Servo Driving Apparatus Stabilizes Motor Speed via PWM Duty Ratio Adjustment
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Solution Overview
Problem
Existing servo motor systems in robotic applications experience instability in rotation speed due to fluctuations in power supply voltage, leading to jittering and positional errors during operation.
Innovation Solution
A servo driving apparatus and method that includes units for obtaining the current voltage of the power supply, calculating a target duty ratio based on the preset voltage and current voltage, and generating a target PWM signal to stabilize the motor's rotation speed, thereby maintaining operational stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a mobile power supply such as a lithium battery is used to drive the motor, then the robot can operate with greater mobility and flexibility, but the rotation speed becomes unstable due to voltage fluctuations, causing jittering and positional errors
Solution Approach 1:
The control unit continuously monitors the actual rotation speed of the motor and compares it with the target rotation speed. Based on this feedback, the control unit dynamically adjusts the PWM duty ratio to compensate for voltage fluctuations, thereby maintaining stable rotation speed and eliminating jittering and positional errors while preserving mobile operation capability
Solution Approach 2:
The system dynamically changes the PWM duty ratio parameter in response to detected rotation speed deviations. By adjusting this control parameter based on real-time speed feedback, the system compensates for power supply voltage variations and maintains consistent motor performance despite using a mobile battery power supply
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution effectively stabilizes the rotation speed of the servo motor, reducing jittering and positional errors by adjusting the PWM signal in response to changes in power supply voltage, ensuring consistent and precise operation.
Implementation Method 1
generating a target PWM signal according to the target duty ratio, where the target PWM signal is for controlling the motor to drive the servo
Data Source
AI summary
The present disclosure provides a servo driving method, device, and robot thereof. The method includes: obtaining a current voltage of a power supply of the motor, if a control instruction for driving the servo is detected; obtaining a duty ratio of a PWM signal generated according to the control instruction and the current voltage, if the current voltage is not equal to a preset voltage; calculating a target duty ratio based on a ratio between the preset voltage and the current voltage and the duty ratio; and outputting a target PWM signal according to the target duty ratio. Which controls the motor to drive the servo through the obtained target PWM signal, and realizes that the rotation speed of the motor will not become unstable due to the change of the output voltage of the power supply during the operation of the motor, thereby avoiding the instability of the servo.