..o0o..

TRNG I HC CNG NGH I HC QUC GIA H NI

BO CO TM HIU CM BIN V TR GC QUAY VERT X 13E5V

Nhm 2 Lp K55M Ging vin: on Th Hng Giang Thnh vin: 1. Nguyn Ph Sn Anh 2. L Minh Chng 3. Nguyn Vn Cng 4. Hong Vn Nam 5. Phm Vn Quyt

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

MC LC

I) Tng quan v cc loi cm bin

II) Nguyn l v cc phng php o cm bin gc quay

III) Cm bin v tr gc quay Vert X 13E

IV) Mch o s dng vi iu khin atmega32

V) ng dng ca cm bin gc quay Bng phn cng cng vic M phng vi Proteus Tn hiu tuyn tnh(VERT-X 13E), Incremental (VERT-X 13E), SSI (VERT-X 13E), Nguyn l, tnh nng cm bin Vert-X 13E, Thng s k thut Vert-X 13E, SPI(VERT-X 13E), Tng quan, nguyn l cm bin ni chung, Cm bin gc quay t trng, Cm bin gc quay quang hc,

Nguyn Ph Sn Anh L Minh Chng

Tt xut sc good

Nguyn Vn Cng

Nguyn Vn Nam

pro

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

Phm Vn Quyt

Cm bin gc quay in tr, Cm bin gc quay in dung, Cm bin Hiu ng Hall, PWM (VERT-X 13E)

vi

Tng quan v cc loi cm bin a. Khi nim v cm bin Cm bin l thit b dng cm nhn bin i cc i lng vt l v cc i lng khng c tnh cht in cn o thnh cc i lng in c th o v x l c. b. Phn loi cm bin Cc b cm bin c phn loi theo cc c trng c bn sau: - Theo nguyn l chuyn i gia p ng v kch thch( hin tng ha hc, vt l, sinh hc). - Theo dng kch thch( m thanh, in, t, quang, c, nhit, bc x). - Theo tnh nng ca b cm bin( nhy, chnh xc, phn gii,). - Theo phm vi s dng( cng nghip, dn s, qun s, v tr,). - Theo thng s m hnh mch thay th.

I.

II.

Nguyn l v cc phng php o cm bin gc quay 2.1. Nguyn l

Hin nay c hai phng php c bn xc nh v tr v dch chuyn. Trong phng php th nht, b cm bin cung cp tn hiu l hm ph thuc vo v tr ca mt trong cc phn t ca cm bin, ng thi phn t ny c lin quan n vt cn xc nh dch chuyn. Trong phng php th hai, ng vi mt dch chuyn c bn, cm bin pht ra mt xung. Vic xc nh v tr v dch chuyn c tin hnh bng cch m s xung
3

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

pht ra. Mt s cm bin khng i hi lin kt c hc gia cm bin v vt cn o v tr hoc dch chuyn. Mi lin h gia vt dch chuyn v cm bin c thc hin thng qua vai tr trung gian ca in trng, t trng hoc in t trng, nh sng. 2.2. Cc loi cm bin o gc

1. in th k in tr Loi cm bin ny c cu to n gin, tn hiu o ln v khng i hi mch in c bit x l tn hiu. Tuy nhin vi cc in th k in tr c con chy c hc c s c xt gy n v mn, s ln s dng thp v chu nh hng ln ca mi trng khi c bi v m. 1.1. in th k dng con chy c hc Cm bin gm mt in tr c nh Rn, trn c mt tip xc in c th di chuyn c gi l con chy. Con chy c lin kt c hc vi vt chuyn ng cn kho st. Gi tr ca in tr R x gia con chy v mt u ca in tr R n l hm ph thuc vo v tr con chy, cng chnh l v tr ca vt chuyn ng. a. Cu to v nguyn l lm vic

Trong M < 360o khi dch chuyn trn (hnh 1b) v M > 360o khi dch chuyn xon. (hnh 1c)

Cc in tr dng cun dy thng c ch to t cc hp kim Ni - Cr, Ni - Cu , Ni - Cr - Fe, Ag - Pd qun thnh vng xon dng l xo trn li cch in (bng thu tinh, gm hoc nha), gia cc vng dy cch in bng emay hoc lp oxyt b mt.
4

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

Cc in tr c ch to vi cc gi tr Rn nm trong khong 1k n 100k, i khi t ti M. Cc con chy phi m bo tip xc in tt, in tr tip xc phi nh v n nh. b. Cc c trng - Khong chy c ch ca con chy: Thng thng u hoc cui ng chy ca con chy t s R x/Rn khng n nh. Khong chy c ch l khong thay i ca x m trong khong R x l hm tuyn tnh ca dch chuyn.

