{"id":19019,"date":"2015-01-08T16:24:02","date_gmt":"2015-01-08T09:24:02","guid":{"rendered":"https:\/\/banbientan.com\/?p=19019"},"modified":"2015-01-08T16:24:02","modified_gmt":"2015-01-08T09:24:02","slug":"cong-nghe-dieu-khien-dong-co-servo","status":"publish","type":"post","link":"https:\/\/hunglong.banbientan.com\/?p=19019","title":{"rendered":"C\u00f4ng ngh\u1ec7 \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 Servo"},"content":{"rendered":"<p><strong><span style=\"font-size: x-large;\">Gi\u1edbi thi\u1ec7u v\u1ec1 c\u00f4ng ngh\u1ec7 \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 Servo<\/span><\/strong>\u00a0<a href=\"https:\/\/banbientan.com\/wp-content\/uploads\/2014\/11\/servo-yaskawa-junma-011.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\" size-full wp-image-18339 alignright\" src=\"https:\/\/banbientan.com\/wp-content\/uploads\/2014\/11\/servo-yaskawa-junma-011.jpg\" alt=\"servo yaskawa-junma-011\" width=\"200\" height=\"175\" \/><\/a><br \/>\n<span style=\"color: #000000; font-family: Arial;\"><strong>\u0110\u1ed9ng c\u01a1 servo l\u00e0 th\u00e0nh ph\u1ea7n quan tr\u1ecdng c\u1ee7a h\u1ec7 th\u1ed1ng \u0111i\u1ec1u khi\u1ec3n chuy\u1ec3n \u0111\u1ed9ng.<\/strong> \u00a0<\/span><br \/>\n<span style=\"color: #000000; font-family: Arial;\">\u0110\u1ec3 ho\u1ea1t \u0111\u1ed9ng \u0111\u01b0\u1ee3c, ch\u00fang ta ph\u1ea3i n\u1ed1i \u0111\u1ed9ng c\u01a1 servo v\u1edbi c\u00e1c ph\u1ea7n c\u1ee9ng, ph\u1ea7n m\u1ec1m h\u1ed7 tr\u1ee3 \u0111i\u1ec1u khi\u1ec3n chuy\u1ec3n \u0111\u1ed9ng.<\/span><br \/>\n<span style=\"color: #000000; font-family: Arial;\">\u0110\u1ed9ng c\u01a1 servo \u0111\u01b0\u1ee3c k\u1ebft h\u1ee3p c\u01a1 kh\u00ed v\u1edbi c\u00e1c thi\u1ebft b\u1ecb m\u00e1y m\u00f3c kh\u00e1c \u0111\u1ec3 cung c\u1ea5p l\u1ef1c di chuy\u1ec3n c\u00e1c thi\u1ebft b\u1ecb n\u00e0y theo y\u00eau c\u1ea7u c\u1ee7a \u1ee9ng d\u1ee5ng.<\/span><br \/>\nTrong b\u00e0i h\u1ecdc n\u00e0y, ch\u00fang ta s\u1ebd c\u00f9ng kh\u00e1m ph\u00e1 c\u00f4ng ngh\u1ec7 \u0111\u1ec3 v\u1eadn h\u00e0nh \u0111\u1ed9ng c\u01a1 servo, b\u1ed9 \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 servo v\u00e0 c\u00e1c ph\u01b0\u01a1ng ph\u00e1p ph\u1ea3n h\u1ed3i \u0111\u1ec3 \u0111\u1ea1t \u0111\u01b0\u1ee3c ho\u1ea1t \u0111\u1ed9ng nh\u01b0 mong mu\u1ed1n.<br \/>\n<strong><span style=\"font-family: Verdana;\">C\u1ea5u h\u00ecnh h\u1ec7 th\u1ed1ng \u0111\u1ed9ng c\u01a1 servo<a href=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/cau-hinh-servo.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignright size-medium wp-image-19020\" src=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/cau-hinh-servo-300x263.jpg\" alt=\"cau hinh servo\" width=\"300\" height=\"263\" \/><\/a><\/span><\/strong><br \/>\n<strong>\u0110\u1ed9ng c\u01a1 servo \u0111\u01b0\u1ee3c s\u1eed d\u1ee5ng trong c\u00e1c h\u1ec7 th\u1ed1ng \u0111i\u1ec1u khi\u1ec3n chuy\u1ec3n \u0111\u1ed9ng \u0111\u1ec3 cung c\u1ea5p m\u1ed9t l\u1ef1c c\u01a1 h\u1ecdc c\u1ee5 th\u1ec3 trong kho\u1ea3ng th\u1eddi gian nh\u1ea5t \u0111\u1ecbnh.<\/strong><br \/>\n\u0110\u1ec3 \u0111\u1ea1t \u0111\u01b0\u1ee3c \u0111i\u1ec1u n\u00e0y, ch\u00fang ta ph\u1ea3i \u0111i\u1ec1u khi\u1ec3n <strong>v\u1ecb tr\u00ed<\/strong>, <strong>v\u1eadn t\u1ed1c<\/strong> v\u00e0 <strong>m\u00f4 men<\/strong> c\u1ee7a \u0111\u1ed9ng c\u01a1 servo theo y\u00eau c\u1ea7u \u1ee9ng d\u1ee5ng.<br \/>\n\u0110\u1ec3 ho\u1ea1t \u0111\u1ed9ng chu\u1ea9n x\u00e1c, \u0111\u1ed9ng c\u01a1 servo ph\u1ea3i <span style=\"text-decoration: underline;\">k\u1ebft h\u1ee3p<\/span> v\u1edbi:<\/p>\n<ol>\n<li><strong>B\u1ed9 \u0111i\u1ec1u khi\u1ec3n <\/strong>&#8211; Th\u00f4ng th\u01b0\u1eddng l\u00e0 PLC ho\u1eb7c b\u1ed9 \u0111i\u1ec1u khi\u1ec3n chuy\u1ec3n \u0111\u1ed9ng chuy\u00ean d\u1ee5ng s\u1ebd ch\u1ea1y ch\u01b0\u01a1ng tr\u00ecnh \u0111i\u1ec1u khi\u1ec3n \u0111\u1ec3 th\u1ef1c hi\u1ec7n \u0111\u00fang theo y\u00eau c\u1ea7u k\u1ef9 thu\u1eadt c\u1ee7a \u1ee9ng d\u1ee5ng.<\/li>\n<li><strong>B\u1ed9 \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 <\/strong>&#8211; Thi\u1ebft b\u1ecb \u0111i\u1ec7n t\u1eed c\u00f3 ch\u1ee9c n\u0103ng cung c\u1ea5p \u0111\u1ee7 n\u0103ng l\u01b0\u1ee3ng cho \u0111\u1ed9ng c\u01a1 theo \u0111\u00fang c\u00e1ch, \u0111\u00fang th\u1eddi \u0111i\u1ec3m.<\/li>\n<li><strong>B\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay <\/strong>&#8211; t\u1ea1o ph\u1ea3n h\u1ed3i cho ho\u1ea1t \u0111\u1ed9ng c\u1ee7a \u0111\u1ed9ng c\u01a1.<\/li>\n<\/ol>\n<p><strong><span style=\"font-family: Verdana;\">C\u1ea5u tr\u00fac \u0111\u1ed9ng c\u01a1 servo<a href=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/cau-truc-dong-co-servo.