NG DNG VI IU KHIN ATMEGA 16 THIT K CH TO B IU KHIN NG C IN MT CHIU KCH T C LP

KS. TRN HOI LINH TS. NGUYN HNG QUANG

1.t vn : Ngy nay cng ngh s v ang c ng dng rt nhiu trong mi nghnh ca khoa hc k thut. cc nc cng nghip, truyn ng in ng dng rt thnh cng cng ngh ny vi nhng u vit hn so vi phng php iu khin tng t truyn thng nh: - Mm do trong vic thay i cu trc v tham s ca h thng t ng. - chnh xc cao. - C kh nng chng nhiu tt. - D dng t ng ho. a dng v chng loi, linh hot v chc nng, d dng thay i cc tham s bng chng trnh phn mm, cc h thng vi iu khin c thit k v ch to tin cy s to ra nhng b iu khin linh hot, ph hp vi tng c im ca h iu khin t ng v tnh hnh sn xut ca nc ta hin nay. Tuy nhin nc ta phn ln cc b iu khin s ng c mt chiu hin i (DC motor Drive), cht lng cao hin nay u phi nhp hon ton t nc ngoi. Nhng thc ra nu p dng tt cc nguyn l v iu khin s v vi x l, chng ta hon ton c th ch to ra nhng b iu khin hon chnh c chc nng tng ng. Di y l v d y thit k m chng ti thc hin vi i tng iu khin l mt ng c mt chiu kch t nam chm vnh cu c ti gi. 2. Thc nghim nhn dng i tng iu khin: T trc n nay khi tng hp cc h truyn ng nhiu thng s ngi ta thng phn h thnh cu trc nhiu mch vng c cc b iu chnh ni theo cp. Do vic xc nh c cc tham s ca i tng iu khin (m khng phi nh sn xut no cng cung cp) l tt yu.
+ I U E L + U -

M
DC Motor

M
w M Mc

Thng thng i ng c in mt chiu nh sn xut s cung cp cc thng s c bn: Um, Im, Pm, m. Tuy nhin tng hp v m phng h chng ta cn phi bit thm mt s tham s khc nh: in tr phn ng (R), in cm phn ng (L), Mmen qun tnh ca rto (J), Hng s mmen (Km), Mmen tn hao theo tc (B ). y l cc tham s ng nn xc nh c cn phi th nghim nhiu ln v ly gi tr trung bnh.

C nhiu phng php thc nghim hay cc cng thc l thuyt gn ng tnh chng. y tc gi kt hp c hai phng php ny xc nh c: - Hng s mmen Km=0,138(Nm/A) - Mmen tn hao theo tc B : B = 3,38,10-5(Nm/rad) Vi B l tng s suy gim tng ng (the total equivalent damping). - in tr phn ng R= 5,9() - in cm phn ng L= 3,54(mH.) - Mmen qun tnh ca rto J 5,10-5kgm2 U
+ -

1 R(1+ Ts) E

Km

+ -

1 B+ s J Mc

Km

Hng s thi gian in v hng s thi gian c: T=0,6ms; Tc=15,5ms * M hnh ton hc ng c mt chiu kch t c lp: 2. Tng hp v m phng h thng iu khin: Sau khi nhn dng y cc thng s ca ng c (i tng iu khin) thay vo s cu trc m t ton hc ng c ri chy m phng trn Matlab Simulink: i tng iu khin l ng c c cng sut nh nn tc gi chn h iu khin vi mch vng tc (phn hi m tc ). * Tng hp mch vng tc : S cu trc: Tng hp theo phng php module i xng th b iu BLu + JRu chnh c dng PID:R (p)= + 2Tcl K cl K m JLu 9,55 BRu + K 2 m 1 .p . + 2Tcl K cl K m 2.9,55Tcl K cl K m p 224,6 = 3,44 + + 2,04.10 4 p p M phng Simulink:

Trn thc t trong h ch c b iu chnh (c thc hin bi vi iu khin) l x l tn hiu s. Nn khi m phng trn simulink ch cn s ho b iu chnh dng phng php 2 z +1 i bin Tustin: p= . , trong thi gian ct mu T tng ng vi mch vng tc T z 1

l: T=0,01s. Mt cch khc l c th dng lun b PID hay PI s c sn trong th vin Simulink. Cc c tuyn tc dng qu sau khi s ho b iu chnh v c bn ging nh

analog nhng chnh xc gim v chm hn do nh hng ca thi gian ct mu: R rng l kt qu ny l cha c nh mong mun v th cn hiu chnh li cc tham s b iu chnh. Kt qu b iu chnh ch cn l PI vi Kp=2,66 ; Ki=130 , Kd=0. Nh vy sau khong 0,1 giy tc ng c n nh gi tr t, qu iu chnh c hi ln do sai s tnh ton v th dng in tuy cha l tng nhng cng tng i ng. 3. Tnh ton thit k h thng: Mc d nhng phng php tng hp cc b iu chnh cha tht hon thin, tnh gn ng hoc khng xt ti nh hng ca cc tham s c tr s nh mt cch tng i. Nhng gi tr nhn dng v i tng iu khin cng khng tht chnh xc cng vi vic b qua tc ng ca mi trng xung quanh m t tm ra c thng s ti u cho b iu chnh. Tuy nhin vic tnh ton tng hp gn ng c gi tr to ln trong nh hng thit k cng nh trong chnh nh vn hnh h thng sau ny. a. Mch cng sut: thun tin khi th nghim v T1 kinh t th vic chn BB sau l T3 hp l nht: Do ng c th in cm phn ng b phng dng hn na cun khng L l cn phn hi dng nghim nh, nn san th vic thm thit. in tr R=0,47 v

U2 U1 220V AC U2

M
DC Motor

T4

T2

P=10W. Dng in v in p phn ng nh (2,2A-52V), tc gi c sn thyristor 80A600V nn c th b qua cng on lm mt v bo v (Nhng nu c gi cha c sn th phi tnh ton theo phng php thng thng). Gi s vi ng c nh v in p li in kh n nh nn cng khng cn tnh n gc d tr, ch cn tr i in p ri trn cc phn t: van, R, L, bin th l c th tnh ton thit k c my bin p lc. b. Mch iu khin: Ly vi iu khin ATMEGA 16 lm trung tm, b iu khin trung tm c nhim v nhn cc tn hiu t v phn hi, x l (thc hin lut iu khin) ri a ra lnh iu khin ng c theo chc nng mong mun. l cc chc nng c bn m bt c b iu khin no cng c. V thc t hu ht cc b iu khin DC motor ca cc hng ln trn th gii u c chc nng nh nhau, h ch cnh tranh tin cy, gi thnh v phn mm tin ch giao din vi ngi s dng, * Chc nng iu khin: ngi vn hnh c th thc hin iu khin theo 3 cch: 1. iu khin ti ch nh Panel (hp iu khin c cc nt n v mn hnh hin th LCD); 2. iu khin t xa qua cc u vo/ ra, s/tng t (t bn my); 3. iu khin, gim st bng my vi tnh (qua cng COM). - Bt tt b bin i - Chy v dng ng c - iu chnh tc - o chiu quay - Chy nhp - Dng khn cp * Chc nng kim tra gim st v bo v: - Hin th cc tham s nh: tc , dng in, in p - Tn hiu bo trng thi ang hot ng ca ng c - Cc tn hiu bo v ng c: qu dng, qu p, qu ti * giao tip vi nhiu khi chc nng ng thi thc hin c lut iu khin tc gi s dng hai vi iu khin ATMEGA 16, mt master v mt slave. Slave lm nhim v giao tip v hin th: nhn cc tn hiu t t my tnh v phn hi mt mt hin th (ln LCD), mt khc truyn cc d liu v tc phn hi sang cho master. Master nhn cc d liu ny cng tn hiu ng b thc hin lut iu khin (trong cc b iu chnh) ri a ra xung iu khin b bin i. - Tn hiu tc ly t encoder: slave s m s xung nhn c trong mt n v thi gian, t suy ra vn tc thc ca ng c.

