DA - Dieu Khien PID Cho Dong Co DC
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Transcript of DA - Dieu Khien PID Cho Dong Co DC
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8/3/2019 DA - Dieu Khien PID Cho Dong Co DC
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n mn hc I : iu khin v tr ng c
- 1 -
Li ni u !
T chic my tnh u tin do Pascalpht minh ra n nhng chic my
tnh by gi l mt qu trnh pht trin v cng to ln ca khoa hc k
thut , nht l trong nhng thp nin gn y, s pht trin cng mau l.
Trong , mt trong nhng ht nhn ca qu trnh pht trin l cng
ngh in t. Nhng chic my tnh by gi c th dng lm nhng vic
m con ngi trc kia b ra hng nm thc hin xong, gi c th ch trong
nhy mt.
Trong k thut mi thi gian khng cn c tnh bng giy na , m lmicr giy , thm ch cn nh hn na . Mt b iu kin t ng c th thay
th cho nhiu cng nhn , nhiu k s, thm ch lm nhng vic m t mnh ,
con ngi khng th lm ni.
L mt sinh vin k thut , ngnh t ng , ang chp chng bc vo
mt lnh vc to ln y , th vic hc tp , vn ng nhng iu hc vo
trong thc tin , trao i kin thc l chuyn ng nhin. V n t ng
1, c th l cng trnh u tinca nhiu bn sinh vin cng ngnh lm , nh u s hin in u tin ca mnh trong lnh vc ny.
Trn con ng trao di , hc tp tr thnh k s thc , ngoi bn thn
ca mnh , cn l s gip , y ca cc thy c gio. V vy em xin chn
thnh cm n thy hng n , cc thy cc c trong trng , cho em nhng
kin thc c th hon thnh c n ny.
Vn bit cn nhiu thiu st , em rt mong thy c gip , cho kin ,
cho em nhng hiu bit su sc hn , thc hin tt hn n mn hc 2 spti .
Em xin chn thnh cm n!
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n mn hc I : iu khin v tr ng c
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A/ S LC VI IU KIN P89V51Rx2:
1. Khi qut cc tnh nng:
+ Khi qut:
P89V51RD2 l vi iu khin 80C51 c 64kB Flash v 1024bytes b nh dliu RAM.
Tnh nng c bit ca P89V61RD2 l ch hot ng mode x2. Ngi thit k chnchy ng dng ca mnh ch ny nng i tc khi hot ng cng tn s
dao ngB nh chng trnh Flash cho php lp trnh ISP hoc/v song song. Ch lptrnh song song ca ra thch ng vi tc cao, gim thi gian v gi thnh.IAP/ISP.
+Cc tnh nng:
CPU 80C51.
Hot ng 5VDC trong tm tn s dao ng n 40MHz.
64kB ISP.
SPI
5 PCA vi chc nng PWM/capture/compare 16bits.
4 cng xut nhp.
3 Timers/Couters 16bits.
Watchdog Timer c th lp trnh c.
8 ngun ngt.
2 thanh ghi DPTR.
Tng thch mc logic TTL v CMOS.
Pht hin ngun yu
Ch Low-power, Power down, Idle.
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n mn hc I : iu khin v tr ng c
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S khi ca MCU P89V51RD2:
S qua v cc chn ca vi iu khin:Port 0, Port 1, Port 2, Port 3: Nh cu trc 8051 kinh in.
Port 0: l port c hai chc nng cc chn t 32-39 . Trong cc thit k c nh khngdng b nh m rng n c chc nng nh cc ng vo ra.
Port 2:l mt port cc chn t 21-28 c dng cho chc nng IO port hoc l byte a
ch cao ca Bus a ch .
Port 3: l port c tc dng kp , t chn 10-17. Cc chn ca port ny ngoi IO , cn c
nhiu chc nng c bit .Port 1:
Ngoi chc nng IO port , P89V51Rx2 cn c thm nhiu chc nng mi:
P1.0 - T2: Ng vo Counter cho Timer/Counter 2 hoc ng ra cho Counter/Timer2.P1.1 - T2EX: iu khin hng v cnh kch chc nng Capture cho timer/Counter 2.