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignright size-medium wp-image-19021\" src=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/cau-truc-dong-co-servo-300x272.jpg\" alt=\"cau truc dong co servo\" width=\"300\" height=\"272\" \/><\/a><\/span><\/strong><br \/>\nTrong c\u00f4ng nghi\u1ec7p, h\u1ea7u h\u1ebft c\u00e1c d\u1ea1ng \u0111\u1ed9ng c\u01a1 servo s\u1eed d\u1ee5ng \u0111\u1ed9ng c\u01a1 m\u1ed9t chi\u1ec1u kh\u00f4ng ch\u1ed5i than.<br \/>\nRotor c\u1ee7a \u0111\u1ed9ng c\u01a1 l\u00e0 m\u1ed9t nam ch\u00e2m v\u0129nh c\u1eedu c\u00f3 t\u1eeb tr\u01b0\u1eddng m\u1ea1nh. Stator c\u1ee7a \u0111\u1ed9ng c\u01a1 \u0111\u01b0\u1ee3c cu\u1ed1n c\u00e1c cu\u1ed9n d\u00e2y ri\u00eang bi\u1ec7t, \u0111\u01b0\u1ee3c c\u1ea5p ngu\u1ed3n theo m\u1ed9t tr\u00ecnh t\u1ef1 th\u00edch h\u1ee3p \u0111\u1ec3 quay rotor.<br \/>\nN\u1ebfu th\u1eddi \u0111i\u1ec3m v\u00e0 d\u00f2ng \u0111i\u1ec7n c\u1ea5p t\u1edbi c\u00e1c cu\u1ed9n d\u00e2y l\u00e0 chu\u1ea9n x\u00e1c, chuy\u1ec3n \u0111\u1ed9ng quay c\u1ee7a rotor ph\u1ee5 thu\u1ed9c v\u00e0o <strong>t\u1ea7n s\u1ed1, pha, ph\u00e2n c\u1ef1c v\u00e0 d\u00f2ng \u0111i\u1ec7n <\/strong>ch\u1ea1y trong cu\u1ed9n d\u00e2y stator.<br \/>\nH\u00e3y k\u00edch chu\u1ed9t v\u00e0o t\u1eebng ph\u1ea7n c\u1ee7a \u0111\u1ed9ng c\u01a1 servo \u0111\u1ec3 xem c\u00e1c th\u00e0nh ph\u1ea7n b\u00ean trong c\u1ee7a \u0111\u1ed9ng c\u01a1.<br \/>\nB\u1ea1n c\u00f3 th\u1ec3 th\u1ea5y:<\/p>\n<ul>\n<li><strong>\u0110\u0129a b\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay<\/strong><\/li>\n<li><strong>Nam ch\u00e2m v\u0129nh c\u1eedu<\/strong><\/li>\n<li><strong>Cu\u1ed9n d\u00e2y stator<\/strong><\/li>\n<\/ul>\n<p><strong><span style=\"font-family: Verdana;\">Ch\u1ee9c n\u0103ng c\u1ee7a b\u1ed9 \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 servo<a href=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/bo-dieu-khien-servo.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignright size-full wp-image-19022\" src=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/bo-dieu-khien-servo.jpg\" alt=\"bo dieu khien servo\" width=\"131\" height=\"246\" \/><\/a><\/span><\/strong><br \/>\n<strong>C\u1ea7n c\u00f3 ngu\u1ed3n \u0111i\u1ec7n c\u1ea5p t\u01b0\u01a1ng th\u00edch v\u1edbi thi\u1ebft k\u1ebf c\u1ee7a \u0111\u1ed9ng c\u01a1 servo.<span style=\"text-decoration: underline;\"> B\u1ed9 \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 servo<\/span> th\u1ef1c hi\u1ec7n ch\u1ee9c n\u0103ng n\u00e0y.<\/strong><br \/>\nB\u1ed9 \u0111i\u1ec1u khi\u1ec3n cung c\u1ea5p ngu\u1ed3n cho \u0111\u1ed9ng c\u01a1 servo \u0111\u00fang l\u01b0\u1ee3ng, \u0111\u00fang th\u1eddi \u0111i\u1ec3m \u0111\u1ec3 \u0111i\u1ec1u khi\u1ec3n v\u1ecb tr\u00ed, t\u1ed1c \u0111\u1ed9 v\u00e0 m\u00f4 men t\u01b0\u01a1ng \u1ee9ng v\u1edbi c\u00e1c \u0111\u1ea7u v\u00e0o t\u1eeb b\u1ed9 \u0111i\u1ec1u khi\u1ec3n chuy\u1ec3n \u0111\u1ed9ng, ph\u1ea3n h\u1ed3i t\u1eeb b\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay v\u00e0 t\u1eeb b\u1ea3n th\u00e2n \u0111\u1ed9ng c\u01a1 servo.<br \/>\nC\u00e1c ch\u1ee9c n\u0103ng kh\u00e1c c\u1ee7a b\u1ed9 \u0111i\u1ec1u khi\u1ec3n bao g\u1ed3m:<\/p>\n<ol>\n<li>Truy\u1ec1n th\u00f4ng v\u1edbi b\u1ed9 \u0111i\u1ec1u khi\u1ec3n chuy\u1ec3n \u0111\u1ed9ng<\/li>\n<li>\u0110\u1ecdc ph\u1ea3n h\u1ed3i t\u1eeb b\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay v\u00e0 \u0111i\u1ec1u ch\u1ec9nh th\u1eddi gian th\u1ef1c cho m\u1ea1ch v\u00f2ng \u0111i\u1ec1u khi\u1ec3n k\u00edn.<\/li>\n<li>X\u1eed l\u00fd c\u00e1c t\u00edn hi\u1ec7u v\u00e0o\/ra v\u00ed d\u1ee5 nh\u01b0 c\u00e1c thi\u1ebft b\u1ecb an to\u00e0n, ch\u1ebf \u0111\u1ed9 \u0111\u1ea7u v\u00e0o v\u00e0 c\u00e1c t\u00edn hi\u1ec7u \u0111\u1ea7u ra v\u1ec1 tr\u1ea1ng th\u00e1i ho\u1ea1t \u0111\u1ed9ng.<\/li>\n<\/ol>\n<p>&nbsp;<br \/>\n<strong><span style=\"font-family: Verdana;\">\u0110i\u1ec1u khi\u1ec3n n\u0103ng l\u01b0\u1ee3ng cho \u0111\u1ed9ng c\u01a1 servo<a href=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/igbt-servo.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignright  wp-image-19023\" src=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/igbt-servo-300x263.jpg\" alt=\"igbt servo\" width=\"199\" height=\"174\" \/><\/a><\/span><\/strong><br \/>\nB\u1ed9 \u0111i\u1ec1u khi\u1ec3n \u0111i\u1ec7n \u0111\u1ed9ng c\u01a1 servo s\u1eed d\u1ee5ng m\u1ed9t h\u00e0ng c\u00e1c transistor c\u00f4ng su\u1ea5t \u0111\u01b0\u1ee3c g\u1ecdi l\u00e0 <strong>Transistor c\u00f3 c\u1ef1c \u0111i\u1ec1u khi\u1ec3n c\u00e1ch ly<\/strong><strong> (IGBT)<\/strong>\u0111\u1ec3 ki\u1ec3m so\u00e1t n\u0103ng l\u01b0\u1ee3ng \u0111\u01b0a v\u00e0o \u0111\u1ed9ng c\u01a1 servo.<br \/>\nIGBT c\u00f3 kh\u1ea3 n\u0103ng chuy\u1ec3n m\u1ea1ch nhanh v\u1edbi d\u00f2ng l\u1edbn n\u00ean l\u00e0 l\u1ef1a ch\u1ecdn l\u00fd t\u01b0\u1edfng cho \u1ee9ng d\u1ee5ng n\u00e0y.