Thực tập kĩ thuật

Thc tp k thut GVHD: TS ng Khoa -------------------------------------------------------------------------------------------------------------------------------

1

MC LC

LI M U..3

Chng 1: TNG QUAN....4

1. Gii thiu chung v Arduino...4

1.1. Tng quan v Arduino Uno..4

1.2. S chn Arduino..5

2. Gii thiu v phn mn Proteus...7

3.Cc phn mm s dng.9

4. Chi ph thc hin ti9

Chng 2: Nhn dng ng c DC11

1. Xc nh thng s ng c ...11

1.1 Xc nh dng hm truyn ..11

1.2. Xc nh hm truyn v thng s PID ...11

1.3. Kim nghim thng s PID21

2. Nhn dng ng c thc24

Chng 3: Thit k v m phng mch iu khin ng c DC- Encoder...30

1. Thit k mch iu khin ng c DC-Encoder30

1.1. Cch bm xung trong Arduino30

1.2. c Encoder bng phng php ngt ngoi ..31

1.2.1. Gii thiu v Encoder..31

1.2.2. Ngt ngoi trong Arduino33

1.3. Ngt Timer..35

1.4. Nguyn tc iu khin ng c ..36


2

1.5. Thit k mch trn Proteus.39

2. Thit k giao din iu khin bng Megunolink...41

2.1. Gii thiu v Megunolink..41

2.2. Cc bc thit k giao din Megunolink42

2.3. Kt qu bi ton..49

Chng 4: M phng tay my 1DOF52

1. Thit lp h phng trnh vi phn..52

2. M phng bng Simulink..54

3. M phng bng Matlab..59

Chng 5: tng pht trin66

Kt lun..72

Ti liu tham kho.73

Ph lc...74


3

LI M U

Hin nay khoa hc k thut ang pht trin rt nhanh, mang li nhng li ch cho con

ngi v tt c nhng lnh vc trong cuc sng. nng cao i sng nhn dn v ha

nhp vi s pht trin chung ca th gii, ng v nh nc ta ra nhng mc tiu

a t nc i ln thnh mt nc cng nghip ha hin i ha. thc hin iu

th mt trong nhng ngnh cn quan tm pht trin nht l ngnh c kh ni chung v

c in t ni ring v n ng vai tr quan trng trong vic sn xut ra cc thit b cng

c ( my mc, robot) ca mi ngnh kinh t.

S xut hin ca Arduino to ra ln sng trn th gii trong vic lp trnh v thit

k cc mch vi iu khin m khng i hi qu nhiu kin thc v lp trnh. Hin nay

vic s dng Arduino Vit Nam tr nn ph bin v c s dng rng ri trong cc

trng i hc cng ngh ca Vit Nam, cng nh nhng ngi am m v lp trnh vi

iu khin.

Vic s dng Arduino iu khin ng c cho thy kh nng ca Arduino, gp

phn iu khin cc c cu, Robot tr nn linh hot v d dng hn. V vy vic iu

khin ng c bng Arduino ang c s dng rng ri trong cng nghip . phng th

nghim hin nay.

Bi vit khng trnh khi nhng sai st, rt mong c s gip v ch bo ca

thy c chng em lm tt hn trong nhng ln tip theo.

Cui cng em xin trn thnh cm n s ch bo tn tnh ca thy c trong b mn C

ng Dng v c bit l s hng dn ca thy ng Khoa gip chng em hc

c rt nhiu iu v hon thnh mn thc tp k thut ny.

Trn trng cm n

H Ni, ngy thng nm 2015


4

Chng 1: Tng quan

1. Gii thiu v Arudino

Arduino ra i ti th trn Ivrea thuc nc Italia. c t tn theo v vua vo th k

th 9 l King Arduin. Arduino chnh thc c gii thiu vo nm 2005 nh l 1 cng c

khim tn dnh cho cc sinh vin v gio s Massimo Banzi l 1 trong nhng ngi pht

trin Arduino ti trng IDII. Mc d hu nh khng c tip th g c, tin tc v

Arduino vn lan truyn vi tc chng mt nh nhng li truyn ming tt p ca

nhng ngi dng u tin. Hin nay Arduino ni ting ti ni c ngi n th trn

Ivrea thm quan ni sinh ra ca Arduino.

Arduino thc ra l mt bo mch vi x l, c dng lp trnh tng tc vi cc

thit b phn cng nh cm bin, ng c, n, hoc cc thit b khc. c im ni bt

ca Arduino l mi trng pht trin ng dng cc k d s dng, vi mt ngn ng lp

trnh c th hc mt cch nhanh chng ngay c vi nhng ngi t am hiu v in t v

lp trnh. V iu lm nen hin tng Arduino chnh l mc gi rt thp v tnh cht

ngun m t phn cng ti phn mn. Ch vi hn 200.000 VND , ta c th s hu mt

board Arduino c 14 ng I/O thoa cc iu khin thit b.

1.1. Tng quan v Arduino Uno

Arduino Uno l 1 bo mch thit k vi b x l trung tm l vi iu khin AVR

Atmega328.

N c 14 chn digital I/O, 6 chn u vo (input) analog, thch anh dao ng 16Mhz.

Mt s thng s k thut nh sau :


5

Bng 1.1: Bng thng s v Arduino Uno

Chip ATMega328

in p cp ngun 5V

in p u vo 7-12V

in p u vo gii hn 6-20V

S chn Digital I/O 14(c 6 chn iu ch rng xung PWM)

S chn nlog 6

DC Current per I/O Pin 40mA

DC Current for 3.3V Pin 50mA

Flash Memory 32KB (ATMega328) vi 0,5KB s dng bootloader

SRAM 2KB (ATMega328)

EEPROM 1KB (ATMega328)

Xung nhp 16 MHz

1.2. S chn ca Arduino

Hnh 1.1: S Arduino Uno


6

a) USB (1).

Arduino s dng cp USB giao tip vi my tnh. Thng qua cp USB chng ta

c th Upload chng trnh cho Arduino hot ng, ngoi ra USB cn l ngun cho

Arduino.

b) Ngun ( 2 v 3 ).

Khi khng s dng USB lm ngun th chng ta c th s dng ngun ngoi thng

qua jack cm 2.1mm ( cc dng gia ) hoc c th s dng 2 chn Vin v GND

cp ngun cho Arduino.

Bo mch hot ng vi ngun ngoi in p t 5 20 volt. Chng ta c th cp mt p

ln hn tuy nhin chn 5V s c mc in p ln hn 5 volt. V nu s dng ngun ln

hn 12 volt th s c hin tng nng v lm hng bo mch. Khuyt co cc bn nn

dng ngun n nh l 5 n di 12 volt.

Chn 5V v chn 3.3V (Output voltage) : cc chn ny dng ly ngun ra t ngun m

chng ta cung cp cho Arduino. Lu : khng c cp ngun vo cc chn ny v s

lm hng Arduino.

