Giithiu

ng c bc c th c m t nh l mt ng c in khng dng b
chuyn mch. C th, cc mu trong ng c l stator, v rotor l nam chm
vnhcuhoctrongtrnghpcangcbinttr,nlnhngkhirng
lmbngvtliunhcttnh.Ttcccmchophiciukhinbn
ngoibibiukhin,vcbit,ccngcvbiukhincthitk
ngccthginguynbtkvtrcnhnocngnhlquaynbt
kvtrno.Huhtccngcbccthchuynngtnsmthanh,
chophpchngquaykhnhanh,vvimtbiukhinthchhp,chngc
thkhingvdngliddngccvtrbtk.
Trongmtvingdng,cnlachngiangcservovngcbc.C
hai loi ng c ny u nh nhau v c th xc nh c v tr chnh xc,
nhngchngcngkhcnhaumtsim.Servomotorihitnhiuhi
tip analog. c bit, iu ny i hi mt b tcc cung cp tn hiu hi
tipvvtrcarotor,vmtsmchphctpiukhinssailchgiav
trmongmunvvtrtcthivlcdngquangcsdaongttdn.
lachngiangcbcvngcservo,phixemxtmtsvn,
vnphthucvoccngdngthct.Vd,khnngtrvmtvtr
vtquaphthucvohnhdngrotorngcbc,trongkhi,khnng
lplivtrcangcservonichungphthucvonnhcabtcc
vcclinhkinanalogkhctrongmchhitip.
ngcbcc thcdngtrong h thngiukhin vnghn gin;
nhnghthngnymbochohthngiukhingiatcvititrngtnh,
nhngkhititrngthayihociukhingiatcln,ngitavndngh
iu khin vng kn vi ng c bc. Nu mt ng c bc trong h iu
khinvngmquti,ttcccgitrvvtrcangcubmtvh
thngphinhndinli;servomotorthkhngxyravnny.
ng c bc trong ting c l SCHRITTMOTOREN, trong ting Php l
MOTEURSPASPAS,vtrong ting Ty Ban Nha l MOTOR PASO PASO.
Tstepmotorvsteppermotorcngcdngkhphbin.

Ccloingcbc

Phn1:ngcbcdchbionHip

Giithiu
ngcbinttr
ngcncc
ngchaicc
ngcnhiupha

Giithiu
ngcbccchialmhailoi,namchmvnhcuvbinttr(cngc
loingchnhpna,nhngnkhngkhcbitgvingcnamchm
vnhcu).Numtinhntrnngc,ccbnvncthphnbithailoi
ng c ny bng cm gic m khng cn cp in cho chng. ng c nam
chm vnh cu dng nh c cc nc khi bn dng tay xoay nh rotor ca
chng, trong khi ng c bin t tr th dng nh xoay t do (mc d cm
thychngcngcnhngncnhbisgimttnhtrongrotor).Bncngc
thphnbithailoingcnybngohmk.ngcbinttrthngc3
mu,vimtdyvchung,trongkhi,ngcnamchmvnhcuthng
c hai mu phn bit, c hoc khng c nt trung tm. Nt trung tm c
dngtrongngcnamchmvnhcuncc.
ngcbcphongphvgcquay.Ccngckmnhtquay90mi
bc,trongkhiccngcnamchmvnhcuxlcaothngquay1.8
n0.72mibc.Vimtbiukhin,huhtccloingcnam
chm vnhcuv hn hpuc th chy ch na bc, v mt vi b
iukhincthiukhinccphnbcnhhnhaycngilvibc.
ivicngcnamchmvnhcuhocngcbinttr,nuchmt
mucangcckch,rotor(khngti)snhynmtgccnhv
sauginguyngcchonkhimomentxonvtquagitrmoment
xongi(holdtorque)cangc.

ngcbinttr

Hnh1.1

Numotorcabnc3cundy,cninhtrongbiuhnh1.1,vimt
unichungchottccccun,thnchchnlmtngcbinttr.
Khisdng,dynichung(C)thngcnivoccdngcangunv
cccunckchtheothtlintc.
Duthptronghnh1.1lrotorcangcbinttrquay30mibc.
Rotortrongngcnyc4rngvstatorc6cc,micunqunquanhhai
ccidin.Khicun1ckchin,rngXcarotorbhtvocc1.Nu
dng qua cun 1 b ngt v ng dng qua cun 2, rotor s quay 30 theo
chiukimnghvrngYshtvocc2.
quayngcnymtcchlintc,chngtachcncpinlintclun
phincho3cun.Theologictra,trongbngdiy1cnghalcdng
iniquacccun,vchuiiukhinsausquayngctheochiukim
ngh24bchoc2vng:
Cun11001001001001001001001001
Cun20100100100100100100100100
Cun30010010010010010010010010
thigian>
Phniukhinmctrungbnhcungcpchititvphngphptoracc
dy tn hiu iu khin nh vy, v phn Cc mch iu khin bn v vic
ngngtdnginquacccuniukhinngctccchuinhth.
Hnhdngngccmttronghnh 1.1,quay30mibc,dngs
rngrotorvsccstatortithiu.Sdngnhiuccvnhiurnghncho
php ng c quay vi gc nh hn. To mt rng trn b mt cc cc v cc
rngtrnrotormtcchphhpchophpccbcnhnvi.
2

ngcncc

Hnh1.2

ngcbcncc,cnamchmvnhcuvngchnhp,vi5,6hoc
8dyrathngcqunnhshnh1.2,vimtunitrungtmtrn
cc cun. Khi dng, cc u ni trung tm thng c ni vo cc dng
ngun cp, v hai u cn li ca mi mu ln lt ni t o chiu t
trngtobicun.
Skhcnhaugiahailoingcnamchmvnhcunccvngchn
hpncckhngthnirtrongnidungtmttcatiliuny.Ty,
khikhostngcncc,chngtachkhostngcnamchmvnhcu,
viciukhinngchnhpncchontontngt.
Mu1nmcctrnvdicastator,cnmu2nmhaiccbnphiv
bntringc.Rotorlmtnamchmvnhcuvi6cc,3Namv 3Bc,
xpxenktrnvngtrn.
x l gc bc mc cao hn, rotor phi c nhiu cc i xng hn.
ngc30 mibctronghnh l mt trong nhngthitkng c nam
chmvnhcuthngdngnht,mcdngccbc15v7.5lkh
ln.Ngitacngtoracngcnamchmvnhcuvimibcl
1.8vvingchnhpmibcnhnhtcthtcl3.6n
1.8,cntthnna,cthtn0.72.
Nhtronghnh,dnginiquatutrungtmcamu1nuatora
ccBctrongstatortrongkhicccnlicastatorlccNam.Nuin
mu1bngtvkchmu2,rotorsquay30,hay1bc.quayngc
mtcchlintc,chngtachcnpinvohaimucangctheody.