- Tn hiu dng in phn hi v l tn hiu tng t nn phi khuych i ri qua bin i A/D trong slave thnh tn hiu s. Mt khc ng c c o chiu nn gi tr phn hi c hai du. Do trc khi a v vi iu khin cn qua cc b chnh lu. Mch phn hi dng cn phi nhn bit c thi im dng v 0 o chiu. cc mch chnh lu
Xun g n g b

Vi iu khin mast er
Nhn xung ng b. Bi i A/D I . n Nhn t hi t v n u tc phn hi Thc hi lut u n i khi n. Pht xung u khi i n. Truy t hi phn n n u hi ln my t nh.

n l ed
Bo tr ng thi ho t ang ng ca c ng

G1 T1 T3 G3

Xu ng iu khinc c t hyr is t o r

U2 U1 220V AC U2

M c h phn h i d ng
L DC Motor

r s 232 En c o d er phn h i tc

Tr uyn t h n g k h n g n g b m y t nh
- thng s t - i khi u n - Hi thdli n u

G4 T4 T2 G2

Vi iu khin sl ave
Nhn t hi t tc n u v tham s b u i ch t my t nh nh. Bi i A/D I . n xung tc m o . Hi thln LCD. n Truy t hi t v n n u tc phn hi sang cho Master.

LCD
Hi tht i ch n

dng diode thng thng th tn hiu dng phn hi v chuyn thnh p s b ri trn mch chnh lu mt khong (0,7V), do khi dng cn nh th kt qu o thiu chnh xc. y, tc gi dng mch chnh lu dng IC thut ton, do vy c th o chnh xc c thi im dng v 0. 4. H thng iu khin trung tm: a. Vi iu khin ATMEGA 16: thuc h AVR ca hng Atmel, l mt dng vi khin tch hp cao vi nhng chc nng c bn nhng rt cn thit trong nhng ng dng c th. l: 8 knh bin i A/D, 16Kbyte b nh chng trnh, 1Kbyte Ram, 2 b nh thi, 512 byte EEprom v 21 nguyn nhn ngt. Vi thch anh 8MHz mt chu k my ca n ch mt 0,125us nhanh hn rt nhiu so vi cc loi vi iu khin thng thng. Khi thc hin cc lnh ch yu trong 1 chu k my, thm ch vi php nhn cng ch mt 2 chu k. b. S h thng:

d .S khi bn trong ca vi x l Master: Thng tin t Slave c truyn qua cng RS232 sang cho Master. Trong Master c chng trnh phc ngt truyn thng lm nhin v nhn thng tin v chia thnh hai loi: th nht l thng tin t v thng tin iu khin, th hai l tc thc ca ng c. T Master tnh ton lut iu

