i hc Bch Khoa Tp H Ch Minh

Khoa c Kh

n thit k h thng C in T

Xe hai bnh t cn bng

GVHD: on Th Tho

Sinh vin thc hin:

Nguyn B An
Cao Nht Quang
L Ngc Thng

5/20/2013

20900014
20902087
20902718

Li cm n.

Li cm n.
Xin gi li cm n ti thy on Th Tho tn tnh hng dn nhm em trong
qu trnh thc hin n mn hc.S h tr t gia nh, bn b l ng lc to ln
nhm em hon thnh n ny.
Chng em lm vic nghim tc v c gng hon thnh tt n, tuy nhin
khng trnh khi nhng sai st trong qu trnh thc hin. Knh mong thy c v cc
bn gp n ca chng em c hon thin tt hn. Chng em xin chn thnh
cm n.
Nhm sinh vin thc hin ti

n TKHTCT: Xe hai bnh t cn bng.

Mc lc:

Mc lc:
Li cm n. .................................................................................................................... 2
Mc lc. ......................................................................................................................... 3
I.

Gii thiu ............................................................................................................. 4

II.

Thit k c kh: ................................................................................................... 7

1. tng thit k: ................................................................................................... 7

2. C s thit k m hnh: ........................................................................................ 9
3. La chn b truyn. ............................................................................................ 10
4. Gii thiu m hnh.............................................................................................. 12
III.

Mch in:......................................................................................................... 16

1. Khi cp ngun: ................................................................................................. 16

2. Ngun VK : ..................................................................................................... 16
3. Mch LCD: ......................................................................................................... 17
4. Mch PIC: ........................................................................................................... 18
5. Mch lc: ............................................................................................................ 19
6. Mch s dng bin tr chnh h s PID: ............................................................ 19
7. Mch driver DC ( LMD18200) .......................................................................... 20
8. Mt s kt ni: .................................................................................................... 20
IV.

Chng trnh iu khin: ................................................................................ 21

1. Gii thiu b iu khin PID: ............................................................................ 21

2. Lu gii thut: ............................................................................................... 29
3. Code iu khin: ................................................................................................. 32
V.

M phng b iu khin PID: ......................................................................... 42

1. M hnh ton hc ca ng c. .......................................................................... 42

2. S m phng PID trn MATLAB ................................................................. 43
VI.

Ti liu tham kho ............................................................................................ 47

n TKHTCT: Xe hai bnh t cn bng.

Gii thiu

I.

Gii thiu
ti xe hai bnh t cn bng c th xem l da trn kt qu ca con lc ngc
.N c xem nh l nn tng cho vic nghin cu v ch to nhng loi robot
hai chn, robot ngi trong tng lai. Mc tiu ca ti l thit k v ch to
mt xe hai bnh t cn bng, da trn l thuyt cn bng con lc ngc. im c
bit ca ti l nghin cu v to ra m hnh xe c hai c hai bnh lp song song
vi nhau, khng ging nh nhng chic scooter hay nhng chic xe hai bnh lp
theo kiu bnh trc bnh sau.
ti xut pht t tng xe hai bnh segway c thng mi ha trn th
trng. Kt hp tng v cch gi thng bng ca con ngi trn i chn v
c ng trong di chuyn ca cc loi xe di chuyn bng hai bnh. Thng qua
bi nghin cu , c th phn no nm bt nhng tng thng bng cho cc loi
robot dng ngi, cch phi hp v x l tn hiu tt nht t cm bin. M hnh l
mt chic xe c hai bnh c t dc trc vi nhau khc vi xe hai bnh thng
thng c hai trc nm song song. xe khng b ng th trng tm ca m hnh
lun phi nm trong vng ca bnh xe .Do vy trn m hnh c s dng bin
tr ng vai tr l cm bin o gc nghing ca thn xe, ba bin tr lm nhim
v iu chnh cc h so Kp , KI, Kd vi mc ch l li trng tm vo phm vi
xe c th ng v di chuyn.
1.1. Xe hai bnh t cn bng.
i vi xe ba v bn bnh , vic thng bng v n nh ca chng l nh vo
trng tm ca chng nm trong b mt chn do cc bnh xe to ra. i vi cc
loi xe hai bnh c cu trc nh xe p,vic thng bng khi khng di chuyn l
hon ton khng th, v vic thng bng ca xe da trn tnh cht con quay hi
chuyn hai bnh xe khi ang quay. Cn i vi xe hai bnh t cn bng l loi
xe m hai bnh cng lp trn mt trc, cho xe cn bng th trng tm ca xe
phi c gi ngay gia hai bnh xe. iu ny ging nh vic gi mt cy gy
dng thng ng cn bng trn ngn tay.

H. Nguyn l gi thng bng

n TKHTCT: Xe hai bnh t cn bng.