<br \/>\nIGBT \u0111\u01b0\u1ee3c \u0111i\u1ec1u khi\u1ec3n b\u1eb1ng c\u00e1c thi\u1ebft b\u1ecb \u0111i\u1ec7n t\u1eed nh\u1eb1m s\u1ea3n sinh ra c\u00e1c d\u1ea1ng \u0111i\u1ec7n \u00e1p, d\u00f2ng \u0111i\u1ec7n, t\u1ea7n s\u1ed1, ph\u00e2n c\u1ef1c v\u00e0 pha \u0111\u1eb7c th\u00f9 cung c\u1ea5p cho \u0111\u1ed9ng c\u01a1 servo.<br \/>\n<strong>V\u00ec l\u00fd do n\u00e0y, m\u1ed7i b\u1ed9 \u0111i\u1ec1u khi\u1ec3n th\u01b0\u1eddng k\u1ebft h\u1ee3p v\u1edbi m\u1ed9t d\u00f2ng \u0111\u1ed9ng c\u01a1 servo c\u1ee5 th\u1ec3.<br \/>\n<\/strong><br \/>\nTrong khi t\u00edn hi\u1ec7u \u0111\u1ea7u v\u00e0o cho <span style=\"text-decoration: underline;\">b\u1ed9 \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 servo<\/span> l\u00e0 d\u00f2ng m\u1ed9t chi\u1ec1u (DC), \u0111\u1ea7u ra b\u1ed9 \u0111i\u1ec1u khi\u1ec3n g\u1ea7n nh\u01b0 l\u00e0 d\u1ea1ng s\u00f3ng \u0111i\u1ec7n xoay chi\u1ec1u \u0111\u1ec3 \u0111i\u1ec1u khi\u1ec3n tr\u01a1n t\u1ed1c \u0111\u1ed9, gia t\u1ed1c v\u00e0 m\u00f4 men c\u1ee7a \u0111\u1ed9ng c\u01a1 servo.<br \/>\n<strong><span style=\"font-family: Verdana;\">T\u00edn hi\u1ec7u \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 servo<\/span>\u00a0<img loading=\"lazy\" decoding=\"async\" class=\"alignright size-medium wp-image-19024\" src=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/tin-hieu-driver-servo-300x140.jpg\" alt=\"tin hieu driver servo\" width=\"300\" height=\"140\" \/><\/strong><br \/>\n<strong>D\u1ef1a v\u00e0o d\u1eef li\u1ec7u l\u01b0u trong ch\u01b0\u01a1ng tr\u00ecnh \u0111i\u1ec1u khi\u1ec3n chuy\u1ec3n \u0111\u1ed9ng, b\u1ed9 \u0111i\u1ec1u khi\u1ec3n nh\u1eadn t\u00edn hi\u1ec7u \u0111\u1ec3 th\u1ef1c hi\u1ec7n m\u1ed9t d\u1ea1ng chuy\u1ec3n \u0111\u1ed9ng nh\u1ea5t \u0111\u1ecbnh.<\/strong><br \/>\nT\u00edn hi\u1ec7u t\u1eeb b\u1ed9 \u0111i\u1ec1u khi\u1ec3n chuy\u1ec3n \u0111\u1ed9ng g\u1eedi t\u1edbi b\u1ed9 \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 servo c\u00f3 th\u1ec3 c\u00f3 nhi\u1ec1u d\u1ea1ng:<\/p>\n<ul>\n<li>\u0110i\u1ec7n \u00e1p m\u1ed9t chi\u1ec1u d\u1ea1ng t\u01b0\u01a1ng t\u1ef1 (v\u00ed d\u1ee5 nh\u01b0 t\u1eeb -12VDC \u0111\u1ebfn +12VDC)<\/li>\n<\/ul>\n<ul>\n<li>D\u00e3y xung<\/li>\n<\/ul>\n<ul>\n<li>G\u00f3i d\u1eef li\u1ec7u truy\u1ec1n qua m\u1ea1ng<\/li>\n<\/ul>\n<p><strong><span style=\"font-family: Verdana;\">Ph\u1ea3n h\u1ed3i trong h\u1ec7 th\u1ed1ng \u0111\u1ed9ng c\u01a1 servo<a href=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/phan-hoi-servo.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignright size-medium wp-image-19025\" src=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/phan-hoi-servo-300x143.jpg\" alt=\"phan hoi servo\" width=\"300\" height=\"143\" \/><\/a><\/span><\/strong><br \/>\nB\u1ed9 \u0111i\u1ec1u khi\u1ec3n v\u00e0 \u0111\u1ed9ng c\u01a1 servo c\u00f9ng ho\u1ea1t \u0111\u1ed9ng \u0111\u1ec3 v\u1eadn h\u00e0nh trong ch\u1ebf \u0111\u1ed9 m\u1ea1ch v\u00f2ng k\u00edn.<br \/>\nKhi s\u1eed d\u1ee5ng <strong>m\u1ea1ch ph\u1ea3n h\u1ed3i<\/strong>, v\u1ecb tr\u00ed <span style=\"text-decoration: underline;\">th\u1ef1c t\u1ebf,<\/span> v\u1eadn t\u1ed1c hay m\u00f4 men c\u1ee7a \u0111\u1ed9ng c\u01a1 servo \u0111\u01b0\u1ee3c so s\u00e1nh v\u1edbi l\u1ec7nh chuy\u1ec3n \u0111\u1ed9ng v\u00e0 b\u1ea5t k\u1ef3 sai s\u1ed1 n\u00e0o gi\u1eefa c\u00e1c c\u1eb7p gi\u00e1 tr\u1ecb tr\u00ean \u0111\u1ec1u \u0111\u01b0\u1ee3c x\u00e1c \u0111\u1ecbnh.<br \/>\nSau \u0111\u00f3, b\u1ed9 \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 servo s\u1ebd s\u1eed d\u1ee5ng c\u00e1c th\u00f4ng tin sai s\u1ed1 n\u00e0y \u0111\u1ec3 \u0111i\u1ec1u ch\u1ec9nh ho\u1ea1t \u0111\u1ed9ng c\u1ee7a \u0111\u1ed9ng c\u01a1 theo th\u1eddi gian th\u1ef1c, sao cho qu\u00e1 tr\u00ecnh ho\u1ea1t \u0111\u1ed9ng c\u1ee7a \u0111\u1ed9ng c\u01a1 \u0111\u00e1p \u1ee9ng \u0111\u01b0\u1ee3c y\u00eau c\u1ea7u c\u1ee7a \u1ee9ng d\u1ee5ng.<br \/>\nChu tr\u00ecnh <strong>ph\u1ea3n h\u1ed3i &#8211; x\u00e1c \u0111\u1ecbnh sai s\u1ed1 &#8211; tri\u1ec7t ti\u00eau sai s\u1ed1 <\/strong>\u0111\u01b0\u1ee3c g\u1ecdi l\u00e0<strong><span style=\"text-decoration: underline;\">m\u1ea1ch v\u00f2ng \u0111i\u1ec1u khi\u1ec3n k\u00edn<\/span> <\/strong>.<br \/>\n<strong><span style=\"font-family: Verdana;\">M\u1ea1ch v\u00f2ng \u0111i\u1ec1u khi\u1ec3n<a href=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/mach-vong-dk.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignright size-medium wp-image-19026\" src=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/mach-vong-dk-300x116.jpg\" alt=\"mach vong dk\" width=\"300\" height=\"116\" \/><\/a><\/span><\/strong><br \/>\n<strong>M\u1ea1ch v\u00f2ng \u0111i\u1ec1u khi\u1ec3n \u0111\u01b0\u1ee3c x\u1eed l\u00fd b\u1edfi b\u1ed9 \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 servo, b\u1ed9 \u0111i\u1ec1u khi\u1ec3n chuy\u1ec3n \u0111\u1ed9ng ho\u1eb7c c\u1ea3 hai t\u00f9y thu\u1ed9c v\u00e0o y\u00eau c\u1ea7u \u0111i\u1ec1u khi\u1ec3n.