Đ NG B 2 Đ NG Cơ DC - LVTN

B CNG THNG
TRNG I HC CNG NGHIP TP.HCM

KHOA CNG NGH IN T
LUN VN TT NGHIP
NG B HA H NG C DC
BNG GII THUT PID FUZZY V
GIAO THC CAN
Ging vin hng dn: Th.S PHAN VINH HIU

Sinh vin thc hin: NGUYN VN TIN 09076481
Lp: DHDT5A
Kha: 2009 2013
TP.H Ch Minh, thng 7 nm 2013
i
B CNG THNG
TRNG I HC CNG NGHIP TP.HCM
KHOA CNG NGH IN T
LUN VN TT NGHIP
NG B HA H NG C DC
BNG GII THUT PID FUZZY V
GIAO THC CAN

Sinh vin thc hin: NGUYN VN TIN 09076481
Lp: DHDT5A
Kha: 2009 2013
TP.H Ch Minh, thng 7 nm 2013
ii
PHIU NHN KHA LUN TT NGHIP
Tn ti: NG B HA H NG C DC BNG GII THUT
PID FUZZY V GIAO THC CAN
H tn sinh vin: NGUYN VN TIN
M s SV: 09076481 Lp: DHDT5A
Ni dung ti: - Dng dsPIC30F6010 lm b x l trung tm.
- Tm hiu v ng dng iu khin m iu khin tc

ng c DC.
- Dng giao thc CAN (Controller Area Network) gim
st v iu khin h ng c DC.
- ti s c 3 Module. Module 0: iu khin trung tm,
module 1: iu khin ng c 1, module 2 iu khin
ng c 2.
- Gim st v iu khin trn my tnh thng qua module
0.
- Xy dng gii thut iu khin.
Ngy nhn ti:.................................................................................................
Ngy hon thnh ti: ......................................................................................
Khoa Cng Ngh in T TP.HCM, Ngy Thng Nm
B mn in T T ng Gio vin hng dn
iii
NHN XT CA GING VIN HNG DN
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TP.HCM, Ngy Thng Nm 2013
Ging vin hng dn
iv
NHN XT CA GING VIN PHN BIN
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TP.HCM, Ngy Thng Nm 2013
Ging vin phn bin
v
LI CAM OAN
Ti cam oan y l ti nghin cu ca ring ti. Nhng trong ti c s
dng li cc kin thc c t trc, cc s liu v kt qu nghin cu c l
trung thc, khng sao chp bt k ngun no khc. Ti hon ton chu trch nhim
trc nh trng v s cm oan ny.
TP.HCM, Ngy 5 Thng 7 Nm 2013
Tc gi
NGUYN VN TIN
vi
LI CM N
Trc ht, ti xin cm n gia nh, ngi thn l ngun ng vin to ln
v l ch da tinh thn, vt cht ca ti trong sut qu trnh hc tp ti trng.
Sau , em xin by t li bit n su sc n:
Ban Gim Hiu Trng H Cng Nghip Tp H Ch Minh
Khoa Cng Ngh in T
Cc thy(c) b mn in T T ng v in t Cng Nghip
c bit l Ging vin: Th.S PHAN VINH HIU hng dn tn ty, nhit tnh
v truyn t cho chng em nhiu kinh nghim ln kin thc lm ti ny.
Chng em cng xin chn thnh cm n n th vin nh trng gip v to

iu kin cho chng em rt nhiu trong qu trnh tm ti liu cho ti.
Ti xin cm n tt c bn b ng vin, gp , gip ti rt nhiu trong qu

trnh thc hin lun vn.
Em xin chc tt c cc thy c di do sc kho v thnh cng hn na trong cng

vic ca mnh.
TP.HCM, Ngy 5 Thng 7 Nm 2013
NGUYN VN TIN
vii
TM TT LUN VN
Nhim v ca ti l s dng gii thut iu khin kt hp vi vi iu
khin n nh v ng b ha h ng c in mt chiu(ng c DC). Gim st
v iu khin h thng thng qua my tnh.
Ni dung chnh ca ti c thc hin nh sau: S dng gii thut iu

khin FUZZY PID kt hp vi vi iu khin 16-bit DSPIC30F6010A n nh
v ng b h ng c DC. M hnh phn cng bao gm 3 module v m hnh ti
cho ng c. Vi module 0 s lm vai tr iu khin, gim st trung tm v gi d
liu ca h thng v my tnh. Module 1 iu khin ng c 1, module 2 iu khin
ng c 2.
Tc t ca ng c do ngi dng ci t trn my tnh, sau truyn

xung module 0, t module 0 s truyn qua cho module 1 v module 2. T s
dng gii thut iu khin FUZZY PID iu rng xung (PWM: pluse Width
Modulated) iu khin ng c 1 chy theo ng tc t, ng thi truyn gi
tr tc ca ng c 1 cho module 2. Vi iu khin trn module 2 s ly gi tr tc
ca ng c 1 lm tc t, v cng s dng gii thut FUZZY PID
iu rng xung chy ng theo tc t. sau ly tc ca 2 module gi v
module 0 ri truyn ln my tnh v th v gim st h thng.
C 3 module u c kt ni vi nhau trong mng CAN( Controller Area

Network) c th truyn tn tc gia cc module vi nhau. Tc t ca h
thng s c truyn t module 0 v tc do ca h thng cng c nhn t
module 0. Vi module 1 th s c trch nhim nhn tc t ca ng c 1 v
truyn tc o ca ng c 1 sang module 2, vi module 2 th s nhn tc t
module 1 lm tc t sau truyn i tc o v module 0.
Kt qu t c tha mn tt yu cu ca ti ra: iu khin n nh

c tc ng c DC, ng b ha c tc ca 2 ng c DC. C th thay
i kh linh hot tc cho ng c. Xy dng thay cng mng CAN vi 3 node
tng ng vi 3 module trong h thng, cho pho iu khin v gim st h thng
t my tnh.
viii
MC LC
Trang ba ..................................................................................................................... i
Trang ba lt ............................................................................................................... ii
Phiu nhn kha lun tt nghip ............................................................................... iii
Nhn xt ca ging vin hng dn .......................................................................... iv
Nhn xt ca ging vin phn bin .............................................................................v
Li cam oan ............................................................................................................. vi
Li cm n ............................................................................................................... vii
Tm tt lun vn...................................................................................................... viii
Mc lc ...................................................................................................................... ix
Danh sch ch vit tt ............................................................................................. xiii
Danh sch bng, hnh .............................................................................................. xiv
CHNG 1 M U ..............................................................................................1
1.1. t vn .....................................................................................................1
1.2. Cc phng php ng b tc ng c ................................................2
1.2.1. Phng php ng b tc ng c AC dng bin tn .................2
1.2.2. Phng php ng b tc ng c DC ..........................................2
1.3. Nhim v ca lun vn ................................................................................3
1.4. Qu trnh thc hin lun vn .....................................................................4
1.5. M t cch thc hot ng ca h thng ...................................................5
CHNG 2 C S L THUYT ..........................................................................7
2.1. L thuyt iu khin m .............................................................................7
2.1.1. Gii thiu v logic m ..........................................................................7
2.1.2. Khi nim c bn ..................................................................................7
2.1.2.1. nh ngha tp m..........................................................................8
2.1.2.2. Cc thut ng trong logic m .......................................................8
2.1.2.3. Bin ngn ng .................................................................................8
2.1.2.4. Cc php ton trn tp m ..........................................................10
2.1.3. Mnh hp thnh, lut hp thnh .................................................10
2.1.3.1. Mnh hp thnh ......................................................................10
ix
2.1.3.2. Lut hp thnh .............................................................................10
2.1.3.3. Gii m ..........................................................................................11
2.1.4. B iu khin m ................................................................................12
2.1.4.1. Cu trc mt b iu khin m ..................................................12
2.1.4.2. Nguyn l iu khin m .............................................................13
2.1.4.3. Thit k mt b iu khin m ...................................................14
2.2. L thuyt iu khin PID ..........................................................................15
2.2.1. Khu t k (P) ......................................................................................15
2.2.2. Khu tch phn(I)................................................................................16
2.2.3. Khu vi phn(D)..................................................................................16
2.2.4. Thit k b iu khin PID ................................................................17
2.3. L thuyt v giao thc CAN .....................................................................19
2.3.1. Gii thiu .............................................................................................19
2.3.2. Giao thc CAN ....................................................................................20
2.3.2.1. Khi nim ......................................................................................20
2.3.2.2. M hnh CAN trong OSI .............................................................21
2.3.2.3. Lp vt l ......................................................................................22
2.3.2.4. Cu trc bc in .........................................................................25
2.3.2.5. Cu trc bit trong giao thc CAN ..............................................27
2.3.2.6. Gii quyt tranh chp trn ng truyn .................................28
2.3.2.7. S ng b xung clock .................................................................29
2.4. ng c in mt chiu v phng php iu khin .............................30
2.4.1. Gii thiu v ng c in mt chiu(ng c DC) .........................30
2.4.2. Phng php iu khin tc ng c DC ....................................31
2.4.3. Phng php iu rng xung ............................................................32
2.4.4. Gii thiu v Encoder s dng trong lun vn ................................33
CHNG 3 NI DUNG V PHNG PHP NGHIN CU .......................33
3.1. Nghin cu vi iu khin DSPIC30F6010A ............................................33
3.1.1. Cc PORT I/O .....................................................................................36
3.1.2. Timer 1 .................................................................................................36
3.1.3. Module QEI(Quadrature Encoder Interface) ..................................37
x
3.1.4. Module iu khin ng c PWM .....................................................39
3.1.5. Module giao tip UART .....................................................................39
3.1.6. Module I2C ..........................................................................................40
3.1.7. Module CAN ........................................................................................41
3.1.7.1. Nhn tin nhn ...............................................................................42
3.1.7.2. Gi tin nhn ..................................................................................43
3.1.7.3. Ngt trong module CAN ..............................................................44
3.2. Nghin cu, thit k b FUZZY PID ....................................................44
3.2.1. S iu khin s dng FUZZY PID ..........................................44
3.2.2. Lut chnh nh PID ...........................................................................45
3.2.3. Thit k b FUZZY PID..................................................................46
3.3. Giao din iu khin v s nguyn l ca phn cng .......................50
3.3.1. Giao din iu khin trn my tnh...................................................50
3.3.2. S nguyn l ca phn cng .........................................................51
3.3.2.1. Khi vi iu khin ........................................................................52
3.3.2.2. Khi giao tip my tnh ...............................................................53
3.3.2.3. Khi giao tip mng CAN ...........................................................54
3.3.2.4. Khi thi gian thc ......................................................................54
3.3.2.5. Khi hin th LCD ........................................................................55
3.3.2.6. Khi mch ngun 5V ...................................................................56
3.3.2.7. Khi mch iu khin ng c ...................................................56
3.3.2.8. Hnh thc t ca ton b m hnh ..............................................57
3.4. Cch thc iu khin .................................................................................59
3.4.1. iu khin giao din t my tnh ......................................................59
3.4.2. M truyn nhn ca h thng ............................................................59
3.4.2.1. M gi i v nhn v my tnh ...................................................60
3.4.2.2. M truyn nhn trong mng CAN .............................................60
3.5. Lu gii thut .......................................................................................62
3.5.1. Lu gii thut ca module 0 .........................................................62
3.5.2. Lu gii thut ca Module 1, Module 2 ......................................64
CHNG 4 KT QU T C V HNG PHT TRIN CA
TI ...........................................................................................................................65
xi
4.1. Mt s hnh nh v hot ng ca h thng ............................................65
4.2. Cc kt qu t c.................................................................................68
4.3. Mt s hn ch ca ti ..........................................................................68
4.4. Hng khc phc cc hn ch v pht trin ti ................................69
4.4.1. Hng khc phc ................................................................................69
4.4.2. Hng pht trin ca ti ...............................................................69
TI LIU THAM KHO ......................................................................................70
xii
DANH SCH CH VIT TT
IC: Integrated Circuit
LCD: Liquid Crystal Display
PWM: Pulse Width Modulation
QEI: Quality Educator Interactive
PID: Proportional Integral Derivative
OSI: Open Systems Interconnection Reference Model
CAN: Controller Area Network
CSMA/CD: Carrier Sense Multiple Access with Collision Detect
UART: Universal Asynchronous Receiver Transmitter
I2C: Inter-Integrated Circuit
ICSP: In Circuit Serial Programming
xiii
DANH SCH BNG, HNH
DANH SCH HNH
Hnh 1.1: M hnh cun giy c 2 trc quay ..............................................................1
Hnh 1.2: s khi h thng ng b ng c AC dng bin tn............................2
Hnh 1.3: s khi h thng ng b ng c AC ..................................................3
Hnh 2.1: Hm lin thuc ............................................................................................8
Hnh 2.2: logic m cho iu khin xe my .................................................................9
Hnh 2.3: Cu trc ca mt b iu khin m ..........................................................12
Hnh 2.4: V d v b iu khin m MISO .............................................................13
Hnh 2.5: Nguyn l thit k b iu khin m ........................................................13
Hnh 2.6: p ng np ca h h c dng S .............................................................17
Hnh 2.7: p ng qu ca h kn........................................................................18
Hnh 2.8: M hnh h thng s dng mng CAN .....................................................21
Hnh 2.9: Giao thc CAN trong m hnh OSI ..........................................................22
Hnh 2.10: Phng php m ha NRZ ......................................................................23
Hnh 2.11: K thut bit stuffing ................................................................................23
Hnh 2.12: Mi lin quan gia thi gian bit v time quantun ...................................23
Hnh 2.13: S khng nhiu ca CAN bus vi nh hng ca in t ...................25
Hnh 2.14: Khung truyn...........................................................................................25
Hnh 2.15: Khung d liu..........................................................................................25
Hnh 2.16: S khc nhau gia 2 loi khung d liu..................................................25
Hnh 2.17: Khung yu cu ........................................................................................26
Hnh 2.18: Khung li.................................................................................................26
Hnh 2.19: Khung qu ti ..........................................................................................27
Hnh 2.20: Thi gian bit ............................................................................................27
Hnh 2.21: Thi gian lng t ..................................................................................28
Hnh 2.22: S lng thi gian lng t cho mi on .............................................28
Hnh 2.23: Phng thc gii quyt tranh chp trn ng truyn............................29
Hnh 2.24: S ng b xung clock trong CAN .........................................................30
Hnh 2.25: Cc loi ng c in mt chiu .............................................................31
Hnh 2.26: iu khin bng thay i in p phn ng, t thng ............................32
Hnh 2.27: Mch nguyn l iu rng xung .............................................................32
xiv
Hnh 2.28: M hnh encoder trong ti ..................................................................33
Hnh 2.29: S xung ra ca encoder ......................................................................33
Hnh 3.1: S chn ca DSPIC30F6010A .............................................................34
Hnh 3.2: s khi tng qut ca DSPIC30F6010A ..............................................35
Hnh 3.3: s khi ca module timer 1 ..................................................................37
Hnh 3.4: s khi ca module QEI.......................................................................38
Hnh 3.5: S khi ca module UART ..................................................................40
Hnh 3.6: s khi th hin vic nhn tin nhn trong module CAN......................43
Hnh 3.7: s khi th hin vic gi tin nhn trong module CAN ........................44
Hnh 3.8: M hnh FUZZY PID.............................................................................45
Hnh 3.9: Lut chnh b thng s PID ......................................................................45
Hnh 3.10: Th hin cc bin ngn ng vo ra .........................................................48
Hnh 3.11: Giao in Setup tc chy ...................................................................50
Hnh 3.12: Giao din chnh .......................................................................................51
Hnh 3.13: S tng qut ca ti .......................................................................52
Hnh 3.14: S khi ca Module 0 ........................................................................52
Hnh 3.15: S khi ca Module 1 v Module 2 ...................................................52
Hnh 3.16: khi vi iu khin ....................................................................................53
Hnh 3.17: Khi giao tip my tnh ..........................................................................53
Hnh 3.18: Khi giao tip mng CAN ......................................................................54
Hnh 3.19: Khi thi gian thc .................................................................................55
Hnh 3.20: Khi hin th............................................................................................56
Hnh 3.21: khi ngun 5V .........................................................................................56
Hnh 3.22: Khi iu khin ng c .........................................................................57
Hnh 3.23: M hnh phn cng .................................................................................58
Hnh 3.24: M hnh ti ca ti ..............................................................................58
Hnh 3.25: iu khin h thng t giao din .............................................................59
Hnh 4.1: Hnh th hin tc trn th ................................................................65
Hnh 4.2: Hnh thc t ca Module 0 ........................................................................66
Hnh 4.3: Hnh thc t ca Module 1 ........................................................................66
Hnh 4.4: th tc ch ng b ..................................................................67
xv
Hnh 4.5: Hnh thc t ca module 0 ch ng b ...........................................67
DANH SCH BNG
Bng 2.1: Thng s b PID theo Ziegler Nichols 1 ...............................................18
Bng 2.2: Thng s b PID theo Ziegler Nichols 2 ...............................................19
Bng 2.3: c tnh ca cc thng s .........................................................................19
Bng 2.4: So snh CAN low speed v CAN high speed...........................................24
Bng 3.1: Bng hp thnh Kp ...................................................................................48
Bng 3.2: Bng hp thnh Ki ....................................................................................48
Bng 3.3: Bng hp thnh Ki ....................................................................................49
xvi
Chng 1: M u GVHD: Th.S Phan Vinh Hiu
CHNG 1
M U
1.1. t vn
Cng vi cng cuc cng nghip ha hin i ha t nc, trong lnh vc
t ng ha cng c nhng bc pht trin vt bc. Trong nn cng nghip hin
i v pht trin, cc dy truyn sn xut ch yu hot ng da vo my mc, di
s iu khin v gim st ca cong ngi. khi c nhiu my mc v nhiu cng
on s dng my mc th phi c s hot ng ng b gia cc cng on vi
nhau. iu ny cng quan trng hn trong cc lnh vc i hi c chnh xc
nhanh ca ng c nh nghnh cng nghip vi, giy, dt may
By gi tao xt v d n gin v s ng b tc ca ng c, nh m
hnh cun giy sau:
Hnh 1.1: M hnh cun giy c 2 trc quay

