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Chng 9 Truyn ng v iu khin robot.

9.1. Truyn ng in trong robot: Truyn ng in c dng kh nhiu trong k thut robot, v c nhiu u im nh l iu khin n gin khng phi dng cc b bin i ph, khng gy bn mi trng, cc loi ng c in hin i c th lp trc tip trn cc khp quay... Tuy nhin so vi truyn ng thu lc hoc thu kh th truyn ng in c cng sut thp v thng thng phi cn thm hp gim tc v thng cc khu ca robot chuyn ng vi tc thp. Trong k thut robot, v nguyn tc c th dng ng c in cc loi khc nhau, nhng trong thc t ch c hai loi c dng nhiu hn c. l ng c in mt chiu v ng c bc. Ngy nay, do nhng thnh tu mi trong nghin cu iu khin ng c in xoay chiu, nn cng c xu hng chuyn sang s dng ng c in xoay chiu trnh phi trang b thm b ngun in mt chiu. Ngoi ra, loi ng c in mt chiu khng chi gp (DC brushless motor) cng bt u c ng dng vo k thut robot. 9.1.1. ng c in mt chiu : ng c in mt chiu gm c hai phn : + Stato c nh vi cc cun dy c dng in cm hoc dng nam chm vnh cu. Phn ny cn c gi l phn cm. Phn cm to nn t thng trong khe h khng kh. + Roto vi cc thanh dn. Khi c dng in mt chiu chy qua v vi dng t thng xc nh, roto s quay. Phn ny gi l phn ng. Tu cch u dy gia phn cm so vi phn ng, ta c nhng loi ng c in mt chiu khc nhau : + ng c kch t ni tip (Hnh 9.1.a); + ng c kch t song song (Hnh 9.1.b); + ng c kch t hn hp (Hnh 9.1.c).

a/

b/ Hnh 9.1. Cc loi ng c in mt chiu.

c/

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Cc thng s ch yu quyt nh tnh nng lm vic ca ng c in mt chiu l : U : in p cung cp cho phn ng; I : Cng dng in ca phn ng; r : in tr trong ca phn ng; : T thng; E : Sc phn in ng phn ng. Cc quan h c bn ca ng c in mt chiu l : E = U - rI = kn k l h s ph thuc vo c tnh ca dy cun v s thanh dn ca phn ng. U Ir S vng quay ca ng c in mt chiu : n = k Mmen ng C xc nh t phng trnh cn bng cng sut : EI = 2nC k I C=2 Hay : Mun iu chnh tc ng c in mt chiu c th thc hin bng cch : - Thay i t thng , thng qua vic iu chnh in p dng kch t. Trong trng hp gi nguyn in p phn ng U, tng tc t 0 n tc nh mc, th cng sut khng i cn momen gim theo tc . - iu chnh in p phn ng. Trong trng hp t thng khng i, khi tng tc t 0 n tc nh mc th mmen s khng i, cn cng sut tng theo tc . Mun o chiu quay ca ng c in mt chiu cn thay i hoc chiu ca t thng (tc chiu ca dng in kch t) hoc thay i chiu dng in phn ng. 9.1.2. ng c bc : Nguyn tc hot ng : Trn hnh 9.2 l s ng c bc loi n gin nht dng nam chm vnh cu gm stato c 4 cc v roto c 2 cc.

N S

'

'

'

'

Hnh 9.2 : S nguyn l hot ng ca ng c bc.