<\/strong><br \/>\n\u0110\u1ec3 \u0111\u1ea1t \u0111\u01b0\u1ee3c chuy\u1ec3n \u0111\u1ed9ng nh\u01b0 mong mu\u1ed1n cho \u1ee9ng d\u1ee5ng c\u1ee7a m\u00ecnh, ch\u00fang ta c\u00f3 th\u1ec3 t\u00e1ch ri\u00eang c\u00e1c m\u1ea1ch v\u00f2ng \u0111i\u1ec1u khi\u1ec3n cho v\u1ecb tr\u00ed, v\u1eadn t\u1ed1c v\u00e0 m\u00f4 men.<br \/>\nKh\u00f4ng ph\u1ea3i t\u1ea5t c\u1ea3 c\u00e1c \u1ee9ng d\u1ee5ng \u0111i\u1ec1u khi\u1ec3n \u0111\u1ec1u bao g\u1ed3m c\u1ea3 ba d\u1ea1ng m\u1ea1ch v\u00f2ng \u0111i\u1ec1u khi\u1ec3n v\u1eeba n\u00eau. Nhi\u1ec1u \u1ee9ng d\u1ee5ng ch\u1ec9 g\u1ed3m c\u00f3 m\u1ea1ch v\u00f2ng d\u00f2ng \u0111i\u1ec7n v\u00e0 m\u1ea1ch v\u00f2ng t\u1ed1c \u0111\u1ed9 d\u00f9ng cho \u0111i\u1ec1u khi\u1ec3n t\u1ed1c \u0111\u1ed9. Nhi\u1ec1u \u1ee9ng d\u1ee5ng l\u1ea1i c\u1ea7n c\u00f3 c\u1ea3 ba m\u1ea1ch v\u00f2ng \u0111i\u1ec1u khi\u1ec3n \u0111\u1ec3 \u0111i\u1ec1u khi\u1ec3n v\u1ecb tr\u00ed.<\/p>\n<ul>\n<li>\u00a0<strong>\u0110i\u1ec1u khi\u1ec3n v\u1ecb tr\u00ed (position Loop)<\/strong><\/li>\n<\/ul>\n<p style=\"padding-left: 30px;\">V\u1ecb tr\u00ed \u0111\u01b0\u1ee3c hi\u1ec3u l\u00e0 v\u1ecb tr\u00ed g\u00f3c tuy\u1ec7t \u0111\u1ed1i c\u1ee7a tr\u1ee5c \u0111\u1ed9ng c\u01a1 servo ho\u1eb7c trong v\u00e0i tr\u01b0\u1eddng h\u1ee3p, l\u00e0 v\u1ecb tr\u00ed c\u1ee7a thi\u1ebft b\u1ecb truy\u1ec1n \u0111\u1ed9ng b\u1edfi \u0111\u1ed9ng c\u01a1 servo.<\/p>\n<p style=\"padding-left: 30px;\">Khi \u0111\u1ed9ng c\u01a1 servo thay \u0111\u1ed5i v\u1ecb tr\u00ed, b\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay c\u1ee7a \u0111\u1ed9ng c\u01a1 servo s\u1ebd g\u1eedi ph\u1ea3n h\u1ed3i v\u1ecb tr\u00ed th\u1ef1c t\u1ebf c\u1ee7a tr\u1ee5c \u0111\u1ed9ng c\u01a1 t\u1edbi b\u1ed9 \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 servo ho\u1eb7c c\u00f3 th\u1ec3 g\u1eedi t\u00edn hi\u1ec7u tr\u1ef1c ti\u1ebfp t\u1edbi b\u1ed9 \u0111i\u1ec1u khi\u1ec3n chuy\u1ec3n \u0111\u1ed9ng.<\/p>\n<p style=\"padding-left: 30px;\">M\u1ea1ch v\u00f2ng v\u1ecb tr\u00ed s\u1ebd ti\u1ebfn h\u00e0nh so s\u00e1nh v\u1ecb tr\u00ed \u0111\u1eb7t v\u00e0 v\u1ecb tr\u00ed th\u1ef1c t\u1ebf; t\u1eeb sai s\u1ed1 nh\u1eadn \u0111\u01b0\u1ee3c v\u00e0 c\u00e1c th\u00f4ng s\u1ed1 c\u0103n ch\u1ec9nh c\u1ee7a m\u1ea1ch v\u00f2ng, b\u1ed9 \u0111i\u1ec1u khi\u1ec3n t\u1ef1 \u0111\u1ed9ng \u0111i\u1ec1u ch\u1ec9nh v\u1ecb tr\u00ed tr\u1ee5c quay \u0111\u1ed9ng c\u01a1 theo th\u1eddi gian th\u1ef1c \u0111\u1ec3 tri\u1ec7t ti\u00eau sai l\u1ec7ch v\u1ecb tr\u00ed.<\/p>\n<p style=\"padding-left: 30px;\">Theo c\u00e1ch n\u00e0y, \u0111\u1ed9ng c\u01a1 servo s\u1ebd th\u1ef1c hi\u1ec7n ch\u00ednh x\u00e1c theo th\u00f4ng s\u1ed1 \u0111\u00e3 \u0111\u1eb7t tr\u01b0\u1edbc ngay c\u1ea3 khi \u0111i\u1ec1u ki\u1ec7n v\u1eadn h\u00e0nh thay \u0111\u1ed5i. V\u00ed d\u1ee5 nh\u01b0, n\u1ebfu thi\u1ebft b\u1ecb truy\u1ec1n \u0111\u1ed9ng b\u1edfi \u0111\u1ed9ng c\u01a1 servo tr\u1edf n\u00ean kh\u00f3 di chuy\u1ec3n, b\u1ed9 \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 servo s\u1ebd \u0111i\u1ec1u khi\u1ec3n t\u0103ng m\u00f4 men sinh ra v\u00e0\/ho\u1eb7c \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 v\u1eadn h\u00e0nh trong kho\u1ea3ng th\u1eddi gian l\u00e2u h\u01a1n \u0111\u1ec3 \u0111\u1ea1t \u0111\u01b0\u1ee3c v\u1ecb tr\u00ed mong mu\u1ed1n b\u1ea5t ch\u1ea5p ma s\u00e1t c\u1ee7a c\u01a1 c\u1ea5u truy\u1ec1n \u0111\u1ed9ng.<\/p>\n<ul>\n<li><strong>\u0110i\u1ec1u khi\u1ec3n t\u1ed1c \u0111\u1ed9 (Velocity Loop)<\/strong><\/li>\n<\/ul>\n<p style=\"padding-left: 30px;\">T\u1ed1c \u0111\u1ed9 \u1edf \u0111\u00e2y \u0111\u01b0\u1ee3c hi\u1ec3u l\u00e0 v\u1eadn t\u1ed1c v\u00e0 chi\u1ec1u quay c\u1ee7a \u0111\u1ed9ng c\u01a1 servo.<\/p>\n<p style=\"padding-left: 30px;\">Khi \u0111\u1ed9ng c\u01a1 servo t\u0103ng t\u1ed1c ho\u1eb7c gi\u1ea3m t\u1ed1c, b\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay s\u1ebd g\u1eedi v\u1eadn t\u1ed1c v\u00e0 chi\u1ec1u quay th\u1ef1c t\u1ebf t\u1edbi b\u1ed9 \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 servo ho\u1eb7c g\u1eedi tr\u1ef1c ti\u1ebfp t\u1edbi b\u1ed9 \u0111i\u1ec1u khi\u1ec3n chuy\u1ec3n \u0111\u1ed9ng.<\/p>\n<p style=\"padding-left: 30px;\">M\u1ea1ch v\u00f2ng t\u1ed1c \u0111\u1ed9 s\u1ebd so s\u00e1nh t\u1ed1c \u0111\u1ed9 \u0111\u1eb7t v\u1edbi t\u1ed1c \u0111\u1ed9 hi\u1ec7n t\u1ea1i; d\u1ef1a v\u00e0o sai s\u1ed1 t\u1ed1c \u0111\u1ed9 v\u00e0 c\u00e1c th\u00f4ng s\u1ed1 c\u0103n ch\u1ec9nh c\u1ee7a m\u1ea1ch v\u00f2ng, b\u1ed9 \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 s\u1ebd t\u1ef1 \u0111\u1ed9ng \u0111i\u1ec1u ch\u1ec9nh v\u1eadn t\u1ed1c \u0111\u1ed9ng c\u01a1 theo th\u1eddi gian th\u1ef1c \u0111\u1ec3 \u0111\u1ea1t \u0111\u01b0\u1ee3c c\u00e1c y\u00eau c\u1ea7u c\u1ee7a \u1ee9ng d\u1ee5ng.