Trong m hnh cun giy ny ta c 2 ng c: ng c 1 dng k trc x
v ng c 2 dng ko trc cun.
Yu cu iu khin l ng c 1 v ng c 2 hot ng n nh cng mt

tc t trc, ngay c khi cun giy c thay i th tc ca 2 ng c phi
thay i ph hp sao cho cun giy khng qu trng hay khng lm t cun giy.
Qua mt v d n gin trn, ta cng c th thy rng vn ng b l

iu ht sc quan trng. Nhng s ng b ny u m c? S dng phng php
iu khin no c th iu khin n nh c tc ng c m c th hot
ng ng b vi nhau. Ngoi ra, khi h thng c nhiu dy truyn v vic lin lc
gia cc dy truyn nh th no? Cui cng l s iu khin ng b v gim st
ca h thng u? Trn y l nhng l do em chn ti ca lun vn ny.
Thc Hin: Nguyn Vn Tin 1

Trong cng nghip, ngi ta c chia ng c thnh hai dng chnh l ng

c in xoay chiu(ng c AC) v ng c in mt chiu(ng c DC). Vic
ng b ha tc ca hai dng ng c ny l hon ton khc nhau, da vo tnh
cht ca cng vic m ngi ta la chn loi ng c no. Trong phm vi ca lun
vn em xin gii quyt vn ng b tc ng c DC.
1.2. Cc phng php ng b tc ng c

Trong cng nghip hin i nh ngy nay, c rt nhiu phng php ng b
tc ng c xoay chiu v ng c mt chiu. Ti ch a ra hai phng php
thng hay s dng nht trong cng nghip.
1.2.1. Phng php ng b tc ng c AC dng bin tn

S c s khi h thng nh hnh 1.2:
Hnh 1.2: s khi h thng ng b ng c AC dng bin tn

Bin tn 1 c nhim v iu khin ng c 1 chy ng tc t.
Encoder s phn hi tc tht ca ng c 1 v a vo b t l analog. Sau
bin tn 2 s iu khin ng c 2 chy theo ng tc m ng c mt ang
chy.
u im: dng cho cc ng c AC c cng sut ln v iu khin tc

rt tt.
Nhc im: cn s dng bin tn cho tng ng c, nhng gi thnh ca

mt bin tn th khng h r.
1.2.2. Phng php ng b tc ng c DC

S c s khi h thng nh hnh 1.3:
Cc b iu khin 1 v 2 s dng phng php chnh lu iu khin pha

iu khin n nh tc ng c DC c hi tip.
u im: h thng iu khin c hi tip nn n nh ng c rt tt, ngoi

ra gi thnh cng kh d chu.

Nhc im: Phng php iu khin chnh lu pha th phc tp, yu cu

phi c kin thc v kinh nghim trong lnh vc in t cng sut. Khu bo tr cho
ng c DC th phc tp.
Hnh 1.3: s khi h thng ng b ng c AC

1.3. Nhim v ca lun vn
Tm hiu ng c in mt chiu(ng c DC) v cc phng php iu
khin tc ng ca ng c DC.
S dng gii thut iu khin FUZZY PID v kt hp vi vi iu khin

nhm thit k b iu khin tc ng c DC, tha mn cc yu cu t ra nh:
p ng qu , vt l, sai s xc lp, m bo hot ng n nh nhiu
mc tc .
Nghin cu v xy dng mng CAN(Controller Area Network) truyn

nhn cc tn hiu iu khin cng nh tc qua li gia cc ng c vi nhau. V
qua c th ng dng mng CAN vo cc nh my, phn xng.
Thit k v thi cng m hnh c cc mch iu khin ng c. C th y

l iu khin 2 ng c.
Vit chng trnh iu khin vi 2 mc tiu ra:
- Th nht: n nh tc ng c DC.
- Th hai: iu khin ng b tc ca h ng c.

Cui cng, phi iu khin v gim st c hot ng ca ton b h thng

thng qua my tnh.
1.4. Qu trnh thc hin lun vn

i tng iu khin trong ti ny l 2 ng c DC 24V 70W ca
hng buehler, c gn ng trc encoder 200 xung/vng c 2 phase lnh nhau 900.
Tc quay ti a l 2800 vng/pht. iu khin tc bng phng php iu
rng xung(PWM: Pluse Width Modulated).
Thit k module iu khin tc ng ng c trn vi iu khin

DSPIC30F6010A v IC chuyn dng iu khin ng c LMD18200. Ngoi ra cn
c th giao tip vi mng CAN, c tch hp sn trn vi iu khin nhng cn c
IC MCP2551 m d liu u vo.
Nghin cu cch s dng vi iu khin trong lun vn l DSPIC30F6010A,

dng vi iu khin ny thuc h vi iu khin DSPIC ca Microchip. L dng vi
iu khin 16-bit c pht trin trn nn tng ca dng 24F. y l mt vi iu
khin mnh, tc nhanh, c tch hp cc module cn thit ph hp vi yu cu
ti t ra.
Nghin cu l thuyt iu khin PID, FUZZY v sau thit k mt b iu

khin FUZZY PID da trn nhng yu t ca hai l truyt trn li(xy dng b
FUZZY PID vi 7x7 cho tng tham s Kp, Ki, Kd) iu khin n nh tc
ng c DC. y l b iu khin c tch hp gia mt b iu khin kinh in
v mt b iu khin hin i nn n s c cc u im ca nhng b iu khin
.
Nghin cu v tm hiu mt mng truyn thng iu khin v gim st

cc hot ng ca 2 ng c trong m hnh lun vn, c th l mng CAN bi cc
c tnh sau:
- C n nh cao, tc truyn nhanh(1Mbit/s trn ng truyn 40m),

truyn c d liu ln, p ng thi gian thc, ph hp vi yu cu
ca ti.
- c tch hp trong module CAN ca vi iu khin nn c gi thnh r
v d mua trn th trng.
- Ph hp vi yu cu nghin cu ca sinh vin.
Thit k v lp rp h thng vi 3 module mch: gm 1 module iu khin

trung tm, 2 module iu khin ng c. Bao gm cc khi mch nh khi mch
ngun 12/5 VDC cp ngun cho vi iu khin, khi hin th, khi ng lc ly

ngun 24V/7A t ngung ring, khi giao tip mng CAN, khi giao tip my tnh
RS232,khi thi gian thc, khi nt nhn iu khin
Ngoi ra, cn thit k giao din iu khin v gim st trn my tnh thng
qua phn mn Visual Basic 6.0. T phn mn c th xem c th th hin tc
ca ng c, c th t thi gian cho ton b h thng, c th thit lp cc thng
s chy ca h thng nh chy ng b hay khng ng b.
1.5. M t cch thc hot ng ca h thng

u tin, ngi dng s ci t cc thng s ca h thng trn my tnh nh:
ch chy, thi gian chy, tc chy ri sau truyn xung vi iu khin qua
chun giao tip RS232 ti module 0 ca h thng. Sau vi iu khin module 0
s x l v gi d liu tc qua module 1 v 2 thng qua mng CAN. Sau ,
module 1 v module 2 s nhn c tc t ca ng c v s s dng gii thut
iu khin FUZZY PID iu khin n nh tc ng c. Vi iu khin s s
dng gii thut FUZZY PID s to ra tn hiu PWM iu khin cho mch cng
sut lm cho ng c chy ng theo tc t. Tn hiu hi tip v l qua encoder
vi 200 xung/vng vi 2 knh lch nhau 900, khi qua module QEI th s c nhn
thnh 800 xung/vng.
S c 2 ch chy l ng b v bt ng b:
- Ch chy ng b c ngha l s ly tc thc ca module 1(ng c

1) thng qua mng CAN gi sang module 2(ng c 2), ri module 2
s chy theo tc nhn c vi chu k gi tc l 75ms. Sau
s ly 2 tc o ca 2 ng c gi v module 0 v gi ln my tnh
gim st.
- ch chy bt ng b c ngha l 2 ng c s chy chung 1 tc
c t sn t trc m khng cp nht lin tc tc nh ch
chy ng b. Trong ch ny, c th cho 2 ng c chy 2 tc
khc nhau m khng nh hng g ti nhau.
Ngoi ra, trong h thng cn c th ci t thi gian chy cho h thng, khi
ht thi gian chy th h thng s dng v cn reset h thng bt u 1 chu k
lm vic mi.
Sau khi d liu c gi v my tnh, giao din my tnh s v c th

tc ca h thng vi 2 ng th th hin tc ca 2 ng c. Trn giao
din c th reset h thng, dng h thng v chy h thng na.
Cui cng, di 3 module c khi hin th tc chy, ch chy thng

qua khi hin th LCD. module 0 th s th hin y thng tin ca h thng,

cn module 1 v module 2 th ch hin th c tc t, tc o, ch hot

ng ca h thng.

Chng 2: C S l thuyt GVHD: Th.S Phan Vinh Hiu
CHNG 2
C S L THUYT
2.1. L thuyt iu khin m
2.1.1. Gii thiu v logic m
Khi nim v logic m c gio s L.A Zadeh cng b ln u tin ti M
vo nm 1965, ti trng i hc Brekeley, bang California. T , l thuyt m
c nhiu pht trin v c ng dng rng ri trong lnh vc iu khin t ng.
n nm 1970, ng dng logic m c s dng ln u tin, ti trng

i hc Mary Queen, London, Ebrahim Mamdani s logic m iu khin mt
my hi nc m ng khng th iu khin bng cc phng php c in.
T n nay, logic m c ng dng trn khp th gii, Tuy logic m

c ra i ti M, ng dng u tin ti Anh nhng li pht trin mnh m nht ti
Nht Bn.
u im ca b iu khin m so vi cc phng php iu khin kinh in

l c th tng hp c b iu khin m khng cn bit trc c tnh ca i
tng mt cch chnh xc nht. iu ny rt cn thit cho cc i tng phc tp m
khng th bit trc hm truyn
iu khin m x l nhng thng tin khng r rng hay y , nhng thng

tin ny c ngi thit k quy nh m t bng nhng ngn ng, nhng vn c th
a ra c nhng u ra chnh xc. iu khin l mt loi iu khin thng minh,
m phng phng thc x l thng tin v iu khin ca con ngi, khi u cho
s ng dng ca tr tu nhn to trong lnh vc iu khin.
2.1.2. Khi nim c bn

Mt cch tng qut, mt h thng m l mt tp hp cc qui tc di dng If
Then ti to hnh vi ca con ngi c tch hp v cu trc iu khin
ca h thng.
Vic thit k mt h thng m mang rt nhiu tnh cht ch quan, n ty

thuc vo kinh nghim v kin thc ca ngi thit k. Ngy nay, tuy k thut m
pht trin vt bc nhng vn cha c mt cch thc chnh quy v hiu qu no
thit k mt h thng m ti u. Vic thit k vn da trn mt k thut rt c
in l th sai sa v i hi phi u t nhiu thi gian c th i ti mt
kt qu chp nhn c.
hiu r khi nim m l g ta thc hin php so snh sau:

Trong ton hc ph thng, ta hc kh nhiu v tp hp, nh tp hp s

thc R, tp hp cc s chn, Nhng tp hp nh cy c gi l tp hp kinh
in hay tp hp r. Tnh r y c th hiu vi mt gi tr tp xc nh S phi
ch n phn t th ng vi phn t x ta xc c gi tr y = S(x).
Gi ta xt pht biu thng thng v tc mt chic xe my: chm, trung

bnh, hi nhanh, rt nhanh, nh vy t chm c min gi tr l mt khong no
, v d nh 5km/h 20km/h chng hn. Tp hp L = {chm, trung bnh, hi
nhanh, rt nhanh) nh vy c gi l mt tp cc bin ngn ng. Vi mi thnh
phn ngn ng
2.1.2.1. nh ngha tp m
Tp m F xc nh trn tp kinh in X l mt tp m mi phn t ca n l

mt cp gi tr (x, F(x)), trong x X v F l mt nh x F: X [0,1].
- nh x F c gi l hm lin thuc ca tp m F.
- Tp kinh in X c gi l tp nn ca tp m F.
2.1.2.2. Cc thut ng trong logic m
Hnh 2.1: Hm lin thuc

cao ca tp m F l gi tr h = SupF(x), trong supF(x) ch gi tr nh nht
trong tt c cc chn trn ca hm F(x).
Min xc nh ca tp m F(nh ngha trn c s X), c k hiu S l tp

con tha mn: S = SupF(x) = { x X | F(x) >0};
Min tin cy ca tp m F, c k hiu bi T l tp con ca M tha mn :

