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Giáo Trình Động Cơ Điện Một Chiều Và Vấn đề Điều Khiển TốcTRANSCRIPT
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Gio trnh
NG C IN MT CHIU V VN IU KHIN TC
CA NG C IN MT CHIU
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1
NG C IN MT CHIU V VN
IU KHIN TC CA NG C IN
MT CHIU
CHNG 1 NG C IN MT CHIU V CC PHNG
PHP IU KHIN TC
1.1 NG C IN MT CHIU:
1.1.1 Khi nim chung:
ng c mt chiu c s dng vi mt s lng ln trong k thut thit
k bi v nhng c trng tc quay (tc xon) kh thi vi nhng cu hnh
in khc nhau. Tc ng c mt chiu c th kim sot mt cch m i v
trong a s cc trng hp (th) c th o ngc chiu quay. T khi ng c mt
chiu c mt hiu sut cao ca qun tnh t lc xon ti r to, chng c th tr
li (p ng) nhanh chng. ng thi, phanh ng lc ni mt pht sinh
nng lng n c cp ti mt in tr cm bin, hoc phanh phc hi (phn
hi), ni m t pht sinh nng lng c cp (nui) tr li ngun cung cp in
mt chiu, c th thc hin trong cc ng dng ni mong mun dng nhanh v
hiu qu cao.
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2
Da vo cch cc t trng phn tnh ( stator) c to ra, bn trong
ng c mt chiu c chia lm 4 loi khc nhau: nam chm vnh cu, vt kha
mch r nhnh (mch song song), vt kha mch ni tip, vt kha mch hn hp.
S in, ng cong m men xon- tc , v ng cong dng in- m
men xon cho mi cu hnh c minh ho trong cc hnh t I-2 n I-5. Hnh I-
1 minh ha mt th mmen xon-tc ca ng c m n cho thy cc
mmen xon m ng c c th cung cp cc tc khc nhau in p
nh. Vi mt m men xon cho c cung cp bi ng c , th dng
in-m men xn c th c s dng o hm nh lng dng in nh
khi in p quy nh c s dng. Nh mt kinh nghim (quy lut) chung,
nhng ng c chuyn giao (truyn) nhng m men xon ln (ti) nhng tc
thp, v nhng m men xon cng c ngha l nhng dng in ng c ln.
M men khi ng hc m men cn Ts l m men ln nht m ng c sn ra
tc bng khng tng ng vi s khi ng hoc qu ti ng c. tc
khng ti max l tc duy tr ln nht m ng c c th t c; tc ny
ch c th c thc hin khi khng c ti trng hoc m men xon c ng
dng ti ng c ( ch khi n chy khng).
Trong hnh t I-2 n I-5, V l in p mt chiu ngun cung cp, IA l
dng in cc cun r to, IF l dng in trong cc cun stato, v IL l ton b
dng ti pht ra bi ngun cung cp in mt chiu.
Cc trng in t trong cc ng c nam chm vnh cu (PM) (hnh I-2)
c cung cp bi cc nam chm vnh cu, m khng yu cu ngun ln bn
ngoi v khng c sn sinh pha trc cng sut lm nng ln I2R. S la chn
mt ng c PM l sng sut hn v nh gn hn so vi cc ng c mt chiu
tng ng khc bi v t trng ko di ca cc nam chm vnh cu l mnh
m. B rng bn knh ca nam chm vnh cu l xp x 1/4 ca b rng bn knh
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3
mt cun t tng ng. Cc ng c PM c o chiu quay mt cch n
gin bi chuyn mch.
Hnh I-1 th quan h m men xon-tc ca ng c
S iu khin in p ng dng t dng in v s thay i chiu t
trng ch trong rotor. ng c PM l l tng trong cc ng dng iu khin
my tnh bi mi quan h tuyn tnh ca c trng mmen xon-tc ca n.
Thit k ca mt b iu khin lun lun n gin khi ng c l tuyn tnh t
cc phn tch h thng c n gin ho i rt nhiu.Khi mt ng c c s
dng trong mt v tr hoc trnh ng dng iu khin vi cm bin phn hi ti
mt b iu khin, n c xem (quy vo) nh mt ng c servo. Cc ng c
PM ch c s dng trong cc ng dng cng sut thp m nh lng cng
sut thng c gii hn n 5 m lc (3728 W) hoc nh hn, vi nhng s
phn loi theo sc nga nh l ph bin hn. ng c mt chiu PM c th c
qut bng chi than, khng chi than, hoc cc ng c bc.
Cc ng c mch nhnh (mch r, hay mch song song ) ( hnh I-3 ) c
li v cc cun kch t kt ni song song, chng c khi ng bi cng ngun
cung cp. Ton b dng in ti l tng ca cc dng trong li (ct) v cc dng
kch t. Cc ng c mch r ( cc ng c kch t song song ) cho thy tc
gn nh l hng s trn mt di ln ti trng, v c cc m men xon khi ng
tc khng ti(max)
tc
mm
en
xon
mmen khi ng (Ts)
mmen xon
dng
i
n
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4
( m men xon ln nht khi tc bng khng ) khong 1,5 ln ln m men
xon hot ng, c m men xon khi ng nh nht trong cc ng c mt
chiu khc, v c th tit kim c chuyn i cho php c th iu chnh
c tc bi vic t mt vn k ni tip vi cc cun kch t.
Hnh I-2 S ng c in mt chiu nam chm vnh cu v th quan h
m men xon-tc
nam chm V
ILmmen xon
tc mmen xon
dng in (IL)
dng in (IL)
V
tc
mmen xonIL
mmen xon
IA
IF
bin tr
dng t trung nh (1-5% )
xp x hng s
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5
Hnh I-3 S ng c mt chiu mch r (ng c in mt chiu kch t song
song) v th m men xon-tc .
Cc ng c kch t ni tip (Hnh I-4) c li v cc cun kch t mc ni
tip ng thi cc dng kch t v dng trong li l bng nhau. Cc ng c kch
t ni tip cho nhng m men xon khi ng rt ln, tc quay bin i rt
cao v ph thuc ti trng, v tc rt cao khi ti trng nh. Trong thc t cc
ng c kch t ni tip loi ln c th gy trt khc lit khi chng t nhin
mt ti trng (v d nh trong vic s dng mt dy ai, khi ai trt) do cc lc
ng lc cc tc cao. iu ny gi l chy ph hng . Tuy nhin khi ng
c np li ti, iu ny khng khng cn t ra mt vn g na. ng th
m men xon-tc cho mt ng c kch t ni tip l ng c dng
hyperbolic, cho thy mt mi lin h ngc gia m men xon v tc v cng
sut gn nh l hng s trn mt di rng.
Cc ng c hn hp (hnh I-5) bao gm c cc cun kch t ni tip v
song song, kt qu ca t hp cc c trng ca c cc ng c kch t ni tip
v cc ng c kch t song song. Mt phn ca ton b dng ti truyn qua c
li v cc cun ni tip, v s gi nguyn dng ti ch truyn qua cc cun mch
r. Tc ln nht ca mt ng c hn hp b gii hn, khng ging nh mt
ng c kch t ni tip, s iu khin tc ca n khng tt bng so vi mt
ng c mch r ( ng c kch t song song ). M men xon sinh ra bi cc
ng c hn hp c phn nh hn cc ng c kch t ni tip c cng kch
thc.
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6
Hnh I-4 S ng c kch t ni tip v ng c trng m men xon- tc .
Hnh I-5 S ng c hn hp mt chiu v ng c trng m men xon-tc
Lu rng khng ging nh ng c nam chm vnh cu, khi cc tnh
in p cho ng c mch r nhnh (ng c kch t song song ), ng c kch
t ni tip, hoc ng c mt chiu hn hp b thay i, chiu quay s khng
i. L do cho iu ny l cc tnh ca c stator v rotor thay i theo t trng
v cc cun li b kch hot bi cng mt ngun.
1.1.2 Phng trnh ng lc hc ca ng c in mt chiu PM.
Khi li ca mt ng c c kim tra vi mt ng h o tr khng vi
li c nh v vo mt v tr, Tr khng ng c xut hin tng ng vi
mt in tr R trong mch ni tip vi s t hp song song ca mt cm khng
L v mt in tr th hai RL. Trong khi li bt u quay mt in p c t
dng in (IL)ILIA
mmen xon
mmen xon
tc
Vcun kch
tc chy ph hng
V
IA IL
tc
mmen xon dng in (IL)
mmen xon
IF
mch ni tip
mch song song
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7
cm trong cc cun li gi l sut in ng phn hi chng li in p s
dng. Trc , mch in tng ng cho li c th hin trong hnh I-6.
RL, tn tht in tr trong mch t, n gn nh cng mt loi vi in tr
c ln ln hn R, in tr ca cc cun, v thng n gin. Nu chng ta
cho rng in p s dng cho li l Vin v dng in chy qua li l Iin,
phng trnh in cho ng c l:
Hnh I-6 Mch tng ng cho li ng c
wkRIdtId
LV einin
in ..
