Cuoi Cung Thi Cung in

GVHD : ThS.
L Th Vn Anh SVTH: Lu Thanh Cng

ThS.Nguyn Th Hng Yn V Vn Cng
Phm Th

LI NI U
Trong qu trnh cng nghip ha hin i ha t nc. T ng ha l mt
ngnh khng th thiu trong mt nn cng nghip hin i. Ni n t ng ha th
my tnh l 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. ng dng my tnh vo k thut o
lng iu khin em li nhiu kt qu u vit nh chnh xc cao, thi gian
thu thp d liu ngn.
Cng vi s pht trin chung v trn c s kin thc c hc tp ti
trng chng em chn ti tt nghip l ng dng LabVIEW trong h thng
iu khin ng c mt chiu. Trong ti ny dng vi iu khin vi Atmega16
thu thp tn hiu encoder t ng c, sau tnh ton tc ri truyn thng ln
LabVIEW qua chun giao tip RS232. Trn LabVIEW ta xy dng b iu khin
PID iu khin tc quay ca ng c.
LabVIEW l mt mi trng lp trnh cho ngn ng lp trnh ha c s
dng rng ri trong khoa hc - k thut - gio dc nhm nhanh chng v d dng
to ra cc giao tip my tnh, o lng, m phng h thng, kt ni thit b ngoi vi
vi my tnh theo thi gian thc. LabVIEW ra i nm 1986 v ngy cng pht
trin mnh trong lnh vc t ng ha cc h thng o lng v iu khin.
Ni dung ti bao gm cc chng:
Chng 1: Tng quan v ng c in mt chiu
Chng 2: Thit k b iu khin PID cho ng c in mt chiu
Chng 3: Gii thiu phn mm LabVIEW
Chng 4: M hnh thit k v kt qu
Chng 5: Kt lun v hng pht trin

GVHD : ThS. L Th Vn Anh SVTH: Lu Thanh Cng
Phm Th

LI CM N
Li u tin chng em xin chn thnh cm n s hng dn nhit tnh ca c L
Th Vn Anh v c Nguyn Th Hng Yn. Trong sut qu trnh thc hin n
cc c dnh rt nhiu thi gian v tm huyt nh hng v gp chng
em hon thnh n ny.
Chng em cng xin chn thnh cm n n s gip ca Ban gim hiu
Trng i Hc in Lc, ton th cc thy c gio trong Khoa Cng Ngh T
ng v bn b trong nhng nm hc va qua. Vi nhng s gip nhit tnh
cho chng em c c nn tng kin thc chuyn mn chng em c th hon
thnh n ny cng nh cng vic trong tng lai.

Phm Th

NHN XT
(Ca ging vin hng dn)

Phm Th

NHN XT
(Ca ging vin phn bin)

Phm Th

MC LC
CHNG 1: TNG QUAN V NG C IN MT CHIU ........................... 1
1.1 Cu to, phn loi v nguyn l lm vic ca ng c mt chiu .................... 1
1.1.1 Cu to ng c mt chiu ......................................................................... 1
1.1.2 Phn loi ng c mt chiu....................................................................... 4
1.1.3 Nguyn l lm vic ca ng c mt chiu ............................................... 5
1.2 Phm vi ng dng ca ng c mt chiu ........................................................ 6
1.2.1 u im ...................................................................................................... 6
1.2.2 Nhc im ................................................................................................ 6
1.2.3 Phm vi ng dng ....................................................................................... 7
1.3 Cc phng php iu chnh tc ng c mt chiu ................................... 7
1.3.1 Phng php iu chnh in p phn ng ................................................. 7
1.3.2 Phng php iu chnh t thng ............................................................... 9
1.3.3 Phng php iu chnh in tr ph R
f
trn mch phn ng ................. 11
CHNG 2: THIT K B IU KHIN PID CHO NG C IN MT
CHIU ...................................................................................................................... 13
2.1 M hnh ha ng c mt chiu...................................................................... 13
2.2 Lut iu khin PID ........................................................................................ 18
2.2.1 Gii thiu PID ........................................................................................... 18
2.2.2 Phng php hiu chnh PID bng thc nghim (phng php Ziegler -
Nichols). ............................................................................................................. 23
2.3 B iu khin PID cho ng c mt chiu ..................................................... 25
CHNG 3: GII THIU PHN MM LABVIEW ............................................ 28
3.1 Khi qut chung v LabVIEW ........................................................................ 28
3.1.1 u im v nhc im ca LabVIEW ................................................... 28
3.1.2. Phm vi ng dng .................................................................................... 29
3.2 K thut lp trnh LabVIEW ........................................................................... 29
3.2.1 Thit b o (Virtual Instruments - VIs) ..................................................... 29
3.2.2 Mi trng LabVIEW .............................................................................. 32
3.2.3 Cc hm thng dng trong LabVIEW ...................................................... 37
CHNG 4: M HNH THIT K V KT QU .............................................. 44
Phm Th

4.1 Thit k phn cng .......................................................................................... 44
4.1.1 Khi iu khin ......................................................................................... 45
4.1.2 Khi ngun ............................................................................................... 51
4.1.3 Khi bn phm .......................................................................................... 53
4.1.4 Khi hin th (LCD) .................................................................................. 54
4.1.5 Khi Encorder ........................................................................................... 56
4.1.6 Khi truyn thng ni tip RS232 ............................................................ 57
4.2 Thit k phn mm .......................................................................................... 63
4.2.1 Chng trnh trn vi iu khin ................................................................ 63
4.2.2 Chng trnh trn LabVIEW .................................................................... 68
4.3 Kt qu thc nghim ....................................................................................... 70
4.3.1 Kt qu thc nghim b iu khin PI ..................................................... 70
4.3.2 Kt qu thc nghim b iu khin PID .................................................. 71
CHNG 5: KT LUN V HNG PHT TRIN ......................................... 73
5.1 Kt lun ........................................................................................................... 73
5.2 Hng pht trin ............................................................................................. 73
TI LIU THAM KHO ........................................................................................ 74

Phm Th

DANH MC CC BNG, S , HNH
Tn bng Trang
Bng 2.1: Gi tr thc nghim xc nh hm truyn 17
Bng 2.2: Xc nh cc thng s theo phng php Ziegler-Nichols th nht 25
Bng 2.3: Xc nh cc thng s theo phng php Ziegler-Nichols th hai 25
Bng 2.4: Bng kt qu cc thng s ca ng c 26
Bng 2.5: S nh hng ca cc thng s K
P
, K
I
, K
D
ti cht lng 27
Bng 3.1: Chc nng ca Tools Palette 33
Bng 4.1: c tnh ra ca IC khi u ra 5V 52
Bng 4.2: u ra tng ng khi mt phm c nhn 54
Bng 4.3: Bng chc nng cc chn ca LCD 16x2 55
Bng 4.4: Bng chn l tng ng ca IC 74LS157 62

Tn hnh Trang
Hnh 1.1: Cu to ng c DC 1
Hnh 1.2: S nguyn l ca ng c mt chiu kch thch c lp 4
Hnh 1.3: S nguyn l ca ng c mt chiu kch thch song song 4
Hnh 1.4: S nguyn l ca ng c mt chiu kch thch ni tip 5
Hnh 1.5: S nguyn l ca ng c mt chiu kch thch hn hp 5
Hnh 1.6: S thay th mch in phn ng ng c mt chiu 7
Hnh 1.7: Xc nh phm vi iu chnh 8
Hnh 1.8: Phm vi iu chnh tc v mmen 9
Hnh 1.9: c tnh iu chnh khi iu chnh t thng ng c 10
Hnh 1.10: c tnh iu chnh in tr ph trn mch in phn ng 11
Hnh 1.11: iu chnh rng xung PWM 12
Hnh 1.12: Dng sng dng v p trn ng c 12
Hnh 2.1: S thay th mch in phn ng ng c mt chiu 13
Hnh 2.2: S khi tnh tc theo [rad/s] 14
Hnh 2.3: S khi tnh tc theo [rpm] 15
Hnh 2.4: p ng qu ca khu qun tnh bc nht 16
Phm Th

Hnh 2.5: ng c tnh ng c mt chiu 17
Hnh 2.6: S h thng iu khin dng PID 18
Hnh 2.7: S khi b iu chnh t l 18
Hnh 2.8: S khi b iu chnh tch phn 19
Hnh 2.9: S khi ca b iu chnh t l - tch phn 19
Hnh 2.10: S khi b iu chnh t l - vi phn 20
Hnh 2.11: S khi ca b iu chnh t l - vi tch phn 20
Hnh 2.12: iu khin vi b PID s 21
Hnh 2.13: Minh ha ba cch tnh tch phn 22
Hnh 2.14: S khi b PID s 23
Hnh 2.15: H thng b iu khin 23
Hnh 2.16: Xc nh tham s cho m hnh xp x bc nht c tr 24
Hnh 2.17: Xc nh h s khuch i ti hn 25
Hnh 2.18: Thng s cho b iu khin ng c 26
Hnh 3.1: Font Panel 30
Hnh 3.2: Block Diagram 31
Hnh 3.3: Icon 32
Hnh 3.4: Getting started 32
Hnh 3.5: Controls Palette 33
Hnh 3.6: Tools Palette 33
Hnh 3.7: Numeric Controls 34
Hnh 3.8: Boolean 35
Hnh 3.9: String & Path 35
Hnh 3.10: Graph 36
Hnh 3.11: String 36
Hnh 3.12: Array 37
Hnh 3.13: For Loop 38
Hnh 3.14: While Loop 38
Hnh 3.15: S khi m t chc nng thanh ghi dch 38
Hnh 3.16: Case Structures v Sequence Structures 39
Phm Th

Hnh 3.17: Formula Node 40
Hnh 3.18: File I/O 40
Hnh 3.19: String Length 41
Hnh 3.20: Concatenate Strings 41
Hnh 3.21: String Subset 41
Hnh 3.22: Match Pattern 41
Hnh 3.23: Format Into String 42
Hnh 3.24: Giao tip my tnh vi thit b NI qua cng RS232 42
Hnh 3.25: Frame truyn theo chun RS232 43
Hnh 4.1: S khi 44
Hnh 4.2: S nguyn l khi iu khin trung tm 45
Hnh 4.3: S chn v hnh nh thc t ca AVR ATmega16 45
Hnh 4.4: S cu trc ca AVR ATmega16 46
Hnh 4.5: Khi ngun 5V 52
Hnh 4.6: Cu trc IC LM2576 52
Hnh 4.7: Khi bn phm 53
Hnh 4.8: S khi v bng u ra tng ng khi mt phm c nhn 54
Hnh 4.9: Khi hin th LCD v hnh nh thc t 55
Hnh 4.10: Khi x l tn hiu Encorder 56
Hnh 4.11: Cu to ca IC 74LS14 v bng trng thi vo / ra 56
Hnh 4.12: Cu trc mch chuyn i tn hiu 57
Hnh 4.13: Cu to v hnh nh bn ngoi ca vi mch MAX232 57
Hnh 4.14: S mch cu H 58
Hnh 4.15: Nguyn l hot ng ca mch cu H 59
Hnh 4.16 : Cu to v k hiu ca MOSFET knh N v knh P 59
Hnh 4.17: S b cch l quang 60
Hnh 4.18: Mch kch cu H s dng IC 74LS157 61
Hnh 4.19a: Linh kin thc v s cu to chn 62
Hnh 4.19b: S nguyn l v bng chn l ca IC 74LS157 62
Hnh 4.20: M hnh thc t 69
Phm Th

Hnh 4.21: Giao din ngi dng khi vn tc t l 50 vng/s 69

Phm Th

K HIU CC CM T VIT TT
DC : Direct current (Mt chiu).
PID : Proportional Integral Derivative (T l vi tch phn).
LabVIEW : Laboratory Virtual Instrument Electronic Workbench.
NI : National Instruments.
VIs : Virtual Instruments (Thit b o) .
PC : Personal Computer (My tnh).
UART : Universal Asynchronous serial Reveiver and Transmiter (B truyn
nhn ni tip khng ng b).
ALU : Arithmetic and Logic Unit (n v logic v s hc).
PWM : Pulse width modulation (iu chnh rng xung).
ADC : Analog - to digital Converter (B chuyn i tng t s).
LCD : Liquid Crystal Display (Mn hnh tinh th lng).
MCU : Micro Control Unit (B vi iu khin).
1

Phm Th

CHNG 1: TNG QUAN V NG C IN MT CHIU
1.1 Cu to, phn loi v nguyn l lm vic ca ng c mt chiu
1.1.1 Cu to ng c mt chiu
Cu to ca ng c in mt chiu gm hai phn chnh: phn tnh (stato) v
phn quay (rto).