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P1.2 ECI: Ng vo xung nhp. Tn hiu ny l ngun xung nhp ngoi cho chc nngPCA.P1.3CEX0: ng vo xung nhp cho chc nng Capture/Compare modul 0.P1.4:
o SS: Chn cng ph vo cho SPI.o CEX1: ng vo xung nhp cho chc nng Capture/Compare modul 1.
P1.5:
o MOSI: phc v SPIo CEX2: ng vo xung nhp cho chc nng Capture/Compare modul 2.
P1.6:
o MISO: phc v SPIo CEX3: ng vo xung nhp cho chc nng Capture/Compare modul 3.
P1.7:
o SCK: phc v SPIo CEX4: ng vo xung nhp cho chc nng Capture/Compare modul 4.
PSEN: Cho php dng b nh chng trnh ngoi. Khi MCU s dng b nh chng trnhtrong chip, PSEN khng tch cc. Khi s dng b nh chng trnh ngoi, PSENthng mc tch cc 2 ln trong mi chu k my. S chuyn mc cao sang thp trnPSEN cng bc t bn ngoi khi ng vo RST ang mc cao trong hn 10 chu kmy s a MCU vo ch lp trnh host t bn ngoi.RST: Khi ngun dao ng ang hot ng, mc cao trn chn RST trong t nht 2 chuk my s Reset li h thng. Nu chn PSEN chuyn mc trong khi RST vn cn mc cao, MCU s vo ch lp trnh host t bn ngoi, nu khng, s hot ng
bnh thng. EA: Cho php s dng b nh chng trnh ngoi.
o EA=0 :B nh ngoi.o EA=1:B nh trong chip.
ALE/PROG: Cho php kha a ch ngoi ra, chn ny cn c dng a vo ch lp trnh FLASH
S chn ca IC:
U1
9
1819
20
2930
31
40
12345678
21222324
25262728
1011121314151617
39383736
35343332
RST
XTAL2XTAL1
GND
PSENALE/PROG
EA/VPP
VCC
P1.0P1.1P1.2P1.3P1.4P1.5P1.6P1.7
P2.0/A8P2.1/A9P2.2/A10P2.3/A11P2.4/A12P2.5/A13P2.6/A14P2.7/A15
P3.0/RXDP3.1/TXDP3.2/INT0P3.3/INT1P3.4/T0P3.5/T1P3.6/WRP3.7/RD
P0.0/AD0P0.1/AD1P0.2/AD2P0.3/AD3P0.4/AD4P0.5/AD5P0.6/AD6P0.7/AD7
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n mn hc I : iu khin v tr ng c
- 5 -
B/ PHN CHNG TRNH THC HIN
I/ THIT K PHN CNG:
Phn cng gm hai khi chnh :
+ Khi iu kin : kt iu kin+ Khicng sut : Ngun , cu H , v ng c
RS232
Encoder
Khi iu kin: Khi chp hnh
Khi iu kin:Ngun 5V , IC , cng com RS-232, hin th lcd , hin th led,led 7 on
ng c
Ngun 24VDC
Cu H
My tnh
Kt iu kin :P89V51RX2
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+ Ngun cho kit vxl:
J12
CON2
12
0.1uF
0
7805
1 3
2
IN OUTGND 5V
12
470
2200uF
D18LED
- +
D17
BRIDGE
1
4
3
2
+ Khi x l ca kit:
p0.0
p2.4
Y1
ZTA
p0.7
p3.3
p3.1
p1.5
p0.2
p17
p2.1
p1.0
p1.1
p2.6
R12
RESISTOR SIP 9
123456789
p3.1
J3
CON8
12345678 p2.2
5V
R1R
C2
1n1
2
p1.1
p3.4
0
p0.0
SW1
p2.4 p3.7
J15
CON8