Gii thiu
Thc ra, trng tm ca ton b scooter khng c bit nm v tr no, cng
khng c cch no tm ra n v c th khng c kh nng di chuyn bnh xe
nhanh gi n lun di ton b trng tm. V gc k thut, gc gia sn
scooter v chiu trng lc c th bit c. Do vy, thay v tm vic xc nh
trng tm c th tm gc nghing ca xe li xe v v tr thng ng khi xe b
nghing.Nu xe c y hi nghing v pha trc , b iu khin ra tn hiu
iu khin xe v pha trc, khi n b ng nghing ra sau th b iu khin ra tn
hiu iu khin xe chy li gi xe v tr thng bng. dng li th ch cn
ko trng tm xe nghing ngc hng ang di chuyn th tc xe gim xung.
Do tc cm nhn v phn ng ca mi ngi l khc nhau nn xe hai bnh t
cn bng c thit k cho mt ngi s dng.

1.2. Mc ch thit k xe hai bnh t cn bng.

Nhng mobile robot hu ht l nhng robot di chuyn bng ba bnh xe, vi hai
bnh li c lp ghp ng trc v mt bnh ui nh. C nhiu kiu khc nhau
nhng y l kiu thng dng nht. Cn i vi cc xe bn bnh, thng mt u
xe c hai bnh truyn ng v u xe cn li c gn mt hoc hai bnh li.
Vic thit k xe ba hay bn bnh lm cho xe , mobile robot c thng bng n
nh nh trng lng ca n c chia cho hai bnh li chnh v bnh ui hay
cho bt k ci g khc trng lng ca xe. Nu trng lng c t nhiu
vo hai bnh li th xe hay robot s khng n nh v d b ng cn nu t trng
lng xe nhiu vo bnh ui th hai bnh chnh mt kh nng bm . Nhiu thit
k xe, robot c th di chuyn tt trn a hnh phng nhng khng th di chuyn
tt trn a hnh li lm. Khi di chuyn ln i, trng lng xe hay robot dn vo
ui xe lm bnh bnh li mt kh nng bm v trt ng, i vi nhng bc
thang n c th dng hot ng.
Khi di chuyn xung i th trng tm thay i v pha trc v lm cho xe hay
robot b lt p trn cu thang, b lt p khi dc ch t 150 n 200. Vic b tr
bng bnh xe, ging nh xe hi chi hay cc loi xe bn bnh hin ang s
dng trong giao thng khng gp vn nhng iu ny s lm cho cc mobile
robot khng gn gng v thit k b phn li gp cht phin toi c th xc
nh chnh xc qung ng i.
Ngc li, xe hai bnh dng ng trc li thng bng rt linh ng khi di chuyn
trn a hnh phc tp, mc d bn thn l mt h thng khng n nh. Khi n
ln dc, n t ng nghing ra pha trc v gi trng lng dn v hai bnh li
chnh. Tng t nh vy, khi bc xung dc, n nghing ra sau v gi trng tm
ri vo cc bnh li. Chnh v vy, khng bao gi c hin tng trng tm xe ri
n TKHTCT: Xe hai bnh t cn bng.

Gii thiu
ra ngoi vng ca cc bnh xe, do xe c th vt qua a hnh an ton m
cc loi xe khc khng vt qua c.Do , i vi a hnh li lm v nhng
ng dng thc t, s thng bng xe hai bnh c th s mang li nhiu ngha thc
tin trong gii hn n nh hn l i vi xe ba bnh truyn thng.

1.3. Kh nng ng dng

Xy dng c mt phng tin vn chuyn mi trong khu vc cht hp, c th
di chuyn ngay trong cc chung c ta nh cao tng, dng tr gip di chuyn cho
ngi gi v tr em.
Lm phng tin vn chuyn hng ha dn nhng ni c lp trnh sn
trong cc ta nh , phng lm vic, khng gian cht hp v kh xoay tr.
Lm tin nghin cu vic kt hp vi cc robot d ng, robot li mt ng,
robot camera gia tng chc nng v hiu qu lm vic ca robot.

n TKHTCT: Xe hai bnh t cn bng.

Thit k c kh:

II.

Thit k c kh:

1. tng thit k:
1.1. o gc gia thn xe vi hng trng lc

Trn xe s gn 1 con lc thun. Con lc lun c xu hng xui theo hng trng
lc, c th s dng iu ny o gc gia thn xe v con lc.
M hnh kiu ny c u im l c th o gc nghing m khng ph thuc vo
gc nghing ca mt ng, do bt a hnh bng phng hay ln xung cng
khng nh hng n hot ng ca xe ( tng sau s thy nh hng ca a
hnh).
Tuy nhin c vn : con lc s dao ng, gim dao ng th cn tng ma st
trc quay, iu ny c th nh hng ti p ng ca xe. Theo quan im ca
nhm em th m hnh kiu ny s khng n nh, kh cn bng.

n TKHTCT: Xe hai bnh t cn bng.

Thit k c kh:
1.2. o gc gia thn xe v mt sn.

kiu m hnh ny, con lc thun s c ko di, tip xc vi mt sn, gc o

c l gc gia thn xe m mt sn.
Do con lc tip xc vi mt sn nn s k b dao ng, p ng nhanh. Tuy nhin
do gc o c l gc gia con lc vi mt sn, nn xe ch hot ng trn mt
phng c nghing khng i.

n TKHTCT: Xe hai bnh t cn bng.