++= (I-2-1) w l tc quay vng ca m t (rad/s) v ke l hng s in ca m t nh
ngha nh sau:
wV
k emfe = (I-2-2) ng c nam chm vnh cu (PM) d iu khin v phn tch, ta s thy
nhng phng trnh iu khin ca n chi tit hn nhiu .V s tng tc gia
trng stator v dng in phn ng,momen xon pht sinh bi ng c in
mt chiu PM s t l thun vi dng in phn ng:
Vemf
Vin
Iin
L
RL
R
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8
T=kt.Iin (I-3-1)
kt c nh ngha nh hng s momen xon ca ng c. Hng s in ke
v hng s momen xon kt ca ng c in PM l nhng tham s rt quan
trng, chng thng c thng bo trong cc c im k thut ca nh sn
xut.
Khi ng lc hc ca h thng c xem xt, momen xon T ca ng c
c cho bi
LinLaTT
dtdwJJT +++= )(
(I-3-2)
Ja v JL l nhng momen c cc qun tnh ca phn ng v gn lin ti
trng, Tin l momen cn chng li s quay ca phn ng, v TL chng li momen
xon ca ti.
Khi ng c c ni vi ngun in, phn mg s tng tc cho n khi t
ti mt trng thi n nh. Ti trng thi n nh, phng trnh I-2-1 tr thnh
Vin = R.Iin + ke.w (I-3-3)
Ch rng ti trng thi n nh, t phng trnh I-3-2, momen xon ca
ng c cn bng vi momen ti trng gi nh.
Tm Iin trong phng trnh I-3-1 v thay vo trong phng trnh I-3-3 ta c
wkT
kRV e
tin .. +
=
(I-3-4)
Momen xon ca ng c c tnh theo phng trnh
w
Rkk
VRk
T teint .
.
=
(I-3-5)
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9
Phng trnh trn ni ln mi lin h tuyn tnh gia momen xon - vn tc
ca ng c mt chiu PM vi in p khng i.
Hnh I-7 biu din ng momen - vn tc v ng cong cng sut - vn
tc cho mt ng c in mt chiu nam chm vnh cu. V momen - vn tc
quan h tuyn tnh, n c th c biu din trong gii hn ca momen khi
ng TS v vn tc khng ti wmax nh:
=
max
1)(w
wTwT s ( I-3-6)
Cng sut pht ra ca ng c mi tc khc nhau c th c biu din
nh sau
==
max
1..)(w
wTwTwwP s (I-3-7)
Cng sut u ra ln nht ca ng c xut hin
0.21
max
=
=
wwT
dwdP
s
(I-3-8)
Gii vn tc cho
w * = 1 / 2. wmax (I-3-9)
V vy vn tc tt nht khi chy mt ng c nam chm vnh cu t
c cng sut u ra cc i l bng mt na vn tc khng ti.
Ngoi nhng hng s momen v hng s in, nh sn xut thng cng ch
r in tr R. Gi tr ny hu ch trong vic xc nh dng in tr IS ca ng
c
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10
Hnh I-7 c im ca ng c in mt chiu nam chm vnh cu
RV
kI intS .= (I-3-10)
Phng trnh ny cho dng in c gi tr ch khi r to ca ng c khng
quay; mt khc, dng in rto c gi nh v sut in ng trong nhng
cun r to. Dng in tr l dng in ln nht chy qua ng c cn c vo s
cung cp in p. Phng trnh I-3-1 v I-3-10 c th s dng lin h momen
cn TS vi hng s momen, cung cp in p, v in tr phn ng:
RV
kT intS .= (I-3-11)
1.2 IU KHIN TC NG C IN MT CHIU
Cn
g su
t
Mm
en
ung mmen - vn tc
ung cng sut - vn tc
wmaxw*Vn tc
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11
1.2.1 Khi nim chung:
V phng din iu khin tc ng c in mt chiu c nhiu u vit
hn so vi loi ng c khc, khng nhng n c kh nng iu chnh tc d
dng m cu trc mch lc, mch iu khin n gin hn ng thi li t cht
lng iu chnh cao trong di iu chnh tc rng.
Thc t c hai phng php c bn iu chnh tc ng c in mt
chiu:
iu chnh in p cp cho phn ng ng c.
iu chnh in p cp cho mch kch t ng c.
Cu trc phn lc ca h truyn ng iu chnh tc ng c in mt
chiu bao gi cng cn c b bin i. Cc b bin i ny cp cho mch phn
ng ng c hoc mch kch t ng c. Trong cng nghip thng s dng bn
loi b bin i chnh:
B bin i my in gm: ng c s cp ko my pht mt chiu hoc
my in khuch i (KM)
B bin i in t: Khuch i t (KT)
B bin i chnh lu bn dn: Chnh lu tiristo (CLT)
B bin i xung p mt chiu: tiristo hoc tranzito (BBXA)
Tng ng vi vic s dng cc b bin i m ta c cc h truyn ng
nh:
H truyn ng my pht-ng c (F-)
H truyn ng my in khuch i - ng c (MK-)
H truyn ng khuch i t - ng c (KT-)
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12
H truyn ng chnh lu tiristor-ng c (T-)
H truyn ng xung p-ng c (XA-)
Theo cu trc mch iu khin cc h truyn ng, iu chnh tc ng
c mt chiu c loi iu khin theo mch kn
(ta c h truyn ng iu chnh t ng) v loi iu khin theo mch h
(h truyn ng iu khin h). H iu chnh t ng truyn ng in c cu
trc phc tp, nhng c cht lng iu chnh cao v di iu chnh rng hn so
vi h truyn ng h. Ngoi ra cc h truyn ng iu chnh tc ng c
in mt chiu cn c phn loi theo truyn ng c o chiu quay v khng
o chiu quay. ng thi tu thuc vo cc phng php hm, o chiu m ta
c truyn ng lm vic mt gc phn t, hai gc phn t v bn gc phn t.
1.2.2 Nguyn l iu chnh in p phn ng:
iu chnh in p phn ng ng c mt chiu cn c thit b ngun nh
my pht in mt chiu kch t c lp, cc b chnh lu iu khin vv... Cc
thit b ngun ny c chc nng bin nng lng in xoay chiu thnh mt
chiu c sc in ng Eb iu chnh c nh tn hiu iu khin Uk.
Hnh II-1. S khi v s thay th ch xc lp.
V l ngun c cng sut hu hn so vi ng c nn cc b bin i ny c
in tr trong Rb v in cm Lb khc khng.
BB
L k
Uk
Rb RuI
EuEb(Udk) U
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13
ch xc lp c th vit c phng trnh c tnh ca h thng nh
sau:
Eb - E = I Rb + RI
udm
udb
dm
b IK
RRK
E+
= (II-2-1)
MU dk = )(0
V t thng ca ng c c gi khng i nn cng c tnh c cng
khng i, cn tc khng ti l tng th tu thuc vo gi tr in p iu
khin Uk ca h thng, do c th ni phng php iu chnh ny l trit .
xc nh gii iu chnh tc ta rng tc ln nht ca h thng
b chn bi c tnh c bn, l c tnh ng vi in p phn ng nh mc v t
thng cng c gi gi tr nh mc. Tc nh nht ca di iu chnh b
gii hn bi yu cu v sai s tc v v m men khi ng. Khi m men ti l
nh mc th cc gi tr ln nht v nh nht ca tc l:
dm
M= max0max (II-2-2)
dm
M= min0min
tho mn kh kh nng qu ti th c tnh thp nht ca di iu chnh
phi c m men ngn mch l:
Mnmmin = Mcmax = KM.Mdm
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14
Trong KM l h s qu ti v m men. V h c tnh c l cc ng
thng song song nhau, nn theo nh ngha v cng c tnh c ta c th vit:
)1(1)( minmin == Mdmdmnm KM
MM
1
1.
)1(
max0max0
=
=M
dm
dmM
dm
KM
MK
M
D
(II-2-3)
Hnh II-2. Xc nh phm vi iu chnh
Vi mt c cu my c th th cc gi tr 0max, Mm, KM l xc nh, v vy
phm vi iu chnh D ph thuc tuyn tnh vo gi tr ca cng . Khi iu
chnh in p phn ng ng c bng cac thit b ngun iu chnh th in tr
tng mch phn ng gp khong hai ln in tr phn ng ng c. Do c th
tnh s b c:
Wo maxWmax
WminWo min
Wk1
Wk1
Mnm minMm0
M,I
W
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15
10/max dmo M
V th vi ti c c tnh m men khng i th c gi tr phm vi diu chnh
tc cng khng vt qu 10. i vi cc my c yu cu cao v di iu
chnh v chnh xc duy tr tc lm vic th vic s dng cc h thng h
nh trn l khng tho mn c.
