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Bao Cao NCKH PDF
Bao Cao NCKH PDF
PHN M U
L Do Chn Ti
t nc ta ang trong giai on cng nghip ha v hin i ha. tin
kp cc nc trong khu vc v trn th gii, nn cng nghip nc nh cn tip
cn cc cng ngh v thit b hin i. Cc cn b k thut cn c trang b cc
kin thc mi, nh vy mi c th y nhanh cc qu trnh pht trin ca t
nc.
K thut robot v ang c ng dng rng ri trong nhiu lnh vc
nhiu nc, n em li hiu qu to ln trong sn xut cng nghip, trong
quc phng, y t, x hi, thm him v tr. Tuy nhin, tnh hnh s dng robot
trong sn xut ca chng ta cn him hoi. Vic ng dng robot cng nghip hin
vn cn l lnh vc mi m i vi nn cng nghip nc nh. Trong xu hng
pht trin chung vic nghin cu v s dng robot Vit nam chc chn s pht
trin.
AGV l mt loi robot c s dng ti nc ngoi trong cc ngnh cng
nghip dng chuyn ch t ng. Tuy nhin i vi Vit Nam th cng ngh
ny vn cha c p dng nhiu trong thc t.
Hin nay, hu ht cc ngnh cng nghip nc ta u c quy m ln
nhng cht lng cha cao do nhng hn ch v khoa hc k thut, my mc
thit b cn th s nn nng sut lao ng ch t mc trung bnh v li nhun
gim do phi thu mn mt lng cng nhn rt ln, Changshin cng khng
trnh khi tnh trng .
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Tm hiu thng qua sch, bo, cc bi vit chuyn v thng qua mng
internet nhm rt ra nhng m hnh ph hp nht.
Hc hi nhng thy c nhiu kinh nghim trong lnh vc robocon c
hng gii quyt nhanh v tt hn.
Gii quyt tng Module nh v sau ghp thnh mch hon chnh.
Tnh ton v chy th nghim rt ra phng n ti u nht.
Thit lp m hnh xe, chy th nghim bn ngoi nhm tm ra nhng
phng n tt nht c th p dng
B Cc Ca Ti
Ngoi phn m u, kt lun, ni dung bo co gm 3 chng:
Chng 1: Tng quan
Chng 2: Nghin cu thc nghim v l thuyt
Chng 3: Kt lun
Phn cui ca bi bo co l danh mc ti liu tham kho
Thi Gian Biu Thc Hin Ti
+ Ngy 30-7 nhn ti giao t cng ty.
+ T 1 n 15-8 thit k m hnh xe hon chnh, m phng h thng trn
my tnh bng phn mm Solidworks.
+ T 16 n 31-8 lm m hnh thc t cho xe AGV.
+ T 1 n 15-9 thit k b driver iu khin ng c.
+ T 16 n 30-9 tm hiu v b cm bin siu m v phng php d line
kim loi bng cm bin cm ng t.
+ Trong thng 10 kt ni tng module nh li thnh xe hon chnh.
+ u thng 11 bt u vit bo co d kin hon tt trong thng 11
chun b bo co cp khoa.
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CHNG 1
TNG QUAN
1.1 Cc D Kin Khi Kho St Thc T :
Yu cu vn chuyn:
Da vo tnh hnh thc t sn xut cng ty a ra cc yu cu v vn chuyn, s
lng hng ha v thi gian p ng. Vn chuyn lin tc cc xe last dc theo
line sn xut giy ti xng Nos 1, cng ty Changshin Vit Nam. Qua kho st
thc t thu thp c nhng s liu
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Xe y (Cart Vehicle)
Xe y c cho l c tnh linh hot cao v r tin. Chng c s dng
chuyn ch vt liu v cc h thng lp rp.
Xe nng (Fork Vehicle)
C kh nng nng cc ti trng t trn sn hoc trn cc bc cao hay cc
khi hng t trn gi.
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CHNG 2
NGHIN CU THC NGHIM V L THUYT
2.1 Cc Thnh Phn Ca Xe AGV
T yu cu lm vic thc t trong cng ty, nhm la chn phng n thit k xe
AGV ph hp vi yu cu lm vic v c s chp thun ca cng ty. Qua
nhm a ra tng th ca xe AVG nh sau:
B truyn chuyn ng: C nhim v truyn ng nng t ng c qua cc
b gim tc n bnh xe gip xe di chuyn mt cch linh hot v t c vn tc
cng nh lc ko ph hp, p ng c yu cu cng vic.
B nh v khp kt ni: C nhim v gip xe nh v xe ch last pha sau xe
nhm n ng v tr thc hin kt ni, ghp ni xe ch last v AGV. Cht gi cho
phn kt ni chc chn v to khp xoay gip cho vic chuyn ng gc cua linh
hot hn.
Bnh xe ch ng ln, dy v c bm ng tt nhm m bo xe khng
b trt trn ng di chuyn khi phi ko theo trng lng ca xe last.
Bnh xe v hng gip cho vic d tm ng linh hot hn, gip AGV di
chuyn linh hot trong cc khc cua hay quay u.
