Hi ngh ton quc ln th 8 v C in t - VCM-2016

Ging dy thit k h thng c in t qua n

Mechatronics System Design through Project A Case Study
1Nguyn

Tn Tin, 2Trn Thanh Tng, v 3Kim Sang Bong

H Bch khoa, 268 L Thng Kit, Q.10, Tp.HCM
2Trng H Phm Vn ng, Qung Ngi
2HQG Pukyong, 45, Yongso-ro, Nam-Gu, Busan, Korea
1
nttien@hcmut.edu.vn; 2tttung@pdu.edu.vn; 3kimsb@pknu.ac.kr

1Trng

Tm tt
Bi bo trnh by kinh nghim trong ging dy mn
hc v n thit k h thng c in t (HTCT)
c trin khai ti Trng i hc Bch khoa
(HBK). Quy trnh thit k HTCT c gii thiu,
so snh vi quy trnh thit k truyn thng. Mt u bi
v d s dng ging dy ti HBK c dng minh
chng cho qu trnh thit k v ging dy thit k
HTCT.

Abstract
This paper presents an experience of teaching the
course and the project of mechatronic system design at
Hochiminh City University of Technology (HCMUT).
The mechatronic system design process is introduced
comparing to conventional design process. An example
used for teaching at HCMUT is given as an illustration
for the teaching of mechatronic system design process.

1. Gii thiu
Thut ng C in t xut hin t thp nin 70 cng
vi bc tin nhy vt ca ngnh cng ngh thit k v
sn xut ti Nht bn. Ti Vit nam, Trng i hc
Bch khoa l mt trong nhng n v du tin ni u
tin a ngnh ny vo chng trnh ging dy i hc
v sau i hc.
H thng c in t l mt h thng phc tp, tch hp
cc phn in, c, l thuyt iu khin, v cng ngh
thng tin. Do , vic thit k i hi mt quy trnh
thit k ph hp v hiu qu. C rt nhiu tc gi
nghin cu v xut quy trnh thit k cho mt h
thng c in t[1,7,11,16,18,21], y quy trnh do
National Instruments xut c xem xt n v tnh
n gin v thc t ca quy trnh.
Qu trnh thit k truyn thng bao gm cc bc tun
t nh hnh H.1.a: Xc nh cc yu cu k thut
Thit k c kh Thit k in Thit k phn cng
mch in Thit k phn mm Thit k b iu
khin Th nghim v ti u ha sn phm mu
Thit k sn xut (sn xut support and service
sn xut bn vng).
Qu trnh thit k h thng c in t k tha m hnh
tun t truyn thng vi mt s thay i nh hnh
H.1.b: Xc nh cc yu cu k thut Thit k ng
thi: c kh, in, phn cng/phn mm, b iu khin
Mu sn phm o ng thi: Sn xut mu tht,
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Thit k sn xut (sn xut support and service

sn xut bn vng). y mu tht c s dng
thc nghim, hiu chnh v ti u ha thit k; Vic s
dng mu o trong qu trnh thit k trc khi s dng
mu tht gip gim thiu thi gian v kinh ph cho qu
trnh thit k sn phm.
System
specification

Mechanical
Design

Electrical
Design

Embedded
Hardware
Design

Embedded
Software
Design

Control
Design

Prototype
Validation &
Optimization

Manufaturing
Test System
Design

(a)
Mechanical
Design

Electrical
Design
System
specification

Embedded
Hard-/Soft-ware
Codesign

Physical
Prototype
Virtual
Prototype

Manufaturing
Test System
Design

Control
Design

(b)
H.1 Quy trnh thit k (a) truyn thng, v (b) c in t[1]

2. Ging dy thit k HTCT ti HBK

Ging dy mn hc Thit k h thng c in t
(HTCT) cng c nhiu tc gi quan tm
n[2,12,14], ni dung c th ca mn hc ty thuc vo
cc khi kin thc c hc trc khi hc mn hc
ny.
Ngnh c in t c th nm Khoa C kh, Khoa
in, Khoa Cng ngh thng tin, Khoa Khoa hc ng
dng hoc tch ring thnh Khoa C in t. Ty thuc
vo ngnh c in t nm u m cu trc chng
trnh o to s t nhiu khc nhau. i vi tnh hnh
sn xut Vit nam hin nay, ngnh C in t nn
nm trong Khoa C kh v n phc v chnh cho nn
cng nghip sn xut ca t nc. Ti HBK, cc
mn hc nn ca ngnh c in t l c kh. Vic tch
hp cc kin thc c vi in, vi l thuyt iu khin,
v vi cng ngh thng tin i hi mt mn hc ring
v ngi dy phi c chiu su v l thuyt ln kin
thc chuyn mn thc t c th tch hp cc kin
thc ring l thnh mt khi xuyn sut trong qu trnh