T={ x X | F(x) =1}
Cc dng hm lin thuc trong logic m c rt nhiu loi dng hm thuc

cc nhau nh: Gaussian, PI-shape, S-shape, Sigmoidal, Z-shape,
2.1.2.3. Bin ngn ng

Bin ngn ng l phn t ch o trong cc h thng dng logic m. y

cc thnh phn ngn ng ca cng mt ng cnh c kt hp vi nhau.
minh ha v hm thuc v bin ngn ng ta xt v d sau:
Xt tc ca mt chic xe my, ta c th pht biu xe ang chy:
- Rt chm (VS)
- Chm (S)
- Trung bnh (M)
- Nhanh (F)
- Rt nhanh (VF)
Nhng pht biu nh vy gi l bin ngn ng ca tp m. gi x l gi tr ca cc

bin tc , v d x = 10km/h, x = 60km/h Hm thuc tng ng ca cc bin
ngn ng trn c k hin l:
VS(x), S(x), M(x), F(x), VF(x)
Hnh 2.2: logic m cho iu khin xe my

Nh vy bin tc c hai min gi tr:
- Min cc gi tr ngn ng:
N = {rt chm, chm, trung bnh, nhanh, rt nhanh}
- Min cc gi tr vt l:
V={x X|x 0}
Bin tc c xc nh trn min ngn ng N c gi l bin ngn ng.
Vi mi x X ta c hm thuc:
x x = {VS(x), S(x), M(x), F(x), VF(x)}
V d hm thuc ti gi tr r x = 65km/h l:

x(65) = { 0; 0; 0.75; 0,25; 0}
2.1.2.4. Cc php ton trn tp m
Giao ca hai tp hp: AB A ( x). B ( x) min A ( x), B ( x) (2.1)
Hp ca hai tp hp: AB A ( x) B ( x) A ( x). B ( x) max A ( x), B ( x) (2.2)
B ca mt tp hp: A ( x) 1 A ( x)
C (2.3)
2.1.3. Mnh hp thnh, lut hp thnh

2.1.3.1. Mnh hp thnh
Khi nim: Mnh hp thnh tng ng vi mt lut iu khin thng c dng:
IF < mnh iu kin > THEN < mnh kt lun >
Nguyn tc Mandani:
ph thuc ca kt lun khng c ln hn ph thuc ca iu

kin. (Nguyn tc ny thng c s dng m t mnh hp thnh m trong
iu khin).
Nu h thng c nhiu u vo v nhiu u ra th mnh tng qut c

dng nh sau:
IF N = ni and M = mi and Then R = ri and K = ki and
Quy tc hp thnh MIN:
Xt mnh hp thnh A B, ta c cc gi tr ca mnh hp thnh m

l mt tp m B nh ngha trn nn Y( khng gian ca B) v c hm lin thuc l:
B(y) = min{ A, B(y)}
Quy tc hp thnh PROD:
Xt mnh hp thnh A B, ta c gi tr ca mnh hp thnh m l

mt tp m B nh ngha trn nn Y( khng gian nn ca B) v c hm lin thuc
l: B(y) = AB(y)
2.1.3.2. Lut hp thnh

Lut hp thnh l tn gi chung ca m hnh biu din mt hay nhiu hm
thuc cho mt hay nhiu mnh hp thnh.
C cc lut hp thnh c bn sau:

- Lut hp thnh MAX MIN

- Lut hp thnh MAX PROD
- Lut hp thnh SUM MIN
- Lut hp thnh MAX PROD
Lut hp thnh MAX MIN: Cc hm lin thuc c xc nh theo quy tc hp

thnh MIN v php hp c thc hin theo quy lut MAX.
Lut hp thnh MAX PROD: Cc hm lin thuc c xc nh theo quy tc

hp thnh PROD v php hp c thc hin theo quy lut MAX.
Lut hp thnh SUM MIN: Cc hm lin thuc c xc nh theo quy tc hp

thnh MIN v php hp c thc hin theo quy lut Lukasiewicz. Php hp
Lukasiewicz AB ( x) min1, A ( x) B ( x) (2.4)
Lut hp thnh SUM PROD: Cc hm lin thuc c xc nh theo quy tc

hp thnh PROD v php hp c thc hin theo quy lut Lukasiewicz
2.1.3.3. Gii m
Gii m l qu trnh xc nh r u ra t hm ph thuc ca tp m. C
nhiu phng php c dng trong bc ny.
Nguyn l cc i:

Hay cn gi l phng php
cao, ch dng cho loi tp m ra c nhn
nh, c biu din qua biu thc:
(z*) (z), z Z z
*
Trong nhiu trng hp c nhiu nh nhn hay gi tr cc i khng phi l
mt im duy nht th ngi ta s
dng

Trung bnh cc cc i:
z1 z 2
z* z1 z2 z
2 z1 z2 z
Cc i u tin: z* = z1

Cc i cui cng: z* = z2
Phng php trng tm:

z* z

Thng dng trong cc ng dng, c biu din qua biu thc: z*

( z).zdz
( z)dz
Phng php trung bnh theo trng s:
L mt bin dng ca phng php trng tm khi thay du tch phn bng
du sigma, c dng nhm n gin ha s tnh ton, ph hp vi cc iu khin
nh.

Cc tp m c dng singleton: 2
3
z*
( z ).z 1
( z )
z1 z2 z3 z
Cc tp m ra khng c nh dng nh,
nhng i xng:
z*
( z ).z z
( z)
z1 z2
Phng php trng tm din tch ln nht:
Tnh theo phng php trng tm nhng p dng trong trng hp c t nht
vng trn tp nn ra, tnh trn vng c din tch ln nht.
2.1.4. B iu khin m
2.1.4.1. Cu trc mt b iu khin m
Cu trc ca mt b iu khin m c th hnh nh hnh sau y:
Hnh 2.3: Cu trc ca mt b iu khin m

Mt b iu khin m gm 3 khu c bn:
- Khu m ha
- Thc hin lut hp thnh m
- Gii m
V d: B iu khin m MISO( nhiu u vo mt u ra), vi vect u vo l:
Hnh 2.4: V d v b iu khin m MISO
2.1.4.2. Nguyn l iu khin m
Hnh 2.5: Nguyn l thit k b iu khin m

Cc bc thit k h thng iu khin m:
- Giao din u vo gm cc khu: m ha v cc khu hiu chnh nh t

l, tch phn, vi phn
- Thit b hp thnh: s kin khai lut hp thnh R.

- Giao din u ra gm: Khu gii m cc cc khu giao din trc tip vi
i tng.
2.1.4.3. Thit k mt b iu khin m
Cc bc thit k:
B1: nh ngha tt c cc bin ngn ng vo/ra.
B2: Xc nh cc tp m cho tng bin vo/ra(m ha).
- Min gi tr vt l ca cc bin ngn ng.

- S lng tp m
- Xc nh hm thuc
- Ri rc ha tp m
B3: Xy dng lut hp thnh.
B4: Chn thit b hp thnh.
B5: Gii m v ti u ha.
Nhng lu khi thit k b iu khin m
- Khng bao gi dng iu khin m gii quyt bi ton c th d dng

thc hin bng b iu khin kinh in.
- Khng nn dng b iu khin m cho cc h thng cn an ton cao.
- Thit k b iu khin m phi c thc hin qua cc thc nghim
Phn loi cc b iu khin m
- iu khin Mandani (MCFC)

- iu khin m trt (SMFC)
- iu khin tra bng (CMFC)
- iu khin Tagaki/Sugeno (TSFC)
Mt s nhc im ca b iu khin m:
Tuy iu khin m c nhiu pht trin, nhng cho n by gi vn cha c

cc nguyn tc chun mc cho vic thit k cng nh cha c th kho st tnh n
nh, tnh bn vng, cht lng. qu trnh qu cng nh qu trnh nh hng ca
nhiu Cho cc b iu khin m v nguyn l ti u cho cc b iu khin ny
v phng din l thuyt. im yu ca l thuyt m l nhng vn v phi
tuyn ca h, nhng kt lun tng qut cho cc h thng phi tuyn hu nh rt kh
t c

Nhm khc phc nhc im , c mt hng gii quyt cc bi ton thit

k h thng iu khin t ng rt hiu qu l kt hp gia cc phng php iu
khin kinh in vi b iu khin m, nhm tn dng cc u im ca c hai
phng php iu khin. cng l nguyn nhn ra i ca cc b iu khin nh:
PID - m, PID m thch nghi
2.2. L thuyt iu khin PID

Trong lnh vc iu khin t ng, b iu khin PID c xem l mt gii
php a nng cho cc ng dng iu khin Analog v Digital. Hn 90% b iu
khin trong cng nghip l s dng b iu khin PID. Vi b iu khin PID c
thit k tt c kh nng iu khin h thng vi cht lng qu tt(p ng
nhanh, vt l thp) v trit tiu c sai s xc lp
S c: u(t) = Kpe(t) + Ki ( ) + Kd ( )
Hay ta c tng li nh sau:
u(t) = Pout + Iout + Dout
Vi Pout, Iout, Dout, l cc thnh phn u ra t ba khu ca b iu khin PID, M l

bin iu khin ng ra.
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.
2.2.1. Khu t k (P)

Khu t l 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 nhan sai s vi mt hng s K, c gi
l li t l.
Khu t l c cho bi: P = Kp*e(t)
Trong :
- P: tha s t l ca u ra
- Kp: li t l, thng s iu chnh
- e: sai s: gi tr t gi tr o
- t: thi gian tc thi
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. 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 chp. 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
2.2.2. Khu tch phn(I)

Khu tch phn 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
Khu tch phn c cho bi: I = Ki ( )
Trong :
- I l tha s tch phn u ra

- Ki: l li tch phn
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.
2.2.3. Khu vi phn(D)

Tc thay i ca sai s qu 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 . Bin ca khu vi phn trn tt c cc hnh vi iu khin
c gii hn bi li vi phn

Khu vi phn c cho bi: D = Kd ( )
Trong :
- D: l tha s vi phn ca u ra
- Kd: l li vi phn
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.
2.2.4. Thit k b iu khin PID

C nhiu phng php thit k b iu khin PID, cc phng php ph
bin chn thng s b iu khin PID nh hin ny l phng php Ziegler
Nichols, phng php th sai v phng php dng phn mn.
Phng php Ziegler Nichols:
Ziegler Nichols a ra hai cch chn thng s cho b iu khin PID ty

theo c im ca i tng.
Cch 1:Da vo p ng qu ca h h, p dng cho cc i tng c

p ng i vi tn hiu vo l hm nc c dng ch S nh hnh di y.
Hnh 2.6: p ng np ca h h c dng S

Thng s ca cc b iu khin P, PI, PID c th hin trong bng sau:

Thng s
KP TI TD
B K
P T2/(T1.K) 0
PI 0.9T2/(T1.K) T1/0.3 0
PID 1.2T2/(T1.K) 2T1 0.5T1
Bng 2.1: Thng s b PID theo Ziegler Nichols 1

Cch 2: Da vo p ng qu ca h kn bin gii n nh, p dng cho
cc i tng c khu tch khu l tng, v d nh bn nc, v tr h truyn ng
dng cho ng c
Tng dn gi tr h s khuych i K ca h kn n gi tr gii hn Kgh

(Ngha l gi tr ln nht h thng vn cn n nh, nu tng thm na th h
thng s mt n nh). Lc p ng ra ca h kn trng thi xc lp l do ng
n nh vi chu l Tgh.
Hnh 2.7: p ng qu ca h kn
Thng s ca cc b iu khin P, PI, PID c th hin trong bng sau:
Thng s
KP TI TD
B K
P 0.5Tgh 0
PI 0.45Tgh 0.83Tgh 0
PID 0.6Tgh 0.5Tgh 0.125Tgh

Bng 2.2: Thng s b PID theo Ziegler Nichols 2

Phng php th sai:
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 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 gy vt l.
Sau y l bng c tnh ca cc thng s:
Thi gian Thi gian Sai s

Thng s Qu
khi ng Xc lp n nh n nh
Thay i
Kp Gim Tng Gim Gim cp
nh
Gim ng
Ki Gim Tng Tng Gim cp
k
Khng tc
Kd Gim t Gim t Gim t Ci thin
ng
Bng 2.3: c tnh ca cc thng s

Phng php dng phn mn iu chnh PID
Hu ht cc ng dng trong cng nghip hin i khng cn iu khin vng

iu khin s dng cc phng php tnh ton th cng nh trn na. Thay vo ,
phn mn iu chnh PID v ti u ha vng lp c dng m bo kt qu
chc chn.
2.3. L thuyt v giao thc CAN

2.3.1. Gii thiu
CAN( Controller Area Network) l giao thc giao tip ni tip c khung
truyn d liu ln vi n nh, bo mt v c bit chng nhiu cc k tt.
CAN c pht trin u tin bi nh cung cp ph tng xe t ca c:

Robert Bosch vo gia nhng nm 80. Nhm tha mn yu cu ngy cng nhiu
ca khch hng trong vn an ton v tin nghi, v tun theo yu cu vic gim
bt nhim v tiu th nng lng. Vi mc ch lm cho nhng h thng ca xe

t tr nn an ton, n nh, tit kim nhin liu ng thi phi gim thiu vic i
dy chng cht, n gin ha h thng, tit kim chi ph sn xut, th CAN c
pht trin.
Ngy nay, CAN c chun ha thnh tiu chun ISO11898 t nm 1991,

CAN c chun pht trin cui cng l Version 2.0( gm Version 2.0A v 2.0B).
Hu nh mi nh sn xut chip ln u tch hp CAN hoc a CAN vo thanh
ngoi vi( peripheral) ca vi iu khin. Do vic thc hin chun CAN tr nn
cc k n gin, rt ngn thi gian thit k v chi ph thc hin r.
im ni tri nht chun CAN l tnh n nh v an ton nh c ch truy

cp chng xung t ng truyn thng minh CSMD/CS( Carre Sense Multiple
Acces / Collision Detecsion) v c ch pht hin, x l li mnh m, nn tt c li
hu nh c pht hin.
Mng CAN thuc loi h thng da vo bc in, khc vi h thng da vo

a ch:
- Nhng h thng da vo a ch th mi node c gn cho mt a ch

c nh, nn khi c thm hay bt i mt hay mt nhm node trong h
thng ny th bt buc phi thit k li qui trnh gim st mng, dn n
tn nhiu thi gian v chi ph.
- Nhng h thng da vo bc in s c tnh m hn v: Mi loi bc
in s c gn mt s cn cc. Khi thm, bt mt node hay thay mt
nhm node bng mt node phc tp hn cng khng lm nh hng n
c h thng. C th c vi node cng nhn bc in v thc hin mt
cng vic, hay thc hin nhng cng vic khc nhau. Do , c h thng
iu khin phn b da trn mng CAN c tnh m v linh hot, d dng
thay i m khng cn phi thit k li ton b h thng.
Ngoi ra, CAN thng c dng truyn d liu ln, tc truyn cao,
n nh, p ng thi gian thc v ng dng trong cc mi trng khc nhau.
2.3.2. Giao thc CAN

2.3.2.1. Khi nim
Mng CAN c to thnh bi mt nhm node. Mi node c th giao tip
vi bt k node khc trong mng. Vic giao tip c thc hin bng vic truyn i
v nhn cc bc in. Mi loi bc in trong mng CAN c gn cho mt s cn
cc ID( identifier) ty theo mc u tin ca bc in . Bc in c s cn
cc cng nh th cng c mc u tin cng cao.

