Professional Documents
Culture Documents
4
CHNG 1: L THUYT MNG NRON..............................................................6
1.1 Nron t nhin....................................................................................................6
1.2 Nron nhn to....................................................................................................8
1.3 Mng truyn thng v hun luyn mng theo thut ton Brandt-Lin...............10
1.3.1 Mng truyn thng.....................................................................................10
1.3.2 Thut ton Brandt-Lin...............................................................................12
CHNG 2: GII THIU ATMEGA 128................................................................16
2.1 c im ca Atmega 128 ...............................................................................16
2.2 M t cc chn ..................................................................................................18
2.3 Kin trc tng quan ca Atmega128 ................................................................21
2.3.1 B nh ca Atmega128 ............................................................................21
2.3.2 Tp thanh ghi :..........................................................................................23
2.3.3 Port (cng) vo ra .....................................................................................24
2.3.4 Giao tip vi SRAM ngoi ........................................................................27
2.3.5 Cu trc ngt ca Atmega 128 .................................................................28
2.3.6 B bin i A/D bn trong........................................................................31
2.3.7 B truyn/nhn UART ..............................................................................32
2. 3.8 B nh thi .............................................................................................34
CHNG 3: M PHNG H THNG IU KHIN C THIT K DA
TRN MNG NRON..............................................................................................37
3.1 Thit k b iu khin PID-Neural c chnh nh thch nghi trng s ca mng
.................................................................................................................................37
3.1.1 Thut ton chnh nh trng s...................................................................37
3.1.2 Kt qu m phng......................................................................................39
3.2 Thit k b iu khin s dng sai lch lm u vo.......................................55
3.2.1 Thut ton chnh nh trng s...................................................................55
3.2.2 Kt qu m phng......................................................................................59
CHNG 4 : NG DNG IU KHIN I TNG THC............................67
4.1 ng c in mt chiu....................................................................................67
4.1.1. Cu to ca ng c mt chiu.................................................................67
4.1.2. Encoder gn trn ng c mt chiu.........................................................69
4.1.3. ng c s dng th nghim...............................................................70
4.2. Thit k b iu khin trn nn vi iu khin Atmega 128.............................71
4.2.1. Khi iu khin trung tm.........................................................................72
4.2.2. Giao tip vi LCD.....................................................................................73
4.2.3. Phng thc truyn nhn d liu qua RS232 trn PC ............................74
4.2.3.1 Cu trc vt l ca cng RS232 .............................................................74
4.2.3.2 Qu trnh truyn v nhn d liu ca cng COM ca PC......................75
4.2.3.3 Cc loi truyn thng ni tip ...............................................................79
4.2.4. Khi driver iu khin ng c.................................................................81
4.2.4.1. Gii thiu v IC cu H MC33886..........................................................81
4.2.4.2. S nguyn l ca driver iu khin ng c.....................................84
4.2.5. Giao tip vi bn phm..............................................................................85
4.3 Thit k giao din bng iu khin...................................................................86
4.3 Thit k h thng iu khin trn nn b iu khin PID-Neural ....................89
4.3.1 M hnh iu khin....................................................................................89
4.3.2 Chnh nh cc trng s v tnh ton u ra...............................................92
4.5 nh gi kt qu thc nghim...........................................................................93
Chng 5: KT LUN...............................................................................................94
Ti liu tham kho.......................................................................................................95
....................................................................................................................................95
LI NI U
Con ngi lun ngc nhin v kh nng lu tr, nhn dng v x l thng tin
ca b no con ngi. T lu, cc nh khoa hc tm hiu, nghin cu v sng to
cc gii php cho cc bi ton k thut theo phng php x l ca b no. Mng
nron nhn to ra i t . Hin nay, mng nron c ng dng trong nhiu
lnh vc nh nhn dng, x l thng tin, d bo v iu khin. n ca nhm
nghin cu kha cnh ng dng trong iu khin ca mng nron. Khng ging cc
lnh vc ng dng khc l vic tnh ton mng nron c thc hin bng my tnh,
khi p dng vo iu khin, mi tnh ton ca mng nron u c thc hin bng
vi iu khin c tc thp hn tc my tnh rt nhiu nn yu cu thit k cu
trc mng gn nh ph hp vi vi iu khin v ti u thi gian iu khin c
t ln hng u. Khi ng dng trong iu khin cu trc mng nron s bao gm
lun c i tng iu khin nn khng th s dng cc lut hc thng thng nh
lut hc lan truyn ngc m cn tm 1 lut hc khc ph hp hn. Sau mt thi gian
di tm kim, nhm tm ra c thut ton Brandt-Lin lm gii php cho vic hun
luyn mng nron. Thut ton Brandt-Lin l sn phm do 2 nh khoa hc Robert D.
Brandt v Feng Lin a ra. Trong n ny, ngoi vic thc hin tt cc m phng,
nhm tin hnh iu khin thc t c ng c 1 chiu c cng sut nh v vi
cc yu cu iu khin khng cao.
Do hn ch v dng c th nghim nn b iu khin da trn mng nron ca
nhm mi ch ng dng iu khin 1 i tng iu kin n gin nn cha th
khng nh s iu khin thnh cng vi cc loi i tng khc. n ca nhm
chc hn cn nhiu sai st m bn thn cc thnh vin trong nhm cha pht hin ra.
Do vy nhm rt hy vng nhn c s ch bo ca thy c, bn b v ngi c.
Chng em, nhng thnh vin trong nhm lm n xin gi li cm n n ph
gio s, tin s Phan Xun Minh tn tnh hng dn chng em hon thnh n
ny. Ngay t ban u c t ra mc tiu r rng v cao gip c nhm thy r
nhng vic mnh cn hon thnh. C cung cp cho nhm nhng li khuyn mang tnh
nh hng ng n khi nhm gp kh khn trong qu trnh nghin cu. Nhm cm
n nhng ngi bn h tr, cung cp nhng ti liu v mng nron qu gi v
gip v mt thit k, nh m n ny c hon thnh ng hn.
H Ni, ngy 30 thng 5 nm 2007
Nhm thc hin n
Nguyn Ngc Hi
Cao Th Phong
V on Qu Anh
u = xi wi .
i =1
Hnh 1.5: Cc hm kch thch hay c s dng nht: (a) Hm chn cng;
(b-1),
a=
1
(hnh 1.5[c-1]) trong c l hng s. Mt hnh thc khc ca hm
1 + e cu
1 e cu
1 + e cu
ecu e cu
.
tanh ( u ) = cu
e + e cu
Hm gaussian (hm hnh qu chung, hnh 1.5[d]).
1.3 Mng truyn thng v hun luyn mng theo thut ton
Brandt-Lin
1.3.1 Mng truyn thng
Mng nron nhn to l tp hp cc nron nhn to c lin kt vi nhau
theo mt quy lut nht nh nhm phc v nhu cu ca ngi thit k mng. C 2
loi mng nron thng c s dng l mng truyn thng v mng hi tip. Hnh
1.6 m t mng truyn thng v mng hi tip. D cu trc ca mng nron thuc
loi no th mng nron u c cu to chung l c cu thnh t cc lp. Lp u
tin c gi l lp u vo (input layer), lp cui cng c gi l lp u ra
(output layer), cc lp gia c gi l cc lp n (hidden layer).
10
11
xi l u vo th i, i=1,2,3
z i l u ra ca nron th i thuc lp n, i=1,2,3.
o l u ra ca lp u ra.
z 3 = net 1 (a3(1) )
Lp u ra:
(2)
(2)
(2)
a(2) = z1 w11
+ z2 w12
+ z3 w13
o = net2 (a(2) )
1.3.2 Thut ton Brandt-Lin
T tng ca thut ton Brandt-Lin chia nh mt h thng phc tp thnh N
h thng con gi l cc nt. Mi nt c 1 tn hiu u ra kh tch yn v nhiu tn hiu
u vo kh tch xn . u vo v u ra ca cc nt c ni vi nhau thng qua cc
trng s. xn . c tnh ng hc ca mi trm c m t bng mt hm nhn qu
Fn : Xn Yn ,
n N := {1,2,...,N },
yn ( t ) = Fn ( xn ( t ) ) ,
n N
12
p l l - 1
y = F w ij y i
j=1
l
j
nu
cc
l
i
trng
w&lij = ( wljk+1w&ljk+1
k=1
(1)
lin
kt
1
E
- g l )Fil' ( xlij )yli - 1
l
yj
y j
th ch s cht lng E =
w lij
thch
nghi
(2)
1 n
( y m y i ) 2 s gim dn theo thi gian. Ni tm li l
2 i =1
w&lij = ( wljk+1w&ljk+1
k=1
theo
1
E
- g l )Fil' ( xlij )yli - 1
l
yj
y j
(3)
ylj l u ra ca nt th th j thuc lp l.
x lij = w ijl .yil- 1 l u vo ca nt th j thuc lp l xut pht t nt th i.
q l s lng nhnh ra xut pht t nt th j ca lp l
13
Chng minh.
dE l ' l l
F j (x ij)yi
dy lj
dE
dE
1
=
dy lj dw lij Fjl ' ( xijl ) yil 1
(1)
q
dE E
dE dykl +1
=
+
dy lj y lj k =1 dykl +1 dylj
q
E
dE
= l + wljk+1 l +1 Fkl +1' ( xljk+1 ) (2)
y j k =1
dyk
14
jk
dy lj y lj k =1
d wljk+1 y lj
&ljk+1 =
m w
dE
dw ljk+1
dE E 1 q l +1 l+1 1
&jk l
nn:
= l w jk w
l
dy j y j k =1
yj
&lij =
w
dE
dE l ' l l 1
=
Fi ( xij ) yi
dw lij
dylj
E 1 q l +1 l +1 1
&jk l ) Fi l ' ( xijl ) yil 1
= ( l w jk w
y j k =1
yj
q
&ljk+1
= ( wljk+1w
k =1
1
E l ' l l 1
) Fi ( xij ) yi
y lj
y lj
15
16
17
2.2 M t cc chn
VCC : chn ngun +5V
GND: chn t
Port A
Port B
Port C
18
Port D
Port E
Port F
Port G
Reset : dng reset li h thng
XTAL1 v XTAL2 : l hai chn to dao ng ngoi khi ni vi
thch anh
AVCC l chn ngun cho cng F v dng bin i ADC. Khi kt
ni vi VCC th qu trnh bin i ADC l chnh xc hn
AREF l chn in p so snh phc v cho qu trnh bin i ADC
PEN l chn enable cho ch giao tip SPI
19
20
2.3.1 B nh ca Atmega128
Atmega 128 cha 128 Kbytes chng trnh v c chu k ty xa l 10 000 ln.
B m ca Atmega 128 l 16 bit. C th np chn trnh cho chip qua cng SPI,
JTAG hoc cng song song
Atmega 128 s dng kin trc Harvard vi b nh d liu v b nh chng
trnh tch bit nhau. Hnh 3.4 minh ha phc tho kin trc bn trong ca b iu
khin Atmega 128. Bus d liu dng cho b nh d liu l mt bus 8 bit, cho php
21
22
23
SUIB, CPI, ANDI v ORI cng nh WI, cc lnh nay ch tc ng n cc thanh ghi
R16 n R31.
Cc thanh ghi t R26 n R31 c cc chc nng b xung thanh ghi R0 c
s dng trong cc lnh lp b nh chng trnh LPM, trong khi cc thanh ghi R26
n R31 c s dng lm cc thanh ghi con tr nh c minh ha trn hnh 2.6
24
Chc nng
AD7 (m rng b nh ngoi vi bit d liu l bit 7)
AD6 (m rng b nh ngoi vi bit d liu l bit 6)
AD5 (m rng b nh ngoi vi bit d liu l bit 5)
AD4 (m rng b nh ngoi vi bit d liu l bit 4)
AD3 (m rng b nh ngoi vi bit d liu l bit 3)
AD2 (m rng b nh ngoi vi bit d liu l bit 2)
AD1 (m rng b nh ngoi vi bit d liu l bit 1)
AD0(m rng b nh ngoi vi bit d liu l bit 0)
Port B : chc nng cc chn ca port B c trnh by di bng
Pin
PB7
PB6
PB5
PB4
PB3
PB2
PB1
PB0
25
Port C : ngoi chc nng vo ra thng thng, Port C cn c thm chc nng
m rng b nh ngoi chn Port C
Pin
PC7
PC6
PC5
PC4
PC3
PC2
PC1
PC0
Chc nng
AD15 (m rng b nh ngoi vi bit d liu l bit 15)
AD14 (m rng b nh ngoi vi bit d liu l bit 14)
AD13 (m rng b nh ngoi vi bit d liu l bit 13)
AD12 (m rng b nh ngoi vi bit d liu l bit 12)
AD11 (m rng b nh ngoi vi bit d liu l bit 11)
AD10 (m rng b nh ngoi vi bit d liu l bit 10)
AD9 (m rng b nh ngoi vi bit d liu l bit 9)
AD8(m rng b nh ngoi vi bit d liu l bit 8)
Port D : ngoi chc nng vo ra thng thng, Port D cn c thm chc nng
Chc nng
T2 (u vo b m timer/counter2)
T1 (u vo b m timer/counter1)
XCK1 (dng khi giao tip USART1 cn dng b dao ng ring)
ICP1
INT3/TXD1 (Ngt m rng hoc chn truyn tn hiu ca UART1)
INT2/RXD1 (Ngt m rng hoc nhn tn hiu ca UART1)
INT1/SDA (Ngt m rng hoc chn a ch ca giao tip I2C)
INT0/SCL (Ngt m rng hoc chn a dao ng ca giao tip I2C)
Port E : ngoi chc nng vo ra thng thng, Port E cn c thm chc nng
Chc nng
INT7/ICP3 (ngt ngoi hoc u vo Capture ca timer/counter3)
INT6/T3 (ngt ngoi hoc u vo timer/counter3)
INT5/OC3C (ngt ngoi hoc u ra PWM C ca timer/counter3)
INT4/OC3B ( ngt ngoi hoc u ra PWM ca timer/counter3)
AIN1/OC3A (u vo so snh tng t m v u ra PWM A ca
PE2
PE1
PE0
timer/counter3)
AINO/XCKO (u vo so snh tng t dng
PDO/TXD0 ( chn truyn d liu ca UART0)
PDI/RXD0 (chn nhn d liu ca UART0)
26
Port F : ngoi chc nng vo ra thng thng, Port F cn c thm chc nng
m rng b nh ngoi chn Port F
Pin
PF7
Chc nng
ADC7/TDI (u vo ADC knh 7 hoc kim tra d liu u vo ca
PF6
JTAG)
ADC6/TDO (u vo ADC knh 6 hoc kim tra d liu u ra ca
PF5
PF4
JTAG)
ADC5/TMS (u vo ADC knh 5 hoc chn ch cho JTAG)
ADC4/TCK ( u vo ADC knh 4 hoc kim tra dao ng ca
PF3
PF2
PF1
PF0
JTAG)
ADC3 (u vo ADC knh 3)
ADC2 (u vo ADC knh 2)
ADC1 (u vo ADC knh 1)
ADC0 (u vo ADC knh 0)
Port G : ngoi chc nng vo ra thng thng, Port G cn c thm chc nng
Chc nng
TOSC1 (to xung dao ng ring cho b timer/counter0)
TOSC2 (to xung dao ng ring cho b timer/counter0)
ALE ( chn cho php cht a ch vi b nh m rng)
____
RD ( chn cho php c vi b nh ngoi)
PG0
_____
27
28
29
30
d ) B m/nh thi
TIMER/COUNTER1 l b m/nh thi 16-bit thit k cho php chng
trnh nh thi mt cch chnh xc (qun l s kin), to sng v m tn hiu thi
gian vi cc tnh cht chnh nh sau:
Thit k 16-bit thc ( v d cho php 16-bit PWM)
Ba n v so snh ra c lp
Gp i b m so snh ra
Xo b nhiu u vo c pht hin
Xo b m khi t gi tr so snh (T ng np li)
Xung t do c t ng cha bi b iu ch rng chui xung
(PWM)
Khong PWM thay i
To tn s
m s kin bn ngoi
ngun ngt c lp (TOV1, OCF1A, OCF1B, v ICF1)
31
32
33
2. 3.8 B nh thi
B nh thi trong Atmega128 c chc nng ging nh mt b nh thi hoc
mt b m. Ging nh mt b nh thi, tn hiu gi nhp bn trong hoc dn xut
ca tn hiu gi nhp c s dng gi nhp b nh thi, trong khi ging nh
mt b m, mt tn hiu t bn ngoi chn ca mt cng c s dng gi
nhp b nh thi/b m. hnh 3.14 minh ha b dn knh (multiplexer), ng vai
tr la chn mt trong nhiu ngun tn hiu ng h dng cho b timer/counter. B
chia tn s dng cho c b timer/counter 0, timer/counter 1, v timer/counter 2 c
minh ha trn hnh 2.11.
