B GIO DC V O TO

I HC NNG
MINH TIN
THIT K, CH TO M HNH IU KHIN
CN BNG CON LC NGC HAI BC T DO
Chuyn ngnh : Cng ngh Ch to my
M s : 60.52.04
TM TT LUN VN THC S K THUT
Nng - Nm 2013
Cng trnh c hon thnh ti
I HC NNG
Ngi hng dn khoa hc: PGS.TS. PHM NG PHC
Phn bin 1: PGS.TS. NGUYN VN YN
Phn bin 2: PGS.TS. PHM PH L
Lun vn c bo v trc Hi ng chm Lun vn tt
nghip thc s K thut hp ti i hc Nng vo ngy 18
thng 04 nm 2013.
C th tm hiu lun vn ti:
- Trung tm Thng tin - Hc liu, i Hc Nng
- Trung tm Hc liu, i Hc Nng
1
M U
1. L do chn ti
Trong thc t, nhiu cng trnh c m hnh dng con lc
ngc nh: nh cao tng, cn bng trong ch to robot ngi, thp
v tuyn, gin khoan, tu thy, cng trnh bin. S gia tng v quy
m kt cu s dn n cc p ng ng lc phc tp ca kt cu v
s sinh ra cc dao ng lm gim bn ca cng trnh, v vy
nghin cu cc dao ng ny v lm cn bng h thng c m hnh
dng con lc ngc l vn ang c quan tm.
Vi iu khin ti u pht trin mnh m trong nhng nm
gn y to ra c s xy dng cc h thng my mc phc tp,
nhng h c kh nng cung cp kinh nghim iu khin h thng
hay cn gi l cc h tr gip quyt nh.
T cc vn trn, ta thy cn thit phi nghin cu v con lc
ngc nhm nm bt v pht trin k thut iu khin phc v cho
nhu cu sn xut, phc v hc tp, nghin cu.
2. Mc ch ca ti
iu khin cn bng con lc ngc nc ta c nghin
cu nhm ch to m hnh ng dng cho cc lut iu khin hin
i t lm c s ng dng vo trong sn xut.
ng dng l thuyt iu khin ti u thit k b iu khin
gi cn bng con lc ngc.
Thit k, ch to m hnh thc nghim
3. Phm vi v ni dung nghin cu
3.1. Phm vi
Ngin cu con lc ngc hai bc t do.
iu khin cn bng con lc ngc hai bc t do bng b iu
khin s dng cc phng php iu khin ti u.
2
nh gi kt qu da trn m hnh thc nghim.
3.2. Ni dung nghin cu
Nghin cu l thuyt v phng php xy dng m hnh ton
hc, lp phng trnh vi phn chuyn ng ca con lc ngc hai
bc t do trn c s phng php bin phn Lagrange-Euler
S dng phn mm Matlab lm cng c xy dng m hnh v
m phng h thng;
kim nghim kt qu nghin cu, ta ch to m hnh con
lc ngc hai bc t do. Thng qua qu trnh hot ng ca m hnh,
ta nh gi kt qu nghin cu c.
4. Phng php nghin cu
ti nghin cu c thc hin theo phng php kt hp
gia l thuyt v thc nghim. C th nh sau:
Nghin cu cc ti liu lin quan, trn c s tnh ton
thit k b iu khin cn bng con lc ngc hai bc t do.
Ch to m hnh kim chng cc kt qu.
5. ngha khoa hc v thc tin
Con lc ngc l c s to ra cc h thng t cn bng nh:
xe hai bnh t cn bng, cn bng robot ngi, thp v tuyn, gin
khoan, cng trnh bin
Khi l thuyt v cc b iu khin hin i ngy cng hon
thin hn th con lc ngc l mt trong nhng i tng c p
dng kim tra cc l thuyt .
To ra phng php hc tp nghin cu trc quan bng m
hnh c th. Bc u tip cn k thut iu khin chnh xc.
6. Cu trc ca lun vn
Cu trc ca lun vn gm c bn chng.
- Chng 1: M hnh ha con lc ngc hai bc t do
3
- Chng 2: L thuyt iu khin ti u
- Chng 3: Thit k b iu khin cn bng con lc ngc
hai bc t do
- Chng 4: Thit k, ch to m hnh iu khin cn bng
con lc ngc hai bc t do
CHNG 1
M HNH HA CON LC NGC HAI BC T DO
1.1. CC NGHIN CU HIN NAY TRN TH GII
1.2. M HNH CON LC NGC
Xt h thng con lc ngc c gn vo xe v c ko bi
ng servo DC. Yu cu ca bi ton l iu khin v tr xe v gi
cho con lc ngc lun thng ng (con lc lun cn bng).
Hnh 1.7: M hnh con lc ngc hai bc t do
4
1.3. M HNH TON HC CA H CON LC NGC HAI
BC T DO
Con lc 1
1 1 1 1 1 1 1
1 1 1
1 1 1 1
z z l sin z z l cos
y l cos
y l sin

+ +

' '

Con lc 2
2 1 1 2 2 2 1 1 1 2 2 2
2 1 1 2 2
2 1 1 1 2 2 2
z z L sin l sin z z L cos l cos
y L cos l cos
y L sin l sin

+ + + +

' '
+
+

ng nng xc nh theo cng thc

2
1
T mv
2
Trong
2 2 2
v z y +
ng nng ca xe
2
0 0
1
T m z
2

Hm tiu tn ca xe
2
0 0
1
D c z
2

ng nng ca con lc 1
2
2 2 2 2
1 1 1 1 1 1 1 1 1 1 1
1 1 1
T m z l cos m l sin J
2 2 2

+ + +
]

Hm tiu tn ca con lc 1
2
1 1 1
1
D c
2

ng nng ca con lc 2
2 2
2 2 2 2 2
2
2 1 1 1 2 2 2
2
2
2 1 1 1 2 2 2 2 2
1 1
T m v J
2 2
1
m z L cos l cos
2
1 1
m L sin l sin J
2 2
+

+ + +
]

+ +
]

Hm tiu tn ca con lc 2
2
2 2 2
1
D c
2

5
ng nng ca h con lc ngc hai bc t do
2
2 2 2 2
0 1 2 0 1 1 1 1 1 1 1 1
2
2
1 1 2 1 1 1 2 2 2
2
2 1 1 1 2 2 2 2 2
1 1 1
T T T T m z m z l cos m l sin
2 2 2
1 1
J m z L cos l cos
2 2
1 1
m L sin l sin J
2 2

+ + + + + +
]

+ + + +
]

+ +
]

Hm tiu tn ca h con lc ngc hai bc t do
2 2 2
0 1 2 0 1 1 2 2
1 1 1
D D D D c z c c
2 2 2
+ + +

Th nng ca xe
0
V 0
Th nng ca con lc 1
1 1 1 1
V m gl cos
Th nng ca con lc 2
( )
2 2 1 1 2 2
V m g L cos l cos +
Th nng ca h con lc ngc hai bc t do
( )
0 1 2 1 1 1 2 1 1 2 2
V V V V m gl cos m g L cos l cos + + + +
Phng trnh Lagrange
( )
( ) ( )
( ) ( )
( )
2 2 2 2 2 2
0 1 2 1 1 2 1 1 1 2 2 2 2
1 1 2 1 1 1 2 2 2 2 2 1 2 1 2 1 2
1 1 2 1 1 2 2 2
L T V
1 1 1
L m m m z m l m L J m l J
2 2 2
m l m L z cos m l z cos m L l cos
m l m L gcos m l gcos