Mu1a1000100010001000100010001

Mu1a1100110011001100110011001

Mu1b0010001000100010001000100

Mu1b0011001100110011001100110

Mu2a0100010001000100010001000

Mu2a0110011001100110011001100

Mu2b0001000100010001000100010

Mu2b1001100110011001100110011

thigian>

thigian>

Nhrnghainacamtmukhngbaogickchcngmtlc.Chai
dy nu trn s quay mt ng c nam chm vnh cu mt bc mi thi
im.Dybntrichcpinchomtmutimtthiim,nhmttrong
hnhtrn;vvy,ndngtnnglnghn.Dybnphiihicpincho
c hai mu mt lc v nichungsto ra mt momentxoylnhndy bn
tri1.4lntrongkhiphicpingp2ln.
Phn iu khin mc trung bnh trong ti liu ny s cung cp chi tit v
phngphptoranhngdytnhiuiukhinnhvy,cnphnCcmch
iu khin ni v mch ng ngt cc mch in cn thit iu khin cc
mungctccdyiukhintrn.
Vtrbcctorabihaichuitrnkhnggingnhau;ktqu,kthp2
chuitrnchophpiukhinnabc,vivicdngngcmtcchln
lttinhngvtrnumttronghaidytrn.Chuikthpnhsau:
Mu1a11000001110000011100000111
Mu1b00011100000111000001110000
Mu2a01110000011100000111000001
Mu2b00000111000001110000011100
Thigian>

ngchaicc

Hnh1.3

ngcnam chmvnh cu hoc hnhphaicc c cutrcc kh ging y

nh ng c n cc, nhng hai mu ca ng c c ni n gin hn,
khng c u trung tm. V vy, bn thn ng c th n gin hn, nhng
mchiukhinoccmicpcctrongngcthphctphn.Minh
hohnh 1.3chracchningc,trongkhi phnrotoryging y
nhhnh1.2.
MchiukhinchongcihimtmchiukhincuHchomimu;
iunyscbnchitittrongphnCcmchiukhin.Tmli,mtcu
Hchophpcccangunpnmiucamuciukhinmtcch
clp.Ccdyiukhinchomibcncaloingcnycnu
bn di, dng + v i din cho cc cc ca ngun p c p vo mi
ucangc:
u1a++++++++++++
u1b++++++++++++
u2a++++++++++++
u2b++++++++++++
thigian>
Chrngnhngdyny gingnhtrongngcnamchmvnhcun
cc,mclthuyt,vrngmcmchngngtcuH,hthngiu
khinchohailoingcnylgingnhau.
ChkhclcrtnhiuchipiukhincuHcmtuvoiukhinu
ravmtukhciukhinhng.CloichipcuHktrn,dyiu
khindiysquayngcgingnhdyiukhinnuphatrn:
5

Enable110101010101010101111111111111111
Hng11x0x1x0x1x0x1x0x1100110011001100
Enable201010101010101011111111111111111
Hng2x1x0x1x0x1x0x1x00110011001100110
thigian>
phnbitmtngcnamchmvnhcuhaiccvinhngngc4dy
binttr,ointrgiacccpdy.Chlmtvingcnamchm
vnh cu c 4 mu c lp, c xp thnh 2 b. Trong mi b, nu hai mu
cnitipvinhau,thlngchaiccinthcao.Nuchngc
nisongsong,thlngchaiccdnginththp.Nuchngcni
tipvimtutrungtm,thdngnhvingcnccinththp.

ngcnhiupha

Hnh1.4

Mtbphnccngkhngcphbinnhnhngloitrnlngc
nam chm vnh cu m cc cun c qun ni tip thnh mt vng kn nh
hnh1.4.Thitkphbinnhtiviloinysdngdyni3phav5pha.
BiukhincncuHchomimturacangc,nhngnhngng
cnycthcungcpmomentxonlnhnsoviccloingcbckhc
cng kchthc. Mt vi ngc5 pha cthx lcpcao ccbc
0.72(500bcmivng).Vimtngc5phanhtrnsquaymibc
mivngbc,nhtrnhbydiy:

u1++++++++++
u2++++++++++
u3++++++++++
u4++++++++++
u5++++++++++
thigian>
y,gingnhtrongtrnghpngchaicc,miuhoccnivo
ccdnghocccmcahthngcpinngc.Chrng,timibc,
chcmtuthayicc.Sthayinylmngtinmtmunivo
u (biv chaiu camuccng incc) vp invomtmu
angtrongtrngthinghtrc.Hnhdngcangccnghnh
hnh1.4,dyiukhinsiukhinngcquay2vng.
phn bit ng c 5 pha vi cc loi ng c c 5 dy dn chnh, cn nh
rng,nuintrgia2ulintipcamtngc5phalR,thintr
giahaiukhnglintipsl1.5R.
Vcngcnghinhnrngmtvingc5phac5muchia,vi10udy
dnchnh.Nhngdynycthnithnhhnhsaonhhnhminhhotrn,s
dng mch iu khin gm 5 na cu H, ni cch khc mi mu c th c
iukhinbimtvngcuHycan.trnhvictnhtonlthuyt
vi cc linh kin in t, c th dng chip mch cu tch hp y tnh
tongnng.

Tmttchng
Quachngny,ccbncthphnbitccloingcnhngcbin
t tr, ng c n cc, ng c hai cc, v ng c nhiu pha da vo cm
nhnbngtaykhiquayrotorvdngOhmk.
Vicphnbitcccpuracacccundycngcthsuyratvicdng
Ohmkoccudy.Tuynhin,vicxcnhcpdyracatngcun
dytrongngcncchikhkhnhnmtcht.
phnbithaicpdycangcncc5dy,trctinchngtadng
Ohm k xc nh dy ni trung tm. p in p xoay chiu vo dy trung
tmvmttrong4dycnli.DngVoltkxoaychiuoinpgiadyni
trungtmv3dycnli.Chngtasthyrnginpgiadytrungtm
vi2trong3dycnlignnhbngkhng,vvidythbathgnnh
bnginpxoaychiupvongc.Nhvy,haidychoinpgnbng
0lmtcp,haidycnlislcpthhai.
Likhuyn:

Khi dng Ohm k o, nh ghi ch v v ngay li cch ni dy trong

ngctrnhnhmlnvsau
Ccdynitrungtmluncnivingundngtrongmchiu
khin(kcngcbinttrvngcncc)
inpxoaychiudngphnbitcccpdytrongngcncc
phinhkhnglmhngc.inpnhcadngxoaychiu
phi nh hn in p ngng ca ng c. Thng thng, vi ng c
24VDC,v12VDCtithngdng9VACv6VACthnghim.
Lunghinhrngngcbclngcinmtchiu

Bitp:
Tvitra(hoclmthnghimthct)ttccctrnghpphnbitttc
ccloingcktrnvphnbitccdyningccatngloikhichc
OhmkvVoltk.
Lmthnobitinpngngcangcmnhangc?

Trangnybtrngghich

Vtlhcngcbc
Phn2:ngcbcdchbionHip

Giithiu
Tnhhc
iukhinnabcvvibc
Lcmastvvngcht
nglchc
Cnghng
Sngchungvicnghng
Vntcmomentxoncn
Vnvint

Giithiu
Khinivccilngvtl,vicchnnvocdnglrtquan
trng!Trongphntrnhbynyvngcbccngvy,chngtasnhcli
ccnvvtltiuchun:
English CGS

MKS

KHILNG

slug

kilogram

LC

pound dyne

KHONGCCH foot

gram

newton

centimetermeter

THIGIAN

second second

second

GC

radian radian

radian

Theo bng trn, lc mt pound s gia tc cho mt khi lng mt slug lmt
foot trn mt giy bnh phng. Mi quan h ny gia n v ca lc, khi
lngvthigianvkhongcchtrongcchnvokhccnggingnh
vy. Ngi ta thng ln ln gc th o bng v khi lng li o bng
poundrilclitnhbngkilogramsslmthayiktqungcacccng
thcdiy!Cnthnkhibininhngnvkhngchnhquythnhcc
n v tiu chun c lit k trn y trc khi p dng cc cng thc tnh
ton!

Tnhhc
ChomtngcquaySradianmibc,biumomentxontheovtrgc
ca rotor so vi v tr cn bng ban u s c dng gn ng hnh sin. Hnh
dngthctcabiuphthucvohnhdngcccccarotorvstator,
nhngtrongbngthngs(datasheet)cangclikhngcbiuny,v
cngkhngtrnhbyhnhdngcccc!ivingcnamchmvnhcuv
ngchnhp,biumomenttheovtrgcrotorthnggingnhhnh
sin,nhngcngkhnghnvy.ivingcbinttr,ngnyging
hnhsinmtcht,hnhthangmtchtnhngcngkhnghnlhnhrngca.
ivingc3mubinttrhocnamchmvnhcucgcbcS,chu
kcamomentsovivtrsl3S;haymtngc5pha,chuksl5S.i
vingc2munamchmvnhcuhayhnhp,loiphbinnht,chuk
sl4S,nhcmttrongHnh2.1

Hnh2.1

Nhcli,ivimtngcnamchmvnhcu2multng,ngcong
nycthmttonhcnhsau:

T=hsin((( /2)/S) )
trong

Tmomentxon(torque)

hmomentxongi(holdingtorque)

Sgcbc,tnhbngradian(stepangle)

=gctrc(shaftangle)
Nhng nh rng, thng th ng biu thc khng bao gi c dng hnh
sinltngnhtrn.
Momentxongi(holdingtorque)trnmtmu(winding)cangcbcl
gitrnhcamomentxontrnbiukhidngquamtmutgitrln
nht.Nuctnggitrmomentxonlncaohngitrnhtrongkhivngi
nguyninpkchmtmu,rotorsquaytdo.

ikhivicphnbitgiagctrcinvgctrcclviclmcnthit.V
mtc,mtvngquaycarotorsl2 rad.Vphngdinin,mtvng
cnhnghalmtchukcangcongmomentxonivigctrc.
Trong ti liu ny, s dng ch gc trc c, v (( /2)/S) ch gc trc
incamtngc4bc/vng.
Chorngngcongmomentxonsovivtrgcgnnghnhsin.Chng
nommomentxoncnbngmomentxongi,rotorsvnnmtrongchu
ksovivtrcnbng.ivimtngcnamchmvnhcuhayhnhp
hai mu, iu ny c ngha l rotor s gi nguyn v tr so vi v tr cn bng
trongphmvimtbc.
Nukhngcnguncpvoccmungc,momentxonskhngbaogi
gimxung0!Trongccngcbcbinttr,ttrngdtrongmcht
cangccthtoramtmomentxondnh,vtrongccngcnam
chmvnhcuvhnhp,lchtgiaccccvttrngvnhcucarotor
cthtoramtmomentxonngkmkhngcnngunp.
Momentxondtrongmtngcnamchmvnhcuhayhnhpthng
cgilmomentxontrnrngcangc,bivmtngikhkhos
ngh rng c mt kt cu c kh dng mu rng nm bn trong ng c gi
rotorli.Thngthng,momentxontrnrngbiudintheogcrotorkhng
c dng hnh sin, mt v tr cn bng ti mi bc v mt bin ln hn
khong10%momentxongicangc,nhngnhnchungccngct
ccnhsnxutchoragitrcaon23%ivingcnhvdi26%i
vingcctrungbnh.

iukhinnabcvvibc
Minlkhngcphnnocamchtboha,thviccpinngthicho
haimungcssinhramtmomentxontheovtrltngcaccmoment
xonivihaimungcringl. ivingchaimunamchmvnh
cu hoc hn hp, hai ng cong ny s l S radians khc pha, v nu dng
quahaimubngnhau,nhcatngsnmvtrS/2radiansktnhca
ngconggc,nhHnh2.2

