B CNG THNG

TRNG I HC CNG NGHIP TP. HCM

KHOA CNG NGH IN T

N HC PHN 1

IU KHIN TC NG C DC
TRN C S PHN MM LABVIEW

Ging vin hng dn : Th.S TRN VN TRINH

Sinh vin thc hin:
Lp

: HT3A

MSSV :

07703181

Kho

2007-2011

NGUYN TIN

 n Hc Phn 1

GVHD: Th.s Trn vn Trinh

TP. H Ch Minh, thng 06 nm 2010

SVTH : NGUYN TIN

B CNG THNG

TRNG I HC CNG NGHIP TP. HCM

KHOA CNG NGH IN T

N HC PHN 1

IU KHIN TC NG C DC
TRN C S PHN MM LABVIEW

Ging vin hng dn : Th.S TRN VN TRINH

Sinh vin thc hin:
Lp

NGUYN TIN

: HT3A

MSSV :

07703181

Kho

2007-2011

TP. H Ch Minh, thng 06 nm 2010

 n Hc Phn 1

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LI M U
Trong qu trnh cng nhgip ha- hin i ha t nc. T ng ha l yu t
khng th thiu trong mt nn cng nghip hin i. Ni n t ng ha th my tnh
l mt cng c h tr c lc nht v khng th thiu c trong rt nhiu lnh vc,
c bit trong o lng v iu khin.
Vic ng dng my tnh vo k thut o lng v iu khin em li nhiu
kt qu y tnh u vit. Cc thit b, h thng o lng v iu khin ghp n i vi
my tnh c chnh xc cao, thi gian thu thp d liu ngn. Nhng iu ng quan
tm nht l mc t ng ha trong vic thu thp v x l kt qu o, k c vic
lp bng thng k, ha, cng nh in ra kt qu. o lng v iu khin h
thng th ngoi cc thit b ghp ni vi my tnh, cn c Smt chng trnh np vo
my tnh x l v iu khin qu trnh hot ng ca h thng.
Vic ng dng my tnh vo trong cc h thng truyn ng iu khin tc ,
v tr ngy cng ph bin. V d nh trong cc dy truyn lp rp cc sn phm k
thut cao, trong vic gia cng sn phm c hnh dng, kch thc c v tr c trn
my tnh, trong c cu truyn ng cho tay my, ngi my, c cu n dao my ct
gt kim loi quay anten, knh vin vng, trong cc h thng bm, ty ng,
LabVIEW l mt ngn ng lp trnh chuyn nghip trong lnh vc t ng ha,
l mt mi trng lp trnh cho php to ra cc chng trnh s dng k hiu ha
gip to ln nhng giao din chng trnh chuyn nghip. N cha ng rt nhiu
kh nng, sc mnh khi pht trin v thc thi cc ng dng t ng ha: o lng, thu
thp, phn tch, x l d liu... Th gii thit b o ca labVIEW rt gn gi v lin
kt cht ch vi th gii iu khin t ng thc.

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LI CM N

hon thnh c ti ny th trc tin em xin chn thnh cm n Ban

gim hiuTrng i Hc Cng Nghip Tp.HCM, cc thy c trong Ban gim hiu
Khoa in v cc thy c b mn to iu kin cho em c hc tp v truyn
th nhiu kin thc cho em lm nn tng hc vn. Sau l em v cng cm n
thyTrn Vn Trinh l ngi thy trc tip nh hng v hng dn em nghin
cu v mt lnh vc kh l rng, vi khi lng cng vic ln ivi em.
Tt c bn b gip v ng vin trong sut qu trnh lm n. Do kinh
nghim v trnh cn hn ch,phn th hin v trnh by cn nhiu khim khuyt.
Knh mong qu Thy c b qua.
Sinh vin thc hin
Nguyn Tin

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NHN XT
(Ca ging vin hng dn)

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NHN XT
(Ca ging vin phn bin)

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MC LC
Li m u:
Trang
Chng 1: IU KHIN NG C IN MT CHIU.......1
1.1 Cu to c bn my in mt chiu.............................................1
1.1.1 Cu to..........................................................................................1
1.1.2 Nguyn l lm vic ca dng c in mt chiu.....................1
1.2 iu khin ng c DC ................................................................1
1.2.1Khi nim chung............................................................................1
1.2.2 Phn loi ng c in mt chiu.............................................2
1.2.3 Cc phng trnh c bn ca my in mt chiu...................3
1.3 Cc phng php iu khin tc ng c DC........................7
1.3.1 iu khin in p phn ng.....................................................7
1.3.2 iu khin t thng.....................................................................8
1.3.3 iu khin hn hp in p phn ng v t tong kch t.......8
1.3.4 iu khin in tr phn ng............................................9
Chng 2: THUT TON IU KHIN PID.......................11
2.1 iu khin PID lin tc................................................................11
2.2 Dng ri rc ca b iu khin PID..........................................12
2.2.1 S hiu chnh thc t ca b iu khin................................13
2.2.2 K thut antiwindup b tch phn.............................................16
2.2.3 Chc nng c th ca cc thnh phn trong PID.....................16
Chng 3: LP TRNH TRONG MI TRNG LABVIEW.22
3.1 Khi qut chung v phn mm labview.......................................22
3.1.1 Gii thiu....................................................................................22
3.1.2 Thit b o (VI- Vitual Instrument)...........................................22
3.1.3 Front Panel...................................................................................22
3.1.4 Block Diagram.............................................................................22
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3.2 K thut lp trnh labview....................................................23

3.2.1 Khi ng chng trnh.............................................................23
3.2.2 Cc cng c h tr lp trnh......................................................24
Chng 4: GII THIU V CARD GIAO TIP MY TNH. 24
4.1 Thng s k thut..........................................................................26
4.2 Cch s dng..................................................................................30
Chng 5: THIT K PHN CNG V GIAO DIN
IU KHIN....................................31
5.1 Phng n thit k........................................................................31
5.1.1 Yu cu thit k.........................................................................31
5.1.2 Thit k.......................................................................................31
5.1.3 ng c DC s dng cho mch phn cng............................31
5.1.4 Phng php iu khin............................................................32
5.2 S mch phn cng.................................................................33
5.2.1 Cng dng tng linh kin trong mch......................................34
5.2.2 Nguyn l hot ng ca mch................................................36
5.3 Giao din iu khin bng my tnh...........................................35
5.3.1 Front Panel v Block diagram ca chng trnh.......................35
5.3.2 Cc khi lp trnh thng dng...................................................35
5.4 Code iu khin da vo gii thut............................................38
5.4.1 Yu cu t ra.............................................................................38
5.4.2 Gii quyt tng vn .............................................................39
5.5 Giao din iu khin trn my tnh..............................................42
5.6 Kt qu t c..........................................................................45
KT LUN
PH LC
DANH MC TI LIU TAM KHO