Trong phm vi ph ti cho php c th coi cc c tnh c tnh ca truyn
ng mt chiu kch t c lp l tuyn tnh. Khi iu chnh in p phn ng
th cng cc c tnh c trong ton di iu chnh l nh nhau, do st
tc tng i t gi tr ln nht ti c tnh thp nht ca di iu chnh. Hay
ni cch khc , nu ti c tnh c thp nht ca di iu chnh m sai s tc
khng vt qu gi tr sai s cho php, th h truyn ng s lm vic vi sai s
lun nh hn sai s cho php trong ton b di iu chnh. Sai s tng i ca
tc c tnh c thp nht l:
minmin
minmin
oo
os
=
=
cpo
dm sM
s =min
(II-2-4)
V cc gi tr Mdm, omin, Scp la xc nh nn c th tnh c gi tr ti thiu
ca cng c tnh c sao cho sai s khng vt qu gi tr cho php. lm
vic ny, trong a s cc trng hp cn xy dng cc h thng truyn ng in
kiu vng kn.
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16
Trong sut qu trnh iu chnh in p phn ng th t thng kch t c
gi nguyn, do m men ti cho php ca h s l khng i:
Mc.cp=Km.Im=Mm.
Phm vi iu chnh tc v m men nm trong hnh ch nht bao bi cc
ng thng = m , M = Mm v cc trc to . Tn hao nng lng chnh l
tn hao trong mch phn ng nu b qua cc tn hao khng i trong h.
E = E + I(Rb + R)
IEb = I E + I2(Rb + R)
Nu t Rb + R = R th hiu sut bin i nng lng ca h s l:
( )22
dm
uuu
uuu
KMRRIEI
EI
+
=+
=
***
RMu +=
Khi lm vic ch xc lp ta c m men do ng c sinh ra ng bng
m men ti trn trc: M* = Mc* v gn ng coi c tnh c ca ph ti l
Mc* = (* )x th
( ) 1****
+
= xu R (II-2-5)
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17
Hnh II-3 Quan h gia hiu sut truyn ng v tc vi cc loi ti khc nhau
Hnh II-3 m t quan h gia hiu sut v tc lm vic trong cc trng
hp c tnh ti khc nhau. iu chnh tc bng cch thay i in p phn
ng l rt thch hp trong trng hp m men ti l hng s trong ton di iu
chnh. Cng thy rng khng nn ni thm in tr ph vo mch phn ng v
nh vy s lm gim ng k hiu sut ca h.
1.2.3 Nguyn l iu chnh t thng ng c:
iu chnh t thng kch ca ng c in mt chiu l iu chnh m
men in t ca ng c M = KI v sc in ng quay ca ng c E =
K. Mch kch t ca ng c l mch phi tuyn, v vy h iu chnh t
thngcng l h phi tuyn:
dtd
rre
i kkb
kk
+
+= (II-3-1)
trong rk - in tr dy qun kch thch,
rb - in tr ca ngun in p kch thch,
m
u
1
1
x=0
x=-1
m
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18
k s vng dy ca dy qun kch thch,
Trong ch xc lp ta c quan h:
;kb
kk rr
ei
+= = f [ik]
Thng khi iu chnh t thng th in p phn ng c gi nguyn
bng gi tr nh mc, do c tnh c thp nht trong vng iu chnh t
thng chnh l c tnh c in p phn ng nh mc,t thng nh mc v
c gi l c tnh c bn (i khi chnh l c tnh t nhin ca ng c). Tc
ln nht ca di iu chnh t thng b hn ch bi kh nng chuyn mch
ca c gp in. Khi gim t thng tng tc quay ca ng c th ng
thi iu kin chuyn mch ca c gp cng b xu i, v vy m bo iu
kin chuyn mch bnh thng th cn phi gim dng in phn ng cho php,
kt qa l m men cho php trn trc ng c gim rt nhanh. Ngay c khi gi
nguyn dng in phn ng th cng c tnh c cng gim rt nhanh khi
gim t thng kch thch:
( )uR
K 2= hay ( )2** =
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19
Hnh II-4 S thay th (a) c tnh iu chnh khi iu chnh t thng ng c (b)
Quan h (ikt),(c)
Do iu chnh tc bng cch gim t thng nn i vi cc ng c m t
thng nh mc nm ch tip gip gia vng tuyn tnh v vng bo ho ca
c tnh t ho th c th coi vic iu chnh l tuyn tnh v hng s C ph
thuc vo thng s kt cu ca my in:
.. kkb
k errCiC+
==
Uk rbkLk
ikrkk
I
E
max
m
c tnh c bn
0
b,
a,
Lk(Uk)
ikk
0
c,
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20
1.2.4 iu khin ng c in mt chiu PM bng in t:
Dng n gin nht ca iu khin ng c l iu khin mch h , m n
gin l iu khin gi tr in p v nhng c trng ca ng c v xc nh ti
iu khin vn tc v momen. Nhng hu ht vn quan tm ph thuc loi
iu khin t ng no ni in p t ng c thay i sinh ra chuyn
ng mong mun. y c gi l mch kn hoc mch iu khin phn hi v
n ph thuc vo vn tc u ra / hoc momen cm bin ti nhng gi tr u ra
phn hi lin tc so snh u ra thc t ti mt gi tr mong mun gi l im
tp hp. Khi b iu chnh thay i u ra ca ng c dch chuyn st ti
im tp hp. B iu chnh vn tc in t c hai kiu: b khuych i tuyn
tnh v b bin i chiu rng xung. Mc du c hai h thng c th c thit
k cho mt chc nng tt hn, cc b iu chnh bin i b rng xung c ci
tin m chng iu khin cc tranzito cng sut lng cc nhanh chng gia cc
gii hn v s cn bng ni thao tc rt hiu qu (tn tht cng sut l ti thiu)
hoc bt v tt FET. B khuch i ph khuch i cng sut tuyn tnh lm tha
mn nhng ph thuc tn tht nhit t n hot ng trong vng tuyn tnh
ca thao tc tranzito. Ta s tm nhng b iu khin ph kinh t, s dng nhng
b khuch i tuyn tnh, nhng bi v yu cu cng sut thp, d ch to, kch
thc nh, v gi thnh thp, chng ta s tp trung thit k b khuch i, gi
l b khuych i bin i chiu rng xung (PWM).
Nguyn l hot ng ca my khuch i PWM c biu din hnh II-5 .
Mt in p mt chiu cung cp cng sut nhanh chng c chuyn thnh mt
tn s f c nh gia hai gi tr ( v d Bt v Tt ). Tn s ny thng ln
hn 1 KHz. Gi tr cao c gi trong thi gian mt xung t trong thi gian chu
k T c nh
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21
fT 1=
(II-4-1)
Sng c to ra c mt chu k cng sut, c nh ngha nh t s gia
thi gian ON v chu k sng, thng thng c tnh theo phn trm:
Chu k cng sut = (t/T).100% (9.16)
Trong khi chu k cng sut c thay i (bi b iu chnh), dng in
trung bnh chy qua ng c s thay i, gy ra nhng s thay i v vn tc v
momen u ra. N ch yu thay i v chu k cng sut ch khng phi l gi
tr ca in p cung cp cng sut m xc nh nhng c trng u ra ca ng
c.
Hnh II-5
B bin i b rng xung ca ng c in mt chiu
PWMelectronics
dc powersupply (Vs)
+
t
T
T
pulses:
faster(large t)
slower(small t)
example drive circit
-
22
S khi ca mt mch iu khin phn hi tc PWM cho ng c mt
chiu c th hin hnh II-6. Mt p k pht sinh mt tn hiu ra tuyn tnh
lin h n tc ca ng c. N c so snh vi tc mong mun t
trc (mt in p khc c th iu khin bng tay hoc iu khin bng my
tnh). S c v dng in ca ng c c cm nhn bi mt my iu chnh
n chiu rng xung m pht sinh rng mt xung vung iu chnh nh mt
tn hiu ra. Tn hiu ny c khuych i ti mt mc thch hp cho in p
iu khin cho ng c.
Hnh II-6
motor
tachometer
power amp
PWM regulatorelectronics
measured speed
+
-
set point(desired) speed
in p PWM
Dng in motor
Chu trnh cng sut thpChu trnh cng sut cao
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23
Hnh II-7 in p PWM v dng in motor
Trong iu khin ng c PWM in th i chiu nhanh qua phn ng, v
dng in qua ng c b tc ng bi tnh t cm v khng tr ca ng c.
Do tc i chiu cao, dng in qua ng c c s dao ng nh quanh
gi tr trung bnh ging trong minh ha hnh II-7. Khi cng sut vng quay cng
ln th gi tr trung bnh v tc ng c chy cng tng
V d minh ha: Mch cu hnh H cho ng c mt chiu:
Mc d c th thit k v to ra mt a quay cho mt ng c ph iu
khin ring v cc thnh phn nng lng, nhng c mt vi thit k mch tch
hp c kh nng tit kim c nhiu thi gian v tin bc trong thit k my.
Xt v vn c bn ca vic iu khin ng c mt chiu. Mc ch cui
cng ca bn c th l iu khin tc chiu quay, gc, v (hoc) momen
quay.