Dng in trong mch Arduino ch vo khong 50mA

GND: chn mass.

c) Chip Atmega328.

Chip Atmega328 C 32K b nh flash trong 0.5k s dng cho bootloader. Ngoi ra

cn c 2K SRAM, 1K EEPROM.

d) Input v Output ( 4, 5 v 6).

Arduino Uno c 14 chn digital vi chc nng input v output s dng cc hm

pinMode(), digitalWrite() v digitalRead() iu khin cc chn ny ti s cp chng

cc phn sau.

Cng trn 14 chn digital ny chng ta cn mt s chn chc nng l:


7

Serial : chn 0 (Rx ), chn 1 ( Tx). Hai chn ny dng truyn (Tx) v nhn (Rx) d

liu ni tip TTL. Chng ta c th s dng n giao tip vi cng COM ca mt s

thit b hoc cc linh kin c chun giao tip ni tip.

PWM (pulse width modulation): cc chn 3, 5, 6, 9, 10, 11 trn bo mch c du ~ l

cc chn PWM chng ta c th s dng n iu khin tc ng c, sng ca

n

SPI : 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK), cc chn ny h tr giao tip theo

chun SPI.

I2C: Arduino h tr giao tip theo chun I2C. Cc chn A4 (SDA) v A5 (SCL) cho php

chng tao giao tip gia Arduino vi cc linh kin c chun giao tip l I2C.

e) Reset (7): dng reset Arduino.

2. Gii thiu v phn mn Proteus

Phn mn Proteus l phn mn cho php m pohngr hot ng ca mch in t bo

gm phn thit k mch v vit chng trnh iu khin cho cc h vi iu khin nh

MCS-51, PIC, AVR, .... Proteus l phn mn m phng mch in t ca Lanccenter

Electronics, m phng cho hu ht cc linh kin in t thng dng, c bit h tr cho

cc MCU nh PIC, 8051, AVR..


8

Hnh 1.2: Giao din khi ng Proteus 8.0

Phn mn bao gm 2 chng trnh ISIS cho php m phngr mch v ARES dng

v mch in. Proteus l cng c m phng cho cc li vi iu khin kh tt, n h tr cc

dng vi iu khin nh PIC, 8051, AVR, ...vv cc giao tip I2C, SPI, CAN, USB,

Ethenet...ngoi ra cn m phng cc mch s, mch tng t mt cch hiu qu.

m phng c Arduino trn proteus th chng ta cn phi download th vin arduino

cho proteus. c c th vin ny cc bn cn truy cp vo trang web:

http://blogembarcado.blogspot.com/search/label/Proteus

Hnh 1.3: Th vin m phng Arduino


9

Sau khi download v cc bn chp 2 file ARDUINO.IDX v ARDUINO.LIB vo th

mc:

Proteus 7:

C:\Program Files (hoc x86) \Labcenter Electronics\Proteus 7 Professional\LIBRARY

Proteus 8:

C:\Program Files (hoc x86) \Labcenter Electronics\Proteus 8

professional\Data\LIBRARY

Trong th vin ny h tr 5 loi board Arduino khc nhau trong gm c Arduino

Uno, MEGA, NANO, LILYPAD v UNO SMD v mt cm bin siu m Untrasonic.

Sau khi chp xong chng ta khi ng Proteus ln vo th vin linh kin bng cch

bm phm P v g t kho l ARDUINO chng s hin ra danh sch cc board hin c

y ti chn Arduino Uno.

Hnh 1.4: M phng Arduino bng Proteus.

Lu chng ta cn phi cp ngun vo 2 chn 5V v Gnd trn mch nh hnh trn.

3.Cc phn mm s dng:


10

-Matlab-simulink:m phng hot ng, tm hm truyn

-Arduino IDE: bin dch code C sang file HEX

-Meguno link: Thit k giao din

-Proteus: M phng mch Arduino

4. Chi ph thc hin ti

Sau y l bng chi tit cc linh kin c s dng trong bi thc tp nh sau:

Bng 1.2: Bo gi linh kin c s dng

STT Tn linh kin S lng Bo gi Thnh tin

1 Arduino Uno 1 250.000 250.000

2 LCD L016M 1 75.000 75.000

3 L293D 1 25.000 25.000

4 Bin tr 10K 2 2.500 5.000

5 Board trng 1 45.000 45.000

6 DC - Encoder 2 100.000 200.000

7 Cc linh kin ph 10.000 10.000

Tng 610.000


11

Chng 2: Nhn dng ng c

1. Xc nh thng s ng c

1.1 Xc nh dng hm truyn

Hm truyn ng c 1 chiu u vo in p; u ra vn tc gc:

Hnh 2.1 : S in c

-ng c DC: in tr aR ; cun cm L; hng s phn sc in ng eK ; hng s momen

mK ; Momen qun tnh rto mJ ;

-Ti: Momen qun tnh J

1 1( ) ( )J J b K K R K R Um e m a m a

(phn xy dng PTVP cp chng 4)

Laplace 2 v=>/( )

( )( )

( )

m a

e mm

a

K RsG s

K KU sJ J s b

R

=>G(s) c dng 1

k

Ts

1.2. Xc nh hm truyn v thng s PID

n vi dng tnh PID: gc [xung]; vn tc gc [xung/s]; in p u (V); tn

hiu iu khin U cp cho chn 9 (PWM): 0-255 tng ng vi u ngun cp 9V do U

tuyn tnh vi u nn ta quy c n v ca n l V


12

Tm hm truyn:

*Cp U=255V o [xung/s]

Code test ng c DC

#include

Timer t0;

#define motorPin1 8 // L293D Input 1

#define motorPin2 7 // L293D Input 2

#define speedPin 9 // L293D enable chn 1

int menu=0,dau=0,dem=0,dem2=0;

float v=0,time=0.025,inv=40,U = 0,t=0;

long int a=0,b=0,c=0,qold=0,qnew=0,eold=0,enew=0;

void setup() {

Serial.begin(9600);

pinMode(2, INPUT_PULLUP);

pinMode(13, INPUT);

attachInterrupt(0, dao, FALLING);

pinMode(motorPin1, OUTPUT);

pinMode(motorPin2, OUTPUT);

pinMode(speedPin, OUTPUT);

t0.every(time*1000, pid);

}

void loop() {

t0.update();

if(dem2==40) U=0;


13

else U=255;

analogWrite (speedPin, U);

digitalWrite(motorPin1, HIGH);

digitalWrite(motorPin2, LOW);

if(dem==1) {

Serial.println(v);

dem=0;}

}

void dao() // chng trnh con ngt, khi c ngt xy ra s thc hin chng trnh ny.

