1LI M U Ngy nay my tnh dn tr thnh mt phn khng th thiu trong hu ht cc h thng iu khin thi gian thc .Vi s ra i ca cc vi x l P (ARM ,DSP,FPGA. ) vi tc x l v tn s h thng ngy cng cao lm cho s xut hin my tnh trongcc h thng iu khin tng ln ng k. Chng ta c th gp cc h thng iu khin s trong nhiu ng dng iu khin qu trnh , iu khin giao thng , iu khin my bay, iu khin ra a,my cng c ,u im ln nht ca cc h thng iu khin s th hin qua tnh kh trnh ca n, d dng xy dng v sa i thut ton iu khin , chnh xc cao gi thnh phhp.Hnnacmtsbiukhinchcthpdngctrongh thngiukhins,ctrngliukhinDeadbeat[4].Nhcimduy nht ca h thng iu khin sl tc x l ph thuc vo nng lc tnh ton ca cc vi x l.Tuy nhin vn ny c ci thin ng k trong cc my tnhsngynaym bo thchinttttc cc lthuyt iukhinhini vi cht lng cao .Cc yu t trn y chng tiu khin s l mt bc pht trin hon ton ph hp vi xu th pht trin caiu khin t ng v t ngho. iukhinsngycngchimuthvlmnntngchos pht trin ca cc h thngiu khin thng minh . TMS320C2000lhvixlthius(DSP)caTexasIntruments ang c s dng rng ri trn th gii hin nay do c th hot ng tc cao,nng lc tnh ton mnh m ,tch hp cc ngoi vi h tr chuyn dng trong vic iu khin s tc ng c v nng lng [16].Chnh v l do ny em chnhvixlTMS320C2000idinlTMS320F2812lmitng nghin cu thc hin cc b iu khin s v hon thnh ti Nghin cu thchinbiukhinstrnnntngDSPTMS320C2000Snidung bo co gm 3 chngChng 1 : Tng quan v iu khin s Chng 2 DSP TMS320F2812 v cc cng c h tr pht trin 2Chng 3 Thc hin b iu khin s s dng DSP TMS320F2812 tinycnghincunhmnmvnghncclthuytviu khin s ng thi gip cho vic thc hin cc b iu khin s ( thng thng v hin i ) c thun li hn trong thc t . Trong qu trnh nghin cu v hon thnh n do kin thc c hn ,kh nng lnh hi cc kin thc mi cn hn ch ,em rt mong c s ch bo ca cc thy c c mt kin thc vng vng hn ,t tin tham gia vo thc t sn xut . Em xin chn thnh cm n s gip ca cc thy c gio trong b mn inTngCngNghip,cc bnLpT47 c bitlshng dn, ch bo tn tnhthy gio TH.S Phm Tun Anh gip em hon thnh n ny . Sinh vin thc hin Phm Vn Khnh 3CHNG 1. TNG QUAN V H THNG IU KHIN S 1.1 KHI NIM V H THNG IU KHIN S 1.1.1 Khi qut chung v iu khin s Trong cc h thng c kh hin i, iu khin khin h thng thay i theo thi gian t c cht lng mong mun theo yu cu vi n nh v schnhxccaothcn thitphia biukhinvo. Vaitrcabiu khin s lm cho u ra ca h thng t c cht lng mong mun theo yu cu.mbosxuthincanhiutrongmhnh,huhtccbiu khin thng c cu trc dng phn hi m. Khi ngi ta dng 1 cm bin o u ra ca h thng c iu khin v so snh n so vi tn hiu t. Hot ng ca b iu khin da trn gi tr tn hiu sai lch gia tn hiu t v gi tr o c ca cm bin. B iu khin da vo tn hiu sai lch a ra tn hiu iu khin mong munchohthng.Ccitngciukhinthnglcchthng tng t bao gm: in, thy lc, kh nn hay cc thnh phn c kh. u vo v u ra ca i tng u l cc tn hiu tng t. Trong vi thp k gn y ccbiukhinsthaythccbiukhintngtthngthng. Chng c th l cc mch k thut s, cc my tnh s hay cc vi x l. Cc u im ca h thng iu khin s so vi h thng iu khin tng t thng thng [13] chnh xc: iukhins cbiu dinvinhngs0v1vi 12 bit hay nhiu hn biu din mt s n. iu ny lm cho sai lch iu chnh s nh hn so vi iu khin bng tn hiu tng t. Bi v tn hiu tng t s b s tc ng ca nhiu lm cho vic iu khin s khng cn chnh xc na. Trit tiu cc sai lch: Qu trnh x l s ca cc tn hiu iu khin bao gmn phpcngvphpnhncthchinbngcchlutrcc gi tr s. Cc gi tr sai lch ca vic biu din bng k thut s v s hc l khngngk. Ngcli,vib iu khintngtcthchin 4viccphntkthutinthngthngnh:intrvtinm cc gi tr thc ca chng lun b bin i do cc tc ng bn ngoi. Do vy,sovibiukhintngtthbiukhinsgnnhtrit tiu c cc sai lch . Tnhlinh hot:Mtb iu khintngtrt khcththayi c thit k trong phn cng. Ngc li b iu khin s c vit bng phn mm do ta c th thay i cu trc chng trnh ca n so vi chng trnh gc m khng lm nh hng ti h thng. Tc:Ktnm1980nnaytcphncngtrongmytnhtng ln theohm m. iuny lmtng tc xl qutrnh,do h thngcthly mu haytora cctnhiuiukhintc rtcao. ng thi cht lng iu khin s tng ln ng k da trn s gim st lin tc cc bin c iu khin. Chiph:Hinnaymcdgiccaccloihnghavdchvu tng,tuynhinchi ph choccmch kthuts li gim.C c iu ny l do s tin b ca cng ngh VLSI trong nhng nm gn y lm cho kh nng sn xut cc mch s tr nn tt hn, cht lng tt vi tincycao.Ngitiudngcthmuacccsnphmvichiph thp. iu ny s lm cho vic s dng cc b iu khin s tr nn kinh t v ph bin hn. 1.1.2 Cu trc ca mt h thng iu khin s iu khin mt h thng hay qu trnh th h thng iu khin phi o ccctnhiuuracahthnghayqutrnh,tmigicctn hiuiu khinn cc ccuchphnh.Huhtcc ng dngtrongthct th i tng v c cu chp hnh u l cc h thng tng t. Nh vy y tathyngaycmtvnl biukhinvitngiukhinkhng nicngmtngnng.Ngnngcabiukhinsltnhius,cn ngn ng ca i tng iu khin l tn hiu tng t. chuyn i t ngn ngca b iukhin sangngnngcaqutrnhngita thngdngmt 5b bin i t s sang tng t c gi l DAC. Ngc li chuyn i ngn ngca qutrnh sangngnngca b iukhinngita dngmtb bin ittnhiutngtsangtnhiuscgilADC.ocura ca qu trnh c iu khin ngi ta dng mt cm bin lp mch phn hi. Nh vy gp tt c cc vn bn lun trn li ta c mt mch vng kn ca h thng iu khin s c trnh by nh hnh 1.1 . Hnh 1.1 Cu trc ca 1 h thng iu khin s 1.1.3 Mt vi h thng ng iu khin s trong thc t a) H thng chm sc y t Mtvibnhmntnhcquinhkhitruynthuchochcmnv trongcthtngng vimcnng nhkhcnhaucacnbnh.Ni bt trong s ny l bnh tiu ng khi vic sn xut hc mn insulin gip iu tit nng ngtrongmu bsuygim.Khi ngita ngh ngay n vic thitkmththngtruynhcmninsulinvocthgipiuhalng ngtrong mup dngiukhins. Vih thngnythcn c mtcm bin o lng hc mn hay lng cht dinh dng c trong c th. Thng tin o c t cm bin c truyn n my tnh s, y s tnh ton lng hc mn cn thit truyn vo c th ca bnh nhn. S khi ca h thng c biu din hnh 1.2 . 6 (a) (b) Hnh 1.2 H thng chm sc y t (a) Cu trc ca h thng iu khin (b) S khi ca h thng iu khin b) H thng iu khin my bay phn lc Cc my bay phn lc hin nay u s dng h thng iu khin s c trangbccmytnhiukhintitn.Skhibiudinhthngiu khin s s dng my tnh dng trn my bay phn lc c trnh by trn hnh 1.3. Ta thy rng s hnh 1.3 c th iu khin c cn c cc thng tin trng thi cangc(tc,nhitv psut) vthngtintrngthica my bay (tc v hng) v lnh ca phi cng . 7 (a) (b) Hnh 1.3 H thng iu khin ng c phn lc (a) My bay phn lc F-22 dng trong chin u (b) S khi ca h thng iu khin c) H thng iu khin cnh tay my Robot Cnh tay robot c th thc hin c cc cng vic lp i lp li vi cc tc v chnh xc cao m khng ngi khng th lm c. Chng c s dngrngritrongcngnghiptrongqu trnhhnvsn.Cciu ny chnh l nh vic p dng iu khin s iu khin tc v v tr ca cnh tay robot. Tt c cc khp trong tay my robot th c iu phi bng mt my tnhgimst,mschuynngcamikhptrongtaymysciu khinbngmtbiukhinringbit.Mytnhscungcpmtgiaodin ngimychophplptrnhccbiukhiniukhinchuynng cataymy.Ccthuttoniukhinctixungtmytnhgimst 8xung cc vi x l hay cn gi l cc chip x l tn hiu s DSP. Cc chip DSP ny s thc thi cc thut ton iu khin v to nn vng iu khin kn cho tay my. Hnh v v s khi ca h thngiu khin tay my c biu din hnh 1.4 . (a) (b) Hnh 1.4 H thng iu khin tay my robot (a) Tay my Robot c 3 bc t do (b) S khi ca h thng iu khin tay my d) H thng iu khin nhit phng S v h thng iu khin nhit phng c minh ha nh hnh 1.5. Thnh1.5ta thytnhiuura tcm bin(cp nhit ngu,intrnhit, .v.v..) c so snh vi nhit t. Khi c s sai lch gia 2 gi tr nhit th 9biukhinsgitnhiuiukhinngmvanintiuchnh lng gas cp vo. Tn hiu nhit t th c iu chnh bng mt chit p . (a) (b) Hnh 1.5 H thng iu khin nhit phng (a) S cu trc ca h thng iu khin nhit phng (b) S khi ca h thng iu khin e) My gia cng c iu khin bi my tnh s (CNC) Thngtinvhnhdngcavtthvhnhtrnhchuynngcabn my c lu tr trong mt chng trnhmy tnh. Trong qu trnh hot ng, cc thng tin ny s c so snh vi tnhiu phn hi, khi s xut hin tn hiu sai lch. Tn hiu sai lch ny chnh l tn hiu u vo ca b iu khin, tiuraca b iu khinschora tn hiuiu khin.Tnhiuny s iu khinbininguncngsutiukhinngcDCServotruynng 10bnmydchchuyntheonghnhtrnhttrc.Scahthngny c biu din trn hnh 1.6 . (a) (b) Hnh 1.6 H thng iu khin my gia cng CNC (a) S cu trc ca h thng (b) S khi ca h thng iu khin f) H thng li tu t ng Hu ht cc tu ch hng chy trn bin u c trang b h thng li tu t ng. H thng ny c thit k sao cho con tu i ng hng mong mun, thmchcgihaysng.Scahthngcbiudintrnhnh1.7. Hng i ca con tu c xc nh bng la bn. Khi c mt s tc ng no nhgihaysnglmthayihngicacontuthbiukhinstnh tonmtgcliphhpgi ti cculi. Gc licacontuc o bng 11mt cm bin v c so snh vi gc mong mun. Bnh li s a ra v tr iu khin thch hp iu khin cho con tu i ng hng. (a) (b) Hnh 1.7 S h thng li tu t ng (a) S cu trc ca h thng (b) S khi ca h thng iu khin 1.2 M HNH TN HIU V H THNG 1.2.1 M hnh h thng iu khin s Gingnhiviccb iukhin tng t,cc mhnhton rtcn thit cho vic phn tch v thit k cho h thng iu khin s. Cu hnh chung cho cc h thng iu khin s c biu din trn hnh 1.8 . 12 Hnh 1.8 Cu hnh chung cho h thng iu khin s Trongmhnhhnh1.8tathygmccckhi:DAC,hthngtng t, ADC. Khi DAC c nhim v bin i cc dy s c tnh ton bi vi x l hay my tnh sau chuyn thnh cc tn hiu tng t, cc tn hiu ny sau s c i qua khu khuch i iu khin i tng. H thng tng t gm c i tng v c cu chp hnh. u ra ca i tng s c o lin tc nh cc cm bin, sau cc tn hiu o c s c chuyn i thnh cc dy s nhkhu ADCv c phn hitrlimytnh.Trongphnny chngta s xy dng m hnh cho cc thnh phn khc nhau ca h thng iu khin s nh ADC, DAC v sau s kt hp chng li vi nhau to nn 1 h thng hon chnh. 1.2.2 M hnh khu ADC Cc gi thit trc khi m hnh ha khu ADC: lnuvov uracakhuADClbngnhau,nghalccsai lch xut hin khng ng k. KhiADCbinitnhiuvotngtthnhtnhiurasngaylp tc. Ly mu l hon ton ng nht. T cc gi thit trn ta c th coi khu ADC nh mt khu ly mu l tng vi chu k trch mu T. M hnh khu ADC c biu din trn hnh 1.9 . 13 Hnh 1.9M hnh khu ADC Tuy nhin trong thc t cc gi thit bn trn ch c th t c mt cch gn ng trong thc t. Cc sai lch xut hin rt nh nhng khc khng, s thay i trongtllymucxuthinnhngkhngngkv khiADC c1thi gianchuyninhtnh.Dvymhnhkhulymultngvnc chp nhn trong hu ht cc ng dng c kh. 1.2.3 M hnh khu DAC Cc gi thit trc khi m hnh ha khu DAC: ln u vo v u ra ca khu DAC l bng nhau. KhiDACbinitnhiuvosthnhtnhiuratngtngaylp tc. u ra ca khi DAC l hng s ti mi chu k trch mu. Ta thy rng quan h gia u vo v u ra ca khi ADC c a ra nh sau [4] ( ) { } ( ) ( ) ( ) , 1 , 0,1, 2,...ZOHu k u t u k kT t k T k = s s + = (1.1) Vi{u(k)} l dy tnhiuuvo.Phngtrnh(1.1)mt1khugichm bc khng (ZOH) c biu din trn hnh 1.10 . Hnh 1.10M hnh ca khu DAC vi khu gi chm bc khng (ZOH) C nhiu hm khc cng c th c s dng xy dng tn hiu tng ttdytnhiuuvonhkhugichmbc1(FOH)vkhugichm bc2(SOH).Trongthct,khuDACvncmtkhongthigianbini 14nht nh chuyn cc tn hiu s thnh cc tn hiu tng t; ln gia u vo v u ra ca khu DAC l khng bng nhau v c th b thay i mt cht trongkhongthigianlymu.Tuyvy,mhnh(1.1)vncdngtrong hu ht cc ng dng c kh. 1.2.4 Hm truyn ca khu chm bc khng (ZOH) thuchmtruyncakhuZOH,tathaycctnhiuginon cbiudinhnh1.10bngxungdiraco(t).hnh1.10tathytnhiu xunglmtxungnvcrngT.Mtxungcthcbiudinbng mt bc nhy dng ti thi im 0, sau l 1 bc nhy m ti thi im T. S dng php bin i Laplace ca hm bc nhy n v v nh l thi gian tr cho php bin i Laplace ta c (1.2) Vi 1(t) l bc nhy n v Do hm truyn ca khu ZOH s l: (1.3) Tip theo chng ta xt n p ng tn ca khu ZOH: (1.4) Bin i phng trnh (1.4) theo dng sau ta c: (1.5) 15Nh vy ta c: (1.6) Tphngtrnh(1.5)tathygcca pngtncakhuZOHgimtuyn tnh so vi tn s, cn ln th t l thun vi hm sin. iu ny c ch ra hnh 1.11 vi bin dao ng, nh cao nht ca bin bng chu k ly mu v xut hin ti tn s bng 0. Hnh 1.11 ln p ng tn ca khu ZOH vi T = 1s 1.2.5 Kt hp hm truyn ca cc khu DAC, h thng con Analog vKhu ADC H thng Cascade vi cc khu DAC, h thng con Analog v khu ADC cbiudintronghnh1.12xuthinthngxuyntronghthngiu khin s. 16Hnh 1.12H thng ni tng ca khu DAC, h thng tng t v DAC Doc2uvov ura ca hthngclymunnta c ththu chmtruyntrnminztrongquanhvicchmtruyncacckhu ring r. Gi thit rng hm truyn ca h thng con Analog l G(s), do hm truyn ca h Cascade gia khu DAC v h thng con Analog s l: (1.7) p ng xung tng ng l: (1.8) pngxungphngtrnh(1.8)lpngbcnhycahthng tng t tr i p ng bcnhyth 2 btr mtkhong chuk lymu.Ta thy rng p ng ny biu din 1 h thng tt dn bc 2 c th hin trong cc th ca hnh 1.13 . Hnh 1.13 p ng xung ca h ADC v h thng tng t (a) p ng ca h thng tng t vi u vo l bc nhy (b) p ng ca h thng tng t vi u vo l mt xung n v 17p ng trong phng trnh (1.8) c ly mu xc nh p ng xung ca h thng (1.9) Bngphpbiniz,chngta thuchmtruyn zcahthngni tng gm khu DAC, h thng tng t v khu ADC (1.10) Cckhiu trong phngtrnh(1.10)thhinrngviclymu 1 hm theo thi gian l cn thit trc khi thc hin bin i z. Nh vy ta c th vit ngn gn phng trnh (1.10) thnh: (1.11) 1.2.6 Hm truyn vng kn ca h thng Sdngccktqucctrongmc1.2.5vscutrccah thngiu khinschngta c cskhicamchvngknnhhnh 1.14. Hnh 1.14S khi mch vng kn trong h thng iu khin s Mchvngkntronghnh1.14gmckhusosnh,biukhinvi hm truyn C(z) v hm truyn ca i tng iu khin GZAS(s) ( gm c khu ADCitngtngtDAC).Biukhinvkhusosnhlcc chngtrnhmytnhvnthaythkhimytnhtronghnh1.8.Nhvy 18gingnhtrongminsthhmtruynmchvngkncahthngbiudin trn min z l: (1.12) Phng trnh c tnh ca hm truyn kn l: (1.13) Tathyrngnghimcaphngtrnhctnhlccimcccah thng,da vo iunyta cthlachnp ngthi gian mongmunnh trong thit k trn min s. 1.2.7 M hnh nhiu trong h thng iu khin s Nhiu l ccbin mn khngchatrongmhnhhthngnhngnh hngn pngcah thng.Chngcthc xc nh, chnghnnh mmen ti trong h thng iu khin v tr, cng nh cc nhiu t cc cm bin hay t c cu chp hnh. Tuy nhin, hu ht tt c cc nhiu u l cc tn hiu tngtvnthngtcngn itngtngttrong mchvng iu khin s. Chng ta xt h thng vi nhiu u vo c biu din nh hnh 1.15. Hnh 1.15S khi ca h thng iu khin s vi nhiu u vo Do h thng l tuyn tnh, ta gi nh rng cc tn hiu t c x l mt cch ring r v coi nh bng 0. p dng php bin i Laplace ta thu c u ra ca h thng l: [4] (1.14) 19Ta c biu thc tnh Y*(s) l: (1.15) Tathymuscaphngtrnh(1.15)gmchmtruyncacc khuZOH,hthngconAnalogvkhulymu.Dotacthvitli phng trnh (1.15) di dng sau: (1.16) Hay vit trn min z ta c: (1.17) 1.3 IU KHIN S TRUYN NG IN Trong lnh vc iu khin chuyn ng, ta thng bt gp iu khin tc ng c. Tc chuyn ng thc s bng tc t. s khc nhau gia tc thcv tc tl sailchtc.Nhim vcabiukhintc l gimsailchtcnmcnhnhtcth.tciuny,biu khin phi sinh ra c mt mmen t. Chng ta s xt h thng vi tc gc e mmen qun tnh J, h s ma stB vmmen tiTL.T l thay i tc thc c xc nhtrong phng trnh(1.18)viTeml mmenquay.Skhicahthngiukhin c biu din trong hnh 1.16 . Tcmongmune*tronghnh1.16cgiltcthayim t.sai lch tc Ae l s sai lch gia tc t v tc phn hi efb . B iukhintccbiudintrnhnh1.16chmtruynWSC(s),nc nhim v x l tn hiu sai lch v sinh ra mmen t Tref . 20 Hnh 1.16Cu trc c bn ca h thng iu khin tc dJdtem LT T Bee = (1.18) MmenTemchnhl lc dn ngca h thng,ncnhimvl cho tc thc w bm theo tc t e* trong mi trng c nhiu v mmen ti TL bin i. T phng trnh (1.18), ta bit rng mmen quay c tc dng b s thay i ca mmen ti TL vlc ma stBe , ng thi cn to ra thnh phn mmen qun tnhJ.de/dttrongqutrnhgia tcv hm.Trongthct,Trefl tn hiu s c cp ti u vo ca khi c cu dn ng mmen. Khi c cu dnng mmenchmtruyn WA(s)c biudin hnh1.16. Nhimv ca b iu khin tc l phi lm sao cho mmen qun tnh Tem bm st theo mmen Tref. Do vy hm truyn l tng ca c cu dn ng l WA=1 hay WA =kM=const.Huhtccccu dnngmmenugmkhinguncng sut v ng c in. Khi ngun cng sut ny s cp dng in v in p ph hp cho ng c ng c sinh ra ti u trc mt mmen quay Tem. u trc ng c c th c gn trc tip vi ti hay gn qua 1 b chuyn i c kh bin i tc quay thnh php dch chuyn v tr. Khi ngun cng sut c l t cc van bn dn (transistor v thyristor), cun cm v t in. N bin i in p v dng in ca ngun in ban u thnh in p v dng ph hp cp cho ng c ng c sinh ra mmen quay Tem .cthsdngcchailoingcxoaychiuvmtchiuth 21khi ngun cngsut cthchuyniDC/DC, DC/AC,AC/DC,hayAC/AC. S kt hp gia b ngun cng sut v ng c to thnh 1 khi gi l electric drive. Hu ht cc b electric drive u to ta mmen Tem , vi tr thi gian khistnhiuTrefkhongt10nvitrmmicrogiy.Mmendongc sinhra thc xcnh bi dng inchytrong cun dy phn ng. Do , thigianpngcammenthphthucvodithngtrongmchvng dng in. Do vy hm truyn ca khu c cu dn ng mmen kh c th t c WA(s)= kM = const. Mt khc, p ng mong mun ca mch vng tc th o c trong khong 10 ms. Trong hu ht cc trng hp, tr gy ra bi c cu dn ng mmen th khng ng k so vi tnh ng hc ca h c kh vthigianpngmongmuncamchvngtc.Trongnhiutrng hp, khi phn tch v tng hp mch vng tc ngi ta thng gi thit rng c cu dn ng mmen c h s khuch i tnh kM v khng c lin quan n tnh ng hc v tr. Tnhiutc phnhi efb(hnh1.16)th thu ctiuracakhi WM (s). Tn hiu tc ny th khng phi l bn sao chnh xc ca tn hiu tc thc e do s gi hn v phn gii ca cc cm bin u rc ng c, do s cn thit phi qua 1 b lc lc nhiu v cc tn hiu cao tn, v do k thut cthcaqutrnhthuthptnhiutc.HmtruynWM(s)miutqu trnh x l tn hiu ti u trc ng c. Nu chng ta xt n my pht tc ca mch lc thng thp RC th ta c hm truyn WM(s) s l WM(s) = 1/(1+sRC) = 1/(1+sT). Trong nhiu trng hp khi s dng cc thit b phn tch in t th hmtruynWM(s)cthphctphn.Khithitkvtnghpccbiu khin tc th hm truyn WM(s) c th c xt ti. Trong nhiu trng hp khi hng s thi gian tham gia vo trong mch phn hi nh hn so vi thi gian p ng tc mong mun th hm truyn WM(s) c th b qua v cho efb = e. Hthngiukhintcdngphntchccbiukhintc c biu din trong hnh 1.17. H thng ny c 1 b o tc l tng efb = e, v c cu dn ng mmen lun to ra mmen Tem = Tref . H thng ny dng 221 ng c 1 chiu kch t c lp lai ti c mmen qun tnh J. Dng in kch t ip v t thng s ca ng c up c gi thit l hng s. Nh vy, mmen t l trc tip vi dng phn ng ia = Tem/(kM. up) vi kM l hng s mmen ca ng c. V l do ny tn hiu Tref thu c t b iu khin tc s tr thnh Ia* = Tem/(kM. up). n gin ta coi khi ngun cng sut cp dng phn ng c ch ra hnh 1.17 l mt b ngun dng l tng c th iu khin c. Trong thc t, cc khi ngun cng sut da trn s hot ng ca cc van bn dn(transistor, thyristor)vchngclinktvi biukhin dngtng thays.MtbkhuchisccpinpphnnguABtingc. Dng in phn ng thay i tng ng vi phng trnh : adidta a a AB aL R i u e + = (1.19) Trong : La : in cm phn ng Ra : in tr phn ng ea = ke upe : sc in ng sinh ra bi cun dy phn ng B iu khin dng s a tn hiu iu khin cho cc van cng sut hot ng thu cin puABthchhp,ctc dngbscin ngeavkhsai lchAi = Ia* - ia . B iu khin dng s to ra 1 hiu in p t uAB*bng cc h s kP v kI . 23 Hnh 1.17ng c mt chiu kch t c lp c cp bi mtngun cng sut c th iu chnh c v c dng nh mt c cu dn ng mmen trong h thng iu khin tc Huhtccbiukhintchintaiulccbius,chng c thchinbicc viiu khinhaycc bvi xl ng.Cchot ng iukhincachngc dinra 1cch ri rcvcthchintng bc nh cc s kin ngt ca cc vi iu khin /DSP. Khi phn tch v tng hp cc b iu khin tc s, ta phi biu din cc tn hiu v hm truyn bng php bin i z. Khc vi cc b iu khin tc s hin ti, cc b iu khin trc y thng c thc hin trn min lin tc, chng c to ra bi mch in ttngtdngcckhuchithutton,cc intr,cc tin. phn tch hay tng hp cc b iu khin tng t ta phi biu din cc tn hiu hm truyn trn min s. 24CHNG 2. DSP TMS320F2812 V CC CNG C H TR PHT TRIN 2.1 CU TRC DSP TMS320F2812 2.1.1 Gii thiu chungTMS320F2812 vTMS320C2812, cc thnh vin ca h TMS320C28x DSP, c tch hp cao, hiu sut cao, l gii php cho cc yu cu ng dng iu khin . Chc nng Tng quan ,kiu ng gi v bn b nh ca TMS320C2812 ,TMS320F2812 v mt s dng thuc h C28x c trnh by trong cc hnh pha di .Chi tit v mt s chc nng c bn ca F2812 ctrnh by trong cc phn tip theo . Cc ti nguyn ca TMS320F2812 [6] Hnh 2.1 Tm tt cc ti nguyn ca C281x 25 Kiu ng gi [6] TMS320F2812 c 2 kiu ng gi l kiu GHH (179 chn ) v ZHH ( 176 chn) hnh 2.2l kiu GHH Hnh 2.2 Kiu ng gi GHH ca F2812 Chc nng cc chn c trnh by chi tit trong data manual tc l trong ti liu tham kho s [6] t trang 18 n trang 28 26 S cu trc cc chc nng ca F2812 [6] Hnh 2..3 S cu trc cc chc nng ca F2812 Vng c bo mt bi modul code security Phn vng b nh [6] 27 Hnh 2.4 Phn vng b nh TMS320F2812 2.1.2 Cng vo ra s ( Digital I/O ) a)Gii thiu DSPC28xngoikhnngxl mnhmncncttcccthitb ngoivicnthitxydngmththngiukhin(SOCsystemon chip).Cc thit b ngoi vi tch hp trn dng C28x c mt u th quan trng so vi cc VXL khc. mt ngoi vi n gin nht lDigital I/O. b) Bn b nh d liu ngoi vi 28Tt c cc thit b ngoi vi ca C28x c bn b nh vng b nh d liu theo kin trc Harrvard .iu ny c ngha l chng ta iu khin cc ngoi vi bng vic truy cp vo a ch b nh d liu chuyn dng .Cc hnh sau y s ch ra iu ny [6,11]. Hnh 2.5 Bn ngoi vi TMS320F2812 c)Khung ngoi viTt c cc thanh ghi ngoi vi c nhm li vi nhau thnh mt nhm gi l khung ngoi vi PF0,PF1 v PF2 .Cc khung ngoi vi ny nm trong bn b nh d liu .Khung ngoi vi PF0 bao gm cc thanh ghi iu khin tc ca b nh flashbntrong ngilptrnhcthtruy cp mtln trnmi chukxungclock.Flash l b nhtnh sdngthngxuynchoviclutr codev dliu banu .Khungngoivi PF1 chahuhtccthanhghi iu khinthitbngoivi,ngclikhungngoiviPF2chdnhringchokhi thanh ghi CAN ( control Area Network) 29 Hnh 2.6 Phn vng b nh TMS320F2812 Mtsvngbnhcmtkhubovbimodulbomt(code securitymodule ).Mt khubov c lptrnh,btkstruycpno vo khu vc bo mt th ch c chp nhn khi nhp mt mt khu chnh xc vo khu vc c bit ca PF0. d) Cng vo ra s Digital I/OTtcDigitalI/OucnhmlithnhccPORTgilGPIO A,B,D,E,FvG.yGPIOcnghalGeneralpurposeinputoutput .C28x c trang b rt nhiu thit b bn trong ,tuy nhin khng phi tt c cc tnhnngcthktniviccchnchuyndngcathitbcnglc.Gii php cho vic ny l s dng b dn knh ( Mutiplex MUX) .C ngha l mt chn c th s dng cho 2 hoc 3 cha nng khc nhau v n c la chn bi ngi lp trnh . 30 Hnh 2.7 Cc GPIO PORT TMS320F2812 ThutngInputQualitificationfeaturecpnmtchcnng c thm vo cho u vo Digital cc PORTA,B,D, v E .Khi cc tnh nng ny c s dng mt xung u vo phi c di hn gi tr danh nh ca chu k xung clock c cng nhn l u vo hp l. Ttc6GPIOPORTciukhinbithanhghidn knh(Mutiplex)ca chng l thanh ghi GPxMUX ( x l k hiu t A n F ) .Xa bit v 0 c ngha l chn chc nng I/O ,t bit ln 1 c ngha l la chn cha nng ring ( TI gi l primary function ) Khi u vo ra Digital I/O c la chn,Sau nhm thanh ghi GPxDIR nh ngha chiu ca I/O.Xa bit v 0 thit lp nh l u vo ,t bit ln 1 xcnhlura.mtscnguvoctrangbcngvimtInput qualificationfeature.Dnglachnnychngtacthnhnghamt khong thi gian loi tr cc Spike ( gai ) hay l cc xung ngn t khi ang c cng nhn l u vo hp l. 31 Hnh 2.8 Cu trc thanh ghi GPIO TMS320F2812 Hnh 2.5 S khi GPIO TMS320F2812 e)Cc thanh ghi digital I/O ca C28x 32 Hnh 2.9 Cc thanh ghi GPIO TMS320F2812 f)C28x clock modulTrckhi sdngccuvora,cnci t C28xclock modul ging nh cc vi x l hin i khc .Ngun xung cho C28x c cung cp t mt b dao ng bn ngoi tn s thp gim nh hng ca nhiu in t .Mt mch PLL to ra tc pha trong .Kit EZDSP s dng tn s ngoi l 30 MHZ t c tn s ni l 150MHZ chng ta c 10 h s nhn v chia cho 2.iu ny c th c thc hin bng vic lp trnh thanh ghi iu khin PLL ( PLLCR PLL control register ) . Hnh 2.10 C28x clock modul High-Speed clock pre-scaler ( HISPCP ) v LOW-speed clock pre-scaler ( LOSPCP) c s dng nh cc b chia tn s.u ra ca 2 pre-scaler c s 33dnglmngun xungclock cho cc thitbngoivi.ngilptrnhcth ci t 2 Pre-scaler ring r nu cn thit. Ch:TnhiuCLKINccngtnsviSYSCLOUTcs dng cho giao din b nh bn ngoi v cho giao tip CAN .Cng nh vy tn s dao ng ca b Watchdog c cp trc tip t b dao ng bn ngoi.Tn s cao nht cho b dao ng bn ngoi l 35MHZ sdngmtngoivichngtachophpphnphiccxungclock bngccbitringrcathanhghiPCLKCR.uvora DigitalI/Okhngc xung clock kch hot. Hnh 2.11 Cc thanh ghi iu khin xung clock ngai vi g)Watchdog timer Mt b Watchdog timer c m t do v c th to ra mt tn hiu resetnukhngcxanhkbichngtrnh.Ncsdngpht 34hinraccskinncsdngphthinraccskinchm chng trnh ang thc thi ,ly v d nh hin tng treo. Hnh 2.12 S khi modul watchdog timer Watchdog th thng xuyn c cp in khi DSP c cp ngun .Khi chngtakhngquantmnwatchdognhknskchhotmttnhiu reset .Mt trong nhng phng php n gin nht i ph vi cc wachdog l v hiu ha n ,vic ny c thc hin bng cch ci t bit 6 ( WDFLAG) t ln 1.Tt nhin y khng phi l mt quyt nh khn ngoan bi v mt wachdog l mt tnh nng bo mt v mt d n thc t th bao gm cng nhiu bo mt cng tt. Ccpre-scalerwatchdogcthcsdngtngchuktrnca Watchdog. Bit kim tra logic (WDCHK) l mt vng bit bo mt khc .Mi s truycpghivothanhghiWDCRphibaogmskthpbit101cho3 vng,nu khng truy cp s b t chi v tn hiu reset c kch hot ngay lp tc .Bit c Watchdog ( WDFLAG ) c th c s dng phn bit gia mt reset thng thng (WDFLAG = 0 ) v mt reset t Watchdog ( WDFLAG=1). Ch : Xa c ny bng cch ghi 1 vo bt tng ng. 35 Hnh 2.13 Thanh ghi iu khin watchdog timer Ch:Nuvldonobdaongbnngoikhnghotng,Watchdogkhng mtngln.Trongmtngdngchngtacthnmbt tnhhnhnybngcchcccthanhghilutrgitrmWatchdognh k.Trong trng hp ng h dao ng bn ngoi b ngng th thanh ghi ny s khngtngthmnavC28xvnthchintrongchPLL,tclkhiPLL to ra tn s t 1-4 MHZ .Ch ny gi l Limp-mode Vy lm th no xa Watch dog? Bng vic ghi Valid key theo th t vo thanh ghi WDKEY 36 Hnh 2.14 Th t ghi vo thanh ghi WDKEY 2.1.3 Chuyn i tng t s ( ADC)a)Gii thiu B ADC l mt trong nhng ngoi vi quan trng ca b iu khin nhng .N to ra mt giao din quan trng gia b iu khin v th gii thc .Hu ht cctnhiuvtlnhnhit, m,psut ,tc,giatcl nhngtn hiu tng t nm trong di t Vmin n Vmax v d 0 n 3v.Mc ch ca b ADC l chuyn i tn hiu tng t sang tn hiu s .Mi quan h gia in p u vo tng t v u ra s c cho bi : (2.1) VREF+ v VREF- l in p tham chiu c s dng gii hn di in p tng t .Bt k in p u vo no vt qu in p cho php th s to ra mt s digital bo ha.Trong trng hp ca C28x l 0 n 3v .B ADC ca c28x l 12bit ( n=12 ) do (2.2) 37Huht cctnhiungdngihi khngchltnhiutngtu vochuynithnhtnhius,mchvngiukhinthngyucu nhiu hn mt tn hiu t cc cm bin khc nhau do C28x c trang b vi 16 chn ADC u vo chuyn dng o in p tng t .16 chn tn hiu ny c x l tun t tng knh hoc 2 knh mt lc . c im modul ADC ca C28x nh sau [6,11] - phn gii 12 bit -16 knh u vo ( 0-3v) .Hai b dn knh cho php ly mu hai knh mt lc - Ch ly mu ni tng ( cascaded) v Dual Sequencer-16 thanh ghi lu tr kt qu -Nhiungunkchhotchuyni(kchhotbnngoi,S/Wvb qun l s kin ) B ADC ca C28x s t ng sp xp v ly mu 16 knh .C ngha l b ADC t ng chuyn i knh tip theo khi knh trc thc hin xong ,c th kch hot mt ngt khi chui chuyn i ny c thc hin xong. Thigianchuyninhanhnhtl80nschomimutrongtrnht chuyn i bt u t mu th 2 v 160ns cho mu u tin .Vic khi ng chui chuyn i c th bt u t cc ngun sau -Bng phn mm : t bit start ln 1 -Bng tn hiu ngoi : ADCSOC -Bng s kin( chu k,so snh,trn di ) ca modul qun l s kin A v B. 38b)ADC trong ch ni tng ( cascaded) Hnh 2.15 Modul ADC trong ch ni tng Hnh v trn cho thy s khi ca b ADC ch tun t Cascaed mode .Mt b t ng chuyn mch s thc hin ly mu tun t .trc khi bt uthchinchuynicnphithitlpthtchuyni (MAX_CONV1)vnhnglineuvochuyni(CHSELxx).Cckt qucavoccthanhghi(RESULTOnRESULT15)tngng vi mi knh . Chlymucthcthchinngthihaytunt.Trong trng hp ly mu ng thi c hai s&hs c s dng song song .hai line u vo cng vi cc knh tng ng (v d ADCINA3 v ADCINB3 ) c chuyn icngmtlcbiCHSCL00.Trongchtuntsequentinalmodecc line u vo c th kt ni vi tng bt k ca khi auto sequencer. Vickchhotmttrnhtchuynicthsdngphnmmbng cch thitlpmt bit c th,haybngccskincthtrnphncng.c bit vic kt hp vi b nh thi lm cho chu k ly mu rt chnh xc .y l iu kin rt quan trong trong iu khin v x l tn hiu s .c)ADC trong ch Dual Sequencer 39 Hnh 2.16Modul ADC trong ch Dual Sequencer Ch hot ng th 2 ca ca modul ADC l ch Dual Sequencer b ly mu t ng c tch thnh 2 tng (SEQ1 v SEQ2).Trong ch ny sdngEVAkchhotchoSEQ1vEVBchoSEQ2.Ktquchuyni clutrtrongRESULT0nRESULT7choSEQ1vRESULT8n RESULT15 cho SEQ2. Trong trng hp kch hot SEQ1 v SEQ2 cng mt lc th s kin no c quyn u tin cao hn s c x l trc . y SEQ1 c quyn u tin cao hn ,vic bt u SEQ2 s c thc hin sau SEQ1. d)Thi gian chuyn i ADC Hnh 2.17 Thit lp ngun xung 25MHZ cho modul ADC CmtshnchiviccthitlpvthigianchuyniADC .Trctinccngunxungclockc bn caADCl bt utHSPCLKm khng th d dng bt k ngun xung clock no khc .Xung clock ny c ngun gc t b dao ng bn ngoi ,b nhn PLLCR v b chia HISPCP. 40ThhailtnstiachoFCLKluvocaccbphntrong modulADC hnchtns 25MHZ.iuchnhxungclocknycnkhi tocc bitADCCLKPSchophhp.BitCPSlachnmtbchia2 .XungclockADCCL1lthigiancschoccbphnxlbntrong khi ADC. Mthnchthbalcaslymuciukhinbngcc ACQ_PS.Nhmccbitxcnhchiudicascsdnggiacc swich dn knh v thi gian ly mu in p u vo .Thi gian ny ph thuc vo tr khng ca ca tn hiu vo v vy n ph thuc vo phn cng ngi lp trnh khng th ch nh mt khong thi gian ly mu ti u cho tt c cc ng dng. e)Cc thanh ghi iu khin modul ADC BathanhghiiukhinADCCTL1n3csdngthitlp mttrongnhngiu kinhot ngcaADC .ThanhghiADCSTth hin trng thi ca ADC . Hnh 2.18 Cc thanh ghi modul ADC Thanh ghi ADC Control Register 1 41 Hnh 2.19 Byte cao thanh ghi ADC Control 1 -Bit14RESETcthsdngresettonbccbphntrong modul ADC tr v trng thi thit lp .iu ny rt tt trong thc t reset lnh trc khi thit lp ADC. -Bit 12 v 13 nh ngha s tc ng qua li ADC v lnh emulator Hnh 2.20 Byte thp thanh ghi ADC Control 1 -4 bit tip theo nh ngha di ca s ly mu . -CPS c s dng chia tn s u vo cho mt hoc cho 2 . -Bit6(CONT_RUN)nhnghaqutrnhtngspxpdy chuyn t khi bt u n khi kt thc mt cch tun t( =0 ) v i cho n khi kch hot nu dy c bt u li ( = 1) -Bit 5 (SEQ1_OVRD) nh ngha hai ty chn khc nhau cho ch chylin tc . 42-4 bit sau cng nh ngha ch b sp xp dy 1 tng (16line) (=1) hay 2 tng ( 8line cho mi tng ) (=0). ADC Control Register 2 Hnh 2.21 Byte cao thanh ghi ADC Control 2 Na trn ca thanh ghi ADCTRL2 c tc dng iu khin cc ch hot ng ca dy 1 . -Bit15EVB_SOC_SEQ(btcch c)nubqunlskinB kch hot chuyn i . -Bit 14RST_SEQ1 csdng reset statemachinecaSEQ1 v trng thi ban u .y l cch kch hot tip theo c bt u li t CHSELSEQ1 . -tbit13SOC_SEQ1ln1kchhotchuynibngphn mm . -Bit 11 v bit 10 nh ngha cc ch ngt ca SEQ1 ,c th yu cu ngt sau mi chuyn i hay cc chui khc nhau. -Bit8EVA_SOC_SEQ1lbitnhduchophphaykhngcho php b qun l s kin A kch hot chuyn i . 43 Hnh 2.22 Byte thp thanh ghi ADC Control 2 BytethpcaADCTRL2 iukhindySEQ2 .Bit7lcchras kintrnchnADCSOClnguynnhngyrachuyni,ccbitcnli ging vi na trn . ADC control Register 3 Hnh 2.23 Thanh ghi ADC control 3 ADC MAXCONV Register 44 Hnh 2.21 thanh ghi ADC MAXCONV ADC Input Channel Select Sequencing Control Register Hnh 2.24 Thanh ghi ADC Input Channel Select Sequencing Control 2.1.4 H thng ngt F2812a)Gii thiuHthngngtcaC28xgmc16ngngt,2trongsnylngt khngchecNon-Maskable(Reset,NMI),14dngngtchec Maskablecnghalngilptrnhcthchophphockhngchophp cc ng ngt ny . ngtchecthc2trngthi0v1.1cnhalchophp ngtv 0l khngchophpngt.Bngcch nhduvothanhghiIER ngi lp trnh c th yu cu mt ngt . 45 ngt khng che c ngi lp trnh khng th t chi cc yu cu ngt .Mt tn hiu c tch cc ,chng trnh s ngng li v nhy n chng trnh con phc v ngt . Hnh 2.25 Lines Interrupt Ttc16 ngngt cktnivi bngvctngt,baogm 32 bit b nh trn mt ngt .Trch nhim ca ngi lp trnh l in vo bng ny a ch bt u ca chng trnh con phc v ngt. b) C28x RESET Mt sn xung ca tn hiu trn chn RS s reset DSP .S kin ny s a DSP bt u li t a ch reset(a ch 0x3FFFC0 b nh chng trnh) ch khngphilmtngttheongha lchng trnhcsctip tc sau khi phc v ngt .Tn hiureset c th bt ngun t b watchdog hoc t chn RS pha ngoi. Hnh 2.26 Cc ngun reset h thng ResetkhngchaDSPvach0x3FFFC0ncnxattccc thanh ghi ,reset c CPU v trng thi ban u v disable 16 ngt. c) Ngun ngt 46DSP C28x c s lng ngun ngt rt ln ( hin ti l 96 ngt ) nhng ch c 14 ngt che c .Ngi lp trnh phi s dng 1 INT_Line cho nhiu ngun ngt.Mingngtnyktninmtbngvctngtcan.Mtvng nh 32 bt bn trong bng vc t ngt lu gi a ch ngt ca cc chng trnh con phc v ngt .Trong trng hp nhiu ngt c kch hot th chng trnh chng trnh phc v ngt phi c s dng cho tt c cc yu cu ngt .Tng k thut lp trnh c th s dng phn mm xc nh cc ngun ngt ny .Tuy nhinphngphpnystnnhiuthigianvkhngphhpviccng dng thi gian thc . Hnh 2.27 Cc ngun ngt gii quyt vn ny ngi lp trnh c th s dng b m rng ngt ngoiviPIE(PeripheralInterruptExpansion).Bmrngngtngoivim rngachvctngtrnghn,tminhm32bitchomttrongs96 ngun ngt .Tc phn ng ngt khi c str gip ca b phn ny l nhanh hn khikhngcn. sdngPIE ngilptrnhphithay ibnb nh (re-map) v tr bng vc t ngtn a ch 0x00D00 .N nm trong vng b nh ng .Trc khi s dng b nh ny th cn phi khi to n . d)Cc thanh ghi lm vic vi ngt che c 47 Hnh 2.28 Thanh ghi c ngt Hnh 2.29 Thanh ghi cho php ngt Hnh 2.30 Thanh ghi cho php ngt ton cc e)M rng ngt ngoi viTtc96ngunngtcnhmvo12PIE_Line,8nguntrn1line . enable ,disable tng ngun ngt ring l cn phi lp trnh cho nhm thanh ghi PIEIFRx v PIEIRx. 48 Hnh 2.31 M rng ngt ngoi vi Tt c cc ngun ngt c kt ni vi cc line theo bng sau Hnh 2.32 Bng phn b ngt V tr ti bng vc t ngt lc thit lp lil 49 Hnh 2.33 Vc t ngt lc thit lp li PIE thay i bn b nh nh th ny Hnh 2.34 Bn vc t PIE sau khi thit lp li Nhthytrnhnh,vngach0x000D40n0x000DFFcs dngnhlmtvngmrng.Bygic32bitchomivctngt PIEINT1.1 n PIEI12.8. f)C28xCPU timerC28x c ba b timer 32 bt , s khi ca b timer hnh pha di 50 Hnh 2.35 S khi ca b timer Ngunxungclockchobtimerlngunxungclockbntrong SYSCLKOUT.Nl150MHZnusdngtnsdaongbnngoil 30MHZvsdnghsnhnPLLl10/2.Khimttimercchophp (TCR-Bit4) xung clock i vo b m xung 16 bt (prescaler PSCH:PSC) .Khi trn di n to ra mt tn hiu cho b m 32 bt (TIMH:TIM) .Mt ngt c th c yu cu khi timer m trn. Thanh ghi chia 16 bt (divide down register) THDDRH:TDDR) c s dng np li cho thanh ghi prescaler .Mi ln prescaler m trn di gi tr t thanh ghi divide down c np vo prescaler .Tng tnh vy thanh ghi 32bit period PRDH:PRD c s dng np li cho b m 32 bt . Timer 1 v timer 2 th thng xuyn dc s dng bi Texas Intruments cho h iu hnh thi gian thc DSP BIOS trong khi timer 0 ch s dng cho mcchchung.iunykhngchgi chotimer 1vtimer 2sdngcng vi DSP/BIOS m cn gip chng ta hiu hn v b PIE bi v timer 0 l b m thi gian duy nht ca CPU m i qua PIE. 2.1.5 Modul qun l s kin (EV ) a)Gii thiuModul qun l s kin (Event manager EV) l modul phn cng mnh m nht caC281X mithnhphncamodulEVthchincccngvickhcnhau theo thi gian .Hot ng ca modul ny cn c trn s hot ng ca 4 b nh 51thi timer1 n timer 4 .cc b nh thi ny hon ton c lp vi b nh thi h thng timer 0 timer 1 v timer 2 . Bnhthica modul qunlskinEVl b nhthi 16bttrong khi timer h thng l 32 bt .S khc bit quan trng nht gia timer ca b qun ls kinvtimer hthngl uvov u ra.Mt EVc thtoracctn hiutmtskinthigiannib.Ncsdngtoracctnhiu xungtheothigian.VisgipcaccmchlogicbntrongmodulEV ngi lptrnhcth thay itnsv rngxung ca tn hiuu ra.Khi thmvomtchngtrnhiukhincththayirngxungtheothi gian th c gi l iu bin rng xung .PWM c s dng cho 2 mc ch iu khin s ng c iu chnh in p. Modulqun l skincaC281x cnrt mnhmtrongvicthchin ccphpothigiandatrntnhiuphncng.Vi6chnCAPuvo chuyndng m xungencoder ,htrmc cnhlnvcnh xungca xung encoder. b)S khi modul EVMi b phn trong modul qun l s kin c iu khin bng mt khi logicring.Cckhilogicnycthyucumtdchvngtringt C28xPIEhtrcho ccchhotngcan.Haitnhiuuvo bn ngoilTCLKINAvTDIRAltnhiuiukhintychnvcs dng trong mt s ch hot ng c th .Mt tnh nng c o na ca b qun l s kin na l kh nng kch hot chuyn i tng t s ADC t mt s kin ni b .a s cc b vi x l khc thng phi yu cu mt ngt thc hin cng vic ny ,C28x thc hin iu ny mt cch t ng. 52 Hnh 2.36 S khi modul qun l s kin Cc GPtimer 1 v 2 l hai b nh thi 16 bit cng vi cc chn tn hiu u ral T1PWM,T1CMP v T2PWM,T2CMP .Ngi lp trnh c th s dng b nh thi ny cho cc mc ch ni b . Bsosnh(compare )t1n3sdngtora 6 tn hiu PWMs dng thi gian c s ca GPtimer 1 .Mt s lng ln cc ng dng i hi 6 tn hiu iu khin chnh xc v d iu khin ng c khng ng b 3 pha ,hoc cc h thng chuyn i tn hiu 3 pha . Ba b bt gi s kin (Capture ) CAP1,2 v 3 c s dng o tc v thigiangiacc skin.MchlogicQEP cthit kchuyndng cho vic m xung encoder vi 3 ng tn hiu A B v Z .Trong A,B c ni vi QEP1 v QEP2 cn Z c ni vi QEPI1 ca C28x.Vic ny c ngha rt ln trong vic xc nh tc v v tr thng qua vic c tn hiu xung encoder mt cch chnh xc . c)B nh thi mc ch chungTrung tm ca b nh thi mc ch chung l khi so snh .Khi ny lin tc sosnhgitr camtthanh ghi 16bt(TXCNT)viccthanhghikhc : Compare (TXCMPR) v period (TXPR) .Nu c mach ( bng nhau ) gia b m v b so snh th xut hin mt tn hiu logic u ra iu khin mt chc nng pha ngoi l (TxPWM ) . 53 Hnh 2.37 S khi b nh thi mc ch chung Ngun xung clock ca b m c th la chn t pha ngoi (TCLK IN) hayxungtccchnQEP.Bt5v 4cathanhghiTXCONsiukhinb dn knh trong trng hp la chn xung clock bn trong bt ngun t b high-speed clock prescaler (HSPCLK) .Khi tnh ton thi gian cn phi tnh n thit lpcathanhghiHISPCPiuchnhchukthigiancamttimermc ch chung .C th s dng b prescaler b xung (TPS,TXCON2-0) rng t 0 n 128 ,chiu m ph thuc vo ch hot ng la chn. 2.2 BOARD EZDSP F2812 2.2.1 Cu toThe eZdspTM F2812 has the following features: [5] TMS320F2812 Digital Signal Processor 150 MIPS operating speed 18K words on-chip RAM 128K words on-chip Flash memory 64K words off-chip SRAM memory 30 MHz. Clock 2 Expansion Connectors (analog, I/O) Onboard IEEE 1149.1 JTAG Controller 5-volt only operation with supplied AC adapter TI F28xx Code Composer Studio tools driver 54 On board IEEE 1149.1 JTAG emulation connector Hnh 2.38 S khi board EZDSPF2812 Hnh dng bn ngoi ca board mch vi vi nhng ch thch tng ng vi cc thnh phn ca mch Hnh 2.39 Board EZDSPF2812 ktnicaboardmchviPCthngquabJTAGcsn(ktniqua cng song song): Hnh 2.40 Kt ni board EZDSPF2812 vi my tnh 55C th nhn thy rng board mch eZdspF2812 ch cha phn nhn tc l phn x l, b nh ngoi, v kt ni JTAG qua cng my in m cha c cc thnh phn khc. Tuy nhin cc IO EXPANTION t P1 P9 cng vi cc giao thcnhSPI,SCI,I2C,CAN,McBSPvccGPIOchngtacthmrng giao tip vi nhiu thit b khc nhau.thng qua cc cng m rng. 2.2.2 Thit lp ch hot ng ca board mch vi cc Jumper BncnhccExpantionktnithmccngoivikhc,trnboard eZdspF2812cmtsjumperngidngcththitlpccchhot ng thch hp cho DSP [5]. Hnh 2.41 Cc Jumper trn board Ngoi tr JP4 v JP5, tt c cc Jumper cn li phi c kt ni hoc v tr 1 2 hoc 2 3 . V tr ca cc Jumper trn board mch nh hnh v bn di: Hnh 2.42 V tr cc jumper 56a) JP4, JP5 Mc chcacc Jumper P4,P5ny l cungcp ngun+3.3V/5Vra cccngmrngP8-P4bvP2tngng.Tuynhinnhsnxutchagn Jumper ny vo, nu ngi s dng mun a ngun ra ngoi s dng th cn phihnjumpernyvo.Cnphixemxtkhnngcungcpcngsutca ngunnptrongmcheZdspF2812viyucucatibnngoi.chngta khng nn s dng nhng ngun ny m nn cung cp ngun ring khi m rng giaotipbnngoi.PhichlkhigiaotipviccportcaDSP TMS320C2000, th mc in p khng c vt ra khi tm 0-3.3V. Tuyt i khng cung cp ngun 5V trc tip vo cc pin ca DSP. b) JP1La chn ch hot ng cho DSP Hnh 2.43 Thit lp ch hot ng cho DSP t Jumper v tr 2 3 chn ch Microcomputer. c)JP7, JP8, JP11, JP12: la chn ch Boot Cc Jumper JP7, 8,11 & 12 c dng xc nh ch m DSP s khi ng saukhicungcpngun.ctnhiuHigh,tjumpervtr12,cn trng thi Low s t c khi t jumper v tr 2 3. Hnh 2.44 La chn ch boot 57Thng thng ta t ch boot trng thi FLASH hoc H0:chFLASH,chngtrnhcnpvobnhFlash(dngF)hoc Rom ( dng C), chng ta ch nn t boot ch Flash khi chng trnh hon thin hoc mun cho h thng chy ch Stand Alone. ch H0, chngtrnhcvobnhRAMnihocngoicaboardmcheZd-spF2812, ch ny thch hp cho vic pht trin chng trnh. Tuy nhin khi khingln,chngtrnhphicnpthost(tclPC)vbnhRAM khng lu gi c d liu khi ngun mt i. u im ca ch boot t H0 l hthnghotngtccaonht(khong150MHZ),sovichFlash (khong 120130MHZ). Vn chn ch boot kh quan trng, nn s c cp n trong cc phn sau na. d) JP9, PLL disable JP9 cho php / khng cho php mc logic PLL trong DSP. Hnh 2.45 Thit lp PLL Nu ch PLL khng c chn, DSP s hot ng vi tn s bng tn sthchanhbnngoi,l30Mhz.TrnghpchPLLcchn,tns DSPhot ngphthucvocit PLLchngtrnh,nhngkhngc vt qu 150Mhz. Theo mc nh, chng ta s chn ch cho php PLL. Nh vy trc khi thc hin chng trnhtrnboard mch, chng ta phi ch n vic thit lp Jumper trc tin. Vic thit lp jumper sai c th dn n chng trnh chy khng ng mc ch.\ 582.3 CC MI TRNG PHN MM H TR PHT TRIN DSP C2000 2.3.1 S dng trnh bin dch CCS CCSCodeComposerStudiolmitrngsonthoIDEcaTexas Instrument cho cc th h DSP cng nh MCU ca TI, bao gm vic son tho mlnh, dch,linkt vdebugchngtrnh.uim rtlncaCCSl kh nng kt ni vi phn cng, debug online, v th thi gian thc . . .CCS l s gip cho qu trnh pht trin gii thut ci thin ng k v thi gian. Tuy nhin CCSktnicviphncngkhcnhauthcnphithiplpktni CCS vi phn cng [5,7]. ViclmquenviCCSsgipchochngtatitkimcnhiuthi gian hn khi pht trin cc project trn mi trng ny. Mi trng lm vic ca CCS c tm gn nh sau: Hnh 2.46 Mi trng son tho Code Composer Studio - Source: C v Assembly. - Libraries- DSP/BIOS config., dng to nhn iu hnh cho chng-Linkercommandfile:F2812_EzDSP_RAM_lnk.cmdv DSP281x_Headers_BIOS.cmd, hai file ny dng cu hnh cho vic phn chia 59bnhvdchmngun. npchngtrnhvoDSPvchochychng trnh ny, chng ta lm nh sau: - Kt ni CCS vi phn cng: > Debug > connect. Ta s thy c mt ca s bong bng hin ra bo l kt ni c vi phn cng. -Dchchngtrnh:Project>Build(F7).Nukhngclino,mc Status Window s bo l khng c li bin dch chng trnh. - Np chng trnh vo phn cng: > File> Load Program, chn th mc Debug, ri chn file np vo DSP - Chy chng trnh: > Debug > Run Debug chng trnh Debuglcngvicthngxuynkhivitchngtrnh, vvytmhiu mi trng debug ca CCS l cn thit. CCS cung cp mt h thng cc cng c gip cho cng vic debug din ra thun li.KhiDebugviCCSngilptrnhcththmvoccBreakPoint ,quan st s thay i ca mt bin hay debug tng bc kim tra tng on chng trnh. 2.3.2 S dng mi trng lp trnh ha ViSsim a) gii thiuVisSim/EmbeddedControlsDeveloperlmttrongnhngcngcb cng c hu ch ca VisSim ging nh embedded ide ca matlab .L mi trng phnmmphttrintchhp,VisSimchophpxyxngmtcchnhanh chng b iu khin nhng trn h DSPC2000 caTexas Instruments [13] . VisSim/Embedded Controls Developer bao gm VisSim PE: Mi trng xy dng cc khi chng trnh v m phng VisSim/Fixed Point: Cc khi x l s hc du phy tnh v m phng cc php ton du phy tnh TI C2000 Digital Motor Control (DMC) Block Set : Cc khi th vin h tr iu khin ng c . Lin kt visSim-Code Composer Studio (CCS) 60T ng to m lnhTI C2000 DSP target v CCS H tr TI C2000 CAN BusH tr Serial LCD b) Cc bc xy dng h thngBc u tin trong qu trnh xy dng b iu khin trn DSPC2000 l xy dng m hnh ton .T cc m hnh ton c sn ngi lp trnh s dng cc khi c sn trong th vin s dng v kt ni cc khi theo mt cu trc xc nh nh hnh pha di . Hnh 2.47 M hnh trn VisSim Tiptheoltinhnhmphng.Ngilptrnhsdngcckhii dinchobiukhinhayblctoramlnhbindchvlinktnp xung DSP .Sau c th d dng so snh kt qu m phng v thc nghim chng t rng n l ging nhau . 61 Hnh 2.48 Mi trng lp trnh ha ViSsim Cc giao din ha GUI cho php gi li cc thut thon thc hin trn DSpgipphntchccctnhthccaitng.CcmANSICcth ctoratrctipcngviComposerStudiochophpmlnhtoratch hp vi cc m khc c pht trin ngi s dng. TIC2000DigitalMotorControl(DMC)Block Setlkhi thvin iu khin s ng c bao gm cc m C tng tng ( ch s dng m phng ) v phin bn C-callable (s dng m phng DSP-in-the-loop) . Cc th vin TI C2000DMCbao gm cc khi DMC nh iu chnh PI, PWM , iu ch khng gian Vector .. Hnh 2.49 Hp thoi thit lp tham s b PID ViSsim NhvyvcbnVisSimgingnhmatlabtrongqutrnhxydng bin dch v np chng trnh xung DSP .VisSim rt mnh v vic thu thp d liu t DSP ,thun li trong vic phn tch c tnh h thng trong khi cng vic nykhkhnhnviphnmmembeddedidelinktargetC2000ca 62matlab.TuynhincckhithvincaVisSimcnhnchtrongkhiyl im mnh ca matlab. 2.3.2 Matlab v gi phn mm h tr lp trnh cho DSP TIC2000 Matlablmtbchngtrnhphnmmlncalnhvctnhtons .TnbchngtrnhchnhltvitttMATrixLABoratorythhinhng chnh ca chng trnh l cc php tnh vc t , ma trn.Matlab c ng dng rng ri trong kha hc k thut nh kh nng x l ton hc rt mnh ca n v mt s lng th vin toolbox ln s dng m phng hay iu khin trc tip t matlab [3] . Mt tin ch ca phn mm matlab c s dng rt ph bin trn th gii hinnay llptrnhnhngv thuthpdliutcc hnhng.Matlabhtr cc gi cng c cho tng loi vi x l nhng v h tr rt mnh cho vi x l tn hiu s ca Texas Intrument bao gm cc h vi x l C2000,C5000 v C6000. Vic lp trnh t matlab c thc hin theo hnh sau [15] : Hnh 2.50 Phng thc lin kt matlab v TIC2000 Cc bc s dng matlab lp trnh cho DSPTIC2000- Xy dng chng trnh trn simulink - M phngCh : trong mt s trng hp c th chy c m hnhkhi m phng nhng n khng chy ng trong cc m lnh c to ra khi np xung vi x l .Do 63cnc kinthc nhtnhv tng h vixl trc khisdng matlab xy dng h thng trn nn tng cc vi x l ny. -To m lnh (C/ASM)-Np chng trnh cho C2000 thng qua chng trnh Code Composer Studio -Chy chng trnh v debug 2.4 S DNG MATLAB TO M LNH V THU THP D LIU T DSP TMS320F2812 2.4.1S dng th vin tic200lib a)Gii thiuPhn ny s dng v d gii thch cch to ra mt m hnh simulink s dnggiphnmmhtrchoboard.Vdnytoramtmhnhthchin iu khin h s duty PWM bng cch iu khin rng xung .in p tng t c ly bn ngoi thng qua b bin i ADC lm tn hiu iu khin .M hnh ny cng c cung cp trong th vin demo ca matlab . b) Cc bc s dng matlab simulink cho DSP C2000Khi ng th vin c2000libT du nhc g lnh >> C2000lib mC2000lib,baogmcckhithvincxydngchoboard ca bn Hnh 2.48 Th vin TIC2000 64Khi qut chung v cc khi trong th vin c2000lib [14] - C2000 RTDX Intrumentation ( rtdx blocks ) khi ny thm knh truyn thng RTDX vo m hnh simulink . -C2000TargetPreferences(c2000tgtpreflib)CckhinyxcnhTargetPreferencesvcctychn.Chngta khng kt ni khinyvi bt k khi no khc . -HostSCIBlocks(c2000scilib)Khinythitlpcuhnhchotruyn thng CAN. -Host SCI Blocks (c2000scilib) Khi ny thit lp giao din truyn thng pha host-side truyn v nhn d liu qua cng ni tip. H tr cc Chip [14] C280x (c280xlib) Blocks to configure the F2808 eZdsp DSK or on C280x-based custom boards C281x (c281xlib) Blocks to configure the F2812 eZdsp DSK or on C281x-based custom boards C28x3x (c2833xlib) Blocks to configure the F2833 eZdsp DSK or on C28x3x-based custom boards C2802x(c2802xlib)Blockstoconfigure the C2802x eZdsp DSK or on C2802x-based custom boards C2803x(c2803xlib)Blockstoconfigure the C2803x eZdsp DSK or on C2803x-based custom boards Custom C2000 (c2000xlib) Blocks to configure C2000-based custom boards Cc th vin ti u ha Cc th vin ti u ha c2000optimizedblks bao gm-C28x IQ math library (tiiqmathlib) bao gm cc khi ton hc du phy tnh cho C28x Target. -28xDMCLibrary(c28xdmclib) Baogmcckhitonhc duphy tnh phc v cho iu khin s ng c cng vi C28x DSP. Ci t tham s m hnh 65Nhimvsbchovicthitlpmtmhnhmibaogmthmmt khi Target Preferences v thit lp cc tham s m phng . 1.TrongthvinC2000libchnFile>New>Modeltomtmhnh simulink. 2.TrongcasLibraryc2000libdouble-clickvokhiC2000Target Preferences. 3. T ca s Target Preferences ko khi F2812 EZDSP vo m hnh.

4.ChnYESchophptngcit.Cccittrongbngdi y s c to ra trong hp thoi Simulation > Configuration Parameters Ch : thc hin mt stop-time trong cc m lnh c to ra bn phi t mt khi Stop trong m hnh. -Mt khi Target Preferences phi c trong mi mtm hnh .N khngkt ni vi bt k khi no khc m ng mt mnh c tc dng thit lp cc tham s m hnh (thit lp cc thng s phn cng ) 5.TmenuchnhcamhnhbnchnSimulation>Configuration Parameters xc nhn v thit lp cc tham s m phng cho m hnh ny.Cc thamsbnthitlptronghpthoinythucvmhnhmchngta ang xydngchngclucngvimhnhvclutrtrongtptinm hnh. 666.S dng bng Real-Time Workshop cho m hnh Real-Time Hnh2.51 Hp thoi Configuration Parameters 7.SdngntBrowsetmvchnmttptincuhnhTarget, ccslink_grt.tlc hoc ccslink_ert.tlc .Khi bn lm iu ny phn mm Real-Time Workshop la chn cc tp tin h thng Target ph hp v to ra cc iu khin . 8. Thit lp cu hnh cc tham s nhn t hp phm Ctrl + E v iu chnh cc tham s ny ( xem li phn thit lp tham s m hnh v phn gii thiu v vic to ra mt m hnh chy trn Target). Thm cc khi vo m hnh1.Open hay double-click vo C281x library, c281xlib. 67 Hnh 2.52 Cc khi ngoi vi trong th vin TIC2000lib 2.KokhiC281xADCvomhnh.Double-clickvokhiADCv citthigianlymul64/80000.Sdnggitrmcnhchottc thng s khc . Kokhi C281xPWM vo mhnhDouble-clickvokhi PWM ci t cc thng s nh bng pha di . Hnh 2.53 Thit lp tham s PWM 683.Nhplnh>>simulinktMatlabmsimulink.Trongthvin Math ca simulink ko khi Gain vo m hnh v thit lp cc thng s nh sau. 4. Kt ni khi ADC vi Gain v n PWM nh hnh pha di . Hnh 2.54 V d thay i ng rng xung PWM bng u vo ADC To ra m lnh t m hnh Phn ny gii thiu tm tt lm th no to ra m lnh t cc m hnh real-time. Chngtabtuqutrnhtomlnhtngtcasmhnh simulinkbngcchnhpvocasGeneratecodetrongbngReal-Time Workshop ca hpthoiConfigurationParameters .Mtcchkhcl clickvo nt Incremental Build trn thanh cng c ca m hnh .Hay l s dng phm tt Ctrl + B khi m hnh ang c m. Ch : Sau khi bin dch xong , trong CCS chng ta s thyproject cng vi cc tp tin .2.4.2 Cc khi th vin 1.Absolute iqn khi ny tnh ton gi tr tuyt i cu u vo IQ .Du ra cng l mt s IQ 69 2. Arctangent IQNkhi arctangent tnh ton arctang ca s IQ u vo v u ra l mt s IQ . -arctan2 : tnh arctang ca 4 gc phn t u ra l radians gi tr t - n . -arctan2pu:tnharctangtrnminv.Nuarctan2(B,A)>=0 ,arctan2pu(B,A)=atan2(B,A)/2*.Nukhngarctan2pu(B,A)= arctan2pu(B,A)=arctan2(B,A)/(2* +1).u ra nm trong m n v Radian vi gi tr t 0 n 2* rad [14]. ch:thtuvochokhiarctangentIQNtngngviquycca texas Intrument vi A trn v B di [14] . 3. GPIO Digital input Khi ny thit lp cc chn vo ra mc ch chung I/O(GPIO).Thanh ghi iukhinchiasccchnvoras.MicngI/OcmtthanhghiMUX c dng chn hot ng cc ngoi vi hoc u vo ra s . 4. C281x GPIO digital output Khi ny thit lp cc chn vo ra mc ch chung I/O(GPIO).Thanh ghi iukhinchiasccchnvoras.MicngI/OcmtthanhghiMUX c dng chn hot ng cc ngoi vi hoc u vo ra s . 