Phng thc giao tip ca bus CAN l s pht tn thng tin. Mi im kt

ni v mng thu nhn khung truyn t node pht. Sau , mi node s quyt nh
vic x l bc in c phn hi hay khng. Mi node c th nhn nhiu loi bc
in khc nhau v ngc li, mi bc in c th c nhn bi nhiu node v cng
vic c thc hin mt cch ng b trong h thng phn b.
S cn cc ca bc in ph thuc vo mc u tin ca bc in. iu

ny cho php phn tch thi gian p ng ca tng bc in, y l vic quan trng
trong vic thit k h thng nhng thi gian thc.
Cng ngh dy cp truyn dn n gin. S truyn d liu thc hin nh cp

dy tn hiu vi sai, c ngha l chng ta o s khc nhau gia 2 ng
truyn(CAN_H v CAN_L). ng dy truyn thng c kt thc bng in tr
120 Ohm.
Hnh 2.8: M hnh h thng s dng mng CAN

2.3.2.2. M hnh CAN trong OSI
CAN trong m hnh OSI bao gm: phn trn lp vt l( Physical layer) v
lp lin kt d liu( Data link layer).
Trong tiu chun ISO11898 nh ngha lp vt l v lp lin kt d liu nh

sau:
- Lp vt l nh ngha cc biu din/thu nhn bit 0, 1 v cch nh thi,

ng b ha.
- Lp lin kt d liu c chia thnh 2 lp nh l Logical Link
Control(LLC) v Medium Access Control(MAC), c chc nng:

+ nh ngha khung truyn v nhng nguyn tc phn x trnh c hai

node trong mng cng truyn ng thi
+ Ngoi ra, cn c thm nhiu c ch khc kim tra, x l li c

chia thnh 5 loi li: Bit error, Stuff error, CRC error, Form error, ACK
error.
Hnh 2.9: Giao thc CAN trong m hnh OSI

2.3.2.3. Lp vt l
Phng php m ha NRZ(None return to zero)
Mi bit trong mng CAN c m ha bng phng php NRZ. Trong sut
qu trnh ca mt bit, mc in p ca dy c gi nguyn, c ngha trong sut
qu trnh mt bit c to ra, gi tr ca n khng thay i.

Hnh 2.10: Phng php m ha NRZ

Bit stuffing
Mt trong nhng u im ca cch m ha NRZ l mc ca biet gi trong

sut qu trnh ca n. iu ny to ra vn v n nh nu mt lng ln bit
ging nhau ni tip. K thut bit stuffing p t t ng mt bit c gi tr ngc li
khi n pht hin 5 bit lin tip trong khi truyn.
Hnh 2.11: K thut bit stuffing

Bit timing
Ta nh ngha thi gian n v nh nht l Time Quantum. Thi gian c bn

ny l mt phn s ca thi gian dao ng bus. Mt bit khong 8 n 25 quantum.
Hnh 2.12: Mi lin quan gia thi gian bit v time quantun
di ca mt bus
di ca mt bus ph thuc vo nhng thng s sau:
- trn lan truyn trn ng dy ca bus

- S khc nhau ca thi gian Time Quantum, v s khc nhau ca xung
clock ti cc nt
- Bin tn hiu thay i theo in tr ca cp v tng tr vo cc nt

- Cn ch rng bt c module no kt ni vo mt bus CAN phi c

h tr vi tc ti thiu l 20kbit/s. s dng di hn 1 km, phi cn
mt h thng kt ni trung gian nh repeater hoc bridge.
Trng thi dominant v recessive
lp vt l, bus CAN nh ngha hai trng thi l dominant v

recessive, tng ng vi hai trng thi l 0 v 1. Trng thi dominant chim u
th so vi trng thi recessive. Bus ch trng thi recessive khi khng c node
no pht i trng thi dominant. iu ny to ra kh nng gii quyt tranh chp
khi nhiu hn mt Node mun chim quyn s dng bus.
Bi tnh cht vt l ca bus, cn phi phn bit 2 dng truyn:
- Truyn CAN low speed

- Truyn CAN high speed
Bng di y tng kt nhng tnh cht c bn khc nhau gia 2 dng c bit l
tc :
Thng s CAN low speed CAN high speed

Tc 125 kbit/s 125 kbit/s ti 1 Mbit/s
S nt trn bus 2 ti 20 2 ti 30
CAN H = 3.25V, CAN L =
Trng thi dominant CAN H = 4V, CAN L = 1 V
1.5V
CAN H = 1.75V, CAN L = CAN H = 2.5V, CAN L =
Trng thi recessive
3.25V 2.5V
Tnh cht cap 30pF gia cp v dy 2*120 Ohm
in p cung cp 5V 5V
Bng 2.4: So snh CAN low speed v CAN high speed

V tnh cht vi sai trn ng truyn tn hiu ca bus CAN, s min tr tc
ng in t c m bo v 2 dy ca bus u b tc ng nh nhau cng mt lc
bi tn hiu nhiu.

Hnh 2.13: S khng nhiu ca CAN bus vi nh hng ca in t

2.3.2.4. Cu trc bc in
Mt khung truyn c dng nh sau:
Hnh 2.14: Khung truyn

Chun CAN nh ngha bn loi Frame: Data frame dng khi node mun
truyn d liu ti cc node khc. Remote frame dng yu cu truyn data frame.
Error frame v overload frame dng trong vic x l li
Data frame: dng truyn i mt message. C hai dng standard frame v

extended frame.
Hnh 2.15: Khung d liu

Hai loi khung ny ch khc nhau vng phn x(Arbitration frame)
Hnh 2.16: S khc nhau gia 2 loi khung d liu

c im chung ca 2 loi khung d liu:

- Bt u bng 1 bit khi u khung truyn(SOF: Start of frame) lun

trng thi domainanta(tri).
- Tip theo l 11 bit ID vi khung chun v 29 bit ID vi khung m
rng
- 1 bit yu cu truyn phn bit khung yu cu v khung d liu, trng
thi domainant(tri) c ngha l khung d liu v trng thi
recesive(ln) c ngha l khung yu cu.
- 3 bit data length control cho bit s lng byte data ca frame
- Tip n l 0 n 8 byte data.
- Tip n l 15 bit CRC v 1 bit CRC delimiter
- 1 bit Acknoledge v 1 bit delimiter
- 7 bit End of frame lun trng thi recesive(ln)
- Cui cng l khongh cc ti thiu gia hai frame truyn
Remote frame: Dng yu cu truyn khung d liu ti mt node khc. gn ging

khung d liu nhng c DCL = 0(data length control) v khng c vng d liu
Hnh 2.17: Khung yu cu

Khung li: c pht ra khi node pht hin li
Hnh 2.18: Khung li

c pht ra t bt k trm no trong mng khi pht hin li trn ng
truyn. khung li gm 2 phn: c li(Error flag) l phn cch li(Error demiliter).
Li th phn bit thnh li ch ng v li b ng, tng ng vi 2 dng c li l
dng li ch ng gm 6 bit tri lin tip v li b ng gm 6 bit ln lin tip
Khung qu ti: Dng khi trn b nh m

Hnh 2.19: Khung qu ti

Khung qu ti gm c qu ti(overload flag) v phn cc qu ti(overload delimiter)
C bo qu ti gm 6 bit tri lin tc, phn cch qu ti l 8 bit ln lin tc
2.3.2.5. Cu trc bit trong giao thc CAN
Norminal Bit Time(thi gian bit)
Mi node trn bus phi iu chnh nhp cng vi Norminal Bit Time c th
pht v nhn chnh xc d liu trn bus.
Hnh 2.20: Thi gian bit

Thi gian bit c tnh theo cng thc:
Thi gian bit = 1 / tc truyn bus
Mi bit trong CAN gm 4 on(segment) khng chng lp
- Synchronization Segment: nhim v ng b ha cc node trn bus

- Propation Segment: nhim v b thi gian truyn tn hiu trong ton
mng

- Phase 1 Segment
- Phase 2 Segment( c 2 on ny c nhim v b sai s pha cnh v chiu
di ca 2 on ny thay i di ngn v hin tng ng b li
Thi gian lng t( time quantum) v di ca 4 segment:
Thi gian lng t l mt n v thi gian to thnh t chu k dao ng ca

mi node. Thi gian lng t gm rt nhiu xung clock ca b sao ng. Chu k
xung clock c gi l thi gian lng t nh nht(Minimum Time Quantum). Nu
gi tr b chia(prescale) l m(m c gi tr t 1 n 32) th:
Thi gian lng t = m* thi gian lng t nh nht
Hnh 2.21: Thi gian lng t

S thi gian lng t trong mi thi gian bit thay i t 8 n 25
S la chn s lng thi gian lng t cho mi on ph thuc v tn s ca b

dao ng. Mt s lng ln thi gian lng t cho on s tng tnh chnh xc ca
s ng b ca cc node trong ng truyn
Hnh 2.22: S lng thi gian lng t cho mi on

2.3.2.6. Gii quyt tranh chp trn ng truyn
CAN s dng phng php truy cp CSMA/CD, iu khin phn knh theo tng
bit, c cc c im chnh sau:

- Mi node trn mng phi lun kim tra trn ng truyn, pht hin
thi gian ng truyn rnh c th truyn i 1 bc in
- Khi ng truyn rnh, tt c cc node u c c hi nh nhau truyn
i mt bc in
- Mi bc in c bt u bng 1 bit khi im v m cn cc, nn khi
c 2 node cng truyn bc in ln ng truyn, vic phn x trn
ng truyn da vo tng bit ca m cn cc. Mi b thu pht phi so
snh mc tn hiu ca bit gi i so vi bit nhn v, nu c s khc bit th
phi ngng pht. Bc in ny c pht khi ng truyn rnh tr li.
- Thc t bit 0(tri) ln t bit 1(ln) nn bc in c th cn cc cng nh
th c u tin cng cao.
Hnh 2.23: Phng thc gii quyt tranh chp trn ng truyn
Trong trng hp trn, khi so snh tng bit ca m cn cc ca 3 node pht
cng lc, th node 3 c u tin cao hn nn c quyn pht bc in ln ng
truyn, cn cc node cn li vo trng thi ch
2.3.2.7. S ng b xung clock

Mi nt phi to mt thi gian danh ngha thi gian bit c th nhn v
pht d liu xung bus vi s ng b cc node khc nhau. Thc t, nu thi gian
bit ca mi nt khng c ng b vi nhau, gi tr c t bus ti thi im ly
mu c th khng l gi tr ng vi im mong mun. tr ny c th nh hng
trong ndoe nhn khung truyn, khi m c t thi gian tnh ton CRC v gi 1 bit tri
trong ACK slot xc nhn rng khung truyn ng.

Hnh 2.24: S ng b xung clock trong CAN

2.4. ng c in mt chiu v phng php iu khin
2.4.1. Gii thiu v ng c in mt chiu(ng c DC)
C 4 loi ng c DC thng dng bao gm: ng c DC kch t c lp,
kch t song song, kch t ni tip, kch t tng hp.
- ng c kch t c lp: dng phn ng v dng kch t c th iu

khin c lp vi nha
- ng c kch t song song: phn ng v cun kch t c u vi
ngun cung cp. V vy, vi loi ng c ny, dng phn ng hoc dng
kch t c th iu khin c lp bng cch thay i in tr ph trong
mch phn ng hoc mch kch t. Tuy nhin, y l cch iu khin c
hiu sut thp.
- ng c kch t ni tip: dng phn ng cng l dng kch t, v do ,
t thng ng c l mt hm ca dng phn ng
- ng c kch t hn hp: bao gm c kch t ni tip v kch t song
song. Yu cu cn u ni sao cho sc t ng ca cun ni tip cng
chiu vi sc t ng ca ngung song song.

Hnh 2.25: Cc loi ng c in mt chiu

2.4.2. Phng php iu khin tc ng c DC
T quan h gia tc - moment ng c, c th thy rng tc ng c

c th c iu khin bng cc phng php sau:
- iu khin t thng
- iu khin in p phn ng
- iu khin hn hp in p phn ng v t thng
- iu khin in tr phn ng
Nhng trong ti ny, em ch s dng cch iu khin in p phn ng nn em

s trnh by di y.
Vi ng c mt chiu kch t c lp, nu in p kch t c duy tr

khng i, hoc ng c kch t dng nam chm vnh cu c th gi thit rng t
thng ng c khng i ng c thay i. Khi :
K = const
Vy thay i tc ng c ta thay i in p phn ng. bng cch thay

i in p phn ng, ng c c th lm vic ti bt k tc , moment no.
Tnh cht quan trong ca phng php ny l c tnh c khng thay i

khi tc ng c c iu chnh. iu ny khin h thng c kh nng p ng
vi ti c moment hng s hng s v dng phn ng cc i cho php Imax tng
ng vi n l moment ti cu i cho php ca ng c khng i vi mi tc .
in p phn ng ng c c th c iu khin bng cch s dng
- My pht DC(h my pht ng c)

- B chnh lu c iu khin(bin i AC DC)
- B chopper(b bin i xung p) DC DC

Hnh 2.26: iu khin bng thay i in p phn ng, t thng

2.4.3. Phng php iu rng xung
Phng php iu rng xung(PWM) l phng php thay i in p phn
ng ca ng c DC bng cch thay i thi gian ng ngt ca cng tc ngun.
y l phng php s dng rt ph bin v nhng u im ca n nh:
- Mch thit k n gin

- Tc ng c thay i m v nh mong mun
- Tn hao cng sut nh
Xt mch in nh hnh v:
Hnh 2.27: Mch nguyn l iu rng xung

Bng cch thay i thi gian ng ngt cng tc S, ta c th thu c in p trung
bnh t trn ng c thay i theo mun, khong thay i t 0V n U. Dng p
ra nh sau:
Tr trung bnh in p trn ti tnh theo cng

ton
thc: U t U U (2.5)
T

Vi T = ton + toff l chu k khng i ca xung kch S.
T cng thc (2.5) ta thy 0 Ut U, v Ut ph thuc t s , vy c th iu chnh

in p trn ti theo mun bng cch thay i t s
Trong iu khin ng c DC bng phng php PWM vi tn s ca xung

iu khin cao, ngi ta c th s dng cc vi iu khin to xung iu khin
cc khi mch ng lc
2.4.4. Gii thiu v Encoder s dng trong lun vn

Trong thc t c rt nhiu loi encoder khc nhau nh: encoder tip xc,
encoder trng, encoder quang(gm encoder tng i v tuyt i). Trong ti
nys dng encoder quang tng i(Incremental encoder c gn ng trc vi
ng c DC 24V 70W, v c phn gii l 200 xung/vng 2 phase.
Hnh 2.28: M hnh encoder trong ti

Trong m hnh trn ta c ta mt vng vi 200 ci l. nhng b thu pht ngi ta
t lnh nhau 900 nn ta s nhn c 2 xung v lnh nhau 900.
Hnh 2.29: S xung ra ca encoder

Hai xung a ra t 2 vng lnh nhau 90 , xung A nhanh phase hn xung B th
chc chn ng c s quay t tri sang phi v ngc li.

