1

LI M U

Ngy nay my tnh dn tr thnh mt phn khng th thiu trong hu ht
cc h thng iu khin thi gian thc .Vi s ra i ca cc vi x l P (ARM
,DSP,FPGA. ) vi tc x l v tn s h thng ngy cng cao lm cho s
xut hin my tnh trong cc h thng iu khin tng ln ng k. Chng ta c
th gp cc h thng iu khin s trong nhiu ng dng iu khin qu trnh ,
iu khin giao thng , iu khin my bay, iu khin ra a,my cng c ,u
im ln nht ca cc h thng iu khin s th hin qua tnh kh trnh ca n,
d dng xy dng v sa i thut ton iu khin , chnh xc cao gi thnh
ph hp .Hn na c mt s b iu khin ch c th p dng c trong h
thng iu khin s ,c trng l iu khin Dead beat [4]. Nhc im duy
nht ca h thng iu khin s l tc x l ph thuc vo nng lc tnh ton
ca cc vi x l.Tuy nhin vn ny c ci thin ng k trong cc my
tnh s ngy nay m bo thc hin tt tt c cc l thuyt iu khin hin i
vi cht lng cao .Cc yu t trn y chng t iu khin s l mt bc
pht trin hon ton ph hp vi xu th pht trin ca iu khin t ng v t
ng ho. iu khin s ngy cng chim u th v lm nn tng cho s pht
trin ca cc h thng iu khin thng minh .
TMS320C2000 l h vi x l t hiu s ( DSP ) ca Texas Intruments
ang c s dng rng ri trn th gii hin nay do c th hot ng tc
cao,nng lc tnh ton mnh m ,tch hp cc ngoi vi h tr chuyn dng trong
vic iu khin s tc ng c v nng lng [16].Chnh v l do ny em
chn h vi x l TMS320C2000 i din l TMS320F2812 lm i tng
nghin cu thc hin cc b iu khin s v hon thnh ti Nghin cu
thc hin b iu khin s trn nn tng DSP TMS320C2000S ni dung
bo co gm 3 chng
Chng 1 : Tng quan v iu khin s
Chng 2 DSP TMS320F2812 v cc cng c h tr pht trin

2
Chng 3 Thc hin b iu khin s s dng DSP TMS320F2812
ti ny c nghin cu nhm nm vng hn cc l thuyt v iu
khin s ng thi gip cho vic thc hin cc b iu khin s ( thng thng
v hin i ) c thun li hn trong thc t .
Trong qu trnh nghin cu v hon thnh n do kin thc c hn ,kh
nng lnh hi cc kin thc mi cn hn ch ,em rt mong c s ch bo ca
cc thy c c mt kin thc vng vng hn ,t tin tham gia vo thc t sn
xut .
Em xin chn thnh cm n s gip ca cc thy c gio trong b mn
in T ng Cng Nghip ,cc bn Lp T47 c bit l s hng dn ,
ch bo tn tnh thy gio TH.S Phm Tun Anh gip em hon thnh n
ny .

Sinh vin thc hin

Phm Vn Khnh














3
CHNG 1. TNG QUAN V H THNG IU KHIN S
1.1 KHI NIM V H THNG IU KHIN S
1.1.1 Khi qut chung v iu khin s
Trong cc h thng c kh hin i, iu khin khin h thng thay i
theo thi gian t c cht lng mong mun theo yu cu vi n nh v
s chnh xc cao th cn thit phi a b iu khin vo. Vai tr ca b iu
khin s lm cho u ra ca h thng t c cht lng mong mun theo yu
cu. m bo s xut hin ca nhiu trong m hnh, hu ht cc b iu
khin thng c cu trc dng phn hi m. Khi ngi ta dng 1 cm bin
o u ra ca h thng c iu khin v so snh n so vi tn hiu t. Hot
ng ca b iu khin da trn gi tr tn hiu sai lch gia tn hiu t v gi
tr o c ca cm bin.
B iu khin da vo tn hiu sai lch a ra tn hiu iu khin mong
mun cho h thng. Cc i tng c iu khin thng l cc h thng
tng t bao gm: in, thy lc, kh nn hay cc thnh phn c kh. u vo
v u ra ca i tng u l cc tn hiu tng t. Trong vi thp k gn y
cc b iu khin s thay th cc b iu khin tng t thng thng.
Chng c th l cc mch k thut s, cc my tnh s hay cc vi x l.
Cc u im ca h thng iu khin s so vi h thng iu khin tng
t thng thng [13]
chnh xc: iu khin s c biu din vi nhng s 0 v 1 vi 12
bit hay nhiu hn biu din mt s n. iu ny lm cho sai lch iu
chnh s nh hn so vi iu khin bng tn hiu tng t. Bi v tn hiu
tng t s b s tc ng ca nhiu lm cho vic iu khin s khng cn
chnh xc na.
Trit tiu cc sai lch: Qu trnh x l s ca cc tn hiu iu khin bao
gm n php cng v php nhn c thc hin bng cch lu tr cc
gi tr s. Cc gi tr sai lch ca vic biu din bng k thut s v s hc
l khng ng k. Ngc li, vi b iu khin tng t c thc hin

4
vi cc phn t k thut in thng thng nh: in tr v t in m
cc gi tr thc ca chng lun b bin i do cc tc ng bn ngoi. Do
vy, so vi b iu khin tng t th b iu khin s gn nh trit
tiu c cc sai lch .
Tnh linh hot: Mt b iu khin tng t rt kh c th thay i c
thit k trong phn cng. Ngc li b iu khin s c vit bng phn
mm do ta c th thay i cu trc chng trnh ca n so vi chng
trnh gc m khng lm nh hng ti h thng.
Tc : K t nm 1980 n nay tc phn cng trong my tnh tng
ln theo hm m. iu ny lm tng tc x l qu trnh, do h
thng c th ly mu hay to ra cc tn hiu iu khin tc rt cao.
ng thi cht lng iu khin s tng ln ng k da trn s gim st
lin tc cc bin c iu khin.
Chi ph: Hin nay mc d gi c ca cc loi hng ha v dch v u
tng, tuy nhin chi ph cho cc mch k thut s li gim. C c iu
ny l do s tin b ca cng ngh VLSI trong nhng nm gn y lm
cho kh nng sn xut cc mch s tr nn tt hn, cht lng tt vi
tin cy cao. Ngi tiu dng c th mua c cc sn phm vi chi ph
thp. iu ny s lm cho vic s dng cc b iu khin s tr nn kinh
t v ph bin hn.
1.1.2 Cu trc ca mt h thng iu khin s
iu khin mt h thng hay qu trnh th h thng iu khin phi o
c cc tn hiu u ra ca h thng hay qu trnh , t mi gi cc tn
hiu iu khin n cc c cu chp hnh. Hu ht cc ng dng trong thc t
th i tng v c cu chp hnh u l cc h thng tng t. Nh vy y
ta thy ngay c mt vn l b iu khin v i tng iu khin khng
ni cng mt ngn ng . Ngn ng ca b iu khin s l tn hiu s, cn
ngn ng ca i tng iu khin l tn hiu tng t. chuyn i t ngn
ng ca b iu khin sang ngn ng ca qu trnh ngi ta thng dng mt

5
b bin i t s sang tng t c gi l DAC. Ngc li chuyn i ngn
ng ca qu trnh sang ngn ng ca b iu khin ngi ta dng mt b bin
i t tn hiu tng t sang tn hiu s c gi l ADC. o c u ra
ca qu trnh c iu khin ngi ta dng mt cm bin lp mch phn hi.
Nh vy gp tt c cc vn bn lun trn li ta c mt mch vng kn
ca h thng iu khin s c trnh by nh hnh 1.1 .

Hnh 1.1 Cu trc ca 1 h thng iu khin s
1.1.3 Mt vi h thng ng iu khin s trong thc t
a) H thng chm sc y t
Mt vi bnh mn tnh c qui nh khi truyn thuc hoc hc mn v
trong c th tng ng vi mc nng nh khc nhau ca cn bnh. Ni bt
trong s ny l bnh tiu ng khi vic sn xut hc mn insulin gip iu tit
nng ng trong mu b suy gim. Khi ngi ta ngh ngay n vic
thit k mt h thng truyn hc mn insulin vo c th gip iu ha lng
ng trong mu p dng iu khin s. Vi h thng ny th cn c mt cm
bin o lng hc mn hay lng cht dinh dng c trong c th. Thng tin
o c t cm bin c truyn n my tnh s, y s tnh ton lng hc
mn cn thit truyn vo c th ca bnh nhn. S khi ca h thng c
biu din hnh 1.2 .

6

(a)

(b)
Hnh 1.2 H thng chm sc y t
(a) Cu trc ca h thng iu khin
(b) S khi ca h thng iu khin

b) H thng iu khin my bay phn lc
Cc my bay phn lc hin nay u s dng h thng iu khin s c
trang b cc my tnh iu khin ti tn. S khi biu din h thng iu
khin s s dng my tnh dng trn my bay phn lc c trnh by trn hnh
1.3. Ta thy rng s hnh 1.3 c th iu khin c cn c cc thng tin
trng thi ca ng c (tc , nhit v p sut) v thng tin trng thi ca
my bay (tc v hng) v lnh ca phi cng .

7

(a)

(b)
Hnh 1.3 H thng iu khin ng c phn lc
(a) My bay phn lc F-22 dng trong chin u
(b) S khi ca h thng iu khin
c) H thng iu khin cnh tay my Robot
Cnh tay robot c th thc hin c cc cng vic lp i lp li vi cc
tc v chnh xc cao m khng ngi khng th lm c. Chng c s
dng rng ri trong cng nghip trong qu trnh hn v sn. C c iu ny
chnh l nh vic p dng iu khin s iu khin tc v v tr ca cnh
tay robot. Tt c cc khp trong tay my robot th c iu phi bng mt my
tnh gim st, m s chuyn ng ca mi khp trong tay my s c iu
khin bng mt b iu khin ring bit. My tnh s cung cp mt giao din
ngi my cho php lp trnh cc b iu khin iu khin chuyn ng
ca tay my. Cc thut ton iu khin c ti xung t my tnh gim st

8
xung cc vi x l hay cn gi l cc chip x l tn hiu s DSP. Cc chip DSP
ny s thc thi cc thut ton iu khin v to nn vng iu khin kn cho tay
my. Hnh v v s khi ca h thng iu khin tay my c biu din
hnh 1.4 .

(a)

(b)
Hnh 1.4 H thng iu khin tay my robot
(a) Tay my Robot c 3 bc t do
(b) S khi ca h thng iu khin tay my

d) H thng iu khin nhit phng
S v h thng iu khin nhit phng c minh ha nh hnh 1.5.
T hnh 1.5 ta thy tn hiu u ra t cm bin (cp nhit ngu, in tr nhit,
.v.v..) c so snh vi nhit t. Khi c s sai lch gia 2 gi tr nhit th

9
b iu khin s gi tn hiu iu khin ng m van in t iu chnh
lng gas cp vo. Tn hiu nhit t th c iu chnh bng mt chit p .

(a)


(b)
Hnh 1.5 H thng iu khin nhit phng
(a) S cu trc ca h thng iu khin nhit phng
(b) S khi ca h thng iu khin

e) My gia cng c iu khin bi my tnh s (CNC)
Thng tin v hnh dng ca vt th v hnh trnh chuyn ng ca bn
my c lu tr trong mt chng trnh my tnh. Trong qu trnh hot ng,
cc thng tin ny s c so snh vi tn hiu phn hi, khi s xut hin tn
hiu sai lch. Tn hiu sai lch ny chnh l tn hiu u vo ca b iu khin,
ti u ra ca b iu khin s cho ra tn hiu iu khin. Tn hiu ny s iu
khin bin i ngun cng sut iu khin ng c DC Servo truyn ng

10
bn my dch chuyn theo ng hnh trnh t trc. S ca h thng ny
c biu din trn hnh 1.6 .

(a)

(b)
Hnh 1.6 H thng iu khin my gia cng CNC
(a) S cu trc ca h thng
(b) S khi ca h thng iu khin

f) H thng li tu t ng
Hu ht cc tu ch hng chy trn bin u c trang b h thng li tu
t ng. H thng ny c thit k sao cho con tu i ng hng mong mun,
thm ch c gi hay sng. S ca h thng c biu din trn hnh 1.7.
Hng i ca con tu c xc nh bng la bn. Khi c mt s tc ng no
nh gi hay sng lm thay i hng i ca con tu th b iu khin s tnh
ton mt gc li ph hp gi ti c cu li. Gc li ca con tu c o bng

11
mt cm bin v c so snh vi gc mong mun. Bnh li s a ra v tr iu
khin thch hp iu khin cho con tu i ng hng.



(a)



(b)
Hnh 1.7 S h thng li tu t ng
(a) S cu trc ca h thng
(b) S khi ca h thng iu khin
1.2 M HNH TN HIU V H THNG
1.2.1 M hnh h thng iu khin s
Ging nh i vi cc b iu khin tng t, cc m hnh ton rt cn
thit cho vic phn tch v thit k cho h thng iu khin s. Cu hnh chung
cho cc h thng iu khin s c biu din trn hnh 1.8 .

12

Hnh 1.8 Cu hnh chung cho h thng iu khin s

Trong m hnh hnh 1.8 ta thy gm c cc khi: DAC, h thng tng
t, ADC. Khi DAC c nhim v bin i cc dy s c tnh ton bi vi x l
hay my tnh sau chuyn thnh cc tn hiu tng t, cc tn hiu ny sau
s c i qua khu khuch i iu khin i tng. H thng tng t gm
c i tng v c cu chp hnh. u ra ca i tng s c o lin tc nh
cc cm bin, sau cc tn hiu o c s c chuyn i thnh cc dy s
nh khu ADC v c phn hi tr li my tnh. Trong phn ny chng ta s
xy dng m hnh cho cc thnh phn khc nhau ca h thng iu khin s nh
ADC, DAC v sau s kt hp chng li vi nhau to nn 1 h thng hon
chnh.
1.2.2 M hnh khu ADC
Cc gi thit trc khi m hnh ha khu ADC:
ln u vo v u ra ca khu ADC l bng nhau, ngha l cc sai
lch xut hin khng ng k.
Khi ADC bin i tn hiu vo tng t thnh tn hiu ra s ngay lp
tc.
Ly mu l hon ton ng nht.
T cc gi thit trn ta c th coi khu ADC nh mt khu ly mu l tng vi
chu k trch mu T. M hnh khu ADC c biu din trn hnh 1.9 .



13

Hnh 1.9 M hnh khu ADC

Tuy nhin trong thc t cc gi thit bn trn ch c th t c mt cch gn
ng trong thc t. Cc sai lch xut hin rt nh nhng khc khng, s thay i
trong t l ly mu c xut hin nhng khng ng k v khi ADC c 1 thi
gian chuyn i nht nh. D vy m hnh khu ly mu l tng vn c
chp nhn trong hu ht cc ng dng c kh.
1.2.3 M hnh khu DAC
Cc gi thit trc khi m hnh ha khu DAC:
ln u vo v u ra ca khu DAC l bng nhau.
Khi DAC bin i tn hiu vo s thnh tn hiu ra tng t ngay lp
tc.
u ra ca khi DAC l hng s ti mi chu k trch mu.
Ta thy rng quan h gia u vo v u ra ca khi ADC c a ra nh sau
[4]
( ) { } ( ) ( ) ( ) , 1 , 0,1, 2,...
ZOH
u k u t u k kT t k T k = s s + =

(1.1)
Vi {u(k)} l dy tn hiu u vo. Phng trnh (1.1) m t 1 khu gi chm
bc khng (ZOH) c biu din trn hnh 1.10 .

Hnh 1.10 M hnh ca khu DAC vi khu gi chm bc khng (ZOH)
C nhiu hm khc cng c th c s dng xy dng tn hiu tng
t t dy tn hiu u vo nh khu gi chm bc 1 (FOH) v khu gi chm
bc 2 (SOH). Trong thc t, khu DAC vn c mt khong thi gian bin i

14
nht nh chuyn cc tn hiu s thnh cc tn hiu tng t; ln gia u
vo v u ra ca khu DAC l khng bng nhau v c th b thay i mt cht
trong khong thi gian ly mu. Tuy vy, m hnh (1.1) vn c dng trong
hu ht cc ng dng c kh.
1.2.4 Hm truyn ca khu chm bc khng (ZOH)
thu c hm truyn ca khu ZOH, ta thay cc tn hiu gin on
c biu din hnh 1.10 bng xung dirac o(t). hnh 1.10 ta thy tn hiu
xung l mt xung n v c rng T. Mt xung c th c biu din bng
mt bc nhy dng ti thi im 0, sau l 1 bc nhy m ti thi im T.
S dng php bin i Laplace ca hm bc nhy n v v nh l thi gian
tr cho php bin i Laplace ta c

(1.2)
Vi 1(t) l bc nhy n v
Do hm truyn ca khu ZOH s l:

(1.3)
Tip theo chng ta xt n p ng tn ca khu ZOH:

(1.4)
Bin i phng trnh (1.4) theo dng sau ta c:

(1.5)

15
Nh vy ta c:

(1.6)
T phng trnh (1.5) ta thy gc ca p ng tn ca khu ZOH gim tuyn
tnh so vi tn s, cn ln th t l thun vi hm sin. iu ny c ch ra
hnh 1.11 vi bin dao ng, nh cao nht ca bin bng chu k ly mu
v xut hin ti tn s bng 0.

Hnh 1.11 ln p ng tn ca khu ZOH vi T = 1s
1.2.5 Kt hp hm truyn ca cc khu DAC, h thng con Analog v
Khu ADC
H thng Cascade vi cc khu DAC, h thng con Analog v khu ADC
c biu din trong hnh 1.12 xut hin thng xuyn trong h thng iu
khin s.


16
Hnh 1.12 H thng ni tng ca khu DAC, h thng tng t v DAC

Do c 2 u vo v u ra ca h thng c ly mu nn ta c th thu
c hm truyn trn min z trong quan h vi cc hm truyn ca cc khu
ring r. Gi thit rng hm truyn ca h thng con Analog l G(s), do hm
truyn ca h Cascade gia khu DAC v h thng con Analog s l:

(1.7)
p ng xung tng ng l:

(1.8)
p ng xung phng trnh (1.8) l p ng bc nhy ca h thng
tng t tr i p ng bc nhy th 2 b tr mt khong chu k ly mu. Ta
thy rng p ng ny biu din 1 h thng tt dn bc 2 c th hin trong cc
th ca hnh 1.13 .

