目录一．舵机 PWM 信号介绍.......................................................11．PWM 信号的定义..............................................................................................................12．PWM 信号控制精度制定..................................................................................................2二．单舵机拖动及调速算法...........................................................................................................31．舵机为随动机构.........................................................................................................3（1） HG14-M 舵机的位置控制方法.............................................................................3（2） HG14-M 舵机的运动协议.....................................................................................42．目标规划系统的特征.........................................................................................................5〔1〕舵机的追随特性.....................................................................................................5〔2〕舵机 ω 值测定........................................................................................................6〔3〕舵机 ω 值计算........................................................................................................6〔4〕采纳双摆试验验证.................................................................................................63．DAV 的定义.......................................................................................................................74．DIV 的定义........................................................................................................................75．单舵机调速算法................................................................................................................8〔1〕舵机转动时的极限下降沿 PWM 脉宽.................................................................8三．8 舵机联动单周期 PWM 指令算法..........................
