Lp c in t 2-K47

ng c trong robot I.ng c bc : 1.M u Li ch ca ng c bc : Khng chi than: Khng xy ra hin tng nh la chi than lm tn hao nng lng, ti mt s mi trng c bit (hm l...) c th gy nguy him To c mmen gi: Mt vn kh trong iu khin l iu khin ng c tc thp m vn gi c mmen ti ln. ng c bc l thit b lm vic tt trong vng tc nh. N c th gi c mmen thm ch c v tr nh vo tc dng hm li ca t trng rotor. iu khin v tr theo vng h: Mt li th rt ln ca ng c bc l ta c th iu chnh v tr quay ca roto theo mun m khng cn n phn hi v tr nh cc ng c khc, khng phi dng n encoder hay my pht tc (khc vi servo). c lp vi ti: Vi cc loi ng c khc, c tnh ca ti rt nh hng ti cht lng iu khin. Vi ng c bc, tc quay ca rotor khng ph thuc vo ti (khi vn nm trong vng momen c th ko c). Khi momen ti qu ln gy ra hin tng trt, do khng th kim sot c gc quay. Phn loi ng c : ng c buc vi roto l nam chm vnh cu - nhn bit : + Khi mt nhn mc, khi quay trc ng c bc c rotor l nam chm vnh cu ta s thy vng theo chu k rng ca.Trong khi , nu l ng c t tr s thy trn. + Cng c th phn bit bng ng h vn nng. ng c t tr thng c 3-4 cun dy c u chung GND trong khi ng c nam chm vnh cu th khng.

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Lp c in t 2-K47

- phn loi ng c :

+)ng c loi n cc (Unipolar), thng c 6 u ra. u 1,2 thng c ni vi cc dng, hai u a v b c th c ni xung t hoc khng s quyt nh chiu quay ca ng c. +)ng c loi lng cc (Bipolar), thng c 4 u ra. V cu to n gin hn nhng kh cho iu khin v phi o chiu dng in qua cun dy a,b.

ng c bc kiu t tr

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Lp c in t 2-K47

Nguyn l : Thng thng c ba hoc bn cun dy u chung mt u. u chung c ni vi ngun dng, cc u cn li ln lt cho thng vi t quay rotor. Trn hnh v, rotor c 4 rng v stator c 6 cc. Mi cun dy s c qun trn hai cc i nhau. V vy, gi s, khi cp in cho cc 1 (stator), rotor s quay cc gn nht (X) rng thng vi cc 1. Ct in cun s 1, tip tc cp in cho cun 2, rotor s quay rng tip sau (Y) cho thng vi cc 2. C nh vy iu khin quay rotor. S iu khin c bn ca ng c t tr :

in p c cp qua cc kho chuyn nui cc cun dy, to ra t trng lm quay rotor. Cc kho y khng c th, c th l bt c thit b ng ct no iu khin c nh rle, transitor cng sut... Tn hiu iu khin c th c a ra t b iu khin nh vi mch chuyn dng, my tnh. Vn bo v kha iu khin :

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Lp c in t 2-K47

Do cun dy ng c c tnh cht cm nn khng th ng ct dng qua cun dy ngay lp tc. Khi ng, dng trong cun dy tng t t, tr so vi p. Khi m kho, dng ny c th gy ln mt in p ln nh thng tip im ca kho. trnh vn ny c hai phng cch gii quyt: + Mc vo hai u cun dy mt diode ngc + Mc vo hai u cun dy mt t in Nh hnh v:

C1: Diode m bo dn dng qua trong mt thi gian ngn. Nu dng diode thng, loi 1N400x cn mc song song thm mt t nh. C2: Khi m kho, nng lng trong cun dy s c np vo t. in p trn bn cc t cao hn in p ngun v phi m bo nh hn in p chu ng ca kho chuyn. T c cng thc tnh t bo v nh trn. Khi kho ng, p t t x qua kho v kho cng cn chu c in p ny.

P = CU 2 / 2 = LI 2 / 2 LI 2 C> 2 iu khin ng c bc (Ucc max U ng ) n van _ :

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Lp c in t 2-K47

Mch thc t :

Kho chuyn mch dng l transitor SK3180 vi h s khuch i khong 1000 ln. Vi in tr baz l 470 Ohm, dng baz khong 10 mili Ampe, ngha l c th cho dng qua cun dy t vi Ampe.

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Lp c in t 2-K47

C th thay 74LS04 bng mt phn t logic khc c cu to collector h, chu c dng qua khong 10 mili Ampe. Khi kho chuyn c s c, dng t ti khng chy quay li mch iu khin. + MOSFET ( Metal Oxit Semiconductor Field Effect Transitor): iu khin bng in p,Ron nh, t ngt in p source-drain qu cao, c th bt tt vi tc cao, hon ton tuyn tnh. MOSFET IRC IRL 540 c th dn dng ln ti 20 Ampe v t ngt ti in p 100V. iu ny dn n vic khng cn phi c diode bo v khi gn switch vi mt phin tn nhit ph hp. Trn mch cn mt diode n p 5.1 V, mt in tr 100 Ohm. Trong trng hp transitor b hng, p ngc khng th vt qu cao lm hng cc linh kin TTL ca mch iu khin. Vi iu khin ng c ch cn dng qua cun dy c 500 mili Ampe, c th dng IC loi dy darlington collector h: + ULN2003, ULN2803 ( Allegro Microsystem) + DS2003 (National Semiconductor), MC1413 ( Motorola)

