KHO ST VIC CHN QUI LUT IU KHIN NG C IN

T TC CAO NHT.

RESEARCH ON THE SELECTION OF CONTROLLING

ELECTRICAL SERVO-MOTOR IN ROBOT CONTROL FOR
ACHIEVEMENT THE HIGHEST VELOCITY

L KHNH IN
B mn Thit k my
Khoa C Kh, ai hc Bch Khoa, Tp H Ch Minh, Vit Nam

BN TM TT
Bi vit ny kho st mt vi kiu iu khin tc ng c in thng dng, c bit
l kiu iu khin Linear Function Parabol Blend Control (Hm tuyn tnh trn parabol )(LFPB)
v kiu thi gian ngn nht (MT) . Bi vit ny cng chng minh rng kiu iu khin Hm tuyn
tnh trn parabol (LFPB) s vt tri hn kiu iu khin trong mt s iu kin ng c v h
thng ng lc nht nh.

ABSTRACT
This paper examines some current controllings of velocity of electrical motor that are popular in
technical books especially for Linear Functions with Parabolic Blends trajectory control (LFPB)
and Minimum- Time trajectory control (MT) . This paper also proves that the LFPB with shortest
starting time is suitable with a concrete motor and dynamic system. This version of controlling
seems prevail over the Minimum-Time Control that are mentioned in some professional
technical books.

1 TNG QUT:
2.1-iu khin LFPB
Bi bo ny kho st vi cch iu khin
ng c in mt chiu trong robot hay cc
qu trnh cn chnh xc v tc v
nng cao tc c bit l kiu iu khin
Linear Function Parabol Blend Control
(Hm tuyn tnh trn parabol) LFPB v iu
khin theo thi gian b nht (MT) . Cc kiu
iu khin ny c trnh by nh kinh
in trong cc ti liu nh [1], [2] v
nhiu sch chuyn ngnh v Robot khc .
Tuy nhin bi bo cng a ra mt chng
minh rng vic dng iu khin LFPB kt
hp vi vic p dng thi gian khi ng v
dng b nht s t c tc cao hn
kiu iu khin theo thi gian b nht (MT).

2. KHO ST VI KIU IU KHIN

NG C HIN ANG DNG:

1
 Hnh 1 Quy lut iu khin kiu tuyn tnh
pha trn parabol LFPB qua 3 th t trn
xung di l th Gia tc, Vn tc v
Chuyn v trong T: thi gian thc hin ,
tK: thi gian khi ng gi s bng thi gian
dng
y l dng thng trnh by trong cc ti
liu v robot, cc giai on khi ng v
dng th cng thi gian tK gia tc tuyn tnh,
chuyn v dng parabol cn gia c gia tc
hng v chuyn v tuyn tnh. y l dng
m bi bo s chn iu khin ng c
in.
2.2-iu khin theo thi gian ngn nht
(Minimum Time Trajectory control):
Theo ti liu [1] th iu khin
LFPB ni trn khng phi l dng iu
khin tc nhanh nht m iu khin
tc vi thi gian b nht (MT) ngi ta
thng dng dng vn tc bin thin theo
quy lut gia tc tam gic cn, tc t ln
nht ti gia th gian T theo hnh 2 sau y:
Hnh 2 iu khin theo thi gian ngn nht
Theo cc ti liu [1], [2] th y l dng
iu khin vn tc t c tc nhanh
nht. Ta nhn thy iu khin theo thi gian
ngn nht (MT) l mt dng c bit ca
LFPB trnh by trn vi thi gian khi
ng v dng tK=T/2, lc thi gian ng
c t tc ln nht bng 0.
Theo nhn xt ring th vi dng
iu khin trn, ng c ch mi t vn tc
cc i ngay gia hnh trnh ti T/2 th
phi gim tc ngay c th dng ngay ti
cui giai on thi im T. Nh vy cha
tn dng c kh nng ca ng c v
dng ht cng sut. Sau y l mt chng
minh vic iu khin tc ng c t
tc cao nht trong iu kin x dng ht
cng sut ca ng c p dng LFPB.
2
 3 IU KHIN NG C DA TRN -t [0,tK]
TH LFPB T TC CAO Phng trnh vn tc c dng =at+b
NHT: Ti t=0, =0 b=0
3.1-Kho st: Ti t=tK , =MAX a=MAX/tK
Mc ch ca bi vit ny l ngh mt
MAX
dng iu khin ng c t c tc cao Vy '= t
nht trong iu kin tn dng ht cng sut tK
v cc tnh nng ca ng c DC .
Gi: -t [tK,T-tK]
l gc hnh trnh m ng c phi thc Phng trnh =MAX
hin, gi tr ny c cho trc do
yu cu thc t . -t [T-tK,T]
T l thi gian thc hin hnh trnh Phng trnh c dng =ct+d
trn y l gi tr cn bin lun Ti t= T-tK = MAX =c(T-
ng c c th t c tc cao tK)+d
nht c th c. ti t=T = 0 =cT+d
MAX l tc cao nht m ng c MAX
c th cung cp trong iu c =
cu to ni ti v ng lc hc ca tK
h thng, gi tr ny khng MAX
th iu khin c v ph thuc d= T
tnh cht ca ng c v ti ca h tK
thng. MAX MAX
1. tK l thi gian khi ng t Phng trnh ' = t+ T
tK tK
vn tc 0 t n tc cao nht
MAX gi s tK cng l thi gian
ngng ng c. Gi l gc quay m ng c thc hin
trong thi gian T, ta c:
MAX v tK ph
thuc cu to ng c v h thng
T tK MAX T t K
ng lc hc = ' dt = tdt + MAX dt +
Dng phng php gii tch biu din 0 0 tK tK

