HC VIN K THUT QUN S KHOA HNG KHNG V TR N TT NGHIP

XY DNG M HNH V THIT K LUT IU KHIN CHO BI TON BEAM-BALL

Sinh vin: Nguyn Vn Cng ng Hi Anh Lp: C in T 6 Gio vin hng dn: Thiu T, TS-Hong Quang Chnh

Ni dung bi thuyt trnh

TNG QUAN V H THNG IU KHIN BEAM-BALL

H thng qu bng v thanh c gi l h cn bng ca qu bng trn thanh c s dng nh mt bi th nghim trong hu ht cc trng i hc k thut trn th gii v n kh gn gi vi cc h thng iu khin thc nh vic n nh h thng cn bng my bay theo phng nm ngang khi h cnh di tc ng hn lon ca cc dng kh Mc ch ca bi ton l iu khin v tr qu bng trn thanh sao cho n t ng gi tr mong mun di nh hng bn ngoi gii quyt bi ton beam-ball, ta coi h l tuyn tnh vi gc quay anphal () ca thanh tng i nh (-300300).

Cc ti nghin cu v h thng beam-ball

M hnh: Qu bng cn bng trn thanh dm c xy dng bi Berkeley Robotics Laboratory (Arroyo 2005)

Mu qu bng v thanh dm do Quanser ch to (nm 2006)

M hnh Cn bng qu bng v thanh c thit k bi i hc Lakehead (Ambalavanar, Moinuddin & Malyshev 2006)

M hnh: Ball on Beam System (Hirsch 1999)

M hnh: A Robotic Ball Balancing Beam (Lieberman 2004)

PHN TCH V XY DNG M HNH CA H THNG BEAM-BALL

M hnh tng qut

Phn tch s cn bng ca qu bng Gi thit qu bng ln khng trt, b qua ma st

THIT K M HNH C KH CA H THNG BEAM-BALL

Phn tch yu cu v chc nng ca m hnh c kh. Mc tiu ca thit k l h thng lm vic n nh, p ng cht lng ra, c cu c kh n gin,chc chn, bn, p.

Mt s m hnh c thit k trong thc t. Trong n ny s dng m hnh 3.4

3.3 M hnh sau khi thit k

4.4 Thit k b iu khin PID cho bi ton beam-ball

Chy M-file on chng trnh sau cho ta hm truyn v p ng ca h h

Thm khu t l Kp=0,0407 thu c

Thm khu vi phn kd=2; kp=10

Tng kd=10

Thc nghim thut ton iu khin trn m hnh beam-ball

Thit k mch

Thit k giao din

Thut ton
Main Khi to cc PORT, cc Timer, b Timer, b ADC 10 bt, ngt ngoi, b UART

Kt qu thc nghim