TOM TAT LUAN VAN_ngay 10 thang 10 (1).docx

Tm tt lun vn

CNG TRNH C HON THNH TITRNG I HC S PHM K THUTTHNH PH H CH MINH

Cn b hng dn khoa hc : (Ghi r h, tn, chc danh khoa hc, hc v v ch k)Cn b chm nhn xt 1: (Ghi r h, tn,, chc danh khoa hc, hc v v ch k)Cn b chm nhn xt 2:(Ghi r h, tn, chc danh khoa hc, hc v v ch k)

Lun vn thc s c bo v trcHI NG CHM BO V LUN VN THC STRNG I HC S PHM K THUT, Ngy ...... thng .... nm .......

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Tm tt lun vn

[Type text]Trang 2

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PHN M U1. L do chn tiCc cn trc c s dng rng ri vn chuyn vt nng v vt liu c hi trong cc nh my ht nhn, x nghip nh ng tu, xy dng nh cao tngVic vn chuyn bng cn trc i hi phi nhanh chng v m bo an ton i vi ngi iu khin v vt xung quanh th dao ng ti c gi nh trong sut qu trnh vn chuyn. H thng ny iu khin xe chy ti ng v tr v m bo cho gc dao ng lun n nh v trit tiu khi xe chy n v tr t thng qua cm bin v tr v cm bin gc. Tuy nhin, cm bin gc trong h thng cn trc thc t c nhng tr ngi nh chi ph u t cao, kh lp t nht l vi nhng cn trc c c cu nng h, thng xuyn bo tr sa chaDo d, cc iu khin chng lc khng dng cm bin gc trong h thng cn trc t ng c xut trong lun vn ny. Mc ch cc iu khin chng lc khng dng cm bin gc c da trn m hnh ton hc ca cn trc v vic thu thp d liu t h thng cn trc t ng. Mt s hnh nh v cc loi cn trc trnh by nh Hnh 1.

a) b)

c) d)

Hnh 1. Cc dng cu trc2. Mc tiu v nhim v ca lun vnMc tiu ti l iu khin t ng h thng cn trc khng c dng cm bin gc. Nhim v ca lun vn:- Xy dng m hnh ton hc ca h thng cn trc.- Thit k iu khin trn m hnh thc, giao tip gia h thng thc v my tnh iu khin thng qua card DSP-TMS320F28335.- iu khin t ng h thng cn trc c dng cm bin gc.- iu khin t ng h thng cn trc c dng cm bin gc.

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3. Phm vi nghin cuGii hn ca ti ch thit k iu khin khng dng cm bin gc trn m hnh h thng cn trc. Nghin cu xy dng cm bin mm thay th cm bin thc trong iu khin. 4. Phng php nghin cuCc phng php nghin cu c s dng trong lun vn bao gm:- Kho st, phn tch tng hp phng php iu khin h thng c s dng cm bin gc v khng c s dng cm bin gc.- M phng trn phn mm Matlab & Simulink.- Thit k m hnh thc nghim.- nh gi kt qu da trn m phng v thc nghim.5. Tm tt phn thc hin chnh trong lun vn5.1 M hnh ton hc ca h thng cn trc

m1TxyFxxmlm20ng c DC M hnh h thng cn trc bao gm: mt m hnh cho ng c, dy ai, khi lng cn trc (m1) v ti (m2) nh Hnh 2.

Hnh 2. M hnh cn trc gin5.1.1. M hnh ca dy aiT ng c, mt m hnh khng gian trng thi c phn tch. Bc u tin l vic chn cc trng thi, ng vo v cc ng ra ca m hnh nh

(1)

trong , (V); (A); (rad/s), (rad) ca ng c; (rad/s) v (rad) ca ti.Cc phng trnh ca ng c in:

(2)

trong , Rm l in tr (), Lm l in cm (H), Kb l hng s lc in t (V/(rad/s)), Km l hng s mmen (Nm/A), b l hng s lc ma st nht (Nm/(rad/sec)) v J l moomen qun tnh (kgm2).Khi , ti u trc ng c c gn thm bnh rng vi mmen Tl nh sau:

(3)trong , bl l hng s lc ma st nht (Nm/(rad/sec)) v Jl l mmen qun tnh (kgm2) bnh rng.Khi ng c quay th xut hin dao ng lch tm gia trc ng c v trc puli vi h s dao ng nhng nhy b v hng s nhng nhy Ks v lc ny mmen ti Tl c tnh nh sau:

(4)Cc phng trnh ny c sp xp li c th s dng cc phng trnh ny trong mt m hnh khng gian trng thi.

