thuyet minh

I HC QUC GIA THNH PH H CH MINH TRNG I HC BCH KHOA KHOA C KH B MN C IN T ----

N MN HC THIT K H THNG C IN T

GVHD : Nguyn Thnh Lun Nhm SVTH : Tng M Minh SVTH : o Cng Thun Ngy bt u : 20/09/2010 Ngy kt thc : 26/12/2010 Ngy bo v :

K tn : MSSV : 20701485 MSSV : 20702386

Tp HCM, thng 12/2010

N MN HC : THIT K H THNG C IN T

Mc lc Li ni u ........................................................................................................ 3 1. Tng quan ..................................................................................................... 4 2. Thit k m hnh ........................................................................................... 5 3. Thit k mch in ........................................................................................ 7 3.1. Vn cn gii quyt .......................................................................... 7 3.2. Mch ngun 24VDC+5VDC ................................................................ 7 3.3. Mch cng sut .................................................................................... 9 3.4. Mch iu khin .................................................................................10 4. M phng bng MATLAB v lu gii thut .........................................13 4.1 S ng ...........................................................................................13 4.2 M phng bng Matlab .......................................................................13 4.3 Lu gii thut .................................................................................14 5. Kim nghim kt qu v khc phc sai s ..................................................15 Ph lc M phng bng Protues...................................................................................17 Chng trnh iu khin v th vin ..............................................................18 Ti liu tham kho ...........................................................................................28

SVTH : TNG M MINH O CNG THUN

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Li ni u Vic vn chuyn, xp hng ha l mt cng vic quan trng v khng th thiu trong nhiu lnh vc sn xut. gim bt sc lao ng nng nhc,tng nng sut lao ng, an ton, gim bt c chi ph sn xut, tng li nhun cho nn ngi ta ngh ra nhiu loi my mc, thit b nng chuyn. Cc thit b ny rt a dng, nhng nhn chung c cng mt mc ch l vn chuyn nhanh, an ton, tit kim. Mt trong nhng thit b m ngi ta thng s dng l h thng bng ti. Nh vo nhng u im v nhng c tnh tin li nn bng ti l mt phn khng th thiu ca mt nh my. Trc y h thng bng ti thun ty ch l h thng c kh t ng c qua b gim tc c vn tc mong mun. Nh vy mun thay i nhiu tc khc nhau rt l kh khn. Vi s pht trin ca khoa hc k thut, vic p dng h thng my tnh v cc thit b bn dn vo h thng c kh iu khin cho h thng c kh ngy cng linh hot hn ngy cng c s dng nhiu. Trong n ny nhm em s trnh by thit k v thc hin khin bng tc ng c DC vn tc bng ti theo mong mun vi sai s tha mn yu cu. Trc khi n vi mn hc, chung em ch c c nhng kin thc ri rc v c, in, v iu khin v vn cha lin kt tt c cc kin thc thnh mt, mn hc ny gip chng ta ti luyn thm nhng k nng vn c v vn dng mt cch c h thng nhng kin thc, l thuyt c cc thy c ch dy trong ba nm qua. Sau khi hon thnh ti c giao, ta s c mt ci nhn c bn v tng quan hn v iu khin, v C in t. V v th c th ni mn hc ny l mt mn hc cc k hu ch, va c kt li nhng g bit, va lm tin cho nhng g cha bit. V th, em xin chn thnh cm n nh trng a mn hc ny vo chng trnh ging dy, cm n cc thy c ch bo em trong sut thi gian qua v c bit l thy Nguyn Thnh Lun hng dn chng em trong mn hc ny. Do trnh cn hn ch nn chng khng th trnh khi nhng sai st trong qu trnh thc hin, knh mong thy c thng cm, chng em s c gng hc tp, rn luyn hon thin mnh hn. Sinh vin thc hin TNG M MINH O CNG THUN


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CHNG 1 : Tng quan ng dng bng ti trong nh my :