{

c=digitalRead(2);

b=digitalRead(13);

if (c==b) a=a-1;

else a=a+1;

}

void pid()

{

qnew=a;

v=(qnew-qold)/time;

qold=qnew;

eold=enew;

dem++;

dem2++;

}


14

Dng lnh Serial.println(v); trong in vn tc o c ra mn hnh Serial monitor

Hnh 2.2 : M mn hnh Serial Monitor


15

Hnh 2.3: Vn tc gc o c

Sau copy s liu trn serial monitor vo file excel

Hnh 2.4: S liu lu vo file excel


16

*Xc nh hm truyn ( )1

kG s

Tss dng phn mm matlab c:

Import file excel ca vn tc gc o c theo thi gian trong matlab:

Hnh 2.5: Gi tr vn tc theo thi gian

Sau khi c vector v (138x1); ta nhp u (138x1):


17

Hnh 2.6: u v v trong workspace

M toolbox Matlab Identification :

Trong mc import data chn time domain nhp bin v va import

Trong mc Estimate chn Transfer Fcn : in vo 1 im cc v 0 im khng.

n Estimate chy


18

Hnh 2.7: Mi trng Transfer Fcn

+Kt qu hm truyn tm c:


19

Hnh 2.8: Hm truyn tm c

(s) 52,17(s)

(s) 1 0,0446.

G

U s

*Ta cng c th tnh ton hm truyn ( )1

kG s

Ts

Gi U l kch thch u vo U=255V; b xung/s l gi tr khi xc lp kch thch U

khng i trong thi gian t U(t)

Kch thch 1(t): /1

1

(s)(s) ( ) (1 )

(s) 1

t TY kG y t k eh Ts

Kch thch U(t); /2

2

(s)(s) ( ) (1 )

U(s) 1

t TY kG y t b eTs

1 2

2 1 2 1

( ) ( ) ( ); ( ) ( ) ( )

( ) .1( ) ( ) . ( ) ( ) . ( ) ( ) . ( )

Y s G s h s Y s G s U s

U t U t U s U h s Y s U Y s y t U y t


20

2

1

( ) 13527752.06

( ) 255

y t b bU k

y t k U

b xung/s l gi tr trung bnh khi xc lp tra theo kt qu o

Hnh 2.9: Gi tr trung bnh ca b

G(s) c p ng qu nh hnh:

Hnh 2.10: p ng qu hm truyn G(s)

=> Thi im T tng ng vi 1( ) 0.63y t k

=> Ti t=T 2 1( ) . ( ) 0,63. . 0,63. 0,63.13277 8400 y t U y t U k b

i chiu bng kt qu o ta thy T 0.05s

Hnh 2.11:Gi tr vn tc gc ti T

=>Kt qu tnh tay: (s) 52,06(s)(s) 1 0,05.

G

U s


21

-Hm truyn tnh c vi u vo: U(0-255 thang 9V) u ra (xung / s) :

(s) 52,17 (s) 52,17(s) (s)

(s) 1 0,0446. (s) (1 0,0446. )

G K

U s U s s

-Phng php ti u ln:

1(s) (s) ,

1 2

i

PID i

KkG G K

Ts s kT

-Phng php ti u i xng:

1

1

1 1K(s) (s) K (1 ), ,T 4

(1 ) 2

PID P p

kK K T

s Ts T s kT

-p dng:

+iu khin gc K(s):

PI: K1

0,21K 1,142 4

p

p iK

kT T

gim qu iu chnh chn Ki=0.05

+iu khin vn tc gc G(s):

I: 1

0,212

iK

kT

1.3. Kim nghim thng s PID

Kp=0.21;Ki=0.05;Lng t: 100Od

Hnh 2.12: S kim tra v tr


22

Hnh 2.13: Sai lch gia lng t v thc t

0,21i

K ;Lng t: w 400(v/ p)d

Hnh 2.14: S kim tra tc


23


Kp=0.21;Ki=0.05;Lng t: 150sin(250 t )2

d

Hnh 2.16: S kim tra bm qu o


24


2. Nhn dng ng c thc

Trong m hnh ca ta s dng ng c mt chiu cc thng s R (in tr phn ng), Ke

(h s phn sc in ng), Km (h s momen) ca ng c khng c sn, do trong

mc nhn dng h tht s ni v vic nhn dng ng c DC.

Ta c cc phng trnh c in ca ng c c dng nh sau:

( ) ( )aa a a a

di tL R i t e t U t

dt (2.1)

0a ee t K t (2.2)

0r e x

d tJ M T

dt

(2.3)

e m aM K i t (2.4)

Xc nh Ra v Ke


25

Nu p ng phn in nhanh so vi p ng phn c (hng s thi gian c rt ln so vi

hng s thi gian phn in) th ta c th n gin ha bng cch cho La = 0. Khi ta

vit li Error! Reference source not found. nh sau:

( ) ( )a a aR i t e t U t (2.5)

Thay (2.2) vo phng trnh (2.5) ta thu c:

0 ( )a a eR i t K t U t (2.6)

T phng trnh Error! Reference source not found. ta c th xc nh c cc tham

s Ra v Ke bng cch tin hnh in p, dng in v vn tc ca ng c vi 2 mc

in p khc nhau.

Dng c o gm c :

Hnh 2.18 ng h o in vn nng Hnh 2.19 in tr 0.47 ohm

Encoder ni sn vi ng c c phn di 448 xung/vng

Phng php o

Tin hnh o vi 2 mc in p ngui AC/DC ADAPTER 5V v 24V. Vi cc bc o

nh sau:

Bc 1: Lp mch. Ghp ni tip in tr vi ng c vi tng ngun in trn.


26

Bc 2: o in p 2 u u c ta c U(t), o in p hai u in tr 0.47 ohm (do

in tr ca ng c khng ln khong nn vic o ni tip bng h o khng c

chnh xc bng phng php o in p hai u in tr ri tnh ra dng trong mch) ri

tnh ra dng trong mch theo nh lut ohm.

Bc 3: Ghi li s xung o c trn LCD trong mt giy, ta ly gi tr hin th khi ng

c chy n nh ly gi tr trung bnh cng ri chia cho phn gii l 100 xung ta c

s vng quay trong mt giy.

Bc 4: Lp li vi mc in p cn li cc bc 1,2,3.

Kt qu o:

Bng 2.2: Kt qu o

Ngun in p 2 u DC(V) Dng in trong mch(A) Tc (rad/s)

5V 5.03 0.138 163.36

24V 23.6 0.194 828.31

Thay cc kt qu o vo phng trnh (2.6) ri tin hnh gii h 2 phng trnh 2 n ta

tm c

3.7657

0.0276

a

e

R

K Vs

Xc nh Km

Th phng trnh Error! Reference source not found. vo phng trnh

Error! Reference source not found. ta c:

0r m a x

d tJ K i t T

dt

(2.7)


27

Da vo phng trnh Error! Reference source not found. ta c th tin hnh xc nh

thng s Km bng cch tin hnh dng mu th gp trc tip vi trc ng c t mt

in p ph hp vo 2 u ng c sao cho ng c quay mt gc gii hn 90o v d

cn bng ti v tr . Do ng c khng quay nn

00r

d tJ

dt

(2.8)

Phng trnh Error! Reference source not found. tr thnh

m a xK i t T (2.9)

Nh vy xc nh Km ta cn xc nh Tx v ia(t) ti thi im. Gi ta tin hnh o nh

sau:

Dng c o:

Nh trn vi encoder c phn gii 888 xung/vng v c thm vt mu tnh momen

lp trc ng c mu c khi lng 0.16kg di 0.5m c l R=3mm lp vi trc ng c

v tr cch trng tm 0.125m.