(5)Vi cc thng tin ny, mt m hnh khng gian trng thi c th c to ra

(6)5.1.2. M hnh ca dy aiDy ai c dao ng rung rt t. S dao ng rung ca dy ai s b b qua bi v s dao ng rung ca ng c l nh hng tri hn s dao ng rung gy bi dy ai.5.1.3. M hnh ca cn trcCng thc cho s tnh tin ca lc quay trn sang dch chuyn nh sau:

(7)Vn tc ca cn trc tng ng vn tc ca puli:

(8)Vn tc ca puli nh sau:

(9)

trong , l vn tc gc ca puli (rad/s), l mmen xon (Nm), l bn knh (m) v l vn tc ca puli (rad/s); F l lc ko (N) v l vn tc ca cn trc (m1) (m/s).By gi cng thc (7) c th c vit li nh sau:

(10)Puli c hiu sut i vi vic chuyn i ca cng sut dn n kt qu sau:

(11)

trong , l mmen xon ca bnh rng v hiu sut ca puli.Mmen xon ca bnh rng c th vit li nh sau:

(12)trong , bl l hng s lc ma st nht (Nm/(rad/sec)) nh xem nh b qua.T cng thc (10) n (12), suy ra kt qu sau:

(13)Trang 23Khi hm ny c chuyn i sang min Laplace (min s) nh sau:

(14)5.1.4. M hnh ca tiT Hnh 2 c s dng nh nn tng cho cc vic tnh ton. p dng phng trnh Lagrange c pht trin t php ly o hm ng nng v th nng, ta c:

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Thay th bi vo cng thc (15), suy ra kt qu sau:

(16)Thc hin chuyn i cng thc (16) sang min Laplace, ta c kt qu sau:

(17)T h phng trnh (17), suy ra kt qu sau:

(18)Hm chuyn i ca tc ti v hm chuyn i ca gc ti nh sau:

(19)

Thay vo h phng trnh (19), ta c hm chuyn i ca v tr ti v hm chuyn i ca gc ti nh sau:

(20)M hnh ton hc ca h thng cn trc c m t nh Hnh 3 sau:

xM hnh ng cCng thc 6M hnh cn trcCng thc 14M hnh v tr tiCng thc 20aM hnh gc tiCng thc 20bvalF/s

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Hnh 3. S khi m hnh h thng cn trcNhn xt: - H phng trnh (20) cho thy cn trc l mt h phi tuyn phc tp gm mt tn hiu vo l in p v hai tn hiu ra l v tr v gc lch.- Nu cn trc di chuyn vi gc lch dao ng nh th c th xem cn trc l mt h tuyn tnh v c th p dng cc phng php iu khin cho h tuyn tnh iu khin cn trc.5.1.2. Mng nron nhn to (Artifical Neural Networks_ ANN)Mng nron nhn to (nh Hnh 4) c xy dng t nhng nm 1940 nhm m phng chc nng ca b no ngi. Da trn quan im cho rng b no ngi l b iu khin. Mng nron nhn to c thit k tng t nh nron sinh hc s c kh nng gii quyt hng lot cc bi ton nh tnh ton ti u, iu khin, cng ngh ngi my N gm c mt nhm cc nron nhn to (Hnh 5) ni vi nhau, v x l thng tin bng cch truyn theo cc kt ni v tnh gi tr mi ti cc nt.

Hnh 4. Cu trc mng nron nhn to

Hnh 5. Cu trc mt nron nhn toGii thut lan truyn ngc (Back Propagation Algorithm_BPA) l mt trong cc gii thut quan trng trong lch s pht trin ca mng nron nhn to. Gii thut c s dng hun luyn mng truyn thng vi cc phn t x l trong mng c hm tc ng l hm phi tuyn. Tm tt gii thut lan truyn ngc nh sau: Bt u vi cc trng s c chn ngu nhin; Trong khi MSE khng tha mn v cc bin tnh ton khng vt gii hn,

Lm cho mi mu ng vo xp, ,

+ Tnh ton cc nt ng vo n ;

+ Tnh ton cc nt ng ra n ;

+ Tnh ton cc nt ng vo n ng ra ;+ Tnh ton cc ng ra mng (yp,k)+ Sa i cc trng s lp ngoi

(21)+ Sa i cc trng s gia cc nt ng vo v nt n

(22)Kt thc.Kt thc.