12345678
J4
CON8
12345678
p0.4
p2.2
p2.0
SW44
0
p1.2
p0.2
SW4
p0.4
U1
AT89C51
9
1819
20
2930
31
40
123
45678
2122232425262728
101112
1314151617
3938373635343332
RST
XTAL2XTAL1
GND
PSENALE/PROG
EA/VPP
VCC
P1.0P1.1P1.2
P1.3P1.4P1.5P1.6P1.7
P2.0/A8P2.1/A9
P2.2/A10P2.3/A11P2.4/A12P2.5/A13P2.6/A14P2.7/A15
P3.0/RXDP3.1/TXD
P3.2/INT0
P3.3/INT1P3.4/T0P3.5/T1
P3.6/WRP3.7/RD
P0.0/AD0P0.1/AD1P0.2/AD2P0.3/AD3P0.4/AD4P0.5/AD5P0.6/AD6P0.7/AD7
p0.3
p3.7
0
5V
p3.5
p1.6
p3.4
J2
CON8
12345678
5V
p1.3
p3.2
p0.5
R13
RESISTOR SIP 9
123456789
0
p2.0 p1.3
p1.4
C1
1n1
2
p0.7
p2.7
p1.2
p3.2
p2.6
p2.3
p2.3
C3C
p2.7
p2.5
p0.6p2.5
p0.6
p3.6p1.4
p3.0
J16
CON8 12345
678
p3.5
5V
p1.7
p0.1
5V
p0.1
p1.6
p2.1
p0.5
p3.0
p3.3
p0.3
p1.0
J1
CON8
12345678
p1.5
p3.6
- Khi gm c cc gic cm c , xut port, giao tip bn ngoi- Bn nt bm , v nt sw44 reset lai vxl- Vi x l s t ng reset khi c ngun nh t C3- Thch anh 12Mhz s to ngun xung cho chn 18,19
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n mn hc I : iu khin v tr ng c
- 7 -
-+ Khi hin th:
- Hin th led 7 on:
5V
G
AB
O3C
5VR30 330 8
U10
LED7.2
6
12
3
4
5
78
910
B
ED
T
C
DP
A L
FG
F
O2
O7
5V
O5
G G
A
R32 1K
Q3C1815
CB
F
O7
E
R34 1K
E
5V
R33 1K
5V
BO4
O4
U3
7447
7126
453
1312111091514
16
8
D0D1D2D3
BI/RBORBILT
ABCDEFG
5V
GND
O1
R29 330D
CR27 330
E
5V
O0
O4
8
U9
LED7.1
6
12
3
4
5
78
910
B
ED
T
C
DP
A L
FG
5V
D
O1
R28 330
A
C
J10
CON8
12345678
O5
O3
F
C
G
5V0
E
0
A
O5
R35 1K
B
O0
E 8
U13
LED7.4
6
12
3
4
5
78
910
B
ED
T
C
DP
A L
FG
O7
O6
R31 330
0
AR23 330O2
Q4C1815
F
D D
R24 330
Q5C1815
G
U11
74LS245
2
0
10
191
23456789
1817161514131211
VCC
GND
GDIR
A1A2A3A4A5A6A7A8
B1B2B3B4B5B6B7B8
8
U12
LED7.3
6
12
3
4
5
78
910
B
ED
T
C
DP
A L
FG
B
O6
O6D
Q2C1815
F
- Khi gm IC nng 74LS245 , c tc dng nng dng cho port iu kin.- 4 led 7 on , 4 BJT C1815 c tc ng chn led s ng cho qut led-.- IC gii m 7447 , gii m BCD sang cc chn ca led hin th s.
+LCD:
- Khi gm c : git cm ci 16 chn cho LCD- Git 8 chn dnh cho bus d liu- Git 3 chn dnh cho 3 chn iu kin- in tr r28 hn dng cho led trong LCD- Bin R25 chnh tng phn cho LCD
0
R26
J912345678
R25
0
5V 5V
J7
CON16
12345678910111213141516
J8
123
0 5V
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n mn hc I : iu khin v tr ng c
- 8 -
- Mch hin th led:
- xut led , gm 2 IC nng dng 74LS245, cc gic cm c a ra ngoi.- Mt dy led hin th.
+ Khi giao tip:- RS-232:
0
C4
P1
5948
37261
5V
C6
0
U2
MAX232_1
13
45
16
15
2
6
12
9
11
10
13
8
14
7
C1+C1-
C2+C2-
VCC
GND
V+
V-
R1OUT
R2OUT
T1IN
T2IN
R1IN
R2IN
T1OUT
T2OUT
C7
p3.0
0
p3.1
5V
C5
o Mch c cng DB9 , v IC max232
R9
D9p1.0 R15
p1.5
5VJ5
CON8
12345678
p1.4
D1
5V
0
0
U6
74LS245
20
10
191
23456789
1817161514131211
VCC
GND
GDIR
A1A2A3A4A5A6A7A8
B1B2B3B4B5B6B7B8
J11
CON8
1 2 3 4 5 6 7 8
0
p1.3
R2
p1.7
0
p1.2
U7
74LS245
20
10
191
23456789
1817161514131211
VCC
GND
GDIR
A1A2A3A4A5A6A7A8
B1B2B3B4B5B6B7B8
J6
CON8
12345678
R22 D16
J13CON8
1 2 3 4 5 6 7 8
p1.6
D80
p1.1
5V
5V
0
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n mn hc I : iu khin v tr ng c
- 9 -
o IC max232 v cc t lm nn mch chuyn mc p TTL sang 232o Cp nguncho max232 l 5v, mch trong IC v cc t s to ra ngun +-
10V
-Ma trn phim:SW26
P0.0
P0.3
SW35
P0.6
SW34
P0.7
SW28
P0.2
P0.4
SW31
SW38
SW32
SW39 SW40
SW37
P0.1
SW29SW27
P0.5
SW41
SW33
SW36
SW30
oMch gm 8 chn ni vi port 1 .oKhi qut phim . Nu nt nhn c mt chn c a vo mc cao, mt
chn mc thp , khi nhn phim , th c hai chn u mc thp , v viiu kin c th nhn ra s thay i.
S khi Kit:
Ngun 5v
Khi hin th
Khi x l
Khi giao tip
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n mn hc I : iu khin v tr ng c
- 11 -
o Hai opto c nhim v cch ly ngun in ca vi iu kin vi b cng suto Cc zener bo v mch , v x khi c dng hi t ng c v -v mch
ngun l cu diof , khng x c.-o T lc gai cho ng c khi chyo Nguyn tc chng trng n : khng th kch ( mc cao) cho 2 ng vo
cng lc- Ngun 24VDC:
J1
24VAC
12 C4
0.1uFC1
2200uF
R22.2k
Q1
J2
24VDC
12- +
D81
4
3
2
D2D10D1
zener 24v
D7
C5
470uF
R1
270
0 + Mch c cu diof chnh lu. T ha C4 lc phng thng thp . T C4 lc thng
cao , BJT cng sut 2N3005.+ diof gn i zener b li in th mt do BJT. V R1 duy trng cho zener . T
C5 lc .
II> CHNG TRNH THC HIN:
THNH PHN , S , GII THUT TNG QUT:Thnh phn :
+ Gm c 2 phn chng trinh chinh:Chng trnh trn my tnh , vit bng Visual basicChng trnh trn vi x l , vit bng hp ng
S v gii thut chnh:+ Chng trnh Visual Basic:
o
GIAO IN:- Hin th- Nhn lnh
X L :- Phn mm
PID, c chnhsa
- Ngt timer thc hin k,v xut kt qu
GIAO TIP VXL:
-
Nhn liu t vxl- Truyn
lnh ti vxl
Vi iukin
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n mn hc I : iu khin v tr ng c
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+ Chng trnh hp ng :
M lnh
PWM
Gt encoderencoder
CHI TIT CHNG TRNH:o CHNG TRNH TRN VB:
Visual basic:Giao din VB:
Timer1MSComm
Timer2
CmdketnoiLabecd
Labsovong
Labvantoc
Cmddung
Cmdtien cmdlui txtvitriCmdchay
H_vantoc txtvantoc Cmdclr_ecd
Cmd_dungvitri
-Nhn m lnhT my tnh
Timer 2 toxung uart
My tnh
Giao tipmy tnh iu xung
m gi trencode
Timer1: qut gi gi trencoder ln my tnh
ng c
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n mn hc I : iu khin v tr ng c
- 13 -
Giao din gm c:- Nt kt ni vi iu khin- Khung iu khin tin li:
Nt tin ng c Li ng c ng ng c TextBox nhp gi tr iu xung Thanh trt , to gi tr iu xung
- Khung iu khin v tr ng c: TextBox nhp v tr chy ti Nt start qu trnh. Nt clear gi tr encoder Nt dng chc nng.
