MICROCHIP dsPIC33EP32MC204 Drone Propeller Reference Design
Gabatarwa
KARSHEVIEW
Ƙirar ƙira wani dandamali ne na ƙima mai rahusa wanda aka yi niyya don aikace-aikacen quadcopter/drone tare da propellers wanda ke tafiyar da matakai uku na Dindindin Magnet Synchronous ko Brushless Motors. Wannan ƙira ta dogara ne akan Microchip dsPIC33EP32MC204 DSC, na'urar sarrafa mota.
Hoto 1-1: dsPIC33EP32MC204 Drone mai kula da ƙirar ƙira
SIFFOFI
Muhimman abubuwan da aka zayyana Nasiha sune kamar haka:
- Ikon Kula da Motoci na Mataki na Uku Stage
- Ra'ayin lokaci na yanzu ta hanyar shunt don babban aiki
- Matakin voltage martani don aiwatar da sarrafa ƙarancin firikwensin trapezoidal ko fara tashi
- DC Bus voltage feedback for over-voltage kariya
- Shugaban ICSP don Shirye-shiryen Serial In-Circuit ta amfani da Microchip Programmer/Debugger
- Shugaban Sadarwa na CAN
Toshe DIAGRAM
An nuna sassan kayan masarufi daban-daban na Tsarin Magana a cikin Hoto 1-3 kuma an taƙaita su a cikin Tebu 1-1.
HOTO NA 1-3: SASHEN HARDWARE
| Tebur 1-1 Sassan Hardware | |
| Sashe | Sashen Hardware |
| 1 | Mai jujjuyawar motsi mai hawa uku |
| 2 | dsPIC33EP32MC204 da kewaye kewaye |
| 3 | Saukewa: MCP8026 MOSFET |
| 4 | CAN Interface |
| 5 | Resistors Sensing na Yanzu |
| 6 | Serial Communication Interface Header |
| 7 | ICSP™ Header |
| 8 | Mai amfani Interface Header |
| 9 | DE2 MOSFET Direba Serial Interface Header |
Bayanin Interface Board
GABATARWA
Wannan babin yana ba da ƙarin cikakkun bayanai game da shigarwar da abubuwan da aka fitar na Drone Reference Design. An rufe batutuwa masu zuwa:
- Masu Haɗin allo
- Ayyukan fil na dsPIC DSC
- Ayyukan Pin na MOSFET Direba
HUKUNCIN HUKUNCI
Wannan sashe yana taƙaita masu haɗin kai a cikin Smart Drone Controller Board. An nuna su a cikin Hoto 2-1 kuma an taƙaita su a cikin Tebur 2-1.
- Samar da ikon shigarwa zuwa Smart Drone Controller Board.
- Isar da abubuwan inverter zuwa injin.
- Bayar da mai amfani don tsarawa/gyara na'urar dsPIC33EP32MC204.
- Haɗin kai zuwa cibiyar sadarwar CAN.
- Kafa serial sadarwa tare da rundunar PC.
- Samar da siginar nunin saurin gudu.
HOTO NA 2-1: CONNECTTORS – Drone Controller Reference Design
SHAFIN 2-1 CONNECTTORS
| Mai Haɗin Haɗi | Babu na Fil | Matsayi | Bayani |
| Saukewa: ISP1 | 5 | Jama'a | ICSP™ Header – Interfacing Programmer/Debugger zuwa dsPIC® DSC |
| P5 | 6 | Jama'a | CAN Sadarwa Interface Header |
| P3 | 2 | Jama'a | Serial Communication Interface Header |
| P2 | 2 | Jama'a | Saurin Magana PWM/Analog Header Interface |
| FASHI A, FASHIN B, PHASE C |
3 |
Ba Jama'a ba |
Fitowar inverter mataki-Uku |
| VDC, GND | 2 | Ba Jama'a ba | Input DC wadata tab connector
(VDC: Tasha Mai Kyau, GND: Mara kyau) |
|
P1 |
2 |
Jama'a |
DE2 MOSFET Direba Serial Interface Header. Da fatan za a koma zuwa
Takardar bayanai MCP8025A/6 don hardware da ƙayyadaddun ka'idojin sadarwa |
ICSP™ Header don Programmer/Debugger Interface (ISP1)
ISP6 mai 1-pin na iya haɗawa da mai tsara shirye-shirye, misaliample, PICkit 4, don shirye-shirye da dalilai na gyara kuskure. Wannan ba ya zo da yawan jama'a. Yawan jama'a lokacin da ake buƙata tare da Sashe na lamba 68016-106HLF ko makamancin haka. Ana ba da cikakkun bayanai na fil a cikin Tebur 2-2.
