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M hnh qu bng v thanh c s dng trong cc th nghim v iu khin hu ht cc trng i hc k thut v n l mt m hnh d xy dng v l mt v d in hnh v k thut iu khin. H thng gm c mt qu bng, mt thanh , mt ng c v mt s sensor. Mt tay quay c gn vo mt u ca thanh , u cn li c gn vo ng c. Khi ng c quay mt gc teta ( ), thng qua tay quay s lm thanh quay mt gc anpha (). Khi thanh thay i gc t v tr cn bng, di tc dng ca trng lc s lm cho qu bng ln t do trn thanh . Cng vic ca ngi iu khin l phi thit k mt b iu khin kim sot c v tr ca qu bng trn thanh . Bng cch s dng cc sensor, thng tin v v tr ca qu bng c gi v v c so snh vi gi tr t vo trong b iu khin, t b iu khin s gi tn hiu iu khin gc quay ca ng sao cho qu bng s t ng v tr mong mun trn thanh . M hnh ton hc ca h thng thuc loi phi tuyn, tuy nhin ta c th coi h thng l h tuyn tnh quanh khong nm ngang. M hnh tuyn tnh n gin ny vn c p dng cho rt nhiu cc h thc nh h thng cn bng my bay theo phng nm ngang khi h cnh di nh hng ca cc dng kh chuyn ng hn lon. Trong n s dng cc nh lut vt l v phng php xp x tuyn tnh phn tch m hnh vt l ca h bng v thanh . T , ta xc nh c hm truyn ca h thng, l c s kho st tnh n nh ca h thng h. B iu khin c tng hp v thit k cng da trn cc kt qu thu c. Tt c cc cng on m hnh ha v tng hp b iu khin u s dng phm mm MATLAB & SIMULINK.
Hnh 1.1: Qu bng cn bng trn thanh dm c xy dng bi Berkeley Robotics Laboratory (Arroyo 2005) H thng trn tng i d thc hin v b iu khin PD cng kh n gin. Thc t, mc d v tr ca qu bng c iu khin bng b iu khin PD, tuy vy gc nghing ca thanh dm li khng c o v iu khin. Do , h thng hot ng cha hon ton n nh. Nm 2006, Quanser to ra mu qu bng v thanh dm mang tnh thng mi u tin nh trong hnh 1.2. Mu qu bng v thanh dm ny cng gm c mt cm bin in tr dy xc nh v tr qu bng, mt ng c servo vi hp gim tc. H thng c iu khin bng b PID. So vi mu qu bng cn bng trn thanh dm trn th mu ny hon thin hn rt nhiu.
Hnh 1.2: Mu qu bng v thanh dm do Quanser ch to (nm 2006) Ngoi nhng mu in hnh trn cn c rt nhiu nhng mu tng t nh vy, chng ch khc nhau loi cm bin c s dng, cch iu khin (c th l iu khin qua gc quay theta ca ng c hoc iu khin bng mmen quay ca thanh khi gn trc c c vo tm thanh ). NHIM V CA N Mc ch chnh ca n l phn tch, m hnh ha v tng hp thit k b iu khin cho h thng qu bng v thanh dm. C th: - Xy dng phng trnh vi phn chuyn ng v thit lp hm truyn ca h thng. - Kho st tnh n nh ca h thng h - Tng hp b iu khin (t c cc gi tr p ng mong mun) bng phng php p ng tn s. - Kt lun v hng pht trin ca n. GI THIT CHO BI TON n gin ha m vn mang tnh khch quan, ta c th gi s cc iu kin sau y cho m hnh: - Qu bng ln khng trt trn thanh . - Gc quay ca thanh -300300.
KT LUN Chng 1 gii thiu tng quan v n qu bng v thanh dm, cc cng trnh lin quan n n ny cng nh mc tiu, nhim v v cc iu kin cn thit ca n. Trong chng 2 s gii thiu v cch thit lp m hnh ton ca h thng, phn tch h thng h theo phng php p ng tn s.
Hnh 2.1: M hnh qu bng v thanh dm. Vi bi ton ny, cc tham s v cc bin c cho trong bng sau: Bng 2.1: Cc tham s ca h thng Th t 1 2 3 4 5 6 7 8 Tham s Trng lng bng Bn knh bng Mmen qun tnh Chiu di cnh tay n Khong cch Ta ca bng Ta gc ca thanh Gc quay ca ng c K hiu m r I l d P n v kg m kg.m2 m m m rad rad Gi tr 0,11 0,005 9,9.10-6 1 0,15
Bng 2.2: Mc tiu iu khin ca h thng Th t 1 2 Tham s cn iu khin Thi gian qu qu iu chnh Gi tr 3 (s) 5 (%)
1. PHN TCH M HNH H THNG Phn tch m hnh qu bng trn thanh Xt chuyn ng ca qu bng trn thanh .
0
mgco s
mgsi n
mg
Hnh 2.2: Cc lc tc dng ln qu bng Hot lc tc dng ln h ch gm c trng lc P ca qu bng (trng lc ca thanh khng ng k). Trng lc P l lc c th. Ch h ta suy rng ca h l q1=x, q2= (hnh 2.2). Ta thy h c 2 bc t do v phng trnh Lagrange c th vit di dng:
d T . dt q i
Trong : T = ng nng ca h.