Vi yu cu iu khin tc ca ng c mt chiu, chng ta c th phi
thay i dng cung cp cho ng c. iu khin hng quay th chiu ca
dng in cung cp cho ng c phi i chiu. iu i hi mt b khuch
i dng in v mt vi thit b chuyn hng dng in. gii quyt yu
cu ny, ngi ta a ra khi nim mch cu H (H-bridge). Ngi ta s dng 4
transistors xp theo hnh H xung quanh ng c mt chiu ( nh hnh v di)
v ln lt kch hot tng cp ti mi thi im cho hng mong mun ca ng
c.
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24
Nu transistor Q1 v Q3 kch hot, Q2 v Q4 tt th dng in s truyn qua
ng c theo hng nh hnh v v ng c s quay theo 1 hng. Tip n, khi
Q2, Q4 kch hot cn Q1, Q3 tt th ng c s quay theo hng ngc li.
Ngi ta c th to ra mt H-bidge vi ngun BJTs hoc MOSFET, nhng c
th rt kh chn ng hng quay mong mun bi trasistor. Do ta s thc
hin mt gii php s dng ng truyn ca khp cht bn dn cho cc IC iu
khin chuyn ng, gii php ny c th c tng thch cho vic iu khin
ng c mt chiu. Xt LMD18200, mt mch cu H 3A, 5V thit k c bit
iu khin ng c mt chiu v ng c bc. Ngoi ra n gin cch iu
khin ngi dng c th s dng c tnh an ton v qu dng v qu nhit, c
th s dng rng xung thay i h thng, v c th t ng hm ng c. S
chc nng c minh ho di y.
Q1Q1
Q4 Q3
Q2
Q4
Q3
Q2
+V
-
25
S chc nng:
S chc nng v thng tin iu khin:
inputlogic
drection 3
brake 4
pill 5
currentsensing
-
26
Thit k ny s dng MOSFET power vi cc diot c nhim v bo v tia
qut ngc i qua transistor. Cc cc ng c c ni gia u ra 1 v u ra
2. in p cung cp c th ln ti 55V. Cc tn hiu s bn ngoi iu khin
hng, vic hm v cc u ra khi nhit ln hn 1700 C. Khi nhit vt
qu 1450 C s c xc nh bi b bo nhit.
S khi hon thin ca thit k b iu khin tc c minh ho nh
hnh v. im thit lp tc c xc nh bi mt vn k hoc mt gi tr
in p vo. Mt ng h o tc c ni thm vo ng c nh l b cm
ng cung cp mt cch o tc ng c. IC LM3525 bin i rng xung
lu chuyn khp cht bn dn c s dng iu khin u vo b iu khin
ng c H-bridge.
11
10
9
8
7
6
5
4
3
2
1
-
27
CHNG 2
LM3525 PWM
LMD18200 H-b ridge
motor
ng h o tc
iu khin hung
im t vn k
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28
THIT K PHN CNG IU KHIN NG C
MT CHIU
2.1 THIT K NGUN CUNG CP CHO MCH CHUN HO V VI X L
Vi x l cn ngun 5V, do ta thit k mch t ngun 220V thnh 5V nh hnh v di:
2.2 GHP NI CARD THU THP S LIU 12 KNH VI MY TNH
2.2.1 Cng ni tip RS-232
a s cc h vi x l u c ghp ni vi my tnh thng qua cng ni tip RS-232. y l mt chun truyn thng kh ph bin vi cc my PC hin nay.
Thng thng cc my tnh u c hai cm DB9 hoc DB25 pha sau dnh cho cng ni tip RS-232.
c im ca RS-232:
Thng tin c truyn theo kiu im - im. Ph hp vi truyn thng tin s, nh phn. Truyn theo kiu ni tip khng ng b. Truyn khng cn bng nn d b nh hng bi nhiu.
220
BA1
12V
12V
0
C1
2200m/25V
C1
2200m/25V
C1
100n
C1
1000m/16
C1
100n
C1
100n
C1
1000m/16v
C1
100n
7805
In Out0
In Out0
+5V
-5V
0
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29
Phn ln tn hiu c truyn dng m ASCII. Truyn song cng cn 3 dy. Mc in p ca tn hiu: Mc 1 l -3 : -12V
Mc 0 l +3 : +12V
Khong cch truyn ngn c khong 15m. Tc truyn ti a: 19600bps. Bng b tr cc chn trn cm DB9 v DB 25:
Tn hiu DB9 DB25
TxD 3 2
RxD 2 3
RTS 7 4
CTS 8 5
DSR 6 6
GND 5 7
DCD 1 17
DTR 4 20
RI 9 22
Hnh dng cc cm nh sau:
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30
ghp ni h thng vi x l vi my tnh PC cn c cc mch chuyn i mc t mc TTL sang mc chun RS-232 v ngc li. Cc mch thng dng hin nay l cc mch dng Transistor lm b chuyn i, dng b cch ly quang v dng vi mch chuyn dng. Trong n ny ta dng vi mch chuyn dng MAX 232 ca hng MAXIM.
2.2.2 Vi mch MAX 232:
Vi mch MAX 232 lm nhim v chuyn i mc TTL li vo (pha h C8051) thnh mc 10V pha truyn ra (My tnh) v cc mc t 3 : 12V pha my tnh thnh mc TTL a vo vi x l.
S chn ca vi mch MAX 232:
5
4
3
2
1
9
8
7
6
DB9
5555555555555555555555555
DB25
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31
Khi ghp ni MAX 232 vi vi iu khin v my tnh th TxD t vi iu khin c ni trc tip n chn 11 (T1 In) ca MAX 232 cn chn ra 14 (T1 Out) c ni trc tip vi chn 2 ca cng ni tip (RxD). Chn TxD ca cng ni tip (chn 3 my tnh) ni vi li vo chn 13 (R1 In) ca MAX 232, t chn 12 (R1 Out) c ni trc tip vi chn RxD ca vi iu khin.
Vi mch MAX 232 c 2 b m v 2 b nhn. ng dn iu khin li vo CTS, iu khin vic xut d liu ra cng ni tip khi cn thit, c ni vi chn 9 (R2 Out) ca vi mch MAX 232. Cn chn RTS (chn 10 ca MAX 232) ni vi ng dn bt tay iu khin qu trnh nhn. i vi cc giao thc n gin ch cn s dng 3 dy: TxD, RxD, GND.
2.3 VI IU KHIN H MCS 51
Ngy nay trong qu trnh cng nghip ho v hin i ho cn n cc b vi iu khin h tr cho cc b iu khin ngy cng pht trin v hon thin hn. Mi b vi iu khin thng c ch to thnh mt chp, trn c cc cng vo ra, cc b nh c th phi ghp vi cc thit b khc v thc hin cc chc nng iu khin. Trong cc b vi iu khin hin nay h MCS_51 ca
R2in 8
T2out
V-
C2-
C2+
C1-
V+
C1+
8
8
8
8
8
8
8 16
15
14
13
12
11
10
9
Vcc
GND
T1out
R1in
R1out
T1in
T2in
R2out
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32
hng INTEL l thng dng nht, nhn nhn mt cch tng qut v h MCS_51 ta c bng tng kt.
Tn gi Cng ngh Rom trong Rom ngoi Ram trong Ram ngoi Timmer/Counter
8031 NMOS Khng 64Kbyte 128Kbyte 64Kbyte 2
8051 NMOS 4Kbyte 64Kbyte 128Kbyte 64Kbyte 2
8751 NMOS 4Kbyte EPROM
64Kbyte 128Kbyte 64Kbyte 2
8032 NMOS Khng 64Kbyte 256Kbyte 64Kbyte 3
8052 NMOS 4Kbyte 64Kbyte 256Kbyte 64Kbyte 3
Phn ln cc b vi x l 8051 c ng v theo kiu hai hng DIL vi tng cng 40 chn. Mt s khc c ng v theo kiu hnh vung PLCC vi 44 chn. Hnh sau l s chn ca IC8051 theo kiu DIL 40 chn.
Gii thch s chn v chc nng ca 8051.
P2.0P2.1P2.2P2.3P2.4P2.5P2.6P2.7P1.0P1.1P1.2P1.3P1.4P1.5P1.6P1.7PO.0PO.1PO.2PO.3PO.4PO.5PO.6PO.7
2122232425262728123456783938373635343332
AD5
AD1AD0
AD3AD2
AD4
AD6AD7
A11
A9A10
A15
A13A12
A14
A8
13
1110
12
1514
1617RD\
WR\T1T2INT1INT2TXDRXD
33p
33p
11,0592 MHz
29
30
31
9
PSEN
ALEEA
RST
40
20
19
18
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33
S chn
K hiu Chc nng
18 P1.0P1.7 Cng vo/ra Port
9 Reset Li vo Reset tch cc mc cao
1017 P3.0p3.7 Cng vo/ra Port v tt c cc ng dn vi chc nng c bit
18 XLAT 2 Li vo ca b dao ng thch anh bn trong
19 XLAT 1 Li vo ca b dao ng thch anh bn trong
20 VSS Chn ngun ni 0V
2128 P2.0P2.7 Cng vo/ra Port 2 ni cc ng a ch cao t A8A15
29 PSEN Dng cho b nh chng trnh ngoi
30 ALE Cho php cht a ch
31 EA lm vic vi Rom ngoi hay Rom trong
3239 P0.7P0.0 Cng vo/ra Port 0, cc ng a ch thp t A7A0
40 VDD Ngun cung cp 5V
2.3.1 S khi ca b vi x l 8051:
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34
-Interrupt control : iu khin ngt
-Other registere : Cc thanh ghi khc
-128 Byte RAM :
-Timer 1, 0 : B nh thi
-CPU : n v iu khin trung tm
-Osillator : Mch dao ng
-Bus control : iu khin Bus
-I/O port : Cc Port xut/nhp
-Serial Port : Port ni tip
-Address/data : a ch d liu
-Cng truyn ni tip RS - 232
2.3.2 Cch t chc v truy cp b nh ca 8051
B nh ca 8051 ni ring v h MCS_51 ni chung chia lm 2 vng b nh ring bit: B nh chng trnh v B nh d liu.