phng trnh vn tc ng c trong 3 giai T MAX MAX

on khi ng, chy u vi tc nhanh
nht v ngng theo nh hnh 3 :
T t K
(
tK
t+
tK
T )dt

T
MAX MAX t 2
=
2t K
[t ]2 tK
0 + MAX [t ]
T tK
tK +
tK 2 + Tt
T t K

= MAX (T- tK)

Ngc li ta c th tnh c thi gian T
thc hin hnh trnh nh sau:
T= /MAX + tK
Hnh 3 iu khin vn tc ng c theo
LFPB
t TLFPB= /MAX + tK (2)
Phng trnh vn tc ng c trong 3 giai
an:

3
Ta thy vi hnh trnh cho trc , tc Gc quay m ng c c th thc hin
ti a ca ng c c th cung cp MAX, c trong thi gian T l:
t tc nhanh nht th thi gian khi T
T T
ng hay dng tK phi cng b cng tt 2MAX
2
2
tng ng vi gia tc khi ng a=MAX/tK
= ' dt = tdt+ MAX t + 2MAXdt
0 0
T T T
cng ln cng tt, iu ny cng ph hp 2
vi thc t v cu to ng c v kt cu ca
h thng quyt nh .
T T
MAX
3.2 So snh vi iu khin tc theo
thi gian ngn nht
=
T
[t ]
2 2
0
T

+ MAX [t ] + 2 MAX .t
2

T
Sau y ta hy so snh vi vic iu khin 2

tc theo thi gian ngn nht (MT) theo MAX T

dng tam gic : =
2
Vy thi gian T quay gc l:

2
T=
MAX
2
t TMT = (4)
MAX
So snh gia (2) v (4) ta c cc thi gian
thc hin cng gc quay theo 2 kiu iu
khin l:
iu khin LFPB
Hnh 4 iu khin ng c vi thi gian
ngn nht TLFPB = + tK (2)
MAX
c im iu khin ny l thi gian khi
ng v thi gian dng bng na thi gian iu khin theo MT
quay ht hnh trnh tK= T/2 2
Phng trnh vn tc trong 2 giai an:
TMT = (4)
MAX
-t [0,T/2]
Nhn xt ta thy:
Phng trnh vn tc c dng =at+b
Ti t=0, =0 b=0 - Cng thc (2) l trng hp tng
Ti t=T/2 , =MAX a=2MAX/T qut m ta chng minh phn II,
2 MAX nu thi gian khi ng tK trong (2)
Vy '= t bng phn na thi gian thc hin
T
gc quay T th ta c (4).
-t [T/2,T]
Phng trnh c dng =ct+d - TLFPB lun b hn T MT . Th d nu
Ti t=T/2 , thi gian khi ng tK bng thi
= MAX =c.T/2 + d gian hnh trnh th theo iu khin
Ti t=T, theo LFPB trong (2) ta c:
= 0 =c.T + d 4
TLFPB = vn b hn TMT
c= -2MAX/T 3 MAX
d= 2MAX trong cng thc (4)
2 MAX
Phng trnh ' = t + 2 MAX
T

4
4. KT LUN:
Vy vic chn iu khin ng c theo
LFPB vi thi gian khi ng v dng tK
ngn nht trong iu kin c th ca ng c
th s c th t c tc nhanh nht.
TI LIU THAM KHO:
1. F.L Lewis , C.T. Abdallah, D.M. Dawson:
Control of Robot manipulators
Macmilland 1993
2. Saeed B Niku : Introduction to Robotics,
Analysis system, Application
Prentice Hall 2001
3. Peter I. Coke: Visual Control of robots
High performance Visual Servoing
Research Studies Press 1996
[4. Francis H. Raven: Automatic Cotrol
Engineering Mc Graw-Hill 1995