Hnh2.2

y l c bn ca iu khin na bc. Moment xon gi l nh ca ng

congmomentxonkthpkhihaimuccngdnglnnhtiqua.ivi
ng c nam chm vnh cu v hn hp thng thng, moment xon gi hai
musl:

h2=20.5h1
trong:

h1momentxongitrnmtmu

h2momentxongihaimu
iunychothyrngkhngcphnnotrongmchtbohovmoment
xontheongcongvtrivimimulhnhsinltng.
Huhtccbnghngdnngcnamchmvnhcuvbinttruch
ra moment xon gi hai mu m khng c a ra moment xon gi trn mt
mu;phnno,clvnschimnhiugiyhn,vphnnocngvhuht
ccbiukhinbcthngthnglunpinpvochaimucng
lc.
Nu bt k phn no trong mch t ca ng c b bo ho, hai ng cong
momentxonskhngthcngtuyntnhvinhau.Ktqalmomenttng
hpcthkhngnmchnhxctivtrS/2ktvtrcnbngbanu.
iukhinvibcchophpccbcnhhnbngvicdngccdngkhc
nhauquahaimungc,nhvtrnHnh2.3:

Hnh2.3

ivimtngchaimubinttrhocnamchmvnhcu,chorngcc
mchtkhngbohovccngcongmomentxontrnmimutheov
trlmthnhsinhonho,cngthcdiyaranhngctnhchcht
cangcongmomentxontnghp:

h=(a2+b2)0.5

x=(S/( /2))arctan(b/a)
trong:

amomentxonptrnmuvivtrcnbngti0radians

bmomentxonptrnmuvivtrcnbngtiSradians

hmomentxongitnghp

xvtrcnbngtnhtheoradians

Sgcbc,tnhtheoradians.
Khi khng c bo ho, cc moment xon a v b t l vi dng i qua cc mu
tngng.iunyrtthngdngkhilmvicviccdngvmomentxon
bnhthng,momentxongimunhocdngccicchpnhn
trongmtmungcl1.0.

Mastvvngcht
ng cong moment xon so vi v tr c ch ra trong Hnh 2.1 khng tnh
nmomentxonngcthnglcmast!Chrngcclcmastcth
cchiathnhhailoiln,lcmastnghllcmasttrt,cnphicmt
momentxonlnthnglin,khngknvntcvmastnghc
haylcnht,hoccccntrkhckhngphthucvntc.y,chngta
quantmnlcmastngh.Chorngmomentxoncnthitthnglcma
stnghtronghlgitrnhmomentxoncamotor,nhmiuttrong
Hnh2.4.

Hnh2.4

nggch ttrong hnh 2.4 ch ramoment xon cnthit thng ma st,

chcmtphnngcongmomentxonbnngoinggchtllmcho
rotorchuynng.ngcongchramomentxonhiuqukhicmasttrc
khnggingnhngngcongny,Hnh2.5:

Hnh2.5

Chrngtcdngcalcmastgmhaiphn.utin,tngmomentxon
hiu qu quay ti b gim, th hai, c mt vng cht nm mi v tr cn
bng ca ng c l tng. Nu rotor ng c c t ti bt c u trong
vng cht i vi v tr cn bng tc thi, moment xon ma st s vt qu
momentxontcdngbiccmungc,rotorskhngdichuyn.Chorng
mtngconghnhsinltnggiamomentxonvvtrkhikhngcma
st,rnggccanhngvngchtsl:

d=2(S/( /2))arcsin(f/h)=(S/( /4))arcsin(f/h)

trong:

drngvngchttnhbngradians

Sgcbctnhbngradians

fmomentxoncnthitthnglcmast

hmomentxongi
iuquantrngphighichvvngchtlngiihnchnhxcvtrsau
cng!Mtvd,khilcmastnghl1/2gitrnhmomentxon,mtng
cbcmibc90scvngchtl60!iucnghalccbchiu
qu s dao ng trong khong 30 n 150, tu thuc vo rotor dng u
trongvngchtsaumibc!
S xut hin ca vng cht c mt nh hng rt ln n vic iu khin vi
bcthct!Nuvngchtrngx,thviciukhinvibcvirngmt
bcnhhnxcthskhnglmchorotorquaycmtchtno.Vvy,
i vi cc h thng nh dng iu khin vi bc c phn gii cao, vic
gimthiumastnghlrtquantrng.

nglchc
Milnbnquayngcmtbc,bndichuynrotorkhivtrcnbngS
radians. iu ny di chuyn ton b ng cong c miu t trong hnh 2.1
mtkhongcchSradians,nhHnh2.6:

Hnh2.6

iuutinghinhnvqutrnhquaymtbclgitrngulchiudng
lnnhtttigitrnhnhtkhirotoangquaynangtbcnysang
bcktip.Gitrnhnhtnyxcnhmomentxonng(runningtorque),
gitrmomentxonlnnhtcangccthtckhinbctitrc
rtchm.ivingcnamchmvnhcuhaimuthngthngvinhng
ng cong hnh sin l tng ca moment xon so vi v tr v moment xon
gih,gitrmomentxonngslh/(20.5).Nungccquaybngcch
cpinchohaimucnglc,momentxonngcamtngcnamchm
vnhcuhaimultngsbngmomentxongiloimtmu.
Cng nn ghi nhn rng mt tc bc cao, moment xon ng i khi
cnhnghanhlmomentkora(pullouttorque).Nghal,nlmoment
xonlnnhtmngccthvtquaquaytitbcnysangbc
tip trc khi ti b ko ra khi v tr bc bi lc ma st. Mt vi hng dn
ng c nh ngha mt moment xon th hai l moment xon ko vo (pullin
torque).Nlmomentxonmastccimngccthvtquagiatc
mt ti ang ng yn n mt tc ng b (vn tc iu khin mong
mun).Momentxonkovocnutrongcctiliusdngngcbc
lgitrkhngchnhxc,bivmomentxonkovophthucvomoment
banucaticsdngkhichngco,vmtvibnghngdn
ngcchragitrny.
Trongthct,lunclcmast,vth,saukhivtrcnbngquaymtbc,
rotorgingnhdaongnhxungquanhvtrcnbngmi.Quoktqa
cthtngtnhtrongHnh2.7:

Hnh2.7

y,quocavtrcnbngcbiudinbngnggcht,trong
khi,ngcongtrnhnhlquocarotorngc.
7

Cnghng
Tn s cng hng ca rotor ng c ph thuc vo bin ca dao ng;
nhngkhibingim,tnsdaongstngnmttnsmbinnh
cn xc nh c. Tn s ny ph thuc vo gc bc v t s gia moment
xon gi v moment qun tnh ca rotor. Ngay c khi moment xon ln hn
hocnhhncngslmtngtnsny!
Mtcchhnhthc,cnghngtnsnhcthctnhnhsau:
utin,nhcliphngtrnhgiatcgctheonhlutNewton:
T=A
trong:

Tmomentxonptrnrotor

momentquntnhcarotorvti

Agiatcgctnhtheoradians/giybnhphng
Chng ta cho rng, vi mt bin nh, moment xon trn rotor c th c
gnngbngmthmtuyntnhcadchchuynsovivtrcnbng.V
vy,pdngnhlutHooke:

T=k

trong:

khngsdaongringcah,tnhbngnvmomenttrnradian

vtrgccarotor,tnhbngradians
Chngtacthcnbnghaicngthcmomentxonc:

A=k
Chrnggiatclohmbchaicavtrtheothigian:

A=d2 /dt2
Nntacthvitliphngtrnhtrnthnhdngphngtrnhviphn:

d2 /dt2=(k/)
giibitonny,nhclirng,cho:

f(t)=asinbt

Ccdohmcanl:

df(t)/dt=abcosbt

d2f(t)/dt2=ab2sinbt=b2f(t)
Ghichrng,xuynsutphnny,chngtachorngrotorangcnghng.
Vvy,ncphngtrnhchuynngcdng:

=asin(2 ft)

a=bingccnghng

f=tnscnghng
ylmtcchgiicthchpnhnciviphngtrnhviphntrn
nutaly:

b=2 f

b2=k/
Giiratnscnghngflmthmcakand,tac:

f=(k/)0.5/2
iu ct yu n l moment qun tnh ca rotor cng thm bt k ti ngu lc
km theo no. Moment ca rotor, trong s c lp, l khng thch hp! Mt s
hngdnngcckmtheothngtinvcnghng,nhngnungc
mangti,tnscnghngsthayi!
Trongthcnghim,sdaongnycthlnguynnhncanhngbiton
quantrngkhitlbcbtkucnggnvitnscnghngcah;
kt qu thng xut hin nhng chuyn ng ngu nhin khng iu khin
c.

Cnghngvngcltng
n im ny, chng ta ch chia vi hng s n hi gc nh k cho h thng.
iunycobngthcnghim,nhngnungcongmomentxonso
vivtrlhnhsin,ncnglmthmngincamomentxongi.Nhc
lirng:
T=hsin((( /2)/S) )
HsnhigcnhkltrcaohmTtigc.

k=dT/d =(h(( /2)/S)cos(0))=( /2)(h/S)

Thayvocngthctns,tac:

f=(( /2)(h/S)/)0.5/2 =(h/(8 S))0.5

Nu bit moment xon gi v tn s cng hng, cch d nht xc inh
moment qun tnh ca cc phn di chuyn trong mt h c iu khin bi
mtngcbcltnhgintiptmiquanhtrn!

=h/(8 f2S)
Vmcchthcnghim,vnkhngphilmomentxonhaymomentqun
tnh,mlgiatcchuclnnht!Tinth,ylmthmngincatn
scnghng!BtuvinhlutNewtonchogiatcgc:

A=T/
Chngtacththaythcngthctrnchomomentquntnhnhlmthm
ca tn s cng hng, v sau thay th moment xon ng chu c ln
nhtthnhhmcamomentxongic:

A=(h/(20.5))/(h/(8 f2S))=8 Sf2/(20.5)

ogiatctnhtheobctrngiybnhphngthayvdngradianstrngiy
bnhphng,tac:

Asteps=A/S=8 f2/(20.5)
Vvy,ivimtngcltngcmthmmomentxontheovtrdng
sin, gia tc ln nht tnh theo bc trn giy bnh phng l mt hm thng
thngcatnscnghngcangcvtigncng!
Trongngcnamchmvnhcuhocbinttrhaimu,vimtngc
tnhmomentxontheovtrcdngsinltng,momentxongihaimul
mthmngintheomomentxongimun:

10

 h2=20.5h1
trong:

h1momentxongimun

h2momentxongihaimu
Thayvocngthctnscnghng,chngtacthtmtlgiacctns
cnghngtronghaitrnghpiukhinny:

f1=(h1/...)0.5

f2=(h2/...)0.5=(20.5h1/...)0.5=20.25(h1/...)0.5=20.25f1=1.189...f1
Mi quan h ny ch duy tr nu moment xon c cung cp bi ng c
khngthayingkkhitcbckhcnhaugiahaitnsny.
Ni chung, nh s tho lun phn sau, moment xon hiu dng s gn nh
khnginkhimtbctiptheoxyra,nsbcti.Vvy,miquanh
nychginguynnutnscnghngthpditcbcny.Ticc
tcbctrntcct,haitnssgnnhauhn!

11

Tmttchng

Trongchngny,chngtatmhiuhaiphnchnhltnhhcvnghcca
ngcbc.Tuycskhcnhauichtvcutovnguynltorat
trng, nhng v bn cht mi quan h gia moment v v tr gc ca rotor
dngnhlkhngkhcbitmy.Chnhvth,nhnglthuytcangc
bcnamchmvnhcuucthpdnggnngchongcbinttr,
vhnhp.

iu khin na bc vvi bc thc cht lto ramt moment tng hp m

chngtavnthnglmviphpcnghaidaonghnhsinhlchphanhau.
Khiiukhinnabc,inpcpchongckhngthayitrnccmu.
Nuinpnythayi,vtrnhcamomenttngkhngnmchnhgiav
trcnbngcarotornhiukhinthngthng.Khiinpnycthay
imtcchhpl,chngtacthtoranhnggcbcrtnhchongc,
giliukhinvibc.

Mtiuquantrngnatrongphntnhhc,llcmastbntrongng
c s gy nn cc vng cht, v thng th vi iu khin bc hoc na
bc,chungtakhngquantmnccvngchtny.Trongkhi,vngcht
linhhnglnnkhnngiukhinvibc,mchngtasxemxt
ccphnsau.

Bitonnglchccquantmlkhitrcngcquaytbcnysang
bckhc,vdngli,trcngckhngthngynhonton,mncn
bdaong.Chnhnhngdaongnysbkhuchikhiccnghngc.