Hnh 2: s ph thuc ca in tr in th k vo con chy

Hnh 3 phn gii ca in th k dng dy - Nng sut phn gii: phn gii xc nh bi lng dch chuyn cc i cn thit a con chy t v tr tip xc hin ti sang v tr tip xc ln cn tip theo. Gi s cun dy c n vng dy, c th phn bit 2n-2 v tr khc nhau v in ca con chy: + n v tr tip xc vi mt vng dy. + n - 2 v tr tip xc vi hai vng dy.
5

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

phn gii ca in tr dng dy ph thuc vo hnh dng v ng knh ca dy in tr v vo khong ~10m. - Thi gian sng: Thi gian sng ca in k l s ln s dng ca in th k. Nguyn nhn gy ra h hng v hn ch thi gian sng ca in th k l s mi mn con chy v dy in tr trong qu trnh lm vic. Thng thi gian sng ca in th k dng dy dn vo c 106 ln. 1.2. in th k khng dng con chy c hc khc phc nhc im ca in th k dng con chy c hc, ngi ta s dng in th k lin kt quang hoc t. a. in th k dng con tr quang Hnh 4 trnh by s nguyn l ca mt in th k dng con tr quang. in th k trn dng con tr quang gm iot pht quang (1), bng o (2), bng tip xc (3) v bng quang dn (4). Bng in tr o c phn cch vi bng tip xc bi mt bng quang dn rt mnh lm bng CdSe trn c con tr quang dch chuyn khi trc ca in th k quay. in tr ca vng quang dn gim ng k trong vng c chiu sng to nn s lin kt gia bng o v bng tip xc.

in tr

~20 ms

Thi gian

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

Hnh 4 in th k quay dng con tr quang 1) iot pht quang 2) Bng o 3) Bng tip xc 4) Bng quang dn Thi gian hi p ca vt liu quang dn c vi chc ms. b. in th k dng con tr t Hnh 5 trnh by s nguyn l mt in th k t gm hai t in tr R 1 v R2 mc ni tip v mt nam chm vnh cu (gn vi trc quay ca in th k) bao ph ln mt phn ca in tr R1 v R2, v tr phn b bao ph ph thuc gc quay ca trc. in p ngun ES c t gia hai im (1) v (3), in p o Vm ly t im chung (2) v mt trong hai u (1) hoc (3). Khi in p o c xc nh bi cng thc:

Trong R1 l hm ph thuc v tr ca trc quay, v tr ny xc nh phn ca R1 chu nh hng ca t trng cn R = R1 + R2 = const.

T hnh 5b ta nhn thy in p o ch tuyn tnh trong mt khong ~90 o i vi in k quay. 2. Cm bin in cm Cm bin in cm l nhm cc cm bin lm vic da trn nguyn l cm ng in t. Vt cn o v tr hoc dch chuyn c gn vo mt phn t ca mch t gy nn s bin thin t thng qua cun o. Cm bin in cm c chia ra: cm bin t cm v h cm. 2.1. cm bin t cm a) Cm bin t cm c khe t bin thin - Cm bin t cm n: trn hnh 6 trnh by s nguyn l cu to ca mt s
7

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

loi cm bin t cm n. -

Cm bin t cm n gm mt cun dy qun trn li thp c nh (phn tnh) v mt li thp c th di ng di tc ng ca i lng o (phn ng), gia phn tnh v phn ng c khe h khng kh to nn mt mch t h. khi phn ng quay, tit din khe h khng kh thay i, lm cho t tr ca mch t bin thin, do h s t cm v tng tr ca cun dy thay i theo. Nu b qua in tr ca cun dy v t tr ca li thp ta c:

Trng hp W = const ta c: Vi lng thay i hu hn v s ta c:

nhy ca cm bin t cm khi khe h khng kh thay i (s=const)

8

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

nhy ca cm bin t cm khi thay i tit din khng kh ( = const): Tng tr ca cm bin:

T cng thc (7) ta thy tng tr Z ca cm bin l hm tuyn tnh vi tit din khe h khng kh s v phi tuyn vi chiu di khe h khng kh .

Z, L

L = f() Z5000Hz = f() Z500Hz = f()

Hnh 7 S ph thuc gia L, Z vi chiu dy khe h khng kh c tnh ca cm bin t cm n Z = f() l hm phi tuyn v ph thuc tn s ngun kch thch, tn s ngun kch thch cng cao th nhy ca cm bin cng cao (hnh 7). - Cm bin t cm kp lp theo kiu vi sai: tng nhy ca cm bin v tng on c tnh tuyn tnh ngi ta thng dng cm bin t cm kp mc theo kiu vi sai (hnh 8)

XV

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

Hnh 8 Cm bin t cm kp mc theo kiu vi sai Cm bin t cm n gm mt cun dy qun trn li thp c nh (phn tnh) v mt li thp c th di ng di tc ng ca i lng o (phn ng), gia phn tnh v phn ng c khe h khng kh to nn mt mch t h. Khi phn ng quay, tit din khe h khng kh thay i, lm cho t tr ca mch t bin thin, do h s t cm v tng tr ca cun dy thay i theo.