C th ng dng h thng bng ti ny trong h thng sn xut nh : trong h thng ng chai nc gii kht, h thng c th thay i vn tc th c th to ra nhng loi chai vi th tch khc nhau rt d dng. Tng t cho vic ng gi cc loi sn phm c dng bt. C th lp ghp nhiu h thng bng ti vi vn tc khc nhau trong mt h thng thc hin nhng yu cu khc nhau ca h thng sn xut v ng nhin vic thay i vn tc d dng bng vic nhp vn tc thng qua mt my tnh. Ngoi ra cn dung trong cc h thng i hi chnh xc cao v vn tc c kim sot v nm trong sai s cho php no .

Hnh 1.1- Bng ti ang lm vic

Hnh 1.2- Bng ti vn chuyn t thp ln cao


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CHNG 2 : Thit k m hnh

Hnh 2.1- M hnh v bng phn mm Solidwork

Hnh 2.2- M hnh hon chnh


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Thit k rul :

Hnh 2.3- Rul trc

Hnh 2.4- Rul trc v bng solidwork

Hnh 2.5- Rul sau


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Hnh 2.6- Rul sau v bng solidwork CHNG 3 : Thit k mch in 3.1. Vn cn gii quyt : iu khin vn tc bng ti bng cch iu khin ng c DC-24v. ng c s dng l ng c 24v, tc 4200-4500 vng/pht, c gn hp gim tc vi t s truyn l 30. Encoder 300 xung/vng dng o vn tc bng ti. Gii quyt vn : ng c hot ng, ta phi c ngun 24v. Ta thit k thm phn 5v cp cho vi iu khin khi cn. 3.2. Mch ngun 24v_5v c thit k nh sau :

Hnh 3.1- Mch ngun 24v V IC n p LM7824 chu dng ti a l 0,5A nn l khuyn i dng bng Transistor B688, in tr R1 ng vai tr to chch p chn E v chn B. in tr R1 c tnh nh sau : Ti thi im B688 khng dn, th dng trn LM7824 :SVTH : TNG M MINH O CNG THUN 7


Iin=Iout vy B688 dn khi dng nh hn 0,5A th VEB>0,7(v) Iin.R1>0,7 R1 =0, 7 = 7() 0,1

Ta chn dn khi dng 0,1A v chn in tr 10()

Hnh 3.2- Mch nguyn l mch ngun 24v+5v

Hnh 3.3- Mch ngun 24v+5vSVTH : TNG M MINH O CNG THUN 8


3.3. Mch cng sut : Ta iu khin ng c qua mch cng sut, y s dng mch cu H :

Hnh 3.4- Mch nguyn l mch cu H Nu s dng 4 MOSFET loi N, th MOSFET dn, in p chn G phi ln hn in p chn S t nht 3v. Xt 2 MOSFET pha trn, in p chn S l 24v, vy MOSFET dn th in p chn G t nht phi 27v nn rt kh to in p ny. V vy, ta s dng 2 con MOSFET lai P pha trn (IRF9540), 2 con MOSFET loi N pha di( IRF540). Cc in tr R1, R2, R3, R4 ng vai tr l in tr ko ln v ko xung. Ta tch li mch in bng 4 OPTO (TLP521).

Hnh 3.5- Mch cu HSVTH : TNG M MINH O CNG THUN 9


Bng logic mch cu H iu khin ng c : In 1 0 1 0 1 In 2 0 0 1 0 In 3 0 0 1 1 In 4 0 1 0 0 ng c Tt ng c Quay thun Quay nghch Thng ng lc

3.4. Mch iu khin : Ta iu khin vn tc bng ti bng cch iu khin tc ng c. Ta chn phng n iu khin bng cch cp xung, thay i tc ng c bng cch thay i rng xung (PWM). Vy ta chn vi iu khin l PIC16F887, vi iu khin ny thng dng, v c modul iu khin ng c bng cch cp xung PWM (Enhanced PWM).

