Lap+Trinh+Labview+Ts+Nguyen+Ba+Hai+Hocdelam Org

Lp trnh LabVIEW
TS. Nguyn B Hi
Sch km theo CD gm:

Cc v d mu LabVIEW Phn mm cn thit hc LabVIEW Video Clip Demo Chng trnh o to LabVIEW ti Vit Nam
2 H tr nhanh: http://labview.hocdelam.org - labview.help@gmail.com | 098 8868 524
BI 1: Gii thiu LabVIEW
LI NI U
B sch hc lp trnh LabVIEW t c bn n nng cao gm 7 tp: - Tp 1: Lp trnh LabVIEW hng dn lp trnh LabVIEW trnh c bn. - Tp 2: C in t ng dng vi LabVIEW hng dn xy dng cc ng dng vi LabVIEW trong cc ngnh k thut. - Tp 3: S tay cc hm trong LabVIEW gii thch tng tn cch s dng cc hm trong cc module ca LabVIEW. Song song ba tp sch trn l 4 tp sch chuyn k thut chuyn su: - Tp 4: K thut m phng trong vi LabVIEW - Tp 5: o lng v kim tra t ng - Tp 6: Nhng bi bo khoa hc chn lc s dng LabVIEW c cng b ti cc tp ch, hi tho quc t phc v hc vin sau i hc, cc sinh vin kh gii v k s mun nghin cu chuyn su. - Tp 7: 101 ng dng hay vi LabVIEW l tp sch hng dn thc hin cc ng dng dng cho mi la tui, chuyn ngnh. T hc sinh lp 5 n cc ging vin i hc cc ngnh Vt l, Ton hc, K thut. Tt c cc tp sch ny c vit cho i tng l ngi mi bt u tm hiu LabVIEW, ph hp vi sinh vin, ging vin v k s c nhu cu t hc v xy dng cc ng dng thuc cc ngnh k thut o lng, iu khin t ng, k thut t, robotics, vt l, t ng ha. Ti liu ny c ba u im quan trng khng c trong cc ti liu khc s gip bn: - Hc nhanh LabVIEW nh cch tip cn vn hc lm c trng m Hocdelam Group pht trin v p dng thnh cng trong nhiu nm. Hc trng tm nh vo cc kt lun, quy tc vng, mo vt (tip) do bn thn tc gi rt ra t kinh nghim lp trnh LabVIEW nhiu nm. Hc v xy dng cc ng dng d dng nh vo gi sn phm: 1Phn mm LabVIEW, 2-B th nghim a nng HDL-9000 gi thnh thp tng thch LabVIEW, 3-Gio trnh hng dn v v d mu.
Sch hng dn xy dng cc ng dng da trn nhng phn cng chnh hng nh CompactRIO, USB 6008/6009, PCI7250 v nhng phn
H tr nhanh: http://labview.hocdelam.org - labview.help@gmail.com 0988868524 3
Lp trnh LabVIEW
TS. Nguyn B Hi
cng gi thnh thp nh Hocdelam USB-9001, Hocdelam USB 9090. (Xem sn phm ti http://sanpham.hocdelam.org hoc http://ni.com). s dng phn u ca tp 1 hng dn lp trnh LabVIEW, bn ch cn t phn mm LabVIEW. Phn u ca cun sch tp trung vo cc khi nim v LabVIEW, cu trc chung ca chng trnh LabVIEW, cc loi control v indicator, vng lp, cu trc, mng, b, phn tch d liu, m cn cung cp kin thc v giao tip my tnh qua cng COM theo chun RS232 v cng USB, giao tip mng TCP/IP, m phng v iu khin mobile robot, trong mi trng 3D, thu thp v x l nh. Ngoi ra, quy tc vng khi lp trnh, k thut xy dng giao din ngi dng (GUI) cng s c cp chi tit. Phn 2 ca ti liu ny hng dn bn pht trin cc ng dng thc t nh iu khin PID ng c DC, lp trnh Robocon, thi gian thc vi LabVIEW da trn cc card sn xut bi National Instruments, Hoa k hoc b th nghim a nng HDL-9000, card Hocdelam USB-9001 gi thnh thp. hc LabVIEW hiu qu, ngi hc cn thc hin theo hng dn ca mi bi. Thc hnh nhiu ln cc v d v hon thnh cc bi tp trong sch. Tc gi chn thnh cm n PGS. TS. Vn Dng truyn cm hng trong sut qu trnh nghin cu nhng nm qua, qu thy c ti i hc S phm K thut Tp.HCM. c bit l s gip quan trng ca National Instruments v tinh thn v vt cht cho vic nghin cu cng nhng khch l t ng Chandran NairGim c NI ASEAN, ng SuntisukGim c qun l Thi Lan-Vit Nam, ng Phm Quc Hng v ng Nguyn H Nam ti NI Vit Nam. Chn thnh cm n PGS. TS. T Dip Cng Thnh, H Bch Khoa Tp.HCM, TS. Nguyn c Hng t H Tamania, c, TS. Chung Tn Lm c bn tho v gp cho tp sch. Hiu bit ca tc gi cn hn ch nn khng th trnh khi cc sai st, th lin h v gp vui lng gi v: Nguyn B Hi, Phng th nghim C in t t H, S phm K thut Tp.HCM, S 01-V Vn Ngn, Qun Th c, Tp.HCM; Email: bahai@hcmute.edu.vn. Hotline: 0937-159-700. Tc gi
BI 1 GII THIU LabVIEW

Hc xong bi ny, bn s nm c: - Khi nim v LabVIEW v mt s thut ng - Phn bit c LabVIEW vi cc ngn ng khc 1.1. LabVIEW l g? LabVIEW (vit tt ca Laboratory Virtual Instrumentation Engineering Workbench) l mi trng ngn ng ha hiu qu trong vic giao tip a knh gia con ngi, thut ton v cc thit b. Gi LabVIEW l ngn ng ha hiu qu v v cch thc lp trnh, LabVIEW khc vi cc ngn ng C (hay Python, Basic, vv.) im thay v s dng cc t vng (t kha) c nh th LabVIEW s dng cc khi hnh nh sinh ng v cc dy ni to ra cc lnh v cc hm nh trong hnh 1.1. Cng chnh v s khc bit ny m LabVIEW gip cho vic lp trnh tr nn n gin hn bao gi ht, c bit, LabVIEW rt ph hp i vi k s, nh khoa hc, hay ging vin. Chnh s n gin, d hc, d nh gip cho LabVIEW tr thnh mt trong nhng cng c ph bin trong cc ng dng thu thp d liu t cc cm bin, pht trin cc thut ton, v iu khin thit b ti cc phng th nghim trn th gii.
Hnh 1.1: M ngun vit bng LabVIEW V ngha k thut, LabVIEW cng c dng lp trnh ra cc chng trnh (source code: m ngun) trn my tnh tng t cc ngn ng lp trnh da trn ch (text-based language) nh C, Python, Java, Basic, vv.
Lp trnh LabVIEW
TS. Nguyn B Hi
ng thi, LabVIEW h tr cc k s, nh khoa hc v sinh vin, vv. xy dng (thc thi) cc thut ton mt cch nhanh, gn, sng to, v d hiu nh cc khi hnh nh c tnh gi nh v cch thc hot ng theo kiu dng d liu (data flow) ln lt t tri qua phi. Cc thut ton ny sau c p dng ln cc mch in v c cu chp hnh thc nh vo vic kt ni h thng tht vi LabVIEW thng qua nhiu chun giao tip nh chun giao tip RS232 (giao tip qua cng COM), chun USB, chun giao tip mng TCP/IP, UDP, chun GPIB, vv. V vy LabVIEW l mt ngn ng giao tip a knh. LabVIEW h tr hu ht cc h iu hnh (Windows (2000, XP, Vista, Windows7), Linux, MacOS, Window Mobile, Window Embedded. Hin ti, LabVIEW 2010 l phin bn mi nht. Mt s phin bn c ca LabVIEW bao gm 2009, 8.6, 8.5, 7.1, 6i. Nhn chung hai phin bn k nhau 2010 v 2009 khng c s khc nhau nhiu. Tuy nhin c s khc bit ng k gia cc bn LabVIEW 7.1, LabVIEW 8.5 v LabVIEW 2009. Bn c th chn mt trong ba phin bn sau cng dng cho vic hc lp trnh, trong cun sch ny, chng ti s dng LabVIEW 2009. Bn c bit? LabVIEW c tin s James Truchard, i hc Taxas, Hoa K sng to ra vo nm 1986, v tr thnh mt cng c khng th thiu trong cc ngnh k thut. sn phm u tin bt u trong nh xe ca Ch tch, CEO v ng sng lp NI James Truchard Austin, Texas, Hoa K. 1.2. Cc ng dng ca LabVIEW LabVIEW c s dng trong cc lnh vc o lng, t ng ha, c in t, robotics, vt l, ton hc, sinh hc, vt liu, t, vv. Nhn chung: - LabVIEW gip k s kt ni bt k cm bin, v bt k c cu chp hnh no vi my tnh. - LabVIEW c th c s dng x l cc kiu d liu nh tn hiu tng t (analog), tn hiu s (digital) hnh nh (vision), m thanh (audio), vv. - LabVIEW h tr cc giao thc giao tip khc nhau nh RS232, RS485, TCP / IP, PCI, PXI, v nh vy. - Bn cng c th to ra cc thc thi c lp v cc th vin chia s (v d th vin lin kt ng DLL), bi v LabVIEW l mt trnh bin dch 32-bit.
LabVIEW tr nn ph bin cc phng th nghim Nht, Hn, M, Anh, c, vv. Phn ny trnh by mt s ng dng ca LabVIEW tiu biu v cc d n ti cc phng th nghim trong v ngoi nc m tc gi cun sch ny tham gia thc hin d n. ng dng o lng, trong hnh 1.2 l giao din thu thp d liu cc thng tin cn thit ca tu v tr c nh ti c quan hng khng v v tr NASA, Hoa K.
Hnh 1.2: Thu thp d liu ti C quan hng khng v v tr - NASA ng dng hnh 1.3 ny gii thiu p dng ca vic s dng LabVIEW v card Hocdelam USB 9001 hoc NI USB 6008 thc hin o tn hiu, v biu c tuyn cc cm bin trong t v thc nghim thut ton chuyn i cm bin nhm h gi thnh sa cha xe t. ng dng ny c thc hin ti i hc S phm K thut Tp.HCM nm 2008.
Hnh 1.3: Thu thp d liu t cm bin o gi trong t v th nghim thut ton chuyn i cm bin
Lp trnh LabVIEW
TS. Nguyn B Hi
iu khin xe t t xa, hnh 1.4 l giao din iu khin t by ch (xe Captival) t xa c thc hin bi thnh vin Hocdelam Group ti phng th nghim Biorobotics, Hn Quc. Giao din ny hon ton c xy dng trong mi trng lp trnh LabVIEW c kh nng hin th cc thng s v tn hiu thc nh: vn tc xe, mc xng, v tr tay s ca xe, video truyn t xe qua mng khng dy, m thanh t ng c t l thun vi v tr bm ga cng c gi lp lm cho vic iu khin xe t xa ging vi vic li xe trc tip nhm nng cao cht lng iu khin xe.
Hnh 1.4: Giao din li t t xa M phng 3D, hnh 1.5 m t ng dng m phng mt cnh tay robot n gin do Thc s Trung Hiu thc hin.
Hnh 1.5: iu khin tay Robot

iu khin phng tin khng ngi li, hnh 1.6 m t ng dng LabVIEW iu khin robot khng ngi li nhm d tm v khm ph di nc ca tp on Nexans.
Hnh 1.6: Robot di nc (Spider) c pht trin da trn LabVIEW ca cng ty Nexans Thu thp hnh nh v m phng ng lc hc, hnh 1.7 trnh by ng dng m phng h thng li khng trc li trong t. ng thi, hnh nh t webcam (webcam thng thng gn qua cng USB) c thu thp v a ln giao din ngi dng (Graphical User Interface GUI). Xem chi tit ti ny bng cch search google cm t sau: Steer-By-Wire Systems with Realistic Steering Feel. Xem video clip Steer-by-wire.avi v file Steer-ByWire Systems with Realistic Steering Feel.pdf trong CD km theo sch ny.
Hnh 1.7 H thng li khng trc li ti phng th nghim Biorobotics, KUT, Hn Quc
Lp trnh LabVIEW
TS. Nguyn B Hi
Thut ton iu khin t ng v tr ng c DC theo thut ton PID v giao din trc quan trong hnh 1.8 c Hocdelam Group vit da trn c s phn mm LabVIEW. Vi giao din ny, ngi iu khin s d dng quan st gi tr v tr mong mun, v v tr thc t ca ng c, ng thi, so snh v nh gi c tc p ng, n nh ca ng c DC trong qu trnh vn hnh.
Hnh 1.8 iu khin ng c DC theo thut ton PID o lng, gim st v iu khin h thng cng nghip (SCADA), hnh 1.9 trnh by ng dng ca LabVIEW trong h thng iu khin v gim st dng trong cng nghip.
Hnh 1.9: H thng o lng, gim st v iu khin trong cng nghip Ti y, bn hnh dung phn no nhng ch li v sc mnh ca ngn ng lp trnh ha LabVIEW. Vy, chng ta hy cng bt tay vo hc v s dng LabVIEW nh.
1.3 Download v ci t LabVIEW hc v lm vic vi LabVIEW, ta ch cn ci bn LabVIEW dng th (evaluation version), so vi phin bn c bn quyn (nh bn professional version) th bn dng th c gii hn 30 ngy (bn c th ci li sau khi ht hn dng tip lu di) v s th vin hm (function library) sn c b gii hn. Tuy nhin, tht may mn l ta hon ton c th t xy dng cc th vin ny t nhng hm c bn c sn trong bn dng th. Hy yn tm hc v s dng LabVIEW nu bn cha c kinh ph trang b cho mnh LabVIEW c bn quyn nh. Bn ti phn mm LabVIEW 2009 ti http://labview.hocdelam.org hoc mua b a CD phn mm LabVIEW v gio trnh lp trnh LabVIEW qua Email: supports@hocdelam.org. Nhn chung, cc phin bn LabVIEW 8.5, 8.6 v 2010 cng c ci t tng t. V cch thc ci t, ta ci LabVIEW nh cc phn mm thng thng nh sau: Gii nn file LabVIEW 2009.rar, chy file Setup.exe trong th mc LabVIEW 2009. Sau bn ci t phn mm theo cc bc ln lt cc hnh sau (cc hnh ny khng c nh s hnh).
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H tr nhanh: http://labview.hocdelam.org - labview.help@gmail.com 0988868524
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Lp trnh LabVIEW
TS. Nguyn B Hi
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Lp trnh LabVIEW
TS. Nguyn B Hi
Nu gp kh khn trong vic ti phn mm v ci t LabVIEW, gi email v supports@hocdelam.org, h tr nhanh qua ng dy nng: 0937159700. 1.4. Phng php hc LabVIEW hiu qu hc LabVIEW nhanh v hiu qu, bn nn: - T mnh lp trnh li cc v d v bi tp trong sch sau khi ci t phn mm LabVIEW. - Trong qu trnh hc lun thc hin 3 quy tc vng khi lp trnh. Ba quy tc ny c trnh by ti bi 2. - Hc nhanh LabVIEW c bn qua cc video clip (Download min ph ti: http://labview.hocdelam.org Bn c bit? i vi vic hc lp trnh th con ng duy nht, nhanh nht gii l bn phi thc hnh.
Ti liu ting Vit khc c th tm ti: - labview.hocdelam.org - vagam.hocdelam.org - ino.com.vn - google.com.vn (bn cn search cc t kha bng ting Vit nh ti liu labview, gio trnh labview,). Ti liu ting Anh c th tm ti: - ni.com - lava.org - google.co.uk (bn cn search cc t kha bng ting Anh nh LabVIEW tutorial, labview book, labview demonstration, labview application,vv). - Mt s cun sch tham kho gm: LabVIEW for everyone, LabVIEW advanced programing technique, vv. ng k cc kha hc thng qua cc trnh o to LabVIEW ti Vit Nam c cung cp bi cc trung tm, trng hc sau: - Hocdelam Group cung cp cc chng trnh o to theo nhu cu ca doanh nghip, nh my, trng hc v c nhn trong c nc (ng k nhanh qua in thoi: 0937 159 700). - i vi ngi bn rn, bn c th ng k hc LabVIEW trc tuyn (online) ti http://labview.hocdelam.org. - Trng i hc S Phm K thut thnh ph H Ch Minh t chc cc chng trnh o to cc kha hc lin quan LabVIEW cho hc vin sau i hc, sinh vin h i hc chnh quy ngnh C kh ng lc. - Cc kha lp trnh LabVIEW c bn ti Trng Kinh T K thut Ph Lm, Q6, Tp.HCM. - Phng o to cng ty VTK, H Ni. - Hc ti Cng ty TNHH thng mi dch v k thut LINH PH, Q. G Vp, Tp.HCM. - Nu c vn ting Anh tt, bn c th ng k hc trc tuyn ti http://ni.com.
Lp trnh LabVIEW
TS. Nguyn B Hi
Xy dng ng dng thc t hc nhanh LabVIEW v xy dng c cc ng dng thc t bn c th trang b phn cng nh card giao tip my tnh dng thc tp thu thp tn hiu cm bin v iu khin t ng ng c, l nhit,... vi LabVIEW. a ch cung cp phn cng trc tuyn hoc ti Tp.HCM. - http://ni.com (ting Anh) - htt://sanpham.hocdelam.org (ting Vit) - http://ino.com.vn - Cng ty Tn Minh Giang, P.10 - Q. G Vp - Tp.HCM. - Cng ty TNHH thng mi dch v k thut LINH PH, Q. G Vp, Tp.HCM. 1.5. Bi tp Cu 1: Hy nu khi nim v LabVIEW Cu 2: Source code l g? Cu 3: u im ca ngn ng lp trnh ha LabVIEW so vi cc ngn ng khc lp trnh khc l g? Cu 4: Nu mt s ng dng ca LabVIEW trong gio dc v cng nghip Tham kho [1] http://labview.hocdelam.org [2] http://ni.com [3] Nguyn B Hi Tht n gin: iu khin ng c DC theo thut ton PID, 2010. [4] wikipedia.org [5] Google.com [Ngun mt s hnh nh trong bi vit]
BI 2 CC PHP TON TRONG LabVIEW