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CHNG 1: IU KHIN NG C IN MT CHIU

1.1

CU TO C BN MY IN MT CHIU

1.1.1 Cu to
Cu to ca ng c in gm stator, rotor v h thng chi than vnh gp.
Stator bao gm v my, cc t chnh, cc t ph, dy qun phn cm (dy qun kch
thch ) gm cc bi dy t trong rnh ca li st1. S lng cc t chnh ph thuc tc
quay. i vi ng c cng sut nh ngi ta c th kch t bng nam chm vnh
cu.
Rotor (cn gi phn ng) gm cc l thp k thut in ghp li cc rnh t
cc phn t ca dy qun phn ng. in p mt chiu c a vo phn ng qua h
thng chi than vnh gp. Kt cu ca gi chi than c kh nng iu chnh p lc
tip xc v t ng duy tr p lc ty theo mn ca chi than.
Chc nng ca chi than vnh gp l a in p mt chiu vo cun dy
phn ng v i dng in trong cun dy phn ng. S lng chi than bng s
lng cc t (mt na c cc tnh dng v mt na c cc tnh m).
1.1.2 Nguyn l lm vic ca ng c in mt chiu
Khi t ln dy qun kch t mt in p kch t Uk no th trong dy qun
kch t s xut hin dng kch t ik v do mch t ca my s c t thng . Tip
t mt gi tr i p U ln mch phn ng th trong dy qun phn ng s c mt dng
in I chy qua. Tng tc gia ng in phn ng v t thng kch thch to thnh
mmen in t. Gi tr mmen in t c tnh nh sau:

Trong cc p: s i cp cc ca ng c.
n: s thanh n phn ng di mt cc t.
a: s mch nhnh song song ca dy qun phn ng.
k: h s kt cu ca my.
V mmen in t ny ko cho phn ng quay quanh trc.
1.2

IU KHIN NG C DC

1.2.1 Khi nim chung

iu khin tc l mt yu cu: cn thit tt yu ca cc my sn xut. Ta
bit rng hu ht cc my sn xut i hi c nhiu tc , ty theo tng cng vic,
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iu kin lm vic m ta la chn cc tc khc nhau ti u ha qu trnh sn

xut. Mun c c cc tc khc nhau trn my ta c th thay i cu trc c a my
nh t s truyn hoc thay i tc ca chnh dng c truyn ng.
Tc lm vic ca ng c do ngi iu khin quy nh c gi l tc
t. Trong qu trnh lm vic, tc ca ng c c th b thay i v tc ca ng
c ph thuc rt nhiu vo cc thong s ngun, mch v ti nn khi cc thng s thay
i th tc ng c s b thay i theo. Tnh trng gy ra sai s v tc v c
th khng cho php. khc phc ngi ta dng nhng phng php n nh tc .
n nh tc cn nh hng quan trng gii iu chnh (phm vi iu chnh
tc ) v kh nng qu ti ca ng c. n nh cng cao th kh nng m rng v
mmen qu ti cng ln.
C rt nhiu phng php iu chnh tc ng c nh:
iu chnh tham s.
iu chnh in p ngun.
iu chnh cu trc s .
1.2.2 Phn loi ng c in 1 chiu
Cn c vo phng php kch t ngi ta chia ng c in mt chiu ra cc loi
sau:

ng c in mt chiu kch t nam chm vnh cu.

ng c in mt chiu kch t c lp ngha l phn ng v phn kch t

c cung cp bi hai ngun ring r.

ng c in mt chiu kch t ni tip: cun dy kch t c mc ni tip

vi phn ng.

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ng c in mt chiu kch t song song: cun dy kch t c mc song song

vi phn ng.

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ng c in mt chiu kch t hn hp: gm c hai cun dy kch thch, mt

cun mc ni tip vi phn ng, cun cn li song song vi phn ng.

1.2.3 Cc phng trnh c bn ca my in mt chiu:

Sut in ng phn ng

E=K

(1)

in p phn ng

U= E+RI (2)

Mmen phn ng

M= K

(3)

Trong :
-

U: in p ca li in mt chiu

E: sut in ng cm ng trong cun dy rotor khi n quay trong t trng do

cun dy kch t to ra.

: t thng trn mi cc (Wb)

I: dng phn ng (A)

U: in p phn ng (V)

R: in tr phn ng ()

: tc ng c(rad/s)

: mmen phn ng ca ng c (Nm)

: hng s, ph thuc cu trc ng c

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T cng thc (1) v (3), ta c:

(4)
Hay

(5)

Vi ng c mt chiu kch t c lp, nu in p kch t c duy tr khng

i, c th gi thit rng t thng ng c khng i khi mmen ng c thay i.Khi
ta c:
K =constant (6)
Nh vy c tnh ca ng c mt chiu kch t c lp l mt ng thng.
Tc khng ti ca ng c xc nh bi in p cung cp U v t thng kch t K .
Tc ng c gim khi mmen ti tng v n nh tc ph thuc vo in tr
phn ng R. Trong thc t do phn ng phn ng, t thng gim do mmen tng dn
n tc ng c suy gim t hn l tnh ton theo cng thc trn. Vi mmen ln t
thng c th suy gim n mc dc c tnh c tr nn dng dn n hot ng
khng n nh. V vy, cun b thng hay c s dng lm gim hiu ng kh
t ca phn ng phn ng. Vi ng c cng sut trung bnh, st tc khi ti nh
mc so vi khi khng ti khong 50%.
Vi ng c mt chiu kch t ni tip, t thng l mt hm ca dng phn
ng. Nu gi thit ng c hot dng trong vng tuyn tnh ca c tnh t ha, c th
xem t thng t l bc nht vi dng phn ng, ngha l:
=KktI (7)
Thay (7) vo (1), (4) vo (5) ta c:
M= KKktI2

(8)
(9)
(10)

R lc ny l tng ca in tr mch phn ng v in tr phn kch t.