Hnh 1.13 p ng xung ca h ADC v h thng tng t
(a) p ng ca h thng tng t vi u vo l bc nhy
(b) p ng ca h thng tng t vi u vo l mt xung n v

17
p ng trong phng trnh (1.8) c ly mu xc nh p ng xung
ca h thng

(1.9)
Bng php bin i z, chng ta thu c hm truyn z ca h thng ni
tng gm khu DAC, h thng tng t v khu ADC

(1.10)
Cc k hiu trong phng trnh (1.10) th hin rng vic ly mu 1 hm
theo thi gian l cn thit trc khi thc hin bin i z. Nh vy ta c th vit
ngn gn phng trnh (1.10) thnh:

(1.11)
1.2.6 Hm truyn vng kn ca h thng
S dng cc kt qu c c trong mc 1.2.5 v s cu trc ca h
thng iu khin s chng ta c c s khi ca mch vng kn nh hnh
1.14.

Hnh 1.14 S khi mch vng kn trong h thng iu khin s

Mch vng kn trong hnh 1.14 gm c khu so snh, b iu khin vi
hm truyn C(z) v hm truyn ca i tng iu khin G
ZAS
(s) ( gm c khu
ADC i tng tng t DAC ) . B iu khin v khu so snh l cc
chng trnh my tnh v n thay th khi my tnh trong hnh 1.8. Nh vy

18
ging nh trong min s th hm truyn mch vng kn ca h thng biu din
trn min z l:

(1.12)
Phng trnh c tnh ca hm truyn kn l:

(1.13)
Ta thy rng nghim ca phng trnh c tnh l cc im cc ca h
thng, da vo iu ny ta c th la chn p ng thi gian mong mun nh
trong thit k trn min s.
1.2.7 M hnh nhiu trong h thng iu khin s
Nhiu l cc bin m n khng cha trong m hnh h thng nhng nh
hng n p ng ca h thng. Chng c th c xc nh, chng hn nh
mmen ti trong h thng iu khin v tr, cng nh cc nhiu t cc cm bin
hay t c cu chp hnh. Tuy nhin, hu ht tt c cc nhiu u l cc tn hiu
tng t v n thng tc ng n i tng tng t trong mch vng iu
khin s. Chng ta xt h thng vi nhiu u vo c biu din nh hnh 1.15.


Hnh 1.15 S khi ca h thng iu khin s vi nhiu u vo
Do h thng l tuyn tnh, ta gi nh rng cc tn hiu t c x l mt
cch ring r v coi nh bng 0. p dng php bin i Laplace ta thu c u
ra ca h thng l: [4]

(1.14)

19
Ta c biu thc tnh Y
*
(s) l:

(1.15)
Ta thy mu s ca phng trnh (1.15) gm c hm truyn ca cc
khu ZOH, h thng con Analog v khu ly mu. Do ta c th vit li
phng trnh (1.15) di dng sau:

(1.16)
Hay vit trn min z ta c:

(1.17)

1.3 IU KHIN S TRUYN NG IN

Trong lnh vc iu khin chuyn ng, ta thng bt gp iu khin tc
ng c. Tc chuyn ng thc s bng tc t. s khc nhau gia tc
thc v tc t l sai lch tc . Nhim v ca b iu khin tc l
gim sai lch tc n mc nh nht c th. t c iu ny, b iu
khin phi sinh ra c mt mmen t.
Chng ta s xt h thng vi tc gc e mmen qun tnh J, h s ma
st B v mmen ti T
L
. T l thay i tc thc c xc nh trong phng
trnh (1.18) vi T
em
l mmen quay. S khi ca h thng iu khin c
biu din trong hnh 1.16 .
Tc mong mun e
*
trong hnh 1.16 c gi l tc t hay im
t.sai lch tc Ae l s sai lch gia tc t v tc phn hi e
fb
. B
iu khin tc c biu din trn hnh 1.16 c hm truyn W
SC
(s), n c
nhim v x l tn hiu sai lch v sinh ra mmen t T
ref
.

20

Hnh 1.16 Cu trc c bn ca h thng iu khin tc
d
J
dt
em L
T T B
e
e =

(1.18)
Mmen T
em
chnh l lc dn ng ca h thng, n c nhim v l cho
tc thc w bm theo tc t e
*
trong mi trng c nhiu v mmen ti
T
L
bin i. T phng trnh (1.18), ta bit rng mmen quay c tc dng b s
thay i ca mmen ti T
L
v lc ma st Be , ng thi cn to ra thnh phn
mmen qun tnh J.de/dt trong qu trnh gia tc v hm. Trong thc t, T
ref
l
tn hiu s c cp ti u vo ca khi c cu dn ng mmen. Khi c cu
dn ng mmen c hm truyn W
A
(s) c biu din hnh 1.16. Nhim v
ca b iu khin tc l phi lm sao cho mmen qun tnh T
em
bm st theo
mmen T
ref
. Do vy hm truyn l tng ca c cu dn ng l W
A
=1 hay W
A

= k
M
= const. Hu ht cc c cu dn ng mmen u gm khi ngun cng
sut v ng c in. Khi ngun cng sut ny s cp dng in v in p ph
hp cho ng c ng c sinh ra ti u trc mt mmen quay T
em
. u trc
ng c c th c gn trc tip vi ti hay gn qua 1 b chuyn i c kh
bin i tc quay thnh php dch chuyn v tr.
Khi ngun cng sut c l t cc van bn dn (transistor v thyristor),
cun cm v t in. N bin i in p v dng in ca ngun in ban u
thnh in p v dng ph hp cp cho ng c ng c sinh ra mmen quay
T
em
. c th s dng c c hai loi ng c xoay chiu v mt chiu th

21
khi ngun cng sut c th chuyn i DC/DC, DC/AC, AC/DC,hay AC/AC.
S kt hp gia b ngun cng sut v ng c to thnh 1 khi gi l electric
drive.
Hu ht cc b electric drive u to ta mmen T
em
, vi tr thi gian
khi s tn hiu T
ref
khong t 10 n vi trm micro giy. Mmen do ng c
sinh ra th c xc nh bi dng in chy trong cun dy phn ng. Do ,
thi gian p ng ca mmen th ph thuc vo di thng trong mch vng
dng in. Do vy hm truyn ca khu c cu dn ng mmen kh c th t
c W
A
(s)= k
M
= const. Mt khc, p ng mong mun ca mch vng tc
th o c trong khong 10 ms. Trong hu ht cc trng hp, tr gy ra bi
c cu dn ng mmen th khng ng k so vi tnh ng hc ca h c kh
v thi gian p ng mong mun ca mch vng tc . Trong nhiu trng
hp, khi phn tch v tng hp mch vng tc ngi ta thng gi thit rng
c cu dn ng mmen c h s khuch i tnh k
M
v khng c lin quan n
tnh ng hc v tr.
Tn hiu tc phn hi e
fb
(hnh 1.16) th thu c ti u ra ca khi
W
M
(s). Tn hiu tc ny th khng phi l bn sao chnh xc ca tn hiu tc
thc e do s gi hn v phn gii ca cc cm bin u rc ng c, do
s cn thit phi qua 1 b lc lc nhiu v cc tn hiu cao tn, v do k thut
c th ca qu trnh thu thp tn hiu tc . Hm truyn W
M
(s) miu t qu
trnh x l tn hiu ti u trc ng c. Nu chng ta xt n my pht tc ca
mch lc thng thp RC th ta c hm truyn W
M
(s) s l W
M
(s) = 1/(1+sRC) =
1/(1+sT). Trong nhiu trng hp khi s dng cc thit b phn tch in t th
hm truyn W
M
(s) c th phc tp hn. Khi thit k v tng hp cc b iu
khin tc th hm truyn W
M
(s) c th c xt ti. Trong nhiu trng hp
khi hng s thi gian tham gia vo trong mch phn hi nh hn so vi thi gian
p ng tc mong mun th hm truyn W
M
(s) c th b qua v cho e
fb
= e.
H thng iu khin tc dng phn tch cc b iu khin tc
c biu din trong hnh 1.17. H thng ny c 1 b o tc l tng e
fb
=
e, v c cu dn ng mmen lun to ra mmen T
em
= T
ref
. H thng ny dng

22
1 ng c 1 chiu kch t c lp lai ti c mmen qun tnh J. Dng in kch
t i
p
v t thng s ca ng c u
p
c gi thit l hng s. Nh vy, mmen
t l trc tip vi dng phn ng i
a
= T
em
/(k
M
. u
p
) vi k
M
l hng s mmen ca
ng c. V l do ny tn hiu T
ref
thu c t b iu khin tc s tr thnh
I
a
*
= T
em
/(k
M
. u
p
) . n gin ta coi khi ngun cng sut cp dng phn ng
c ch ra hnh 1.17 l mt b ngun dng l tng c th iu khin c.
Trong thc t, cc khi ngun cng sut da trn s hot ng ca cc van bn
dn (transistor, thyristor) v chng c lin kt vi b iu khin dng tng
t hay s. Mt b khuch i s c cp in p phn ng u
AB
ti ng c.
Dng in phn ng thay i tng ng vi phng trnh :

a
di
dt
a a a AB a
L R i u e + =

(1.19)
Trong :
L
a
: in cm phn ng
R
a
: in tr phn ng
e
a
= k
e
u
p
e : sc in ng sinh ra bi cun dy phn ng
B iu khin dng s a tn hiu iu khin cho cc van cng sut hot ng
thu c in p u
AB
thch hp, c tc dng b sc in ng e
a
v kh sai
lch Ai = I
a
*
- i
a
. B iu khin dng s to ra 1 hiu in p t u
AB
*
bng cc
h s k
P
v k
I
.



23

Hnh 1.17 ng c mt chiu kch t c lp c cp bi mt ngun cng
sut c th iu chnh c v c dng nh mt c cu dn ng mmen
trong h thng iu khin tc
Hu ht cc b iu khin tc hin tai u l cc b iu s, chng
c thc hin bi cc vi iu khin hay cc b vi x l ng. Cc hot ng
iu khin ca chng c din ra 1 cch ri rc v c thc hin tng bc
nh cc s kin ngt ca cc vi iu khin /DSP. Khi phn tch v tng hp cc
b iu khin tc s, ta phi biu din cc tn hiu v hm truyn bng php
bin i z. Khc vi cc b iu khin tc s hin ti, cc b iu khin trc
y thng c thc hin trn min lin tc, chng c to ra bi mch in
t tng t dng cc khuch i thut ton, cc in tr, cc t in. phn
tch hay tng hp cc b iu khin tng t ta phi biu din cc tn hiu hm
truyn trn min s.










24
CHNG 2. DSP TMS320F2812 V CC CNG C
H TR PHT TRIN
2.1 CU TRC DSP TMS320F2812
2.1.1 Gii thiu chung
TMS320F2812 vTMS320C2812, cc thnh vin ca h TMS320C28x
DSP, c tch hp cao, hiu sut cao, l gii php cho cc yu cu ng dng
iu khin . Chc nng Tng quan ,kiu ng gi v bn b nh ca
TMS320C2812 ,TMS320F2812 v mt s dng thuc h C28x c trnh by
trong cc hnh pha di .Chi tit v mt s chc nng c bn ca F2812 c
trnh by trong cc phn tip theo .
Cc ti nguyn ca TMS320F2812 [6]


Hnh 2.1 Tm tt cc ti nguyn ca C281x

25

Kiu ng gi [6]
TMS320F2812 c 2 kiu ng gi l kiu GHH (179 chn ) v ZHH ( 176
chn) hnh 2.2 l kiu GHH



Hnh 2.2 Kiu ng gi GHH ca F2812
Chc nng cc chn c trnh by chi tit trong data manual tc l trong
ti liu tham kho s [6] t trang 18 n trang 28





26

S cu trc cc chc nng ca F2812 [6]

Hnh 2..3 S cu trc cc chc nng ca F2812

Vng c bo mt bi modul code security

Phn vng b nh [6]

27

Hnh 2.4 Phn vng b nh TMS320F2812

2.1.2 Cng vo ra s ( Digital I/O )
a)Gii thiu
DSP C28x ngoi kh nng x l mnh m n cn c tt c cc thit b
ngoi vi cn thit xy dng mt h thng iu khin ( SOC system on
chip).Cc thit b ngoi vi tch hp trn dng C28x c mt u th quan trng so
vi cc VXL khc. mt ngoi vi n gin nht l Digital I/O.
b) Bn b nh d liu ngoi vi

28
Tt c cc thit b ngoi vi ca C28x c bn b nh vng b nh d
liu theo kin trc Harrvard .iu ny c ngha l chng ta iu khin cc ngoi
vi bng vic truy cp vo a ch b nh d liu chuyn dng .Cc hnh sau y
s ch ra iu ny [6,11].


Hnh 2.5 Bn ngoi vi TMS320F2812
c)Khung ngoi vi
Tt c cc thanh ghi ngoi vi c nhm li vi nhau thnh mt nhm gi
l khung ngoi vi PF0,PF1 v PF2 .Cc khung ngoi vi ny nm trong bn
b nh d liu .Khung ngoi vi PF0 bao gm cc thanh ghi iu khin tc
ca b nh flash bn trong ngi lp trnh c th truy cp mt ln trn mi
chu k xung clock.Flash l b nh tnh s dng thng xuyn cho vic lu tr
code v d liu ban u .Khung ngoi vi PF1 cha hu ht cc thanh ghi iu
khin thit b ngoi vi ,ngc li khung ngoi vi PF2 ch dnh ring cho khi
thanh ghi CAN ( control Area Network)


29

Hnh 2.6 Phn vng b nh TMS320F2812
Mt s vng b nh c mt khu bo v bi modul bo mt ( code
security module ) .Mt khu bo v c lp trnh ,bt k s truy cp no vo
khu vc bo mt th ch c chp nhn khi nhp mt mt khu chnh xc vo
khu vc c bit ca PF0.
d) Cng vo ra s Digital I/O
Tt c Digital I/O u c nhm li thnh cc PORT gi l GPIO
A,B,D,E,F v G . y GPIO c ngha l General purpose input output
.C28x c trang b rt nhiu thit b bn trong ,tuy nhin khng phi tt c cc
tnh nng c th kt ni vi cc chn chuyn dng ca thit b cng lc.Gii
php cho vic ny l s dng b dn knh ( Mutiplex MUX) .C ngha l mt
chn c th s dng cho 2 hoc 3 cha nng khc nhau v n c la chn bi
ngi lp trnh .


30

Hnh 2.7 Cc GPIO PORT TMS320F2812
Thut ng Input Qualitification feature cp n mt chc nng
c thm vo cho u vo Digital cc PORT A,B,D, v E .Khi cc tnh nng
ny c s dng mt xung u vo phi c di hn gi tr danh nh ca chu
k xung clock c cng nhn l u vo hp l.
Tt c 6 GPIO PORT c iu khin bi thanh ghi dn
knh(Mutiplex) ca chng l thanh ghi GPxMUX ( x l k hiu t A n F
) .Xa bit v 0 c ngha l chn chc nng I/O ,t bit ln 1 c ngha l la
chn cha nng ring ( TI gi l primary function )
Khi u vo ra Digital I/O c la chn,Sau nhm thanh ghi GPxDIR
nh ngha chiu ca I/O.Xa bit v 0 thit lp nh l u vo ,t bit ln 1
xc nh l u ra.mt s cng u vo c trang b cng vi mt Input
qualification feature .Dng la chn ny chng ta c th nh ngha mt
khong thi gian loi tr cc Spike ( gai ) hay l cc xung ngn t khi ang
c cng nhn l u vo hp l.


31

Hnh 2.8 Cu trc thanh ghi GPIO TMS320F2812


Hnh 2.5 S khi GPIO TMS320F2812
e)Cc thanh ghi digital I/O ca C28x


32

Hnh 2.9 Cc thanh ghi GPIO TMS320F2812
f)C28x clock modul
Trc khi s dng cc u vo ra , cn ci t C28x clock modul ging
nh cc vi x l hin i khc .Ngun xung cho C28x c cung cp t mt b
dao ng bn ngoi tn s thp gim nh hng ca nhiu in t .Mt mch
PLL to ra tc pha trong .Kit EZDSP s dng tn s ngoi l 30 MHZ t
c tn s ni l 150MHZ chng ta c 10 h s nhn v chia cho 2.iu ny c
th c thc hin bng vic lp trnh thanh ghi iu khin PLL ( PLLCR PLL
control register ) .

Hnh 2.10 C28x clock modul
High-Speed clock pre-scaler ( HISPCP ) v LOW-speed clock pre-scaler (
LOSPCP) c s dng nh cc b chia tn s.u ra ca 2 pre-scaler c s

33
dng lm ngun xung clock cho cc thit b ngoi vi.ngi lp trnh c th ci
t 2 Pre-scaler ring r nu cn thit.
Ch : Tn hiu CLKIN c cng tn s vi SYSCLOUT c s
dng cho giao din b nh bn ngoi v cho giao tip CAN .Cng nh vy tn
s dao ng ca b Watchdog c cp trc tip t b dao ng bn ngoi.Tn
s cao nht cho b dao ng bn ngoi l 35MHZ
s dng mt ngoi vi chng ta cho php phn phi cc xung clock
bng cc bit ring r ca thanh ghi PCLKCR.u vo ra Digital I/O khng c
xung clock kch hot.



Hnh 2.11 Cc thanh ghi iu khin xung clock ngai vi
g)Watchdog timer
Mt b Watchdog timer c m t do v c th to ra mt tn hiu
reset nu khng c xa nh k bi chng trnh.N c s dng pht

34
hin ra cc s kin n c s dng pht hin ra cc s kin ch m
chng trnh ang thc thi ,ly v d nh hin tng treo.


Hnh 2.12 S khi modul watchdog timer
Watchdog th thng xuyn c cp in khi DSP c cp ngun .Khi
chng ta khng quan tm n watchdog nh k n s kch hot mt tn hiu
reset .Mt trong nhng phng php n gin nht i ph vi cc wachdog
l v hiu ha n ,vic ny c thc hin bng cch ci t bit 6 ( WDFLAG)
t ln 1.Tt nhin y khng phi l mt quyt nh khn ngoan bi v mt
wachdog l mt tnh nng bo mt v mt d n thc t th bao gm cng nhiu
bo mt cng tt.
Cc pre-scaler watchdog c th c s dng tng chu k trn ca
Watchdog. Bit kim tra logic (WDCHK) l mt vng bit bo mt khc .Mi s
truy cp ghi vo thanh ghi WDCR phi bao gm s kt hp bit 101 cho 3
vng,nu khng truy cp s b t chi v tn hiu reset c kch hot ngay lp
tc .Bit c Watchdog ( WDFLAG ) c th c s dng phn bit gia mt
reset thng thng (WDFLAG = 0 ) v mt reset t Watchdog ( WDFLAG=1).
Ch : Xa c ny bng cch ghi 1 vo bt tng ng.