( nu S l hm logic th 5.1.3. B lc Kalman ri rcB lc Kalman bao gm cc vic o kim din ra v cc trng thi c c lng ti cc im trong min thi gian.5.1.3.1. Qu trnh x l c lngB lc Kalman gii quyt vn tng qut ca vic th c lng trng thi ca qu trnh x l iu khin thi gian ri rc m b nh hng bi phng trnh sai phn ngu nhin tuyn tnh sau:

(23)Vi vic o c l:

(24)Cc bin ngu nhin wk v vk trnh by nhiu qu trnh x l v o c (theo tun t). Cc bin c gi s c lp nhau, phn b xc sut nhiu trng v nhiu chun sau:

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Trong thc t, cc ma trn phng sai nhiu qu trnh x l Q v phng sai nhiu o c R c th thay i vi mi bc thi gian hoc o c, tuy nhin y ti gi s rng cc bin l hng s.5.1.3.2. Cc ngun gc tnh ton ca b lc

nh ngha: (ch cc m) mt c lng trng thi trc ti bc k cho bit nn tng ca tin x l n bc k v mt c lng trng thi sau ti bc k o c zk. Sau , chng ta c th nh ngha cc sai s c lng trc hoc sau nh:

(26)Khi phng sai c lng trc

(27)V phng sai c lng sau

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Mc ch ca vic tm mt phng trnh tnh ton mt c lng trng thi sau nh mt s kt hp tuyn tnh ca mt c lng trc v mt sai phn trng s gia mt kt qu o thc zk v mt tin on kt qu nh trnh sau

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Sai phn c gi l kt qu o t mi, hoc thng d. Thng d ca 0 c ngha rng hai kt qu ging nhau hon ton.Ma trn K (m x n) c chn lm li hoc t s pha trn m lm gim nh phng trnh phng sai sau (28). S gim nh ny c th thc hin bng vic thay th phng trnh u (29) vo nh ngha pha trn ek , vic thay th vo phng trnh (28), thc thi cc mong i ch s, thc hin o hm lng nh kt qu tng ng vi K, tp c kt qu bng 0 v sau tm gii K. Mt biu thc ca kt qu K m lm gim nh phng trnh (28) c cho bi cng thc sau:

(30)Tm trong phng trnh (30) m phng sai o c R xp x 0, li K lm trng s thng d nhiu kh khn. C th,

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Mt khc, phng sai c lng trc xp x 0, li K lm trng s thng d t kh khn. C th,

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Nh vy, phng sai o c R xp x 0, o c thc zk l ng nhiu hn, trong khi o c tin on l ng t hn. Mt khc, phng sai c lng trc xp x 0, o c thc zk l ng t hn, trong khi o c tin on l ng nhiu hn.

Phng trnh (29) c nghim trong xc sut ca c lng trc ph thuc vo tt c cc o c trc zk (qui tc Bayes). B lc Kalman duy tr hai tnh quan trng u tin ca phn b trng thi,

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5.1.3.3. Thut ton b lc Kalman ri rcB lc c lng trng thi qu trnh x l ti t thi gian v sau c s dng hi tip trong dng thc ca cc o c (nhiu). Nh vy, cc phng trnh b lc Kalman chia thnh hai nhm: cc phng trnh cp nht thi gian v cc phng trnh cp nht o c. Cc phng trnh cp nht thi gian c trch nhim hng ra trng thi hin ti (ng thi gian) v phng sai c lng t c c lng trc cho bc thi gian tip theo. Cc phng trnh cp nht o c chu trch nhim hi tip (th d, kt hp mt kt qu mi vo trong c lng trc t mt ci thin c lng sau).

Cp nht thi gian(trng thi tin on)Cp nht o c(trng thi ng)

Hnh 6. Chu k b lc Kalman ri rc

c lng ban u cho c lng ng ra cho Cp nht thi gian (tin on)Cp nht o c (ng)(1) D on trng thi pha trc(2) D on phng sai pha trc(1) Tnh ton li Kalman(2) Cp nht c lng vi o c zk(3) Cp nht phng sai

Hnh 7. S hon chnh ton hc ca b lc Kalman

5.2. Cc phng php iu khin h thng cn trc t ngDa vo m hnh ton hc ca h thng, hc vin xy dng m hnh trong phn mm Matlab & Simulink v iu khin h thng ny theo kiu vng h nh Hnh 8 vi tn hiu u vo l in p dng hm nc v cc thng s nh Bng 1.

a) S m hnh cn trc

b) S iu khin vng h h thng cn trcHnh 8. S khi iu khin vng h h thng cn trcBng 1. Cc thng s h thng cn trcThng sK hiuGi tr

in tr ng c (Ohm)R1.8

in cm ng c (H)L0.005

Hng s phn in trng (V.sec/rad)Kb0.306

Hng s mmen (Nm/A)Km0.306

Mmen qun tnh ca ng c (kg.m2)Jm1e-4

H s ma st nht ca ng cbm1.41e-4

Mmen qun tnh ca tiJl1e-3

H s ma st nht ca tibl1.41e-3

Hng s nhng nhyKs90

H s ma st nht nhng nhyb1.41e-2

Chiu di thanh cp (m)l0.88

Gia tc trng trng (m/s2)g9.81

Bn knh puli ca xe y (m)rp0.015

Hiu sut ca puli (%)Eff98

Kt qu m phng nh Hnh 9 sau:

a) V tr

b) Gc tiHnh 9. Kt qu m phng h thng cn trc theo kiu vng hNhn xt: - in p hm nc l 4V th tc di chuyn ca ti n im t rt chm.

