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AMH THIT K H THNG C IN T

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CHNG I TNG QUAN


I./ Cc ng dng ph bin ca vitme trong thc t hin nay ....................................... 3
II/Gii thiu hot ng m hnh thc hin ................................................................... 4
III/Chng trnh s dng trong n ........................................................................... 4
CHNG II THIT K C CU C KH
I./Thit k c cu c kh................................................................................................ 5
II./Tnh bn c cu c kh trn SolidWorks .................................................................. 6
CHNG III THIT K V M PHNG B IU KHIN
I./Thit lp s khi ca m hnh ng c bc trn Matlab Simulink .................... 9
II./Kho st cc kt qu ................................................................................................. 9
III./Kt lun ................................................................................................................... 10
CHNG IV
S MCH DRIVER CHO NG C V S MCH K
Thit k mch cng sut v mch iu khin .................................................................. 11
CHNG V LU GII THUT V CHNG TRNH IU KHIN
I./Lu gii thut iu khin ...................................................................................... 13
II./Nguyn l hot ng ng c bc ......................................................................... 14
III./Chng trnh C# trn my tnh .............................................................................. 16
CHNG VI TH NGHIM V KT LUN
I./Kt qu thc nghim ................................................................................................. 17
II./Kt lun .................................................................................................................... 17
TI LIU THAM KHO V PH LC
I./Ti liu tham kho ..................................................................................................... 18
II./Ph lc ...................................................................................................................... 19

AMH THIT K H THNG C IN T

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CHNG I
TNG QUAN
I/ MT S NG DNG CA VITME TRONG THC T HIN NAY
B truyn ng Vitme-ai c hin nay c ng dng rt nhiu v l mt thnh phn
gn nh khng th thiu trong cc h thng dn ng ,cc thit b my mc cng
nghip cng nh dn dng ,thit b hng khng ,qun s
V d nh my CNC , cc cnh tay Robot Cc my dn dng nh cc CD , my
photocoppy

AMH THIT K H THNG C IN T

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II/ GII THIU HOT NG CA M HNH THC HIN


Nhim v trong n ny l iu khin v tr ca vitme ai c ,s dng ng c
bc v cm bin analog.

Hnh 2: M hnh thc hin


Tn hiu iu khin truyn t my tnh n vi iu khin (PIC) qua cng COM, Vi
iu khin c ADC v v x l v ra quyt nh cho ng c quay
Khi ng c quay trc vtme c ni vi ng c bng ni trc cng chuyn ng
quay v ai c chuyn ng thng.
III. CHNG TRNH S DNG TRONG N
- Chng trnh Solidworks 2010: Thit k m hnh 3D
- Chng trnh SolidWorks 2D Editor 2010 :Dng biu din bn v lp 2D
- Chng trnh AutoCad 2007 :Dng biu din bn v lp 2D
- Chng trnh Orcad 9.2 : thit k mch in iu khin, xut Layout
- Chng trnh Visual Studio 2008(C#) :thit k chng trnh iu khin

AMH THIT K H THNG C IN T

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CHNG II
THIT K C CU C KH
I/THIT K C CU C KH :
S NG

1
5

Driver

Vi x l

ng c

Cm bin

Trong : (1) l step motor (ng c bc)


(2) l khp ni trc ,c cu vit-ai c
(3) l cm bin v tr (analog )
(4) l b vi x l v iu khin
(5) l Transistor Driver

Tnh ton vn tc ng c:
Yu cu: Thit k h thng vt me ai c vi vn tc bn trt t 2 > 5mm/s.
Chn vt me c bc vt 1,2 mm ng knh ngoi D = 8mm .
Vn tc trc vt me:

Vbt
Vv =
p
Vi Vbt = 2 > 5mm/s ta tnh c vn tc trc vt me t 100 vng/pht 250 vng/pht
Chn hp gim tc 2 cp vi t s truyn tng l 6. T ta chn c vn tc ca ng
c l:
Vdc = VbtU = 600 ->1500 vng/pht
Ta chn loi ng c c vn tc ti a l 1500 vng/pht