34
35
36
37
s l w11 , w 21 , w 31 , w11 . Hnh 2.3 m t s phn tch h thng theo thut ton
3
Brandt-Lin. Trng s lin kt gia nt 21 v nt 31 l w11 bng hng s nn
3
3
&11
w11
w
= 0 . Do vy cng thc tnh cc trng s s cn l:
w&lij =- g
E l' l l - 1
Fi ( xij )yi
ylj
38
2
&11
w
=
E 2' 2
F1 (x11 )e p
z12
1
1
2
E = e 2 = ( xm y )
2
2
E E y
y
=
= e 2
2
2
z1
y z1
z1
y
chnh l o hm u ra ca i tng theo u vo.
z12
y y 1
y&
=
=
2
z12 t z12 z&
1
t
Chuyn sang min Laplace:
sY ( s ) Y ( s )
=
= hm truyn i tng.
sU ( s ) U ( s )
Do vy vi mt h ng hc n nh, c th xp x
y
v 1 hng s. Cc kt qu
z12
&221 = eI e
w
2
&31
w
= eD e
3.1.2 Kt qu m phng
Sau y l cc kt qu m phng b iu khin PID-Neural c chnh nh
thch nghi trng s ca mng vi cc loi i tng v iu kin m phng khc
nhau. Cc kt qu ny c so snh vi cc kt qu iu khin t b PID truyn
39
G (s ) =
( s + 1) ( s + 5 )
B iu khin PID-Neural:
B iu khin c h s thch nghi = 1 v cc trng s c gi tr ban u l
w121 = 1 .6 8 5, w 22 1
2 =.7 6 5, w 23 1
0 .4 3=7 8
M hnh iu khin:
G (s ) =
0.2
( 1 + s ) ( 1 + 0.2 s )
40
T = 1 + 0.2 = 1.2 ( s )
KP =
2
= 10 ; TI = 0.8 *1.2 = 0.96 ; TD = 0.194 *1.2 = 0.2328
0.2
Kt qu m phng:
41
2
Hnh 3.5: (a) Tn hiu t v cc tn hiu u ra; (b)Trng s w11 ;
2
(c)Trng s w 221 ; (d) Trng s w 31
42
b) i tng c nhiu
Nghin cu trng hp c nhiu, a vo h thng nhiu n trng c cng
noise power =0.01 v nhiu c cng thm vo u vo ca i tng. i
tng nghin cu khng i.
B iu khin PID-Neural:
B iu khin c h s thch nghi = 1 v cc trng s c gi tr ban u l
2
=2.765, w31
.=
0.4378
M hnh iu khin:
G (s ) =
0.2
( 1 + s ) ( 1 + 0.2 s )
T = 1 + 0.2 = 1.2 ( s )
KP =
1
= 20 ; TI = 0.667 *1.2 = 0.8004 ; TD = 0.167 *1.2 = 0.2004
0.2
43
Kt qu m phng:
44
45
c) i tng c tr
to ra i tng c tr, ta thm vo 1 khu tr trc i tng iu khin.
Thi gian tr l 0.2 giy. i tng iu khin c hm truyn l:
e0.2 s
G ( s) =
( s + 1) ( s + 5)
B iu khin PID-Neural:
B iu khin c h s thch nghi = 0.3 v cc trng s c gi tr ban u l
2
2
2
w11
= 2.758, w 21
= 3.722, w31
= 0.8847 .