Hc xong bi ny, bn s nm c: - Cu trc chung ca mt chng trnh LabVIEW - Ba quy tc vng khi lp trnh LabVIEW - Cc php ton trong LabVIEW - Lu file, tm v d, cc cng c tr gip 2.1. Chng trnh u tin: Php cng hai s x, y n gin, hy xem LabVIEW nh phn mm son tho vn bn Microsoft Office Word. V vic son tho vn bn trong Word cng tng t vic to ra Source Code trong LabVIEW. Hy cng lm thc hin chng u tin Php cng hai s x,y nh sau: Bnh thng, cng hai s x,y bng my tnh b ti (pocket caculator) nh Hnh 2.1. V d x=2, y=3, th ta phi nhn s 2, nhn du +, v nhn s 3, sau nhn du =, v kt qu s hin th ra mt mn hnh LCD. Nh vy ta s c hai nt nhn (2 v 3) nhp gi tr, mt LCD hin th gi tr ra ca php cng, v hm cng (+).
Hnh 2.1: My tnh b ti Trong LabVIEW, cc nt nhn c gi l cc Control, cc LCD gi l cc Indicator. Php cng gi l hm (Function). Cc control v indicator s nm ca s trc (Front panel), v hm nm ca s sau (Block diagram), cn gi l ca s cha cc s khi. Xem thm Hnh 2.2.
Lp trnh LabVIEW
TS. Nguyn B Hi
Hnh 2.2: Phn tch v d tng ca x v y By gi ta thc hin trong LabVIEW. Khi ng LabVIEW bng All program> National instruments> LabVIEW 2009> cch vo: LabVIEW. Hp thoi xut hin v bn chn vo Ca s giao din LabVIEW xut hin nh Hnh 2.3.
Hnh 2.3: Ca s giao din LabVIEW khi mi khi ng To file mi: Tng t trnh to vn bn Microsoft Office Word, to file mi ta c 3 cch: chn Blank VI (VI trng) (Hoc chn: File> New hoc phm tt Ctrl+N), ta thy xut hin hai ca s - mu xm (Front
panel) v mu trng (Block diagram) nh trong Hnh 2.4. Nhn Ctrl+T canh u hai ca s Front panel (FP) v Block diagram (BD).
Hnh 2.4: Front panel v Block digram To control nhp s 2 v 3 nh sau: - Click chut phi (Right click) ln front panel (FP) ly khi Numeric Control bng cch click chn khi nh[hnh 2.5].
Hnh 2.5: Ly numeric control trn FP - R chut ra vng trng ca FP , chn v tr cn t Control ny.
- Nhn chut tri (Left Click) chut phi th Control xung FP - Nhp ch A vo mc t en thay i tn khi - Tng t ta to khi B c hai khi A,B To indicator hin th kt qu ca tng nh sau: - Right click ln FP, vo Num Inds (Numeric Indicator) ly khi Numeric Indicator bng cch click chn khi nh Hnh 2.6.
Lp trnh LabVIEW
TS. Nguyn B Hi
Hnh 2.6: Ly numeric indicator trn FP - Th xung vng trng ca FP. - Sa tn khi ny thnh A+B. Ta c Ly hm cng (+) thc hin php cng hai s 2 v 3 bng cch: - Right Click ln Block Diagram (BD). Chn vo du mi hai mi tn x ca s xung.
Hnh 2.7: Ly hm cng ti BD - Chn vo th vin Hoc chn Express> , chn vo , chn hm cng , chn hm cng nh Hnh 2.8. .
Hnh 2.8: Ly hm cng ti BD - t ra vng trng trong BD (khng th t hm ti FP). Ta c - Di chut ra cc v tr u (hnh ca cc khi Control v Indicator), s thy hnh cun ch hin ra, - Left Click khi cun ch hin ra, sau r chut ti u ni ca hm cng ri nht Left Click kt ni. - Tng t, ta ni B vo hm cng. V ni u nhn bn phi ca tam gic hm cng vo Indicator A+B (Xem v d ny trong CD km theo ti - Ta c ng dn: CD/Bi 2/Vi du2-1 - Phep cong hai so A,B.vi Chy chng trnh - Nhp gi tr 2 vo Control A, 3 vo Control B - Nhn nt Run c hnh tam gic c chy chng trnh. bn FP hoc bn BD u
- Indicator A+B xut ra gi tr (tr v gi tr) 5: Nh vy, bn va hon thnh chng trnh u tin trong LabVIEW. Xin chc mng bn! Lu : Th vin hm Express l tp con ca th vin Programming. Ni cch khc l nhng hm t trong th vin Express u c trong th vin Programming. Th vin Express ch cha nhng hm thng dng.
Lp trnh LabVIEW
TS. Nguyn B Hi
2.2. Phn tch cu trc mt bi trnh LabVIEW Qua v d mc 2.1 ta thy, mt chng trnh LabVIEW (d n gin nht hay phc tp nht cng c to nn mt cch rt n gin t 4 thnh phn c bn sau: cc khi Control ng vai tr input (hay gi tr nhp vo), cc Indicator ng vai tr Ouput (gi tr hin th ra, kt qu), cc hm v cc ng dy ni (wire) cc khi v hm li. Nu bn thc hin c chng trnh php cng trn th mi chng trnh phc tp sau ny bn cng s hon ton thc hin c khi theo di k cc tp sch ny. Cc Control th lun ni vo cc nt bn tri ca hm. Cc Indicator th lun ni vo cc nt bn tri ca hm nh Hnh 2.9. c im ny l mt lu v cng quan trng khi s dng qui tc vng Change to sau ny.
Nt bn phi
Cc nt bn tri
Hnh 2.9: Cc nt bn tri v bn phi ca hm cng Ta cng nhn thy, cc Control th c cc nt mi tn ln-xung tng gim gi tr (hoc nhp trc tip vo Control). Cc Indicator th khng th nhp gi tr vo. Control th c mu trng, cn Indicator th c mu xm. Mt Control c th i thnh Indicator (hoc Constant) bng cch nhp Right Click ln Control cn i, chn Change to Indicator. Hoc ngc li, mt Indicator c th i thnh Control bng php Change to Control c cp chi tit mc 2.3. Constant chnh l mt Control c gi tr khng i sut thi gian chy (Run) chng trnh. Cc Control v Indicator u c nh ca chnh mnh bn BD, nh ny t ng to ra khi ta ly cc Control v Indicator bn FP. Bn c bit? Hng dn thc hin php cng ny cn c trnh by di dng Video Clip c th download c min ph t http://labview.hocdelam.org.
2.3. Ba quy tc vng Ba quy tc vng l nhng hot ng phi thc hin lin tc trong sut qu trnh lp trnh LabVIEW. Ba quy tc ny l: Quy tc 1: Right Click> Create/Replace/Change to ly cc khi, to khi, thay th khi v i chc nng khi. Quy tc 2: Ctrl + H xem s chn ca hm v c hng dn tm tt ca mt hm bt k (context help). Quy tc 3: Search tm kim cc hm, i tng Nu bit kt hp cc quy tc ny, vic lp trnh LabVIEW ca bn s t hiu qu cao nh: rt ngn thi gian, gim bt cc cng on vo th vin ly Control, Indicator, vv. Hy xem cch p dng quy tc th nht (Quy tc 1) trong v d tnh tng hai s A+B trn nh sau: - Ly hm cng t BD nh Hnh 2.8 - R chut vo 2 nt pha tri hm (Hnh 2.9) cho ti khi hnh cun ch . Right Click, chn Create, chn Control. hin ra
Hnh 2.10: Cch to Control theo quy tc vng 1 - Tng t, ta to Control th 2. - R chut ln nt bn tri cn li ca hm. Right Click, Chn Create, Chn Indicator nh Hnh 2.11.
Hnh 2.11: Cch to Indicator theo quy tc vng 1 Nh vy, khi p dng quy tc vng 1 gip b qua vic ly cc Control v Indicator t FP v gip vic lp trnh tr nn nhanh hn, hn ch s ln Click chut tm cc khi cn thit trong lp trnh.
Lp trnh LabVIEW
TS. Nguyn B Hi
V quy tc Ctrl+H, hy ly hm cng ra ti Block Diagram, v nhn Ctrl+H, sau a chut ln hm cng. Ta s thy s chn v li gii thch v hm cng, nu nhn tip Ctrl+H ln na th s chn s n i.
Hnh 2.12: Context help hin th s chn ca Control (x,y) v Indicator (x+y) V quy tc Search, bn chn Right Click vo FP hoc BD, sau chn ch Search gc phi pha trn ca hp thoi th vin hm, sau g tn ting anh ca cc control hoc indicator (i vi FP) hoc tn hm (i vi BD) th s d dng tm ra cc hm. Cch ny gip ngi lp trnh tit kim thi gian trong vic tm kim cc hm. Hy yn tm nu bn khng gii ting Anh v bn c th d dng tra cu tn ca control, indicator hoc tn hm bng cc t in Vit-Anh hoc cng c Google Translate trc tuyn. Ngoi ra, bn cng cn lu ti cc v d c sn ca LabVIEW tm thy trong menu Help> Find examples tm cc v d (Example) c sn trong LabVIEW. Cc v d ny gip bn tit kim ng k thi gian tm hiu v lm ch LabVIEW. 2.4. Cc php ton thng thng T bi ton trn, ta c th vit chng trnh tnh tch v tng hai s A,B nh Hnh 2.13. thc hin, bn ch cn ly thm hm nhn (cng v tr vi hm cng trong BD), sau a chut ln dy ni t A n hm cng , Click chut tri ln dy ny, v ni vo u vo ca hm nhn.
Hnh 2.13: Tnh tch v tng hai s A,B

Phn ny hng dn cch lm cc php ton thng thng trong LabVIEW nh php chia ly d, php tnh cn bc 2, hm s m, tr tuyt i, nhn vi -1, vv. Chut phi trn BD, Chn Programming, Chn Numeric, ta ly hm cn bc hai v chia ly d . To cc Contronl v Indicator nh hnh. Ta s tnh c cn ca A l 1.41421. V vi php chia B cho C (10:3) ta c phn nguyn l 3, phn d l 1.
Hnh 2.14: Php tnh cn v chia ly d Tng t, ta c php tr tuyt i v nhn vi -1 nh trong Hnh 2.15. Hy m file v d 3: cc php tnh tham kho chng trnh mu
Hnh 2.15: Php tr tuyt i v nhn vi -1 Bn c th xem v d v cc php ton trong CD km theo sch ti th mc CD/Bi 2/Vi du2-2 Cac phep toan.vi 2.5. Lu file, m file, tm v d, cng c tr gip Trong LabVIEW, lu file ta chn File, Save, Ch ng dn v tr lu file v t tn cho file cn lu l Vi du 1, nhn OK. i vi file chng trnh LabVIEW th ui ca n l .VI (tng t nh vn bn trong Microsoft Word c ui l .DOC hoc .DOCX). Ch VI vit tt ca ch Virtual Instrumentation thit b o.
Hnh 2.16: Lu file

Lp trnh LabVIEW
TS. Nguyn B Hi
to lu file hin ti ang m thnh mt file mi ta chn Save As, hp thoi nh Hnh 2.17 sau s hin ra. ngha ca ba la chn trong mc Copy l: - Substitute c ngha File mi to s c m, file c s ng li. - Create c ngha file c s c m, file mi to c ng li. - Open c ngha c hai file c v mi to s c m. Nu bn chn mc Rename th khng c file mi no c to ra nhng bn c th thay i tn ca file hin ti.
Hnh 2.17: Cc la chn khi lu file bng Save As m file, ta vo File, Open v chn File cn m. Lu , cc file LabVIEW c lp trnh bi LabVIEW phin bn qu c s khng m c bng phn mm LabVIEW phin bn cao. V bn cng khng th m cc file c lu bng LabVIEW c phin bn cao hn bng LabVIEW c phin bn thp hn. khc phc iu ny, bn hy s dng chc nng Save for previous version (trong File) khi mun file ca bn c th m bng cc phin bn LabVIEW thp hn. Context Help nhm gip gii thch cc hm, cc i tng trong LabVIEW l mt cng c v cng thit thc. hin Context Help ca bt k hm no bn cha nm r cch dng, Chn Ctrl + H. Sau a chut ln hm bt k (v d, hm tnh cn bc 2), ta s thy Context Help hin ra. lm mt Context Help, ta nhn Ctrl + H mt ln na.
Hnh 2.18: Nhn Ctrl + H v a chut vo v tr hm thy Context Help

c chi tit Context Help, bn chn Detailed Help mu xanh. T Detailed Help, bn c th cun chut xung di cng m cc v d c sn trong LabVIEW tham kho thm v hm ang tm hiu. Hc qua v d l mt phng php tt cho nhng ngi mi bt u. 2.6. Phn c thm Phn ny gii thiu tm tt cc th vin ca LabVIEW nm trong BD. Khi m BD ca LabVIEW bn thy c rt nhiu th vin nh trong hnh 2.19.
Hnh 2.19: Cc th vin hm trong LabVIEW Cc th vin c ngha nh sau: Programming l ni cha h tr cng c, hm lp trnh ni chung (ging cc ngn ng khc nh C, Matlab, vv) SignalExpress h tr thu thp d liu, hin th tn hiu trn my tnh. Advanced Signal Processing Toolkit h tr x l tin hiu nng cao. Control Design and Simulation h tr xy dng cc m hnh ng lc hc ca cc h thng v thit k b iu khin (ging Matlab Simulink). Digital Filter Design Toolkit h tr thit k b lc s. PID and Fuzzy Logic Toolkit h tr thit k b iu khin PID hoc Fuzzy Logic FPGA h tr lp trnh FPGA
Lp trnh LabVIEW
TS. Nguyn B Hi
Real-Time h tr lp trnh ng dng thi gian thc Internet Toolkit h tr giao tip qua mng Internet. Database Connectivity Toolkit h tr kt ni c s d liu. Vision Development Module h tr cng c pht trin h thng thu thp v x l nh. Simulation Interface Toolkit cho php kt ni LabVIEW v Matlab Simulink. Vision and Motion h tr lp trnh chuyn ng nhiu bc. LabVIEW Embedded Modudle l modun lp trnh nhng, dng lp trnh vi iu khin. Express: L ni cha cc hm thng dng. Cc hm thng dng l tp con ca th vin LabVIEW Programming. Trong cc th vin th th vin Programming l quan trng nht. chnh l ni cha ton b hm c s ca mi trng lp trnh ha LabVIEW. V tp sch ny, chng ta s dng cc hm trong Programming, sau p dng cc hm ny bt tay vo thc hnh thu thp d liu, iu khin PID ng c DC,vi phn cng thc. Tng module trn s trnh by chi tit trong cc tp sch xut bn ti y. Cc yu cu v ng gp cho cc tp sch tip theo, vui lng lin h tc gi qua E-mail: bahai.ce@gmail.com. 2.7. Bi tp Cu 1: Nu ngha ca Front Panel v Block Diagram. Cu 2: Nu cu trc chung ca mt chng trnh LabVIEW Cu 3: Vit chng trnh thc hin php cng, tr, nhn, chia hai s A,B. A,B c nhp vo t bn phm. Cu 4: Vit chng trnh tnh hai php tnh sau bit A,B,C,n c nhp vo t bn phm. a)
n
A (17 B C )
b) 1102 A
2 B 3C 2011
2011( A B) (gi cu 4c: Hy chn cng c search BD tm hm C power of x).

c)
BI 3 CC LOI CONTROL V INDICATOR

Hc xong bi ny, bn s nm c: - Cc loi Control, Indicator thng dng - Cc kiu d liu ca cc Control v Indicator - Chuyn i qua li gia cc kiu d liu - Bng, biu , th
3.1. Cc Control thng dng

Cc control thng dng gm cc dng: numeric, fill slide, pointer slide, knob, dial, constant, string, simulated signal,vv. ly cc Control, ta vo th vin theo ng dn: FP> Express > Numeric Control nh Hnh 3.1 v chn Control cn ly. V d ly Numeric control: Right click trn ca s FP, chn Express, chn Numeric Control, Chn Numeric Control v t ra mn hnh. Tng t i vi Slide control v String control ta lm nh trn.
Hnh 3.1: Cch ly Control

Ta c th copy nhanh cc Control bng cch nhn Ctrl (Trn bn phm) v ko th cc Control bng chut tri.
Hnh 3.2: Copy nhanh bng vic ko th

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Cc Control thng dng c tm tt ti bng sau:
Numeric control: l control dng s Fill slide: Control c dng mt thanh trt Pointer slide: Control dng thanh trt c nt ko Knob: Nt vn Dial: a xoay
Constant: hng s, hay c th xem l mt dng numeric control nhng gi tr khng thay i trong sut qu trnh chy chng trnh. to Constant ta ly mt Numeric control, chut phi ln Numeric control chn Change to constant (Quy tc vng 1). String control: l 1 dng ch hay cn gi l text control. S dng text Control ny nhp cc ch hoc chui k t, hoc mt cu vn, xem thm bi 4 case structure. Simulated signal: mt tn hiu c m phng sn trong LabVIEW c th dng nh mt Indicator trong mt s trng hp. Ly Simulated signal bng cch vo: BD> Express> Input> Simulated Signal. Xc lp cc thng s khi bng thng s hin ra.
Ni u ra ca khi va ly vi mt Graph bng cch chn Right Click ln u ra, Create> Indicator.
Thng cc control c chia lm 3 dng: Boolean, Numeric v String.