AMH THIT K H THNG C IN T

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II.TNH BN C CU TRN SOLIDWORKS


M hnh tnh bn vi b thng s:
bc ren bng 1,2 mm, chiu di L1 =140mm, chiu di vitme L2 = 117mm , ng
knh nh ren D=8mm, ng knh chn ren d = 4mm
Cc chi tit ph khc : bi,ni trc ,b chn, cng tc hnh trnh, bin tr

Ta s dng SolidWorks Simulation thit lp cc biu ng sut, chuyn v v sc


cng ca c cu. Vi ti l con chy, c cu chu lc l vitme v thanh trt.

Hnh 5: Biu ng sut

AMH THIT K H THNG C IN T

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Hnh 6: Biu chuyn v

Hnh 7: Biu sc cng

AMH THIT K H THNG C IN T

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Hnh 8: Biu h s an ton


Qua cc biu , ta thy kt cu c kh hon ton p ng c cc i hi v sc
bn.

AMH THIT K H THNG C IN T

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CHNG III
THIT K V M PHNG B IU KHIN BNG
MATLAB SIMULINK
Yu cu t ra: S dng Matlab Simulink m phng iu khin ng c bc n
v tr mong mun trong thi gian cho trc (v d l 2s).
I. Thit lp s khi ca m hnh ng c trn Matlab Simulink
Ta s dng SimElectronic m phng hot ng ca ng c.
Trn ca s Simulink ta thit lp h thng s khi nh sau:

Hnh 9
II.KHO ST CC KT QU:
Ta th kho st kt qu sau khi ng c quay ln lt 10, 15, 20, 25 bc. Cc biu
thu c l nh sau:

AMH THIT K H THNG C IN T

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III.NHN XT:
Cc kt qu thu c vn cha cho ta thy c r rng s vn ng ca ng c
bc trong m phng Matlab, nh vy, vic kho st ng c bc trn Matlab
Simulink l rt phc tp. Qua c th thy rng, vic s dng PID iu chnh
b rng xung nhm mc ch gim thi gian t n v tr mong mun ca ng c
bc trong trng hp ny (m phng trn Matlab) l ht sc kh khn. thi
im hin ti, do kin thc v thi gian cn hn ch nn trong ni dung n
chng em cha th thc hin c. Chng em s tip tc nghin cu su thm v
vn ny trong thi gian sp ti.

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CHNG IV
S MCH DRIVER CHO NG C V S MCH K
THIT K MCH CNG SUT V MCH IU KHIN
Thit k mch cng sut v mch iu khin bng phn mm orcad 9.2 ta c mch
nguyn l nh hnh sau:

Hnh 12:mch iu khin


Nguyn l hot ng:
mch iu khin gm :ngun cp cho ton b mch,ta s dng PIC16F87 giao tip
vi my tnh bng cng com qua RS232,khi cm bin analog v 2 limit swich
gii hn hnh trnh.
Tn hiu c truyn t my tnh qua giao tip cng com c PIC16F887 x l,PIC
cp xung qua cc chn RD0 n RD4 i n mch cng sut iu khin ng c.

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Hnh 10: Mch cng sut (Driver)


Nguyn l hot ng mch cng sut:
Ta s dng OPTO PC817 v TIP122
Khi xung c cp t PIC qua chn s 1 ca HEADER 4 s kch hot OPTO cho
php ngun 5v kch hot Tip 122 ,cho php dng qua cun th nht ca ng c
bc.
Tng t vi cc xung cn li .ng c bc hot ng

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CHNG V : LU GII THUT V CHNG TRNH IU KHIN


I. LU GII THUT IU KHIN

V TR CI T

VI IU KHIN

SO SNH
X =Y

y
STOP

C ADC

SO SNH
X<Y

y
QUAY THUN

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QUAY NGHCH

AMH THIT K H THNG C IN T

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II.NGUYN L HOT NG NG C BC
ng c bc s dng trong n l ng c bc n cc
Cu to ng c bc n cc:

Hot ng ng c bc:
Quay thun
1a

2a

1b

2b

1a

2a

1b

2b

Quay nghch

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My tnh gi gi tr ci t qua cng com n vi iu khin qua cc lnh


private void send_Click(object sender, EventArgs e)
{
byte data = (byte) Convert .ToInt16 (set.Text,10 );
if (data > 55)
serialPort1.Write(new byte[] { 55 }, 0, 1);
else if (data <10)
serialPort1.Write(new byte[] { 10 }, 0, 1);
else
serialPort1.Write(new byte[] { data }, 0, 1);
}

Vi iu khin c gi tr cm bin v trong ngt giao tip


#INT_RDA
VOID RECEVICE()
{
X=GETC();
SET_ADC();
Y=READ_ADC();
Cc gi tr c t cm bin v gi tr nhn t my tnh qua vi php bin i
ri so snh Sau s quyt dnh cho ng c quay thun hoc quay nghch
Tn hiu iu khin s c truyn qua mch cng sut iu khin ng c
Chng trnh vit bng CCS cho PIC16F887 (ph lc trang 24 )

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IV/CHNG TRNH C# TRN MY TNH


Chng trnh giao tip pic v my tnh c giao din nh hnh sau:

Khong cch ln nht m b truyn thc hin l 55mm.khi nhp v tr mong mun
vo v tr ci t v nhn send trn bng thng s p ng s phn hi v v tr m
b truyn ang di chuyn.Bin tr s dng c gi tr 10k ,do v tr ci t =v tr
p ng
Chng trnh c# ( ph lc trang 26)

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CHNG IV: THC NGHIM V KT LUN


I/ KT QU THC NGHIM
Kho st qu trnh thc nghim ta c bng thng s sau:
-V tr nhp t giao din iu khin (mm).
-Gi tr c c trn thc o (mm).
-s ln o .
V tr
10

20

30

40

50

10

20

30

39

50

11

20

30

39

50

11

20

30

39

50

11

20

30

40

50

10

20

29

39

50

Ln

-Bin tr gn tuyn tnh nn kt qu iu khin cha chnh xc


-Do cc mch iu khin v mch cng sut lm th cng nn mc n nh khng
cao
II/ KT LUN
-C s hiu bit lp trnh vi iu khin PIC trn CCS
-Lp trnh C# to giao din iu khin
-Hiu bit giao tip ni tip
-Tm hiu c vi iu khin pic 16F887, Transistor driver dng iu khin ng c
-iu khin c v tr vitme qua my tnh
-S dng cp chuyn i t USB sang COM nn vic iu khin cha n nh
+Trong qu trnh thc hin n chng em lm vic rt nghim tc v c gn
hon thnh tt n ,tuy nhin do trnh cn hn ch nn khng trnh khi nhng
sai st trong qu trnh thc hin knh mong thy c thng cm, chng em s c gng
hc tp rn luyn hon thin mnh hn.
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AMH THIT K H THNG C IN T

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Ti liu tham kho v cc ph lc


Ti liu tham kho:
[1]. Trnh Cht L Vn Uyn. Tnh ton thit k h dn ng c kh, tp 1 v 2. Nh
xut bn gio dc. 2003.
[2]. Nguyn Hu Lc. C s thit k my. Nh xut bn i hc quc gia TP. H Ch
Minh. 2004.
[3]. Trn Xun Trng. Ti liu s dng CCS ting vit. 2007.
[4]