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Nu cp in cho cun dy ' th roto s dng v tr m dng t qua cun dy l ln nht. Nu cp in cho cun dy ' th roto s quay i 900 (Ph thuc chiu dng in cp vo). Khi ng thi cp in cho c 2 cun dy v th roto s dng v tr gia 00 v 900, v nu dng in vo 2 cun dy hon ton nh nhau th roto s dng v tr 450. Nh vy v tr ca roto ph thuc vo s cc c cp in trn stato v chiu ca dng in cp vo. Trn y l s nguyn l ca ng c bc loi c t cc v dng nam chm vnh cu. Trn c s ta c th tm hiu cc loi ng c c nhiu cc v dng nam chm in c t tnh thay i. Nh vy tu theo cch cp in cho cc cun dy trn stato ta c th iu khin cc v tr dng ca roto. Vic cp in cho cc cun dy c th s ho, cho nn c th ni ng c bc l loi ng c in chuyn cc tn hiu s u vo thnh chuyn ng c hc tng nc u ra. u nhc im : + Khi dng ng c bc khng cn mch phn hi cho c iu khin v tr v vn tc. + Thch hp vi cc thit b iu khin s. Vi kh nng iu khin s trc tip, ng c bc tr thnh thng dng trong cc thit b c in t hin i. Tuy nhin phm vi ng dng ng c bc l vng cng sut nh v trung bnh. Vic nghin cu nng cao cng sut ng c bc ang l vn rt c quan tm hin nay. Ngoi ra, ni chung hiu sut ca ng c bc thp hn cc loi ng c khc. Cc thng s ch yu ca ng c bc : Gc quay : ng c bc quay mt gc xc nh ng vi mi xung kch thch. Gc bc cng nh th phn gii v tr cng cao. S bc s l mt thng s quan trng : 3600 s= Tc quay v tn s xung : Tc quay ca ng c bc ph thuc vo s bc trong mt giy. i vi hu ht cc ng c bc, s xung cp cho ng c bng s bc (tnh theo pht) nn tc c th tnh theo tn s xung f. Tc quay ca ng c bc tnh theo cng thc sau : 60 f n= (f : bc/pht)/(s : bc /vng) s Tong : n - tc quay (vng/pht) f - tn s xung (Hz) s - S bc trong mt vng quay.
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Ngoi ra cn cc thng s quan trng khc nh chnh xc v tr, momen v qun tnh ca ng c... Cc loi ng c bc : Tu theo kiu ca roto, ng c bc c chia thnh cc loi sau : + ng c bc kiu t tr bin i (VR : Variable Resistance) + ng c bc nam chm vnh cu (PM : Permanent Magnet ) + ng c bc kiu lai (Hybrid) Tu theo s cun dy c lp trn stato ng c bc c chia thnh cc loi : 2 pha, 3 pha hoc 4 pha. Roto ng c bc c nhiu cc (cn gi l rng). S cc ca roto phi hp vi s cc ca stato xc nh gi tr gc bc . Gc bc ln nht l 900 ng vi ng c c s bc s = 4 bc/vng. Phn ln nhng ng c bc hin nay c s bc s = 200, nn = 1,80. S bc cng ln phn gii cng cao v nh v cng chnh xc. Nhng trong thc t, khng th tng s bc ln qu cao. Tuy nhin c th dng cng ngh to bc nh chia bc thnh 2 na bc (nh hnh b/ 9.2) hoc t 10 n 125 bc nh. Cng ngh to bc nh cn gi l to vi bc, ch n gin l m rng phng php ni trn cho nhiu v tr trung gian bng cch cung cp nhng gi tr dng khc nhau cho mi cun dy. ng c c to bc nh c phn gii tinh hn nhiu. V d, nu phn 125 bc nh trong mt bc y, vi 200 bc/vng th phn gii ca ng c l 125 x 200 = 25.000 bc nh/ vng. 9.2. Truyn ng kh nn v thu lc : Ngoi truyn ng in, trong k thut robot cn thng dng cc loi truyn ng kh nn hoc thu lc. 9.2.1. Truyn dn ng kh nn : Dng kh nn trong h truyn ng robot nhiu thun li nh : Do cc phn xng cng nghip thng c mng li kh nn chung, nn n gin ho c phn thit b ngun ng lc cho robot. H truyn dn kh nn tng i gn nh, d s dng, d o chiu, ... Tuy nhin h truyn dn kh nn cng c nhiu nhc im nh : do tnh nn c ca cht kh nn chuyn ng thng km theo dao ng, dng khng chnh xc, ngoi ra cn cn trang b thm cc thit b phun du bi trn, lc bi, gim ting n ... 9.2.2. Truyn dn ng thu lc : H truyn dn thu lc c nhng u im nh : Ti trng ln, qun tnh b, d thay i chuyn ng, d iu khin t ng. Tuy nhin chng cng c nhng nhc im nh : H thu lc lun i hi b ngun, bao gm thng du, bm thu lc, thit b lc, bnh tch du, cc
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loi van iu chnh, ng ng ... lm h truyn ng cho robot kh cng knh so vi truyn ng kh nn v truyn ng in. Nhn chung, h truyn dn thu lc vn c s dng kh ph bin trong robot, nht l trong trng hp ti nng. Cc phn t trong h truyn ng bng kh nn v thu lc c tiu chun ho. Cc tnh ton thit k h truyn dn kh nn v thu lc c nghin cu trong cc gio trnh ring. 9.3. Cc phng php iu khin Robot : Nhim v quan trng u tin ca vic iu khin robot l bo m cho im tc ng cui E (End-effector) ca tay my dch chuyn bm theo mt qu o nh trc. Khng nhng th, h to gn trn khu chp hnh cui cn phi m bo hng trong qu trnh di chuyn. Gii bi ton ngc phng trnh ng hc ta c th gii quyt v mt ng hc yu cu trn. cng l ni dung c bn xy dng chng trnh iu khin v tr cho robot. Tuy nhin vic gii bi ton ny cha xt ti iu kin thc t khi robot lm vic, nh l cc tc ng ca momen lc, ma st ... Tu theo yu cu nng cao cht lng iu khin ( chnh xc) m ta cn tnh n nh hng ca cc yu t trn, v theo , phng php iu khin cng tr nn a dng v phong ph hn. 9.3.1. iu khin t l sai lch (PE : Propotional Error): Nguyn tc c bn ca phng php ny rt d hiu; l lm cho h thng thay i theo chiu hung c sai lch nh nht. Hm sai lch c th l = d - (t), y d l gc quay mong mun v (t) l gi tr quay thc t ca bin khp, ta s gi d l "gc t". Khi = 0 th khp t c v tr mong mun. Nu < 0, th khp di chuyn qu mc v cn chuyn ng ngc li. Nh vy, kiu iu khin chuyn ng ny l lun c chiu hng lm cho sai lch xp x zero. Bn cnh , chng ta cng cn quan tm n phn ln, ngha l, chng ta khng nhng cn bit "lm cho ng c chuyn ng bng cch no?" m cn cn bit "cn cung cp cho ng c mt nng lng (mmen ng) l bao nhiu?". tr li cu hi ny mt ln na, chng ta c th dng tn hiu sai s = d - . Chng ta hy p dng mt tn hiu iu khin m n t l vi : F = Kp(d - (t)) (9.1)

