Hi ngh Khoa hc tr K thut C kh ln 4

Khoa C kh, Trng i hc Bch khoa, 30/3/2013

LP TRNH IU KHIN C CU CHP HNH PIEZO S DNG CM

BIN O CHUYN V KIU TIP XC
L Phc B v Phm Huy Hong
Khoa C kh i hc Bch khoa thnh ph H Ch Minh
(Email: phucborso1@gmail.com)
Tm tt: Bi bo gii thiu nhng tm hiu v c cu chp hnh dng vt liu p in, cm bin, cc
kt ni my tnh vi thit b ngoi vi dng trong iu khin cng nh lp trnh mt giao din tng tc
vi ngi dng.
T kha: piezo actuator, digital control, graphical interface, windows programming, LSA, least
squares algorithm

1. GII THIU
Hin nay, c cu chp hnh piezo c dng kh ph
bin trong cc lnh vc : y hc, gia cng chnh xc, lp
rp chnh xc, MEMSC nhiu hng cung cp loi
thit b ny nh Piezomechanik [1], Thorlab [2], Norliac
[3],Tuy nhin, loi c cu chp hnh ny ch mi ph
bin vi nhng chng loi iu khin khng hi tip
(openloop control)(Hnh 1a).

Ti Trung tm o to Bo dng cng nghip hin

ang c cm bin o chuyn v (Hnh 2) vi chnh xc
cao ( phn gii 0,1 m), ng thi y cng c c cu
chp hnh piezo (Hnh 3). Trong iu kin trn, vic lp
trnh iu khin c hi tip cho c cu chp hnh piezo l
kh thi v rt cn thit cho vic s dng hiu qu c cu
chp hnh ny.

Hnh 2. Cm bin o chuyn v

a. Khng hi tip
b. C hi tip
Hnh 1. C cu piezo actuator
Hin nay vic iu khin c cu chp hnh piezo ch
yu thng qua lnh iu chnh in p, ngi s dng rt
cn c tn hiu phn hi (feedback) cho php iu khin
actuator t chnh xc. Cc chng loi iu khin c
hi tip (feedback control) (Hnh 1b) cha c nhiu, ng
thi c gi thnh t hn rt nhiu ln so vi cc chng
loi khng hi tip (bng 1)[3].
C hi tip
Khng hi tip
PAZ005 $816.31
$439.06
PAS005
PAZ009 $1,083.05 $679.71
PAS009
PAZ015 $1,933.85 $1,463.48 PAS015
Bng 1. So snh gi c cu piezo c hi tip vi
khng c hi tip
Cc hng ch to ch cung cp phn mm dng
chng trnh thc thi (file .EXE) n gin m khng a
ra chng trnh c th vin hm iu khin. iu ny gy
kh khn trong vic s dng.
Nu sn c cc loi cm bin chnh xc th vic lp
trnh iu khin c hi tip cho c cu chp hnh s dng
cm bin sn c bt k loi no min chnh xc t
mc yu cu l rt cn thit v cho php s dng c cu
chp hnh tt hn.

Hnh 3. C cu chp hnh Piezo

2.

HIN TNG P IN

Cc phng trnh lin h di y ch p dng i

vi trng hp tn hiu nh. Ch trong trng hp ny s
phn cc c th c m t bng cc phng trnh tuyn
tnh gia bin dng (S) hoc ng sut (T) vi in trng
E hoc chuyn v D. Mi quan h tuyn tnh ny c
suy ra bng cch s dng cc hng s in mi, p in
v tnh n hi. Bi v cc hng s ny ph thuc vo
tnh d hng ca vt liu p in, do nhng i lng
vt l ny ch c th c nh ngha bng cc ten-x
phn nh tnh nh hng ca trng in, bin dng c
hc dng n gin, mi lin h c bn gia tnh cht
in v n hi c m t bng hai phng trnh sau:
D = d.T + T.E
S = sE.T + d.E
Trong :
T hng s in mi (khi T hng s)

Proceedings of The 4th Symposium on Mechanical Engineering for Young Scientists

E: in trng

Hi ngh Khoa hc tr K thut C kh ln 4

Khoa C kh, Trng i hc Bch khoa, 30/3/2013

d: hng s p in

D: chuyn v; S: bin dng

sE hng s n hi (khi E hng s)