Nu b qua in tr ca cun dy v t tr ca li thp ta c:

Trng hp W=const ta c: Vi lng thay i hu hn v s ta c: (5) nhy ca cm bin t cm khi thay i tit din khng kh ( = const): (6) Tng tr ca cm bin: (7) T cng thc (7) ta thy tng tr Z ca cm bin l hm tuyn tnh vi tit din khe h khng kh s. - Cm bin t cm kp lp theo kiu vi sai: tng nhy ca cm bin v tng on c tnh tuyn tnh ngi ta thng dng cm bin t cm kp mc theo kiu vi sai (hnh 8).
10

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

Hnh 8 Cm bin t cm kp mc theo kiu vi sai Cu to ca cm bin h cm tng t cm bin t cm ch khc ch c thm mt cun dy o (hnh 11). Trong cc cm bin n khi chiu di khe h khng kh (hn h 11a) hoc tit din khe khng kh thay i (hnh 11b) hoc tn hao do dng in xoy thay i (hnh 11c) s lm cho t thng ca mch t bin thin ko th eo sut in ng E trong cun o thay i. - Cm bin n c khe h khng kh:

Hnh 11 Cm bin h cm 1) Cun s cp 2) Gng t 3) li t di ng 4) Cun th cp (cun o) Sc in ng cm ng trong cun dy o W2 :

W2 s vng dy ca cun dy o. Khi lm vic vi dng xoay chiu I = Imsin t , ta c:

v gi tr hiu dng ca sut in ng:

I - gi tr hiu dng ca dng in, k=W2W10I . Vi W2, W1 , 0, v I l hng s, ta c:

Hay

11

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

Cn nhy khi tit din khe h khng kh s thay i (d = const):

Sc in ng h cm ban u trong cun o W2 khi XV = 0. Ta nhn thy cng thc xc nh nhy ca cm bin h cm c dng tng t nhcm bin t cm ch khc nhau gi tr ca E0 v L0. hy ca cm bin h cm cng tng khi tn s ngun cung cp tng. - Cm bin vi sai: tng nhy v tuyn tnh ca c tnh cm bin ngi ta mc cm bin theo s vi sai. Khi mc vi sai nhy ca cm bin tng gp i v phm vi lm vic tuyn tnh m rng ng k. - Bin th vi sai c li t: gm bn cun dy ghp ng trc to thnh hai cm bin n i xng, bn trong c li t di ng c (hnh 12). Cc cun th cp c ni ngc vi nhau sao cho sut in ng trong chng trit tiu ln nhau. 3. Cm bin in dung 3.1. Cm bin t in n Cc cm bin t in n l mt t in phng hoc hnh tr c mt bn cc gn c nh (bn cc tnh) v mt bn cc di chuyn quay (bn cc ng) lin kt vi vt cn o. Khi bn cc ng di chuyn s ko theo s thay i in dung ca t in.

Hnh 13 Cm bin t in n

s- din tch nm gia 2 bn cc Khong cch gia 2 bn cc

a v dng sai phn

nhy ca cm bin

12

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

Nu xt n dung khng:

a v dng sai phn

- Bin thin in dung ca cm bin t in l hm tuyn. 3.2. Cm bin t kp vi sai

nhy v tuyn tnh ca t kp vi sai cao hn t n v lc tng h gia cc bn cc trit tiu ln nhau do ngc chiu nhau. 4.3. Mch o Thng thng mch o dng vi cm bin in dung l cc mch cu khng cn bng cung cp bng dng xoay chiu. Mch o cn tho mn cc yu cu sau:

13

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

- Tng tr u vo tc l tng tr ca ng cho cu phi tht ln. - Cc dy dn phi c bc kim loi trnh nh hng ca in trng ngoi. - Khng c mc cc in tr song song vi cm bin. - Chng m tt. Hnh 15a l s mch cu dng cho cm bin t kp vi sai vi hai in tr. Cung cp cho mch cu l mt my pht tn s cao. Hnh 15b l s mch mch cu bin p vi hai nhnh t in.

4.

