B CNG THNG

TRNG I HC CNG NGHIP TP. HCM

KHOA CNG NGH IN T

N HC PHN 2B
IU KHIN TC NG C DC DNG CARD PCI / USB 6221
TRN C S PHN MM LABVIEW

Ging vin hng dn : Th.s Nguyn Ngc Sn

Sinh vin thc hin:
MSSV:
ng Xun Ton
10062211
H Vit t
10251791
Lp
:
HT6A
Kho :
2010 -2014
Email: Xuantoan287@gmail.com
TP. H Ch Minh, thng 12 nm 2013

B CNG THNG
TRNG I HC CNG NGHIP TP. HCM
KHOA CNG NGH IN T

N HC PHN 2B
IU KHIN TC NG C DC DNG CARD PCI 6221
TRN C S PHN MM LABVIEW

Ging vin hng dn : Th.s

Sinh vin thc hin:
ng Xun Ton
H Vit t
Lp
:
Kho :
TP. H Ch Minh, thng 12 nm 2013

Nguyn Ngc Sn
MSSV:
10062211
10251791
HT6A
2010 -2014

 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

LI M U

Trong qu trnh cng nghip ha- hin i ha t nc. T ng ha l yu t

khng th thiu trong mt nn cng nghip hin i. Ni n t ng ha th my tnh l
mt cng c h tr c lc nht v khng th thiu c trong rt nhiu lnh vc, c bit
trong o lng v iu khin.
Vic ng dng my tnh vo k thut o lng v iu khin em li nhiu kt
qu y tnh u vit. Cc thit b, h thng o lng v iu khin ghp ni vi my tnh
c chnh xc cao, thi gian thu thp d liu ngn. Nhng iu ng quan tm nht l
mc t ng ha trong vic thu thp v x l kt qu o, k c vic lp bng thng k,
ha, cng nh in ra kt qu. o lng v iu khin h thng th ngoi cc thit b
ghp ni vi my tnh, cn c Smt chng trnh np vo my tnh x l v iu khin
qu trnh hot ng ca h thng.
Vic ng dng my tnh vo trong cc h thng truyn ng iu khin tc , v
tr ngy cng ph bin. V d nh trong cc dy truyn lp rp cc sn phm k thut cao,
trong vic gia cng sn phm c hnh dng, kch thc c v trc trn my tnh, trong
c cu truyn ng cho tay my, ngi my, c cu n dao my ct gt kim loi quay
anten, knh vin vng, trong cc h thng bm, ty ng,
LabVIEW l mt ngn ng lp trnh chuyn nghip trong lnh vc t ng ha, l
mt mi trng lp trnh cho php to ra cc chng trnh s dng k hiu ha gip to
ln nhng giao din chng trnh chuyn nghip. N cha ng rt nhiu kh nng, sc
mnh khi pht trin v thc thi cc ng dng t ng ha: o lng, thu thp, phn tch,
x l d liu... Th gii thit b o ca labVIEW rt gn gi v lin kt cht ch vi th
gii iu khin t ng thc.

 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

LI CM N
u tin chng em xin chn thnh gi li cm n n nh trng v cc thy c
trong khoa in t tn tnh dy d v du dt chng em trong sut thi gian hc va
qua, chng em c kin thc chuyn mn, chng em c th lm vic v gip ch cho
x hi.
thc hin thnh cng n ny em xin chn thnh cm n s hng dn, ch
o tn tnh ca thy Nguyn Ngc Sn, thy hng dn tn tnh gip chng em nh
hng, gp v cung cp tng cng nh ch dn v ti liu v cc tin trnh thc hin
n. S hng dn ca thy l yu t quan trng chng em c th hon thnh ti
c giao.
Cui cng em xin gi li cm n tt c bn b gip v ng vin trong sut
qu trnh lm n. Do kinh nghim v trnh cn hn ch nn phn th hin v trnh
by ca chng em cn nhiu khim khuyt.Rt mong c s gip v tham kho
kin ca cc Thy c chng em c th pht trin thm ti.
Chng em xin chn thnh cm n !

Sinh vin thc hin

ng Xun Ton
H Vit t

 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

NHN XT
(Gio vin hng dn)
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4

 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

NHN XT
(Hi ng phn bin)
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5

 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

MC LC
LI M U:
Trang
CHNG 1: M U..............................................................................10
1.1. L do chon ti .............................................................................10
1.2. Mc ch nghin cu .......................................................................10
1.3. i tng phm vi nghin cu ........................................................10
1.4. Phng php nghin cu .................................................................10
1.5. ngha khoa hc v thc tin ca ti .......................................10
CHNG 2: IU KHIN NG C IN MT CHIU .................11
2.1. Khi qut v ng c in mt chiu ...............................................11
2.2. Cu to c bn my in mt chiu ...................................................11
2.2.1. Cu to ..............................................................................................11
2.2.2. Nguyn l hot ng .........................................................................13
2.2.3. Phn loi ng c in mt chiu .....................................................13
2.3. iu KHIN NG C DC .............................................................14
2.3.1. Khi nim chung ...............................................................................14
2.3.2. Cm bin (Encorder) .........................................................................15
2.3.3. Cc phng trnh c bn ca my in mt chiu ...........................16
2.3.4. Cc phng php iu khin tc ng c....................................17
CHNG 3 THUT TON IU KHIN PID .....................................18
3.1. B iu khin PID tng t.................................................................18
3.2. L thuyt iu khin b iu chnh PID s .........................................19
3.2.1. Khu hiu chnh khuch i t l (P) ................................................19
3.2.2. Khu tch phn I ...............................................................................20
3.2.3. Khu iu khin vi phn D: (hot ng do hm) ...........................21
3.2.4. Khu tch phn t l (PI) ...................................................................21
3.2.5. Khu PID ..........................................................................................21
3.3. Cc phng php thit k b iu chnh PID ......................................23
3.3.1. Phng php Ziegler-chols ..............................................................23
3.3.2. Phng php Chien-Hrones-Reswick ..............................................25
CHNG 4 Lp trnh trong mi trng labview ....................................26
4.1. Khi qut chung v phn mm labview ..............................................26
4.1.1. Gii thiu v LABVIEW ..................................................................26
4.1.2. Cc chc nng chnh ca LABVIEW ..............................................26
4.2. Thit b o (VI- Vitual Instrument) .....................................................26
4.2.1. Front panel .......................................................................................27
4.2.2. S khi (Block Diagram) .............................................................27
4.3. K THUT LP TRNH LABVIEW................................................28
4.3.1. Khi ng chng trnh ...................................................................28
4.3.2. Cng c trn thanh giao din ............................................................30
6

 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

4.3.2.1. Thanh cng c trn front panel ......................................................30

4.3.2.2. Thanh cng c trn Block Diagram...............................................30
4.3.3. Cc cng c h tr lp trnh .............................................................31
4.3.3.1. Tool Panel ......................................................................................31
4.3.3.2. Bng iu khin (Controls Palette)................................................32
4.3.3.3. Bng chc nng Functions Palette ................................................32
4.3.4. Cc khi lp trnh thng dng ..........................................................33
CHNG 5 GII THIU V CARD PCI 6221 .......................................37
5.1. Tng quan v card PCI 6221 ...............................................................37
5.2. S ni chn .....................................................................................38
5.3. Thng s k thut .................................................................................39
5.3.1. u vo tng t ..............................................................................39
5.3.2. u ra tng t .................................................................................40
5.3.3. K thut s I/O .................................................................................41
5.3.4. Lp trnh thi gian / B m ............................................................41
5.3.5. I/O kt ni m t tn hiu ..................................................................41
CHNG 6 Thit K Phn Cng V Giao Din iu Khin ...................43
6.1. Phng n Thit K ..........................................................................43
6.1.1. Yu cu thit k ................................................................................43
6.1.2. Thit k .............................................................................................43
6.1.3. Modul Driver L298 ...........................................................................43
6.1.4. Phng php iu khin ...................................................................44
6.2. Giao din iu khin bng my tnh ....................................................44
6.2.1. Front Panel v Block diagram ca chng trnh ..............................45
6.2.1.1. Kt ni Dac c gi tr encoder .....................................................45
6.2.1.2. Kt ni u ra xut xung PWM Analog Output ............................46
6.2.1.3. Khu hiu chnh PID .....................................................................48
6.2.1.4. To nt tt dng .............................................................................48
6.3. Giao din v chng trnh ...................................................................49
7