Qui lut ny xc nh mt h iu khin phn hi v c gi l h iu khin t l sai lch.

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9.3.2. iu khin t l - o hm (PD : Propotional Derivative): Phng php iu khin t l sai lch cn nhiu nhc im nh : H dao ng ln khi ma st nh (tnh trng vt qu) v trng thi tnh, khi 0 th momen cng gn bng khng, nn khng gi c v tr di tc dng ca ti. khc phc iu trn, c th chn phng php iu khin t l - o hm (PD), vi lc tng qut :
& F = K p + K d (t)

(9.2)

Trong :

- sai s v tr ca khp ng. = d - (t). & (t) - Thnh phn o hm - vn tc gc. Ke - H s t l sai lch v tr. Kd - H s t l vn tc.

9.3.3. iu khin t l - tch phn - o hm (PID : Propotional Integral Derivative): H thng vi cu trc lut iu khin PD vn cn mt s nhc im, khng ph hp vi mt s loi robot. Mt h thng iu khin khc c b sung & & & & thm tn hiu tc t d v sai lch tc = d (t) tc ng vo khu khuych i Kd. Phng trnh lc tc ng ln khp ng c dng :
& F = K e + K d + K i (t)dt
0 t

(9.3)

Vi

& & & & - sai s tc . = d (t) .