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c tnh ca ng c mt chiu kch t ni tip c v nh hnh trn . C th

thy rng tc ca ng c suy gim nhiu theo mmen ti. Tuy nhin trong thc t,
cc ng c tiu chun thng c thit k lm vic ti cc cnh ch (Kn-point) ca
c tnh t ha khi mang ti nh mc. Vi ti trn nh mc, mch t ng c bo ha,
khi t thng khng thay i nhiu theo dng ti dn n c tnh c tim cn
vi ng thng.
ng c mt chiu kch t ni tip thch hp cho cc ng dng i hi momen
khi ng cao v c th qu ti nng. Vi momen ti nng, t thng ng c cng tng
theo. Nh vy vi cng mt lng gia tng ca momen nh nhau, dng phn ng ca
ng c mt chiu kch t ni tip s tng t hn so vi ng c kch t c lp. Do
, trong iu kin qu ti nng, s qu ti ca ngun cung cp v s qu nhit ca
ng c cng t hn so vi ng c kch t c lp.
Theo cng thc (10), tc ng c kch t ni tip t l nghch vi cn bc hai
ca momen. V vy tc ng c khi khng ti c th tng ln rt cao, ch b hn ch
bi t d ca ng c v c th gp hng chc ln tc nh mc. iu ny khng
cho php vi my in thng ch cho php hot ng gp hai ln tc nh mc.
Do ng c kch t ni tip khng c dng vi cc ng dng trong momen ti
c th nh n mc lm tc ng c vt mc gii hn cho php.
c tnh ca ng c mt chiu kch t hn hp c dng nh biu din hnh
trn. Tc khng ti ca ng c ph thuc vo dng kch t qua cun song song,
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trong khi dc c tnh c ph thuc vo s phi hp gia cun song song v cun
ni tip. ng c kch t hn hp c s dng trong nhng ng dng cn c c tnh
c tng t ng c kch t ni tip ng thi cn hn ch tc khng ti mt
gi tr gii hn thch hp.
1.3

CC PHNG PHP IU KHIN TC NG C DC

T cng thc (5) biu din quan h gia tc - momen ng c, ta c th thy
rng tc ng c c th c iu khin bng ba phng php sau:
1. iu khin in p phn ng
2. iu khin t thng
3. iu khin in tr phn ng

1.3.1 iu khin in p phn ng

c tnh c tnh ca ng c kch t c lap v kch t ni tip khi iu chnh
in p cung cp cho phn ng ng c v nh hnh sau:

Cc c tnh ny suy ra t cng thc (5) vi in p U thay i. Bng cch thay

i in p phn ng, ng c c th lm vic ti bt k tc , momen nm gia
ng c tnh c t nhin v trc momen. V in p phn ng ch c th iu chnh
di nh mc, phng php ny ch dng iu chnh ng c hot ng vi cc
c tnh thp hn hoc c tnh t nhin.
Tnh cht quan trng ca phng php ny l cng c tnh c khng thay i
khi tc ng c c iu chnh. iu ny khin h c kh nng p ng vi ti c

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momen hng s v dng phn ng cc i cho php

- tng ng vi n l momen
ti cc 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 (AC DC)

B Chopper (b biin i xung p) (DC DC

1.3.2 iu khin t thng

iu khin t thng c s dng khi cn tng tc lm vic ca ng c cao
hn tc nh mc. C th thy iu qua cng thc (5).
Tc c cao ca ng c t c khi gim t thng b hn ch bi:
-

S khng n nh ca ng c gy ra bi nh hng ca phn ng phn ng

Gii hn v mt c kh ca dng c: cc ng c thng thng cho php tc

t n 1,5-2 ln tc nh mc. Mt s ng c ch to c bit cho php
tc cao nht t ti 6 ln nh mc.

i vi ng c Dc kch t c lp v song song, cng sut cc i cho php

ca ng c gn nh khng i vi mi tc khi iu khin t thng. C th thy
iu ny nu gi thit l dng cc i cho php, I ca ng c khng thay i khi iu
chnh t thng v in p cung cp cho phn ng, U l nh mc. Khi , sc in ng
ca ng c, E= U RI l hng s. V vy cng sut in t cc i cho php ca ng
c s bin thin t l nghch vi tc .
Vi ng c DC kch t c lp, vic iu khin kch t c iu khin bng
cch thay i in p t vi b chnh lu c iu khin hoc b chopper, ty theo
ngun cung cp c s dng l AC hoc DC. Vi ng c cng sut nh, cng x th
ni tip bin tr vo mch kch t iu khin t thng.
Vi ng c DC kch t ni tip, vic iu khin t thng c thc hin bng
cch thay i in tr song song vi cun kch t. Mt s ng c kch t ni tip c
cun kch t nhiu u ra, v do c th thay i t thng bng cch thay i s vng
dy cun kch t.
1.3.3 iu khin hn hp in p phn ng v t tong kch t.
Phng php ny c s dng khi cn thit iu chnh tc ng c trong
mt di rng trn v di tc nh mc. Tc di tc nh mc c iu
khin bng cch thay i in p phn ng trong khi gi kch t gi tr nh mc. Tc
trn nh mc c biu din bng cch thay i in p kch t.
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Gii hn ca momen v cng sut ra khi iu khin hhn hp in p

phn ng v t thng kch t

1.3.4 iu khin in tr phn ng

c tnh c ca ng c DC kch t c lp v ni tip khi iu khin tc
bng cch thm in tr ph vo phn ng.

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Khuyt im chnh ca phng php ny l c hiu sut ca h thng rt km v

cng c tnh c thp, nht l hot ng tc thp. Do , phng php ny
hin nay t c s dng iu khin tc ng c, tr cc trng hp:
-

Khi ng ng c

Thay i tc ng c trong mt thi gian ngn trong ch ngn hn hoc

ch ngn hn lp li.

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CHNG 2: THUT TON IU KHIN PID

B iu khin PID (vi tch phn t l) rt hay dng trong cc h thng iu khin.
V n tng cht lng p ng ca h thng vi cc u im sau: PID l s kt hp u
im ca hai khu PD v PI , n lm gim thi gian xc lp, tng tc p ng ca h
thng, gim sai s xc lp, gim vt l,
2.1

IU KHIN PID LIN TC

iu khin PID l cu trc iu khin thng dng nht trong cc quy trnh iu
khin. u ra ca iu khin l tng ca ba thnh phn. Thnh phn th nht U P(t) l
t l gia hai s u ra ca h thng thcvi gi tr tham chiu (gi tr t). Thnh
phn th hai UI(t) l tch phn theo thi gian ca sai s v thnh phn th ba UD(t) l o
hm ca sai s thi gian
Hm iu khin:

Trong K l li, Ti l h s ca khu tch phn sai s, T d l h s ca khu o hm

v

l bin tch phn. Gi tr u0 l gi tr xc nh tr trung bnh bin tn hiu xc thc.