M hnh iu khin:
G (s ) =
0.2e0.2 s
( 1 + s ) ( 1 + 0.2 s )
2
= 10 ; TI = 0.8 *1.4 = 1.12 ; TD = 0.194 *1.4 = 0.2716
0.2
46
Kt qu m phng:
47
48
1
s ( s + 1) ( s + 5 )
M hnh iu khin:
49
Kt qu m phng:
50
2
2
Hnh 3.11: (a) Tn hiu t v tn hiu u ra; (b)Trng s w11 ; (c)Trng s w 21 ; (d)
2
Trng s w 31
Nhn xt: Vi i tng c thnh phn tch phn, cht lng tn hiu u ra ca h
thng khng c tt, qu iu chnh ln, thi gian xc lp di. Nguyn nhn l
do vi i tng c thnh phn tch phn, o hm ca i tng khng th xp x v
hng s v i tng khng n nh.
51
y&= 7. y + sin ( y ) + y 2 + u
H s thch nghi bng 0.5. Cc trng s c gi tr ban u l:
2
2
2
w11
= 0, w 21
= 0, w31
=0
52
53
54
Nhn xt: Vi i tng phi tuyn, s dng b iu khin PID truyn thng th
cn phi tuyn tnh ha i tng. Cng vic ny to ra cht lng iu khin khng
cao do s sai lch gia i tng thc v i tng sau khi tuyn tnh ha. Nhng
vi b iu khin PID-Neural, cht lng tn hiu u ra ca h thng rt tt, thi
gian xc lp ngn, khng xy ra hin tng qu iu chnh.
55
1
, hm
1 + e x
2
2
2
3
3
4
Hnh
w11
, w 221, w 231, w 12
, w 222, w 232, w 13
, w 223, w 233, w. 11
, w 21
, w 11
56
e1 3 3
E
w 11 w&11- gs 1' ( s12) e1 2
2
z1
z1
'
2
2
2
2
2
m: s 1 ( s1 ) = s1 ( s1 ) s 1 ( - s1 ) = z1s 1 ( s1 )
1
1
2
E = e2 = ( xm - y )
2
2
57
E E y u
3
=
=- eb w 11
(do theo bin lun trn vi i tng tuyn tnh n
2
2
z1 y u z1
nh th o hm ca i tng c th xp x v 1 hng s)
Hng s b c a vo trong hng s thch nghi g .
2
w&11
= z12s 1( s12)
e1 3 3
3
w 11 w&11- gz12s 1( s12) e1( - e w 11
)
2
z1
3
= s 1( s12) e1 w 11
( w&113 + gz12e)
Tng t nh trn:
3
w&221 = s 1( s12) e2 w 11
( w&113 + gz12e)
3
w&231 = s 1( s12) e3 w 11
( w&113 + gz12e)
2
3
w&12
= s 1( s22) e1 w 21
( w&213 + gz22e)
3
w&222 = s 1( s22) e2 w 21
( w&213 + gz22e)
3
w&232 = s 1( s22) e3 w 21
( w&213 + gz22e)
3
w&213 = s 1( s23) e1 w 31
( w&313 + gz32e)
3
w&223 = s1( s23) e2 w 31
( w&313 + gz32e)
3
w&233 = s 1( s23) e3 w 31
( w&313 + gz32e)
&411 = const
Do w
w&311 = 0- g.1.z12
nn:
E
= gz12e
u
w&321 = gz22e
w&331 = gz32e
M hnh mng nron ca b iu khin cng vi cc thut ton hc c din gii
trn c trnh by bng Matlab/Simulink hnh 3.16.
58
3.2.2 Kt qu m phng
Sau y l cc kt qu m phng b iu khin da trn mng nron c
trnh by trn vi cc loi i tng v iu kin m phng khc nhau. Tn hiu
mu l tn hiu mc 1. Cc m phng c thc hin bng Matlab/ Simulink.
a) i tng n nh
i tng iu khin l i tng tuyn tnh n nh bc 2 c hm truyn G(s) l
59
G (s ) =
H
( s + 1) ( s + 5 )
thch
nghi
= 3.
Cc
trng
60
ban
l:
Tn hiu u ra:
61
M hnh iu khin:
62
d) i tng c tr
Thi gian tr l 0.4 giy. i tng iu khin khng i. H s thch nghi l 2. Cc
trng s ban u l:
63
1
s ( s + 1) ( s + 5 )
w1 =- 07093
.
;w2 =- 034
. ;w3 = 04476
.
;w4 = 15
.;
w5 = 1308
. ;w6 = 07324
.
;w7 = 1278
. ;w8 = 1243
. ;
w9 = 1162
. ;w10 =- 1605
. ;w11 = 09184
.
;w12 = 06863
.