Hnh 3.7- S chn PIC16F887 PIC16F887 c 3 timer, ta s dng timer0 dng m thi gian ly mu, timer1 dng ch m nhn xung encoder, timer2 dng cho modul PWM.


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Hnh 3.8- Khi xut PWM Giao tip my tnh bng phng thc giao tip ni tip bt ng b (UARTUniversal Asynchronous Receiver Transmitter).

Hnh 3.9- Khi giao tip vi my tnh Gn thm 3 bin tr tinh chnh 3 thng s ca b iu khin PID.


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Hnh 3.10- Mch nguyn l ca mch iu khin

Hnh 3.11- Mch iu khinSVTH : TNG M MINH O CNG THUN 12


CHNG 4 : M phng bng MATLAB v lu gii thut 4.1. S ng :

Trong : (1) ng c in v hp gim tc. (2) Khp ni trc, bng ti. (3) Cm bin (encoder). (4) B vi x l v iu khin. (5) Driver. 4.2. M phng bng MATLAB :

Hnh 4.1- Khi simulink

Hnh 4.2- th p ngSVTH : TNG M MINH O CNG THUN 13


4.3.

Lu gii thut :Ngt imer0 Bt u Ly mu t ADC, timer1 v reset timer1

Ngt UART

Nhn d liu tocdomm v Func

Thit lp timer0, timer1, timer2, PWM, ADC, UART, LCD.

Kt thc ng tocdomm300 Sai ng Func = F Sai Sai Nhp sai Func = R ng Quay nghch

Kt thc Nhp sai

Quay thun

Tnh tan PID, PWM, xut PWM.

Kt thc


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CHNG 5 : Thc nghim v kt lun Kt qu thc nghim : Gi gi tr t my tnh v thng k kt qu bng o thi gian cho bng ti chy trong 10 vng/ln o. Chiu di bng ti l 450mm, t ta tnh c vn tc. Vn tc mong mun (mm/s)100 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300

Thi gian (s) Ln Ln Ln 1 2 342,10 38,53 35,58 32,70 30,27 28,31 26,55 24,89 23,58 22,35 21,21 20,26 19,34 18,56 17,61 17,15 16,37 15,88 15,10 14,62 14,06 42,30 38,43 35,41 32,67 30,39 28,22 26,46 25,13 23,66 22,36 21,32 20,23 19,38 18,52 17,70 16,98 16,28 15,56 15,16 14,65 14,15 42,84 38,46 35,61 32,59 30,30 28,07 26,47 25,04 23,65 22,34 21,21 20,28 19,54 18,52 17,79 17,04 16,41 15,71 15,18 14,71 14,20

Thi gian trung bnh (s)42,41 38,47 35,53 32,65 30,32 28,20 26,49 25,02 23,63 22,35 21,25 20,26 19,42 18,53 17,70 17,06 16,35 15,72 15,15 14,66 14,14

Vn tc trung bnh (mm/s)106,10 116,96 126,64 137,81 148,42 159,57 169,85 179,86 190,44 201,34 211,80 222,15 231,72 242,81 254,24 263,83 275,17 286,32 297,10 306,96 318,32

Sai s (%)6.10 6.33 5.53 6.01 6.01 6.38 6.16 5.80 5.80 5.97 5.90 5.79 5.33 5.57 5.93 5.53 5.84 6.04 6.11 5.85 6.11

Nguyn nhn sai s : Do cc bn mch lm th cng nn chnh xc khng cao. Vic lp ghp m hnh khng chnh xc. Do nhu tnh hiu in. Cch khc phc : S dng hm ni suy tuyn tnh : x l vn tc mong mun, y l vn tc trung bnh y = a.x+b Phng php bnh phng cc tiu, ta tm c a = 1,058055844, b = 0,1702597403