Hnh 1.1: Cu to ng c DC
Phn tnh (stato)
Phn tnh cn c gi l phn cm gm cc t chnh, cc t ph, gng t, np
my v chi in.
Cc t chnh
Cc t chnh l b phn sinh ra t trng, gm c li st cc t v dy qun
kch t lng ngoi li st cc t. Li thp k thut lm bng cc l thp k thut
in hay thp cacbon dy 0.5 n 1mm c p li v tn cht. Trong ng c nh
c th dng thp cc khi. Cc t c gn cht vo v my bng bu lng. Dy
qun kch t c lm bng ng cch in, c qun thnh tng cun, mi cun
dy u c bc cch in thnh mt khi v tm sn cch in trc khi t trn
cc cc t. Cc cun dy kch t t trn cc cc t chnh c ni tip nhau sao
cho khi c dng in chy qua chng th hnh thnh cc cc t tri du xen k.
2

Phm Th

Cc t ph
Cc t ph c t gia cc cc t chnh v dng ci thin i chiu. Li
thp thng lm bng thp khi, trn thn cc t c t dy qun m cu to ging
nh dy qun cc t chnh. Cc t ph c gn vo v my nh nhng bu lng.
Gng t
Gng t lm mch t ni lin cc cc t, ng thi lm v my. Trong ng c
cng sut ln gng t lm bng thp c. Trong ng c cng sut nh v va
thng dng thp tm cun li v hn. C khi trong ng c nh dng gang lm v
my.
C cu chi than
C cu chi than gm c chi than t trong hp chi than v nh mt xo t
cht ln c gp. Hp chi than c c nh trn gi chi than v cch in vi gi.
Gi chi than c th quay c iu chnh v tr chi than cho ng ch. Sau khi
iu chnh xong th dng vt c nh cht li. Chi than lm bng than hay graphit,
i khi c trn thm bng bt ng tng dn in. Chi than c nhim v
a dng in t phn ng ra ngoi hoc ngc li.
Np my
Np my bo v my khi b nhng vt ngoi ri vo lm h hng dy qun
v m bo an ton cho ngi khi chm vo in. Trong cc ng c cng sut
nh v va, np my cn c tc dng lm gi bi. Trong trng hp ny np
my thng lm bng gang.
Phn quay (rto)
Phn quay cn c gi l phn ng gm li thp phn ng, dy qun phn
ng, c gp.
Li thp phn ng
Li thp rto dng dn t, thng lm bng cc l thp k thut in (thp
hp kim silic) dy 0.5mm, b mt c ph sn cch in ri ghp li gim tn hao
do dng in xoy gy nn. Trn l thp c dp hnh dng rnh sau khi ghp li
3

Phm Th

th t dy qun vo. Trong nhng ng c c trung bnh tr ln, ngi ta cn dp
nhng l thng gi khi p li thnh li st c th to c nhng l thng gi
dc trc. Trong ng c hi ln th li st c chia thnh tng on nh, gia cc
on y c mt khe h gi l khe thng gi ngang trc. Khi ng c lm vic,
gi thi qua cc khe lm ngui dy qun v li st. Trong nhng ng c nh, li
st phn ng c p trc tip vo trc. Trong ng c ln, gia trc v li st c
t gi rto. Dng gi rto c th tit kim thp k thut in v gim nh trng
lng rto.
Dy qun phn ng
Dy qun phn ng l phn sinh ra sc in ng cm ng v c dng in
chy qua. Dy qun phn ng lm bng ng c bc cch in, tit din hnh trn
(trong ng c cng sut nh) hay hnh ch nht (trong ng c cng sut ln),
c t trong cc rnh ca li thp mt s c th v c cch in cn thn
vi rnh. trnh khi quay b vung ra do lc ly tm, ming rnh c dng nm
cht hoc phi ai cht dy qun. Nm c th bng tre, g hay baklit.
C gp
C gp (cn gi l vnh gp hay vnh i chiu) dng chnh lu dng in
xoay chiu trong dy qun phn ng thnh dng in mt chiu a ra ngoi. C
gp gm nhiu phin ng c ui n ghp li thnh hnh tr trn, gia cc phin
ng c cch in vi nhau bng cc tm mica dy 0.4 n 1.2mm. Hai u tr
trn dng hai vnh p hnh ch V p cht li. Gia vnh p v phin gp cng c
cch in bng cc tm mica. ui vnh gp nh cao ln mt t hn cc u dy
ca cc phn t dy qun vo cc phin gp c d dng. Ngoi ra, ng c in
mt chiu cn c cc b phn khc nh cnh qut v trc my. Cnh qut dng
qut gi lm mt ng c. ng c in mt chiu thng ch to theo kiu bo v,
hai u np my c l thng gi. Cnh qut lp trn trc my. Khi my quay,
cnh qut ht gi t ngoi vo my. Gi i qua vnh gp, cc t, li st v dy qun
qua qut gi ra ngoi lm ngui ng c. Trc my lm bng thp cacbon tt. Trn
trc my lp li st phn ng, vnh gp, cnh qut.

4

Phm Th

1.1.2 Phn loi ng c mt chiu
ng c in mt chiu c phn thnh cc loi nh sau:
ng c mt chiu kch thch c lp
Bao gm ng c kch thch bng nam chm vnh cu v ng c kch thch
in t.
t
U

Hnh 1.2: S nguyn l ca ng c mt chiu kch thch c lp
= I
ng c mt chiu kch thch song song
C dy qun kch thch c ni song song vi dy qun phn ng c th t
sinh ra dng in kch thch cn thit m khng cn ngun in bn ngoi.
t
U

Hnh 1.3: S nguyn l ca ng c mt chiu kch thch song song
I = +
ng c mt chiu kch thch ni tip
C dy qun kch thch ni tip vi dy qun phn ng.
5

Phm Th

t
U

Hnh 1.4: S nguyn l ca ng c mt chiu kch thch ni tip
I = =
ng c mt chiu kch thch hn hp
t
U

Hnh 1.5: S nguyn l ca ng c mt chiu kch thch hn hp
C hai dy qun kch thch: ni tip v song song.
I = +
1.1.3 Nguyn l lm vic ca ng c mt chiu
Khi t ln dy qun kch t mt in p kch t u
k
no th trong dy qun
kch t s c dng in i
k
dn n 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 c dng in I
chy qua. Tng tc gia dng in phn ng v t thng kch t to thnh mmen
in t. Gi tr mmen in t:
6

Phm Th

. .
2 .
pN
M I k I
a
| |
t
= =

Trong :
p: S i cc ca ng c.
n: S thanh dn phn ng di mt cc t.
a: S mch nhnh song song ca dy qun phn ng.
k: H s kt cu ca my.
Mmen in t ko cho phn ng quay quanh trc. Cc dy qun phn ng qut
qua t thng v trong cc dy qun ny cm ng sc in ng.
. .
2 .
|e |e
t
= =
pN
E k
a

Trong : l tc gc ca rto.
e
|
=

. U I R
k

Trong : l in tr mch phn ng ca ng c.
1.2 Phm vi ng dng ca ng c mt chiu
1.2.1 u im
ng c mt chiu c:
- Mmen m my ln.
- Kh nng iu chnh tc bng phng.
- Phm vi iu chnh rng, d iu chnh.
- Tit kim in nng.
- Tui th ln.
1.2.2 Nhc im
- Gi thnh t.
- Cng sut khng cao.

7

Phm Th

1.2.3 Phm vi ng dng
ng c in mt chiu c s dng trong cc my cng nghip c yu cu
cao v iu chnh tc nh cn thp, hm m, giao thng vn ti...v c tm quan
trng nht nh trong sn xut.
1.3 Cc phng php iu chnh tc ng c mt chiu
1.3.1 Phng php iu chnh in p phn ng
S :
U
f
R R
E
I

Hnh 1.6: S thay th mch in phn ng ng c mt chiu
Phng trnh cn bng p:
= + ( + )
Do

= k. nn = k. + ( + )
e
| |
+
=

( )
. .
f
I R R
U
k k

Do M = k. nn
.
M
I
k|
=

( )
e
|
|
+
=

2
( )
.
.
.
f
R R
U
M
k
k

e e
|
=
0
( )
dk
M
U
V t thng ca ng c c gi khng i nn cng c tnh c cng
khng i, cn tc khng ti l tng th ty thuc vo gi tr in p iu khin
U
k
ca h thng.
Xc nh di iu chnh tc :
8

Phm Th

x ma
min
D
e
e
=

Khi mmen ti l nh mc th cc gi tr ln nht v nh nht ca tc l:
x 0 x ma ma
M
e e
|
=

0 min min
M
e e
|
=

tha mn kh nng qu ti th c tnh thp nht ca di iu chnh phi c
mmen ngn mch l:
= = .
Trong : l h s qu ti v mmen.
V h c tnh c l cc ng thng song song nhau, nn theo nh ngha v
cng c tnh c ta c th vit nh sau:
1
( ) ( 1) e
| |
= =
dm
min nmmin dm M
M
M M K
0
0
.
1
1
( 1)
e |
e
|
|

= =

dm max
max
dm
dm
M
M
M
M
D
M
K
K

Hnh 1.7: Xc nh phm vi iu chnh
9

Phm Th

Vi mt c cu my c th th cc gi tr , M
m
, K
M
l xc nh, v vy
phm vi iu chnh D ph thuc tuyn tnh vo gi tr ca cng . Khi iu
chnh in p phn ng ng c bng cc thit b ngun iu chnh th in tr tng
mch phn ng gp khong hai ln in tr phn ng ng c. Do :
.| |/ 10
V th vi ti c c tnh mmen khng i th gi tr phm vi iu chnh tc
cng khng vt qu 10. Trong sut qu trnh iu chnh in p phn ng th t
thng kch t c gi nguyn, do mmen ti cho php ca h s l khng i:
= K. .

= M
m

Phm vi iu chnh tc v mmen nm trong hnh ch nht bao bi cc
ng thng = , M = v cc trc ta . Tn hao nng lng chnh l
tn hao trong mch phn ng nu b qua cc tn hao khng i trong h.

