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第3回電子制御講習
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Koshiro Miyauchi
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第3回電子制御講習
1.
マイコン講習 ー第3回ー K.Miyauchi 2021.10.05
2.
目次 ・RCサーボモータ ・RCサーボモータの回転角制御 (c) K.Miyauchi 2
3.
本講習で使用するもの パソコン:Windows, Mac 開発環境:Arduino IDE マイコン:Arduino
Leonardo その他,回路周りの物品 (c) K.Miyauchi 3
4.
回路図 (c) K.Miyauchi 4
5.
RCサーボモータ RCサーボモータとは, PWM信号を与えることによって, 信号のON幅に対応した角度に回転するモータ. 簡単な動作のものであったり, 趣味で使う程度であれば便利なモータではあるが, 回転速度を変化させることができないことや, 角度の精度をいじれないため, 複雑な制御をする場合には, サーボモータは自作する方がよい. ※サーボモータ・・・ある目標値を与えたら, その目標値に追従するモータのこと. (c) K.Miyauchi 5
6.
RCサーボモータ (c) K.Miyauchi 6 制御端子 3ピンある モータ本体
7.
RCサーボモータ (c) K.Miyauchi 7 内臓コントローラ DCモータ ポテンショメータ付き出力軸 減速ギア
8.
RCサーボモータ RCサーボモータを使うときには,以下のパラメータを確認しましょう. ・電源電圧(5V以外にも12Vのものなどもあるので注意) ・PWM信号電圧レベル(3.3Vなのか5Vなのか) ・PWM信号周期(16~20 msのものが多い) ・動作角度範囲(180° or
270°のものが多い) ・動作PWM信号ON幅範囲(0.5 − 2.5 msのものが多い) (c) K.Miyauchi 8
9.
RCサーボモータの回転角制御 RCサーボモータの回転角は、 前回にも説明したようにPWM信号で設定することができます。 𝜃 = 𝜃𝑀𝐴𝑋
× 𝑇𝑂𝑁 − 𝑇𝑀𝐼𝑁 𝑇𝑀𝐴𝑋 − 𝑇𝑀𝐼𝑁 ただし、 𝜃:回転角 𝜃𝑀𝐴𝑋:最大回転角 𝑇𝑀𝐴𝑋:最大回転角時のPWM信号のON時間 𝑇𝑀𝐼𝑁:最小回転角時(基本的に0度)のPWM信号のON時間 𝑇𝑂𝑁:PWM信号のON時間 である。 (c) K.Miyauchi 9
10.
RCサーボモータの回転角制御 右の回路を実装して,サーボモータの回転角を制御してみましょう. dutyの値を変えて,90度や180度になるようにしてみましょう. (c) K.Miyauchi 10
11.
RCサーボモータの回転角制御 右の回路を実装して,Arduino拡張機能を使用して サーボモータの回転角を制御してみましょう. (c) K.Miyauchi 11
12.
RCサーボモータの回転角制御 <拡張機能> 「Servo型」 RCサーボモータの制御をするためのクラス 制御角が0度から180度, 周期20msのサーボモータを制御することができる. ・attach(pinNum, dutyMin, dutyMax) RCサーボモータの制御をするGPIOピンを設定するためのメソッド pinName
: ピン番号 dutyMin : 0度時のパルス幅[µs](省略可能) dutyMax : 180度時のパルス幅[µs] (省略可能) (c) K.Miyauchi 12
13.
RCサーボモータの回転角制御 ・write(angle) サーボモータの制御角を指定した角度にするメソッド angle : 角度[°] (c)
K.Miyauchi 13
14.
演習 ・部屋が暗いときに扉をロックするような仕組みを作りたい.部屋が 明るいときにサーボの回転角を90度とすることで開放,暗いときに サーボの回転角を0度とすることでロックすることとした.センサ等を 使用して,実装せよ. ・シリアル通信でサーボモータの角度を制御できるようにしたい. サーボモータの制御コードを0から1800の数値とし,コードの1/10の 角度に制御せよ. 例) 900 ⇒
90度; 15⇒1.5度 (c) K.Miyauchi 14
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