Noi Dung

http://www.ebook.edu.
vn 1
CHNG 1
GII THIU V TI

1.1 t vn
Trong ging dy, c rt nhiu phng php iu khin tc ng c DC
nhng thut ton PID t ra hiu qu nht, thng c dng minh ha cho cc v d thit
k h thng trong mn hc iu khin t ng.
Lut iu khin PID l mt thut ton iu khin d v n gin cc kha cnh:
l thuyt n gin, d ch to, d p dng, d s dng... m vn t hiu qu l p ng
c vic iu khin mt qu trnh no gi tr mong mun nn c dng nhiu
trong cng nghip nh iu khin nhit , p sut, lu lng v.v...
Con lc ngc c ng dng rt nhiu trong k thut v c th s dng thut ton
PID iu khin h thng ny. V vy nhm chn ti nghin cu l NG DNG
PID TRONG IU KHIN CON LC NGC.
M hnh con lc ngc c hai m hnh chnh l Rotary v Liner, trong ti ny
nhm iu khin m hnh Liner.
1.2 Tnh hnh nghin cu trong v ngoi nc
B iu khin PID hin nay c hai loi: analog v digital.
Cc b iu khin PID c trn th trng ca cc hng ln thng c ng gi
thnh sn phm hon chnh, khi lp t vo h thng khng cn phi lm g thm ngoi
vic thit lp cc thng s hot ng.
Cng trnh nghin cu v thit k b iu chnh PID s trong cc ti liu nghin cu
nc ngoi ch yu l thit k hon chnh mt module iu khin duy nht t thnh phn
x l tn hiu, x l v tnh ton trung tm, cng sut v.v... Bn cnh , phn mm
(chng trnh iu khin) trn my tnh ch yu vn l giao din kiu Terminal.

http://www.ebook.edu.vn 2
Trong nc cng c nhiu ti nghin cu v ng dng b iu khin PID,
nhng ph bin vn l dng PID analog, b iu khin PID s vn cn t v cha tht
hon chnh.

CHNG 2
C S L THUYT
L thuyt iu khin t ng.
2.1.Khi nim:
a.iu khin.
L qu trnh thu tp thng tin, x l thng tin v tc ng ln h thng p ng h
thng tha yu cu t ra.
iu khin t ng l qu trnh iu khin khng c s can thip ca con ngi.
b.H thng iu khin.
Gm ba thnh phn c bn: B iu khin, i tng iu khin, Thit b o. Nh
hnh sau :

B
iu khin
i tng
iu khin
Thit b o
B so
e(t) u(t)
z(t)
y(ht)
y(t) r(t)
Thit b iu khin

Hnh 2.1: cu trc c bn ca h thng diu khin.

Trong :
r(t): tn hiu vo.
e(t) : tn hiu sai lch.
u(t) : tn hiu iu khin.
z(t): tn hiu nhiu.
y(t) : tn hiu ra.
y
ht
(t) : tn hiu hi tip

c. B iu khin.
Dng tn hiu sai lch e to tn hiu iu khin u. Thut ton xc nh u(t)
gi l thut ton iu khin.
B iu khin lin tc c th thc hin bng c cu c kh, thit b kh nn, mch
in RLC, mch khuych i thut ton.
B iu khin s thc cht l cc chng trnh phn mm chy trn vi x l hay
my tnh.
d. Cc nguyn tc iu khin.
Nguyn tc gi n nh.
Gi tn hiu ra bng tn hiu vo. C ba nguyn tc iu khin gi n nh.


iu khin b nhiu.

i tng
iu khin
u(t)
z(t)
y(t) r(t)
B
iu khin

Hnh 2.2: s diu khin b nhiu.

H thng lng trc nhiu tnh ton, b tr sai s trc khi nhiu nh hng
n i tng. V khng th lng ht cc nhiu nn iu khin b nhiu cht lng
khng cao.
iu khin san bng sai lch.

B
iu khin
i tng
iu khin
Thit b o
e(t) u(t)
z(t)
y(t) r(t)

Hnh 2.3: S iu khin cn bng sai lch.

Tn hiu ra y(t) c o v phn hi v so snh vi tn hiu vo r(t). B iu khin
s dng sai lch vo-ra tnh ton tn hiu iu khin u(t). Nguyn tc ny c th
trit tiu cc nhiu khng bit trc v khng o c. Tuy nhin, n iu khin sau khi
nhiu thc s nh hng n i tng.
iu khin phi hp.

B
iu khin
i tng
iu khin
Thit b o
e(t) u(t)
z(t)
y(t) r(t)

Hnh 2.4: s iu khin phi hp.

Nguyn tc iu khin theo chng trnh.
Tn hiu ra thay i theo mt hm thi gian nh trc.

Nguyn tc iu khin thch nghi.

i tng
iu khin
u(t)
z(t)
y(t) r(t)
B
iu khin
Chnh nh

Hnh 2.5: s iu khin thch nghi
Khi cn iu khin cc i tng phc tp, c thng s d b thay i, hoc nhiu
i tng ng thi m phi m bo cho mt tn hiu c gi tr cc tr, hay mt ch tiu
ti u no .
2.2.B iu chnh PID lin tc.
a.S khi:

e
G(s)
y
Kp
Ki/s
K
D
.s
B PID
r

Hnh 2.6: s khi b iu khin PID lin tc

b. Phng trnh vi phn:

Hnh 2.7: ng c tnh ng hc b PID

Trong :
KP : h s khuych i.
KI : tc tch phn.
KD: hng s thi gian vi phn.
TI: thi gian hiu chnh.
TD:thi gian tc ng sm.


c.K hiu PID:

Hnh 2.8: k hiu b PID
d.Hm truyn :

2
d p i
d
K s K s K
Ki
G(s) Kp K s
s s
+ +
= + + =

e.c tnh qu :

Hnh 2.9: biu c tnh qu ca b PID
Khi khng c thnh phn I,D ta c b iu khin P. Tng t ta c b iu khin
PI, PD.

f. So snh cc khu hiu chnh PI, PD, PID.