Thit k c kh:

2. C s thit k m hnh:

= (g / R)
(cng thc ly t ti liu 00964A Microchip, v con lc ngc)
Gia tc gc ca con lc ngc s t l nghch vi R l khong cch t tm xoay ti
trng tm ca con lc.
Nh vy khi m hnh c trng tm cng cao th cng d cn bng, n nh, do
phn thn s chm, y l im quan trng, gip cho cc cng vic sau ny d
dng hn.

n TKHTCT: Xe hai bnh t cn bng.

Thit k c kh:

3. La chn b truyn.
Nhm em a ra hai phng n l: s dng b truyn bnh rng hoc ai rng.
3.1. B truyn bnh rng
B truyn bnh rng lm vic theo nguyn l n khp, thc hin truyn chuyn
ng v cng sut da vo s n khp gia cc rng trn bnh rng.
u im:
Kch thc nh, kh nng ti ln.
T s truyn khng thay i.
Hiu sut cao, c th t t 0.97 0.99.
Lm vic vi vn tc cao.
Tui th, tin cy cao.
Nhc im:
Ch to phc tp.
i hi chnh xc cao.
C nhiu ting n khi vn tc ln.
3.2. B truyn ai
B truyn ai lm vic theo nguyn l ma st, ti trng c truyn i nh lc ma
st sinh ra gia dy ai v cc bnh ai.
u im:
Truyn ng gia cc trc xa nhau
Lm vic m v khng n.
Nh tnh cht n hi ca ai nn c kh nng trnh c nhng dao ng
ln sinh ra do ti trng thay i.
phng s qu ti nh kh nng trt ca ai.
Kt cu, vn hnh n gin.
Nhc im:
Kch thc b truyn ln.
T s truyn thay i do s trt.
Tui th thp.
3.3. Kt lun
B truyn ai nh kh nng lm vic m v khng cn s chnh xc cao v khong
cc trc nh b truyn bnh rng nn l mt gii php tt cho phn truyn ng
ca m hnh. Tuy nhin b chuyn bnh rng (nha), thc t d dng mua v gi
n TKHTCT: Xe hai bnh t cn bng.

10

Thit k c kh:
thnh r hn nhiu so vi b truyn ai nn nhm em la chn b truyn bnh
rng.

n TKHTCT: Xe hai bnh t cn bng.

11

Thit k c kh:

4. Gii thiu m hnh.

H. M hnh
4.1. Mt s chi tit:

H. Mt s chi tit trn xe.

gn mch in: c gn vo than xe bng cch bt vt vo rnh trt hai
bn, c kh nng dch chuyn ln xung nh rnh trt.
L gn bit tr: gm 1 l gn trc bin tr v 1 l nh c nh bin tr.
Rnh trt: dng c nh gn mch v chn xe.
n TKHTCT: Xe hai bnh t cn bng.

12

Thit k c kh:
L t ln.
Chn : gip bo v xe, phn mch in khi xe b .
4.2. Cm truyn ng

H. Cm truyn ng.
Motor

H. ng c 12VDC
Motor c gn sn bnh rng nh, ng knh ngoi 9mm.

n TKHTCT: Xe hai bnh t cn bng.

13

Thit k c kh:
Bnh xe Trc Bnh rng b ng.

H. Cm bnh xe.
Bao gm 2 bnh xe, 2 ln, trc (5mm) v 1 bnh rng.
Lp motor:

H. lp rp motor trong m hnh.

Phn nh v gip motor c th dch chuyn theo chiu dc iu chnh n
khp

H. Motor c th dch theo chiu dc trc, iu chnh n khp.

n TKHTCT: Xe hai bnh t cn bng.

14

Thit k c kh:
n khp gia hai bnh rng

H. hai bnh rng n khp

4.3. Cy o gc.

H. Cy o gc
Cy o gc c gn vo mt bin tr gn trn thn xe, c nhim v o gc
lch gia thn xe v sn.

n TKHTCT: Xe hai bnh t cn bng.

15

Mch in.

III.

Mch in.

1. Khi cp ngun:

u ra:
24VDC
5VDC - 3.3VDC - ty chnh, n nh
Mch s dng IC n p LM2576, cho php dng ti a ti 3A.
Mch c s dng cp ngun cho cc mch in s dng trn xe v ng c.
2. Ngun VK :

Ngun VK s dng ngun xung nn gim ti a mt nng lng do nhit, hot

ng n nh. IC MC34063 ngun cp t 3V n 40V, xung ln n 100Hz, dng
ti a 1.5 A, sai s 2%
n TKHTCT: Xe hai bnh t cn bng.

16

Mch in.
3. Mch LCD:

Mch LCD s dng 4 bus truyn nhn d liu vi PIC, cch thc kt ni ny
gip tit kim dy kt ni vi PIC.

n TKHTCT: Xe hai bnh t cn bng.

17

Mch in.

4. Mch PIC:

Mch s dng PIC 16f887 s dng thch anh ngoi 20Hz l lp trnh cho
xe 2 bnh t cn bng. Chn c kt ni nh hnh gip ta lp trnh mt cch d
dng

n TKHTCT: Xe hai bnh t cn bng.