- Gc dao ng ca ti l dao ng lc khng tt vi bin nh .5.2.1. iu khin h thng c dng cm bin gcH thng cn trc c nhim v vn chuyn ti n v tr mong mun m m bo ti khng lc v mt cch nhanh nht c th. Do , trong h thng s s dng cm bin v tr v cm bin gc. Tuy nhin, khi vn chuyn ti bng s dng ng c DC to mmen ko th chng ta cn s dng thm cm bin dng kim sot dng in trnh trng hp khi dng in khi ng qu ln s lm hng ng c DC. t tn hiu iu khin vo h thng cn trc th h thng din ra nh Hnh 10 sau:

V tr ban uFFFxmlm2m1m1m1ll=0m2m2xV tr mong munHnh 10. Gii thut iu khin trong h thng

Da theo m hnh ton v gii thut iu khin, m hnh iu khin s s dng 3 b iu khin PID nh b iu khin v tr, b iu khin gc v b iu khin dng. - B iu khin PID v tr dng to tn hiu iu khin lm cho xe chy nhanh v v tr t.- B iu khin PID gc ti dng to tn hiu iu khin lm cho xe chy chm li hoc chy ngc (bi khi xe chy nhanh s lm gc ti tng ln gy ra dao ng) gc nh dn v tin v 0 trong thi gian xc lp mong mun.

- B iu khin PID dng c tc dng to tn hiu iu khin dng in nm trong gii hn cho php thi gian qu nhm trnh hin tng khi mang ti ln th dng in qu tng v ng c to mmen ko khng ln lm dng in ng c tng ln ng k s gy hng ng c.

Gc ca ti v tc ca ng c l cc ng vo cho b iu khin trong khi in p n ng c l ng ra ca b iu khin. Cc mc ch ca b iu khin l s di chuyn ti n mt v tr mi nhanh nht c th v gii hn dao ng ca gc ti.5.2.1.1. M phng iu khin h thng khng c b iu khin PID dng inCc thng s ca cc b iu khin nh Bng 2.Bng 2. Cc thng s b iu khinH sB iu khin

V trGc dao ng

T l (Kp)2025

Tch phn (Ki)0.00050

Vi phn (Kd)32

S khi m phng nh Hnh 11 sau:Hnh 11. S m phng c cm bin gc m khng c cm bin dng inKt qu m phng nh Hnh 12 sau:

a) V tr

b) Gc ti

c) Dng inHnh 12. Kt qu m phng c cm bin gc m khng c b iu khin dngNhn xt:- V v tr: h thng di chuyn n v tr xc lp trong thi gian ngn khong 3s. Ti trng cng ln th thi gian xc lp cng ln nhng khng ng k.

- V gc dao ng: gc ti dao ng tt dn vi thi gian xc lp khong 3s, bin dao ng ca gc ti ban u .- V dng in: dng in khi ng ng c khi mang ti ln hn gp (4-5)ln dng in nh mc (khong 1.5A); ti trng cng ln th dng khi ng cng ln.5.2.1.2. M phng iu khin h thng cn trc c b iu khin PID dng in

S khi m phng nh Hnh 13:

Hnh 13. S m phng c cm bin gc c dng cm bin dng inTrong phng php iu khin c s dng cm bin dng, tn hiu dng in ng c thu thp lun tn ti tn hiu nhiu. Nguyn nhn c th l tn hiu nhiu ln in p t vo ng c hoc tn hiu nhiu do cm bin dng thu thp dn n vic iu khin h thng t kt qu khng tt. Do , s dng b lc Kalman lc tn hiu theo dng c lng v sa sai. B lc Kalman bao gm:- Tn hiu ng vo: in p ng c (u) v dng in ng c (i).- Tn hiu ng ra: dng in c c lng (i_est) loi b nhiu (nhiu do cm bin (R) hoc nhiu do qu trnh x l (Q)).T m hnh khng gian trng thi (1) xy dng cc ma trn A, B, C v D vi cc thng s cho Bng 1. M hnh c lng dng in ng c DC trnh by nh Hnh 14 n Hnh 16.

Hnh 14. M hnh c lng dng in ng c DC

Hnh 15. S b lc Kalman

Hnh 16. M hnh c lng dng in ng c DC dng hm nhng.M phng vi ti 3kg da vo cc thng s ca cc b iu khin cho Bng 3.Bng 3. Cc thng s b iu khinH sB iu khin

V trGc dao ngDng in

T l (Kp)20250.875

Tch phn (Ki)0.000500.005

Vi phn (Kd)320

Kt qu ca b lc Kalman nh Hnh 17, ta nhn thy rng tn hiu sau b lc Kalman gim nhiu.

