T R U IN G DAI HOC SIX PHAM KY THUAT DAP AN HOC KY 1, NAM HQC 19-20

t h A n h PHO HO CHI MINH Mon: HE THONG TRUYEN DONG SERVO

KHOA CO KHI CHE TAO MAY MS mon hoc: SERV424029
De so: 01; De thi co 2 trang.
BO MON CO DIEN TU* Thai gian: 75 phut.
Du&c phep sir dung tai lieu

Dap an:
Bail:
a. So1do ket noi bo dieu khien cho dong co1(0.75)
Do dpng ca luang cue 2 pha nen sir dung mach cau H tich hap (vi du: L298)

H-Bridee 1
1
1 OUT1
P0 1 IN 1
1
1
1
1
PI 1 IN 2
1
1 OUT2
1
1
CONTROLLER 1
1
1
1 OUT3
P2 1 IN 3
1
1
1
1
P3 1 IN 4
1
1 OUT4
1
H-Bridge 2

b. Tinh thoi gian delay (0.75)

r r
V ai van toe ban m ay 100 m m /s, ta tinh du g c van toe cua dong ca:
o) = 600 (RPM)
rpm 600 360
pps = x ppr — = 2000
~60~ 60 X 1.8
1
= 0.5 (ms)
2000
c.
Dua vao hinh cau a, ta co bang trang thai xuat xung cua bo dieu khien (0.75d)

P3 P2 PI P0 HEX
L H L H 0x05
H L L H 0x09
H L H L OxOA
L H H L 0x06

So hieu: BM1/QT-PDBCL-RDTV 1
Tinh so xung (0.75d)
B an m ay di chuyen 200 m m tu a n g d u a n g vdi dong c a quay 20 vong.
G oc bu d c a - 1.8°, nen so xung de dong ca quay 1 vong l a 200 (xung)
Do do, tong so xung can thiet la 4000 xung.

SVviet giai thuat theo cac ket qua tren (Id)

Bai 2: (43)
C ho s a do khoi bo dieu khien vi tri dong c a D C servo n h u hinh:

a. D oc encoder (0.5d)
Do de khong y eu cau nen SV co the chon che do x l , x2 hoac x4. G ia su chon
x2, encoder co dQ p h a n giai N (CPR )
De dpc encoder che dp x2 ta su diing 1 ngat ngoai, canh len (rising) va canh xuong
(falling). Gia su dung ngat ngoai kenh 0, (EXTI0), ket noi vdi kenh A cua encoder

Chuo'ng trinh (Id)

EXTI0_Handler() {

if ((rising)&(B==0) |(falling)&(B== 1))

count++;
else
count--;
if (count>=2*N){
count=0;
poscnt++;
}
else if (count<=-2*N){
count=0;
poscnt—;
i _________________________________

Tinh goc quay 9 :

theta = poscnt*2*pi+ count*pi/N ;
b. Viet cong thuc tinh tin hieu dieu khien u(t)? Bien doi u(t) thanh cong thuc rdi rac theo
. , . , d6
thdi diem lay mau thu k? (Biet co = — )

Dua vao sa do khoi, ta co:

r lf )
u(t) = [K p(Gr - 9 ) - ( o ] K v = K (0.75d)

______ Gia su hp dupe lay mau vdi thdi gian lay m§u T, cong thuc rdi rac:
S6 hieu: BM1/QT-PDBCL-RDTV
 G ( k ) - 0 ( k - 1)
u(k) = K p (0r - m ) - K (0.753)

c. Viet giai thuat dieu khien vj tri dong co theo cong thuc cau b? Cho u(t) = 100 tuong
duong vdi PWM = 100%.
Sir dung cong thuc cong b de viet giai thuat. Liru y, gia tri tra ve cua giai thuat phai so
sanh vdi gidi han 100. (Id)

Bai 3:
a. ( I d ) D o chuyen dpng CC W , ta co:
AV, = -2 X t +1
A*,+J= A * ;.+ 2
AYj =2Yj+l
AYJ+l=AYJ+ 2

Xo = 5,Yo = 0; Xf = 0 , Yf = 5

Step D D, d 2 d3 AY AY */ Y,
0 0 -9 1 5 0
1 1 -9 1 -8 -9 3 5 1
2 4 -8 4 -5 -9 5 5 2
3 0 -5 9 0 -7 7 4 3
4 0 -7 7 0 -5 9 3 4
5 4 -5 9 4 -3 11 2 5
6 1 1 15 12 -1 11 1 5
7 0 0 12 11 1 11 0 5

b. ( Id )

S6 hieu: BM1/QT-PBBCL-RDTV 1