35


Hnh 2.13 Thanh ghi iu khin watchdog timer

Ch : Nu v l do no b dao ng bn ngoi khng hot ng
,Watchdog khng m tng ln .Trong mt ng dng chng ta c th nm bt
tnh hnh ny bng cch c cc thanh ghi lu tr gi tr m Watchdog nh
k.Trong trng hp ng h dao ng bn ngoi b ngng th thanh ghi ny s
khng tng thm na v C28x vn thc hin trong ch PLL,tc l khi PLL
to ra tn s t 1-4 MHZ .Ch ny gi l Limp-mode
Vy lm th no xa Watch dog? Bng vic ghi Valid key theo th
t vo thanh ghi WDKEY



36

Hnh 2.14 Th t ghi vo thanh ghi WDKEY
2.1.3 Chuyn i tng t s ( ADC)
a)Gii thiu
B ADC l mt trong nhng ngoi vi quan trng ca b iu khin nhng
.N to ra mt giao din quan trng gia b iu khin v th gii thc .Hu ht
cc tn hiu vt l nh nhit , m ,p sut , tc , gia tc l nhng tn
hiu tng t nm trong di t V
min
n V
max
v d 0 n 3v.Mc ch ca b
ADC l chuyn i tn hiu tng t sang tn hiu s .Mi quan h gia in p
u vo tng t v u ra s c cho bi :

(2.1)

V
REF+
v V
REF-
l in p tham chiu c s dng gii hn di in p
tng t .Bt k in p u vo no vt qu in p cho php th s to ra mt
s digital bo ha.Trong trng hp ca C28x l 0 n 3v .B ADC ca c28x l
12bit ( n=12 ) do

(2.2)



37
Hu ht cc tn hiu ng dng i hi khng ch l tn hiu tng t u
vo chuyn i thnh tn hiu s ,mch vng iu khin thng yu cu
nhiu hn mt tn hiu t cc cm bin khc nhau do C28x c trang b vi
16 chn ADC u vo chuyn dng o in p tng t .16 chn tn hiu ny
c x l tun t tng knh hoc 2 knh mt lc . c im modul ADC ca
C28x nh sau [6,11]
- phn gii 12 bit
- 16 knh u vo ( 0-3v) .Hai b dn knh cho php ly mu hai knh
mt lc
- Ch ly mu ni tng ( cascaded) v Dual Sequencer
- 16 thanh ghi lu tr kt qu
- Nhiu ngun kch hot chuyn i ( kch hot bn ngoi ,S/W v b
qun l s kin )
B ADC ca C28x s t ng sp xp v ly mu 16 knh .C ngha l b
ADC t ng chuyn i knh tip theo khi knh trc thc hin xong ,c
th kch hot mt ngt khi chui chuyn i ny c thc hin xong.
Thi gian chuyn i nhanh nht l 80ns cho mi mu trong trnh t
chuyn i bt u t mu th 2 v 160ns cho mu u tin .
Vic khi ng chui chuyn i c th bt u t cc ngun sau
- Bng phn mm : t bit start ln 1
- Bng tn hiu ngoi : ADCSOC
- Bng s kin ( chu k,so snh,trn di ) ca modul qun l s kin A
v B.








38
b)ADC trong ch ni tng ( cascaded)

Hnh 2.15 Modul ADC trong ch ni tng
Hnh v trn cho thy s khi ca b ADC ch tun t Cascaed
mode .Mt b t ng chuyn mch s thc hin ly mu tun t .trc khi bt
u thc hin chuyn i cn phi thit lp th t chuyn i
(MAX_CONV1) v nhng line u vo chuyn i (CHSELxx) . Cc kt
qu c a vo cc thanh ghi (RESULTO n RESULT15 ) tng ng
vi mi knh .
Ch ly mu c th c thc hin ng thi hay tun t .Trong
trng hp ly mu ng thi c hai s&hs c s dng song song .hai line u
vo cng vi cc knh tng ng (v d ADCINA3 v ADCINB3 ) c chuyn
i cng mt lc bi CHSCL00.Trong ch tun t sequentinal mode cc
line u vo c th kt ni vi tng bt k ca khi auto sequencer.
Vic kch hot mt trnh t chuyn i c th s dng phn mm bng
cch thit lp mt bit c th ,hay bng cc s kin c th trn phn cng .c
bit vic kt hp vi b nh thi lm cho chu k ly mu rt chnh xc .y l
iu kin rt quan trong trong iu khin v x l tn hiu s .
c)ADC trong ch Dual Sequencer

39

Hnh 2.16 Modul ADC trong ch Dual Sequencer
Ch hot ng th 2 ca ca modul ADC l ch Dual Sequencer b
ly mu t ng c tch thnh 2 tng (SEQ1 v SEQ2).Trong ch ny
s dng EVA kch hot cho SEQ1 v EVB cho SEQ2.Kt qu chuyn i
c lu tr trong RESULT0 n RESULT7 cho SEQ1 v RESULT8 n
RESULT15 cho SEQ2.
Trong trng hp kch hot SEQ1 v SEQ2 cng mt lc th s kin no
c quyn u tin cao hn s c x l trc . y SEQ1 c quyn u tin cao
hn ,vic bt u SEQ2 s c thc hin sau SEQ1.
d)Thi gian chuyn i ADC

Hnh 2.17 Thit lp ngun xung 25MHZ cho modul ADC
C mt s hn ch i vi cc thit lp v thi gian chuyn i ADC
.Trc tin cc ngun xung clock c bn ca ADC l bt u t HSPCLK m
khng th d dng bt k ngun xung clock no khc .Xung clock ny c ngun
gc t b dao ng bn ngoi ,b nhn PLLCR v b chia HISPCP.

40
Th hai l tn s ti a cho FCLK l u vo ca cc b phn trong
modul ADC hn ch tn s 25MHZ . iu chnh xung clock ny cn khi
to cc bit ADCCLKPS cho ph hp .Bit CPS la chn mt b chia 2
.Xung clock ADCCL1 l thi gian c s cho cc b phn x l bn trong
khi ADC.
Mt hn ch th ba l ca s ly mu c iu khin bng cc
ACQ_PS .Nhm cc bit xc nh chiu di ca s c s dng gia cc
swich dn knh v thi gian ly mu in p u vo .Thi gian ny ph thuc
vo tr khng ca ca tn hiu vo v vy n ph thuc vo phn cng ngi lp
trnh khng th ch nh mt khong thi gian ly mu ti u cho tt c cc ng
dng.
e)Cc thanh ghi iu khin modul ADC
Ba thanh ghi iu khin ADCCTL1 n 3 c s dng thit lp
mt trong nhng iu kin hot ng ca ADC .Thanh ghi ADCST th hin
trng thi ca ADC .

Hnh 2.18 Cc thanh ghi modul ADC
Thanh ghi ADC Control Register 1

41

Hnh 2.19 Byte cao thanh ghi ADC Control 1

- Bit 14 RESET c th s dng reset ton b cc b phn trong
modul ADC tr v trng thi thit lp .iu ny rt tt trong thc t
reset lnh trc khi thit lp ADC.
- Bit 12 v 13 nh ngha s tc ng qua li ADC v lnh emulator

Hnh 2.20 Byte thp thanh ghi ADC Control 1
- 4 bit tip theo nh ngha di ca s ly mu .
- CPS c s dng chia tn s u vo cho mt hoc cho 2 .
- Bit 6 (CONT_RUN) nh ngha qu trnh t ng sp xp dy
chuyn t khi bt u n khi kt thc mt cch tun t ( =0 ) v i
cho n khi kch hot nu dy c bt u li ( = 1)
- Bit 5 (SEQ1_OVRD) nh ngha hai ty chn khc nhau cho ch
chy lin tc .

42
- 4 bit sau cng nh ngha ch b sp xp dy 1 tng (16line) (=1)
hay 2 tng ( 8line cho mi tng ) (=0).
ADC Control Register 2

Hnh 2.21 Byte cao thanh ghi ADC Control 2

Na trn ca thanh ghi ADCTRL2 c tc dng iu khin cc ch hot ng
ca dy 1 .
- Bit 15 EVB_SOC_SEQ (bt c ch c ) nu b qun l s kin B
kch hot chuyn i .
- Bit 14 RST_SEQ1 c s dng reset state machine ca SEQ1
v trng thi ban u .y l cch kch hot tip theo c bt u
li t CHSELSEQ1 .
- t bit 13 SOC_SEQ1 ln 1 kch hot chuyn i bng phn
mm .
- Bit 11 v bit 10 nh ngha cc ch ngt ca SEQ1 ,c th yu cu
ngt sau mi chuyn i hay cc chui khc nhau.
- Bit 8 EVA_SOC_SEQ1 l bit nh du cho php hay khng cho
php b qun l s kin A kch hot chuyn i .

43

Hnh 2.22 Byte thp thanh ghi ADC Control 2
Byte thp ca ADCTRL2 iu khin dy SEQ2 .Bit 7 l c ch ra s
kin trn chn ADCSOC l nguyn nhn gy ra chuyn i ,cc bit cn li
ging vi na trn .
ADC control Register 3


Hnh 2.23 Thanh ghi ADC control 3

ADC MAXCONV Register

44

Hnh 2.21 thanh ghi ADC MAXCONV
ADC Input Channel Select Sequencing Control Register

Hnh 2.24 Thanh ghi ADC Input Channel Select Sequencing Control
2.1.4 H thng ngt F2812
a)Gii thiu
H thng ngt ca C28x gm c 16 ng ngt ,2 trong s ny l ngt
khng che c Non-Maskable (Reset , NMI) ,14 dng ngt che c
Maskable c ngha l ngi lp trnh c th cho php hoc khng cho php
cc ng ngt ny .
ngt che c th c 2 trng thi 0 v 1 .1 c nha l cho php
ngt v 0 l khng cho php ngt .Bng cch nh du vo thanh ghi IER
ngi lp trnh c th yu cu mt ngt .

45
ngt khng che c ngi lp trnh khng th t chi cc yu cu ngt
.Mt tn hiu c tch cc ,chng trnh s ngng li v nhy n chng trnh
con phc v ngt .

Hnh 2.25 Lines Interrupt
Tt c 16 ng ngt c kt ni vi bng vc t ngt ,bao gm 32 bit
b nh trn mt ngt .Trch nhim ca ngi lp trnh l in vo bng ny a
ch bt u ca chng trnh con phc v ngt.
b) C28x RESET
Mt sn xung ca tn hiu trn chn RS s reset DSP .S kin ny s
a DSP bt u li t a ch reset (a ch 0x3FFFC0 b nh chng trnh )
ch khng phi l mt ngt theo ngha l chng trnh c s c tip tc sau
khi phc v ngt .Tn hiu reset c th bt ngun t b watchdog hoc t chn
RS pha ngoi.

Hnh 2.26 Cc ngun reset h thng
Reset khng ch a DSP v a ch 0x3FFFC0 n cn xa tt c cc
thanh ghi ,reset c CPU v trng thi ban u v disable 16 ngt.
c) Ngun ngt

46
DSP C28x c s lng ngun ngt rt ln ( hin ti l 96 ngt ) nhng ch
c 14 ngt che c .Ngi lp trnh phi s dng 1 INT_Line cho nhiu ngun
ngt .Mi ng ngt ny kt ni n mt bng vc t ngt ca n.Mt vng
nh 32 bt bn trong bng vc t ngt lu gi a ch ngt ca cc chng trnh
con phc v ngt .Trong trng hp nhiu ngt c kch hot th chng trnh
chng trnh phc v ngt phi c s dng cho tt c cc yu cu ngt .Tng
k thut lp trnh c th s dng phn mm xc nh cc ngun ngt ny .Tuy
nhin phng php ny s tn nhiu thi gian v khng ph hp vi cc ng
dng thi gian thc .

Hnh 2.27 Cc ngun ngt
gii quyt vn ny ngi lp trnh c th s dng b m rng ngt
ngoi vi PIE (Peripheral Interrupt Expansion) .B m rng ngt ngoi vi m
rng a ch vc t ngt rng hn ,t mi nhm 32 bit cho mt trong s 96
ngun ngt .Tc phn ng ngt khi c s tr gip ca b phn ny l nhanh
hn khi khng c n . s dng PIE ngi lp trnh phi thay i bn b
nh (re-map) v tr bng vc t ngt n a ch 0x00D00 .N nm trong vng
b nh ng .Trc khi s dng b nh ny th cn phi khi to n .
d)Cc thanh ghi lm vic vi ngt che c

47

Hnh 2.28 Thanh ghi c ngt

Hnh 2.29 Thanh ghi cho php ngt

Hnh 2.30 Thanh ghi cho php ngt ton cc
e)M rng ngt ngoi vi
Tt c 96 ngun ngt c nhm vo 12 PIE_Line ,8 ngun trn 1 line
. enable ,disable tng ngun ngt ring l cn phi lp trnh cho nhm thanh
ghi PIEIFRx v PIEIRx.

48


Hnh 2.31 M rng ngt ngoi vi
Tt c cc ngun ngt c kt ni vi cc line theo bng sau

Hnh 2.32 Bng phn b ngt
V tr ti bng vc t ngt lc thit lp li l

49

Hnh 2.33 Vc t ngt lc thit lp li
PIE thay i bn b nh nh th ny

Hnh 2.34 Bn vc t PIE sau khi thit lp li
Nh thy trn hnh ,vng a ch 0x000D40 n 0x000DFF c s
dng nh l mt vng m rng .By gi c 32 bit cho mi vc t ngt
PIEINT1.1 n PIEI12.8.
f)C28xCPU timer
C28x c ba b timer 32 bt , s khi ca b timer hnh pha di

50

Hnh 2.35 S khi ca b timer
Ngun xung clock cho b timer l ngun xung clock bn trong
SYSCLKOUT .N l 150MHZ nu s dng tn s dao ng bn ngoi l
30MHZ v s dng h s nhn PLL l 10/2 .Khi mt timer c cho php
(TCR-Bit4) xung clock i vo b m xung 16 bt (prescaler PSCH:PSC) .Khi
trn di n to ra mt tn hiu cho b m 32 bt (TIMH:TIM) .Mt ngt c th
c yu cu khi timer m trn.
Thanh ghi chia 16 bt (divide down register) THDDRH:TDDR) c s
dng np li cho thanh ghi prescaler .Mi ln prescaler m trn di gi tr
t thanh ghi divide down c np vo prescaler .Tng t nh vy thanh ghi
32bit period PRDH:PRD c s dng np li cho b m 32 bt .
Timer 1 v timer 2 th thng xuyn dc s dng bi Texas Intruments
cho h iu hnh thi gian thc DSP BIOS trong khi timer 0 ch s dng cho
mc ch chung .iu ny khng ch gi cho timer 1 v timer 2 s dng cng
vi DSP/BIOS m cn gip chng ta hiu hn v b PIE bi v timer 0 l b
m thi gian duy nht ca CPU m i qua PIE.
2.1.5 Modul qun l s kin (EV )
a)Gii thiu
Modul qun l s kin (Event manager EV) l modul phn cng mnh m nht
ca C281X mi thnh phn ca modul EV thc hin cc cng vic khc nhau
theo thi gian .Hot ng ca modul ny cn c trn s hot ng ca 4 b nh

51
thi timer1 n timer 4 .cc b nh thi ny hon ton c lp vi b nh thi
h thng timer 0 timer 1 v timer 2 .
B nh thi ca modul qun l s kin EV l b nh thi 16 bt trong
khi timer h thng l 32 bt .S khc bit quan trng nht gia timer ca b qun
l s kin v timer h thng l u vo v u ra.Mt EV c th to ra cc tn
hiu t mt s kin thi gian ni b .N c s dng to ra cc tn hiu
xung theo thi gian .Vi s gip ca cc mch logic bn trong modul EV
ngi lp trnh c th thay i tn s v rng xung ca tn hiu u ra .Khi
thm vo mt chng trnh iu khin c th thay i rng xung theo thi
gian th c gi l iu bin rng xung .PWM c s dng cho 2 mc ch
iu khin s ng c iu chnh in p.
Modul qun l s kin ca C281x cn rt mnh m trong vic thc hin
cc php o thi gian da trn tn hiu phn cng .Vi 6 chn CAP u vo
chuyn dng m xung encoder ,h tr m c cnh ln v cnh xung ca
xung encoder.
b)S khi modul EV
Mi b phn trong modul qun l s kin c iu khin bng mt khi
logic ring .Cc khi logic ny c th yu cu mt dch v ngt ring t
C28xPIE h tr cho cc ch hot ng ca n .Hai tn hiu u vo bn
ngoi l TCLKINA v TDIRA l tn hiu iu khin ty chn v c s
dng trong mt s ch hot ng c th .Mt tnh nng c o na ca b
qun l s kin na l kh nng kch hot chuyn i tng t s ADC t mt
s kin ni b .a s cc b vi x l khc thng phi yu cu mt ngt thc
hin cng vic ny ,C28x thc hin iu ny mt cch t ng.

52

Hnh 2.36 S khi modul qun l s kin
Cc GPtimer 1 v 2 l hai b nh thi 16 bit cng vi cc chn tn hiu
u ra l T1PWM,T1CMP v T2PWM,T2CMP .Ngi lp trnh c th s dng
b nh thi ny cho cc mc ch ni b .
B so snh ( compare ) t 1n 3 s dng to ra 6 tn hiu PWM s dng
thi gian c s ca GPtimer 1 .Mt s lng ln cc ng dng i hi 6 tn hiu
iu khin chnh xc v d iu khin ng c khng ng b 3 pha ,hoc cc h
thng chuyn i tn hiu 3 pha .
Ba b bt gi s kin (Capture ) CAP1,2 v 3 c s dng o tc
v thi gian gia cc s kin .Mch logic QEP c thit k chuyn dng cho
vic m xung encoder vi 3 ng tn hiu A B v Z .Trong A,B c ni
vi QEP1 v QEP2 cn Z c ni vi QEPI1 ca C28x.Vic ny c ngha rt
ln trong vic xc nh tc v v tr thng qua vic c tn hiu xung encoder
mt cch chnh xc .
c)B nh thi mc ch chung
Trung tm ca b nh thi mc ch chung l khi so snh .Khi ny lin
tc so snh gi tr ca mt thanh ghi 16 bt (TXCNT) vi cc thanh ghi khc :
Compare (TXCMPR) v period (TXPR) .Nu c mach ( bng nhau ) gia b
m v b so snh th xut hin mt tn hiu logic u ra iu khin mt chc
nng pha ngoi l (TxPWM ) .