 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

6.3.1. Giao din chnh Front Panel .............................................................49

6.3.2. Chng trnh Block Diagram ...........................................................50
6.3.3. Kt qu t c ...............................................................................50
KT LUN
TI LIU THAM KHO
MC LC HNH NH
Hnh nh

trang

Hnh 1. ng c Servo

11

Hnh 2 : Mt ct ngang my in mt chiu

12

Hnh 3: Cc thnh phn ca ng c DC Servo

12

Hnh 4: S nguyn l lm vic ca ng c in mt chiu

13

Hnh 5: Cc loi ng c in mt chiu

14

Hnh 6 : Nguyn l m ca Encoder.

15

Hnh 7 : Hnh dng a encoder

15

Hnh 8 : xung u ra ca econder

16

Hnh 9:Cu trc b iu khin PID

18

Hnh 10 : S b iu khin PID s

Hnh 11: Chng bo ha tch phn
Hnh 12: p ng nc ca h h c dng S

22
23
23

Hnh 13 : p ng nc ca h kn khi k = kth

24

Hnh 14: p ng nc ca h thch hp cho phng php Chien-

25

Hrones-Reswick
Hnh 15 : Giao din front panel

27

Hnh 16 : Giao din ca s khi.

Hnh 17: Thanh cng c giao din front panel

28

Hnh 18: Thanh cng c giao din Block Diagram

30

Hnh 19: Bng iu khin (Controls Palette)

32

30

 n Hc Phn 2B

Hnh 20: Bng chc nng Functions Palette

GVHD: Th.s Nguyn Ngc Sn

33

Hnh 21: Cc k hiu trong ton hc

Hnh 22: Cc ton t so snh

34

Hnh 23: Khi PID

34

Hnh 24: Khi biu din th

35

Hnh 25: Cc hm

35

Hnh 26: Cc bin

36

Hnh 27: Khi kt ni Ni DAQ I/O

36

Hnh 28: Card PCI 6221

37

Hnh 29: S ni chn

38

Hnh 30 : S Modul Driver L298

43

Hnh 31: Giao din chnh Front Panel

49

Hnh 32: Chng trnh Block Diagram

50

Hnh 33: Kt qu t c

50

Hnh 34: M hnh thc nghim 1

51

Hnh 35: M hnh thc nghim 2

52

 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

CHNG 1
M U
1.1.

L DO CHON TI

Ngy nay,vi s pht trin nhanh chng ca nn kinh t i hi s tng trng

tng ng trong h tng c s k thut.V nhim v ca ngi k s l tm v x l cc
bi ton t ra trong qu trnh tnh ton ,ng thi gim st v c th a ra hnh nh
m phng c th. Mt trong nhng bi ton kh l iu khin chnh xc v tr ca mt
i tng c th nh ng c,c cu trc Vt-me,..V cng c rt mnh c th x
l,m phng bi ton trn l LabVIEW.
1.2.

MC CH NGHIN CU CA N

Trong phm vi nghin cu ca n chng em ch yu nghin cu v cch thc

s dng phn mm Labview c bn nh: cch to giao din , lp trnh s khi , to
thit b o (VI) v thit b con Sub VI, ..
Nghin cu card PCI 6221 t kt hp vi Labview to ra mt ng dng c
th trong o lng v iu khin.
1.3.

I TNG PHM VI NGHIN CU

i tng nghin cu chung ca n l:

Phn mm Labview
Carb PCI 6221

Phm vi nghin cu:

Do phm vi nghin cu ngn nn chng em ch tp trung nghin cu mt ng dng
quen thuc ca Labview v card PCI 6221. l iu khin tc ng c DC dng
card PCI 6221 trn c s phn mm Labview.
PHNG PHP NGHIN CU.
thc hin nghin cu ti khoa hc ny, chng em kt hp 3 phng
php sau:
- Phng php nghin cu l thuyt: Nghin cu cc vn v ng dng iu khin
PID s, cc m hnh ng c in mt chiu, iu khin v gim sat trn nn phn mm
Labview.
- Phng php m phng: S dng cng c tnh ton v m phng trong phn mm
Labview, to d liu m phng v nhn dng m hnh thc nghim ng c.
- Phng php thc nghim: Thit k mch phn cng iu khin,h thng gim st.
1.5. NGHA KHOA HC V THC TIN CA T
Kt qu nghin cu ca ti s gp phn hon thin mt phng php iu khin
mi khc phc c mt s nhc im ca cc phng php K tng t.
1.4.

10

 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

CHNG 2:
IU KHIN NG C IN MT CHIU
KHI QUT V NG C IN MT CHIU
Hin nay ng c in mt chiu vn c dng rt ph bin trong cc h thng
truyn ng in cht lng cao, di cng sut ng c mt chiu t vi W n hng
MW. y l loi ng c a dng v linh hot, c th p ng yu cu mmen, tng
tc, v hm vi ti trng nng. ng c in mt chiu cng d dng p ng vi cc
truyn ng trong khong iu khin tc rng v o chiu nhanh vi nhiu c
tuyn quan h mmen tc .
Trong ng c in mt chiu, b bin i in chnh l cc mch chnh lu
iu khin. Chnh lu c dng lm ngun iu chnh in p phn ng ng c.
Chnh lu y s dng chnh lu cu 3 pha.
2.2. CU TO C BN MY IN MT CHIU
2.2.1. Cu to
2.1.

Hnh 1. ng c Servo
Ging nh cc loi ng c in khc, ng c in mt chiu cng gm c stator
v rotor.ng c in mt chiu gm c stator, rotor, c gp v chi in

11

 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

Hnh 2 : mt ct ngang my in mt chiu

Hnh 3 Cc thnh phn ca ng c DC Servo

Stator: cn gi l phn cm, gm dy qun kch thch c qun tp trung trn cc cc
t stator. Cc cc t stator c ghp cch in t cc l thp k thut in c dp
nh hnh sn c b dy 0,5-1mm, v c gn trn gng t bng thp c, cng chnh
l v my.
Rotor: cn c gi l phn ng, gm li thp phn ng v dy qun phn ng. li thp
phn ng c hnh tr, c ghp t cc l thp k thut in ghp cch in vi nhau.
Dy qun phn ng gm nhiu phn t, c t vo cc rnh trn li thp rotor. Cc
phn t dy qun rotor c ni tip nhau thng qua cc l gp trn c gp. Li thp
phn ng v c gp c c nh trn trc rotor.
C gp v chi in: lm nhim v o chiu dng in trong dy qun phn ng.