Hnh 2.10: p ng qu h thng

Nhn xt :
Khu PI tc p ng nhanh, gim thi gian qu
nhng vt l tng.
Khu PD gim vt l, khng nh hng sai s v
gim dao ng.
Khu PID vi thng s thch hp c th hiu chnh
h thng n nh vi sai s xc lp bng 0, vt l v thi gian qu t yu
cu mong mun.

u im ca b PID:
e(t) ln : thng qua up(t), tn hiu diu khin u(t) cng
ln.
e(t) cha bng 0: thng qua uI(t), PID vn cn to tn
hiu iu khin.
e(t) thay i ln : thng qua uD(t), phn ng ca u(t)
cng nhanh.

2.3. B iu chnh PID s (ri rc).
a.S khi.

r(t)
e(t)
PID s ZOH G(s)
e(k)
T
u(k)
y(t)

Hnh 2.11: s khi b PID ri rc

b.Phng trnh vi phn PID lin tc.

Ri rc ha phng trnh vi phn b iu chnh PID lin tc, thu c b iu
chnh PID s nh sau:

U(t) thay bng UK=U(k).
P I D
K K K K
U U U U = + +

Khu t l:
Up(t) = Kp.e(t) thay bi U
K
P
= Kp.e
K

Khu vi phn:
D D
de(t)
U (t) K
dt
=
thay bi
D K K 1
K D
e e
U K
T

=

Khu tch phn:
I
K I K
U K e (t)dt =

thay bi
I I K 1 K
K K 1 I
e e
U U K T
2
+
= +

Phng trnh PID s :

I
K 1 K K K 1
K P K K 1 I D
e e e e
U Ke (U KT ) K
2 T

+
= + + +

CHNG 3
CC THIT B
3.1.ng c DC
3.1.1.nh ngha:

ng c in mt chiu (DC) c s dng trong cng nghip trong nhiu nm
qua. Cng vi cc b iu khin DC, ng c in mt chiu cung cp s iu khin rt
chnh xc. ng c in mt chiu c s ng nhng ni yu cu moment m my
ln hoc yu cu iu chnh tc bng phng v phm vi rng nh bng ti, thang my,
my p, nhng ng dng trong ngnh hng hi, cn vt liu, giy, cao su
ng c sevor DC l ng c DC thng thng c hi tip encorder hoc
tachometer.

Hnh 3.1: ng c DC servo

Cu to chung ca ng c DC gm: v, trc, bi, phn cm (stato), phn ng
(roto), c gp v chi in

Hnh 3.2: cu to ng c in 1 chiu kch t c lp
Ngun in mt chiu DC tc ng ln cun ng qua c gp. Cng t trng
khng thay i. Tc ng c ch c th iu khin thng qua dng roto. C th o
chiu chuyn ng bng cch o chiu dng in qua roto

Hnh 3.3: ng c DC t tng vnh cu


Uu
Ukt
+
Rf
I
-
Rkt
+
Ckt
-
A
- +
MG2
1 2

Hnh 3.4: S ni dy ca ng c KTL

3.1.2. Phng trnh c tnh c:
o U
= E
+ (R
+ R
f
)*I

Trong :
U
: in p phn ng (V)
E
: sc in ng phn ng (V)
R
: in tr mch phn ng ()
R
f
: in tr ph trong mch phn ng ()
I
: dng in trong mch phn ng (A)

o R
= r
+ r
cf
+ r
i
+ r
ct

Trong :
r

: in tr cun dy phn ng
r
cf
: in tr cun dy cc t ph
r
i
: in tr cun b
r
ct
: in tr tip xc ca chi in
Sc in ng E
ca phn ng ng c c xc nh theo biu thc :

o
= = K
a
pN
E
u
2

Trong :
P : s i cc t chnh
N : s thanh dn tc dng ca cun dy phn ng
a : s i mch nhnh song song ca cun dy phn ng
: t thng kch t di mt cc (W
b
)
: tc gc rad/s

a
pN
K
2
= : h s cu to ca ng c
o
u
f u
u
I
K
R R
K
U
=
y l phng trnh c tnh c in ca ng c.

Mt khc moment in t ca ng c c xc nh bi:
o M
T
=
u
I K
Nu b qua tn tht c tn tht thp th moment c trn trc ng c bng moment
in t k hiu l M
o
( )
M
K
R R
K
U
f u
u
2
=
y l phng trnh c tnh c ca ng c in DC kch t c lp
Gi thit phn ng phn ng c b t thng thng = const, th cc phng
trnh c tnh c in v phng trnh c tnh c l tuyn tnh. th ca chng c
biu din trn hnh 5, 6


NM
I
dm
DM
I

Hnh 3.5: c tnh c in ca ng c DC kch t c lp

Hnh 3.6: c tnh c ca ng c DC kch t c lp

ng dng.
-Robot.
-iu khin X,Y.
-Dng trong c kh chnh xc.

