuba intshukumo itshintsha njani):

// Definir pines conectados a las bobinas del driver
#define IN1  8
#define IN2  9
#define IN3  10
#define IN4  11

// Secuencia de pasos a par máximo del motor. Realmente es una matriz que representa la tabla del unipolar que he mostrado antes
int paso [4][4] =
{
  {1, 1, 0, 0},
  {0, 1, 1, 0},
  {0, 0, 1, 1},
  {1, 0, 0, 1}
};

void setup()
{
  // Todos los pines se configuran como salida, ya que el motor no enviará señal a Arduino
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
}

// Bucle para hacerlo girar
void loop()
{ 
    for (int i = 0; i < 4; i++)
    {
      digitalWrite(IN1, paso[i][0]);
      digitalWrite(IN2, paso[i][1]);
      digitalWrite(IN3, paso[i][2]);
      digitalWrite(IN4, paso[i][3]);
      delay(10);
    }
}


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