EA
RST
ALE
PSEN
Oscillation
CPU
Buscontrol
TIMER 0
Interruptcontrol
Otherregisters
Serial port
INT1*
INT0*
TIMER 1
P1P0 P2 P3
I/O Port
RXD*TXD*
Serialport
128 ByteRAM
ROM4K
TIMER 0
TIMER 1
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35
2.3.2.1 B nh chng trnh (Program Memory)
B nh chng trnh (ROM, EPROM) c th c nhng khng ghi c, b nh chng trnh c th ti 64 Kbyte. i vi 8051 c ROM trong vi dung lng 4 Kbyte, vi nhng loi khng c ROM trong ta phi dng ROM ngoi lu gi chng trnh, khi c ROM ngoi phi thng qua tn hiu PSEN (Program Store Enable). Do vy tn hiu PSEN ch c tc dng vi ROM ngoi cn i vi ROM trong tn hiu PSEN s khng c tc dng.
Sau khi RESET CPU bt u thc hin t vng 0000H, tip theo l n vng t cc ngt ca XPU t a ch 0003H n 0023H. Vic s dng ROM trong (i vi nhng loi c ROM trong) v ROM ngoi c biu hin bng cch s dng chn EA (External Acess).
*Khi chn EA ni vi Vcc:
- i vi nhng loi c ROM trong 4 Kbyte nh 8051 th chng trnh thc hin t a ch 0000H n 0FFFH ca ROM trong sau tip tc t a ch 1000H n FFFFH ca ROM ngoi.
- i vi nhng loi c ROM trong l 8 Kbyte s chn t a ch 0000H n 1FFFH ca ROM trong v t a ch 2000F n FFFFH ca ROM ngoi.
- i vi nhng loi c ROM trong l 16 Kbyte s chn t a ch 0000H n 3FFFH ca ROM trong v t a ch 4000G n FFFFH ca ROM ngoi.
*Khi chn EA ni vi Vss:
- Lc CPU s lm vic ton b vi ROM ngoi. Do vy i vi nhng loi khng c ROM trong th chn EA phi c ni vi Vss.
Trong khi truy cp b nh ngoi CPU s vit 0FFH ti b cht ca Port 0 nh vy n s xo bt c thng tin ti Port 0 m SFR c th cn ang gi, nn vic vit ra Port 0 trong khi ang truy cp b nh ngai s b sai. V vy nn nh: khng ghi ra Port 0 khi b nh chng trnh ngoi ang c s dng.
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36
2.3.2.2 B nh d liu
B nh d liu (RAM) nu c a ch l 8 bit th cho php CPU 8 bit thao tc nhanh hn, nu a ch l 16 bit c th truy cp c phi thng qua thanh ghi DPTR (Data Pointer). Vi 8051 c 128 Byte RAM trong c th ghp vi 64 Kbyte RAM ngoi. Trong sut qu trnh CPU truy cp ti b nh d liu s pht tn hiu c RD v tn hiu ghi WR.
i vi 128 Byte ca RAM trong bao gm: 32 byte thp nht l nhm 4 bank thanh ghi, mi bank thanh ghi gm 8 thanh ghi R0 R7. Khi s dng cc thanh ghi trong chng trnh phi np 2 bit vo thanh ghi Program Status Word (PSW). Tip theo l 16 byte trn vng cc bank thanh ghi t a ch 20H 2FH l vng cc bit a ch, vng ny c 128 bit. Bit 0 ca byte 20H c a ch l 0 v bit 7 ca byte 2FH c a ch l 7FH.
2.3.3 Cc thanh ghi chc nng c bit (Special Function Registers SFRs)
SFRs- cc thanh ghi vi chc nng c bit gm c thanh ghi s liu v thanh ghi iu khin nh Timer, cng ni tip, h thng ngt... SFRs c a ch t 80H n FFH. Bng cc thanh ghi trong SFRs ca 8051:
Registers Mnemonic Internal AddressPort 0 Latch P0 80HStack Pointer SP 81HData Pointer DPTR 82H 83H Data Pointer Low Byte DPL 82HData Pointer High Byte DPH 83HPower Control PCON 87H
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37
Timer/Counter Control TCON 88HTimer/Counter Mode Control TMOD 89HTimer/Counter 0 Low Byte TL0 8AHTimer/Counter 1 Low Byte TL1 8BHTimer/Counter 0 High Byte TH0 8CHTimer/Counter 1 High Byte TH1 8DHPort 1 Latch P1 90HSerial Poft Control SCON 98HSerial Data Port SBUF 99HPort 2 Latch P2 A0HInterrrupt Enable 1E A8HPort 3 Katch P3 B0HInterrupt Priority Control 1P B8HProgram Status Word PSW D0HAccumulator Acc or A E0HB Rgister B F0H
Thanh ghi t trng thi chng trnh (Program Status Word - PSW) bao gm cc bit trng thi phn nh trng thi ca CPU. Thanh ghi PSW c t trong cc thanh ghi chc nng c bit SFRs
CY AC FO RS0 OV P
*PSW 0 (Parity P): Bit kim tra chn l, c t bi phn cng P=1: Nu s cc bit =1 trong thanh ghi ACC l l P=0: Nu s cc bit = 1 trong thanh ghi ACC l chn *PSW 1: ngi dng nh ngha c. *PSW 2 (Over flow OV): C bo trn, c t khi c trn xy ra ca php tnh s hc.
*PSW 3 (RS0): Dng chn bank thanh ghi. *PSW 4 (RSI): Dng chn bank thanh ghi.
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38
*PSW 5 (F0): C trng thi. *PSW 6 (auxiliary Carry Flag AC): C nh ph, c thnh lp khi c nh sang t bit 3 ca ton hng trong php cng.
*PSW 7 (Carry Flag CY): C nh, c thnh lp khi c s nh t bit 7 ca ton hng ca b ALU.
2.3.4 Cc ch a ch trong 8051
2.3.4.1 Ch a ch trc tip (Direct Addressing)
Trong ch ny mt ton hng cha a ch ca mt nh, a ch ca nh c cho r xc nh bi 8 bit a ch cn ton hng kia l thanh ghi. V d:
ADD A,7FH
Cu lnh ny s thc hin cng ni dung nh 7FH vi ni dung trong thanh ghi A, kt qu chuyn vo thanh ghi A.
Ch a ch dng khi lm vic vi RAM trong v cc thanh ghi trong SFRx.
2.3.4.2 Ch a ch gin tip (Indirect Addressing)
Ch a ch ny dng vi c RAM trong v RAM ngoi. Trong ch ny mt ton hng l 1 thanh ghi c s dng cha a ch ca nh cn ton hng kia l thanh ghi. Nu a ch ca nh 8 bit ta c th dng cc thanh ghi R0 R7 ca cc bank thanh ghi hoc l Stack Pointer. Nu a ch l 16 bit ta ch c th dng thanh ghi. V d:
ADD A,@R0
Cu lnh ny s thc hin cng ni dung ca nh c a ch t trong thanh ghi R0 vi ni dung trong thanh ghi A, kt qu chuyn vo thanh ghi A.
2.3.4.3 Ch a ch thanh ghi (Regiter Addressing)
Trong ch ny ton hng ngun hoc ton hng ch c th l 1 trong 8 thanh ghi ca bank thanh ghi chn. V d:
MOV R0, B
-
39
MOV A, R7
2.3.4.4 Ch a ch tc th (Immediate Addressing)
Trong ch ny ton hng ngun l hng s c km theo m. V d:
MOD A, #100; Np vo A s 100 h c s 10
MOD A, #10H; Np vo A s 10 h c s 16
2.3.4.5 Ch thanh ghi c trng (Register Specific Addressing)
Trong mt s trng hp ta dng ch ny gi thanh ghi. V d:
MOV 0E0H, #1; Chuyn hng s 1 vo trong SFR 0H
2.3.4.6 Ch a ch thanh ghi ch s (Register Specific Addressing)
Ch ny ch c dng tra bng (Look Up Table). Trong ch ny a ch ngun hoc a ch ch c t trong hoc l DPTR (Data Pointer) hoc l PC (Program Counter). V d:
MOV DPTR, #8100H
MOV A, #0
MOV A, @A+ DPTR
2.3.5 Cng vo ra song song
8051 c 4 cng vo ra song song: Port 0 (P0), Port 1 (P1), Port 2 (P2, Port 3 (P3)
Khi cng c s dng l cng ra: S liu c a vo thanh ghi SFR tng ng, ng thi c a ra cht v tip tc pht ra tn hiu sau khi vic ghi c hon thnh, gi tr a ra cng ra c thay i khi gi tr mi c cht.