18

Mch in.
5. Mch lc:

Mch lc tham kho t ti liu AN964 ca Microchip gip tn hiu nhn v VK

c n nh t nhiu.
6. Mch s dng bin tr chnh h s PID:

d dng kho st, thay i h s Kp, Ki, Kd ti s dng 3 bin tr kt ni

nh hnh.

n TKHTCT: Xe hai bnh t cn bng.

19

Mch in.
7. Mch driver DC ( LMD18200)

LMD18200 l IC chuyn dng cho iu khin ng c DC vi dng ln n 3A.

Vi chn PWM v thay i rng xung hoc tn s xung ta c th iu khin
c tc ng c. Chn DIR dng o chiu ng c, chn BRAKE dng
dng ng c.Mch thit k nh trn c th cp xung PWM ln n 20kHz.
8. Mt s kt ni:

Mch dng kt ni cc linh kin v mch vi nhau.

n TKHTCT: Xe hai bnh t cn bng.

20

Chng trnh iu khin

IV.

Chng trnh iu khin

1. Gii thiu b iu khin PID:

Mt b iu khin vi tch phn t l (b iu khin PID- Proportional Integral
Derivative) l mt c ch phn hi vng iu khin (b iu khin) tng qut
c s dng rng ri trong cc h thng iu khin cng nghip b iu khin
PID c s dng ph bin nht trong s cc b iu khin phn hi. Mt b iu
khin PID tnh ton mt gi tr "sai s" l hiu s gia gi tr o thng s bin
i v gi tr t mong mun. B iu khin s thc hin gim ti a sai s bng
cch iu chnh gi tr iu khin u vo.

Hnh 1: S khi ca b iu khin PID

Gii thut tnh ton b iu khin PID bao gm 3 thng s ring bit, do i
khi n cn c gi l iu khin ba khu: cc gi tr t l, tch phn v o hm,
vit tt l P, I, v D. Gi tr t l xc nh tc ng ca sai s hin ti, gi tr tch
phn xc nh tc ng ca tng cc sai s qu kh, v gi tr vi phn xc nh tc
ng ca tc bin i sai s. Tng chp ca ba tc ng ny dng iu
chnh qu trnh thng qua mt phn t iu khin nh v tr ca van iu khin
hay b ngun ca phn t gia nhit. Nh vy, nhng gi tr ny c th lm sng t
v quan h thi gian: P ph thuc vo sai s hin ti, I ph thuc vo tch ly cc
sai s qu kh, v D d on cc sai s tng lai, da vo tc thay i hin ti.
Bng cch iu chnh 3 hng s trong gii thut ca b iu khin PID, b iu
khin c th dng trong nhng thit k c yu cu c bit. p ng ca b iu
khin c th c m t di dng nhy sai s ca b iu khin, gi tr m b
iu khin vt l im t v gi tr dao ng ca h thng. Lu l cng dng
ca gii thut PID trong iu khin khng m bo tnh ti u hoc n nh cho
h thng.
n TKHTCT: Xe hai bnh t cn bng.

21

Chng trnh iu khin

Vi ng dng c th yu cu ch s dng mt hoc hai khu ty theo h thng.
iu ny t c bng cch thit t i li ca cc u ra khng mong mun v
0. Mt b iu khin PID s c gi l b iu khin PI, PD, P hoc I nu vng
mt cc tc ng b khuyt . B iu khin PI kh ph bin, do p ng vi phn
kh nhy i vi cc nhiu o lng, tri li nu thiu gi tr tch phn c th
khin h thng khng t c gi tr mong mun.
S iu khin PID c t tn theo ba khu hiu chnh ca n, tng ca ba
khu ny to thnh bi cc bin iu khin (MV). Ta c:
MV(t) = Pout + Iout + Dout
1.1. Khu t l:
Khu t l (i khi cn c gi l li) lm thay i gi tr u ra, t l vi gi
tr sai s hin ti. p ng t l c th c iu chnh bng cch nhn sai s
vi mt hng s Kp, c gi l li t l.
Khu t l c cho bi:
Pout = Kpe(t)
Trong :
Pout: tha s t l ca u ra
Kp: li t l, thng s iu chnh
e: sai s
t: thi gian hay thi gian tc thi (hin ti)
li ca khu t l ln l do thay i ln u ra m sai s thay i nh. Nu
li ca khu t l qu cao, h thng s khng n nh (xem phn iu chnh
vng). Ngc li, li nh l do p ng u ra nh trong khi sai s u vo
ln, v lm cho b iu khin km nhy, hoc p ng chm. Nu li ca khu
t l qu thp, tc ng iu khin c th s qu b khi p ng vi cc nhiu ca
h thng.

n TKHTCT: Xe hai bnh t cn bng.