Nh vy, tu theo cu trc la chn ca b iu khin, ta em i chiu cc phng trnh(9.1), (9.2) hoc (9.3) vi phng trnh Lagrange - Euler, T nhn c cc phng trnh ca h iu khin tng ng. T cc phng trnh ny ca h iu khin, cn xc nh cc h s t l Ke, Kd, Ki h hot ng n nh. 9.3.4. Hm truyn chuyn ng ca mi khp ng : Ni dung phn ny trnh by phng php xy dng hm truyn i vi trng hp chuyn ng mt bc t do, mi khp thng c iu khin bng mt h truyn ng ring. Ph bin hn c l ng c in mt chiu. Xt s truyn ng ca ng c in mt chiu vi tn hiu vo l in p Ua t vo phn ng, tn hiu ra l gc quay m ca trc ng c; ng c kiu kch t c lp.
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105 Rt Lf m _ Mm Jm + Uf _

La + Ua(t) _

Ra

ia(t) +

eb(t)

Hnh 9.3. S ng c in mt chiu. Trong thc t, trc ng c c ni vi hp gim tc ri ti trc ph ti nh hnh 9.4. Gi n l t s truyn, L l gc quay ca trc ph ti, ta c : L(t) = n m(t) & & L (t) = n m (t ) (9.4) && (t) = n && (t )
L m

ML JL

Mm Jm m= L/n fm fL

Hnh 9.4. S ng c in cng ph ti. Mmen trn trc ng c bng tng momen cn ng c quay, cng vi mmen ph ti quy v trc ng c.

K hiu : Ta c :

M(t) = M m (t) + M * (t) L Jm : Mmen qun tnh ca ng c. JL : Momen qun tnh ph ti.

(9.5)

& M m (t) = J m&m (t) + f m&m (t) & M (t) = J & (t) + f & (t)
L L L L L

(9.6) (9.7)

Trong fm v fL l h s cn ca ng c v ca ph ti. Theo nh lut bo tn nng lng, cng do ph ti sinh ra, tnh trn trc ph ti l MLL phi bng cng quy v trc ng c M * m . T ta c : L

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M L (t) L (t) = nM L (t) m (t) Thay (9.1) v (9.4) vo cng thc trn : M * (t) = L

(9.8)

& M * (t) = n 2 [J L&&m (t) + f L m (t)] L Thay (9.3) v (9.6) vo (9.2) ta c : & M(t) = ( J m + n 2 J L )&&m (t) + f m n 2 f L ) m (t) & M(t) = J&& (t) + f (t) Hay :
m m

(9.9)

(9.10)

Vi : : Mmen qun tnh tng hiu dng. J = Jm + n2JL 2 f = fm + n fL : H s ma st tng hiu dng. Mmen trn trc ng c ph thuc tuyn tnh vi cng dng in phn ng v khng ph thuc vo gc quay v vn tc gc, ta c : (9.11) M(t) = Kaia(t) ia : Cng dng in phn ng. Ka : H s t l mmen. p dng nh lut Kirchhoff cho mch in phn ng : di (t) U a (t) = R a i a (t) + L a a + e b (t) dt Vi Ra, La : in tr v in cm phn ng. eb : sc phn in ng ca ng c. & e b (t) = K b m (t) Kb : h s t l ca sc phn in ng. S dng php bin i Laplace, t (9.12) ta c : U (s) - sK b m (s) I a (s) = a R a + sL a T (9.10) v (9.11) ta c : M(s) = s2Jm(s) + sfm(s) = KaIa(s) K I (s) m (s) = 2 a a s J + sf Thay (9.14) vo (9.15) : U (s) - sK b m ( s ) m (s) = K a 2 a (s J + sf)(R a + sLa ) Vi

(9.12)

(9.13)

(9.14)

(9.15)

U a (s) - sK b m ( s ) (s 2 J + sf)(R a + sLa ) = m (s) Ka

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Hay :

U a (s) (s 2 J + sf)(R a + sL a ) + sK a K b = m (s) Ka m (s) Ka = U a (s) s[(sJ + f)(R a + sL a ) + K a K b ]