- Khung hin th : Label- Hin th gi tr encoder tuyt i (c offset ) Label- Hin th s vng tng ng ( 400 xung / vng ) Label- Vn tc ng c ( c chng nhy do thay i qu nhanh )
- MSComm : < name : gt > : cng c giao tip vi ngoi vi thng qua cng com- Timer1: lin tc ly gi tr trung bnh ca vntc , chng nhy khi hin th- Timer2: To ngt trong khong thi gian 10ms , phc v iu khin v tr ca ng
cM ca chng trnh:
Phn khai bo u chng trnh:Option Explicit
Dim ht As Double 'v tr encoder lay veDim D_tt As Double vn tc tc thi ca ng cPrivate e_p As Double sai s ca v tr ng c_gi liPrivate e_tichluy As Long Sai s tch ly , dng cho thng s KIPrivate dblvitridat As Double bin lu tr v tr xc lpPrivate intvt As Integer bin lu vn tc ng cPrivate ht_p As Double bin lu li gi tr trc ca encoderPrivate d_p(20) As Double Bin lu li chui vn tc tc thiPrivate dang_load As Boolean nh u v tr bt u ca chui ly vPrivate thu_tu As Byte th t ca tn hiu a vPrivate ecd(4) As Long chui gi tr encoder ly v t vi x lPrivate trang_thai As Byte Trng thi : tin , li , dng ca ng cDim P As Double H s P ca b PID-v trDim I As Double H s IDim D As Double H s D
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- 14 -
X l cc skin: Kt ni vi my tnh:Private Sub cmdketnoi_Click()
On Error Resume Next
gt.Settings = "28800,N,8,1" tc 28,8 kgt.CommPort = 1
gt.RThreshold = 1
gt.PortOpen = True
gt.InputLen = 1cmddung.Enabled = True Khi cha kt ni cc nt bmcmdtien.Enabled = True cha c kch hot , chngcmdlui.Enabled = True li cho chng trnhcmdchay.Enabled = Truecmdclr_ecd.Enabled = True
cmd_dungvitri.Enabled = Truelab_trangthai.Caption = "da ket noi !" hin th gc di , phiEnd Sub
Khi togi tr ban uPrivate Sub Form_Load()
Timer1.Interval = 10 ngt mi ln l10msTimer1.Enabled = True kch hot timer 1Timer2.Interval = 10
Timer2.Enabled = False cm timer 2P = 0.282 Cc thng s b PID
D = 1.125 Cc gi tr c tm bngi = 0.0187 PP Zeigler-Nicholsintvt = 0thu_tu = 0
trang_thai = 0
End Sub
X l nhn k t:Private Sub gt_OnComm()
Dim a As Integer
Dim b As Double
Select Case gt.CommEvent Nhn bit s kinCase comEvReceive Nhn d liuDim buffer As Variant b m thubuffer = gt.Inputa = Asc(buffer) chuyn k t ra m asciilab.Caption = a & " ;" & buffer hin th gc cui phibuffer = "" xa tin theo di
If dang_load = True Then Nu nhn c im
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n mn hc I : iu khin v tr ng c
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thu_tu = thu_tu + 1 bt u th np d liuecd(thu_tu) = a
If thu_tu = 3 Then
dang_load = False
thu_tu = 0
End IfElse
If a = 99 Then k t gc bt u npdang_load = True
ht = ecd(3) * 256 * 256 + 256 * ecd(2) + ecd(1) - 8388608Gi tr encoder tuyt i tr i gi tr offset