Mt vi quy trnh iu khin, c bit l cc quy trnh c, c khong t l

(proportional band) c t thay v l li iu khin. Proportional band PB (theo
phn trm) c xc nh l PB =100/K. nh ngha ny ch p dng khi K l khng th
nguyn .
Cng thc ca hm iu khin khng ch ra gii hn thc t u ra. iu
khin s t trng thi bo ha khi ng ra t ti gii hn vt l umax hocumin. trong
thc t ng ra ca iu khin t l nh sau:

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Phn tch phn ca hm iu khin c dng kh sai s ca trng thi n

nh. Chc nng ca n c th c gii thch bng trc gic nh sau: Gi s h thng
trng thi n nh v vy tt c cc tnh hiu u l hng s, c bit l e(t). Tr ng
thi n nh ch c duy tr nu phn tch phn u I(t) l hng s, mt khc u(t) c th
thay i . iu ny ch xy ra nu e(t) bng khng,
Hm iu khin cng c th c biu din theo php bin i Laplace nh sau:

Lu trong hm iu khin ny bc ca t s bc ca mu s do li ca
hm iu khin tin v v cng tn s cao. y l h qu ca gii hn o hm.
Trong thc t o hm kh c th t c chnh xc, nhng c th coi mch cch gn
ng i vi h thng bc nht vi hng c thi gian Tf. Ta c:
(5)
Trong : Tf = Td/N vi N khong t 5 n 10. li phn o hm ca hm iu
khin c gii hn l KN tn s cao. Hm PID t cng thc (5) c vit li nh sau:
(6)
y l trng hp c bit ca iu khin thng thng. chia 2 v ca (6) cho

, v

t:
(7)

Hm PID c vit li nh sau:

(8)

c tnh gii hn ca iu khin PID: iu khin PID c p dng thnh cng

trong hu ht cc tin trnh iu khin.
2.2

DNG RI RC CA B IU KHIU PID

B iu khin trong h thng s cn c ri rc mt vi mc, nhp vo

my tnh. B iu khin lin tc s c ri rc dng s thch hp vi my tnh.
Trong vic thit k b iu khin lin tc, th n cng c ri r c. Cho h s l y
mu ngn bn trong, thi gian vi phn c th c xp x bi mt sai phn c gii hn
v tch phn qua vic ly tng.
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2.2.1 S hiu chnh thc t ca b iu khin:

Mt chu k ly mu qu di c th nh hng n vic iu khin hi tip nh
l b nhiu. Mt trng hp c bit l chu k ly mu lu hn thi gian p ng ca
qu trnh th nhiu c th nh hng n qu trnh x l v s mt trc khi b iu
khin c th nhn c mt hot ng chnh xc. V vy mt iu rt quan trng l
quan tm n ng hc v c tnh nhiu ca qu trnh trong vic la chn chu k ly
mu. T s tn hiu trn nhiu cng nh hng n s la chn chu k ly mu.
Trong vic x l tn hiu mc ch l ly mu tn hiu vi my tnh v phc h i n
t dng thi gian ri rc. L thuyt ly mu khng c xem thi gian tnh ton l mi
quan tm m cu trc li thi gian, tn hiu c ly mu c th mt thi gian kh
lu. Ni thm na l ta gi s tn hiu c chu k ha. Trong nhng ng dng iu
khin cc tn hiu thng khng c chu k v thi gian tnh ton cho vic cu trc l i
tn hiu b gii hn.
2.2.2 K thut antiwindup b tch phn:
Khu vi phn iu khin c cu chp hnh v lm cho n bo ha c th gy ra
mt s nh hng khng mong mun. Nu sai s iu khin ln khu vi phn lm cho
c cu chp hnh hot ng trong vng bo ha, vng hi tip s b gy, bi v c cu
chp hnh vn bo ha thm ch nu ng ra h thng thay i. Khu vi phn, tr thnh
h thng khng n nh, c th sau khu vi phn t n mt gi tr rt ln. Khi sai
s cui cng gim xung, khu vi phn c th vn ln n cn c khong thi gian
cn thit cho ti khu vi phn tr li gi tr bnh thng. S nh hng ny gi l
windup vi phn

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C nhiu cch trnh windup khu vi phn. Mt cch c hiu qu nht l dng
cp nht vi phn khi c cu chp hnh b bo ha. Mt phng php khc c biu
din s khi hnh a sau y:

y mt ng hi tip c thm vo cung cp gi tr o c ng ra

ca c cu chp hnh, tn hiu sai s es l s khc nhau ca ng ra c cu chp hnh uc
v ng ra b iu khin v c dn v ng vo b tch phn qua khu li 1/T t. Tn
hiu sai s es l s khc nhau gia ng ra c cu chp hnh khng b bo ha. Khi c
cu chp hnh b bo ha ng hi tip thm vo s c gn lm cho e s bng khng.
iu ny c ngha l khu vi phn s c reset ng ra ca b iu khin ti gi tr
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gii hn bo ha. Khu vi phn c reset n mt gi tr t l vi hng s thi gian

Tt, c gi l hng s thi gian theo di(tracking-time). Mt s thun l i vi phng
php antiwindup ny l n c th p dng cho nhiu c cu chp hnh, khng ch c cu
chp hnh bo ha m cn cc b kch c c tnh ty , nh vng cht hay hin tng
tr, theo ng ra ca b kch c o lng. Nu ng ra ca c cu chp hnh khng
c o lng, c cu chp hnh c th c thit k theo mu v tn hiu t ng
ng c th pht ra t kiu mu ny
Mt v d minh ha vn ny, mt h thng iu khin v tr. y ng c
c iu khin bi b iu khin PI. V tr t c thay i nhiu n mc tn hiu
iu khin(in p vo ca ng c) b bo ha v gii hn. p ng bc thang v tr
gc quay c cho hnh sau:

2.2.3 Chc nng c th ca cc thnh phn trong PID

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2.2.3.1 Khu hiu chnh khuch i t l (P)

c a vo h thng nhm lm gim sai s xc lp, vi u vo thay i theo

hm nc s gy vt l cao do v tr s khng ng theo yu cu.

y l b iu khin m bin t t l vi lch t im t bn trong dy t
l cho phm vi v tr t,
Khi v tr hin ti thp hn mc gii hn thp nht ca dy t l, bin t vo l
100%. Khi v tr bn trong dy t l, bin t gim dn dy t l vi l ch v gi m
50%. Khi v tr hin ti bng vi im t v khng c lch. Khi khu P cho php
iu khin v tr phng vi nhp nh nh hn iu khin ON-OFF (iu khin ng
ngt).
iu khin t l thi gian:
(time division proportional
control action)
Thit b ng ra dng
xung trng thi ON-OFF
c th dng thit b ng ra
ca b iu khin v tr.
Nhng ng ra ny gm: relay
output, SSR (Solid State
relay) output, v voltage
output trong di t l chu k nh hnh bn di, thi gian Ton ng ra t l vi lch.
T s t lc on n lc off l 1:1v bin l 50% khi chu k relay ng ra t lc on
n lc off vi v tr iu khin bng im t. Mt chu k t on ti off ca thit b

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ng ra c gi l chu k t l (proportional period) v hot ng iu khin theo chu k

t l c gi l hot ng iu khin chia t l thi gian.
2.2.3.2 Khu iu khin vi phn D: (hot ng do hm)
c i hi phi b, c thc hin ng vi bin t t l, mc nghing ca
lch:

T s thi gian: (rate time)

T s thi gian l s biu din di ca qu trnh hot ng. y l thi gian
i hi bin t ca t s hot ng t c ging nh bin t trong hot ng hiu
chnh khi xy ra thay i dc trong lch. Ty theo t s thi gian di hn, vi phn
linh hoat hn.