Hnh 1.8: Phm vi iu chnh tc v mmen
Vy iu chnh tc ng c bng cch thay i in p phn ng l rt thch
hp trong trng hp mmen ti l hng s trong ton di iu chnh.
1.3.2 Phng php iu chnh t thng
iu chnh t thng kch thch ca ng c in mt chiu l iu chnh
mmen in t ca ng c M = K v sc in ng quay ca ng c
=K . Mch kch t ca ng c l mch phi tuyn nn h iu chnh t
thng cng l phi tuyn.
10

Phm Th

k
k k
b k
e d
i
r r dt
|
e = +
+

Trong : : in tr dy qun kch thch.
: in tr ca ngun in p kch thch.
: s vng dy ca dy qun kch thch.
Trong ch xc lp:
| |
;
k
k k
b k
e
i f i
r r
| = =
+

Khi iu chnh t thng th in p phn ng c gi nguyn bng gi tr nh
mc, do c tnh c thp nht trong vng iu chnh t thng chnh l c tnh
c in p phn ng nh mc, t thng nh mc v c gi l c tnh c bn.
Tc ln nht ca di iu chnh t thng b hn ch bi kh nng chuyn mch
ca c gp in. Khi gim t thng tng tc quay ca ng c th ng thi
iu kin chuyn mch ca c gp cng b xu i, v vy m bo iu kin
chuyn mch bnh thng th phi gim dng in phn ng cho php, kt qu l
mmen cho php trn trc ng c cng gim rt nhanh. Khi gi nguyn dng in
phn ng th cng c tnh c cng gim rt nhanh khi gim t thng kch thch.
( )
2
K
R
|
| =

Hnh 1.9: c tnh iu chnh khi iu chnh t thng ng c
11

Phm Th

Do iu chnh tc bng cch gim t thng nn i vi cc ng c m t
thng nh mc nm ch tip gip gia vng tuyn tnh v vng bo ha ca c
tnh t ha th c th coi vic iu chnh l tuyn tnh v hng s C ph thuc vo
thng s kt cu ca my in.
.
k k
b k
C
Ci e
r r
| = =
+

1.3.3 Phng php iu chnh in tr ph R
f
trn mch phn ng
c im ca phng php:
- in tr mch in phn ng cng tng, dc c tnh c cng ln, c tnh
c cng mm v n nh tc cng km, sai s tc cng ln.
- Phng php ch cho php iu chnh thay i tc v pha gim (do ch c
th tng thm in tr).
- Tn hao cng sut di dng nhit in tr ln.
- Di iu chnh ph thuc vo mmen ti. Ti cng nh th di iu chnh cng
nh.
3 2 1 f f f
R R R > >
0
f
R =
1 f
R
2 f
R
3 f
R
n
0
n
(
dm
M I )
dm
( M I )
0

Hnh 1.10: c tnh iu chnh in tr ph trn mch in phn ng
Trong ti ny s dng ng c mt chiu kch t bng nam chm vnh cu,
t thng khng i v kh thay i in tr ph mch in phn ng nn chn
phng php iu chnh tc ng c bng cch thay i in p mch in phn
12

Phm Th

ng. Mt trong nhng phng php thay i in p mch in phn ng l iu
chnh rng xung (PWM).

Hnh 1.11: iu chnh rng xung PWM
Phng php iu chnh rng xung gi tn s khng i nn iu chnh
rng xung thay i in p trung bnh t ln ng c.
in p trung bnh:
=
on
dk in
T
U U
T

Do c tnh cm khng ca ng c, dng qua ng c l dng lin tc nn
dng sng dng v p ca ng c nh sau:
dk
U
I
t
t

Hnh 1.12: Dng sng dng v p trn ng c

13

Phm Th

CHNG 2: THIT K B IU KHIN PID CHO NG C IN
MT CHIU
2.1 M hnh ha ng c mt chiu
S mch in phn ng:
U
u
R
u E
I
u
u
Lu

Hnh 2.1: S thay th mch in phn ng ng c mt chiu
Vi:
: in p phn ng (V).
R
: in tr phn ng ( ).
: Sc in ng phn ng (V).
: Mmen cn t l vi h s ma st v tc (rad/s).
( ) T t : Mmen cn thun.
b: H s ma st (rad/s).
J: Mmen qun tnh ca ng c v ti.
: Hng s mmen (Nm/A).
: Hng s sc in ng (Vs/rad).
= = K: hng s ng c.
p dng lut Kirchoff vo s trn ta c cc phng trnh vi phn sau:
( )
( ) . ( )
( ) . ( ). . ( )
. ( )
( )
( ) . ( )
( ) . . ( ) . ( ) ( )
T
di t
U t R i L E t
dt
T t k i t K i t
k K K Nm A
d t
T t b t J
dt
U t k t K t Vs rad
|
|
e
e
| e e
= + +
= =
= =
= =

Bin i Laplace ta c:
14

Phm Th

( ) . ( ) . . ( ) ( )
( ) . ( )
( ) . ( ) ( )
( ) . ( )
U s R I s L sI s E s
T s K I s
T s b s J s
E s K s
e e
e
= + +
= +
( ) 1
( ) ( ) .
( )
( )
( )
( ) 1
( ) .
I s
U s E s R L s
T s
K
I s
E
K
s
s
T s b J s
e
e

Ta c s khi tng ng vi cc phng trnh trn:
1
b Js +
U
( ) s
I
1
R L s +
( ) s
( ) s e
K
K
( ) E s
( ) T s

Hnh 2.2: S khi tnh tc theo [rad/s]
Hm truyn t:

( )
( )
( )

2 2

.( . )
( )
.( . )
1
.( . )
K
R L b J s
K
W s
K R L b J s K
R L b J s
+ +
= =
+ + +
+
+ +

=
| |
| |
+ + +
| |
\ .
\ .

.
W( )
1 . 1
.
K
R b
s
L J K
s s
R b R b

t:
L
T
R
=
: Hng s thi gian ca mch in phn ng.
15

Phm Th

m
J
T
b
=

: Hng s thi gian phn c.
Do
m
T T <<
nn:
2
.
( )
.
. 1
.
K
K R b
W s
J R
s
K R b
+
~
| |
+
|
+
\ .

Khi tc ca ng c tnh theo [rpm] k hiu l n(t) th ta c s khi tng
ng nh sau:
1
b Js +
( ) n s
60
2t
U
( ) s
I
1
R L s +
( ) s ( ) s e
K
K
Hnh 2.3: S khi tnh tc theo [rpm]
Hm truyn t:
2
. 60
( ) .
2 1
.
. 1
.
K
K R b K
W s
Ts
J R
s
K R b
t
' +
~ =
+ | |
+
|
+
\ .

Vi:
2 2

. 60
. ;
. 2 .
J R K
K T
K R b K R b t
' = =
+ +

Nh vy khi b qua hng s thi gian mch in phn ng th hm truyn t
ca ng c DC l khu qun tnh bc nht. Trong thc t vic xc nh cc thng
s ca ng c rt kh nn vic tm c hm truyn ca ng c t cc thng s
do nh sn xut a ra gp nhiu kh khn. V vy s dng phng php thc
nghim tm hm truyn ca ng c da trn p ng qu ca ng c.
Gi s cp mt gi tr in p vo ng c l a(V).
16

Phm Th

in p mch in phn ng l: U
(t) = a.1(t)
Bin i Laplace c:
=
( )
a
U s
s

Do
( )
( )
( )
=
n s
W s
U s
nn tc ng c l:
( ) ( ). ( ) ( ).
( 1)
a K a
n s W s U s W s
s s Ts
'
= = =
+

Bin i Laplace ngc ta c: n(t) = a .1(t) a .
th tc c dng sau:
t T =
( ) n t
t
aK
0.632aK

Hnh 2.4: p ng qu ca khu qun tnh bc nht
Bng phng php thc nghim, cp mt in p 24V vo ng c. Ta c:
n(t) = 24 .1(t) 24 .
Lp ng c vo m hnh phn cng lm v np chng trnh cho chip
Atmega16 ng c quay, hm truyn t ca ng c y bao gm c ti. Do
vy s rt kh ly c tnh nn s dng cch chia nh thi gian gi tc t chip
ln my tnh v c d liu dng Hexa. Chuyn i sang dng thp phn ta c bng
s liu sau:
17

Phm Th

Bng 2.1: Gi tr thc nghim xc nh hm truyn
X (vn
tc)
Y (thi gian :
ms)
X (vn
tc)
Y (thi gian
: ms)
X (vn tc) Y (thi
gian : ms)
0 10 46.3 210 69.44 410
0 20 47.22 220 68.52 420
2.78 30 50.93 230 69.44 430
7.41 40 53.7 240 68.52 440
8.3 50 55.6 250 69.44 450
9.26 60 56.48 260 69.44 460
10.19 70 59.26 270 69.44 470
12.96 80 60.19 280 69.44 480
16.67 90 61.11 290 69.44 490
17.59 100 64.81 300 69.44 500
19.44 110 65 310 69.44 510
22.22 120 65.74 320 68.52 520
23.15 130 66.67 330 69.44 530
28.7 140 67.59 340 69.44 540
29.63 150 68 350 69.44 550
32.41 160 68.52 360 69.44 560
36.11 170 68.52 370 69.44 570
38.89 180 68.52 380 68.52 580
40.24 190 69.44 390 68.52 590
43.52 200 69.44 400 69.44 1000
V m phng trn Matlab ta thu c kt qu l ng c tnh sau:

Hnh 2.5: ng c tnh ng c mt chiu
18

Phm Th

T hnh (2.4) v (2.5) suy ra: 24 70 2.9167; 2( ) K K T s ' ' = = =
Vy hm truyn t ca ng c l:

2.9167
( )
1 2
W s
s
=
+

2.2 Lut iu khin PID
2.2.1 Gii thiu PID
B iu khin PID l mt c ch iu khin lp hi tip c s dng rng ri
trong h thng iu khin cng nghip. S dng b iu khin PID iu chnh
sai lch gia gi tr o c ca h thng vi gi tr t bng cch tnh ton v iu
chnh gi tr iu khin ng ra. B iu khin PID gm ba thnh phn.
Error process
output
setpoit
( )
p
P K e t =
0
( )
t
i
I K e t dt =
}
( )
d
de t
D K
dt
=

Hnh 2.6: S h thng iu khin dng PID
Cc b iu chnh lin tc: P, I, PI, PD, PID.
B P (t l)
B iu chnh t l to tn hiu iu khin t l vi tn hiu sai lch .
P
K
e(t) u(t)

Hnh 2.7: S khi b iu chnh t l
Phng trnh vi phn:
19

Phm Th

Trong : l h s khuch i.
Hm truyn trong min Laplace:
B I (tch phn)
B iu chnh tch phn to tn hiu iu khin t l vi tch phn ca tn
hiu sai lch .
I
K
e(t) u(t)

Hnh 2.8: S khi b iu chnh tch phn
Phng trnh vi phn:
Trong : l hng s tch phn.
( )
( )
( )
I
I
K U s
W s
E s s
= +

B PI (t l - tch phn)
B iu chnh PI l cu trc ghp song song ca khu P v khu I. Tn hiu ra
ca b PI l tng tn hiu ra ca hai khu thnh phn.
e(t)
u(t)
I
U
P
U

Hnh 2.9: S khi ca b iu chnh t l - tch phn
Phng trnh vi phn: u(t) = e(t) + = [e(t) + ]
1
( ) (1 )
PI P
I
W s K
T s
= +

t
=
p
I
I
K
T
K
: hng s thi gian tch phn.
20

Phm Th

B PD (t l - vi phn)
B iu chnh PD l tng l cu trc ghp song song ca khu P v khu D.
Tn hiu ra ca b PD l tng tn hiu ra ca hai thnh phn.
e(t)
u(t)
D
U
P
U

Hnh 2.10: S khi b iu chnh t l - vi phn
Phng trnh vi phn:
( ) ( )
( ) . ( ) . [ ( ) . ]
P D P D
de t de t
u t K e t K K e t T
dt dt
= + = +

t
D
D
P
K
T
K
= : hng s thi gian vi phn.
Hm truyn t trong min Laplace:
B PID (t l - vi tch phn)
B iu chnh PID l tng l cu trc ghp song song ca ba khu: P, I v D.
e(t)
u(t)
D
U
P
U
I
U

Hnh 2.11: S khi ca b iu chnh t l - vi tch phn
Phng trnh vi phn ca b PID l tng:
0 0
( ) 1 ( )
( ) . ( ) ( ) . [ ( ) ( ) ]
t t
P I D P D
I
de t de t
u t K e t K e t dt K K e t e t dt T
dt T dt
= + + = + +
} }

Hm truyn t trong min Laplace:
21

Phm Th

Trong thc t c nhiu s iu khin khc nhau c th p dng cho h ri rc,
nhng s thng c s dng l hiu chnh ni tip vi b iu khin PID s.
Ta c s iu khin vi b PID s:
PID s ZOH
i tng iu
khin lin tc
y(t) u(k) e(k)
T
e(t) r(t)
Hnh 2.12: iu khin vi b PID s
Xut pht t m t ton hc ca b PID lin tc trn ta c:

0
( )
( ) . ( ) ( ) . = + +
}
t
P I D
de t
u t K e t K e t dt K
dt

Khi chuyn sang m hnh ri rc ca b PID s th u(t) thay bng = u(k).