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Kt qu kim nghim sau khi s dng hm ni suy tuyn tnh : Vn tc mong mun (mm/s)100 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300

Thi gian (s) Ln Ln Ln 1 2 345,10 40,80 37,44 34,77 32,30 30,17 28,29 26,56 25,03 23,62 22,50 21,42 20,57 19,56 18,66 18,07 17,43 16,68 15,99 15,54 14,96 45,30 41,03 37,44 34,53 32,29 30,26 28,40 26,70 25,17 23,83 22,64 21,56 20,51 19,61 18,91 18,08 17,43 16,77 16,31 15,54 15,06 45,12 40,92 37,51 34,58 32,25 30,03 28,44 26,49 25,16 23,70 22,53 21,46 20,65 19,74 18,85 18,03 17,33 16,67 16,07 15,57 14,92

Thi gian trung bnh (s)45,17 40,92 37,46 34,63 32,28 30,15 28,38 26,58 25,12 23,72 22,56 21,48 20,58 19,64 18,81 18,06 17,40 16,71 16,12 15,55 14,98

Vn tc trung bnh (mm/s)99,62 109,98 120,12 129,96 139,41 149,24 158,58 169,28 179,14 189,74 199,50 209,50 218,69 229,16 239,28 249,17 258,67 269,35 279,10 289,39 300,40

Sai s (%)0,38 0,02 0,10 0,03 0,42 0,51 0,89 0,42 0,48 0,14 0,25 0,24 0,59 0,36 0,30 0,33 0,51 0,24 0,32 0,21 0,13

Nhn xt : Sau khi s dng hm ni suy, sai s t c tha yu cu.


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Ph lc

Mch in m phng bng protuesSVTH : TNG M MINH O CNG THUN 17


Layout mch cng sut

Layout mch ngun


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Layout mch iu khin Chng trnh cho vi iu khin vit bng hi-tech C : /****************************************** Thoi gian lay mau : 0.064s (timer0) ******************************************/ #include #include #include #include #include #include "LCD4b.h" #include "config.h" __CONFIG(XT & WDTDIS & UNPROTECT & PWRTEN & MCLREN & LVPDIS & DUNPROTECT & BORDIS & IESODIS & FCMDIS & DEBUGDIS); #define _XTAL_FREQ #define D #define xung 300 #define tocdo 100 4000000 12


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unsigned char *ptr, n, i, enc, ADC1value, ADC2value, ADC3value, flag; char Re[6], buf[30],scr[16], func[1], num[4], delim[5] = ", ."; float tocdoht, vtb, e_p, e_i, e_d, e_temp, Kp, Ki, Kd, PID; unsigned int PWM, tocdomm; float vantoc[10]; void CalVantoc( void ) { tocdoht = ( enc*( ( D*3.141592654)/(0.064*xung ))); tocdoht = ( 0.1702597403+1.058055844*tocdoht); i = i%10; vantoc[i] = tocdoht; vtb = (( vantoc[0]+vantoc[1]+vantoc[2]+vantoc[3]+vantoc[4] +vantoc[5]+vantoc[6]+vantoc[7]+vantoc[8]+vantoc[9])/10); i++; } void Cal_PID( void ) { Kp = ADC1value/25.5; Ki = ADC2value/255.0; Kd = ADC3value/25.5; e_p = tocdomm - tocdoht; e_i = e_p + e_temp; e_d = e_p - e_temp; e_temp = e_p; PID = 0.6*Kp*e_p + Ki*e_i + Kd*e_d; } void interrupt isr( void ) { //**********interrupt timer 0 if( T0IF & T0IE ) { enc = TMR1L; TMR1L = 0; TMR1H = 0; TMR0 = 6; T0IF = 0; ADC1value = getADC( 2 ); ADC2value = getADC( 3 ); ADC3value = getADC( 6 ); } //**********interrupt receiveSVTH : TNG M MINH O CNG THUN 20