Hiu ng vi phn:( Differetial Effect)

Trong trng hp lch xy ra t ngt trong b chia t l. Trc tin ON
hoc OFF thi gian ca output relay c ko di bng vic chnh n dim t sm
hn. V hiu ng ca iu khin ny tng t nh t s hot ng, c xem nh l
hiu ng vi phn

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2.2.3.3 Khu tch phn I

iu khin hot ng I:
lch tng bi s quan h gia v tr t ca h iu khin v v tr hin ti,
v gi sau khi h thng iu khin t trng thi bn. S lch ny gi l sai s. Nu
nh sai s xy ra trong b iu khin m ch thc hin iu khin t l, th n s thiu
chnh xc. Gim v loi sai s v tr iu khin hp vi im t. Khu P thng
c dng kt hp vi b iu khin tch phn I.

Thi gian reset:Thi

gian reset l din t qu trnh
ca hot ng reset. y l
thi gian i hi bin t b
iu khin tch phn bng vi
bin t b iu khin t l
khi lch ly thay i tng
bc. Do thi gian reset
time ngn, nh hng rt
nhiu n hot ng Reset.
Tuy nhin thi gian reset qu ngn m thc hin qu nhanh c th gy ra hunting
2.2.3.4 Khu tch phn t l (PI)
Khin h tr thnh v sai. Mun tng chnh xc ca h thng ta phi tng h
s khuch i. Song i vi h thng thc b hn ch th s c mt ca khu PI l bt
buc.
2.2.3.5 Khu PID
Cc b hiu chnh PID c ng dng nhiu di dng thit k iu khin hay
thut ton hiu chnh bng phn mm. Nu tn hiu u vo l sai s e(t), tn hiu u
ra l iu khin in p u(t) th:
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(1)
Ta c hm truyn t ca khu hiu chnh PID:
(2)
Hoc dng khc:
(3)
Theo nguyn tc tch phn hnh thang th:
(4)

Cn phn o hm th:

(5)

Nh vy:
(6)
Thay i ch s t K thnh (K-1) v tr hai v ca phng trnh ta c:

(7)
Nu cc t cc h s:
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(8)
(9)
(10)
Th:

(11)

Cch tnh Kp, Ti, Td:

Nhn chung i vi vic iu khin v tr ng c DC, th ngoi phng php kh
sai ra hu nh khng cn phng php no khc xc nh thng s PID.
Ngha l ta chn mt gi tr no ca cc thng s v cho h thng chy th,
thay i cc thng s ny theo chiu hng h n nh v t cht l ng nh mong
mun, n khi no ta chn c cc thng s ti u th vic chn cc thng s PID
chm dt. Tuy nhin, d qu trnh chn thng s PID tr nn n gin ta dng phng
php Ziegler-Nichol tnh thng s PID t hm truyn ca ng c, v ly cc thng
s ny th h thng, thay i vi ln cc gi tr gn vi thng s ny ta s c h
thng ti u.
L do cc gi tr tm c t phng php Ziegler-Nichol khng phi l cc ti
u, l do phng php Ziegler-Nichol ch p dng cho h thng c qun tnh ln, cn
ng c DC p ng nhanh.
Theo phng php 1 ca nguyn tc hiu chnh Ziegler-Nichol (cho PID):

Vi T1,T2 c xc nh t ng c tuyn tc ca ng c:
Vi: e(K) = SV - PV

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e(K-1) = 0
e(K-2) = 0
Vi

T: chu k ly mu
Trong :

CHNG 3: LP TRNH TRONG MI TRNG LABVIEW

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GVHD: Th.s Trn vn Trinh

KHI QUT CHUNG V PHN MM LABVIEW

3.1.1 Gii thiu

Labview (Virtual Instrument Engineering Wordbech) l mt mi trng pht trin
da trn ngn ng lp trnh ha, thng c s dng cho mc ch: o lng,
kim tra, x l v iu khin cc tham s ca thit b.
Labview l mt ngn ng lp trnh a nng, ging nh cc ngn ng lp trnh
hin i khc. Labview gm c cc th vin thu nhn d liu, mt lot cc thit b iu
khin, phn tch d liu, biu din v lu tr d liu. N cn c cc cng c pht trin
c thit k ring cho vic ni ghp v iu khin thit b.
Labview khc vi cc ngn ng thng thng im c bn l: Cc ngn ng
lp trnh khc thng dng trn c ch dng lnh, trong khi Labview dng ngn ng
lp trnh Graphical to ra cc chng trnh dng s khi.
3.1.2 Thit b o (VI- Vitual Instrument):
Lp trnh Labview trn c
thit b o. Cc i tng trong
thit b o c s dng m
phng cc thit b thc, nhng
chng c a vo bi phn
mm. Cc VI (thit b o) tng
nh cc hm trong cc ngn ng
lp trnh khc.

3.1.3 Front Panel

Mt chng trnh chung
trong labview gm 3 phn chnh:
mt l giao din vi ngi s
dng (Front Panel), hai l giao din
dng s khi cung cp m
ngun (Block Diagram) v biu
tng kt ni (Icon / Connector). Front Panel l mt panel tng t nh pannel ca thit
b thc t v d cc nt bm, nt bt, cc th v cc b iu khin. T Front Panel
ngi dng chy v quan st kt qu c th dng chut, bn phm a d liu vo
sau cho chng trnh chy v quan st
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Front Panel thng gm cc b iu khin (control) v cc b ch th (Indicator):

-

Control l cc i tng t trn Front Panel cung cp d liu cho chng trnh. N
tng t nh u vo cung cp d liu.