SHAFIN 2-2: BAYANIN PIN – HEADER ISP1
| Fil # | Sunan siginar | Bayanin Pin |
| 1 | Farashin MCLR | Jagorar Na'urar Share (MCLR) |
| 2 | +3.3V | Ƙarar voltage |
| 3 | GND | Kasa |
| 4 | PGD | Layin Bayanin Shirye-shiryen Na'ura (PGD) |
| 5 | PGC | Layin Clock na Na'ura (PGC) |
CAN Sadarwa Interface Header(P5)
Ana iya amfani da wannan taken 6-pin don yin hulɗa da cibiyar sadarwar CAN. An bayar da cikakkun bayanai na fil a cikin Tebur 2-3.
SHAFIN 2-3: BAYANIN PIN – HEADER P5
| Fil # | Sunan siginar | Bayanin Pin |
| 1 | 3.3 V | Yana ba da 3.3 volts zuwa ƙirar waje (10 ma. Max) |
| 2 | TSAYA TUKUNA | Siginar shigarwa don sanya mai sarrafawa mai wayo a jiran aiki |
| 3 | GND | Kasa |
| 4 | CANTX | Mai watsa CAN (3.3V) |
| 5 | CANRX | Mai karɓar CAN (3.3V) |
| 6 | DGND | Haɗa zuwa ƙasan dijital akan allo |
Babban Magana Mai Sauri UI (P2)
Ana amfani da 2-pin Header P2 don samar da nuni na sauri zuwa firmware ta hanyoyin 2. An kariyar fil ɗin gajere. Ana ba da cikakkun bayanai na kan P2 a cikin Tebura 2-4.
SHAFIN 2-4: BAYANIN PIN – HEADER P2
| Fil # | Sunan siginar | Bayanin Pin |
| 1 | INPUT_FMU_PWM | Sigina na dijital - PWM 50Hz, 3-5Volts, 4-85% |
| 2 | AD GUDU | Analog siginar - 0 zuwa 3.3 V |
Serial Communications Header (P3)
Ana iya amfani da 2-pin Header P3 don samun dama ga fil ɗin da ba a yi amfani da shi ba na microcontroller don haɓaka aiki ko gyarawa, kuma an ba da cikakkun bayanan fil na jigon J3 a cikin Tebur 2-4.
SHAFIN 2-4: BAYANIN PIN – HEADER P3
| Fil # | Sunan siginar | Bayanin Pin |
| 1 | RXL | UART - Mai karɓa |
| 2 | TXL | UART - Mai watsawa |
DE2 MOSFET Serial Interface Header Direba (P1)
Ana iya amfani da 2-pin Header P1 don samun dama ga fil ɗin da ba a yi amfani da shi ba na microcontroller don haɓaka aiki ko gyarawa, kuma an ba da cikakkun bayanan fil na jigon J3 a cikin Tebur 2-4.
SHAFIN 2-4: BAYANIN PIN – HEADER P1
| Fil # | Sunan siginar | Bayanin Pin |
| 1 | DE2 | Siginar UART - DE2 |
| 2 | GND | Gidan allo da ake amfani da shi don haɗin waje |
Inverter Output Connector
Ƙirar tunani na iya fitar da injin PMSM/BLDC mai hawa uku. Ana nuna ayyukan fil na mahaɗin a cikin Tebur 2-6. Dole ne a haɗa daidaitaccen tsarin lokaci na motar don hana juyawa baya.
SHAFIN 2-6: BAYANIN PIN
| Fil # | Bayanin Pin |
| PHASE A | Mataki na 1 fitarwa na inverter |
| PHASE B | Mataki na 2 fitarwa na inverter |
| PHASE C | Mataki na 3 fitarwa na inverter |
Mai haɗa DC Input (VDC da GND)
An tsara allon don aiki a cikin DC voltage kewayon 11V zuwa 14V, wanda za'a iya amfani dashi ta hanyar masu haɗin VDC da GND. Ana ba da cikakkun bayanai masu haɗawa a cikin Tebur 2-7.
SHAFIN 2-7: BAYANIN PIN
| Fil # | Bayanin Pin |
| VDC | Input na DC tabbatacce |
| GND | Input DC mara kyau |
INTERFACE MAI AMFANI
Akwai hanyoyi guda biyu don mu'amala da Smart Drone Controller firmware don samar da shigar da bayanai na sauri.
- Shigar da PWM (Siginar dijital - PWM 50Hz, 3-5Volts, 4-55% Zagayen Layi)
- Analog voltage (0 - 3.3V)
Ana yin aikin dubawa ta hanyar haɗin kai zuwa mai haɗin P2. Dubi Table 2-4 don cikakkun bayanai. Wannan ƙirar ƙira tana da na'ura mai sarrafa PWM na waje wanda ke ba da bayanin saurin. Mai kula da waje yana da nasa potentiometer da nunin LED kashi 7. Za'a iya amfani da ma'auni don daidaita saurin da ake so ta hanyar canza tsarin aikin PWM wanda za'a iya bambanta daga 4% zuwa 55%. (50Hz 4-6Volts) a cikin jeri 3. Duba Sashe na 3.3 don ƙarin bayani.