V d v s dng cc loi control v Indicator khc nhau c trnh by trong hnh 3.3. Xem v d ny trong CD km theo sch ny ti th mc CD/Bi 3/Vi du3-1 cac dang Control va Indicator.vi
Hnh 3.3 V d v cc control v Indicator 3.2. Cc dng Indicator thng dng

Tng t cc Control, ta cng c cc Indicator nh: numeric, string, slide, vv Gia Control v Indicator c th chuyn i qua li nh vo thao tc Right Click> Change to Control hoc Change to Indicator. Nh vy ta li thy quy tc vng Right Click pht huy hiu qu (vic chuyn i qua li) trong trng hp ny. ly cc Indicator, ta vo th vin theo ng dn: FP> Express > Numeric Indicator> nh Hnh 3.1 v chn Control cn ly. V d ly Numeric control: Right click trn ca s FP, chn Express, chn Numeric Indicator, Chn Numeric Indicator v t ra mn hnh. Tng t i vi Slide control v String control ta lm nh trn.
Hnh 3.3: Cch ly Indicator

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Bng tm tt cc Indicator nh sau:
Numeric indicator: l Indicator dng s Meter: Indicator c dng ng h vung Gauge: Indicator dng ng h vung Thermometer: Ct nhit Graduated Bar: Thanh hin th qu trnh String: l 1 dng ch hay cn gi l text Control, dng xut cc ch hoc chui k t, hoc mt cu vn, xem thm bi 4 Case structure. Ly string indicator ti FP> Modern> String & Path> String Indicator. Chart: l biu hin th cc gi tr theo trc thi gian
Graph: l th thng c dng hin th cc tn hiu dng sng (waveform). XY Graph: th hin th quan h gia hai tn hiu X v Y hoc dng trong bi v th hm s y=f(x) c trnh by trong bi 4.
V d v s dng Chart trnh by nh hnh 3.4.

Trong hnh trn, to sng Sine, ta ly Simulated Input theo ng dn: BD> Express> Input> Simulated Input v t thng s nh mc nh trong hnh 3.5.

Ngoi ra, mt Numeric Indicator c s dng chnh Amplitude (bin ) ca sng Sine, v mt Graph Indicator hin th sng Sine. Xem file Vi du 3-2 Waveform display.vi trong CD km theo sch.
3.3. Kiu d liu trong LabVIEW v chuyn i d liu

Kiu d liu l cng c dng gn (p) mt numeric hay indicator vo mt dy gi tr no . V d, ta mun mt Numeric Control c gi tr (v ch nm trong gi tr ngay c khi ngi iu khin nhp gi tr khc) l 0-255 th ta s gn Numeric Control vo kiu d liu Unsigned 8 bit (Vit tt l U8). Mun i kiu d liu ca mt Control, ta chn Right Click ln Control > Chn Representation> Chn Kiu cn gn. Hnh 3.6 lit k cc kiu d liu trong LabVIEW.
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Hnh 3.6: Cc kiu d liu trong LabVIEW

Trong LabVIEW c nhiu kiu d liu khc nhau, v d:
K hiu
Kiu d liu
Byte signed integer Word signed integer Long signed integer Quad signed integer Byte unsigned integer Word unsigned integer Long unsigned integer
S bit
8 16 32 64 8 16 32
Khong gi tr
128 ti 127 32,768 ti 32,767 2,147,483,648 ti 2,147,483,647 1e19 ti 1e19 0 ti 255 0 ti 65,535 0 ti 4,294,967,295
Cch chuyn i kiu d liu: chut phi ln i tng mun chuyn i chn Represention ri chn kiu d liu mong mun.
3.4. Bi tp Bi 1: Vit chng trnh tnh y = 4 x 2 + 8 , vi x nhp t bn phm. Trong , x c kiu Numeric Control, y l Indicator kiu ng h. Bi 2: Vit chng trnh v th: y = n 2 x 2 + m . Tp xc nh (TX): x = {x Z | 100 x 100}. Trong , n c nhp vo t bn phm v c dng Numeric Control. Bi 3: Vit chng trnh tnh Y= | b-c |
Y l Numeric c kiu Unsigned 8 bit. b, c l cc Numeric kiu Double pricision.
BI 4 VNG LP (WHILE LOOP) VNG LP FOR (FOR LOOP)

Hc xong bi ny, bn s nm c: - S dng c vng lp, cu trc thng gp trong LabVIEW - Cc ng dng ca while loop, for loop
4.1. Vng lp while

Vng lp while l vng lp c iu kin nh trong hnh 4.1. ngha ca vng lp while l cho php chy chng trnh mi ti khi no nt stop c nhn th mi dng li. ly while loop ta vo BD> Express> Execution> While loop nh trnh by trong hnh 4.1
Hinh 4.1: Ly while loop ti BD

While loop s lp li chng trnh c t trong vng lp ny, ti khi nt Stop (conditional terminal) nt Stop ti FP c nhn (Lu rng nt Stop c dng d liu l Boolean-true hoc false). Xt v d trong hnh 4.2 nh sau: C hai php tnh cng. Php cng A l cng Numeric 1 v Numeric 2 hin th kt qu ra Indicator 1, php cng B l php cng Numeric 2 v Numeric 3 hin th kt qu ra Indicator 2. Khc bit duy nht l php cng A t ngoi vng lp cn php cng B
Lp trnh LabVIEW
TS. Nguyn B Hi
t trong vng lp. Bn hy chy chng trnh (nhn phm tt Ctrl+R), sau thay i gi tr ca Numeric 1, 2, 3, 4. Ta s quan st thy php cng A s khng c gi tr thay i ti Indicator 1. Cn Indicator 2 s thay i gi tr khi bn thay i gi tr nhp vo Numeric 3 v 4. FP v BD ca v d ny c trnh by trong hnh 4.2. Xem v d ny trong CD> Bi 4> while loop.vi
Hnh 4.2: Tnh tng vi while loop

Ngoi ra, trong while loop cn c chn iteration (i) c k hiu ( ) l b m s ln lp hin ti (current loop iteration count) (ln thc hin u tin i=0). Gi tr ln nht ca (i) l 2,147,483,647 (231,), v gi mi mi sau . Nu cn gi tr ln hn 2,147,483,647, dng shift registers c min gi tr integer ln hn, hoc s dng mt vng lp for loop trong trng hp ny. Ngoi ra, ta cn c th s dng shift-register trong while loop. Shiftregister l mt thanh ghi hot ng nh mt nh. Ta s dng thanh ghi ny truy cp lch s gi tr ca mt tn hiu no , v d chng trnh ca chng ta ang chy thi gian l 10:30am, v ta mun xem li gi tr ca tn hiu o c t cm bin nhit thi im 10:29am. Ngoi ra, Shift register cng c th dng thc hin cc php ton cng dn (Xem trong bi iu khin PID trong tp 2). Ni cch khc l c th dng shift registers chuyn gi tr ca i tng/tn hiu no vng lp ny sang vng lp k tip. Bn c c th xem them v d cch s dng Shift register trong CD/Bi 4/shift register.vi hoc v d dng shift register lp trnh b iu khin PID iu khin ng c DC s dng card Hocdelam USB-9001 bi 10 v ti v d ny ti ti website http://labview.hocdelam.org (Mc v d mu).
Hnh 4.3: S dng shift register 4.2. Vng lp for

Cng nh while loop, for loop l vng lp m s ln lp li c th nh trc bi ngi lp trnh. Ly for loop trong th vin hm nh sau: BD> Express> Execution> For loop. V d ta mun chy chng trnh tnh tng A+B trong 100 ln th sau 100 ln lp li php tnh tng th chng trnh s t thot (t dng). Nh trong hnh ta t s vng lp cn lp li l 100 (t thng qua khi Numeric). Sau khi chy chng trnh th Numeric 2 (ng vai tr l Indicator ch ra s vng lp c) s bo s 99. L do l LabVIEW m vng lp u tin c gi tr (i)=0.
Hnh 4.4: For loop

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4.3. ng dng vng lp v th

p dng XY Graph trong bi 3 v While loop trong bi ny v th hm s y=f(x) theo yu cu sau: Vit chng trnh v th: y = 2 x . Tp xc nh (TX): x = {x Z | 100 x 100}.
Theo cch v th thng thng c hng dn bi cc thy, c dy ton hc ph thng th vic v th c thc hin nh sau:
- Lp bng bin thin: Do y = 2 x c dng ng thng nn ta ch cn ly ta x,y ca hai im m ng thng i qua, sau ni hai im li s cho ta th ca ng thng. Bc sau cng l xa th nm pha ngoi TX v ch li phn th nm trong khong 100 x 100 .
- Bng bin thin: Ging nh kin thc ph thng hc, ta d dng lp bng bin thin bng cch cho gi tr ca x=0 v x=1. Tnh y theo cng thc y = 2 x .
Bng 4.1 Bng bin thin ca hm s y = 2 x

X Y - 0 0 1 2 +
T bng bin thin trn ta c kt lun l th y = 2 x l mt ng thng i qua hai im A(0;0) trng vi gc ta O v B(1;2). th c v d dng bng thc k ni hai im A,B nh sau:
Hnh 4.5: th hm s y = 2 x
Hy cng v th ny bng LabVIEW s dng XY Graph nh sau:

- Ly While loop ti BD>Express>Exec Control>While loop nh hnh 2.7.
Hnh 4.6: Ly hm while loop

- Ly th XY Graph v th ti FP>Express> Graph Indicator> XY Graph v to cc Control, Indicator nh hnh 2.8.
Hnh 4.7: V tr ca XY Graph

Xem file Vi du 4-1 Dothi y=2x.vi trong CD km theo sch.
Hnh 4.8: th hm s y=2x v bng LabVIEW s dng hm while loop

Lp trnh LabVIEW
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Trong block diagram hnh 2.9, ta cn to hai Boolean control ti hai chn: Enable cho php v th l True v Reset xa th l False. Vic to hai Boolean Control ny c th s dng quy tc Right click> Create constant hoc ta to Control v chn Right click> Change to constant.
Bn c bit?
Nu hon thnh phn ny, bn c kh nng thc hin cc ng dng th v vi LabVIEW thng qua mt trong cc Card DAQ (card thu thp d liu) nh NI USB-6008, NI USB-6009, hoc phn cng gi r dnh cho sinh vin, ging vin Hocdelam USB-9001, Hocdelam USB9009, cc ng dng bn c th nhanh chng thc hin l: - Thu thp d liu t cc cm bin o nhit LM35, o khong cch Sharp, o p sut, o chn khng, pH., o vn tc ng c DC, nghing ca mt mt phng, vv. - iu khin n LED, ng c DC, AC, vv - thc hin ngay c cc ng dng ny, bn vui lng b qua cc bi tip theo v xem tip cc Bi 10, 11. - Phn cng c th ng k mn (nu bn l sinh vin hoc ging vin) hoc t mua ti: http://sanpham.hocdelam.org.
4.4. Bi tp Cu 1: Hy nu khi nim v while loop Cu 2: V th hm s sau: y = Ax + B , A v B c nhp vo t bn phm. Cu 3: Thc hnh o lng cc cm bin vo my tnh. (Tham kho thm Bi 10, 11 thc hin cu ny).
BI 10 CC NG DNG VI CARD HOCDELAM USB 9001 V HDL-9000

Hc xong bi ny, bn s nm c: - Thng s k thut ca card Hocdelam USB-9001 v HDL-9000 - Cch thu thp d liu nhanh chng vi Card Hodelam USB 9001 - iu khin vn tc v v tr ng c DC theo thut ton PID s dng b th nghim a nng HDL-9000.
10.1 Gii thiu card Hocdelam USB-9001

Card giao tip my tnh a nng gi r Hocdelam USB 9001 c chc nng tng ng cc card thu thp d liu USB do cc hng nc ngoi sn xut c trn th trng trong v ngoi nc nh NI USB 6008/6009-Hoa k, Advantech i Loan, vv. Card Hocdelam USB-9001 c th dng giao tip vi my tnh qua cng USB da theo chun RS232. c bit, y l sn phm phn cng do Hocdelam Group sn xut v lp trnh th vin y v d s dng hn nhng sn phm trn th trng. Vi card ny, ngi s dng c h tr ti liu ting Vit y v h tr trc tuyn thng qua kho v d mu ti website http://labview.hocdelam.org nhanh chng xy dng cc ng dng ca mnh. Xem v d LabVIEW mu: CD> Bai 10> Vi du Hocdelam-9000 PI.vi bit cch lp trnh PID iu khin ng c DC. V Video clip demo: CD/Demo/DC motor control.
Hnh 10.1 iu khin v tr ng c DC theo thut ton PID

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Mt v d khc l s dng card Hocdelam USB 9001 iu khin mt mobile robot nh hnh 10.2. Chi tit v lp trnh Robot 3D v iu khin PID vn tc robot s c cp nht trong ln ti bn tip theo ca cun sch ny.
Hnh 10.2 Thu thp d liu t cc cm bin vo my tnh phc v iu khin mobile robot
Bn cng c th s dng card Hocdelam USB-9001 thc hin bi ton iu khin vn tc ng c DC thng gp trong cng nghip.
Hnh 10.3 iu khin vn tc ng c DC theo thut ton PID

Ti by ny, bn c th ngh n vic t trang b cho mnh mt b dng c hc tp, nghin cu LabVIEW gi thnh thp (h tr gio dc) nh sau:
STT
1 2 3 4 5 6
Tn
Card Hocdelam USB-9001(*)
S lng
1 ci
Gi tham kho
890.000 30.000 5000 20.000 30.000 15000 990.000
Cm bin nhit LM35, 1 b bin tr, LED, TIP 122 Dy din c nh, li cng Dy USB ng c DC loi b Tua vt nh, kim, vv.. 1m 1 ci 1 ci 1 ci
Tng cng (VN)
Gim gi sinh vin v ging vin | Lin h: http://sanpham.hocdelam.org
Hnh 10.4 B dng c hc tp v nghin cu LabVIEW gi thp 10.2 Cc ng dng vi Card Hocdelam USB-9001
Phn ny ln lt hng dn cc bn thc hin xy dng cc ng dng thc t vi card Hocdelam USB-9001 gm:
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Thu thp d liu t cc cm bin nhit , bin tr, nh sng, khong cch, vv. iu khin ng c DC theo thu ton P trong b PID. iu khin h thng lm mt thc hin mt ng dng vi LabVIEW, ta phi: 1-Kt ni phn cng cn thit, 2-ci t phn mm cn thit, v 3-tin hnh lp trnh.
10.2.1 Phn cng Trng hp 1: Bn s dng card Hocdelam USB-9001 Kt ni phn cng theo s hnh 10.15: Ni chn Vout (chn gia ca bin tr, hoc chn Vout ca cm bin LM35 vo chn ADC 1 ca card Hocdelam USB-9001)
Hnh 10.5: Cch kt ni bin tr vo mch in Trng hp 1: Nu bn s dng b th nghim a nng HDL-9000
B th nghim a nng HDL-9000 l mt gi gii php ton din gi thnh thp (gm phn cng, phn mm ting Vit, bi ging son sn, v kho th vin v d mu) trong k thut dng o to o lng cm bin, iu khin thit b theo thut ton PID, Fuzzy logic, iu khin v gim st qua mng Internet, vv. trong cc ngnh c in t, t, t ng ha, vt l, vv. Hin ti c hn 400 lt ngi v doanh nghip trong v ngoi nc s dng b th nghim ny. Xem hnh 10.16.
Hnh 10.6 B th nghim a nng HDL-9000

o cm bin nhit hoc bin tr vi HDL-9000, bn ni cm bin vo mch in nh hnh di 10.17. Vout : Chn tn hiu ca cm bin. V d: Nu l bin tr th chn tn hiu chnh l chn gia. Hai chn ngun 5V v 0V l hai chn ba ca bin tr.
Hnh 10.7 Kt ni cm bin vo b th nghim a nng HDL-9000