Bitonctrallmsaoxcnhckhongvntcbchplm
khngxyrahintngcnghng,hocgilmsaoiukhinchngli
viccnghng.

Phnnychachonchnh,tiscnbsungvsacha.Tuynhin,vn
cungcpchoccbnccbnthamkho.Tistiptcsachavbsung
sau.

12

Ccmchiukhinngcbccbn
Phn3ngcbcdchbionHip

Giithiu
ngcbinthinttr
ngchnhpvnamchmvnhcuncc
Dnngttrvncctrongthct
ngclngccvcuH
Mchdnnglngcctrongthct

Giithiu
Phnnycagiotrnhtrnhbyvmchdnngkhucuicangc
bc.Mchnytptrungvomtmchphtn,ngngtdngintrong
cundycangc,ngthiiukhinchiudngin.Mchinc
nitrctipvicundyvcpnguncangc,mchciukhinbi
mththngsquytnhkhinocngtcnghayngt.
Phnnycngninccloingc,tmchincbniukhinngc
bin thin t tr n mch cu H iu khin ng c nam chm vnh cu
lngcc.Miloimchdnngcminhhabngvdcth,tuynhin
nhngvdnykhngphilmtcatalogyccmchiukhincsn
trnthtrng,nhngthngtinnycngkhngphithaythbngdliu
vchititcanhsnxut.

Phnnycharamchiukhinnginnhtcatngloingc.Tt
c cc mch u c gi thit rng ngun cung cp mt in p khng vt
quinpngngcangc,iunygiihnhiusutcangc.Phn
k tip mch dn ng c dng gii hn s cp n cc mch dn ng
hiusutcaotrongthct.

ngcbinttr
Biukhininhnhcangcbcbinttrdatheonguyntcnh
trnHnh3.1:

Hnh3.1

Trn Hnh 3.1, cc hp k hiu cho cng tc, b iu khin (controller khng
thhintrnhnh)chutrchnhimcungcptnhiuiukhinngmcng
tc ti tng thi im thch hp quay ng c. Trong nhiu trng hp,
chngtaphithitkbiukhin,cthlmtmytnhhocmtmchiu
khingiaotiplptrnhc,viphnmmtrctipphttnhiuiukhin
ngm,nhngtrongmtstrnghpkhcmchiukhincthitk
kmtheongc,vikhicchominph.

Cundy,lisolenoidcangchocccchitittngtulccticm
ng.Nhvy,dnginquacundykhngthngngttcthimkhng
lmptngvttngt.Khicngtciukhincundyng,chodngin
iqua,lmdngintngchm.Khicngtcm,stngmnhinpcth
lmhcngtctrkhitabitcchgiiquytthchhp.

Chaicchcbnxlstnginpny,lmcsongsongvicun
dymtdiodhocmttin.Hnh3.2minhhahaicchny:

Hnh3.2

Diod trn Hnh 3.2 phi c kh nng dn ton b dng in qua cun dy,
nhngnchdnmikhicngtcm,khidnginkhngcnquacundy.

Nu ta s dng diod tc dng tng i chm nh h 1N400X chung vi cc

mchchuyntcdngnhanhthcnphimcsongsongvidiodmttin.
TintrnHnh3.2dnnvnthitkphctphn.Khicngtcng,
tinsxinquacngtcxungt,docngtcphichucdng
in x ny. Mtin trmc ni tip vi tin hoc vi ngun s gii hn
dnginny.Khicngtcm,nnglngtchtrtrongcundysnpvo
tinchonkhiinpvtqupcungcp,vcngtccngphichu
cinpny.tnhindungt,tangnhthaicngthctnhnng
lngtchtrtrongmchcnghng:
P=CV2/2
P=LI2/2
trong:

Pnnglngtchtr[Ws]hay[CV]

Cindung[F]

Vinphaiut

Ltcmcacundy[H]

Idnginquacundy

Tatnhkchthcnhnhtcatintrnhquptrncngtctheocng
thc:

C>LI2/(VbVs)2
trong:

Vbinpnhthngmchchuyn

Vsinpcungcp

ngcttrbinthinctcmthayitythucvogccatrc.Do
, trng hp xu nht c dng la chn t in.Hn na, t cm
cangcthngtcghir,nnchngtaphilmvy.

Tinvcundykthpvinhautothnhmtmchcnghng.Nuh
iukhinchongcquaytnsgnvitnscnghngny,dngin
qua cun dy, ko theo moment xon do ng c sinh ra, s rt khc so vi
momentxoniukinnnhviinpvnhnhdanhngha.Tnscng
hngl:
f=1/(2 (LC)0.5)

Mtlnnatnscnghngincangcttrbinthinliphthuc
vo gc ca trc. Khi ng c ny hot ng vi xung kch gn cng hng

dngindaongtrongcundystoramtttrngbngkhngtihai
lntnscnghng,iunycthlmgimmomentxonirtnhiu.

ngchnhpvnamchmvnhcuncc
BiukhininhnhngcbcnccthayitheostrnHnh3.3:

Hnh3.3

TrnHnh3.3,cngnhHnh3.1,hpbiudincccngtcvmtbiu
khin(khngthhintrnhnh)chutrchnhimcungcptnhiuiukhin
ngmcngtcvothiimthchhpquayngc.Biukhin
thnglmytnhhaymtmchiukhinlptrnhc,viphnmmtrc
tipphtratnhiucnthitiukhincngtc.

Cng nh i vi mch dn ng ca ng c bin t tr, chng ta phi gii

quyt s thay i t cm bt ng khi cng tc h. Mt ln na, ta c th
chuyn s thay i ny bng cch dng diod, nhng by gi ta phi dng 4
diodnhtrnHnh3.4:

Hnh3.4

Tacnthmvoccdiodvcundycangckhngphilhaicundy
clpmlmtcuncentertappednginvitapgiacinpcnh.
Chnghotngnhmtbtchuyni.Khimtucacundybko
xung u kia s b y ln v ngc li. Khi mt cng tc h, t cm
4

kickbackslmubncangcnivingundngvbkpbicc
diod.ubnkiabylnvnunkhngtcinpcungcpcng
lcthsxungdimc0,ochiuinpquacngtcu.Mtvi
cngtccthchucsochiunhvynhngnhngcngtckhcs
bh.