T: ng sut

3. PHNG PHP BNH PHNG CC TIU

Gi s ta c cc cp im (x1 , y1), (x2, y2), , (xn, yn)
vi x l bin s, y l gi tr ca hm s. Ta cn tm mt
ng cong thc nghim f(x) sao cho ng y = f(x) m
t ng nht mi lin h gia (xi , yi ). ng cong y = f(x)
c s chnh lch (sai s) d i vi mi im, c th: d1 =
y1 f(x1), d2 = y2 f(x2 ), , dn = yn f(xn). Phng php
bnh phng cc tiu pht biu nh sau:
ng cong y = f(x) tt nht ph hp vi cc cp
im (xi, yi) c tnh cht sau:
+

++

( )]

nh nht.
a thc l mt trong nhng hm s c dng ph
bin trong cc ng cong hi quy. ng dng a thc
trong phng php bnh phng cc tiu s dng c
nu tm tt sau y.
Khi dng a thc bc m
y = a0 + a1x + a2 x2 + + amxm
xp x mt b d liu (x1, y1), (x2, y2), , (xn, yn), vi n
m+1, theo phng php bnh phng cc tiu ta phi
c:
=

( )] =

++

=2

=2

=2

(
[

++

+ +

Hnh 4. M hnh iu khin s

)]

nh nht.
Ta cn tm cc h s a0, a1,, am sao cho iu kin
nu trn tha mn.
cc tiu, cc o hm ring ca ti a0, a1,,
am phi bng 0. Ta c:

Thut ton iu khin chy trn my tnh c dng

giao din tng tc vi ngi dng qua cc nt nhn, con
trt, textboxgip iu khin, iu chnh cc thng s
d dng, trc quan hn (hnh 6).
Cc thnh phn khu nh, DAC, thit b iu khin
c nh sn xut tch hp trong driver MDT694A (hnh
9).
Cc thnh phn ADC, trch mu chnh l module DL
RS1A, thit b o lng chnh l cm bin GT-2 ca
Keyence cng vi module khuch i (hnh 8).
Trong nghin cu ny, cc thit b chnh tahm gia vo
qu trnh iu khin c lp t c s nh hnh 5.

Hnh 5. S th nghim

)] = 0
)] = 0

++

)] = 0

Hnh 6. Giao din chng trnh iu khin

Sp xp li cc h s, ta c:

1+

++

+ +

+ +

Hnh 7. Ngun 12 V nui sensor

T y ta c th gii h phng trnh tm cc h s

a0, a1,, am.
4. M HNH IU KHIN
i vi mt h thng s, s iu khin tng qut
c dng nh hnh 4.
Hnh 8. Sensor, amplifier, module DL RS1A

Proceedings of The 4th Symposium on Mechanical Engineering for Young Scientists

Hi ngh Khoa hc tr K thut C kh ln 4

5.

Hnh 9. Driver ca c cu piezo

THIT K C KH

Khoa C kh, Trng i hc Bch khoa, 30/3/2013

Hnh 14. Gii thut iu khin

Driver MDT694A (hnh 9) ch nhn d liu dng in
p gi t my tnh hoc PLC. Do trc tin ta cn
thit lp c mi quan h tng quan gia in p cung
cp cho c cu piezo v chuyn v ca n. Ngi dng
nhp chuyn v yu cu t bn phm, chng trnh tnh
ton a ra in p, gi tr in p ny c gi xung
driver ca c cu piezo.

Hnh 10. Thit k c kh

(1)(2) Khi V nh v c cu piezo
(3)Chi tit c nh cm bin
(4)Phn
(5)Piezo Actuator
(6)Cm bin
Yu cu ca phn (4) l m bo tnh ng trc
gia u o ca cm bin vi trc c cu piezo. Do ,
thit mt ct ngang phn c dng nh hnh 11.

Hnh 15. Hin tng vng tr

Hnh 11. Mt ct ngang phn
nh v cm bin nh sn xut ngh nh hnh
12 vi b chi tit s (7) c cung cp km theo sensor.

Hnh 12. C nh cm bin

Thit k khi V (hnh 13) dng nh v c cu
piezo c mt ngoi hnh tr. u im ca khi V l nh
tm tt, c cu t cng vng m bo n nh khi
tin hnh th nghim.