Ti y, bn hon tt phn cng, gi hy bt tay thc hin vic ci t phn mm.
10.2.2 Phn mm
Khi giao tip ta cn ci t mt s phn mm nh sau: NI VISA, Hocdelam USB-9001 Driver. Bn c th ti cc phn mm ny trn website: http://labview.hocdelam.org > Mc ti liu.
Lp trnh LabVIEW
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Ci t NI-VISA (l cng c LabVIEW hiu c cc cng giao tip, y ta dng cng USB). M CD km theo sch bn s thy NI-VISA theo ng dn: CD> Phan mem> NI VISA 4.2. (Cc hnh hng dn ci t s khng c t tn)
1. Gii nn
2. Chn OK
3. Chn Unzip gii nn.
4. Sau khi gii nn chn Run WinZip ri chn Next
5. Chn Next
6. Chn Next
7. Chn Next
8. Sau khi ch ci t xong, bn chn Finish
Ci t Hocdelam USB 9001 Driver card Hocdelam USB-9001 c th giao tip c vi my tnh (H iu hnh) ca bn. Nu my tnh ca bn l Windows XP
Bn vo CD > Phan mem > 002 Hocdelam USB 9001 Driver > Gii nn Hocdelam USB 9001 Driver Windows XP.rar Chy file: DRVINSTSE.EXE Chng trnh t ng ci t trong vi giy l hon thnh. Bn thy hp thoi sau xut hin v t bin mt nhanh trn mn hnh th qu trnh ci t thnh cng.
49
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Nu my tnh ca bn l Windows Vista hoc Windows 7

Bn vo CD > Phan mem > 002 Hocdelam USB 9001 Driver > Gii nn Hocdelam USB 9001 Windows7 Driver.rar Chy file: Hocdelam USB 9001 Windows7 Driver.exe v lm theo hng dn. Chn Next khi hp thoi sau xut hin. Chn Finish kt thc vic ci t.
n y bn hon thnh cng vic chun b. Gi ta bt tay vo lp trnh LabVIEW thu thp d liu t mt bin tr hoc mt cm bin nhit LM35.
10.2.3 o nhit LM35

Mc tiu ta phi thu thp c tn hiu t cm bin nhit ln my tnh v v mt th ca cm bin ny theo thi gian thc (thi gian o).
Hnh 10.8: Kt qu t c
Hy cng bt tay vo thc hin vic lp trnh
Bc 1: Kim tra cng kt ni ca card giao tip vi my tnh

Kim tra xem my tnh nhn card cha. RC ln My computer> Chn Tab Hardware> Chn vo Port.
Card nhn ng khi v ch khi c dng ch t xanh trong hnh.
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Kim tra cm bin xem cn tt khng
o Cp ngun 5V cho cm bin. chn Vout t do. o o Vout bng ng h o in. Khi o, xoay bin tr th bn thy Vout s thay i tng ng vi s thay i ca v tr bin tr. Bc 2: Lp trnh thu thp d liu lp trnh thu thp d liu ta ti file mi bng cch click vo File > New
Chn select a VI
Chn IO Library Hocdelam USB 9001 2009.
Right click ln Card port > Create control
To Indicator ADC1 (Tn hiu u ra ca bin tr phi c ni vi chn ADC 1 ca card Hocdelam USB 9001).
To While loop nh hnh.
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Chnh sa li front panel cho tin dng v quan st. Kim tra s cng COM ca Card Hocdelam USB 9001.
Chn card ph hp
Vic cn lm tip theo l chuyn tn hiu ca vi iu khin (0-255) thnh tn hiu in p (0-5Volt). Ta bit rng, phn gii ca knh ADC ca card Hocdelam USB-9001 l 8bit nn gi tr t 0 n 5Volt ca cm bin s c chia thnh 28=256 gi tr (tc t 0 n 255). Do vy ta c cng thc chuyn gi tr s thnh gi tr in p thc nh sau: V o Nh vy, Vo ny chnh l gi tr in p Vout ca cm bin m ta o c bng ng h Voltmeter. 5S card 255
Bn hon thnh tt bi ton thu thp d liu t bin tr hoc cm bin nhit ln my tnh. Cng chng trnh ny, bn c th thay th cm bin nhit hoc bin tr, ng thi thay ng h bng mt ct ch th nhit nh hnh 10.16. tin quan st.
Tho lun v data flow, kiu d liu v kt ni phn cng

Trc khi kt thc phn ny, chng ta hy cng tho lun v data flow (dng d liu), v kiu d liu trong LabVIEW.
Data flow LabVIEW thc thi cc lnh t tri qua phi. quan st iu ny, bn chn hnh bng n bn cnh nt Pause, sau chy chng trnh. Bn s thy cc ht tn hiu chy t tri qua phi.
Kiu d liu l cng c gn di gi tr cho mt bin no . C nhiu loi kiu d liu vi s bit khc nhau. S bit cng cao th bin gn vi kiu d liu cng c gi tr ln. i khi, cn phi thay i kiu d liu gi tr o c hin th ra mt cch chnh xc.
Lu : Trong LabVIEW, dy hoc control, hoc indicator mu xanh th c gi tr l Unsigned 8 bit. Tc gi tr ti a ca cc khi ny l 255).
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Lu khi lm vic vi phn cng trong LabVIEW l trc khi khi ng phn mm LabVIEW, ta phi cm card USB vo my. Nu LabVIEW ang c m v card cha cm th ta tt LabVIEW i v cm card vo, sau khi ng LabVIEW ln. Nu lm ng ht cc bc m bn khng giao tip c phn cng c tn hiu t cm bin th hy lin lc supports@hocdelam.org hoc labview.help@gmail.com c h tr. 10.3 iu khin PID ng c DC 10.3.1 L thuyt iu khin PID
C th ni b iu khin PID (vit tt ca: ProportionalIntegral Derivative Controller) l mt trong nhng b iu khin ph bin v quan trng nht trong cc thit b v h thng cng nghip t a CD ti vn tc xe t u c thc hin bi cc thut ton PID. Ti liu ny dng iu khin cc h thng vt l nh ng c DC (Xem hnh 10.9), h thng li t ng trn robot, t, l nhit, vv.
Hnh 10.9 S iu khin ng c DC theo thut ton PID iu khin PID l g? B iu khin PID (ProportionalIntegral Derivative Controller) l mt b hiu chnh c phn hi nhm lm gi tr sai lch ca mt tn hiu ang c iu khin bng khng. B PID c ba thnh phn: proportional - t l, integral - tch phn, v derivative - o hm), ba thnh phn ny u c vai tr a sai lch v khng. Tnh cht tc ng ca mi thnh phn c c im ring c kho st chi tit trong phn sau. Tn hiu phn hi (feedback signal) thng l tn hiu thc c o bng cm bin. Gi tr sai lch l hiu ca tn hiu t (setpoint) tr cho tn hiu phn hi.
- PID l b iu khin thng dng nht trong cng nghip v tnh d p dng, v mang li cht lng iu khin n nh cho h thng. C th, b iu khin PID thng s dng trong iu khin ng c DC, robot, cc h thng trong t, iu khin p xut, bng truyn, vv. V d: Bi iu khin ng c trong hnh 10.9 c gi s c dng iu khin v tr ca u 1 gn trn thanh kim loi trt khng ma st trn b mt 3 thanh di chuyn t A n B nh hnh 10.10.
Hnh 10.10 C cu cn iu khin v tr 10.3.2 Bn cht ton hc ca thut ton PID

S ca h thng trong hnh 10.9 c v li thnh hnh 10.11.
Hnh 10.11 B PID iu khin v tr

Mt b iu khin PID c s nh hnh trn. Trong b iu khin PID, sai lch e c tnh bng hiu gi tr t hoc im t (Set point s ) tr cho gi tr thc t o c (measured value ca h thng m ).
e = s m
(10.1)
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Hot ng ca h thng iu khin v tr. B PID ny s c v hiu gi tr m ngi iu khin mong mun (gi l gi tr t, y l v tr ca B c ta xB=20cm), thng ngi iu khin a gi tr t vo b iu khin PID thng qua GUI (Graphical user interface - giao din ngi dng ha). B iu khin PID s tnh sai lch e, v qua b PID thnh tn hiu iu khin u(t)1 tnh theo cng thc 10.2, sai lch sau khi tnh ton c truyn ra ngoi h thng thc thng qua card vo/ra (I/O) nh card Hocdelam USB-9001 hoc NI 6009 y tn hiu lc ny l tn hiu in p v c gi l u(t)2. Sau , tn hiu ny c khuch i nh mt b Driver (v d Motor driver) tng tn hiu cng sut iu khin c cu chp hnh (ng c DC), gi l tn hiu U(t). Tn hiu iu khin ng c s iu khin c cu 5, khi ng c quay th thanh kim loi trc theo phng X v u 1 di chuyn dn t A ti B. Hon thnh mt vng iu khin. Sau b iu khin PID s lin tc thc hin li vic tnh ton sai lch ca v tr t (v tr B) so vi gi tr v tr thc t (measured signal) ca u 1 (nh vo b o v tr gn vi ng c), Nu gi tr sai lch vn cn th b iu khin PID tip tc pht ra tn hiu quay ng c cho ti khi gi tr thc t ca dng c trng khp vi gi tr t. Tc khi sai lch s bng 0. Chng no cn sai lch th b iu khin PID cn hot ng hiu chnh tn hiu iu khin. Bn cht ton hc ca b PID s c gii thch trong cng thc 10.2. Gi tr tn hiu a vo ng c c tnh l:
t
u (t ) = K p e(t ) + K i e( ) d + K d
0
d e(t ) dt
(10.2)
u (t ) : tn hiu iu khin, l tn hiu do b PID sinh ra, (thng tn hiu ny i qua mt module cng sut) v i vo h thng (ng c mt chiu). C n v ph thuc phn cng, nh i vi iu khin ng c mt chiu 24V thng qua module cng sut l mt Motor driver 24V th u (t ) c n v l Volt. K p e(t ) : Khu t l. K p K , i , K d : cc h s t l, tch phn v vi phn ca b PID e(t ) sai lch ti thi im hin ti. e( )d ( ) : Din tch S to bi ng cong gi tr thc t (xem hnh 1.21), ng thng gi tr t, v cc cn l thi im trc v sau mt vng iu khin (cng chnh l thi gian thc hin ht mt vng lp ton b chng trnh iu khin K trong th 10.12) hay ni cch khc K chnh l n v thi gian trch mu d ( ) (thng thi gian trch d ( ) mu b khong ms thm ch nano giy).
Vy tch phn t 0 t ca sai lch nhn vi thi gian ly mu (trong cng thc 10.2) chnh l tng hp cc sai lch t khi h thng bt u c iu khin ti thi im h thng ang hot ng hin ti.
Hnh 10.12 M t gi tr t, gi tr o c v din tch sai lch

Cc h s lun khng m: Tc K p K , i , K d 0 d [e(t )] / dt : Tc thay i ca sai lch ti thi im hin ti.
ngha cc h s gain trong b PID khi tng cc h s K p K i , K d c lp nhau

Vi cng mt gi tr e(t ) , nu tng K p , th tn hiu iu khin u (t ) tng. u (t ) tng ng ngha in p tc ng vo ng c mt chiu tng ln, in p tng s lm lm gim e(t ) nhanh hn c ngha hiu gi tr t v gi tr o c s gim nhanh hn. Khi ta gi kh nng p ng ca thng nhanh. p ng ca h thng c xem l cng nhanh khi thi gian cn thit tn hiu u ra ca h thng t ti gi tr t cng nh.
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Tuy nhin, khi K p qu ln, th h thng khng n nh v c hin tng gi tr o c ca h thng vt qu gi tr t, gi l vt l (overshoot). K i c tc dng lm tng tc p ng v n cng lm tng in p (U(t)) t vo ng c. ng thi khu ny lm sai lch tnh (steady-state error) tr v 0 nh vo c tnh cng dn sai lch ca php ton tch phn. Sai lch tnh l sai lch sau khi tn hiu u ra ca h thng n nh. K d Khu D c tc dng lm n nh h thng. Khi e(t ) i du tc gi tr phn hi ln hn gi tr setpoint, th khu D n c tc dng lm gim tn hiu iu khin u (t )
Phng php nh b thng s K p K i , K d (Cc h s gain) th cng thng da vo vic th nghim cc thng s. Ta xc lp cc h s Kp, K i , K d bng khng. Sau tng dn Kp cho ti khi vt l t bng gn 1,5 ln gi tr t. Hiu chnh K i cho sai lch tnh bng khng. V hiu chnh K d cho h thng gim rung lc. Ngoi ra bn cn c th thc hin vic chn cc h s ny bng phng php tm cc h s ca ZiglerNichols nh bng 10.1.
Bng 10.1: Phng php chnh PID (Phng php ZieglerNichols) Dng iu khin
P PI PID

Kp
0.50Ku 0.45K 0.60Ku
Ki
Kd
1.2Kp / Pu 2Kp / Pu KpPu / 8
Ku: Gi tr Kp lm cho h thng mt n nh 150%. Pu: Khong thi gian dao ng ca tn hiu o c.
Cao hn phng php xc nh cc h s bng tay th cn phng php xc nh b gain Kp, Ki, v Kd t ng s c cp nht cc tp sch tip theo cng tc gi.
10.3.4 Thc hnh iu khin PID cho ng c DC

thc hnh b iu khin PID, chng ti chn card Hocdelam USB 9001, phn cng hon thin nh hnh 10.13 v s mch in hnh 10.14.
Hnh 10.13 S kt ni phn cng iu khin PID ng c DC
Hnh 10.14 S mch in kt ni phn cng iu khin PID ng c DC

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Thut ton iu khin ng c DC trong LabVIEW c lu di dng File CD>Bai 10> DC motor P control.vi
Hnh 10.23 Kt qu lp trnh P control cho ng c DC
Hnh 10.16 Giao din ngi dng iu khin P cho ng c DC

p ng ca v tr ng c DC theo thut ton P kh tt. Thi gian p ng l 0.2 giy vi K p = 0.562 . Sai lch tin ti khng sau 0.5 giy. Xem hnh 10.17. ng mu trng l gi tr t, ng mu l gi tr p ng (gi tr o c t Encoder), mu vng l sai lch.
Hnh 10.17 p ng ca v tr ng c DC
Do gii hn cun sch ny ch cp cc vn c bn nht trong LabVIEW nn m rng v t lp trnh c bi ton PID, bn hy c bi iu khin ng c DC theo thut ton PID cho mi ngi, TS. Nguyn B Hi ti website LabVIEW Hocdelam theo ng dn : http://labview.hocdelam.org> Nghin cu> Bo khoa hc Qua CD km theo sch, tc gi cng tng v d mu iu khin PI cho cc bn t tm hiu v khm ph. BD ca bi ton iu khin PI c cho hnh 10.26. Xem v d mu ti CD> Bai 10> Vi du Hocdelam-9000 PI.vi
Hnh 10.26 iu khin khu PI v tr ng c DC Bn c bit?