22

Chng trnh iu khin

Hnh 2: S thay i khi iu chnh Kp

1.2. Khu tch phn:
Phn phi ca khu tch phn (i khi cn gi l reset) t l thun vi c bin
sai s ln qung thi gian xy ra sai s. Tng sai s tc thi theo thi gian (tch
phn sai s) cho ta tch ly b c hiu chnh trc . Tch ly sai s sau
c nhn vi li tch phn v cng vi tn hiu u ra ca b iu khin. Bin
phn phi ca khu tch phn trn tt c tc ng iu chnh c xc nh bi
li tch phn, Ki.
Tha s tch phn c cho bi:

( )
Trong :
Iout: tha s tch phn ca u ra
Ki: li tch phn, 1 thng s iu chnh
e: sai s
t: thi gian hoc thi gian tc thi (hin ti)
T: mt bin tch phn trung gian
Khu tch phn (khi cng thm khu t l) s tng tc chuyn ng ca qu trnh
ti im t v kh s d sai s n nh vi mt t l ch ph thuc vo b iu
khin. Tuy nhin, v khu tch phn l p ng ca sai s tch ly trong qu kh,
n c th khin gi tr hin ti vt l qua gi tr t (ngang qua im t v to ra
mt lch vi cc hng khc). tm hiu thm cc c im ca vic iu
chnh li tch phn v n ca b iu khin, xin xem phn iu chnh vng
lp.
n TKHTCT: Xe hai bnh t cn bng.

23

Chng trnh iu khin

Hnh 3: S thay i khi iu chnh Ki

1.3. Khu vi phn :
Tc thay i ca sai s qua trnh c tnh ton bng cch xc nh dc ca
sai s theo thi gian (tc l o hm bc mt theo thi gian) v nhn tc ny
vi li t l Kd. Bin ca phn phi khu vi phn (i khi c gi l tc
) trn tt c cc hnh vi iu khin c gii hn bi li vi phn, Kd.
Tha s vi phn c cho bi:

( )
Trong :
Dout: tha s vi phn ca u ra
Kd: li vi phn, mt thng s iu chnh
e: Sai s
t: thi gian hoc thi gian tc thi (hin ti)
Khu vi phn lm chm tc thay i ca u ra b iu khin v c tnh ny
l ang ch nht t ti im t ca b iu khin. T , iu khin vi
phn c s dng lm gim bin vt l c to ra bi thnh phn tch
phn v tng cng n nh ca b iu khin hn hp. Tuy nhin, php vi
phn ca mt tn hiu s khuch i nhiu v do khu ny s nhy hn i vi
nhiu trong sai s, v c th khin qu trnh tr nn khng n nh nu nhiu v
li vi phn ln. Do mt xp x ca b vi sai vi bng thng gii hn
thng c s dng hn. Chng hn nh mch b sm pha.

n TKHTCT: Xe hai bnh t cn bng.

24

Chng trnh iu khin

Hnh 4: S thay i khi iu chnh Kd

1.4. Tm tt :
Khu t l, tch phn, vi phn c cng li vi nhau tnh ton u ra ca b
iu khin PID. nh ngha rng u(t) l u ra ca b iu khin, biu thc cui
cng ca gii thut PID l:

( )

( )

( )

( )

( )

trong cc thng s iu chnh l:

li t l, Kp
gi tr cng ln th p ng cng nhanh do sai s cng ln, b khu t l cng
ln. Mt gi g li t l qu ln s dn n qu trnh mt n nh v dao ng.
li tch phn, Ki
gi tr cng ln ko theo sai s n nh b kh cng nhanh. i li l vt l
cng ln: bt k sai s m no c tch phn trong sut p ng qu phi
c trit tiu tch phn bng sai s dng trc khi tin ti trng thi n nh.
li vi phn, Kd
gi tr cng ln cng gim vt l, nhng li lm chm p ng qu v c th
dn n mt n nh do khuch i nhiu tn hiu trong php vi phn sai s.

n TKHTCT: Xe hai bnh t cn bng.

25

Chng trnh iu khin

1.5. PID s:
Cng thc ca b iu khin PID trnh by trong (2) l dng hm lin tc ca bin
e, trong c c thnh phn tuyn tnh, o hm v tch phn. Tuy nhin, h
thng my tnh v vi iu khin li l h thng s. Mun xy dng b iu khin
PID trn my tnh hay trn vi iu khin chng ta phi bit cch xp x phng
trnh lin tc thnh dng ri rc.
V b iu khin PID xy dng trong PIC s l b iu khin s, chng ta cn xp
x cng thc ca b iu khin ny theo cc khong thi gian ri rc. Trc ht,
thnh phn P tng i n gin v l quan h tuyn tnh Kp*e, chng ta ch
cn p dng trc tip cng thc ny m khng cn bt k xp x no. Tip n l
xp x cho o hm ca bin e. V thi gian ly mu cho cc b iu khin thng
rt b nn c th xp x o hm bng s thay i ca e trong 2 ln ly mu lin
tip:
de/dt =(e(k) e(k-1))/h.
Trong e(k) l gi tr hin ti ca e, e(k-1) l gi tr ca e trong ln ly mu
trc v h l khong thi gian ly mu (h l hng s).