- Khu t l c thay bng:
Hm truyn
( )
W ( )
( )
= =
P
P P
P
U z
z K
E z

- Khu vi phn
( )
( ) . =
D P
de t
u t K
dt
c thay bng sai phn li:

Bin i Z hai v ta c:
1
1
( ) ( ) 1
( ) . (1 ) ( ) . ( )
D D
D D
K K E z z E z z
U z K z E z E z
T T T z

= = =

Hm truyn:
( ) 1
W ( )
( )
D
D
U z z
z
E z z
(
=
(

- Khu tch phn c nhiu cch tnh:
22

Phm Th

Th nht l tnh tch phn ch nht li:
1
1
k
I I
k I i k I k
i
u K Te u K Te
=
= = +

Th hai l tnh tch phn ch nht ti:
1 1 1
1
k
I I
k I i k I k
i
u K Te u K Te

=
= = +

Th ba l tnh tch phn hnh thang:
1 1
1
1
2 2

=
+ +
= = +
k
I I i i k k
k I k I
i
e e e e
u K u K T

Hnh 2.13: Minh ha ba cch tnh tch phn
Trong ba cch tnh tch phn trnh by trn th cch tnh tch phn hnh thang
cho kt qu chnh xc nht, do thc t ngi ta thng s dng cng thc:
1
1
2
I I k k
k k I
e e
u u K T

+
= +

Bin i Z hai v ta c:

Hm truyn:
1
1
( ) 1 1
( )
( ) 2 1 2 1
I I I
I
U z K T K T z z
W z
E z z z
| | + + | |
= = =
| |

\ .
\ .

T cc hm truyn c bn va phn tch trn, ta rt ra c hm truyn ca
b PI, PD, v PID s nh sau:
1
( )
2 1
I
PI P
K T z
W z K
z
+ | |
= +
|
\ .

1
( )
D
PD P
K z
W z K
T z
+ | |
= +
|
\ .

1 1
( )
2 1
I D
PID P
K T K z z
W z K
z T z
+ + | | | |
= + +
| |
\ . \ .

T ta c s khi b PID s:
23

Phm Th

E(z) U(z)
D
K z 1
T z
+
I
K T z 1
2 z 1
P
K

Hnh 2.14: S khi b PID s
2.2.2 Phng php hiu chnh PID bng thc nghim (phng php Ziegler -
Nichols).
Phng php Ziegler Nichols l phng php thc nghim thit k b
iu khin P, PI hoc PID bng cch da vo p ng qu ca i tng iu
khin. B iu khin PID cn thit k c hm truyn l:

Ziegler Nichols a ra 2 phng php la chn thng s b iu khin PID
ty theo i tng.
Phng php Ziegler Nichols th nht
i tng iu
khin
( ) r t
( ) h t

Hnh 2.15: H thng b iu khin
Phng php ny s dng m hnh xp x qun tnh bc nht c tr ca i
tng iu khin: W( ) .
1
=
+
t
T s
K
s e
Ts

Phng php ny xc nh cc thng s K
P
, T
I
, T
D
sao cho h thng nhanh
chng v trng thi xc lp v vt l
max
khng vt qu mt gii hn cho php,
khong 40% so vi ( ) lim ( )
t
h h t
=
( )
40%
( )
max
max
h h
h
o

= s

24

Phm Th

Trong K (h s khuch i), T (hng s thi gian qun tnh), (thi gian
tr) l cc tham s ca m hnh xp x qun tnh bc nht c th c xc nh gn
ng t th hm qu h(t) ca i tng. Nu i tng c hm qu dng
nh hnh (2.10a) m t th t th h(t) ta c ra c:

- l khong thi gian tn hiu ra h(t) cha c phn ng ngay vi tn hiu
kch thch 1(t) ti u vo.
- K l gi tr ti hn
( ) lim ( )
t
h h t
=

- Gi A l im kt thc khong thi gian tr, tc l im trn trc honh c
honh bng . Khi T l khong cn thit sau tip tuyn ca h(t) ti A
t c gi tr K.
a)
t
T
t
T
K
b)
t
T
t
T
K
Hnh 2.16: Xc nh tham s cho m hnh xp x bc nht c tr
Sau khi xc nh cc tham s cho m hnh xp x ca i tng, Ziegler -
Nichols ngh s dng cc tham s K
P
, T
I
, T
D
cho b iu khin nh sau:
- K l gi tr gii hn .
- K ng tip tuyn ca h(t) ti im un ca n. Khi T
t
s l honh
giao im ca tip tuyn vi trc honh v T l khong thi gian cn thit ng
tip tuyn i c t gi tr 0 ti c gi tr K. Nh vy iu kin p dng c
phng php xp x m hnh bc nht c tr ca i tng l i tng phi n
nh, khng c dao ng v t nht hm qu ca n phi c dng ch S. Sau khi
c tham s cho m hnh xp x ca i tng, ta chn cc thng s ca b iu
chnh theo bng sau:
Bng 2.2: Xc nh cc thng s theo phng php Ziegler - Nichols th nht
25

Phm Th

B K/ Tham s K
P
T
I
T
D

P T/(T
t
.K) 0
PI 0.9 T/(T
t
.K) 10T
t
/3 0
PID 1,2 T/(T
t
.K) 2T
t
0,5 T
t

T bng 2.2 ta xc nh c cc thng s khc ca b iu chnh nh sau:
H s tch phn:
P
I
I
K
K
T
=

H s vi phn: K
D
= K
P
.T
D
Phng php Ziegler - Nichols th hai
thc hin phng php ny ta t T
I
= 0, T
D
= 0 ri tng dn gi tr K
P
ti gi
tr ti hn K
gh
h kn ch gii hn n nh, tc l tn hiu ra h(t) c dng dao
ng iu ha. Xc nh chu k ti hn T
gh
ca dao ng.
( ) e t
( ) r t
gh
K
( ) h t
( ) e t
( ) r t
gh
K
( ) h t
i tng
iu khin
Hnh 2.17: Xc nh h s khuch i ti hn
Xc nh thng s theo bng sau:
Bng 2.3: Xc nh cc thng s theo phng php Ziegler - Nichols th hai
B iu khin K
p
T
I
T
D
P 0.5
gh
K
0
PI 0.45.
gh
K 0.833.
gh
T
0
PID 0.6
gh
K 0.5.
gh
T 0.125
gh
T
2.3 B iu khin PID cho ng c mt chiu
Do ng c DC l khu qun tnh bc nht nh hnh 2.5 nn dng phng php
hiu chnh Ziegler - Nichols th nht.
26

Phm Th

t T T

Hnh 2.18: Thng s cho b iu khin ng c
T hnh 2.18 ta c: = 0.8(s); T=.15(s); K = 2.9167
Theo phng php Ziegler - Nichols ta c bng kt qu cc thng s ca ng c
nh sau:
Bng 2.4: Bng kt qu cc thng s ca ng c
B K/ Tham s K
P
T
I
T
D

P 0.643 0
PI 0.579 2.67 0
PID 0.7716 1.6 0.4
Vy hm truyn t ng vi tng b iu khin P, PI, PID nh sau:
( ) 0.643 =
P
W s

1 0.579
( ) 0.579(1 ); 0.21685
2.67 2.67
PI I
W s K
s
= + = =

1
( ) 0.7716(1 0.4 )
1.6
PID
W s s
s
= = +

Vi :
0.7716
0.48225; 0.7716.0.4 0.30864
1.6
I D
K K = = = =
27

Phm Th

Ngoi ra, khi h thng cha c nh mong mun th cn phi hiu chnh cc thng
s K
P
, K
I
, K
D
sao cho tha mn cc yu cu v ch tiu cht lng da vo bng sau.
Bng 2.5: S nh hng ca cc thng s K
P
, K
I
, K
D
ti cht lng
Tham s qu iu chnh Thi gian qu Sai s xc lp
p
K
Tng t thay i Tng
I
K
Tng Tng Khng xc nh
D
K
Gim Gim Thay i
28

Phm Th

CHNG 3: GII THIU PHN MM LABVIEW
3.1 Khi qut chung v LabVIEW
LabVIEW (Laboratory Virtual Instrument Electronic Workbench) ca hng
National Instruments l mt ngn ng bng ha; thng c s dng o
lng, kim tra, nh gi, x l, iu khin cc tham s ca thit b. LabVIEW gm
cc th vin thu nhn d liu, cc thit b iu khin, phn tch d liu, biu din v
lu tr d liu. N cn c cc cng c c thit k ring cho vic ni ghp v iu
khin thit b. im khc bit gia LabVIEW vi cc ngn ng lp trnh khc l
LabVIEW dng ngn ng lp trnh Graphical to ra cc chng trnh dng s
khi, cn cc ngn ng lp trnh khc dng trn c ch dng lnh.
Trong LabVIEW xy dng giao din ngi s dng bng vic thit lp cc
cng c v cc i tng. Giao din ngi s dng c hiu nh mt Font Panel,
sau a code vo trong s khi iu khin cc i tng trn Font Panel.
S khi cng c th hiu ging nh mt lu thut ton. LabVIEW c kh
nng thit lp mng truyn thng cho vic truyn v nhn d liu gia cc my tnh
trong cng nghip, c tch hp y cho vic truyn tin vi cc phn cng nh
GPIB, VXI, RS232, RS485. LabVIEW cng xy dng cc c trng cho vic kt
ni cc ng dng vi Web s dng LabVIEW Web Server v chun mng TCP/IP.
3.1.1 u im v nhc im ca LabVIEW
u im:
- Xy dng cc dng c iu khin v hin th d dng, nhanh chng. Tt c
kh nng ca LabVIEW u hin ln mn hnh.
- C kh nng thc thi nhng script m c gi t xa c quyn truy sut vo
NI DataShocket sever.
Nhc im:
- Ngi s dng khng quen vi lp trnh bng cc biu tng v quen vi lp
trnh bng cc cu lnh.
- C th b ri trong vic m biu .
29

Phm Th

3.1.2. Phm vi ng dng
Phn mm LabVIEW ang ngy cng pht trin v tr nn chuyn dng cho cc
h thng o lng. LabVIEW gip cho vic thit k cc thit b o o cho phng th
nghim da trn c s l cc thit b thc t, ngi s dng c th thao tc d dng
trn cc thit b o ny ging nh i vi cc thit b thc t.
LabVIEW c ng dng c th trong cng nghip nh:
- o, kim tra v phn tch tn hiu trong k thut o nhit , phn tch nhit
trong ngy.
- Thu thp d liu (Data Acquisition) nh thu thp gi tr p sut, cng
dng in.
- Phn loi sn phm dng chng trnh x l nh phn bit sn phm b
li, ph phm.
- Bo co trong cng nghip nh thu thp, phn tch d liu v bo co cho
ngi qun l xa thng qua giao thc truyn TCP/IP trong mi trng mng
Ethernet.
- Giao tip my tnh v truyn dn d liu qua cc cng, h tr hu ht cc
chun giao tip nh USB, COM, RS232, RS485.
3.2 K thut lp trnh LabVIEW
3.2.1 Thit b o (Virtual Instrument - VI)
Lp trnh LabVIEW trn c s cc thit b o. Cc i tng trong cc thit b
o c s dng m phng cc thit b thc nhng chng c thm vo bi
phn mm. Cc chng trnh LabVIEW c gi l cc thit b o (VIs). VIs bao
gm ba phn chnh: mn hnh Font Panel, mn hnh s khi Block Diagram, biu
tng v panel kt ni.
Font Panel
Font Panel l giao din vi ngi s dng. xy dng Font Panel ta dng
nhng b iu chnh d liu (Control) v dng c hin th d liu c x l
(Indicator).
30

Phm Th

- Control l cc i tng c t trn Font Panel cung cp d liu cho
cc khi trong chng trnh, n tng t nh u vo cung cp d liu.
- Indicator l i tng c t trn Font Panel dng hin th kt qu, n
tng t nh b phn u ra ca chng trnh.
Nhng b iu khin v dng c hin th ny c t trong Controls Palette
ca LabVIEW. Cc b iu khin l nhng nt xoay, nt nhn, b phm bm v cc
c cu input khc. Dng c hin th l nhng text, th, biu , led..