3.2.Encoder:
Thng thng encoder c:
+ 1 chn V
CC

+ 1 chn GND
+ c th c 3 li ra: A, B ( cn c vo y bit hng, vn tc) v Z ( im 0
hay dy trung tnh)

Hnh 3.7: ng c DC c gng encoder
1. Cung cp ngun h thng
2. B iu khin s
3. Module iu khin
3.2.1 Cc loi encoder:
a. Encoder s:
Mi mt Encoder s bao gm mt a trn vi cc vch k mu trn. Cc vch
mu ny c c bp cc u cm bin. a ny thng i km vi trc quay ca n,
trc ny lm quay nhng mu pht tn hiu cho mi v tr nhn c. Cch ghi cc m
trn a ph thuc vo cc mu trn n
Phn loi theo cu to vt l th hin nay Encoder thng c ba loi: Encoder tip
xc, Encoder t trng v Encoder quang

b.Encoder tip xc:
im tip xc thc t ca loi Encoder ny l gia a v c thng qua chi than.
Loi ny c nhc im l to ma st, hao mn, bi bn do mi than, xut hin in tr
tip xc, gy ra rung ng lm gim chnh xc v tui th
phn gii ca Encoder ph thuc vo ng rnh v chnh xc nh nht ca
mt rnh c th c c trn a, phn gii c th t 10 rnh trn a. phn gii c
th tng ln bng cch ghp nhiu tng a hoc dng b dm 9ln xung cho trng thi
cao nht ca bit
c.Encoder t trng:
i vi Encoder t trng th a quay ca n c trng mt lp vt liu t, trong
nhng vch mu khng c ph.Cc vch ny c c bng mt u c nam
chm.R rng vi u im ny th Encoder t trng c tui th cao hn Encoder tip
xc
d.Encoder quang:
Encoder quang l loi thng dng nht nh c chnh xc cao v dng nh sng
ca bn dn. Encoder c ba b phn: a segment c nhng phn trong sut cho nh sng
i qua v nhng phn khng cho nh sng i qua, mt ngun sng cng vi mt h thng
h tr chiu sng,b phn cm bin nh sng
Hu ht Encoder c sn xut vi chnh xc cao, mt Segment c b dy xp
x 12 micros. phn gii ca Encoder quang thng thng c th t n 14 bits.

Hnh 3.8:Mt s Encoder quang

e.B gii m tuyt i:
L loi thit b m ha m cc tn hiu m u ra song song ch th gc quay
tuyt i ca trc. Loi ny khng cn b m m xung m vn c th bit gc quay
ca trc thit b m ha

Hnh 3.9: a Encoder quang

Cng ging nh nhiu loi Encoder khc, b gii m tuyt i gm mt a trn,
trn c nhng khong trong sut v c. nh sng c th xuyn qua nhng phn trong
sut n b cm bin quang, khi a quay th b cm bin bt ln 1 v phn nh sng b
chn bi phn c lm cm bin quang xng 0. Nh vy cm bin quang s to thnh
nhng xung tun t
Khi thit b m ha ny c s dng vi cng mt thit b khc, th v tr 0 ca
trc xam nh gc tc . Khi trc ca thit b m ha quay v ta gc ny th gc quay
c th c hin th trn b ch th ca my. Tn hiu u ra ca thit b m ha khng b
nh hng bi nhiu ca thit b ng, ngt v khng yu cu iu chnh gc quay chnh
xc. Hn na, thm ch nu tn hiu m ha u ra khng th c v trc quay qu nhanh,
th gc quay chnh xc c ghi khi tc quay gim xung, hoc ngay khi ngun cho
thit b m ha b ngt. Thm na, m ha s khng hot ng do s rung ng ca cc
thit b s dng n
Loi thit b m ha tuyt i, c phn gii cao hn v cho ra cc gi tr thay
i trong phm vi rng hn so vi thit b m ha tng dn.

f. Thit b m ha tng dn:

Hnh 3.10: Thit b m ha tng dn trong Encoder

L loi thit b m ha c dy xung ra ph hp vi gc ca trc quay. Thit b m
ha ny khng c xung ra khi trc khng lm vic. Do cn c mt b m m
xung ra
Thit b m ha ch bit v tr ca trc quay bng s xung c m. Dng thit b
m ha ny ch c 1 hay 2 knh nh ra:
Loi 1 chiu (ch c u knh A) l loi ch sinh ra xung khi trc quay
Loi 2 chiu (c u ra knh A v B) cng c th cho bit chiu ca trc quay,
ngha l thun chiu kim ng h. Ngoi ra cn c u dy trung tnh (xung Z) cho mi
vng quay, c ngha l nu quay c 1 vng th xung Z ln 1
Khi a quay theo chiu kim ng h th xung track 1 (B) tr pha hn xung track 2
(A)

g. Quay thun chiu kim ng h:

Hnh 3.11: Cc knh tn hiu ra ca Encoder

Hnh 3.12: Cc knh tn hiu ra ca Encoder khi ng c quay thun
u A vt qu B ( lch pha) = 90
O
+ 45
O
(T/4 + T/8)

h.Quay ngc chiu kim ng h:

Hnh 3.13: Cc knh tn hiu ra ca Encoder khi ng c quay nghch

3.3.Mch kch Atmega8

T1
ADC3
MISO
R17
390
+5V
J4 DIPSOC-14x2
1
2
3
4
5
6
7
8
9
10
11
12
13
14
28
27
26
25
24
23
22
21
20
19
18
17
16
15
PC6(RESET)
PD0 (RXD)
PD1 (TXD)
PD2 (INT0)
PD3 (INT1)
PD4 (XCK/T0)
VCC
GND
PB6 (XTAL1/TOSC1)
PB7 (XTAL2/TOSC2)
PD5 (T1)
PD6 (AIN0)
PD7 (AIN1)
PB0 (ICP1)
PC5 (ADC5/SCL)
PC4 (ADC4/SDA)
PC3 (ADC3)
PC2 (ADC2)
PC1 (ADC1)
PC0 (ADC0)
GND
AREF
AVCC
PB5 (SCK)
PB4 (MISO)
PB3 (MOSI/OC2)
PB2 (SS/OC1B
PB1 OC1A
R1
47K
RXD
SCK
RXD_RF
JP4
1
2
3
Le Tan Cuong <R
MODULE ATMEGA8
C
1 1 Thursday, October 08, 2009
Title
Size Document Number Rev
Date: Sheet of
+5V
PD7
C18
470uF/25V
R5
390
R19
47K
ADC2
C10
0.1u
INT1
R4
4.7K
C12
0.1uF
MISO
PB7
C3
104
C5
18p
SW3
BUT1
TXD_USB
+5V
J10
COUNTER INTERFACE
1
2
3
4
R11
1K
R16 0
MOSI
PB7
R2 100
+5V_USB
INT0
LED1
J9
INTERRUPTS INTERFACE
1
2
3
4
LED2
JP5
1
2
3
RXD_USB
J11
EXT VREF
1
2
3
R18
47K
+5V
C4
104
J12
COMPARE INTERFACE
1
2
3
4
R14
1K
ADC2
ADC1
- +
D1 BD104(SMD)
1
4
3
2
+5V
J13
RS232_RXD SEL
4
5 6
1 2
3
C7
0.1uF
MOSI
INT0
+5V
J16
RS232_TXD SEL
4
5 6
1 2
3
TXD_232
T1
PD6
PD6
PB0
MAX232
U1
1
3
4
5
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
C11
0.1uF
+5V
+5V
JP6
1 2
TXD
J8
I/O INTERFACE
1
2
3
4
COM1
1
6
2
7
3
8
4
9
5
C19
104
+5V
OC1A
SCK
SW2
BUT2
+5V
+5V
MISO
TXD_RF
PC4
C17
104
+5V
ADC1
PB2
ADC0
TXD_232
R15
1K
SW1
RESET
SW4
BUT4
R20
38K
PB2
OC1A
RESET
PC4
T1
INT1
RXD_232
AIN_E
RXD
J3
ICISP
1 2
3 4
5 6
7 8
9 10
PB6
JP7
1 2
+5V
PC5
RXD_232
PWR LED1
+5V
T0
JP3
1 2
TXD
+5V_USB
+5V
TXD_USB
RESET
J5
ADC INPUT
2
4
6
8
10
12
1
3
5
7
9
11
L1
47uH
1
2
RF_EN
J1
ISP INTERFACE
6
5
4
3
2
1
PC5
PD6
ADC0
R13
22K
J6
PWM INTERFACE
1
2
3
4
C2
104
+5V
OC1A
PB2
JP1
1 2
+5V
RXD_RF
PD7
JP2
1 2
J2
MODULE ISP LED SEGMEN
6
5
4
3
2
1
RS232
MOSI
T0
R9
10K
PC5
RF_EN
C13
0.1uF
+5V
T0
R21
15K
TXD_RF
SW5
BUT3
R3
4.7K
R10
1K
R12
22K
PC4
PB6
C9
0.1u
SCK
INT0
X1
7.372M
RESET
J17
PWR_JACK
3
2
1
+5V
SCK
C15
0.1u
J15
MODULE USB-RS232
1
2
3
4
5
6
+5V
RXD_USB
C8
0.1uF
+ C16
47uF/6V3
A
T
I
S
P
PB0
R6
390
R8
22K
+5V_REG
ADC3
PB2
MISO
INT1
+5V_REG
+5V
J7
I2C INTERFACE
1
2
3
4
C6
18p
PD7
+5V
MOSI
ADC0
R7
22K
C14
0.1u
U2 L78M05/TO220
1
2
3
VIN
G
N
DVOUT
+5V
J14
MODULE RF
1
2
3
4
5
6
C1
104
Hnh 3.14: Mch nguyn l ATMEGA8

3.4.Mch cu H

U2A
4001
1
2
3
U4
IR2184
3 4
8
1
5
2 6
7
COM LO
VB
IN
VCC
SD VS
HO
U9
PC817
1
2
4
3
Q4
IRF540
DIR
D4
POWER LED
<Doc> <Rev
<Title>
B
1 1 Monday , May 17, 2010
Title
Size Document Number Rev
Date: Sheet of
R6
4.7R
5V
R2
4.7k
J4
CON1
1
PWM
5V
R9
3K3
+
C1
4.7u
U1A
4001
1
2
3
C8
10uF 16V
R4 4.7R
D5
DIR LED
R5
4.7R
PWM
Q2
IRF3205
D2
DIODE
R3
4.7k
24V
U5A
4001
1
2
3
Q5
BD139
C5
0.1uF
DIR
U6A
4001
1
2
3
1
4
7
R14 330
+ C4
470u
Q1
IRF540
5V
5V
+ C2
4.7u
Q3
IRF540
12V
J1
MOTOR
1
2
24V
R7
4.7R
D3
12V
J2
MOTOR
1
2
J3
POWER
2
1
C6
104
R10
680
R11
560
24V
R12 1k
R8
220R
D1
DIODE
U7 PV900V
1
2
3
4
6
5
R1
4.7k
12V
C7
10uF 16V
+ C3
4.7u
R13
3k3
U3
IR 2184
3 4
8
1
5
2 6
7
COM LO
VB
IN
VCC
SD VS
HO
U8 78L05
3
2
1
OUT
G
N
D
IN
Hnh 3.15: Mch nguyn l mch cu H

3.5.Kt cu c kh

Hnh 3.16: Phn cng ca c kh ca con lc ngc
3.6. Mch iu Khin

Hnh 3.17: Mch iu khin

CHNG 4
VI NT V AVR V PHN MM CODEVISIONAVR
4.1. Tng Quan AVR
Vi iu khin AVR do hng Atmel ( Hoa K ) sn xut c gi thiu ln u
nm1996. AVR c rt nhiu dng khc nhau bao gm dng Tiny AVR ( nh AT tiny 13,
ATtiny 22) c kch thc b nh nh, t b phn ngoi vi, ri n dng AVR ( chn
hn AT90S8535, AT90S8515,) c kch thc b nh vo loi trung bnh v mnh hn
l dng Mega ( nh ATmega32, ATmega128,) vi b nh c kch thc vi Kbyte n
vi trm Kb cng vi cc b ngoi vi a dng c tch hp trn chip, cng c dng tch
hp c b LCD trn chip ( dng LCD AVR ). Tc ca dng Mega cng cao hn so vi
cc dng khc. S khc nhau c bn gia cc dng chnh l cu trc ngoi vi, cn nhn
th vn nh nhau, Hnh 4.1. t bit, nm 2008, Atmel li tip tc cho ra i dng AVR
mi l XmegaAVR, vi nhng tnh nng mnh m cha tng c cc dng AVR trc .
C th ni XmegaAVR l dng MCU 8 bit mnh m nht hin nay.

Hnh4.1 Cc dng AVR khc nhau: Tiny, AVR v Mega
Cu trc c bn ca vi iu khin AVR c th hin hnh 4.2.


Hnh 4.2. Cu trc ca Vi iu khin AVR

4.2. Cu trc AVR
4.2.1.Cc tnh nng chnh:
Microcontroller s dng chp ATMega32 ca Atmel, tn s thch anh 16MHz
RJ45 socket s dng lai tch hp bin p.
Giao tip Ethernet s dng chip ENC28J60 MAC/PHY ca Microchip, provides 10Base-
T Ethernet
AVR v Chip Ethernet giao tip qua giao thc SPI. Giao din ethernet c th gi v nhn
bt k gi thng tin no TCP/UDP/IP, Appletalk, NetBIOS, v.v
Cc thng tin v cu hnh c th c thit lp qua cng COM, 115200 baud 8n1 nh IP
ADDRESS, NETMASK, GATEWAY...
Ngun cung cp s dng DC Adaptor 7 n 12V DC
Cc OI khng s dng ca ATMega32 c a ra ngoi, sn sng kt ni vi thit b
ngoi vi khc. ngoi ra cn cung cp sn ng ISP np chng trnh chip MCU
a s linh kin SMD c s dng cho kch thc nh gn Led bo ngun v Led ch bo
Ethernet tch hp sn rt tin li theo di

4.2.2. Cc thanh ghi chnh ca VDK :
Thanh ghi trng thi - SREG (STATUS REGISTRY).
Nm trong vng nh I/O, thanh ghi SREG c a ch I/O l 0x003F v a ch b
nh l 0x005F (thng y l v tr cui cng ca vng nh I/O) l mt trong s cc thanh
ghi quan trng nht ca AVR, v th m ti dnh phn ny gii thiu v thanh ghi ny.
Thanh ghi SREG cha 8 bit c (flag) ch trng thi ca b x l, tt c cc bit ny u b
xa sau khi reset, cc bit ny cng c th c c v ghi bi chng trnh. Chc nng
ca tng bit c m t nh sau:


Thanh ghi MCUCR cha cc bits cho php chng ta chn 1 trong 4 MODE trn
cho cc ngt ngoi. Di y l cu trc thanh ghi MCUCR c trch ra t datasheet ca
chip atmega8.

MCUCR l mt thanh ghi 8 bit nhng i vi hot ng ngt ngoi, chng ta ch
quan tm n 4 bit thp ca thanh ghi ny (4 bit cao dng cho Power manager v Sleep
Mode), 4 bit thp l cc bit Interrupt Sense Control (ISC), 2 bit ISC11, ISC10 dng cho
INT1 v ISC01, ISC00 dng cho INT0. Hy nhn vo bng tm tt bn di bit chc
nng ca cc bit trn, y l bng chn tr ca 2 bit ISC11, ISC10. Bng chn tr cho
cc bit ISC01, ISC00 hon ton tng t.
Thanh ghi iu khin ngt chung GICR (General Interrupt Control Register)
(trn cc chip AVR c, nh cc chip AT90Sxxxx, thanh ghi ny c tn l thanh ghi mt
n ngt thng thng GIMSK, bn tham kho thm datasheet ca cc chip ny nu cn s
dng n). GICR cng l 1 thanh ghi 8 bit nhng ch c 2 bit cao (bit 6 v bit 7) l c
s dng cho iu khin ngt, cu trc thanh ghi nh bn di (trch datasheet).