AIYUKAN PIN NA dsPIC DSC
Na'urar dsPIC33EP32MC204 da ke kan jirgin tana sarrafa fasalulluka daban-daban na ƙirar ƙira ta abubuwan da ke kewaye da ita da ƙarfin CPU. Ayyukan fil na dsPIC DSC an haɗa su bisa ga aikinsu kuma an gabatar da su a cikin Table 2-9.
SHAFIN 2-9: dsPIC33EP32MC204 Ayyukan PIN
|
Sigina |
dsPIC DSC
Pin Lamba |
dsPIC DSC
Aikin Pin |
dsPIC DSC Peripheral |
Jawabi |
| dsPIC Kanfigareshan DSC - Bayarwa, Sake saitin, Agogo, da Shirye-shirye | ||||
| V33 | 28,40 | VDD |
wadata |
+3.3V Dijital wadata zuwa dsPIC DSC |
| DGND | 6,29,39 | VSS | Digital Ground | |
| AV33 | 17 | AVDD | + 3.3V Analog wadata zuwa dsPIC DSC | |
| AGND | 16 | Farashin AVSS | Analog Ground | |
| OSCI | 30 | OSCI/CLKI/RA2 | Oscillator na waje | Babu haɗin waje. |
| RST | 18 | Farashin MCLR | Sake saiti | Yana Haɗa zuwa Shugaban ICSP (ISP1) |
| ISPDATA | 41 | PGED2/ASDA2/RP37/RB5 | In-Circuit Serial Programming (ICSP™) ko
Mai gyara kurakurai a cikin kewaye |
Yana Haɗa zuwa Shugaban ICSP (ISP1) |
|
ISPCLK |
42 |
PGEC2/ASCL2/RP38/RB6 |
||
| IBUS | 18 | DACOUT/AN3/CMP1C/RA3 | Mai saurin Analog Comparator 1(CMP1) da DAC1 | AmpLified Bus current ana ƙara tacewa kafin haɗawa zuwa ingantacciyar shigarwar CMP1 don gano fiye da na yanzu. An saita ƙofa fiye da na yanzu ta DAC1. Ana samun fitarwar kwatancen a ciki azaman shigar da kuskure na masu samar da PWM don rufe PWM ba tare da sa hannun CPU ba. |
|
Voltage Feedback |
||||
| ADBUS | 23 | PGEC1/AN4/C1IN1+/RPI34/R B2 | Shared ADC Core | DC Bus voltagda feedback. |
|
Matsalolin Matsala (P3) |
||||
| RXL | 2 | Saukewa: RP54/RC6 | Ayyukan Remappable na I/O da UART | Ana haɗa waɗannan sigina zuwa Header P3 don haɗa haɗin haɗin UART. |
| TXL | 1 | TMS/ASDA1/RP41/RB9 | ||
|
CAN Interface (P5) |
||||
| CANTX | 3 | Saukewa: RP55/RC7 | CAN mai karɓa, watsawa da jiran aiki | Ana haɗa waɗannan sigina zuwa Header P5 |
| CANRX | 4 | Saukewa: RP56/RC8 | ||
| TSAYA TUKUNA | 5 | Saukewa: RP57/RC9 | ||
|
Bayanan Bayani na PWM |
||||
| Saukewa: PWM3H | 8 | RP42/PWM3H/RB10 | PWM Module fitarwa. | Koma zuwa takardar bayanan don ƙarin cikakkun bayanai. |
| Saukewa: PWM3L | 9 | RP43/PWM3L/RB11 | ||
| Saukewa: PWM2H | 10 | RPI144/PWM2H/RB12 | ||
| Saukewa: PWM2L | 11 | RPI45/PWM2L/CTPLS/RB13 | ||
| Saukewa: PWM1H | 14 | RPI46/PWM1H/T3CK/RB14 | ||
| Saukewa: PWM1L | 15 | RPI47/PWM1L/T5CK/RB15 | ||
|
Babban manufa I/O |
||||
| I_OUT2 | 22 | PGEC3/VREF+/AN3/RPI33/CT ED1/RB1 | Shared ADC Core | |
| MotorGateDr_ CE | 31 | OSC2/CLKO/RA3 | I/O Port | Yana kunna ko kashe direban MOSFET. |
| MotorGateDrv
_ILIMIT_FITA |
36 | SCK1/RP151/RC3 | I/O Port | Kariyar wuce gona da iri. |
| DE2 | 33 | Saukewa: FLT32/SCL2/RP36/RB4 | Farashin 1 | An saita tashar jiragen ruwa da za a sake tsarawa zuwa UART1 TX |
| Farashin DE2RX1 | 32 | SDA2/RPI24/RA8 | Farashin 1 | An saita tashar jiragen ruwa da za a sake tsarawa zuwa UART1 RX |
|
Matsayin Sikeli voltage auna |
||||