Khi cng c s dng lm cng vo: u tin l vit gi tr FFH ra cng, sau chn no ca cng c mc in p thp s c nhn bit l 0 v cng c th c vo SFRs tng ng.
-
40
Port 0, Port 2, Port 3 ngoi cc chc nng ca cc cng vo/ra cn c cc chc nng khc. thc hin cc chc nng khc nhau th cc bit tng ng ca cc thanh ghi trong SFRs tng ng phi c t (thng l bng 1).
Port 0, Port 2 c dng ghp ni vi b nh ngoi, Port 2 a ra byte cao ca 16 bit a ch cn Port 0 u tin a ra byte thp ca 16 bit a ch v sau c th gi hoc nhn byte d liu. Byte a ch thp phi c cht bn ngoi, lm vic ny th b vi iu khin pht ra tn hiu ti chn ALE cht byte a ch thp.
Port 3 bao gm cc ngt, cc u vo Timer/Counter, u vo/ra ca cng ni tip, cc tn hiu iu khin cho php ghp ni vi b nh ngoi.
Pin Alternate Funtion Mnemonic/DesignationP3.0 Serial Input Port RXD P3.1 Serial Output Port TXD P3.2 External Interrupt 0 INT0# P3.3 External Interrupt 1 INT1# P3.4 Timer/Counter 0 External Input T0 P3.5 Timer/Counter 1 External Input T1 P3.6 External Memory Write Strobe WR# P3.7 External Memory Write Strobe RD#
2.3.6 Timer/ Counter
8051 c 2 Timer/Counter 16 bit, c 2 c th hot ng nh Timer cng c nh Counter. Khi hot ng nh Timer thanh ghi c tng ln 1 ti mi chu k my, ta c th coi l m chu k my, mi chu k my gm 12 chu k dao ng ca thch anh. Khi hot ng nh Counter thanh ghi tng tng ng vi s thay i 1 v 0 ti u vo chn T0, T1. Chc nng l Timer hay Counter phi c la chn ng thi cng phi chn 1 trong 4 ch hot ng. Vic khi to hot ng v iu khin cc Timer/Counter da trn 2 thanh ghi TMOD v TCON trong vng cc thanh ghi c chc nng c bit SFRs.
2.3.6.1 Thanh ghi TMOD (Timer/ Counter Mode Control Register)
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41
GATE C/T M1 M0 GATE C/T M1 M0 *Gate:
- Khi GATE = 1: Timer/Counter x c php hot ng ch khi chn INTx mc cao v chn iu khin TRx c t.
- Khi GATE = 0: Timer x c php hot ng bt c lc no bit iu khin c t
*C/T: La chn Counter hay Timer
- C/T = 1: Counter, ni dung b m c tng ln bi xung ngoi kch vo T0 (P3.4).
- C/T = 0: Timer
*M0, M1 : Chp nhn m theo cc gi tr tng ng nh sau:
M1 M0 Mode 0 0 0 ; m 13 bit 0 1 1 ; m 16 bit 1 0 2 ; m 8 bit t ng np li 1 1 3 ; Timer 1 khng hot ng Timer 0 hot ng nh 2
b Timer ring bit 8 bit 2.3.6.2 Thanh ghi TCON (Timer/ Counter Control Register)
TF1 TR1 TE0 TR0 IE1 IT1 IE0 IT0 *TF1 (TCON 7): C bo trn ca Timer 1. t bi phn cng khi
Timer/Counter trn. Xo bi phn cng khi x l vect phc v ngt
*TR1 (TCON 6): Bit iu khin Timer 1 c t v xo bng phn mm
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42
*TF0 (TCON5): C bo trn ca Timer 0. t bi phn cng khi
Timer/Counter trn. Xo bi phn cng khi x l vect phc v ngt
*TR0 (TCON 4): Bit iu khin Timer c t v xo bng phn mm
*IEI (TCON 3): C ngt 1 theo sn. c t bi phn cng khi sn ca xung ngt ngoi a vo chn INT# c pht hin v xo khi x l ngt.
*IT1 (TCON 2): Bit iu khin ngt 1. t v xo bng phn mm, vic t IT1 ti sn xung ca tn hiu v ti INT#, vic xo IT1 khi tn hiu ngoi ti chn INT1# c pht hin v xo khi x l.
*IE0 (TCON 1): C ngt 0 theo sn. c t bi phn cng ca xung ngt ngoi a vo chn INT0# c pht hin v xo khi x l ngt.
*IT0 (TCON 0): Bit iu khin kiu ngt 0. t v xo bng phn mm vic t IT0 ti sn xung ca tn hiu v ti INT0#, vic xo IT0 khi tn hiu ngoi ti chn INT0# l mc thp.
2.3.6.3 Cc ch hot ng ca Timer/Counter
*Mode 0: L b m 8 bit, tn hiu ngt xut hin khi m trn, v vy n m c 213 hay 8192 xung s cho 1 tn hiu bo ngt.
*Mode 1: Hot ng ging nh Mode 0 nhng ch ny l 16 bit tc l m c 216 hay 65536 xung s cho tn hiu bo ngt.
*Mode 2: Ch 8 bit t ng np li. TLi s lm vic nh b
Timer/Counter 8 bit, khi m trn s m c t trong THi (Phn byte cao ca thanh ghi 16 bit) s t ng np vo trong TLi v b m li tip tc lm vic, tn hiu ngt c pht ra khi Timer m trn v t ng np li.
*Mode 3: Timer 1 khng hot ng vo gia s m ca n,, vic ny ng ngha vi t TR1 = 0. Timer 0 ch ny thit lp TL0 v TH0 nh 2 b m ring bit, TL0 s dng cc bit iu khin ca Timer 0, TH0 vi chc nng v Timer (m chu k my) v tip nhn s dng TR1 v TF1 t Timer 1. V vy TH0 coi l Timer 1.
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43
2.3.7 Giao din ni tip
Cng ni tip c th truyn nhn ng thi. N cng l b m nhn ngha l c th bt u nhn byte th 2 trc khi byte trc c c t thanh ghi nhn. Tuy nhin nu byte u tin vn cha c c trong thi gian nhn byte tip theo th byte u tin s mt. C 2 thanh ghi nhn v truyn ca cng ni tip l Specia Funtion Register SBUF. Vic ghi ti SBUF l np vo thanh ghi truyn, vic c SBUF l truy cp vo thanh ghi nhn. Cng ni tip c 4 ch hot ng:
*Mode 0: Hot ng nh thanh ghi dch. D liu vo/ra ni tip qua RxD/TxD, u ra dc theo xung ng h. 8 bit c truyn hoc nhn bt u t LSB. Tc baud l 1/12 tn s xung thch anh.
*Mode 1: D liu vo/ra ni tip qua RxD/TxD. 10 bit d liu c truyn hoc nhn bao gm 1 bit Start (thng mc 0), 8 bit d liu bt u t LSB v bit Stop (thng mc 1). ch ny khi nhn d liu th bit Stop s c chuyn vo bit RB8 trong thanh ghi Special Function Register SCON. Tc baud thay i c.
*Mode 2: D liu vo/ra ni tip qua RxD/TxD. 11 bit d liu c truyn hoc nhn bao gm 1 bit Start (thng mc 0), 8 bit d liu bt u t LSB, 1 cho php lp trnh, 1 bit Stop (thng mc 1). Khi truyn d liu bit th 9 c chuyn vo bit TB8 trong SCON c th c t gi tr 0 hoc 1, cng c th l bit kim tra chn l (P trong PSW). Khi nhn d liu bit 9 s c chuyn vo bit RB8 trong SCON trong khi bit Stop b b qua. Tc baud c th l 1/32 hoc 1/64 tn s xung thch anh.
*Mode 3: D liu vo/ra ni tip qua RxD/TxD. 11 bit d liu c truyn hoc nhn bao gm 1 bit Start (thng mc 0), 8 bit d liu bt u t LSB, 1 bit cho php lp trnh, 1 bit Stop (thng mc 1). Khi truyn d liu bit th 9 hoc cng c th l bit kim tra chn l (P trong PSW). Khi nhn d liu bit th 9 s c chuyn vo bit RB8 trong SCON trong khi bit Stop b b qua. Tc baud thay i c.
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44
Trong c 4 ch hot ng:
- Khi d liu nhn c khi to v s dng SBUF nh l thanh ghi ch.
- Khi nhn d liu: Mode 0 phi c iu kin RI = 0 v REN = 1
Cc Mode khc nu bit REN =1 th bit Start bt u c nhn.