12

 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

2.2.2. Nguyn l hot ng

Hnh 4: S nguyn l lm vic ca ng c in mt chiu

Mt khung dy abcd hai u ni vi 2 phin gp, t trong t trng ca mt nam
chm vnh cu N-S, hai chi in A v B t c nh v t st ln trn 2 phin gp.
t in p mt chiu U vo hai chi than A, B. Khi trong dy qun phn ng
s sinh ra dng in I. Cc thanh dn ab, cd c dng in chy qua, li c t trong t
trng ca nam chm vnh cu li chu tc dng ca lc Ft tc dng lm cho roto quay.
Chiu quay ca roto cng chiu vi lc in t c xc nh theo quy tc bn tay tri.
Khi phn ng quay c na vng th v tr cc thanh dn ab, cd i ch cho nhau
o cc phin gp i chiu dng in gi cho chiu ca lc tc dng khng i m
bo ng c c chiu quay khng i.
Khi t ln dy qun kch t mt in p kch t Uk no th trong dy qun kch
t s xut hin dng kch t ik v do mch t ca my s c t thng . Tip t
mt gi tr in p U ln mch phn ng th trong dy qun phn ng s c mt dng in
I chy qua. Tng tc gia ng in phn ng v t thng kch thch to thnh mmen
in t. Gi tr mmen in t c tnh nh sau:
Trong cc p: s i cp cc ca ng c.
n: s thanh n phn ng di mt cc t.
a: s mch nhnh song song ca dy qun phn ng.
k: h s kt cu ca my.
V mmen in t ny ko cho phn ng quay quanh trc.
2.2.3. Phn loi ng c in mt chiu
Da vo hnh thc kch t, ngi ta chia ng c in mt chiu thnh cc loi
sau:
ng c in mt chiu kch t c lp: Dng in kch t c ly t ngun
ring bit so vi phn ng. Trng hp c bit, khi t thng kch t c to ra
bng nam chm vnh cu, ngi ta gi l ng c in mt chiu kch thch vnh cu.
ng c in mt chiu kch t song song: Dy qun kch t c ni song song vi
13

 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

mch phn ng.

ng c in mt chiu kch t ni tip: Dy qun kch t c mc ni tip
vi mch phn ng.
ng c in mt chiu kch t hn hp: Dy qun kch t c hai cun, dy qun
kch t song song v dy qun kch t ni tip. Trong , cun kch t song song thng
l cun ch o. Hnh 1.3 trnh by cc loi ng c in mt chiu

Hnh 5: Cc loi ng c in mt chiu

a) ng c in mt chiu kch t c lp
b) ng c in mt chiu kch t song song
c) ng c in mt chiu kch t ni tip
d) ng c in mt chiu kch t hn hp
2.3. IU KHIN NG C DC
2.3.1. Khi nim chung
iu khin tc l mt yu cu: cn thit tt yu ca cc my sn xut. Ta bit
rng hu ht cc my sn xut i hi c nhiu tc , ty theo tng cng vic, iu kin
lm vic m ta la chn cc tc khc nhau ti u ha qu trnh sn xut. Mun c
c cc tc khc nhau trn my ta c th thay i cu trc ca my nh t s truyn
hoc thay i tc ca chnh dng c truyn ng.
Tc lm vic ca ng c do ngi iu khin quy nh c gi l tc t.
Trong qu trnh lm vic, tc ca ng c c th b thay i v tc ca ng c ph
thuc rt nhiu vo cc thong s ngun, mch v ti nn khi cc thng s thay i th tc
ng c s b thay i theo. Tnh trng gy ra sai s v tc v c th khng cho
php. khc phc ngi ta dng nhng phng php n nh tc .
n nh tc cn nh hng quan trng gii iu chnh (phm vi iu chnh
tc ) v kh nng qu ti ca ng c. n nh cng cao th kh nng m rng v
mmen qu ti cng ln.
C rt nhiu phng php iu chnh tc ng c nh:
iu chnh tham s.
iu chnh in p ngun.
iu chnh cu trc s .
14

 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

2.3.2. Cm bin (ENCODER) :

Phng php o tc ng c thng dng nht hin nay dng cm bin quang
hay cn gi l encoder. Tn hiu t encoder to ra cc dng xung vung c tn s thay i
vo tc ng c. Do cc xung vung ny c a vo b vi x l m s xung
trong khong thi gian cho php t ta c th tnh c gi tr vn tc ca ng c. y
cng l phng php m ngi ta s dng n nh tc ng c hay iu khin
nhanh chm....

Hnh 6 : Nguyn l m ca Encoder.

Nguyn l c bn ca encoder, l mt a trn xoay, quay quanh trc. Trn a
c cc l (rnh). Ngi ta dng mt n led chiu ln mt a. Khi a quay, ch
khng c l (rnh), n led khng chiu xuyn qua c, ch c l (rnh), n led s
chiu xuyn qua.
Khi , pha mt bn kia ca a, ngi ta t mt con mt thu. Vi cc tn hiu
c, hoc khng c nh sng chiu qua, ngi ta ghi nhn c n led c chiu qua l hay
khng.
Nh vy l encoder s to ra cc tn hiu xung vung v cc tn hiu xung vung ny
c ct t nh sng xuyn qua l. Nn tn s ca xung u ra s ph thuc vo tc
quay ca tm trn . i vi encoder mnh ang dng th n c 2 tn hiu ra lch pha
nhau 90. Hai tn hiu ny c th xc nh c chiu quay ca ng c.

Hnh 7 : Hnh dng a encoder

15

 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

Hai xung a ra lch nhau mt gc 90 nu vng ngoi nhanh pha hn vng

trong th ng c quay t tri sang phi v ngc li

Hnh 8 : xung u ra ca econder

2.3.3. Cc phng trnh c bn ca my in mt chiu:
Sut in ng phn ng E=K
(1)
in p phn ng
U= E+RI (2)
Mmen phn ng
M= K
(3)
Trong :
U: in p ca li in mt chiu
E: sut in ng cm ng trong cun dy rotor khi n quay trong t trng do
cun dy kch t to ra.
: t thng trn mi cc (Wb)
I: dng phn ng (A)
U: in p phn ng (V)
R: in tr phn ng ()
: tc ng c(rad/s)
: mmen phn ng ca ng c (Nm)
: hng s, ph thuc cu trc ng c
T cng thc (1) v (3), ta c:
(4)
Hay

(5)

Vi ng c mt chiu kch t c lp, nu in p kch t c duy tr khng i, c

th gi thit rng t thng ng c khng i khi mmen ng c thay i.Khi ta c:
K =constant (6)
Nh vy c tnh ca ng c mt chiu kch t c lp l mt ng thng. Tc
khng ti ca ng c xc nh bi in p cung cp U v t thng kch t K . Tc
ng c gim khi mmen ti tng v n nh tc ph thuc vo in tr phn
ng R. Trong thc t do phn ng phn ng, t thng gim do mmen tng dn n tc
ng c suy gim t hn l tnh ton theo cng thc trn. Vi mmen ln t thng c
th suy gim n mc dc c tnh c tr nn dng dn n hot ng khng n
nh. V vy, cun b thng hay c s dng lm gim hiu ng kh t ca phn
16

 n Hc Phn 2B

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ng phn ng. Vi ng c cng sut trung bnh, st tc khi ti nh mc so vi khi

khng ti khong 50%.
Vi ng c mt chiu kch t ni tip, t thng l mt hm ca dng phn ng.
Nu gi thit ng c hot dng trong vng tuyn tnh ca c tnh t ha, c th xem t
thng t l bc nht vi dng phn ng, ngha l:
=KktI (7)
Thay (7) vo (1), (4) vo (5) ta c:
M= KKktI2 (8)
(9)

(10)

R lc ny l tng ca in tr mch phn ng v in tr phn kch t.