| PHC | 21 | PGED3/VREF-/ AN2/RPI132/CTED2/RB0 | Shared ADC Core | Baya emf zero giciye PHASE C |
| PHB | 20 | AN1/C1IN1+/RA1 | Shared ADC Core | Baya emf zero giciye PHASE B |
| PHA,
Jawabin |
19 | AN0/OA2OUT/RA0 | Shared ADC Core | Baya emf sifirin giciye PHASE A |
|
Babu haɗi |
||||
| – | 35,12,37,38 | |||
| – | 43,44,24 | |||
| – | 30,13,27 | |||
PIN AYYUKAN DIRAN MOSFET
|
Sigina |
MAP 8026
Pin Lamba |
MAP 8026
Aikin Pin |
Toshe aikin MCP8026 |
Jawabi |
|
Ƙarfi da haɗin ƙasa |
||||
| VCC_LI_PO WAR | 38,39 | VDD |
Bias janareta |
11-14V |
| PGND | 36,35,24,20
,19,7 |
PGND | Powerarfin ƙasa | |
| V12 | 34 | +12V | 12 Volt fitarwa | |
| V5 | 41 | +5V | 5 Volt fitarwa | |
| LX | 37 | LX | Buck regulator canza node don 3.3V fita | |
| FB | 40 | FB | Ƙididdigar martani na Buck don 3.3V fita | |
|
Farashin PWM |
||||
| Saukewa: PWM3H | 46 | Saukewa: PWM3H |
Dabarun sarrafa kofa |
Koma zuwa takardar bayanan na'urar don ƙarin cikakkun bayanai |
| Saukewa: PWM3L | 45 | Saukewa: PWM3L | ||
| Saukewa: PWM2H | 48 | Saukewa: PWM2H | ||
| Saukewa: PWM2L | 47 | Saukewa: PWM2L | ||
| Saukewa: PWM1H | 2 | Saukewa: PWM1H | ||
| Saukewa: PWM1L | 1 | Saukewa: PWM1L | ||
|
Fitunan ji na yanzu |
||||
| I_SENSE2- | 13 | I_SENSE2- |
Sashin Kula da Motoci |
Mataki na A shunt -ve |
| I_SENSE2+ | 14 | I_SENSE2+ | Mataki na A shunt +ve | |
| I_SENSE3- | 10 | I_SENSE3- | Mataki na B shunt -ve. Lura wannan shunt yana kan gadar rabin W na inverter. | |
| I_SENSE3+ | 11 | I_SENSE3+ | Mataki na B shunt +ve. Lura wannan shunt yana kan gadar rabin W na inverter. | |
| I_SENSE1- | 17 | I_SENSE1- |
Sashin Kula da Motoci |
Magana voltage -wa |
| I_SENSE1+ | 18 | I_SENSE1+ | 3.3V/2 tunani voltage + ku | |
| I_OUT1 | 16 | I_OUT1 | Ƙarfin fitarwa 3.3V/2V | |
| I_OUT2 | 12 | I_OUT2 | Amplified fitarwa Phase A halin yanzu | |
| I_OUT3 | 9 | I_OUT3 | Ampingantaccen fitarwa Phase B halin yanzu | |
|
Serial DE2 Interface |
||||
| DE2 | 44 | DE2 | Bias janareta | Serial dubawa don daidaitawar direba |
|
MOSFET shigarwar ƙofar |
||||
| U_Motar | 30 | PHA |
Dabarun sarrafa kofa |
Haɗa zuwa matakan Mota. |
| V_Motar | 29 | PHB | ||
| W_Motar | 28 | PHC | ||
|
Babban Side MOSFET ƙofa |
||||
| HS0 | 27 | HSA |
Dabarun sarrafa kofa |
Babban gefen MOSFET Matakin A |
| HS1 | 26 | HSB | Babban gefen MOSFET Matakin B | |
| HS2 | 25 | HSC | Babban gefen MOSFET Matakin C | |
|
Bootstrap |
||||
| VBA | 33 | VBA |
Dabarun sarrafa kofa |
Boot Strap capacitor fitarwa Matakin A |
| VBB | 32 | VBB | Boot Strap capacitor fitarwa Mataki na B | |
| VBC | 31 | VBC | Boot Strap capacitor fitarwa Mataki na C | |
|
Low Side MOSFET ƙofa |
||||
| Farashin LS0 | 21 | LSA |
Dabarun sarrafa kofa |
Ƙananan gefen MOSFET Phase A |
| Farashin LS1 | 22 | LSB | Ƙananan gefen MOSFET Matakin B | |
| Farashin LS2 | 23 | LSC | Ƙananan gefen MOSFET Matakin C | |
|
Digital I/O |
||||
| MotorGateDrv
_CE |
3 | CE | tashar sadarwa | Yana kunna direban MC8026 MOSFET. |
