I HC QUC GIA T HNH PH H CH MINH

T RNG I HC BCH KHOA

N MN HC 1

IU KHIN TC NG C
BNG PHNG PHP PID

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

Nhn Xt Ca Gio Vin:

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 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

M U:
B iu khin PID c s dng rt rng ri trong thc t iu khin nhiu loi i
tng khc nhau nh nhit l nhit , tc ng c, mc cht lng trong bn chaS d
nh vy v b iu khin PID c kh nng trit tiu sai s xc lp, tng tc p ng qu ,
gim vt l nu cc thng s ca b iu khin c la chn thch hp.
Trong L Thuyt iu Khin T ng 1, vn thit k b b iu khin PID c
cp kh k cng, song vn mang tnh l thuyt thun ty. n khi c giao thc hin
n M n Hc 1 vi ti thc hin mt card iu khin theo gii thut PID, cc vn cn cha
hiu L Thuyt iu Khin T ng 1 nh c gii ta.
S d em chn iu khin tc ng c v n l i tng iu khin kh kinh in, c
mt trong hu ht cc ng dng k c dn dng ln cng nghip( my in , CD player , robot.)
C th ni ng c v l nhit l hai i tng iu khin m sinh vin ngnh t ng khng th
khng bit
Do thi gian thc hin n ch gi gn trong mt hc k, nn ti cha th hon
thin, cn kh nhiu vn trong gii tht iu khin v tm cc thng s iu khin cho b iu
khin PID vn cha c nghin cu k cng. Em mong rng cc thy c s cho nhng kin
qu bu hon thin hn ti ny
Nhn y em cng xin chn thnh cm n c Bi Thanh Huyn nh hng cho em
theo mt ti rt hay , rt ph hp vi chuyn ngnh . Trong qu trnh nghin cu thc hin
n c gip v truyn t cho em nhng kinh nghim thc t, nh em c th gim thiu
ti a nhng vn trc trc m em hon ton c th gp phi do thiu kinh nghim .ng thi
cng xin cm n cc bn trn din n www.picvietnam.com v www.dientuvietnam.net , cc
bn chia s kinh nghim v kin thc ca mnh trn din n. iu gip em rt nhiu
trong qu trnh thc hin n.

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

I . TNG QUAN PHN CNG

1. S KHI PHN CNG

Modul hin th

Modul Cng Sut

ng
C DC

B iu Khin PID

Encoder
(Phn hi tc )

Khi Nt n

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

2. XY DNG CC MODUL
-

M odul hin th s dng LCD16x2

Encoder c gn sn trn ng c loi 250 xung/ vng
M odul cng sut c xy dng vi IC L298 lm trung tm, IC L298 l IC cu H
chuyn dng cho iu khin ng c. N goi ra ,cn s dng thm Diode kch nhanh
nhm tng kh nng ng ngt cho L298
M odul nt n s dng nt loi nhn nh nhp cc thng s Ki, Kp, Kd v tc
t cho b iu khin.
Trung tm x l thut ton PID l PIC16F877A , bn cnh s dng thm cc opto
cch ly PIC vi modul cng sut

3. S MCH

S mch cng sut

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

S mch iu khin

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

I.