b = ht / 400 s vnglabsovong.Caption = Format(b, "00000.0000")
labecd.Caption = htEnd If
End IfEnd Select
X l cc nt bm tin , li , dng:
Private Sub cmdtien_Click()intvt = Val(txtvantoc)
trang_thai = 1
If intvt >= 256 Then gi tr iu xung maxMsgBox ("gia tri phai nho hon 256")
Exit SubEnd If
Call chay(intvt)End Sub
Private Sub cmdlui_Click()
intvt = Val(txtvantoc)trang_thai = 2
If intvt >= 256 Then
MsgBox ("gia tri phai nho hon 256")
Exit SubEnd If
Call chay(-intvt)
End Sub
Private Sub cmddung_Click()
trang_thai = 0
gt.Output = Chr(3) gi k t c m l 3
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End Sub
S kinthanh trt:
Private Sub H_vantoc_Change()txtvantoc = H_vantoc.Value
intvt = Val(txtvantoc)
Select Case trang_thaiCase 1:
Call chay(intvt) chy tiCase 2:
Call chay(-intvt) chy luiEnd Select
End Sub
Cc nt bm cn li , k v tr ng c
Private Sub cmd_dungvitri_Click()Call cmddung_Click
e_tichluy = 0
Timer2.Enabled = False ngng timer, kt thc tm v trEnd Sub
Private Sub cmdchay_Click()
Timer2.Enabled = True bt u chy v trEnd Sub
Private Sub cmdclr_ecd_Click()
gt.Output = Chr(4) M clear encoderEnd Sub
Hm chay( ):
Private Sub chay(ByVal v As Integer)
If (v > 255) Or (v < -255) Then Exit Sub Max iu xung =256gt.Output = Chr(0) m nhp vn tcIf v < 0 Then
v = -v
gt.Output = Chr(v) truyn vn tcgt.Output = Chr(1) lnh chy liElse
gt.Output = Chr(v) truyn vn tc
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gt.Output = Chr(2) lnh chy tiEnd If
X l s kin timer1, timer2:
Private Sub Timer1_Timer()Dim D_tong As Double
Dim tong As Double
Dim i As IntegerD_tong = ht - ht_p
D_tt = D_tong ly vn tc tc thi cho b PIDht_p = ht
tong = 0
For i = 20 To 2 Step -1 ly tng gi tr vn tc trong 0.2s
d_p(i) = d_p(i - 1)tong = tong + d_p(i)Next
d_p(1) = D_tong
tong = tong + d_p(1)D_tong = tong / 20 ly gi tr trung bnh , x l nhpD_tong = D_tong * 10 nhylabvantoc = Format(D_tong, "0000.00") Cho gi tr ng yn trnGD End Sub
Private Sub Timer2_Timer()
Static g As IntegerDim e As Double
Dim v As Integer
dblvitridat = Val(txtvitri) * 400
e = htdblvitridat Ly sai s cho b PIDv = PID(e, e_p) ly vn tc t b PIDCall chay(v)
e_p = e
If e = 0 Theng = g + 1
Else
g = 0
End IfIf g = 30 Then Timer2.Enabled = False nu ng v tr trong vngEnd Sub 0.3s th dng chc nng li
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B PID:
Private Function PID(ByVal e As Double, ByVal e_c As Double) As Integer
Dim step1 As Integer
Dim up As Double
Dim ui As DoubleDim ud As Double
Dim u As Double
If D_tt = 0 Then Hiu chnh thng s Istep1 = 3 Lm gim thi gian a sai s v 0Else
step1 = 1
End If
up = -P * e