Hnh 2.20 Mu th momen


28

Phng php o

Lp mch vi ngun DC 5V. Tin hnh o dng in ca mch nh trn kt hp hin th

gc quay ng c so vi phng thng ng.

Kt qu o

Bng 2.3: Kt qu o

Dng in (A) S xung

1.39 44

1.39 43

1.39 42

1.38 43

1.38 41

1.36 40

1.38 42

1.39 45

1.37 43

1.37 43

- T bng s lu trn ta tnh

Gi tr trung bnh ca dng in

1.3810

i

tb

II A

Gi tr trung bnh ca gc quay l

360 36042.6 17, 27

10 888 888

o o

oxung

Momen tnh tc dng ln trc ng c l


29

sin 0.16x xsin 17,27 x 0.125 0.06ox mau cT m g l 9.81 Nm

Cui xng ta xc nh c Km bng

0.060.04 /

1.38

xm

a

TK Nm A

i t

Vy ta xc nh xong cc tham s ng c vi kt qu l :

Bng 2.21: Tham s ca ng c

Ra 3.7657

Ke 0.0276 Vs

Km 0.04 /Nm A


30

Chng 3: Thit k v m phng mch iu khin

ng c DC- Encoder

1. Thit k mch iu khin ng c DC-Encoder

1.1. Cch bm xung trong Arduino

to ra c PWM trn Arduino th chng ta s dng lnh analogWrite(Pin, Value);

Trong :

-Pin: l v tr chn, i vi Arduino Uno th ch c cc chn 3, 5, 6, 9, 10 & 11 mi

c chc nng to PWM. Vy chng ta c th tr li c cu hi bn trn, cc chn

digital

cn li ca c th c hoc xut 2 gi tr l 0 v 1 m thi.

-Value: Gi tr nm trong khong 0 n 255.

V d:

S dng lnh analogWrite(speedPin,127); th dng xung chn 9 (speedPin = 9) s nh

hnh di v gi tr trung bnh ng ra s l 2,5V (50% ).

Hnh 3.1: PWM 50%

Nu Value = 64 (hay 25%) th dng xung nh sau:


31

Hnh 3.2: PWM 25%

Value = 229 (hay 90%) th dng xung s l :

Hnh 3.3: PWM 90%

T v d trn ta thy s thay i rng ca chui xung dn n s thay i in p ra.

Ta cng thy rng in p trn motor cng thay i tuyn tnh theo s thay i in p

ng ra trn chn 9. Tc l nu in p trung bnh trn chn 9 l 2,5 volt (50% ) th in p

trn hai u motor l 4.5 volt ( ngun motor l 9 volt).

1.2. c Encoder bng phng php ngt ngoi

1.2.1. Gii thiu v Encoder

H thng optical encoder bao gm mt ngun pht quang (thng l hng ngoi

infrared), mt cm bin quang v mt a c chia rnh. Optical encoder li c chia

thnh 2 loi:

Encoder tuyt i (absolute optical encoder) v encoder tng i (incremental

optical encoder). Trong a s cc DC Motor, incremental optical encoder c dng v


32

m hnh ng c servo trong bi ny cng khng ngoi l. T by gi khi ni encoder tc

l incremental encoder.

Hnh 3.4. Optical Encoder

Encoder thng c 3 knh (3 ng ra) bao gm knh A, knh B v knh I (Index).

Trong hnh l nh bn pha trong ca a quay v mt cp phat-thu dnh ring cho l nh

ny. l knh I ca encoder. C mi ln motor quay c mt vng, l nh xut hin

ti v tr ca cp pht-thu, hng ngoi t ngun pht s xuyn qua l nh n cm bin

quang, mt tn hiu xut hin trn cm bin. Nh th knh I xut hin mt xung mi

vng quay ca motor. Bn ngoi a quay c chia thnh cc rnh nh v mt cp thu-

pht khc dnh cho cc rnh ny. y l knh A ca encoder, hot ng ca knh A cng

tng t knh I, im khc nhau l trong 1 vng quay ca motor, c N xung xut hin

trn knh A. N l s rnh trn a v c gi l phn gii (resolution) ca encoder.

Mi loi encoder c phn gii khc nhau, c khi trn mi a ch c vi rnh nhng

cng c trng hp n hng nghn rnh c chia. iu khin ng c, phi bit

phn gii ca encoder ang dng. phn gii nh hng n chnh xc iu khin

v c phng php iu khin. Khng c v trong hnh , tuy nhin trn cc encoder

cn c mt cp thu pht khc c t trn cng ng trn vi knh A nhng lch mt


33

cht (lch M+0,5 rnh), y l knh B ca encoder. Tn hiu xung t knh B c cng tn

s vi knh A nhng lch pha 90o. Bng cch phi hp knh A v B ngi c s bit

chiu quay ca ng c. Hy quan st hnh 3.

Hnh 3.5. Hai knh A v B lch pha trong encoder (trch t [1])

Hnh trn cng trong hnh 3 th hin s b tr ca 2 cm bin knh A v B lch pha

nhau. Khi cm bin A bt u b che th cm bin B hon ton nhn c hng ngoi

xuyn qua, v ngc li. Hnh thp l dng xung ng ra trn 2 knh. Xt trng hp

motor quay cng chiu kim ng h, tn hiu i t tri sang phi. Quan st lc tn hiu

A chuyn t mc cao xung thp (cnh xung) th knh B ang mc thp. Ngc li,

nu ng c quay ngc chiu kim ng h, tn hiu i t phi qua tri. Lc ny, ti

cnh xung ca knh A th knh B ang mc cao. Nh vy, bng cch phi hp 2 knh

A v B chng ta khng nhng xc nh c gc quay (thng qua s xung) m cn bit

c chiu quay ca ng c (thng qua mc ca knh B cnh xung ca knh A).

C 3 cch c Encoder :

- Dng input capture


34

- Dng chc nng Counter

- Cui cng l ngt ngoi

1.2.2. Ngt ngoi trong Arduino

Ngt (interrupt) l nhng li gi hm t ng khi h thng sinh ra mt s kin.

Nhng s kin ny c nh sn xut vi iu khin thit lp bng phn cng v c cu

hnh trong phn mm bng nhng tn gi c nh.