Hnh 17. Kt qu m phng khi b lc Kalman dng lc tn hiu dng inKt qu m phng nh Hnh 18 sau:

a) V tr

b) Gc ti

c) Dng inHnh 18. Kt qu m phng c cm bin gc v c b iu khin dngDa vo kt qu m phng nh Hnh 18, hc vin nhn xt nh sau:- p ng ng ra v v tr hay gc ti dao ng tng i ging vi trng hp iu khin h thng cn trc khng c b iu khin dng, tuy nhin thi gian xc lp tng mt t (tng khong 1giy).- p ng ng ra v dng in: dng in khi ng c kim sot khong (2-3)ln dng in nh mc (1.5A). V ng c khng b hng khi c b iu khin dng in ny trong h thng cn trc mang ti trng ln.Tuy nhin v trc quan, cch vn hnh ca vic di chuyn ti n mt v tr mi c th thy mt qu trnh x l tch hp vi gc ca ti nh mt qu trnh n nh (thanh s t v tr 0, ngay c khi khng c cc hnh ng iu khin). T iu ny, ta c th xem gc ti lun nh (gn bng 0) l iu mong mun trong sut thi gian iu khin v m hnh h thng iu khin trn c thit k theo dng ti u nh Hnh 19 sau:

Hnh 19. S m phng c cm bin gc dng n gin haKt qu m phng trnh by nh Hnh 20.

Nhn xt:T qu trnh m phng trn, hc vin xem xt cc yu t v vt l, thi gian xc lp, sai s xc lp v dng in ng c khi khi ng ca ng c phi gim nh trnh tnh trng qu ti lm hng ng c v gc ti phi nh khi di chuyn ti t v tr ny qua v tr khc v quyt nh chn thng s iu khin theo s iu khin h thng theo dng n gin ha vi ti trng l 3kg (m2=3kg ). T m hnh chun ny, hc vin s bt u thit lp mi lin h gia v tr cn trc v gc ti thit k h thng iu khin cn trc ny khng dng cm bin gc.

a) V tr

b) Gc ti

c) Dng inHnh 20. Kt qu m phng c cm bin gc theo dng n gin ha

5.2. 2. iu khin h thng khng dng cm bin gc5.2.2.1. iu khin h thng khng dng cm bin gc 1T h phng trnh (18), mi tng quan gia v tr v gc ti c th c lng nh sau:

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Nh vy, thng tin ng hc ca v tr xe y xcantruc c a n m hnh da trn cm bin mm. M hnh da trn cm bin mm to ra s c lng u ra ca dao ng lc ti trng m s c s dng cho tn hiu hi tip n b iu khin nh Hnh 21.Da vo kt qu m phng nh Hnh 23, hc vin nhn xt nh sau:- p ng ng ra v v tr v gc ti dao ng tng i tt nhng thi gian xc lp chm hn mt 1 giy.- p ng v dng in tng i tt, c bit v dng in khi ng ca ng c ch khong ( 2-2.5)ln so vi dng in nh mc.

B iu khin v trB iu khin chng lcCm bin v tr xe yH THNG CN TRC T NGCm bin mm+-++MY TNHB iu khin dng in+_Cm bin dng

Hnh 21. S iu khin chng lc khng dng cm bin gc 1S khi m phng nh Hnh 22 sau:

Hnh 22. S m phng khng c cm bin gc 1 (dng soft-sensor)


V tr

b) Gc ti

c) Dng inHnh 23. Kt qu m phng dng sensorless1 so vi dng sensor5.2.2.2. iu khin h thng khng dng cm bin gc 2i vi phng php ny, mng nron nhn to c dng to ra b iu khin chng lc m khng dng cm bin gc.D liu ng vo ca mng nron nhn to l d liu t cm bin v v tr gi v v d liu ng ra ca mng nron nhn to l d liu b iu khin chng lc.

Phn cm bin gc mm c xy dng bng mng nron truyn thng vi s nron lp n l 30 c m t nh trong Hnh 24. Cht lng hun luyn mng c nh gi thng qua sai s trung bnh bnh phng.

Hnh 24. Cu trc mng nron hai ng vo mt ng ra, 30 nron lp nSau , hun luyn mng nron nhn to theo kiu mng lan truyn thng nh Hnh 25.