Hnh 3.1: Font Panel
Block Diagram
Block Diagram cha m source ha, c bit nh m G hoc m Block
Diagram gip cho VI (Virtual Instrument) chy. Block Diagram s dng cc biu
tng hm ha kt ni cc iu khin vi cc hin th thnh chng trnh
phc v cho ngi lp trnh. Block Diagram gm cc thit b u cui (Terminal),
nt (Node) v cc dy ni (wire).
- Terminal: L m biu tng cho cc iu khin hay hin th trong Font
Panel. N cha d liu ca cc iu khin hoc hin th nn n dng thay i d
31

Phm Th

liu gia Font Panel v Block Diagram. Khi nhp d liu t cc iu khin trong
Font Panel n s c truyn n cc thit b u cui.
- Nodes: L cc phn t thc hin chng trnh trong Block Diagram, n c
u vo v u ra, thc hin hot ng khi VI chy. Chng tng t nh cc lnh
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 vi cc iu khin v hin th
truyn d liu, mi loi dy c mt loi d liu ring, mu dy, loi dy ph thuc
vo loi d liu ca chng.
Dng d liu (data flow) i trong dy dn t nhng b iu khin ti cc khi
lnh thc hin v ti cc hin th.

Hnh 3.2: Block Diagram
Icon & Connector
- Icon (biu tng): L biu tng ca VI hay ca mt chng trnh, mt
chng trnh c mt biu tng ring hoc lm chng trnh con cho chng trnh
khc. Khi mt VI c s dng lm chng trnh con cho mt VI khc th VI
gi l SubVI.
32

Phm Th

Hnh 3.3: Icon
- Connector (b ni): L mt phn t ca Terminal dng ni cc u vo v
u ra ca cc VI. Khi s dng mt VI lm subVI th ta phi quy nh u vo v
u ra. u vo c kt ni vi cc iu khin nhn d liu, u ra kt ni vi
nhng khi lnh hoc cc thit b hin th khc.
Khi mun to Icon v Connector, ta a chut vo Icon mc nh trn gc phi
ca Font Panel nhp phi chut v chn Edit Icon, nhp phi chut vo Connector
v chn Show Connector chn kt ni u vo v u ra.
3.2.2 Mi trng LabVIEW
Getting started window
Getting started xut hin khi chy LabVIEW. S dng window ny to cc
VI, m cc file, tm v d, m ti liu hc, m help c nhng thng tin c bn.
Getting started s mt khi m mt v d hoc mt file hay to mt VI mi.

Hnh 3.4: Getting started
33

Phm Th

- Cc menu: Cc mc menu nm pha trn ca mt VI bao gm cc mc ph
bin ti cc giao tip khc cng nh open, coppy, paste...
- Thanh cng c: S dng cc nt nhn trn thanh cng c chy, dng VI
v g ri chng trnh.
- Context help windown: Context help hin th thng tin c bn v nhng d
n LabVIEW v tm hiu c chi tit hn nhng thng tin .
LabVIEW bao gm ba palettes: Controls Palette, Functions Palette, Tools Palette.
- Controls Palette: Bao gm iu khin v hin th xy dng Font Panel.

Hnh 3.5: Controls Palette
- Functions Palette: Bao gm cc VI v cc hm lnh xy dng Block
Diagram.
- Tools Palette: Dng trong Font Panel v Block Diagram. Cng c ny thc
hin chc nng ring nh ni dy, di chuyn cc khi, iu khin th, nhp s, ghi
nhn cho cc iu khin.

Hnh 3.6: Tools Palette

34

Phm Th

Bng 3.1: Chc nng ca Tools Palette

Color tool

Operating tool
Positioning tool
Labeling tool
Wiring tool

Object Pop-up menu tool

Scroll tool

Color copy tool

Breakpoint tool
Probe tool
Mt s b iu khin v hin th trong Controls Palete
- Numeric Controls
Khi mun ly cc iu khin s, ta vo Controls / Numeric Controls v chn cc
iu khin mnh mun. Cc phn t iu khin s dng iu khin s, thay i
gi tr iu khin s bng cc cch sau:
- S dng cng c hot ng hoc cng c nhn click bn trong hin th s
v thay i t bn phm.
- S dng cng c hot ng click vo nt tng hoc gim ca mt iu khin
s tng hoc gim gi tr.

Hnh 3.7: Numeric Controls
35

Phm Th

- Boolean
B cng c ny cung cp hai gi tr True v False. Khi thc hin chng trnh ta
s dng chut iu khin gi tr ca thit b. Vic thay i gi tr ca cc thit b
ch c tc dng khi cc thit b c xc lp ch l cc Control. Cn nu
ch l cc Indicator th gi tr khng thay i v chng l cc thit b hin th.

Hnh 3.8: Boolean
- String & Path
Cc iu khin ny dng nhp v hin th cc k t, s. N cng c th c
xc lp ch u vo hay u ra mun s dng cc phn t ny.

Hnh 3.9: String & Path
- th, biu
th, biu l nhng hin th dng biu din d liu s dng biu
hoc th. Ngn ng lp trnh LabVIEW h tr cho tt c cc dng d liu. Cc
36

Phm Th

kiu d liu dng Boolean, bytes, string, array, file, text, cluster v dng s c th
c chuyn i mt cch d dng sang cc dng cu trc.

Hnh 3.10: Graph
- Variables (bin)
Trong LabVIEW, cc bin c s dng di hai dng l bin ton cc (global
variables) v bin cc b (local variables).
- Bin ton cc: c s dng thc hin cng vic truyn v lu tr d liu
gia mt vi VIs.
- Bin cc b: Cho php ngi s dng c hoc vit thng tin ln mt trong
nhng thit b iu khin hoc thit b hin th trn Font Panel.
Kiu string (chui) l mt tp hp cc k t. Ta c th s dng chui tham gia
tnh ton x l.

Hnh 3.11: String
37

Phm Th

LabVIEW cung cp cho ngi s dng cc cng c thao tc nh tm kim,
xc nh di ca chui k t, chuyn dy k t thnh dng vit hoa v ngc li,
so snh chui, thay mt s k t trong chui ny sang mt s chui khc.
- Array (mng)
LabVIEW h tr cho ngi lp trnh c th to ra cc mng m trong cha
d liu kiu Numberic, String, Boolean. C mng mt chiu, mng hai chiu, mng
ba chiu. Cc mng thng c to ra bi cc vng lp. Vic s dng vng lp tt
cho cc ng dng bi v n xc nh mt vng b nh t khi n bt u.

Hnh 3.12: Array
3.2.3 Cc hm thng dng trong LabVIEW
Trong bt c ngn ng lp trnh no, ta cng thng gp v lm vic vi cc
phn t iu khin lung chng trnh l cc cu trc (Structures). Cc cu trc
iu khin lung chng trnh trong mt VI: For Loop, While Loop, Case Structure,
Sequence Structure v Fomula Node. Cc cu trc iu khin chng trnh trong
LabVIEW nm Function \ Programming \ Structures.
For Loop
For Loop l mt cu trc lp thc hin s bn trong n mt s ln nh trc,
khi thc hin ht s vng lp c nh trc th vng lp for mi a ra kt qu
thc hin s bn trong. For Loop c hai Terminal l:
- Count Terminal (Terminal u vo): Ch ra s vng lp phi thc hin.
38

Phm Th

- Iteration Terminal (Terminal u ra): Cha s vng lp thc hin.

Hnh 3.13: For Loop
While Loop
While Loop l mt cu trc lp thc hin s bn trong n cho n khi gi tr
Boolean a ti Conditional Terminal l trng vi iu kin c thit lp thc
hin vng lp. Khi ta ly mt vng lp while th c mt nt stop c nh km
dng vng lp khi iu kin vo l ng, ta click phi vo ng bin ca vng lp
chn iu kin l: stop if true hoc continue if true t menu xung.

Hnh 3.14: While Loop
Thanh ghi dch
Vi cc vng lp While Loops v For Loops s dng cc thanh ghi dch truyn
gi tr t vng lp ny n vng lp sau. Thanh ghi dch bao gm mt cp cc thit
b u cui i din nhau nm trn cc ng thng ca vin vng lp.

Hnh 3.15: S khi m t chc nng thanh ghi dch
39

Phm Th

Thanh ghi dch bn phi cha d liu sau khi kt thc vng lp. D liu ny
c dch n cui vng lp v chng xut hin bn tri thanh ghi dch ti thi
im bt u ca vng lp tip theo. Mt thanh ghi dch c th cha bt k d liu
no nh kiu d liu s, Boolean, String, mng.
Thanh ghi dch t ng ph hp vi kiu d liu ca i tng u tin ni vi
thanh ghi dch. khi to thanh ghi dch vi mt gi tr c th t bn ngoi vng
lp, ni gi tr khi to vi bn tri Terminal ca thanh ghi dch. Nu mun b gi
tr khi to bng cch ngt dy ni v khi ny gi tr khi to c mc nh ty
theo kiu loi d liu ca thanh ghi dch. LabVIEW khng hy b gi tr cha trong
thanh ghi dch cho n khi ng VI v xa n vng nh.
Case & Sequence Structures
C Case Structures v Sequence Structures c th c nhiu SubDiagram, nhng
ch c mt SubDiagram c nhn thy ti mt thi im. Ti ng vin bn trn
ca mi cu trc l mt ca s hin th SubDiagram m gm c s nh danh
(Diagram Identifer) gia v nt tng (Increment), nt gim (Decrement) hai
bn. Diagram Identifer ch ra SubDiagram hin thi c hin th.

Hnh 3.16: Case Structures v Sequence Structures
Formula Node
Formula Node l cu trc dng thc hin cc dy cng thc ton hc bn
trong n. Khi dng Formula Node ta c th vo cc cng thc trc tip trong mt
Block Diagram nh chut ch Labeling Tool. to cc u vo v cc u
ra, bm vo ng vin ca Formula Node v chn Add Input (Add Output), nh
tn bin vo bn trong hp. Cc cng thc c nh vo bn trong ng vin ca
Formula Node, mi cng thc trnh by phi kt thc bng du chm phy (;).
40

Phm Th

Hnh 3.17: Formula Node
SubVIs
Sau khi xy dng mt VI, biu tng v vung lin kt (Connector Panel) ca
n th ta c th s dng n trong mt VI khc. Mt VI bn trong mt VI khc c
gi l subVI tng ng vi mt th tc con trong ngn ng lp trnh dng text.
S dng subVI c nhng thun li sau:
- Chia ra tng Module r rng.
- D dng debug (d li).
- Khng phi to li code.
- i hi t b nh.
File I/O
File I/O (vo / ra) cha thng tin v khi phc cc thng tin t cc file trong a
cng. LabVIEW c nhiu chc nng sn c v VIs x l file I/O. Cc chc nng
ny v VIs c t chc thnh 3 mc:
- High Level File VIs.
- Intermediate File Functions.
- Advanced File Functions.

