tiết kế bộ điều khiển vận tốc 2 động cơ DC servo ( đính kèm mạch code)

Group 6

Microcontroller Project

Design the velocities of two DC servo motors to reach
to the identical state

Lecturer : Dr.Vo Tuong Quan
Group 6

University of technology HCMC

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Microcontroller Project

Group 6

Group’s member

University of technology HCMC

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Group 6

Microcontroller Project

Why do we have to control the motor to reach identical state ?

Requirement for control electric drive systems is :

1.
2.
3.

Synchronize velocity of motor
Adjust the torque of motor to keep the tension invariably
Control and supervise by the computer network

In the electric drive systems , it has many shaft , every shaft is driven by one motor .

In many applications , it requires the synchronization of motor , if it isn’t responded , that systems doesn’t work
or work ineffectively .

University of technology HCMC

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Group 6

Microcontroller Project

Why do we have to control the motor to reach identical state ?
Example :

→ So ,control the motor to reach identical state is important problem

University of technology HCMC

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Microcontroller Project

Group 6

Principles

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Firstly ,we input the speed.
This is a desired speed of motor 1 and motor 2
The actual speed of motor 1 is measured by encoder and feedback to the controller
Microcontroller will calculate the error between actual speed and desired speed
PID algorithm will be used to adjust the speed of motor 1 to reach the desired speed

University of technology HCMC

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Microcontroller Project

Group 6

Principles

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

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About the motor 2 :
The actual speed of motor 2 is measured by encoder and feedback to the controller .
At there , microcontroller will calculate the error between actual speed and desired speed
PID algorithm will be used to adjust the speed of motor 2 to reach the desired speed

University of technology HCMC

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Microcontroller Project

Group 6

Principles

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Finally, microcontroller calculate the error between actual speed of motor 1 and actual speed of motor 2 .

PID algorithm will be used to adjust the error smaller .
So , motor 1 and motor 2 reach the identical state

University of technology HCMC

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Microcontroller Project

Group 6

Summary

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We have three PID subprogram to adjust the speed of motor 1 and motor 2 .
The disadvantage of this method is the needed time to reach the identical state is long

University of technology HCMC

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Microcontroller Project

Group 6

Block diagram

University of technology HCMC

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Group 6

Microcontroller Project

Circuit schematic

O S C 2

14
12
31

O S C 2 /C L K O U T /R A 6
A V S S
V S S

A V D D
V D D

D 7

D 6

D 5

E

R W

V S S (G N D )

V D D

R S

1

V o

R S

R /W

E

D 4

2

V C C

3

11

32

4

1
2
3

5

8
9
10

D B 0

4
5
6
7

D B 1

D
D
D
D

D B 2

R S
R W
E

6

R E 0 /A N 6
R E 1 /A N 7
R E 2 /A N 8

9
0
1
2
7
8
9
0

L C D -1 6 0 2

7

O S C 1 /C L K IN /R A 7

1
2
2
2
2

2
2
3

U 2

8

R D 0 /T 0 C K I/T 5 C K I
R D 1 /S D O
R D 2 /S D I/S D A
R D 3 /S C K /S C L
R D 4 /F L T A *
R D 5 /P W M 4
R D 6 /P W M 6
R D 7 /P W M 7

3
4
5
6
7
8
9
0

D B 3

/T 1 O S O /T 1 C K I
/T 1 O S I/C C P 2 /F L TA *

/C C P 1 /F L T B *
/T 0 C K I/T 5 C K I/IN T 0
/IN T 1 /S D I/S D A
/IN T 2 /S C K /S C L
/T X/C K /S S *
/R X /D T /S D O

3
3
3
3
3
3
3
4

9

0
1
2
3
4
5
6
7

M 0
M 1
M 2

M 3
M 5
M 4
B I2
B I3

D B 4

C
C
C
C
C
C
C
C

F -/C A P 1 /IN D X
F + /C A P 2 /Q E A
3 /Q E B
IN

/P W
/P W
/P W
/P W
/P W
/P W
C /K
D /K

10

R
R
R
R
R
R
R
R

/V R E
/V R E
/C A P
/L V D

R B 0
R B 1
R B 2
R B 3
R B 4 /K B I0
R B 5 /P G M /K B I1
R B 6 /P G
R B 7 /P G

D B 5

0
1

2
3
4
5

D B 6

N
N
N
N
N
N

D B 7

/A
/A
/A
/A
/A
/A

11

13

0
1
2

3
4
5

12

O S C 1

5
6
7
8
3
4
5
6

A
A
A
A
A
A

13

S ense1
S ense2

1

1
1
1
2
2
2
2

R
R
R
R
R
R

K (L E D -)

P W M 2
P W M 1

M C L R * /V P P /R E 3

14

2
3
4
5
6
7

A ( LE D +)

A
B
C
D

P V N 1

15

1

16

V C C

V C C

0
KeyPad

P IC 1 8 F 4 4 3 1

0
A
D IR 1

2

1

U 3

2
1

3

5
7

P W M 1

10
12

2

1

3

0

E N 1
D IR 2

1

15

2

1

2

1

3

0

5V
12V

6
11
9
4

1A 1
1A 2

1Y 1
1Y 2

2A 1
2A 2

2Y 1
2Y 2

2
3

1Y 1
1Y 2

B

13
14

2Y 1
2Y 2

C
D

1E
2E
1E N
2E N

1

2

3

V C C 1
V C C 2

P W M 2
V C C

L298

2

Actuator

1

3

M G 2

+
+

-

2

A

2Y 1

C 2

1Y 2

1

2Y 2

M G 3

O S C 1
22P

1

M O TO R S E R V O

C 1

0

-

2

A

1Y 1

E N 2

Y 1
20M H z
O S C 2

M O TO R S E R V O

22P

University of technology HCMC

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Microcontroller Project

Group 6

Element is used :



We use Pic18f4431 for controller



Lcd 16x2 is used to display

University of technology HCMC

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Microcontroller Project

Group 6

Element is used :



Key pad is used to input the speed



L298 is used to motor driver



2 DC servo motor are actuator

University of technology HCMC

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Microcontroller Project

Group 6

Simulation

University of technology HCMC

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Group 6

Microcontroller Project

Thank for your attention

University of technology HCMC

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