舵机角度测量

简 介：舵机旋转角度特性分析
摘要：本文研究了舵机旋转角度与控制信号PWM高电平时间的关系。实验通过可编程信号发生器产生控制信号，测量结果显示舵机输出角度在0.408ms-2.537ms的高电平范围内呈近似线性变化，角度变化范围约283°。当高电平时间超过2.537ms后，输出角度保持恒定。文中提供了完整的Python测量代码和实验数据，验证了舵机角度与控制信号之间的对应关系，为舵机控制应用提供了参考依据。
关键词：舵机控制、PWM信号、角度测量、线性特性

关键词：舵机，角度，线性关系，PWM

01舵机旋转角度

一、舵机角度

舵机的输出角度与控制信号的 PWM 脉冲高电平时间成正比。 这个角度控制方法比较特殊， 实际上是与控制信号的高电平时间成正比。 通常情况下，控制信号高电平在 1.5ms 舵机输出角度为中点。 高电平时间减小和增加， 舵机的输出轴将会顺时针和逆时针旋转。 这里通过一个多圈电位器来测量舵机输出轴的角度与控制信号高电平时间之间的关系。 控制信号是由 DG1062可编程信号发生器产生， 下面来测量一下舵机输出角度变化特性。

二、测量结果

测量结果显示， 在控制信号高电平在一定范围之内， 输出角度基本上呈线性变化。 但是，变化之间的线性角度似乎并不是非常好。 当高电平超过 0.408ms 之后 舵机输出开始变化， 直到脉冲高电平达到了 2.537ms。 根据之间电压变化范围， 也可以计算出舵机输出角度变化了大约 283°。

#!/usr/local/bin/python# -*- coding: gbk -*-#============================================================# TEST1.PY -- by Dr. ZhuoQing 2026-01-03## Note:#============================================================fromheadmimport*fromtsmodule.tsvisaimport*dg1062open(91)dm3068open()ddim=linspace(1,30,200)dg1062duty(1,ddim[0])time.sleep(1)vdim=[]#------------------------------------------------------------printf("\a")fordinddim:dg1062duty(1,d)time.sleep(1.5)v=dm3068vdc()vdim.append(v)tspsave("Angle",ddim=ddim,vdim=vdim)printff(d,v)dg1062duty(1,15)plt.plot(ddim,vdim,lw=3)plt.xlabel("Duty",color="steelblue",fontsize=24)plt.ylabel("Voltage(V)",color="steelblue",fontsize=24)plt.grid(True,which='both',linestyle='--',alpha=0.7)plt.tight_layout()plt.show()#------------------------------------------------------------# END OF FILE : TEST1.PY#============================================================