Chng 3: Ni dung v phng php nghin cu GVHD: Th.S Phan Vinh Hiu
CHNG 3
NI DUNG V PHNG PHP NGHIN CU
3.1. Nghin cu vi iu khin DSPIC30F6010A
DSPIC30F6010A l dng vi iu khin dsPIC 16 bit ca Microchip c

cu trc ca CPU l kiu Harvard. N l loi vi iu khin c b x l s
DSP, c th hot ng ln ti 120 MHz vi b nh chng trnh ln.
- B nh chng trnh l 144 Kbytes, 8 Kbytes RAM, 4 Kbytes EEPROM

- C th chy 30 MIPS, c 44 ngun ngt ring bit
- 16 x 16 thanh ghi lm vic
- C 80 chn, 63 ng I/O, tm hot ng t 2.5V n 5.5V
- C 2 UART, 2 CAN, ADC 10 bit, 8 PWM, 5 timer v c bit l c thm
module QEI( c xung encoder vo vi iu khin)
- B nh lm vic c th c/xa ln ti 10000 ln
- Cng xut nhp I/O vi dng ng ra l 25 mA
- C module PWM chuyn dng iu khin ng c
Nh ni, dsPIC30F6010A c 80 chn, trong c 63 ng I/O.
Trong c cc port nh sau: PORTA, PORTB, PORTC, PORTD, PORTE,

PORTF, PORTG,
Thanh ghi a ch d liu TRISx
Thanh ghi quan l PORT: PORTx
Thanh ghi qun l xut nhp: LATx
Ngoi ra, cc chn cn ng vai trong khc trong cc Module ring bit.
- Ngoi ra, trong ti, em cn s dng cc module cn thit hon thin

ti ca mnh nh: Timer, PWM, QEI, CAN, I2C
- Ch to bng cng ngh CMOS
in p thp, tc truy cp flash cao
Phm v ca in p hot ng cao
Phm vi nhit cho php trong cng nghip v m rng
Tiu th in nng t

Hnh 3.1: S chn ca DSPIC30F6010A

Hnh 3.2: s khi tng qut ca DSPIC30F6010A

3.1.1. Cc PORT I/O

Tt c cc port c 3 thanh ghi trc tip lin h vi hot ng ca chn ny.
Thanh ghi d liu trc tip (TRISx) quyt nh chn ng vo hay ng ra. Nu l 1
th chn s l input. Lu , khi reset thi tt c cc chn s hiu l input. Thanh ghi
cht (LATx), thanh ghi cht d liu ra. Thanh ghi c d liu (PORTx), c cc
chn ca port v ghi n chn ca port bng cch ghi ln b cht d liu.
Tm li, thanh ghi TRISx iu khin hng ca chn, thanh ghi LATx cung
cp d liu n ng ra, c kh nng c ln ghi, thanh ghi PORTx l thanh ghi trng
thi ca cc chn ng vo trong khi thanh ghi PORTx thay i ni dung ca thanh
ghi LATx.
3.1.2. Timer 1
Timer 1 l loi timer A. Module timer 1 l timer 16 bit, chng c th cung cp nh
l mt b m thi gian cho xung clock thi gian thc, hoc hot ng nhu b m
khong thi gian timer/couter chy ch t do. C nhng ch hot ng nh
sau:
- 16 bit timer
- 16 bit m ng b v khng ng b
- C th la chn tnh nng hot ng
- Thanh ghi ngt 16 bit bng math hoc xung cnh xung ca cng tn hiu
Ch hot ng c quyt inh bi vic thit lp cc bit tng ng trong thanh

ghi T1CON(16 bit)
- Ch Timer 16 bit: ch Timer 16 bit, timer tng gi tr bin m

ng vi mi vng lnh up n gi tr match, t trc trong thanh ghi
PR1, sau reset v 0 v tip tc m. Khi CPU trng thi Idle, timer
s dng m, tr khi TSIDL bit = 0. Nu TSIDL = 1, module logic timer
s vn tip tc m kt qu ln n gi tr hy b ch CPU Idle.
- Ch m 16 bit ng b: trong ch ny timer m da vo xung
cnh ln ca xung clock tn hiu bn ngoi, iu ny c ng b ha
vi pha clock ni. Timer m ln n gi tr match t trc PR1, sau
reset v 0 v tip tc. Khi CPU ch Idle tng t vi ch trn.
- Ch m 16 bit bt ng b: ch m ny timer s tng gi tr
bin m ng vi mi xung cnh ln ca xung clock bn ngoi. Timer
m ln n gi tr match t trc PR1, sau b reset v 0 v tip
tc. ch m bt ng b v CPU ch Idle, timer s dng m
nu TSIDL = 1.

Hnh 3.3: s khi ca module timer 1

3.1.3. Module QEI(Quadrature Encoder Interface)
Module QEI cung cp giao tip vi loi encoder incremental cung cp d
liu v v tr. c im gm c
- 2 knh ng vo cho 2 phase tn hiu A/B v 1 knh cho tn hiu Index

- B m v tr 16 bit
- Xc nh hng m
- Ch o lng v tr(x2 hay x4)
- Lc nhiu ng vo
- S thay i gia 2 ch 16 bit timer/couter
- Ngt QEI
B logic QEI
Loi encoder incremental c 3 ng vo l phase A, phase B v index. 2 knh

A v B c mi lin h vi nhau. Nu phase A trc phase B th hng ca motor
c cho l chiu dng hoc thun c nh ngha trong thanh ghi UPDN vi bit
QEICON.
Ch m v tr 16 bit Up/Down
B m 16-bit Up/Down m ln hoc xung mi khi c xung m, v n

nhn bit s khc nhau gia 2 pha A v B xc nh hng m.
Bit cho php reset POSRES iu khin c hay khng reset v tr m khi
xung index th c pht hin. Bit ny ch c s dng khi QEIM<2:0>=100
hoc 110. Nu bit POSRES c t gi tr 0, th b m v tr s khng reset khi
xung index c pht hin. B m v tr s vn m tip tc ln hoc xung v s

b reset bi iu kin khc. Cc bit IMV<1:0> cho php ngi s dng thit lp
iu kin d reset thanh ghi POSCNT.
Ch do v tr
Nhng ch ny c thit lp bi cc bit QEIM<2:0>
- 111 cho php hot ng vi ch x4 vi b m v tr reset bi

MAXCNT
- 110 cho php hot ng vi ch x4 vi b m v tr reset bi Index
- 101 cho php hot ng vi ch x2 vi b m v tr reset bi
MAXCNT
- 100 cho php hot ng vi ch x2 vi b m v tr reset bi Index
- 011 khng s dng
- 010 khng s dng
- 001 bt timer 16 bit
- 000 tt QEI/timer
Hnh 3.4: s khi ca module QEI

C kh nng lc nhiu bng cch thit lp bit QECK<2:0>, QEOUT c th

cho tn hiu ng ra khng b nhiu.
Ngt QEI
B ngt QEI s pht ra mt ngt khi xut hin nhng s kin sau:
- Ngt trn b m v tr 16 bit khi rollover/underflow

- Xung index hoc nu bit CNTERR c set
- S kin timer period
- S kin Gate accumulation
3.1.4. Module iu khin ng c PWM
y l module n gin ha ca b pht nhiu ng ra iu ch rng xung.
Cc loi ng dng sau u c th p ng module PWM:
- ng c 3 phase AC
- Moto t tr ng ngt
- Moto chi than DC
- B chng ngt ngun (UPS)
Module PWM c cc c im sau:
- 8 chn I/O PWM vi 4 b pht xung khc nhau

- phn gii 16 bit, thay i tn s PWM On-the-fly
- Ch ng ra ging cnh v im gia
- Ch pht xung n
- iu khin ghi ng ra cho hot ng ECM
- So snh s kin ngoi vi khc
- Chn FAULT l chn li ng ra PWM
Module ny cha 4 b pht xng c lp, c s t 1 n 4. Module c 8 ng
ra PWM, c nh s PWM1H/PWM1L n PWM4H/PWM4L. 8 chn I/O c
nhm thnh cc cp high/low. ch ti b, chn low PWM th lun lun b cho
chn p ng I/O high.
3.1.5. Module giao tip UART
Module giao tip UART c th giao tip vi my tnh hot giao tip chun RS
232 v RS 485. N c cc tnh nng sau y
- Truyn d liu song cng 8 hoc 9 bit thng qua cc chn UxTX v
UxRX
- Ty chn Parity bit Even, Odd hoc No Parity
- Mt hoc hai stop bit

- Tch hp y tc Baud vi b chia t l 16 bit

- Tm baud c ly t 29 Bps ti 1.875 Mbps Fcy = 30 MHz
- 4 b m nhn d liu First in first out(FIFO)
- 4 b m nhn d liu FIFO
- Ngt nhn v gi
- Ch lp vng c h tr
- H tr 9 bit trong ch pht hin a ch
Hnh 3.5: S khi ca module UART

Cch tnh tc Baud
Baud rate =
( )
UxBRG == 1

V d: ta c Fcy = 4 MHz, buad rate = 9600
p ng cng thc trn ta c:
UxBRG = ((Fcy/Baud rate)/16) 1
UxBRG = ((4000000/9600)/16) 1
UxBRG = 25
Tnh ton li baud rate t s trn th ta c l 9615
Vy Error l 0.16 %
3.1.6. Module I2C

Module I2C l mt module giao tip ni tip ch yu dnh cho cc thit b

ngoi v hoc vi iu khin khc. Trong dsPIC30F cc module I2C hot ng theo
nhng h thng sau:
- dsPIC30F l mt thit b slave

- dsPIC30F l mt thit b master
- dspic30F cng c th hot ng nh mt thit b slave/mast trong mt
h thng Multi master
Cc module I2C c th cu hnh hot ng theo cc phng thc sau:
- I2C slave, vi 7 bit a ch

- I2C slave, vi 10 bit a ch
- I2C master, vi 7 hoc 10 bit a ch
Mt kt ni chun I2C s dng 2 chn SCL v SDA. Module c nhng tnh nng
di y
- Master v slave c mc logic c lp

- H tr nhiu Master
- Pht hin a ch 7 bit v 10 bit
- H tr tc truyn l 100KHz v 400Khz
Cng thc tnh ton tc truyn ca I2C
3.1.7. Module CAN

Nh cp n t trong chng 2, phn ny ch ni cch truyn nhn d
liu trong module CAN m khng cp n cc vn khc.
C rt nhiu cc thanh ghi lin quan n module CAN. Nhng m cc thanh

ghi c chia thnh cc phn nh sau:
- Thanh ghi iu khin v trng thi

- Thanh ghi ca b m nhn
- Thanh ghi ca b m gi
- Thanh ghi iu khin tc c truyn
- Thanh ghi iu khin trng thi ngt
Cc tnh nng ca module CAN trong dsPIC30F6010A
- H tr cc chun CAN 1.2, CAN 2.0A v CAN 2.0B

- Khung truyn c dng chun v dng m rng

- D liu truyn ln t 0 n 8 byte
- C th hot ng tn s 1 Mbit/sec
- H tr khung truyn yu cu d liu
- C 2 b nh m nhn vi 2 mc u tin cho mi tin nhn lu tr
- C y 6 b lc nhn(chun/m rng), 2 c gn vi cc b m u
tin nhn cao v 4 c gn vi cc b m u tin nhn thp
- C 2 mt n lc mt th dnh cho b m cao v mt cho b m thp
- C 3 b nh m dng nhn vi cc ng dng u tin v kh nng huy
b
- C chng trnh bo thc tch hp vi b lc thng thp
- H tr ch lp chng trnh t kim tra
- Ngun xung clock c th thay i c
- C ch ng
Sau y s l h vic tm hiu ch truyn nhn tin nhn trong mng CAN
3.1.7.1. Nhn tin nhn

Vic nhn tin nhn gm nhng khu nh x l tin nhn, nhn dng ID tin
nhn ri truyn vo b m sau ly ni dung tin nhn ra.
B m nhn tin nhn
Trong module CAN ca dsPIC30F c 3 b m nhn d liu. Tuy nhin,

mt trong nhng b m ny lun lun kim tra bus cc tin nhn n. b m ny
c gi l Message Assembly Buffer (MAB). V vy ch cn c 2 b m cho
ngi s dng dng l RXB0 v RXB1 c th nhn cc tin nhn t ngi node
khc.
Cc b m MAB gia lin lc vi dng bus cho php truy cp song

song vi ton b d liu v chuyn chng cho cc b nh m ngi s dng.
Ngoi ra, trc khi nhn tin nhn th s kim tra ID c ng vi b lc tin
nhn ca node khng. Nu ng th s nhn tin nhn , cn khng th s khng
nhn. Mi mt b nh m c mt b lc ring cho mnh c th nhn c cc
tin nhn ng vi yu cu ca ngi s dng
Vi b m RXB0 c mc u tin cao hn v c hai b lc lc cc

tn hiu ca n, tng t vi RXB1 th c u tin thp hn nhng n c ti 4 b
lc chp nhn tin nhn. Khi cc b lc ny nhn ng tn hiu ca mnh th s
truyn tn hiu xung l c nhn tin nhn hay khng. Sau y l s khi hot
ng ca vic nhn tin nhn

Hnh 3.6: s khi th hin vic nhn tin nhn trong module CAN
3.1.7.2. Gi tin nhn
Trong vic truyn dn tn hiu trong mng CAN, cc node phi c kh nng
chim lnh v gi bus ng truyn, khi mt tin nhn c truyn ln bus th cng
phi gi mt tn hiu v CPU cho CPU cp pht li b m th hai.
Trong module CAN c 3 b m truyn tn hiu l TXB0, TXB1, TXB2.