53

Hnh 2.37 S khi b nh thi mc ch chung
Ngun xung clock ca b m c th la chn t pha ngoi (TCLK IN)
hay xung t cc chn QEP.Bt 5 v 4 ca thanh ghi TXCON s iu khin b
dn knh trong trng hp la chn xung clock bn trong bt ngun t b high-
speed clock prescaler (HSPCLK) .Khi tnh ton thi gian cn phi tnh n thit
lp ca thanh ghi HISPCP iu chnh chu k thi gian ca mt timer mc
ch chung .C th s dng b prescaler b xung (TPS,TXCON2-0) rng t
0 n 128 ,chiu m ph thuc vo ch hot ng la chn.
2.2 BOARD EZDSP F2812
2.2.1 Cu to
The eZdspTM F2812 has the following features: [5]
TMS320F2812 Digital Signal Processor
150 MIPS operating speed
18K words on-chip RAM
128K words on-chip Flash memory
64K words off-chip SRAM memory
30 MHz. Clock
2 Expansion Connectors (analog, I/O)
Onboard IEEE 1149.1 JTAG Controller
5-volt only operation with supplied AC adapter
TI F28xx Code Composer Studio tools driver

54
On board IEEE 1149.1 JTAG emulation connector

Hnh 2.38 S khi board EZDSPF2812
Hnh dng bn ngoi ca board mch vi vi nhng ch thch tng ng
vi cc thnh phn ca mch

Hnh 2.39 Board EZDSPF2812
kt ni ca board mch vi PC thng qua b JTAG c sn (kt ni qua
cng song song):

Hnh 2.40 Kt ni board EZDSPF2812 vi my tnh

55
C th nhn thy rng board mch eZdspF2812 ch cha phn nhn tc
l phn x l, b nh ngoi, v kt ni JTAG qua cng my in m cha c cc
thnh phn khc. Tuy nhin cc IO EXPANTION t P1 P9 cng vi cc giao
thc nh SPI, SCI, I2C, CAN, McBSP v cc GPIO chng ta c th m rng
giao tip vi nhiu thit b khc nhau.thng qua cc cng m rng.
2.2.2 Thit lp ch hot ng ca board mch vi cc Jumper
Bn cnh cc Expantion kt ni thm cc ngoi vi khc, trn board
eZdspF2812 c mt s jumper ngi dng c th thit lp cc ch hot
ng thch hp cho DSP [5].

Hnh 2.41 Cc Jumper trn board
Ngoi tr JP4 v JP5, tt c cc Jumper cn li phi c kt ni hoc
v tr 1 2 hoc 2 3 . V tr ca cc Jumper trn board mch nh hnh v bn
di:

Hnh 2.42 V tr cc jumper


56
a) JP4, JP5
Mc ch ca cc Jumper P4, P5 ny l cung cp ngun +3.3V/5V ra
cc cng m rng P8-P4 bv P2 tng ng. Tuy nhin nh sn xut cha gn
Jumper ny vo, nu ngi s dng mun a ngun ra ngoi s dng th cn
phi hn jumper ny vo. Cn phi xem xt kh nng cung cp cng sut ca
ngun n p trong mch eZdspF2812 vi yu cu ca ti bn ngoi. chng ta
khng nn s dng nhng ngun ny m nn cung cp ngun ring khi m rng
giao tip bn ngoi. Phi ch l khi giao tip vi cc port ca DSP
TMS320C2000, th mc in p khng c vt ra khi tm 0-3.3V. Tuyt i
khng cung cp ngun 5V trc tip vo cc pin ca DSP.
b) JP1
La chn ch hot ng cho DSP

Hnh 2.43 Thit lp ch hot ng cho DSP
t Jumper v tr 2 3 chn ch Microcomputer.
c)JP7, JP8, JP11, JP12: la chn ch Boot
Cc Jumper JP7, 8,11 & 12 c dng xc nh ch m DSP s khi ng
sau khi cung cp ngun. c tn hiu High, t jumper v tr 1 2, cn
trng thi Low s t c khi t jumper v tr 2 3.

Hnh 2.44 La chn ch boot

57
Thng thng ta t ch boot trng thi FLASH hoc H0:
ch FLASH, chng trnh c np vo b nh Flash ( dng F) hoc
Rom ( dng C), chng ta ch nn t boot ch Flash khi chng trnh
hon thin hoc mun cho h thng chy ch Stand Alone. ch H0,
chng trnh c vo b nh RAM ni hoc ngoi ca board mch eZd-
spF2812, ch ny thch hp cho vic pht trin chng trnh. Tuy nhin khi
khi ng ln,chng trnh phi c np t host (tc l PC) v b nh RAM
khng lu gi c d liu khi ngun mt i. u im ca ch boot t H0 l
h thng hot ng tc cao nht (khong 150MHZ), so vi ch Flash
(khong 120 130MHZ). Vn chn ch boot kh quan trng, nn s c
cp n trong cc phn sau na.
d) JP9, PLL disable
JP9 cho php / khng cho php mc logic PLL trong DSP.

Hnh 2.45 Thit lp PLL
Nu ch PLL khng c chn, DSP s hot ng vi tn s bng tn
s thch anh bn ngoi, l 30Mhz. Trng hp ch PLL c chn, tn s
DSP hot ng ph thuc vo ci t PLL chng trnh, nhng khng c
vt qu 150Mhz. Theo mc nh, chng ta s chn ch cho php PLL. Nh
vy trc khi thc hin chng trnh trn board mch, chng ta phi ch n
vic thit lp Jumper trc tin. Vic thit lp jumper sai c th dn n chng
trnh chy khng ng mc ch.\


58
2.3 CC MI TRNG PHN MM H TR PHT TRIN DSP
C2000
2.3.1 S dng trnh bin dch CCS
CCS Code Composer Studio l mi trng son tho IDE ca Texas
Instrument cho cc th h DSP cng nh MCU ca TI, bao gm vic son tho
m lnh, dch, lin kt v debug chng trnh.u im rt ln ca CCS l kh
nng kt ni vi phn cng, debug online, v th thi gian thc . . .CCS l s
gip cho qu trnh pht trin gii thut ci thin ng k v thi gian. Tuy nhin
CCS kt ni c vi phn cng khc nhau th cn phi thip lp kt ni
CCS vi phn cng [5,7].
Vic lm quen vi CCS s gip cho chng ta tit kim c nhiu thi
gian hn khi pht trin cc project trn mi trng ny. Mi trng lm vic ca
CCS c tm gn nh sau:

Hnh 2.46 Mi trng son tho Code Composer Studio
- Source: C v Assembly.
- Libraries
- DSP/BIOS config., dng to nhn iu hnh cho chng
- Linker command file: F2812_EzDSP_RAM_lnk.cmd v
DSP281x_Headers_BIOS.cmd, hai file ny dng cu hnh cho vic phn chia

59
b nh v dch m ngun. np chng trnh vo DSP v cho chy chng
trnh ny, chng ta lm nh sau:
- Kt ni CCS vi phn cng: > Debug > connect. Ta s thy c mt ca
s bong bng hin ra bo l kt ni c vi phn cng.
- Dch chng trnh: Project > Build (F7). Nu khng c li no, mc
Status Window s bo l khng c li bin dch chng trnh.
- Np chng trnh vo phn cng: > File> Load Program, chn th mc
Debug, ri chn file np vo DSP
- Chy chng trnh: > Debug > Run
Debug chng trnh
Debug l cng vic thng xuyn khi vit chng trnh, v vy tm hiu
mi trng debug ca CCS l cn thit. CCS cung cp mt h thng cc cng c
gip cho cng vic debug din ra thun li.
Khi Debug vi CCS ngi lp trnh c th thm vo cc Break Point
,quan st s thay i ca mt bin hay debug tng bc kim tra tng on
chng trnh.
2.3.2 S dng mi trng lp trnh ha ViSsim
a) gii thiu
VisSim/Embedded Controls Developer l mt trong nhng cng c b
cng c hu ch ca VisSim ging nh embedded ide ca matlab .L mi trng
phn mm pht trin tch hp ,VisSim cho php xy xng mt cch nhanh
chng b iu khin nhng trn h DSPC2000 ca Texas Instruments [13] .
VisSim/Embedded Controls Developer bao gm
VisSim PE: Mi trng xy dng cc khi chng trnh v m phng
VisSim/Fixed Point: Cc khi x l s hc du phy tnh v m phng
cc php ton du phy tnh
TI C2000 Digital Motor Control (DMC) Block Set : Cc khi th vin h
tr iu khin ng c .
Lin kt visSim-Code Composer Studio (CCS)

60
T ng to m lnh TI C2000 DSP target v CCS
H tr TI C2000 CAN Bus
H tr Serial LCD
b) Cc bc xy dng h thng
Bc u tin trong qu trnh xy dng b iu khin trn DSPC2000 l
xy dng m hnh ton .T cc m hnh ton c sn ngi lp trnh s dng cc
khi c sn trong th vin s dng v kt ni cc khi theo mt cu trc xc
nh nh hnh pha di .

Hnh 2.47 M hnh trn VisSim
Tip theo l tin hnh m phng .Ngi lp trnh s dng cc khi i
din cho b iu khin hay b lc to ra m lnh bin dch v lin kt np
xung DSP .Sau c th d dng so snh kt qu m phng v thc nghim
chng t rng n l ging nhau .


61

Hnh 2.48 Mi trng lp trnh ha ViSsim
Cc giao din ha GUI cho php gi li cc thut thon thc hin trn
DSp gip phn tch cc c tnh thc ca i tng . Cc m ANSI C c th
c to ra trc tip cng vi Composer Studio cho php m lnh to ra tch
hp vi cc m khc c pht trin ngi s dng.
TI C2000 Digital Motor Control (DMC) Block Set l khi th vin iu
khin s ng c bao gm cc m C tng tng ( ch s dng m phng ) v
phin bn C-callable (s dng m phng DSP-in-the-loop) . Cc th vin TI
C2000DMC bao gm cc khi DMC nh iu chnh PI, PWM , iu ch khng
gian Vector ..

Hnh 2.49 Hp thoi thit lp tham s b PID ViSsim
Nh vy v c bn VisSim ging nh matlab trong qu trnh xy dng
bin dch v np chng trnh xung DSP .VisSim rt mnh v vic thu thp d
liu t DSP ,thun li trong vic phn tch c tnh h thng trong khi cng vic
ny kh khn hn vi phn mm embedded ide link target C2000 ca

62
matlab.Tuy nhin cc khi th vin ca VisSim cn hn ch trong khi y l
im mnh ca matlab.
2.3.2 Matlab v gi phn mm h tr lp trnh cho DSP TIC2000
Matlab l mt b chng trnh phn mm ln ca lnh vc tnh ton s
.Tn b chng trnh chnh l t vit tt MATrix LABoratory th hin hng
chnh ca chng trnh l cc php tnh vc t , ma trn.Matlab c ng dng
rng ri trong kha hc k thut nh kh nng x l ton hc rt mnh ca n v
mt s lng th vin toolbox ln s dng m phng hay iu khin trc tip
t matlab [3] .
Mt tin ch ca phn mm matlab c s dng rt ph bin trn th gii
hin nay l lp trnh nhng v thu thp d liu t cc h nhng .Matlab h tr
cc gi cng c cho tng loi vi x l nhng v h tr rt mnh cho vi x l tn
hiu s ca Texas Intrument bao gm cc h vi x l C2000,C5000 v C6000.
Vic lp trnh t matlab c thc hin theo hnh sau [15] :

Hnh 2.50 Phng thc lin kt matlab v TIC2000
Cc bc s dng matlab lp trnh cho DSPTIC2000
- Xy dng chng trnh trn simulink
- M phng
Ch : trong mt s trng hp c th chy c m hnh khi m phng nhng
n khng chy ng trong cc m lnh c to ra khi np xung vi x l .Do

63
cn c kin thc nht nh v tng h vi x l trc khi s dng matlab
xy dng h thng trn nn tng cc vi x l ny.
- To m lnh (C/ASM)
- Np chng trnh cho C2000 thng qua chng trnh Code Composer
Studio
- Chy chng trnh v debug
2.4 S DNG MATLAB TO M LNH V THU THP D LIU
T DSP TMS320F2812
2.4.1 S dng th vin tic200lib
a)Gii thiu
Phn ny s dng v d gii thch cch to ra mt m hnh simulink s
dng gi phn mm h tr cho board.V d ny to ra mt m hnh thc hin
iu khin h s duty PWM bng cch iu khin rng xung .in p tng
t c ly bn ngoi thng qua b bin i ADC lm tn hiu iu khin .M
hnh ny cng c cung cp trong th vin demo ca matlab .
b) Cc bc s dng matlab simulink cho DSP C2000
Khi ng th vin c2000lib
T du nhc g lnh
>> C2000lib
m C2000lib ,bao gm cc khi th vin c xy dng cho board
ca bn

Hnh 2.48 Th vin TIC2000

64
Khi qut chung v cc khi trong th vin c2000lib [14]
- C2000 RTDX Intrumentation ( rtdx blocks ) khi ny thm knh truyn
thng RTDX vo m hnh simulink .
- C2000 Target Preferences (c2000tgtpreflib) Cc khi ny xc nh
Target Preferences v cc ty chn.Chng ta khng kt ni khi ny vi
bt k khi no khc .
- Host SCI Blocks (c2000scilib) Khi ny thit lp cu hnh cho truyn
thng CAN.
- Host SCI Blocks (c2000scilib) Khi ny thit lp giao din truyn thng
pha host-side truyn v nhn d liu qua cng ni tip.
H tr cc Chip [14]
C280x (c280xlib) Blocks to configure the F2808 eZdsp DSK or on
C280x-based custom boards
C281x (c281xlib) Blocks to configure the F2812 eZdsp DSK or on
C281x-based custom boards
C28x3x (c2833xlib) Blocks to configure the F2833 eZdsp DSK or on
C28x3x-based custom boards
C2802x (c2802xlib) Blocks to configure the C2802x eZdsp DSK or
on C2802x-based custom boards
C2803x (c2803xlib) Blocks to configure the C2803x eZdsp DSK or
on C2803x-based custom boards
Custom C2000 (c2000xlib) Blocks to configure C2000-based custom
boards
Cc th vin ti u ha
Cc th vin ti u ha c2000optimizedblks bao gm
- C28x IQ math library (tiiqmathlib) bao gm cc khi ton hc du phy
tnh cho C28x Target.
- 28x DMC Library (c28xdmclib) Bao gm cc khi ton hc du phy
tnh phc v cho iu khin s ng c cng vi C28x DSP.
Ci t tham s m hnh

65
Nhim v s b cho vic thit lp mt m hnh mi bao gm thm mt
khi Target Preferences v thit lp cc tham s m phng .
1.Trong th vin C2000lib chn File>New>Model to mt m hnh
simulink.
2.Trong ca s Library c2000lib double-click vo khi C2000 Target
Preferences.
3. T ca s Target Preferences ko khi F2812 EZDSP vo m hnh.

4. Chn YES cho php t ng ci t .Cc ci t trong bng di
y s c to ra trong hp thoi Simulation > Configuration Parameters


Ch : thc hin mt stop-time trong cc m lnh c to ra bn phi t
mt khi Stop trong m hnh.
- Mt khi Target Preferences phi c trong mi mt m hnh .N khng
kt ni vi bt k khi no khc m ng mt mnh c tc dng thit lp
cc tham s m hnh (thit lp cc thng s phn cng )
5.T menu chnh ca m hnh bn chn Simulation > Configuration
Parameters xc nhn v thit lp cc tham s m phng cho m hnh ny.Cc
tham s bn thit lp trong hp thoi ny thuc v m hnh m chng ta ang
xy dng chng c lu cng vi m hnh v c lu tr trong tp tin m
hnh.


66
6.S dng bng Real-Time Workshop cho m hnh Real-Time

Hnh2.51 Hp thoi Configuration Parameters
7. S dng nt Browse tm v chn mt tp tin cu hnh Target ,
ccslink_grt.tlc hoc ccslink_ert.tlc .Khi bn lm iu ny phn mm Real-Time
Workshop la chn cc tp tin h thng Target ph hp v to ra cc iu khin
.
8. Thit lp cu hnh cc tham s nhn t hp phm Ctrl + E v iu chnh
cc tham s ny ( xem li phn thit lp tham s m hnh v phn gii thiu v
vic to ra mt m hnh chy trn Target).
Thm cc khi vo m hnh
1. Open hay double-click vo C281x library, c281xlib.

67

Hnh 2.52 Cc khi ngoi vi trong th vin TIC2000lib
2. Ko khi C281x ADC vo m hnh . Double-click vo khi ADC v
ci t thi gian ly mu l 64/80000 .S dng gi tr mc nh cho tt c
thng s khc .
Ko khi C281x PWM vo m hnh Double-click vo khi PWM ci
t cc thng s nh bng pha di .

Hnh 2.53 Thit lp tham s PWM



68
3. Nhp lnh >>simulink t Matlab m simulink .Trong th vin
Math ca simulink ko khi Gain vo m hnh v thit lp cc thng s nh sau.

4. Kt ni khi ADC vi Gain v n PWM nh hnh pha di .

Hnh 2.54 V d thay i ng rng xung PWM bng u vo ADC
To ra m lnh t m hnh
Phn ny gii thiu tm tt lm th no to ra m lnh t cc m hnh
real-time.
Chng ta bt u qu trnh to m lnh t ng t ca s m hnh
simulink bng cch nhp vo ca s Generate code trong bng Real-Time
Workshop ca hp thoi Configuration Parameters .Mt cch khc l click vo
nt Incremental Build trn thanh cng c ca m hnh .Hay l s dng phm tt
Ctrl + B khi m hnh ang c m.
Ch : Sau khi bin dch xong , trong CCS chng ta s thy project cng
vi cc tp tin .
2.4.2 Cc khi th vin
1.Absolute iqn
khi ny tnh ton gi tr tuyt i cu u vo IQ .Du ra cng l mt s
IQ

69

2. Arctangent IQN
khi arctangent tnh ton arctang ca s IQ u vo v u ra l mt s IQ
.

- arctan2 : tnh arctang ca 4 gc phn t u ra l radians gi tr t -
n .
- arctan2pu : tnh arctang trn mi n v .Nu arctan2(B,A) >=0
,arctan2pu(B,A) = atan2(B,A)/2* .Nu khng arctan2pu(B,A) =
arctan2pu(B,A)=arctan2(B,A)/(2* +1).u ra nm trong m n v Radian vi
gi tr t 0 n 2* rad [14].
ch : th t u vo cho khi arctangent IQN tng ng vi quy c ca
texas Intrument vi A trn v B di [14] .
3. GPIO Digital input
Khi ny thit lp cc chn vo ra mc ch chung I/O(GPIO).Thanh ghi
iu khin chia s cc chn vo ra s .Mi cng I/O c mt thanh ghi MUX
c dng chn hot ng cc ngoi vi hoc u vo ra s .

