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128 lines
6.2 KiB
Markdown
128 lines
6.2 KiB
Markdown
# PWM 서보 및 ESC (모터 컨트롤러)
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PWM 기반 브러시리스 모터 컨트롤러, 서보를 연결 방법과 전원 공급 방법을 설명합니다.
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## ESC 연결 개요
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각 PWM ESC에는 최소한 다음과 같은 전선들을 가지고 있습니다.
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- Power VBAT (일반적으로 두껍고 빨간색)
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- Power GND (보통 두껍고 검정색)
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그리고 서보 플러그에서:
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- PWM 신호 (일반적으로 흰색 또는 노란색)
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- GND (일반적으로 검정색 또는 갈색)
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The servo plug _may_ also have a +5V wire (usually red or orange).
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이 와이어의 목적과 연결 방법은 ESC와 기체 유형에 따라 달라집니다.
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:::tip
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In some cases (see below)the +5V line is not needed.
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+5V 라인을 절단하는 대신 해당 핀용 서보 커넥터 플라스틱 하우징의 잠금 탭을 부드럽게 들어 올린 다음 (예 : 커터 블레이드 또는 소형 스크루 드라이버 사용) 핀을 빼낼 수 있습니다.
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전기 절연 테이프로 분리하고 서보 케이블에 테이프로 붙입니다.
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This allows you to easily undo the wire later if needed
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:::
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## 전원 연결
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항상 Power VBAT 및 GND를 배터리에 연결하고, PWM 신호 및 GND를 서보 플러그에서 모터로 연결하십시오.
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:::tip
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There is **no setup** that does not require signal ground to be connected!
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:::
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+5V 와이어 (있는 경우)에 대한 연결은 ESC/기체에 따라 달라집니다.
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### Fixed-wing / VTOL
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On a fixed-wing (or VTOL) ESC, the +5V line usually provides the output of a Battery Elimination Circuit (BEC).:
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- 이것은 Pixhawk 서보 레일에 연결되어 플랩, 에일러론 등의 서보에 전원을 공급에 사용할 수 있습니다.
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::: info
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It is unsafe to power servos or ESCs from the autopilot's avionics power supply.
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This is why **Pixhawk series** flight controllers do not provide power for the servo rail (the AUX servo rail is unpowered and is limited to 1A).
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:::
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- As a rule of thumb you should only connect the _output of only one BEC_ to the Pixhawk servo rail.
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여러 +5V 출력을 레일에 연결할 수 있지만, ESC 모델에 따라 다릅니다.
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### 멀티콥터
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멀티 콥터에서 +5V 라인이 없거나 (있는 경우) 연결되지 않을 수 있습니다.
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- 멀티 콥터는 종종 서보가 필요하지 않으므로, Pixhawk 서보 레일에 전원을 공급할 필요가 없습니다 (모터는 일반적으로 배전 보드에서 별도로 전원이 공급됨).
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- 와이어를 서보 레일에 연결하여도 단점이나 장점은 없습니다.
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- DJI ESC는 일반적으로 이 와이어가 포함되어 있지만, 연결되어 있지는 않습니다.
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### 광절연 ESC
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On an opto-isolated ESC **without** BEC, the +5V line might need to be connected and powered (in order to provide power to the ESC microcontroller).
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이 경우 와이어는 일반적으로 비행 콘트롤러 서보 레일에 연결되며, 서보 레일은 추가 BEC에서 전원을 공급하여야 합니다.
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## PX4 설정
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PWM motors and servos are configured using the [Actuator Configuration](../config/actuators.md) screen in QGroundControl.
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After assigning outputs and basic calibration, you may then wish to peform an [ESC Calibration](../advanced_config/esc_calibration.md).
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Additional PX4 PWM configuration parameters can be found here: [PWM Outputs](../advanced_config/parameter_reference.md#pwm-outputs).
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## 문제 해결
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Pixhawk is compatible with all _PWM ESCs_ on the market.
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If a particular ESC is not operational, it is incorrectly wired up or configured.
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### 접지 연결
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Check that the ground (black wire) of the ESC servo connector is connected to Pixhawk (there is no valid wiring setup that does not have a ground reference).
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:::warning
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It is unsafe to fly without ground connected.
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This is because for every positive pulse (the ESC signal) there needs to be an adjacent ground return path for a clean signal shape.
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The image below shows how noisy the signal becomes if GND is not connected.
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:::
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### 전원 연결 / 광절연 ESC
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If using an opto-isolated ESC that does not provide a BEC / power output, please ensure that the ESC does not need its +5V line powered for the opto-isolator.
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See the first section of this page explains for other power connection considerations.
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### 잘못된 최소치
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Some ESCs need to see a special low value pulse before switching on (to protect users who have the throttle stick in the middle position on power-up).
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PX4 sends a pulse when the vehicle is disarmed, which silences the ESCs when they are disarmed and ensures that ESCs initialise correctly.
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Appropriate values are determined and set as part of the [actuator configuration/testing](../config/actuators.md#actuator-testing) process (internally these set the per-output parameters [PWM_MAIN_DISn](../advanced_config/parameter_reference.md#PWM_MAIN_DIS1) and [PWM_AUX_DISn](../advanced_config/parameter_reference.md#PWM_AUX_DIS1)).
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### 시간 초과
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Some ESCs may time out (preventing motor activation) if they have not received a valid low pulse within a few seconds of power on.
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PX4 sends an idle/disarmed pulse right after power on to stop ESCs timing out.
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Appropriate values are determined and set as part of the [actuator configuration/testing](../config/actuators.md#actuator-testing) process (internally these set the per-output parameters [PWM_MAIN_DISn](../advanced_config/parameter_reference.md#PWM_MAIN_DIS1) and [PWM_AUX_DISn](../advanced_config/parameter_reference.md#PWM_AUX_DIS1)).
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### 유효한 펄스 모양, 전압 및 업데이트 속도
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:::info
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This should not be a problem, but is included for completeness
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:::
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Pixhawk uses active high pulses, as used by all the major brands (Futaba, Spektrum, FrSky).
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PWM interfaces are not formally standardised, however, the normal micro controllers all use TTL or CMOS voltage levels.
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TTL is defined as low < 0.8V and high > 2.0V with some manufacturers using > 2.4V for additional noise margin.
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CMOS logic is defined with similar voltage levels.
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5V levels are **never** required to successfully switch to an _on_ state.
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:::tip
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Futaba, FrSky and Spektrum receivers output 3.3V or 3.0V voltage levels, as they are well above 2.4V.
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Pixhawk has adopted this common industry pattern and outputs 3.3V levels on recent boards.
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:::
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