+ + + + + + + +
+ + +
+

Dng phng php Lagrange Euler tm phng trnh vi phn
chuyn ng ca h khi xt n ma st gia xe-thanh trt v ma st
ti cc khp
( ) ( )
( )
0 1 2 1 1 2 1 1 1 2 2 2 2
2 2
0 1 1 2 1 1 1 2 2 2 2
L L D
f
t z z z
m m m z m l m L cos m l cos
c z m l m L sin m l sin f

_
+


,

+ + + + + +

'
+

6
( )
( )
( ) ( )
( )
1 1 1
2 2
1 1 2 1 1 1 1 1 2 1 1 1 1
2
2 1 2 1 2 2 2 1 2 2 1 2
1 1 2 1 1
L L D
0
t
m l m L J m l m L z cos c
m L l cos m L l sin
m l m L gsin 0
_

+


,

+ + + + + +

+
'

( )
( )
( )
2 2 2
2
2 2 2 2 2 2 2 2 2 2 1 2 1 2 1
2
2 1 2 1 2 1 2 2 2
L L D
0
t
m l z cos m l J c m L l cos
m L l sin m l gsin 0
_

+


,

+ + + +

'

t cc s hng nh sau:
( )
1 0 1 2 2 1 1 2 1
2 2
3 2 2 4 1 1 2 1 1
2
5 2 1 2 6 2 2 2
7 1 1 2 1 8 2 2
h m m m ; h m l m L
h m l ; h m l m L J
h m L l ; h m l J
h m l m L g; h m l g
+ + +

+ +

'
+

a h phng trnh v dng

( ) ( )
( ) ( )
2 2
1 2 1 1 3 2 2 0 2 1 1 3 2 2
2
2 1 4 1 5 1 2 2 1 1 5 1 2 2 7 1
2
3 2 5 1 2 1 6 2 2 2 5 1 2 1 8 2
h z h cos h cos c z h sin h sin f
h z cos h h cos c h sin h gsin 0
h z cos h cos h c h sin h sin 0

+ + +

+ + + +
'

+ + +

Chuyn tip v dng cc ma trn:

M( ) N( , ) H( ) Rf + +

Trong :
1 2 1 3 2
2 1 4 5 1 2
3 2 5 1 2 6
h h cos h cos
M h cos h h cos( )
h cos h cos( ) h


1

1
1
]
7
( )
( )
0 2 1 1 3 2 2
1 5 2 1 2
5 1 1 2 2
c h sin h sin
N 0 c h sin
z h sin c


1

1
1

1
]

7 1
8 2
0
H h sin
h sin

1

1
1
]
[
T
R 1 0 0
Chng ta thy y l mt h phi tuyn. Do thit k b
iu khin vi mc tiu n nh cc thng s trong h thng trong
min gi tr cn bng, chng ta tuyn tnh ha h vi gi thit cc
gc
1
,
2
nh. Khi ta c c:
( )
( )
1 2 1 2
1 2
2 2
1 2
1
2
1 1
2 2
sin
cos 1
0
cos 1
cos 1
sin
sin

'

H phng trnh tr thnh

1 2 1 3 2 0
2 1 4 1 5 2 1 1 7 1
3 5 1 6 2 2 2 8 2
h z h h c z f
h z h h c h 0
h x h h c h 0

+ + +

+ + +
'

+ + +

Cc ma trn tr thnh:
1 2 3
2 4 5
3 5 6
h h h
M h h h
h h h

1

1
1
]
;
0
1
2
c 0 0
N 0 c 0
0 0 c

1

1
1
]
;
7 1
8 2
0
H h
h

1

1
1
]
Trong M l i xng v khng suy bin.
8
a phng trnh vi phn chuyn ng ca h v dng ma trn
1 2 3 0
2 4 5 1 1 1 7 1
3 5 6 2 2 2 8 2
z z
h h h c 0 0 0 f
h h h 0 c 0 h 0
h h h 0 0 c h 0


1 1
1 1 1 1
+ +
1 1
1 1 1 1
1 1
1 1 1 1

] ] ] ]
] ]