Hnh 3.18: File I/O
41

Phm Th

Chui
iu khin v hin th dng chui vo Controls / String & Path.
- Chiu di chui (String Length) cho bit s cc k t trong chui.

Hnh 3.19: String Length
- Ni chui (Concatenate Strings): Ni tt c cc u vo ca chui v cc
mng ca chui thnh mt chui u ra.

Hnh 3.20: Concatenate Strings
- Tp con chui (String Subset): Tr v mt tp ca chui bt u ti v tr
offset kt hp vi chiu di (Length) s k t. K t offset u tin c gi tr 0.

Hnh 3.21: String Subset
- Match Pattern: Tr v mt chui con thch hp. Nu tm thy mt chui ph
hp th n chia thnh ba chui con. Cn nu khng tm thy th chui con l rng.

Hnh 3.22: Match Pattern
- Format Into String: Bin i mt nh dng bt k sang mt nh dng c
th.

Hnh 3.23: Format Into String
Nguyn tc truyn thng qua cng ni tip RS232
42

Phm Th

Truyn thng ni tip l mt chun giao tip thng dng truyn pht d liu
gia my tnh v cc thit b ngoi vi nh thit b lp trnh hoc mt my tnh khc.
Truyn thng ni tip s dng mt my pht pht i mt d liu, mi mt ln
pht l mt bt d liu qua mt ng dy thng tin n my thu.

Hnh 3.24: Giao tip my tnh vi thit b NI qua cng RS232
Chun RS232 c ni ra mt gic cm gi l cng COM. RS232 s dng
phng thc truyn khng i xng, tc l s dng tn hiu in p chnh lch gia
mt dy dn v t. Cc cng ca RS232 c ngng in p quy c l -15V ti -
3V v t 3V ti 15V.
- Tn hiu c p ln hn +3V c coi c logic 0 hoc c gi tr cao (H).
- Tn hiu c p nh hn -3V c coi c logic 1 hoc gi tr thp (L).
- Tn hiu c p t -3V ti +3V th khng xc nh c.
Cng RS232 ch s dng hai trng thi in p l mc 0 hay mc 1.
i vi truyn thng ni tip ta quan tm ti bn tham s: baud rate truyn, s
bt d liu m ha mt k t, bt chn l, bt stop.

Hnh 3.25: Frame truyn theo chun RS232
43

Phm Th

- Bt Start: l bt u tin ca khung truyn. Bt ny l s chuyn trng thi t
in p m sang in p dng.
- Bt d liu: c truyn t bt thp nht (LSB) ti cc bt cao (MSB).
- Bt chn l: l bt sau cc bt d liu trong khung truyn. Nu c bt chn
l, bt ny cng b o ngc trng thi (in p m: 1; in p dng: 0). Bt ny
dng kim tra li.
- Bt stop: phn cui cng ca khung truyn bao gm 1, 1.5, 2 bt stop. Nhng
bt ny lun trng thi m.

44

Phm Th

CHNG 4: M HNH THIT K V KT QU
4.1 Thit k phn cng
Mch phn cng gm cc khi sau:
- Khi ngun 5V.
- Khi ngun 24V.
- Khi iu khin.
- Khi mch cng sut.
- Khi hin th.
- Khi giao tip (UART).
- Bn phm.
- Khi encoder.
- ng c.
S khi:
Khi hin th
(LCD)
Khi iu khin
Khi encoder
Khi ngun 24V Khi ngun 5V
Bn phm
ng c
Khi giao tip
(UART)
Khi mch cng
sut
Khi my tnh
(PC)

Hnh 4.1: S khi

45

Phm Th

4.1.1 Khi iu khin
S nguyn l:

Hnh 4.2: S nguyn l khi iu khin trung tm
Khi iu khin trung tm s dng chip ATmega16 c chc nng thu thp tn
hiu encoder, pht tn hiu iu khin ng c, truyn thng ni tip vi my tnh.
Cu trc chung ca ATmega 16

Hnh 4.3: S chn v hnh nh thc t ca AVR ATmega16
46

Phm Th

Hnh 4.4: S cu trc ca AVR ATmega16
47

Phm Th

- AVR ATmega16 l vi iu khin CMOS 8 bits tiu th in nng thp da
trn kin trc RISC (Reduced Instruction Set Computer). Vi kiu kin trc ny cho
php cc lnh thc thi trong mt chu k xung nhp, v th tc x l d liu c th
t 16 triu lnh/s tn s 16MHz. AVR ATmega16 cho php ngi thit k c th
ti u ho mc tiu th nng lng m vn bo m tc x l.
- AVR ATmega16 c 32 thanh ghi lm vic a nng. Ton b 32 thanh ghi
ny u c ni trc tip vi b x l s hc logic ALU (Arithmetic and Logic
Unit), cho php truy nhp vo 2 thanh ghi c lp trong mt chu k xung nhp. Kin
trc t c c tc x l nhanh gp 10 ln vi iu khin dng CISC thng
thng.
Cc c tnh ca ATmega 16
c ch to theo kin trc RISC tin tin nn hiu sut lm vic cao, in nng
tiu th thp.
- B lnh gm 131 lnh, hu ht u thc thi ch trong mt chu k xung nhp.
- 328 thanh ghi lm vic a nng.
- Tc x l d liu c th t n 16 triu lnh/s tn s 16Mhz.
- 16Kb FlashROM lp trnh ngay c trn h thng.
- Giao tip ni tip cho php lp trnh ngay trn h thng.
- Cho php 10000 ln ghi / xo.
- B nh EEPROM 512 bytes cho php 100000 ln ghi / xo.
- B nh SRAM 1Kb.
- B bin i ADC 8 knh, 10 bits.
- 32 ng I/O lp trnh c.
- B chuyn i ni tip ng h vn nng.
- Di in p hot ng: VCC = 4.5 5.5 (V).
- 2 b Timer / Counter 8 bits v 1 b Timer / Counter 16 bits vi cc ch
lm vic: so snh, chia tn tch bit v bt mu.
- 4 knh iu ch b rng xung PWM.
- B m thi gian thc vi b to dao ng ring.
- H tr b truyn nhn UART lp trnh c.
48

Phm Th

- H tr giao din truyn thng SPI ch / t.
- H tr b nh thi Watchdog vi b to dao ng ring, cho php lp trnh
c v t ng reset khi treo my.
- H tr b so snh tng t.
- 6 ch ng: Ch ri (Idle), ch tit kim in (Power - Save), ch
gim nhiu ADC (ADC Noise Reduction), ch ch (Standby), ch ch m
rng (Extended Standby) v ch gim bt in nng (Power - Down).
- Ch ri (Idle): Trong ch ri, CPU khng thc thi chc nng nhng vn
cho php USART, giao din ni tip hai chiu hng byte, b bin i ADC,
SRAM, Timer / Counter, cc port SPI v ngt h thng hot ng.
- Ch gim bt in nng (Power - Down): Trong ch gim bt in nng,
ni dung thanh ghi vn c bo v nhng b to dao ng, cc chc nng khc
ca chp khng hot ng cho n khi xut hin ngt ngoi tip theo hoc reset
phn cng.
- Ch tit kim in (Power - Save): Trong ch tit kim in, b nh thi
khng ng b vn hot ng cho php ngi dng s dng lm c s hot ng
cho ton h thng mc d thit b ang trong ch ng.
- Ch gim nhiu ADC (ADC Noise Reduction): Trong ch gim nhiu
ADC, CPU v tt c cc module I/O u khng hot ng tr b nh thi khng
ng b v b bin i ADC, lm gim n mc ti thiu nhiu chuyn mch
trong sut qu trnh bin i ca ADC.
- Ch ch (Standby): ch ch, thch anh / b to dao ng vn hot
ng trong khi ton h thng trng thi ng. N cho php h thng thc hin
qu trnh khi ng nhanh vi mc tiu th in p thp.
- Ch ch m rng (Extended Standby): ch ch m rng, c b to dao
ng chnh v b nh thi khng ng b vn tip tc hot ng.
S chn ca ATmega 16
S chn ca AVR ATmega16 nh hnh v 4.3. Cc chn tn hiu ca b vi x
l dng a tn hiu vo hay xut tn hiu ra. N bao gm 3 BUS chnh: BUS a
49

Phm Th

ch, BUS d liu, BUS iu khin nhng thng thng c phn thnh cc nhm
c th nh sau:
- Nhm cc chn ngun cp: a cc ngun nui cho b vi x l.
- Chn 10 VCC ni +5V.
- Chn 11 GND ni t.
- Nhm chn d liu, a ch (trng thi): Cc tn hiu ny thng l 3 trng
thi, trong a ch l tn hiu ra, cn d liu th c hai chiu. Mt s b vi x l
dng mt s chn truyn c tn hiu a ch v d liu. C th i vi AVR
ATmega16 l cc ng tn hiu ba trng thi, mc tch cc dng, gm cc chn:
- PORT A (PA7...PA0): Gm cc chn t 33 40. PORT A dng lm cc u
vo tng t cho b bin i ADC, hoc dng lm mt cng vo / ra hai chiu 8
bits khi b bin i ADC khng c s dng. Khi cc chn tn hiu t PA0 n
PA7 c s dng lm u vo v mc tch cc t vo cc chn l thp th chng
s cp dng khi cc in tr treo bn trong hot ng. Cc chn tn hiu ca PORT
A l ba trng thi khi mt trng thi reset c kch hot, ngay c khi b pht xung
clock khng chy.
- PORT B (PB7...PB0): Gm cc chn t 1 8. PORT B l mt cng vo / ra hai
chiu 8 bits vi cc in tr treo bn trong (dnh ring cho mi bit). Khi l u vo,
cc chn tn hiu PORT B c t vo mc tch cc thp s cp dng khi cc in
tr treo hot ng. Cc chn tn hiu ca PORT B l ba trng thi khi c mt trng
thi reset c kch hot, ngay c khi b pht xung clock khng chy.
- PORT C (PC7...PC0): Gm cc chn t 22 29. PORT C l mt cng vo / ra
hai chiu 8 bits vi cc in tr treo bn trong (dnh ring cho mi bit). Khi l u
vo, cc chn tn hiu PORT C c t vo mc tch cc thp s cp dng khi cc
in tr treo hot ng.
- PORT D (PD7...PD0): Gm cc chn t 14 21. PORT D l mt cng vo / ra
hai chiu 8 bits vi cc in tr treo bn trong (dnh ring cho mi bit). Khi l u
vo, cc chn tn hiu PORT D c t vo mc tch cc thp s cp dng khi cc
in tr treo hot ng.
50