;
M hnh iu khin:
64
Tn hiu u ra:
y&= 7. y + sin ( y ) + y 2 + u
H s thch nghi bng 0.1. Cc trng s c gi tr ban u l:
65
Tn hiu u ra:
66
4.1 ng c in mt chiu
4.1.1. Cu to ca ng c mt chiu
ng c in mt chiu gm c 3 thnh phn c bn : Stato ca ng c l
mt nam chm vnh cu, cun dy phn ng lp trn Roto v cp chi than. Nguyn
l hot ng ca ng c mt chiu c th trnh by tm tt nh sau: t trng c
nh sinh ra bi nam chm vnh cu gn trn stato gy ra lc tc dng ln cun dy
trn r to khi cun dy c dng in chy qua (nh lut Ampe). Lc t sinh ra m
men tc dng ln r to . M men ny biu din theo phng trnh :
Tm = Ke . . Ie . sin
Trong : Te = m men ng c
Ke = h s ng c
= mt dng t
Ie = dng in phn ng
= gc gia vect t trng c nh
67
68
69
C V
o d
X L
e r
D 4
L E D
3
v=
60.n
n0
70
Encoder
Driver
My Tnh
LCD
Atmega
iu khin
128
ng c
Bn Phm
71
LCD1
R1
10K
LCD
LCD
LCD
LC
LC
LC
LC
VCC
VCC
D
D
D
D
1
2
3
_ R 4S
_ R 5W
_ E N6
7
8
9
10
_ D1 41
_ D1 52
_ D1 63
_ D1 74
15
16
V SS
VDD
V EE
RS
RW
EN
D0
D1
D2
D3
D4
D5
D6
D7
A
K
KHOI LCD
VCC
C1
C2
C3
0 .1 u F
0 .1 u F
J1
0 .1 u F
1
6
2
7
3
8
4
9
5
VCC
P1
PF0
PF1
21
52
2
1
2
1
PF2
PF3
RB1
9
8
7
6
5
4
3
2
1
H ea de r 2
P3
2
1
PE 3
PB 0
H ea de r 2
P4
10K
2
1
PB1
PB2
D1
D
D
D
D
D
D
D
D
VCC
R2
H ea de r 2
P5
2
1
PB3
PB4
LED 0
1K
VCC
LC D _R S
LC D _R W
LC D _E N
PE 3
LC D _D 4
LC D _D 5
LC D _D 6
LC D _D 7
P
P
P
P
P
P
P
P
H ea de r 2
P6
2
1
7
6
5
4
3
2
1
0
61
60
59
58
57
56
55
54
PB5
PB6
10
11
12
13
14
15
16
17
H ea de r 2
(A
(A
(A
(A
(A
(A
(A
(A
D
D
D
D
D
D
D
D
C
C
C
C
C
C
C
C
0)
1)
2)
3)
4 /
5 /
6 /
7 /
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
E
E
E
E
E
E
E
E
B
B
B
B
B
B
B
B
PB7
PEN
U1
A TM E G A 128
51
(A D 0 ) P A 0
50
(A D 1 ) P A 1
49
(A D 2 ) P A 2
48
(A D 3 ) P A 3
47
T( AC DK 4) ) P A 4
46
T( AMD S5 ) ) P A 5
45
T( AD DO 6 ) ) P A 6
44
T( AD DI )7 ) P A 7
43
(A L E ) P G 2
D
D
D
D
D
D
D
D
A
0
1
2
3
4
5
6
7
LE
A
A
A
A
A
A
A
A
8
9
10
11
12
13
14
15
0
1
2
3
4
5
6
7
35
(A 8 ) P C 0
36
(A 9 ) P C 1
37
(A 1 0 ) P C 2
38
( P D I / R X ( DA 01 1) ) P C 3
39
( P D O / T X( AD1 02 )) P C 4
40
( A C + / X C( AK1 03 )) P C 5
41
( A C - / O C( A3 A1 4) ) P C 6
42
( I N T 4 / O (CA 31 B5 ) P C 7
(IN T 5 / O C 3 C )
34
( I N T 6 / T 3( R) D ) P G 1
33
( I N T 7 / I C( W3 ) R ) P G 0
0
1
2
3
4
5
6
7
25
PD0
( S S )( I N T 0 / S C L ) P D O
26
PD1
( S C K( I) N T 1 / S D A ) P D 1
27
RX
( M O ( SI NI ) T 2 / R X D 1 ) P D 2
28
TX
( M I S( OI N) T 3 / T X D 1 ) P D 3
29
PD4
(O C 0 ) (IC 1 ) P D 4
30
PD5
(O C 1 A )(X C K 1 ) P D 5
31
PD6
(O C 1 B ) (T 1 ) P D 6
32
PD7
( O C 2 / O C( T1 C2 ) P D 7
1
PEN
20
R E SET
P8
2
1
F0
F1
F2
F3
F4
F5
F6
F7
62
AREF
63
AGND
64
AVCC
2
3
4
5
6
7
8
9
B0
B1
B2
B3
B4
B5
B6
B7
P
P
P
P
P
P
P
P
VCC
VCC
H ea de r 2
P2
PF0
PF1
PF2
PF3
TC K
TM S
TD O
TD I
IC 1
1
OC
A LE 11
C
D
D
D
D
D
D
D
D
0
1
2
3
4
5
6
7
2
3
4
5
6
7
8
9
RX
IC 2
1D
2D
3D
4D
5D
6D
7D
8D
1Q
2Q
3Q
4Q
5Q
6Q
7Q
8Q
A
A
A
A
A
A
A
A
0
1
2
3
4
5
6
7
C4
10uF
C6
1 0uF
IC 3
VCC
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
VCC
C9
0 .1 u F
GND
GND
53
22
C11
22pF
16M H z
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
10
9
8
7
6
5
4
3
25
24
21
23
2
26
1
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
22
OE
27
W E
20
CS
+
10uF
VCC
TDI
P7
IC 4
D
D
D
D
D
D
D
D
0
1
2
3
4
5
6
7
GND
11
12
13
15
16
17
18
19
14
D
D
D
D
D
D
D
D
0
1
2
3
4
5
6
7
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
RD
W R
A15
10
9
8
7
6
5
4
3
25
24
21
23
2
26
1
