DRIVER IU KHIN NG C DC SERVO CROW

User Manual
Designed by Khoi Nguyen Gia
http://vpt.edu.vn/
www.linhkien.vntech

MC LC
Trang
1. Gii thiu ............................................................................................................3
a. Gii thiu CROW
b. c tnh k thut
2. Phn cng ....4
3. Cng c ....7
4. Phng php hiu chnh b tham s PID .....8

1. Gii thiu
a. Gii thiu CROW
- CROW l driver iu khin v tr ng c DC Servo da trn thut ton
PID, ng dng trong iu khin CNC, robot, robocon.
- Hm PID lin tc:

- Thut ton PID ri rc:

error = mong_muon dat_duoc;
P_part = kp*error;
I_part += ki*error*sampling_time;
D_part = kd*(error1 - old_err1)/sampling_time;
output = (P_part+I_part+D_part);
old_err = error;
- CROW c thit k vi tnh n nh cao, s dng ring bit ngun nui
phn iu khin v phn cng sut, bo v chng qu dng cho phn cng sut
bng cch s dng in tr cng sut R_SHUNT o gi tr dng in so snh
vi dng cho php.
- Chng trnh iu khin c vit trn MCU ARM 32bit ca hng
STMicroelectronics, vi hiu nng v tc cao m bo tnh thi gian thc cho
h thng.
b. c tnh k thut
- in p phn cng sut: 15-80VDC
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- in p phn iu khin: 5VDC

- Dng ti a 6A, cng sut max 350W
- iu khin v tr s dng mt knh DIR v mt knh PWM
- Tn s cp xung ln n 100Khz
- phn gii ca encoder c tng ln gp 4 ln
- chnh xc 1 / 4 xung encoder (nu hiu chnh hp l b tham s KP
, KI, KD)
- H tr ng c DC Servo c phn gii encoder t 13-2000 xung
- Phn hi dng chng qu ti cho mch cng sut, bo v chng chy n
2. Phn cng

1234-

Khi cng sut

Header ly tn hiu encoder v tn hiu iu khin t Master
Header cp ngun cho phn iu khin v phn cng sut
Cng kt ni vi my tnh thng qua USBtoCOM

 Header ly tn hiu encoder v tn hiu iu khin t Master

- Kt ni encoder vi cc chn VCC, GND, CH_A (knh A), CH_B (knh

B).
- Kt ni knh o chiu v knh xung t Master ln lt vo cc chn DIR
v PWM, mt xung PWM cp vo th ng c s quay xung encoder. Ngun
ca Master v ngun phn iu khin ca CROW s dng chung t GND.
Ch : Trng hp ng c quay lin tc khi cha cp xung iu khin
th thay i v tr hai knh A v B ca encoder.
Header cp ngun cho phn iu khin v phn cng sut

- Kt ni ngun cho mch cu H vo chn VSS (15-80VDC), kt ni ngun

cho mch li cu H vo chn 12V (12-13VDC). Ngun cho mch cu H v ngun
cho mch li s dng chung t GND_S.
- Kt ni ngun ring cho mch iu khin v encoder vo chn VCC (46VDC), kt ni cc m ca ngun vo chn GND. Trng hp hiu chnh tham s
PID t phn mm nn s dng ngun 5V t USBtoCOM, lc ny khng nn kt
ni ngun 5V iu khin vo chn s 7 (5V-VCC)

- Kt ni hai u dy ngun ca ng c vo chn M+ v M-.

Ch : Khng s dng chung t cho ngun cng sut vi ngun iu
khin.
Cng kt ni vi my tnh thng qua USBtoCOM.

- Trn board nhn t tri sang phi ln lt l chn TX, RX, GND, VCC
(ngun t USB 5V)
- S dng USBtoCOM kt ni ng vi chc nng ca tng chn trn mch

3. Cng c
- Phn mm hiu chnh thng s PID

ci t file setup, sau khi ci t xong ta s c giao

din nh hnh di

- USBtoCOM kt ni gia CROW vi my tnh

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4. Phng php hiu chnh b tham s PID

- Sau khi thc hin ng cc kt ni vi CROW (cp ngun, kt ni
encoder, kt ni ngun ng c, kt ni vi USBtoCOM), ti bc hiu chnh
khng cn kt ni knh DIR v knh PWM t Master vi CROW.
- Khi ng phn mm PID_NGK_V1.0, la chn ng COM Port, tc
Baud rate =115200, Data Mode click chn HEX. Click vo nt Open Port sau
click vo nt Graph_ER m th biu din sai s.

- Tham s KP, KI, KD u phi nhp y vo textbox k c khi tham s

bng 0, gi tr ca cc tham s phi l s nguyn trong khong t 0-255

- Thanh trt Setup Speed dng truyn tn hiu mong mun l s xung
truyn xung CROW trong thi gian ly mu, yu cu ng c phi bm theo tng
s xung cp xung CROW
BC 1: Tng dn KP
- Nhp tham s KP>0, KI=KD=0, nhn nt SEND
- Nhn nt START biu din sai s ln th
- Ko thanh trt Setup Speed sang phi truyn tn hiu mong mun
xung CROW, lc ny ng c s quay. Quan st trn th POSITION or
Error
0.1 th ta tip tc tng h s KP n
SPEED Error, nu a
puls _ encoder 4
khi a 0.1 bng cch ko thanh trt v 0 v nhn nt STOP, sau nhp tham
s KP nhn nt SEND sau nhn nt START.
- Tip tc thc hin lp li tun t nh trn cho n khi t yu cu.

BC 2: Tng dn KI
- Sau khi ly c tham s KP, nhp tham s KI>0, KD=0. Tng dn KI
cho n khi a 0.002
- Thc hin thao tc tun t nh bc 1.
- Hnh di ta c th thy sai s Error =0

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BC 3: Tng dn KD
- Thc hin xong bc 2 ta c tham s KP v KD
- Tin hnh ko thanh thanh trt Setup Speed t gi tr MAX n gi tr
MIN v ngc li quan st lt v.
- Tng dn KD gim lt v, khng nn chn qu ln v s lm rung ng
c trong qu trnh hot ng.
- Cc bc thc hin tun t nh bc 1.

Video demo xem ti y

https://www.youtube.com/watch?v=E9_Dd-uzuKQ
https://www.youtube.com/watch?v=9Y6RDbF0lUM
https://www.youtube.com/watch?v=oLRfnSlCHgI
Demo thc hin trn ng c DCServo 24VDC-60W, encoder 200 xung
(200x4=800)

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Hy vng rng sn phm ny s hu ch trong qu trnh hc tp nghin cu

v pht trin sn phm ca cc bn.
Mi thc mc xin lin h:
nguyenkhoi.hn1910@gmail.com
Phone: 0989740413

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