1.4. KIM NGHIM KT QU M HNH HA BNG
MATLAB
>> Kt qu tnh bng phn mm Matlab hon ton trng khp
vi kt qu tnh bng tay. Vy kt qu ca phng trnh vi phn
chuyn ng ca h con lc ngc hai bc l ng.
CHNG 2 : L THUYT IU KHIN TI U
2.1 CHT LNG TI U
2.1.1 c im ca bi ton ti u
2.1.2. iu kin thnh lp bi ton ti u
2.1.3. Ti u ho tnh v ng
2.2 XY DNG BI TON TI U
2.2.1. Ti u ha khng c iu kin rng buc
2.2.2. Ti u ha vi cc iu kin rng buc
2.3 CC PHNG PHP IU KHIN TI U
2.3.1 Phng php bin phn c in Euler_Lagrange
2.3.2 Nhn xt
2.4 IU KHIN TI U CC H TUYN TNH VI
PHIM HM DNG TON PHNG
2.4.1 n nh Lyapunov i vi h thng tuyn tnh
2.4.2 iu khin ti u h tuyn tnh vi ch tiu cht lng
dng ton phng _ Phng trnh Riccati i vi h lin tc
2.4.3 Cc bc gii bi ton ton phng tuyn tnh
2.4.4 Nhn xt
9
CHNG 3 : THIT K B IU KHIN GI CN
BNG CON LC NGC HAI BC T DO
3.1. CC THNG S M HNH CON LC NGC
Tham s K hiu Gi tr n v
Xe
Khi lng ca xe
0
m
1.037 kg
H s cn nht gia xe v thanh trt
0
c
0.005
kgm
2
s
-
1
Con
lc 1
Moment qun tnh
1
J
0.0017 kgm
2
Khi lng
1
m
0.088 kg
Chiu di
1
L 0.2 m
Chiu di t tm quay n trng tm 0.102 m
H s cn nht ti khp quay 1
1
c
3x10
-3
kgm
2
s
-
1
Con
lc 2
Moment qun tnh
2
J
0.059 kgm
2
Khi lng
2
m
0.110 kg
Chiu di
2
L 0.4 m
H s cn nht ti khp quay 1
2
c 5x10
-3
kgm
2
s
-
1
3.2. THIT K B IU KHIN LQR
3.2.1. B iu khin LQR
H phng trnh tuyn tnh m t h thng lc ny tr thnh:
x(t) Ax(t) Bu(t)
y(t) Cx(t) Du(t)
+

'
+

Trong
10
0 0 0 1 0 0
0 0 0 0 1 0
0 0 0 0 0 1
A
1.2460 0.0641 0.0459 0.0031 0.0001
0 63.8739 16.6718 0.1948 0.1598 0.0232
0 24.7046 28.3039 0.0149 0.0618 0. 393
0
0

1
1
1

1

1
1

1

]
B
0.9179
3.896
0.2971
0
0
0

1
1
1

1
1
1

]
;
1 0 0 0 0 0
0 1 0 0 0 0
0 0 1 0 0 0
C
0 1 0 0
0 0 0 0 1 0
0
0 0
0 0 0 0 1

1
1
1

1
1
1
1
]
;
0
D
0
0
0
0
0

1
1
1

1
1
1
1
]
Vi cc thng s ca mt h thng c cc cc nh sau:
1
2
3
4
5
6
8.6345
8.4630
4.3544
p 0
4.3874
0.
p
p
p
0405
p
p

'

H thng c 2 cc nm bn phi mt phng phc, do h

thng khng n nh.
kim tra tnh iu khin v quan st c ca h thng, ta
tnh hng ca ma trn:
2 3 4 5
rank B AB A B A B A B A B 6