Hi ngh ton quc ln th 8 v C in t - VCM-2016

thit k sn phm. Ti HBK, hai mn hc chnh ca
ngnh C in t l Thit k HTCT v n Mn
hc Thit k HTCT. Cc kin thc c bn c yu
cu trc khi hc mn hc ny l: nguyn l my, chi
tit my, cng ngh ch to my, l thuyt iu khin,
vi iu khin. Trong qu trnh hc mn ny, sinh vin
c chia lm nhm 5 ngi thc hin cc cng vic:
(1) Qun l d n, (2) Thit k c kh, (3) Thit k in,
(4) Thit k mch v vit chng trnh, (5) Thit k b
iu khin. Cc cng vic sinh vin phi tin hnh khi
thit k h thng c in t bao gm
1. Xc nh mc tiu thit k
Xc nh r mc tiu thit k l g?
2. Tm hiu tng quan
Tm hiu cc vn lin quan n mc tiu thit k
bao gm: nhng sn phm c, nhng nghin cu
trong v ngoi nc, cc patent, cui phn ny phi
t c bi ton c th cho vn thit k (system
specification). Bi ton ny cng c th cng tt. Mt
s s liu thit k ban u c th cha chun xc, c
th c t li trong qu trnh nghin cu.
3. La chn phng n
T u bi c, xut cc phng n kh thi v
chn phng n ph hp nht cho thit k. Kt qu ca
phn la chn phng n l s nguyn l tng th
cho thit k. Ty thuc vo mc tiu ra, s
nguyn l tng th c th l mt hoc cc s nguyn
l phn c, in, iu khin, y l u bi cho phn
thit k sau ny. Sau khi thng nht phng n, cc
thnh vin trong nhm thit k u bit c mnh s
lm g cho bi ton thit k.
4. Xy dng k hoch thit k
Da trn phng n la chn, c nhm thit k
cng nhau xy dng biu Gantt cho qu trnh thit
k, trong phn r cc phn cng vic s thc hin
cho tng vai tr.
5. Thit k
Phn thit k bao gm: Thit k c kh (mechanical
design); Thit k in (electrical design); Thit k
mch iu khin v Chng trnh iu khin (embed
hardware/software codesign), Thit k b iu khin
(control design). Kt qu ca thit k l mt mu o
(virtual prototype). Mu o thit k c hiu chnh
da trn kt qu m phng trc khi xut bn v k
thut cho sn xut mu tht (physical prototype).
6. Thc nghim v hiu chnh
Da trn mu o thit k, mu tht c ch to
thc nghim v hiu chnh thit k.
7. Xy dng h s thit k
Thit k sau khi c test hon thin trn sn phm
mu s c xut h s thit k. H s thit k bao
gm: Thuyt minh qu trnh thit k nh chn phng
n, tnh ton, thit k, thc nghim, ; Tp bn v bao
gm: c kh, in, ; Phn mm nh: code thit k,
iu khin, mu 3,
Trong mn hc TKHTCT, sinh vin s khng thc
hin phn Thc nghim v hiu chnh, tuy nhin vn
phi thc hin phn Xy dng h s thit k. Kt qu
nh gi mn hc l b h s thit k ca mi nhm.
i vi n Mn hc TKHTCT, ton b cc bc
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thit k trn iu c thc hin. Ngoi b h s thit

k, mi nhm cn phi c mt sn phm mu. Yu cu
chnh sau khi hc mn hc ny l bit cch trin khai
mt d n thit k sn phm c in t t lc ln
tng thit k n hon thnh sn phm mu v h s
thit k.
Phn 3 s trnh by mt u bi v kt qu trong qu
trnh ging dy mn hc TKHTCT ca tc gi ti
trng HBK.