ddim=[1.0000,1.1457,1.2915,1.4372,1.5829,1.7286,1.8744,2.0201,2.1658,2.3116,2.4573,2.6030,2.7487,2.8945,3.0402,3.1859,3.3317,3.4774,3.6231,3.7688,3.9146,4.0603,4.2060,4.3518,4.4975,4.6432,4.7889,4.9347,5.0804,5.2261,5.3719,5.5176,5.6633,5.8090,5.9548,6.1005,6.2462,6.3920,6.5377,6.6834,6.8291,6.9749,7.1206,7.2663,7.4121,7.5578,7.7035,7.8492,7.9950,8.1407,8.2864,8.4322,8.5779,8.7236,8.8693,9.0151,9.1608,9.3065,9.4523,9.5980,9.7437,9.8894,10.0352,10.1809,10.3266,10.4724,10.6181,10.7638,10.9095,11.0553,11.2010,11.3467,11.4925,11.6382,11.7839,11.9296,12.0754,12.2211,12.3668,12.5126,12.6583,12.8040,12.9497,13.0955,13.2412,13.3869,13.5327,13.6784,13.8241,13.9698,14.1156,14.2613,14.4070,14.5528,14.6985,14.8442,14.9899,15.1357,15.2814,15.4271,15.5729,15.7186,15.8643,16.0101,16.1558,16.3015,16.4472,16.5930,16.7387,16.8844,17.0302,17.1759,17.3216,17.4673,17.6131,17.7588,17.9045,18.0503,18.1960,18.3417,18.4874,18.6332,18.7789,18.9246,19.0704,19.2161,19.3618,19.5075,19.6533,19.7990,19.9447,20.0905,20.2362,20.3819,20.5276,20.6734,20.8191,20.9648,21.1106,21.2563,21.4020,21.5477,21.6935,21.8392,21.9849,22.1307,22.2764,22.4221,22.5678,22.7136,22.8593,23.0050,23.1508,23.2965,23.4422,23.5879,23.7337,23.8794,24.0251,24.1709,24.3166,24.4623,24.6080,24.7538,24.8995,25.0452,25.1910,25.3367,25.4824,25.6281,25.7739,25.9196,26.0653,26.2111,26.3568,26.5025,26.6482,26.7940,26.9397,27.0854,27.2312,27.3769,27.5226,27.6683,27.8141,27.9598,28.1055,28.2513,28.3970,28.5427,28.6884,28.8342,28.9799,29.1256,29.2714,29.4171,29.5628,29.7085,29.8543,30.0000]vdim=[1.5622,1.5622,1.5622,1.5622,1.5622,1.5622,1.5622,1.5622,1.5622,1.5622,1.5622,1.5622,1.5622,1.5622,1.5622,1.5622,1.5622,1.5622,1.5622,1.5622,1.5622,1.5777,1.5763,1.5743,1.5720,1.5682,1.5664,1.5620,1.5601,1.5579,1.5543,1.5512,1.5486,1.5466,1.5425,1.5400,1.5383,1.5350,1.5315,1.5291,1.5276,1.5240,1.5215,1.5199,1.5163,1.5144,1.5106,1.5085,1.5062,1.5027,1.4983,1.4942,1.4914,1.4903,1.4865,1.4821,1.4824,1.4784,1.4744,1.4714,1.4686,1.4667,1.4623,1.4584,1.4566,1.4512,1.4542,1.4504,1.4483,1.4445,1.4424,1.4403,1.4359,1.4343,1.4338,1.4291,1.4267,1.4223,1.4218,1.4185,1.4158,1.4156,1.4101,1.4079,1.4077,1.4056,1.4018,1.4008,1.3974,1.3957,1.3950,1.3897,1.3879,1.3858,1.3829,1.3825,1.3783,1.3767,1.3747,1.3724,1.3690,1.3682,1.3666,1.3643,1.3619,1.3600,1.3558,1.3520,1.3515,1.3496,1.3476,1.3436,1.3417,1.3370,1.3353,1.3326,1.3298,1.3275,1.3236,1.3182,1.3177,1.3153,1.3119,1.3100,1.3056,1.3040,1.3008,1.2981,1.2976,1.2948,1.2914,1.2871,1.2832,1.2816,1.2795,1.2775,1.2735,1.2713,1.2684,1.2649,1.2614,1.2583,1.2558,1.2536,1.2495,1.2474,1.2437,1.2395,1.2383,1.2355,1.2334,1.2292,1.2285,1.2239,1.2206,1.2180,1.2156,1.2135,1.2117,1.2092,1.2071,1.2038,1.2012,1.2005,1.1979,1.1956,1.1923,1.1902,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908,1.1908]

测量结果中的几个关键点：

最大电压参数：Duty：0.408ms, 电压：1.5764V

最小电压参数：Duty：2.537ms， 电压：1.1901V

• 电位器一周对应电压变化：0.492V
• 电位器一周角度：283°

再重新测量一次， 这一次的变化与前面测量结果之间很相似。 将两次测量结果进行对比， 可以看到两次输出的结果基本上重合在一起。 由此也能够看到， 舵机输出的角度的确存在着 一定的非线性。