705.Watch dog Khi ny thit lp b m cho modul watchdog reset DSP . Hp thoi Hnh 2.55 Hp thoi b Watch dog Watchdog couter reset source-INPUT : To ra mt cng u vo trn khi watchdog.u vo tn hiu reset b m. - Sperify viadialog : S dng gi tr ca thi gian ly mu reset timer . -Sampletime(thigianlymu):Saumikhongthigianb watchdog timer c reset . 6. B Chuyn i tn hiu tng t sang tn hiu s - ADC Thit lp khi ADC ca C281x .ADC ca C281x thc hin chuyn i tng t sangscacctnhiuktniviccchnADC uvo c chn .Gi tr u ra cc khi ADC c lu tr trong cc thanh ghi . S kch hot : CcchkchhotADCphthucvoccthitlpbntrongsingle source start of conversion (SOC) .Trong ch khng ng b cc ADC thng 71ckchhotbngphn mmtimikhongthigianlymuquynhti cc khi ADC . Trong ch ng b cc b qun l s kin (EV) c lin kt vi ADC vkchhotADC .TrongtrnghpnyADCcng bviccbiu bin rng xung PWM.ADC start conversion c t t khi PWM . Ch:ADCkhngthngbcngviPWMnuADChotng ch cascaded . ura caC281x ADCl mtvctkiu Unit16.Gitru votrong khong t 0 n 4095 bi v ADC l 12bit . 7.CAP - Bt gi s kin Thitlpthams ca bCAPcamodulqunlskin(EV).Bcapture s chuyn gi tr ca b nh thi vo ngn xp FIFO khi c sn ln ,sn xung hoc c sn ln v sn xung. C281x c 6 b capture 3 b c ghp vo 1 modul EV .Capture 1,2, 3 l EVA v 4,5,6thucEVB .Micapturetng ngvimtchncapture u vo . Mi nhm modul capture c th s dng mt trong hai b nh thi mc ch chung .EVA l timer1 hoc timer2 v EVB l timer3 hoc timer4 .Khi cos s kin xy ra trn cc chn capture u vo th module ny lu tr gi tr hin ti ca b nh thi vo hai ngn xp FIFO . Ch :Chng ta c th c 2 khi CAP trong m hnh ca bn .Mi khi cho mt modul EV . u ra (Output ) : mi khi c hai u ra .Mt u ra cnt ( count ) v mt ty chn l u ra c trng thi FIFO .Cc gi tr c trng thi u ra l : -0 FIFO rng : Khng c capture xy ra hay gi tr lu tr tc -1 FIFO c mt entry thanh ghi trn cng ca ngn xp -2 FIFO c 2 entry trong ngn xp 72-3 C 2 entry trong ngn xp v mt hay nhiu gi tr capture b b qua.iunyxyravmtcapturexyratrckhingnxpFIFO c c .Cc gi tr mi c tthanhghipha di .Gi tr ca thanhghiphadibylntrnvgitrtrnubyrakhi ngn xp . 8.PWM - iu bin rng xung DSP F2812 bao gm mt b iu bin rng xung PWM c s dng to ra cc tn hiu khc nhau .Khi ny cung cp cc ty chn thit lp b qun l s kin A hoc B to ra dng sng theo yu cu .12 PWM c cu thnh vi 6 cp ,3 cp trong mi modul .Cc modul PWM ca C281x chia s Gp timer vi cc khi khc . Ch : Tt c cc u vo khi PWM phi l gi tr v hng . 9.C281x TIMER Thit lp b nh thi mc ch chung ( general purpose timer GPtimer ) trong modul qun l s kin . C281x gm 2 modul qun l s kin .Mi modul c cha 2 b nh thi mcch chungGPtimer >bncthsdngnhngb timer lm cn cthi gian c lp cho cc ng dng khc nhau .S dng khi timer C281x thit lp chu k ca cc timer .Mi m hnh c th c 4 khi timer . Cc modul C281x timer thit lp GPtimer cho cc khi khc chia s 10.QEP B m ha xung encoder 73 Mi b qun l s kin trn F2812 c 3 n v capture ,modul A l 1,2,3 v modul B l 4,5,6 .Cc b m ha xung encoder ( QEP ) Gii m v m cc xung encoder u vo ca cc chn capture .Xung QEP l 2 chui xung tn s thay i v lch nhau mt gc 900 ( hay laf chu k ) .Mch m c hai cnh lnvxungcaxungQEPvvytnsclockQEPl4lntnscami knh u vo. QEP kt hp vi cc encoder quang rt hu ch o tc v thng tin nhvaquay.MchlogictrongQEP xcnhchiuquaycnctrn2tn hiuxungencoder.NuQEP1nhntnhiutrc(QEP1sequenceleads)th ccbnhthimcchchungmlnvnuQEP2nhntnhiutrc (QEP2 sequence leads ) th b nh thi m xung .S xung m v tn s xc nh v tr v tc .11.Software interrupt trigger kch hot cc ngt khng che c t phn mm. Khi thm khi ny vo m hnh ,khi ny kim tra gi tr u vo .Khi gi tr uvolnhngitrtrongphnmmthkchhotngtphnmm ,khi ny tc ng n cc khi ngt phn cng trong m hnh . s dng khi ny ,thm khi ngt phn cng vo m hnh qu trnh kch hot ngt phn mm t khi ny i n dch v phc v ngt trn vi x l .t s hiu ca ngt vo mt khi ngt phn cng(HardwareInterrup) gi tr t ny vo trong CPU interrupt number . Cc ngtCPU v s hiu ngt PIE cng xc nh mt ngt duy nht cho mt modul ngoi vi hay mt ngoi vi. 12.Clarke transformation Chuyn i h ta ba pha cn bng sang hai pha vung gc 74 Khi ny chuyn i ba pha cn bng sang hai pha vung gc .Vic chuyn i c thc hin theo phng trnh sau [14] (2.3) V c minh ha trong hnh sau [14] Hnh 2.56 chuyn i h ta ba pha cn bng (abc) sanghai pha vung gc (dq) uvocakhilpha a(As) vphab(Bs)lthnhphncaba pha cnbngvuralhngtrcquay(directaxis)(Alpha),trcvung gc(quadrature axis) (Beta ) ca tn hiu chuyn i . uracnhnghabiccphptondiyvcminhha bng hnh v [14] (2.4) 75 Hnh 2.57 Vc t dng trong h ta abc v dq 13.Inverse park transformation Chuyn i h quy chiu vc t quay sang h quy chiu hai pha c nh Khi ny chuyn i vc t trong mt h quy chiu quay sang h quy chiu hai pha c nh .Vic chuyn i c thc hin theo cng thc sau [14] V hnh v Hnh 2.58 Chuyn i vc t dng stato t h ta quay DQsang h ta c nh dq 76u vo ca khi l hng trc quay (direct axis) Ds v trc vung gc ( quadratureaxis)Qs.Thnhphncatnhiuchuynitrongkhungquayv gc pha (Angle) gia khung quay v khung c nh. u ra l direct axis ( alpha ) v quadrature axis ( Beta ) .Thnh phn ca tn hiu chuyn i (transformed signal). 14.Space vector generator iu chnh h s duty to in p xc inh trn stato Khi ny tnh ton h s duty thch hp to ra mt gi tr in p Stato xc nh s dng k thut vc t khng gian PWM . rng xung vc t khng gianlmtdychuynmchcabavanphacaocamtbintnbapha ngun p v c s dng trong cc ng dng nh cm ng ,ng c AC ,ng cngbnanchmvnhcu.Ccchuynmchtoradngsingitrong Stato . u vo ca khiThnh phn Alpha vc t in p stato trong h quy chiu c nh (Ua) Thnh phn beta Vc t in p stato trong h quy chiu c nh (Ub) Haithnhphnnyctorabiinverseclackevprojectedintoreference phasevoltages.inpuraciuchnhthngquaPWM1(Ta) ,PWM3(Tb) v PWM5 (Tc). 15.Park Transformation Chuyn i h thng vc t 2 pha c nh sang h vc t quay 77Khi ny chuyn i vc t trong h hai pha c nh thnh khung vc t quay .Vic chuyn i c thc hin theo phng trnh sau [14] (2.6) V trong hnh Hnh 2.58 Chuyn i vc t dng stato t h ta c nh dqsang h ta quay DQ u vo khi l derect axis ( alpha) v quadrature axis ( beta ) thnh phn ca tn hiu chuyn i v gc pha (angle ) gia khung c nh v khung quay uraldirectaxis(DS)vquadratureaxis(QS)thnhphncatn hiu chuyn i khung quay (transformed signal in the rotating frame) . 16.PID controler B iu khin PID C2000 Mc ch : Thc hin b iu khin PID Th vin : C281xDMC(C281xDMClib) M t : KhinythchinmtbbiniPIDs32bitcngvianti-windup correction .u vo l gi tr tham chiu (ref) hay gi tr t v tn hiu phn hi (fbd) .Di y l s b PID cng vi anti-windup [14] 78 Hnh 2.59 S khi b PID Cc phng trnh vi phn m t b iu khin PID trc khi bo ha: (2.6) y Ppresat l u ra ca b PID trc khi bo ha ,Up l thnh phn t l ,Ui l thnh phn tch phn v Ud l thnh phn vi phn. Thnh phn t l : (2.6) y Kp l h s t l v e(t) l sai lch gia gi tr t v gi tr phn hiThnh phn tch phn(2.6) y Kc l h s hiu chnh tch phn ca b PID Thnh phn vi phn 79 (2.6) yTdl hngsthi gianvi phn cab PID.Trongminthi gian ginonh svi phn l Kd=Td/T vh stchphnl Ki=T/Ti,Khi T l thi gian ly mu v Ti l hng s thi gian tch phn ca b PIDSdngphngphpxpxgnng,Phngtrnhviphnphng trnh vi phn ny c th chuyn thnh cc phng trnh vi phn sau : (2.6) 17.Speed measurement Khinytnhtontcngccnctrnvtrrotokhixcnh c hng .u vo l gc in ( theta ) v hng quay (dir )t encoder .u raltccmhat01trongnhdng Q,tns(Freq)vtc vng/pht. 80CHNG 3. THC HIN B IU KHIN S S DNGDSP TMS320F2812 3.1M T H THNG IU KHIN 3.1.1 i tng iu khin a) C bn v ng c in mt chiu ng c in mt chiu hay cn gi l ng c in hot ng vi dng in mt chiu hay cn gi l ng c DC .Nguyn tc hot ng ca ng c in mt chiu . Hnh 3.1 Nguyn l hot ng ca ng c in mt chiu Stator ca ng c in 1 chiu thng l 1 hay nhiu cp nam chm vnh cu, hay nam chm in, rotor c cc cun dy qun v c ni vi ngun in mtchiu,1phnquantrngkhccangcin1chiul bphnchnh lu,ncnhimvlichiudngintrongkhichuynngquayca rotorllintc.Thngthngbphnnygmcmtbcgpvmtb chi than tip xc vi c gp. Nu trc ca mt ng c in mt chiu c ko bng 1 lc ngoi, ng c s hot ng nh mtmy pht inmtchiu,v tora mt sc in ngcm ngElectromotiveforce(EMF).Khivnhnhbnhthng,rotorkhiquays phtramt inp gil scphn in ngcounter-EMF (CEMF) hoc sc 81in ng i khng, v n i khng li in p bn ngoi t vo ng c. Sc inngnytngtnhscinngphtrakhingccsdng nh mt my pht in (nh lc ta ni mt in tr ti vo u ra ca ng c, vkotrcngcbngmtngulcbnngoi).Nhvyinpttrn ng c bao gm 2 thnh phn: sc phn in ng, v in p ging to ra do in tr ni ca cc cun dy phn ng. Dng in chy qua ng c c tnh theo biu thc sau:[17] I = (Vngun Vphnin ng) / Rng (3.1) Cng sut c m ng c a ra c, c tnh bng: P = I * (Vphnin ng) (3.2) C ch sinh lc quay ca ng c in mt chiu Khicmtdnginchyquacundyqunxungquanhmtlist non, cnhpha bn cc dngs btcngbimt lchngln,trongkhi cnh i din li b tc ng bng mt lc hng xung theo nguyn l bn tay tri ca Fleming. Cc lc ny gy tc ng quay ln cun dy, v lm cho rotor quay. lm cho r to quay lin tc v ng chiu, mt b c gp in s lm chuyn mch dng in sau mi v tr ng vi 1/2 chu k. Ch c vn l khi mt ca cun dy song song vi cc ng sc t trng. Ngha l lc quay ca ng c bng 0 khi cun dy lch 90o so vi phng ban u ca n, khi R to s quay theo qun tnh. Trongccmyinmtchiuln,ngitacnhiucundynira nhiuphingpkhcnhautrncgp.Nhvydnginvlcquayc lin tc v hu nh khng b thay i theo cc v tr khc nhau ca R to. Phng trnh c bn ca ng c 1 chiu : [17] 82 1.E=K.2.V= E+R.I3.M= K I (3.3) Vi: - : T thng trn mi cc( Wb) - I: dng in phn ng (A) - V : in p phn ng (V) - R: in tr phn ng () - : tc ng c(rad/s) - M : moment ng c (Nm) - K: hng s, ph thuc cu trc ng c b ) ng c DC servo RH-14D 3002 i tng iu khin y l ng c ng c RH-14D 3002 ca hng Harmonic .ng c ny thuc dng RH Mini series l ldng ng c c thit knhgn,truynngchnhxc,mmenlnvcgnsnencoder.Cc tham s c bn ca ng c c trnh by trong bng 3.1 Hnh 3.1 ng c RH-14D 3002 gn trn trc vt me Kiu chy : Lin tc Kch thch : Nam chm vnh cu Cch in : lp B in tr cch in: 100M rung : 2.5g(5 ..400HZ) 83Shock : 30g (11ms) Bi trn : Du nhn (SK-2) Nhit mi trng : 0 ~ 40oC m mi trng : 20 ~ 80 % ( khng ngng t )Bng 3.1 Thng s ng c [12] Thng sn vng c RH-14D 3002 Cng sut u ra ( sau hp s )W18.5 in p nh mcV24 Dng in nh mcA1.8 In-lb52 M men nh mc TN Nm5.9 In-lb69 M men hm lin tc Nm7.8 Dng nhA4.1 In-lb174 M men cc i u ra Tm Nm20 Tc cc irpm50 In-lb/A51 Hng s momen ( KT) Nm/A5.76 HngsB.E.M.F(nhhngca tc n s phn ng )(Kb) v/rpm0.6 In-bl sec20.72 M men qun tnh (J) Kgm2x10381.6 Hng s thi gian c khmsec7.0 In-lb/rpm11 dc c tnh c Nm/rpm1.2 In-lb/rpm1.3 H s momen nht ( Bf) Nm/rpm1.5.10-1 T s truyn1:R100 84lb88 Ti trng hng tm N392 lb88 Ti trng hng trc N392 Cng sut ng c W30 Tc nh mc ng crpm3000 in tr phn ng2.7 in cm phn ngmH1.1 Dng khi ngA0.43 Dng khng tiA0.91 3.1.2 Thit b o lng Trong thc t sn xut ,vic o tc thng l o tc quay ca my .Trong trng hp chuyn ng thng thng xuyn chuyn vic o tc di sangvicotc quay ,do cm bin tc chimv tr uth tronglnh vc o tc . Ccmy pht tc mtchiu vxoaychiu thcchtl ccmy pht in cng sut nh c sc in ng t l vi vn tc cn o c s dng rng ri trong cc h truyn ng kinh in. Trongtrnghpnytanghincucmbintcquanghclcc cm bin ng vai tr quan trng trong cc h thng cng nghip hin i . o tc rto ta c th s dng c phng php sau y -S dng my pht tc -S dng b cm bin quang tc vi a m ha-S dng my o gc tuyt i -Xc nhtc gintip qua php o dngin vinp statom khng cn dng b cm bin tc . Do chnh xc thp ,li i hi km theo b chuyn i tng t s s ha tn hiu o nn phng php s dng my pht tc ang dn c loi b 85.Diystrnhbychititvcmbinquang(encoder)vcchsdng cm bin quang o tc quay ca ng c . Cm bin quang tc vi a m ha hay cn gi l encoder l thit b o lng dch chuyn thng hoc gc ng thi chuyn i v tr gc hoc v tr thngthnhtnhiunhphnvnhtnhiunycthxcnhctc quay ngcv tr trchoc bnmy.Tnhiu racaEncoder cho di dng tnhius.Encodercsdnglmphntchuynitnhiuphnhi trong cc my CNC v robot. Trongmy cngciukhins, chuyn ngcabn myc dn ng t mtng c qua vit me aic bi ti bn my. V tr ca bn my c th xc nh c nh encoder lp trong cm truyn dn. Phn loi Theo dng chuyn ng ca Encoder m ngi ta chia n thnh hai kiu c nguyn l hot ng hon ton ging nhau: -Encoderthng:chiudicaencoderthngphibngtngchuyn ng thng tng ng c ngha l chiu di cn o phi bng chiu di thc. -Encoderquay:l mtanhvkchthcencoderkhngphthuc vo khong cch o. N c th o c c thng s dch chuyn v tc . Encoder quay chia lm hai loi: encoder tuyt i v encoder tng i.( absolute encoder v incremental encoder) Encoder tng i Hnh 3.2 a m ha v nguyn l hot ng encoder tng i 86Encoder tng ithng c 3 knh (3 ng ra) bao gm knh A, knh B vknhZ(Index).Tronghnhtrnhbynguynlcamtencoderbaogm mt l nh bn pha trong ca a quay v mt cp pht - thu dnh ring cho l nh ny. l knh Z ca encoder. C mi ln ng c 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 Z xut hinmt xung mivng quaycangc. Bnngoi a quay c chia thnh cc rnh nh v cc cp thu-pht khc dnh cho cc rnh ny. y l knh A( hoc B) ca encoder, hot ng ca knh A cng tng t knh Z, im khcnhaul trong1vng quayca ngc,c Nxungxuthintrnknh A.Nlsrnhtrnavcgilphngii(resolution)caencoder. 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, bn phi bit phn gii ca encoder ang dng. phn gii nh hng n chnh xc iu khin v c phng php iu khin. Knh A v B thng thng c b tr lch nhau 900. Hnh 3.3 dng xung ca cc knh u ra Ngoi cch b tr nh trn to ra 2 knh A v B lch nhau 900 ngi ta cn c th s dng cc cp thu-pht A v B t lch nhau nh sau 87 Hnh 3.4 B tr cc cp thu pht Thngthngccencodercnkmtheokhnngxlsnxungtn hiu v trn c s cho php thng s lng vch m trong mt vng a ln 4ln.ChuixungAhocBcatiuvocakhumtin,bits xung trong mt chu k ta s tnh c tc quay ca ng c. 060N( ng/Pht)=4Nnn vT (3.4) Trong : Tn l chu k iu chnh tc , y l chu k m xung c tnh bng giy. N0 l s xung trong mt vng cn gi l phn gii ca encoder N l s xung m c trong thi gian Tn Chiu quay ca ng c c xc nh thng qua tn hiu xung 2 knh A v B .V d xung A xut hin trc th ng c quay thun v ngc li xung B xut hin trc th ng c quay ngc. ivingcDCservoRH14D-3002cgnsnencodertngi 1000 xung /vng .Vic kt ni vi DSp c thc hin theo hnh sau [11] 88 Hnh 3.5 Ghp ni encoder tng i vi TMS320F2812 DSPF2812htrmchmxungencoderchuyndnghtrmc snlnvsnxungca2knhA,Bcaencodervvyphngii encoder c tng ln 4 ln tc l 4000 xung m / vng .Ngoi ra cn c chn pht hin xung Z xc nhn ng c quay ht mt vng .T cc xung m ny ta c th xc nh chnh xc tc v v tr ng c . Cc tham s c bn ca encoder ng c RH14D-3002Bng 3.2 Thng s encoder [12] Ghp ni u raLine driver VDC+5 5% Ngun cung cp mA60max in p u ra VOL,VOHV0,5max - 2,5min Tn s ln nhtKHZ125 phn giiP/rev1000 Tn hiu ra, , , , , A B Z A B ZM men qun tnhKgm23x10-8 Dy dnmm 4x600L0.12/7 Strand 89RH-5A/8D/11D/14DLine Driver AL/BL BrownA Signal BlueASignal RedB Signal GreenB Signal YellowZ Signal OrangeZSignal WhitePower Supply BlackCommon ShieldFloating Encoder tuyt i (Absolute encoder) Viencodertuytitacthxcnhcchnhxcvtr roto.Nguynlcbncaloiencodernydatrnvicmhaccsnh phn . V d vi mt s nh phn c 2 ch s, chng ta s c 00, 01, 10, 11, tc l4trngthi.iucnghalvi2chs,chngtacthchiaa encoderthnh4phnbngnhau.Vkhiquay,chngtasxcnhc chnh xc n 1/4 vng Hnh 3.6 a m ha encoder tuyt i 2 rnh Xt mt encoder nh hnh 3.6gm c 2 rnh .Rnh trong cng l mt na vng trn trong sut ,mt na m .Khi c rnh ny ta xc nh c v tr roto ang navngtrnno.Trongtrnghpnyngvibitctrngslnnht 90(MSB).Rnhgiacchiathnhbnphnmutrongsutvmlintip nhau.c rnh ny ta xc nh c v tr rt ang vng trn no .Cc rnh tip theo cho ta xc nh c v tr 1/8 , 1/16.ca vng trn .Rnh ngoi cng cho ta chnh xc cui cng ng vi bit c trng s nh nht (LSB) .Hnh 3.7l a m ha tuyt i gm 8 rnh . Hnh 3.7 a m ha encoder tuyt i 8 rnh 3.1.3 Thit b iu khin BiukhincthchintrnDSpF2812cngviboard EZDSPF2812.NhgiithiutrnboardEZDSPF2812vcbnlch chaphnnhntclphnxl,bnhngoi,vktniJTAGquacng my in m cha c cc thnh phn khc. Tuy nhin cc IO EXPANTION t P1 P9cngviccgiaothcnhSPI,SCI,I2C,CAN,McBSPvccGPIO chngtacthmrnggiaotipvinhiuthitbkhcnhau.thngquacc cng m rng.S nguyn l boardEZDSPF2812 trnh by ph lc 1 Nh vy cc cng vo ra s l chun t 0- 3,3v v u vo ADC l 0-3v thc hin giao tip vi cc thit b ngoi vi bn ngoi theo chun 0- 5v cn c mch chuyn i chun in p ngoi ra cn cc thit b ngoi vi c bn ,truyn thngUART,CANvDAC.Trnyucunhvytaphixydngcngm rng (EZDSPF2812 ADAPTER ) nh sau. 91 Hnh 3.8 EZDSPF2812 ADAPTER CAN 2 DAC 0-5v8 ADC 0-5v32 digital input output 0-5v (I/O,PWM,QEP,..) 5v +5v 0v -5vloudspeaker 8 switches COM1 COM2 IO EXPANTION 8 LED2 buttons 92 a) 32 digital input output 0-5v 32 cng vo ra s c kt ni vi GPIOA v GPIOB ca F2812P712345678910C1TRIPnC2TRIPnC3TRIPnC4TRIPnC5TRIPnC6TRIPnT2CTRIPn_EVASOCnP824681012141618202224262830323436384013579111315171921232527293133353739SCIRXDA SCITXDASPISIMOACAP4_QEP3SPICLKAT1CTRIP_PDPINTAnPWM8PWM7TDIRAPWM11 PWM10PWM9SPISTEAPWM12PWM3PWM2 PWM1PWM5PWM4T1PWM_T1CMPPWM6T2PWM_T2CMPCANRXACAP1_QEP1TCLKINACANTXACAP2_QEP2 CAP3_QEPI1P41234567891011121314151617181920TDIRBT4PWM_T4CMPT3PWM_T3CMPTCLKINBSCITXDBSCIRXDBCAP5_QEP4CAP6_QEPI23.3V3.3VJ31123J32123U2474LVC16T2451DIR11B121B23GND41B351B46VCCB71B581B69GND101B7111B8122B1132B214GND152B3162B417VCCB182B5192B6202B7222B8232DIR24GND211A1471A2461A3441A4431A5411A6401A7381A8372A1362A2352A3332A4322A5302A6292A7272A8261OE48GND45VCCA42GND39GND34VCCA31GND282OE25PWM8PWM7PWM12PWM11PWM10PWM9GPI OB0TDI RAT4PWM_T4CMPT3PWM_T3CMPC3TRIPnGPI OB1C2TRIPnC1TRIPnGPI OB4TDI RBGPI OB3GPI OB2GPI OB6C5TRIPnGPI OB5C4TRIPnGPI OA11GPI OB7C6TRIPnGPI OA15GPI OA14GPI OA13GPI OB13GPI OB11GPI OB15GPI OB14U2374LVC16T2451DIR11B121B23GND41B351B46VCCB71B581B69GND101B7111B8122B1132B214GND152B3162B417VCCB182B5192B6202B7222B8232DIR24GND211A1471A2461A3441A4431A5411A6401A7381A8372A1362A2352A3332A4322A5302A6292A7272A8261OE48GND45VCCA42GND39GND34VCCA31GND282OE255VPWM1PWM2PWM3J29123PWM4J30123PWM5PWM6T1PWM_T1CMPT2PWM_T2CMP3.3VCAP1_QEP1GPIOA0CAP2_QEP23.3VCAP3_QEPI 1GPIOA13.3VTCLKINAGPIOA2GPIOA3CAP4_QEP3GPIOA4CAP5_QEP4GPIOA5CAP6_QEPI 2GPIOA6TCLKINBGPIOA7GPIOA8GPIOA9GPIOA103.3VGPIOA12GPIOB8GPIOB9GPIOB10GPIOB125V GPIOA13GPIOA14GPIOA15GPIOB0GPIOB1GPIOA0GPIOB2J33HEADER20X224681012141618202224262830323436384013579111315171921232527293133353739GPIOA1GPIOB3GPIOB4GPIOA2GPIOB5GPIOA3GPIOB6GPIOA4GPIOB7GPIOA5GPIOB8GPIOA6GPIOB9GPIOA7GPIOB10GPIOA8GPIOB11GPIOA95vGPIOB12GPIOA10GPIOB13GPIOA11GPIOB14GPIOA12GPIOB15 Hnh 3.9 Khi chuyn i 32 knh digital I/O 0-3v3 sang 0-5v u ra s ca F2812 c mc logic 0- 3,3v chuyn sang mc logic 0-5v tasdngIC74LVC16T245nhtrnhnh.ICnychophpgiaotiptheo2 hng ph thuc vo mc logic trn chn 1DIR v 2DIR c thit lp bi cc jumper .Nu thit lp jumper t J29 n J32 v tr 2-3 tc l la chn hng t 93B sangA (u vo). y cc chn chc nng QEP c thit lp Jumper mc nh v tr 2-3 ( u vo ) v cc chn PWM c thit lp jumper mc nh v tr 1-2 (u ra) ,Ty vo mc ch s dng m thit lp cc jumper ny l u vo hay u rab) 8 knh ADC 0-5v 8knhADCcktnivi8chnchuyniADC(ADCINA0-ADCINA7) ca F2812 . ADCINA0AGND1R40618kR40730kAD_IN1AGND2ADCINA1R41018kR41130kAD_IN2R41218k-5V+5VR41330k-+U26BOPA4228 117564R40918kD24DIODE SCHOTTKY21D25DI ODE SCHOTTKY21+5V-5VADCINA4R42618kAGND5R42730kAD_I N5AGND6ADCINA5R42818kR42930kAD_IN6R43018k-5V+5VR43130k-+U30BOPA4228 117564R43518k+5V-5VR44130k-+U30AOPA4228 111324D28DIODE SCHOTTKY21D29DIODESCHOTTKY21R40830k-+U26AOPA4228 111324ADCINA2AGND3R41618kR41730kAD_I N3R41818k+5V-5VR41930k-+U26COPA4228 1181094AGND4ADCINA3R42018kR42130kAD_IN4R42218k-5V+5VR42330k-+U26DOPA4228 111412134D26DI ODE SCHOTTKY21D27DIODE SCHOTTKY21AGND7ADCINA6R43218kAD_IN7 R43330kR43418k-5V+5VR43630k-+U30COPA4228 1181094ADCINA7AGND8R43715kR43810kAD_IN8R43915k+5V-5VR44010k-+U30DOPA4228 111412134D30DIODE SCHOTTKY21D31DI ODE SCHOTTKY21 AD_IN4AD_IN7AD_IN6AGND2AD_IN8AGND1J42HEADER 8X224681012141613579111315AGND3AGND5AGND4AD_IN1AGND7AGND6AD_IN2AD_IN3AGND8AD_IN5ADCINA6ADCINA7P91357911131517192468101214161820ADCINA2ADCINA1ADCINA0ADCINA4ADCINA3ADCINA5 