TM HIU CC IC CN S DNG

1. TM HI U PIC16F877A
B Vi iu khin 8 bit PIC16F877
( c vit theo ti liu trn www.picvietnam.com)
1.1. c tnh ni bt ca b vi x l.
+ S dng cng ngh tch hp cao RISC CPU.
+ Ngi s dng c th lp trnh vi 35 cu lnh n gin.
+ Tt c cc cu lnh thc hin trong mt chu k lnh ngoi tr mt s cu lnh r nhnh
thc hin trong 2 chu k lnh.
+ Tc hot ng l: - Xung ng h vo l DC- 20MHz
- Chu k lnh thc hin trong 200ns + B nh chng trnh Flash
8Kx14 words
+ B nh Ram 368x8 bytes
+ B nh EFPROM 256x 8 bytes
Kh nng ca b vi x l ny
+ Kh nng ngt ( ln ti 14 ngun ngt trong v ngt ngoi ) + Ngn nh Stack c
phn chia lm 8 mc
+ Truy cp b nh bng a ch trc tip hoc gin tip.
+ Ngun khi ng li (POR)
+ B to xung thi gian (PWRT) v b to dao ng (OST)
+ B m xung thi gian (WDT) vi ngun dao ng trn chp (ngun dao ng RC )
hot ng ng tin cy.
+ C m chng trnh bo v.
+ Phng thc ct gi SLEEP
+ C bng la chn dao ng.
+ Cng ngh CMOS FLASH /EEPROM ngun mc thp ,tc cao.
+ Thit k hon ton tnh .
+ Mch chng trnh ni tip c 2 chn.
+ X l c /ghi ti b nh chng trnh .
+ Di in th hot ng rng : 2.0V n 5.5V
+ Ngun s dng hin ti 25 mA
+ Dy nhit cng nghip v thun li .
+ Cng sut tiu th thp:
< 0.6mA vi 5V, 4MHz
20 A vi ngun 3V, 32 kHz
< 1 A ngun d phng.
Cc c tnh ni bt ca thit b ngoi vi trn chip
+ Timer0: 8 bt ca b nh thi, b m vi h s t l trc
+ Timer1: 16 bt ca b nh thi, b m vi h s t l trc, c kh nng tng trong
khi ch Sleep qua xung ng h c cung cp bn ngoi.
+ Timer 2: 8 bt ca b nh thi, b m vi 8 bt ca h s t l trc, h s t l sau
+ C 2 ch bt gi, so snh, iu ch rng xung(PWM).
7

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

+ Ch bt gi vi 16 bt, vi tc 12.5 ns, ch so snh vi 16 bt, tc gii quyt

cc i l 200 ns, ch iu ch rng xung vi 10 bt.
+ B chuyn i tn hiu s sang tng t vi 10 bt .
+ Cng truyn thng ni tip SSP vi SPI phng thc ch v I2C(ch/ph)
+ B truyn nhn thng tin ng b, d b(USART/SCL) c kh nng pht hin 9 bt a
ch.
+ Cng ph song song (PSP) vi 8 bt m rng, vi RD, WR v CS iu khin
S cc chn PIC16F87X:

1.2. S t chc b nh Pic16F877.

Pic16F877 c 3 khi b nh. B nh chng trnh PLASH, b nh d liu RAM, b
nh EEPROM.
1.3. S t chc b nh chng trnh FLASH v Stack nh.
Vi iu khin PIC16F877 c mt b m chng trnh 13 bit v c 8Kx14
t m ca b nh chng trnh FLASH, c chia thnh 4 trang mi trang 2Kx14 t m.
Khi Reset a ch bt u thc hin chy l 0000h, Vector ngt bt u 0004h.
Stack c 8 mc dng lu a(PC) ch lnh thc hin tip theo sau lnh CALL v khi
xy ra ngt.

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

Bn b nh chng trnh v cc ngn xp:

1.4. S t chc b nh d liu RAM

RAM l b nh c th c v ghi, n khng lu d liu khi mt in, b
nh RAM ca PIC16F877 c 4 bank, mi bank c di a ch 0-7FH(128byte) trn cc
bank nhng thanh ghi a mc ch, n hot ng nh mt RAM tnh.
Cc ngoi vi cn bit khi thc hin n
1.5. Cc B Timer ca chip:
B vi iu khin PIC16F87X c 3 b Timer l:Timer0, Timer1, Timer2
1.6. B Timer 0
L b nh thi hoc b m c nhng u im ni bt sau:
+ 8 bit cho timer hoc b m
+ C kh nng c v vit
+ C th dng ng h bn trong hoc bn ngoi
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 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

+ C th chn cnh xung ca xung ng h

+ C h s chia cho xung u vo c th lp trnh li bng phn mm
+ Ngt trn
~ Hot ng ca Timer 0:
Timer 0 c th hot ng nh mt b nh thi hoc mt b m. Vic chn b nh
thi hoc b m c th c xc lp bng vic xo hoc t bt TOCS ca thanh ghi
OPTION_REG<5>.
Nu dng h s chia xungu vo th xo bit PSA ca thanh ghi OPTION_REG<3>.
Trong ch b nh thi c la chn bi vic xo bit T0CS (OPTION REG<5>),
n s c tng gi tr sau mt chu k lnh nu khng chn h s chia xung u vo. V
gi tr ca n c vit ti thanh ghi TMR0.
Ch m c la chn bi vic set bit T0CS (OPTION REG<5>). Trong ch
b m, n s c tng xung i xung nu xo bit T0SE(OPTION_REG<4>) hoc
xung i ln nu set bit T0SE. V gi tr ca n c vit ti thanh ghi TMR0.
Khi dng xung clock bn ngoi cho b nh thi Timer0 v khng dng h s chia
clock u vo Timer0 th phi p ng cc iu kin cn thit c th hot ng l
phi bo m xung clock bn ngoi c th ng b vi pha xung clock bn trong (TOSC).
S khi ca Timer0 v WDT:

Cc h s chia
H s chia dng cho Timer 0 hoc b WDT. Cc h s ny khng c kh nng
c v kh nng vit. chn h s chia xung vo Timer0 hoc cho b WDT ta tin
hnh xo hoc t bt PSA ca thanh ghi OPTION_REG<3>
Nhng bt PS2, PS1, PS0 ca thanh ghi OPTION_REG<2:0> dng xc lp cc
h s chia.
~ Ngt ca b Timer0
Ngt ca b Timer 0 c pht sinh ra khi thanh ghi TMR0 b trn tc t FFh
quay v 00h. Khi bt T0IF ca thanh ghi INTCON<2> s c t. Bt ny phi c
xa bng phn mm nu cho php ngt bit T0IE ca thanh ghi INTCON<5> c set.
Timer0 b dng hot ch SLEEP ngt Timer 0 khng nh thc b x l ch
SLEEP.
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 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

*Thanh ghi OPTION_REG:

bit 5 TOCS la chn ngun clock

1=Clock ngoi t chn T0CKI
0=Clock trong Focs/4
bit 4 T0SE bit la chon sn xung clock
1=Timer 0 tng khi chn T0CKI t cao xung thp(sn xung) 0=Timer 0 tng
khi chn T0CKI t thp ln cao(sn xung)
bit 3 PSA bit gn b chia xung u vo
1=gn b chia Prescaler cho WDT
0=gn b chia Prescaler cho Timer 0
bit 2:0 PS2:PS1 la chn h s chia xung vo theo bng sau

1.7. B Timer 1
B Timer1 c th l b m hoc b nh thi vi u im sau:
+16 bt cho b m hoc b nh thi (gm hai thanh ghi TMR1H:TMR1L).
+C kh nng c v vit
+C th chn xung ng h bn trong hoc ng h bn ngoi
+C th ngt khi trn FFFFh v 0000h
Timer1 c 1 thanh ghi iu khin, l thanh ghi T1C0N. B Timer1 c hot ng hay
khng hot ng l nh vic t hoc xo bt TMR1ON(T1CON<0>).
~ Hot ng ca b Timer1
N c th hot ng mt trong cc ch sau:
+ L 1 b nh thi 16 bit.
+ L mt b m c ng b .
+ L mt b m khng c ng b.
Phng thc hot ng ca b ny c xc nh bi vic chn ngun xung vo Timer1.
Ngun xung ng h c chn bi vic t hoc xo bt TMR1CS (T1CON<1>). ch b
nh thi, u vo l clock trong Fosc/4, bit ng b
11

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

T1SYNC(T1CON<2>) khng c tc dng v clock trong lun ng b. Ch b m

hot ng hai ch : C ng b xung vo xo bit T1SYNC(T1CON<2>), khng ng b xung
vo set bit T1SYNC(T1CON<2>) Timer 1 tng sn ln xung u vo.
Khi b dao ng Timer1 cho php hot ng th cc chn RC1/T1OSI/CCP2,
RC0/T1OSO/T1CKI tr thnh chn vo.
ch m c ng b b m tng mi khi sn ln chn RC0 hoc chn RC1
nu bit T1OSCEN xo v xung vo phi ng b vi clock trong, ch ny b m khng
tng trong trang thI SLEEP.
ch m khng ng b Timer 1 tng mi khi sn ln chn RC0 hoc chn
RC1 nu bit T1OSCEN xo, ch ny b m tip tc tng trong trang thi SLEEP v c kh
nng trn gy ra ngt khi b s l c nh thc.
~ Dao ng ca Timer1
Mch dao ng thch anh c xy dng gia 2 chn T1OSI v T1OS0. Khi dao
ng c cung cp ch cng sut thp th tn s cc t ca n s l 200kHz v trong n
ch SLEEP n cung cp tn s 32kHz
~ Ngt ca b Timer1
Cp thanh ghi TMR1H v TMR1L tng t gi tr 0000h n gi tr FFFFh n gi
tr ny tip tc tng th trn v quay li gi tr 0000h. V ngt xut hin khi trn qu gi tr
FFFFh khi ny c ngt TMR1IF s c t. Ngt c th hot ng hoc khng hot ng nh
vic t hoc xo bt TMR1IE