Cm bin quang Cc cm bin o v tr v dch chuyn theo phng php quang hc gm ngun

pht nh sng kt hp vi mt u thu quang (thng l t bo quang in). Tu theo cch b tr u thu quang, ngun pht v thc o (hoc i tng o), cc cm bin c chia ra: - Cm bin quang phn x. - Cm bin quang soi thu. 4.1. Cm bin quang phn x

u thu quang t cng pha vi ngun pht. Tia sng t ngun pht qua thu knh hi t p ti mt thc o chuyn ng cng vt kho st, trn thc c nhng vch chia phn quang v khng phn quang k tip nhau, khi tia sng gp phi vch chia phn quang s b phn x tr li u thu quang. 4.2. Cm bin quang soi thu
14

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

Cm bin gm mt ngun pht nh sng, mt thu knh hi t, mt li chia kch quang v cc phn t thu quang (thng l t bo quang in).

Nguyn l lm vic ca cm bin quang soi thu

Cm bin quang soi thu Encoder loi s gia

Encoder tuyt i

5. Cm bin hiu ng Hall 5.1 Hiu ng Hall Hiu ng Hall l hiu ng vt l khi t trng vung gc tc dng ln mt bn lm bng kim loi, cht bn dn (cht dn in ni chung ) ang c dng in chy qua. Lc ngi ta nhn c hiu in th (hiu th Hall) sinh ra ti hai mt i din ca thanh Hall. T s gia hiu th Hall v dng in chy qua thanh Hall gi l in tr Hall, c trng cho vt liu lm nn thanh Hall.

15

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

5.2 Cm bin v tr gc quay s dng hiu ng Hall Cm bin gc quay s dng hiu ng Hall l loi cm bin khng tip xc. Cm bin c 2 phn: Mt thnh phn l nam chm vnh cu 2 cc c th quay quanh trc c nh. Phn ny c ni vi c cu chuyn ng quay cn xc nh v tr. Thnh phn th 2 xc nh v tr ca c cu thng qua tn hiu t trng quay l dy cc cm bin Hall. Tn hiu ra ca cc cm bin Hall thng thng l tn hiu dng sin hoc c thm mch chuyn tn hiu thnh dng xung vung.

Tn hiu ra ca cm bin Hall III. Cm bin o v tr gc quay Vert- X 13E Cm bin Vert- X 13E l cm ng o v tr gc quay do hng CONTELEC ca Thy S pht trin, c ng dng kh rng ri trong cc lnh vc ca cuc sng. Vert- X13E5V c 2 phin bn, phin bn B v phin bn C, trong , phin bn C c nhiu ci tin v cc giao thc h tr ca 2 phin bn cng c s khc nhau. Hnh nh ca cm bin:

16

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

Hnh nh ca cm bin Vert- X 13E5V Cm bin Vert X 13E5V gm c 3 chn trong : - chn mu l chn in p +5V cung cp cho cm bin - chn mu en tng ng vi chn GDD ca cm bin - chn mu trng l chn tn hiu ra ca cm bin A. Nguyn l hot ng v cc thng s c bn 1. Nguyn l hot ng Cm bin Vert-X 13E s dng phng php o v tr gc quay khng tip xc ng dng nh l Hall xc nh v tr gc quay. Cu to Vert-X 13E gm 2 phn chnh. Phn chuyn ng c gn vi c cu v nam chm to t trng. Phn ng yn c cm bin xc nh v tr theo t trng. 2. Tnh nng ni bt - Lp bo v IP69 cht lng cao - Kch thc rt nh gn - c lp vi phng php o lng( non-contacting measuring method) - Thi gian s dng ln - chnh xc cao - C kh nng lm vic trong iu kin cht hp 3. Mt s tnh nng ty chn - Kh nng ty chnh gi tr tng ng in p-gc - Kh nng iu chnh ln tn hiu ra XY% UB - Ty chn thit k hnh dng
17

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

- Ty chn thit k nam chm tc ng - Ty chn cp/ dy dn. 4. Thng s k thut ca cm bin( Datasheet). Phin bn D liu in Di o c lp tuyn tnh tr ti a phn gii Lp li max Tc ly mu tr truyn h thng h s nhit ti a ca tn 0-3600 Xem B Xem B Xem B Xem B Xem B Xem B 50 10 510% Xem B Xem B Xem B Xem B Xem B Xem B 0-3600 Xem C Xem C Xem C Xem C Xem C Xem C 50 10 5 10% xemC Xem C Xem C ------------Xem C Xem C B C

hiu u ra(ppm/K) Tui th (nm) min Ngun nui Dng tiu th khng ti Tr thun ti nh nht u ra in dung ti ln nht u ra Tn s PWM Tnh nng o ngc cc bo v ngun Phng thc kt ni qua Thng s c hc Di o c ( 0 ) Thi gian sng nh nht( c hc) Nhit lm vic