c tnh ca ng c mt chiu kch t ni tip c v nh hnh trn . C th
thy rng tc ca ng c suy gim nhiu theo mmen ti. Tuy nhin trong thc t,
cc ng c tiu chun thng c thit k lm vic ti cc cnh ch (Kn-point) ca
c tnh t ha khi mang ti nh mc. Vi ti trn nh mc, mch t ng c bo ha,
khi t thng khng thay i nhiu theo dng ti dn n c tnh c tim cn vi
ng thng.
ng c mt chiu kch t ni tip thch hp cho cc ng dng i hi momen
khi ng cao v c th qu ti nng. Vi momen ti nng, t thng ng c cng tng
theo.
2.3.4. Cc phng php iu khin tc ng c
T cc phng trnh trn ta biu din quan h gia tc - momen, in p,
dng phn ng, t thng v in tr. Ta c th thy rng tc ng c c th c iu
khin bng cc phng php sau:
1.
iu chnh in p phn ng.
2.
iu chnh t thng.
3.
iu chnh in tr phn ng.
4.
Phng Php iu khin rng xung PWM.
V phng din iu chnh tc , ng c in mt chiu c nhiu u vit hn so
vi loi ng c khc, khng nhng c kh nng iu chnh tc d dng m cu trc
mch lc, mch iu khin dn gin hn ng thi t cht lng iu chnh cao trong
di iu chnh tc rng.
Trong thc t c hai phng php c bn iu chnh tc ng c in mt chiu:
iu chnh in p cp cho phn ng ng c.
iu chnh in p cp cho mch kch t ng c.
Trong cc phng php trn : Phng Php iu khin rng xung PWM c s dng
l thch hp nht.

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CHNG 3
THUT TON IU KHIN PID
Mt vn iu khin c th c nhiu c im khc nhau nh n nh ca
vng kn v vng h, loi b c nhiu lon bc, thi gian thit lp, nh vt l, thi
gian xc lp, dc suy gim .Chng em nhn thy rng PID c l l thit k iu khin
hi tip c s dng nhiu nht, n m bo c nhng iu kin cn thit khi iu
chnh ng c nh ni trn.
Cc b iu khin PID l lp thit lp tt nht trong h thng iu khin, hn na
cng vi kin thc c hc trong nh trng m nim mong mun tm hiu k hn
v b iu khin PID , do yu cu ca ti nn chng em quyt nh chn b iu khin
PID iu khin cho ng c DC ca mnh.
3.1. B IU KHIN PID TNG T
PID l cch vit tt ca cc t Propotional (t l), Integral (tch phn) v Derivative
(o hm). Tuy xut hin rt lu nhng n nay PID vn l gii thut iu khin c
dng nhiu nht trong cc ng dng iu khin t ng. B iu khin PID c s dng
rng ri trong thc t iu khin cc i tng khc nhau nh nhit l nhit, tc
ng c, mc cht lng trong bn chaL do b iu khin ny c s dng rng ri
l v n c kh nng trit tiu sai s xc lp, tng p ng qu , gim vt l nu cc
tham s b iu khin c chn la thch hp.
Do s thng dng ca n nn nhiu hng sn xut thit b iu khin cho ra i
cc b iu khin thng mi rt thng dng.
PID l b iu khin hon ho gm ba tnh cht sau:
Phc tng v thc hin chnh xc nhim v c giao (t l P).
Lm vic c tch ly kinh nghim thc hin tt nhim v (tch phn I).
Lun c sang kin v phn ng nhanh nhy vi s thay i tnh hung trong qu
trnh thc hin nhim v (vi phn D).
Cu trc ca b iu khin PID (hnh 2.1) gm c ba thnh phn l khu
khuch i (P), khu tch phn (I) v khu vi phn (D).Khi s dng thut ton PID
nht thit phi la chn ch lm vic l P, I hay D v sau n l t tham s cho cc
ch chn,c ba thut ton c bn c s dng l P,PI v PID.

Hnh 9: Cu trc b iu khin PID

B PID c nhim v a sai lch e(t) ca h thng v 0 sao cho qu trnh qu
18

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tha mn cc yu cu c bn v cht lng:

- Nu sai lch tnh e(t) cng ln th thng qua thnh phn uP(t), tn hiu iu chnh u(t)
cng ln.
- Nu sai lch e(t) cha bng 0 th thng qua thnh phn uI(t), PID vn cn to tn hiu
iu chnh.

B iu khin PID c m t bng m hnh vo-ra:

[
Trong :

= h s t l
= hng s thi gian tch phn
= hng s thi gian vi phn

3.2. L THUYT IU KHIN B IU CHNH PID S

Lut PID trn min thi gian (lin tc) c m t bi cng thc:
[
Trong :

= h s t l
= hng s thi gian tch phn
= hng s thi gian vi phn

3.2.1. Khu hiu chnh khuch i t l (P)

c a vo h thng nhm lm gim sai s xc lp, vi u vo thay i theo

hm nc s gy vt l cao do v tr s khng ng theo yu cu.
Tn hiu ra ca b iu khin c dng:
U(t)=Kp.e(t)
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Ngha l tn hiu ra ch n gin l tch ca h s sai lch gia tn hiu t v tn hiu

thc.
Sai lch tnh: i vi quy lut iu chnh P, khi tc ng c bng vi tc
t e=0 th tn hiu iu khin
cng bng 0 v do tc ng c s b ko
gim xung. V vy mun u 0 th e phi khc 0. Ngha l phi lun c mt sai lch
gia tn hiu t v tn hiu u ra thc t ca tn hiu iu khin.
Gim sai lch tnh: nu tng
ln sai lch tnh c th to ra mt tn hiu
duy tr mt momen ln gi cho ng c quay. R rng tng
th c th gim c
sai lch tnh. Tuy nhin, nu
tng qu ln th c th b dao ng khng n nh.
3.2.2. Khu tch phn I
iu khin hot ng I:
lch tng bi s quan h gia v tr t ca h iu khin v v tr hin ti, v
gi sau khi h thng iu khin t trng thi bn. S lch ny gi l sai s. Nu nh sai
s xy ra trong b iu khin m ch thc hin iu khin t l, th n s thiu chnh xc.
Gim v loi sai s v tr iu khin hp vi im t. Khu P thng c dng
kt hp vi b iu khin tch phn I.

Bn cht l php tnh xp x din tch ca hm e(t)

-

Xp x theo nguyn tc hnh ch nht:

Xp x theo nguyn tc hnh thang:

[

Trong : T l chu k trch mu

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3.2.3. Khu iu khin vi phn D: (hot ng do hm)

c i hi phi b, c thc hin ng vi bin t t l, mc nghing ca

lch:
Khai trin thnh chui:
|
[
Vi phn xp x bc 2:
|

]
)

Vi phn xp x bc 1:
|

3.2.4. Khu tch phn t l (PI)

Khin h tr thnh v sai. Mun tng chnh xc ca h thng ta phi tng h s
khuch i. Song i vi h thng thc b hn ch th s c mt ca khu PI l bt buc.
3.2.5. Khu PID`
Cc b hiu chnh PID c ng dng nhiu di dng thit k iu khin hay
thut ton hiu chnh bng phn mm. Nu tn hiu u vo l sai s e(t), tn hiu u ra
l iu khin in p u(t) th:
*

(1)

Ta c hm truyn t ca khu hiu chnh PID:

(

(2)

Hoc dng khc:

(3)

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Theo nguyn tc tch phn hnh thang th:

{ [

Cn phn o hm th:

(4)

] } (5)

Nh vy:

{ [

]} (6)

Thay i ch s t K thnh (K-1) v tr hai v ca phng trnh ta c:

[

[
(

]]

(7)

Nu cc t cc h s:
(8)
(9)
(10)
Th:
M hnh b iu khin PID s:

(11)