]
2 3 4 5 T
rank[C CA CA CA CA CA ] 6
Chng ta thy hng ca cc ma trn ny u bng 6, nh vy
h thng chng ta kho st iu khin c v quan st c.
11
Hnh 3.1-. M hnh n nh h thng s dng b iu khin LQR
Tt c trng thi ca h thng c hi tip v qua ma trn
li K. X
d
l gi tr t vo b iu khin.
1 1d
1
2
2
3
d d
4
1 5
6
2
z
x x
x 0
x 0
X ; X ; E X X
z
x 0
x 0
0 x


1
1 1

1
1 1
1
1 1
1
1 1
1
1 1
1
1 1

1
1 1
1
1 1
] ]
]

Ma trn hi tip tm c:
K =[37.9; -739.1; 1330.7; 91.3; -12.5; 252.1]
T
Vi gi tr cu K, h thng n nh vi cc cc:
1
2
3
4
5
6
16.1012 7.0897i
16.1012 7.0897i
15.5221
2.5665
2.1551 1.9498i
2.1551
p
p
p
p
1.949 p i
p
8
+

'

+

Cc cc ca h thng khi c b iu khin nm bn tri mt
phng phc, do h thng l n nh.
3.2.2. Dng Matlab v Gii thut di truyn tm ma trn hi
tip ti u cho b iu khin LQR
12
3.3. THIT K B IU KHIN PD
Hnh 3.2- M hnh n nh h thng s dng b iu khin PD
Tn hiu iu khin u c xc nh qua biu thc sau:
1 D1 P1
2 D2 P2
3 D3 P3
D (S) k s k
D (S) k s k
D (S) k s k
+

+
'

Hm truyn ca h con lc ngc hai bc t do

4 3 2
1
6 5 4 3 2
4 3 2
2
6 5 4 3 2
4 3 2
3
6 5 4 3 2
0.9s 0.2s 79s 4s 1130
G (S)
s 0.25s 92.2s 9.4s 1395.8s 56s
3.9s 0.2s 115.2s
G (S)
s 0.25s 92.2s 9.4s 1395.8s 56s
0.3s 0.3s 115.2s
G (S)
s 0.25s 92.2s 9.4s 1395.8s 56s

+ + +

'
+ + +

+

+ + +

3.4. THIT K B IU KHIN PID

3.4.1. iu khin PID
3.4.2. B iu khin PID
Mt m hnh b iu khin PID cng c xy dng tng t
nh b iu khin PD c th hin trn hnh 3.7.
13
Hnh 3.7- M hnh n nh h thng s dng b iu khin PID
Tn hiu iu khin u c xc nh qua biu thc sau:
2
D1 P1 I1
1
2
D2 P2 I2
2
2
D3 P3 I3
3
k s k s k
C (S)
s
k s k s k
C (S)
s
k s k s k
C (S)
s

+ +

+ +

'

+ +

Hm truyn ca h con lc ngc hai bc t do

4 3 2
1
6 5 4 3 2
4 3 2
2
6 5 4 3 2
4 3 2
3
6 5 4 3 2
0.9s 0.2s 79s 4s 1130
G (S)
s 0.25s 92.2s 9.4s 1395.8s 56s
3.9s 0.2s 115.2s
G (S)
s 0.25s 92.2s 9.4s 1395.8s 56s
0.3s 0.3s 115.2s
G (S)
s 0.25s 92.2s 9.4s 1395.8s 56s