Ngt gip chng trnh gn nh v x l nhanh hn. Chng hn, khi kim tra 1 nt

nhn c c nhn hay khng, thng thng bn cn kim tra trng thi nt nhn bng

hm digitalRead() trong on chng trnh loop(). Vi vic s dng ngt, bn ch cn ni

nt nhn n ng chn c h tr ngt, sau ci t ngt s sinh ra khi trng thi nt

chuyn t HIGH->LOW. Thm 1 tn hm s gi khi ngt sinh ra. Vy l xong, bin trong

on chng trnh ngt s cho ta bit trng thi nt nhn.

S lng cc ngt ph thuc vo tng dng vi iu khin. Vi Arduino Uno bn ch

c 2 ngt, Mega 2560 c 6 ngt v Leonardo c 5 ngt.

C php:

attachInterrupt(interrupt, ISR, mode);

Thng s

interrupt: S th t ca ngt. Trn Arduino Uno, bn c 2 ngt vi s th t l 0 v 1.

Ngt s 0 ni vi chn digital s 2 v ngt s 1 ni vi chn digital s 3.

ISR: tn hm s gi khi c s kin ngt c sinh ra.

mode: kiu kch hot ngt, bao gm

LOW: kch hot lin tc khi trng thi chn digital c mc thp

HIGH: kch hot lin tc khi trng thi chn digital c mc cao.

RISING: kch hot khi trng thi ca chn digital chuyn t mc in p thp sang mc

in p cao.


35

FALLING: kch hot khi trng thi ca chn digital chuyn t mc in p cao sang mc

in p thp.

Lu : vi mode LOW v HIGH, chng trnh ngt s c gi lin tc khi chn digital

cn gi mc in p tng ng.

void setup()

{

...............

attachInterrupt(0, dao, FALLING);

..............

}

void dao() // chng trnh con ngt, khi c ngt xy ra s thc hin chng trnh

ny.

{

c=digitalRead(2); //chan ngat -kenh A

b=digitalRead(13); //kenh B

if (c==b) a=a-1; // tru bot xung A (nghich)

else a=a+1; // cong them xung cua A (thuan)

}

1.3. Ngt Timer ( tnh PID)

Trong Arduino c th vin Timer.h phc v cho ngt timer. Mc ch ca ngt timer

l nh sn mt khong thi gian v m ngc n ht thi gian timer s thc hin

lnh hoc gi chng trnh con...

#include

Timer t0;


36

int time=0.025;

void setup() {

..........

t0.every(time*1000, pid);

}

The call void loop() {

t0.update();

.........

}

void pid()

{.........}

t0.update() // cp nht thi gian

t0.every s gi hm pid sau mi 25ms .

1.4. Nguyn tc iu khin ng c

Nguyn tc chung:

Hnh 3.7: Nguyn tc iu khin ng c

Cng thc tnh PID:

1

0

(e ). .

kk k

p D I k

eu K e K K e h

h

Trong : u l i lng output t b iu khin


37

h[s] thi gian ly mu;

k -ln tnh th k;

. n gin ha vic tnh thnh phn tch phn, chng ta nn dng phng php cng

dn (hay quy):

(k) (k 1) e(k)hI

I I K

Ty thuc hm truyn m ta chn dng PID, PI, I...

T ra s c s nguyn tc thit k iu khin ng c

Hnh 3.8: S iu khin

Ngt ngoi khi chn 2 c tn hiu xung 1->0 lin tc gi tn hiu khi ng c quay.

So snh knh A v B bit chiu thun nghch tng ng q - hay +.

(1)Hm tnh U iu khin (0-255) xut ra chn 9; Hm ch c gi sau mi 25ms qua

ngt timer

T=0.025 s : thi gian ly mu. Thi gian ly mu cng nh (tn s cao) th vic hiu

chnh cng tin gn n s lin tc v cht lng iu khin s tt hn. Trong cc b


38

iu khin s, thi gian ly mu l mt yu t rt quan trng. Cn tnh ton thi gian

ny khng qu ln nhng cng ng qu nh, v nh th s hao ph thi gian thc thi.

Code tnh PID:

void pid()

{

qnew=a; // dat goc moi = a

if(menu==0){

t=t+time; // tang thoi gian dem

enew=x*sin(y*t+1.57)-a; //e(k)

ipart+=0.05*(enew-eold)*time; //I(k)

U=0.21*enew+ipart; }

if(menu==1) {

enew=z-abs(qold-qnew); //enew sai so van toc z xung dat tuong ung voi van to dat

U+=0.21*enew; //ki=021; U chinh la I(k)

v=(qnew-qold); } // van toc dang xung in ra man hinh

qold=qnew; // dat vi tri cu = vi tri moi cho vong lap moi

eold=enew; // dat sai so cu = sai so moi cho vong lap moi

dem++;

if (U255) U=255; //Chan can tren

if(U5)U=90; //Chan can duoi

}


39

ngha on lnh:

on lnh l chng trnh con s c gi bi timer sau mi 25 ms (thi gian ly mu)

u ra ca n l U (0-255) trn chn 9.C 2 menu: Menu=0 iu khin v tr vi u vo

l gc (xung) o c sau khi c encoder; menu=1 iu khin vn tc vi u vo l

vn tc gc (xung/0.025s) o c sau khi c encoder. U c tnh theo cc cng thc

PID cp.

1.5. Thit k mch trn Proteus

Sau khi thc hin c lp trnh cho mch trn Arduino IDE ta c th chy th xem

mch hot ng nh th no trn phn mn Proteus

Phn mn hot ng kh n gin, ta ch vic kch vo biu tng P v nh ra tn linh

kin trong khung Keywords v kch p vo a linh kin ra bn ngoi

Hnh 3.9: Ly linh kin


40

Hnh 3.10: Cch ly linh kin

T chng ta thit k mch nh trong hnh v di y:

Cc chn c nh s t 1 n 9 nh trong hnh v

Hnh 3.11: S ni mch trn Proteus


41

Hnh 3.12: Cc chn ni vi LCD

Hnh 3.13: Cc chn ni vi Arduino


42

Hnh 3.14: Cc ng ni ca ng c v L293D

2. Thit k giao din iu khin bng Megunolink

2.1. Gii thiu v Megunolink

Megunolink l phn mn cho php nhn v gi d liu Serial Data.

N h tr thit b c s dng cc dng ni tip qua USB, RS-232 hoc UDP c h

tr bao gm cc Arduino, PIC, mbed, Beagle, v tem vi iu khin c bn.

MegunoLink cung cp cho bn cch gio tip b iu khin v my tnh ca bn theo

nhng cch hu ch v th v.Bn cng c th gi cc lnh iu khin in thoi ca

bn vi cc nt m to ra cc thng ip hoc bng cch g vo mt ca s mn hnh.

