【 DigiKey DIY原創大賽】自平衡萊羅三角形（二）-電機適配

直流(liu)無刷電機(ji)太貴了，大(da)神(shen)45roll不(bu)差錢，選(xuan)用(yong)的電機(ji)三百多，買不(bu)起(qi)用(yong)不(bu)起(qi)。于是便(bian)選(xuan)個便(bian)宜的替代一下(xia)，千挑萬(wan)選(xuan)，少的幾(ji)十塊(kuai)，多的上百、幾(ji)百塊(kuai)。

直(zhi)流(liu)(liu)無(wu)刷電(dian)(dian)機是一(yi)種(zhong)同步電(dian)(dian)機，其(qi)定(ding)(ding)子(zi)(zi)(zi)(zi)產生旋轉(zhuan)(zhuan)磁(ci)場，而轉(zhuan)(zhuan)子(zi)(zi)(zi)(zi)則使(shi)(shi)用(yong)永磁(ci)體(ti)。電(dian)(dian)子(zi)(zi)(zi)(zi)控(kong)(kong)制(zhi)器(qi)根據傳(chuan)感器(qi)反饋的(de)(de)轉(zhuan)(zhuan)子(zi)(zi)(zi)(zi)位(wei)置(zhi)和(he)速(su)度(du)信(xin)(xin)息，適時地切換定(ding)(ding)子(zi)(zi)(zi)(zi)繞組(zu)(zu)的(de)(de)電(dian)(dian)流(liu)(liu)，以(yi)保(bao)持旋轉(zhuan)(zhuan)方向和(he)速(su)度(du)。當定(ding)(ding)子(zi)(zi)(zi)(zi)的(de)(de)三(san)相繞組(zu)(zu)中某一(yi)相通電(dian)(dian)時，該(gai)電(dian)(dian)流(liu)(liu)與轉(zhuan)(zhuan)子(zi)(zi)(zi)(zi)的(de)(de)永磁(ci)體(ti)所產生的(de)(de)磁(ci)場相互作用(yong)，產生力矩，驅(qu)動轉(zhuan)(zhuan)子(zi)(zi)(zi)(zi)旋轉(zhuan)(zhuan)。同時，位(wei)置(zhi)傳(chuan)感器(qi)檢測(ce)轉(zhuan)(zhuan)子(zi)(zi)(zi)(zi)的(de)(de)位(wei)置(zhi)，并(bing)將信(xin)(xin)號(hao)傳(chuan)遞給(gei)控(kong)(kong)制(zhi)器(qi)，控(kong)(kong)制(zhi)器(qi)根據這些(xie)信(xin)(xin)號(hao)調(diao)整(zheng)下一(yi)相繞組(zu)(zu)的(de)(de)通電(dian)(dian)狀態，使(shi)(shi)電(dian)(dian)機連續轉(zhuan)(zhuan)動。具有(you)高效性(xing)(xing)、低噪(zao)音、長(chang)壽命、控(kong)(kong)制(zhi)精度(du)高等特(te)點。直(zhi)流(liu)(liu)無(wu)刷電(dian)(dian)機通常采用(yong)PWM（脈寬調(diao)制(zhi)）技術進(jin)行(xing)(xing)控(kong)(kong)制(zhi)。通過調(diao)整(zheng)PWM信(xin)(xin)號(hao)的(de)(de)占空比(bi)，可(ke)以(yi)改變電(dian)(dian)機的(de)(de)轉(zhuan)(zhuan)速(su)和(he)轉(zhuan)(zhuan)矩。還可(ke)以(yi)使(shi)(shi)用(yong)閉環控(kong)(kong)制(zhi)系統(tong)，通過傳(chuan)感器(qi)實時監(jian)測(ce)電(dian)(dian)機的(de)(de)轉(zhuan)(zhuan)速(su)和(he)位(wei)置(zhi)，并(bing)根據設(she)定(ding)(ding)值進(jin)行(xing)(xing)調(diao)整(zheng)，以(yi)提高控(kong)(kong)制(zhi)精度(du)和(he)穩(wen)定(ding)(ding)性(xing)(xing)。