+ + +

'
+ + +

+

+ + +

Vi b iu khin PD, PID th vic la chn nhiu thng s

kh l kh khn, chng ti la chn cc thng s theo phng php
s dng gii thut di truyn.
14
3.5. KT QU M PHNG
3.5.1. B iu khin LQR
Kt qu m phng h con lc ngc hai bc t do trong thi
gian 5s
V tr xe Gc con lc 1
Gc con lc 2 Vn tc xe
Vn tc con lc 1 Vn tc con lc 2
15
Lc tc ng ln xe
3.5.2. B iu khin PD
3.5.3. B iu khin PID
3.6. SO SNH CHT LNG CA CC B IU KHIN
v tr xe gc con lc 1
gc con lc 2 vn tc xe
(iu kin ban u: z = 0.02 [m], 1=0.087 [rad], 2=-0.087 [rad])
16
Cc kt qu m phng cho thy cc p ng ca h vi cc
thay i khc nhau ca v tr ca xe, chng ta thy cc b iu khin
vn cho cc p ng tt, thi gian xc lp ngn
Trong kt qu ny, chng ti xem xt cc yu cu v thi gian
qu , thi gian xc lp v tng bnh phng sai s so snh. Cc
thng s ny c th hin trong cc bng B3.1, bng B3.2 v bng
B3.3.
B3.1.Bng so snh cc p ng ca v tr xe
Cc p ng ca h thng LQR PD PID
Thi gian qu 0.3 0.2 0.25
Thi gian xc lp (s) 3 2.2 2.8
*SSE [m2s] 5.9283 0.6753 0.7190
B3.2. Bng so snh cc p ng ca gc ca con lc 1
Cc p ng ca h thng LQR PD PID
Thi gian qu 0.25 0.28 0.18
Thi gian xc lp (s) 1.5 1.3 1.2
SSE [m
2
s] 2.7485 4.8682 3.1875
B3.3. Bng so snh cc p ng ca gc ca con lc 2
Cc p ng ca h thng LQR PD PID
Thi gian qu 0.35 0.15 0.16
Thi gian xc lp (s) 2.5 1.8 1.65
SSE [m2s] 0.8627 0.3768 0.3947
T bng trn, chng ta thy p ng ca cc b iu khin PD
v PID tt hn b LQG. Sai s cng nh thi gian xc lp ca b
17
iu khin PID tt hn c. Nhng y cng l b iu khin kh la
chn cc thng s nht.
CHNG 4
THIT K, CH TO M HNH IU KHIN CN
BNG CON LC NGC HAI BC T DO
4.1. THIT K KT CU C KH
Do kt cu khng chu ti trng ln nn ta chn vt liu ch
to cc gi l nhm hp kim, cc chi tit ny c gia cng trn
my tin v my phay thng thng
Hnh 4.3- M phng lp ghp gia gi bn tri v thanh nh v
Hnh 4.4- Gi bn tri v thanh nh v
18
Hnh 4.9- M phng lp ghp gia gi bn phi v thanh nh v
Vi tng c th thay i c khong cch trc gia hai
puli nhm thay i sc cng dy cp nn ta gn ng c Servo DC
trn mt c cu c th trt theo phng ngang vi gi bn phi
v trn trc ng c gn puli
Hnh 4.10- Gi bn phi v thanh nh v
Khi thit k h con lc ngc hai bc vi tng dng
Encorder o gc lch, vic gn Encorder c xc nh nh sau :
Encorder th nht c gn c nh trn xe (chi tit 8), trc
ca Encorder gn cng vi trc quay (chi tit 9) bng mi ghp c
di. Encorder th nht o gc lch ca con lc 1
19
Encorder th hai c gn c nh trn con lc 1, dng trc
ca Encorder th hai lm khp quay th hai nn ta c th o c
gc lch con lc 2