4. C281x GPIO digital output

Khi ny thit lp cc chn vo ra mc ch chung I/O(GPIO).Thanh ghi
iu khin chia s cc chn vo ra s .Mi cng I/O c mt thanh ghi MUX
c dng chn hot ng cc ngoi vi hoc u vo ra s .

70
5.Watch dog
Khi ny thit lp b m cho modul watchdog reset DSP .

Hp thoi

Hnh 2.55 Hp thoi b Watch dog
Watchdog couter reset source
- INPUT : To ra mt cng u vo trn khi watchdog.u vo tn hiu
reset b m.
- Sperify viadialog : S dng gi tr ca thi gian ly mu reset timer .
- Sample time ( thi gian ly mu ) :Sau mi khong thi gian b
watchdog timer c reset .
6. B Chuyn i tn hiu tng t sang tn hiu s - ADC

Thit lp khi ADC ca C281x .ADC ca C281x thc hin chuyn i tng t
sang s ca cc tn hiu kt ni vi cc chn ADC u vo c chn .Gi tr
u ra cc khi ADC c lu tr trong cc thanh ghi .
S kch hot :
Cc ch kch hot ADC ph thuc vo cc thit lp bn trong single
source start of conversion (SOC) .Trong ch khng ng b cc ADC thng

71
c kch hot bng phn mm ti mi khong thi gian ly mu quy nh ti
cc khi ADC .
Trong ch ng b cc b qun l s kin (EV) c lin kt vi ADC
v kch hot ADC .Trong trng hp ny ADC c ng b vi cc b iu
bin rng xung PWM.ADC start conversion c t t khi PWM .
Ch : ADC khng th ng b cng vi PWM nu ADC hot ng
ch cascaded .
u ra ca C281x ADC l mt vc t kiu Unit16.Gi tr u vo trong
khong t 0 n 4095 bi v ADC l 12bit .
7.CAP - Bt gi s kin

Thit lp tham s ca b CAP ca modul qun l s kin (EV) .B capture s
chuyn gi tr ca b nh thi vo ngn xp FIFO khi c sn ln ,sn xung
hoc c sn ln v sn xung.
C281x c 6 b capture 3 b c ghp vo 1 modul EV .Capture 1,2, 3
l EVA v 4,5,6 thuc EVB .Mi capture tng ng vi mt chn capture u
vo .
Mi nhm modul capture c th s dng mt trong hai b nh thi mc
ch chung .EVA l timer1 hoc timer2 v EVB l timer3 hoc timer4 .Khi cos
s kin xy ra trn cc chn capture u vo th module ny lu tr gi tr hin
ti ca b nh thi vo hai ngn xp FIFO .
Ch :Chng ta c th c 2 khi CAP trong m hnh ca bn .Mi khi cho mt
modul EV .
u ra (Output ) : mi khi c hai u ra .Mt u ra cnt ( count ) v mt
ty chn l u ra c trng thi FIFO .Cc gi tr c trng thi u ra l :
- 0 FIFO rng : Khng c capture xy ra hay gi tr lu tr tc
- 1 FIFO c mt entry thanh ghi trn cng ca ngn xp
- 2 FIFO c 2 entry trong ngn xp

72
- 3 C 2 entry trong ngn xp v mt hay nhiu gi tr capture b b
qua .iu ny xy ra v mt capture xy ra trc khi ngn xp FIFO
c c .Cc gi tr mi c t thanh ghi pha di .Gi tr ca
thanh ghi pha di b y ln trn v gi tr trn u b y ra khi
ngn xp .
8.PWM - iu bin rng xung

DSP F2812 bao gm mt b iu bin rng xung PWM c s dng
to ra cc tn hiu khc nhau .Khi ny cung cp cc ty chn thit lp b
qun l s kin A hoc B to ra dng sng theo yu cu .12 PWM c cu
thnh vi 6 cp ,3 cp trong mi modul .Cc modul PWM ca C281x chia s Gp
timer vi cc khi khc .
Ch : Tt c cc u vo khi PWM phi l gi tr v hng .
9.C281x TIMER
Thit lp b nh thi mc ch chung ( general purpose timer GPtimer
) trong modul qun l s kin .

C281x gm 2 modul qun l s kin .Mi modul c cha 2 b nh thi
mc ch chung GPtimer >bn c th s dng nhng b timer lm cn c thi
gian c lp cho cc ng dng khc nhau .S dng khi timer C281x thit lp
chu k ca cc timer .Mi m hnh c th c 4 khi timer .
Cc modul C281x timer thit lp GPtimer cho cc khi khc chia s
10.QEP B m ha xung encoder


73
Mi b qun l s kin trn F2812 c 3 n v capture ,modul A l 1,2,3
v modul B l 4,5,6 .Cc b m ha xung encoder ( QEP ) Gii m v m cc
xung encoder u vo ca cc chn capture .Xung QEP l 2 chui xung tn s
thay i v lch nhau mt gc 90
0
( hay laf chu k ) .Mch m c hai cnh
ln v xung ca xung QEP v vy tn s clock QEP l 4 ln tn s ca mi
knh u vo.
QEP kt hp vi cc encoder quang rt hu ch o tc v thng tin
nh v a quay .Mch logic trong QEP xc nh chiu quay cn c trn 2 tn
hiu xung encoder .Nu QEP1 nhn tn hiu trc (QEP1 sequence leads ) th
cc b nh thi mc ch chung m ln v nu QEP2 nhn tn hiu trc
(QEP2 sequence leads ) th b nh thi m xung .S xung m v tn s xc
nh v tr v tc .
11.Software interrupt trigger
kch hot cc ngt khng che c t phn mm.

Khi thm khi ny vo m hnh ,khi ny kim tra gi tr u vo .Khi gi
tr u vo ln hn gi tr trong phn mm th kch hot ngt phn mm ,khi
ny tc ng n cc khi ngt phn cng trong m hnh .
s dng khi ny ,thm khi ngt phn cng vo m hnh qu trnh
kch hot ngt phn mm t khi ny i n dch v phc v ngt trn vi x l
.t s hiu ca ngt vo mt khi ngt phn cng(HardwareInterrup) gi tr
t ny vo trong CPU interrupt number .
Cc ngt CPU v s hiu ngt PIE cng xc nh mt ngt duy nht cho
mt modul ngoi vi hay mt ngoi vi.
12.Clarke transformation
Chuyn i h ta ba pha cn bng sang hai pha vung gc

74

Khi ny chuyn i ba pha cn bng sang hai pha vung gc .Vic chuyn i
c thc hin theo phng trnh sau [14]

(2.3)

V c minh ha trong hnh sau [14]

Hnh 2.56 chuyn i h ta ba pha cn bng (abc) sang
hai pha vung gc (dq)
u vo ca khi l pha a (As) v pha b (Bs) l thnh phn ca ba pha
cn bng v u ra l hng trc quay (direct axis ) (Alpha) , trc vung
gc(quadrature axis) (Beta ) ca tn hiu chuyn i .
u ra c nh ngha bi cc php ton di y v c minh ha
bng hnh v [14]

(2.4)

75



Hnh 2.57 Vc t dng trong h ta abc v dq
13.Inverse park transformation
Chuyn i h quy chiu vc t quay sang h quy chiu hai pha c nh

Khi ny chuyn i vc t trong mt h quy chiu quay sang h quy chiu hai
pha c nh .Vic chuyn i c thc hin theo cng thc sau [14]

V hnh v

Hnh 2.58 Chuyn i vc t dng stato t h ta quay DQ
sang h ta c nh dq

76
u vo ca khi l hng trc quay (direct axis) Ds v trc vung gc (
quadrature axis) Qs .Thnh phn ca tn hiu chuyn i trong khung quay v
gc pha (Angle) gia khung quay v khung c nh.
u ra l direct axis ( alpha ) v quadrature axis ( Beta ) .Thnh phn ca
tn hiu chuyn i (transformed signal).
14.Space vector generator
iu chnh h s duty to in p xc inh trn stato

Khi ny tnh ton h s duty thch hp to ra mt gi tr in p Stato
xc nh s dng k thut vc t khng gian PWM . rng xung vc t khng
gian l mt dy chuyn mch ca ba van pha cao ca mt bin tn ba pha
ngun p v c s dng trong cc ng dng nh cm ng ,ng c AC ,ng
c ng b nan chm vnh cu .Cc chuyn mch to ra dng sin gi trong
Stato .
u vo ca khi
Thnh phn Alpha vc t in p stato trong h quy chiu c nh (U
a
)
Thnh phn beta Vc t in p stato trong h quy chiu c nh (U
b
)
Hai thnh phn ny c to ra bi inverse clacke v projected into reference
phase voltages . in p u ra c iu chnh thng qua PWM1(T
a
)
,PWM3(T
b
) v PWM5 (T
c
).
15.Park Transformation
Chuyn i h thng vc t 2 pha c nh sang h vc t quay


77
Khi ny chuyn i vc t trong h hai pha c nh thnh khung vc t
quay .Vic chuyn i c thc hin theo phng trnh sau [14]

(2.6)
V trong hnh

Hnh 2.58 Chuyn i vc t dng stato t h ta c nh dq
sang h ta quay DQ
u vo khi l derect axis ( alpha) v quadrature axis ( beta ) thnh phn
ca tn hiu chuyn i v gc pha (angle ) gia khung c nh v khung quay
u ra l direct axis ( DS) v quadrature axis ( QS) thnh phn ca tn
hiu chuyn i khung quay (transformed signal in the rotating frame) .
16.PID controler B iu khin PID C2000
Mc ch : Thc hin b iu khin PID
Th vin : C281xDMC(C281xDMClib)
M t :

Khi ny thc hin mt b bin i PID s 32 bit cng vi anti-windup
correction .u vo l gi tr tham chiu (ref) hay gi tr t v tn hiu phn hi
(fbd) .Di y l s b PID cng vi anti-windup [14]

78

Hnh 2.59 S khi b PID

Cc phng trnh vi phn m t b iu khin PID trc khi bo ha:

(2.6)

y P
presat
l u ra ca b PID trc khi bo ha ,U
p
l thnh phn t l ,U
i
l
thnh phn tch phn v U
d
l thnh phn vi phn.
Thnh phn t l :

(2.6)

y K
p
l h s t l v e(t) l sai lch gia gi tr t v gi tr phn hi
Thnh phn tch phn
(2.6)

y K
c
l h s hiu chnh tch phn ca b PID
Thnh phn vi phn

79


(2.6)

y T
d
l hng s thi gian vi phn ca b PID .Trong min thi gian
gin on h s vi phn l K
d
= T
d
/T v h s tch phn l K
i
= T/T
i
,Khi T l
thi gian ly mu v T
i
l hng s thi gian tch phn ca b PID
S dng phng php xp x gn ng ,Phng trnh vi phn phng
trnh vi phn ny c th chuyn thnh cc phng trnh vi phn sau :

(2.6)

17.Speed measurement

Khi ny tnh ton tc ng c cn c trn v tr roto khi xc nh
c hng .u vo l gc in ( theta ) v hng quay (dir )t encoder .u
ra l tc c m ha t 0 1trong nh dng Q ,tn s ( Freq ) v tc
vng/pht.





80
CHNG 3. THC HIN B IU KHIN S S DNG
DSP TMS320F2812
3.1 M T H THNG IU KHIN
3.1.1 i tng iu khin
a) C bn v ng c in mt chiu
ng c in mt chiu hay cn gi l ng c in hot ng vi dng
in mt chiu hay cn gi l ng c DC .Nguyn tc hot ng ca ng c
in mt chiu
.

Hnh 3.1 Nguyn l hot ng ca ng c in mt chiu

Stator ca ng c in 1 chiu thng l 1 hay nhiu cp nam chm vnh
cu, hay nam chm in, rotor c cc cun dy qun v c ni vi ngun in
mt chiu, 1 phn quan trng khc ca ng c in 1 chiu l b phn chnh
lu, n c nhim v l i chiu dng in trong khi chuyn ng quay ca
rotor l lin tc. Thng thng b phn ny gm c mt b c gp v mt b
chi than tip xc vi c gp.
Nu trc ca mt ng c in mt chiu c ko bng 1 lc ngoi, ng c s
hot ng nh mt my pht in mt chiu, v to ra mt sc in ng cm
ng Electromotive force (EMF). Khi vn hnh bnh thng, rotor khi quay s
pht ra mt in p gi l sc phn in ng counter-EMF (CEMF) hoc sc

81
in ng i khng, v n i khng li in p bn ngoi t vo ng c. Sc
in ng ny tng t nh sc in ng pht ra khi ng c c s dng
nh mt my pht in (nh lc ta ni mt in tr ti vo u ra ca ng c,
v ko trc ng c bng mt ngu lc bn ngoi). Nh vy in p t trn
ng c bao gm 2 thnh phn: sc phn in ng, v in p ging to ra do
in tr ni ca cc cun dy phn ng. Dng in chy qua ng c c tnh
theo biu thc sau:[17]
I = (V
ngun
V
phn in

ng
) / R
ng

(3.1)
Cng sut c m ng c a ra c, c tnh bng:

P = I * (V
phn in

ng
)
(3.2)
C ch sinh lc quay ca ng c in mt chiu
Khi c mt dng in chy qua cun dy qun xung quanh mt li st
non, cnh pha bn cc dng s b tc ng bi mt lc hng ln, trong khi
cnh i din li b tc ng bng mt lc hng xung theo nguyn l bn tay
tri ca Fleming. Cc lc ny gy tc ng quay ln cun dy, v lm cho rotor
quay. lm cho r to quay lin tc v ng chiu, mt b c gp in s lm
chuyn mch dng in sau mi v tr ng vi 1/2 chu k. Ch c vn l khi
mt ca cun dy song song vi cc ng sc t trng. Ngha l lc quay ca
ng c bng 0 khi cun dy lch 90o so vi phng ban u ca n, khi R
to s quay theo qun tnh.
Trong cc my in mt chiu ln, ngi ta c nhiu cun dy ni ra
nhiu phin gp khc nhau trn c gp. Nh vy dng in v lc quay c
lin tc v hu nh khng b thay i theo cc v tr khc nhau ca R to.
Phng trnh c bn ca ng c 1 chiu : [17]

82

1. E=K.
2. V= E+R.I
3. M= K I

(3.3)

Vi:
- : T thng trn mi cc( Wb)
- I: dng in phn ng (A)
- V : in p phn ng (V)
- R: in tr phn ng ()
- : tc ng c(rad/s)
- M : moment ng c (Nm)
- K: hng s, ph thuc cu trc ng c
b ) ng c DC servo RH-14D 3002
i tng iu khin y l ng c ng c RH-14D 3002 ca hng
Harmonic .ng c ny thuc dng RH Mini series l ldng ng c c thit
k nh gn ,truyn ng chnh xc ,m men ln v c gn sn encoder .Cc
tham s c bn ca ng c c trnh by trong bng 3.1

Hnh 3.1 ng c RH-14D 3002 gn trn trc vt me
Kiu chy : Lin tc
Kch thch : Nam chm vnh cu
Cch in : lp B
in tr cch in : 100M
rung : 2.5g(5 ..400HZ)

83
Shock : 30g (11ms)
Bi trn : Du nhn (SK-2)
Nhit mi trng : 0 ~ 40
o
C
m mi trng : 20 ~ 80 % ( khng ngng t )
Bng 3.1 Thng s ng c [12]
Thng s n v ng c RH-14D 3002
Cng sut u ra ( sau hp s ) W 18.5
in p nh mc V 24
Dng in nh mc A 1.8
In-lb 52
M men nh mc T
N

Nm 5.9
In-lb 69
M men hm lin tc
Nm 7.8
Dng nh A 4.1
In-lb 174
M men cc i u ra T
m

Nm 20
Tc cc i rpm 50
In-lb/A 51
Hng s momen ( K
T
)
Nm/A 5.76
Hng s B.E.M.F ( nh hng ca
tc n s phn ng )(K
b
)
v/rpm 0.6
In-bl sec
2
0.72
M men qun tnh (J)
Kgm
2
x10
3
81.6
Hng s thi gian c kh msec 7.0
In-lb/rpm 11
dc c tnh c
Nm/rpm 1.2
In-lb/rpm 1.3
H s momen nht ( B
f
)
Nm/rpm 1.5.10
-1
T s truyn 1:R 100

84
lb 88
Ti trng hng tm
N 392
lb 88
Ti trng hng trc
N 392
Cng sut ng c W 30
Tc nh mc ng c rpm 3000
in tr phn ng 2.7
in cm phn ng mH 1.1
Dng khi ng A 0.43
Dng khng ti A 0.91

3.1.2 Thit b o lng
Trong thc t sn xut ,vic o tc thng l o tc quay ca my
.Trong trng hp chuyn ng thng thng xuyn chuyn vic o tc di
sang vic o tc quay ,do cm bin tc chim v tr u th trong lnh
vc o tc .
Cc my pht tc mt chiu v xoay chiu thc cht l cc my pht
in cng sut nh c sc in ng t l vi vn tc cn o c s dng rng
ri trong cc h truyn ng kinh in.
Trong trng hp ny ta nghin cu cm bin tc quang hc l cc
cm bin ng vai tr quan trng trong cc h thng cng nghip hin i .
o tc rto ta c th s dng c phng php sau y
- S dng my pht tc
- S dng b cm bin quang tc vi a m ha
- S dng my o gc tuyt i
- Xc nh tc gin tip qua php o dng in v in p stato m
khng cn dng b cm bin tc .
Do chnh xc thp ,li i hi km theo b chuyn i tng t s
s ha tn hiu o nn phng php s dng my pht tc ang dn c loi b

85
.Di y s trnh by chi tit v cm bin quang (encoder) v cch s dng
cm bin quang o tc quay ca ng c .
Cm bin quang tc vi a m ha hay cn gi l encoder l thit b
o lng dch chuyn thng hoc gc ng thi chuyn i v tr gc hoc v tr
thng thnh tn hiu nh phn v nh tn hiu ny c th xc nh c tc
quay ng c v tr trc hoc bn my. Tn hiu ra ca Encoder cho di dng
tn hiu s. Encoder c s dng lm phn t chuyn i tn hiu phn hi
trong cc my CNC v robot.
Trong my cng c iu khin s, chuyn ng ca bn my c dn
ng t mt ng c qua vit me ai c bi ti bn my. V tr ca bn my c
th xc nh c nh encoder lp trong cm truyn dn.
Phn loi
Theo dng chuyn ng ca Encoder m ngi ta chia n thnh hai kiu
c nguyn l hot ng hon ton ging nhau:
- Encoder thng: chiu di ca encoder thng phi bng tng chuyn
ng thng tng ng c ngha l chiu di cn o phi bng chiu di thc.
- Encoder quay: l mt a nh v kch thc encoder khng ph thuc
vo khong cch o. N c th o c c thng s dch chuyn v tc .
Encoder quay chia lm hai loi: encoder tuyt i v encoder tng i.(
absolute encoder v incremental encoder)
Encoder tng i


Hnh 3.2 a m ha v nguyn l hot ng encoder tng i

86
Encoder tng i thng c 3 knh (3 ng ra) bao gm knh A, knh B
v knh Z (Index). Trong hnh trnh by nguyn l ca mt encoder bao gm
mt l nh bn pha trong ca a quay v mt cp pht - thu dnh ring cho l
nh ny. l knh Z ca encoder. C mi ln ng c quay c mt vng, l
nh xut hin ti v tr ca cp pht-thu, hng ngoi t ngun pht s xuyn qua
l nh n cm bin quang, mt tn hiu xut hin trn cm bin. Nh th knh
Z xut hin mt xung mi vng quay ca ng c. Bn ngoi a quay c
chia thnh cc rnh nh v cc cp thu-pht khc dnh cho cc rnh ny. y l
knh A( hoc B) ca encoder, hot ng ca knh A cng tng t knh Z, im
khc nhau l trong 1 vng quay ca ng c, c N xung xut hin trn knh
A. N l s rnh trn a v c gi l phn gii (resolution) ca encoder.
Mi loi encoder c phn gii khc nhau, c khi trn mi a ch c vi rnh
nhng cng c trng hp n hng nghn rnh c chia. iu khin ng
c, bn phi bit phn gii ca encoder ang dng. phn gii nh hng
n chnh xc iu khin v c phng php iu khin. Knh A v B thng
thng c b tr lch nhau 90
0
.