iu khin ng c lng cc vi cu H: Motor bc lng cc trn cun dy khng c im gia nn khi o chiu quay ng c gp kh khn. o c chiu t trng sinh ra trong cun dy ( cng c ngha o chiu dng in) phi dng mt cu trc gi l cu H Vi 4 kho A,B,C,D c th thit lp c 16 ch trong 7 ch ngn mch ngun Thng thng s dng A,D ng trong ch thun v B,C ng trong ch ngc

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Lp c in t 2-K47

Ch hm Cp kho A,D ng, cp kho B,C m, dng chy qua cun dy theo chiu mi tn

Nu m nhanh hai kho A,D dng tip tc duy tr dng c v i qua hai diode. Vi tc dng ca p ngun vi t, dng s tt rt nhanh, khi rotor vn quay. Nu ch kho kho A cn vn D nh c, dng in vn khp kn qua cun dy nh hnh v. Do in tr nh ca cun dy, dng s duy tr trong mt thi gian gim dn v c tc dng to nn mt phanh hm ng, ko rotor dng li. Ch chng ngn mch Mt vn rt ng lu tm khi iu khin ng c loi lng cc l vn chng ngn mch. Gia AB ( cng nh CD) phi c mt lin ng v in. Di y l mt minh ho

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Lp c in t 2-K47

XY

ABCD

Mode

gim dng 00 0000 nhan thun

01

1001

10

0110

Chy nghch Hm

11

0101

Xt mch cu H thc t :

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Lp c in t 2-K47

S c u vo TTL, c th iu khin bi mt u collector h nh trnhmt trong hai tn hiu X hoc Y mc cao, u cn li mc thp, Khi by. hai transitor cho nhau s ng dn dng qua cun dy. Khi c hai mc thp, hai transitor pha trn s h, khi c hai mc cao, hai transitor pha di s m v nh vy c hai trng hp 00, 11 u t mch vo ch phanh ng. Hoc vi mt mch n gin (nh hnh v) Cng c th iu khin ng c bc lng cc loi nh bng IC TTL ba trng thi ( vn dng iu khin ng bus) nh 74LS125 hay 74LS244 Mch hot ng tt vi cun dy c in tr khong 50 Ohm vi in p st khong 4.5V ( ngun nui 5V). Cch mc nh trn cho php dng tng ln gp i (qua cun dy) so vi dng m IC c th dn.

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XYE Lp c in t 2-K47

Mode

--1

Gim nhanh dng Phanh ng Chy thun Chy nghch Phanh ng

000

010

100

110

Hoc dng IC chuyn dng :

L293: Phi cc thmucdiode bnbn ngoi. L293D: m sn c u diode trong. - tn nhit cho IC c th thit k chn GND rng hay gn thm mt phin tn nhit - Dng chu c ln ti 3A
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Lp c in t 2-K47

Chip L298 cng c th dng iu khin ng c c dng qua cun dy chng 2A. nng dng ln khong 4A, ging nh trong trng hp dng 74LS244 ta mc song song hai u ra nh s bn phi. Mt iu ng lu vi chip ny l tc switch rt nhanh, n mc diode loi thng nh 1N4007 khng kp dn. V vy, phi dng diode nhanh hn. Tng ng vi L298 c LMD18200 ca National Semiconductor. Cch dng IC to ra mch H: Khi khng c c nhng IC chuyn bit cho vic cu H, c th ghp t cc IC na cu H trong danh mc sau: IR2001, IR2002, IR 2003, IR2004, IR2111.

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Lp c in t 2-K47

C th s dng chip chuyn dng cho iu khin ba pha nhng b bt nhnh to cu iu khin. TA7288P, GL7438, TA 8400, TA8405 II) ng c mt chiu (DC) Trong robot mt loi ng c hay dng l ng c mt chiu.Ta xt vic iu khin ng c mt chiu thng qua vic thay i in p ,bng phng php PWM(Pulse Width Modulation) + Tn s iu ch l khng thay i + B rng xung l thay i.

MicroControll er

Analo g Filter

V*

S vi mch 555/556: To ra xung c u nhau ,tn s :f=1.49/(RA+RB)C

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Lp c in t 2-K47

To ra xung c b rng T khi c xung vo chn trigger T=1.1RC Hoc ta c th s dng IC555 : Mch dng iu khin ng c 6V, 0.5 A vi u vo Vin=9V U1: to nhp, chnh l tn s lm vic U2: Chu k lm vic

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Lp c in t 2-K47

Hoc s dng vi iu khin : VD1: S dng hai timer T0,T2 ca AT89C52 T0: chu k ca xung PWM T2: thi gian xung lm vic VD2: To pattern 16 bit (0 tt, 1 ng), dng timer gi nhp y cc bit ra cng. VD3: S dng thanh ghi CC 80C537, c th t 5kHz.

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Lp c in t 2-K47

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