H thng cc loi cm bin gip AGV nhn bit line chy, xe last cng nh
pht hin cc chng ngi trn ng di chuyn ca xe.
B ngun gm c acquy 12V/100A v b chuyn i ngun 5V cho vi iu
khin hot ng.
B Driver iu khin ng c c nhim v thay i chiu quay v tc ca
ng c ng thi kt hp vi lp trnh PID lm cho ng c dng chnh xc hn.
B board mch ch iu khin mi hot ng xe AGV thng qua giao
tip vi cc b driver.
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Trong :
G khi lng chuyn ch, kg;
Gx khi lng ca xe, kg;
Rb bn knh bnh xe, m;
-h s ma st trt,(8.10-415.10-4)
rct bn knh c trc bnh xe, m;
f h s ma st ln(5.10-4);
kms h s c tnh n ma st gia mp bnh xe v ng ray (1,21,5);
M men ca ng c sinh ra thng lc cn chuyn ng bng:
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F.R b
M [ N .m] (3.2)
i.
Trong :
F lc cn chuyn ng, N;
i t s truyn t trc ng c n bnh xe;
hiu sut ca c cu;
Cng sut ca ng c khi di chuyn c ti bng:
F.v
P .10 3 [kW ] (3.3)
Thc t ta c c:
G khi lng chuyn ch (bao gm xe ch hng v thng hng): 150 (kg);
Gx khi lng ca xe: 50 (kg);
Rb bn knh bnh xe: 100 (mm) = 0.1 (m);
-h s ma st trt: 8.10-4
rct bn knh c trc bnh xe: 5 (mm) = 0,005 (m);
f h s ma st ln: 5.10-4;
kms h s c tnh n ma st gia mp bnh xe v ng ray: (1,3);
(G G x )g
F ( .rct f )k ms [ N ]
Rb
(100 15 50)9,81
F (8.10 4.0,005 5.10 4 )1,3 =10,6 [N]
0.1
Vi:
F lc cn chuyn ng = 10,6 [N]
i t s truyn t trc ng c n bnh xe = 24
hiu sut ca c cu = 0,9
M men sinh ra thng lc cn chuyn ng:
F.R b 10,6.0,1
M 0,065 [N.m]
i. 18.0,9
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Ah.U.pt
T [gi] (3.5)
P
Trong :
T thi gian cn c in trong h thng, gi;
Ah dung lng bnh c quy, Ah;
U hiu in th ca c quy, V;
pt hiu sut ca h thng: 0,8
P cng sut tiu th ca ti, W;
Vy i vi loi bnh c quy 12VDC p ng c yu cu lm vic 8h
th dung lng c quy cn thit s l:
T.P 8.50
Ah 20,8 [Ah]
U.pt 24.0,8
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Cm bin
kim loi
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pht hin n gim cc dng phn hi li. Dng phn hi l mt xung c chiu rng
l t l vi khong cch n i tng. Bng cch o xung, ta hon ton c th
tnh ton khong cch theo inch / centimt hoc bt c iu g khc. Nu khng
pht hin g c SRF05 gim thp hn dng phn hi ca n sau khong 30mS.
SRF04 cung cp mt xung phn hi t l vi khong cch. Nu rng ca pulse
c o trong h uS, sau chia cho 58 s cho khong cch theo cm, hoc chia cho
148 s cho khong cch theo inch.
Khong cch(cm)=Thi gian xung ln(us)/58
Khong cch(inches)=Thi gian xun ln(us)/148
SRF05 c th c kch hot nhanh chng vi mi 50mS, hoc 20 ln m i giy.
Bn nn ch 50ms trc khi kch hot k tip, ngay c khi SRF05 pht hin mt
i tng gn v xung phn hi ngn hn. iu ny l m bo cc siu m
"beep" phai m v s khng gy ra sai phn hi ln o k tip.
Trong cng ty vn m bo an ton lao ng c u tin hng u. Do vy
khi ta tnh ton c thi gian tn ti ca xung (mc 1) trn chn echo th ta s
tnh c khong cch t xe agv n cm bin c th ra lnh iu khin hp
l cho xe chy tip hay dng li.
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Lu thut gii
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quo tri, quo phi, chy hoc dng. Board Master s dng chp x l Atmega64,
l vi iu khin h AVR.
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3.2.2 Nhc im
Do s dng ngun acquy nn vic hot ng lin tc trong thi gian i hi
phi c bn cao v thi gian lu tr nng lng lu. Nn ta phi thit k
ni xe sc t ng khi ht in v vy s lm gin on vic vn chuyn.
3.3 Kt Qu Qu Trnh Th Nghim
Xe AGV sau hon thnh xong p ng nhng yu cu t ra tc lm
vic th gn bng 0.5m/s, xe chy th linh hot v dng ng ni quy nh ngoi ra
n c th kt ni t ng c vi xe ch last.
3.4 nh Gi Hiu Qu Kinh T
Xe sau khi c giao em li li nhun cho cng ty rt nhiu ln gp
phn a cng ty ngy cng pht trin v i ln.
