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Dieu Khien Dong Co DC Chuong Tong Hop Huy
Dieu Khien Dong Co DC Chuong Tong Hop Huy
Li cm n
Vi s gip tn tnh ca cc thy c trong khoa in t ng ha Trng
Cao ng Cng Ngh i hc Nng cng vi ngi thn, gia nh v bn b,
chng em hon thnh n theo ng thi gian quy nh.
t c thnh cng ny, chng em xin chn thnh cm n thy gio Ph
gio s-Tin s on Quang Vinh, ngi lun theo di, ch bo tn tnh cho em
trong sut thi gian thc hin ti, ngi ng gp kin v hng dn em
hon thnh n. Bn cnh , em cng xin chn thnh cm n n cc thy c
gio trong khoa in t ng tn tnh dy d chng em trong nhng nm hc
va qua. Cui cng, chng em xin gi li cm n chn thnh n gia nh, bn b
gip em hon thnh n ny.
Chng em xin chn thnh cm n.
Nng, ngy 10 thng 06 nm 2010
Sinh vin thc hin
Trn Nguyn Quc Huy
Phan Hong Anh
Nguyn c Ba
Nguyn Tn Thch
Li cam oan
Cng ha x hi ch ngha Vit Nam
c lp T do Hnh phc
Li cam oan
Knh gi: Hi ng bo v tt nghip khoa in t ng Trng Cao ng
Cng Ngh i hc Nng.
Em tn l: Trn Nguyn Quc Huy
Phan Hong Anh
Nguyn c Ba
Nguyn Tn Thch
ang l sinh vin lp 08LT Khoa in t ng Trng Cao ng
Cng Ngh i hc Nng.
Hin nay chng em lm n tt nghip vi ti iu khin tc ng
c in mt chiu .
Chng em xin cam oan ni dung n hon ton khng ging vi bt k
n hoc cng trnh no c trc .
Nng, ngy 10 thng 06 nm 2010
Sinh vin thc hin
Trn Nguyn Quc Huy
Phan Hong Anh
Nguyn c Ba
Nguyn Tn Thch
Mc lc
MC LC
Chng 1: ng c in mt chiu................................................................1
1.1.
1.2.
Ni dung.........................................................................................1
Hm truyn l tng:..........................................................4
Kt chng.....................................................................................8
2.2.
Ni dung.........................................................................................9
Mc lc
2.2.8 Cch np cho PIC16F887..........................................................18
2.3.
Kt chng...................................................................................20
M chng...................................................................................21
3.2.
Ni dung.......................................................................................21
Kt chng...................................................................................31
M chng...................................................................................32
4.2.
Ni dung.......................................................................................32
Kt lun chng..........................................................................46
4.4.
Nhn xt nh gi h thng..........................................................46
Mc lc
4.5.
Cc t vit tt
CC T VIT TT
PID
ProportionalIntegralDerivative
DC
Direct Current
PWM
EEPROM
ADC
USART
MUX
Multiplexer
MCU
Microcontroller Unit
GPIO
EUSART
LCD
FET
Field-Effect Transistor
BJT
MOSFET
UART
M u
M u
Vi s pht trin rng ri ca thit b in, ngy nay, ngi ngi, nh nh
hu ht s dng cc cng ngh hin i. V khi mc sng ca ngi dn c
nng cao th vic qun l cc thit b in trong nh l ht sc cn thit. Chnh v
vy vic iu khin thit b v gim st hot ng ca n thng qua mt qu trnh t
ng l vic lm mang nhiu li ch.
ti thc hin vic iu khin thng qua vi iu khin PIC16F887A, chnh
v vy ti nghin cu su v vic n nh tc ng c in mt chiu. Trong
gii hn thi gian nghin cu cho php, ti ch pht trin mt h thng iu
khin n gin. Cc thit b c gim st v iu khin tiu tn rt t nng lng
s mang li li ch kinh t v hiu qu s dng cao.