*Ch truyn a knh (Multiprocesor Communication)
Trong ch 2 v 3 cn c dng cho vic truyn a knh, trong cc ch ny bit d liu c nhn v bit th 9 c chuyn vo RB8 sau l bit Stop. Cng c th c lp trnh sao cho khi bit Stop c nhn th ngt ni tip s c tch cc ch khi bit RB8 = 1. Nt c trng l cho php t bit SM2 trong SCON, bng cch ny cho php s dng ch truyn a knh.
Khi trm ch (Maste) mun gi mt gi d liu ti mt trong vi trm t (Slave), u tin trm ch gi ra 1 byte a ch xc nh trm t no chun b nhn d liu. Byte a ch ny khc vi byte d liu l trong byte a ch ch th ton b u b ngt, v vy trm t no cng cn kim tra xem byte nhn c v xem n c phi l a ch ca mnh khng. Nu l a ch ca mnh th n s xo bit SM2 v chun b nhn cc byte d liu sp c gi. Nu khng phi a ch ca mnh n vn t bit SM2 ng thi bo bn v b qua cc byte d liu n. Bit SM2 khng c tc dng trong Mode 0, trong Mode 1 c th dng kim tra gi tr ca bit Stop, khi nhn nu SM2 = 1 th ngt nhn s khng c tc dng tr khi bit Stop c nhn.
Tc Baud trong truyn ni tip:
i vi Mode 0: Baud rate = 121 oscillator frequency
i vi Mode 2: Baud rate = 64
2SMD oscillator frequency
SMOD = 0 : Baud rate =641 oscillator frequency
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45
SMOD =1 : Baud rate =321 oscillator frequency
i vi Mode 1 v Mode 3
Trong hai ch ny s dng Timer 1 dnh tc Baud
Khi Timer 1 bo trn:
Baudrate = 32
2SMD (Timer 1 Over Flow Rate)
Khi Timer s dng ch hot ng t ng np li s m khi trn:
Baudrate = 32
2SMD x )1256(12
1THx
oscillator frequency
Vic khi to v iu khin ch truyn nhn ni tip thng qua 2 thanh ghi SCON v PCON
2.3.7.1 Thanh ghi SCON (Serial Part Control Register)
SM0 SM1 SM2 REN TB8 RB8 TI TI SMO, SM1: dng nh ch truyn nhn nid tip
SM0 SM1 MODE
0 0 0
0 1 1
1 0 2
1 1 3
SM2 :Cho php truyn a knh trong Mode 2, MOde 3
Mode 1 SM2 dng lim tra gi tr ca bit Stop
Mode 0 SM2 khng coa tc dng (thng SM2 = 0)
REN : Cho php nhn ni tip, c t v xo bng phn mm
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46
TB8 : i vi Mode 2, Mode 3 bit th 9 s c chuyn vo, c t v xo bng phn mm
RB8 : Mode 2, Mode 3 bit th 9 c nhn v chuyn vo
Mode 1 khi SM2 = 0, RB lab bit Stop c nhn
Mode 0 khng s dng bit ny
TI : C ngt khi truyn, c t bi phn cng ti cui cng ca bit th 8 trong Mode hoc l khi bt u bit Stop trong cc Mode khc, phi c xo bng phn mm
RI : C ngt khi nhn, c t bi phn cng cui cng ca bit th 8 trong Mode 0 hoc l gi bit Stop trong Mode khc, phi xo c bng phn mm.
2.3.7.2 Thanh ghi PCON (Power Control Register)
SMOD GF1 GF0 PD IDL SMOD : Bit dng nhn i tc Baud
GF1, GF0 : General Purpose Flag Bit
PD : Power Down Bit
IDL : Idle Mode Bit
2.3.8 Cc ngun ngt v cch s dng ngt
Cc ngun ngt c t ti a ch t 0003H 0023H trong b nh chng trnh. Khi c ngt th CPU s nhy ti vng m n phc v ngt, nu chng trnh phc v ngt nm trong khong 8 byte th s phc v ngt ngay trong vng , cn khi chng trnh phc v ngt m ln hn 8 byte v cc ngun ngt khc ang phc v th s nhy vt qua vng ngt sau thc hin chng trnh phc v ngt.
Bng cc vect ngt
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47
Ngun ngt a ch
E0 0003H
TF0 000BH
IE1 0013H
TF1 001BH
RI & TI 0023H
Cch s dng ngt:
-t bit EA (Enable A11) trong thanh ghi IE = 1.
-t bit tng ng vi ngt trong thanh ghi IE = 1.
-Bt u phc v ngt ti a ch tng ng vi ngt.
2.3.8.1 Thanh ghi IE (Interrupt Enable Register)
EA ES ET1 EX1 ET0 EX0 EA (IE 7): Cho php hay khng cho php cc ngt hot ng.
EA = 0 khng c ngt no hot ng.
EA = 1: Ton b cc ngun ngt c php hot ng.
IE 6: Khng s dng
IE 5: Khng s dng.
ES (IE 4): Cho php hay khng cho php ngt khi truyn nhn ni tip.
ET1 (IE 3): Cho php hay khng cho php ngt khi Timer 1 bo trn.
EX1 (IE 2): Cho php hay khng cho php ngt khi ngt ngoi 1.
ET0 (IE 1): Cho php khng ngt khi Timer 0 bo trn.
EX0 (IE 0): Cho php hay khng cho php ngt khi ngt ngoi 0.
Th t u tin cc ngt:
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48
theo mc nh th c cc mc u tin cao xung thp nh sau:
IE0 : mc cao nht
TF0
IE1
TF1
RI & TI : mc thp nht
khi c s u tin ta t cc bit tng ng trong thanh ghi IP = 1.
2.3.8.2 Thanh ghi IP (Interrupt Register)
PS PT1 PX1 PT0 PX0 IP7, IP6, IP 5: khng s dng v t bng 0
PS (IP 4) : nh ngha mc u tin ngt cho cng ni tip.
PT1(IP 3) : nh ngha mc u tin ngt cho Timer 1.
PX1 (IP 2) : nh ngha mc u tin ngt cho ngt ngoi 1.
PT0 (IP 1) : nh ngha mc u tin ngt cho Timer 0.
PX0 (IP 0) : nh ngha mc u tin ngt cho ngt ngoi 0.
2.4 CC LNH TRONG 8051
2.4.1 Lnh MOV
*C php : MOV ch, Ngun
* ngha : Chuyn gia Ngun vo ch
Trong ch, Ngun bao gm cc thanh ghi, cc nh, hng s.
2.4.2 nh ngha cc hng, bin
*C php : Tn bin UQU Gi tr
* ngha : Gn bin bng gi tr
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49
*V d : PI UQE 12H; c mt bin tn l PI c nh ngha bng 1 byte c a ch 12H
2.4.3 Cc lnh s hc
*Lnh MOV
C php: MOV ch, Ngun
ngha: chuyn gia Ngun v ch
ch, Ngun bao gm cc thanh ghi, cc nh, c hng s
V du: MOV R0, #27H ; R0 = 27H
MOV A, R0 ; Ni dung ca thanh ghi A a vo R0
*Lnh ADD
C php: ADD ch, Ngun
ngha: Ni dung ca ch cng vi ni dung ca Ngun kt qu c tr v ch.
VD: MOV R0, #32H ; R0 = 32H
MOV R5, #23H ; R5 = 23H
ADD R5, R0 ; R5 = 23H + 32H = 55H
*Lnh ADDC
C php: ADDC ch, Ngun
ngha: Ni dung ca ch cng vi ni dung ca Ngun cng vi ni dung ca CF, kt qu c a vo ch
V d: MOV R0, #89H ; R0 = 89H
ADD R0, 0F8H ; R0 = 89H + F8H = 81H v CF = 1
MOV A, #37H ; A = 37H
ADDC A, R0 ; A = 37H + 81H + 1 = B9H
*Lnh SUBB
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50
C php: SUBB ch, Ngun
ngha: Ly ch tr ngun tr CF kt qu c a v ch
V d: MOV A, #0F8H ; A = F8H
MOV R0, #3AH ; R0 = 3AH
CLR C ; CF = 0
SUBB A, R0 ; A = F8H 3AH 0H = BEH
*Lnh INC
C php: INC Ton hng
ngha: Ton hng s c tng ln mt
V d: MOV A, #50H ; A = 50H
INC A ; A = 51H
*Lnh DEC
C php: DEC Ton hng
ngha: Ton hng s b gim xung mt
V d: MOV A, #50H ; A = 50H
DEC A ; A = 4FH
*Lnh MUL
C php: MUL AB
ngha: lm php tnh A nhn B, phn cao ca kt qu gm 8 bit c a vo B, phn thp ca kt qu gm 8 bit c a vo A
V d: MOV A, #50H ; A = 50H
MOVB B, 0A0H ; B = A0H
MUL AB ; A = 00H v B = 32H
*Lnh DIV
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51
C php: DIV AB
ngha: lm php chia A cho B, kt qu a vo A, s d a vo B
V d: MOV A, #0FFH ; A = FFH
MOV B, #0AH ; B = 0AH
DIV AB ; A = 19H v B = 5H
2.4.4 Cc lnh Logic
*Lnh ANL
C php: ANL ch, Ngun
ngha: Thc hin php AND, kt qu thu c a vo ch
V d: MOV A, #32H ; A = 32H
ANL A, #0FH ; A = 02H
Ch : ch v Ngun l cc thanh ghi , cc hng s.