3.5 Hng Pht Trin
Thit k kt cu c kh, chn loi ng c v ngun thch hp gip AGV c
kh nng ti trng cao hn, c th n vi tn.
Thit k trm np c quy t ng cho AGV ng thi vi h thng nh v GPS cc
b trong nh xng hoc nh my kim sot chnh xc hnh trnh, trng thi ca
AGV.
Hon thin giao din iu khin trn my tnh, pht trin nhng tnh nng
chy t ng theo l trnh t trc, hoc theo thi gian t trc.
Nng cao hiu sut s dng (tng thi gian vn hnh, tit kim nng lng.. ), kim
sot chnh xc v tr cng nh tc hot ng ca xe.
Xy dng xe AGV tng thch vi chu trnh t ng trong h thng nh
xng, cp pht phi t ng p ng yu cu trong cng nghip, kt hp
cng nhng h thng t ng khc nh robot scada
Chun ha cc modul pht trin, ch to AGV theo m hnh cng nghip,
sn xut trn quy m ln.
Nghin cu nhng cng ngh mi nht c p dng vo AGV nh LGV.
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PHC LC NH KM
#include <mega8.h>
#include <delay.h>
#define left OCR1A
#define right OCR1B
#define sigf PORTD.5
#define sigr PORTD.6
#define dir PIND.3
unsigned char kp=10,ki=20,kd=20,giam=50;
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status=UCSRA;
data=UDR;
if ((status & (FRAMING_ERROR | PARITY_ERROR | DATA_OVERRUN))==0)
{
rx_buffer[rx_wr_index]=data;
if (++rx_wr_index == RX_BUFFER_SIZE) rx_wr_index=0;
if (++rx_counter == RX_BUFFER_SIZE)
{
rx_counter=0;
rx_buffer_overflow=1;
};
};
if(!PIND.1)ref=data;
}
#ifndef _DEBUG_TERMINAL_IO_
// Get a character from the USART Receiver buffer
#define _ALTERNATE_GETCHAR_
#pragma used+
char getchar(void)
{
char data;
while (rx_counter==0);
data=rx_buffer[rx_rd_index];
if (++rx_rd_index == RX_BUFFER_SIZE) rx_rd_index=0;
#asm("cli")
--rx_counter;
#asm("sei")
return data;
}
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#pragma used-
#endif
// Standard Input/Output functions
#include <stdio.h>
interrupt [EXT_INT0] void ext_int0_isr(void)
{
// Place your code here
if(!dir)enc++;
else enc--;
sigr=!sigr;
}
interrupt [TIM0_OVF] void timer0_ovf_isr(void)
{
// Place your code here
TCNT0=0x00;
if(ref!=-128)
{
err1=ref-enc;
enc=0;
}
else
{
err1=(0-enc)/giam;
}
}
void main(void)
{
PORTB=0x00;
DDRB=0xFF;
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PORTC=0x00;
DDRC=0x00;
PORTD=0xFF;
DDRD=0xE0;
TCCR0=0x03;
TCNT0=0x00;
TCCR1A=0x00;
TCCR1B=0x09;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;
ASSR=0x00;
TCCR2=0x00;
TCNT2=0x00;
OCR2=0x00;
GICR|=0x40;
MCUCR=0x02;
GIFR=0x40;
TIMSK=0x01;
UCSRA=0x02;
UCSRB=0x90;
UCSRC=0xB6;
UBRRH=0x00;
UBRRL=0x19;
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ACSR=0x80;
SFIOR=0x00;
#asm("sei")
while (1)
{
while (1)
{
pid=kp*err1 + kd*(err1-err2)+ ki*(err2+err1);
err2=err1;
if((err1-err2)<0)giam= 10*(0-(err1-err2));
else if((err1-err2)==0)giam=5;
else giam=10*(err1-err2);
if(pid>32000)pid=32000;
else if(pid<-32000)pid=-32000;
if(ref==-128)
{
kp=1;ki=0;kd=err1;
if(pid<0)
{
TCCR1A=0x23;//right
if(pid<-500)right=500;
else right=0-pid+20;
sigf=1;
}
else if(pid>0)
{
TCCR1A=0x83;//left
if(pid>500)left=500;
else left=pid+20;
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sigf=0;
}
else TCCR1A=0x00;
}
else if(ref>0)
{
kp=10;ki=20;kd=20;
if(pid>=0)
{
TCCR1A=0x83;//left
if(pid>423)left=1023;
else left=pid+600;
sigf=0;
}
else
{
if(pid<-500)
{
TCCR1A=0x23;//right
right=100;
}
else TCCR1A=0x00;
sigf=1;
}
}
else if(ref<0)
{
kp=10;ki=20;kd=20;
if(pid<=0)
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{
TCCR1A=0x23;//right
if(pid<-423)right=1023;
else right=0-pid+600;
sigf=1;
}
else
{
if(pid>500)
{
TCCR1A=0x83;//left
left=100;
}
else TCCR1A=0x00;
sigf=0;
}
}
else
{
TCCR1A=0x00;
}
}
}
}
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