Hnh 13. Khi V

6. GII THUT IU KHIN

Hnh 16. Chuyn v khi in p thay i

Da vo th (hnh 16) ta thy mi quan h gia
in p v chuyn v khng tuyn tnh. Ngoi ra, do hin
tng vng tr (hnh 15) ca vt liu p in m cng
mt mc in p cung cp, chuyn v gia chiu tng p
v gim p c s sai khc.
Do thnh lp c hm m t mi quan h gia
in p cung cp cho c cu piezo v chuyn v, ta tin
hnh:
Tng in p cung cp mi ln 0.1V t 0V n 75V
(ty theo ci t in p ti a ca driver l 75V,
100V hay 150V).
Tin hnh o chuyn v da vo cm bin mi ln
thay i in p. Kt qu thu c s c tuyn
tnh ha theo tng on lp mi quan h tuyn
tnh gia in p u vo v chuyn v.
i vi chiu gim in p ta cng tin hnh tng
t.

Proceedings of The 4th Symposium on Mechanical Engineering for Young Scientists

Hi ngh Khoa hc tr K thut C kh ln 4

Dng Optimization Toolbox ca MatLab tm

ng cong bnh phng cc tiu ca b d liu o
c.

a.

LSA vi a thc bc mt.

b.

LSA vi a thc bc hai

Khoa C kh, Trng i hc Bch khoa, 30/3/2013

chuyn v mong mun, thay v nhp vo in p nh

trc kia.

Hnh 18. th gi tr chuyn v mong mun

v gi tr thc
8. KT LUN
Mc d lp trnh c giao din p ng vic iu
khin hi tip c cu piezo. Tuy nhin vn cn mt s tn
ti:
chnh xc t c vn cha cao (hnh 18).
Gii thut iu khin vn cha p ng c vi
cc tn hiu tun hon nh sng sin, xung. khc
phc ta phi lp gii thut, lp trnh b b vng tr
[6][7].
Cha thit lp c hm truyn m t h thng iu
khin. lp c hm truyn ta tin hnh th
nghim thu thp d liu, da vo System
Identification Toolbox ca MatLab thit lp hm
truyn.
LI CM N
ti ny c ti tr thit b phn cng, piezo, cm
bin, my tnh bi Trung Tm Bo Dng Cng Nghip;
kinh ph ti NCKH cp SV nm 2012-2013.
9. TI LIU THAM KHO

c. LSA vi a thc bc ba
Hnh 17. ng dng Optimization Toolbox ca MatLab
tm ng cong bnh phng cc tiu
Dng Optimization Toolbox ca MatLab ta tnh c
ng cong bnh phng cc tiu trong cc trng hp
bc nht (suy bin thnh ng thng), bc hai v bc ba
(Hnh 17). Ta thy, bc a thc ni suy cng cao th
chnh xc cng tng (d2 cng nh). Tuy nhin, bc a
thc cng cao th cc h s bc cao cng tin v khng:
bc 1 (14.3227, 0.7222), bc 2 (6.6951, 1.2770,
0.0067), bc 3 (2.5339, 1.7818, 0.0210, 0.0001). Do ,
ta chn a thc bc hai lm ng cong bnh phng cc
tiu cho b d liu. Phng trnh ng cong bc hai tm
c:
V = 6.6951 + 1.2770d 0.0067d2
7.

KT QU
Kt qu c ch ra nh trn hnh 18. Nh vo b d
liu thu c t cm bin ta c th iu khin c c
cu piezo thng qua lnh chuyn v, tc l nhp vo

[1]http://www.piezomechanik.com/en/home/introduction/
index.html?1=
[2]http://www.noliac.com/Piezo_actuators-7764.aspx
[3]http://www.thorlabs.com/newgrouppage9.cfm?objectg
roup_id=1280
[4] Pham Huy Hoang and Vo Doan Tat Thang, Design
and Simulation of Micro-Linear Actuator, Proc. of
The IEEE Conference on Robotics, Automation and
Mechatronics CIS-RAM, pp. 292-296, Singapore,
June 2010.
[5] Ivor Horton, Ivor Hortons BeginningVisual C++
2010, Wiley Publishing, Inc.
[6] Qinmin Yang and S.Jagannathan, Creep and
Hysteresis Compensation for NanoManipulation
Using Atomic Force Microscope, Asian Journal of
Control, Vol. 11, No. 2, pp. 182 187, March 2009
[7] K. Kuhnen, H. Janocha, Compensation of the Creep
and Hysteresis Effects of Piezoelectric Actuators with
Inverse Systems, Laboratory for Process Automation
(LPA), University of Saarland, Saarbrcken,
Germany
[8]http://en.wikipedia.org/wiki/Linear_least_squares_%2
8mathematics%29

Proceedings of The 4th Symposium on Mechanical Engineering for Young Scientists