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小さな倒立振子ステッピングモータ仕様

https://blog.with2.net/link/?1965529

小さな倒立振子ステッピングモータ仕様

https://blog.with2.net/link/?1965529

以前に 横幅75㎜、重量(電池込み)105g という小型・軽量な倒立振子を製作したことがあります。DCモータ搭載でそれなりに倒立性、走行性も満足出来る作品となりました。

その後、読者の方から小型のステッピングモータをご紹介いただいたので、Aliexpressにて調達し製作してみました。

手に入れたステッピングモータは1:63比の減速機がついたもので、モータの詳細は不明ですが説明には以下のようになっています。

  • 抵抗値: 20 Ω
  • 電流: 0.3A
  • モータステッピング角度: 18 °
  • 2相4線式

回転数不足は懸念されますがとりあえず作ってみました。基板は他機種用に製作した基板を流用しています。スケッチはいつものJJROBOTのものをこれも流用させてもらいます。

PID制御のための各係数Kp,Ki,Kdを試行錯誤で調整して倒立するまでにはなりましたが、WiFiでのリモコンは難しい状況です。なにせ回転数が決定的に不足しています。減速機なしで似たようなモータで以前に製作したことはあるのですが、この時はトルク不足で倒立すら不可能な状態でした。回転数を上げるために減速比の小さなものを物色してみなければならないようです。

:それにしても春節の影響か、Aliexpressでの納期はいまだに混乱中です。

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