Xem video demo v iu khin PID trong CD> Demo> DC Motor Control. Bn c th lin lc supports@hocdelam.org hoc hotline: 0937 159 700 ng k thc min ph hnh bi ton iu khin ng c DC theo thut ton PID ti phng th nghim ca Hocdelam Group (ti Th c, Qun 6, v H Ni). Do lch ng k thc hnh kh ng, nn bn s phi ch theo th t ng k. Thng thng, bn s c xp lch sau 4 ngy tnh t khi ng k.
Bi tp: Cu 1: Thc hnh o lng cm bin nhit LM35 vo my tnh v v th nhit da vo card Hocdelam USB-9001. Cu 2: Thu thp tn hiu t mt Encoder vo my tnh qua card Hocdelam USB-9001. (Gi : Xem v d mu CD> Bai 10> Doc encoder.vi)
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Cu 3: Thc hnh iu khin khu P cho ng c DC (v tr v vn tc). Cu 4: Hy m t hot ng ca b iu khin PID v cch chn cc h s trong b iu khin. Cu 5: Thc hnh lp trnh iu khin khu PI v tr ng CD Cu 6: Hy gii thch ti sao khu I trong b iu khin PID c th kh c sai lch tnh ca h thng? Cu 7: Bn cn nm mt s thut ng ting Anh trong iu khin t ng trong hnh sau (hy s dng t in tra t).
(Ngun hnh: Wikipedia)
Tham kho bi 10
[1] Wikipedia.org [2] Controls.ame.nd.edu/ame437/S2003/hw1 [3] TS. Nguyn B Hi, iu khin PID v tr ng c DC vi LabVIEW, Hocdelam Group, 2009. [4] TS. Nguyn B Hi, Thc S Ng Hi Bc, PGS. TS. Jee-Hwan Ryu iu khin bn vng ng c DC Hi tho khoa hc quc t URAI, Seoul, Hn Quc.
BI 12 IU KHIN V TR V VN TC CHT LNG CAO VI CARD PCI 7356

Hc xong bi ny, bn s nm c: - Thng s k thut card PCI 7356 - Lp trnh vi card PCI 7356 - X l cc li thng dng Trong ti liu ny, tc gi cung cp thng tin ci t phn mm v phn cng cho iu khin chuyn ng dng PCI motion controller NI PCI73xx hoc PXI-7356, phng php kim tra tnh trng lm vic, v hng dn cch lp trnh card trc khi tin hnh lp trnh cc ng dng cho card NI PCI-73xx. Ti liu ny cng c th dng tham kho cho cc card PCI DAQ nh NI PCI-6010, NI PCI-6220, NI PCI-6503, NI PCI-6601, NI PCI6610, NI PCI-4472B, NI PCI-6221, , NI PCI-62xx , PCI signal generator (NI-FGEN Signal Generator) nh NI PCI-5412, NI PCI-5421, NI PCI-54xx v mt s card PCI ca advantech. vv. Cc thng tin, ti liu mi nht v LabVIEW v ng dng cc card ny c cp nht ti: http://labview.hocdelam.org.
12.1 Chun b thit b

s dng card ny bn cn c phn cng v phn mm i km gm:
Phn cng Card PCI 73xx (v d PCI 7356), l b iu khin. Connector (hoc giao din a nng UMI, 68 chn), dng cm dy ra ng c v encoder. Cable ni card ra connector, chun 68 chn. ng c mt chiu DC hoc ng c bc, encoder c xung ra mc in p 0volt (mc thp v 5volt (mc cao). My tnh gn card.
Phn mm
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NI motion driver ( my tnh nhn ra card). LabVIEW t bn 7.1 ti 2009 ( vit chng trnh pht trin ng dng cho card NI PCI73xx). C th thay LabVIEW bng LabWindows/CVI hoc Visual C++, hoc Microsoft Visual Basic.
12.2 Ci t phn mm
H thng lp trnh chuyn ng s dng card NI PCI v ng c DC gm cc bc sau:
12.2.1 Ci t NI motion driver (Ti ti http://labview.hocdelam.org). Mc ti liu > Driver, toolkits. (Lu , trong ln ci t ln u tin, vic ci t driver lun phi thc hin trc khi gn card vo my tnh).
Hnh 12.1 Ci t NI Motion

Khi chn cc c tnh ci t, nn chn cc phin bn LabVIEW khc nhau v d LabVIEW 7.1 support, LabVIEW 8.5 support, LabVIEW 8.6 support. Vic ny cho php s dng card PCI 73xx ny vi bt c ba phin bn LabVIEW ny. Chn LabVIEW Real-time Support.
Hnh 12.2 Chn LabVIEW Real-time Support 12.2.2 Phn card NI PCI motion controller (v d NI PCI 7356)
Gn card NI PCI vo khe PCI ca my tnh nh hnh di.
Hnh 12.3 Ci t phn cng card vo my tnh 12.2.3 Gn cable ni card NI motion controller vo khi connector (v d UMI 7764-).
Ch : Card PCI motion controller ca NI c th iu khin t 4 ti 8 trc (tng ng 8 ng c) do vy bn cn lu khi gn cable. Thng nu dng mt ti bn ng c th gn port motion 1-4. Sau ni cable ny ti card UNI (Universal Motion Interface).
Hnh 12.4 S kt ni vo UMI 12.2.4 Gn ng c v encoder

Da vo tn cc chn ca UMI ln lt gn dy iu khin ng c t card ti motor driver. C motor driver dng phng php analog control, tc xung PWM s c sinh ra t driver khi driver c cung cp in p t 0-5 volts. Do vy, trong trng hp ny ta s ni chn DAC OUT v DAC GDN gn vi hai dy ngun ng c.
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Cn ni cc dy ca Encoder vo UMI theo k hiu. (C th dng hai dy A,B hoc A,B,Z hoc c 6 dy t encoder).
12.2.5 Kt qu kt ni phn cng
Hnh 12.5 S kt ni ng c v encoder

Kim tra vic nhn card ca my tnh bng cch chn chut phi ln My computer > Properties > Hardware > Device Manager, s thy card nh hnh di.
Hnh 12.6 Card c nhn vo my tnh

Sau khi ci t, nu my tnh khng nhn ra card th chn vo Control panel > Add and hardware, chn Next v lm theo hng dn.
Hnh 12.7 Cp nht card vo h iu hnh
Hnh 12.8 Chn Recommended

Lp li bc trn th my tnh s c card theo hnh vi thng bo Completing the Found New Hardware Wizard (tc vic ci t hon thnh).
Hnh 12.9 Hon thnh ci t

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ng thi gc phi bn di mn hnh ca bn hin ln thng bo Your new hardware is installed and ready to use (card c ci t v sn sng cho bn s dng).
Hnh 12.10 Windows bo hon tt vic ci t 12.3 Th phn cng v phn mm

Trc khi tin hnh lp trnh, cn phi th li xem vic kt ni phn cng v phn mm ng cha? Bng cch: - Khi ng MAX (vo Start program > National Instrument > Measurement & Automation)
Hnh 12.11 Khi ng MAX

- S thy tn card hin ra theo ng dn sau: My system > Devices & Interface > PCI-7350(1). C hai trng hp c th xy ra: Card cn tt nhng cha c cp nht firmware th s thy du chm than ny , nu card b hng th s thy du cho nn trn ny . C th xem thm ti Tab General bit r tnh trng ca card cn tt hay hng.
Hnh 12.12 Giao din trong MAX

Bn s thy dng ch Device is not responding or has been removed from the system khi my tnh cha nhn c card hoc card b hng. Nu Device status l Firmware out of date th cn cp nht (update) firmware. Nu card c cp nht firmware v hot ng bnh thng th s thy dng ch The controller is in a reset state hoc working property.
Hnh 12.13 Cp nht thng tin

V ti Tab status s l Ready to receive.
Hnh 12.14 Bo hiu kim duyt thnh cng

- Nu thy du nhn trng trong vng trn nn ) th kim tra li xem my tnh (hoc du chm than chc chn nhn c card trong My computer > Properties.
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Hnh 12.15 Du chm than

- Nu vn cn du ny chng t card cn phi initialize (khi to) trc khi dng. khi to, chn Initialize. Sau khi khi to hon thnh, du nhn bo li ti PCI-7350 s mt nh hnh bn di.
Hnh 12.16 Ht du chm than
- Khi initialize, nu c thng bo cn phi cp nht Firmware, th chn Yes. Cp nht xong, chn Initilaize li v thc hin tip bc 12.4.
Hnh 12.17 Cp nht firmware

Sau khi cp nht firmware bn s nhn c thng bo Firmware was downloaded successfully.
Hnh 12.18 Download firmware thnh cng

Vic cp nht firmware cng c th thc hin bng cch vo Tab firmware v chn Update firmware (nu ch update firmware m i th tc l khng cn phi update firmware na).
Hnh 12.19 i ID
- Trng hp card bo li khng cho cp nht th vo tab Status.
Hnh 12.20 Kim tra status

Chn Test resourse, Nu thng bo Resource test failed th chn Reset device v lm li. Sau lm li cc bc va nu trong bc 12.3 ny.
Hnh 12.21 Test bo li

Trc khi ti bc 12.4, bn cn kim tra li chc chn rng kt qu Test resources phi l: The device passed the resource test successfully mi t yu cu.
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Hnh 12.22 Test thnh cng

- Nu vn c li bn cn remove card t My Computer > Properties.
Hnh 12.23 G phn mm V remove trong MAX bng cch nhn chut phi ln PCI-7350, chn Remove Device.
Hnh 12.24 G thit b Sau vo Control panel thc hin li vic add new hardware. 12.4 Thit lp cc thng s trong MAX Ti Default 7350 setting, chn Open Loop Stepper
Hnh 12.25 Th Default

Axis1 > Axis configuration: Chn stepper motor, v enabled Encoder, type of feedback l Encoder. Sau save to all axes (nu c nhiu ng c). Sau chn Initialize ln na chuyn qua bc 12.5. 12.5. Th ng c v chng trnh iu khin ng c mt chiu DC bng Analog output
Dng chng trnh xut DAC trong th vin ca Motion. Th vin ny nm trong Block diagram.
Hnh 12.26 Th vin lp trnh chuyn ng

Vit chng trnh n gin nh sau. (Ti chng trnh ny ti).
Hnh 12.27 Chng trnh hon thin xut DAC

Bn s thy ng c quay khi nhp gi tr vo Nhap gia tri DAC, (v d nhp 5000). ng thi bn s c c tn hiu encoder. (xem hnh front panel bn di, du tr ni ln chiu quay ca ng c).
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Hnh 12.28 FP ca chng trnh Tm tt cc bc ci t v x l li cho card PCI-73xx
Hnh 12.29 Lu x l li
12.6 iu khin chuyn ng 12.6.1 iu khin chuyn ng l g?

iu khin chuyn ng l vic s dng phn mm (v d ngn ng lp trnh G trong LabVIEW) iu khin phn cng (v d: ng c) theo mt chin lc (strategy) no . Chin lc thng gm cc yu cu v ta (v tr) ca trc ng c (hoc vt gn ln trc ng c), thi gian tng tc, gim tc v vn tc chuyn ng, vv. ng dng ca iu khin chuyn ng thng gp l my ct iu khin bng my tnh CNC, hoc tay robot hn di chuyn theo ng hn gia hai tm kim loi, robot di ng i theo mt s ng i c nh trc. vv.
12.6.2 Cng c trong iu khin chuyn ng

C th s dng cc phn mm sau:
- Motion assistant, cho php to ng dng iu khin chuyn ng rt nhanh. Ngi thit k ch cn v cc qu o (ng di chuyn) m h thng cn i theo. Sau cng c ny t ng xut ra m chng trnh (code) di dng ngn ng C/C++, Visual Basic hoc LabVIEW. - Visual C/C++, cho php vit code dng ngn ng C iu khin card PCI 73xx. - Visual Basic, cho php vit code trong Visual Basic C iu khin card PCI 73xx. - LabVIEW, l ngn ng ha, d s dng, v l ngn ng tt nht khi dng card NI PCI 73xx ni ring cng nh cc phn cng do cng ty NI sn xut v cung cp. Trong ti liu ny LabVIEW c s dng to cc ng dng. 12.6.3 S dng LabVIEW trong iu khin chuyn ng Tng quan v iu khin chuyn ng
iu khin ng c thng theo hai s di y. Tc thit lp yu cu qu o v chin lc chuyn ng (Trajectory), sau c tn hiu phn hi (Encoder), qua b iu khin (PID) ti b chuyn i DAC xut ra in p hoc b PWM generator pht xung ri cp xung hoc in p ti b khuych i (motor driver) v ti ng c. S iu khin ng c Servo hoc ng c DC cho trong hnh sau:
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Hnh 12.30 iu khin servo motor

Vi ng c bc th vic iu khin cng tng t. Khc l thay v xung PWM hoc analog output chuyn thnh xung bc. (Stepper pulse). S iu khin ng c bc cho trong hnh di:
Hnh 12.31 iu khin Stepper motor c Encoder Ti sao cn encoder? Encoder dng o/xc nh v tr, hoc t v tr o c tnh ra vn tc hoc gia tc ca chuyn ng quay nh trc quay ng c. Vn tc xe, vn tc xoay ca khp trong robot, vv. Cch thc c tn hiu encoder
lc c encoder, ta s dng hm Read Encoder Position (Card PCI Motion control) hoc counter (card DAQ). y gii thch hm Read Encoder.
Hnh 12.32 Hm c Encoder
Board ID: l mt s duy nht c gn vo cho card thng qua phn mm MAX. Axis or Encoder: l trc hoc encoder cn c. Retn Vect: ch tr v ca tn hiu bi hm c encoder. V d v host (0xFF), ti bin
(0x01 ti 0x78), ti bin gin tip (0x81 ti 0xF8), khng tr v th in (0.
Error in (no error): thng bo cc li nu c. Encoder Position: gi tr c c (n v l quadrature counts). Bd ID Out: dng cho vic ti s dng ID. Resource Output: dng cho vic ti s dng Axis, Encoder, vv. Error out: dng ti s dng t cc error out trc . Lc nhiu tn hiu encoder
lc nhiu, ta s dng hm Configure Encoder Filter.
Hnh 12.33 Xc lp Encoder

Xem bng gi tr tn s v tn s m cao nht bn di.
Hnh 12.34 Tn s v tn s m cao nht

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V d mu c Encoder (block digram, front panel)
Hnh 12.35 Chng trnh c Encoder Lu

Cn ch khi quy i v scale cc gi tr ca encoder, c bit khi s dng ng c c hp s (gear).
12.6.4 Xut tn hiu in p (Analog output) Ti sao cn tn hiu in p?

V mt s b khuych i ng c c th iu khin bi tn hiu Analog, hoc khi cn mt ngun Analog trong iu khin t ng, robotics, th nghim. Ta s phi xut ra tn hiu ny.
Cch thc xut tn hiu in p

xut in p, ta s dng hm Load DAC.
Hnh 12.36 Hm xut tn hiu DAC

pht c tn hiu in p ti DAC OUTPUT cn: - Trong MAX, tab Axis xut in p phi chn (set) l stepper hoc disable.
- Chn stepper open loop trong Max. DAC Value c gi tr t -32,768 to +32,767 tng ng xut ra 10 V (i vi PCI 7356, cc card khc cn xem datasheet ca card.
Ch : Khng s dng DAC torque limits v offsets khi xut trc tip in p (Load DAC)
Board ID xem phn encoder. DAC: L DAC cn s dng xut in p. V d mu (block digram, front panel) cho trong hnh sau:
Hnh 12.37 Hon thnh

V d trn gm hai phn, c encoder v xut analog output.
Ch
Ch dng hm ny khi gi tn hiu in p ti cc knh unmapped DAC. Tc ch khi cc DAC ny khng c s dng cho Servo motor control th n mi c s dng nh mt knh Analog output a mc ch.
iu ch (xut) xung PWM Ti sao cn PWM?

iu ch xung thng gp khi cn iu khin ng c DC, ng c khng chi than hoc cc th nghim lin quan ti ngun xung u vo.
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Cch thc iu ch xung

xut PWM, ta s dng hm Load PWM Cycle.
Hnh 12.38 iu ch xung Duty Cycle c gi tr t 0 ti 255. PWM Output l chn ngun xut PWM (1 hoc 2, vv.). 12.7 Mt s li thng gp vi card PCI 7356 Firmware download error xut hin khi cp nht firmware. Bn cn reset li card t tab Status sau update firmware li.
Hnh 12.39 Li firmware Thng bo li khi Initialize card.
Hnh 12.40 Li khi Initialize Card bo li khng cp nht firmware v fail ti test resourse. Trong trng hp ny cn tho card ra mt vi ting. Sau thc hin li t u s tm tt cc bc thc hin lp trnh card PCI 7356 trong ti liu trnh by.
Trng hp li xy ra khi c hai card PCI73xx gn vo, cn lu ta c th tm c PCI Slot 1 hoc 2 bng cch chn properties vo Device manager.
Hnh 12.41 Xem c tnh

Khng xut c in p bng Load DAC d vic Initialize hon thnh v c c encoder. Khi bn cn Calibrate li card bng cch chn chut phi ln Board calibration, chn SelfCalibrate.
Hnh 12.42 Calibrate

V chc chn Current setting phi l Open Loop Stepper nh sau.
Hnh 12.43 Chn Open Loop Stepper

ng thi lu , mun xut in p khong 5Volt th phi nhp vo s 15000 (ty vo s bit ca b DAC, xem thm ti help ca Load DAC) ch khng phi nhp s 5.
Hnh 12.44 FP ca chng trnh

83
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Test resources v Update firmware

i vi card cn tt, Khi cha update firmware (c du chm than ) th test resource vn phi thnh cng (The device passed the resource test successfully!). i vi card c h hng th vic test resource s fail. c Velocity s dng hm Read Velocity ca LabVIEW th cn phi chn li setting l Servo: External Communication v Enable feedback. Cn chn Open stepper motor trc xut Analog output, sau chy tt chng trnh xut DAC th mi vo Servo, chn External Communication c encoder.
Hnh 12.45 Chn Servo mode