T = qi qi
Fqt
(2.1)
= th nng ca h ng vi P. Th nng ca h:
( P ) = mg sin ( ) x + C
Suy ra:
(2.2)
= mg sin ( ) x = mg cos( ) x
(2.3)
ng nng ca h bao gm ng nng ca bng v ng nng ca thanh : ng nng ca qu bng va chuyn ng quay va chuyn ng tnh tin nn ta c:
T1 =
1 2 1 2 mv1 + I1 2 2
(2.4)
T2 =
1 I thanh22 2
(2.5)
T = T1 + T2
T =
1 2 1 2 1 2 mv1 + I1 + Ithanh 2 2 2 2
2 2
2 . . 1 1 x 1 . T = m x + I + Ithanh 2 2 r 2
(2.6)
Suy ra:
T x
.
= m x,
T
.
= Ithanh ,
..
T T = 0, = 0. x
.. = Ithanh
.. d T x d T . = m x+ I 2 , . dt x r dt
m x+ I
(2.7)
d l
(2.7)
Thay (2.7) vo phng trnh (2.6) ta c phng trnh chuyn ng l hm v tr ca qu bng (x) v gc quay ca ng c ( ):
d I .. 2 + m x = mg l r
(2.8)
Phn tch m hnh ng c DC ng c l thit b bin i nng lng in thnh nng lng c di dng chuyn ng quay hay tnh tin. ng c l mt phn khng th thiu trong h thng qu bng v thanh . Trn th trng hin nay c rt nhiu chng loi ng c: ng c c hp gim tc, ng c bc, ng c servo, ng c xoay chiu mt, hai hay ba pha. Tt c cc ng c k trn u c th c s dng trong h thng qu bng v thanh dm. Tuy nhin, trong rt nhiu cc ng dng thc t, ngi ta thng la chn ng c mt chiu bi kt cu n gin v d iu khin.
ng c mt chiu ca hng Harmonic Driver nh hnh 2.3 c s dng lm b phn dn ng trong n. T hnh v ta c th d dng nhn thy cc b phn ca n, bao gm: hp gim tc, rotor v stato, enconder. Tt c c lp ghp li thnh mt chic ng c hon chnh.
Hnh 2.4: S mch tng ng ca ng c in mt chiu Cc tham s ca ng c gm c: Bng 2.3: Tham s ng c Harmonic Driver Th t Tham s K hiu n v Gi tr
1 2 3 4 5 6 7
M men qun tnh ca rotor T s gim chn in tr rotor in cm rotor Hng s sc in ng phn hi u vo in p Gc quay theta
J b R L K V
kg
m2 s2
Nms Ohm H
Nm A
Volt rad
M men T ca ng c t l vi dng in phn ng I theo hng s Kt v sc in ng phn hi t l vi vn tc gc ca rotor theo hng s Ke. Ta c biu thc:
T = Kt i e = Ke
.
(2.9)
J + b = K ti
. di L + Ri = V K e dt
..
(2.10)
Mt khc ta c:
K t = Ke
Thay (2.11) vo (2.10) ta c:
(2.11)
J + b = Ki . di L + Ri = V K dt
..
(2.12)
XY DNG HM TRUYN CA H THNG Bin i Laplace cc phng trnh (2.8) v (2.12), ta c: Hm truyn gia v tr ca qu bng trn thanh v gc quay ca ng c:
s( Js + b)(s ) = KI ( s ) ( Ls + R) I ( s) = V Ks( s)
Thu gn ta c:
H ( s) =
-
( s ) K = V ( s) s(( Js + b)( Ls + R ) + K 2 )
(2.14)
Hm truyn ca c h thng chnh l hm truyn ca ng c c mc ni tip vi thanh qua tay n d. Gi T(s) l hm truyn ca h thng, ta c:
T ( s) = H ( s)G ( s)
2 K + m
KHO ST P NG CA H THNG H Vi hm truyn thu c v cc tham s cho, s dng phn mm MATLAB ta c th xy dng ng c tnh h ca h thng bng m-file (xem Ph lc 1). Hm truyn cui cng ca h thng c dng: Transfer function:
1.985e-005 ---------------------------------------7.569e-005 s^5 + 0.02492 s^4 + 3.442 s^3 V c tnh ca h h theo thi gian trn hnh 2.5: