3T Robotics Group 1 http://www.robot3t.

com

B CNG C H TR TH NGHIM IU KHIN NG C DC SERVO V2.0

M hnh c kh n gin, d iu chnh, h tr g t nhiu loi ng c vi nhiu loi ti khc nhau. Driver DC servo a tnh nng( qu dng, qu p, phn hi dng,) , h tr nhiu thut ton v mc ch iu khin( v tr, vn tc, lc,) v nhiu chun giao tip( UART, CAN,). B iu khin trung tm s dng dsPIC30f4011. Th vin cc thut ton iu khin c vit bng C (PID, Fuzzy logic, Neural Network, Adaptive, Robust, Sliding mode control, Impedance control, ). Phn mm min ph giao tip vi my tnh, hin th kt qu v nh gi cht lng iu khin.

3T Robotics Group 2 http://www.robot3t.com

M HNH C KH H TR TH NGHIM IU KHIN NG C

M hnh c kh h tr th nghim iu khin ng c l mt phn trong b cng c th nghim hon chnh iu khin ng c DC servo km mch driver cng sut ln, b iu khin dsPic30f4011, th vin cc thut ton iu khin v phn mm h tr v th, nh gi cht lng h thng iu khin thng qua giao tip vi my tnh. H tr nhiu loi ng c, ng knh t 20 -100 mm, chiu di t 50 ti 100 mm. G t, iu chnh, c nh ng c mt cch d dng. y cc loi ti i xng v bt i xng phc v cho vic th nghim cc thut ton iu khin. Tt c cc chi tit c gia cng trn my CNC m bo chnh xc cao. Gi thnh hp l v cht lng cao.

3T Robotics Group 3 http://www.robot3t.com

M HNH C KH G T NG C

3T Robotics Group 4 http://www.robot3t.com

PH HP VI NHIU LOI NG C T NH TI LN

3T Robotics Group 5 http://www.robot3t.com

CC LOI TI I XNG V BT I XNG

KCH THC BAO CA M HNH C KH

3T Robotics Group 6 http://www.robot3t.com

THNG S T HNG M HNH C KH Thng s t hng M s t hng c bn M1ng knh trc motor (mm) XXLoi vt liu

X1: Nha 2. Nhm 3. Thp

V d Bn mun t mt m hnh c kh, ng knh trc ng c ca bn l 5mm, vt liu m hnh l nhm th thng s t hng ca bn s l: M1- 05- 2. BNG GI THAM KHO M HNH C KH S lng m hnh t hng 1 2-9 10-100 Gi ( VND) Nha: 700 000 Nhm, Thp: 800 000 Nha: 650 000 Nhm, Thp: 750 000 Nha: 600 000 Nhm, Thp: 700 000

Thi gian giao hng khong t 1 ti 3 tun k t thi im cc bn thanh ton ha n. Gi cho chng ti thng s t hng v s lng bn mun, chng ti s gi bo gi cho bn trong vng 24h. THNG TIN LIN H M HNH C KH Nhm Robotics 3T in thoi: + 84 974908615 Email: sales@robot3t.com Website: http://www.robot3t.com

3T Robotics Group 7 http://www.robot3t.com

DRIVER DC SERVO

Driver DC Servo vi nhiu tnh nng( qu dng, qu p, phn hi dng, t ngt khi li,), h tr nhiu thut ton v mc ch iu khin khc nhau( v tr, vn tc, lc,v nhiu chun giao tip (UART, CAN, ). B iu khin c thit k s dng dsPIC30f4011 Mch li cng sut cao ( >10A) Mch c thit k vi nhiu im kim tra tn hiu gip x l nhanh khi gp s c. y chng trnh mu giao tip vi cc ngoi vi. Mch cht lng cao v gi thnh hp l.

3T Robotics Group 8 http://www.robot3t.com

CC C IM V THNG S K THUT CA DRIVER DC SERVO

B iu khin s dng dsPIC30f4011 ca Microchip Driver cng sut cao (24V, 10A) Nhiu chun giao tip tn hiu phn hi t encoder, h tr truyn xa, chng nhiu. Tnh nng qu dng, qu p, pht hin li, H tr giao tip CAN H tr giao tip UART gia 2 vi iu khin vi nhau v gia vi iu khin vi my tnh. Ngun dng vi n nh cao Hin th Led, LCD Nhiu nt nht chn ch v bin tr ng vai tr l ng vo iu khin

HNH NH TNG QUAN CA DRIVER DC SERVO

3T Robotics Group 9 http://www.robot3t.com

S CHI TIT DRIVER DC SERVO Mch iu khin trung tm dsPIC30f4011

Mch giao tip CAN

3T Robotics Group 10 http://www.robot3t.com

Mch giao tip UART

Mch c tn hiu encoder ( Chun 3 chn)

3T Robotics Group 11 http://www.robot3t.com

Mch c tn hiu encoder ( chun 10 chn)

Mch loa

Mch nt nhn

3T Robotics Group 12 http://www.robot3t.com

Mch hin th LCD

Mch ngun dng

3T Robotics Group 13 http://www.robot3t.com

Mch led hin th

Mch li cng sut v phn hi dng

3T Robotics Group 14 http://www.robot3t.com

THNG S T HNG DRIVER DC SERVO Thng s t hng M s t hng c bn E1La chn tnh nng XX01: M hnh y 02: Khng bao gm IC phn hi dng

V d Bn mun t mt driver DC servo, vi y linh kin km theo th thng s t hng ca bn s l: E1- 01.

