Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

M hnh ha i tng chuyn ng thng to trc tip v xut cu trc iu khin Modelling of directly generated linear motions and a proposal control structure
L Anh Tun, Phan Anh Tun, Nguyn Vit Trng, Nguyn Phng Quang Trng HBK H Ni e-Mail: tuanla-autolab@mail.hut.edu.vn

Tm tt
Bi bo xut m hnh cho cc yu t phi tuyn tnh bao gm n hi, khe h, ma st trong chuyn ng thng. Mt cu trc iu khin cho h thng gm ng c tuyn tnh v ti c s xut hin ca cc yu t phi tuyn tnh ny c xut ng thi m phng c thc hin kim chng tnh thch hp ca cu trc iu khin ny.

Ff x xs xBL 2a CS

N m m m m N/m m/s m/s A V T

Lc ma st V tr trong h trc Oxy V tr u l xo trong h ta Oxy V tr u l xo trong h ta Oxy rng khe h H s n hi l xo Vn tc Vn tc Stribeck Dng in stator trc d v trc q in p stator trc d v trc q T thng cc t Bc cc S i cc

Abstract This paper propose a model for several static nonlinear elements, including spring force, backlash and friction force in linear motion. A control strategy for a system of linear motor and load which account for static nonlinear elements was proposed and investigated by simulation.

v vs isd,isq usd,usq p

K hiu
K hiu Ch s l Ch s m M L 0 1 2 z Fc Fs Ftrans Fm N N N N kg m N/m kg/s kg/s n v ngha Pha ti Pha ng c Khi lng Chiu di t nhin l so cng si tip xc H s tt dn H s ma st Viscous un trung bnh ca cc si tip xc Lc ma st Coulomb Lc ma st tnh Lc truyn t ng c qua l xo ti ti Lc in t p Rs Lsd,Lsq H

in tr stator in cm stator thnh phn trc d v q

1. Gii thiu
Khc vi ng c quay, ng c tuyn tnh l ng c to ra chuyn ng thng trc tip m khng cn n h thng dy ai, bnh rng, trc vt v do trnh c hao mn c hc, nng cao chnh xc v ng hc ca h thng. Tuy nhin, s c mt ca cc yu t phi tuyn trong h thng v tc ng trc tip ca n gy kh khn ln ti vic iu khin chnh xc, lm gim ng hc v c th gy mt n nh h thng. Bi vy, thc t i hi cn phi xy dng m hnh ca cc yu t phi tuyn tnh t thit k cc cu trc iu khin p ng c cc yu cu cht lng.

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011 2. M hnh ha cc yu t phi tuyn tnh

2.1 M hnh ma st M hnh ma st c s dng l m hnh LuGre . M hnh LuGre c c s da trn m t s tip xc gia hai b mt l s tip xc ca v s cc si nh (hnh 1). Khi mt lc c tc dng ln mt b mt theo phng tip tuyn, nhng si tip xc ny b un cong s phn ng nh nhng l xo gy ra lc ma st n hi ca vt liu, khi c lc tc ng ln thanh truyn, thanh b bin dng n hi v bin dng l:

xm

xl

Khi , lc truyn ti ti chnh l lc n hi v theo cng thc

Ftrans

Cs l

Cs ( L

xm

xl )

(3)

2.3 M hnh khe h Khi ni trc ng c vi ti, im ni phi linh hot cho chuyn ng. Tuy nhin, t s linh hot nh vy, phn gi trc s tn ti mt khe h lm sai lch chuyn ng. Xt khu khe h nh hnh H2

H. 1

M t bng hnh nh tip xc hai b mt theo m hnh LuGre

M hnh LuGre th hin c nhng c im quan trng ca ma st trong thc t: Hiu ng Stribeck: l hin tng di vn tc nh, lc ma st gim khi vn tc tng ln Dch chuyn trong di vi m: Khi tc ng mt lc nh hn lc ma st tnh vo mt vt ang tip xc vi mt vt khc, s c s dch chuyn gia hai vt d l rt nh. Vng tr trong quan h gia lc ma st v vn tc: Khi vn tc ang gim, lc ma st c gi tr nh hn so vi khi vn tc ang tng. Vng tr ny s rng hn khi tc thay i ca vn tc cng ln Theo [1], m hnh ma st kiu LuGre c biu din ton hc nh sau:
H. 2 Khe h gi trc

Nh ta bit, lc truyn n ti Ftrans chnh l lc n hi. Khi khe h tn ti:

xS Ftrans Ftrans

xl

xBL Cs l CS L CS ( L xl xm xm xS ) xBL
(4)

dz dt Ff

v s0 z

v g (v ) s1

z
(1)

dz dt

Vic xy dng m hnh khe c da trn nguyn tc sau: Khe h ch xut hin khi c hai trng hp sau khng xy ra: Trng hp tip xc tri: xBL

Nu tnh c hm ma st nht:

a v Ftrans<0 a v Ftrans >0

Ff

s0 z

s1

dz dt

s2 v

(2)

Trng hp tip xc phi: xBL

Hm g (v) c s dng th hin nh hng ca hiu ng Stribeck v c cng thc:

Cc trng hp ny chia mt phng thnh 3 min nh sau:

xm , xl : L xm , xl : L xm , xl \ ( A

xl xl

xm xm

0 : min khng xy 0 : min khng xy

s0 g (v)
2.2 M hnh n hi

FC

( FS

FC )e

( v / vS )

ra hin tng khe h

A A0

Lc n hi l mt yu t c nh hng kh r trong chuyn ng thng to trc tip. Ta xt trng hp trc ng c ni vi ti qua mt thanh truyn c di L v tm thi coi khi lng bng zero. Do tnh

ra hin tng khe h

A ) : min xy ra khe h

Vi mi min, ta c cc phng trnh

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

Nhn xt thy rng, vi Ftrans l u vo, nu coi b (vl ) l hng s trong mt chu k trch mu (hon ton c do c th coi vl l hng trong mt chu k trch mu) th h (8) tr thnh tuyn tnh trong mt chu k trch mu v do c th s dng b quan st Lumberger quan st i tng biu din bi (8) S b quan st Lumberger:

CS L Ftrans 0 CS L

xl

xm

( xm , xl ) ( xm , xl )

A A0 A
(5)

xl

xm

( xm , xl )

3. Cu trc iu khin
3.1 Xp x khu khe h Vi hm truyn lc dng gin on nh phng trnh (5), s rt kh thit k mt b iu khin ph hp. Ta cn m t Ftrans di dng mt hm lin tc. Theo [5], khu khe h c th c xp x thnh mt hm lin tc vi

Ftrans

CS xm

xl

L atanh k ( xm

xl

L) (6)

Sai s khi xp x

H. 3

Sai s khi xp x khu khe h

3.2 B quan st ma st H phng trnh chuyn ng ca ti

x M l xl

vl Ftrans F fl

(7)
H. 4 B quan st ma st

S dng m hnh LuGre, h phng trnh chuyn ng ca ti di tc ng ca lc ma st c biu din nh sau:

Vi s ny, cc h s ca b quan st k1 (b ), k2 (b ), k3 (b ) c xc nh theo phng php gn im cc. F chnh l u ra quan st ca lc ma st thc t.

3.2 Cu trc iu khin backstepping kt hp khu b ma st H phng trnh chuyn ng ca trc ng c v ti khi xt n n hi, khe h v ma st c th hin (9). Trong , Ffl c coi bit do kt qu khu quan st.

xl d vl dt zl

0 0 0 (s1l

1 s2l ) Ml 1 (s0l

0 s1l b vl ) Ml b vl

xl vl zl

0 1 Ftrans Ml 0

(8)

xl
vl g (vl )

Vi b (vl )

H phng trnh th hin cu trc theo kiu chng tng (cascade) gi cho ta s dng phng php thit k backstepping.

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

lch m hnh gy ra. Tuy nhin, khi ma st c b, sai s gia qu o ra v qu o t gim i ng k.

M m xm xm M l xl xl Fm Ftrans
t

Fm Ftrans

Ftrans F fl
(9)

vm vl p p isq Lsd Lsq isd p t Cs {xm xl L a tanh[k xm

Khi khng c b ma st:

xl

L ]}

x1 x3 a1 a3

vl , x2 vm Cs , a2 Ml

xm vl , u g

xl isq Cs Mm
p

Cs Ml

H. 5

Qu o v tr t v v tr t c ca ti

1 p p Mm t

H (9) c chuyn thnh dng xp chng tng minh hn nh sau

x1 x2 x3

1 [ Ftrans x2 Ml x3 1 Mm

F fl ]
(10)

1 Ftrans x2 Ml

1 F fl Ml

a3u g
H. 6 Sai lch gia v tr t v v tr thc ca ti

T y, p dng phng php thit k backstepping c c cng thc ca b iu khin cho vng iu khin v tr. Cu trc iu khin th hin trong hnh H.6

Hnh H5 cho thy bin dng qu o t v thc. Tuy nhin, do kh quan st sai lch nn c b xung bng hnh H6.

4. Kt qu m phng v nhn xt
M phng thc hin vi b thng s ng c S i cc: p=2 in tr mi pha: Rs=8.5 Bc cc: =72 mm in cm ngang trc : Lsd=0.047 H
H. 7 Qu o vn tc t v vn tc thc ca ti

in cm dc trc: Lsq=0.041 H T thng cc : p=0.8373T Khi lng trc ng c : Mm= 3.5Kg Ti trn u trc ng c, bn cnh lc ma st, nhm tc gi coi nh l mt lc Fc c nh (v d lc n dao dc trc ng c). Kt qu m phng pha di ch ra rng trong c hai trng hp khi c b ma st v khng c b ma st, qu o ra u bm vi qu o t. Nguyn nhn l do kh nng ca b iu khin backstepping c th khc phc c nh hng do nhiu cng nh sai

H. 8

Sai lch gia vn tc t v vn tc thc ca ti

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Hi ngh ton iu khin v T ng ho ton quc ln th nht- VCCA-2011

H. 9

Cu trc iu khin

Khi c b ma st:

H. 12 Qu o vn tc t v vn tc ra ca ti

H. 10 Qu o v tr t v v tr ra ca ti

H. 13 Sai lch gia vn tc t v vn tc ra ca ti

H. 11 Sai lch gia v tr t v v tr ra ca ti

Nhn thy sai lch qu o khi khng b ma st ln ti gn 4.10-4 so vi khong 2.10-5 khi c b ma st. C nhn xt tng t nh vy vi th tc trong cc hnh H7-H8, H12-H13.

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

[9] Nguyn Don Phc, Phan Xun Minh, Hn Thnh Trung, L thuyt iu khin phi tuyn, Nh xut bn Khoa hc v K thut, 2008.

H. 14 Lc ma st trn ti v lc ma st t b quan st

5. Ti liu tham kho

[1] H. Olsson, Student Member, K. J. htrom, Fellow, P. Lischinsky, "A New Model for Control of Systems with Friction,, IEEE transactions on automatic control, VOL. 40, NO.3, March 1995, Page [419425] [2] J. Courtney-Pratt and E. Eisner, The Effect of A Tangential Force on The Contact of Metallic Bodies.: in Proc. Royal Society Publishing, vol. A238, 1957, Page [529-550]. [3] M. A. Green, and C. A. Brockley V. I. Johannes, The role of the rate of application of the tangential force in determining the static friction coefficient.: Wear, International Conference, vol. 24, 1973, Page[ 381-385]. [4] Jeffrey W. Moscrop, Modelling, analysis and control of linear feed axes in precision machine tools.: PhD Thesis,University of Wollongong, 2008. [5] Hunh Vn ng,"Tng hp iu khin thch nghi da trn phng php Backstepping cho h truyn ng c n hi, khe h v ma st kh phi tuyn,, Lun vn tin s, Hc vin k thut qun s, 2009. [6] S. Tei, D. Hoshino, M. Izutsu, and N. KamamichiDepartment of Robotics and Mechatronics ,Tokyo Denki University ,Japan J. Ishikawa, Friction Compensation Based on the LuGre Friction Model. Taiwan , SICE Annual Conference 2010, Page [9]. [7] Nguyn Phng Quang, Matlab v Simulink dnh cho k s iu khin t ng.: Nh xut bn Khoa hc K thut, 2009.

L Anh Tun tt nghip i hc ti trng i hc Bch khoa H ni, chuyn ngnh T ng ha XNCN, nm 2000. Tip tc hc Thc s chuyn ngnh o lng v cc h thng cng nghip. Bo v thnh cng lun vn nm 2003 ti H Bch khoa H Ni. T nm 2000 n 2003 l cn b ca phng th nghim trng im v T ng ha, t nm 2003 n nay l cn b nghin cu thuc Trung tm nghin cu trin khai cng ngh cao-H Bch khoa H ni, vi nhim v trng phng Cm bin v C cu chp hnh. Hin l nghin cu sinh ca trng H Bch khoa H ni vi hng nghin cu: iu khin chuyn ng tnh tin to trc tip trong robot song song dng Hexapod. Phan Anh Tun tt nghip chuyn ngnh iu khin t ng ti Trung tm o to ti nng v cht lng cao, trng i hc Bch khoa H ni vo thng 09/2011 vi ti tt nghip l M hnh ha i tng chuyn ng thng to trc tip. T 09/2011, lm vic ti trung tm tch hp, vin ng dng cng ngh, b khoa hc cng ngh vi vai tr cng tc vin trong lnh vc x l tn hiu v iu khin t ng. Nguyn Vit Trng hc i hc ti trng i hc Bch Khoa H Ni t thng 9/2006. Hc lp k s ti nng iu khin t ng ca trng i hc Bch Khoa H Ni. n tt nghip i hc chuyn ngnh iu khin t ng vi ti: M hnh ha v iu khin chuyn ng thng to trc tip bng ng c tuyn tnh (Modelling and control of Linear Feed Axes).T 6/2011 lm vic ti trung tm nghin cu v trin khai cng ngh cao (Hi-Tech) trc thuc trng i hc Bch Khoa H Ni.

[8] Nguyn Phng Quang, L Ngc Hng, Ninh Vn Cng,Nghin cu c tnh phng ca ng c tuyn tnh ng b kch thch vnh cu v xut cu trc iu khin trn c s nguyn l h phng. Lun vn tt nghip i hc, Kha 50, i hc Bch khoa H Ni, 2010.

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

GS.TSKH bo v v nhn bng Dr.-Ing. habil ti CHLB c. L tc gi firmware iu khin c ci t trong cc bin tn REFU 402 Vectovar, RD500 (REFU Elektronik), Simovert 6SE42, Master Drive MC (Siemens). Ba nm 1996-1998 l ging vin ti TUD v c TUD cng nhn l Privatdozent. T 1/1999 l ging vin ca HBK H Ni. Thng 2/2004 c TUD phong Honorarprofessor, thng 11/2004 nhn chc danh Ph Gio s v 11/2009 Gio s v T ng ha ca HBK H Ni. Trong hn 10 nm HBK H Ni hng dn 70 k s, 40 thc s, v ang hng dn 8 NCS (trong c 1 NCS ngi c ca TUD). L tc gi / ng tc gi ca hn 110 bi bo, bo co hi ngh trong v ngoi nc. L tc gi / ng tc gi ca 7 u sch chuyn kho v tham kho, trong c 3 quyn bng ting c v 1 quyn ting Anh. Cc lnh vc nghin cu: iu khin truyn ng in, iu khin chuyn ng v robot, iu khin vector cho cc loi my in, iu khin in t cng sut, iu khin cc h thng nng lng ti to (sc gi, mt tri), h thng iu khin s, m hnh ha v m phng.

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