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
22
OE
27
W E
20
CS
VCC
PD0
PD1
VCC
28
D3
H e ad er 2
U2
V2
+C 1 3
C 14 1 0uF
1 00uF
IN O U T
GND
7805
VCC
P9
D
D
D
D
D
D
D
D
0
1
2
3
4
5
6
7
GND
11
12
13
15
16
17
18
19
D
D
D
D
D
D
D
D
0
1
2
3
4
5
6
7
PD4
PD5
P 10
PD6
PD7
14
DS1
LED0
72
1
2
H eader 2
1K
+C 15
10 uF
1
2
H eader 2
R4
1
2
H eader 2
1N 4148
1 N 4001
VCC
28
62C 256
V1
C7
1 0uF
JT A G 1
6 2C 256
2
1
C8
TCK
TDO
TM S
Y1
P11
C5
10 uF
VCC
0 .1 u F
23
XTAL2
RESET
1 0K
12
1 OUT
9
2 OUT
14
1 OUT
7
2 OUT
4
C2+
5
C2 6
V-
VCC
C12
D2
R
R
T
T
RD
W R
C10
22 pF
R3
R 1 IN
R 2 IN
T 1 IN
T 2 IN
C 1+
C1 V+
M A X232
RD
W R
A 15
VCC
13
8
11
10
1
3
2
TX
74H C 573
19
P G 4 (T O S C 1 )
18
24
P G 3 (T O S C 2 ) X T A L 1
H ea de r 2
19
18
17
16
15
14
13
12
1 2
3 4
5 6
7 8
9 10
VCC
11
10
VCC
R1
10K
LCD1
LCD_RS
LCD_RW
LCD_EN
LCD_D4
LCD_D5
LCD_D6
LCD_D7
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
VSS
VDD
VEE
RS
RW
EN
D0
D1
D2
D3
D4
D5
D6
D7
A
K
73
74
Mc ch
data) Truyn d liu n mt thit b khc
Truyn d liu
RD (Receive
Nhn d liu
RTS (Request to send) Cho bit l thit b sn sng truyn d
liu.
DSR (Data set ready) Cho bit thit b nhn d liu c kt
ready)
DCD (Data
Detect)
RI (Ring Indicator )
75
76
dng cng vic ang thc hin v bt u thc hin mt chng trnh dng cung
cp mt byte khc cho b m ca cng COM. Mc ch ca b m ny l d mt
byte d tr trong hng i (tr truyn) trong phn cng khng b trng trong
qu trnh truyn cc byte d liu ra cp ca cng COM.
i vi CPU, mt khi nhn c ngt, n s bit ai gi ngt cho n v c
mt dy ngt c th cho mi cng COM (tr khi cc ngt b chia s). Tip CPU
s chy thit b ni tip kim tra a ch ca cng gi ngt. N s thy b m ca
cng ny b trng v ang i mt byte gi vo. V vy nu c byte gi th n s
chuyn byte k tip truyn vo trong b m. Byte s c k tip c th c
a vo b m trong khi byte trc n ang trong thanh ghi dch truyn d liu v
ang trong qu trnh truyn d liu tng bit mt.
Tm li khi mt byte truyn hon ton ra ng truyn ca cng COM v
thanh ghi dch ang trng th s c 3 vn xy ra gn nh l ng thi:
Byte k tip s c chuyn t b m truyn ca cng COM vo thanh ghi
dch truyn d liu.Qu trnh truyn d liu tng bit mt ca byte mi bt u Mt
ngt khc c pht ra bo cho cho thit b bit gi mt byte khc ti b m
hin thi ang trng.
V vy c th coi cng COM l mt thit b hot ng c ngt. Mi khi cng
COM pht ra mt ngt th CPU s truyn cho n mt byte khc. Mt khi mt byte
c gi ti b m bi CPU, CPU s tip tc t do thc hin hng ng khc
cho ti khi n nhn c mt ngt khc. Cng COM s truyn d liu cc bit vi tc
thch hp vi tc c chn bi ngi s dng (hoc mt trnh ng dng no
). Tc ny c gi l baudrate. Ngoi ra cng COM cng thm cc bit nh bit
start, stop, i khi c parity v vy thng c ti 1 bit c gi trong mi byte d
liu. tc 19200 bps s c 1920 byte/sec (v cng c ti 1920 ngt/sec).
thc hin tt c cc cng vic ny th CPU phi lm rt nhiu vic. u
tin l gi 8 byte 8 bit trong mt ln trong khi bus d liu ca my tnh l 32 bit
(hoc c th ln ti 64 bit). Vic ny khng s dng hiu qu rng ca bit d
liu. Tip l c qu nhiu cc ngt cn x l v vic x l cc ngt cng yu cu
77
nhiu vic. Khi mt ngt c nhn vo, thit b iu khin ch bit l c ngt cng
m khng bit l ngt yu cu thm k t vo ch k t c truyn i. Thit
b iu khin phi lm rt nhiu s kim tra pht hin ra ci g xy ra dn n
ngt. Bi khi mt k t c nhn cng c cng ngt nh vy cng thm ng iu
khin thay i trng thiVi tc truyn chm th vic c b m nhn 1 byte
khng l vn g nhng khi tc cao hn th s c th n n vic CPU khng
th thc hin cng vic ca UART ng lc gy ra s ghi d liu (trong khi nhn
d liu) gy ra cc li overrun hay overflow.