Ni dung ca n gm:
Chng 1: ng c in 1 chiu
Chng 2: Gii thiu v vi iu khin PIC 16F887A
Chng 3:Thit k v thi cng phn cng
Chng 4: Thit k phn mm
Phng php nghin cu ca n l tnh ton thit k mch, xy dng cc
lu thut ton v thi cng lp rp kim chng tnh ng n ca thit k v
cc lu thut ton xy dng.
Vi phng php trn, n c thit k v thi cng thnh cng.
V thi gian chun b khng nhiu cng vi kin thc cn hn hp, n
khng trnh khi nhng sai st, chng em rt mong nhn c kin ng gp ca
cc thy c trong khoa, chng em xin chn thnh cm n.
Nng, ngy 10 thng 06 nm 2010
Sinh vin thc hin
Trn Nguyn Quc Huy
Phan Hong Anh
Nguyn c Ba
Nguyn Tn Thch
Chng 1: ng c in mt chiu
Chng 1: ng c in mt chiu
1.1.
Ni dung
Trang 1
Chng 1: ng c in mt chiu
Ia
R a
La
Ua
+
Eg
u a R a i a La
di a
e g
dt
e g k v n
(1.1)
(1.2)
(1.3)
Phng trnh ca ng c:
Td J
d
B TL
dt
(1.4)
B: h s ma st
T: monen ti.
ch xc lp:
u a Ra ia e g
(1.5)
Td 2nB TL K t ia
(1.6)
Ta c c tc ng c ch xc lp:
n
U a I a Ra
Kv
(1.7)
Trang 2
Chng 1: ng c in mt chiu
1.2.3 Phng php iu khin tc ng c:
i vi loi ng c kch t c lp dng nam chm vnh cu, thay i
tc , ta thay i in p cung cp cho roto. Vic cp p 1 chiu thay i thng
kh khn, do vy ngi ta dng phng php iu xung (PWM):
Ton
Vin
T
Chng 1: ng c in mt chiu
1.2.4 Kho st hm truyn
1.2.4.1 Hm truyn l tng:
Bin i Laplace cc cng thc t (1.1) (1.4 ) ta c:
Ua(p) = RaIa(p)+pLaIa(p)+Eg(p)
(1.9)
E g ( p ) k v n ( p )
(1.10)
Td(p) = Kt Ia(p)
(1.11)
Td ( p ) 2pJn( p ) 2Bn( p ) TL ( p )
(1.12)
T 1.12 tnh c:
n( p )
Td ( p ) TL ( p)
2B( p m 1)
(1.13)
(1.14)
Trong :
1
2BRa
( a p 1)( m p 1) K v
Kt
Trang 4
Chng 1: ng c in mt chiu
Vy hm truyn ca ng c lc ny c dng khu dao ng.
1.2.4.2 Hm truyn gn ng tm c bng thc nghim
tm hm truyn bng thc nghim ta tm p ng xung ca ng c.
Ta t p bng p nh mc vo ng c v v th vn tc theo thi gian.
V thi gian ly mu vn tc nh do ta khng thy c cc im un ca th,
do y ta xp x hm truyn ng c l khu qun tnh bc 1 c dng nh sau.
G
k
Tp 1
p ng xung ca ng c:
kU
n(p)= (Tp 1) p
Bin i Laplace ngc ta c:
n=kU(1-e-t/T)
Khi t = T, n = kU(1-e-1)=0.63kU=0.63nmax
Vy trn th ta xc nh im ti n=0.63nmax sau tm c T.
Da vo th tm c bng thc nghim ta tm c kU v T.
Chng 1: ng c in mt chiu
T = 30ms=0.03s
Vy hm truyn gn ng:
G
k
150 / 24
37.5
Tp 1 0.03 p 1 0.03 p 1
de( )
d
Trong :
-
Kd: h s vi phn
Thi gian
Vt
Thi gian n
tng
l
nh
Gim
Tng
t thay i
Gim
Tng
Tng
t thay i
Gim
Gim
Bng 1.1 Lut iu khin PID
Trang 6
Chng 1: ng c in mt chiu
Da vo bng trn ta thy rng lut t l (P) c c im tc ng nhanh
nhng khng trit tiu c sai lch, ng thi lm vt l ca h thng tng. Khu
tch phn cho php trit tiu sai lch nhng tc ng chm. Khu vi phn phn ng
vi tc bin thin ca sai lch. Ta cn xc nh cc thng s K p, Ki, Kd c
h thng c cht lng mong mun.