<\/p>\n<p style=\"padding-left: 30px;\">Theo c\u00e1ch n\u00e0y, \u0111\u1ed9ng c\u01a1 servo s\u1ebd th\u1ef1c hi\u1ec7n \u0111\u00fang theo c\u00e1c th\u00f4ng s\u1ed1 \u0111\u00e3 c\u00e0i \u0111\u1eb7t ngay c\u1ea3 khi \u0111i\u1ec1u ki\u1ec7n v\u1eadn h\u00e0nh thay \u0111\u1ed5i. V\u00ed d\u1ee5 nh\u01b0, n\u1ebfu \u0111\u1ed9ng c\u01a1 servo truy\u1ec1n \u0111\u1ed9ng cho m\u1ed9t c\u01a1 c\u1ea5u c\u00f3 tr\u1ecdng l\u01b0\u1ee3ng l\u1edbn, \u0111\u1ed9ng c\u01a1 s\u1ebd r\u1ea5t kh\u00f3 \u0111\u1ec3 gi\u1ea3m t\u1ed1c. Trong tr\u01b0\u1eddng h\u1ee3p n\u00e0y, \u0111\u1ed9ng c\u01a1 c\u00f3 th\u1ec3 t\u0103ng m\u00f4 men ngh\u1ecbch \u0111\u1ec3 d\u1eebng t\u1ea3i trong kho\u1ea3ng th\u1eddi gian v\u00e0 kho\u1ea3ng c\u00e1ch theo y\u00eau c\u1ea7u c\u1ee7a \u1ee9ng d\u1ee5ng.<\/p>\n<ul>\n<li><strong>\u0110i\u1ec1u khi\u1ec3n M\u00f4 men (Current Loop)<\/strong><\/li>\n<\/ul>\n<p style=\"padding-left: 30px;\">M\u00f4 men c\u1ee7a \u0111\u1ed9ng c\u01a1 Servo l\u00e0 l\u1ef1c t\u1ea1o ra t\u1eeb chuy\u1ec3n \u0111\u1ed9ng quay c\u1ee7a rotor \u0111\u1ed9ng c\u01a1.<\/p>\n<p style=\"padding-left: 30px;\">M\u00f4 men t\u1ea1o ra t\u1ef7 l\u1ec7 thu\u1eadn v\u1edbi d\u00f2ng \u0111i\u1ec7n hi\u1ec7u d\u1ee5ng ch\u1ea1y trong cu\u1ed9n d\u00e2y stator c\u1ee7a \u0111\u1ed9ng c\u01a1. D\u00f2ng hi\u1ec7u d\u1ee5ng c\u00e0ng cao, m\u00f4 men sinh ra c\u00e0ng l\u1edbn.<\/p>\n<p style=\"padding-left: 30px;\">B\u1ed9 \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 servo \u0111o tr\u1ecb s\u1ed1 d\u00f2ng hi\u1ec7u d\u1ee5ng ch\u1ea1y trong cu\u1ed9n d\u00e2y stator v\u00e0 d\u00f9ng ph\u1ea3n h\u1ed3i gi\u00e1 tr\u1ecb n\u00e0y \u0111\u1ec3 t\u1ef1 \u0111\u1ed9ng \u0111i\u1ec1u ch\u1ec9nh d\u00f2ng \u0111i\u1ec7n trong \u0111\u1ed9ng c\u01a1 theo th\u1eddi gian th\u1ef1c nh\u1eb1m \u0111\u00e1p \u1ee9ng \u0111\u01b0\u1ee3c y\u00eau c\u1ea7u m\u00f4 men c\u1ee7a \u1ee9ng d\u1ee5ng.<\/p>\n<p style=\"padding-left: 30px;\">M\u1ea1ch v\u00f2ng d\u00f2ng \u0111i\u1ec7n \u0111\u00f4i khi \u0111\u01b0\u1ee3c hi\u1ec3u l\u00e0 m\u1ea1ch v\u00f2ng m\u00f4 men.<\/p>\n<p><strong>Trong v\u00ed d\u1ee5 sau, b\u1ed9 \u0111i\u1ec1u khi\u1ec3n g\u1eedi \u0111i 32 xung \u0111\u1ec3 \u0111i\u1ec1u khi\u1ec3n v\u1ecb tr\u00ed \u0111\u1ed9ng c\u01a1.<\/strong><br \/>\n<object data=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/mach-vong-dieu-khien-servo.swf\" type=\"application\/x-shockwave-flash\" width=\"684\" height=\"342\"><\/object><br \/>\nB\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay g\u1eedi t\u00edn hi\u1ec7u ph\u1ea3n h\u1ed3i v\u1ecb tr\u00ed c\u1ee7a \u0111\u1ed9ng c\u01a1. Sai s\u1ed1 nh\u1eadn \u0111\u01b0\u1ee3c s\u1ebd \u0111\u01b0\u1ee3c s\u1eed d\u1ee5ng \u0111\u1ec3 \u0111i\u1ec1u ch\u1ec9nh \u0111\u1ed9ng c\u01a1 \u0111\u1ebfn v\u1ecb tr\u00ed \u0111\u00fang.<br \/>\nDo qu\u00e1n t\u00ednh n\u00ean \u0111\u1ed9ng c\u01a1 chuy\u1ec3n \u0111\u1ed9ng v\u01b0\u1ee3t qu\u00e1 v\u1ecb tr\u00ed chu\u1ea9n m\u1ed9t ch\u00fat, sai s\u1ed1 v\u1ecb tr\u00ed n\u00e0y s\u1ebd \u0111\u01b0\u1ee3c d\u00f9ng \u0111\u1ec3 \u0111i\u1ec1u ch\u1ec9nh \u0111\u1ed9ng c\u01a1 v\u1ec1 v\u1ecb tr\u00ed \u0111\u00fang.<br \/>\n<strong><span style=\"font-family: Verdana;\">B\u1ed9 ph\u1ea3n h\u1ed3i m\u00e3 h\u00f3a xung v\u00f2ng quay<\/span>\u00a0<a href=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/dia-quay-encoder.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignright  wp-image-19031\" src=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/dia-quay-encoder-270x300.jpg\" alt=\"dia quay encoder\" width=\"200\" height=\"223\" \/><\/a><\/strong><br \/>\n<strong>B\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay (encoder)<\/strong> l\u00e0 thi\u1ebft b\u1ecb ph\u1ea7n c\u1ee9ng thi\u1ebft y\u1ebfu c\u1ee7a h\u1ec7 th\u1ed1ng \u0111\u1ed9ng c\u01a1 servo c\u00f3 t\u00e1c d\u1ee5ng ph\u1ea3n h\u1ed3i <span style=\"text-decoration: underline;\">t\u1ed1c \u0111\u1ed9<\/span> v\u00e0 <span style=\"text-decoration: underline;\">v\u1ecb tr\u00ed<\/span>.<br \/>\nTh\u00f4ng th\u01b0\u1eddng, b\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay n\u1eb1m trong ho\u1eb7c \u0111\u01b0\u1ee3c g\u1eafn v\u1edbi \u0111\u1ed9ng c\u01a1 servo. Trong m\u1ed9t v\u00e0i \u1ee9ng d\u1ee5ng, b\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay l\u00e0 thi\u1ebft b\u1ecb \u0111\u01b0\u1ee3c g\u00e1 l\u1eafp ri\u00eang bi\u1ec7t v\u1edbi \u0111\u1ed9ng c\u01a1. C\u00e1ch g\u00e1 l\u1eafp n\u00e0y gi\u00fap cho b\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay ghi nh\u1eadn \u0111\u01b0\u1ee3c c\u00e1c th\u00f4ng s\u1ed1 kh\u00e1c \u1ea3nh h\u01b0\u1edfng \u0111\u1ebfn ho\u1ea1t \u0111\u1ed9ng c\u1ee7a \u0111\u1ed9ng c\u01a1 servo.