Hnh 3.3 dng xung ca cc knh u ra
Ngoi cch b tr nh trn to ra 2 knh A v B lch nhau 90
0
ngi ta
cn c th s dng cc cp thu-pht A v B t lch nhau nh sau

87

Hnh 3.4 B tr cc cp thu pht
Thng thng cc encoder cn km theo kh nng x l sn xung tn
hiu v trn c s cho php thng s lng vch m trong mt vng a ln
4 ln .Chui xung A hoc B c a ti u vo ca khu m tin ,bit s
xung trong mt chu k ta s tnh c tc quay ca ng c.

0
60N
( ng/Pht)=
4N
n
n v
T

(3.4)


Trong : T
n
l chu k iu chnh tc , y l chu k m xung c tnh
bng giy.
N
0
l s xung trong mt vng cn gi l phn gii ca encoder
N l s xung m c trong thi gian T
n

Chiu quay ca ng c c xc nh thng qua tn hiu xung 2 knh A
v B .V d xung A xut hin trc th ng c quay thun v ngc li xung B
xut hin trc th ng c quay ngc.
i vi ng c DC servo RH14D-3002 c gn sn encoder tng i
1000 xung /vng .Vic kt ni vi DSp c thc hin theo hnh sau [11]

88

Hnh 3.5 Ghp ni encoder tng i vi TMS320F2812
DSP F2812 h tr mch m xung encoder chuyn dng h tr m c
sn ln v sn xung ca 2 knh A,B ca encoder v vy phn gii
encoder c tng ln 4 ln tc l 4000 xung m / vng .Ngoi ra cn c chn
pht hin xung Z xc nhn ng c quay ht mt vng .T cc xung m
ny ta c th xc nh chnh xc tc v v tr ng c .
Cc tham s c bn ca encoder ng c RH14D-3002
Bng 3.2 Thng s encoder [12]
Ghp ni u ra Line driver
VDC +5 5%
Ngun cung cp
mA 60max
in p u ra V
OL
,V
OH
V 0,5max - 2,5min
Tn s ln nht KHZ 125
phn gii P/rev 1000
Tn hiu ra , , , , , A B Z A B Z
M men qun tnh Kgm
2
3x10
-8
Dy dn mm
4 x 600L 0.12/7
Strand





89
RH-5A/8D/11D/14D Line Driver AL/BL
Brown A Signal
Blue A Signal
Red B Signal
Green B Signal
Yellow Z Signal
Orange Z Signal
White Power Supply
Black Common
Shield Floating

Encoder tuyt i (Absolute encoder)
Vi encoder tuyt i ta c th xc nh c chnh xc v tr
roto.Nguyn l c bn ca loi encoder ny da trn vic m ha cc s nh
phn . V d vi mt s nh phn c 2 ch s, chng ta s c 00, 01, 10, 11, tc
l 4 trng thi. iu c ngha l vi 2 ch s, chng ta c th chia a
encoder thnh 4 phn bng nhau. V khi quay, chng ta s xc nh c
chnh xc n 1/4 vng


Hnh 3.6 a m ha encoder tuyt i 2 rnh
Xt mt encoder nh hnh 3.6 gm c 2 rnh .Rnh trong cng l mt na vng
trn trong sut ,mt na m .Khi c rnh ny ta xc nh c v tr roto ang
na vng trn no .Trong trng hp ny ng vi bit c trng s ln nht

90
(MSB) .Rnh gia c chia thnh bn phn mu trong sut v m lin tip
nhau.c rnh ny ta xc nh c v tr rt ang vng trn no .Cc rnh
tip theo cho ta xc nh c v tr 1/8 , 1/16.ca vng trn .Rnh ngoi cng
cho ta chnh xc cui cng ng vi bit c trng s nh nht (LSB) .Hnh 3.7
l a m ha tuyt i gm 8 rnh .

Hnh 3.7 a m ha encoder tuyt i 8 rnh

3.1.3 Thit b iu khin
B iu khin c thc hin trn DSpF2812 cng vi board
EZDSPF2812 .Nh gii thiu trn board EZDSPF2812 v c bn l ch
cha phn nhn tc l phn x l, b nh ngoi, v kt ni JTAG qua cng
my in m cha c cc thnh phn khc. Tuy nhin cc IO EXPANTION t P1
P9 cng vi cc giao thc nh SPI, SCI, I2C, CAN, McBSP v cc GPIO
chng ta c th m rng giao tip vi nhiu thit b khc nhau.thng qua cc
cng m rng.S nguyn l board EZDSPF2812 trnh by ph lc 1
Nh vy cc cng vo ra s l chun t 0- 3,3v v u vo ADC l 0-3v
thc hin giao tip vi cc thit b ngoi vi bn ngoi theo chun 0- 5v cn c
mch chuyn i chun in p ngoi ra cn cc thit b ngoi vi c bn ,truyn
thng UART,CAN v DAC .Trn yu cu nh vy ta phi xy dng cng m
rng (EZDSPF2812 ADAPTER ) nh sau.





91























Hnh 3.8 EZDSPF2812 ADAPTER






CAN
2 DAC 0-5v 8 ADC 0-5v 32 digital input output 0-5v
(I/O,PWM,QEP,..)
5v
+5v
0v
-5v
loudspeaker 8 switches
COM1
COM2
IO EXPANTION
8 LED 2 buttons

92


a) 32 digital input output 0-5v
32 cng vo ra s c kt ni vi GPIOA v GPIOB ca F2812
P7
1
2
3
4
5
6
7
8
9
10
C1TRIPn
C2TRIPn
C3TRIPn
C4TRIPn
C5TRIPn
C6TRIPn
T2CTRIPn_EVASOCn
P8
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
40
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
35
37
39
SCIRXDA SCITXDA
SPISIMOA
CAP4_QEP3
SPICLKA
T1CTRIP_PDPINTAn
PWM8
PWM7
TDIRA
PWM11 PWM10
PWM9
SPISTEA
PWM12
PWM3
PWM2 PWM1
PWM5
PWM4
T1PWM_T1CMP
PWM6
T2PWM_T2CMP
CANRXA
CAP1_QEP1
TCLKINA
CANTXA
CAP2_QEP2 CAP3_QEPI1
P4
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
TDIRB
T4PWM_T4CMP
T3PWM_T3CMP
TCLKINB
SCITXDB
SCIRXDB
CAP5_QEP4
CAP6_QEPI2
3.3V
3.3V
J31
1
2
3
J32
1
2
3
U24
74LVC16T245
1DIR
1
1B1
2
1B2
3
GND
4
1B3
5
1B4
6
VCCB
7
1B5
8
1B6
9
GND
10
1B7
11
1B8
12
2B1
13
2B2
14
GND
15
2B3
16
2B4
17
VCCB
18
2B5
19
2B6
20
2B7
22
2B8
23
2DIR
24
GND
21
1A1
47
1A2
46
1A3
44
1A4
43
1A5
41
1A6
40
1A7
38
1A8
37
2A1
36
2A2
35
2A3
33
2A4
32
2A5
30
2A6
29
2A7
27
2A8
26
1OE
48
GND
45
VCCA
42
GND
39
GND
34
VCCA
31
GND
28
2OE
25
PWM8
PWM7
PWM12
PWM11
PWM10
PWM9
GPI OB0
TDI RA
T4PWM_T4CMP
T3PWM_T3CMP
C3TRIPn
GPI OB1
C2TRIPn
C1TRIPn
GPI OB4
TDI RB
GPI OB3
GPI OB2
GPI OB6
C5TRIPn
GPI OB5
C4TRIPn
GPI OA11
GPI OB7
C6TRIPn
GPI OA15
GPI OA14
GPI OA13
GPI OB13
GPI OB11
GPI OB15
GPI OB14
U23
74LVC16T245
1DIR
1
1B1
2
1B2
3
GND
4
1B3
5
1B4
6
VCCB
7
1B5
8
1B6
9
GND
10
1B7
11
1B8
12
2B1
13
2B2
14
GND
15
2B3
16
2B4
17
VCCB
18
2B5
19
2B6
20
2B7
22
2B8
23
2DIR
24
GND
21
1A1
47
1A2
46
1A3
44
1A4
43
1A5
41
1A6
40
1A7
38
1A8
37
2A1
36
2A2
35
2A3
33
2A4
32
2A5
30
2A6
29
2A7
27
2A8
26
1OE
48
GND
45
VCCA
42
GND
39
GND
34
VCCA
31
GND
28
2OE
25
5V
PWM1
PWM2
PWM3
J29
1
2
3
PWM4
J30
1
2
3
PWM5
PWM6
T1PWM_T1CMP
T2PWM_T2CMP
3.3V
CAP1_QEP1
GPIOA0
CAP2_QEP2
3.3V
CAP3_QEPI 1
GPIOA1
3.3V
TCLKINA
GPIOA2
GPIOA3
CAP4_QEP3
GPIOA4
CAP5_QEP4
GPIOA5
CAP6_QEPI 2
GPIOA6
TCLKINB
GPIOA7
GPIOA8
GPIOA9
GPIOA10
3.3V
GPIOA12
GPIOB8
GPIOB9
GPIOB10
GPIOB12
5V

GPIOA13
GPIOA14
GPIOA15
GPIOB0
GPIOB1
GPIOA0
GPIOB2
J33
HEADER 20X2
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
40
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
35
37
39
GPIOA1
GPIOB3
GPIOB4
GPIOA2
GPIOB5
GPIOA3
GPIOB6
GPIOA4
GPIOB7
GPIOA5
GPIOB8
GPIOA6
GPIOB9
GPIOA7
GPIOB10
GPIOA8
GPIOB11
GPIOA9
5v
GPIOB12
GPIOA10
GPIOB13
GPIOA11
GPIOB14
GPIOA12
GPIOB15

Hnh 3.9 Khi chuyn i 32 knh digital I/O 0-3v3 sang 0-5v
u ra s ca F2812 c mc logic 0- 3,3v chuyn sang mc logic 0-5v
ta s dng IC74LVC16T245 nh trn hnh . IC ny cho php giao tip theo 2
hng ph thuc vo mc logic trn chn 1DIR v 2DIR c thit lp bi cc
jumper .Nu thit lp jumper t J29 n J32 v tr 2-3 tc l la chn hng t

93
B sang A (u vo). y cc chn chc nng QEP c thit lp Jumper mc
nh v tr 2-3 ( u vo ) v cc chn PWM c thit lp jumper mc nh
v tr 1-2 (u ra) ,Ty vo mc ch s dng m thit lp cc jumper ny l u
vo hay u ra
b) 8 knh ADC 0-5v
8 knh ADC c kt ni vi 8 chn chuyn i ADC (ADCINA0-
ADCINA7) ca F2812 .

ADCINA0
AGND1
R406
18k
R407
30k
AD_IN1
AGND2
ADCINA1
R410
18k
R411
30k
AD_IN2
R412
18k
-5V
+5V
R413
30k
-
+
U26B
OPA4228 1
1
7
5
6
4
R409
18k
D24
DIODE SCHOTTKY
2
1
D25
DI ODE SCHOTTKY
2
1
+5V
-5V
ADCINA4
R426
18k
AGND5
R427
30k
AD_I N5
AGND6
ADCINA5
R428
18k
R429
30k
AD_IN6
R430
18k
-5V
+5V
R431
30k
-
+
U30B
OPA4228 1
1
7
5
6
4
R435
18k
+5V
-5V
R441
30k
-
+
U30A
OPA4228 1
1
1
3
2
4
D28
DIODE SCHOTTKY
2
1
D29
DIODE SCHOTTKY
2
1
R408
30k
-
+
U26A
OPA4228 1
1
1
3
2
4
ADCINA2
AGND3
R416
18k
R417
30k
AD_I N3
R418
18k
+5V
-5V
R419
30k
-
+
U26C
OPA4228 1
1
8
10
9
4
AGND4
ADCINA3
R420
18k
R421
30k
AD_IN4
R422
18k
-5V
+5V
R423
30k
-
+
U26D
OPA4228 1
1
14
12
13
4
D26
DI ODE SCHOTTKY
2
1
D27
DIODE SCHOTTKY
2
1
AGND7
ADCINA6
R432
18k
AD_IN7 R433
30k
R434
18k
-5V
+5V
R436
30k
-
+
U30C
OPA4228 1
1
8
10
9
4
ADCINA7
AGND8
R437
15k
R438
10k
AD_IN8
R439
15k
+5V
-5V
R440
10k
-
+
U30D
OPA4228 1
1
14
12
13
4
D30
DIODE SCHOTTKY
2
1
D31
DI ODE SCHOTTKY
2
1

AD_IN4
AD_IN7
AD_IN6
AGND2
AD_IN8
AGND1
J42
HEADER 8X2
2
4
6
8
10
12
14
16
1
3
5
7
9
11
13
15
AGND3
AGND5
AGND4
AD_IN1
AGND7
AGND6
AD_IN2
AD_IN3
AGND8
AD_IN5
ADCINA6
ADCINA7
P9
1
3
5
7
9
11
13
15
17
19
2
4
6
8
10
12
14
16
18
20
ADCINA2
ADCINA1
ADCINA0
ADCINA4
ADCINA3
ADCINA5

Hnh 3.10 8 knh ADC 0-5v
IC khuch i c s dng l OPA4141 y l ic khuch i thut ton
loi Rail-to-Rail Output vi cc c tnh k thut nh sau .
Low Supply Current: 2.3mA max
Low Offset Drift: 10mV/C max
Low Input Bias Current: 20pA max
Very Low 1/f Noise: 250nVPP
Low Noise: 6.5nV/Hz
Wide Bandwidth: 10MHz
Slew Rate: 20V/ms
Input Voltage Range Includes V
Rail-to-Rail Output
Single-Supply Operation: 4.5V to 36V

94
Dual-Supply Operation: 2.25V to 18V
No Phase Reversal
MSOP-8, TSSOP Packages
u ADC l kiu vi sai t 0-5v u ra l 0-3v ph hp vi mc in p
u vo chuyn i ca F2812.B chuyn i A/D ca F2812 l 12 bit ngha l
in p u vo 0-5v tng ng vi s digital l 0 4096.
c) 2 knh DAC 0-5v
DAC_OUT2
U31
ADC8552
VDD
1
VREF
2
Vout B
3
Vout A
4
SYNC
5 SCLK
6 Din
7 GND
8
C59
22UF
-5V
DAC_OUT1
-
+
U28D
OPA4228
1
1
14
12
13
4
+5V
DAC_OUT1
J43
CON4
1
2
3
4
DAC_OUT2 R4
10K
3.3V
C10
100n
C12
100n
C40
10uF
1
2
5V
C11
100n
-5V
SPISI MOA
-
+
U28C
OPA4228
1
1
8
10
9
4
SPICLKA
5V
SPISTEA
C13
100n
R7
10K
R8
10K
+5V
R5
10K
U32
REF5025
DNC
1
Vin
2
TEMP
3
GND
4
TRIM/NR
5 Vout
6 NC
7 DNC
8
R6
10K

Hnh 3.10 2 knh DAC 0-5v
2 knh DAC giao tip theo kiu ni tip s dng IC DAC8552 ca texas
intruments vi cc c tnh k thut c bn nh sau
Relative Accuracy: 4LSB
Glitch Energy: 0.15nV-s
Micro Power Operation:
155 A per Channel at 2.7V
Power-On Reset to Zero-Scale
Power Supply: 2.7V to 5.5V
16-Bit Monotonic Over Temperature
Settling Time: 10 s to 0.003% FSR
Ultra-Low AC Crosstalk: 100dB Typ
Low-Power Serial Interface With
Schmitt-Triggered Inputs
On-Chip Output Buffer Amplifier With

95
Rail-to-Rail Operation
Double-Buffered Input Architecture
Simultaneous or Sequential Output Up
and Powerdown
Available in a Tiny MSOP-8 Package

Hnh 3.11 s khi DAC8552
in p tham chiu s dng l 0-2,5v c to ra bi ic to in p tham
chiu REF5025 .u ra DAC8552 l 0-2,5v c khuch i ln thnh 0-5v.
Vic la chn knh v cc ch hot ng c thit lp bng vic ghi
cc d liu tng ng vo 24 bit thanh ghi cu DAC8552.


