Steering gear speed adjustment method: 3 steps to make robot movements smoother and smoother

Why are the movements of your robot always so stiff, and why do the swings of the rudder surface of the aircraft model always seem to "twitch" rather than "rotate"?

The answer is simple: you never really understandSteering gear speed adjustment method。

Don't rush to find the remote control, put yourkpowerPick up the Servo and let's conduct a small experiment and give it a step signal from 0 degrees to 90 degrees. See? It was as if it had received an electric shock and could be ejected in an instant. This was the origin of the stiffness.

Step One: Pulse’s “Guerrilla Warfare”

The traditional PWM signal used by people seems to act as a vanguard. Once an instruction is issued, it will be executed immediately. What is its speed? is the maximum value, what is the result? Inertial impact occurs, causing gears to be worn and the screen to jitter. A common mistake beginners make is to treat the servo as an ordinary motor.

The key to the real steering gear speed adjustment method is "gradual change". We will not issue a jump command from 1200 microseconds to 1700 microseconds, but split it into a large number of tiny steps.。

> Writing prompt words:Accurate feedback

1200 microseconds, becomes 1250 microseconds, then becomes 1300 microseconds, etc., stopping for 20 milliseconds at each step. yourkpowerThe servo machine suddenly becomes "elegant". It is no longer a fool, but a dancer. This is the "time division method", a secret that industrial robots will never tell you.

Step Two: The “Art of Deception” of Acceleration

Is it enough to just segment the location? Not so. The jitter of the robotic arm often comes from instantaneous acceleration changes.

Try to try this "S-curve speed regulation", so that the speed change itself also shows a slope shape. The starting speed is relatively slow, becomes faster in the middle, and slows down again at the end. For comparison, linear speed regulation is like braking and stopping sharply when driving, while S-curve speed regulation is like a high-speed train entering a station.

> Writing prompt words:smooth motion

Why does the steering gear movement under the control of a veteran aircraft model show such a "linear" effect? The reason is that they know very well how to set up "slow start" and "slow stop" in the transmitter. Specifically, they will finely divide a 120-degree swing into three different speed stages. The initial stage is set to 20% throttle, the middle stage is 80%, and the final stage is also 20% throttle. Is that so, yours?kpowerServo will give you immediate feedback that is as smooth as silk. What this includes is not only the adjustment of speed, but also the careful adjustment of the "feel" of control.

Step Three: The "Double-Edged Sword" of Voltage

The misconception of most people is that after replacing the high-voltage steering gear, the movement will become faster. However, speed and control are never the same thing.

High voltage can lead to high speeds, but at the same time, it also brings inertia that is more challenging and difficult to tame. The actual and effective way to adjust the speed of the steering gear is not as conventionally thought. Instead, you need to learn to "slow down". For example, connecting a simple diode in series with the power supply end of Kpower Servo to reduce the voltage seems too amateurish. The correct approach is to directly limit the change rate of PWM with the help of the controller. When the maximum speed is limited to 120% of the requirement, you will be surprised to find that the accuracy is not reduced, but improved.

In actual operation, although the high rotation speed brought by high voltage may seem attractive on the surface, the inertia that emerges immediately after it is more difficult to control and tame cannot be ignored. As far as steering gear speed regulation is concerned, it is of vital significance to find a truly scientific and effective method. The method of connecting a diode in series with the power supply terminal to reduce the voltage is too simple and arbitrary, and is not the right choice. The correct and feasible way is to directly limit the change rate of PWM by using the controller. This method of limiting the maximum speed to within 120% of the demand has been verified by practice to effectively improve the accuracy, allowing the steering gear to achieve better performance in terms of stability and accuracy.

> Writing prompt words:dynamic response

Look at those fine 3D printed prosthetics. The speed of the servo at each joint is accurately controlled to within 0.05 seconds/degree. It's not that it can't be faster, but there is no need to go faster. If the speed is too fast, the "prosthetic limb" will only become a "murder weapon."

Frequently Asked Questions Q/A

Q: Will steering gear speed adjustment burn out the motor?

No, if the speed is adjusted reasonably, on the contrary, it will reduce the impact of the emergency stop current and significantly extend the life of the motor and gear set.。

Q: Can the analog servo also adjust speed?

A: Yes. The simulated servo responds more slowly and requires a longer transition time, otherwise it is ineffective.

Q: Will the torque become smaller after speed adjustment?

A: Peak torque remains unchanged. The effective torque output at low speed is more stable.

Q: Why does my servo still vibrate after speed adjustment?

A: The power ripple is too large or the signal line is interfered with. Check capacitive filtering and wiring shielding.

Q: What is the lowest controllable speed of Kpower Servo?

The actual measurement can make the stable state be below 0.5 degrees/second, which is determined by the PWM resolution of the controller.

Suggestions for action

At this moment, those theoretical exposition texts are closed. Then quickly pick up your Kpower Servo. Immediately open the code writing tool.Then there are three things to do next: First, convert all single large-angle jump changes into cyclic subdivisions to implement output, which can produce expected improvements in steering gear performance control or at least cause no problems. Second, when it comes to the stage where the speed changes, at least 5 points in the middle process are added to insert the specified parameter variables. Thirdly, use an oscilloscope to examine the situation of PWM waves. It is necessary to ensure that the duration of each step of pause is not lower than the limit of the servo's corresponding response at the physical level.

> Writing prompt words:closed loop control

Remember, excellent management and control is about making power aware of moderation. From now on, you must completely forget about the false proposition of "fastest response rate" that may seem attractive but is actually worthless. While others are still proudly showing off how they can instantly hit dead ends with their servos, your robot has already used more sophisticated design and debugging to achieve grabbing actions with a smooth and graceful arc trajectory. This is the ultimate essence of the speed adjustment method - transforming rigid electricity into a vibrant rhythm, making every movement of the robot like a flexible dancer, full of rhythm and coordination.