if ( RCIE & RCIF ) { if (n==0) { strcpy( Re, "" ); } Re[n]=RCREG; n++; flag = 1; RCIF = 0; } }

void main() { __delay_ms(20); TRISB = 0x00; TRISE0 = 0; TRISE1 = 1; TRISE2 = 0; ANSEL = 0x00; ANSELH = 0x00; TRISA2=1; TRISA3=1; TRISD = 0x00; TRISC2=0; cfgTimer0(); cfgTimer1(); cfgTimer2(); cfgUART(); cfgADC(); cfgPWM1(); LCD_Init(); LCD_PutCmd ( CLEAR_DISP ); LCD_SetPosition ( LINE_2 + 2 ); LCD_PutStr( "Minh & Thuan" ); // clear screen // set line and offset on line

while(1) { CalVantoc(); if(flag==1) { strcpy( func, "" );SVTH : TNG M MINH O CNG THUN 21


strcpy( num, "" ); ptr = strtok( Re, delim); strcpy( func, ptr); ptr = strtok( NULL, delim); strcpy(num, ptr); tocdomm = atoi( num ); } flag = 0; Cal_PID(); PWM = PWM + PID; if ( PWM >= 0x03ff ) PWM = 0x03ff; if ( PWM < 200 ) PWM = 200; if ( tocdomm < 100 | tocdomm > 300 ) { setPWM( 0 ); WriteUART_str("value wrong \r"); } else if (strcmp(func, "F")==0) { P1M1 = 0; WriteUART_str( buf ); setPWM( PWM ); LCD_SetPosition ( LINE_2 ); LCD_PutStr( " FORWARD " ); } else if (strcmp(func, "R")==0) { P1M1 = 1; WriteUART_str(buf); setPWM( PWM ); LCD_SetPosition ( LINE_2 ); LCD_PutStr( " REVERSE " ); } else { setPWM(0); WriteUART_str("input wrong \r"); } sprintf( buf, "[%5.2f,%5.2f,%5.2f,%5.2f]\r", Kp, Ki, Kd, tocdoht ); sprintf( scr, "%5.2f ", vtb ); //string format n = 0; LCD_SetPosition ( LINE_1 ); LCD_PutStr( " v=" ); LCD_PutStr( scr ); LCD_PutStr( "(mm/s)" ); }SVTH : TNG M MINH O CNG THUN 22


} Ni dung th vin config.h : void cfgTimer0(void); void cfgTimer1(void); void cfgTimer2(void); void cfgUART(void); void WriteUART( unsigned char data ); void WriteUART_str( unsigned char data[] ); void cfgADC(void); int getADC(unsigned char x); void cfgPWM1( void ); void cfgext_int( void ); void setPWM( unsigned int value ); void cfgTimer0( void ) { T0IE = 1; T0IF = 0; GIE = 1; RBPU = 1; T0CS = 0; // T0SE = 1; T0CKI pin PSA = 0; PS0 = 1; PS1 = 1; PS2 = 1; TMR0 = 6; } void cfgTimer1( void ) { T1CON = 0; T1CKPS0 = 0; T1CKPS1 = 0; TMR1CS = 1; GIE PEIE = 0; TMR1IE TMR1IF TMR1H TMR1L TMR1ON = 1; = 0; = 0; = 0; = 0; = 1; //enable interrupt timer 1 //reset interrupt flag

//disable/enable interrupt //Timer 0 interrupt flag //Global interrupt enable //PORT B pull-up enable, 0 is enable //transition on T0CKI pin //increment on high to low transition on //Prescale is assigned to timer 0 // prescale

