DC Motor - Content

GII THIU V NG C MT CHIU

1. Cc loi ng c mt chiu dng cho robot 2. iu chnh tc ng c in mt chiu 3. Gi cng ng c tnh tc 4. Phng php PWM iu ch in p 5. Mt s mch ng dng

DC Motor - Motor for robot

CC LOI NG C MT CHIU
ng c mt chiu c th chia lm mt s loi c bn:
- ng

c mt chiu, kch t c lp

- ng c mt chiu kch t ni tip - ng c mt chiu kch t song song

- ng c mt chiu, khng chi than

DC Motor - Permanent Magnetic

NG C MT CHIU, KCH T VNH CU

L trng hp c bit ca ng c mt chiu kch thch c lp. Cun dy kch t trn Stator c loi b v thay bng mt cp nam chm vnh cu.

in p nui c a vo qua c gp c kh. Dng in chy qua cun dy to ra mt t trng v b t trng nam chm c nh hp dn khin rotor quay cho ti khi cc c nam chm ho thng vi cc nam chm. ng lc y, chi than v vnh gp chuyn in p cung cp sang cp cc tip theo. Chiu quay ca ng c mt chiu do chiu dng in cp vo phn ng, o chiu ch cn o chiu in p phn ng.

DC Motor - Brushless DC

NG C MT CHIU, KHNG CHI THAN

ng c mt chiu khng chi than khng c cp lin tc mt in p mt chiu. Rotor ca ng c l mt nam chm vnh cu. Stator gm cc cc dy cun, khi c cp in, cc cc ny hot ng ging nh mt nam chm in.

ng c mt chiu khng chi than khng s dng chi than v c gp. Vic cp in p ln lt cho cc cc t thc hin bng mch in t ca driver. Vic loi b chi than c gp trnh c nh la c gp, tng cng sut, tng tc maximum. Tuy nhin lun i hi phi c mt b iu khin in t.

DC Motor - Equations

CC PHNG TRNH QUAN TRNG

+ Phng trnh tc

U ng K

R f + Ru K

+ Phng trnh moment

M = K .I
U ng Rf Ru
in p ngun nui in tr ph in tr mch phn ng

H s ng c T thng cc t

DC Motor - Speed Control

PHNG PHP IU CHNH TC

=
U ng K
Rf

R f + Ru K

1 2 Rf1 Rf2 Mt M

Ung

R,K,

Rf

1
Ung M

Ung1 Ung2 Mt M

R,K,

DC Motor - Stability Speed

PHNG PHP IU CHNH TC

=
U ng K R f + Ru K I
2 1

Cng mt in p cp cho phn ng, khi mmen ti thay i, tc ng c cng b thay i theo. Mong mun to ra mt c tnh cng, ngha l khng hay t b nh hng bi ti. 1

Mt2 Mt1

to ra ng c tnh c dc bng zero, thay i in p nui theo mmen ti. Mt2 Mt1

DC Motor - PWM

THAY I IN P BNG PHNG PHP PWM

V

PWM: Pulse Width Modulation

+ Tn s iu ch l khng thay i + B rng xung l thay i.

MicroController

Analog Filter

V*

DC Motor - Practical1

VI MCH 555/556
To ra cc xung u nhau, tn s

1.49 f = ( RA + RB )C

To ra xung c b rng T khi c xung vo chn trigger T=1.1RC

DC Motor - Practical2

PWM S DNG IC 555

Mch dng iu khin ng c 6V, 0.5 A vi u vo Vin=9V U1: to nhp, chnh l tn s lm vic U2: Chu k lm vic

DC Motor - Practical3

PWM BNG VI IU KHIN VD1: S dng hai timer T0,T2 ca AT89C52 T0: chu k ca xung PWM T2: thi gian xung lm vic VD2: To pattern 16 bit (0 tt, 1 ng), dng timer gi nhp y cc bit ra cng. VD3: S dng thanh ghi CC 80C537, c th t 5kHz.