Ti y, bn c th trin khai lp xy dng b iu khin chuyn ng vi card PCI. Nu c kh khn hay li khng khc phc c, bn c th gi mt email ti tc gi qua bahai@hcmute.edu.vn c tr gip. Chc bn thnh cng.
Bn c bit?
Card PCI 7356 c th h tr iu khin cng lc 6 ng c. phn gii ca Encoder counter l 32bit. Card ny c th mua c t cng ty TNHH Linh Ph, Cng ty Tn Minh Giang, Cng ty DBM, Cng ty INO hoc Cng ty National Instrument Vietnam.
12.7 Bi tp Cu 1: Thc hnh o Encoder vi card PCI 7356 Cu 2: Thc hnh iu khin PID vi card PCI 7356
Ti liu tham kho

Cc ti liu ny ni v ng dng ca LabVIEW s dng Card NI PCI-7356. [1] http://labview.hocdelam.org. [2] Nguyn B Hi, Gio trnh Lp trnh LabVIEW, 2008, Hocdelam Group. [3] http://ni.com. [4] Ba Hai Nguyen, Jee-Hwan Ryu, Semi-Experimental Results on a Measured Current Based Method for Reproducing Realistic Steering Feel ofSteer-By-Wire Systems, 15th Asia Pacific Automotive Engineering Conference in Hanoi-Vietnam, 26-28 October 2009 (APAC15), Hanoi, Vietnam, 2009. Download PDF [5] Ba Hai Nguyen, Jee-Hwan Ryu, Van-Dung Do, Velocity Estimation For Haptic Applications, The 2009 International Forum on Strategic Technologies (IFOST2009), Hochiminh, Vietnam, 2009. Download PDF [6] Ba Hai Nguyen, Hai-Bac Ngo, Jee-Hwan Ryu, Novel Robust Control Algorithm of DC Motors, The 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009), Seoul, Korea, 2009. Download PDF [7] Van-Dung Do, Thanh-Thuong Tran, Ba-Hai Nguyen, Simulation and Experimental Results on Study of Automotive Airflow Meter Swappability, 15th Asia Pacific Automotive Engineering Conference in Hanoi-Vietnam, 26-28 October 2009 (APAC15), Hanoi, Vietnam, 2009. Download PDF [8] Ba Hai Nguyen, Jee-Hwan Ryu, Direct Current Measurement Based Steer-By-Wire Systems for Realistic Driving Feeling, Proceedings of the IEEE International Symposium on Industrial Electronics 2009, Seoul, Korea. Download PDF [9] NI-Motion Help, cch chn ng c, thit k cc chuyn ng c bn nh mt ng c hoc chuyn ng kt hp nhiu ng c (trc), thu thp hnh nh ph v ng dng chuyn ng, khi nim v contouring and breakpoints.
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[10] NI-Motion Readme, cc yu cu v my tnh s dng card NI PCI 73xx, cc tnh nng mi, cc li mi cp nht, cc lu ng ch v card. [11] NI-Motion Function Help, Dng tham kho (reference) cho ngn ng C and Visual Basic. Gm tn hm, m t hm, cc thng s dng trong hm, v li ca hm. [12] NI-Motion VI Help Tham kho v cc hm LabVIEW VI dng trong iu khin chuyn ng. [13] Measurement & Automation Explorer Help for Motion, cch thc thit lp (configure) card NI 73xx, mt s khi nim v phn tch biu Bode, thng s vng lp ca h thng. [14] NI 73xx user manual, ti liu m t v phn cng v ng dng ca card NI 73xx.
BI 15 CC CHUYN M RNG
Hc xong bi ny, bn s nm c: - Khi nim v s dng 3D trong LabVIEW - Thc hnh lp trnh vi x l ARM n gin - X l nh c bn vi LabVIEW Do thi gian c hn, tp sch ny c xut bn vi mc ch gip bn bt u lm quen v thc hin mt s ng dng vi LabVIEW. ln ti bn sau, chng ti s ln lt hng dn ngi dng ton b cc th vin, hm v cng c c trong LabVIEW. Tuy nhin, bn c ci nhn khi qut v cc ng dng ny, cun sch ny s tm tt nhng ni dung thnh cc chuyn m rng di y.
15.1 iu khin hnh nh (2D v 3D) trong LabVIEW

Bn cnh cc ng dng trnh by trong cc bi trc, LabVIEW cn h tr ngi dng m phng 3D vi nhiu la chn nh m phng vi 3D Picture Control Module, m phng vi Solidworks, vv Nh trong hnh, ta thy vic m phng 3D trong LabVIEW cho php ngi s dng xy dng mt m hnh thc t da trn m phng vt l (c m hnh ng lc hc) vi cnh quan tuyt p hnh 3D ty chnh. u im ca s dng m phng 3D l: to cc m hnh sn phm mu (prototype) nhanh chng t nhng tng trc khi sn xut hng lot.
- D dng chn la, thay i kt cu thit k robot hay h thng trc khi quyt nh sn xut. - nhanh chng kim tra hnh vi ca robot v cc ng dng mi m khng cn ti bt k phn cng no ngoi phn mm LabVIEW. - d dng to ra mi trng mi cho robot di chuyn. n gin ha hnh vi ca robot v cc ng dng sa li - pht trin v chng minh tnh kh thi ca robot ang thit k cho nh u t vi chi ph gn nh bng khng (0).
87
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Hnh 15.1 V d mu v iu khin robot o 3D vi LabVIEW qua tay game

thc hin phn ny bn cn ci t LabVIEW, Robotic module, hoc bn cng c th t thit k m hnh robot 3D bng cc phn mm v cng c 3D khc nh Solidworks, Maya, OpenGL, vvTp sch ti bn ln ti s cp chi tit phn ny. Mt cng c lp trnh 3D khc ngay trong bn dng th ca LabVIEW l 3D Picture control cng gip bn d dng thc hin cc ng dng 3D c bn c trnh by nh sau:
15.1.1 Tng quan v k thut m phng

M phng l g? M phng l ti hin ging tht ng hc, ng lc hc ca mt vt, mt h thng, mt hay nhiu robot Ti sao cn m phng? M phng (2D, 3D) l ti hin ging tht ng hc, ng lc hc ca mt vt, mt robot, mt h thng. K thut m phng t lu ng vai tr ht sc quan trng trong gio dc o to v cng nghip. Trong gio dc vic m phng nhng m hnh s gip cho ngi hc tip cn vn nhanh hn. Vic m phng nhng m hnh thc t s gip gim chi ph u t trang thit b m vn m bo cht lng o to. Trong cng nghip vic m phng s gip ta pht hin sai s, nhanh chng iu chnh trc khi i vo sn xut. Nh vo vic m chng ta c th tit kim thi gian v chi ph gia cng, sn xut. Ngoi ra, vic m phng cng gip chng ta gii thiu tng ti cc i tc mt cch nhanh chng, tin li m khng cn c mt sn phm thc.
M phng 3D s dng phn mm LabVIEW l mt gii php hiu qu gip cho cc gio vin, ging vin, cc k s v cc nh nghin cu khoa hc ni chung c th thc hin c tng ca mnh mt cch nhanh chng. Cc phn mm m phng 2D, 3D: - Inventor; - Solidwork; - Google SketchUp; - Studio ca ABB; - EasyRob (M phng robot) - LabVIEW ( bi ny, chng ti chn LabVIEW lm cng c) - Vv
15.1.2 Gii thiu v 3D Picture Control trong LabVIEW

- Cng c cn thit gm nhng g?
o LabVIEW 2009 Evaluation o Kin thc c bn v vt l o Tnh ton ng hc, ng lc hc cc h c hc.

- Ti liu
o LabVIEW 3D Picture Control Help; o Internet.

- 3D Picture Control trong LabVIEW lm c g?
o V 2D, biu din cc kho st di dng biu :
Hnh 15.2 ng dng ca Picture control

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o V cc hnh khi 3D:

Khi cu, khi hnh lp phng hay cc hnh khi c hnh dng phc tp
Hnh 15.3 Mt s kt qu n gin vi 3D picture control o M phng ng hc & ng lc hc

ng hc l g? - L ngnh khoa hc nghin cu s thay i v tr ca vt ny so vi vt khc. ng lc hc l g? - L ngnh khoa hc nghin cu v s tng tc lc gia cc cht im vi nhau. Cc bc m phng: To cc hnh khi theo yu cu; Thit lp quan h (rng buc) cho cc hnh khi; Vit thut ton iu khin; a thut ton iu khin vo h m phng.
o Cc Demo mu
Hnh 15. 4 M phng ng hc cnh tay robot

M phng H qu o bay ca mt tri, tri t, mt trng
Hnh 15.5 M phng ng lc hc Helicopter
Hnh 15. 6 M phng vt nm xin
Hnh 15.7 M phng ng hc cnh tay 2 bc t do
15.1.3 Tng Bc Thao Tc M Phng 3D Trong LabVIEW

- Thao tc v cc khi cn bn (cu, hp, tr)
Hnh 15.8 Hm Creat Object

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Hm Creat Object l lnh to mt hnh khi mi (cu, tr, hp) hin th ln mi trng 3D ca LabVIEW. ly lm Create Object, ti ca Block Diagram ta phi chut >> Programming >> Graphics & Sound >> 3D Picture Control >> Object >> Creat Object.
Hnh 15.9 V tr hm Creat Object

Mun to hnh khi no th bn ca s BD (Block Diagram) ta phi chut >> Programming >> Graphics & Sound >> 3D Picture Control >> Geometry, sau chn cc hnh khi cn to.
Hnh 15.10 Th vin Geometry

Cc hnh khi m LabVIEW h tr trong th vin 3D Picture Control. Khi SceneObject c to thnh t khi Invoke Node nm trong th vin Application Control, l khi c chc nng to khng gian hot ng cho vt th.
Hnh 15.11 To khng gian hot ng cho vt th

Tng t ta c th to c cc hnh khi sau:
Hnh 15.12 To cc hnh khi

- Thao tc rng buc cho cc khu: Ta dng khi Invoke Node, vi Class l SceneObject, Method l Object. Add Object.
Hnh 15.13 Rng buc

- Thao tc gn kiu chuyn ng (tnh tin, quay) cho cc khu.
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to cc kiu chuyn ng cho cc khu, ta tm ti ca s Transformation trong th vin 3D PICTURE CONTROL v chn Translate Object (nu l mun gn chuyn ng tnh tin) hay Rotate Object (nu mun gn chuyn ng quay): - Vit thut ton (ng hc, ng lc hc) iu khin chuyn ng cho cc khu: Ty vo yu cu m phng (ng hc ng lc hc) ca ng dng m lp trnh thut ton iu khin. - Chy m phng.
Hnh 15.14 Th vin hm to chuyn ng
- Thao tc gn thut ton iu khin chuyn ng ti cc khu:
15.1.4 M Phng Vt L: Vt Nm Xin

Bn cn thc hin cc bc sau: - To nn (mt t), To vt nm xin - Rng buc cho vt nm xin v mt t - Vit thut ton nm xin (Y=V0t-1/2*gt^2) - Gn thut ton bay xin cho vt - Chn vn tc ban u V0(m/s) v chy m phng. Ngoi ra, bn cng c th thc hin cc bi ton m phng phc tp hn c th to ra mi trng 3D nh sau (trch ti Cao hc M phng 3D vi LabVIEW ch to m hnh tp li xe t v xe tng, tc gi: KS. Trn Ngc Trung, gio vin hng dn: TS. Nguyn B Hi).
Hnh 15.15 Giao din m hnh tp li xe

15.1.5 M phng kt hp LabVIEW vi cc phn mm thit k 3D khc (Google Sketchup, Solidworks)

V phn mm LabVIEW ch to c cc hnh khi n gin l v sao chng ta cn s dng cc phn mm thit k 3D khc c th m phng cc h thng phc tp hn. Trong kha hc ny s s dng 2 phn mm l Google SketchUp v Solidworks. gi mt vt th t phn mm thit k 3D th 2 th LabVIEW h tr cc ui m rng sau: ASE, STL, VRML97. Trong gii hn bi ging ny s hng Import file m rng VRML97 vo mi trng 3D ca LabVIEW. c th Import 1 vt th t phn mm Google SketchUp hay Solidworks vo 3D LabVIEW i hi trc tin ta cn bit s dng 2 phn mm trn. Sau y s l cc 2 v d n gin gip bn c th gi 1 file m rng WRML97 vo mi trng 3D ca LabVIEW:
V d 1: Import 1 khi lc gic t phn mm Solidworks vo 3D Picture ca LabVIEW:

Thc hin: Bc 1: Thit k khi lc gic bng phn mm Solidworks sau save as sang ui m rng VRML97 (lucgiac.wrl)
Hnh 15.16 V bng Solidworks

- Bc 2: lp trnh LabVIEW Thut ton:
Hnh 15.17 a file vo LabVIEW

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Hm Load VRML File c ly trong th vin 3D Picture Control >>File Loading ca LabVIEW
Hnh 15.18 Load VRML file

Bc 3: Load file lucgiac.wrl c export t Solidworks ti ca s Front Panel
Hnh 15.19 FP ca chng trnh

- Bc 4: Chy chng trnh v thy kt qu:
Hnh 15.20 Kt qu
V d 2: Import 1 chic my bay vo 3D Picture ca LabVIEW s dng phn mm thit k Google SketchUp :
Thc hin: Bc 1: Thit k my bng phn mm Google SketchUp hoc tit kim thi gian ta c th ly chic my bay ti th vin m ca Google. ly chic my bay t th vin 3D Warehouse ta thc hin nh sau: ti giao din ca phn mm Google SketchUp ta chn File >> 3D Warehouse >> Get Models (yu cu my tnh cn c internet), sau ti ca s 3D Warehouse tm vi t kha plane, tip theo chn ci plane hp v download:
Hnh 15.21 Get model
Hnh 15.22 Ly chic my bay

Chic my bay bn phn mm Google SketchUp sau khi download t Warehouse v - Bc 2: lp trnh trn v d 1 ta c kt qu nh sau:
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Hnh 15.23 Chic my bay bn phn mm LabVIEW 15.1.6 M Phng Robot: ng Hc Cnh Tay Robot 2 Bc T Do
- To Khp th nht - To Khu th nht - To Khp th 2 - To khu th 2 - Rng buc Khp 1 & Khu 1 & Khp 2 & Khu 2 - Vit thut ton iu khin ng hc: nhp gc quay cho cc khp theo cc trc X, Y, Z - Gn thut ton iu khin cho cnh tay - Nhp thng s v m phng.
Hnh 15.24
15.2 Lp trnh vi iu khin ARM vi LabVIEW

lp trnh LabVIEW vi vi iu khin ARM tc gi chn KIT ARM cung cp bi National Instruement lm v d. Cc bc thc hin chi tit trong phn ny ch ng vi gi thuyt bn c KIT ny thc hnh.
15.2.1 Ci t DVD M un nhng cho vi iu khin ARM

1. Khi ng v ng nhp ti khon admin 2. Cho a DVD vo my. Nu ci t khng t ng bt u, th double click vo autorun.exe ci t
Hnh 15.25
3. Chn Install Lab Microcontrollers
VIEW
Embedded
Module
for
ARM
4. Lm theo hng dn trn mn hnh hin th ci t m un nhng cho vi iu khin ARM. Bn phi chn ci t custom v chn vo mc ci t Luminary Micro Driver for EK-LM3S8962. click Continue Anyway tip tc ci t
Hnh 15.26
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5. Trong qu trnh ci t, ci t s t ng ti RealView Microcontroler Deverlopment Kit. Lm theo hng dn trn mn hnh hin th ci t RealView Microcontroler Deverlopment Kit 6. Sau khi ci t hon thnh, khi ng li my 7. Tin hnh ng k bn quyn phn mm
15.2.2 Kt ni phn cng MCB 2300 ti my tnh

1. Cc thit b cn thit cho vic ci t Phn cng MCB 2300 My vi tnh c 2 cng usb B kt ni ULINK2 USB-JTAG 2 dy cp usb 2. Cc bc thc hin Khi ng chng trnh Keil Vision3 Kt ni ULINK2 USBJTAG ti cng usb ca my tnh bng dy cp Kt ni ULINK2 USBJTAG ti phn cng MCB2300
Hnh 15.27
Hnh 15.28
Kt ni cng usb t phn cng MCB2300 ti cng usb ca my tnh cp ngun cho phn cng MCB2300
15.2.3 Lp trnh trn LabVIEW 1. To mt chng trnh trn LabVIEW