Phm Th

- Chn RESET (chn 9): Reset u vo. Mt mc tch cc thp t ln chn ny
di hn chiu di xung nh nht s kch hot mt trng thi reset, ngay c khi b
pht xung clock khng chy. Nhng xung ngn hn khng m bo cho vic kch
hot mt trng thi reset.
- Chn XTAL1 (chn 13): L u vo ca b khuch i pht xung ngc v l
u vo ca mch iu khin b pht xung clock bn trong.
- Chn XTAL2 (chn 12): L u ra ca b khuch i pht xung ngc.
- Chn AVCC (chn 30): L chn ngun cp cho PORT A v b bin i ADC.
N c th ni ngoi vi VCC ngay c khi b bin i ADC khng c s dng.
Nu b bin i ADC khng c s dng th n c th ni vi VCC qua mt b
lc thng thp.
- Chn AREF (chn 32): L chn tham chiu tng t cho b bin i ADC.
Gii thiu hot ng ca mch nguyn l
Cc chn ngun:
- Chn 10: L chn VCC (+5VDC).
- Chn 11, 31: L hai chn GND (0VDC).
- Chn 9: Chn RESET, hot ng mc tch cc thp. Bnh thng n
mc cao (qua tr 10K ni vi +5VDC), khi n nt Reset (SW1) chn 9 c
ni vi t. T C6 (100nF) bo v chn chip v chng rung phm.
- Mch to dao ng bn ngoi: Chn dao ng thch anh Y1 c tn s
12MHz, hai t lc C3 v C4 hai chn dao ng chn 22pF.
- Chn 12 (XTAL1) v chn 13 (XTAL2): Tip nhn xung ngoi t b dao
ng thch anh bn ngoi cp xung cho ton b h thng bn trong chip hot
ng.
- Jumper J10 dng kt ni vi mch np, thng qua mch np chng ta
c th thay i chng trnh trong chip.
- Cng PORT C dng kt ni vi mn hnh LCD 20x4. Chn PORTC.3
dng iu khin n nn ca LCD.
51

Phm Th

- Chn t 3740 (PORTA.0PORTA.3) l cc chn dng c phm.
Ngoi ra PORT A cng l mt port m rng cho cc ng dng khc nh kha
Switch SW13 nhm loi b chc nng c phm.
- Ngt bn phm (INT2) l chn PORTB.2. PORTB.3 s dng khi encoder
c thm knh Z. Knh Z s c c xc nh v tr ca ng c. Ngoi ra
PORTB cng l mt PORT m rng cho cc ng dng khc nh kha Switch
SW14, SW15 nhm loi b chc nng ngt phm v chc nng np chip.
- PORT C: Ton b PORT C c dng cho vic hin th LCD. Ngoi ra
PORT C cng l mt PORT m rng cho cc ng dng khc nh kha Switch
SW12 nhm loi b LCD ra khi mch.
- POTR D: Hai bt l bt 0 v bt 1 c dng cho vic truyn thng ni tip
vi my tnh nh 2 line TXD v RXD.
- Cc bt 2, 3, 4 ca PORT D c dng cho vic x l xung bao gm vic
c xung v c chiu quay ca encoder.
- Cc bt 5, 6, 7 ca PORT D l cc bt dng iu khin tc ng c
DC. C th bao gm: bt 5 (PORTD.5) l bt cho php iu khin ng c quay
hoc dng, bt 6 (PORTD.6) l bt cho php iu khin ng c quay theo chiu
thun hoc chiu nghch, bt 7 (PORTD.7) l bt iu ch rng xung iu
khin tc ng c. Ngoi ra PORT D cng l mt PORT m rng khi cc
kha SW2, SW5, SW17 tc ng.
4.1.2 Khi ngun

Hnh 4.5: Khi ngun 5V
52

Phm Th

Hnh 4.6: Cu trc IC LM2576
IC LM2576 c th iu chnh c in p u ra. C th l iu chnh gi tr
R2 ta s thu c in p u ra tng ng.
Ura = 3.3V th R2 = 1.7 K
Ura = 5 V th R2 = 3.1 K
Ura = 12V th R2 = 8.84 K
Ura = 15V th R2 = 11.3 K
u ra s dng in p ngun 5V cp cho mch iu khin. Ta c c tnh ra
ca IC khi u ra 5V nh sau:
Bng 4.1: c tnh ra ca IC khi u ra 5V

53

Phm Th

Khi ngun s dng in p 24V ly t b n p u ra. in p 24V va cung
cp in p cho mch cng sut, va cung cp in p n nh cho mch iu khin
thng qua khi ngun trn. IC LM2576 c mc theo hnh 4.5 v in p a ra
l 5V, dng 3A. Tuy nhin in p a ra chn s 2 cha n nh v cn nhp
nh. Gii php cho vn ny l s dng cun cm 100mH dng b phn in
p nhp nh v san phng in p lm cho c tnh in p ra ca ngun n nh
hn.
4.1.3 Khi bn phm
S nguyn l:

Hnh 4.7: Khi bn phm

Hnh 4.8: S khi 74C922

54

Phm Th

Bng 4.2: u ra tng ng khi mt phm c nhn

74C922 l loi IC chuyn dng c bn phm 4x4. Cc chn t 14 l cc chn
c hng ROW1 ROW4. Cc chn c ct ca bn phm bao gm chn 8, 9, 10,
11 tng ng vi cc ct COL4 COL1. Khi c tn hiu phm c nhn s c mt
tn hiu mc cao c a ra chn 12 (DATA AVAL), chn ny a vo ngt
INT2 dng c trng thi ca phm mi khi c nhn. Khi c tn hiu ngt
INT2 ta tin hnh c d liu tr v thng qua cc chn DATA t chn 14 17 ca
74C922. Cc chn ny c ni ti PORT A ca vi iu khin. V vy m mi khi
c ngt ta ch vic c trng thi trn PORT A l hon ton c th nhn bit v iu
khin cc phm mt cch d dng.
4.1.4 Khi hin th (LCD)
S nguyn l:

Hnh 4.9: Khi hin th LCD v hnh nh thc t

55

Phm Th

Chc nng ca cc chn ca LCD 16x2
Bng 4.3: Bng chc nng cc chn ca LCD 16x2
Pin Symbol Function
1 Vss Power supply (GND)
2 Vdd Power supply (+)
3 V0 Contrast Adjust
4 RS Register select signal
5 RW Data read/write
6 E Enable signal
7 DB0 Data bus line
8 DB1 Data bus line
9 DB2 Data bus line
10 DB3 Data bus line
15 A Power supply for LED B/L (+)
16 K Power supply for LED B/L (-)

Gii thch s
- Cc chn PC.0PC.7 s c ni vo cc chn tng ng cng PORT C
trn chip. Chn PC.3 s c ni vo chn 34 iu khin n nn ca LCD.
- Bin tr R2 = 10K dng iu chnh tng phn ca mn hnh.
- Cc in tr R3 cng vi transistor Q1 s nhn tn hiu iu khin t MCU
bt tt n nn ca LCD.

56

Phm Th

4.1.5 Khi Encorder
S nguyn l:

Hnh 4.10: Khi x l tn hiu Encorder

Hnh 4.11: Cu to ca IC 74LS14 v bng trng thi vo / ra
Gii thch s
Tn hiu t encoder v c th b nhiu v cha vung nn c th gy ra vic
c sai s xung vi iu khin. Chnh v vy qua mch o tn hiu xung ny tn
hiu s vung hn to iu kin thun li cho vi iu khin x l. S dng hai
ln o v khi o ln th nht tn hiu xung s b o li trng thi v gy kh khn
cho vic iu khin cng nh xc nh chiu quay. Tn hiu qua b o ln th
nht, tip tc c a qua b o th hai. Tn hiu ra qua b o ny c trng thi
ging nh trc khi a vo cc b o. Ngoi ra trc khi a vo vi iu khin ta
treo cc tn hiu ny ln in p ngun (5V) vi mc ch khi tn hiu vo c th
di mc 5V v c th ri vo mc in p m vi iu khin khng th nhn bit
l mc 1 hay 0. V vy khi tn hiu c in p nh hn s c b in p
vi iu khin c th nhn bit c mc tn hiu.

57

Phm Th

4.1.6 Khi truyn thng ni tip RS232
S nguyn l:

Hnh 4.12: Cu trc mch chuyn i tn hiu

Hnh 4.13: Cu to v hnh nh bn ngoi ca vi mch MAX232
Gii thch hot ng ca mch:
Do s khc bit mc tn hiu 0 v 1 hai im: my tnh v vi iu khin. V
vy mun thc hin ghp ni gia hai im ny ta cn phi s dng mt mch
58

Phm Th

chuyn i tn hiu hai bn c th nhn bit c nhau. C th ni mt cch r
rng hn, trn cng COM ca my tnh s dng hai mc in p 0 ng vi 12V
v 1 ng vi -12V. Trong khi ti cng ni tip ca vi iu khin th li khc
bit hon ton. ng vi mc in p 0V s quy nh l mc 0, cn mc in
p 5V s quy nh mc 1. Chn MAX232 l mt IC chuyn dng cho vic
chuyn i mc tn hiu cho hai im ny. MAX232 c chc nng l mt b iu
khin ng truyn (b chuyn i in p) chuyn cc tn hiu RS232 (-12V
+12V) v cc mc in p TTL (0V 5V) c cc chn RXD v TXD ca
Atmega16 chp nhn v ngc li chuyn tn hiu t Atmega16 v RS232. c
th hot ng bnh thng v t sai s th MAX232 cn mc thm t cc chn 1, 2,
4, 5, 6, 15, 16 c gi tr t 1uF n 22uF. mch trn dng t vi gi tr 10uF.
MAX232 c hai i chn truyn v hai i chn nhn. mch ny cp chn truyn
nhn s dng l T2IN v R2OUT.
4.1.7 Mch cng sut
4.1.7.1 Mch cu H
S nguyn l:

Hnh 4.14: S mch cu H
59

Phm Th

Hnh 4.15: Nguyn l hot ng ca mch cu H
Chng ta s kho st hot ng ca mch cu H nh sau:
Gi s bng cch no m hai kha L1 v R2 c ng li (L2 v R1 vn
m), d dng hnh dung c mt dng in chy t V qua kha L1 n u A v
xuyn qua i tng n u B ca n trc khi qua kha R2 v v GND (nh hnh
4.15a). Nh th, vi gi s ny s c dng in chy qua i tng theo chiu t A
n B. Mt gi s khc l R1 v L2 ng trong khi L1 v R2 m, dng in li xut
hin v ln ny n s chy qua i tng theo chiu t B n A nh trong hnh
4.15b (VR1BAL2GND). Nh vy chng ta c th dng mch cu H
o chiu dng in qua mt i tng (hay c th o chiu quay ng c). Cc
kha L1, L2, R1, R2 l cc cp MOSFET IRF9540 v IRF540. MOSFET l vit tt
ca cm t Meta Oxide Semiconductor Field - Effect Transistor tc Transisor hiu
ng trng c dng kim loi v oxit bn dn. Hnh 4.16 m t cu to ca
MOSFET v k hiu ca hai loi MOSFET knh N v knh P.

