Bai 10 Card Hocdelam USB-9001

Bi 10: Cc ng dng vi card Hocdelam USB 9001 v HDL-9000
100
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 Hocdelam-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
Lp trnh LabVIEW TS. Nguyn B Hi

101
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
102
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 Tn S lng Gi tham kho
1 Card Hocdelam USB-9001(*) 1 ci 890.000
2 Cm bin nhit LM35,
bin tr, LED, TIP 122
1 b 30.000
3 Dy din c nh, li cng 1 m 5000
4 Dy USB 1 ci 20.000
5 ng c DC loi b 1 ci 30.000
6 Tua vt nh, kim, vv.. 1 ci 15000
Tng cng (VN) 990.000
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
Gi trn b: 990 000VN

103
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:
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
104
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
:
out
V Chn tn hiu ca cm bin. V d: Nu l bin tr th chn tn hiu chnh l
chn gia. Hai chn ngun V v V 0 5 l hai chn ba ca bin tr.

105

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.
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
106
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


107

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.

Nu my tnh ca bn l Windows Vista hoc Windows 7
108
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)

109

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.
110

Card nhn ng khi v ch khi c dng ch t xanh trong hnh.

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

111

Chn select a VI

Chn IO Library Hocdelam USB 9001 2009.

112
- 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


113
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 2
8
=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:
255
5
card
o
S
V
Nh vy,
o
V ny chnh l gi tr in p Vout ca cm bin m ta o c bng
ng h Voltmeter.
114

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.


115
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).

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.
116
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: ProportionalIntegralDerivative
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 (ProportionalIntegralDerivative
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.

117
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
).
m s
e = (10.1)
B iu
khin
B vo/ra
(I/O)
B khuch i
Cm bin o gi tr thc
(Tn hiu phn hi)
Gi tr t (mong mun)
+
-
+
e
u(t)
u(t)
i tng
iu khin
U(t
Gi tr thc
(t c)
118
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:
) ( ) ( ) ( ) (
0
t e
dt
d
K d e K t e K t u
d
t
i p
+ + =

(10.2)
) (t u : 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 ) (t u c n v l Volt.
) (t e K
p
: Khu t l.

d i p
K K K , , : cc h s t l, tch phn v vi phn ca b PID

119
) (t e sai lch ti thi im hin ti.
) ( ) ( d e : 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 0 , ,
d i p
K K K
Gi tr
t
K
H
s
Gi tr o c
(gi tr thc t)
Thi gian (giy)
V tr
c cu
(cm)
120
dt t e d / )] ( [ : Tc thay i ca sai lch ti thi im hin ti.

ngha cc h s gain trong b PID khi tng cc h s
d i p
K K K , c
lp nhau
Vi cng mt gi tr ) (t e , nu tng
p
K , th tn hiu iu khin ) (t u
tng. ) (t u tng ng ngha in p tc ng vo ng c mt chiu
tng ln, in p tng s lm lm gim ) (t e 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. Tuy nhin, khi
p
K 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).

i
K 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.

d
K Khu D c tc dng lm n nh h thng. Khi ) (t e 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 ) (t u

Phng php nh b thng s
d i p
K K K , (Cc h s gain) th cng
thng da vo vic th nghim cc thng s. Ta xc lp cc h s Kp,
d i
K K , bng khng. Sau tng dn Kp cho ti khi vt l t bng gn 1,5
ln gi tr t. Hiu chnh
i
K cho sai lch tnh bng khng. V hiu chnh
d
K 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.

121
Bng 10.1: Phng php chnh PID (Phng php ZieglerNichols)
Dng iu
khin

K
p

K
i

K
d

P
0.50K
u

PI
0.45K 1.2K
p
/ P
u

PID
0.60K
u
2K
p
/ P
u
K
p
P
u
/ 8
K
u:
Gi tr Kp lm cho h thng mt n nh 150%.

P
u
: 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
122

Hnh 10.14 S mch in kt ni phn cng iu khin PID ng
c DC
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

123

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 562 . 0 =
p
K . 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.
124
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.


125
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)
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)
126
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.

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Bi 10: Cc ng dng vi card Hocdelam USB 9001 v HDL-9000

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