Khi mt b m ang dng truyn ti th hai b m cn li s sn sng
truyn ti ngay khi b m kia truyn xong.
Mi b m trn c th cha c 14 byte d liu, trong c ti a 8 byte

l ni dung ca tin nhn truyn i, 5 byte gi kiu tiu chun hay m rng. Byte
cui cng l kim sot lin quan ti mi tin nhn. cc thng tin trong ny s xc
nh cc iu khin m tin nhn s c truyn i

Hnh 3.7: s khi th hin vic gi tin nhn trong module CAN
3.1.7.3. Ngt trong module CAN
Trong module c nhiu ngun ngt. Mi ngun ngt c th do ngi dng
kch hot hoc v hiu ha. Thanh ghi CiINTF cha c ngt, CiINTE kim sot cho
php ngt. Khi cc ngun ngt c bt th c ngt tng ng c bt theo, cc c
ngt th cn c reset hot ng ngt tip theo c din ra
Trong module CAN c 2 ngung ngt chnh l ngt nhn v ngt gi
Nhng ngun ngt Nhn:
- Ngt nhn
- Ngt Wake up
- Ngt trn b nh m
- Ngt cnh bo nhn
- Ngt li nhn th ng
Nhng ngun ngt Gi:
- Ngt gi
- Ngt cnh bo gi
- Ngt li pht th ng
- Ngt khi bus khng hot ng
3.2. Nghin cu, thit k b FUZZY PID
3.2.1. S iu khin s dng FUZZY PID
S khi ca m hnh FUZZY PID

Hnh 3.8: M hnh FUZZY PID
Cc tham s Kp, Ki, Kd c chnh nh theo tng b iu khin m ring

bit da trn sai lnh e(t) v o hm de(t). C nhiu phng php khc nhau
chnh nh b PID.
3.2.2. Lut chnh nh PID
Hnh 3.9: Lut chnh b thng s PID

- Ln cn a1 ta cn lun iu khin mnh rt gn thi gian ln, do vy
chn Kp ln, Kd nh, Ki nh
- Ln cn b1 ta tranh vt l ln nn chn Kp nh, Kd ln, Ki nh
- Ln cn c1 v d1 ging vi ln cn a1 v b1.
- Khi gi tr tuyt i ca sai lnh ln ta cn c ma trn quan h chnh
nh(bng lut hp thnh m) cc thng s Kp, Ki, Kd thng s c dng
i xng qua ng cho chnh hoc ph
- Suy on c logic da vo gi tr cc bin ngn ng u vo
V d:
de(t )
Khi gi tr sai s e(t) l m nhiu v gi tr o hm sai s cng m
dt
nhiu th phi tng gi tr h s Kp ln nht cn gi tr Ki, Kd th nh nht
de(t )
Khi gi tr sai s e(t) l m t v gi tr o hm sai s cng m t th ta
dt
s gim gi tr Kp i v tng cc gi tr Kd, Ki ln so vi ban u.

C nh th, ta s xy dng bng lut hp thnh vi cc nguyn tc nh trn,

nhng nh cc nguyn tc ny khng tht s chnh xc trong cc trng hp c th.
Ngoi ra, phng php thit k c da vo nguyn tc th sai sa.
3.2.3. Thit k b FUZZY PID

Cc bin ngn ng nh sau:
u vo: 2 bin
- Sai lnh ET = tc do tc t
ET (i 1) E (i)
- o hm sai lnh DET , Vi T l chu k ly mu ( y
T
vi T = 75 ms)
u ra: 3 bin
- Kp: h s t l
- Ki: h s tch phn
- Kd: h s vi phn
S lng bin ngn ng l 7 bc
- ET = {m nhiu, m va, m t, zero, dng t, dng va, dng nhiu}

= {NB, NM, NS, ZO, PS, PM, PB}
- DET = {m nhiu, m va, m t, zero, dng t, dng va, dng
nhiu} = {NB, NM, NS, ZO, PS, PM, PB}
- Kp = {rt nh, nh va, nh t, khng, ln t, ln va, rt ln} = {NBP,
NMP, NSP, ZOP, PSP, PMP, PBP}
- Ki = {rt nh, nh va, nh t, khng, ln t, ln va, rt ln} = {NBI,
NMI, NSI, ZOI, PSI, PMI, PBI}
- Kd = {rt nh, nh va, nh t, khng, ln t, ln va, rt ln} = {NBP,
NMD, NSD, ZOD, PSD, PMD, PBD}
Tm gi tr
- ET = [-15; 15], DET = [-15; 15]

- Kp = [0.1; 0.7], Ki = [0.00005; 0.00035], Kd = [0.01; 0.07]


Hnh 3.10: Th hin cc bin ngn ng vo ra

Bng hp thnh
Ta s c tng cng 7x7x3 = 147 lut IF THEN
DET
Kp
NB NM NS ZO PS PM PB
NB PBP PBP PMP PMP PSP ZOP ZOP
NM PBP PBP PMP PSP PSP ZOP ZOP
NS PMP PMP PMP PMP ZOP ZOP NSP
ET ZO PMP PMP PSP ZOP NSP NSP NMP
PS PSP PSP ZOP NSP NSP NMP NMP
PM PSP ZOP NSP NMP NMP NMP NBP
PB ZOP ZOP NMP NMP NMP NBP NBP
Bng 3.1: Bng hp thnh Kp

DET
Ki
NB NBI NBI NMI NMI NSI ZOI ZOI
NM NBI NBI NMI NSI NSI ZOI ZOI
NS NMI NMI NMI NMI ZOI ZOI PSI
ET ZO NMI NMI NSI ZOI PSI NSI PMI
PS PSI PSI ZOI PSI PSI PMI PMI
PM PSI ZOI PSI PMI PMI PMI PBI
PB POI ZOI PMI PMI PMI PBI PBI
Bng 3.2: Bng hp thnh Ki

DET
Kd
NB NBD NBD NMD NMD NSD ZOD ZOD
NM NBD NBD NMD NSD NSD ZOD ZOD
NS NMD NMD NMD NMD ZOD ZOD PSD
ET ZO NMD NMD NSD ZOD PSD NSD PMD
PS PSD PSD ZOD PSD PSD PMD PMD
PM PSD ZOD PSD PMD PMD PMD PBD
PB POD ZOD PMD PMD PMD PBD PBD
Bng 3.3: Bng hp thnh Ki

Chn lut hp thnh m l: Chn lut MAX MIN
Gii m: Gii m theo phng php trung bnh trng s
Sau khi ly c cc thng s ca b Kp, Kd, Ki th ta s a vo gii thut PID

tnh ton gi tr iu rng xung
Sau y l b PID s c thc hin thnh 1 mt hm PID tnh gi tr iu rng

xung. B PID ny c thc hin trn nn tng PID s
M ngun nh sau:
unsigned int speed_pid(unsigned int speed_dat,float kp,float ki,float kd)
error2 = speed_dat - AngPos; //tnh ton sai s
sum_error = sum_error + error2; //Tng sai s
error_deta = error2-error1; //Do hm sai s
p_term = error2 * kp; //tnh Kp
i_term = sum_error*ki*0.075; //tnh Ki
d_term = error_deta*kd*13.3; //tnh Kd
PWM = PWM + (p_term + i_term + d_term);
error1 = error2;
if (i_term>65536) i_term=65536;
if (i_term<-65536) i_term=-65536;
if(PWM >= 10000)

PWM = 9999;
else if(PWM <= 0)
PWM = 0;
else
PWM = PWM;
return PWM;
3.3. Giao din iu khin v s nguyn l ca phn cng

3.3.1. Giao din iu khin trn my tnh
Giao din trn my tnh c vit trn phn mn Visual basic 6.0 ca Microsoft.
Giao din gm 2 phn chnh l iu khin v quan st th ca tc khi gi v

qua cng COM.
Sau y l hnh nh ca ti c thit k trn my tnh
Hnh 3.11: Giao in Setup tc chy

Hnh 3.12: Giao din chnh

3.3.2. S nguyn l ca phn cng
Trong ti c chia thnh 3 module. Nhng cc s nguyn l ca cc khi
mch trong ti c s dng cc khi nguyn l nh sau
Di y l s tng qut ca phn cng

Hnh 3.13: S tng qut ca ti
Hnh 3.14: S khi ca Module 0
Hnh 3.15: S khi ca Module 1 v Module 2

3.3.2.1. Khi vi iu khin

Hnh 3.16: khi vi iu khin

Khi vi iu khin c trch nhim x l tt c cc hot ng ca ton b module.
C gn do ng thch anh 10 Mhz, c nt nhn reset h thng v c th np
chng trnh cho vi iu khin thng qua chun ICSP ca Microchip
3.3.2.2. Khi giao tip my tnh
Hnh 3.17: Khi giao tip my tnh

Khi ny c chc nng truyn d liu ni tip hai chiu gia my tnh v thit b
ngoi vi(vi iu khin)
- Cng ni tip truyn mc 1 t -3V n -12V v mc 0 t +3V n +12V,

nn tnh chng nhiu tng i tt, cho php truyn xa

- S lng dy kt ni t, c 3 dy: TxD(dy truyn), RxD(dy nhn),

GND( mass)
- Cc mch logic thng dng in p 5V do cn h tr chuyn i in
p hot ng gia vi iu khin v my tnh. IC chuyn mc y l
MAX232 dng chuyn mc TTL CMOS.
3.3.2.3. Khi giao tip mng CAN
Hnh 3.18: Khi giao tip mng CAN

Khi s dng module CAN trong vi iu khin dsPIC30F6010A cn phi c IC li
cho mng CAN(transceiver) l MCP2551 ca hng Microchip vi cc chc nng
chnh sau:
- Tc thu pht ti a l 1Mbit/s khong cch 40m

- H tr kt ni 32 node trn mng CAN m khng cn dng th cc thit
b khc
- Nu l node cui cng trn ng truyn th kt thc bng in tr 120
Ohm vo 2 y tn hiu vi sai chng nhiu
- 2 led dng bo trng thi pht v nhn ca node
3.3.2.4. Khi thi gian thc
Khi ny ch c trn module iu khin trung tm, n c chc nng chy thi gian
thc c th hn gi cho h thng chy theo yu cu.

Hnh 3.19: Khi thi gian thc

IC thi gian thc c s dng y l DS1307 ca hng Dallas. Giao tip vi vi
iu khin qua chun giao tip I2C
- Lc ny, vi iu khin lm Master

- IC DS1307 lm Slave
- Pin Lithium 3V l ngun cung cp d phng cho IC DS1307 m bo
h vn chy khi mt ngun
Vi nt v hot ng ca IC DS1307
Tn s dao ng thch anh c s dng l 32.768 kHz, khng cn in tr

cng nh cc t gm thm
L mt IC hot ng vi ch thi gian thc, cng sut thp, s dng m

BCD, c 56 byte ram ni. a ch cng nh d liu c ghi v c theo chun giao
tip I2C
IC DS1307 cung cp cc thng tin v giy, pht, gi, ngy, thng, nm,
thng tin v nm. IC ny cng t iu chnh cho nhng thng c t hn 31 ngy v
bao gm lun c nm nhun
Hot ng hai ch : ch 12 gi v ch 24 gi
3.3.2.5. Khi hin th LCD

Trn 2 module iu khin ng c th dng LCD 2x16 cn trn module iu
khin trung tm th dng LCD 4x20.

Hnh 3.20: Khi hin th

S dng LCD ch na byte(4 bit) nn ch cn dng 4 bit d liu l D4 n D7
3.3.2.6. Khi mch ngun 5V
Hnh 3.21: khi ngun 5V

Khi mch ny dng 2 IC n p l LM7812 v LM7805 n p 5V cung
cp in cho ton b h thng
Khi ny c chc to in p 5V/1A sau khi bin i in p 12VAC/3A t

cu diode. Nt nhn trng thi ON/OFF kim sot hot ng ca mch
T lc ngun 2200 uF/25V dng lm phng in p sau chnh lu cho

vo IC n p 7812. Cc t 104 c chc nng chng nhim cho ngun in.
Cui cng c 2 n LED bo hiu in p u ra tng ng vi 5V v 12V
3.3.2.7. Khi mch iu khin ng c

Hnh 3.22: Khi iu khin ng c

Khi iu khin ng c c chc nng iu khin ng c theo PWM ca vi iu
khin xut ra. Ngoi ra, n cn c chc nng cch ly gi ngun iu khin v ngun
cng sut thng qua opto LTP 251. Sau y ta s tm hiu mt s IC trong mch
cng sut ny
IC LMD18200
- C cc chn iu khin PWM, thng, o chiu

- C chn cnh bo qu dng, qu nhit
- Dng nh 6A trong 200ms v dng lin tc c duy tr mc 3A
- in p cp vo c th ln n 55 VDC
- C th t ngt hot ng khi nhit vt qu 175oC
IC LTP 251
L opto quang cch ly tc cao, dng cch ly gia ngun iu khin v

ngun ng lc
IC 74HC04
L IC ng ra o, c chc nng o tn hiu ca vi iu khin trc khi qua

b opto(vi khi qua opto th tn hiu b o ngc thm ln na)
Cui cng l IC n p 7812 dng lm ngun cho cc chn tn hiu ca

khi cng sut
Ngun 24VDC c ly t b ngun cng nghip Omron vi cng sut l

150W. cho ngun ra lin tc l 24V/7A. b ngung ny rt ph hp vi yu cu ca
hai ng c
3.3.2.8. Hnh thc t ca ton b m hnh

M hnh c chia thnh 3 module ring bit v kt ni vi nhau thng qua

mng CAN. Ngoi ra, cn c thm mt m hnh ti cho ng c kim tra thut
ton iu khin. sau y l m hnh thc t
Hnh 3.23: M hnh phn cng
Hnh 3.24: M hnh ti ca ti

3.4. Cch thc iu khin

3.4.1. iu khin giao din t my tnh
Trong ti ny, ti xy dng mt giao din trn nn tng Visual Basic 6.0,
khi m giao din ln, bn cn kt ni vi cng COM. Sau vo ci ch chy v
tc chy. Nu nh bn chn ch ng b th ch cn nhp duy nht mt tc
cho h thng, cn nu nh bn chn ch bt ng b th cn nhp 2 tc cho
ng c(c th cho chy cng tc hay khc tc cng c) nhng tc
c gii hn t 100 vng/pht n 2700 vng/pht.
Ngoi ra, bn c th hn gi chy cho h thng hoc khng hn gi cho h

thng cng c. Nu hn gi chy ca h thng th ti a l 9999s chy. sau
truyn cc thng s nhp xung vi iu khin. l cc bc iu khin
Hnh 3.25: iu khin h thng t giao din

hnh trn, ta c th thy rng ang chn ch bt ng b vi tc
node 1 l 1426 vng/pht v tc node 2 l 1748 vng/pht. Thi gian chy ca
h thng l 350s s dng.
Cui cng nu mun chnh sa ch chy v tc chy th bn cn lm

li nhng bc nh trn
3.4.2. M truyn nhn ca h thng

Khi iu khin trn my tnh, my tnh s gi mt chui d liu gm c 13
byte xung vi iu khin, hoc khi nhn cng nhn 13 byte t vi iu khin bit
trang thi hot ng cng nh tc ca h thng
Hay l cc m truyn nhn trong mng CAN cng c trnh by trong

phn ny

3.4.2.1. M gi i v nhn v my tnh
M Gi i
SYNC Tc node 1 Tc node 2 Thi gian chy
A 1 2 0 0 1 2 0 0 N N N N
- SYNC: l ch chy ca h thng vi: A l ch chy ng b, B

l ch chy bt ng b
- Lc ny tc node 1 v node 2 s t ng cp nht bng nhau
- 4 byte cui cng l thi gian chy ca h thng, vi v d trn l
NNNN th h thng s hiu l khng hn gi chy
M nhn v t h thng
SYNC Tc node 1 Tc node 2 Thi gian chy