<br \/>\nC\u00f3 hai d\u1ea1ng b\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay ch\u00ednh:<\/p>\n<ol>\n<li>B\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay <strong>t\u1ef7 l\u1ec7 (incremental)<\/strong><\/li>\n<li>B\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay <strong>tuy\u1ec7t \u0111\u1ed1i (absolute)<\/strong><\/li>\n<\/ol>\n<p>C\u1ea5u tr\u00fac v\u1eadt l\u00fd c\u1ee7a b\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay quy\u1ebft \u0111\u1ecbnh d\u1ea1ng t\u00edn hi\u1ec7u ph\u1ea3n h\u1ed3i. Ch\u00fang ta h\u00e3y c\u00f9ng xem ch\u00fang kh\u00e1c nhau nh\u01b0 th\u1ebf n\u00e0o!<br \/>\n<strong><span style=\"font-family: Verdana;\">1. B\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay t\u1ef7 l\u1ec7<a href=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/xung-ty-le.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignright  wp-image-19033\" src=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/xung-ty-le-300x263.jpg\" alt=\"xung ty le\" width=\"217\" height=\"190\" \/><\/a><\/span><\/strong><br \/>\n<strong>B\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay t\u1ef7 l\u1ec7 <\/strong>\u00e1p d\u1ee5ng nguy\u00ean l\u00fd quang h\u1ecdc s\u1eed d\u1ee5ng m\u1ed9t \u0111\u0129a th\u1ee7y tinh trong su\u1ed1t \u0111\u01b0\u1ee3c in c\u00e1c v\u1ea1ch \u0111\u1ed1i x\u1ee9ng t\u1ecfa tr\u00f2n theo kho\u1ea3ng c\u00e1ch \u0111\u1ec1u. \u0110\u0129a n\u00e0y \u0111\u01b0\u1ee3c g\u1eafn c\u1ed1 \u0111\u1ecbnh v\u1edbi tr\u1ee5c \u0111\u1ed9ng c\u01a1 v\u00e0 quay c\u00f9ng rotor c\u1ee7a \u0111\u1ed9ng c\u01a1.<br \/>\nC\u00e1c v\u1ea1ch tr\u00ean \u0111\u0129a \u0111\u01b0\u1ee3c ph\u00e1t hi\u1ec7n b\u1edfi m\u1ed9t c\u1ea3m bi\u1ebfn quang \u0111i\u1ec7n. \u0110\u1ea7u ra c\u1ee7a c\u1ea3m bi\u1ebfn thay \u0111\u1ed5i m\u1ed7i khi c\u00f3 s\u1ef1 thay \u0111\u1ed5i t\u1eeb s\u00e1ng sang t\u1ed1i ho\u1eb7c t\u1eeb t\u1ed1i sang s\u00e1ng. T\u1ed1c \u0111\u1ed9 thay \u0111\u1ed5i n\u00e0y t\u1ef7 l\u1ec7 thu\u1eadn v\u1edbi v\u1eadn t\u1ed1c \u0111\u1ed9ng c\u01a1. \u0110\u1ea7u ra c\u1ee7a b\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay l\u00e0 m\u1ed9t d\u1ea3i xung t\u1ef7 l\u1ec7 v\u1edbi v\u1eadn t\u1ed1c \u0111\u1ed9ng c\u01a1. \u0110\u1ea7u ra n\u00e0y \u0111\u00f4i l\u00fac c\u00f2n \u0111\u01b0\u1ee3c g\u1ecdi l\u00e0 t\u00edn hi\u1ec7u <strong>Pha A.<\/strong><br \/>\nNh\u01b0 v\u1eady, v\u1edbi b\u1ed9 m\u00e3 h\u00f3a n\u00e0y ch\u00fang ta kh\u00f4ng th\u1ec3 bi\u1ebft \u0111\u01b0\u1ee3c chi\u1ec1u quay m\u00e0 ch\u1ec9 bi\u1ebft \u0111\u01b0\u1ee3c t\u1ed1c \u0111\u1ed9 c\u1ee7a \u0111\u1ed9ng c\u01a1.<br \/>\n\u0110\u1ec3 bi\u1ebft \u0111\u01b0\u1ee3c chi\u1ec1u quay, b\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay t\u1ef7 l\u1ec7 c\u1ea7n l\u1eafp th\u00eam m\u1ed9t c\u1ea3m bi\u1ebfn quang th\u1ee9 hai, c\u00e1ch c\u1ea3m bi\u1ebfn th\u1ee9 nh\u1ea5t m\u1ed9t kho\u1ea3ng c\u00e1ch nh\u1ea5t \u0111\u1ecbnh.<\/p>\n<table style=\"height: 262px;\" width=\"523\">\n<tbody>\n<tr>\n<td><img loading=\"lazy\" decoding=\"async\" class=\"  wp-image-19034 alignnone\" src=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/pha-encoder-a-300x263.jpg\" alt=\"pha encoder a\" width=\"236\" height=\"207\" \/><\/td>\n<td><img loading=\"lazy\" decoding=\"async\" class=\"  wp-image-19035 alignnone\" src=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/pha-encoder-300x273.jpg\" alt=\"pha encoder\" width=\"229\" height=\"208\" \/><\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\" colspan=\"2\"><em>Khi thay \u0111\u1ed5i chi\u1ec1u quay th\u00ec xung c\u0169ng thay \u0111\u1ed5i<\/em><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>V\u1ecb tr\u00ed c\u1ee7a c\u1ea3m bi\u1ebfn th\u1ee9 hai \u0111\u01b0\u1ee3c l\u1eafp \u1edf tr\u1ecb tr\u00ed sao cho s\u1ef1 thay \u0111\u1ed5i s\u00e1ng t\u1ed1i l\u00e0m cho \u0111\u1ea7u ra c\u1ee7a c\u1ea3m bi\u1ebfn th\u1ee9 hai l\u1ec7ch pha 90 \u0111\u1ed9 so v\u1edbi c\u1ea3m bi\u1ebfn th\u1ee9 nh\u1ea5t. Quan h\u1ec7 gi\u1eefa c\u00e1c xung n\u00e0y \u0111\u01b0\u1ee3c g\u1ecdi l\u00e0 <strong>ch\u1eadm pha \u00bc chu k\u1ef3<\/strong>.<br \/>\nB\u1eb1ng c\u00e1ch so s\u00e1nh hai d\u00e3y xung l\u1ec7ch pha n\u00e0y, ngo\u00e0i x\u00e1c \u0111\u1ecbnh \u0111\u01b0\u1ee3c v\u1eadn t\u1ed1c quay c\u00f2n c\u00f3 th\u1ec3 x\u00e1c \u0111\u1ecbnh \u0111\u01b0\u1ee3c <span style=\"text-decoration: underline;\">chi\u1ec1u quay!<\/span><br \/>\n\u0110\u1ea7u ra t\u1eeb c\u1ea3m bi\u1ebfn th\u1ee9 2 c\u00f2n \u0111\u01b0\u1ee3c g\u1ecdi l\u00e0 t\u00edn hi\u1ec7u <strong>Pha B<\/strong>.<\/p>\n<table class=\" alignright\">\n<tbody>\n<tr>\n<td><object data=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/pha-z.swf\" type=\"application\/x-shockwave-flash\" width=\"280\" height=\"140\"><\/object><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>B\u00ean c\u1ea1nh t\u00edn hi\u1ec7u pha A v\u00e0 pha B, b\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay c\u00f3 th\u1ec3 c\u00f3 \u0111\u1ea7u ra th\u1ee9 ba \u0111\u01b0\u1ee3c g\u1ecdi l\u00e0 <strong>Pha Z<\/strong>.