Hnh 3.12 Cc bit trong thanh ghi DAC8552 v chc nng
Trong :
- 8 bit cao l cc bit iu khin
- 16 bit thp l bit d liu

96
- Cc bt LDB v LDA iu khin vic cp nht gi tr ca mi u ra
analog tng ng.
- Bt 19 khng cn quan tm
- DB18 iu khin ch ca d liu (0 - knh A ,1- knh B )
- PD1 v PD0 la chn ch POWER DOWN ca 1 hoc 2 knh
DAC
Truyn thng CAN,UART v cc ngoi vi onboard
- 2 knh truyn thng UART A v B s dng IC giao tip RS232 l
MAX3232 cho php u vo l 3v3 .
C21
100n
C22
100n
SCIRXDA
SCITXDA
C23
100n
SCITXDB
C24
100n
3. 3V
P1
COM1
5
9
4
8
3
7
2
6
1 10
11
3.3V
U6 MAX3232
G
N
D
1
5
V
C
C
1
6
R1IN
13
R2IN
8
T2IN
10 T1IN
11
C1+
1
C1-
3
C2+
4
C2-
5
R1OUT
12
R2OUT
9
T1OUT
14
T2OUT
7
V+
2
V-
6
SCIRXDB
P2
COM2
5
9
4
8
3
7
2
6
1 10
11 C25
100n

Hnh 3.13 mch ghp ni UART
Truyn thng CAN s dng ic giao tip SN65HVD232 cho php u vo l 3v3
3.3V
CANRXA
P3
CAN1
5
9
4
8
3
7
2
6
1 10
11
C56
100PF
U22
SN65HVD232
VDD
3
RXD
4
RS
8
TXD
1
VREF
5
VSS
2 CANL
6
CANH
7
C57
100n
CANTXA
R60
60R
R48
10K

Hnh 3.13 Mch ghp ni CAN
Cc ngoi vi khc bao gm
- 8 led c kt ni vi cc chn GPIOB0 n GPIO B7
- 8 switches kt ni vi cc chn GPIOB8 n GPIOB15
- 2 push buttons kt ni vi cc chn GPIOD1 v GPIOD2
- 1 loudspeaker kt ni vi chn T1PWM
- 8 LED ,8 switches v loudspeaker c th c cho php hoc khng
cho php bi cc jumper J12,J13 v J15 nh hnh pha di.

97

PWM7
PWM8
PWM9
PWM10
PWM11
PWM12
T3PWM_T3CMP
T4PWM_T4CMP
R18
680R
R20
680R
D10
R21
680R
R14
680R
R15
680R
R16
680R
R17
680R
R19
680R
3.3V
J12
LED 1
2
U14
74VLC244
A1
2
A2
4
A3
6
A4
8
1OE
1
Y1
18
Y2
16
Y3
14
Y4
12
V
C
C
2
0
G
N
D
1
0
A5
11
A6
13
A7
15
A8
17
Y5
9
Y6
7
Y7
5
Y8
3
2OE
19
D11
D5
LED
D6
LED
D7
LED
D8
D12
LED
3.3V
R22
22K
D14
TDIRB
TCLKINB
C4TRIPn
C5TRIPn
U15
74LVC244
A1
2
A2
4
A3
6
A4
8
1OE
1
Y1
18
Y2
16
Y3
14
Y4
12
V
C
C
2
0
G
N
D
1
0
A5
11
A6
13
A7
15
A8
17
Y5
9
Y6
7
Y7
5
Y8
3
2OE
19
C6TRIPn
R415
RESISTOR SIP 9
1
2 3 4 5 6 7 8 9
3.3V
CAP4_QEP3
3.3V
R23
22K
S1
SW DI P-8
1
2
3
4
5
6
7
8
16
15
14
13
12
11
10
9
CAP5_QEP4
3.3V J13
SWITCH
1 2
CAP6_QEPI2


SW3
INT0
R29
10K
3.3V
3.3V
R26
10K
T1CTRIP_PDPINTAn
T2CTRIPn_EVASOCn
Q6
C1815
T1PWM_T1CMP
5V
D13
DIODE
1
2
LS1
SPEAKER
J15
SPEAKER
1 2
R25
1K
SW2
INT0
R28
10K

Hnh 3.12 Cc ngoi vi LED, switches , buttons , loudspeaker
Cc chn IO EXPANTION c s dng kt ni vi EZDSPF2812
.Adapter ny khng s dng ngun t EZDSPF2812.

Hnh 3.13 EZDSP F2812 v ADAPTER
B bin i cng sut
B bin i cng sut lm nhim v bin i in p PWM t board iu
khin (0-5v) sang di in p 0-24v cung cp cho ng c .B bin i cng

98
sut y l mch cu Full Bridge .Vic iu chnh tc ng c c thc
hin bng cch thay i rng xung v gi chu k bm xung khng i


Hnh 3.14 B bin i cng sut

S nguyn l


R5
4K7
DIR
5V
5V
5V
PWM
R6
4K7
R7
4K7
IN1
IN2
5V
U10D
4001
12
13
11
1
4
7
R14
4K7
U10B
4001
5
6
4
1
4
7
DIR
U10C
4001
8
9
10
1
4
7
J1
CON4
1
2
3
4
5V
C14
470uF
D1
DIODE
C1
4.7uF
OUT1
ISO2
PC817
2
1
4
3
OUT2
24v
24V
C3
470uF
C4
100n
D4
LED
R13
1k
12V
C15
100n
D2
DIODE
C5
4.7uF
C17
100n
C8
100n
12V
C18
100n
C16
100n
M1
IRF540
M2
IRF540
M3
IRF540
M4
IRF540
R10
330R
5V 12V
DIR+
R1
RG1
R2
RG3
R3
RG2
R4
RG4
U9
IR2103
VCC
1
HIN
2
LIN
3
COM
4
LO
5
VS
6
HO
7
VB
8
D3
LED
24V
DIR- U7
LM7805
VI
1
G
N
D
2
VO
3
U6
LM7812
VI
1
G
N
D
2
VO
3
R8
1k
ISO1
6N137
8
7
5
3
2
6
5V
IN2
R11
4K7
DIR
J2
HEADER 4
1
2
3
4
C9
CAP
PWM+
C10
CAP
C11
CAP
PWM-
24V
PWM
5V
OUT1
C12
100n
R12
220R
OUT2
R9
3K3
C13
470uF
U8
IR2103
VCC
1
HIN
2
LIN
3
COM
4
LO
5
VS
6
HO
7
VB
8
IN1
U10A
4001
1
2
3
1
4
7

Hnh 3.15 S nguyn l b bin i cng sut
Mch cu H s dng IC li chuyn dng l IR2103 ,Mosfet IRF540 ,opto
Tc cao 6N137 .Mch cu ny cho php hot ng dng lin tc 10A ,in
p 50v v hot ng tt tn s 30KHZ vi duty 0-95% .

99
3.2 THC HIN CC CU TRC IU KHIN
3.2.1 Cc cu trc iu khin
a) Nhng cu trc c bn ca h thng iu khin
- Xc nh tn hiu iu khin thch hp
y l bi ton iu khin m yu cu dng li vic xc nh tn hiu
thch hp p t vo u vo ca i tng sao cho i tng c c cht
lng bn trong v tn hiu u ra nh mong mun .Chng hn bi ton xc nh
quy tc thay i in p u vo u(t) ca ng c ( i tng iu khin ) sao
cho tc vng quay ca ng c ( tn hiu u ra ) thay i t gi tr ban u
y
0
ti gi tr mong mun y
t
v nng lng tn hao cho qu trnh thay i tc
quay l t nht ( cht lng bn trong ca i tng) .



Hnh 3.16 Cu trc iu khin xc nh tn hiu iu khin thch hp
c im ca hnh thc iu khin ny l iu khin mt chiu v trong
qu trnh iu khin ,h thng khng c kh nng thay i hoc hiu chnh li
c .Nh vy ,cht lng iu chnh ph thuc hon ton vo chnh xc ca
m hnh ton hc m t i tng cng nh phi c gi thit rng khng c tc
ng ca nhiu khng mong mun vo h thng trong sut qu trnh iu khin .
- S dng b iu khin
+ iu khin h
V bn cht ,hnh thc iu khin ny cng ging nh bi ton tm tn
hiu iu khin thch hp p t u vo i tng nhng c b xung thm
b iu khin to ra tn hiu iu khin .V d iu khin tu thy i
theo mt qu o y(t) mong mun ( tn hiu u ra ),ngi ta phi tc ng bng
lc w(t) vo tay li to ra c v tr u(t) ca bnh li mt cch thch hp
.Trong v d ny ,h thng tay li bnh li c vai tr ca mt b iu khin .

i tng
iu khin
u(t) y(t)

100





Hnh 3.17 cu trc iu khin vng h
Hnh thc iu khin h ny (hnh 3.17) l iu khin mt chiu v cht
lng iu khin ph thuc vo chnh xc ca m hnh ton hc m t i
tng cng nh phi c gi thit rng khng c tc ng ca nhiu khng mong
mun vo h trong sut qu trnh iu khin
+ iu khin phn hi trng thi
i tng iu khin cc tn hiu trng thi x
1
(t), x
2
(t),.. x
n
(t), c
vit chung dng vc t x(t) = (x
1
(t), x
2
(t),.. x
n
(t))
T
,l thnh phn cha ng
y nht cc thng tin cht lng ng hc ca h thng .N phn nh nhanh
nht s nh hng ca nhng tc ng bn ngoi vo h thng k c nhng tc
ng ca nhiu khng mong mun bi vy c th to ra c cho i tng mt
cht lng mong mun ,n nh vi tc ng ca nhiu ,cn phi c mt tn hiu
p t u vo l u(t) phn ng kp theo s thay i trng thi ca i tng .










Hnh 3.18 Cu trc iu khin phn hi trng thi

y(t)
i tng
iu khin
u(t) B iu
khin
w(t)
i tng
iu khin
u(t) y(t)
B iu
khin
+ _
_ x
e(t) w(t)
i tng
iu khin
u(t) y(t)
B iu
khin
+ _
_ x
w(t)

101
Hnh 3.18 biu din nguyn tc iu khin phn hi trng thi .B iu
khin s dng tn hiu trng thi x(t) ca i tng to ra tn hiu u vo
u(t) cho i tng .V tr ca b iu khin c th l mch truyn thng hoc
mch hi tip .
H thng iu khin phn hi trng thi c kh nng gi c n nh
cht lng mong mun cho i tng mc d trong qu trnh iu khin lun c
tc ng ca nhiu
+ iu khin phn hi tn hiu ra
Tuy rng vc t trng thi x(t) cung cp cho ta y nht cc thng tin
v cht lng ng hc ca i tng ,song khng phi mi trng thi ca i
tng u o c trc tip .V l trong nhiu trng hp ngi ta nh phi
thay i b iu khin phn hi trng thi x(t) bng b phn hi u ra y(t) .










Hnh 3.19 Cu trc iu khin phn hi tn hiu ra
Hnh 3.19 m t nguyn tc iu khin phn hi u ra .B iu khin s
dng tn hiu u ra y(t) ca i tng to ngc ra c tn hiu u vo
u(t) cho n .V tr ca b iu khin c th l mch truyn thng hoc mch
hi tip .



i tng
iu khin
u(t)
y(t)
B iu
khin
+ _
e(t) w(t)
i tng
iu khin
u(t) y(t)
B iu
khin
+ _
w(t)

102
b) Cu trc iu khin s v tr ng c DC servo

Hnh 3.20 Cu trc iu khin s v tr ng c DC servo phn hi tc v
v tr t encoder
DC servo y l loi RH14-3002 nh trnh by trn .ng c ny
c gn sn mt encoder phn hi tc v v tr .Encoder ny c phn gii
l 1000xung/vng ,cc pha A,B v Z c kt ni vi cc chn QEP tng ng
ca DSP TMS320F2812.
DSP TMS320F12812 nhn v m cc xung ny bng b nh thi mc
ch chung .Cn c trn s xung m c v khong thi gian ly mu tnh
ton ra tc ng c v v tr .
F v F ln lt l hm truyn phn hi tc v v tr ,cc khi ny
c x l bng phn mm bn trong DSP ,u vo l s xung m encoder.
R v R l b iu khin v tr v tc ng c .B iu khin ny
c thc hin bi DSP .u ra ca b iu khin v tr l u vo ca b iu
khin tc ,thi gian ly mu ca mch vng bn ngoi phi ln gp 10 n
100 ln thi gian ly mu ca mch vng bn trong.
B bin i cng sut lm nhim v bin i in p PWM ( 0-5V ) thnh
0-24V u ra cung cp cho ng c Nhm mc ch iu chnh tc ng
c .Tn s PWM y l 30KHZ.
encoder
R R
B bin i
cng sut
F
F
DC
servo

QEP
TMS320F2812
_ _

103

Hnh 3.22 Phn hi v tr bng cch ly tch phn tc theo thi gian
Hnh 3.22 l cu trc khc ca h thng .V c bn l ging vi cu trc pha
trn tuy nhin v tr ng c c tnh ton bng cch ly tch phn tc theo
thi gian .Bn cht ca cu trc ny cng ging nh cu trc pha trn.


Hnh 3.23 Phn hi v tr v tc bng mch chuyn i f/V
hnh 3.23 th mch phn hi tc v v tr c thc hin bng phn
cng pha ngoi .Mch ny nhn tn hiu l tn s xung encoder v u ra l 0-
5v vi phn gii 16 bit (0-65535) .Tn hiu ny c a vo u vo cu 2
knh ADC1 v ADC2 ca DSP F2812.
Vi cu trc ny th DSP khng phi tnh ton phn hi m ch nhn gi
tr u ra modul ADC .Vic tnh ton c thc hin bi cc vi iu khin

encoder
R R
B bin i
cng sut
F
}

DC
servo
QEP
TMS320F2812
_ _

R R
B bin i
cng sut
f/V
encoder
DC
servo
TMS320F2812
_ _
f /V
ADC INPUT 1
ADC INPUT 2

104
khc lm cho tc p ng c th nhanh hn .Tuy nhin vi cu trc ny s
xy ra sai s ng k bi v n thc hin qu nhiu khu chuyn i A/D
,D/A,hn na tn hiu vo l tn hiu tng t (0-5v) nn d b nh hng bi
nhiu.
Nhn xt :
- Tn hiu phn hi v tr c th c tnh ton bng cch ly tch phn tc
hay c tnh ton trc tip t tn hiu xung encoder nhng v bn cht l
nh nhau
- Khu DAC c th khng tn ti mt cch tng minh ,m n di dng
thit b c chc nng DA.V d y l b iu ch rng xung PWM [4] .
- Khu DAC thng s dng khi o c gi tr thc ca i lng ra .N
c th l chip ADC ( v d o dng in ) hoc tn ti di mt dng khc mang
bn cht ca mt khu ADC ( v d o tc t encoder )
- Cu trc c s h thng iu khin s [4]

Hnh 3.24 Cu trc tng qut h thng iu khin s
3.2.2 Tng hp b iu khin v m phng offline
a) Xy dng h phng trnh ton hc ng c DC servo RH-14D 3002
Cc tham s c bn cu ng c
Ra=2.7O
La=1.1mH
Kt=5.76 Nm/A
Kb=0.6 V/rpm
Bf=0.15
Khu iu
chnh
DAC i tng
iu khin
ADC
v
k

w
k

_
u
k
y
k


105
J=81.6e-3
Ta c

1
( )
A
A A A A A
dc c
dc t A
A b
di
u e i R L
dt
d
M M
dt J
M K i
e K n
e

= + +

(3.5)


1
( )
A
A A A A A
dc c
dc t A
A b
di
u e i R L
dt
d
M M
dt J
M K i
e K n
e

= + +

(3.6)

Chuyn sang min nh laplace

1
( )
A A A A A A
dc c
dc t A
A b
u e i R L i s
s M M
J
M K i
e K n
e
= +

(3.7)


1
( )
1
( )
A A A
A A
dc c
dc t A
A b
i u e
R L s
M M
Js
M K i
e K n
e

(3.8)


106
Thay
A
A
A
L
T
R
= ta c h phng trnh nh sau:

1/
( )
1
1
( )
A
A A A
A
dc c
dc t A
A b
R
i u e
T s
M M
Js
M K i
e K n
e

(3.9)

T h phng trnh trn ta xy dng c s cu trc ca ng c nh sau:

Hnh 3.25 Cu trc ng c DC servo
Thay cc thng s vo ta dc m hnh ng c DC servo nh sau

Hnh 3.26 Cu trc ng c DC servo RH-14D 3002
c tnh qu tc v dng nh sau
b
K
1/
1
A
A
R
T s +

t
K
1
f
Js B +

c
M
+_
+_
dc
M

A
i
n
A
U

107
0 0.1 0.2 0. 3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
1
2
3
4
5
6
7
8
9
Time (s)
C
u
rre
n
t
(A
)

Hnh 3.27 c tnh dng phn ng ng c DC servo RH-14D 3002
0 0.1 0.2 0. 3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
500
1000
1500
2000
2500
3000
3500
4000
Time (s)
S
p
e
e
d
(R
P
M
)

Hnh 3.28 c tnh tc ng c DC servo RH-14D 3002
b) Thit k b iu chnh v tr cho ng c DC servo
iu khin v tr ng c DC servo thng thng ta dng h thng ba
vng iu chnh ,Tuy nhin ng c DC servo RH-14D 3002 l loi ng c c
nh nn c th b qua mch vng dng.
Chu k trch mu chon theo nh l Shamnon-Nyquist tn s ly mu > 2
ln bandwith ca h . tuy nhin trong thc th rt kh p ng c tn s nh
vy
- Ta chn chu k trch mu mch tc : Tw=0.001s
- chu k trch mu mch vng v tr : T=0.1s

108

Hnh 3.29 cu trc mch vng iu chnh
Xy dng vng iu khin tc
thun li trong qu trnh tng hp b iu khin ta coi gn ng b
bin i cng sut (PWM) l khu qun tnh bc nht vi hng s thi gian Tf =
1/f vi f = 30000HZ l tn s bm xung .Hm truyn b bin i cng sut l :

bd
K 0.0092
( )
Tf s + 1 3.333e-005 s + 1
bd
G s = =
(3.10)

khi mch vng dng in c cu trc nh sau :

Hnh 3.30 S tng hp b iu khin tc
hm truyn t ca ng c

2
2.133*100
Gsaclose
3.324e-5 s + 0.08166 s + 1.43
=
(3.11)

Biu din bng ton t Z

109

2
1,635 z + 0,7454
Gsaclosez
z - 1.07 z + 0.08574
=
(3.12)

Biu din dng DSP (Z
-1
)

-1 -2
-1 -2
1,635 z + 0,7454 z
Gsaclosez
1 - 1.07 z + 0.08574 z
=
(3.13)

Hm truyn i tng mch vng tc

3 2
1,963
Gsw = Gsaclose.Gsbd
1.108e-009 s + 3.597e-005 s + 0.08171 s + 1.43
=
(3.14)

Hm truyn trn min Z

2
3 2
0,01432 z + 0.007573z + 6.126e-006
Gswz =
z - 1.07 z + 0.08574 z - 8.026e-15

(3.15)

Chuyn sang z
-1

-1 -2 -3
-1 -2 -3
0.01432 z + 0.007573 z + 6.126e-006 z
Gswz1 =
1 - 1.07 z + 0.08574 z - 8.026e-015 z

(3.16)

S dng cng c SISO design ca matlab ta xc nh c hm truyn t ca
vng iu chnh tc l .

w
0.05( z + 0.08)
( )
z 1
G z =

(3.16)


110

Hnh 3.31 H ta cc v p ng ca h thng trn SISO design

0 0. 1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
200
400
600
800
1000
1200
Time (s)
S
p
e
e
d
(R
P
M
)

Hnh 3.32 Mch vng iu khin tc v p ng
Tng hp b iu khin v tr
Tin trnh tng hp b iu khin v tr R tng t cc mch vng khc
.Tuy nhin vi cu trc nh trn th hm truyn b iu khin v tr s khng c
thnh phn m ch l P hay PD .
B iu khin v tr thng c tnh theo iu kin gia tc hm cc i
h
max
i vi qung ng hm cc i h
max
sao cho thi

gian hm khng
vt qu thi gian t
max
.Ti thi im hm ,tng ng vi tn hiu sai lch tc
u vo b iu chnh tc bng khng. n gin ta coi b iu khin v
tr l mt khu khuch i vi h s k=400 thi gian ly mu T = 0,1s .Khi
cu trc b iu khin v tr xy dng trn DSP C2000 l .