Thanh ghi iu khin Timer1 T1CON:

bt 7,6 khng s dng

bit 5,4 T1CKPS1:T1CKPS0 la chn h s chia xung vo
bit 3 T1OSCEN bit iu khin b dao ng Timer1 1= B dao ng hot ng
0= B dao ng khng hot ng
bit 2 bit iu khin xung clock ngoi ng b khi TMR1CS=1
bit2=0 c ng clock ngoi
=1 khng ng b clock ngoi
12

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

khi TMR1CS=0 bit ny khng c tc dng

bit 1 TMR1CS bit la chn ngun xung clock vo
TMR1CS=1 clock t chn RC0/T1OSO/T1CKI(sn ln)
Fosc/4
Bit 0 bit bt tt Timer
1= Timer 1 enable
0=Timer 1 Disable

TMR1CS=0 clock trong

1.8. B Timer 2 :
B Timer2 c nhng c tnh sau y:
+ 8 bt cho b nh thi ( thanh ghi TMR2 )
+ 8 bt vng lp ( thanh ghi PR2 )
+ C kh nng c v vit c hai thanh ghi ni trn
+ C kh nng lp trnh bng phn mm t l trc
+ C kh nng lp trnh bng phn mm t l sau
Ch SSP dng u ra ca TMR2 to xung clock. Timer2 c mt thanh ghi iu khin
l thanh ghi T2CON. Timer 2 c th tt bng vic xo bt TMR2CON ca thanh ghi T2CON
~ Hot ng ca b Timer2
Timer 2 c dng ch yu phn iu ch xung ca b CCP, thanh ghi TMR2 c kh nng c
v vit, n c th xa bng vic reset li thit b. u vo ca xung c th chn cc t sau ; 1:1 ,
1:2 hoc 1:16 vic chn cc t ny c th iu khin cc bt sau T2CKPS1v bt T2CKPS0
~ Ngt ca b Timer2
B Timer2 c 1 thanh ghi 8 bt PR2 . Timer 2 tng t gi tr 00h cho n khp vi PR2 v tip
theo n s reset li gi tr 00h v lnh k tip thc hin. Thanh ghi PR2 l mt thanh ghi c kh
nng c v kh nng vit. Thanh ghi PR2 bt u t gi tr FFh u ra ca TMR2 l ng dn
ca cng truyn thng ng b, n c dng pht cc xung ng h
S Khi Timer2

13

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

1.9. B PWM
Trong ch ny, mt xung vung 10 bit c to ra trn chn CCP x. V chn ny a
hp vi chn cht ca PORTC nn bit TRISC<2> phi c xa cu hnh cho chn CCP1
trng thi xut d liu.
Cc bc sau c yu cu thit lp cho b CCP hot ng trong ch PWM :
- Thit lp chu k cho PWM bng cch ghi ln thanh ghi PR2
- Thit lp chu trnh hat ng bng cch ghi ln thanh ghi
- CCPR1L v bit4 bit5 trong thanh ghi CCP1CON.
- Cu hnh cho chn CCP1 trng thi xut d liu.
- Cu hnh cho b CCP1 hot ng trong ch PWM

S Khi B PWM

Dng Sng Ra Ca B PWM

2. IC L298:
L298 l mt IC cu H ( Dual Full- Bridge Driver) c s cu to nh sau:

14

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

S phn b chn ca L298:

c tnh k thut ca L298:

- in p hot ng Vs c th ln ti 50V.
- in p cn cung cp cho cc cng Logic Vss =7V.
-Ng ra v ng vo ca cc cng Logic l dang TTL
- M i u ra c th ti dng DC ti a ln ti 2A.
- Tm nhit hot ng t -250C ti 1300C.
- C th hot ng vi tn s ng ngt khong 40Khz.
-Vic iu khin chiu quay ca ng c thng qua tc ng ln chn INPUT1 v
INPUT2, hai chn ny phi tri mc Logic v chn ENABLE c tch cc th ng c mi
chy.
S kt ni L298 theo khuyn co ca nh sn sut:

15

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

M i u ra ca L298 ch ti ti a c 2A, nu mc song song hai knh ca L298 c th

nng u ra ln 4A. Tuy nhin, cch ny ch s dng c cho iu khin cc motor cng sut
b. i vi cc motor cng sut ln ngi ta khng dng IC m dng cc SCR cng sut ln.
Khi phi c thm mch kch cho cc SCR.

3. LCD YM1602C
y l LCD loi 2 hng 16 k t

LCD c tng cng 16 chn, trong c 8 chn truyn d liu, 2 chn cp ngun cho n
nn (Back light) , chn Vss cp ngun cho LCD hot ng (5V) , chn Vdd cung cp din p
iu khin tng phn cho LCD.
Thi gian ghi hoc c d liu ti a t LCD l 500ns , nhanh nht l 20ns.
Dng hot ng ca n Back Light l 120mA.

4. S LC V ENCODER
(Vit theo cc ti liu trn www.picvietnam.com)
1- ng dng chung ca encoder:
Trong cc bi ton o tc ng c, trong cc my CNC dng xc nh khong dch
chuyn ca 1 i tng thng qua m s vng quay ca trc...

16

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

2- Cu to chnh ca Encoder:
Gm 1 b pht nh sng(LED pht), mt b thu nh sng nhy vi nh sng t b
pht(b thu thng l photodiotde hoc phototransistor) , 1 hay 2 a quang (c khoan l)
gn trn trc quay t gia b pht v thu, thng thng trc quay ny s c gn vi
trc quay ca i tng cn o tc .
3- Nguyn l c bn:
Trn a quang c khot nhiu l cho php nh sng truyn qua theo cc cch m ho
khc nhau, s l ny s quyt nh chnh xc ca thit b o. V d a quang ca bn
c 1 l tc l khi bn quay c 1 vng th b thu s thu c 1 xung, nu a quang ca
bn khot N l c ngha 1 vng bn thu c N xung. Nh vy khi o tc bn m s
xung trong 1 n v thi gian, t bn tnh c s vng trn 1 n v thi gian (hoc
c th o chu k xung). Nu o tc cao th s l khot cng nhiu cng chnh xc.
4- Cc loi Encoder
Encoder c chia lm 2 loi, absolute encoder v incremental encoder. Tm dch
l encoder tuyt i v encoder tng i.
Absolute encoder, c ngha l encoder tuyt i, tc l tn hiu ta nhn c, ch
r rng v tr ca encoder, chng ta khng cn x l g thm, cng bit chnh xc v tr
ca encoder.
Cn incremental encoder, l loi encoder ch c 1, 2, hoc ti a l 3 vng l.
Nu l loi c 1 l th khi encoder quay ht mt vng ta nhn c tn hiu bo l
quay ht mt vng. Nu encoder c nhiu l hn, chng ta s c c thng tin chi tit
hn , c ngha l a quay 1/4 vong, 1/8 vng, hoc 1/n vng, ty theo s l nm trn
incremental encoder.
C mi ln i qua mt l, chng ta phi lp trnh thit b o m ln 1. Do
vy, encoder loi ny c tn incremental encoder (encoder tng ln 1 n v).

a quang ca absolute encoder

a quang ca incremental encoder

17

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

Thng thng ta s dng loi incremental encoder , v xc nh khi no encoder

quay xong 1 vng v xc nh chiu quay ca ng c ngi ta dng a quang c
khoan l nh sau:

V tr gc ca cc l vng 1 v cc l vng 2 lch nhau. Cc cnh ca l vng 2 nm

ngay gia cc l vng 1 v ngc li.
Tuy nhin, thay v lm 2 vng encoder, v dng 2 n LED t thng hng, th ngi ta ch cn
lm 1 vng l, v t hai n LED lch nhau.
Kt qu, s thng thy cc encoder c dng nh hnh:

18

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

II. I TNG IU KHIN V GII

THUT PID
1. S LC V NG C DC
1.1 Nguyn tc hot ng:
Stator ca ng c in 1 chiu thng l 1 hay nhiu cp nam chm vnh cu,
hay nam chm in, rotor c cc cun dy qun v c ni vi ngun in mt chiu,
mt phn quan trng khc ca ng c in 1 chiu l b phn chnh lu, n c nhim v
l i chiu dng in trong khi chuyn ng quay ca rotor l lin tc. Thng thng b
phn ny gm c mt b c gp v mt b chi than tip xc vi c gp

Pha 1: T trng ca rotor cng cc vi stator,

s y nhau to ra chuyn ng quay ca rotor

Pha 2: Rotor tip tc quay

19

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

Pha 3: B phn chnh in s i cc sao cho t trng gia stator v rotor cng du,
tr li pha 1

Nu trc ca mt ng c in mt chiu c ko bng 1 lc ngoi, ng c s hot

ng nh mt my pht in mt chiu, v to ra mt sc in ng cm ng Electromotive
force (EM F). Khi vn hnh bnh thng, rotor khi quay s pht ra mt in p gi l sc phn
in ng counter-EM F (CEM F) hoc sc in ng i khng, v n i khng li in p bn
ngoi t vo ng c. Sc in ng ny tng t nh sc in ng pht ra khi ng c c
s dng nh mt my pht in (nh lc ta ni mt in tr ti vo u ra ca ng c, v ko
trc ng c bng mt ngu lc bn ngoi). Nh vy in p t trn ng c bao gm 2 thnh
phn: sc phn in ng, v in p ging to ra do in tr ni ca cc cun dy phn ng.
Dng in chy qua ng c c tnh theo biu thc sau:
I = (VNguon VPhanDienDong) / RPhanUng
Cng sut c m ng c a ra c, c tnh bng:
P = I * (VPhanDienDong)

1.2 c tnh ng c
U= E+ Ri + L
M dc M t =J
M dc = Ce .i
E= Ce .

di
dt

d
dt

20

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

Khi bo qua phan n g phan ng va gia s ca c pha n t trong he thong la tuye n tnh, co ca c
phng trnh sau , trong o :
U : ien ap hai au phan ng
i : do ng ien qua ong c.
R, L : ien tr , t ca m mach ien phan ng.
E , Mdc : Sc ien ong, moment quay cua ong c. Sc ien on g t le vi to c o quay w
ww
w , moment quay t le v i don g ien i. theo hang so Ce , xac nh bi cau tao ong c va t
thong khe h khon g kh. Khi t thong co nh ( on g c kch t oc lap hay bang nam cha m
vnh cu ) Ce la han g so.
J : moment qua n tnh cua cac phan quayva Mt la moment can.
T cac phng trnh tren, co the suy ra ham truyen ong c nh hnh sau :

Trong che o xa c lap , moment ong c bang momen ca n, sut ap qua t cam L bang zero :

va ta co quan he ien ap - to c o :

Quan h = f (I) gi l c tnh tc . T kt qu trn ta thy :

- e ieu chnh to c o ta co the thay oi ien ap a t vao ong c.
- khi co ta i, ong c se co sut to c o do su t ap tren mac h ien phan ng.
Tm li, tc quay ca mt ng c in mt chiu t l vi in p t vo n, v
ngu lc quay t l vi dng in. iu khin tc ca ng c c th bng cch iu khin
cc im chia in p cung cp, iu khin b cp ngun thay i c, dng in tr hoc
mch in t... Chiu quay ca ng c c th thay i c bng cch thay i chiu ni dy
ca phn kch t, hoc phn ng, nhng khng th c nu thay i c hai. Thng thng s
c thc hin bng cc b cng tc t c bit (Cng tc t i chiu).
21

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

2. KHI QUT B IU KHI N PID

M t b iu khin PID gm ba khu: khu t l (P),khu tch phn(I),v khu vi phn (D)
Trong min thi gian, b iu khin PID c m t bng m hnh vo ra:


U(t)= kp.e(t) +ki
   +kd




Trong e(t) l tn hiu ng vo, u(t) l tn hiu ng ra ca b iu khin.

Thng thng, gi tr Ki, Kp, Kd c ngha nh sau:
Thnh phn Kp ci thin thi gian tng trng.
Thnh phn Kd gim vt l.
Thnh phn Ki trit tiu sai s xc lp.