| MotorGateDrv
_ILIMIT_FITA |
15 | ILIMIT_OUT (mai aiki mara ƙarfi) | Sashin Kula da Motoci | |
|
Babu haɗin kai |
||||
| – | 8 | LV_OUT1 | ||
| – | 4 | LV_OUT2 | ||
| – | 6 | HV_IN1 | ||
| – | 5 | HV_IN2 | ||
Bayanin Hardware
GABATARWA
Drone Propeller Reference Board an yi niyya ne don nuna iyawar ƙananan na'urori masu sarrafa injin fil a cikin dangin dsPIC33EP na masu sarrafa siginar dijital guda ɗaya (DSCs). Kwamitin sarrafawa ya ƙunshi ƙananan kayan aikin don rage nauyi. Yankin PCB na iya ƙara raguwa cikin girman don sigar samarwa-nufin. Za'a iya tsara allon ta hanyar haɗin Intanet na Serial Programming kuma ya haɗa masu tsayayya biyu na halin yanzu da direba MOSFET. Ana samar da mai haɗin haɗin yanar gizo na CAN don sadarwa tare da wasu masu sarrafawa da kuma samar da bayanin saurin tunani idan an buƙata. Mai jujjuyawar mai sarrafawa yana ɗaukar shigarwar voltage a cikin kewayon 10V zuwa 14V kuma yana iya isar da ci gaba da fitowar lokaci na yanzu na 8A (RMS) a cikin ƙayyadaddun vol.tage zango. Don ƙarin bayani kan ƙayyadaddun wutar lantarki, duba Karin Bayani na B. “Ƙididdigan Lantarki”.
SASHEN HARDWARE
Wannan babin ya ƙunshi sassan kayan masarufi masu zuwa na Hukumar Zane-zane na Drone Propeller:
- dsPIC33EP32MC204 da kewaye kewaye
- Tushen wutan lantarki
- Da'irar Sense na Yanzu
- MOSFET ƙofa direba kewaye
- Gadar Inverter-Phase Uku
- Interface ICSP Header/Debugger
- dsPIC33EP32MC204 da kewaye kewaye
- Tushen wutan lantarki
Hukumar gudanarwa tana da ƙayyadaddun voltage yana fitar da 12V, 5V da 3.3V wanda direban MCP8026 MOSFET ya samar. Ana samar da 3.3 volts ta amfani da MCP8026 mai sarrafa kan jirgin da tsarin amsawa. Duba akwatin ja a HOTO A-1 a cikin sashin tsarawa. Ana amfani da wutar lantarki ta waje daga baturin kai tsaye zuwa mai juyawa ta hanyar haɗin wutar lantarki. A 15uF capacitor yana samar da tacewar DC don ingantaccen aiki yayin canje-canje masu sauri. Da fatan za a duba takardar bayanan na'urar (MCP8026) don iyawar fitarwa na kowane voltage fitarwa. - Da'irar Sense na Yanzu
Ana jin halin yanzu ta amfani da sanannen hanyar "shunt biyu". Shunts guda biyu na miliyon 10 suna ba da shigarwar halin yanzu zuwa abubuwan da ke cikin op-op-op-.Amps. Op-Amps suna cikin yanayin riba daban tare da samun 7.5 yana samar da 22Amp iyawar ma'aunin lokaci na yanzu. The ampsigina na yanzu mai haske daga lokaci A (U rabin gada) da Phase B (W rabin gada) ana canza su ta dsPIC firmware mai sarrafa. A voltage tunani tare da buffered fitarwa don 3.3V / 2 yana ba da ma'anar sifili mara amo don da'irori na yanzu. Dubi Sashe na Ƙididdigar Figure A-4 don cikakkun bayanai. - MOSFET ƙofa direba kewaye
Ana sarrafa motar kofa a ciki banda bootstrap capacitors da diodes waɗanda ke kan allo kuma an tsara su don kiyayewa sosai a kan MOSFETs a mafi ƙarancin aiki vol.tage. Dubi ƙayyadaddun bayanai don MCP8026 aiki voltage range a cikin datasheet.