Ref_input

P_sel

I_sel

Ctr_output

1 z 1
Mea_input

.(1 z 1 ) 1

D_sel

Hnh 10 : S b iu khin PID s

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Mt vn quan trng cn quan tm thit k b iu khin PID l vic hn ch

cc hin tng bo ha tch phn (Winup).Vn ny rt thng gp khi thc thi lut
iu khin PID. Hin tng bo ha tch phn l hin tng u ra ca b iu khin vn
tip tc tng qu mc gii hn do tch ly ca thnh phn tch phn vn cn khi sai lch
iu khin tr v 0. Gii quyt vn 4 phng php:
Khi sai lch m hnh bng 0, ta thc hin tch b thnh phn tch phn hoc xa
trng thi ca n bng vng lp.
Gim h s khuch i u ra nm trong gii cho php khng qu ln.
Thc hin thut ton b tch phn bng phn hi gi tr thc o c.
t mt khu gii hn u ra ca b iu khin v s dng thut ton b.
Hai phng php cui c u im hn c v thng c hu ht cc b iu
khin cng nghip h tr. Gii php a nng v p dng nhiu trn thc t thc hin
Anti_winup l iu khin bm (tracking) thc cht ci thin thnh phn tch phn I:
-y

KT

s
Actuator
model

E= r - y

K
K
Ti

Actuator

1
s

1
Ti

Hnh 11: Chng bo ha tch phn

3.3. Cc phng php thit k b iu chnh PID
3.3.1. Phng php Ziegler-chols
Phng php Ziegler-Nichols l php thc nghim xc nh tham s b iu
khin P, PI, hoc PID bng cch d vo p ng qu ca i tng iu khin. Ty
theo c im ca tng i tng, Ziegler v Nichols a ra hai phng php la
chn tham s ca b iu khin:
Phng php Ziegler-Nichols th nht:
Phng php ny p dng cho cc i tng c p ng i vi tn hiu vo l
hm nc c dng ch S (hnh 2.4) nh nhit l nhit, tc ng c

Hnh 12: p ng nc ca h h c dng S

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Thng s ca cc b iu khin c chn theo bng sau:

Bng 2.1: Cc tham s PID theo phng php Ziegler-Nichols th nht
Thng s
BK
Kp
TI
TD
P

T2/(k.T1)

PI

0,9T2/(k.T1)

T1/0,3

PID

1,2T2/(k.T1)

2T1

0,5T1

Phng php Ziegler-Nichols thhai:

Phng php ny p dng cho i tng c khu tch phn l tng nh mc
cht lng trong bn cha, v tr h truyn ng dng ng c p ng qu ca
h h ca i tng tng n v cng. Phng php ny c thc hin nh sau [4]:

- Thay b iu khin PID trong h kn bng b khuch i (hnh 2.4).

- Tng h s khuch i ti gi tr ti hn kth h kn ch bin gii n nh, tc
l h(t) c dng dao ng iu ha.
- Xc nh chu k Tth ca dao ng.

Hnh 13 : p ng nc ca h kn khi k = kth

Thng s ca cc b iu khin c chn theo bng sau:

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Bng 2.2: Cc tham s PID theo phng php Ziegler-Nichols th 2

Thng s
BK
Kp
TI

TD

0,5kth

PI

0,45kth

0,85Tth

PID

0,6kth

0,5Tth

0,125Tth

2.3.2. Phng php Chien-Hrones-Reswick

Phng php ny cng p dng cho cc i tng c p ng i vi tn hiu
vo l hm nc c dng ch S (hnh 2.6) nhng c thm iu kin:
b/a>3
*Cch tnh Kp, Ti, Td:
Nhn chung i vi vic iu khin v tr ng c DC, th ngoi phng php kh
sai ra hu nh khng cn phng php no khc xc nh thng s PID.
Ngha l ta chn mt gi tr no ca cc thng s v cho h thng chy th, thay
i cc thng s ny theo chiu hng h n nh v t cht lng nh mong mun, n
khi no ta chn c cc thng s ti u th vic chn cc thng s PID chm dt. Tuy
nhin, d qu trnh chn thng s PID tr nn n gin ta dng phng php ZieglerNichol tnh thng s PID t hm truyn ca ng c, v ly cc thng s ny th h
thng, thay i vi ln cc gi tr gn vi thng s ny ta s c h thng ti u.
L do cc gi tr tm c t phng php Ziegler-Nichol khng phi l cc ti u,
l do phng php Ziegler-Nichol ch p dng cho h thng c qun tnh ln, cn ng
c DC p ng nhanh.
Theo phng php 1 ca nguyn tc hiu chnh Ziegler-Nichol (cho PID):
Vi T1,T2 c xc nh t ng c tuyn tc ca ng c:

Hnh 14 : c tnh tc ng c
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CHNG 4
LP TRNH TRONG MI TRNG LABVIEW
4.1. KHI QUT CHUNG V PHN MM LABVIEW
4.1.1. Gii thiu v LABVIEW
LABVIEW (vit tt ca nhm t Laboratory Virtual Instrumentation
Engineering Workbench) l mt phn mm my tnh c pht trin bi cng
ty National Instruments, Hoa k. LABVIEW cn c bit n nh l mt ngn
ng lp trnh vi khi nim hon ton khc so vi cc ngn ng lp trnh truyn
thng nh ngn ng C, Pascal. Bng cch din t c php thng qua cc hnh
nh trc quan trong mi trng son tho, LABVIEW c gi vi tn khc
l lp trnh G (vit tt ca Graphical, ngha l ha).
LABVIEW (Virtual Instrument Engineering Workbench) l mt mi
trng pht trin da trn ngn ng lp trnh ho, thng c s dng cho
mc ch o lng, kim tra, nh gi, x l, iu khin cc tham s ca thit
b.
LABVIEW l mt ngn ng lp trnh a nang, ging nh cc ngn ng lp
trnh hin di khc. LABVIEW gm c cc th vin thu nhn d liu, mt lot
cc thit b iu khin, phn tch d liu, biu din v lu tr d liu. N cn c
cc cng c pht trin c thit k ring cho vic ni ghp v iu khin thit
b.
LABVIEW khc vi cc ngn ng lp trnh thng thng im c bn l:
cc ngn ng lp trnh khc thng dng trn c ch dng lnh, trong khi
LABVIEW dng ngn ng lp trnh Graphical d to ra cc chng trnh
dng s d khi.
4.1.2. Cc chc nng chnh ca LABVIEW
Thu thp tn hiu t cc thit b bn ngoi nh cm bin nhit d, hnh nh
t webcam, vn tc ca ng c, ...
Giao tip vi cc thit b ngoi vi thng qua nhiu chun giao tip thng qua
cc cng giao tip: RS232, RS485, USB, PCI, Ethernet .
M phng v x l cc tn hiu thu nhn c phc v cc mc dch
nghin cu hay mc ch ca h thng m ngi lp trnh mong mun.
Xy dng cc giao din ngi dng mt cch nhanh chng v thm m hn
nhiu so vi cc ngn ng khc nh Visual Basic, Matlab,..
Cho php thc hin cc thut ton diu khin nh PID, Logic m (Fuzzy
Logic), mt cch nhanh chng thng qua cc chc nng tch hp sn trong
LABVIEW.
Cho php kt hp vi nhiu ngn ng lp trnh truyn thng nh C, C++, ...
4.2. Thit b o (VI- Vitual Instrument):
Lp trnh Labview trn c s thit b o. Cc i tng trong thit b o c s
dng m phng cc thit b thc, nhng chng c a vo bi phn mm. Cc VI
(thit b o) tng t nh cc hm trong cc ngn ng lp trnh khc.
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4.2.1. Front panel:

L giao din ca ngi s dng. V d sau y minh ha front panel.