Bit 7 INT1 gi l bit cho php ngt 1(Interrupt Enable), set bit ny bng 1 ngha
bn cho php ngt INT1 hot ng, tng t, bit INT0 iu khin ngt INT0.
Thanh ghi c ngt chung GIFR (General Interrupt Flag Register) c 2 bit INTF1
v INTF0 l cc bit trng thi (hay bit c - Flag) ca 2 ngt INT1 v INT0, nu c 1 s
kin ngt ph hp xy ra trn chn INT1, bit INTF1 c t ng set bng 1 (tng t
cho trng hp ca INTF0), chng ta c th s dng cc bit ny nhn ra cc ngt, tuy
nhin iu ny l khng cn thit nu chng ta cho php ngt t ng, v vy thanh ghi
ny thng khng c quan tm khi lp trnh ngt ngoi. Cu trc thanh ghi GIFR c
trnh by trong hnh ngay bn di.

Cc thanh ghi khai bo

I/O


-
4.3. CODEVISIONAVR
4.3.1. Gii thiu phn mm CodeVisionAVR:
Trnh bin dch CodeVisionAVR l mt trong rt nhiu trnh bin dch C h tr cho vi
iu khin AVR ca Atmel. Khng nh cc trnh bin dch khc c iu chnh cho ph
hp vi tp lnh AVR, CodeVisionAVR c vit ch dnh ring cho AVR. Do ,
chng trnh to ra bi CodeVisionAVR lun c s chnh xc cao v khng b ph bt k
chc nng no ca AVR. So vi cc trnh bin dch khc, CodeVisionAVR to ra on
m c dung lng nh hn nhng hiu qu hn. Hn na, CodeVisionAVR c thnh
phn CodeWizard mt cng c h tr to code v cng hiu qu i vi ngi lp trnh.
CodeVisionAVR bao gm gn nh ton b cc thnh phn ca ngn ng ANSI C c
th dng trong cu trc AVR. Chng trnh cn tch hp thm vi chc nng khc h
tr cho cu trc c bit ca AVR v nhng yu cu ca h thng nhng.

CodeVision h tr chng trnh np trc tip cho vi iu khin AVR theo tiu chun
SPI, qua cng COM, I2C, cng my in v cng USB. Chc nng Terminal cho php
ngi lp trnh c th thc hin vic giao tip gia my tnh vi vi iu khin qua cng
COM.
Trong cc th vin sn c ca CodeVision, ngoi cc th vin chun ca ngn ng C,
cn c cc th vin h tr c bit nh sau:
- Module LCD kiu k t.
- Giao tip I2C ca Phillips.
- Cm bin nhit LM75 ca National Semiconductor.
- Cc IC Phillips PCF8563, PCF8583, Dallas DS1302 v ng h thi gian thc
DS1307.
- Giao tip 1 dy ca Dallas.
- Cm bin nhit DS1802 / DS18S02.
- Thermometer / Thermostat DS1621.
- EEPROM DS2430 v DS2433.
- SPI.
- Qun l ngun nng lng.
- Delay.
- Chuyn i m Grey.
CodeVision cn c chc nng t ng to m chng trnh (Code Wizard), cho php
to ra cc chng trnh con vi cc chc nng c bit, gip ngi lp trnh tit kim thi
gian v c c nhng on chng trnh con c chnh xc v chun mc cao. Cc
chc nng c h tr gm c:
- Thit lp giao tip b nh ngoi.
- Phn bit ngun reset.

- Khi to ng vo/ra.
- Khi to ngt ngoi.
- Khi to Timer/Counter.
- Khi to Watchdog Timer.
- Thit lp truyn d liu USART.
- So snh analog.
- ADC.
- Giao tip SPI.
- I2C, cm bin LM75,
- Giao tip 1 dy (1 wire).
- LCD.
4.3.1. Lp trnh vi CodeVisionAVR:
CodeVision l phn mm c giao din thn thin vi ngi dng. Cc phn ca
CodeVision u d dng s dng v ngi dng c th quen vi cc thao tc sau 1 vi ln
thc hin. Phn ln cc chc nng nh to File, m/ng File, lu File, u khng c
s khc bit vi cc phn mm chy trn nn Windows. Do , ngi dng d dng lm
quen v s dng CodeVision mt cch thnh tho.
Cc thao tc quan trng trong khi s dng CodeVision:
- To File mi:
Thc hin thao tc File/New, mn hnh xut hin hp thoi:


Hnh 4.3 Hp thoi New File
Nhn chn Source v chn OK, mn hnh son tho s hin ra vi tn file l
untiltled.c. Ngi lp trnh c th lu file vi tn khc ty chn.

- To mt Project mi:
Nhn File/New, xut hin hp thoi:

Hnh 4.4 Hp thoi New File

Chn Project v OK, xut hin hp thoi tip theo:
Hnh 4.5 Hp thoi Confirm
to mt project mi hon ton, bn chn No. Sau t tn cho project mi v
chn add ly file ngun vo project.