Dubi Sashen Tsara-Tsare FIGURE A-1 don cikakkun bayanan haɗin kai. - Gadar Inverter-Phase Uku
Mai juyawa shine daidaitaccen gada Rabin Rabin 3 tare da na'urorin MOSFET Channel na 6 N waɗanda ke da ikon aiki a cikin duk 4 quadrants. Direban MOSFET yana mu'amala kai tsaye ta hanyar kashe adadin iyakataccen adadin masu tsayayya zuwa Ƙofar MOSFETs. Ana samar da daidaitaccen da'irar bootstrap wanda ya ƙunshi cibiyar sadarwa na capacitors da diodes don kowane ɗayan MOSFET na babban gefe don isassun ƙofar kunnawa vol.tage. Ana ƙididdige capacitors na bootstrap da diode don cikakken aikin voltage range da halin yanzu. Ana samun fitowar gadar inverter mai hawa uku akan U, V, da W don matakai uku na motar. Dubi Sashen Tsare-tsare FIGURE A-4 don haɗin kai da sauran cikakkun bayanai.
Interface ICSP Header/Debugger
Shirye-shiryen kwamitin Kulawa na Smart Drone: Shirye-shirye da gyara kuskure suna ta hanyar haɗin ICSP iri ɗaya ISP1. Yi amfani da PICKIT 4 don tsarawa tare da mahaɗin PKOB, an haɗa 1 zuwa 1 kamar yadda aka bayar a Tebu 2-2. Kuna iya shirya ko dai tare da MPLAB-X IDE ko MPLAB-X IPE. Ƙaddamar da allo tare da 11-14 Volts. Zaɓi hex da ya dace file kuma bi umarni akan IDE/IPE. Ana kammala shirye-shirye lokacin da aka nuna saƙon "Programming/Verifying complete" a cikin taga fitarwa.
- Koma zuwa MPLAB PICKIT 4 takaddun bayanai don umarnin gyara kuskure
HARDWARE CONNECTIONS
Wannan sashe yana bayyana hanyar da za a nuna aikin mai sarrafa Drone. Zane-zanen tunani yana buƙatar ƴan ƙarin na'urorin haɗi na waje da mota.
- Samar da wutar lantarki na 5V zuwa mai sarrafa PWM
- PWM mai kula da aka yi amfani da shi don ba da ma'anar saurin gudu ko ma'aunin ƙarfi don samar da nau'in voltage gudun tunani
- Motar BLDC tare da sigogi kamar yadda aka bayyana a Karin Bayani B
- Tushen wutar lantarki na 11-14V da ƙarfin 1500mAH
Ana iya amfani da duk wani ƙira ko ƙira mai jituwa don maye gurbin waɗanda aka nuna a nan don samun nasarar aiki. An nuna a ƙasa akwai examples na na'urorin haɗi na sama da injina da aka yi amfani da su don wannan zanga-zangar.
PWM Mai Gudanarwa:
Motar BLDC: DJI 2312
Baturi:
Umarnin aiki: Bi matakan kamar ƙasa:
Lura: KAR AKA HANYA TSARKI A WANNAN LOKACIN
Mataki 1: Babban haɗin tushen wutar lantarki
Haɗa baturin '+' da '-' zuwa tashoshi na VDC da GND don kunna mai sarrafa wayo. Hakanan ana iya amfani da wutar lantarki ta DC.
Mataki 2: Siginar nunin sauri zuwa ga mai sarrafa Drone mai wayo.
Mai sarrafawa yana ɗaukar bayanin shigar da sauri daga mai sarrafa PWM a mafi girman 5V. Fitowar mai sarrafa PWM yana samar da fitowar siginar 5V da aka ambata a ƙasa wanda ke haɗa zuwa fil ɗin shigar da haƙuri na 5V kamar yadda aka nuna a hoton. Hakanan an nuna wurin haɗin ƙasa.
Mataki 3: Samar da wutar lantarki ga mai sarrafa PWM.
Haɗa shigarwar Canjawa na yau da kullun zuwa tashoshin baturi da fitarwa (5V) zuwa wadatar mai sarrafa PWM.
Mataki 4: Tsarin PWM mai sarrafawa:
Faɗin bugun bugun siginar daga mai sarrafa PWM an inganta shi don ingantaccen sigina a cikin firmware don hana kunnawa da saurin wuce gona da iri. Mai sarrafawa yana da maɓallan turawa guda biyu. Zaɓi yanayin aikin da hannu ta amfani da maɓallin "Zaɓi". Yi amfani da maɓallin "Pulse Width" don zaɓar tsakanin matakan sarrafa sauri 3. Canjin yana kewayawa ta jeri 3 don fitowar aikin sake zagayowar PWM tare da kowane latsawa.