3. Case study: Thit k xe ua d line

u bi t ra: thit k mt xe ua d line vi ng
ua cho trc (Start)
(End).
500

2000

H.2 ng ua s dng cho thit k xe ua bm line

3.1 Xc nh mc tiu thit k

Xc nh mc tiu l: thit k xe ua bm ng ua
cho trc v chy vi vn tc nhanh nht .
3.2 Tm hiu tng quan
Nhiu m hnh cho cc loi xe ua d line c trin
khai trong v ngoi nc, cho cc cuc ua cng nh
cho ging dy thit k h thng c in t.
V c kh
C th c nhiu cu hnh khc nhau cho bi ton
mobile robot nh: xe mt bnh, hai bnh, xe ba bnh,
xe bn bnh, nhiu bnh, bnh xch, bnh omni, Tuy
nhin, c th ua, ch c cu hnh xe ba hoc bn
bnh l kh thi v c th biu in trong hnh H.3.
visai

(a)

(b)

(c)

(d)

(e)

(f)

Hi ngh ton quc ln th 8 v C in t - VCM-2016

(f)
(a,b,c,d) Cu trc ba bnh; (e,f) Cu trc bn bnh
(f) Cu trc bn bnh ch ng
H.3 S nguyn l mt s loi xe d line

V cu trc iu khin
Mch in xe d line gm cc phn c bn chnh
bao gm mch cm bin, mch iu khin v mch li
ng c. Hai phng php chnh dng kt ni cc phn
vi nhau l iu khin tp trung v iu khin phn cp
(hnh H.4)
Sensor

Driver

Left Wheel
Motor

Micro
Controller

Encoder

Driver

Encoder

Right Wheel
Motor

(a) Tp trung
Sensor

Slaver 1

Slaver 2

Master

Slaver 3

Driver

Left Wheel
Motor

Driver

Encoder

Encoder

Right Wheel
Motor

(b) Phn cp
H.4 Cu trc h iu khin xe ua

Trong iu khin tp trung (hnh H.4.a), mt MCU

duy nht ng thi: nhn v x l tn hiu t cm bin;
nhn v x l tn hiu t hai encoder; thc hin chng
trnh chnh, tnh gi tr iu khin v truyn cho hai
ng c. y l cu trc c s dng kh nhiu trong
cc xe ua d line thc t nh xe CartisX04, LeMua
(Robot Challenge 2015), Pika, Trong iu khin
phn cp (hnh H.4.b), mt MCU c s dng nh
mt master dng tnh ton cho chng trnh iu khin
chnh. Cc slave cn li s dng cc MCU khc, thc
hin cc tc v ring bit nh: thu nhn v x l tn hiu
t cm bin, tnh ton v tr tng i ca xe so vi line
v truyn v cho master; thu nhn tn hiu t encoder,
tnh ton lut iu khin cho ng c, m bo cho
ng c hot ng theo ng yu cu ca master;
Tn hiu trao i gia cc MCU c th theo nhiu
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chun khc nhau: I2C, CAN, Cu trc ny gip

gim nh khi lng tnh ton cho master v cho php
robot thc hin nhiu tc v cng lc[19,20]. u im
chnh ca cu trc h iu khin phn cp l chng
trnh iu khin x l tn hiu ring bit, d dng cho
tc v thit k nhm, d dng sa li v update code
iu khin khi pht trin sn phm; c kh nng x l
nhiu tc v cng lc, gip gim thiu thi gian ly
mu. Nhc im chnh l tn nhiu ti nguyn (4
MCU so vi 1 MCU). Tuy nhin iu ny c th loi
b v sau khi hon thin sn phm, vic tch hp tt c
chng trnh vo 1 MCU v a t iu khin phn cp
v iu khin tp trung l bi ton tng i d dng.
V cm bin
Hu ht cc xe d line hin nay s dng cc loi
cm bin quang nhn bit v tr tng i ca ng
line so vi xe. Hai phng php thng c s dng
cho robot d line l phng php s dng camera v
cc loi cm bin quang dn. Camera c
dng[3,5,17,19] ghi hnh nh ng line thc t, sau x
l v a ra thng s sai lch v tr tng i ca xe
so vi line. Phng php ny c th t c chnh
xc cao, tuy nhin t c dng trong cc cuc ua xe
bm line do tc x l nh khng cao, dn n hn
ch tc ti a ca xe. Cm bin quang dn c
dng ph bin hn trong cc cuc thi robot d line hin
nay, v d nh quang in tr[6] trong robot ALF trong
cuc thi ROBOCON 2006, hoc phototransistor[4,8,9]
kt hp vi LED. Hai loi cm bin ny c nguyn tc
hot ng ging nhau, b thu s thu tn hiu nh sng
phn x t b pht xung mt t, t x l xc
nh v tr ca ng line. Mc d vy, photo-transistor
c ng dng nhiu hn bi n cho thi gian p ng
nhanh hn quang in tr. Nhiu i ua nh Pika
(ROBOXY 2015, ROBO ~ Motion 2015, ),
Silvestre, Bolt (Konkursie robotw SEP Gdask 2015),
Thunderbolt, s dng photo-transistor cho b phn
d line.
i vi cc loi cm bin quang, tn hiu tng t
t cm bin s c hiu chun v x l bng cc gii
thut so snh[20] hoc xp x[15] tm ra v tr tng i
ca robot d line vi tm ng line.

H.5 X l tn hiu bng phng php so snh

Phng php th nht dng b so snh xc nh

trng thi ng/ngt ca cc sensor, sau suy ra v tr
xe theo mt bng trng thi c nh sn[6,20] (hnh

Hi ngh ton quc ln th 8 v C in t - VCM-2016

H.5). Sai s d line ph thuc vo kh nng phn bit
cc trng thi ca h thng, hay khong cch gia cc
sensor. Phng php ny ph thuc ch yu vo mc
ngng so snh ca cc sensor, do tc x l rt
nhanh.

(a) xp x bc 2
(b) xp x theo trng s
H.6 X l tn hiu cm bin bng phng php xp x [15]

Phng php th hai xp x v tr cm bin so vi

tm ng line t cc tn hiu tng t t cm bin[15].
Cc gii thut xp x theo bc 2, tuyn tnh, theo trng
s (hnh H.6) cho sai s d line khc nhau. Thi gian
x l ph thuc vo thi gian c ADC tt c cc
sensor ca vi iu khin, do s lu hn phng php
th nht, tuy nhin chnh xc cao hn nhiu.
V b iu khin
Nhiu b iu khin c th c s dng cho bi
ton xe ua bm line nh: PD, PID, fuzzy, Ngoi ra,
mt s xe c p dng thm kh nng ghi nh ng i
nhm thay i cc thng s iu khin ng vi tng
cung ng, gip tng kh nng p ng ca xe sau
mi ln chy nh xe Silvestre v CartisX04. Tuy nhin
p dng cc gii thut ny, robot cn s dng thm
cm bin gyro nm c trng thi gia tc ca xe
trong sut qu trnh chuyn ng.
Bi ton thit k vi cc s liu c th
Vi mc tiu thit k v ch to xe d line chy
nhanh v bm c sa bn, cc thng s cn c quan
tm: vn tc ti a ca robot trn sa bn, kh nng i
hng ca robot, sai s ti a ca robot trong qu trnh
bm theo ng line. V vn tc ti a, vn tc cc i
trung bnh ca ca cc robot nh Pika, HBFS-2,
Sylvestre, Thunderbolt, Thunderstorm, Impact, ti
cc cuc thi u t 1.5 3/. V kh nng i
hng, ngoi vic robot c th bm c bn knh cong
500 (on , hnh H.1) trn sa bn,
robot cn phi c kh nng bm theo ng line ti cc
v tr line b ct t ngt (im ,,, hnh H.1) v
v tr gc 900 (im , hnh H.1). V sai s ti a ca
robot trong sut qu trnh, sai s trong qu trnh xe di
chuyn trn ng thng hay cong s ph thuc vo sai
s xc nh v tr ca xe do h thng cm v sai s do
b iu khin. i vi sai s khi xe bm theo cc v tr
i hng t ngt, sai s ph thuc phn ln vo gii
thut iu khin.
T cc phn tch trn, u bi c th c t ra
nh sau: Thit k xe ua vi ng ua cho trc, vi
cc s liu: bn knh cong nh nht, = 500,
sai s bm line ln nht, = 5, vn tc d
kin, = 1,5/
3.3 Phng n trin khai
Vi u bi xc nh trn, c nhiu phng n kh
thi thch hp c chn nh sau
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V c kh
Xe bn bnh, trong hai bnh ch ng, hai bnh
cn li l castor (hnh H.4.d).
V cu trc iu khin
iu khin phn cp.
V cm bin
Cm bin analogue.
V b iu khin
B iu khin bm line theo tiu chun n nh
Lyapunov.
3.4 Xy dng k hoch thit k
Vi phng n trin khai d kin c xc nh
trn, k hoch trin khai d n thit k c thit lp.