BNG GI THAM KHO DRIVER DC SERVO S lng m hnh t hng Gi cho driver y ( VND) 1 1000 000 2-9 950 000 10-100 900 000 ( Nu khng bao gm IC phn hi dng, gi ca mi driver s gim bt 150 000 VND.) Thi gian giao hng khong t 1 ti 3 tun k t thi im cc bn thanh ton ha n. Gi cho chng ti thng s t hng v s lng bn mun, chng ti s gi bo gi cho bn trong vng 24h. THNG TIN LIN H Nhm Robotics 3T in thoi: + 84 974908615 Email: sales@robot3t.com Website: http://www.robot3t.com

3T Robotics Group 15 http://www.robot3t.com

TH VIN C CC THUT TON IU KHIN

Th vin cc thut ton iu khin c vit bng C ( PID, Fuzzy logic, Neural Network, Adaptive, Robust, Sliding mode control, Impedance control, ). Phn mm min ph giao tip vi my tnh, hin th kt qu, iu chnh thng s b iu khin t my tnh v nh gi cht lng iu khin.

3T Robotics Group 16 http://www.robot3t.com

CC C IM CA TH VIN C CC THUT TON IU KHIN B th vin C cc thut ton iu khin vi nhiu thut ton iu khin v h tr nhiu mc ch iu khin khc nhau, d dng tch hp trn cc nn vi iu khin khc nhau. Th vin cc thut ton iu khin bao gm:

B iu khin PID ( C1) B iu khin Feedforward ( C2) B iu khin Fuzzy Logic ( C3) B iu khin PID + Fuzzy Logic ( C4) B iu khin Neural Network ( C5) B iu khin Sliding Mode (C6) B iu khin Adaptive( C7) B iu khin Robust ( C8) B iu khin Passivity Based Control ( C9) B iu khin Impedance Control ( C10) B iu khin Hybrid Imdepance Control ( C11) B iu khin Admittance Control ( C12)

Cc thut ton iu khin mi vn ang c xy dng, v s c cp nht thng xuyn. CH V CC I TNG S DNG TH VIN Mc ch chnh ca th vin ny cung cp cho nhng c nhn, t chc v cng ty pht trin cc sn phm chuyn nghip, nhm gip gim thi gian pht trin cc sn phm trong lnh vc iu khin t ng, nng cao cht lng ca sn phm. Khng khuyn khch sinh vin s dng cc th vin ny, cc bn sinh vin nu mun thc hin nhng ti lin quan ti iu khin t ng c th tham gia lm cng tc vin ca nhm Robotics 3T c hng dn thc hin cc ti ny.

3T Robotics Group 17 http://www.robot3t.com

PHN MM GIAO TIP MY TNH Phn mm m ngun m vi nhng tnh nng c bn gip giao tip vi my tnh, hin th kt qu, v iu chnh nhanh cc thng s t my tnh. c vit bng nhiu ngn ng khc nhau ( C++, C#, Matlab, LabVIEW) , gip ngi s dng nhanh chng tip cn v pht trin ng dng theo nhu cu. Ngi s dng c chn ngn ng lp trnh mnh mun.

THNG S T HNG TH VIN C CC THUT TON IU KHIN Thng s t hng M s t hng c bn S1Loi thut ton iu khin XXC1: B iu khin PID C2: B iu khin Feedforward ,

V d Bn mun t th vin b iu khin Impedance Control th thng s t hng ca bn s l: S1- C10

3T Robotics Group 18 http://www.robot3t.com

BNG GI THAM KHO TH VIC C CC THUT TON IU KHIN

Loi thut ton iu khin C1 C2 C3 C4 C5 C6 C7 C8 C9 C10 C11 C12

Gi( VND) 100 000 400 000 400 000 400 000 600 000 600 000 600 000 600 000 600 000 800 000 800 000 800 000

Thi gian giao hng khong t 1 ti 2 tun k t thi im cc bn thanh ton ha n. Gi cho chng ti thng s t hng bn mun v loi vi iu khin bn s dng cho nhng thut ton ny, chng ti s gi bo gi cho bn trong vng 24h. THNG TIN LIN H Nhm Robotics 3T in thoi: + 84 974908615 Email: sales@robot3t.com Website: http://www.robot3t.com