ddim=[1.0000,1.1457,1.2915,1.4372,1.5829,1.7286,1.8744,2.0201,2.1658,2.3116,2.4573,2.6030,2.7487,2.8945,3.0402,3.1859,3.3317,3.4774,3.6231,3.7688,3.9146,4.0603,4.2060,4.3518,4.4975,4.6432,4.7889,4.9347,5.0804,5.2261,5.3719,5.5176,5.6633,5.8090,5.9548,6.1005,6.2462,6.3920,6.5377,6.6834,6.8291,6.9749,7.1206,7.2663,7.4121,7.5578,7.7035,7.8492,7.9950,8.1407,8.2864,8.4322,8.5779,8.7236,8.8693,9.0151,9.1608,9.3065,9.4523,9.5980,9.7437,9.8894,10.0352,10.1809,10.3266,10.4724,10.6181,10.7638,10.9095,11.0553,11.2010,11.3467,11.4925,11.6382,11.7839,11.9296,12.0754,12.2211,12.3668,12.5126,12.6583,12.8040,12.9497,13.0955,13.2412,13.3869,13.5327,13.6784,13.8241,13.9698,14.1156,14.2613,14.4070,14.5528,14.6985,14.8442,14.9899,15.1357,15.2814,15.4271,15.5729,15.7186,15.8643,16.0101,16.1558,16.3015,16.4472,16.5930,16.7387,16.8844,17.0302,17.1759,17.3216,17.4673,17.6131,17.7588,17.9045,18.0503,18.1960,18.3417,18.4874,18.6332,18.7789,18.9246,19.0704,19.2161,19.3618,19.5075,19.6533,19.7990,19.9447,20.0905,20.2362,20.3819,20.5276,20.6734,20.8191,20.9648,21.1106,21.2563,21.4020,21.5477,21.6935,21.8392,21.9849,22.1307,22.2764,22.4221,22.5678,22.7136,22.8593,23.0050,23.1508,23.2965,23.4422,23.5879,23.7337,23.8794,24.0251,24.1709,24.3166,24.4623,24.6080,24.7538,24.8995,25.0452,25.1910,25.3367,25.4824,25.6281,25.7739,25.9196,26.0653,26.2111,26.3568,26.5025,26.6482,26.7940,26.9397,27.0854,27.2312,27.3769,27.5226,27.6683,27.8141,27.9598,28.1055,28.2513,28.3970,28.5427,28.6884,28.8342,28.9799,29.1256,29.2714,29.4171,29.5628,29.7085,29.8543,30.0000]vdim=[1.7938,1.7938,1.7938,1.7938,1.7938,1.7938,1.7938,1.7938,1.7938,1.7938,1.7937,1.7937,1.7937,1.7937,1.7937,1.7937,1.7937,1.7937,1.7937,1.7937,1.7937,1.9899,1.9845,1.9842,1.9830,1.9796,1.9735,1.9728,1.9686,1.9705,1.9656,1.9620,1.9586,1.9584,1.9539,1.9510,1.9506,1.9479,1.9412,1.9410,1.9373,1.9349,1.9330,1.9301,1.9260,1.9252,1.9216,1.9190,1.9173,1.9126,1.9095,1.9063,1.9020,1.9017,1.8993,1.8949,1.8924,1.8914,1.8875,1.8855,1.8810,1.8770,1.8748,1.8701,1.8708,1.8670,1.8656,1.8632,1.8618,1.8568,1.8569,1.8529,1.8511,1.8467,1.8490,1.8405,1.8407,1.8368,1.8342,1.8333,1.8307,1.8279,1.8261,1.8250,1.8224,1.8197,1.8185,1.8179,1.8140,1.8117,1.8096,1.8075,1.8020,1.8016,1.7993,1.7994,1.7932,1.7934,1.7913,1.7888,1.7848,1.7848,1.7823,1.7808,1.7786,1.7741,1.7718,1.7678,1.7683,1.7640,1.7637,1.7586,1.7578,1.7540,1.7539,1.7513,1.7478,1.7452,1.7414,1.7344,1.7352,1.7302,1.7319,1.7275,1.7237,1.7221,1.7184,1.7153,1.7142,1.7134,1.7096,1.7050,1.7003,1.6993,1.6970,1.6945,1.6914,1.6886,1.6873,1.6837,1.6802,1.6767,1.6776,1.6734,1.6693,1.6662,1.6647,1.6590,1.6585,1.6556,1.6537,1.6516,1.6475,1.6435,1.6410,1.6376,1.6346,1.6334,1.6315,1.6303,1.6274,1.6233,1.6221,1.6209,1.6156,1.6157,1.6129,1.6085,1.6123,1.6123,1.6123,1.6123,1.6123,1.6123,1.6123,1.6123,1.6123,1.6123,1.6123,1.6123,1.6123,1.6123,1.6123,1.6123,1.6123,1.6123,1.6123,1.6123,1.6123,1.6123,1.6123,1.6122,1.6123,1.6123,1.6123,1.6123,1.6122,1.6122,1.6123,1.6122]

※总结 ※

本文测试了一款舵机输出角度与控制芯片高电平脉冲宽度之间的关系。 角度采用了一个多圈精密电位器进行测量。 通过测量的结果来看， 控制舵机有效转动的高电平时间范围是 0.4ms 到25ms之间。 这个角度的确大大超过了普通的舵机控制范围。 舵机的输出角度范围也达到了 283°。 但是唯一遗憾的是， 舵机输出角度似乎与脉宽之间并不是很好的线性关系。 后面， 再对于其他舵机的输出角度线性度进行测量对比。

● 相关图表链接:

• 图1.2.1 测量结果