Mt s tin b ln l tng dung lng b m ca cng COM t 1 byte ln
ti 16 byte. iu ny ngha l khi CPU nhn c ngt n c th a vo b m ti
16 byte tip truyn. N lm cho ngt t hn lm cc cng vic khc trong khi d
liu vn c gi tng byte trn mt rng bit. Vi 16 byte khng nhng b m
c th i nhiu byte hn m c th nhn ti 16 byte mt lc. B m 16 byte thc
s l mt hng i kiu FIFO (First In First Out)- vo trc ra trc.
application
8k-byte
16-byte
1k-byte
tele-
buffer
buffer
buffer
line
Qu trnh nhn d liu t cc byte bi cng COM cng ging nh vic truyn
chng ch khc l c chiu ngc li. N cng cn gi ngt. Vi loi cng COM kiu
c, khi mt byte c nhn y . t cp bn ngoi n c c chuyn vo b
m nhn 1 byte. Tip cng s a cho CPU mt ngt bo rng n nhn c
mt byte yu cu ly byte i n c th c ch trng cho byte tip theo ang
c nhn v. Vi cng COM mi th ngt s c a ra khi c ti 14 byte c
nhn vo trong b m. Khi CPU s thc hin vic ly 14 hoc 16 byte ra khi b
m. Trong qu trnh thc hin ngt c th c thm 2 byte na c nhn vo trong
b m. Nu nh c ti 3 byte c a vo trong thi gian ny th s gy ra li
Overrun. chc chn khng xy ra li ny, c th pht tn hiu gi ngt khi b m
c t hn 14 byte. Vic t bao nhiu phn trm b m th pht tn hiu ngt cho
78
79
80
ln thnh 10V. Gi tr cc t C1, C2, C3, C4 thng thng c chn l 10uF. Mch
chuyn i s dng MAX232 t ra n nh ton b di truyn ca chun RS232.
81
82
Tn chn
AGND
FS
IN1
PWR
OUT1
DNC
PGND
OUT2
IN2
M t
Chn t
Bo li trng thi
iu khin u ra 1
Kt ni vi ngun dng
u ra 1 ca cu H
Khng ni
Ni t
u ra 2 ca cu H
iu khin u ra 2
c tnh
K hiu
f PWM
Tn s PWM
Tn s gii gn trong qu trnh f MAX
min
-
typ
10
-
max
20
n v
kHz
kHz
hot ng
Thi gian tr khi bt u ra
t D (ON )
18
t D (OFF)
18
83
5
4
3
2
1
V
4
+7
+ C
6
1
1
u
A G
F S
I N
V p
V p
O
U
O
U
D
N
P
G
0
P G
5 0 V
2 0
N D D N 1 C9
I N 12 8
1
D
11 7
w Cr c 1 p 6
w V r p 1w 5
TO 1 U 1 T 4
TO 1 U 1 T 3
C D
21 2
NP GD 1 N 1
NP GD N
2
2
1
V
D
D
2
1
R
R
J
R
R
23
1
U
A
1
V
1
V
R
D
93
5
L
3
C
T V
1
I N
5
1
47
3
U
3
V
7
5
7
B
4
4
1
1
4
4
C
1
0 1u 0F 4
G
C
N
84
1
2
2
2
0
/ S
1
2
3
4
5
14
1
2
3
4
5
6
7
8
9
GND
85
C1
C2
C3
C4
H1
H2
H3
H4
86
87
88
89
1 e x
. Hm truyn ca mng nron
1 + e x
e x e x
2 ( x) = 1 x x . Hm truyn ca nron lp ra l hm purelin: 3 ( x) = x .
e +e
Theo yu cu ca vic iu khin, khi eP , eD l s ln th cn tng ln ca tn hiu
iu khin, khi l s nh th cn gim tn hiu iu khin nn chn hm truyn ca
nron th nht l hm tansig. Ban u sai lch tch ly eI nh cn tng tn hiu iu
khin, sau theo thi gian iu khin sai lch ny tng dn th cn gim tn hiu
90
91
Vi
eP 2 2
E
w w& - gs 1' ( s11) eP 1
1 11 11
z1
z1
E
2
=- ebw11
1
z1
s 1' ( s11) =
s 1
2
=
1
1
1
s1
1+ e- s1 1- e- s1
)(
2
&11
1
2 w
w&11
= s1' ( s11) eP w11
+
g
e
z1
gz11e
= s ( s ) eP w
1 + ge
'
1
1
1
2
11
2
=2gs1' ( s 11 ) eP ew11
1
2
w&32
=2gs1' ( s11) eI ew11
1
2
w&21
=2gs 2' ( s21) eDew21
1
1
s 2
e s2 - e- s2
Vi: s ( s ) = 1 =- 2 s1
1- s21
2
s2
e +e
'
2
1
2
2
e s21 - e- s21
1
1
s
- s
e 2 + e 2
u ra ca b iu khin:
2
u = w112 .z11 + w21
.z12
92
v=
60 *1000 * n
= 7.5n (vng/pht)
800 *10
Kt qu iu khin:
93
Chng 5: KT LUN
94
95