Xây dựng mô hình và mô phỏng hệ ball plate bằng phương pháp backstepping

VII



 I
 II
 III
 IV
 VIII
H IX
G XIII
 5
 16
  37
NG 37
 50
 60
 84
 85
 88

VIII



STT

 
1
PWM
Pulse with modulation
1. 2
ESP
Electronic Stability Program
2. 3
PID
A proportional integral derivative controller
3.


4.

5.


6.


7.


8.


9.


10.


11.


12.

IX
D

Hình
Tên hình
Trang
13. Hình 1.1
trên thanh
6
Hình 1.2

7
Hình 1.3


7
Hình 1.4

8
Hình 1.5

8
Hình 1.6

9
Hình 1.7

9
Hình 1.8

10
Hình 1.9

10
Hình 1.10

10
Hình 1.11

13
Hình 2.1

15
Hình 2.2


17
Hình 2.3

18
Hình 2.4

19
Hình 2.5

19
Hình 2.6

20
Hình 2.7

20
Hình 2.8

20
Hình 2.9

22
Hình 2.10

22
Hình 2.11

23
Hình 2.12


23
Hình 2.13

24


X
Hình 2.14

24
Hình 2.15

25
Hình 2.16

26
Hình 2.17

26
Hình 2.18

27
Hình 2.19

28
Hình 2.20

28
Hình 2.21


29
Hình 2.22
ng
30
Hình 2.23

31
Hình 2.24

32
Hình 2.25

4 dây
33
Hình 2.26
CAD DSP TMS320C28335
34
Hình 2.27

34
Hình 2.28


34
Hình 3.1

35
Hình 3.2

41

Hình 3.3

44
Hình 3.4

45
Hình 3.5

ng
46
Hình 3.6



47
Hình 3.7


48


XI
Hình 4.1

49
Hình 4.2

49
Hình 4.3


58
Hình 4.4

58
Hình 5.1

60
Hình 5.2


61
Hình 5.3

62
Hình 5.4

62
Hình 5.5

63
Hình 5.6a

63
Hình 5.6b

64
Hình 5.7

64
Hình 5.8


65
Hình 5.9

66
Hình 5.10

66
Hình 5.11

67
Hình 5.12

67
Hình 5.13

68
Hình 5.14

68
Hình 5.15

69
Hình 5.16

69
Hình 5.17

70
Hình 5.18



70
Hình 5.19


71


XII
Hình 5.20


71
Hình 5.21
 


72
Hình 5.22

hình vuông
72
Hình 5.23


73
Hình 5.24

tròn

73
Hình 5.25

74
Hình 5.26

75
Hình 5.27

 
76
Hình 5.28

77
Hình 5.29

77
Hình 5.30

78
Hình 5.31

78
Hình 5.32

79
Hình 5.33

79
Hình 5.34


79
Hình 5.35

80
Hình 5.36

80
Hình 5.37

81











XIII








Trang


15
2.2

27


35


59

Ch
 HVTH: Lý Hoàng Phúc
5
. 


 








Sliding Mode.




v, 


 


- 
- 
- 
- (Electronic Stability Program) dùng cho xe
ô tô.
- 




Ch
 HVTH: Lý Hoàng Phúc
6
1.2 Gii thi tài
1.2.1 Gii thiu h bóng và thanh:










 






c y

  
ng


Ch
 HVTH: Lý Hoàng Phúc
7


- 








 
 




Ch
 HVTH: Lý Hoàng Phúc
8

H
 













 

 


 

                




-

 


Ch
 HVTH: Lý Hoàng Phúc
9
- 

-    

-
Dng 1:








 

là góc

- 
             



 
-







Ch
 HVTH: Lý Hoàng Phúc
10
 DC Servo.

DC Servo.

 


 Servo.

servo.
PWM. Mô hình toán


 






- 
- 
 



Ch
 HVTH: Lý Hoàng Phúc
11



                