V c chc nng nh:

V : hin th d liu ca bn bng ha

Bng iu khin giao din : nhanh chng xy dng mt giao din n gin kim sot

hay cu hnh vi iu khin ca bn

Di cc tin nhn : ni tip d liu ring bit vo cc knh khc nhau cho r rng


43

Bn thng tin cu hnh bo co trong mt d dng c cc bng:

Lp trnh : chng trnh ti ln to ra trong Microsoft Visual Studio, hoc cc cng c

khc, trc tip n Arduino vi iu khin ca bn

ng nhp vo tp tin : lu d liu vo mt tp tin xem xt sau

Qun l kt ni : lm vic vi nhiu thit b ni tip cng mt lc

2.2. Cc bc thit k giao din Megunolink

Phn mm gip ta t xy dng cc thnh phn giao din theo mun:

Cc mode:

Hnh 3.16: Cc mode

Cc mode s dng: Connection manager; interface panel; time plot

Mode Conection manager: Qun l kt ni gia my tnh v arduino


44

Hnh 3.17: Khi kt ni

Mode Interface panel: Giao din nhp s liu u vo iu khin ng c

Mode khi cha thit k


45

Hnh 3.18: Mode Interface panel

n design xut hin ca s design:


46

Hnh 3.19: Ca s thit k

Th ko ra 1 button

Hnh 3.20: Th thit k nt bm


47

V d:

To nhp c tn menu:

Hnh 3.21: To menu

-To mt nt bm bn cnh n c cha lnh kt ni trong on click send

Hnh 3.22: To nt bm

Th vin serial command handler cha cc lnh cho php khi ng 1 chc nng khi

nhn lnh t giao din. Mc nh lnh bt u bng ! V kt thc bng \r

Code arduino:

#include "MegunoLink.h"

#include "CommandHandler.h"

CommandHandler SerialCommandHandler; //Khai bo kt ni

int menu = 3; //bin menu ban u =3

void datmenu(CommandParameter &Parameters) //chng trnh con datmenu

{

menu=Parameters.NextParameterAsInteger(); //menu=[menu.value]

}


48

void setup()

{

Serial.begin(9600); //Khai bo tc truyn

SerialCommandHandler.AddCommand(F("setmenu"), datmenu); //Gi CT con khi click

nt bm

.................................

}

void loop() {

SerialCommandHandler.Process(); //Kim tra tn hiu giao tip gia my tnh v

arduino

.................

}

on chng trnh c ngha:

Ta nhp 1 s vo nhp c tn name sau click nt bm bn cnh s kch ng gi

chng trnh con datmenu v gn cho bin menu=value trong nhp menu trn giao din

Mode time plot: Hin th di dng th gc quay v vn tc ng c theo thi gian


49

Hnh 3.23: Mode time plot

Code Arduino

#include "MegunoLink.h"

TimePlot MyPlot("goc"); //Tn th

void setup() {

..........

Serial.begin(9600); //kt ni

MyPlot.SetTitle("goc"); //Tiu

MyPlot.SetXlabel("thoigian");

MyPlot.SetYlabel("goc");

MyPlot.SetSeriesProperties("goc", Plot::Blue, Plot::Solid, 2, Plot::Square);

.........

}

Void loop()


50

{

...........

MyPlot.SendData(F("goc"),a*0.8); //gi d liu cho trc goc

..............

}

Sp xp cc mode trong giao din bng cch ko th s dng chut:

Hnh 3.24: Giao din thit k

2.3. Kt qu bi ton


51

Lng t: d 400vg / ph

Hnh 3.25: iu khin vn tc

Lng t: d 100deg


52

Hnh 3.26: iu khin v tr

Lng t: d 150sin(250t 90)deg

Hnh 3.27: iu khin bm qu o


53

Chng 4: M phng tay my 1DOF

1. Thit lp h phng trnh vi phn

Hnh 4.1: C cu tay my

-Tay my:

Khi lng m; khi tm C OC=l; momen qun tnh vi trc quay O: J; h s cn trc

tay my 2b

-ng c DC:

in tr aR ; cun cm L; hng s phn sc in ng eK ; hng s momen mK ; Momen

qun tnh rto mJ ; H s cn trc ng c 1b

-Hp gim tc 2 1r r / r


54

Hnh 4.2: S in - C

*Thit lp:

-S bc t do: n=2 (1 bc c v 1 bc in)

-Ta suy rng: qq

-ng nng:

2 2

1

2 2 2 2 2

1

2 2

1 1

2 2

w

1 1 1(J J w ) (J J ) (J )

2 2 2

1 1(J )

2 2

e

m m

m m tg

m e m

tg

T Li Lq

r

T r

T T T Lq

-Th nng:

sinm mgl

-Hm tn nng:


55

2 2 2 2 2 2

2 1

2 1

1 1 1 1(b r b ) r b

2 2 2 2

0,

m e

a aR q R q

b b b

-Lc suy rng ca cc lc khng th: U; emf ;V M (Momen in trn trc ng c)

1

( )

emf

e m

e m

e m

A U q V q M

U q K w q K i

U q K r q K rq

U K r q K rq

-Phng trnh lagrang II:

*

*

q

d T TQ

dt

d T TQ

dt q q q q

J cosmtg m

a e

b mgl K qr

Lq R q U K r

B qua s thay i dng in:

(t) q(t) 0

q e

a

d dL i L

dt dt

U K r

R

=> Ta c PTVP:

2 1 2 1( ) ( ) cos m e m a m aJ J r b K K R r mgl K rR U

2. M phng bng Simulink

a.H m

1 1 2

2

1( ( ) cos )

m a e m a

m

K rR U b K K R r mglJ J r


56

iu kin u: 0; 0

%dong co

Ke=1;Km=1;Ra=1;Jm=0.001;

%tay may

m=2;J=1;l=0.4;g=9.81;

b=0.001;

%hop giam toc

r=2;

Hnh 4.3: Xy dng thut ton tn Simulink

Kt qu:


57

Hnh 4.4: Kt qu (rad)

Hnh 4.5: Kt qu (rad/s)

b.H phn hi

V tr:


58


Chn Kp=400;Ki=10;Kd=100

Hnh 4.7: Phn hi v v tr

Vn tc:


59


Chn Kp=160;Ki=10

Hnh 4.9: Phn hi vn tc

Bm qu o:


60


Chn Kp=400;Ki=10;Kd=100

Hnh 4.11: iu khin bm qu o

3. M phng bng Matlab


61

a.H m

1 1 2

2

1( ( ) cos )

m a e m a

m

K rR U b K K R r mglJ J r

iu kin u: 0; 0

*bai6jj.m

function xdot=baijj6(t,x);

%dong co

Ke=1;Km=1;Ra=1;Jm=0.001;

%tay may

m=2;J=1;l=0.4;g=9.81;

b=0.001;

%hop giam toc

r=2;