(9.16)

y l hm truyn cn xc nh, n l t s gia tn hiu ra (gc quay m) v tn hiu vo ca h thng (in p Ua). V h thng gm c ng c v ph ti nn tn hiu ra thc t l gc quay ca trc ph ti L, do hm truyn chuyn ng 1 bc t do ca tay my l :

L (s) nK a = U a (s) s[(R a + sL a )(sJ + f) + K a K b ]

v ta c s khi tng ng vi hm truyn trn l :
Ua(s) + _ 1 sLa+ Ra Ka 1 sJ + f 1 s n L(s)

(9.17)

Kb

Hnh 9.5 : S khi hm truyn chuyn ng mt bc t do. Trong cng thc (9.17) c th b qua thnh phn in cm phn ng La, v n thng qu nh so vi cc nhn t nh hng c kh khc. Nn :

L (s) nK a = U a (s) s(sR a J + R a f + K a K b )

9.3.6. iu khin v tr mi khp ng :

(9.18)

Mc ch ca iu khin v tr l lm sao cho ng c chuyn dch khp ng i mt gc bng gc quay tnh ton m bo qu o chn trc (chng 8). Vic iu khin c thc hin nh sau : Theo tn hiu sai lch gia gi tr thc t v gi tr tnh ton ca v tr gc m iu chnh in p Ua(t) t vo ng c. Ni cch khc, iu khin ng c theo qu o mong mun phi t vo ng c mt in p t l thun vi sai lch gc quay ca khp ng.

Trong

~ K p e(t) K p ( L (t) L (t)) U a (t) = = n n Kp : h s truyn tn hiu phn hi v tr.

(9.19)

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~ e(t) = L (t) L (t) : sai lch gc quay. ~ Gi tr gc quay tc thi : L (t) c o bng cm bin quang hc hoc chit p. Bin i Laplace phng trnh (9.18) : ~ K p ( L (s) L (s)) K p E(s) U a (s) = = n n
Thay (9.20) vo phng trnh (9.18) : Ka Kp L (s) = = G(s) E(s) s(sR a J + R a f + K a K b ) Sau khi bin i i s ta c hm truyn : Ka Kp L (s) G(s) = = 2 = ~ L (s) 1 + G(s) s R a J + s(R a f + K a K b ) + K a K b (9.20)

(9.21)

Ka Kp / R aJ (9.22) (R a f + K a K b ) Ka Kb 2 s + s+ R aJ R aJ Phng trnh (9.22) cho thy rng h iu khin t l ca mt khp ng l mt h bc hai, n s lun n nh nu cc h s ca ca phng trnh bc hai l nhng s dng. nng cao c tnh ng lc hc v gim sai s trng thi n nh ca h ngi ta c th tng h s phn hi v tr Kp v kt hp lm gim dao ng trong h bng cch thm vo thnh phn o hm ca sai s v tr. Vi vic thm phn hi ny, in p t ln ng c s t l tuyn tnh vi sai s v tr v o hm ca n : ~ ~ & & & K p ( L (t) L (t)) + K v ( L (t) L (t)) K p e(t) + K v e(t) (9.23) U a (t) = = n n Trong Kv l h s phn hi ca sai s v vn tc. Vi phn hi nu trn, h thng tr thnh khp kn v c hm truyn nh th hin trn s khi hnh (9.6). y l phng php iu khin t l - o hm.
L(s) _ Kp+ sKv 1 n Ua(s) + _ 1 sLa+ Ra Ka 1 sJ + f 1 s n L(s)

Kb

Hnh 9.6 : S khi iu khin chuyn dch mt khp ng c lin h phn hi.
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Bin i Laplace phng trnh (9.23) v thay Ua(s) vo (9.21) ta c :

K a (K p + sK v ) K a K vs + K a K p L (s) = = = G(s) E(s) s(sR a J + R a f + K a K b ) s(sR a J + R a f + K a K b )

T ta c : K a (K v s + K p ) L (s) G(s) = = 2 ~ L (s) 1 + G(s) s R a J + s(R a f + K a K b + K a K v ) + K a K p

(9.24)

(9.25)

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