360 V hn Xem B

360 V hn Xem C
18

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

Nhit lu tr Lp bo v Chun EN 55022 lp B, pht x bc x (30 n 230 MHz) EN 55022 lp B, pht x bc x (230 n 1000 MHz) EN 61000-4-3, Pht x vi tn s cao ( 80 n 1000 MHz) IEC 60393-1, bn in mi (VAC, 50Hz, 1min, 1bar) EN 61000-4-8, Pht x trng in t ( 50MHz) IEC 68-2-6 rung (Amax = 0.75mm, f = 5 2000 Hz) Vert- X13E5V version B Giao tip

Xem B IP69

Xem C IP69

Max 30 dB (V/m) Max 37 dB (V/m) 100 V/m 1 kV 30 A/m 50g

Max 30 dB (V/m) Max 37 dB (V/m) 100 V/m 1 kV 30 A/m 50g

10 ... 90% UB PWM 5 ... 95% UB SPI 0.3 0.5 0.1 14 0.1 5 1.66 400 600 16
19

c lp tuyn tnh ( khng c sai s) c lp tuyn tnh ( Cho php sai s) Tr max Di o ( bit) Lp Max Phng thc mu t l nhanh (KHz) Phng thc mu t l chm (KHz) H thng tr nhanh (s) H thng tr chm (s) Dng tiu th. Khng ti.Giao tip

0.3 0.5 0.1 12 0.1 5 1.66 800 4600 16

0.3 0.5 0.10.1 12 0.1 5 1.66 800 4600 16

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

nhanh( mA) Dng tiu th.Khng ti.Giao tip 10 10 10 C Dy 0.25 (AWG24) Nhit hot ng (oC) Nhit lu tr(oC) -40 ... +125 10 10 1 0.1 ( ... 1) C Dy 0.25 (AWG24) -40 ... +125 -40 ... +125 10 c Dy bng 0.09 (AWG28) -40 ... +125

chm(mA) Ti u ra (kOhm) in dung ln nht u ra (nF) Tn s xung (kHz) Tnh nng o ngc cc bo v ngun Kt ni in trc Mt ct ca dy n ( mm2)

-40 ... +125

-40 ... +125

Vert X 13E5V version C Giao tip c lp tuyn tnh Tr max phn gii (bit) phn gii cho tng knh (ppr) Lp max Mu t l (KHz) H thng truyn chm tr (s) Dng tiu th khng ti (mA) Ti u ra nh nht (kOhm) in dung u ra ln nht (nF)

SSI 1.8 0.1 10 0.12 10 65 16 5 1

Incremental (A,B,Z) 1.8 0.7 10 256/128/64/32 0.12 10 200 16 5 1

20

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

in vng kt ni xuyn tm Kt ni ng trc Thit din n ca dy (mm2) Nhit hot ng( oC) Nhit lu tr (oC)

6 pol Di bng 0.09 (AWG28) -40 ... +125 -40 ... +125

pol Di bng 0.09 (AWG28) -40 ... +125 -40 ... +125

cc c trng c bn ca cm bin - Gii hn o: 0-3600 - Gii hn chuyn ng: khng gii hn - in p lm vic: 5V(10%) - phn gii: 10-12-14 bit - Giao tip: USB/Ribbon cable/round cable/dy - Dng tn hiu u ra: tuyn tnh/PWM/SPI/SSI/Incremental 5. Tn hiu u ra( Output signal) 5.1. Tn hiu ra tuyn tnh Tn hiu ra l tn hiu tng t c gi tr in p t 10% n 90% in p ngun nui (hoc X% n Y% ty chnh).

5.2.

PWM PWM (Pulse Width Modulation), iu ch rng xung l k thut iu ch, thay i rng ca xung da trn thng tin tn hiu iu bin. K thut iu ch c th c s dng m ha tn hiu truyn tin, hoc iu khin in p ngun trung bnh cp cho cc thit b in. Definition from Wikipedia
21

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

5.3. SPI: SPI (ting Anh: Serial Peripheral Interface, SPI bus Giao din Ngoi vi Ni tip, bus SPI) l mt chun ng b ni tip truyn d liu ch song cng ton phn full-duplex (hai chiu, hai pha), do cng ty Motorola thit k nhm m bo s lin hp gia cc vi iu khin v thit b ngoi vi mt cch n gin v gi r. i khi SPI cn c gi l giao din bn-dy (ting Anh: four-wire).