3. B PID RI RC
Ta xt th sau y:
v(vng/pht)
vo
vt

e3

e0

e1

t(s)

t
Ta ri rc ha vo ti mi thi im cch nhau mt khong t .
e0, e1,e2, e3 .l sai lch ca vn tc hin ti so vi vn tc t
Trc tin , ri rc ha tch phn:
Chng ta bit :


   lim  . . 



22

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

Mt cch gn ng :
lim  . .   . = i. , vi  rt nh
Nh vy:

   . 

Ri rc ha vi phn:

Vi  rt nh ta xp x:

Nh vy :


     
 lim



        




lim

   




Tm ti ta c biu thc ri rc:

   

! 

    

  


III. GII THUT LP TRNH

1. TNG QUAN GII THUT
- Kp, Ki, Kd ln lt l cc h s Kp,Ki, Kd.
- e2 l sai lch hin ti (trong lc ang xt).
- e1 l sai lch ngay trc .
- e_sum l tng ca tt c cc sai lch t lc bt u n thi im ang xt.
-e_del l hiu s ca hai sai lch e2 v e1, hay ni cch khc,
l bin thin sai lch.
- V_set l tc c thit lp qua bin tr.
- V_do l tc hin ti c c t encoder.
- Duty l s phn trm duty cycle ca xung PWM cn cung cp
Ban u e1 = e2 = e_sum = e_del =0
Duty=0

23

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

Theo ta c lu sau:
Start

No

V_do=0?

No

Duty=0

No

Chieu_quay=tp?

Yes
Yes
tp=chieu_quay
Ly cc gi tr:
Kp, Ki, Kd
V_set

Tnh ton tc ng c
V xut ra mn hnh
LCD tc ng c

e2=V_set-V_do
e_sum=e_sum+e2
e_del=e2-e1
e1=e2
duty= Kp.e2+Ki.e_sum.+Kd.e_del/

Xut xung PWM vi duty tnh c

24

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

Khi i chiu quay ng c ta thm bin tp l th thut ngng cp in cho ng c v

ch cho ng c ngng quay ri mi cp in p o chiu nm trnh tnh trng qu dng c th
lm hng mch cng sut

2. TNH TC NG C
Trong ti ny em lp trnh c 10ms s tnh tc ng c 1 ln.
Gi s trong 10ms vi x l m c T 0 xung t encoder , vi loi encoder ang s dng l
loi 250xung/vng . Nh vy, trong 10 ms ng c quay c
l

#$
%&.,

#$
vng.
%&

T vn tc ng c

(vng/s), i vi ng c ta thng dung n v (vng/pht )

Nh vy biu thc tnh tc ng c cui cng l:

)0 .60
V_do= 250.0,01
(vng/pht) = 24T 0 (vng/ pht)

Nh vy sai s h thng trong php o l 24(vng/pht)

Trong ti s dng Timer0 m xung t encoder , ng thi cho php ngt timer0 mi
khi trn . Khi timer0 trn v nhy vo ngt s tng 1 bin i trong chng trnh ngt.,vi cch lm
ny ta s c T 0= t 0+256.i. Vi t 0 l gi tr timer0 tai thi im kt thc 10ms

3. THI T K NT BM
M ch c thit k c 4 nt, 1 nt reset mch , 1 nt chn mode, 1 nt tng s v 1 nt
gim s. Nhm cho vi x l chuyn x l gii thut PID, chng trnh chnh s khng c phn
qut nt. Vic qut nt s c a vo mt chng trnh ngt ( ngt ngoi). y nt chn
mode s c ni ti chn RB0 ca 16F877A, y l chn ngt ngoi ca PIC. Khi nhn nt
chn mode chng trnh s nhy vo ngt v thc hin qut nt. Tip ,nhn nt chn mode
tip tc chn cc thng s cn nhp (V_set , Ki, Kp,Kd, chiu quay) . Sau khin nhp cc
thng s xong, nt chon mode 2s s thot ra khi ngt v tr v chng trnh chnh ,s dng
cc thng s va nhp tnh ton cho gii thut PID
Do s lng nt thit k hn ch , nn cc thng s nhp vo l c gii hn v ch tng gim
1 lng nht nh . C th , V_set mi ln ch tng gim 10 vng/pht. Cc h s Ki, Kp ,Kd mi
ln tng gim 0,01 v gii hn t 0 ti 30( ngha l 0<Ki,Kp,Kd<30)
T nhng tng v gii thut nh trn, ta c lu nh sau:

25

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

Vo ngt

Mod=0
Hin thi V_set

No
Nhn
tng ?