V=24;

xdot=zeros(2,1);

xdot(1)=x(2);

xdot(2)=(1/(J+Jm*r^2))*((Km*r/Ra)*V-((b+Km*Ke/Ra)*r^2)*x(2)+m*g*l*cos(x(1)));

end

*V:

[t,x]=ode45('bai6jj',[0:0.1:10],[0,0]);

clf;

figure(1);

plot(t,x(:,1)),xlabel('t[s]'),ylabel('q[rad]'),

figure(2);


62

plot(t,x(:,2)),xlabel('t[s]'),ylabel('w[rad]'),

Hnh 4.12: Kt qu iu khin v tr (rad)

Hnh 4.13: Kt qu iu khin vn tc w


63

b.H phn hi

*V tr:

function xdot=bai6jj(t,x);

%dong co

Ke=1;Km=1;Ra=1;Jm=0.001;

%tay may

m=2;J=1;l=0.4;g=9.81;

b=0.001;

%hop giam toc

r=2;

Kp=6000;Kd=50;

V=-Kp*(x(1)-1.57)-Kd*(x(2));

xdot=zeros(2,1);

xdot(1)=x(2);


End

In kt qu:

[t,x]=ode45('bai6jj',[0:0.1:10],[0,0]);

clf;

figure(1);

plot(t,x(:,1)),xlabel('t[s]'),ylabel('q[rad]'),

figure(2);

plot(t,x(:,2)),xlabel('t[s]'),ylabel('w[rad]'),


64

Hnh 4.14: Kt qu v tr

*Vn tc:


%dong co

Ke=1;Km=1;Ra=1;Jm=0.001;

%tay may

m=2;J=1;l=0.4;g=9.81;

b=0.001;

%hop giam toc

r=2;

Kp=6000;Kd=50;

V=-Kp*(x(1)-5*t)-Kd*(x(2)-5);


65

xdot=zeros(2,1);

xdot(1)=x(2);


end

Hnh 4.15: Kt qu vn tc

*Bm qu o:


%dong co

Ke=1;Km=1;Ra=1;Jm=0.001;


66

%tay may

m=2;J=1;l=0.4;g=9.81;

b=0.001;

%hop giam toc

r=2;

Kp=6000;Kd=50;

V=-Kp*(x(1)-1.57*sin(10*t))-Kd*(x(2)-15.7*cos(10*t));

xdot=zeros(2,1);

xdot(1)=x(2); xdot(2)=(1/(J+Jm*r^2))*((Km*r/Ra)*V-

((b+Km*Ke/Ra)*r^2)*x(2)+m*g*l*cos(x(1)));

end

Hnh 4.16: Kt qu bm qu o


67

Chng 5: tng pht trin

Mt h thng Arduino c th cung cp cho bn rt nhiu s tng tc vi mi trng

xung quanh vi:

H thng cm bin a dng v chng loi (o c nhit , m, gia tc, vn tc,

cng nh sng, mu sc vt th, lu lng nc, pht hin chuyn ng, pht hin

kim loi, kh c,),

Cc thit b hin th (mn hnh LCD, n LED,).

Cc module chc nng (shield) h tr kt ni c dy vi cc thit b khc hoc cc

kt ni khng dy thng dng (3G, GPRS, Wifi, Bluetooth, 315/433Mhz, 2.4Ghz,),

nh v GPS, nhn tin SMS,

Arduino s gip bn lm mt dy LED chp tt, mt chic xe t ng trnh vt cn, mt

cnh tay robot gp hay bt c th g bn mun iu khin mt cch t ng.

Hnh 5.1: Xe t ng trnh vt cn s dng mch arduno.


68

Hnh 5.2: Cnh tay robot vit ch

Hnh 5.3: M hnh my bay Fly Cam


69

Nu bn mun iu khin ng c, s c cc mch cng sut tng thch hon ton vi

Arduino. Nu bn mun iu khin qua mng Internet, cng c mt mch Ethernet/Wifi

tng thch hon ton vi Arduino. V cn rt nhiu th khc na. My ci mch gn

thm mnh ang ni n cc extension shield (mch m rng). Cc shield ny gip tng

tnh linh hot ca Arduino.

Cc shield s chng ln Arduino s trng nh th ny:

Hnh 5.4: Cc shield

Arduino rt n gin, d s dng, d code (ngn ng tng t nh C++). Mt trong

nhng ci hay nht ca Arduino l n h tr rt nhiu th vin, rt tin li.

Bn mun iu khin ng c servo, rt n gin, cm 3 dy ca servo vo 3 l trn

Arduino, m chng trnh ln, open th vin c sn, sa li theo mnh l xong.

Bn mun iu khin ng c bc, ni dy vo, open th vin, sa dng code nh

sau iu khin ng c bc: Stepper1.step(100, FORWARD, DOUBLE), trong

100 l s bc bn mun, FORWARD l hng quay, DOUBLE l quay full step. Hy

ngh n vic bn iu khin ng c bc trong MPLAB s th no.

Arduino cng c rt nhiu kch thc khc nhau, ph hp cho nhiu mc ch s dng.

Thng dng nht hin nay l Arduino Uno.


70

2. ng dng nn tng Arduino trong mt s sn phm.

Ct n tit kim nng lng.

Ta s dng bo mch Arduino Mega 2560 iu khin ton b phn in t. Tn

hiu t cm bin nh sng c truyn vo bo mch Arduino. Thng qua thut ton x l

chng nhiu, h thng bit c thi im no l ph hp quyt nh bt n v tt

n, gip tit kim nng lng mt cch thng minh. Ngoi ra, bo mch Arduino cn

nhn cc tn hiu in p t c quy, cc tn hiu v vn tc gi t encoder gn trn trc

turbine v xut tn hiu ra bng LED 7 thanh hin th tc thi vn tc gi cng nh

in nng d tr cn trong c quy.

Hnh 5.5. S dng bo mch Arduino iu khin bt n tit kim nng lng v hin th

thng tin tc gi, in nng trong c quy.

Vic s dng bo mch sn Arduino trong sn phm ny m bo phn vi iu khin

hot ng n nh, khng b nh hng bi s chn ng rung lc c hc do gi gy nn.

S ha sch giy

Ta s dng bo mch Arduino Mega 2560 nh l mt thit b slave cho phn iu

khin trung tm. Cc tn hiu t 5 cm bin c c qua cc chn ca Arduino v truyn

v phn iu khin trung tm thng qua cng COM (theo chun RS232). Cc lnh iu

khin t phn iu khin trung tm c truyn thng qua cng COM ti bo mch

Arduino iu khin ng c (thng qua kt ni vi module L298), iu khin qut ht

trang, qut thi trang v n LED chiu sng thng qua ng ngt (bng modul relay).


71

Hnh 5.7. S dng bo mch Arduino giao tip my tnh v iu khin thit b ngoi vi .