Hnh 15 : Giao din front panel

- Xy dng front panel vi cc b iu khin (controls) v cc hin th
(Indicators), chng c s dng vi cc chc nng vo ra d liu. Cc iu
khin bao gm cc nm (knobs), nt n (push buttons), mt ng h v cc thit
b vo d liu khc. Control l cc i tng c t trn Front Panel cung
cp d liu cho chng trnh. N tng t nh u vo cung cp d liu.
- Indicator l i tng c t trn Front Panel dng hin th kt qu, n tng t
nh b phn u ra ca chng trnh. Cc b hin th l cc th, LED, v cc hin th
khc. Cc b iu khin m phng cc tn hiu vo v cung cp d liu cho s khi
ca VI cn b hin th m phng cc tn hiu u ra v hin th qu trnh pht hay nhn
d liu ra mt my (font panel).
4.2.2. S khi (Block Diagram):
Block Diagram ca 1 VI l mt s c xy dng trn mi trng Labview, n c
th gm nhiu i tng v cc hm khc nhau to cc cu lnh chng trnh thc
hin. Block Diagram l mt m ngun ho ca 1 VI. Cc i tng trn Front Panel
c th hin bng cc thit b u cui trn Block Diagram, khng th loi b cc thit
b u cui trn Block Diagram. Cc thit b u cui ch mt i sau khi loi b i tng
tng ng trn Front panel.

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Block Diagram ca 1 VI n gin c th hin nh hnh di y :

Hnh 16 : Giao din ca s khi.

Cu trc ca mt Block Diagram gm cc thit b u cui (Terminal), Nt (Node)
v cc dy ni (wire)
- Terminal: l cc cng m d liu truyn qua gia Block Diagram v Front panel, v
gia cc Node trong Block Diagram. Cc Terminal nm di dng cc Icon ca cc
Function
- Nodes: l cc phn t thc hin chng trnh, chng tng t nh cc mnh , ton
t, hm v cc chng trnh con trong cc ngn ng lp trnh thng thng
- Wires: l cc dy ni d liu gia cc node
4.3. K THUT LP TRNH LABVIEW
4.3.1 Khi ng chng trnh
Nhp vo biu tng biu tng Labview nh hnh bn. Ta c
c giao din bn hnh (a) di.
Vo File/New VI vo mi trng lp trnh hnh

28

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+ Front Panel: giao din vi ngi s dng

+ Block Diagram: Giao din dng s khi cung cp m ngun
29

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4.3.2. Cng c trn thanh giao din

4.3.2.1. Thanh cng c trn front panel

12

3 4

10

Hnh 17: Thanh cng c giao din front panel

Trong :
1. Nt chy chng trnh (thanh khng sng b v: li, phi sa li chng trnh)
2. Nt chy lp
3. Nt dng cng p chng trnh
4. Nt tm dng
5. Text setting (mu sc, nh dng, kch thc- phng)
6. Ging u i tng theo hng dc v ngang
7. Phn b cc i tng
8. Thay i kch thc cc i tng
9. Lnh b sung
10. Ca s tr gip
4.3.2.2. Thanh cng c trn Block Diagram

1 23 4 5 6 78 9

10

11 12 13 14

15

16

Hnh 18: Thanh cng c giao din Block Diagram

30

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GVHD: Th.s Nguyn Ngc Sn

1.

Nt chy chng trnh (thanh khng sng b v: li, phi sa li chng trnh)

2.

Nt chy lp

3.

Nt dng cng p chng trnh

4.

Nt tm dng

5.

Kch vo nt lnh Highlight Execution ta s thy lung d liu chy trong

s khi. Khi ta kch li nt lnh ny qu trnh s b dng li.

7. Kch vo nt lnh Step into dng d lp tng bc mt trong vng lp, subVI.
8. Kch vo nt lnh Step over dng d b qua mt vng lp hoc mt subVI.
9. Kch vo nt lnh Step out dng d nhy ra ngoi vng lp hoc subVI.
10. Dng d thit lp font cho VI bao gm kch thc, kiu
loi, mu sc.
11. Dng d sp xp cc di tng thng hng nhau bao gm cc ng
thng ng, mp trn, tri
12. Dng phn b cc i tng
13. La chn Reorder khi ta c cc i tng gi ln nhau v ta mun
nh nghia i tng l ng trc hay ng sau. Vic la chn mt trong cc
i tng vi vic nh v v tr ca n ri sau di chuyn ln pha trc hay
di chuyn v pha sau
4.3.2. Cc cng c h tr lp trnh
Vic lp trnh trn Labview cn s dng cc bn: Tools Palette, Controls Panelette,
Functions Palette, cc bn cung cp cc chc nng ngi s dng c th to v thay
i trn Front Panel v Block Diagram
4.3.2.1. Tool Panel
Tool Panel xut hin trn c Front Panel v Diagram. Bng ny cho php ngi s
dng c th xc lp cc ch lm vic c bit ca con tr chut. Khi la chn mt
cng c, biu tng ca con tr s c thay i theo biu tng ca con tr .
Nu thit lp ch t ng la chn cng c v ngi s dng di chuyn con tr
qua cc i tng trn Front Panel hoc Block Diagram, Labview s tu ng la chn
cng c ph hp trn bng tool palette.
truy cp vo Tool Palette ta chn Menu: View/Tools palette. Cc cng c Tool
Palette gm c:

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4.3.2.2. Bng iu khin (Controls Palette)

Bng iu khin ch duy nht xut hin trn front Panel. Bng iu khin cha cc
b iu khin (control) v cc b hin th (Indicator). Bng iu khin c minh ha
hnh sau
Bng iu khin c s dng thit k cu trc mt hin th gm cc thit b:
cc cng tc, cc loi n, cc loi mn hnh hin th Vi bng iu khin ny, ngi
s dng c th chn cc thit b chun do hng cung cp. Bng iu khin dng cung
cp d liu u vo v hin th kt qu u ra.

Hnh 19: Bng iu khin (Controls Palette)

4.3.2.3. Bng chc nng Functions Palette
Bng Funtions palette ch xut hin trn Block diagram. Bng ny cha cc VI v
cc hm m ngi s dng xy dng xy dng nn cc khi lu . Bng Function
palette c minh ha trong hnh.
Vi bng Function palette, ngi lp trnh thc hin cc c php nh: Php lp,
php la chn thng qua cc nhm hm, chc nng c cung cp bn cnh t
bng ny ngi s dng ngi s dng c th to ra v s dng li cc hm. Cc hm
ton hc c minh ha thng qua cc biu tng. Khi mun la chn thc hin mt hm
no th ngi s dng chn biu tng th hin cho hm v c th ko th bt k
v tr no trn Block Diagram sau xc nh nhng u vo v u ra cn thit.

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Hnh 20: Bng chc nng Functions Palette

4.3.3. Cc khi lp trnh thng dng
Cc khi c bn thng c s dng:
Cc k hiu trong ton hc: Functions/ Numeric /Numeric

Hnh 21: Cc k hiu trong ton hc

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GVHD: Th.s Nguyn Ngc Sn

Cc ton t so snh: Functions/Comparison/Comparison

Hnh 22: Cc ton t so snh

Khi PID: Control design & Simulation / PID

23: Khi PID

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GVHD: Th.s Nguyn Ngc Sn

Khi biu din th: Controls /Express/Grap Indicator

Hnh 24: Khi biu din th

Cc hm: Functions/ Programming/Structures

Hnh 25: Cc hm
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 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

Cc bin: Controls/Numeric controls

Hnh 26: Cc bin

-

Khi kt ni Ni DAQ I/O : Functions/ Express/ Input/ DAQ assist

Hnh 27: Khi kt ni Ni DAQ I/O

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GVHD: Th.s Nguyn Ngc Sn

CHNG 5
GII THIU V CARD PCI 6221
5.1.