//reset register //perscaler //0=internal clock

//enable timer 123



} void cfgTimer2( void ) { GIE = 1; PEIE = 1; TMR2IE = 0; TMR2IF = 0; TOUTPS0 = 0; TOUTPS1 = 0; TOUTPS2 = 0; TOUTPS3 = 0; T2CKPS0 = 1; T2CKPS1 = 1; PR2 = 249; TMR2ON = 1; } void cfgUART( void ) { CREN = 1; TXEN = 1; SYNC = 0; SPEN = 1; TX9 = 0; BRGH = 1; BRG16 = 0; SPBRG = 25; SPBRGH = 0; //interrupr TXIE = 0; RCIE = 1; PEIE = 1; GIE = 1; RCIF = 0; } void WriteUART( unsigned char data ) { while( !TRMT ); TXREG = data; } void WriteUART_str( unsigned char data[] ) {SVTH : TNG M MINH O CNG THUN 24

// postscaler

//prescaler //Period register

//enable receice //enable transmit //asynchronous //set I/O port for RX-TX //UART 8 bit //high baud rate select bit //8 bit baud rate

//enable interrupt


unsigned char temp; temp = 0; while( data[temp] ) { TXREG = data[temp]; while( !TRMT ); temp++; } } void cfgADC( void ) { //set analog port ANSEL = 0b00001100; ADCON0 = 0b11000000; ADFM = 0; VCFG1 = 0; VCFG0 = 0; ADIE = 0; ADIF = 0; ADON } int getADC(unsigned char x) { ADIF = 0; CHS0 = ( x & 0x01 ); CHS1 = ( ( x & 0x02 ) >>1 ); CHS2 = ( ( x & 0x04 ) >>2 ); CHS3 = ( ( x & 0x08 ) >>3 ); __delay_us( 10 ); GODONE = 1; while ( !ADIF ); return ( ADRESH ); } void cfgPWM1( void ) { CCP1CON = 0b01001100; CCPR1L = 0; DC1B1 = 0; DC1B0 = 0; } void setPWM( unsigned int value )SVTH : TNG M MINH O CNG THUN 25

//0 = left //Vref

= 1;

//select PWM mode


{ unsigned char temp; CCPR1L = ( value >> 2 ); temp = value; temp = (temp & 0x03); DC1B1 = (temp >> 1); DC1B0 = (temp & 0x01); } void cfgext_int( void ) { INTEDG = 0; INTE = 0; INTF = 0; }

//select edge

Ni dung th vin LCD4b.h : /********************************************************/ /********************************************************/ #define _XTAL_FREQ 4000000 #define LCD_D4 RB4 #define LCD_D5 RB5 #define LCD_D6 RB6 #define LCD_D7 RB7 #define LCD_EN RB1 #define LCD_RW #define LCD_RS RB3 #define LINE_1 0x80 #define LINE_2 0xc0 #define CLEAR_DISP 0x01

RB2

// prototype statements int swap ( unsigned char cX); void LCD_Init( void ); void LCD_SetPosition ( unsigned int cX ); void LCD_PutChar ( unsigned int cX ); //Put char tai day void LCD_PutCmd ( unsigned int cX ); void LCD_PulseEnable ( void ); void LCD_SetData ( unsigned int cX ); void LCD_PutStr ( unsigned char data[]);//Put string tai day, put char la treo may nha int swap ( unsigned char cX) { unsigned char temp;SVTH : TNG M MINH O CNG THUN 26


temp = cX ; temp = temp >> 4; cX = cX 1; LCD_D6 = (cX & 0x04 )>>2; LCD_D7 = (cX & 0x08 )>>3; }

/* send high nibble */ /* send low nibble */

void LCD_PutStr (unsigned char data[]) { unsigned char temp=0; while ( data[temp] ) { LCD_PutChar ( data[temp++]); } } Ti liu tham kho [1] Din n in t Vit Nam- www.dientuvietnam.com [2] Din n picvietnam- www.picvietnam.com [3] L thuyt iu Khin T ng tc gi : Nguyn Th Phng H, Hunh Thi Hong. [4] Datasheet PIC16F887.


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