Vic to project bng CodeWizard:
Chn File/New, sau chn Project. Khi xut hin hp thoi Confirm nh trn th
chn Yes vo CodeWizard. Xut hin khung la chn nh sau:

Hnh 4.6 Ca s CodeWizard
Cc Tab xut hin ngi lp trnh chn la, t loi chip, tn s xung clock n vic
thit lp cc ng dng ca AVR nh: LCD, ng vo / ra, ngt, timer, counter, giao tip
I2C, SPI, 1 wire, 2 wire, analog comparator, USART
Sau khi thit lp cc thng s theo mun, nhn File

Hnh 4.7 Lu Project

Chn Generate, Save and Exit. Sau s xut hin ca s yu cu bn lu tn file.
Khi thc hin xong cc bc trn, chng trnh s hin ra ca s son tho vi cc
on m C c sn ph hp vi nhng la chn bn thit lp trong CodeWizard.
Ca s son tho CodeVision:

Hnh 4.8 Ca s son tho CodeVision
Cch vit chng trnh trong CodeVision hon ton ging vi chng trnh C bnh
thng, t khai bo th vin, hm, bin, con tr, V th, ngi vit chng trnh ch
cn bit s dng ngn ng C l c th d dng lp trnh vi CodeVision.
Khi vit xong chng trnh, bn thc hin sot li bng cch chn trn thanh
toolbar nt Project/Check Syntax. Nu c li pht sinh th chng trnh s hin th cc
thng bo ca s Message pha di.
Khi kim sot v thy khng c li, bn Compile chng trnh bng cch nhn
Project/Compile hoc nhn F9. Chng trnh t ng to ra file np cho vi iu khin.

4.3.2. Cu trc mt chng trnh vit bng CodeVisionAVR:
// Khai bo cc th vin
#include<mega32.h>
#include<lcd.h>

//Thc hin cc chng trnh ngt
//Bao gm ngt ngoi, ngt truyn nhn, ngt trn Timer/Counter,

interrupt [EXT_INT0] void ext_int0_isr(void)
{
//on code trong chng trnh ngt

}

//Khai bo bin ton cc

//Khai bo hoc vit cc hm, chng trnh con

//Chng trnh chnh
void main(void)

{
//Khai bo bin cc b

//Khi to trng thi ban u ca vi iu khin
.......................................
//Cho php ngt ton cc
#asm(sei)

//Vng lp v tn
while (1)
{
//Vit code cho chng trnh chnh
};
}

c bit, khi cn chn mt on code Assembly vo chng trnh th ta thao tc
nh sau:
#asm
//on code asm
#end asm

4.3.3 Cc kiu d liu ca CodeVision:

CHNG 5
THIT K B PID CHO CON LC NGC
5.1.Thit k b PID s:
Thng s K
P
, K
I
,K
D
ca phng trnh PID s thng c chn trn c s
xc nh c m hnh ton hc ca i tng v yu cu ca bi ton thit k.
Trong trng hp m hnh ton hc ca i tng khng xc nh c. Cc
thng s ca b iu khin xc nh theo phng php thc nghim.
Cc phng php iu khin PID s:
5.1.1Phng php Ziegler-Nichols:
Zieger Nichols a ra phng php xc nh thng s ti u ca b PID hoc t
p ng qu ca i tng (phng php Zieger-Nichols th nht) hoc t p ng
qu ca h thng kn (phng php Zieger-Nichols th hai).
Phng php Zeigler Nichols th nht:
Ziegler Nichols a ra phng php xc nh thng s ti u ca b PID l
da trn th hm qu ca i tng hoc da trn cc gi tr ti hn thu c qua
thc nghim
S dng hm qu ca i tng :
Phng php ny cn c tn l phng php th nht ca Ziegler Nichols. N c
nhim v xc nh cc thng s Kp, T
N
, T
V
cho cc b iu khin P, PI v PID trn c s
di tng c th m t xp x bi hm truyn t dng :

t
-T s
Ke
G(s) =
Ts + 1

Sao cho h thng nhanh chng v trng thi xc lp v vt l
max
khng
vt qu mt gii hn cho php, khong 40% so vi

=
t
t h h ) ( lim ) (


% 40
) (
max
max

=
h
h

Ba tham s T
t
( thi gian tr ), K ( h s khuch i ) v T (hng s thi gian qun
tnh) ca m hnh xp x c th xc nh c gn ng t th hm qu h(t) ca i
tng. Nu i tng c dng nh (hnh 14) m t th t th hm h(t) ta c ra
c.
- T
t
l khong thi gian tn hiu ra h(t) cha c hn ng ngay vi tn hiu kch
thch 1(t) ti u vo
- K l gi tr gii hn

=
t
t h h ) ( lim ) (
- Gi A l im kt thc khong thi gian tr, tc l im trn trc honh c
honh bng T
t
. Khi T l khong cn thit sau T
t
tip tuyn ca h(t) ti A t
c gi tr K.

a b

Hnh 5.1: Xc nh tham s cho m hnh xp x bc nht c tr

Trng hp hm qu h(t) khng c dng l tng nh hnh 14a, nhng co
dng gn gin nh hnh ch S ca khu qun tnh bc 2 hoc bc n nh m t hnh 14b
th ba tham s K, T
t
, T c xc nh xp x nh sau:

- K l gi tr gii hn ) ( h
- K ng tip tuyn ca h(t) ti im un ca n. Khi T
t
s l honh giao
im ca tip tuyn vi trc honh v T l khong thi gian cn thit dng tip tuyn
i c t gi tr 0 ti gi tr K

Nh vy ta thy iu kin p dng c phng php xp x m hnh bc nht
c tr ca i tng l i tng phi n nh, khng c giao ng v t nht hm qu
ca n phi c dng hnh ch S. Sau khi c cc tham s cho m hnh xp x ca i
tng ta chn cc thng s ca b iu khin theo bng sau:

B
iu khin
K
P
T
N
T
V

P
t
T K
T
.