選用了以下(xia)3205直流(liu)電機(ji)(ji)，也得(de)幾十塊。電機(ji)(ji)的(de)軸(zhou)徑比電路板預留的(de)孔位(wei)大不(bu)(bu)少。需(xu)要加工(gong)以下(xia)才能用。定位(wei)孔也對不(bu)(bu)上，大事件(jian)啊。

動量輪的孔也對不上(shang)，頭疼。

動(dong)(dong)(dong)量(liang)輪(lun)(lun)是(shi)一(yi)(yi)種(zhong)用于姿態控制(zhi)的關鍵設備，其(qi)工作原理基于角(jiao)動(dong)(dong)(dong)量(liang)守恒(heng)定(ding)律(lv)。當(dang)一(yi)(yi)個(ge)物(wu)體身上沒(mei)有外力或外力合力為零時，物(wu)體的角(jiao)動(dong)(dong)(dong)量(liang)保持不變。在航天(tian)器(qi)中，動(dong)(dong)(dong)量(liang)輪(lun)(lun)通過(guo)轉(zhuan)(zhuan)(zhuan)動(dong)(dong)(dong)產生(sheng)角(jiao)動(dong)(dong)(dong)量(liang)，并將(jiang)角(jiao)動(dong)(dong)(dong)量(liang)傳遞給航天(tian)器(qi)，改(gai)變其(qi)姿態。當(dang)動(dong)(dong)(dong)量(liang)輪(lun)(lun)轉(zhuan)(zhuan)(zhuan)動(dong)(dong)(dong)時，由(you)(you)于它的轉(zhuan)(zhuan)(zhuan)子(zi)具有一(yi)(yi)定(ding)的質量(liang)和(he)半徑，因此會產生(sheng)角(jiao)動(dong)(dong)(dong)量(liang)。根據角(jiao)動(dong)(dong)(dong)量(liang)守恒(heng)定(ding)律(lv)，航天(tian)器(qi)本身也會獲得一(yi)(yi)個(ge)相等大(da)小(xiao)但方(fang)向相反的角(jiao)動(dong)(dong)(dong)量(liang)，從而改(gai)變其(qi)姿態。通過(guo)調(diao)整動(dong)(dong)(dong)量(liang)輪(lun)(lun)的轉(zhuan)(zhuan)(zhuan)速和(he)轉(zhuan)(zhuan)(zhuan)向，可以控制(zhi)角(jiao)動(dong)(dong)(dong)量(liang)的大(da)小(xiao)和(he)方(fang)向，進(jin)而實現角(jiao)動(dong)(dong)(dong)量(liang)的調(diao)節(jie)和(he)姿態控制(zhi)。動(dong)(dong)(dong)量(liang)輪(lun)(lun)通常由(you)(you)兩個(ge)部分組成：轉(zhuan)(zhuan)(zhuan)子(zi)和(he)電機(ji)。轉(zhuan)(zhuan)(zhuan)子(zi)是(shi)動(dong)(dong)(dong)量(liang)輪(lun)(lun)的旋轉(zhuan)(zhuan)(zhuan)部分，通常由(you)(you)輕(qing)質金屬制(zhi)成，以減(jian)小(xiao)慣性力。電機(ji)則用于驅動(dong)(dong)(dong)轉(zhuan)(zhuan)(zhuan)子(zi)旋轉(zhuan)(zhuan)(zhuan)，使(shi)動(dong)(dong)(dong)量(liang)輪(lun)(lun)產生(sheng)角(jiao)動(dong)(dong)(dong)量(liang)。

動力輪的擴(kuo)孔好搞(gao)，直接(jie)暴力擴(kuo)孔。

純手工打(da)造，堪比雙R。就是(shi)丑了不少(shao)。

主板側的孔位(wei)(wei)還沒無法改孔，用透(tou)明硬(ying)塑料(liao)做個孔位(wei)(wei)過(guo)度(du)。用透(tou)明塑料(liao)的原(yuan)因有二(er)，一是(shi)隨手可及，二(er)是(shi)透(tou)明能看到孔位(wei)(wei)方便(bian)開(kai)孔。

電機與(yu)硬塑(su)料(liao)用(yong)螺(luo)絲固定(ding)，主(zhu)板與(yu)硬塑(su)料(liao)用(yong)用(yong)軋帶捆綁(bang)一下。