Yes

No

Nhn
gim?

No

Yes

Nhn
Mode?

Yes

Gi chng trnh
tng gim

Delay 500ms

Nhn
Mode?

Yes
Delay 1,5s

No
No

Mod<5?

Yes

No
Mod=Mod+1

Mod=0 , hin th V_set

Mod=1, hin thi Ki
Mod=2, hin th Kp
Mod=3, hin thi Kd
Mod=4, hin th chiu quay

26

Nhn
Mode?

Yes
EXIT

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

IV. TM CC THNG S PID

THEO ZIEGLER-NICHOLS
1. PHNG PHP ZI EGLER-NICHOLS
Phng php ny nhm xc nh cc thng s Ki, Kp, Kd cho b iu khin PID trn c
s xp x hm truyn t thnh khu qun tnh bc nht, nhm c th nhanh chng c c cc
thng s tt nht c th bng thc nghim. Do trong thc t khng d dng tnh c hm truyn
ca h thng.
i vi i tng l tc ng c, ta da vo p ng ca h h i vi u vo l
hm nc, ta s c p ng:
c(t)

0 T1

T2

t(s)

Cc thng s ca b PID c chn nh sau:

1,2)

Kp= ) /2
1

, KI = 2)0

, Kd = % Kp T 1

2. THU THP BNG S LIU V TNH TON CC H S PID

v p ng qu ca ng c, em lp trnh cho vi x l cung cp cho ng
c mt in p c nh , ng thi c mi 10s li tnh ton tc ng c mt ln ri lu
kt qu vo mt mng b nh c to sn. Khi tc ng c xc lp em gi
mng ra v c kt qu nh sau :

27

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

t(ms)
V(vng/pht)
t(ms)
V(vng/pht)
t(ms)
V(vng/pht)

10

20

1248

2784

30

40

3384

3720

100

110

120

130

4488

4560

4608

4632

50

60

70

80

90

3912

4056

4224

4320

4416

140

150

160

170

180

190

4680

4704

4728

4728

4776

4776

200

210

220

230

240

250

260

270

280

290

4776

4800

4800

4800

4800

4848

4848

4848

4848

4848

300

350

400

Theo ta c p ng qu ca ng c nh sau:

6000

5000

V(rpm)

4000

3000

2000

1000

0
0

50

100

150

200
t(ms)

250

Da vo p ng qu trn ta chn:
T 1=5ms , T 2=25ms
in p cung cp cho ng c lc th nghim l U=17V
/

4848
 285
17

28

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

Nh vy cc h s KI, Kp,Kd cho b iu khin PID c tnh nh sau:

/4 

1,2)% 1,2.25

 0,021
) /
5.285

/5 

Nh vy ta chn :
Kp=0,021

, KI= 2,1

/!
0 ,021

 2,1
2) 2.0,005

1
/ )  5,256&  0
2 ! 

, Kd = 0

V. KT QU
iu khin c tc ng c kh chnh xc.
Khi nng ti tc ng c vn c duy tr.

29

 N MN HC 1
iu Khin Tc ng C Bng Phng Php PID

MC LC:

I.

Trang:
Tng Quan Phn Cng
1. S Khi Phn Cng.4
2. Xy Dng Cc M odul ...5
3. S M ch...5

II.

Tm Hiu Cc IC Cn S Dng
1. PIC16F877A.7
2. IC L298.14
3. LCD YM 1602C16
4. S Lc V Encoder16

III.

i Tng iu Khin V Gii Thut PID

1. S Lc V ng C DC.19
2. Khi Qut B iu Khin PID.22
3. B PID Ri Rc.22

IV.

Gii Thut Lp Trnh

1. Tng Quan Gii Thut...23
2. Tnh Tc Dng C25
3. Thit K Nt Bm.25

V.

Tm Cc Thng S PID Theo Ziegler-Nichols

1. Phng Php Ziegler-Nichols27
2. Bng S Liu v Tnh Ton Cc Thng S...27

VI.

Kt Qu.................................................................................................................29

30