1.3.3 Các công trình nghiên cc hin.
 [23])
 tài lua sinh viên Wei Wang
thc hing.

Hình 1.4.1 Mô hình Ball Beam t
Vu truyng gián tim ca h thng là
c s ng co chiu liên tc.
Dây chuyn, làm h thnng nâng cao, h thp
tay nâng nhanh chóng.
m ca h thng: Thanh ni nng,
u khin phi tính mô men quay c
có ti nng. H thng chu ng nhiu v  chính xác ca quá trình l
nh v trí ca qu bóng là dùng cm bin t. Mt cun dây dài nm
dp ngun AC 12V vào cun dây, khi ball ( bng kim
lo mt cun dây, dn cm ng sinh ra và bin thiên, t nh
c t l khong cách.
Ch
 HVTH: Lý Hoàng Phúc
12
nh v trí này d b nhiu khi có vt kim lot g
n bin thiên khá phc tp.
Công ty Megachem. [24])
Công ty Megachem là mt công ty chuyên sn xut các thit b dành trong hc tc
bit chuyên v u khin h th
nhiu sn phu khin cánh tay rô bt 3 ti 5 bc t u
khin h thng con lu khin mc, và mt s u khin

i thiu mô hình h th
          n trc tip ti trung tâm ca thanh
nh v trí qu bóng là dùng hai cm bin siêu âm h SRF05.
m ca h thng: Thit k m bt ti trên tr

 nh v trí ca qu m
bin siêu âm có chùm tia hp, và kh công sut thu phát xa.
m ca h tho chiu liên tc, làm rung h
thng, d ng ti góc quay ca cm bin góc (encoder) và giá thành cao.
Hin nay cp cm bin siêu âm SRF khong cách nh 
bán c








Hình 1.4.2 Mô hình Ball Beam ti công ty Megachem.

Ch
 HVTH: Lý Hoàng Phúc
13

-hàng
 [

              
Mat

 
nh
.  s
h

                 


[5]  -plate dùng trong Laser Scanner. [ài




-



- 
PID, LQR, LQG, BACKSTEPPING.
- Là c

minh.
- 
bay khô

Ch
 HVTH: Lý Hoàng Phúc
14

Trong  tài  BackStepping và

 
 
 
1.5 Nhim v lu

- Encoder,
PWM
-     Visual Studio        

- 

- 
- 


Ch
 HVTH: Lý Hoàng Phúc
15

-









DSP TMS320F28335



Backstepping
Encoder 1
Encoder 2
Motor 1
Motor 2






Ch
 HVTH: Lý Hoàng Phúc

16
. 




               


            



2.2 Lý  PID:

                



 


             



Ch
 HVTH: Lý Hoàng Phúc

17


2.2.1 
ID là:
 








 sT
sT
KsG
d
i
pC
1
1
(2.1)

     
 









dt
tde
Tdtte
T
teKtu
d
i
p
1
(2.2)

 
sK
s
K
KsG
d
i
pC

(2.3)

 
 K
i

h phân (Integral gain)
 

p
, K
i
, K
d









K
p




K
i






K
d





Ch
 HVTH: Lý Hoàng Phúc


18

2.2.2 

)().(.)(.)(
0



t
IP
deKteKtu
(2.4)

1 ( )
( ) . ( )
P
D
de t

u t K e t
T dt

(2.5)


0
1 ( )
( ) . ( ) ( )
t
PI
D
de t
u t K e t K e d
T dt

  

(2.6)


 sau:
()
i
p
d
K
G s K K s
s
  

(2.7)



T
z
s
1

(2.8)


zT
z
s
1

(2.9)

Ph
1
12



z
z
T
s
(2.10)


 

















z
z
T
K
z
z
TK
KzG
di
p

1
1
1
2
`
(2.11)


 
1
21
1
2
22


























z
z
T
K
z
T
KTK
K
T
KTK
K
zG
ddi
d
di
p
(2.12)

Ch
 HVTH: Lý Hoàng Phúc

19

T
KTK
Ka
di
p

2
0
(2.13)

T
KTK
Ka
di
d
2
2
1

(2.14)

T
K
a
d

2

(2.15)

Ta có:
 
1
2
2
1
10
1





z
zazaa
zG
(2.16)


       
ke
z
zazaa
kezGku
1
2
2
1

10
1





(2.17)


         
211
210
 keakeakeakuku
(2.18)

2.2.4 


 


càng 


ngõ ra 

Hình 2.2 Khâu bão hòa trên ngõ ra.
Ch
 HVTH: Lý Hoàng Phúc

20




- DC rotor 
stator 
-

- A và bên

rotor stator, -
rotor.
- stator hút cárotor.
-       rotor 

- 
ó.
- rotor  
stator, -
Khi rotor 




Ch
 HVTH: Lý Hoàng Phúc

21


















- Mô--
là không.
- max



- 
6


Ch
 HVTH: Lý Hoàng Phúc


22






















V
b
.
