Professional Documents
Culture Documents
Con lc ngc kp
Bng thng s:
Stt
Tn thng s
K hiu n v
1 Trng lng xe
m0
kg
2 Trng lng cch tay 1
m1
kg
3 Trng lng cch tay 2
m2
kg
4 Chiu di cch tay 1
L1
m
5 Chiu di cch tay 2
L2
m
6 Khong cch t khp ni n trng tm cch tay 1
l1
m
7 Khong cch t khp ni n trng tm cch tay 2
l2
m
8 Cc gc lch ca cch tay 1 so vi phng thng
1
rad
ng
9 Cc gc lch ca cch tay 2 so vi phng thng
2
rad
ng
10 Mmen qun tnh ca cch tay 1
I1
Kg.m2
11 Mmen qun tnh ca cch tay 2
I2
Kg.m2
Phng
n
1
2
3
4
5
6
7
8
9
10
11
12
Cc thng s u vo
Yu cu
m0
(kg)
m1
(kg)
m2
(kg)
L1
(m)
L2
(m)
Tq
(s)
2
2
2
2
1.6
1.6
1.6
1.6
1.8
1.8
1.8
1.8
0.21
0.21
0.21
0.21
0.15
0.15
0.15
0.15
0.25
0.25
0.25
0.25
0.1
0.1
0.1
0.1
0.09
0.09
0.09
0.09
0.12
0.12
0.12
0.12
0.5
0.5
0.5
0.5
0.3
0.3
0.3
0.3
0.6
0.6
0.6
0.6
0.3
0.3
0.3
0.3
0.2
0.2
0.2
0.2
0.4
0.4
0.4
0.4
1.7
1.7
1.7
1.7
1.9
1.9
1.9
1.9
2.0
2.0
2.0
2.0
S 2
Phn tch, m hnh ha v tng hp b iu khin bi ton beam and ball
Bng thng s:
Stt
1
2
3
4
5
6
7
Tn thng s
K hiu
Trng lng qu bng
m
Bn knh qu bng
r
Mmen qun tnh ca qu bng
I
Chiu di cch tay n (beam)
L
Khong cch gia tm hp s v v
d
tr gn cch tay nng
Gc gia tay n v mt phng
ngang
Gc ca v tr khp gn cch tay
nng v hp s ng c
n v
kg
m
Kg.m2
m
m
rad
rad
Ghi ch
Phng
n
1
2
3
4
5
6
7
8
9
10
11
12
Cc thng s u vo
m
(kg)
0.11
0.11
0.11
0.11
0.08
0.08
0.08
0.08
0.10
0.10
0.10
0.10
I
L
(Kg.m2) (m)
9.9e-6
9.9e-6
9.9e-6
9.9e-6
5.9e-6
5.9e-6
5.9e-6
5.9e-6
8.9e-6
8.9e-6
8.9e-6
8.9e-6
1
1
1
1
1.5
1.5
1.5
1.5
1.3
1.3
1.3
1.3
Yu cu
r
(m)
d
(m)
(%
)
Tq
(s)
0.005
0.005
0.005
0.005
0.007
0.007
0.007
0.007
0.06
0.06
0.06
0.06
0.15
0.15
0.15
0.15
0.12
0.12
0.12
0.12
0.14
0.14
0.14
0.14
5
5
5
5
8
8
8
8
6
6
6
6
2
2
2
2
1.7
1.7
1.7
1.7
1.9
1.9
1.9
1.9
S 3
Phn tch, m hnh ha v tng hp b iu khin bi ton gim sc v cn bng
cho xe t khi i trn ng (nhiu l do mt ng khng bng phng)
Bng thng s:
Stt
1
2
3
4
5
6
Tn thng s
Trng lng thn xe
Trng lng h thng treo
Hng s l xo ca h thng treo
Hng s l xo ca bnh v lp
Hng s gim sc ca h thng treo
Hng s gim sc ca bnh v lp
K hiu
mc
mw
kc
kw
cs
cw
n v
kg
kg
N/m
N/m
N.s/m
N.s/m
Ghi ch
Phng
n
Cc thng s u vo
Yu cu
mc
(kg)
mw
(kg)
kc
(N/m)
kw
(N/m)
cs
cw
Tq
(s)
2500
320
80,000
50000
350
15020
2500
320
80000
50000
350
15020
2500
320
80000
50000
350
15020
2500
320
80000
50000
350
15020
5500
420
120000
75000
450
14530
2.5
5500
420
120000
75000
450
14530
2.5
5500
420
120000
75000
450
14530
2.5
5500
420
120000
75000
450
14530
2.5
3500
320
100000
65000
390
17652
2.1
10
3500
320
100000
65000
390
17652
2.1
11
3500
320
100000
65000
390
17652
2.1
12
3500
320
100000
65000
390
17652
2.1
Phng php
tng hp
Tng hp b
iu khin PID
Khng
gian
trng thi
Phng
php
qu o nghim
Phng
php
p ng tn s
Tng hp b
iu khin PID
Khng
gian
trng thi
Phng
php
qu o nghim
Phng
php
p ng tn s
Tng hp b
iu khin PID
Khng
gian
trng thi
Phng
php
qu o nghim
Phng
php
p ng tn s
S 4
Phn tch, m hnh ha v tng hp b iu khin bi ton iu khin a my
tnh s dng ng c in mt chiu vi cc thng s sau:
Ki
Kb
Bm
Ra
La
KL
BL
Jm
JL
Yu cu:
- Thi gian tng <=0.3s
- Thi gian qu <=1s
- qu chnh <5%
Cc thng s u vo
Phng
n
Ki
Kb
B
m
Ra
La
KL
BL
10
0.071
0.25
2000
10
10
0.071
0.25
2000
10
0.071
0.25
2000
JL
Jm
(%)
0.002
10
0.002
10
0.002
Yu cu
Tq
Phng php
(s)
tng hp
Tng hp b
0.5
iu khin PID
Khng
gian
0.5
trng thi
0.5 Phng php qu
10
0.071
0.25
2000
10
0.002
0.5
13
0.051
2.5
0.21
0.001
1500
0.004
1.5
0.6
13
0.051
2.5
0.21
0.001
1500
0.004
1.5
0.6
13
0.051
2.5
0.21
0.001
1500
0.004
1.5
0.6
13
0.051
2.5
0.21
0.001
1500
0.004
1.5
0.6
15
0.081
0.31
0.002
2500
13
0.003
1.2
0.4
10
15
0.081
0.31
0.002
2500
13
0.003
1.2
0.4
11
15
0.081
0.31
0.002
2500
13
0.003
1.2
0.4
12
15
0.081
0.31
0.002
2500
13
0.003
1.2
0.4
o nghim
Phng
php
p ng tn s
Tng hp b
iu khin PID
Khng
gian
trng thi
Phng php qu
o nghim
Phng
php
p ng tn s
Tng hp b
iu khin PID
Khng
gian
trng thi
Phng php qu
o nghim
Phng
php
p ng tn s