<br \/>\nPha Z ch\u1ec9 xu\u1ea5t \u0111i <span style=\"text-decoration: underline;\">m\u1ed9t xung<\/span> \u1ee9ng v\u1edbi m\u1ed7i v\u00f2ng quay. T\u00edn hi\u1ec7u n\u00e0y c\u00f3 t\u00e1c d\u1ee5ng x\u00e1c \u0111\u1ecbnh v\u1ecb tr\u00ed g\u1ed1c ban \u0111\u1ea7u ho\u1eb7c v\u1ecb tr\u00ed tham chi\u1ebfu.<br \/>\nB\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay t\u1ef7 l\u1ec7 s\u1eed d\u1ee5ng xung tham chi\u1ebfu n\u00e0y l\u00e0 \u0111i\u1ec3m b\u1eaft \u0111\u1ea7u \u0111\u1ec3 t\u1eeb \u0111\u00f3 x\u00e1c \u0111\u1ecbnh v\u1ecb tr\u00ed tuy\u1ec7t \u0111\u1ed1i b\u1eb1ng c\u00e1ch \u0111\u1ebfm s\u1ed1 xung b\u1eaft \u0111\u1ea7u t\u1eeb m\u1ed9t v\u1ecb tr\u00ed \u0111\u00e3 bi\u1ebft.<br \/>\n<strong>2.\u00a0<\/strong><span style=\"font-family: Verdana;\"><strong>B\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay tuy\u1ec7t \u0111\u1ed1i<\/strong> <a href=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/bo-ma-hoa-xung-tuyet-doi.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignright  wp-image-19038\" src=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/bo-ma-hoa-xung-tuyet-doi-300x262.jpg\" alt=\"bo ma hoa xung tuyet doi\" width=\"202\" height=\"176\" \/><\/a><\/span><br \/>\n<strong>B\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay tuy\u1ec7t \u0111\u1ed1i <\/strong>c\u0169ng s\u1eed d\u1ee5ng m\u1ed9t \u0111\u0129a trong su\u1ed1t; nh\u01b0ng thay v\u00ec d\u00f9ng c\u00e1c v\u1ea1ch in, \u0111\u0129a n\u00e0y c\u00f3 c\u00e1c v\u00f9ng trong su\u1ed1t v\u00e0 v\u00f9ng m\u1edd s\u1eafp x\u1ebfp theo <strong>m\u00e3 nh\u1ecb ph\u00e2n<\/strong>.<br \/>\nM\u1ed7i bit m\u00e3 h\u00f3a l\u00e0 m\u1ed9t v\u00f9ng ri\u00eang bi\u1ec7t tr\u00ean \u0111\u0129a v\u00e0 c\u00e1c c\u1ea3m bi\u1ebfn quang s\u1ebd \u0111\u1ed3ng th\u1eddi \u0111\u1ecdc t\u1ea5t c\u1ea3 c\u00e1c v\u00f9ng n\u00e0y.<br \/>\nD\u1eef li\u1ec7u \u0111\u1ecdc t\u1eeb \u0111\u0129a l\u00e0 <strong>duy nh\u1ea5t \u1ee9ng v\u1edbi m\u1ed7i v\u1ecb tr\u00ed g\u00f3c c\u1ee7a tr\u1ee5c \u0111\u1ed9ng c\u01a1<\/strong><strong>.<\/strong> D\u1eef li\u1ec7u n\u00e0y c\u00f3 th\u1ec3 \u0111\u01b0\u1ee3c g\u1eedi \u0111i t\u1eeb b\u1ed9 m\u00e3 h\u00f3a theo ph\u01b0\u01a1ng th\u1ee9c song song ho\u1eb7c \u0111\u01b0\u1ee3c chuy\u1ec3n \u0111\u1ed5i sang ki\u1ec3u d\u1eef li\u1ec7u n\u1ed1i ti\u1ebfp.<br \/>\nS\u1ed1 bit trong m\u00e3 d\u1eef li\u1ec7u quy \u0111\u1ecbnh <strong>\u0111\u1ed9 ph\u00e2n gi\u1ea3i<\/strong> g\u00f3c c\u1ee7a b\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay. Theo l\u00fd thuy\u1ebft, m\u1ed9t b\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay c\u00f3 <strong>\u0111\u1ed9 ph\u00e2n gi\u1ea3i 12 bit<\/strong> s\u1ebd sinh ra 4096 m\u00e3 \u0111\u01a1n nh\u1ea5t khi quay m\u1ed9t v\u00f2ng 360 \u0111\u1ed9; hay n\u00f3i c\u00e1ch kh\u00e1c khi tr\u1ee5c \u0111\u1ed9ng c\u01a1 quay \u0111\u01b0\u1ee3c 0.088 \u0111\u1ed9 s\u1ebd xu\u1ea5t ra m\u1ed9t m\u00e3 \u0111\u01a1n nh\u1ea5t. C\u00f3 nhi\u1ec1u y\u1ebfu t\u1ed1 \u1ea3nh h\u01b0\u1edfng t\u1edbi vi\u1ec7c t\u0103ng th\u00eam s\u1ed1 g\u00f3c th\u1ef1c t\u1ebf nh\u01b0ng b\u1ed9 m\u00e3 h\u00f3a 20 bit c\u0169ng kh\u00f4ng ph\u1ea3i l\u00e0 hi\u1ebfm g\u1eb7p!<a href=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/xac-dinh-bo-ma-hoa-xung.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignright  wp-image-19039\" src=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/xac-dinh-bo-ma-hoa-xung-300x230.jpg\" alt=\"xac dinh bo ma hoa xung\" width=\"205\" height=\"157\" \/><\/a><br \/>\nM\u1ed9t ph\u01b0\u01a1ng ph\u00e1p kh\u00e1c \u0111\u1ec3 x\u00e1c \u0111\u1ecbnh v\u1ecb tr\u00ed tuy\u1ec7t \u0111\u1ed1i l\u00e0 k\u1ebft h\u1ee3p m\u1ed9t d\u1ea1ng \u0111\u1eb7c bi\u1ec7t c\u1ee7a b\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay t\u1ef7 l\u1ec7 v\u1edbi m\u1ed9t b\u1ed9 nh\u1edb ph\u1ea7n c\u1ee9ng c\u00f9ng v\u1edbi m\u1ed9t ph\u1ea7n m\u1ec1m ri\u00eang thay v\u00ec s\u1eed d\u1ee5ng chi\u1ebfc \u0111\u0129a \u0111\u1eaft \u0111\u1ecf c\u1ee7a b\u1ed9 m\u00e3 h\u00f3a tuy\u1ec7t \u0111\u1ed1i.<br \/>\nThi\u1ebft b\u1ecb s\u1eed d\u1ee5ng c\u00e1c xung l\u0169y ti\u1ebfn t\u1eeb b\u1ed9 m\u00e3 h\u00f3a \u0111\u1ec3 t\u1ea1o m\u1ed9t v\u1ecb tr\u00ed \u1ea3o tuy\u1ec7t \u0111\u1ed1i trong b\u1ed9 nh\u1edb ph\u1ea7n c\u1ee9ng. Nh\u1edd c\u00f3 pin, b\u1ed9 nh\u1edb \u0111\u01b0\u1ee3c duy tr\u00ec ngay c\u1ea3 khi ng\u1eaft ngu\u1ed3n c\u1ee7a h\u1ec7 th\u1ed1ng.<br \/>\nC\u1ea3 hai d\u1ea1ng b\u1ed9 m\u00e3 h\u00f3a xung v\u00f2ng quay tuy\u1ec7t \u0111\u1ed1i \u0111\u1ec1u c\u00f3 th\u1ec3 g\u1eedi ph\u1ea3n h\u1ed3i v\u1ecb tr\u00ed c\u1ea7n thi\u1ebft \u0111\u1ebfn b\u1ed9 \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 servo.