Hnh 5: Xp x o hm ca bin sai s e

Thnh phn tch phn c xp x bng din tch vng gii hn bi hm ng
biu din ca e v trc thi gian. Do vic tnh ton tch phn khng cn qu chnh
xc, chng ta c th dng phng php xp x n gin nht l xp x hnh ch
nht (sai s ca phng php ny cng ln nht). tng c trnh by trong
hnh 6.
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26

Chng trnh iu khin

Hnh 6: Xp x tch phn ca bin sai s e

Tch phn ca bin e c tnh bng tng din tch cc hnh ch nht ti mi thi
im ang xt. Mi hnh ch nht c chiu rng bng thi gian ly mu h v chiu
cao l gi tr sai s e ti thi im ang xt. Tng qut:

( )

Tng hp cc xp x, cng thc ca b iu khin PID s c trnh by nh trn

( )

( )

Trong u l i lng output t b iu khin. n gin ha vic tnh thnh

phn tch phn, chng ta nn dng phng php cng dn (hay quy):

( )

( )

Vi I(k) l thnh phn tch phn hin ti v I(k-1) l thnh phn tch phn trc.
1.6. Tng quan cc phng php iu chnh h s PID :
C nhiu phng php khc nhau iu chnh vng lp PID. Nhng phng
php hu hiu nht thng bao gm nhng trin khai ca vi dng m hnh x l,
sau chn P, I, v D da trn cc thng s ca m hnh ng hc. Cc phng
php iu chnh th cng tng i khng hiu qu lm, c bit nu vng lp c
thi gian p ng c tnh bng pht hoc lu hn.
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27

Chng trnh iu khin

La chn phng php thch hp s ph thuc phn ln vo vic c hay khng
vng lp c th iu chnh "offline", v p ng thi gian ca h thng. Nu h
thng c th thc hin offline, phng php iu chnh tt nht thng bao gm
bt h thng thay i u vo tng bc, tn hiu o lng u ra l mt hm thi
gian, s dng p ng ny xc nh cc thng s iu khin.
La chn phng php iu chnh
u im
iu chnh
th cng
Ziegler
Nichols

Khuyt im

Khng cn hiu bit v ton.

Phng php online.
Phng php chng minh. Phng
php online.

Yu cu nhn vin c kinh

nghim.
Lm ri lon qu trnh, mt
s th nghim v li, phi
iu chnh nhiu ln
Cc cng c iu chnh chc chn. Phng Gi c cao, v phi hun
phn mm
php online hoc offline. C th luyn.
bao gm phn tch cc van v cm
bin. Cho php m phng trc khi
ti xung thc thi.
Cohen-Coon X l cc m hnh tt.
Yu cu kin thc ton hc.
Phng php offline. Ch tt
i vi cc qu trnh bc
mt.
Phng php nhm chn iu chnh th cng :
Nu h thng phi duy tr trng thi online, mt phng php iu chnh l thit
t gi tr u tin ca Ki v Kd bng khng. Tng dn Kp cho n khi u ra ca
vng iu khin dao ng, sau Kp c th c t ti xp x mt na gi tr
t c p ng "1/4 gi tr suy gim bin ". Sau tng Ki n gi tr ph
hp sao cho thi gian x l. Tuy nhin, Ki qu ln s gy mt n nh. Cui
cng, tng Kd, nu cn thit, cho n khi vng iu khin nhanh c th chp nhn
c nhanh chng ly li c gi tr t sau khi b nhiu. Tuy nhin, Kd qu ln
s gy p ng d v vt l.Mt iu chnh cp tc ca vng iu khin PID
thng hi qu l mt t khi tin ti im t nhanh chng; tuy nhin, vi h
thng khng chp nhn xy ra vt l, trong trng hp , ta cn mt h thng
vng kn gim l, thit t mt gi tr Kp nh hn mt na gi tr Kp gy ra dao
ng.

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Chng trnh iu khin

2. Lu gii thut:
Ngt c
ADC

Chng trnh
con s dng
gii thut PID

Chng trnh chnh

Chng trnh chnh

Bt u

Khi to cc bin
Chn knh c ADC ban u
Khi to phn cng Vi iu khin
Ci t c ngt timer0 sau 10ms ngt 1 ln
Cho php mch iu khin ng c DC hot ng

C ngt T0
T0IF = 1

Y
T0IF = 0

Chng trnh
con s dng
gii thut PID

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29

Chng trnh iu khin

Chng trnh
con x dng
gii thut PID

Err1<3

Err1 >= 3

N ng c quay nghch

ng c quay thun

Ppart = KP * Err ;
Dpart = KD * ( Err - Err_truoc )*rev_time;
Ipart += KI * time * Err / 1000 ;
Output += Ppart + Dpart + Ipart ;
CCPR1L = Output ; (cp xung PWM cho ng c )
Err_truoc = Err;

Chng trnh
chnh

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Chng trnh iu khin

Ngt c
ADC

i=0
Tng i++

i=1

i=2

Chn knh AN0

c gi tr ADC ri gn cho bin KP
Hin th LCD gi tr KP

Chn knh AN1

c gi tr ADC ri gn cho bin KI
Hin th LCD gi tr KI

i=4

i=3

Chn knh AN3

c gi tr ADC ri gn cho bin KS
Hin th LCD gi tr KS
i=0

Chn knh AN2

c gi tr ADC ri gn cho bin KD
Hin th LCD gi tr KD

Chng trnh
chnh

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Chng trnh iu khin

3. Code iu khin:
//S dng ngn ng Hi-tech C lp trnh trn nn Mplab cho pic16f887.
#include <pic.h>
#include <htc.h>
__CONFIG(MCLRE_ON & WDTE_OFF & FOSC_HS & CP_OFF & LVP_OFF &
FCMEN_ON & BOR4V_BOR21V);
#define _XTAL_FREQ 20000000
#define LCD_RS RD5 // khai bo chn RS l RE0
#define LCD_RW RD6
#define LCD_EN RD7
#define LCD_STROBE() ((LCD_EN = 1),(LCD_EN=0))// macro cho chn E cua
LCD len muc 1 roi xuong muc 0
#define time 10