To 2 numberic controls To 1 numberic indicator Ti mt n led
2. t tn theo hnh sau
Hnh 15.29 3. Lp trnh nh hnh ti Blog digram
Hnh 15.30
Hon thnh demo u tin vi vi iu khin ARM s dng KIT c sn cung cp bi National Instruments bn s thy LED sng.
15.3 Gii php v thi gian thc vi LabVIEW 15.3.1 Khi nim v thi gian thc
Thi gian thc l g? Ta thng sai lm khi ngh h thng thi gian thc (Real-Time System, RTS) l h thng c tc x l nhanh (gn vi thi gian thc ca t nhin). Thc ra mt h thng thi gian thc c c im sau: Thc hin c mt hoc mt s nhim v (task) trong mt thi gian qui nh.m bo c d c bt k iu g xy ra i vi h thng th s nhim v trn vn hon thnh trong ng thi gian . Cn nh h RTS gm: Phn mm RT (real-time software hoc real-time module hay RT toolkit) v Phn cng RT (real-time hardware).
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V d: ti kh (airbag) trn xe hi l mt RTS. V khi c cm bin tai nn c kch hot. Ti kh s c bung ra trong mt khong thi gian rt ngn (c nh trc bi k s lp trnh). Gi s nu ti kh khng l mt RTS th ti x s cht trc khi ti kh bung. V d khc v RTS l b iu khin nh la trong ng c xng. Tia la cn c iu khin chnh xc chu k t (tc sau khi chu k ht ht hn hp k v xng vo ri, ti chu k nn, nn ha kh xng-kh ln p xut c0, th tia la mi c pht ra bi b iu khin RTS). Nu khng ng thi im ny th ng c s khng hot ng c hoc hot ng vi hiu xut rt thp.
Hnh 15.31 ng c t trong Vy my tnh ci h iu hnh Window c phi l RTS? Trc ht bn thn phn mm window l khng phi RT software v window l h iu hnh a chc nng (ch khng thit k cho ng dng RT trong k thut). Thng n gin nh vic ta dng phn mm chat (yahoo messenger) chat theo thi gian thc (tc bn gi tin th ngi c gi s nhn ngay sau khi bn nhn enter). Tuy nhin khi my c virus hoc c mt phn mm, hay phn cng no tc ng (interupt) th t nhin tin messenger b ng (treo my). Do vy d bn c nhn enter ri th tin vn khng gi i c.
Th hai, phn cng ca my tnh bn l mt h thng c thit k vi mc ch a nng (ca my tnh thng thng nh son tho vn bn, chi game, nghe nhc, vv). Do vy, so vi my tnh c bit dng xy dng ln h iu hnh RT (RT Computer) th my bn (Destop PC) c tnh nng km hn trong vic to ng dng RT. Gii php xy dng h thng thi gian thc cho cc yu cu trn nh th no? Nh cp trn, mt h thng thi gian thc bao gm phn mm thi gian thc v phn cng thi gian thc. Hai thnh phn ny c phn b hai my tnh dng pht trin (lp trnh) cc chng trnh (my host) v my ch (target RT computer).
T ta c cc la chn sau:
RT target: C th dng RT computer, single-board computer hoc dng ngay chnh my tnh ca bn nu my ca bn tha mn iu kin v RT target. (phng php kim tra ny LabVIEW Hocdelam s cp sau). Host computer: Laptop hoc desktop PC thng thng. Thng thng host PC giao tip v lm vic vi target PC thng qua chun Ethenet. V vy bn cn c card mng ri hoc card mng onboard. (Nu my ca bn vo internet c c ngha my ca bn c card mng). IO Board: PCI, PXI, hoc DAQ chuyn Dng. RT Software: Dng USB boot disk sau ci LabVIEW RT Module ln my ca bn), hoc dng RTX (real-time extension for Windows XP) ci xong xong vi OS ca bn. (LabVIEW Real-Time Module for RTX Targets). 15.3.2 S dng cc card thi gian thc
Trong cc ng dng v thi gian thc CompactRIO vi v tr l Target computer l mt la chn ph hp nu bn khng qu lo lng v vn kinh ph. lp trnh CompactRIO bn cn ci t cc module sau: - LabVIEW 8.6 - LabVIEW Realtime module tng ng - NI-RIO 3.2 hoc mi hn - LabVIEW FPGA
Host computer l my tnh Laptop hoc my tnh Destop ca bn. V phn cng, bn cn set up (thit lp) mt ng dng c th. Trong bi ny, tc gi ly v d mt Robot t ng do nhm sinh vin SPKT-MIN H S phm K thut Tp.HCM thc hin.
Hnh 15.32 Robot t ng ca i MINSPKT s dng CompactRIO iu khin thi gian thc
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Lp trnh cho CompactRIO kh n gin sau khi bn kt ni cc phn cng ca mnh. Cc bc lp trnh cho CompactRIO c th l:
Bn m LabVIEW ln
Hnh 15.33 Khi ng LabVIEW

Vo New Project > Add> Target > Select CompactRIO Chn Module cn ly tn hiu
Hnh 15.34 To Project

Ko th knh AI0 c tn hiu Analog. Build & Deploy & Set as start up To ra mt ng dng thi gian thc (Real-time application)
Hnh 15.35 Module nlog
Hnh 15.36 To Real-Time Application

Hnh 15.37 Chn Source file

Ch cho h thng Build thnh cng.
Hnh 15.38 Thng bo build thnh cng

ti xung target computer (deploy) Chn ln My Realtimeapplication > Chn vo Deploy. Sau khi deploy, mun np li ta phi Remove Real-time application trong cRIO
Hnh 15.39 Remove d n t Application

Lp trnh LabVIEW
TS. Nguyn B Hi
b i VI ny trong d n (Project). a mt file vo d n mi
Hnh 15.40 Remove File t d n

Chng trnh hi c thay th khng? Bn chn YES. Bn hon thnh tt cc bc lp trnh h thng thi gian thc vi NI CompactRIO.
Hnh 15.41 Thm file
Hnh 15.42 Thay th file CHNG TRNH MU

Chng trnh mu bn di m t v d iu khin robot t ng d line v iu khin c cu chp hnh vi LabVIEW s dng CompactRIO. Bn c th ti chng trnh mu ny ti: http://labview.hocdelam.org > Ti liu > Ti liu LabVIEW > V d mu.)
Hnh 15.43 V d Robot d line ca nhm sinh vin nm nht MINSPKT

Front panel chng trnh iu khin robot t ng vi CompactRIO
Hnh 15.44 BD ca chng trnh d line Blockdiagram chng trnh iu khin robot t ng vi CompactRIO
Mt iu th v v thun li l bn c th thay th CompactRIO vi 3 card giao tip my tnh gi thnh thp Hocdelam USB-9001 thc hin ti ny vi chnh LapTOP hoc my tnh ca bn. Nhng cn lu l vic thay th ny ch nhm gim gi thnh phn cng phc v lm demo, hc tp v nghin cu thut ton iu khin Robot trong mi trng gio dc. Bi Hocdelam USB-9001 khng phi l mt phn cng Real-time nh CompactRIO. (Xem video clip vic thay th card Hocdelam USB 9001 ti: http://www.youtube.com/watch?v=X_eJ7HLDdz4 )
15.4 X l nh vi LabVIEW
Trong k thut, x l nh gip con ngi xy dng nhiu h thng thng minh v hu ch t vic m sn phm, pht hin sai lch (ca vic dn nhn sn phm) phn loi sn phm cng nh t ng o lng v ra quyt nh iu khin thit b. Mt s ng dng quen thuc ca x l nh c th thc hin vi LabVIEW l: - m s in tr trn mt mch in - Nhn dng mt ngi - Tm li ca mt sn phm (khi sn phm b rn, nt, mo, vv) X l hnh nh l vic x l tn hiu u vo l mt hnh nh, chng hn nh mt khung nh hoc video, u ra ca x l hnh nh c th hoc l mt hnh nh hoc mt tp hp cc c im hoc cc thng s lin quan n hnh nh.
Lp trnh LabVIEW
TS. Nguyn B Hi
Da trn cc thng s u ra , ngi ta c th tin hnh iu khin thit b theo mun v d: m s vin thuc trong mt v ng, nu s thuc (u ra) t hn mt s thuc yu cu no th tay robot s t ng b sung thm cho s lng hoc gt v thuc khng t yu cu ra. Hu ht cc k thut x l hnh nh lin quan n vic x l hnh nh nh l mt tn hiu hai chiu v p dng tiu chun k thut x l tn hiu vi n. X l hnh nh thng dng ch x l hnh nh k thut s, nhng x l hnh nh quang hc v tng t cng c th xy ra. Bi vit ny l v cc k thut s dng cng c Vision assistant thc hin cc bi x l nh c bn. Bn c th gi yu cu h tr thm ti liu x l nh nng cao bng vic gi email v supports@hocdelam.org.
15.4.1 Ci t v s dng Vision Assistant Yu cu h thng ci t: Ti thiu

Vi x l RAM Hin th Ch trng cng H iu hnh Trnh duyt
Yu cu
Pentium 233MHz hay Pentium4/M hay cao hn cao hn 256MB 512MB
phn gii 1024x768 phn gii 1024x768 vi vi 16bit mu 24-32bit mu 700MB 1GB Windows 7/vista/xp/2000 Internet Explorer hoc Firefox
Hng dn ci t:
Chy file setup trong th mc NI-IMAQ v NI-IMAQdx Chy file setup trong th mc Vision Development Module (Bn c th ti cc file ny ti http://labview.hocdelam.org > Ti liu> Ti liu LabVIEW> X l nh vi LabVIEW) Gii thiu: Vision Assistant l cng c to mu v kim tra qu trnh x l nh.Sau khi xy dng cc thut ton x l nh vi cc on m (Script) ca Vision Assistant,ta c th kim tra thut ton vi cc nh khc.
Mi trng lm vic ca Vision Assistant:
Hnh 15.45 Giao din Vision assistant

1.Ca s lm vic; 2.Bng cc chc nng x l; 3.T l thu phng; 4.Kch thc nh; 5.Ca s m; 6. Ca s chnh; 7.Cc th thao tc nh
Ca s lm vic (Reference Window) hin th nh ang c

x l.
Ca s m (Script window) ca s ghi li cc bc x l nh. Ca s x l nh (Processing Window) x l nh c cc kt qu mong mun. Duyt nh (Image Browser) gm cc nh c load vo trong Vision Assistant. 14.4.2 Thu nhn hnh nh vi Vision Assistant:
Vision Assistant cho php s dng 3 loi thu nhn hnh nh l thu nhn v hin th 1 hnh(snap), thu nhn v hin th hnh nh mt cch lin tc (grab) v thu nhn v hin th theo cc thit lp (sequence). Vision Assistant h tr nhiu loi camera khc nhau nh : cc loi camera thng minh ca NI,cc camera IEEE 1394 v camera Gigabit Ethernet (GigE). Ca s thu nhn hnh nh:
Lp trnh LabVIEW
TS. Nguyn B Hi
Hnh 15.46 Ca s thu nhn nh

1.a nh hot ng; 2.Sp xp nh thu nhn vo b duyt; 3.Cc chc nng thu nhn nh Thu nhn v hin th hnh n(Snapping an Image) : 1. Chn FileAcquire Image v la chn cc chc nng thu nhn hnh nh 2. Chn nt Acquire Single Image thu nhn hnh n a nh
3. Chn nt Store Acquired Image in Browser vo b duyt nh
Thu nhn v hin th hnh nh mt cch lin tc(Grabbing an Image): 1. Chn FileAcquire Image v chn cc chc nng thu nhn hnh nh thu nhn v hin 2. Chn nt Acquire Continuous Images th hnh nh 1 cch lin tc.Chn nt ny 1 ln na dng thu nhn hnh nh. 3. Chn nt Store Acquired Image in Browser b duyt nh. a nh vo
Thu nhn v hin th theo cc thit lp (Acquiring a Sequence of Images): 1. Chn FileAcquire Image v chn cc chc nng thu nhn hnh nh. 2. Chn nt Sequence Acquisition 3. Thit lp cc thng s :
o Number of Framess khung hnh mun thu nhn o Skip Counts khung hnh cn b qua gia cc bc thu nhn. o Lineng trigger vt l. o Actionhot ng ca trigger.Bao gm Disabled, Trigger start of acquisition, v Trigger each image o Timeoutthi gian trigger xy ra (khong mili giy). o Polarityc thit lp nu tn hiu thu nhn ca trigger l cnh ln hoc cnh xung. 15.4.3 X l nh vi Vision Assistant :
Cc bc lm vic vi Vision Assistant : 1. Khi ng Vision Assistant t StartAll ProgramsNational Instruments Vision Assistant. 2. Chn hnh nh cn x l bng cch click Open Image 3. Chn th Browse Images trong Vision Assistant v chn nh cn duyt
Hnh 15.47 Th Browse images

Lp trnh LabVIEW
TS. Nguyn B Hi
1.Duyt nh; 2.V tr ca nh; 3.Nt iu khin; 4.Ch xem chi tit/ton kch thc; 5.M nh; 6.Tt nh la chn; 7.Kch thc nh; 8.Loi nh; 9.Dng nh 4. Qua th Image Processing la chn cc Script trong ca s Processing Functions x l nh 5. Kim tra chc nng x l nh ca Scripts la chn.bng cch click chn nt Run Once Vision Assistant c th xut ra file Labview,code C,
To file VI ca LabView :
1. Chn ToolsCreate LabVIEW VI.Chn phin bn LabVIEW 2. Chn tn,chn Current Script to VI t script to trong Vision Assistant. 3. Chn Image File to VI ly nh t cng
To chng trnh C:
1. Chn ToolsCreate C Code. Chn tn. 2. Chn Create Main Function khi mun to chng trnh chnh kim tra cc chc nng x l nh
Main File Name: in tn file C Image Source: chn file nh ngun c s dng trong chng trnh chnh.
3. Chn th mc lu file c to ra
15.4.4 S dng chc nng nh v mu sc nhn bit v tr v s lng led :

Da trn hnh nh led xanh c sn thc hin x l qua Vision Assistant xc nh s lng led c trn hnh v v tr ca led trn hnh . Cc hnh nh c sn x l :
Hnh 15.48 Chn nh x l

Chn nh bt k x l, y ta chn nh demled(2).jp
KT QU :
Hnh 15.49 Kt qu sau khi x l

Ta thy c 12 led xanh v v tr c th ca cc led c khoanh thnh cc mu trn hnh.
Bn c bit?
Thng thng code vit bng LabVIEW chm hn nu so snh cng mt chng trnh tng ng c son bng m C. Tuy nhin tc x l chng trnh phn ln ph thuc vo vic ti u chng trnh m bn vit hn l tc x l ca bn thn chng trnh
15.5 Bi tp Cu 1: Thc hnh to mt tay robot 2 bc t do vi LabVIEW Cu 2: Vit mt chng trnh iu khin LED vi vi iu khin ARM vi LabVIEW Cu 3: Thc hin chng trnh m phng mobile robot vi LabVIEW (tm hiu thm thng tin ti http://labview.hocdelam.org ti ti liu m phng mobile robot v phn mm cn thit cho cng vic ny.
Cu 4: Thc hnh x l nh m s ngn tay chp vo t camera.
Lp trnh LabVIEW
TS. Nguyn B Hi
Tham kho bi 15
[1] TS. Nguyn B Hi, KS. L S Ton Lp trnh 3D trong LabVIEW, Hocdelam Group, 2011. [2] LabVIEW programming with ARM, National Instrument [3] ti Tin s, Nguyn B Hi, Jee-Hwan Ryu, iu khin mobile robot t xa, 2010, KUT, Hn Quc. [4] TS. Nguyn B Hi, KS. V Sn, Ti liu x l nh, Hocdelam Group, 2011 [5] TS. Nguyn B Hi, KS. Phan Ngc Trung Thit k m hnh tp li xe t, Chuyn 2 - ti Thc S, H S phm K thut Tp.HCM, 2011. [5] TS. Nguyn B Hi, KS. Trn Trung Thit k m hnh tp li xe xe tng, ti nghin cu sinh, Vin C hc Vit Nam.
BI 16 H TR NGI HC
Phn ny cung cp cho bn cc tin ch gip bn hc tt LabVIEW. Cc tin ch gm: cc bng ny c th dng tra cu hoc photo dn ln nhng v tr m bn hay quan st.
16.1 Bng phm tt bn phm (Keyboard Shortcuts)

Trong LabVIEW, bn c th s dng cc phim tt nhanh chng thc hin cc thao tc lp trnh.
Keyboard Shortcut Object/Movement

Shift-click Arrow keys Shift-Arrow keys
Description
Selects multiple objects; adds object to current selection. Moves selected objects one pixel at a time. Moves selected objects several pixels at a time.
Shift-click (drag) Moves selected objects in one axis. Ctrl-click (drag) Duplicates selected object. Ctrl-Shift-click (drag) Shift-resize Ctrl-resize Ctrl-Shift-resize Ctrl-drag a rectangle Ctrl-A Ctrl-Shift-A Ctrl-D Duplicates selected object and moves it in one axis. Resizes selected object while maintaining aspect ratio. Resizes selected object while maintaining center point. Resizes selected object while maintaining center point and aspect ratio. Adds more working space to the front panel or block diagram. Selects all front panel or block diagram items. Performs last alignment operation on objects. Performs last distribution operation on objects.
115
Lp trnh LabVIEW
TS. Nguyn B Hi
Double-click open space Ctrl-mouse wheel Spacebar (drag)
Adds a free label to the front panel or block diagram if automatic tool selection is enabled. Scrolls through subdiagrams of a Case, Event, or Stacked Sequence structure. Disables preset alignment positions when moving object labels or captions.
Navigating the LabVIEW Environment