Thut ton ca b iu khin PID s:
Khu t l P (Proportional): GP(z) = KP
Khu tch phn I (Integrate):
GI ( z) K I T
1
vi
1 z 1
kT
n0
z 1
K d (1 z 1 ) vi thnh phn
Tz
vi phn xp x bi
de(t ) e( nT ) e((n 1)T )
dt
T
U dk ( z )
1
K p Ki
K d (1 z 1 )
E( z)
1 z 1
Trang 7
Chng 1: ng c in mt chiu
Phng php ny i hi phi tnh c gi tr gii hn ca ca khu t l
Kgh v chu k gii hn ca h kn Tgh. Sau tm cc thng s khc theo bng sau:
B iu khin
KP
TI
P
0.5Kgh
PI
0.45Kgh
0.83Tgh
PID
0.6Kgh
0.5Tgh
Bng 1.2 Cc gi tr thng dng ca cc h s KP, KI, KD.
TD
0.125Tgh
Kt chng
Chng ny gii thiu c s l thuyt v ng c, phng php iu
Trang 8
Ni dung
Trang 9
Trang 10
Trang 11
Trang 12
Trang 13
Hot ng nhn:
S khi b nhn c th hin trong hnh 2.6.
D liu c nhn trn chn RX/DT v y vo khi Data Recovery. Khi tt
c 8 hoc 9 bit ca k t nhn c dch vo, chng s ngay lp tc c
chuyn vo b m 2 k t FIFO. B m FIFO v thanh ghi RSR khng th
truy cp trc tip bng phn mm m c truy cp gin tip thng qua
thanh ghi RCREG. D liu trong b m nhn c c bng cch c
thanh ghi RCREG. B nhn c kch hot khi cu hnh cc bit CREN=1,
SYNC=0, SPEN=1. CREN=1 kch hot b nhn ca EUSART. SYNC=0 cu
hnh EUSART hot ng ch khng ng b. SPEN=1 cho php b
EUSART hot ng v cu hnh chn RX/DT l chn nhp.
Trang 14
Trang 17
Trang 18
Trang 19
Kt chng
Chng ny m t s lc cu to ca PIC16F887, hot ng ca mt vi
thit b ngoi vi c s dng trong ti, cch np cho PIC16F887 bng mch np
ezPIC v chng trnh np PICPgm Programmer.
Chng ti s trnh by qu trnh thit k v thi cng phn cng.
Trang 20
M chng
Chng ny s trnh by cch thit k v thi cng phn cng, tnh ton v
Ni dung
Encoder
o chiu
Khi iu
ng c
khin cng
tm PIC16F887
PWM
sut
U
A
R
T
B phn hin
MAX232 chuyn i
th LCD 16x2
mc in p
Cng DB9
S
2
3
Hnh 3.1 S khi phn cng.
2
Khi iu khin trung tm s kt ni vi khi iu khin cng sut qua chn
iu xung CCP1, iu khin khi cng sut o chiu ng c.