0 AND 1 = 0
0 AND 0 = 0
1 AND 0 = 0
1 AND 1 = 1
*Lnh ORL
C php: ORL ch, Ngun
ngha: Thc hin php OR, kt qu tr v ch
V d: MOV B, #0AFH ; B = AFH
ADD B, #08H ; B = AFH + 08H = B7H
ORL B, #1FH ; B = B7H OR 1FH = BFH
Ch : 0 OR 0 = 0
0 OR 1 = 1
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52
1 OR 0 = 1
1 OR 1 = 1
*Lnh XRL
C php: XRL ch, Ngun
ngha: thc hin php XOR gia ch v Ngun, kt qu thu c tr v ch
V d: MOV A, #37H ; A = 37H
MOV R2, #0BDH ; R2 = BDH
XRL A, R2 ; A = 37H XOR BDH = 8AH
Ch : 0 XOR 0 = 0
0 XOR 1 = 1
1 XOR 0 = 1
1 XOR 1 = 0
2.4.5 Cc lnh thao tc trn Bit
*Lnh CLR
C php: CLR C(hoc Bit)
ngha: xo CF hoc Bit
V d: CLR C ; CF = 0
*Lnh SETB
C php: SETB C(hoc Bit)
ngha: SET CF hoc Bit
V d: SETB C ; CF = 1
*Lnh CPL
C php: CPL C(hoc Bit)
ngha: o CF hoc Bit
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53
V d: CLR C ; CF = 0
CPL C ; CF = 1
*Lnh ANL
C php: ANL C, Bit
ngha: thc hin php AND Bit vi C
*Lnh ORL
C php: ORL C, Bit
ngha: thc hin php OR Bit vi C
*Lnh JC(JNC)
C php: JC (JNC) Nhn
ngha: nhy n Nhn nu C=1(0)
*Lnh JB(JNB)
C php: JB (JNB) Nhn
ngha: nhy n Nhn nu Bit=1(0)
*Lnh JBC
C php: JBC Nhn
ngha: nhy n Nhn nu Bit=1 sau xo Bit
2.4.6 Cc lnh nhy khng c iu kin
*Lnh LJMP
C php: LJMP Nhn
ngha: nhy n Nhn vi khong cch ti a 16Bit
*Lnh AJMP
C php: AJMP Nhn
ngha: nhy n Nhn vi khong cch ti a 11Bit
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54
*Lnh SJMP
C php: SJMP Nhn
ngha: nhy n Nhn vi khong cch ti a 8Bit
2.4.7 Cc lnh nhy c iu kin
*Lnh CJNE
C php: CJNE X1, X2, Nhn
ngha: so snh X1 vi X2, nu X1 khng bng vi X2 th nhy n Nhn
*Lnh DJNZ
C php: DJNZ X1, Nhn
ngha: so snh X1 vi 0, nu X1 khng bng 0 th gim X1 i 1 ri Nhy n Nhn
2.5 CHNG TRNH ASM
Cu trc chng trnh ASM
ORG 00H
LJMP START;
ORG O3H
RETI
ORG 0BH
RETI
ORG 13H
RETI
ORG 1BH
RETI
ORG 23H
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55
RETI
ORG 2BH
RETI
;-----------------------------------------------------------------------------------------------
;Khai bo bin, hng s
;------------------------------------------------------------------------------------------------
ORG 100H
START :
;Chng trnh chnh
;-----------------------------------------------------------------------------------------------
;Chng trnh con
;-----------------------------------------------------------------------------------------------
;Chng trnh phc v ngt
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56
PHN II
TNH TON THIT K C KH
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57
CHNG 3
THIT K L XO V TNH P SUT KH CN THIT CP CHO PISTON-CYLINDER
3.1 TNH TON L XO:
3.1.1 D liu u vo:
Thit k l xo xon c tr chu nn lp trong li trc chnh, chuyn v lm
vic x=10 mm.
- Ti trng ban u Fmin c tnh da vo trng lng ca c cu trc tip
nn vo l xo khi lp rp, bao gm cc chi tit: bc trt, np, 2 vt M3,
trc nh, ng ng bi, 4 vin bi, i dao.
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58
V c cu ny trong solidworks v s dng cng c tnh khi lng vi
trng lng ring ca vt liu lm c cu l = 7,852 KG/dm3 ta c:
M= mbc trt + mnp + mvt + mng ng bi + mbi + mi dao
Trong :
mi dao= 0,5 Kg.
mbi= 4.0,9.10-3 Kg.
mbc trt + mlp + mvt + mng ng bi=309,2441.10-3 Kg.
i dao
4 vin bi
ng ng bi
trc nh
bc trt
2 vt M3Np
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59
M= 0,313 + 0,5 = 0,813 Kg
Vy lc ban u Fmin= M.g= 0,813.10=8,13 N.
Trong : g l gia tc trng trng, ly g 10 m/s2
- Chn ng knh dy l xo: d = 2 mm.
3.1.2 Tnh ton:
- Chn vt liu l xo l thp nhiu cacbon (Theo bng 14.1-trang 212-
[1]) ta c: b= 1500 Mpa, vi ti trng va p, []= 0,3.b =
0,3.1500 = 450 Mpa
- Chn ch s ca l xo: c= dD =9.
d v c c s tng ng ph hp (Theo [1]- trang 212 )
Trong : D - L ng knh trung bnh ca l xo.
d - L ng knh dy l xo.
(Cng thc 14.8-Trang 215-[1]).
- Ta chn ng knh ca dy l xo l 2 mm:
d =1,6.][
.. max cFk =1,6.
4509..15,1 maxF =2 mm.
(Trch cng thc 14.6-Trang 214- [1])
Trong : k =3.42.4
+
cc =1,15.
k-H s k n tng ca ng sut bin trong ca l xo do
dy b un cong.
Ta c ti trng ln nht khi lm vic l:
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60
Fmax = 22.450/(1,62.9.1,15) = 67,93 N
- S vng lm vic ca l xo.
(Theo cng thc 14.9- trang 215- [1])
n=).(.8
..).( minmax
3minmax1 FFc
dGxFF
x
=
Trong : G=)]1.(2[ +
E L m un n hi trt.
Vi E, l modun n hi v h s poisson ca thp
Thay vo biu thc trn ta c G= 8.104 Mpa.
n= 59,4)13,893,67.(9.8
2.10.8.103
4
=
vng.
Quy trn s vng n ta c:
n = 6 vng.
- ng knh trung bnh ca l xo:
D =c.d = 9.2=18 mm.
- Cc thng s kch thc khc:
+ S vng ton b:
n0=n+(1,5 2) = 6 + 2 = 8 vng.
+ Chiu cao ca l xo khi cc vng st nhau (Tnh theo cng
thc 14.11 Trang 215-[1])
HS=(n0-0,5).d (8-0,5).2 = 15 mm.
+ Bc ca vng l xo khi cha chi ti (Theo cng thc 14.12
Trang 215-[1])
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61
p = d+ (1,1 1,2).nmax
Trong : max tnh theo cng thc 14.2-Trang 214-[1]
max= 43
max
....8
dGnDF =1.n.Fmax= max
3
...
.8 FndG
c =
= 86,1493,67.6.2.10.8
9.84
3
= mm.
p = 2 + 1,1. 72,4686,14
= mm.
+ Chiu cao ban u:
H0= Hs+n.(p-d) = 15 + 6(4,72 2) = 31,32 mm.
+ T s D
H 0 74,118
32,31= < 2,5 3
l xo m bo tnh n nh (Theo trang 216-[1]).
3.2 TNH TON P SUT KH CP CHO PISTON-CYLINDER:
Ti trng ln nht khi lm vic tnh c trn: Fmax = 212,639 N
Fmax = ..R2xi lanh .Pmax
Pmax = Fmax/(..R2xi lanh)
Trong :
: Hiu sut, ly = 1.
Rxi lanh: Bn knh trong ca xi lanh, y ta chn xi lanh c Rxi lanh = 10 mm
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62
Pmax = 212,639/(1.3,14.102) = 0,677 (N/mm2) = 0,677/ 0,0981 = 6,9 at.
TI LIU THAM KHO
1. C s thit k my v chi tit my.
Tc gi: Trnh Cht NXB KHKT-2001 K hiu dng trong n l [1]
2. Tnh ton thit k h dn ng c kh - tp 1. Tc gi: Trnh Cht L Vn Uyn NXB Gio Dc 2002 K hiu dng trong n l [2]
3. Gottleib T.M / Electric Motors and Control Techniques; TAB Books, McGraw Hill (1994).
4. Kenjo, T., Stepping Motors and their Microprocessor Controls, OUP 1984
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63
5. Kenjo, T., Electric Motors and their Control Oxford Science Publication, Oxford, England 1984.