TNG QUAN V CARD PCI 6221

National Instruments PCI-6221 l dng M Series c chi ph thp a chc nng

dng thu thp d liu (DAQ) nhm ti u ha cc vn nhy cm v chi ph . Ngoi ra
khi xem xt tc cao cc thit b dng M cho tc ly mu nhanh hn 5 ln hoc
chnh xc cao ca cc dng M cho phn gii gp 4 ln v chnh xc cao hn.
Cc dng thit b chi ph thp M kt hp cc tnh nng tin tin nh b iu khin h
thng NI-STC 2 , b khuch i lp trnh c NI-PGIA 2 , v cng ngh hiu chnh
NI-MCal tng hiu sut v chnh xc.

Hnh 28: Card PCI 6221

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GVHD: Th.s Nguyn Ngc Sn

5.2. S NI CHN

Hnh 29: S ni chn

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GVHD: Th.s Nguyn Ngc Sn

DAQmx b m / thi gian Pins

B m / thi gian tn hiu Pin mc nh S (Tn)

5.3.

CTR 0 SRC

37 (PFI 8)

CTR 0 GATE

3 (PFI 9)

CTR 0 AUX

45 (PFI 10)

CTR 0 OUT

2 (PFI 12)

CTR 0 A

37 (PFI 8)

CTR 0 Z

3 (PFI 9)

CTR 0 B

45 (PFI 10)

CTR 1 SRC

42 (PFI 3)

CTR 1 GATE

41 (PFI 4)

CTR 1 AUX

46 (PFI 11)

CTR 1 OUT

40 (PFI 13)

CTR 1 A

42 (PFI 3)

CTR 1 Z

41 (PFI 4)

CTR 1 B

46 (PFI 11)

Thng s k thut

5.3.1. u vo tng t
- 16 u vo Ai t A0.A15 v 8 u vo Ai GND
- phn gii: 16 bit
- T l ly mu : Ti a 250 KS /s
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GVHD: Th.s Nguyn Ngc Sn

- Di u vo : 10 V, 5 V, 1V, 0V
- in p u vo ti a ( Tn hiu+ ch thng thng) : 11V
- T s loi b kiu chung CMMR: 92dB
- Thi gian chnh xc: 50 ppm t l mu
- Thi gian gii quyt : 50 ns
- u vo khp ni : DC
- Thit b ny:
AI+ AI GND: 820
AI- AI GND : 820
- Nhiu xuyn m : 100 kHz
- Bng thng tn hiu nh (-3dB) : 700 kHz
- Kch thc u vo FIFO: 4095 mu
- Qut danh sch b nh: 4095 mc
5.3.2. u ra tng t
- 2 u ra A0.0 v A0.1
phn gii DAC : 16 bit
chnh xc tng i DNL: 1 LSB
n iu: 16 bit m bo
Tc cp nht ti a
1 knh ..................................... 833 kS / s
2 knh ................................... 740 kS / s mi knh
3 knh ................................... 666 kS / s mi knh
4 knh ................................... 625 kS / s mi knh
Thi gian chnh xc : 50 ppm t l mu
Thi gian gii quyt : 50 ns
Di u ra : 10 V
u ra khp ni : DC
Tr khng u ra : 0,2
Dng u ra ti a : 5 mA
Bo v qu ti : 25 V
Bo v qu dng : 10 mA
Trng thi on: 20mV1
Trng thi off: 400 mV 200ms
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 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

u ra kch thc FIFO : 8191 mu chia s gia cc knh s dng

5.3.3. K thut s I/O
c im tnh
- Tng s: 24
+ 8 (P0<07>)
+ 16 (PFI<0..7>) P1 v ( PFI <815>)
Ng ra mass: D GND
Bo v in p u vo : : 20 V
in tr ko: 50 khz ti a n 20 khz ti thiu
c im dng sng
Thit b u cui s dng: Port ( P0<07>)
Kch thc cng/mu: ln n 8 bit
Dng sng ra ( DO ) FIFO : 2.047 mu
Dng sng vo (DI) FIFO : 2.047 mu
Tn s: 0-1 Mhz
5.3.4. Lp trnh thi gian / B m
B m : 2 knh
phn gii : 32 bit
Xung nhp bn trong: 80 MHz, 20 MHz, 0.1 MHz
Xung nhp bn ngoi: 0 MHz- 20 MHz
chnh xc: 50 ppm
5.3.5. I / O kt ni m t tn hiu
Bng di y m t cc tn hiu c tm thy trn cc kt ni I / O.
Tn tn hiu

Quan
Hng
h

M t

AI GND

Ng vo Analog ni t : Cc thit b u cui l

im tham chiu cho cc php o AI kt thc n v
tr li dng sai lch cho cc thit b o khc nhau. Ba
quan h ni t AI GND, AO GND, v D GND-c
kt ni cng nhau trn thit b.

AI <0 .. 15>

Thay
i

u vo Tng t u vo knh 0-15: Mi cp knh

AI<i,i+1> c th c nh dng nh c hai u vo
kt thc n hoc 1 u vo phn bit

AI SENSE
AI SENSE 2

u vo Ng vo Analog Sense : Trong ch NRSE, ti liu

tham kho cho mi AI <0 .. 15> tn hiu l AI
SENSE, ti liu tham kho cho mi AI <16 .. 63> tn
hiu l AI SENSE 2.

AO <0 .. 1>

AO
GND

u ra

Cc knh u ra tng t 0-3 : Cc thit b u cui

cung cp in p u ra ca cc knh AO 0-1.

AO GND

u ra tng t ni t: AO GND l tham chiu

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GVHD: Th.s Nguyn Ngc Sn

cho AO <0 ,1>. Ba quan h ni t AI GND, AO

GND, v D GND-c kt ni cng nhau trn thit b.
K thut s ni t : Chn ny cung cp cho cc tn
hiu s ti cc u ni vo/ra nh cung cp ngun DC
+5V v cc chn P0. <0 .. 31>, PFI <0 .. 15> / P1/P2.
Ba quan h ni t AI GND, AO GND, v D GNDc kt ni cng nhau trn thit b.

D GND

5V

D
GND

u vo 5 V Ngun in -Cc thit b u cui cung cp mt

hay u ngun in 5 V.
ra

PFI <0 .. 7> / D

P1. <0 .. 7> PFI GND
<8 .. 15> / P2.
<0 .. 7>

u vo Giao din lp trnh chc nng hay k thut s I / O

hay u knh 0-7 v knh 8 n 15 -Mi thit b u cui c
ra
th c cu hnh ring nh mt thit b u cui PFI
hoc mt thit b u cui k thut s I / O.
Nh mt u vo, mi PFI thit b u cui c th
c s dng cung cp mt ngun bn ngoi cho
AI, AO, DI, DO v tn hiu thi gian hoc truy cp /
m thi gian u vo.
Nh mt u ra PFI, C th nh tuyn nhiu khc
nhau trong AI, AO, DI, DO hoc tn hiu thi gian
cho mi thit b u cui PFI. Bn cng c th nh
tuyn cc truy cp / gi u ra cho mi thit b u
cui PFI.

NC

Khng kt ni -Khng kt ni tn hiu vi cc thit b

u cui.