Trang 21
Trang 22
VCC
R1
C 11
K0
K1
K2
K3
K4
K5
2
3
4
5
6
7
8
9
33pF
gnd
33pF
4k7
SW 2
SW 3
K0
12M hz
VC C
SW 4
K1
R3
18k
K2
SW 1
IN C
D EC
pw m
CHANGE
C6
SW 6
SW 7
K3
SW
R2
rs t
SW 8
K4
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
d0 19
d1 20
40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21
M C R L/V P P
R B 7/IC S P D A T
R A 0/A N 0/U LP W U /C 12IN 0R B 6/IC S P C LK
R A 1/A N 1/C 12IN 1R B 5/A N 13/T1G
R A 2/A N 2/V R E F -/C V R E F /C 2IN +
R B 4/A N 11
R A 3/A N 3/V R E F +/C 1IN + R B 3/A N 9/P G M /C 12IN 2R A 4/T0C K I/C 1O U T
R B 2/A N 8
R A 5/A N 4/S S /C 2O U T
R B 1/A N 10/C 12IN 3R E 0/A N 5
R B 0/A N 12/IN T
R E 1/A N 6
VDD
R E 2/A N 7
VSS
VDD
R D 7/P 1D
VSS
R D 6/P 1C
R A 7/O S C 1/C LK IN
R D 5/P 1B
R A 6/O S C 2/C LK O U T
RD4
R C 0/T1O S O /T1C K I
R C 7/R X/D T
R C 1/T1O S I/C C P 2
R C 6/TX/C K
R C 2/P 1A /C C P 1
R C 5/S D O
R C 3/S C K /S C L
R C 4/S D I/S D A
RD0
RD3
RD1
RD2
dir
VC C
enc oder
v cc
gnd
d7
d6
d5
d4
rx
tx
OK
C AN CEL
680
C1
0.1uF D ong C o
R E LA Y D P D T
R b K E O R E LA Y
dir
C 1815 K E O R E LA Y
2S C 1815
2K 7
K H O I C O N G SU A T
2K 2
R H A N D O N G LE D D A O C H IE U
d3
d2
R H A N D O N G D R IV E R
1K 8
K5
2.2uF
J8
1
2
12V
U3
rs t
k0
k1
k2
k3
k4
k5
rsrs
rw
V C C en
v cc
gnd
R 7 x tal1
4k7 x tal2
Y1
C 10
R E LA Y D A O C H IE U
4
3
5
D IO D E D O N G C O
8
6
7
1N 4007
1N 4007
1
D IO D E C H O N G C O N D U C TO R
2
K H O I D IE U K H IE N T R U N G T A M
x tal 1
x tal 2
LE D B A O D A O C H IE U
P IC 16F 887A
LE D
2S D 414
O N /O F
R han dong F E T tren
K H O I P H IM N H A N
12V
C 14
10u
10u
4
C 2+ 5
C 2-
C3
M A X232
10u
11
4K 7
D2
R b D R IV E R
1K
B Z X84C 16/S O T
LM 324
gnd
KHOIENCODER
LC D
gnd
C4
10u
v cc
VC C
LC D
U4
D1
12V
v cc
GND
LM 7805/TO
C5
C7
3300uF 0.1uF
rs
C2
4700uF
K H O I H IE N T H I
rw
B R 805D
v ref
d0
CON2
C O N N E C TO R D B 9
V IN V O U T
10
11
12
13
14
15
16
P1
d1
d2
4 -
1
2
3
4
5
6
7
8
9
U6
2
1
en
J1
gnd
VSS
VDD
VEE
RS
RW
E
D0
D1
D2
D3
D4
D5
D6
D7
A
K
1
6
2
7
3
8
4
9
5
C9
0.1u
R han dong F E T
4k7
gnd
16
VCC
820
10k R 6
1
3
C 1-
GND
gnd
V-
out E nc oder
C 12
IR F 540/TO
C 1815 D R IV E R
2S C 1815
d4
d5
d6
d7
15
C 1+
enc oder
2 -
pw m
d3
VCC
U2
18k
100
R b D R IV E R V D K
R5
3 +
v cc
9
8
10 R 2O U T R 2IN 7
T2IN T2O U T
V+
R4
3
2
1
rx
tx
13
12
14 R 1IN R 1O U T 11
T1O U T T1IN
U 9A
4
J2
b
2S B 548
FET
v cc
KHOINGUON
J5
2
1
gnd
gnd
v cc
gnd
R 15 1k
v ref
R 16 10k
CON2
Trang 24
TL B
K m
ng vi ti c th ta c th xc nh c TL t ta c th xc nh c
dng Ia cc i qua ng c.