Hnh 4.13- M phng lp ghp con lc hai bc t do ln xe v
bn trt
Hnh 4.14- Con lc hai bc t do ln xe v bn trt
20
Hnh 4.15- M phng lp ghp h con lc ngc hai bc t do
Hnh 4.16- H con lc ngc hai bc t do
21
4.2. THIT K MCH IU KHIN
4.2.1 La chn h vi iu khin thit k
PIC 30F4012 ca hng Microchip cho mc ch iu khin bi
l n c mt s u im sau:
- Tc x l nhanh 16bit, dung lng Ram ln thch hp vi
cc ng dng iu khin m, LQR, PID
- Trnh bin dch l ngn ng C thng dng v gn gi vi
ngn ng matlab m phng nn thch hp khi chuyn i.
- y l chip chuyn dng iu khin ng c.
- Mch np c th t lp rp d dng vi chi ph thp v h tr
kt ni USB
- Microchip cung cp y cc thng s k thut ca cc
dng PIC
- S lng ngt x l nhiu.
- Dung lng SRAM: 512 Bytes
- Su knh chuyn i A/D 10-12 bit nhanh v chnh xc
- H tr Quandrature Encoder Interface
Hnh 4.17- S chn dsPIC 4012
- Ngoi ra, mt kh nng ng tin cy cao ca b nh Flash c
kh nng lu tr d liu trn 40 nm, vi kh nng ghi v xa ln
n 1 triu ln, kh nng chu ng nhit cao (85 C).
22
S dng trnh bin dch CCS np chng trnh cho
dsPIC4012
4.2.2 Thit k mch iu khin
S nguyn l v mch in ca mch driver iu khin
ng c Servo DC 24V c thit k trn phn mm OrCAD
C4
100V
C5
100V
OUT+
OUT-
G_POWER
F1 FUSE
C12
25V/100uF
C13
15V/100uF 24V1 24V
D14
BACK
D15
FOR
J5
P-CONTROL
1
2
3
4
R35
10K
J6
CON4
1
2
3
4
D11
4007
R36
10K
D12
4007
12V
G_12
5V
PGD
INT2
PGC
INT1
VCC
INT0
INT3
HIN2
INDX
LIN2
QEA
HIN1
QEB
LIN1
INT2
INT1
INT0
TX
RX
J10
CON6
1
2
3
4
5
6
U5
dspic30f 4012
M
C
L
R
1
AN0/VREF-/CN2/RB0
2
AN1/VREF+/CN3/RB1
3
AN2/SS1/CN4/RB2
4
AN3/INDX/CN5/RB3
5
AN4/QEA/IC7/CN5/RB4
6
AN5/QEB/IC8/CN7/RB5
7
V
S
S
8
OSC1/CLKI
9
OSC2/CLKO/RC15
10
T2/U1ATX/CN1/RC13
11
T1CK/U1ARX/CN0/RC14
12
VDD
13
IC2/INT2/RD1
14
EMUC2/OC1/IC1/INT1/RD0
15
FLTA/INT0/SCK1/OCFA/RE8
16
PGD/EMUD/U1TX/SDO1/SCL/C1TX/RF3
17
PGC/EMUC/U1RX/SDI1/SDA/C1RX/RF2
18
V
S
S
1
9
VDD
20
PWM3H/RE5
21
PWM3L/RE4
22
PWM2H/RE3
23
PWM2L/RE2
24
PWM1H/RE1
25
PWM1L/RE0
26
A
V
S
S
2
7
AVDD
28
PGD
PGC
C17
104
LIN1
U2
IR2110
LO
1
HO
7
HIN
10
SHDN
11
LIN
12
VSS
13
COM
2
VB
6
VCC
3
VDD
9
VS
5
U3
IR2110
LO
1
HO
7
HIN
10
SHDN
11
LIN
12
VSS
13
COM
2
VB
6
VCC
3
VDD
9
VS
5
12V
Q1
IRF540N/TO
Q2
IRF540N/TO
Q3
IRF540N/TO
Q4
IRF540N/TO
5V
-
+
U4A
LM393
3
2
1
8
4
INDX
HIN1
R1
0.22
12V
J2
ENC
1
2
3
4
5
24V
C2
224
Q5
2N5551
C3
224
LIN2
VCC
Q6
2N5551
12V
Q7
2N5551
Q8
2N5551
12V
G_12
D16
DZ4.7V
J3
PROG
1
2
3
4
5
HIN2
C11
104
R18
10
VCC
R19
10
R20
10
G_12
R21
10
R38
R
C10
105
R22
220
R23