111

0 5 10 15 20 25 30
-500
0
500
1000
1500
2000
2500
3000
3500
Timer (s)
S
p
e
e
d
(R
P
M
)

0 5 10 15 20 25 30
0
10
20
30
40
50
60
70
80
90
100
Timer (s)
P
o
s
itio
n
(m
m
)

Hnh 3.33 Mch vng iu khin tc v p ng
3.2.3 iu khin realtime vi DSP F2812
T cc kt qu m phng trn ta tin hnh xy dng b iu khin trn
DSP .B iu khin l b iu khin m phng phn trc tuy nhin m
hnh ng c v b bin i cng sut khng khng cn na m ng c v b
bin i by gi nm pha ngoi .B iu khin khng phi thc hin trn
matlab m nm trn DSP .Vic o tc v v tr ng c khng phi c tnh
ton da trn m hnh na m c o t encoder hoc cc knh ADC do ta
cn xy xng mt khi o ring xc nh tc v v tr hin ti ca encoder
M hnh b iu khin v tr

112


Hnh 3.33 Cu trc iu khin realtime vi DSP F2812
Trong cc khi transmit to host , setpoint to host, receive from
host l cc khi lm nhim v giao tip vi matlab thng qua cng truyn
thng RTDX Khi Position control v speed control l cc b iu khin v
tr v tc .Khi measure c chc nng o tc v v tr ng c .u vo
khi ny l gi tr m xung encoder ca b counter ,u ra l gi tc quay
(RPM) ca ng c v v tr (mm) ca b truyn ng vt me .. Khi measure
c xy dng nh sau


113

(a)

(b)

( c )

(d)
Hnh 3.34 Khu o lng
(a) cu trc , (b) khi QEP clock , (c) khi Position caculator,
(d) khi speed caculator


114
Nguyn l hot ng : S xung m c ca b counter c gi tr t 0 -
65535 khi trn b m li quay tr v 0 . Xung m ny c a vo khi
QEP clock ,Khi QEP clock lm nhim v tnh ton s xung m v chiu quay
trong mt chu k ly mu ( 0,001s) .Nu chiu thun th u ra delta clock mang
gi tr dng ,v chiu ngc th mang gi tr m v tr tuyt i ca n l s
xung m trong mt chu k .Gi tr delta clock ny c a qua hai khi ring
bit xc nh v tr v tc ng c.Vic xc nh tc ng c c thc
hin theo cng thc (3.4)
Kt qu thc nghim
Trng hp khi tn hiu t v tr l 100mm t v tr gc (0 mm)
p ng tc khi m phng
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
500
1000
1500
2000
2500
3000
3500
Time (s)
S
p
e
e
d
(R
P
M
)
19 20 21 22 23 24 25
0
500
1000
1500
2000
2500
3000
Time (s)
S
p
e
e
d
(R
P
M
)

Hnh 3.35 p ng tc khi m phng vi
gi tr t v tr l 100mm
Tc o c khi chy thc

Hnh 3.36 p ng tc khi chy thc vi
gi tr t v tr l 100mm

115
p ng v tr khi m phng
0 5 10 15 20 25 30
0
10
20
30
40
50
60
70
80
90
100
Time(s)
P
o
s
it
i
o
n

(
m
m
)

Hnh 3.37 p ng v tr khi m phng vi
gi tr t v tr l 100mm
p ng v tr khi chy thc

Hnh 3.38 p ng v tr khi chy thc vi
gi tr t v tr l 100mm
Ghi ch :Cc khi Scope khi chy m phng c n v cc trc l n v
chun .V thi gian (Time) c n v l giy(s) ,Tc (Speed) l vng/pht
(RPM) , v tr (Position) l mm .Cn khi chy thc do y l vector scope nn
cc n v trc tung ph thuc vo tc Frame ( do trong khi truyn thng cn

116
gim mu ph hp vi tc truyn thng ca thit b ) .C th n v thi gian
l 10s (0,1 tng sng vi 1s) .
Nhn xt :
- H thng khng c sai lch tnh .p ng v tr bm st vi tn hiu t
l 100 mm
- Thi gian tng tc n 3000(V/P) l 0,7s v gim tc l 3,5s
- Thi gian p ng v tr 100mm l 22s
- Khng c qu iu chnh
- p ng v tr v tc khi thc nghim v m phng l hon ton
ging nhau
Tng t vi cc trng hp khc
Trng hp khi tn hiu t v tr l -100mm t v tr gc (0 mm)
p ng tc khi m phng
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
-3500
-3000
-2500
-2000
-1500
-1000
-500
0
Time (s)
S
p
e
e
d
(R
P
M
)
19 20 21 22 23 24 25
-3500
-3000
-2500
-2000
-1500
-1000
-500
0
Time (s)
S
p
e
e
d
(R
P
M
)

Hnh 3.39 p ng tc khi m phng vi
gi tr t v tr l -100mm
Tc o c khi chy thc

Hnh 3.40 p ng tc khi chy thc vi gi tr t v tr l - 100mm

117
p ng v tr khi m phng
0 5 10 15 20 25 30 35 40 45 50
-120
-100
-80
-60
-40
-20
0
Time (s)
P
o
s
it
i
o
n

(
m
m
)

Hnh 3.41 p ng v tr khi m phng vi
gi tr t v tr l -100mm

p ng v tr khi chy thc


Hnh 3.42 p ng v tr khi chy thc vi
gi tr t v tr l -100mm




118
Trng hp khi tn hiu t l hm nhy bc
p ng v tr khi m phng
0 5 10 15 20 25 30 35 40 45 50
0
10
20
30
40
50
60
70
80
90
100

Hnh 3.43 p ng v tr khi m phng vi
gi tr t l tn hiu nhy bc
p ng v tr khi chy thc

Hnh 3.44 p ng v tr khi m phng vi
gi tr t l tn hiu nhy bc
Nh vy qu cc ln chy th nghim ta c th d dng thy c l c
tnh m phng gn nh trng kht hon ton vi c tnh iu khin thc . Cc

119
ln chy th nghim v m phng u thc hin vi chu k ly mu mch
vng tc l 0,001s v mch vng v tr l 0,1s .Thi gian ly mu nh hn th
c th h thng s p ng nhanh hn tuy nhin s gy sai s nhiu trong o
lng lm cho kt qu p ng c th khng chnh xc .Mch vng v tr l khu
P vi h s K
p
= 400 v mch vng tc l khu PI vi K
p
=0,05 v K
i
=0,08 .
Kt qu thc nghim c kt qu rt chnh xc so vi m phng nhng
c mt vn vn cn phi nhn mnh y l vic thc hin b iu khin
trn matlab c th chy c nhng cha chc chy c trn nn tng mt
vi x l bt k .iu ny khng c ngha l l thuyt iu khin khng ng m
l do ch l thuyt iu khin v m phng thi l cha .Chng ta cn phi
quan tm n nng lc tnh ton v cc php ton x l s hc trn vi x l v
iu ny trn matlab v cc h vi x l c lp thng thng l khc nhau .i
khi s bt cn trong vic thc hin cc b iu khin s c th gy nh hng
nghim trng n h thng ( v d nh hin tng trn d liu hay khi thc hin
cc php ton c th lm p ng b ngc li so vi mong mun) .
















120
KT LUN
Sau 12 tun , vi s n lc ca bn thn v s ch bo ca cc thy c
gio trong b mn ,cc bn ,v s ch bo tn tnh thy gio TH.S Phm Tun
Anh em c bn hon thnh n vi cc ni dung t ra .
Bi bo co mt ln na ni ln nhng u im ca b iu khin s , s
ng dng rng ri ca cc h thng iu khin s trong mi lnh vc khc nhau
ca i sng x hi v cng nghip. Gip cho chng ta hiu hn v cu trc ca
mt b iu khin s ,bn cht ca cc khu ADC, DAC Ni dung quan
trng hn v cng l ni dung ch o ca n ny l trnh by mt cch
kh chi tit vic thc thi mt b iu khin s dng phn mm matlab - mt
phn mm c bit n kh ph bin trong lnh vc iu khin vi t cch l
m phn mm tnh ton , m phng v mt h vi x l rt mnh s dng rng
ri iu khin s ng c ,nng lng l DSP TMS320F2812 bao gm
vic phn cng ( ng lc + iu khin ) v phn mm iu khin . t
chng minh mt cch trc quan v tnh ng n ca cc l thuyt iu khin
trn c s so snh cc kt qu m phng (trn matlab) v thc nghim ( trn mt
h vi x l c lp ) .
Tuy bc u thnh cng trong vic thc hin cc b iu khin s trn
nn tng mt vi x l c th ,xong mi dng li mc n gin ,cha ng
dng c cc l thuyt iu khin hin i .i tng iu khin mi ch s
dng ng c DC servo tc l cha khai thc c nhiu ti nguyn ca Matlab
v DSP TMS320F2812 .Do trnh v thi gian c hn nn nhng ni dung ny
em cha thc hin c v y s l hng pht trin tip theo ca ti .
Trong qu trnh nghin cu v hon thnh n do kin thc c hn ,kh
nng lnh hi cc kin thc mi cn hn ch nn ni dung bo co cn nhiu
thiu st em rt mong c s ch bo ca cc thy c .Em xin chn thnh cm
n !

Sinh vin
Phm Vn Khnh

121
TI LIU THAM KHO
Ting Vit

[1] L Vn Doanh - Cc b cm bin trong k thut o lng v iu khin ,
Nh xut bn Khoa hc v K thut.
[2] Nguyn Don Phc ,L thuyt iu khin tuyn tnh , Nh xut bn Khoa
hc v K thut.
[3] PGS.TSKH Nguyn Phng Quang (2006), MATLAB v Simulink dnh cho
k s iu khin t ng, Nh xut bn Khoa hc v K thut.
[4] PGS.TSKH Nguyn Phng Quang (2009), Bi ging iu khin s
Ting Anh
[5] eZdsp
TM
F2812 Reference Technical - SPECTRUM DIGITAL 2003
[6] TMS320C2812 Digital Signal Processors Data Manual Texas Intrument
[7] Code Composer StudioDevelopment Tools v3.3 Getting Started Guide
Texas Intrument
[8] Embedded IDE Link 4 Users Guide Texas Intrument
[9] Roland S. Burns (2001), Advanced control engineering, Butterworth
Heinemann
[10] DEVELOPMENT OF A MOTOR SPEED CONTROL SYSTEM USING
MATLAB AND SIMULINK, IMPLEMENTED WITH A DIGITAL SIGNAL
PROCESSOR - ANDREW KLEE B.S. University of Central Florida, 2003
[11] TMS320F2812 DIGITAL SIGNAL PROCESSOR IMPLEMENTATION
TUTORIAL Texas Intrument
[12] RH DC servo catalog
[13] VisSim Embedded Controls Developer
[14] Target for TI C2000 mathworks
Mt s trang WED
[15] www.mathworks.com/
[16] http://www.ti.com/

122
PH LC 1
S NGUYN L BOARD EZDSP F2812


123


124


125


126


127
PH LC 2
CHNG TRNH MFILE MATLAB
clc
Tw=0.001;
Tp=0.1;%Hang so thoi gian khau phan hoi toc do
%Thiet ke bo dieu khien cho dong co dien mot chieu
%----------Nhap cac thong so-----------------
Ra=2.7;%[ohm]-dien tro phan ung
La=1.1e-3%[H]
f=30000%675;%[Hz]-tan so bam xung
Tf=1/f;
Ta=La/Ra;
Kcs=23/2500;2500 la gia tri period cua bo counter PWM,23 la dien ap nguon
Kt=5.76;
Kb=0.6;
Bf=1.5e-1;
J=81.6e-3;
%__________________________________________________________________________
disp('Ham truyen dong phan ung')
Gsa0=tf(1/Ra,[Ta 1])
disp('Ham truyen momem')
Gsa1=Kt
disp('Ham truyen bo bien doi cong suat')
Gsbd=tf(Kcs,[Tf 1])
disp('Ham truyen toc do')
Gstd=tf(1,[J Bf]) %Gsa2=N(s)/T(s) ham truyen toc do
disp('anh huong sdd phan ung kb=')
Gsafb=Kb% He so back E.M.F
Gsaopen=Gsa0*Gsa1*Gstd
disp('Ham truyen doi tuong')
disp('Bieu dien bang toan tu Laplace (S)')
Gsaclose=feedback(Gsaopen,Gsafb)*100%Ham truyen dat co phan hoi E.M.F
%++++++++++++Khao sat doi tuong+++++++++++++++++++
disp('Bieu dien bang toan tu Z')
Gsaz=c2d(Gsaclose,Tw,'zoh')%chuyen mo hinh dong co sang mien Z
[numgaz,dengaz]=tfdata(Gsaz,'v')
disp('Bieu dien dang DSP (Z^-1')
Gsaz1=filt(numgaz,dengaz,Tw)%Bien ham truyen Motor ve dang Z^(-1)
%__________________________________________________________________________
disp('___________________________________________________________________')
disp('Ham truyen s phan hoi mach toc do')
Gsphw=tf(1,[Tw 1])
disp('Ham truyen tren mien z')
Gsphwz=c2d(Gsphw,Tw,'zoh')
disp('chuyen sang z^-1')
[numGsphwz,denGsphwz]=tfdata(Gsphwz,'v');
Gsphwz1=filt(numGsphwz,denGsphwz,Tw)

disp('Ham truyen s doi tuong mach toc do')
Gsw=Gsaclose*Gsbd
disp('Ham truyen tren mien z')
Gswz=c2d(Gsw,Tw,'zoh')
disp('chuyen sang z^-1')
[numGswz,denGswz]=tfdata(Gswz,'v');
Gswz1=filt(numGswz,denGswz,Tw)







128
Mc lc

LI M U.................................................................................................... 1
CHNG 1. TNG QUAN V H THNG IU KHIN S...................... 3
1.1 KHI NIM V H THNG IU KHIN S...................................... 3
1.1.1 Khi qut chung v iu khin s ...................................................... 3
1.1.2 Cu trc ca mt h thng iu khin s............................................ 4
1.1.3 Mt vi h thng ng iu khin s trong thc t .............................. 5
1.2 M HNH TN HIU V H THNG................................................... 11
1.2.1 M hnh h thng iu khin s....................................................... 11
1.2.2 M hnh khu ADC ......................................................................... 12
1.2.3 M hnh khu DAC ......................................................................... 13
1.2.4 Hm truyn ca khu chm bc khng (ZOH) ................................. 14
1.2.5 Kt hp hm truyn ca cc khu DAC, h thng con Analog v
Khu ADC................................................................................................ 15
1.2.6 Hm truyn vng kn ca h thng .................................................. 17
1.2.7 M hnh nhiu trong h thng iu khin s .................................... 18
1.3 IU KHIN S TRUYN NG IN............................................. 19
CHNG 2. DSP TMS320F2812 V CC CNG C H TR PHT
TRIN ............................................................................................................. 24
2.1 CU TRC DSP TMS320F2812............................................................ 24
2.1.1 Gii thiu chung .............................................................................. 24
2.1.2 Cng vo ra s ( Digital I/O ) .......................................................... 27
2.1.3 Chuyn i tng t s ( ADC)....................................................... 36
2.1.4 H thng ngt F2812 ....................................................................... 44
2.1.5 Modul qun l s kin (EV )............................................................ 50
2.2 BOARD EZDSP F2812 .......................................................................... 53
2.2.1 Cu to ............................................................................................ 53
2.2.2 Thit lp ch hot ng ca board mch vi cc Jumper............. 55

129
2.3 CC MI TRNG PHN MM H TR PHT TRIN DSP C200058
2.3.1 S dng trnh bin dch CCS ........................................................... 58
2.3.2 S dng mi trng lp trnh ha ViSsim................................... 59
2.3.2 Matlab v gi phn mm h tr lp trnh cho DSP TIC2000 ........... 62
2.4 S DNG MATLAB TO M LNH V THU THP D LIU T
DSP TMS320F2812 ..................................................................................... 63
2.4.1 S dng th vin tic200lib.............................................................. 63
2.4.2 Cc khi th vin............................................................................. 68
CHNG 3. THC HIN B IU KHIN S S DNG DSP
TMS320F2812 ................................................................................................. 80
3.1 M T H THNG IU KHIN....................................................... 80
3.1.1 i tng iu khin....................................................................... 80
3.1.2 Thit b o lng ............................................................................. 84
3.1.3 Thit b iu khin........................................................................... 90
3.2 THC HIN CC CU TRC IU KHIN....................................... 99
3.2.1 Cc cu trc iu khin.................................................................... 99
3.2.2 Tng hp b iu khin v m phng offline................................. 104
3.2.3 iu khin realtime vi DSP F2812 .............................................. 111
KT LUN.................................................................................................... 120
TI LIU THAM KHO.............................................................................. 121
PH LC 1 ................................................................................................... 122
PH LC 2 ................................................................................................... 127