Ctrl-F Ctrl-Shift-F Ctrl-G Ctrl-Shift-G Ctrl-Tab Finds objects or text. Displays Search Results window or the Find Project Items dialog box with the previous search results. Searches for next instance of object or text. Searches for previous instance of VIs, object, or text. Cycles through LabVIEW windows in the order the windows appear onscreen. (Linux) The order of the windows depends on the window manager you use. Cycles the opposite direction through LabVIEW windows. Displays the Error List window. Displays the All Windows dialog box.
Ctrl-Shift-Tab Ctrl-L Ctrl-Shift-W
Navigating Front Panels and Block Diagrams Ctrl-E Ctrl-# Ctrl-/ Ctrl-T Ctrl-Shift-N Ctrl-I Displays block diagram or front panel window. Enables or disables grid alignment. On French keyboards, press the <Ctrl-"> keys. (Mac OS) Press the <Command*> keys. Maximizes and restores window. Tiles front panel and block diagram windows. Displays the Navigation window. Displays the VI Properties dialog box.
Ctrl-Y
Displays the History window.
Navigating the VI Hierarchy Window Ctrl-D Ctrl-A Ctrl-click VI Enter Redraws the VI Hierarchy window. Shows all VIs in the VI Hierarchy window. Displays the subVIs and other nodes that make up the VI you select in the VI Hierarchy window. Finds the next node that matches the search string after initiating a search by typing in the VI Hierarchy window. Finds the previous node that matches the search string after initiating a search by typing in the VI Hierarchy window.
Shift-Enter
Debugging
Ctrl-Down arrow Steps into node. Ctrl-Right arrow Steps over node. Ctrl-Up arrow Steps out of node.
File Operations
Ctrl-N Ctrl-O Ctrl-W Ctrl-S Ctrl-Shift-S Ctrl-P Ctrl-Q Opens a new, blank VI. Opens an existing VI. Closes the VI. Saves the VI. Saves all open files. Prints the window. Quits LabVIEW.
Basic Editing
Ctrl-Z Ctrl-Shift-Z Undoes last action. Redoes last action.
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TS. Nguyn B Hi
Ctrl-X Ctrl-C Ctrl-V
Cuts an object. Copies an object. Pastes an object.
Help
Ctrl-H Ctrl-Shift-L Ctrl-? or <F1> Displays Context Help window. (Mac OS) Press the <Command-Shift-H> keys. Locks Context Help window. Displays LabVIEW Help.
Tools and Palettes

Ctrl Shift Ctrl-Shift over open space Spacebar Shift-Tab Switches to next most useful tool. Switches to Positioning tool. Switches to Scrolling tool. Toggles between two most common tools if automatic tool selection is disabled. Enables automatic tool selection. Cycles through four most common tools if you disabled automatic tool selection by clicking the Automatic Tool Selection button. Otherwise, enables automatic tool selection. Navigates temporary Controls and Functions palettes. Navigates into a temporary palette. Navigates out of a temporary palette. Displays a temporary version of the Tools palette at the location of the cursor.
Tab
Arrow keys Enter Esc Shift-right-click
SubVIs
Double-click subVI Displays subVI front panel.
Ctrl-double-click Displays subVI block diagram and front panel. subVI Drag VI icon to Places that VI as a subVI on the block diagram. block diagram Shift-drag VI icon to block diagram Ctrl-right-click block diagram and select VI from palette Places that VI as a subVI on the block diagram with constants wired for controls that have non-default values.
Opens front panel of that VI.
Execution
Ctrl-R Ctrl - . Ctrl-M Runs the VI. Stops the VI, when used while VI is running. Changes to run or edit mode.
Ctrl-Run button Recompiles the current VI. Ctrl-Shift-Run button Ctrl-Down arrow Ctrl-Up arrow Tab Shift-Tab Wiring Ctrl-B Deletes all broken wires in a VI. Recompiles all VIs in memory. Moves key focus inside an array or cluster, when used while VI is running. Moves key focus outside an array or cluster, when used while VI is running. Navigates the controls or indicators according to tabbing order, when used while VI is running. Navigates backward through the controls or indicators, when used while VI is running.
Esc, right-click, Cancels a wire you started. or click terminal

Lp trnh LabVIEW
TS. Nguyn B Hi
Single-click wire Selects one segment. Double-click wire Selects a branch.
Triple-click wire Selects entire wire. A Double-click (while wiring) Spacebar Shift-click While wiring, disables automatic wire routing temporarily. Tacks down wire without connecting it. Toggles automatic wiring while moving objects. Undoes last point where you set a wire.
Ctrl-click input on function with Switches the two input wires. two inputs Spacebar Switches the direction of a wire between horizontal and vertical.
Text
Double-click Triple-click Selects a single word in a string. Selects an entire string.
Moves forward in string by one word when using text that has characters that use single bytes, such as Western Ctrl-Right arrow character sets. Moves forward in string by one character when using text that has characters that use multiple bytes, such as Asian character sets. Moves backward in string by one word when using text that has characters that use single bytes, such as Western character sets. Moves backward in string by one character when using text that has characters that use multiple bytes, such as Asian character sets. Moves to beginning of current line in string. Moves to end of current line in string.
Ctrl-Left arrow
Home End
Ctrl-Home Ctrl-End
Moves to beginning of entire string. Moves to end of entire string. Adds new items when entering items in enumerated type controls and constants, ring controls and constants, or Case structures. In string constants, press the <ShiftEnter> keys on the keyboard to disable autosizing if it is enabled. If autosizing is disabled, press the <Shift-Enter> keys on the keyboard to display a scroll bar in the constant. Cancels current edit in a string. Ends text entry. Increases the current font size. Decreases the current font size. Displays the Font dialog box. Changes to the Application font in Font dialog box. Changes to the System font in the Font dialog box. Changes to the Dialog font in the Font dialog box. Changes to the current font in the Font dialog box.
Shift-Enter
Esc Ctrl-Enter Ctrl-= Ctrl-Ctrl-0 Ctrl-1 Ctrl-2 Ctrl-3 Ctrl-4
16.2 Quy tc vng

Bn cng c th in 3 quy tc vng v dn vo ni thng c nh:
Quy Tc Vng Trong LabVIEW RC> Select, Create, Replace, Change to Ctrl + H: Tra cu s chn Search: Tm kim hm v i tng Bn c bit?
Tc gi tht s vui khi nhn c cc gp ca bn c tip tc hon thin cc tp sch v LabVIEW. Mi gp hay s nhn li c mt cun sch trong ln ti bn ti y. Bn cng c th cng tham gia vit cc tp sch tip theo v LabVIEW.
Lp trnh LabVIEW
TS. Nguyn B Hi
Lin lc vi tc gi qua: bahai@hcmute.edu.vn. Chc qu bn c xy dng c cc ng dng hay nht ca mnh vi LabVIEW.
16.3 Ghi ch
-------------------------------------GHI CH-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------T Sch Hocdelam Group
CHC BN THNH CNG

TRCH NGANG V TC GI
Tin s Nguyn B Hi sinh nm 1983, tt nghip i hc Ngnh C kh ng lc-H S phm K thut Tp.HCM, Thc s v Tin s chuyn ngnh Biorbotics (Robot sinh hc) ti phng th nghim Biorobotics, trng H Cng ngh v Gio dc Hn Quc. Hin ti ng ang ging dy ti H S phm K thut Tp.HCM vi vai tr trng phng th nghim C in t t. Chuyn mn ca ng gm: Thu thp d liu v iu khin thit b, iu khin phng tin t xa c phn hi lc, giao din gia ngi v my (HMI), m phng v iu khin h thng. ng c 4 pht minh sng ch c cp bng ti Hn Quc, nhiu cng trnh cng b ti hip hi k s in-in t Hoa K (IEEE), FISITA, Tp ch t quc t IJAT, vv. Hin ti ng trc tip hng dn v t vn cho nhiu ti Tin s v Thc s trong ngnh K thut cho cc trng i hc trong v ngoi nc. ng thi, tham gia bnh duyt (review) ti cc hip hi k thut quc t. L ngi sng lp nhm Hocdelam Group v cng Hocdelam t chc hng trm kha hc cho k s, ging vin v sinh vin cc trng i hc, Cao ng, THCN, v doanh nghip nc ngoi cng nh trong nc nh Fujikura, Memsonics, Trng Hi (THACO), Quatest3, H BK TP.HCM, H GTVT H Ni, C C B Ra Vng Tu, Trung cp ngh Bnh Thun, vv. T 2010, ng thit k chng trnh kha hc 1 la, ng cng nhm Hocdelam gip hn 400 c nhn tip cn c vi kin thc v: thu thp d liu, iu khin thit b, trc quan ha vic hc k thut, nng cao nng lc tm kim ti nguyn Internet, t hc hiu qu, k nng mm trong hc tp v nghin cu, xy dng d n trong k thut, vv. Chng trnh ny cng c gii thiu qua cc Bo v i truyn hnh trong c nc. Sau nhiu nm tm hiu v s dng LabVIEW, ng thc hin v ng thc hin thnh cng hn 40 d n s dng LabVIEW trong gio dc, cng nghip, y sinh, c in t, vt l, t ng ha v t. T vn cho nhiu trng H xy dng v khai thc cc phng th nghim hiu qu. Tp sch LabVIEW cn bn ny ra i nhm phn no h tr ngi yu thch LabVIEW bt u hnh trnh hc tp v lm ch LabVIEW mt cch n gin v d dng nht.
123
Lp trnh LabVIEW
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HNH NH MT S SN PHM S DNG LabVIEW
Lin h mua cc tp sch tip theo ti: Hocdelam Group

Phng TN C in t t Khoa Cng Ngh K thut t H S phm K thut Tp.HCM. S 01-V Vn Ngn-Th c-Tp.HCM Hotline: 098 8868 524 | Email: supports@hocdelam.org
MC LC
Bi 1: Gii thiu LabVIEW 1.1 LabVIEW l g? 1.2 Cc ng dng ca LabVIEW 1.3 Download v ci t LabVIEW 1.4 Phng php hc LabVIEW hiu qu 1.5 Bi tp Bi 2: Cc php ton trong LabVIEW 2.1 Chng trnh u tin: Php cng hai s x,y 2.2 Cu trc mt bi trnh LabVIEW 2.3 Ba quy tc vng khi lp trnh LabVIEW 2.4 Cc php ton thng thng 2.5 Lu file, m file, tm v d, cng c tr gip 2.6 Phn c thm 2.7 Bi tp Bi 3: Cc loi Control v Indicator 3.1 Cc control thng dng 3.2 Cc indicator thng dng 3.3 Kiu d liu trong LabVIEW v chuyn i d liu 3.4 Bi tp Bi 4: Vng lp while, vng lp for 4.1 Vng lp while 4.2 Vng lp for 4.3 ng dng vng lp 37 39 40 31 33 35 36 19 24 25 26 27 29 30 05 06 11 16 18
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Lp trnh LabVIEW
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4.4 Bi tp Bi 5: Cu trc case 5.1 Cu trc case 5.2 ng dng cu trc case 5.3 Bi tp Bi 6: Cc hm v cng c hu dng thng gp khc 6.1 M phng tn hiu 6.2 Local variable 6.3 Formulas 6.4 Bi tp Bi 7: Mng v b 7.1 Mng 7.2 B 7.3 Bi tp Bi 8: To subVI, nh thi gian, v lu d liu 8.1 To v s dng subVI 8.2 nh thi gian trong LabVIEW 8.3 Lu d liu 8.4 Bi tp Bi 9: Giao din ngi dng (GUI) 9.1 Khi nim v giao din ngi dng 9.2 Xy dng mt GUI thm m v hiu qu
42
43 44 49
51 54 57 60
61 65 69
71 77 79 82
89 85 88
9.3 To file .exe (application file)

9.4 Bi tp
88
Bi 10: Xy dng cc ng dng vi card Hocdelam USB-9001 v HDL-9000 10.1 Gii thiu card Hocdelam USB-9001 10.2 Cc ng dng vi Card Hocdelam USB-9001 10.3 iu khin PID ng c DC 10.4 Bi tp Bi 11: Thu thp d liu vi card NI USB-6008/6009 11.1 Gii thiu card NI USB 6008/6009 11.2 Hng dn lp trnh Card NI USB6008/6009 11.3 Thc hnh lp trnh LabVIEW o analog vi card NI USB-6008 11.4 K thut pht xung tn hiu vi card NI USB-6008/6009 11.5 Bi tp Bi 12: iu khin chuyn ng vi h card NI PCI 7350 12.1 Chun b thit b phn cng v phn mm 12.2 Ci t phn mm 12.3 Th phn mm v phn cng 12.4 Thit lp cc thng s trong MAX 12.5 Th ng c v chng trnh iu khin ng c mt chiu DC bng Analog output 12.6 iu khin chuyn ng 12.7 Mt s li thng gp vi card PCI 7356 12.8 Bi tp Bi 13: Cc chuyn m rng 13.1 Giao tip RS232 13.2 Thc hnh giao tip RS232 147 148 125 126 130 134 135 111 114 117 120 124 89 91 102 109
137 142 144
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13.3 Bi tp Bi 14: Cc chuyn m rng 14.1 Giao tip TCP/IP 14.2 V d Lp trnh TCP/IP vi LabVIEW 14.3 Bi tp Bi 15: Cc chuyn m rng 15.1 iu khin hnh nh (2D v 3D) trong LabVIEW 15.2 Lp trnh Vi iu khin ARM trong LabVIEW 15.3 Gii php v thi gian thc trong LabVIEW 15.4 X l nh vi LabVIEW 15.5 Bi tp Bi 16: H tr ngi hc 16.1 Bng phm tt 16.2 Quy tc vng 16.3 Ghi ch
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Lp trnh LabVIEW

Sch km theo CD gm:

2 H tr nhanh: http://labview.hocdelam.org - labview.help@gmail.com | 098 8868 524

BI 1: Gii thiu LabVIEW

4 H tr nhanh: http://labview.hocdelam.org - labview.help@gmail.com | 098 8868 524

BI 1: Gii thiu LabVIEW

BI 1 GII THIU LabVIEW

BI 1: Gii thiu LabVIEW

Hnh 1.5: iu khin tay Robot

BI 1: Gii thiu LabVIEW

BI 1: Gii thiu LabVIEW

H tr nhanh: http://labview.hocdelam.org - labview.help@gmail.com 0988868524

BI 1: Gii thiu LabVIEW

Chn I accept v chn Next

BI 1: Gii thiu LabVIEW

Chn Later nu c hi ci Driver v chn Finish hon thnh vic ci t.

16 H tr nhanh: http://labview.hocdelam.org - labview.help@gmail.com | 098 8868 524

BI 1: Gii thiu LabVIEW

18 H tr nhanh: http://labview.hocdelam.org - labview.help@gmail.com | 098 8868 524

BI 1: Gii thiu LabVIEW

BI 2 CC PHP TON TRONG LabVIEW

BI 1: Gii thiu LabVIEW

22 H tr nhanh: http://labview.hocdelam.org - labview.help@gmail.com | 098 8868 524

BI 1: Gii thiu LabVIEW

24 H tr nhanh: http://labview.hocdelam.org - labview.help@gmail.com | 098 8868 524

BI 1: Gii thiu LabVIEW

Hnh 2.13: Tnh tch v tng hai s A,B

BI 1: Gii thiu LabVIEW

Hnh 2.16: Lu file

Hnh 2.18: Nhn Ctrl + H v a chut vo v tr hm thy Context Help

BI 1: Gii thiu LabVIEW

2011( A B) (gi cu 4c: Hy chn cng c search BD tm hm C power of x).

BI 1: Gii thiu LabVIEW

BI 3 CC LOI CONTROL V INDICATOR

3.1. Cc Control thng dng

Hnh 3.1: Cch ly Control

Hnh 3.2: Copy nhanh bng vic ko th

Cc Control thng dng c tm tt ti bng sau:

Thng cc control c chia lm 3 dng: Boolean, Numeric v String.

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Hnh 3.3 V d v cc control v Indicator 3.2. Cc dng Indicator thng dng

Hnh 3.3: Cch ly Indicator

Bng tm tt cc Indicator nh sau:

Hnh 3.4: Cch ly Indicator

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Hnh 3.5: Cch ly Indicator

3.3. Kiu d liu trong LabVIEW v chuyn i d liu

Hnh 3.6: Cc kiu d liu trong LabVIEW

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BI 4 VNG LP (WHILE LOOP) VNG LP FOR (FOR LOOP)

4.1. Vng lp while

Hinh 4.1: Ly while loop ti BD

Hnh 4.2: Tnh tng vi while loop

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Hnh 4.3: S dng shift register 4.2. Vng lp for

Hnh 4.4: For loop

4.3. ng dng vng lp v th

Bng 4.1 Bng bin thin ca hm s y = 2 x

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Hy cng v th ny bng LabVIEW s dng XY Graph nh sau:

Hnh 4.6: Ly hm while loop

Hnh 4.7: V tr ca XY Graph

Hnh 4.8: th hm s y=2x v bng LabVIEW s dng hm while loop

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