H.7 Biu k hoch thit k

3.5 Thit k
Mi sinh vin tin hnh cng vic thit k c phn
cng theo k hoch. Qun l d n chu trch nhim
iu phi cng vic chung, lm th k cho d n v h
tr cc thnh vin khc nhm m bo d n c trin
khai ng tin .
V c kh
T s nguyn l xe la chn, thit k 3D ca xe
c thc hin, kt qu cho hnh H.8. Xe c th c
ch to s dng in 3D hoc ct meca bng laser, kt
hp vi cc phng php gia cng thng dng nh tin,
pha, khoan,

H.8 M hnh xe ua thit k

Hi ngh ton quc ln th 8 v C in t - VCM-2016

V in
Mch in c thit k theo s khi nh hnh
H.9, bao gm mch vi iu khin, mch cng sut, cm
bin,

H.11 S khi h thng in

Mt s th nghim c thc hin: (1) o thi gian

c v x l tn hiu t cm bin ca vi iu khin; (2)
Xc nh khong cch ph hp gia cm bin v mt
ng; (3) Xc nh khong cch ph hp gia 2 cm
bin; (4) Xc nh s lng LED s dng.

H.9 S khi h thng in

Mch iu khin ng c c thit k v thc nghim

xc nh p ng ca tng ng c. y phi ch
kim tra thi gian p ng ca ng c phi nh hn
sampling tine chung ca h thng.

(a) Lin h gia xung cp v vn tc ca hai ng c

(a) Th nghim cm bin

(b) Kt qu xp x tuyn tnh cm bin

H.12 Th nghim cm bin d line

V b iu khin

(b) Thi gian p ng ca hai ng c ti gi tr duty cycle

ca PWM l 50%
H.10 Kho st p ng ng c vi mch driver thit k

V cm bin
Phototransitor TCRT5000 c s dng xc
nh v tr tng i ca xe so vi ng line. Phng
php x l xp x c s dng.
VCM-2016

a. > b. <
H.13 nh ngha sai s d line cho m hnh ha h thng

B iu khin bm line theo tiu chun n nh

Lyapunov c s dng[3]. Trc ht, sai s d line
c nh ngha m hnh ha h thng
3
1
1
2

[2 ] = [ 3 ] + [ 0 1 ]
(1)

3
0
1

Hi ngh ton quc ln th 8 v C in t - VCM-2016

B iu khin tracking cho xe
= 3 + 1 1
{
(2)
= 2 2 + + 3 3
Trong b iu khin ny, 0 , do sai s 1 c
th set bng zero. Sai s 2 , 3 c o t cm bin.

4. Kt lun
Bi bo trnh by kinh nghim ging dy mn hc Thit
k v n Thit k HTCT ti HBK. Vi vic trin
khai ging dy tng bc nh trn, mn hc m bo
chuyn c tinh thn thit k HTCT: tch hp cc
thnh phn c, in, hardware/software v b iu
khin xuyn sut trong qu trnh thit k. Thng qua
mn hc sinh vin nm c cch tip cn v gii quyt
vn theo ng tinh thn tch hp ca Thit k
HTCT.

Ti liu tham kho

H.14 Kt qu m phng xe ua chy bm line v sai s qua

cc on khc nhau ca ng ua

3.6 Ch to mu v thc nghim

Mu c ch to v thc nghim. T cc d liu thc
nghim, nhm thit k nh gi kt qu, xut cc ci
tin, hiu chnh cc thit k. Sau khi hiu chnh, thc
nghim li mu khng nh thit k ln cui.
3.7 Xy dng h s thit k
H s thit k c xy dng bao gm
Bn v thit k
- Bn v c kh: bn v lp, bn v chi tit
- Bn v in: mch in, bn v ni dy
Thuyt minh
- Bn thuyt minh tm tt ton b thit k
VCM-2016

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Nguyn Tn Tin sinh nm 1968,
nhn bng k s C kh Ch to
my ca trng i hc Bch
Khoa Tp.HCM (HCMUT) nm
1990, nhn bng Thc s C in
t nm 1998 v Tin s C in t
nm 2001 ca Trng HQG
Pukyong, Hn quc. T nm 1990 anh l ging vin B
mn Thit k my v t nm 2005 l ging vin B
mn C in t, HCMUT. Lnh vc nghin cu hin
nay: l thuyt iu khin, humanoid robot, h thng c
in t v ng dng trong lnh vc t ng ha cng
nghip.
Trn Thanh Tng sinh nm
1984, nhn bng k s C in t
ti trng i hc Bch Khoa
nng nm 2007. T nm 2009 anh
l ging vin Khoa K thut Cng
ngh, trng i hc Phm Vn
ng. Lnh vc nghin cu hin
nay: iu khin nh knh, thit k
h thng c in t v ng dng.

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