Http://www.picvietnam.com

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AMH THIT K H THNG C IN T

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Cc ph lc:
Chng trnh vit bng CCS cho PIC16F887
#include<16f887.h>
#device *=16 adc=10
#use delay(clock=20000000)
#fuses HS,NOWDT,NOPROTECT
#use rs232(baud=9600,parity=N,xmit=pin_c6,rcv=pin_c7)
INT16 x,y;
float32 x1,y1;
void quay_thuan()
{
output_high(PIN_d0);
delay_ms(10);
output_low(PIN_d0);
output_high(PIN_d1);
delay_ms(10);
output_low(PIN_d1);
output_high(PIN_d2);
delay_ms(10);
output_low(PIN_d2);
output_high(PIN_d3);
delay_ms(10);
output_low(PIN_d3);
}
void quay_nghich()
{
output_high(PIN_d3);
delay_ms(10);
output_low(PIN_d3);
output_high(PIN_d2);
delay_ms(10);
output_low(PIN_d2);
output_high(PIN_d1);
delay_ms(10);
output_low(PIN_d1);
output_high(PIN_d0);
delay_ms(10);
output_low(PIN_d0);
}
void SET_ADC()
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AMH THIT K H THNG C IN T

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{
setup_adc_ports(all_analog);
setup_adc(adc_clock_internal);
set_adc_channel(0);
delay_us(10);
}
#int_rb
void Int_ls()
{
output_LOW(PIN_C3);
}
#INT_RDA
VOID RECEVICE()
{
X=GETC();
SET_ADC();
Y=READ_ADC();
X1=X*17.1;
while((int16)X1<y)
{
QUAY_NGHICH();
SET_ADC();
Y=READ_ADC();
y1=y/17.1;
putc((int8)y1);
}
while ((int16)X1>y)
{
QUAY_THUAN();
SET_ADC();
Y=READ_ADC();
y1=y/17.1;
putc((int8)y);
}
}
VOID MAIN()
{
while(TRUE)
{
enable_interrupts(int_rb);
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AMH THIT K H THNG C IN T

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enable_interrupts(INT_RDA);
enable_interrupts(global);
}}

Chng trnh c#
using
using
using
using
using
using
using
using

System;
System.Collections.Generic;
System.ComponentModel;
System.Data;
System.Drawing;
System.Linq;
System.Text;
System.Windows.Forms;

namespace giaotiepmaytinh
{
public partial class Form1 : Form
{
public Form1()
{
InitializeComponent();
}
private void Form1_Load(object sender, EventArgs e)
{
if (serialPort1.IsOpen) serialPort1.Close();
serialPort1 .Open ();
}
private void Form1_FormClosed(object sender,
FormClosedEventArgs e)
{
if (serialPort1.IsOpen) serialPort1.Close();
}
private void send_Click(object sender, EventArgs e)
{
byte data = (byte) Convert .ToInt16 (set.Text,10 );
if (data > 55)
serialPort1.Write(new byte[] { 55 }, 0, 1);
else if (data <10)
serialPort1.Write(new byte[] { 10 }, 0, 1);
else
serialPort1.Write(new byte[] { data }, 0, 1);
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}
private void serialPort1_DataReceived(object sender,
System.IO.Ports.SerialDataReceivedEventArgs e)
{
//dapung.Text = serialPort1.ReadByte().ToString();
byte nhan = (byte)serialPort1.ReadByte();
object[] para = { nhan };
//dapung .BeginInvoke (new deleFunC
dapung.BeginInvoke(new deleFunc(Display),para);
//Gi hm hin th d liu
}
//Hm con hin th d liu
private delegate void deleFunc(byte nhan);
private void Display(byte nhan)
{
//Chuyn byte nhn c thnh s thp phn
string receive = Convert.ToString(nhan, 10);
dapung.AppendText(receive + " ");
}
private void reset_Click(object sender, EventArgs e)
{
serialPort1.Write(new byte[] { 0 }, 0, 1);
set.Text = " 5";
}
private void button1_Click(object sender, EventArgs
{
dapung.Text = " ";
}
private void label1_Click(object sender, EventArgs e)
{
}
}

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Mch v bng SolidWorks 2010:

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AMH THIT K H THNG C IN T

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Cc hnh nh trong qu trnh thc hin n

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