B 1 2 1 8 1 1 9 7 0 0 7 8
- Lc ny h thng ang chy ch bt ng b vi SYNC = B

- Vi node 1 c tc l 1218 vng/pht, tc node 2 l 1197 vng/pht
- Thi gian chy c ca h thng l 78(s)
3.4.2.2. M truyn nhn trong mng CAN
Trong mng CAN, d liu truyn i ch c 8 byte nn ta s lm nh sau:
ch ng b
Node 0 s truyn i m nh sau
Tc ng b M nhn ch ng b
1 3 6 8 F F F F
Node nhn v tc o ca 2 node nn c dng nh sau
Tc node 1 Tc node 2
1 3 5 6 1 3 6 1
Vi node 1 th s nh sau
M nhn v t node 0
1 3 6 8 F F F F

M gi i, l ly tc o tht thay vo m nhn v ri gi sang node 2
1 3 5 6 F F F F
Vi node 2 th s lm nh sau:
M nhn v t node 2
1 3 5 6 F F F F
1 3 5 6 1 3 6 1
Ch bt ng b
ch bt ng b th cng gn ging nh ch ng b nh m gi i lc ny
s y tc ca 2 node, nn ch vic a vo nhn v gi i thi
Node 0 s truyn i m nh sau
1 5 0 0 1 9 0 0
Node nhn v tc o ca 2 node nn c dng nh sau
Tc node 1 Tc node 2
1 4 9 2 1 9 1 1
Vi node 1 th s nh sau
M nhn v t node 0
1 5 0 0 1 9 0 0

1 4 9 2 1 9 0 0
Vi node 2 th s lm nh sau:
M nhn v t node 2
1 4 9 2 1 9 0 0
1 4 9 2 1 9 1 1
Trn y l ton b cch nhn v truyn tc , cng nh ch chy tronh h

thng
3.5. Lu gii thut

3.5.1. Lu gii thut ca module 0

Bt u
Khi ng cc khi
chc nng
Hin th cho ban

u
Sai
Nhn d liu t PC ?
ng
Phn loi d liu v

ch chy
Khng ci t thi
Sai Chy bt gian chy
Chy ng b ?
ng b
ng
Gi d liu qua
mng CAN
Sai
C thi gin khng ?
Sai
ng
C d liu t mng CAN
m thi
gian ng
Nhn d liu v t
mng CAN
Sai
thi gian cha ?
Gi d liu ln
ng PC
Dng ng c Hin thng tin v h

thng ln LCD 4x20
Kt thc

3.5.2. Lu gii thut ca Module 1, Module 2
Bt u
Khi ng cc khi
chc nng
Hin th cc thng
tin ban u
Sai
CAN nhn d liu
ng
Ci t ch chy
v tc
Ly tc ca
ng c
Sai
Sai s = 0 ? Thut ton
FUZZY
ng
Thut ton PID
iu khin ng c
theo thut ton
Gi tc ca ng c v ch
chy ln mng CAN
Cp nht tc ln LCD 2x16
Kt thc

Chng 4: Kt qu t c v hng pht trin GVHD: Th.S Phan Vinh Hiu
CHNG 4
KT QU T C V HNG PHT TRIN
CA TI
4.1. Mt s hnh nh v hot ng ca h thng
Lu : ng th mu l tc t node 1, ng th my xanh dng l
ng tc t node 2, tng ng vi ng mu en l tc do node 1 v
ng mu xanh l cy l tc o node 2
Hnh 4.1: Hnh th hin tc trn th

Hnh 4.2: Hnh thc t ca Module 0
Hnh 4.3: Hnh thc t ca Module 1

ch chy bt ng b, tc ca hai node sai s rt t, thi gian ln v
thi gian xc lp c th chp nhn c ( t len 0.9 giy , t xl 1.7 giy), vt l hu
nh l rt nh hoc khng c vt l.
C th thy rng, khi iu khin ch bt ng b th b iu khin tt tc cc

phng din nh vt l, sai s xc lp, thi gian xc lp. qu c th thy rng b iu khin
p ng c yu cu ca ti l iu khin c tc .
ch ny, mi ng c c th chy mt tc ring bit m khng ph thuc vo tc

ca ng c kia.

Hnh 4.4: th tc ch ng b
Hnh 4.5: Hnh thc t ca module 0 ch ng b


ch chy ng b, ta c th nhn thy rng tc ng c mt c th
p ng c cc yu cu nh thi gian xc lp, vt l, sai s xc lp tt. ng
c chy n nh mt tc t trc t ngi dng
Tuy nhin, tc ng c 2 th c thi gian xc lp chm hn so vi ng

c mt. iu ny l tt nhin, v khi tc ng c 1 chy n u th ng c 2
chy n . Do s c hin tng tr nh trn.
S c gng khc phc iu ny khi nng tc truyn dn ca mng CAN

cng nh tc ly mu ca ng c. Sau cng ta s iu chnh li thut ton c
c kt qu nh mong mun
4.2. Cc kt qu t c
- thit k v hon thit c phn cng gm: 2 module iu khin 2
ng c v 1 module iu khin v gim st h thng. M hnh phn
cng hot ng n nh
- xy dng c b iu khin FUZZY PID trn nn vi iu khin
DSPIC30F6010A 2 module iu khin ng c. n nh c tc
ng c vi: p ng qu tt, thi gian ln v thi gian xc lp
tng i nhanh, vt l thp v sai s xc lp rt nh
- vit thnh cng b iu khin FUZZY PID trn vi iu khin vi
ngn ng C
- ng b c tc ca 2 ng c vi nhau v c th thay i c
tc mong mun
- xy dng thnh cng mng iu khin v gim st theo giao thc
CAN. Vic iu khin v trao i d liu gia cc module vi nhau
nhanh(1Mbps) v hot ng n nh.
- Kt ni vi iu khin v my tnh vi nhau theo chun RS232. thit k
c phn giao din iu khin trn nn Visual Basic 6. Trn giao din
c th iu khin v gim st h thng nh ci t tc , ch chy v
thi gian chy. Ngoi ra, trn giao din c th thu thp c tc o
ca 2 ng c, sai s ca 2 ng c v v c th kim chng
4.3. Mt s hn ch ca ti
- ng c s dng c tc thp vi tc ti a l 2800 vng/pht, b
iu khin FUZZY PID trong ti c th iu khin tt ng c trong
khong t 100 vng/pht n 2700 vng/pht. Vi vic s dng encoder
200 xung/vng th khng th iu khin c tc nh hn 100
vng/pht

- Trong ch ng b, thi gian ln ca ng c 2 cn chm v khng

theo kp vi thi gian ln ca ng c 1. C th nghin cu thm lm
gim thi gian ln ca ng c hai so vi ng c mt
4.4. Hng khc phc cc hn ch v pht trin ti
4.4.1. Hng khc phc
- C th s dng cc loi encoder c phn gii cao hn nh: 500
xung/vng hay 1000 xung/vng c th iu ch c tc nh hn
100 vong/pht.
- Tng thi gian truyn nhn v gii quyt thut ton c th iu khin
thi gian ln v thi gian xc lp ca ng c 2 tht tt so vi ng c .
c th s dng cc b pht tc phn hi tc tht ca ng c mt v
cho ng c 2.
4.4.2. Hng pht trin ca ti
- Thit k li khi mch cng sut c cong sut ln hn c th iu
khin c cc ng c DC trong cng nghip
- Nghin cu thm v b pid m trong ti c th pht trin thnh b
iu khin pid m thch nghi c th iu khin cht lng tt hn
- Ngoi vic iu khin tc ng c, c th kt hp vi iu khin
momnet c th s dng trong cc bng truyn, cc my cun giy cn
thay i ng knh cun giy
- C th m rng p dng nh mt h thng SCADA thc th nhm
iu khin v gim st tt c cc dy truyn trong nh my
- C th kt hp vi cc h thng in thoi, internet lin kt cc nh
my li vi nhau to thnh 1 h thng ln v c th iu khin t xa

Ti liu tham kho GVHD: Th.S Phan Vinh Hiu
TI LIU THAM KHO

Ti liu Ting Vit
[1] Nguyn Th Phng H, Hunh Thi Hong, L thuyt iu khin t ng,
Nh xut bn i hc quc gia TP H Ch Minh, 2003
[2] Nguyn Th Phng H, Hunh Thi Hong, L thuyt iu khi hin i, Nh

xut bn i hc quc gia TP H Ch Minh, 2007
[3] Bi Cng Cng, Nguyn Don Phc, H m, mng nron v ng dng, Nh

xut bn khoa hc v k thut, 2001
[4] Phan Xun Minh, Nguyn Don Phc, L thuyt iu khin m, Nh xut bn
khoa hc v k thut, 2004
[5] u Quang Tun, T hc lp trnh Visual Basic, Nh xut bn giao thng vn

ti, 2005
[6] L Trng Lc, Hc nhanh Visual Basic, Nh xut bn thng k, 2001
[7] Nguyn c Thnh, o lng v iu khin bng my tnh, Nh xut bn i

hc quc gia TP H Ch Minh, 2005
[8] Nguyn Gia Minh Tho, iu khin m v giao thc CAN trong ng b tc
h ng c DC, Lun vn tt nghip i hc, i hc Bch khoa TP. HCM,
2009
Ti liu Ting Anh

[9] Roland S. Burns, Advanced Control Engineering, Professor of Control
Engineering Department of Mechanical and Marine Engineering University of
Plymouth, UK, ISBN 0 750651008
[10] Guanrong Chen, Trung Tat Pham, Fuzzy sets, Fuzzy Logic and Fuzzy Control
Systems, ISBN 0-8493-1658-8
[11] Kevin M. Passino, Stephen Yurkovich, Fuzzy Control, ISBN 0-201-18074-X
[12] Timothy J. Ross, Fuzzy logic with engineering applications, University of

New Mexico, USA, ISBN 0-470-86074-X
[13] Walter Banks, Gordon Hayward, Fuzzy logic in Embedded Microcomputers

and Control Systems, 1993
[14] Hugo Provencher, Controller Area Networks for Vehicles, 2012

Ti liu tham kho GVHD: Th.S Phan Vinh Hiu
[15] Keith Pazul, Controller Area Networks Basics, AN713, Microchip

Technology Inc
[16] Steve Corrigan, Introduction to the Controller Area Network, Texac

Instruments
[17] DSPIC30F6010A Data sheet, Microchip Inc
Website
[18] www.google.com.vn
[19] www.wikipedia.org
[20] www.microchip.com
[21] www.ti.com
[22] www.dientuvietnam.net
[23] www.picvietnam.com
[24] http://www.specifications.nl

PH LC
Ph lc 1:
V code iu khin trn vi iu khin qu di. Nn ti ch cp n code iu

khin trn my tnh. Cn code ca vi iu khin th s c trong a CD km theo
Giao din chnh

'Nut chon toc do baud
Private Sub Baud11_Click(Index As Integer)
Dim i As Integer
Dim CurPortOpen As Boolean
For i = 1 To 10
If (i = Index) Then
Baud11(i).Checked = True
Select Case Index
Case 1 ' 1200
NewSettings = "1200,,,"
Case 2 ' 4800
Case 3 ' 9600
Case 4 ' 14400
Case 5 ' 19200
Case 6 ' 28800
Case 7 ' 38400
Case 8 ' 56000
Case 9 ' 115200
Case 10 ' 128000
NewSettings = "128000,,,"""
End Select
Else
Baud11(i).Checked = False
End If
Next i
'MSComm1.Settings = NewSettings
xacthuc1 = 5
End Sub
Private Sub cmd_Increase_Click()
If Form1.MSComm1.PortOpen = True Then
Form1.MSComm1.Output = "Z000000000000"
Else
MsgBox "Chua Ket Noi Cong COM"
End If
End Sub
Private Sub cmd_STOP_Click()
Form1.MSComm1.Output = "X000000000000"
Else
MsgBox "Chua Ket Noi Cong COM"
End If
End Sub
Private Sub Command1_Click()
Form2.Show
End Sub
If MSComm1.PortOpen = True Then
MsgBox "Dang SU DUNG cong COM" & vbCrLf & " Huong dan: Click vao menu HUY KET NOI , sau
do Click vao THOAT", , "CANH BAO"
Exit Sub
End If
Unload Me
End Sub
'chon cong COM
Private Sub ComPort11_Click(Index As Integer)
Dim i As Integer
Dim OldPort As Long
With MSComm1
OldPort = .CommPort
If MSComm1.PortOpen Then
.PortOpen = False
.CommPort = Index
.PortOpen = True
If Err.Number <> 0 Then ' This should not happen...
MsgBox "Com" & Index & " Khong Ton Tai" & _
vbCrLf & Err.Description
Err.Clear
.CommPort = OldPort
Else
For i = 1 To 9
ComPort11(i).Checked = False
Next i
ComPort11(Index).Checked = True
End If
Else
.CommPort = Index
For i = 1 To 9
ComPort11(i).Checked = False
Next i
ComPort11(Index).Checked = True
End If
End With
xacthuc0 = 5
End Sub
'ket noi cong com
Private Sub Connect1_Click()
If xacthuc0 = 5 Then
If xacthuc1 = 5 And xacthuc2 = 5 And xacthuc3 = 5 And xacthuc4 = 5 Then
With MSComm1
If .PortOpen = True Then
.PortOpen = False
Connect1.Caption = "Connect"
Else
If Err.Number <> 0 Then
MsgBox "Com" & .CommPort & " Khong ton tai." & vbCrLf & _
Err.Description
Err.Clear
End If
Connect1.Caption = "Disconnect"
With MSComm1
'.CommPort = Combo1.Text
.Settings = NewSettings 'baud 9600bps, none parity, 8 bit data, 1 bit stop
.InBufferSize = 1024
.InputLen = 0
.RThreshold = 1
.SThreshold = 1
.OutBufferSize = 512
'.InputMode = comInputModeBinary // dung de truyen so
.InputMode = comInputModeText
.PortOpen = True
End With
End If
End With
Else
MsgBox "Chua chon het cac thong so cong com"
End If
Else
MsgBox "Chua Chon Cong COM"
End If
End Sub
'chon data bit
Private Sub Databit11_Click(Index As Integer)
Dim i As Integer
For i = 5 To 8
If (i = Index) Then
Databit11(i).Checked = True
Select Case Index
Case 5 '5
NewSettings = ",,5,"
Case 6 '6
Case 7 '7
Case 8 '8
End Select
Else
Databit11(i).Checked = False
End If
Next i
xacthuc2 = 5
'SetPort (NewSettings)
End Sub
Private Sub Form_Load()
'Label1.Caption = DateTime.Now()
Timer1.Enabled = False
Timer1.Enabled = True
Label1.Caption = Format(Now, "hh:nn:ss" & " - " & "dd/mm/yy")

