BI GING H I HC LP: HCT K2

Ging vin : Phan nh Hiu B mn : C in t Mn hc : C in t 2

Thit k h thng c in t
Phn tch thit k xe hai bnh t cn bng di chuyn trn a hnh phng

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1 YU CU - Xe tr mt ngi vi khi lng 60kg - Vn tc chuyn ng l 5m/s - Xe t ng gi thng bng - Xe c th chuyn ng tin li - Thay i tc ca xe khi thay i gc ca tay li - Xe chy c vi thi gian l ba ting

Thit k h thng c in t
2. THIT K H THNG 2.1 Phc tho tng - Vn chnh ca h thng l iu khin tc ca hai bnh xe gi cho xe lun trng thi cn bng Tng tc ca xe khi ngi cng nghing v pha trc. Gim tc khi ngi v v tr cn bng v xe li li khi ngi ng v pha sau. - o chnh xc gc nghing v vn tc gc nghing ca tay li so vi phng thng ng trong qu trnh ng v qu trnh tnh - o v tr v vn tc ca xe trong qu trnh xe chuyn ng

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- Bo v h thng khi h thng gp s c qu dng - Xy dng thut ton iu khin cho xe - Thit k v xy dng mch cm bin, mch iu khin v mch cng sut 2.2 Thit k s b - M hnh tng quan h thng xe cn bng

Thit k h thng c in t

Thit k h thng c in t
- M hnh c kh + Xy dng m hnh bng phn mm thit k

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- H thng cm bin + Cc cm bin o gc nghing v vn tc gc gia tay li v phng thng ng s dng hai loi cm bin l Gyro v accelermeter. Trong Gyro o vn tc gc v gc ng cn accelermeter o gc tnh. Do gc nghing dao ng trong mt phng ln cc cm bin o gc l mt trc + Cc cm bin o v tr v vn tc gc: S dng Encoder gn hai ng c + Cm bin o qu dng s dng in tr Shunt

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- H thng c cu chp hnh S dng hai ng c mt chiu c gn Encoder o vn tc v v tr. in p cp nh mc 24VDC. - H thng iu khin + Mch o v x l tn hiu cm bin + Mch tnh ton v x l trung tm + Mch cng sut - H thng hin th + S dng Led hin th - H thng ngun cp + Ngun cp cho ng c

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+ Ngun cp cho cm bin + Ngun cp cho mch iu khin + Ngun cp cho mch cng sut 2.3 Thit k chi tit 2.3.1 H thng c kh - Sau khi tnh ton v kt cu, vt liu, a ra bn v lp c th ch to phn c kh 2.3.2 H thng cm bin Trn c s phn tch cc yu cu h thng la chn ra hai cm bin o gc v vn tc gc: - Cm bin gyro Murata ENC-03 o vn tc v gc ng

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Cc.thng s k thut: + Kh nng loi b rung cao + Vn tc gc cao 300 /s + nhy cao 0,67mV/dec/s + Vref = 1,25VDC Tch hp b lc thng thp - Cm bin gia tc Accerlemeter ADXL202A Cc thng s k thut: + nhy cao 312mV/g + Cm bin 2 trc trn IC n chip + Chu shook 1000g

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o chnh xc khng b nhiu tc ng thng trong h thng s dng thm b lc Karman lc nhiu 2.3.3 C cu chp hnh - Trn c s tnh ton momen ti v vn tc di chuyn ca xe s tnh chn c cng sut v vn tc nh mc ca ng c. + ng c cng sut l 100W + Vn tc nh mc l 70 vng trn pht 2.3.4 H thng iu khin - Mch cng sut ng c S dng mch cu H cp ngun cho ng c

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Thit k h thng c in t
+Trn c s chn cng sut ng c ta tnh chn cng sut ca mch cu H. Chn phn t cng sut trng MOSFET l IRFP140 vi in p VGS = +- 20VDC. Tn s ng ct t 7- 15kHz + Cm bin o dng in dng in tr shunt c ni vi mch cu H. - Mch iu khin + S dng vi iu khin Microchip 18F452 . Tch hp kh nng tnh ton cc thut ton iu khin, thut ton lc karman, a hin th kt qu ra n hin th LED . y chc nng ca mt vi iu khin

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Cm bin v h thng o
2.3.6 Thit k cc thut ton iu khin h thng - M hnh ha h thng: Biu din mi quan h gia cc bin trng thi v momen

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2.3.5 H thng ngun Ba bnh cqui 12VDC mc ni tip cung cp ti ng c, Mosfet v vi iu khin

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- Xc nh thut ton iu khin + Phn tch v t hp h thng tnh c b iu khin l ma trn phn hi trng thi + Xy dng thut ton iu khin x l bi ton cn bng + Xy dng b lc karman x l tn hiu + Ti u ha bi ton thit k iu khin