khin PID s, kt qu tnh ton c cng vi xung ng b a vo chng trnh to xung iu khin alpha. e. S bn trong ca vi iu khin Slave: Slave nhn tn hiu truyn t my tnh xung qua cng COM v x l thng tin bng chng trnh x l ngt truyn thng. C sau mi 10(ms) Slave li m s xung t Encoder, tnh ra tc ng c ri cng vi d liu t gi sang cho Master qua khi chng trnh truyn tin. 5. iu khin bng PC: Vic ng dng my vi tnh vo iu khin cc cp khc nhau c ng dng nhiu trong qu trnh sn xut. Vi kiu iu khin ny c u im l thun li cho ngi vn hnh v ch cn nguyn v tr m c th iu khin v gim st c mt hay nhiu qu trnh xy ra mt cch trc quan. Nhng quan trng nht l c th thnh lp c s d liu lu thnh h thng nhng thng tin v qu trnh rt chnh xc. ng c c iu khin t my tnh PC thng qua cng COM (cng ni tip) theo chun RS232. Giao din c vit bng ngn ng Visual C++ 6.0, bao gm 2 phn: - Phn 1: gm cc nt lnh iu khin ng c (khi ng, dng, o chiu ng c, cp nht thng s mi cho b iu chnh, t tc mong mun). Mi ln mt nt lnh c n l mi ln my tnh gi thng tin ra lnh cho vi iu khin thc hin, thng tin y c ng gi thnh 9 byte cho mi ln gi. Trong 2 byte u l gi tr tc t, 6 byte sau l cc gi tr h s ca b iu chnh, byte cui cng iu khin chy v dng ng c, Vi iu khin nhn ln lt d liu ny ri x l. - Phn 2: hin th d liu tc v dng in trung bnh di dng s (n led) v th. Qua cc mch phn hi dng v encoder phn hi tc , hai i lng ny c s ho, tnh ton ng thi gi ln cho mytnh. C sau mi 10ms vi khin s gi ln 8 byte d liu, my tnh s nhn 2 ln, mi ln 4 byte theo dng m ASCII. 6. Kt lun Nh cp trn, thc t i tng iu khin trong th nghim l mt ng c nh nn c hin tng dng in phn ng b gin on ch khi mi tng gc iu khin anpha ln. Tuy nhin vi b iu chnh tng hp p vo iu khin ng c vi cht lng c th chp nhn c. ci thin cht lng iu khin c hai phng n nh sau: - Mt dng cc phng php thu hp vng gin on dng in p dng b iu chnh tng hp, tng thm gii iu chnh. thu hp vng gin on li c hai kh nng: hoc l dng cun khng tng thm in cm trong mch, hoc l gim bin ca in p xoay chiu a vo chnh lu, khi khng cn tng anpha ln qu ln trnh hin tng gin on dng in.

- Hai l dng lgic m nhm tuyn tnh ho c tnh vng gin on mt cch tng i. Khi hon ton c th iu khin ng c trong vng gin on ny.y mc d l th nghim vi phn cng n gin d thc hin nhng nguyn l iu khin l hon ton c bn v ng n. thc hin c y cc chc nng chnh ca mt b iu khin ng c mt chiu kch t c lp cng nh iu khin c kch t th cn phi tng thm kh nng v tc x l ca vi iu khin trung tm cng nh cc mch ph tr khc m thi.
G1 K1 G2 K2 G3 K3 G4 K4

PH T XUNG

G1
T1 T3

G3

Q.ng c

Q.thun

An pha

o n p i phn ng
U2 U1 220V AC U2

RS232

M Y VI T NH

L DC Motor

o dng n i phn ng ENCODER o tc

I KHI U N TRUNG TM
i khi u n IU KHIN T XA (a/d i/o )

G4
T4

HI th n

T2

Gi c ni
G2

IU KHIN T I CH (Panel )

7. Acknowlegement The authors gratefully acknowledge the receipt of a grant from the Flemish Interuniversity Council for University Development cooperation (VLIR UOS) which enabled them to carry out this work. TI LIU THAM KHO: [1] . Frank, Benjamin C. (1995).Feedback control of dynamic system. Third Edition. Englewood Cliffs, New Jersey, Prentice-Hall Inc. [2]. Messner, William, Tilbury, Dawn, (1999). Control Tutorials for MATLAB and Simulink: A Web-Based Approach: 1/e. http://www.engin.umich.edu/group/ctm/, Regents of the University of Michigan (2002) [3] Bishop, Robert H., Dorf, Richard C. (2001). Modern Control Systems Ninth Edition. Upper Saddle River, New Jersey, Prentice-Hall Inc. [4] Atmel coporation, Atmega 16 Datasheets, http://www.atmel.com