Hnh 4.16: Cu to v k hiu ca MOSFET knh N v knh P
MOSFET c nguyn tc hot ng da trn hiu ng in trng to ra dng
in trn knh DS. MOSFET l linh kin c tr khng u vo ln thch hp cho
khuch i cc ngun tn hiu yu. Mt c im ni bt ca MOSFET so vi
60

Phm Th

transistor lng cc thng thng l di tn s hot ng rt rng, MOSFET c th
lm vic tn s rt cao.
Cu to ca MOSFET ngc Knh N
- G (Gate): gi l cc cng.
- S (Source): gi l cc ngun.
- D (Drain): gi l cc mng.
- MOSFET knh N c hai lp bn dn loi P t trn nn bn dn N, gia hai
lp P - N c cch in bi lp SiO
2
, hai lp bn dn P c ni ra thnh cc D
v cc S, nn bn dn N c ni vi lp mng mng trn sau c u ra
thnh cc G.
- MOSFET c in tr gia cc G vi cc S v gia cc G vi cc D l v
cng ln, cn in tr gia cc D vi cc S ph thuc vo in p chnh lch gia
cc G v cc S (U
GS
).
- Khi in p U
GS
= 0 th in tr R
DS
rt ln; khi in p U
GS
> 0, do hiu ng
t trng lm cho in tr R
DS
gim; in p U
GS
cng ln th in tr R
DS
cng
nh.
S nguyn l b cch ly quang 4N35

Hnh 4.17: S b cch l quang
Do mch cu H s dng 4 MOSFET nn cn 4 mch cch ly quang iu
khin 4 MOSFET ny. Tc dng ca mch cch ly quang l cch ly hon ton v
in gia mch cng sut c in p cao v mch iu khin c in p thp. Ban
61

Phm Th

u MOSFET khng c kch, khng c dng in trong mch, in p chn S
bng 0. Khi MOSFET c kch v dn, in tr dn R
DS
rt nh so vi tr khng
ca ng c nn in p chn S gn bng in p ngun l 24V. Do yu cu ca
MOSFET, kch dn MOSFET th in p kch chn G phi ln hn chn S t
nht 3V, ngha l t nht 27V trong khi chng ta dng vi iu khin kch
MOSFET, rt kh to ra in p 27V. Nh vy MOSFET knh N khng ph hp
lm cc kha pha trn trong mch cu H. MOSFET knh P thng c dng
trong trng hp ny. Tuy nhin, mt nhc im ca MOSFET knh P l in tr
dn R
DS
ca n ln hn MOSFET knh N. V th, MOSFET knh P trong mch cu
H dng loi ny thng b nng v d hng hn MOSFET knh N, cng sut mch
cng b gim phn no. Trong ti dng hai MOSFET knh N IRF540 v hai knh
P IRF9540 ca hng International Rectifier lm cc kha cho mch cu H. Cc
MOSFET loi ny chu dng kh cao (c th n 30A danh ngha) v in p cao
nhng c nhc im l in tr dn tng i ln. Trong mch trn dng hai loi
cu phn p cho hai loi MOSFET knh N v knh P. C th MOSFET knh P
c kch in p khong 18.5V. MOSFET knh N c kch in p khong
7V. Trong s trn khi chn PWM1 mc thp th n LED trong vi mch
4N35 s pht sng lm cho transistor quang c kch hot, kch cc cu phn p
cho MOSFET dn ng vi in p dn ca mi MOSFET.
IC kch cu H 74LS157

Hnh 4.18: Mch kch cu H s dng IC 74LS157
62

Phm Th

Cu to, s nguyn l, bng chn l ca IC 74LS157 c cho hnh (4.19)

Hnh 4.19: S cu to, nguyn l v bng chn l ca IC 74LS157
Theo bng chn l v s mch nguyn l trong m hnh ta c bng tng ng
sau:
Bng 4.4: Bng chn l
EN DIR OUTPUT
1 x L
0 0 PWM GND
0 1 GND PWM
Nh vy khi o chiu quay bng bin DIR th tng ng vi cc bin u ra
KENH1 v KENH2 (trong hnh 4.18) s b o chiu. T dn ti chiu quay ca
ng c cng o tng ng nh mch cu H.
Tn hiu t cc bin u ra KENH1, KENH2 s c o li trng thi sau
c a ra b cch ly quang. Do b cch ly quang c kch bi tn hiu mc thp
63

Phm Th

nn ta cn o li trng thi ca cc tn hiu ny c th m bo tnh chnh xc
v mt ton hc v thut ton iu khin.
4.2 Thit k phn mm
4.2.1 Chng trnh trn vi iu khin
Da trn yu cu thit k ca n nn ta a ra gii thut iu khin ng c
nh sau:
- Khi bt u chng trnh dng phm chn mt trong hai ch iu khin.
Th nht iu khin trn my tnh (l yu cu ch yu ca ti); th hai l iu
khin trn Board mch m khng cn n s tham gia ca my tnh (PC).
- Vi thut ton iu khin trn my tnh ch yu da trn PC. Sau khi tnh ton
v x l my tnh s truyn d liu xung iu khin ng c (DC). Nhim v ca
Board mch l nhn tn hiu iu khin t my tnh sau a ra tn hiu xung
PWM iu khin ng c. ng c c gn mt b encoder s c thng tin v
tc di dng xung, sau gi li Board mch tnh ton tc thc ca ng c
v gi li gi tr ny ln PC tip tc mt chu k mi.
- Vi thut ton iu khin trc tip ti Board mch th ta s nhp trc tip gi
tr PID t bn phm. Sau gi tr iu khin c tnh ton trc tip ti vi iu
khin v sau a ra tn hiu PWM iu khin ng c. ng thi Board mch
cng c gi tr t encoder gi v, tnh ton v a ra gi vn tc. Sau gi tr ny
c a tr li thut ton iu khin PID bt u mt chu k mi. Phng php
ny thng c s dng khi vic truyn thng v iu khin trn my tnh gp
tht bi.
- Ton b chng trnh trn vi iu khin gm: chng trnh chnh (Main
Program) v 4 trnh phc v ngt (Interrupt Service Routine) vi lu thut ton
nh sau:

64

Phm Th

Lu thut ton chng trnh chnh:
Start
Dng khn cp
Key = ES
Chn mode
iu khin
B iu khin l
PC
Dng khn cp
Chuyn mode
B iu khin l Vi
iu khin
t thng s PID
t tc
Chn chiu quay
iu khin theo cc tham s
ci t
End
Dng khn cp
Chuyn mode
ng
sai
ng
sai
sai
ng
ng
sai
ng
sai
1 2
Nhn d liu t PC
gi xung
PC
RS232
iu chnh rng
xung tng ng vi tn
hiu iu khin t PC
o tc t ng
c DC
Truyn tc
iu khin theo
ON/OFF
iu khin theo
chiu quay

65

Phm Th

Ngt ngoi 1 (INT1) x l xung
Start
Demxung = 0
Chiu
Xung ++
Xung --
0
1
Quy nh chiu
thun
Quy nh chiu
ngc
End

Ngt Timer1 tnh tc
start
Ci t timer1 : 10ms
Gi tr cn np cho TCNT1 = C567;
Tnh g tr tc (vng/giy)
tocdo = xung;
tocdo = (tocdo*100)/108;
End
Truyn gi tr tc (vng/giy)
ln PC

Bin : xung int;
Bin : tocdo float;

66

Phm Th

Ngt truyn thng
Start
Data = UDR
Data = S
Status = 0
Start = 1
Start =1
End
Buffer[i] = Data
i++
Start = 0
Status = 1
Data = e
sai
ng
sai
sai
ng
ng

UDR : L thanh ghi nhn d liu truyn thng theo chun UART.
Data : L bin ly d liu t thanh ghi UDR a vo mng buffer .

67

Phm Th

Ngt INT0 qut phm
Start
c gi tr PORTA
PORTA = 0x02
PORTA =0x08
PORTA = 0X07
A[i] = 0
I ++ ;
Tr 20ms
A[i] = 1
I ++ ;
Tr 20ms
PORTA = 0x0F
X l chui v tr ra gi tr s
i = 0;
End
ng
ng
ng
ng
sai
sai
sai
sai
PORTA = 0X0D
A[i] = 9
I ++ ;
Tr 20ms
A[i] = Thuan
I ++ ;
Tr 20ms
PORTA = 0X0B
A[i] = Nguoc
I ++ ;
Tr 20ms
ng
PORTA = 0X01
A[i] = ES
I ++ ;
Tr 20ms
A[i] = AL
I ++ ;
Tr 20ms
ng
A[i] = Enter
I ++ ;
Tr 20ms
PORTA = 0X00
sai
ng
sai
sai
ng
sai

68

Phm Th

4.2.2 Chng trnh trn LabVIEW
69

Phm Th

Start
c gi tr vn tc
t vi iu khin
Err_k = SP Speed;
Up_k = Kp * Err_k ;
Ud_k = Kd*( Err_k Err_k-1)/T ;
Ui_k = Ui_k-1 + Ki*T*(Err_k + Err_k-1))
U_k = Up_k + Ui_k + Ud_k ;
Err_k-1 = Err_k;
Ui_k-1 = Ui_k ;
Output PID > 255 Output PID = 255
End
Output PID = 0
Truyn rng
xung ng vi vn
tc iu khin
Output PID < 0
Hin th gi tr vn
tc thc
Hin th cc gi tr
SP
Kp, Ki, Kd
th vn tc ca
ng c
ng
sai
ng
sai
Chn cng truyn
thng
ON / OFF ?
ON
OFF
Truyn gi tr rng
xung t s sang
chui
Truyn gi tr ON
Chn chiu quay

70

Phm Th

4.3 Kt qu thc nghim

Hnh 4.20: M hnh thc t
4.3.1 Kt qu thc nghim b iu khin PI
Thng s b diu khin PI l: K
P
= 0.573427, K
I
= 0.265734

Hnh 4.21: Giao din ngi dng khi vn tc t l 50 vng/s
71

Phm Th

Ta nhn thy vi b iu khin PI th ng c DC 24V cng t c tc
t v n nh, sai lch tnh nh. Ta tip tc s dng lut iu khin PID.
4.3.2 Kt qu thc nghim b iu khin PID
Thng s b diu khin PI l: K
P
= 0.573427, K
I
= 0.160839, K
D
= 0.041958

72

Phm Th

i vi lut iu khin PID th ng c t c tc t tuy vn cha
trit tiu c sai lch tnh nhng ng c vn chy n nh.

73

Phm Th

CHNG 5: KT LUN V HNG PHT TRIN
5.1 Kt lun
Qua thi gian thc hin n ny, chng em c dp c kim chng l
thuyt qua nhiu thc nghim v hon thnh n ng theo yu cu, thi gian
quy nh. V chng em thc hin c nhng cng vic sau:
- L thuyt
+ Tm hiu v cu to, phng php iu khin tc ca ng c in mt
chiu.
+ Tm hiu lut iu khin PID v tm b iu khin cho ng c in mt
chiu.
+ Tm hiu v phn mm LabVIEW.
- M hnh thc nghim
+ Thit k mch cng sut cho ng c in mt chiu s dng MOSFET
(mch cu H).
+ Thit k mch h tr giao tip thu thp tc s dng vi iu khin
ATmega16.
+ Thit k b in khin PID s trn phn mm LabVIEW.
Mc d chng em rt c gng nhng do kin thc, kh nng thc hnh c hn
nn khng trnh khi thiu st nhm ln nn knh mong thy c v cc bn ng
gp kin thm n c hon thin hn na p ng vi yu cu thc t.
5.2 Hng pht trin
Vi s pht trin nhanh chng ca Khoa hc k thut ni chung v ngnh T
ng ho ni ring p ng c nhu cu thc t hin nay th ti ny phi tip
tc nghin cu pht trin thm.
- C th iu khin c nhiu i tng khc nhau.
- Nng cp giao tip (card PCI, RS485, USB) iu khin chnh xc hn. S
dng nhiu thut ton iu khin nng cao trn LabVIEW ci thin cht lng h
thng iu khin.

74

Phm Th

TI LIU THAM KHO
Ting Vit:
[1] Bi Quc Khnh, Nguyn Vn Lin, Nguyn Th Hin, Truyn ng in, NXB
Khoa Hc V K Thut, 2001.
[2] Nguyn Th Hng, iu khin T ng, Trng H S Phm K Thut TP H
Ch Minh, 2006.
[3] Nguyn Th Lan Hng, Phm Th Ngc Yn, Nguyn Vit Tng, LabVIEW
thit b o v giao din ngi my, NXB Khoa Hc V K Thut H Ni, 2008.
[4] TS.Nguyn B Hi, Gio Trnh Lp trnh LabVIEW, Trng H S Phm K
Thut TP H Ch Minh, 2011.
[5] V Minh Chnh, Phm Quc Hi, Trn Trng Minh, in t cng sut, NXB
Khoa Hc V K Thut H Ni, 2004.
Ting Anh:
[1] LabVIEW Tutorial Manual, National Instruments Corporation
WebSite:
http://www.dientuvietnam.net/
http://www.tailieu.vn
http://www.hocdelam.org/vn/
http://www.hocavr.com/

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