//ms

#define rev_time 100

//nghich dao

//--------------------------------------------------------------------------------------------------------#define LCD_DATA PORTD // dung data l PORTD

//--------------------------------------------------------------------------------------------------------int KP,KI,KD,KS,i,Err,goc_need,Err_truoc;
signed char Err1,Ppart, Dpart, Ipart, Output;
void init_port()
{
TRISA =0xff; //input adc tu (A0,1,2---KP,KI,KD)
ANSEL =0xff; //analog input
TRISB =0xff; //input nut nhan
TRISC = 0;
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32

Chng trnh iu khin

TRISD = 0;
ANSELH = 0; // khai chon ngo vao so
}
//--------------------------------------------------------------------------------------------------------void write_LCD(unsigned char a, unsigned char t)
{ // VK RD0..RD3 tuong duong LCD: BD4..BD7
unsigned char x;
LCD_RW=0;
LCD_RS=a;
x=t;
x=x>>4; // dich phai 4 bit de lay 4bit cao
PORTD=((PORTD & 0xF0)|(x & 0x0F));
LCD_STROBE();
__delay_us(30);
PORTD=((PORTD & 0xF0)|(t & 0x0F));
LCD_STROBE();
__delay_us(30);
}
//--------------------------------------------------------------------------------------------------------void init_LCD(void) // hm khoi tao LCD theo cc buoc muc 6.2.3
{
LCD_RS =0;
write_LCD(0,0x33);
__delay_ms(65);
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33

Chng trnh iu khin

write_LCD(0,0x32);
__delay_ms(65);
write_LCD(0,0x28);
__delay_ms(65);
write_LCD(0,0x01); // xoa man hinh - clear display
__delay_ms(10);
write_LCD(0,0x03);
__delay_ms(10);
write_LCD(0,0x0e);
__delay_ms(10);
}
//--------------------------------------------------------------------------------------------------------void init_ADC(void)
{
VCFG1=0;
VCFG0=0;

//chon nguon noi

ADCS1=0;
ADCS0=1;

//TAD=Fosc/8

ADFM=1;

//chon cach doc gia tri 2 bit cao 8 bit thap

ADON=1;

//cho phep ADC hoat dong

__delay_ms(1);
}
//--------------------------------------------------------------------------------------------------------void init_interrupts(void)
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34

Chng trnh iu khin

{
GIE=1;

//cho phep ngat toan cuc

PEIE=1;

//cho phep ngat xem so do khoi chuong 14

ADIE=1;

//cho phep ADC ngat

ADIF=0;

//xoa co ngat

}
//--------------------------------------------------------------------------------------------------------void interrupt adc(void)
{
int tram,chuc,donvi,nghin,giatri_ADC;
if(PEIE&&ADIE&&ADIF)
{
ADIF=0;
giatri_ADC = (ADRESH<<8) | ADRESL;
i++;
if (i==1)
{
CHS3=0;
CHS2=0;
CHS1=1;
CHS0=0;

//chon kenh

KP = giatri_ADC/5 ;
tram = (KP%1000)/100;
chuc = (KP%100)/10;
donvi = KP%10;
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Chng trnh iu khin

write_LCD(0,0x82);
write_LCD(1,tram+48);
write_LCD(1,chuc+48);
write_LCD(1,donvi+48);
}
if (i==2)
{
CHS3=0;
CHS2=0;
CHS1=1;
CHS0=1;

//chon kenh

KI = giatri_ADC/5 ;
tram =(KI%1000)/100;
chuc =(KI%100)/10;
donvi =KI%10;
write_LCD(0,0x87);
write_LCD(1,tram+48);
write_LCD(1,chuc+48);
write_LCD(1,donvi+48);
}
if (i==3)
{
CHS3=0;
CHS2=0;
CHS1=0;
CHS0=0;

//chon kenh
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36

Chng trnh iu khin

KD = giatri_ADC/5 ;
tram =(KD%1000)/100;
chuc =(KD%100)/10;
donvi =KD%10;
write_LCD(0,0x8C);
write_LCD(1,tram+48);
write_LCD(1,chuc+48);
write_LCD(1,donvi+48);
}
if (i==4)
{
CHS3=0;
CHS2=0;
CHS1=0;
CHS0=1;

//chon kenh

KS = giatri_ADC;
nghin = KS/1000;
tram =(KS%1000)/100;
chuc =(KS%100)/10;
donvi =KS%10;
write_LCD(0,0xC2);
write_LCD(1,nghin+48);
write_LCD(1,tram+48);
write_LCD(1,chuc+48);
write_LCD(1,donvi+48);
i=0;
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37