B iu khin v trB iu khin chng lcCm bin v tr xe yH THNG CN TRC T NGMng nron nhn to+-++MY TNHB iu khin dng in+_Cm bin dng


Hnh 26. S m phng khng c cm bin gc 2 (dng mng nron)T kt qu m phng nh Hnh 27, hc vin nhn xt nh sau:

- p ng v v tr t mc trung bnh khi di chuyn xe chy khng trn dn n gc ti dao ng nhiu trong lc di chuyn, tuy nhin vn p ng v v tr t v gc ti ti thi gian xc lp.- p ng dng in t mc tng i so vi iu khin c dng cm bin gc. Kt qu m phng nh Hnh 27 sau:

a) V tr

b) Gc ti

c) Dng inHnh 27. Kt qu m phng khng c cm bin gc 2 so vi c cm bin gc

5.2.2.3. iu khin h thng khng dng cm bin gc 3 Hun luyn mng nron nhn to theo kiu mng lan truyn thng nh Hnh 28 sau:

B iu khin v trCm bin v tr xe yH THNG CN TRC T NGMng nron nhn to+-++MY TNHB iu khin dng in+_Cm bin dng


Hnh 29. S m phng khng c cm bin gc 3 (dng mng nron)T kt qu m phng Hnh 30, ta thy rng:

- p ng v v tr ln gc ti dao ng t mc tt v gc ti ti thi gian xc lp ging nh iu khin c dng cm bin gc.- p ng dng in t mc tt ging nh iu khin c dng cm bin gc.


a) V tr

b) Gc ti

c) Dng inHnh 30. Kt qu m phng dng khng c cm bin 3 so vi c cm bin5.2.3. Kt lun

Da trn kt qu m phng iu khin chng lc trong h thng, hc vin nhn thy iu khin c dng cm bin gc nh iu khin khng dng cm bin gc 1 (cm bin mm) v iu khin khng dng cm bin gc 3 (nhn dng nron) cho kt qu tng i tt hn so vi trng hp khng dng cm bin 2. 5.3. Thc nghim trn m hnh thc5.3.1. M hnh cn trc kiu th nghim M hnh cn trc thc nghim s dng th nghim c cu trc nh Hnh 31 bao gm: mt xe dch chuyn (1) trn mt thanh ngang c gn ti trng (2) thng qua thanh cp (3), mt ng c DC (4) dng truyn ng thng qua h thng bnh rng v dy ai, mt encoder (5) o v tr v mt encoder (6) o gc dao ng, bo mch iu khin (7) iu khin ng c.

Hnh 31. M hnh cn trc thc nghim

Hnh 32. Nguyn l m hnh th nghim h thng thcMy tnh son tho, bin dch chng trnh iu khin trn phn mm Matlab & Simulink. Thu thp cc thng s v tr, gc dao ng, dng in gi v t card iu khin DSP TMS320F28335 giao tip qua cng USB. Qu trnh iu khin thc hin trn giao din phn mm Matlab & Simulink nh Hnh 33.

Encoder o v tr: s dng encoder ca hng Sharp vi s xung 256 xung/vng. S dng hai knh vo A, B xc nh s xung, chiu quay v tnh theo cng thc (40)

(40)trong , r l bn knh ca puli (cm); pulse l s xung encoder; resolution l phn gii ca encoder (xung/vng); b m encoder (trong khi eQEP) m theo dng Quadrature-count. Encoder o gc: s dng encoder ca hng Sharp vi s xung 256 xung/vng. S dng hai knh vo A, B xc nh s xung, gc quay v tnh theo cng thc (41).

(41)

Giao din iu khin h thng cn trc t ng trnh by nh Hnh 33 sau:

Hnh 33. Giao din iu khin h thng cn trc t ng5.3.2. Kt qu thc nghim5.3.2.1. iu khin chng lc trn h thng c dng cm bin gc S khi nh Hnh 34 sau:

Hnh 34. S khi iu khin chng lc dng cm bin gcS khi b iu khin PID gc tn Angle controller xy dng trong Matlab c m t nh Hnh 35.

Hnh 35. Khu PID iu khin gc dao ng

B iu khin PID c thm cu lnh ifend vi mc ch kh sai s gc xc lp do kt cu c kh gy ra. Nh trong Hnh 36, khi xe chy n v tr xc lp ri, v lc ny ti cng ht dao ng. trng thi ny, gc dao dng , nhng v l do no gc bo v khc 0o.

Hnh 36. Sai s gc do kt cu c kh khc phc hin tng ny, khu PID s ngt tn hiu iu khin khi v ch khi sai s gc lch l rt b v sai s ny l khng thay i theo thi gian (c ngha l ti khng cn dao ng na).