ud = -D * (e - e_c)If (e > -130) And (e < 130) Then Kch hot thng s Ki khi ng ce_tichluy = e * step1 + e_tichluy cch ch khong 1 vngui = -I * e_tichluy
Else
e_tichluy = 0ui = 0
End If
u = (up + ui + ud)
If u > 255 Then u = 255 Khu bo haIf u < -255 Then u = -255PID = CInt(u)If e = 0 Then PID = 0
End Function
PID s: ))(( 1_ kk
S
DTLk
I
Skp ee
T
Te
T
TeKV
Trong h s Ts l chu k ly muTm thng s bng cch :
-Cho h s khuch i K ( Ki,Kd = 0) n khi h bt u ao ng n nh quanhv tr cnbng ( c kch nh ) ta c : k=0.47, T=0.31s
- Kp = 0.6 x k = 0.282 ; Ti = 0.1505 ; Td = 0.03875-Vy D = 1.0927 ; I = 0.1874
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o CHNG TRNH TRN VI IU KIN:INCLUDE p89v51rx2.mc
ECD DATA 40h ; Lu gi gi tr qut xut d liuECD1 DATA 41h ; 3 byte Lu gi gi tr encoderECD2 DATA 42hECD3 DATA 43h
ECD1_P DATA 44h ; 3 byte tip trung gian lu giECD2_p DATA 45h ; gi tr xut, m bo xut chnh xcECD3_p DATA 46hvan_toc DATA 49h ; Vn tc c nhp vo y
nhap_vt BIT 33h ; C nhp vn tc
org 0000hLJMP main
org 0003hLJMP ngat_ngoai0
org 000bhLJMP ngat_T0;ngat time de quet truyen data
org 0023h
LJMP NGAT_NT; tao toc do boau
main:
MOV fst,#08h ;Nng i tc x l caMOV t2mod,#02h ;IC
SETB RCLK ;cho php nhn d liu t PCSETB TCLK ;Cho php xut liu nPCMOV rcap2h,#ffh ; tc baud 28800MOV rcap2l,#f3hMOV scon,#50hSETB TR2
;--------------MOV CCAPM0,#01000010BMOV CCAPM1,#01000010BMOV CCAPM2,#01000010BMOV CCAPM3,#01000010B
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MOV CCAPM4,#01000010BMOV cmod,#0CLR nhap_vtMOV ccap3h,#ffhMOV ccap4h,#ffh
SETB cr ; cho php chc nng PCA chy;--------------
MOV tmod,#01hMOV ien0,#10010011b
SETB it1SETB it0
MOV ip0,#05h ;u tin ngt ngoiMOV ip0h,#0
MOV van_toc,#100
MOV ecd,#1SETB tr0
;--------------------------------------------MOV ecd1,#0hMOV ecd2,#0hMOV ecd3,#128SJMP $
;------------------------------------------- ngat_nt:
JNB ri,thoat_ngat_ntCLR riPUSH accMOV A, sbufMOV p2,AACALL nhan_dkPOP accJNB ti,thoat_ngat_ntCLR ti
thoat_ngat_nt: RETI
;*******************************************************; Chng trnh trong on ny nhn tn hiu iu khin t my tnh.; Gm c nhn chth chy ti , ng ,chy li , nhn tc chy, reset gi tr
encoder
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;------------------------------------nhan_dk:
JNB nhap_vt,tiepMOV van_toc,ACLR nhap_vt
LJMP thoat_nhan_dk
tiep:CJNE A,#0,tiep0LCALL nhap_vantocLJMP thoat_nhan_dk
tiep0: CJNE A,#1,tiep1LCALL chay_toiLJMP thoat_nhan_dk
tiep1: CJNE A,#2,tiep2
LCALL chay_luiLJMP thoat_nhan_dktiep2: CJNE A,#3,tiep3
LCALL dung_dcLJMP thoat_nhan_dk
tiep3: CJNE A,#4,thoat_nhan_dkLCALL clr_ecd
thoat_nhan_dk:RET
chay_toi:
MOV A , van_tocCPL AMOV ccap3h,AMOV ccap4h,#ffhRET
chay_lui:MOV A , van_tocCPL AMOV ccap4h,AMOV ccap3h,#ffh