Khc vi cng ni tip chun (ting Anh: standard serial port), SPI l giao din ng b, trong bt c qu trnh truyn no cng c ng b ha vi tn hiu ng h tct chung, tn hiu ny sinh ra bi thit b ch ng (b vi x l). Thit b ngoi vi bn pha nhn (b ng) lm ng b qu trnh nhn chui bit vi tn hiu ng h tct. C th kt ni mt s vi mch vo mi giao din ngoi vi ni tip ca vi mchthit b ch ng. Thit b ch ng chn thit b b ng truyn d liu bng cch kch hot tn hiu "chn chip" (ting Anh: chip select) trn vi mch b ng. Thit b ngoi vi nu khng c chn bi b vi x l s khng tham gia vo qu trnh truyn theo giao din SPI. Trong giao din SPI c s dng bn tn hiu s: MOSI hay SI cng ra ca bn ch ng, cng vo ca bn b ng (ting Anh: Master Out Slave In), dnh cho vic truyn d liu t thit b ch ng n thit b b ng. MISO hay SO cng vo ca bn ch ng, cng ra ca bn b ng (ting Anh: Master In Slave Out), dnh cho vic truyn d liu t thit b b ng n thit b ch ng.

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Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

SCLK hay SCK tn hiu ng h tct ni tip (ting Anh: Serial Clock), dnh cho vic truyn tn hiu ng h tct dnh cho thit b b ng. CS hay SS chn vi mch, chn bn b ng (ting Anh: Chip Select, Slave Select). V bn cht, SPI l s hon i d liu gia 2 bn. Vic chun b d liu ca 2 bn c thc hin t trc khi thao tc trao i d liu xy ra. D liu Slave tr v l ni dung ca thanh ghi d liu ca SPI tch hp trn Slave.

Giao tip SPI vi Vert-X 13E - SPI: phn gii 14 bit Tc ly mu: 0.55-2.2 KHz Cm bin ng vai tr slave. D liu c ghi vo thanh ghi SPDR sau mi ln ly mu. Khi Master (vdk) a tn hiu chn SS xung thp, pht xung gi nhp trn SCK, D liu v v tr ca cm bin c t ng truyn sang master.

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Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

5.4.

SSI (synchronous serial interface)

SSI (synchronous serial interface) l chun truyn thng ni tip ng b, im ni im gia mt trm ch (vdk) v mt trm t (cm bin). SSI xy dng trn chun RS422 c hiu qu cao v c pht trin trn nn tng phn cng rt a dng. SSI rt thch hp cho cc ng dng i hi tin cy trong o lng nhiu mi trng cng nghip khc nhau.

Vic truyn d liu c ng b ha gia trm truyn v nhn bng tn hiu xung gi nhp (clock signal). Trm ch iu khin xung d nhp cn trm t gi d liu theo xung nhp ng b vi trm ch. Cc tn hiu ng h v d liu c truyn theo chun RS-422, s dng tn hiu vi sai gia mt cp 2 dy.

Thit k Giao din SSI n gin bao gm 2 cp dy, mt cp truyn tn hiu ng h t trm ch v mt cp truyn d liu t trm t. Clock c kch hot t trm ch khi cn thit. Tn s Clock c th c s dng t 100 kHz n 2 MHz v s lng cc xung Clock ph thuc vo s bit d liu c truyn i. Truyn d liu Ch truyn n Ban u khi cha lm vic, c 2 ng tn hiu clock v data u c gi mc cao. Ch truyn d liu s c khi ng khi trm ch bt u pht xung clock. Sau khi pht hin tn hiu clock, trm t s gi d liu bt u t bit cao nht vo thi im cnh ln ca xung clock. Sau khi vic truyn d liu hon tt, tn hiu trn dy clock s c a tr li mc cao. Trong khi o tn hiu dy data c gi mc thp trong khong thi gian tm trm t nhn ra transfer timeout. Nu trong thi gian tm ny, trm ch tip tc pht xung th trm t s tip tc truyn li d liu mt ln na.
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Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

Trm t bt u chun b d liu cho ln truyn tip theo trong khi gi tn hiu dy data mc cao ch nhn ri (sau khong thi gian tm).

Ch truyn lin tip Nh ni trn, trc khi kt thc khong thi gian ti thiu ch timeout, nu xut hin xung clock t trm ch th trm t s hot ng ch truyn lin tip. Trm t s khng bt u cp nhp d liu mi m truyn li d liu chun b trc . Ch truyn lin tip thng dng kim tra tnh ton vn ca d liu. S truyn hng s c pht hin sau khi so snh 2 gi tr nhn c.

5.5.