Gi s ta tnh vi dng ti a qua ng c l 5 A
Ta phi chn MOSFET c VDS >2Vng c, dng >1.5 -> 2ln Imax,
khong10A, cng sut tiu tn trn MOSFET ty thuc vo tng loi FET, y ta
chn cc thng s ca IRF540 tham kho sau kim tra li cng sut c m
bo hay khng..
Cng sut tiu tn trn MOSFET bao gm 2 thnh phn: cng sut tiu tn
khi FET dn v cng sut chuyn mch:
Ptt = Pd + Psw
Cng sut tiu tn khi FET dn c tnh theo cng thc:
Pd I 2 .RDSon .
Ton
T
Trang 25
Hnh 3.4 Dng sng VDS v VGS khi FET chuyn mch.
Tn hao trong qu trnh chuyn t off sang on
E1 =
ds
(t ).ids (t ).dt
tr
DS
.(VDS
tr
VDS
1
t ).dt Vcc .I DS .t r
tr
2
ds
(t ).ids (t ).dt
tf
Psw =
1
Vcc .I DS .t f
2
1
Vcc .I DS .(t r t f ). f sw
2
Trang 26
Ton
T
Ton
T
(1)
Trang 28
Icsat-Icoff
Tsw
Icsat
Tsw
=> ic=
Icsat
t
Tsw
E=
Tsw
icVccdt
Icsat
Tsw.Icsat.Vcc
tVccdt
Tsw
2
Tsw
T
(2)
T (1) v (2) ta c :
Ptt= Vces.Icsat.
Ton
Tsw
+ Icsat.Vcc.
T
T
Yu cu thi gian chuyn mch Tsw ca BJT phi nh hn thi gian chuyn
mch ca kha in t.
Thi gian tsw ca BJT thng thng khong vi chc n vi trm ns, y
ta ly tsw=100ns.
Vi BJT Q5, icsat = Vcc/R14 = 12/1k8= 6.7mA.
Ton/T max =1, 1/T = f =24kHz thay vo cng thc trn ta c :
Pttmax = 0.2x6.7 + 6.7x12x100x10-9x24x10-3 = 1.36mW.
Chn BJT Q6 c Vce > 12x2 =24V, Ic>6.7x2, Ptt>1.36mW, chn BJT Q6 l
C1815.
Q6 dn bo ha dng ibQ6 > icQ6/min = 6.7/70 ~0.1mA.
Trang 29
Kt chng
Trong chng ny, phn cng c m t, thit k v tnh ton mt cch
Trang 31
M chng
Vic thit k phn mm l cng on kh nht ca n ny bi h thng
Ni dung
Cho php ngt timer1. B timer1 kt hp vi ngt ngoi trn chn RB0
c s dng o tc ng c.
Sau khi khi to cho cc thit b ngoi vi, chng trnh s thc hin vng lp
v hn. Bt u vng lp, chng trnh gi hm qut phm. Thut ton nhn phm
ca hm qut phm s kim tra phm nhn, loi b qu trnh rung ca phm. Tip
theo chng trnh s kim tra c phm nhn hay khng. Nu khng c, chng trnh
s quay tr v u vng lp. Nu c, chng trnh s gi hm x l phm nhn. Sau
quay tr v u vng lp.
Nh vy, chng trnh chnh s khi to cho cc thit b ngoi vi, sau
kim tra phm nhn. Khi xy ra cc ngt, chng trnh s thc hin chng trnh
phc v ngt ca ngt tng ng.
Chng trnh phc v ngt timer1 c phn tch trong mc 4.2.1.3.
Chng trnh phc v ngt nhn UART c phn tch trong mc 4.2.1.4.
Chng trnh phc v ngt RB0 ch lm mt nhim v l tng bin m
xung encoder. Chng trnh ny s khng c phn tch trong ti.