RETdung_dc:
MOV ccap3h,#ffhMOV ccap4h,#ffhRET
nhap_vantoc:
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SETB nhap_vt ;a chng trnh thu voch
RET ; nhp Vn tcclr_ecd:
MOV ecd1,#0
MOV ecd2,#0MOV ecd3,#128RET
;*******************************************************
; Chngtrnh trong 2 on i , gm c:; - Ngt timer 0 , lin tc gi hm hien_thi.; - Hm hien_thi tun t xut 3 byte lu tr
;v tr encoder ca ng c cho my tnh . Mi
;ln c gi , xut 1 byte.;-------------------------------------------------------
ngat_T0: CLR tf0CLR tr0MOV th0,#fchMOV tl0,#00SETB tr0PUSH 00hMOV R0,ECD
INC R0CJNE R0,#4,thoatMOV R0,#0
thoat: MOV ECD,R0POP 00hLCALL hien_thi
RETI;-------------------------------------------------------
hien_thi:
PUSH accMOV A,ECDCJNE A,#0,O_N_1
MOV sbuf,#99MOV R2,ecd1MOV ecd1_p,R2
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MOV R2,ecd2MOV ecd2_p,R2MOV R2,ecd3MOV ecd3_p,R2SJMP Thoat_hien_thi
O_N_1:CJNE A,#1,O_N_2MOV A,ecd1_pMOV sbuf,ASJMP Thoat_hien_thi
O_N_2:CJNE A,#2,O_N_3MOV A,ecd2_pMOV sbuf,ASJMP Thoat_hien_thi
O_N_3: CJNE A,#3,thoat_hien_thiMOV A,ecd3_pMOV sbuf,a
Thoat_hien_thi: POP accret
;*******************************************************
;Ngt ngoi khi c xung encoder vo vi iu khin; Nu chn cn li mc cao th ng c ang li , ngc li l ang tin.;-------------------------------------------------------
------ngat_ngoai0:
JNB p3.3,tang_encoderJMP giam_encoder
thoat_ngat0:RETI
;------------------------------------------------------- tang_encoder:
INC ECD1
MOV R1,ecd1CJNE R1,#0,thoat_tang_ecdMOV ecd1,#0INC ECD2MOV R1,ecd2CJNE R1,#0,thoat_tang_ecdMOV ECD2,#0
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INC ECD3thoat_tang_ecd:
LJMP thoat_ngat0;------------------------------------------------------- giam_encoder:
MOV R1,ecd1CJNE R1,#0,giam_ecd1MOV ecd1,#ffh
MOV R1,ecd2CJNE R1,#0,giam_ecd2MOV ecd2,#ffh
MOV R1,ecd3CJNE R1,#0,giam_ecd3
MOV ecd3,#ffhSJMP thoat_giam_ecdgiam_ecd1: DEC ecd1
SJMP thoat_giam_ecdgiam_ecd2: DEC ecd2
SJMP thoat_giam_ecdgiam_ecd3: DEC ecd3
thoat_giam_ecd:LJMP thoat_ngat0
END
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Mc lc :
Trang
Li ni u . 1
A/ S LCV VI IU KIN P89V51Rx2. 2
Khi qut cc tnh nng. 2
S khi3
S chn... 4
B/ CHNG TRNH THC HIN5
I/ Thit k phn cng... 5
Khi iu khin ..5
+ Ngun cho kit vxl... 6
+ Phn x l ca kit.. 6
+ Phn hin th.. 7
+ Phn giao tip 8
S ton kt10Khi cng sut.10
- Mch cu H..10-Ngun 24Vdc.. 11
II/ Chng trnh thc hin... 11
Thnh phn , s , gii thut tng qut. 11 Chi tit chng trnh 12
-Chng trnh trn visual basic. 12
+ Giao din VB 12
+ Code chng trnh trn VB...13
+ PID s .. 18
- Chng trnh trn vi iu khin.. 19
Mc lc :.25