Incremental (dng tn hiu xung vung, ging encoder loi s gia) :

Tn hiu ra incremental ca cm bin Vert-X 13E tng t nh tn hiu ra ca incremental encoder quang hc. Mi cm bin s c 3 knh( A, B, Z). Tn hiu trn knh A l dng xung vung. C mi mt bc chuyn ng quay ca vt cn o, cm bin s pht ra mt xung trn knh A. S xung c pht ra trn mt vng quay c gi l phn gii ca cm bin. Tn hiu trn knh B l dng xung vung c cng tn s vi tn hiu trn knh A nhng lch pha 900 hoc 1800, c dng xch nh chiu quay ca vt cn o. C mi mt vng quay ca vt, knh Z s pht ra mt xung vung. Tn hiu trn knh ny dng xc nh s vng quay ca vt.
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Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

B. Thit k ca cm bin gc quay Vert X 13E5V

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Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

Thng s hnh hc c bn ca Vert X 13E5V V tr lm vic( Z) Version B Version B redundant Version C lch trc ti a cho php ca nam chm tc ng: dx = 0.25mm dy = 0.25mm dz = 0.5mm
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Khong cch Z(mm) 11.05 mm 10.55 mm 10.55 mm

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

IV.

Mch o s dng vi iu khin atmega32 Gii thiu vi iu khin Vi iu khin atmega32 l vdk 8 bit thuc h AVR ca hng Atmel. Atmega32 c cc c im chnh: c 40 chn trong c 32 chn I/O Tc xung nhp ln n 16MHz (nu s dng thch anh ngoi).Kin trc RISC , 131 instruction , 32 thanh ghi mc ch chung, 16MIPS.( 16MHz) B nh chng trnh 32kb, 1024kb EEPROM , 2kb SRAM 2 timer/counter 8 bit 1 timer/counter 16bit 4 knh PWM 8 knh ADC 10-bit Giao din 4 dy SPI Giao din 2 dy TWI Giao din ni tip USART

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Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

Thit k mch o 1. c tn hiu tuyn tnh

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Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

Ta c th s dng chc nng ADC trong vdk atmega32 c tn hiu tuyn tnh t cm bin.

2. c tn hiu PWM Tn s 0.1 - 1 kHz Tc ly mu: 1.66-5 kHz phn gii: 12bit

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Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

c c tn hiu PWM t cm bin, ta s dng chc nng Input Capture ca vdk atmega32. Khi s dng chc nng Input Capture, mi s thay i tn hiu trn chn CP1(chn20) s cho php ngt input capture c gi, gi tr cua thanh ghi 16-bit TCNT1(thanh ghi m ca timer/counter 1) s c ghi sang thanh ghi 16-bit ICP1. Trong mi ngt, ta s thay i ch bt ca Input Capture (ln lt bt cnh ln v xung ca xung). Gi tr ICR1 gia mi ln cnh ln v xung l gi tr cn o.Khi xung PWM c duty cycle qu nh hoc qu ln (gn 100%), s kh khn hn c xung PWM bng Input Capture, bi th tc gi hm ngt s mt mt khon thi gian. V vy PWM dng trong giao tip s c duty cycle trong mt khong nht nh (v d 25% n 75%).

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Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

3. c tn hiu SPI: phn gii 14 bit Tc ly mu: 0.55-2.2 kHz Cm bin ng vai tr slave. D liu c ghi vo thanh ghi SPDR sau mi ln ly mu. Khi Master (vdk) a tn hiu chn SS xung thp, pht xung gi nhp trn SCK, D liu v v tr ca cm bin c t ng truyn sang master. V vy, nu Master yu cu d liu qu nhanh, nh hn thi gian ly mu ca Slave. Khi master s nhn li gi tr c nhn ln trc . Nu yu cu d liu qu chm, s nh hng n h thng.

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Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

4. c tn hiu SSI phn gii: 10 bit Tc ly mu: 10kHz Do SSI s dng chun RS-422 pht ra tn hiu vi sai v tn hiu nn phi s dng cc b RS-422 Transciever chuyn i tn hiu v c trn cc PORT ca vi iu khin. y s dng IC MAX 1486 ca hng MAXIM.

Nhn d liu t cm bin Trn cc vi iu khin thng thng khng c module ring dnh cho SSI. Tuy nhin vi khung d liu tng i n gin v ging vi giao din SPI, ta c th cho vi iu khin nhn d liu thng qua module SPI hoc lp trnh vi iu khin nhn d liu qua mt chn bt k. Nhn d liu t chn bt k Nguyn tc ca phng php ny l bt tt (toggle) mt chn ca vi iu khin to xung clock iu khin vic truyn d liu t cm bin. Mt chn khc s c dng lm cng nhn d liu ca giao din ni tip. Ta s to mt bin c di thch hp cha d liu
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Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

nhn v. Cch ghi d liu vo bin ny s tng ng vi mt thanh ghi dch. Hm c d liu 12bit

Uint16 pinToggleReadSSI ( void ) { Uint8 bit_count; Uint16 result = 0; Uint8 portdata;

for (bit_count=0; bit_count<13; bit_count++) { // falling edge on clock port SSI_CLK_PORT &= ~(1 << SSI_CLK_BIT);