Mttincthcdnggiihninpkickbacknhtrnhnh3.5:

Hnh3.5

CcquytctnhkchthctintrnHnh3.5gingnhccquytctnh
kchthctintrnHnh3.2nhnghiungcnghngrtkhc.Vimt
ngcnamchmvnhcunutinhotnggnhaybngtnscng
hng, moment xon s tng gp hai ln moment xon vn tc thp. ng
congmomentxontheovntcsrtphctpnhtrnHnh3.6:

Hnh3.6

Hnh3.6chothytitnscnghngin,momentxonsvtlnvtitn
scnghngc,momentlistnhanh.Nutnscnghnginlnhn
vntctihncangcsdngmchdnngdngdiodmtmcno
thhiungnyslmvntctihngiatngngk.

Tnscnghngchcphthucvomomentxon,vvynutnsny
gnvitnscnghngin,tnscnghnginslmnthayi.Hn
na,rngcascnghngchcphthucvodcccbcang
5

cong moment xon theo vn tc. Nu moment xon gim theo vn tc, cng
hngsrtdc,cnnumomentxontngtheovntc,cnghngsrng
rathmchcthtchrathnhnhiutngscnghngkhcnhau.

Driverngcnccvbinttr
Trongccmchinphntrn,chngtakhngquantmncccngtcv
cctnhiuiukhin.BtkkthutngngtnotcudaonMOSFETS
cngudngcht!Hnh3.7lmtvicchmcchomiloicngtc,bao
gmccundycangcvdiodbovphcvchomcchngngt
ktrn:

Hnh3.7

MicngtctrnHnh3.7utngthchviuvoTTL.Ngun5Vsdng
chomchlogic,baogmopencollectordriver7407nhtrnhnh.Ngunin
chongc,thngt5V24V,khngcnchnhxccao.Tacnchrng
ccmchngngtccngunnyphithchhpchovicdnngcccun
dy,ngcDC,ccticmngkhcvcccngcbc.

TransistorSK3180trnHnh3.7lmtmchdarlingtoncngsutclidng
hn1000,dodng10mAquaintrhiuchnh470Ohmslnqua
transistor iu chnh dng vi Ampe qua cun dy ca ng c. B m 7407
dng iu khin darlington c thay th bi bt k con chip opencollector
inthcaonomncthiukhinmctithiu10mA.Ngayctrong
trng hp transistor h, open collector ny s gip bo v phn cn li ca
mchlogickhinguncangc.

IRCIRL540trnHnh3.7lmtpowerfieldeffecttransistor.Ncthchu
cdnginlnti20Avnbnhthng100V,doconchipnyc
thhpthunhnhncatcmmkhngcndiodbovnunc
gnvimtbtnnhitln.Transistornycthigianngngtrtnhanh
6

nnccdiodbovcngphinhanhtngnghoccchianhbicct
in.iunycbitcnthitchoccdiodbovtransistorchngliphn
ccngc.Trongtrnghptransistorbh,diodzenervintr100Ohm
sbovmchTTL.intr100Ohmcnngvaitrlmchmthigian
ngmcatransistor.

i vi nhng ng dng m mi cun dy ca ng c dn dng nh hn

500mA, mch darlington h ULN200x ca Allegro Microsystems hoc h
DS200xcaNationalSemiconductorhayMC1413caMotorolasdnngcho
cundyhocccticmngkhctrctipttnhiuvologic.Hnh3.8l
ccngvovngracachipULN2003,dy7transistordarlington:

Hnh3.8

in tr nn trn mi transistor darlington phi thch hp vi tn hiu ra TTL

lngccchun.CcphtcamidarlingtonNPNcnivichn8,lchn
nit.Mitransistorcbovbnghaidiod,mtnigiaccphtvcc
thu bo v transistor khi in p ngc, mt ni cc thu vi chn 9, nu
chn 9 ni vi ngun ca ng c th diod ny s bo v transistor khi nh
nhncatcm.

ChipULN2803cnggingnhchipULN2003mttrnnhngnc18chn
v8darlingtonchophpmtchipcthdnngchomtcpngcttr
binthinhocnamchmvnhcuncc.

i vi ng c m mi cun dydn dng nh hn 600mA, mch dn ng

quad UDN2547B ca Allegro Microsystems s iu khin c 4 cun dy ca
ngcbcnccchung.Nudndngnhhn300mA,tannchnmch
dnngkpSN7451,7452v7453caTexasInstruments,c3loinyubao
gmmtvimchlogiccngvimchdnng.

ngchaiccvmchcuH

Mithtrnnphctphnvingcbcnamchmvnhculngcc
vkhngcunichungtrncccundy.Vthochiucattrng
sinhrabicundytaphiochiudnginquacundy.Tacthdng
mtcngtckphaicclmcngvicny,mchintngngcamt
cngtcnhvycgilcuHvcmttrnHnh3.9:

Hnh3.9

Cngnhvimchdnngncccptrn,cccngtcsdng
trongcuHphicbovkhisvtinpkhingtdngintrongcun
dy.Talunsdngdiodchovicny,nhHnh3.9.

Cn ch rng cu H c th p dng khng ch iu khin ng c bc

lng cc m cn iu khin ng c DC, ht nh li solenoid (trong pittng
namchmvnhcu)vnhiungdngkhc.

Vi4cngtccuHchotathp16modehotng,trongc7modelm
ngnmchngun.Ccmodesauythngcsdng:

modethun:cccngtcAvDng
modengc:cccngtcBvCng

Cc mode ny cho php dng in it ngun qua cun dy ngc v t.