_

_

PI t
T K
T
.
9 , 0
t
T
3
10

_

PID
t
T K
T
.
2 , 1 t
T . 2
t
T . 5 , 0

Bng 1: tnh ton cc thng s b iu khin

T suy ra:
H s tch phn:

P
I
N
K
K =
T

H s vi phn :

D P V
K =K .T

Tn: thi gian d tr.
Tv: thi gian vt sm.
Phng php Zieger-Nichols th hai
S dng cc gi tr ti hn thu c t thc nghim:
Trong trng hp khng th xy dng phng php m hnh cho i tng th
phng php thit k thch hp l phng php thc nghim. Thc nghim ch c th tin
hnh nu h thng m bo iu kin: khi a trng thi lm vic ca h thng n bin
gii n nh th mi gi tr ca tn hiu trong h thng u phi nm trong gii hn cho
php
iu c bit l phng php ny khng s dng m hnh ton hc ca i tng
iu khin, ngay c m hnh xp x gn ng
Cc bc tin hnh nh sau:
Trc tin, s dng bt P lp vo h kn ( hoc dng b PID v chnh cc thnh
phn K
I
v K
D
v gi tr 0 ). Khi ng qu trnh vi h s khuch i K
P
thp, sau
tng dn K
P
ti gi tr ti hn K
Pcrit
h kn ch gii hn n nh, tc l tn hiu ra
h(t) c dng dao ng iu ha. Xc nh chu k ti hn ca dao ng


Hnh 5.2 : Xc nh ch khuch i ti hn

Xc nh thng s ca b iu khin theo bng sau:
B iu
khin
K
P
K
I
K
D

P 0.5 K
Pcrit

PI 0.45 K
Pcrit
0.83Tcrit
PID
0.6 K
Pcrit

0.5 Tcrit

0.125Tcrit

Bng 2: Thng s b iu khin theo thc nghim

5.1.2.Phng php Takahashi:
Takahashi c phng php tng t phng php Ziegler-Nichols,Takahashi a
ra phng php xc nh thng s K
P
, K
I
,K
D
ca b PID s t th hm qu ca i
tng c dng ch S sau:


Hnh 5.3: th p ng trong phng php Takahashi

t
K Limh(t)
>
=

Nu thi gian ly mu : T2T
u
v da vo th th tham s K
P
, K
I
, K
D
ca PID s c
xc nh nh bng sau:
Loi iu
khin
KP TI TV
P
g
s u
T
K (T T) +

X X
PI
g
s u
0, 9T
K (T T/ 2) +

u
3, 33(T T/ 2) +

X
PID
g
s u
1, 2T
K (T T) +

2
u
U
2(T T/ 2)
T T
+
+

u
0, 5(T T) +

Bng 3:thng s b iu khin theo phng php Takahashi
Trong :

D P D
K xT K =

P
I
I
K
K
T
=

Cc phng php chien, hrones v reswick gn ging vi phng php Zieger-
Nichols th nht.
5.2.Cht lng h thng iu khin:
Khi tc ng vo h thng mt tn hiu bc thang n v 1(t) th p ng u ra c
dng in hnh l dao ng tt dn.

Hnh 5.4:biu cht lng h thng

Cht lng h thng c nh gi thng qua cc thng s:
Thi gian qu ts ( setting time) : tn hiu ra t v duy tr c gi tr sai
s cho php.
vt l % hay Pot (Percent Overshoot) : sai lch gia gi tr cc i v
gi tr xc lp ca p ng, tnh theo phn trm:


max
y y( )
Pot % 100%
y( )

= =

Sai s xc lp :
e( )
hay ess ( steady-state error): l sai lch gia tn hiu vo v tn
hiu hi tip v.
Vi h hi tip m n v v tn hiu vo l hm 1(t):

e( )
=1-
y( )

Thi gian tng trng tr( rise time) : l thi gian cn thit p ng tng t 10% n
90% gi tr xc lp
y( )
.
Thi gian ln nh : tP=tpeak : thi gian cn tn hiu ra t cc i.

5.3. Chng trnh iu khin CON LC NGC
vi iu khin:


CHNG 6
KT QU V HNG PHT TRIN
6.1.Kt qu
Qua qu trnh thc hin ti chng em tm hiu c nhiu kin thc t thy
c, bn b v tm kim c nhiu kin thc mi.
Kt qu ca ti l h thng mi n nh c 5s. Thut ton PID c
chng em ng dng rt tt trong vic iu khin CON LC NGC.
6.2. Hng pht trin
Do cn nhiu hn ch nn h thng CON LC NGC cha th hot ng n
nh. V th n cn nhiu iu cn khc phc v pht trin l:
- Cn thit kt li phn cng.
- S dng hai con AVR thc hin ti.
- Thit k v tin hnh nghin cu con lc t cn bng.

TI LIU THAM KHO
[1] Nguyn Th Hng. iu khin t ng. Trng H SPKT TP.HCM, Khoa C Kh Ch
To My. 2006.
[2] Hunh Thi Hong Nguyn Th Phng H. L thuyt iu khin t ng. NXB H
Quc Gia TP.HCM. 2005
[7] Ng Din Tp. Vi iu Khin vi Lp Trnh C. Nh xut bn Khoa Hc v K Thut.
2006.
[4] HP Info Tech. Code VisionAVR 1.24.6 - User Manual.
[5] Aaron Millerand Jerry Lee Ford, Jr. Microsoft Visual C++ 2005 Express Edition
Programming for the Absolute Beginner.
Mt s Website:
- www.en.wikipedia.com
- www.atmel.com
- www.embedded.com
- http://support.steema.com
- www.msdn.com

Noi Dung

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Noi Dung

Uploaded by

Copyright:

Available Formats

http://www.ebook.edu.

: dng in trong mch phn ng (A)

ca phn ng ng c c xc nh theo biu thc :

You might also like