Indicator l i tng c t trn Front Panel dng hin th kt qu, n t ng t

nh b phn u vo ca chng trnh.
3.1.4 Block Diagram:
Block Diagram ca mt VI l mt s c xy dng trn mi trng Labview,
n c th gm nhiu i tng v cc hm khc nhau to cc cu lnh chng
trnh thc hin. Block Diagram l mt m ngun ha ca mt VI. Cc i tng trn
Front Panel c th hin bng cc thit b u cui trn Block Diagram. Cc thit b
u cui ch mt i sau khi loi b i tng tng ng trn Front Panel
Cu trc ca mt Block Diagram gm cc thit b u cui (Tminal), Nt
(Node) v cc dy ni (Wire).

Terminal: l cc cng m d liu truyn qua gia Block Diagram v Front panel, v gia
cc Node trong Block Diagram. Cc Terminal nm di dng cc Icon ca cc
Function.

Node: L cc phn t thc thi chng trnh, chng tng t nh cc mnh , ton t,
hm v cc chng trnh con trong cc ngn ng lp trnh thng thng .
3.2

Wises: L cc dy ni d liu gia cc node

K THUT LP TRNH LABVIEW

3.2.1 khi ng chng trnh

Nhp vo biu tng biu tng Labview nh hnh bn. Ta c
c giao din bn hnh (a) di.
Vo File/New VI vo mi trng lp trnh hnh (b)

+ Front Panel: giao din vi ngi s dng

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+ Block Diagram: Giao din dng s khi cung cp m ngun

3.2.2

Cc cng c h tr lp trnh:

Vic lp trnh trn Labview cn s dng cc bn: Tools Palette, Controls

Panelette, Functions Palette, cc bn cung cp cc chc nng ngi s dng c th
to v thay i trn Front Panel v Block Diagram
a. Tool Panel:
Tool Panel xut hin trn c Front Panel v Diagram. Bng ny cho php ngi s
dng c th xc lp cc ch lm vic c bit ca con tr chut. Khi la chn mt
cng c, biu tng ca con tr s c thay i theo biu tng ca con tr .
Nu thit lp ch t ng la chn cng c v ngi s dng di chuyn con
tr qua cc i tng trn Front Panel hoc Block Diagram, Labview s tu ng la
chn cng c ph hp trn bng tool palette.
truy cp vo Tool Palette ta chn Menu: Window/Show Tools palette. Cc
cng c Tool Palette gm c:

b. Bng iu khin (Controls Palette):

Bng iu khin ch duy nht xut hin trn front Panel. Bng iu khin cha
cc b iu khin (control) v cc b hin
th
(Indicator). Bng iu khin c minh ha
hnh sau
Bng iu khin c s dng
thit k cu trc mt hin th gm cc thit
cc cng tc, cc loi n, cc loi mn hnh
hin th Vi bng iu khin ny, ngi
dng c th chn cc thit b chun do hng

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b:
s

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cung cp. Bng iu khin dng cung cp d liu u vo v hin th kt qu u

ra.
Mt s b iu khin v hin th trn controls palettte:
Boolean Controls/Indicators:
B cng c ny cung
cp 2 gi tr l True v False.
Khi thc hin chng trnh
ngi s dng s dng
chut iu khin gi tr
ca thit b. Vic thay i
gi tr ca cc thit b ch c
tc dng khi cc thit b
c xc lp ch l cc
Control. Cn nu ch l
cc Indicator th gi tr khng
thay i v chng ch l cc
thit b hin th
String Controls/Indicators
Cc iu khin ny dng nhp v hin th cc k t, n cng c th c xc
lp ch u vo hay u ra.
Functions Palette:
Bng Funtions palette ch xut hin trn Block
diagram. Bng ny cha cc VI v cc hm m ngi
s dng xy dng xy dng nn cc khi lu .
Bng Function palette c minh ha trong hnh.
Vi bng Function palette, ngi lp trnh thc
hin cc c php nh: Php lp, php la chn thng
qua cc nhm hm, chc nng c cung cp bn
cnh t bng ny ngi s dng ngi s dng c
th to ra v s dng li cc hm. Cc hm ton hc
c minh ha thng qua cc biu tng. Khi mun
la chn thc hin mt hm no th ngi s dng
chn biu tng th hin cho hm v c th ko th
bt k v tr no trn Block Diagram sau xc nh nhng u vo v u ra cn thit.
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CHNG 4: GII THIU V CARD GIAO TIP MY TNH

4.1

THNG S K THUT

Thng s chung
Cng kt ni

USB (chun giao tip RS232)

H tr h iu hnh

Windows

Kiu o

6 knh o in p (ADC)
1 b m xung t cc loi encoder (m ln hoc
xung ty theo chiu quay encoder)

iu khin

4 knh xut tn hiu s

2 knh xut tn hiu iu ch xung (PWM)

H DAQ
c tn hiu Analog
S knh

6 SE

Tc ly mu

142S/s

phn gii

8 bits

Trch mu ng thi

Khng

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Ngng in p gii hn 0 ti 5 V
ln nht
chnh xc

10 mV (Vref=2.56V)

Tn hiu analog t cc
loi cm bin

Nhit , p xut, lu lng vv.

Lnh vc ng dng o
in p

iu khin t ng, t, cng nghip

Xut tn hiu PWM

S knh

Tc cp nht

100 S/s

phn gii

8 bits

Ngng in p

0..5 V

Tn hiu iu khin dng 10 mA (dng ngn mch)

in

Cc chn xut tn hiu

s
S knh

Timing

Software

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Logic Levels

TTL

Ngng in p ra

0..5 V

B lc vo lp trnh c No
Output Current Flow

Sinking, Sourcing

Dng in (Knh/Tng)

10 mA/100 mA

B m xung
S b m

1 (m ln hoc m xung)

phn gii

16 bits

Tn s ngun xung ln
nht

250 KHz

rng xung vo nh
nht

2 us

Mc logic

TTL

Ngng cc i

0..5 V

ng dng

o tc ng c t Encoder, o xung, vv.

Cho php thc hin nh

Yes

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tm
Tc ng (Triggering)

Digital

Kch thc card

Hocdelam USB RS 6009
Di

10 cm

Rng

6 cm

Cao

2.5 cm

u ni vo ra

D dng m bng tua vt

Cht liu v hp

Nha

Nhit bo qun

Di 65 C

Chiu di cable ni

Ln hn 500mm v di hn 1000mm

4.2
Chn

CCH S DNG:
K Hiu

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Gi M t
tr

Gi
tr
reset
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input

ADC0
-ADC5

Nhn tn hiu dng tng t(analog). Vref s l 5v

trn B hoc 2.55v do set trn my tnh

NA

input
input

PULSE
DIR

0
5v

output

PWM0
PWM1

GND

m xung cnh ln (0-5v)

Set b m xung PULSE m xung
Set b m xung PULSE m ln
To xung vi tn s c nh v h s xung thay i
t 0-255 ty s t trn my tnh
(xung 0-5v v 2 tng tr 470Ohm)
Tnh hiu ra dng s(0 hoc 5v. Tng tr 470 Ohm)
ty set trn my tnh
Tnh hiu ra dng s (0 hoc 5v), s khng s khng
s dng ADC0
Mass

+5v

Ly t USB

5v

Output SW0-SW2
SW3
Ngu
n
Ngu
n

0
5V

ADC0-ADC5: tr v gi tr chuyn i cc chn

ADC tng ng (0-255).
DAC0-DAC1: t gi tr ng ra chn PWM cho chn
DAC tng ng (0-255). SW0-SW3: t gi tr cho
3 ng ra s (TRUE-FALSE).
PULSE: tr v gi tr s xung m t chn
PULSE (gi tr t 0-65635).

