2.2 Широтно-импульсная модуляция
Широтно-импульсная модуляция (ШИМ или PWM) – это способ управления мощностью, подаваемой к нагрузке, путём изменения длительности импульса при неизменной амплитуде и частоте.
Использование широтно-импульсной модуляции значительно повышает коэффициент полезного действия электрических систем и упрощает их реализацию. ШИМ широко применяется для регулирования яркости свечения LCD дисплеев, скорости вращения двигателей и т.д. Её используют в качестве своеобразного цифро-аналогового преобразователя на выходах микроконтроллера (достаточно добавить фильтрующую RC цепочку).
Рассмотрим основные параметры ШИМ сигнала на рисунке 9.
![](data:image/png;base64,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) Рисунок 9 – ШИМ сигнал и его основные параметры На рисунке 9 обозначены следующие параметры: амплитуда импульсов A, время включённого состояния Т1, выключенного состояния T2, время периода PWM T3. Мощность на некоторой нагрузке пропорциональна отношению времени T1 и Т3. При этом отношение Т1 к Т3 называют коэффициентом заполнения ШИМ, а обратную величину - скважностью.
На выходе Arduino может быть или напряжение питания 5 В, или земля 0 В. При этом, чтобы управлять уровнем напряжения (яркость светодиода, скорость вращения двигателя и т.д.) используется широтно-импульсная модуляция.
На рисунке 10 представлены желаемое напряжение и соответствующий ей ШИМ сигнал.
![](data:image/png;base64,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)
Рисунок 10 – Желаемое напряжение и ШИМ-сигнал На практике выход микроконтроллера переключается с 0 до 5 В очень быстро (1 – 8 кГц), при этом глаз человека видит мерцания выше 50 Гц, поэтому кажется, что светимость индикаторов меняется плавно.
На рисунке 11 представлено несколько примеров с различной скважностью сигнала для напряжения 5 В.
![](data:image/png;base64,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)
Рисунок 11 – Примеры различной скважности ШИМ
Рассмотренные в первой главе платы Arduino, в зависимости от модели имеют различное количество выводов, поддерживающих широтно-импульсную модуляцию. На плате они обозначены знаком «», а подробная нумерация приведена в таблицах 2 и 4 соответственно.
Системные функции при работе с ШИМ и особенности функционирования на практике разберем при выполнении самостоятельных работ. |