Trang 33
Ci t Timer2 ch PWM
Ci t UART tc Baud 9600kbits/s
Chn chn RB1 hot ng ch PWM
Thit lp thanh ghi TRISA l 0xFF.(porta l port nhp, kt ni vi phm)
Thit lp thanh ghi TRISD l 0 (portd l port xut, kt ni vi chn d liu LCD)
Thit lp thanh ghi TRISE l 0(porte l port xut, kt ni vi chn iu khin LCD)
Cho php ngt nhn UART
Cho php ngt timer1. Timer1 c dng o tc .
Cho php ngt ngoi trn chn RB0
Gi hm qut phm
C phm nhn?
Sai
ng
Gi hm x l phm nhn
INC
#define
DEC
#define
SHIFT
#define
OK
#define
CANCEL
#define
ON_OFF
0x1F //Phm tt m ng c
#define
INV_DIR
Trang 35
Trang 36
Bt u
Gn gi tr porta cho bin phim
ng
Phm OK?
Sai
ng
Phm
Cancel?
Sai
ng
Phm INC?
Sai
ng
Phm
DEC?
Sai
ng
ng c
ang m?
Sai
ng
tt PWM dng ng c
M PWM bt ng c
Phm
ON/OFF?
Sai
Phm
Shift?
Sai
Phm
INV?
ng
Sai
ng
o chn RB3.
Hin th ra LCD dng
ch INV_DIR v tr
0xC8.
Kt thc
Trang 37
Trang 38
Bt u
Dng timer1
Khng cho php ngt ngoi trn chn RB0
Kt thc
Ban u, hm s khng cho php ngt ton cc nhm trnh hin tng xung
t ngt khi cc ngt c th t u tin hn xy ra trong khi ang thc hin chng
trnh phc v ngt nhn UART.
Sau hm s kim tra bin dem_byte bit c s th t byte ang
nhn. Nu byte nhn c l byte u tin (dem_byte bng 0), hm s gn gi tr
thanh ghi RCREG cho bin byte_lenh v tng gi tr ca bin dem_byte mt n v
ri kt thc hm.
Nu byte nhn c khng phi byte u tin (lc ny dem_byte bng 1),
hm s gn gi tr thanh ghi RCREG cho bin byte_dulieu, gn 0 cho bin
dem_byte, kim tra gi tr ca bin byte_lenh v c cc x l tng ng vi tng
gi tr ca byte_lenh ri kt thc hm.
-
Bt u
ng
Byte th nht?
Sai
Gn 0 cho bin m s byte
dem_byte = 0.
Gn gi tr thanh ghi RCREG
cho bin d liu nhn
byte_dulieu = RCREG.
ng
Gn bin byte_dulieu cho bin Kp
Byte_lenh=
=0?
Sai
ng
Byte_lenh=
=1?
Sai
ng
Byte_lenh=
=2?
Sai
Byte_lenh=
=3?
Sai
ng
byte_dulieu
bng 0?
Byte_lenh=
=4?
Sai
Sai
Byte_lenh=
=5?
ng
ng
tt PWM dng ng c
Sai
Kt thc
Hnh 4.3 Lu thut ton chng trnh phc v ngt nhn UART.
Trang 41
Trang 42
Out put.Com1 = 0
Kt thc
Bt u
Out put.Com1 = 1
Kt thc
Bt u
Out put.Com1 = 2
Kt thc
Bt u
Out put.Com1 = 3
Kt thc
Bt u
Out put.Com1 = 4
Kt thc
Bt u
Out put.Com1 = 5
Kt thc
Sai
C nhn c byte d liu t
cng COM1?
ng
Kt thc
Kt lun chng
Qua chng ny, vic thit k phn mm v cc thut ton c m t
tng i chi tit. Phn mm trn mch iu khin cho php iu khin ng c
theo thut ton PID gii thiu chng 1. ng thi cng cho php ci t cc
thng s cho b iu khin bng hai phng php: dng phm trn mch hoc iu
khin trn my tnh thng qua cng COM.
4.4.
Nhn xt nh gi h thng
ti c hon thnh ng vi nhng d nh ban u. H thng iu
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SPKT, 30/6/2007
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