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GVHD: Th.s Nguyn Ngc Sn

CHNG 6
THIT K PHN CNG V GIAO DIN IU KHIN
6.1. PHNG N THIT K
6.1.1. Yu cu thit k
To c h thng iu khin tc ng c c hi tip, bao gm c phn thit
k phn cng v to giao din iu khin trn my tnh.
6.1.2. Thit k
V thit k phn cng: Bao gm mch iu khin v mch cng sut
+ Mch iu khin: S dng card PCI 6221
+ Mch cng sut: s dng mch iu khin cu H dng L298
+ Dng phn mm Labview giao tip v iu khin
6.1.3. Modul Driver L298 :
Thnh phn chnh trong modul cng sut ny l IC L298. L298 l mt Driver tch
hp 2 mch cu H bn trong vi chun iu khinTTL, khng c diode ni bo v
MOSFET, chu ti ti a trn mi cu l 2A, in p vo ti a l 40VDC. Logic 0 ng
vo ln ti 1.5V ( kh nng kh nhiu cao)
S nguyn l mch cng sut L298:

Hnh 30 : S Modul Driver L298

Cc chn IN1,2,3,4 l cc tn hiu u vo, hai chn C,D, A,B iu khin ng ra
ng c, chn Enable dng lm u vo bm xung PWM iu khin tc ng c,
ta ch cn iu chnh ln Duty - cycle ca PWM l ta c th iu chnh in p cp vo
ng c.
43

 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

C 2 mch cu H trn mi chip L298D nn c th iu khin 2 i tng ch vi 1

chip ny. Mi mch cu bao gm 1 ng ngun Vs, mt ng current sensing (cm
bin dng), phn cui ca mch cu H khng c ni vi GND m b trng cho ngi
dng ni mt in tr nh gi l sensing resistor. ng c s c ni vi 2 ng
OUT1, OUT2 (hoc OUT3, OUT4 nu dng mch cu bn phi). Mt chn En (EnA v
EnB cho 2 mch cu) cho php mch cu hot ng, khi chn En c ko ln mc cao,
mch cu sn sang hot ng. Cc ng kch mi bn ca mch cu c kt hp vi
nhau v nhng mc in p ngc nhau do mt cng Logic NOT. Nh vy, s c 2
ng kch cho mi cu H gi l In1 v In2 (hoc In3, In4). motor hot ng chng ta
phi ko 1 trong 2 ng kch ny ln cao trong khi ng kia gi mc thp, v d
In1=1, In2=0. Khi o mc kch ca 2 ng In, ng c s o chiu quay. Ngoi ra,
trn chip L298D cn c cc ng Vss cp in p cho phn logic (5V) v GND chung
cho c logic v motor.
6.1.4. Phng php iu khin
iu khin ng c DC bng cch iu bin rng xung
ng c DC s dng trong dn dng thng ch hot ng in p 24V tr li. Mt
trong nhng phng php iu khin m t l s dng mch iu ch rng xung
(PWM circuit - Pulse Wide Modulation).
Mch iu khin m t bng phng php PWM hot ng da theo nguyn tc cp
ngun cho m t bng chui xung ng m vi tc nhanh. Ngun DC c chuyn
i thnh tn hiu xung vung (ch gm hai mc 0 volt v xp x in p hot ng). Tn
hiu xung vung ny c cp cho m t. Nu tn s chuyn mch ln m t s chy
vi mt tc u n ph thuc vo mmen trc quay.
Vi phng php PWM, iu chnh tc ca m t thng qua vic iu ch
rng ca xung, tc l thi gian "y xung" ("on") ca chui xung vung cp cho m t.
Vic iu chnh ny s tc ng n cng sut trung bnh cp cho m t v do s thay
i tc ca m t cn iu khin.
Nh trn hnh, vi dy xung iu khin trn cng, xung ON c rng nh nn ng c
chy chm. Nu rng xung ON cng ln (nh dy xung th 2 v th 3) ng c DC
chy cng nhanh

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 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

6.2. GIAO DIN IU KHIN BNG MY TNH

6.2.1. Front Panel v Block diagram ca chng trnh
Xy dng mt VI dng iu khin tc ng c theo PID
Front Panel
Block Diagram
6.2.1.1. Kt ni Dac c gi tr encoder

S dng Couter Input-Edge cout

45

 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

Chn kt ni Crt 0 hoc Crt 1 ty chn kt ni encoder

Ta chn Crt 0 ng vi chn encoder A l 37 v B l 45
c thng s cho Dac:

6.2.1.2. Kt ni u ra xut xung PWM Analog Output

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 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

Chn NiDaQ- Analog Output- Voltage

Chn knh A0.0 hoc chn A0.1 ty chn tng ng chn 21 v 22 trong PCI 6221

Thay i gi tr in p ra t 0-5v

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 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

6.2.1.3. Khu hiu chnh PID

Khu PID trong Labview s dng b Pid s 2:

Theo phng php hnh thang bin i z PID :
(

t :

6.2.1.4. To nt tt dng

48

 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

Khi s dng hm T/F: ng c s chy khi mc True cho php xung ra t PID v s
dng mc FALSE ng vi gi tr ng ra bng 0.
6.3. Giao din v chng trnh
6.3.1. Giao din chnh Front Panel

Hnh 31: Giao din chnh Front Panel

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 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

6.3.2. Chng trnh Block Diagram

Hnh 32: Chng trnh Block Diagram

6.4. Kt qu t c

Hnh 33: Kt qu t c
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 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

6.5. M hnh thc nghim

6.1. Hnh nh 1

Hnh 34: M hnh thc nghim 1

6.5.2. Hnh nh 2

Hnh 35: M hnh thc nghim 2

51

 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

KT LUN
Mc tiu ca cc h thng iu khin l ngy cng nng cao cht lng cc h
thng iu khin t ng. Ngy nay cng vi s pht trin rt mnh m ca cng ngh
thng tin th cc ng dng ca my tnh vo cuc sng ngy cng rng ri. Vi cc tnh
nng mm do, chnh xc, nhanh chng h thng iu khin s bng my tnh v ang
dn chim u th so vi cc phng php iu khin phn cng thng thng. y l mt
ngnh mi m song li rt c trin vng c bit trong cc lnh vc nh my chnh xc,
cng ngh mi, hin i ni i hi h thng iu khin phi c chnh xc cao, kh
nng thay i mm do. Mt trong nhng ng dng c th m c s dng trong thc
t l h thng iu khin tc ng c. Trong n ny , chng em s trnh by phng
php phn tch, tng hp h thng cng vi phn cng v phn mm cho h thng iu
khin tc ng c. Vi kt qu thu c t m phng, ng gp c cc vn
sau:
nh hng ca cc thng s PID n h thng nh sau:. iu khin t l (KP) c
nh hng lm gim thi gian ln , vt l v s lm gim nhng khng loi b sai s
xc lp. iu khin tch phn (KI) s loi b sai s xc lp nhng c th lm p ng qu
xu i, lm tng hoc gim thi gian xc lp. iu khin vi phn (KD) c tc dng lm
tng s n nh ca h thng, gim vt l v ci thin p ng qu
Sau cng mt ln na chng em xin chn thnh by t lng bit n i vi thy
Nguyn Ngc Sn v cc thy c trong khoa, gip chng em hon thnh n ny!
Chng em trn thnh cm n!!!

52

 n Hc Phn 2B

GVHD: Th.s Nguyn Ngc Sn

TI LIU THAM KHO

[1] Gio trnh mn o lng v iu khin bng my tnh - TS.Nguyn c Thnh HBK TP.HCM.
[2] Bi ging o lng v iu khin bng my tnh- ThS. Hunh Minh Ngc H
Cng Nghip Tp HCM
[3] Nguyn Phng Quang, Bi ging iu khin s
[4] Nguyn B Hi, Lp trnh LabVIEW Trnh c bn, Trng i hc S Phm K
Thut TP.HCM 2011
[5] Internet:
http://digital.ni.com/manuals.nsf/websearch/2025C99AB0614F9E8625748000577B9A
http://forums.ni.com/attachments/ni/40/5529/1/622x
http://cyberlab.com.vn/vi/
http://www.dientuvietnam.net/forums/forum.php
http://hocdelam.org/site1/index.html

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