CHNG 5: THIT K PHN CNG V GIAO DIN IU

KHIN
5.1

PHNG N THIT K

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5.1.1 Yu cu thit k
To c h thng iu khin tc ng c c hi tip, bao gm c phn
thit k phn cng v to giao din iu khin trn my tnh.
5.1.2 Thit k
V thit k phn cng: Bao gm mch iu khin v mch cng sut
+ Mch iu khin: S dng card giao
+ Mch cng sut: s dng mach iu khin dng FET v ROLE
+ Dng phn mm Labview giao tip v iu khin
5.1.3 ng c DC s dng cho mch phn cng
Vi cc thng s k thut
+ Type

D06D451E

+ output

42W

+ Volts

30

+ Encoder

200 P/R

+ Amps

2.0

+ RPM

2750

5.1.4 Phng php iu khin

iu khin ng c DC bng cch iu bin rng xung
ng c DC s dng trong dn dng thng ch hot ng in p 24V tr
li. Mt trong nhng phng php iu khin m t l s dng mch iu ch
rng xung (PWM circuit - Pulse Wide Modulation).
Mch iu khin m t bng phng php PWM hot ng da theo nguyn tc
cp ngun cho m t bng chui xung ng m vi tc nhanh. Ngun DC c
chuyn i thnh tn hiu xung vung (ch gm hai mc 0 volt v xp x in p hot
ng). Tn hiu xung vung ny c cp cho m t. Nu tn s chuyn mch l n
m t s chy vi mt tc u n ph thuc vo m men ca trc quay.
Vi phng php PWM, iu chnh tc ca m t thng qua vic iu ch
rng ca xung, tc l thi gian "y xung" ("on") ca chui xung vung cp cho m t.
Vic iu chnh ny s tc ng n cng sut trung bnh cp cho m t v do s
thay i tc ca m t cn iu khin.

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Nh trn hnh, vi dy xung iu khin trn cng, xung ON c rng nh nn

ng c chy chm. Nu rng xung ON cng ln (nh dy xung th 2 v th 3)
ng c DC chy cng nhanh

u im:
- Transistor li ra ch c duy nht hai trng thi (ON hoc OFF) do loi b c
mt mt v nng lng t nng hay nng lng r r ti li ra.
- Di iu khin rng hn so vi mch iu chnh tuyn tnh.
- Tc m t quay nhanh hn khi cp chui xung iu ch theo kiu PWM so vi khi
cp mt in p tng ng vi in p trung bnh ca chui xung PWM.
Nhc im:
- Cn cc mch in t b tr - gi thnh cao
- Cc xung kch ln in p cao (12 - 24V) c th gy nn ting n nu m t khng
c gn cht v ting n ny s tng ln nu gp phi trng hp cng hng ca
v.
- Ngoi ra vic dng chui xung iu ch PWM c th lm gim tui th ca m t.

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GVHD: Th.s Trn vn Trinh

S MCH PHN CNG

Ngun 5v cp cho vi x l
Ngun 12v cp cho khi cng sut
Ngun 24v cp cho ng c
Cch ly ngun 5v vi ngun 12v, 24v chng nhiu
5.2.1 Cng dng tng linh kin trong mch:
Opto coupler (hay cn gi l cch ly quang ): L linh kin tch hp c cu to
gm 1 led v 1 photo diot hay 1 photo transistor. Khi c dng nh i qua 2 u ca led
trong opto lm cho led pht sng c s dng cch ly p gia hai khi vi x l v
khi cng sut nhm bo v khi vi x l,ng thi trnh nhiu cho ng c. V i khi
ng c chy qu dng th dng tr v ln lm cht linh kin mch cng sut, nu
khng c cch ly quang th dng in ln s theo ng mch n tiu dit vi iu
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khin v ton b nhng linh kin khc .Ng ra ca Opto (chn 3 v 4) c dn khi ng
vo (chn 1) mc 1 (tng ng in p 5V).
Relay (18FF-12v): Dng o chiu quay ng c.
Dng ng ngt l 12v-75mA o chiu l ph hp. Do in tr cun dy
relay l 160 in p ng ngt relay l 12v v dng ti thiu ng ngt relay l
75mA. V vy dng iu khin phi c khuch i trc khi ti iu khin relay
m bo dng kch relay trong trng hp c th dng transistor hoc 1 con IC. Ti
s dng IC ULN2803 s dng chc nng .
MOSFET IRF540: Mch cng sut s dng transistor hiu ng trng MOSFET
IRF540 c kh nng cung cp dng ln ln n 5A, iu khin bng p trn ng vo G.
Mch kch c la chn l y ko(PUSH PULL) cho p ng xung tt. ULN2803
gm 8 BJT ghp darlington c sn cc in tr v diode bo v, cung cp dng 500mA,
in p lm vic ln n 50V. iu kin lm vic bnh thng ca ULN2803: I C
=100mA, IB=250A, VCE=2V.
Gi tr ca in tr cng sut trn ti ra ca mch y ko.