Hnh 37. Khu PID iu khin v trTrong mt s trng hp, khi xe chy gn ti v tr t. Lc ny sai s v tr rt b, do tn hiu iu khin nh khng iu chnh c ng c ngay tc thi. Gi s vi v tr t l 100 cm, sau khi iu chnh gc dao ng xong, v tr xe hi tip v l 98 cm. Sai s lc ny l 2 cm tng ng l 2%. iu ny l khng cn thit bi v sai s 2% l kh nh. Trong trng hp ny khu PID nn ngt iu khin xe xc lp ti v tr xc lp mi (trong v d v tr xc lp 98 cm).Chy thc nghim trn m hnh thc vi cc thng s b iu khin bng 4; v tr t 100 cm; ti trng ln lt 5kg, 10kg v 15kg.Bng 4. Cc thng s b iu khinH sB iu khin

V trGc dao ng

T l (Kp)1.156

Tch phn (Ki)0.00050.01

Vi phn (Kd)0.050.01

Kt qu kho nghim iu khin chng lc khng dng cm bin dng nh Hnh 38 sau:

a) V tr

b) Gc ti

c) Dng inHnh 38. Kt qu iu khin c cm bin gc m khng c cm bin dng

T kt qu kho nghim Hnh 38, hc vin nhn thy rng:- p ng v v tr: rt tt, sai s xc lp l 2cm v thi gian xc lp khong 3s; ring ti cng nh th p ng v v tr cng nhanh hn.- p ng v gc ao ng: rt tt, sai s xc lp l 10 v thi gian xc lp khong 3.5s; ring ti cng nh th gc dao ng cng ln.- p ng v dng in: dng in khi ng ln v i vi ti nng th dng in cng tng. y chnh l nguyn nhn lm hng ng c khi h thng mang ti ln. ng thi tn hiu dng in thu thp li c nhiu nn kt qu iu khin cha tt.T y, hc vin s s dng b lc Kalman lc dng in nh Hnh 39 v s dng b iu khin PID dng in Hnh 41 khc phc v p ng dng in khi ng khong (2-2.5)ln dng in nh mc.S khi lc nhiu dng in thng qua b lc Kalman nh Hnh 39 sau:

Hnh 39. S khi iu khin chng lc c nhn dng dng inKt qu thc nghim lc tn hiu dng in ng c thng qua b lc Kalman:

Hnh 40. Kt qu nhn dng dng in trong b iu khin c cm bin gcNhn xt: T kt qu Hnh 40, ta thy dng in qua b lc Kalman tng i tt hn dng in ng c thu thp c tn hiu nhiu khi cha c lc.

S khi vi b iu khin dng in nh Hnh 41 sau:

Hnh 41. S khi iu khin chng lc dng cm bin dngM hnh iu khin c thm b iu khin dng in nh Hnh 41 c thc hin tng t. Vng iu khin dng in Hnh 42 c tc dng iu chnh dng in ng c nm trong phm vi dng in t. Nu dng in ng c v l do no tng nhanh vt qu dng in t th b iu khin s iu chnh gim nhanh ng rng D (dutycycle) ca PWM gim gi tr ng in. Gi tr dng in t (gi tr mong mun) c gii hn bi khu bo ha.

ng cB iu khin dngSai s dng inDng in hi tipIchun

Mch cng sut cu H

Hnh 42. Nguyn l iu khin dng inChy thc nghim trn m hnh thc vi cc thng s b iu khin Bng 5; v tr t 100 cm; ti trng ln lt 5kg.

Bng 5. Cc thng s b iu khinH sB iu khin

V trGc dao ngDng in

T l (Kp)4120.465

Tch phn (Ki)0.050.010.0015

Vi phn (Kd)0.010.010

Kt qu kho nghim nh Hnh 43 sau:

a) V tr

b) Gc ti

c) Dng inHnh 43. Kt qu iu khin dng c dng cm bin gc v cm bin dngT kt qu Hnh 38 v Hnh 43, p ng cc ng ra trnh by nh Bng 6 sau:Bng 6. p ng ng ra ca cc m hnh iu khinM hnh iu khinp ng

V trGc tiDng in khi ng

Khng c b iu khin dng3s4s5.8A

B iu khin dng (khng c b lc Kalman)4.5s5.5s3A

B iu khin dng (khng c b lc Kalman)4.8s5.0s2.5A

5.3.2.2. iu khin chng lc trn h thng khng dng cm bin gc 5.3.2.2.1. iu khin chng lc trn h thng khng dng cm bin gc 1 S khi trnh by nh Hnh 44 sau:

Hnh 44. S khi iu khin chng lc khng dng cm bin gc 1T kt qu thc nghim Hnh 45, p ng cc ng ra trnh by nh Bng 7 sau:Bng 7. p ng ng ra ca cc m hnh iu khinM hnh iu khinp ng


iu khin chng lc c dng cm bin gc4.8s5.0s2.5A

iu khin chng lc khng dng cm bin gc 1 (cm bin mm)5.5s~11s2.5A

Kt qu kho nghim trnh by nh Hnh 45 sau:

a) V tr

b) Gc ti

c) Dng inHnh 45. Kt qu iu khin dng khng dng cm bin gc 1Nhn xt:- p ng v v tr v dng in khi ng t yu cu tt. - Tuy nhin, gc ti dao ng nh v tt dn trong lc xe di chuyn nhng thi gian xc lp khong gn 11s.5.3.2.2.2. iu khin chng lc trn h thng khng dng cm bin gc 2S khi trnh by nh Hnh 46 sau:

Hnh 46. S khi iu khin chng lc khng dng cm bin gc 2p ng ng ra ca cc m hnh iu khin trnh by nh Bng 8 sau:Bng 8. p ng ng ra ca cc m hnh iu khinM hnh iu khinp ng



iu khin chng lc khng dng cm bin gc 24.5s~11s2.5A

T kt qu thc nghim Hnh 47 v Bng 8, hc vin nhn thy rng:- p ng v v tr v dng in khi ng t yu cu tt. Tuy nhin, gc ti dao ng nh v tt dn trong lc xe di chuyn nhng thi gian xc lp khong gn 11s. - p ng v tr li c sai s xc lp l 3cm ln hn chun cho php 2cm.

Kt qu kho nghim trnh by nh Hnh 47:

a) V tr

b) Gc ti

c) Dng inHnh 47. Kt qu iu khin dng khng dng cm bin gc 2

5.3.2.2.3. iu khin chng lc trn h thng khng dng cm bin gc 3S khi trnh by nh Hnh 48 sau:

Hnh 48. S khi iu khin chng lc khng dng cm bin gc 3p ng ng ra ca cc m hnh iu khin trnh by nh Bng 9 sau:Bng 9. p ng ng ra ca cc m hnh iu khinM hnh iu khinp ng



iu khin chng lc khng dng cm bin gc 34.5s5.5s2.1A

T kt qu thc nghim Hnh 49 v Bng 9, hc vin nhn thy rng:- Cc p ng ng ra ca iu khin chng lc khng dng cm bin gc 3 u tng i tt ging nh cc p ng ng ra ca iu khin chng lc dng cm bin gc.- Tuy nhin trong qu trnh xe ti di chuyn, bin gc dao ng ban u ln hn bin gc dao ng ban u ca b iu khin chng lc dng cm bin.

Kt qu kho nghim iu khin chng lc khng dng cm bin gc 3 nh Hnh 49 sau:

a) V tr

b) Gc ti

c) Dng inHnh 49. Kt qu iu khin dng khng dng cm bin gc 3

Nhn xt:Da vo kt qu thu thp ca m hnh cu trc, hc vin nhn xt cc phng php iu khin khng dng cm bin gc so vi phng php iu khin c s dng cm bin gc theo cc mc khc nhau v v tr, gc dao ng ban u, dng in khi ng ng thi xem xt cc yu tt sai s xc lp, thi gian xc lp, vt l...Bng 10. So snh cc phng php iu khin chng lc ti thi im xc lpPhng phpV tr (cm)Gc dao ng ()Dng in khi ng (A)

Using sensor9802.5

Sensorless 198102.5

Sensorless 297102.4

Sensorless 39802.1

Nh vy, iu khin chng lc trong h thng cn trc t ng dng cm bin gc thc cho kt qu tt th chng ta c th dng d liu thu thp hun luyn mng nron. T mng nron ny, chng ta c th xy dng iu khin chng lc trong h thng cn trc t ng khng dng cm bin gc m thay bng mng nron u cho kt qu tt nh trng hp s dng cm bin gc (cm bin thc).

PHN KT LUN1. Kt lunSau mt thi gian nghin cu, hc vin cng hon thnh ti ca mnh vi ni dung chnh l iu khin chng lc trn h thng cn trc theo phng php khng dng cm bin gc vi nhng kt qu t c nh sau:- Xy dng c m hnh ton hc hon chnh ca h thng cn trc.- a ra c cc phng php iu khin h thng: iu khin chng lc dng cm bin gc v iu khin chng lc khng dng cm bin gc (sensorless1, sensorless2 v sensorless3). Thc hin m phng h thng thng qua phn mm Matlab & Simulink.- Thit k phn cng: mch iu khin, mch o lng cho m hnh cn trc thc nghim iu khin bng DSP-28335 giao tip vi my tnh.- Xy dng c chng trnh iu khin ca cc phng php: iu khin chng lc dng cm bin gc thc v iu khin chng lc khng dng cm bin gc. Kt qu thc nghim thu c cng c kt lun tng t nh vi cc kt qu m phng. iu phn nh tnh ng n ca l thuyt a ra.- Xy dng giao din ha giao tip GUI trong Matlab & Simulink.2. Hng pht trin ti ti ny c th c pht trin theo cc hng sau y: - Tip tc nghin cu gii php xy dng phn mm cm bin bng mng nron nhng trn c s t ng thch nghi. - Nghin cu gii php nhn dng h thng t ng iu chnh thng s ca b iu khin PID.- Nghin cu m rng iu khin cho cn trc cu hot ng theo hai hng.

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