End Sub
Private Sub ketnoinhanh_Click()
If MSComm1.PortOpen = False Then
With MSComm1
.CommPort = "4"
.Settings = "9600,N,8,1" 'baud 9600bps, none parity, 8 bit data, 1 bit stop
'.Settings = Combo2.Text & "," & Combo4.Text & "," & Combo3.Text & "," & Combo5.Text
.InBufferSize = 1024
.InputLen = 0
.RThreshold = 1
.SThreshold = 1
.OutBufferSize = 512
'.InputMode = comInputModeBinary // dung de truyen so
.InputMode = comInputModeText
.PortOpen = True
Connect1.Caption = "Disconnect"
ketnoinhanh.Caption = "Ngat Ket Noi"
End With
Else
MSComm1.PortOpen = False
Connect1.Caption = "Connect"
ketnoinhanh.Caption = "Ket Noi Nhanh"
End If
' Connect1.Caption = "Disconnect"
End Sub
Private Sub lbl_nhan_Click()
End Sub
Private Sub MSComm1_OnComm()
'Form1.Text1.Text = Form2.txt1.Text
'Form1.Text2.Text = MSComm1.Input
txt_nhan.Text = MSComm1.Input
chedochay = Mid(txt_nhan.Text, 1, 1)
tdo_node1.Text = Mid(txt_nhan.Text, 2, 4)
tdo_node2.Text = Mid(txt_nhan.Text, 6, 4)
txt_phutve.Text = Mid(txt_nhan.Text, 10, 4)
If chedochay = "A" Then
'chuyen thanh so
txt0_node2.Text = tdo_node1.Text
dat1 = Val(Form1.txt0_node1.Text)
donode1 = Val(Form1.tdo_node1.Text)
Form1.txt_THONG_SO = " "
Form1.txt_THONG_SO = "* Che do chay: Dong Bo"
Form1.txt_THONG_SO = Form1.txt_THONG_SO & Chr(13) & Chr(10) & "* Toc do Chung: " +
Form2.txt_dongbo + " R.P.M"
Form1.txt_THONG_SO = Form1.txt_THONG_SO & Chr(13) & Chr(10) & "* Thoi gian dat: " +
Form2.txt_phut + " Giay"
Form1.txt_THONG_SO = Form1.txt_THONG_SO & Chr(13) & Chr(10) & "* Thoi gian chay: " +
txt_phutve + " Giay" ' nhan thoi gian con lai vao day
'tinh toan sai so
saiso1 = Round(100 * Abs(dat1 - donode1) / dat1, 2)
txt_saiso1 = saiso1
txt_saiso2 = saiso2
'luu gia tri vao mang
MANG1(biendem) = dat1
MANG3(biendem) = donode1
'dich chuyen truc
If biendem / 20 > 20 Then
TChart1.Axis.Bottom.SetMinMax biendem / 20 - 19, biendem / 20
TChart1.Series(0).AddXY biendem / 20, MANG1(biendem), "", vbBlue
TChart1.Series(1).AddXY biendem / 20, MANG2(biendem), "", vbRed
TChart1.Series(2).AddXY biendem / 20, MANG3(biendem), "", vbGreen
TChart1.Series(3).AddXY biendem / 20, MANG4(biendem), "", vbBlack

Else
End If
End If
If chedochay = "B" Then
'chuyen thanh so
Form1.txt_THONG_SO = "* Che do chay: Bat Dong Bo"
Form1.txt_THONG_SO = Form1.txt_THONG_SO & Chr(13) & Chr(10) & "* Toc do Node 1: " +
Form2.txt_node1 + " R.P.M"
Form2.txt_node2 + " R.P.M"
Form1.txt_THONG_SO = Form1.txt_THONG_SO & Chr(13) & Chr(10) & "* Thoi gian dat: " +
Form2.txt_phut + " Giay"
txt_phutve + " Giay"
'luu gia tri vao mang
'tinh toan sai so
txt_saiso1 = saiso1
txt_saiso2 = saiso2
'dich chuyen truc

If biendem / 20 > 20 Then
TChart1.Axis.Bottom.SetMinMax biendem / 20 - 19, biendem / 20
Else
End If
End If
dem_donode2 = dem_donode2 + 1
biendem = biendem + 1
End Sub
'Nut lien he tren thanh Menu
Private Sub nguyenvantien_Click()
MsgBox "Nguyen Van Tien - lop: DHDT5A" & Chr(13) & Chr(10) & "Email:
nguyenvantien.200391@gmail.com" & Chr(13) & Chr(10) & "DAI HOC CONG NGHIEP TP.HCM" _
, vbInformation, "Lien he"
End Sub
'Chon paritybit
Private Sub ParityBit11_Click(Index As Integer)
Dim i As Integer
For i = 1 To 5
If (i = Index) Then
ParityBit11(i).Checked = True
Select Case Index
Case 1 'E
NewSettings = ",E,,"
Case 2 'M
NewSettings = ",M,,"
Case 3 'N
NewSettings = ",N,,"
Case 4 'O
NewSettings = ",O,,"
Case 5 'S
NewSettings = ",S,,"
End Select
Else
ParityBit11(i).Checked = False
End If
Next i
xacthuc4 = 5
End Sub
'Chon stopbit
Private Sub Stopbit11_Click(Index As Integer)
Dim i As Integer
For i = 1 To 3
If (i = Index) Then
Stopbit11(i).Checked = True
Select Case Index
Case 1 '1
NewSettings = ",,,1"
Case 2 ' 1.5
NewSettings = ",,,1.5"
Case 3 '2
NewSettings = ",,,2"
End Select
Else
Stopbit11(i).Checked = False
End If
Next i
xacthuc3 = 5
End Sub
Private Sub Timer1_Timer()
Label1.Caption = Format(Now, "hh:nn:ss" & " - " & "dd/mm/yy")
End Sub
Giao din ci t
If chonchedochay = 0 Or thoigianchay = 0 Then
MsgBox "Chua chon du thong so de truyen"
Else
If chonchedochay = 2 Then
kieuchay = "Dong Bo"
If thoigianchay = 2 Then
Select Case Len(txt_phut)
Case 0
MsgBox "Hay nhap thoi gian chay"
Case 1
txt_phut = "000" + txt_phut
Case 2
Case 3
Case 4
txt_phut = txt_phut
End Select
Select Case Len(txt_dongbo)
Case 0
Case 1
txt_dongbo = "000" + txt_dongbo
Case 2
Case 3
Case 4
txt_dongbo = txt_dongbo
End Select
kiemtra = Val(txt_dongbo.Text)
If kiemtra > 2700 Then
MsgBox "Toc Do nhap vuot qua muc cho phep"
Form2.txt_dongbo.Text = "2700"
Else
If kiemtra < 100 Then
Else
maguidi = "A" + txt_dongbo + txt_dongbo + txt_phut
End If
End If
End If
kiemtra = Val(txt_dongbo.Text)
If kiemtra > 2700 Then
Else
If kiemtra < 100 Then
Else
maguidi = "A" + txt_dongbo + txt_dongbo + "NNNN"
txt_phut = "NNNN"
End If
End If
End If
Form1.txt_THONG_SO = "* Che do chay: Dong Bo"
Form1.txt_THONG_SO = Form1.txt_THONG_SO & Chr(13) & Chr(10) & "* Toc do Chung: " +
txt_dongbo + " R.P.M"
txt_phut + " Phut"
Form1.txt_THONG_SO = Form1.txt_THONG_SO & Chr(13) & Chr(10) & "* Thoi gian con lai: " +
txt_phut + " Phut" ' nhan thoi gian con lai vao day
Form1.txt0_node1 = txt_dongbo
Form1.txt0_node2 = txt_dongbo
Else
If chonchedochay = 1 Then
kieuchay = "Bat Dong Bo"
Select Case Len(txt_phut)
Case 0
Case 1
Case 2
Case 3
Case 4
txt_phut = txt_phut
End Select
Select Case Len(txt_node1)
Case 0
Case 1
txt_node1 = "000" + txt_node1
Case 2

Case 3
Case 4
txt_node1 = txt_node1
End Select
Select Case Len(txt_node2)
Case 0
Case 1
Case 2
Case 3
Case 4
txt_node2 = txt_node2
End Select
kiemtra1 = Val(txt_node1.Text)
If kiemtra1 > 2700 Then
Form2.txt_node1.Text = "2700"
End If
End If
If kiemtra1 < 100 Then
End If

End If
maguidi = "B" + txt_node1 + txt_node2 + txt_phut
End If
End If
End If
End If
End If
maguidi = "B" + txt_node1 + txt_node2 + "NNNN"
txt_phut = "NNNN"
End If
Form1.txt_THONG_SO = "* Che do chay: Bat Dong Bo"
txt_node1 + " R.P.M"
txt_node2 + " R.P.M"
txt_phut + " Phut"
Form1.txt_THONG_SO = Form1.txt_THONG_SO & Chr(13) & Chr(10) & "* Thoi gian con lai: "
+ txt_phut + " Phut" ' nhan thoi gian con lai vao day
Form1.txt0_node1 = txt_node1
Form1.txt0_node2 = txt_node2
End If
End If
'MsgBox maguidi
Form1.MSComm1.Output = maguidi
'If (Len(Form2.txt1.Text) >= 4) Then
' dat = Val(Form2.txt1.Text)
'End If
End If
Else
MsgBox "Chua ket noi Cong COM"
End If
End Sub
Private Sub Form_Load()
f_dongbo.Enabled = False
Label1.Enabled = False
txt_dongbo.Enabled = False
Label1.BackColor = &H8000000F
f_dongbo.BackColor = &H8000000F
f_batdongbo.Enabled = False
txt_node1.Enabled = False
f_batdongbo.BackColor = &H8000000F
End Sub
Private Sub op_batdongbo_Click()
If op_batdongbo.Value = True Then
f_dongbo.Enabled = False
txt_dongbo.Enabled = False
f_dongbo.BackColor = &H8000000F
f_batdongbo.Enabled = True
Label2.Enabled = True
txt_node1.Enabled = True
txt_node2.Enabled = True
Label2.BackColor = &HFFC0C0
f_batdongbo.BackColor = &HFFC0C0
chonchedochay = 1 ' che do bat dong bo
End If
End Sub
Private Sub op_dongbo_Click()
If op_dongbo.Value = True Then
f_batdongbo.Enabled = False
f_batdongbo.BackColor = &H8000000F
f_dongbo.Enabled = True
txt_dongbo.Enabled = True
f_dongbo.BackColor = &HFFC0C0
chonchedochay = 2 ' che do dong bo
End If
End Sub
Private Sub Option1_Click()
If Option1.Value = True Then
Label4.ForeColor = &H8000000F
txt_phut.Enabled = False
thoigianchay = 1 'khong su dung thoi gian
End If
End Sub
Private Sub Option2_Click()
If Option2.Value = True Then
Label4.ForeColor = &H0&
txt_phut.Enabled = True
thoigianchay = 2 'co su dung thoi gian
End If
End Sub

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B CNG THNG

TRNG I HC CNG NGHIP TP.HCM

Ging vin hng dn: Th.S PHAN VINH HIU

TP.H Ch Minh, thng 7 nm 2013

Ging vin hng dn: Th.S PHAN VINH HIU

TP.H Ch Minh, thng 7 nm 2013

H tn sinh vin: NGUYN VN TIN

M s SV: 09076481 Lp: DHDT5A

Ni dung ti: - Dng dsPIC30F6010 lm b x l trung tm.

- Tm hiu v ng dng iu khin m iu khin tc

Ging vin hng dn: Th.S PHAN VINH HIU

Ngy nhn ti:.................................................................................................

Ngy hon thnh ti: ......................................................................................

Khoa Cng Ngh in T TP.HCM, Ngy Thng Nm

B mn in T T ng Gio vin hng dn

Ging vin hng dn

Ging vin phn bin

TP.HCM, Ngy 5 Thng 7 Nm 2013

Sau , em xin by t li bit n su sc n:

Ban Gim Hiu Trng H Cng Nghip Tp H Ch Minh

Khoa Cng Ngh in T

Cc thy(c) b mn in T T ng v in t Cng Nghip

Chng em cng xin chn thnh cm n n th vin nh trng gip v to

Ti xin cm n tt c bn b ng vin, gp , gip ti rt nhiu trong qu

Em xin chc tt c cc thy c di do sc kho v thnh cng hn na trong cng

TP.HCM, Ngy 5 Thng 7 Nm 2013

Ni dung chnh ca ti c thc hin nh sau: S dng gii thut iu

Tc t ca ng c do ngi dng ci t trn my tnh, sau truyn

C 3 module u c kt ni vi nhau trong mng CAN( Controller Area

Kt qu t c tha mn tt yu cu ca ti ra: iu khin n nh

TI LIU THAM KHO ......................................................................................70

LCD: Liquid Crystal Display

PWM: Pulse Width Modulation

QEI: Quality Educator Interactive

PID: Proportional Integral Derivative

OSI: Open Systems Interconnection Reference Model

CAN: Controller Area Network

CSMA/CD: Carrier Sense Multiple Access with Collision Detect

UART: Universal Asynchronous Receiver Transmitter

I2C: Inter-Integrated Circuit

ICSP: In Circuit Serial Programming

Hnh 1.1: M hnh cun giy c 2 trc quay

Yu cu iu khin l ng c 1 v ng c 2 hot ng n nh cng mt

Qua mt v d n gin trn, ta cng c th thy rng vn ng b l

Thc Hin: Nguyn Vn Tin 1

Trong cng nghip, ngi ta c chia ng c thnh hai dng chnh l ng

1.2. Cc phng php ng b tc ng c

1.2.1. Phng php ng b tc ng c AC dng bin tn

Hnh 1.2: s khi h thng ng b ng c AC dng bin tn

u im: dng cho cc ng c AC c cng sut ln v iu khin tc

Nhc im: cn s dng bin tn cho tng ng c, nhng gi thnh ca

1.2.2. Phng php ng b tc ng c DC

Cc b iu khin 1 v 2 s dng phng php chnh lu iu khin pha

u im: h thng iu khin c hi tip nn n nh ng c rt tt, ngoi

Thc Hin: Nguyn Vn Tin 2

Nhc im: Phng php iu khin chnh lu pha th phc tp, yu cu

Hnh 1.3: s khi h thng ng b ng c AC

S dng gii thut iu khin FUZZY PID v kt hp vi vi iu khin

Nghin cu v xy dng mng CAN(Controller Area Network) truyn

Thit k v thi cng m hnh c cc mch iu khin ng c. C th y

Vit chng trnh iu khin vi 2 mc tiu ra:

Thc Hin: Nguyn Vn Tin 3

Cui cng, phi iu khin v gim st c hot ng ca ton b h thng