Hnh3.10minhhamodethun:

Hnh3.10

modesuygimnhanhhaymodetrt:ttccccngtcum

Btkdnginnoquacundyschngliinpngun,gystptrn
diodnndnginsbsuygimnhanh.Modenykhngtorahoctorart
thiunghmnglnrotorcangc,dorotorsquaytdo(trt)
nuttccundyccpnguntheomodeny.Hnh3.11minhhadng
inngaysaukhichuyntmodethunsangmodesuygimnhanh

Hnh3.11

modesuygimchmhaymodehmnglc:

Trongmodenydngincthchyvngliquacundycangcvi
intrnhnht.Nhdnginchytrongcundymttronghaimode
nyssuygimchm,vnurotorangquay,nssinhramtdngincm
ngcvaitrnhmtcihmrotor.Hnh3.12minhhamttrongnhiumode
suygimchmcch,vicngtcDng,nucundymivamodethun
thcngtcBcthnghocm:

Hnh3.12


HuhtcccuHcthitksaochobaogmcmchlogicdngphng
nga ngn mch nhng mc rt thp trong thit k. Hnh 3.13 minh ha
mtthitkccholttnht:

Hnh3.13

Vithitknytacccmodeiukhinsau:

XY ABCD

Mode

00 0000 fastdecay
01 1001 forward
10 0110

reverse

11 0101 slowdecay

Li ch ca thit k ny l tt c cc mode iu khin c ch c gi li v

chng c m ha vi mt s bit ti thiu iu ny rt quan trng khi s
dngvixlhaymytnhiukhincuHvcchthngnhvychc
snmtsbithu hncngsongsong.Tuynhinchviconchiptchhp
cuHcsntrnthtrnglcsiukhinngin.

Mchiukhinngchaiccthct

CmtsdrivertchhpcuHtrnthtrngnhngvncnxemsthcthi
tng thnh phn ri rc hiu mt cu H lm vic nh th no. Antonio
Raposo(ajr@cybill.inesc.pt)nghmchcuHnhtrnHnh3.14:

10

Hnh3.14

NgvoX,Ycamchnycthciukhinbingracabgpin
mTTLnhtrongmchiukhinnccdatrndarlingtontrnHnh3.7.
Cundycangcsccungcpnnglngnutronghaitnhiuvo
X,Ycmttnhiuonvmttnhiuoff.Nuchaiuoff,chaitransistor
koxung(pulldown)stt.Nuchaiucao,chaitransistorkoln(pull
up) s tt. Nh vy, mch in n gin ny t ng c vo tnh trng hm
nglcctrngthi11v00,khngthhinmodetrt.

MchintrnHnh3.14baogmhainaxcnh,minacmtchnh
xcnhmtmchkoy.ThutngnacuHthnhthongcpdng
cho nhng mch ny! Cn lu rng mt na cu H c mch rt ging vi
mchiunghinngradngtrongmchlogicTTL.Trongthct,ccmch
iukhinbatrngthiTTLnh74LS125Av74LS244cthcdngnh
mtnacuHivicctinh,nhminhhatrnHnh3.15:

Hnh3.15

Mchinnychiuquivingccintrtia50Ohmtrnmi
cun v in p ti a 4.5V khi dng ngun 5V. Mi mch m ba trng thi
trongLS244cthdngnuintrnicabmln,vdngsc
chia u trn cc ng iu khin (mc song song). iu ny cho php thit k

11

mchiukhingingnhHnh3.15,vkhichamhoiukhin,thchng
tacbngchntrnhdiy:

XYE

Mode

1 fastdecay
000 slowerdecay
010

forward

100

reverse

110 slowdecay

Mode hm th hai, XYE = 110, hm hi yu hn mode u tin XYE = 000 v

LS244htdngnhiuhn.

Chip TC4467 4 cu ca hng Microchip l mt th d khc ca cc driver 4

nacuH.Khnggingnhccdrivercsnxuttrc,datasheetca
ncungcpycnhngngdngiukhin,vnguncplnti18V,v
dngtrnmimucthtn250mA.

Mttrongnhngvncaccchipiukhinngcbcbnsnlas
chngctuithtrnthtrngkhngn.Vd,hSeagateIpxMxx,mchcu
i(tIP1M10nIP3M12)cthitkrtttnhngchdngchoccng
c bc nh v im u ca a cng Seagate. Mch dn ng cu H
ToshibaTA7279ttchongcdi1Anhngcngchcdngtrongni
hngmthi.

CuHiL293caSGSThompson(vcchiukhc)angcnhtranhvicc
chip trn nhng n khng tch hp cc diod bov. Chip L293D, s gii thiu
sau,cchntngthchvccccdiodbovny.NudngccL293gn
y,micundycangcphitquamtcuchnhlu(1N4001chng
hn). Vic s dng cc diod bn ngoi cho php ta t mt dy in tr trn
ngvcadngy nhanh s suy gimdng trong cun dy khi n b
ngt, c th trongmt s ng dng ngi ta khng mong mun iu ny.H
L293cthdngiukhinccngcbclngccnh,tia1A/cun
vinpcplnti36V.Hnh3.16chotaschncachipL293BvL293D:

12

Hnh3.16

Chipnycthxemnh4nacuHclp,ckchhottngcp,hochai
cuHy.yldngnggiDIP,vichn4,5,12,v13cthitk
truynnhitchobomchinhoctnnhitrangoi.

CuHiL298caSGSThompson(vcchiukhc)cnggingviloitrn
nhngcthchuctia2A/knh.NhviLS244,tacthnihaicuH
trongL298tothnhmtcuchuc4A(xemdatasheetbitcchniny).
MtiucnlulchipL298chuynmchrtnhanh,nhanhnniccdiod
bov(1N400X)khnglmvicc.VychngtaphidngdiodBYV27
thay th. Cu n LMD18200 ca National Semiconductor cng rt tt, c th
chucdng3Avcsnccdiodbovtchhp.

TrongkhicuHtchhpkhngsdngcchodnghaypqucaothtrn
thtrnglicnhnglinhkincthitkttnginhavictocu
Htcccngtcrirc.Vd,InternationalRectifierbnmtlotnacuH,
haitrongscthm4transistorngngtMOSFETlmmtcuH
hon chnh. Con IR2101, IR2102, IR2103 l cc mch dn ng c bn ca na
cuH.ConIR2104vIR2111cmchlogicbnngoitngtiukhin
cccngtccacuH,chngcngcmchlogicbntrongmtrongmtvi
ngdngcthlmgimthiuphctpphithitkmchlogicbnngoi.
Cth,con2104baogmmtngvoenablenh4conchip2104cngvi8
transistor ng ngt c th thay th mt con L293 m khng cn thm mch
logicno.

MtsnhsnxutchorainhngconchipcuHphctpbaogmcmch
hndng.Tacngcnchrngtrnthtrngcmtsmchcu3pha,dn
ngttchongcbcnamchmvnhcu3phacuhnhYhaydelta.Tuy
nhin,ToshibaTA7288P,GL7438,TA8405lnhngthitktt,haitrongsny,
nubquamttrong6nacuHthchngtacthiukhincmtng
c5pha,10bc/vng.
13