Chng trnh iu khin

}
}
}
//--------------------------------------------------------------------------------------------------------void init_T0 ()
{
OPTION_REG = 0x0000111;
T0IF = 0;
TMR0 = 60;
T0IE = 0;

}
//--------------------------------------------------------------------------------------------------------void init_PWM()
{
T2CKPS1=1;
T2CKPS0=0;

//Prescaler is 16 timer2

PR2 = 0xff;
TMR2ON = 1;
DC1B1=0;
DC1B0=0;
//

//Tinh Dutycycle

CCPR1L =0xF7;
CCP1M3 = 1;
CCP1M2 = 1;
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38

Chng trnh iu khin

CCP1M1 = 0;
CCP1M0 = 0;
}
//--------------------------------------------------------------------------------------------------------void goc_PID ( unsigned int goc_need )
{
Err1 = goc_need - KS ;
if (Err1 > 0)
{
Err = Err1;
}
else
{
Err = -Err1;
}
if ( Err1 > 3 ) { RC3 = 1 ; RC4 = 1;}

//dao chieu

if ( Err1 < -2 ) { RC3 = 0 ; RC4 = 1;}

//dao chieu

if ( -2 <= Err1 && Err1 <=3 ){ RC4 = 0;}//dung dong co

Ppart = KP * Err ;
Dpart = KD * ( Err - Err_truoc )*rev_time ;
Ipart += KI * time * Err / 1000 ;
Output += Ppart + Dpart + Ipart ;
if ( Output >=1000) {Output = 1000;}
if ( Output <=0) {Output = 1;}
CCPR1L = Output ;
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39

Chng trnh iu khin

Err_truoc = Err;
}
//--------------------------------------------------------------------------------------------------------void main()
{
i=0;
Err_truoc = 0;
init_port();
init_PWM();
init_ADC();
init_T0();
init_interrupts();
__delay_ms(500);
init_LCD();
__delay_us(50);
write_LCD(0,0x80);// du lieu k tu se dua ve dng 1 cot 1
write_LCD(1,'K');
write_LCD(1,'P');
write_LCD(0,0x85);// du lieu k tu se dua ve dng 1 cot 6
write_LCD(1,'K');
write_LCD(1,'I');
write_LCD(0,0x8A);// du lieu k tu se dua ve dng 1 cot 11
write_LCD(1,'K');
write_LCD(1,'D');
write_LCD(0,0xC0);// du lieu k tu se dua ve dng 2 cot 1
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40

Chng trnh iu khin

write_LCD(1,'S');
write_LCD(1,'E');
write_LCD(0,0xC9);
write_LCD(1,'1');
write_LCD(1,'.');
write_LCD(1,'2');
write_LCD(1,'2');
write_LCD(1,'k');
write_LCD(1,'H');
write_LCD(1,'z');
while (1)
{
GO=1;
__delay_us(50);
if ( T0IF == 1)
{
T0IF = 0;
goc_PID (330);
}
}
}

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41

M phng b iu khin PID

V.

M phng b iu khin PID

1. M hnh ton hc ca ng c.

tm hm truyn cho h thng hi tip ng c DC ta dng nh lut in p

Kirchhoffs .
( )
S dng nh lut II Newton.

Momen xon c sinh ra bi ng c nam chm vnh cu Te.

Momen xon ma st nht TV.

Momen xon TL l momen xon do ti gy,dng nh lut II Newton, tm c:

(

) ( )

Phng trnh biu din s thay i gc quay.

( )
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42

M phng b iu khin PID

Da vo ba phng trnh (1) ,(2),(3) ta tm c hm tuyn.
Bin i laplace, t s = d/dt v thay vo ba phng trnh (1) ,(2),(3) ta c:
) ( )

(
(

( )
( )

( )
S dng b iu khin PID :

( )
( )

( )

( )
()

( )
( )
( )

()

()

()

2. S m phng PID trn MATLAB

Kt qu cc thng s ca ng c sau khi o l:
in tr ni ca ng c ra = 2.7().
t cm ca ng c La = 0.004(H).
Hng s momen xon ca ng c ka = 0.150(Nm/A).
Cc gi tr J = 0.0001(kg.m2),Bm = 0.0000096(Nms/rad).
Gi s cho momen xon do ti gy l TL = 10(Nmm).
Cc gi tr kp,ki,kd c tch hp trong khi PID ca MATLAB.
Thay cc h s trn vo m hnh m phng PID ta c s nh sau.

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43

M phng b iu khin PID

Sau khi thit lp xong m hnh m phng , ta c th xc nh cc h s kp, ki,

kd c p ng mong mun.

Hnh1

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44

M phng b iu khin PID

c dng p ng nh H.1 th phi truyn cc h s kP = 1.127, kI = 3.713 v

kD = -0.017.

Hnh2

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45

M phng b iu khin PID

c dng p ng nh H.1 th phi truyn cc h s kP = 21.368, kI = 6.114

v kD = 0.000.

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46

Ti liu tham kho

VI.

Ti liu tham kho

[1] Microchip, AN964-Software PID Control of an Inverted Pendulum Using the

PIC16F684
[2] Nguyn Hu lc, C s thit k my- NXB H quc gia T.P HCM 2000

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47