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Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

// left-shift the current result result = (result << 1); // rising edge on clock port, data changes SSI_CLK_PORT |= (1 << SSI_CLK_BIT); // read the port data portdata = SSI_DTA_PORT;

// evaluate the port data (port set or clear) if ( (portdata & (1 << SSI_DTA_BIT)) != 0) { // bit is set, set LSB of result result = result | 0x01; } } Result <<=1; //delay at least 25 s for timeout Delay_us(25); return result; } Trong hm trn, ta khng cn tnh n tc ca xung clock. Phng php ny n gin v c th ng dng cho tt c cc vi iu khin d n gin nht. Mt cch khc l c th s dng module SPI c sn trong cc vdk. Vi vdk 8 bit, d liu s c c 2 ln, cho 8 bit cao v 6 bit thp. D liu thu c phi dch bit sang phi 2 v tr. Tc truyn cao nht ca SPI l xung nhp h thng.

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Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

/*FH***************************************************************** ******** * Name: spiInit

* Description: init SPI as master for use with SSI ********************************************************************* ********/ void spiInit( void ) { // configure SCK, MOSI and Slave Select as output DDRB = (1 << SPI_SCK_BIT) | (1 << SPI_MOSI_BIT) | (1 << SPI_SS_BIT);
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Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

// configure SPI as master, with CLK idle high SPCR = (1 << SPE) | (1 << MSTR) | (1 << CPOL); }

/ *FH****************************************************************** ******* * Name: readSSI_SPI

* Return value: value read from SSI * Description: read a 25 Bit SSI word using the SPI interface ******************************************************* ********************/ Uint16 spiReadSSI( void ) { Uint8 byteCount; Uint8 data; Uint16 result = 0;

for (byteCount=0; byteCount<2; byteCount++) { // send a dummy byte, read the result SPDR = 0xFF; result <<= 8; // send 0xFF as dummy // left shift the result so far // wait until transfer complete
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while ( (SPSR & (1 << SPIF)) == 0);

Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

data = SPDR; result |= u8data; } result >>= 2; return result; }

// read data from SPI register // and or it with the result word

// throw aways the LSBs

Ch truyn i c thc hin bng cch cho vdk xut xung clock 25 chu k lin tip. D liu 24 bit nhn v s c x l v so snh m bo chnh xc ca d liu. 5. c tn hiu Incremental 3 knh phn gii 10 bit, Tc ly mu 10kHz Knh A c ni vi mt chn ngt ngoi ca vdk. Knh B c ni vi mt chn bt k. C mi mt ngt xy ra(c mt xung trn knh A), trnh phc v ngt ngoi c gi t ng. Ta s kim tra mc ca knh B. ty theo mc ca knh B ti thi im l cao hay thp m chiu quay ca vt c xc nh.

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Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

V.

ng dng ca cm bin gc quay

Cm bin v tr gc quay c ng dng trong trong rt nhiu lnh vc khc nhau: - ng dng trong Phng tin / xe ua th thao Cm bin v tr gc quay c ng dng rt nhiu trong cc phng tin, c bit l t. Cm bin gc quay gip xc nh m bm ga, gc quay v lng, gc m bn p ga/ thng.t gip iu chnh, tit kim nhin liu, nng cao tnh an ton ca phng tin.

- Thit b c kh/ robotic Cm bin v tr gc quay c ng dng rt rng ri trong cc thit b c kh, trong vic iu khin robot. v d, trong my gia cng chnh xc CNC, cm bin v tr gc quay gip xc nh chnh xc gc li dao nh c th gia cng

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Bo co mn o lng v cm bin Cm bin v tr gc quay Vert X 13E5V Nhm 2 K55M

chnh xc vt liu. i vi robot, cm bin v tr gc quay gip xc nh gc tay my trong cng nghip, hng tc ng l thnh phn khng th thiu gip iu khin, t ng ha cc quy trnh sn xut s dng robot.

Mt ng dng rt hay c nhc ti khi ni n cm bin v tr gc quay l iu khin ng c servodriver. ng c servo l thit b c iu khin bng chu trnh kn. Da vo tn hiu hi tip v v tr gc, tc , h thng iu khin s s iu khin ng c quay theo gc v tc nh mong mun. Cm bin v tr gc quay nh Vert X 13E5V c nhim v xc v tr gc ca trc ng c, so snh vi yu cu thc t gc ra c th iu chnh ng c nh mong mun.

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