<br \/>\n<strong><span style=\"font-family: Verdana;\">N\u0103ng l\u01b0\u1ee3ng t\u00e1i t\u1ea1o<\/span><\/strong><br \/>\n<object data=\"https:\/\/banbientan.com\/wp-content\/uploads\/2015\/01\/nang-luong.swf\" type=\"application\/x-shockwave-flash\" width=\"524\" height=\"262\"><\/object><br \/>\n<strong>H\u00e3y k\u00edch chu\u1ed9t v\u00e0o n\u00fat Play \u0111\u1ec3 quan s\u00e1t n\u0103ng l\u01b0\u1ee3ng t\u00e1i sinh \u0111\u01b0\u1ee3c t\u00f4 m\u00e0u \u0111\u1ecf.<\/strong><br \/>\nC\u00e1c b\u1ea1n c\u00f3 th\u1ec3 s\u1ebd ng\u1ea1c nhi\u00ean khi bi\u1ebft r\u1eb1ng \u0111\u1ed9ng c\u01a1 servo c\u00f3 th\u1ec3ph\u00e1t \u0111i\u1ec7n!<br \/>\nN\u1ebfu quay m\u1ed9t \u0111\u1ed9ng c\u01a1 servo b\u1eb1ng m\u1ed9t ngo\u1ea1i l\u1ef1c (v\u00ed d\u1ee5 nh\u01b0 quay b\u1eb1ng tay), m\u1ed9t d\u00f2ng \u0111i\u1ec7n s\u1ebd \u0111\u01b0\u1ee3c c\u1ea3m \u1ee9ng trong stator c\u1ee7a \u0111\u1ed9ng c\u01a1!<br \/>\nKhi d\u00f9ng m\u1ed9t \u0111\u1ed9ng c\u01a1 servo \u0111\u1ec3 n\u00e2ng thi\u1ebft b\u1ecb c\u00f4ng nghi\u1ec7p theo ph\u01b0\u01a1ng th\u1eb3ng \u0111\u1ee9ng, \u0111\u1ed9ng c\u01a1 ph\u1ea3i th\u1eafng \u0111\u01b0\u1ee3c tr\u1ecdng l\u1ef1c v\u00e0 ph\u1ea3i s\u1ea3n sinh nhi\u1ec1u m\u00f4 men h\u01a1n. M\u1eb7c d\u00f9 v\u1eady, khi thi\u1ebft b\u1ecb \u0111\u01b0\u1ee3c h\u1ea1 xu\u1ed1ng, tr\u1ecdng l\u1ef1c n\u00e0y l\u1ea1i l\u00e0m quay tr\u1ee5c \u0111\u1ed9ng c\u01a1!<br \/>\n\u0110\u1ed1i v\u1edbi c\u00e1c chuy\u1ec3n \u0111\u1ed9ng ngang, khi b\u1ed9 \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 mu\u1ed1n gi\u1ea3m nhanh t\u1ed1c \u0111\u1ed9 m\u1ed9t t\u1ea3i tr\u1ecdng n\u1eb7ng (phanh), qu\u00e1n t\u00ednh c\u1ee7a t\u1ea3i tr\u1ecdng s\u1ebd l\u00e0m tr\u1ee5c \u0111\u1ed9ng c\u01a1 ti\u1ebfp t\u1ee5c quay v\u00e0 n\u0103ng l\u01b0\u1ee3ng \u0111i\u1ec7n th\u1eeba sinh ra c\u1ea7n ph\u1ea3i \u0111\u01b0\u1ee3c ti\u00eau t\u00e1n.<br \/>\nN\u0103ng l\u01b0\u1ee3ng n\u00e0y \u0111\u01b0\u1ee3c g\u1ecdi l\u00e0 n\u0103ng l\u01b0\u1ee3ng t\u00e1i sinh, v\u00e0 b\u1ed9 \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 servo \u0111\u01b0\u1ee3c thi\u1ebft k\u1ebf \u0111\u1ec3 ti\u00eau t\u00e1n m\u1ed9t l\u01b0\u1ee3ng n\u0103ng l\u01b0\u1ee3ng t\u00e1i sinh nh\u1ea5t \u0111\u1ecbnh.<br \/>\nN\u1ebfu n\u0103ng l\u01b0\u1ee3ng t\u00e1i sinh n\u00e0y v\u01b0\u1ee3t qu\u00e1 kh\u1ea3 n\u0103ng ti\u00eau t\u00e1n c\u1ee7a b\u1ed9 \u0111i\u1ec1u khi\u1ec3n, ch\u00fang ta c\u1ea7n l\u1eafp th\u00eam \u0111i\u1ec7n tr\u1edf h\u00e3m \u00a0\u0111\u1ec3 ti\u00eau t\u00e1n n\u0103ng l\u01b0\u1ee3ng n\u00e0y th\u00e0nh d\u1ea1ng nhi\u1ec7t n\u0103ng.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Gi\u1edbi thi\u1ec7u v\u1ec1 c\u00f4ng ngh\u1ec7 \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 Servo\u00a0 \u0110\u1ed9ng c\u01a1 servo l\u00e0 th\u00e0nh ph\u1ea7n quan tr\u1ecdng c\u1ee7a h\u1ec7 th\u1ed1ng \u0111i\u1ec1u khi\u1ec3n chuy\u1ec3n \u0111\u1ed9ng. \u00a0 \u0110\u1ec3 ho\u1ea1t \u0111\u1ed9ng \u0111\u01b0\u1ee3c, ch\u00fang ta ph\u1ea3i n\u1ed1i \u0111\u1ed9ng c\u01a1 servo v\u1edbi c\u00e1c ph\u1ea7n c\u1ee9ng, ph\u1ea7n m\u1ec1m h\u1ed7 tr\u1ee3 \u0111i\u1ec1u khi\u1ec3n chuy\u1ec3n \u0111\u1ed9ng. \u0110\u1ed9ng c\u01a1 servo \u0111\u01b0\u1ee3c k\u1ebft h\u1ee3p [&hellip;]<\/p>\n","protected":false},"author":2,"featured_media":19020,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[13194],"tags":[48,10893,10298,10299,10300,13196,46,32,10895,10896],"class_list":["post-19019","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-dong-co-bo-dieu-khien-servo-la-gi","tag-bien-tan-nhat-ban","tag-bien-tan-yaskawa","tag-bien-tan-yaskawa-a1000","tag-bien-tan-yaskawa-e1000","tag-bien-tan-yaskawa-v1000","tag-bo-ma-hoa-xung-vong-quay-tuyet-doi","tag-dieu-khien-dong-co-servo","tag-dong-co-servo-la-gi","tag-yaskawa-japan","tag-yaskawa-nhat-ban"],"_links":{"self":[{"href":"https:\/\/hunglong.banbientan.com\/index.php?rest_route=\/wp\/v2\/posts\/19019","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/hunglong.banbientan.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/hunglong.banbientan.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/hunglong.banbientan.com\/index.php?rest_route=\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/hunglong.banbientan.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=19019"}],"version-history":[{"count":0,"href":"https:\/\/hunglong.banbientan.com\/index.php?rest_route=\/wp\/v2\/posts\/19019\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/hunglong.banbientan.com\/index.php?rest_route=\/"}],"wp:attachment":[{"href":"https:\/\/hunglong.banbientan.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=19019"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/hunglong.banbientan.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=19019"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/hunglong.banbientan.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=19019"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}