- Rage 1: 4-11%
- Rage 2: 10-27.5%
- Rage 3: 20-55%
Alamar nuni ta bambanta daga 800 zuwa 2200 don canjin layin layi a zagayen aiki a cikin kewayon. Juya potentiometer akan mai sarrafa PWM zai ƙara ko rage fitowar PWM.
Mataki na 5: Haɗin tashar mota:
Haɗa tashoshin motar zuwa PHASE A, B, da C. Jerin yana yanke shawarar jujjuyawar motar. Jujjuyawar da ake so na Drone yana kallon agogon agogon hannu don hana farfasa sassautawa. Don haka yana da mahimmanci a tabbatar da jujjuyawa kafin hawa ruwan wukake. Samar da siginar tunani ta PWM ta hanyar tweaking potentiometer akan mai sarrafa PWM farawa da mafi ƙarancin nisa na bugun jini (800). Motar za ta fara jujjuyawa a zagaye na 7.87% (50Hz) da sama. Nuni na 7-Segment yana nuna 1573 (7.87% sake zagayowar aiki) zuwa 1931 (10.8% sake zagayowar aikin) lokacin da motar ke juyawa. Tabbatar cewa jujjuyawar tana gaba da agogo. Idan ba a musanya kowane haɗi biyu zuwa tashoshi masu motsi ba. Koma potentiometer zuwa mafi ƙanƙancin saurin saitin gudu.
Mataki na 6: Haɗa Propeller:
Cire haɗin ƙarfin baturi. Dutsen burbushin fale-falen ta hanyar dunƙule shi a cikin mashin ɗin motar a kan hanya ta agogo. Rike sanda/motar da ƙarfi tare da miƙe hannu kuma a nesa mai aminci daga duk cikas da mutane yayin aiki. Haɗa wutar lantarki. Ayyukan farfela za su yi amfani da ƙarfi a kan hannu lokacin juyi, don haka riƙe ƙarfi yana da mahimmanci don hana rauni na jiki. Tweak da potentiometer don canja gudun (nuni yana nuna tsakanin 1573 da 1931) Wannan ya kammala nunin.
Hoton da ke ƙasa yana nuna gabaɗayan saitin wayoyi don zanga-zangar.
Tsarin aiki
SHARRIN HUKUNCI
Wannan sashe yana ba da zane-zane na dsPIC33EP32MC204 Drone Propeller Reference Design. Tsarin tunani yana amfani da FR4 mai Layer huɗu, 1.6 mm, Plated-Ta Hole (PTH).
Tebu A-1 yana taƙaita tsarin ƙira na Magana:
| SHAFIN A-1: SCHEMATICS | ||
| Fihirisar Hoto | Tsarin aiki Shet No. | Sassan Hardware |
|
Hoto A-1 |
1 cikin 4 |
dsPIC33EP32MC204-dsPIC DSC(U1) Hanyoyin haɗin kai MCP8026-MOSFET haɗin direba
3.3V analog da dijital tacewa da hanyar sadarwa na amsawa dsPIC DSC na ciki yana aiki ampmasu rairayi don ampHanyar sadarwar Bootstrap na Bus na yanzu. |
|
Hoto A-2 |
2 cikin 4 |
In-System Serial Programming Header ISP1 CAN CAN Sadarwa Interface Header P5 Na waje PWM Matsakaicin Matsakaicin Mahimman Bayanan Bayani na P2
Serial Debugger Interface P3 |
|
Hoto A-3 |
3 cikin 4 |
DC Bus voltage scaling resistor divider Back-emf voltage scaling network
Op-Amp samun da kuma tunani circuitry ga lokaci halin yanzu ji |
| Hoto A-4 | 4 cikin 4 | Inverter Control Motoci - gada MOSFET mai hawa uku |
Hoto A-1:
Hoto A-2
Hoto A-4
Ƙimar Lantarki
GABATARWA
Wannan sashe yana ba da ƙayyadaddun bayanai na lantarki don dsPIC33EP32MC204 Drone Motar Reference Design (duba Tebur B-1).
BAYANIN LANTARKI 1:
| Siga | Aiki Rage |
| Shigar da DC Voltage | 10-14V |
| Cikakkar Matsakaicin Input DC Voltage | 20V |
| Matsakaicin shigarwar Yanzu ta Mai Haɗi VDC da GND | 10 A |
| Ci gaba da Fitowa Yanzu kowane lokaci @ 25°C | 44A (koli) |
| Takardar bayanai:DJI2312 | |
| Juriya Matsayin Motoci | 42-47 milliliters |
| Ƙaddamar da Matsayin Motoci | 7.5 micro-Henrys |
| Motoci Pole Pairs | 4 |
Lura:
- Yayin aiki a yanayin zafin jiki na +25°C kuma a cikin halaltacciyar Input DC voltage kewayon hukumar ta kasance cikin iyakoki na thermal don ci gaba da gudana a kowane lokaci har zuwa 5A (RMS).