Cng sut tiu th trn in tr

Chn in tr R = 330 , P =1 n 2 W.
IC ULN2803: Dng khuch i dng

in tr phn p cho led c tnh nh sau:

Chn dng lm vic ca led l 10mA
VR =
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Chn gi tr R 330
5.2.2 Nguyn l hot ng ca mch
trng thi ngng dn, khi vi iu khin xut ra mc 1 kch vo chn
DK_PWM, ng ra ca opto1 khng c kch dn, dn n ti ng vo ULN 2803(chn
1) c phn cc, nn n c kch dn. ULN 2803 dn to ra s st p ng ra PWM,
in p ti chn ny l mc 0. iu ny ko theo lm cho Transitor D468 ngng d n,do
mc logic in p ti cc G ca FET l 0. FET khng c phn cc nn ng c
ngng hot ng. in p ti chn PWM khng hon ton 0V do diot D9 l 1N4007
c mc nhm ngn khng cho D468 dn.
Trong trng hp ngc li, ng ra ca vi iu khin mc 0 c kch vo
chn DK_PWM, ng ra ca opto1 c dn. in p ti chn C_PWM l 0v, dn n
ng ra ti chn PWM c p l 12v s qua diode n cc B ca tranzitor nghch D468 lm
D468 thng khi s c 1 dng i t C xung E.tranzitor thun B562 lc ny s tt t c
l k c dng i t E xung C.V vy in p 12V i n mosfet IRF540 lm mosfet ny
thng.in p 24V s qua ng c DC v xung mass.-> ng c chy
Khi opto2 c kch dn, ti chn C_ROLE c p 12v dn n ULN 2803 dn, s
c dng ln t chn ROLE xung mass . iu ny nhm p ng dng cho Relay c
th ht.
Diode D5 1N4007 c tc dng dp dng ngc. Khi ng m Relay, cun ht
ca relay to ra mt in p ngc v c dng xung nhn, a ngc v trasistor Q2,
c th gy hng Q2 (hng kha). Do vy, tc dng ca diode l bo v kha. N s a
xung nhn ny v ngun

5.3

GIAO DIN IU KHIN BNG MY TNH

5.3.1 Front Panel v Block diagram ca chng trnh

Xy dng mt VI dng iu khin tc ng c theo PID
Front Panel
Block Diagram:
5.3.2 Cc khi lp trnh thng dng
Cc khi c bn thng c s dng:

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Cc k hiu trong ton hc: Functions/Express/Arithmetic & Comparsion/Numeric

Cc ton t so snh: Functions/Express/Arithmetic & Comparsion/Numeric

Khi PID: control design & Simulation / PID

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Khi biu din th: Controls /Grap Indicators

Cc hm: Functions/ Programming/Structures

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Cc bin: Controls/Numeric controls

nh dng kiu d liu cho cc bin: Nhp phi chut vo bin numeric
control/Representation/chn kiu d liu

5.4

CODE IU KHIN DA VO GII THUT

Da vo card giao tip v mch cng sut iu khin ng c c trnh

by cc phn trn, ta thit k c code (Block Diagram) nh hnh bn trn
5.4.1 Yu cu t ra
a. To c nt nhn iu khin c bn iu khin ng c: quay/dng,
quay thun/nghch
b. Dng cc hm v cng thc ton hc tm c vn tc ca ng c da
trn xung vo ca encoder v chu k ly mu.
c. xc lp c tc ca ng c nh mong mun, da vo vn tc thc
v vn tc t ca ng c qua khu hiu chnh PID cho ra c r ng
xung nh mong mun
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5.4.2 Gii quyt tng vn

5.4.2.1To cc nt nhn (button)
-

QUAY/DUNG: Gi tr mc nh l TRUE
+ TRUE: Gi tr 0 s np vo DAC1, tng ng
AVR s xut ra mc in p 0v chn to xung
PWM1
+ FALSE (khi nhn nt): Gi tr 255 s np vo
DAC1, tng ng AVR s xut ra mc in p 5v
chn to xung PWM2.
Chn PWM1 ca AVR s xut xung 0v5v tng ng gi tr no vo DAC1 t
0.255
Lu : Trong code ta ly gi tr tuyt i ng xung ra sau khi tr gi tr 255,
mc ch ph hp vi mch cng sut (vi iu khin xut xung PWM mc
0v cho n 5v tng ng ng c quay tc cc i cho n ngng quay)

CHIEU QUAY:
+ TRUE: Chn SW1 ca AVR mc 1( ng c s quay thun)
+ FALSE: Chn SW1 ca AVR mc 0 (ng c s quay nghch)
5.4.2.2 Tnh vn tc ng vo:
Ta chn tn s ly mu hay thi gian lp li ca vng lp while loop l 20ms
Trng hp ng c quay thun: Tng ng hm Select Case trong code
trng hp true (nt QUAY/DUNG: false; CHIEU QUAY: true), s xung vi x l
m c tng ln 65536 (16 bit)
XUNG
SAU

XUNG
SAU

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+ Xung m vo cha b trn

Ta c

+ Xung m vo b trn:(xungsau nh hn xungtrc)

(
Trng hp ng c quay nghch: Tng ng hm Select Case trong code
trng hp false ( nt QUAY/DUNG: false , CHIEU QUAY: false) , s xung vi x l
m xung (65536 n 0)XUNG
SAU
XUNG
TRC

+ Xung m vo cha b trn:

Ta c

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+ Xung m vo b trn:(xungsau ln hn xungtrc)

(
5.4.2.3Qua khu hiu chnh PID
Cc thng s phi c a vo
+ Setpoint: Vn tc t
+ process variable: vn tc thc
+ Setpoint range: Gii hn vn tc t
max v min
+ PID gains: Dng iu chnh 3 thng s

P,

I, D
+ dt(s): thi gian ly mu
+ output range: Gii hn trn v di ca ng ra
+ output: ng ra
p dung thc t:

5.4.2.4 Khi truyn v nhn d liu

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Chc nng v cch s dng khi ny xem li trong phn gii thiu card giao tip
c trnh by phn trn

5.5 Giao din iu khin trn my tnh

Giao din iu khin c thit k kh trc quan vi ngi s dng h thng,
t cc tiu chun v chnh xc, tnh thm m v d tip cn.

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Giao din chnh(Front Panel)

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Code(Block
Diagram)

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5.6 Kt qu t c

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KT LUN

H thng thit k dng b hiu chnh PID cho php iu khin c nhiu v tr
t Tuy nhin so vi l thuyt v chy m phng Simulink th cht l ngj c a h
thng cn nhiu hn ch v sai s xc lp
nh hng ca cc thng s PID n h thng nh sau: Kd khng nh hng
nhiu n h thng, s chnh lch gia Ki thit k v m phng kh ln, Ki tng lm
tng vt l, gim sai s xc lp, nu tng Ki ln hn gi tr ti u th h thng mt
n nh. Tc ng ca Kp c th nng cao chat lng p ng nu chn c mt gi
tr thch hp

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PH LC

M lp trnh ca Labview dng ha, do code c vit cho chng trnh

cng c th xen l s gii thut vit nn chng trnh

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TI LIU THAM KHO

1. L thuyt iu khin t ng (Nguyn Th Phng H-Nh xut bn i hc

Quc Gia TP. H Ch Minh
2. PHY-Microprocessor Interfacing Techniques Labview (James R.Drummond)
3. Introduction to control system tech nology(Roert N.Bateson)
4. Website http://labview.hocdelam.org/vn/ ; http://www.ni.com/

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