220
R24
220
R25
220
R26
R
C14
104
R27
20K
R31
10K
C15
104
VCC
PAD1
PINPAD
PAD2
PINPAD
VCC
J4
UART
1
2
3
4
G_12 C6
10uF
R28
2K
R37
1M
D1
LED
VCC
Y1
40Mhz
J11
CON2
1
2
R29 0
QEB
C7
33
ISO5
PC817
1
2
4
3
QEA
C8
33
VCC
5V
5V
C1
51
D2
BYV28-150 1
2
D3
BYV28-150 1
2
R39
10K
D4
BYV28-150 1
2
R40
2K
D5
BYV28-150 1
2
G1
C16
104
OUT+ OUT-
R41
RESISTOR SIP 9
1 2
3
4
5
6
7
8
9
INDX
AN1
QEA
AN0
QEB
INT3
INT2
INT1
INT0
AN1
G_12
AN0
RESET
RX
TX
INT3
Hnh 4.19- S nguyn l mch driver iu khin ng c
Hnh 4.20- S mch in driver iu khin ng c
23
Hnh 4.21- Driver iu khin ng c
4.3. LP TRNH IU KHIN CON LC NGC HAI BC
T DO
KT LUN V KIN NGH
1. KT QU NGHIN CU CA TI
Mc tiu ca cc h thng iu khin l ngy cng nng cao
cht lng cc h thng iu khin t ng. Trn thc t c rt nhiu
i tng cn iu khin nhng khng c cc tham s cn thit.
V vy, vic thit k cc b iu khin da trn l thuyt kinh in
gp rt nhiu kh khn. Chnh v l do ny i hi chng ta phi ng
dng cc l thuyt iu khin hin i vo trong thc t. Lun vn
ny ch trng nghin cu xy dng h iu khin ti u cho h con
lc ngc hai bc t do da trn nn tng phng php bin phn
Euler_Largrange.
ti thc hin vic la chn m hnh con lc ngc hai
bc t do, trn c s , thit lp thnh cng phng trnh vi phn
chuyn ng ca h v m phng h trn Matlab cho cht lng p
ng h thng tt.
24
ti cng thc hin thnh cng vic a ra m hnh ton
hc cho vic iu khin cn bng con lc ngc hai bc t do bng
cch s dng phng php iu khin ti u tuyn tnh dng ton
phng (LQR) cho i tng iu khin l ng c Servo DC.
Vi kt qu t c, c th ng dng ti vo vic tnh ton
cho robot ngi di chuyn bng hai chn nh ngi hoc cc my s
dng ng c servo. Cc kt qu t c ca ti, c th ng
dng vo vic ging dy v l thuyt iu khin hin i v cc mn
hc v t ng ha, iu khin Bn cnh , c th p dng
phng php iu khin ny p dng iu khin ng c theo v
tr mong mun, t c th ng dng vo trong thc t cho cc h
thng yu cu chnh xc cao.
2. HNG PHT TRIN CA TI
ti gii quyt c vn v iu khin cn bng con
lc ngc hai bc t do. Tuy nhin, do thi gian hn ch, vn cha
thc hin hon chnh. Tuy nhin, vi tin nghin cu ny, ch cn
ci thin v ng c v phn cng mch iu khin, c th l thit b
c tn hiu nhiu Encorder cng lc l c th p dng ch to m
hnh thc hnh cho cc trng i hc.
Vic thit k iu khin ch mi tnh ton thit k vi nguyn
l iu khin tuyn tnh, cha so snh kt qu vi cc phng php
iu khin hin i khc nh Fuzzy, iu khin bn vng,
AdaptiveV vy hng pht trin ca ti l iu khin h con
lc ngc hai bc hoc nhiu bc hn bng cc phng php iu
khin cho h phi tuyn nh: Fuzzy, iu khin bn vng, Adaptive