Dokar Kaya (BOM)
BAYANIN KAYAN KAYA
| Abu | Sharhi | Mai tsarawa | Yawan |
| 1 | 10uF 25V 10% 1206 | C1 | 1 |
| 2 | 10uF 25V 10% 0805 | C2, C17, C18 | 3 |
| 3 | 1uF 25V 10% 0402 | C3, C5 | 2 |
| 4 | 22uF 25V 20% 0805 | C4 | 1 |
| 5 | 100nF 25V 0402 | C6 | 1 |
| 6 | 2.2uF 10V 0402 | C24, C26 | 2 |
| 7 | 1uF 25V 10% 0603 | C7, C8, C9, C10, C12, C13 | 6 |
| 8 | 100nF 50V 10% 0603 | C11, C14, C15, C20 | 4 |
| 9 | 1.8nF 50V 10% 0402 | C16 | 1 |
| 10 | 0.01uF 50V 10% 0603 | C19, C23, C27, C25 | 3 |
| 11 | 100pF 50V 5% 0603 | C21, C22 | 2 |
| 12 | 680uF 25V 10% RB2/4 | C28 | 1 |
| 13 | 5.6nF 50V 10% 0603 | C29, C30 | 2 |
| 14 | 1N5819 SOD323 | D1,D2,D3,D7 | 4 |
| 15 | 1N5819 SOD323 | D4, D5, D6 | 3 |
| 16 | 4.7uF 25V 10% 0805 | E1 | 1 |
| 17 | Saukewa: TPHR8504PL | NMOS1, NMOS2, NMOS3, NMOS4, NMOS5, NMOS6 | 6 |
| 18 | 15uH 1A SMD4*4 | P4 | 1 |
| 19 | 200R 1% 0603 | R1, R2 | 2 |
| 20 | 0R 1% 0603 | R5,R27 | 2 |
| 21 | 47K 1% 0603 | R4, R6, R14, R24 | 4 |
| 22 | 47R 1% 0402 | R7, R8, R9, R18, R19, R20 | 6 |
| 23 | 2K 1% 0603 | R10, R37, R38, R39, R40, R42, R45, R46, R48, R49, R54, R57 | 12 |
| 24 | 300K 1% 0402 | R11, R12, R13 | 3 |
| 25 | 24.9R 1% 0603 | R15, R16, R17 | 3 |
| 26 | 100K 1% 0402 | R21, R22, R23 | 3 |
| 27 | 0.01R 1% 2010 | R25,R26 | 1 |
| 28 | 0R 1% 0805 | R28 | 1 |
| 29 | Farashin 1R0603 | R29 | 1 |
| 30 | 18K 1% 0603 | R30 | 1 |
| 31 | 4.99R 1% 0603 | R31 | 1 |
| 32 | 11K 1% 0603 | R32 | 1 |
| 33 | 30K 1% 0603 | R33, R34, R47, R50 | 4 |
| 34 | 300R 1% 0603 | R35, R44, R55 | 3 |
| 35 | 20k 1% 0603 | R36 | 1 |
| 36 | 12K 1% 0603 | R41, R53, R56 | 3 |
| 37 | 10K 1% 0603 | R43, R52 | 2 |
| 38 | 1k 1% 0603 | R51 | 1 |
| 39 | 330R 1% 0603 | R58, R59 | 2 |
| 40 | Saukewa: DSPIC33EP64MC504-I/PT TQFP44 | U1 | 1 |
| 41 | Saukewa: MCP8026-48L | U2 | 1 |
| 42 | 2 PIN-68016-106HLF | P1, P2, P3 | 3 |
| 43 | 5 PIN-68016-106HLF | Saukewa: ISP1 | 1 |
| 44 | 6 PIN-68016-106HLF | P5 | 1 |
Sakamakon Gwaji
An yi gwaje-gwaje don siffanta Tsarin Magana na Drone Propeller. An yi amfani da Motar 12V, igiyoyi guda huɗu na PMSM Drone mai hawa uku da aka nuna a saitin a shafi na 1 don gwaji tare da haɗe ruwan wukake. Teburin D-1 ya taƙaita sakamakon gwajin. Hoto D-1 yana nuna gudun vs. ikon shigarwa.
Table D-1
Hoto D-1
Takardu / Albarkatu
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MICROCHIP dsPIC33EP32MC204 Drone Propeller Reference Design [pdf] Jagorar mai amfani dsPIC33EP32MC204, dsPIC33EP32MC204 Drone Reference Design |
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MICROCHIP dsPIC33EP32MC204 Drone Propeller Reference Design [pdf] Umarni DS70005545A DS70005545 |