Ngoi ra trong vic xy dng giao din iu khin, chng em cng ngh them v cch

thit k giao din trn C#.

Cng c thit k C# rt ph bin v c s dng rng ri trn th gii


72

Hnh 5.8: Thit k giao din trn C#

C# c kh khn hn Megunolink kh nhiu. N i hi ngi thit k phi c kin thc

lp trnh C#. V mi thao tc u c lp trnh trn C#. Khng ging nh Megunolink

l lp trnh vn lm trn Arduino IDE.


73

KT LUN

thit k ch to mt sn phm cng ngh hin nay i hi s tm hiu trn nhiu lnh

vc khc nhau. Arduino c s dng rng ri trn khp th gii gip vic d dng

hn rt nhiu. Qua bi vit v mn hc thc tp k thut chng em t c nhng iu

nh sau:

- Xy dng m hnh c in iu khin ng c DC- Encoder

- Thc hin m phng h c in trn Matlab

- Thit k giao din iu khin trn my tnh bng Megunolink

Em xin chn thnh cm n thy ng Khoa gip chng em hc c rt nhiu

iu. Bi vit khng trnh khi nhng thit st, rt mong c s gp ca thy v cc

bn chng em lm tt hn.


74

Ti liu tham kho

1. Michael Margolis and Nicholas Weldin, Arduino Cookbook, OReilly Media, Inc,

2011.

2. Michael McRoberts, Beginning Arduino, OReilly Media, 2013.

3. L thuyt iu khin tuyn tnh -Nguyn Don Phc

4. Bi ging phn mm m phng h ng lc c iu khin- Nguyn Quang Hong

5. Nguyn Trung Tn, Hng dn s dng c bn Arduino, 2014

6. http://arduino.cc/ truy nhp ngy cui 1/6/2015

7. http://hocavr.com/ truy nhp ngy cui 1/6/2015

8. http://megunolink.com/ truy nhp ngy cui 1/6/2015

9. http://youtube.com truy nhp ngy cui 1/6/2015


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Ph lc

Code Arduino IDE:

#include "MegunoLink.h" // khai bao thu vien giao dien

#include "CommandHandler.h"

int menu = 3; // 3 mode (vi tri, toc do,tat dong co)

int x=0,y=0,z=0,w=0;

CommandHandler SerialCommandHandler;

void datmenu(CommandParameter &Parameters)

{

menu=Parameters.NextParameterAsInteger();

}

void gocbandau(CommandParameter &Parameters)

{

w=Parameters.NextParameterAsInteger();

}

void gocdat(CommandParameter &Parameters)

{

x=Parameters.NextParameterAsInteger();

x=x/0.8; // doi tu don vi tu giao dien dat

}

void tanso(CommandParameter &Parameters)

{

y=Parameters.NextParameterAsInteger();


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y=y/57.3; // doi don vi

}

void vantoc(CommandParameter &Parameters)

{

z=Parameters.NextParameterAsInteger();

z=z/5.357; // doi don vi

}

TimePlot Plot("vantoc"); // ve do thi van toc

TimePlot MyPlot("goc"); // ve do thi goc

#include

LiquidCrystal lcd(12, 11, 6,5, 4, 3);

#include // khai bao timer

Timer t0; // dung timer t0

#define motorPin1 8 // L293D Input 1 (chan dieu khien chieu quay)

#define motorPin2 7 // L293D Input 2 (chan dieu khien chieu quay)

#define speedPin 9 // L293D enable chn 1 ( bam xung dieu khien toc do )

int dau=0,dem=0;

float v=0,time=0.025,inv=40,U = 0,t=0; // time=0.025 thoi gian lay mau , inv =40

ngich dao time

long int a=0,b=0,c=0,qold=0,qnew=0,eold=0,enew=0,ipart=0; // q vi tri , e sai so , ipart

tinh ki

void setup() {

lcd.begin(16, 2);

Serial.begin(9600);


77

SerialCommandHandler.AddCommand(F("setmenu"), datmenu); // khai bao goi chuong

trinh con

SerialCommandHandler.AddCommand(F("setgocbandau"), gocbandau);

SerialCommandHandler.AddCommand(F("setgocdat"), gocdat);

SerialCommandHandler.AddCommand(F("settanso"), tanso);

SerialCommandHandler.AddCommand(F("setvantoc"), vantoc);

MyPlot.SetTitle("goc"); // khai bao do thi

MyPlot.SetXlabel("thoigian");

MyPlot.SetYlabel("goc");

MyPlot.SetSeriesProperties("goc", Plot::Blue, Plot::Solid, 2, Plot::Square);

Plot.SetTitle("vantoc");

Plot.SetXlabel("thoigian");

Plot.SetYlabel("vantocgoc");

Plot.SetSeriesProperties("vantoc", Plot::Blue, Plot::Solid, 2, Plot::Square);

pinMode(2, INPUT_PULLUP); // dung kenh A cua encoder

pinMode(13, INPUT); // dung kenh B cua encoder

attachInterrupt(0, dao, FALLING); // khai bao ngat ngoai khi xung di xuong goi chuong

trinh "dao" (ngat)

pinMode(motorPin1, OUTPUT); // du lieu ra chan dieu khien chieu quay


78

pinMode(motorPin2, OUTPUT); // du lieu ra chan dieu khien chieu quay

pinMode(speedPin, OUTPUT); // du lieu ra chan bam xung

t0.every(time*1000, pid); // sau 25 ms thuc hien 1 lan vong pid

}

void loop() {

SerialCommandHandler.Process(); // kiem tra giao tiep voi mat tinh

t0.update();

if(menu==3) U=0;

if(w==0) {a=0;w=1;}

analogWrite (speedPin, U); // viet gia tri ra chan bam xung

if (dau) { // u>0 dau = 0, u


79

if(menu==0)MyPlot.SendData(F("goc"),a*0.8); // ve do thi goc v/p megunolink

}

void dao() // chng trnh con ngt, khi c ngt xy ra s thc hin chng trnh

ny.

{

c=digitalRead(2);

b=digitalRead(13);

if (c==b) a=a-1; // tru bot xung A (nghich)

else a=a+1; // cong them xung cua A (thuan)

}

void pid()

{

qnew=a; // dat goc moi = a

if(menu==0){

t=t+time; // tang thoi gian dem

enew=x*sin(y*t+1.57)-a;

ipart+=0.05*(enew-eold)*time;

U=0.21*enew+ipart; }

if(menu==1) {

enew=z-abs(qold-qnew); //enew sai so van toc z xung dat tuong ung voi van to dat

U+=0.21*enew; //ki=021

v=(qnew-qold); } // van toc dang xung in ra man hinh

qold=qnew; // dat vi tri cu = vi tri moi cho vong lap moi

eold=enew; // dat sai so cu = sai so moi cho vong lap moi


80

dem++;

if (U255) U=255;

if(U5)U=90;

}

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