Hnh 3.10 8 knh ADC 0-5v IC khuch i c s dng l OPA4141 y l ic khuch i thut ton loi Rail-to-Rail Output vi cc c tnh k thut nh sau . Low Supply Current: 2.3mA max Low Offset Drift: 10mV/C max Low Input Bias Current: 20pA max Very Low 1/f Noise: 250nVPP Low Noise: 6.5nV/Hz Wide Bandwidth: 10MHz Slew Rate: 20V/ms Input Voltage Range Includes V Rail-to-Rail Output Single-Supply Operation: 4.5V to 36V 94 Dual-Supply Operation: 2.25V to 18V No Phase Reversal MSOP-8, TSSOP Packages u ADC l kiu vi sai t 0-5v u ra l 0-3v ph hp vi mc in p u vo chuyn i ca F2812.B chuyn i A/D ca F2812 l 12 bit ngha l in p u vo 0-5v tng ng vi s digital l 0 4096. c) 2knh DAC 0-5v DAC_OUT2U31ADC8552VDD1VREF2Vout B3Vout A4SYNC5 SCLK6 Din7 GND8C5922UF-5VDAC_OUT1-+U28DOPA4228111412134+5VDAC_OUT1J43CON41234DAC_OUT2 R410K3.3VC10100nC12100nC4010uF125VC11100n-5VSPISI MOA-+U28COPA42281181094SPICLKA5VSPISTEAC13100nR710KR810K+5VR510KU32REF5025DNC1Vin2TEMP3GND4TRIM/NR5 Vout6 NC7 DNC8R610K Hnh 3.10 2 knh DAC 0-5v 2 knh DAC giao tip theo kiu ni tip s dng IC DAC8552 ca texas intruments vi cc c tnh k thut c bn nh sau Relative Accuracy: 4LSB Glitch Energy: 0.15nV-s Micro Power Operation: 155 A per Channel at 2.7V Power-On Reset to Zero-Scale Power Supply: 2.7V to 5.5V 16-Bit Monotonic Over Temperature Settling Time: 10 s to 0.003% FSR Ultra-Low AC Crosstalk: 100dB Typ Low-Power Serial Interface With Schmitt-Triggered Inputs On-Chip Output Buffer Amplifier With 95Rail-to-Rail Operation Double-Buffered Input Architecture Simultaneous or Sequential Output Up and Powerdown Available in a Tiny MSOP-8 Package Hnh 3.11 s khi DAC8552 in p tham chiu s dng l 0-2,5v c to ra bi ic to in p tham chiu REF5025 .u ra DAC8552 l 0-2,5v c khuch i ln thnh 0-5v.Vic la chn knh v cc ch hot ng c thit lp bng vic ghi cc d liu tng ng vo 24 bit thanh ghi cu DAC8552. Hnh 3.12 Cc bit trong thanh ghi DAC8552 v chc nng Trong : -8 bit cao l cc bit iu khin -16 bit thp l bit d liu 96-Ccbt LDBv LDAiukhinviccpnhtgitr camiura analog tng ng. -Bt 19 khng cn quan tm -DB18 iu khin ch ca d liu (0 - knh A ,1- knh B ) -PD1vPD0lachnchPOWERDOWNca1hoc2knh DAC Truyn thng CAN,UART v cc ngoi vi onboard -2knhtruynthngUARTAvBsdngICgiaotipRS232l MAX3232 cho php u vo l 3v3 . C21100nC22100nSCIRXDASCITXDAC23100nSCITXDBC24100n3. 3VP1COM1594837261 10113.3VU6 MAX3232GND15VCC16R1IN13R2IN8T2IN10 T1IN11C1+1C1-3C2+4C2-5R1OUT12R2OUT9T1OUT14T2OUT7V+2V-6SCIRXDBP2COM2594837261 1011 C25100n Hnh 3.13 mch ghp ni UART Truyn thng CAN s dng ic giao tip SN65HVD232 cho php u vo l 3v3 3.3VCANRXAP3CAN1594837261 1011C56100PFU22SN65HVD232VDD3RXD4RS8TXD1VREF5VSS2 CANL6CANH7C57100nCANTXAR6060RR4810K Hnh 3.13 Mch ghp ni CAN Cc ngoi vi khc bao gm-8 led c kt ni vi cc chn GPIOB0 n GPIO B7 -8 switches kt ni vi cc chn GPIOB8 n GPIOB15 - 2 push buttons kt ni vi cc chn GPIOD1 v GPIOD2 -1 loudspeaker kt ni vi chn T1PWM -8LED,8switchesvloudspeakercthcchophphockhng cho php bi cc jumper J12,J13 v J15 nh hnh pha di. 97

PWM7PWM8PWM9PWM10PWM11PWM12T3PWM_T3CMPT4PWM_T4CMPR18680RR20680RD10R21680RR14680RR15680RR16680RR17680RR19680R3.3VJ12LED 12U1474VLC244A12A24A36A481OE1Y118Y216Y314Y412VCC20GND10A511A613A715A817Y59Y67Y75Y832OE19D11D5LEDD6LEDD7LEDD8D12LED3.3VR2222KD14TDIRBTCLKINBC4TRIPnC5TRIPnU1574LVC244A12A24A36A481OE1Y118Y216Y314Y412VCC20GND10A511A613A715A817Y59Y67Y75Y832OE19C6TRIPnR415RESISTOR SIP 912 3 4 5 6 7 8 93.3VCAP4_QEP33.3VR2322KS1SW DI P-812345678161514131211109CAP5_QEP43.3V J13SWITCH1 2CAP6_QEPI2 SW3INT0R2910K3.3V3.3VR2610KT1CTRIP_PDPINTAnT2CTRIPn_EVASOCnQ6C1815T1PWM_T1CMP5VD13DIODE12LS1SPEAKERJ15SPEAKER1 2R251KSW2INT0R2810K Hnh 3.12 Cc ngoi vi LED, switches , buttons , loudspeaker CcchnIOEXPANTIONcsdngktniviEZDSPF2812 .Adapter ny khng s dng ngun t EZDSPF2812. Hnh 3.13 EZDSP F2812 v ADAPTER B bin i cng sutB bin i cng sut lm nhim v bin i in p PWM t board iu khin(0-5v)sangdiinp0-24vcungcpchongc.Bbinicng 98sut yl mch cu FullBridge .Vic iuchnh tc ngc c thc hin bng cch thay i rng xung v gi chu k bm xung khng i Hnh 3.14 B bin i cng sut S nguyn l R54K7DIR5V5V5VPWMR64K7R74K7IN1IN25VU10D4001121311147R144K7U10B4001564147DIRU10C40018910147J1CON412345VC14470uFD1DIODEC14.7uFOUT1ISO2PC8172143OUT224v24VC3470uFC4100nD4LEDR131k12VC15100nD2DIODEC54.7uFC17100nC8100n12VC18100nC16100nM1IRF540M2IRF540M3IRF540M4IRF540R10330R5V 12VDIR+R1RG1R2RG3R3RG2R4RG4U9IR2103VCC1HIN2LIN3COM4LO5VS6HO7VB8D3LED24VDIR- U7LM7805VI1GND2VO3U6LM7812VI1GND2VO3R81kISO16N1378753265VIN2R114K7DIRJ2HEADER 41234C9CAPPWM+C10CAPC11CAPPWM-24VPWM5VOUT1C12100nR12220ROUT2R93K3C13470uFU8IR2103VCC1HIN2LIN3COM4LO5VS6HO7VB8IN1U10A4001123147 Hnh 3.15 S nguyn l b bin i cng sut Mch cu H s dng IC li chuyn dng l IR2103 ,Mosfet IRF540 ,opto Tc cao 6N137 .Mch cu ny cho php hot ng dng lin tc 10A ,in p 50v v hot ng tt tn s 30KHZ vi duty 0-95% . 993.2 THC HIN CC CU TRC IU KHIN 3.2.1 Cc cu trc iu khin a) Nhng cu trc c bn ca h thng iu khin - Xc nh tn hiu iu khin thch hp yl biton iukhinmyucudng livicxcnhtn hiu thchhpptvouvocaitngsaochoitngcccht lng bn trong v tn hiu u ra nh mong mun .Chng hn bi ton xc nh quy tcthayi inp uvo u(t)ca ngc( itngiukhin)sao cho tc vng quay ca ng c ( tn hiu u ra ) thay i t gi tr ban u y0 ti gi tr mong mun yt v nng lng tn hao cho qu trnh thay i tc quay l t nht ( cht lng bn trong ca i tng) . Hnh 3.16 Cu trc iu khin xc nh tn hiu iu khin thch hp cimcahnhthc iukhinny l iukhin mtchiuvtrong qutrnhiukhin,h thngkhngckhnngthay ihochiuchnhli c .Nh vy ,cht lng iu chnh ph thuc hon ton vo chnh xc ca m hnh ton hc m t i tng cng nh phi c gi thit rng khng c tc ng ca nhiu khng mong mun vo h thng trong sut qu trnh iu khin . - S dng b iu khin + iu khin hVbncht,hnhthciukhinnycnggingnhbitontmtn hiu iu khin thch hp p t u vo i tng nhng c b xung thm biukhintoratnhiuiukhin.Vdiukhintuthyi theo mt qu o y(t) mong mun ( tn hiu u ra ),ngi ta phi tc ng bng lcw(t)votaylitoracvtru(t)cabnhlimtcchthchhp .Trong v d ny ,h thng tay li bnh li c vai tr ca mt b iu khin . i tng iu khin u(t)y(t) 100 Hnh 3.17 cu trc iu khin vng h Hnhthc iukhinhny (hnh3.17)liukhinmtchiuvcht lngiukhinphthucvochnhxccamhnhtonhcmt i tng cng nh phi c gi thit rng khng c tc ng ca nhiu khng mong mun vo h trong sut qu trnh iu khin+ iu khin phn hi trng thii tng iukhincctnhiutrngthi x1(t),x2(t),.. xn(t),c vitchungdngvctx(t)=(x1(t),x2(t),..xn(t))T,lthnhphnchang y nht cc thng tin cht lng ng hc ca h thng .N phn nh nhanh nht s nh hng ca nhng tc ng bn ngoi vo h thng k c nhng tc ng ca nhiu khng mong mun bi vy c th to ra c cho i tng mt cht lng mong mun ,n nh vi tc ng ca nhiu ,cn phi c mt tn hiu p t u vo l u(t) phn ng kp theo s thay i trng thi ca i tng . Hnh 3.18 Cu trc iu khin phn hi trng thi y(t) i tng iu khin u(t)B iu khin w(t) i tng iu khin u(t)y(t) B iu khin +_ _x e(t)w(t) i tng iu khin u(t)y(t) B iu khin +_ _x w(t) 101Hnh3.18biudinnguyntciukhinphnhitrngthi.Biu khinsdngtnhiutrngthix(t)caitngtoratnhiuuvo u(t) cho i tng .V tr ca b iu khin c th l mch truyn thng hoc mch hi tip . Hthngiukhinphnhitrngthickhnnggicnnh cht lng mong mun cho i tng mc d trong qu trnh iu khin lun c tc ng ca nhiu+ iu khin phn hi tn hiu raTuy rng vc t trng thi x(t) cung cp cho ta y nht cc thng tin v cht lng ng hc ca i tng,song khng phi mi trng thi ca i tng u o c trc tip .V l trong nhiu trng hp ngi ta nh phi thay i b iu khin phn hi trng thi x(t) bng b phn hi u ra y(t) . Hnh 3.19 Cu trc iu khin phn hi tn hiu ra Hnh 3.19 m t nguyn tc iu khin phn hi u ra .B iu khin s dngtnhiuuray(t)caitngtongcra ctnhiuuvo u(t) cho n .V tr ca b iu khin c th l mch truyn thng hoc mch hi tip . i tng iu khin u(t) y(t) B iu khin +_ e(t)w(t) i tng iu khin u(t)y(t) B iu khin +_ w(t) 102b) Cu trc iu khin s v tr ng c DC servo Hnh 3.20 Cu trc iu khin s v tr ng c DC servo phn hi tc vv tr t encoder DC servo y l loi RH14-3002 nh trnh by trn .ng c ny c gn sn mt encoder phn hi tc v v tr .Encoder ny c phn gii l 1000xung/vng ,cc pha A,B v Z c kt ni vi cc chn QEP tng ng ca DSP TMS320F2812. DSPTMS320F12812nhnvmcc xung ny bngb nhthi mc ch chung .Cn c trn s xung m c v khong thi gian ly mu tnh ton ra tc ng c v v tr . F vFlnltl hmtruynphnhitc vv tr ,cckhi ny c x l bng phn mm bn trong DSP ,u vo l s xung m encoder. RvRl b iukhinvtrvtc ngc.Biukhinny c thc hin bi DSP .u ra ca b iu khin v tr l u vo ca b iu khintc ,thigianlymu ca mchvng bn ngoi phi lngp10 n 100 ln thi gian ly mu ca mch vng bn trong. B bin i cng sut lm nhim v bin i in p PWM ( 0-5V ) thnh 0-24V u ra cung cp cho ng c Nhm mc ch iu chnh tc ng c .Tn s PWM y l 30KHZ.encoder RR B bin i cng sut F F DC servo QEP TMS320F2812 __ 103 Hnh 3.22Phn hi v tr bng cch ly tch phn tc theo thi gian Hnh3.22lcutrckhccahthng.V cbnlgingvicutrc pha trn tuy nhin v tr ng c c tnh ton bng cch ly tch phn tc theo thi gian .Bn cht ca cu trc ny cng ging nh cu trc pha trn. Hnh 3.23Phn hi v tr v tc bng mch chuyn i f/V hnh 3.23 th mch phn hi tc v v tr c thc hin bng phn cng pha ngoi .Mch ny nhn tn hiu l tn s xung encoder v u ra l 0-5v vi phn gii 16 bit (0-65535) .Tn hiu ny c a vo u vo cu 2 knh ADC1 v ADC2 ca DSP F2812. Vi cu trc ny th DSP khng phi tnhton phn hi m ch nhn gi truramodulADC.Victnhtoncthchinbiccviiukhin encoder RR B bin i cng sut F } DC servo QEP TMS320F2812 __ RR B bin i cng sut f/V encoder DC servo TMS320F2812 __ f /V ADC INPUT 1 ADC INPUT 2 104khclmcho tc pngcthnhanhhn .Tuynhinvicu trc ny s xyrasaisngkbivnthchinqunhiukhuchuyniA/D ,D/A,hnnatn hiuvol tn hiutngt(0-5v) nndbnhhng bi nhiu. Nhn xt : - Tn hiu phn hi v tr c th c tnh ton bng cch ly tch phn tc hayctnhtontrctipttnhiuxungencodernhngvbnchtl nhnhau -Khu DAC c th khng tn ti mt cch tng minh ,m n di dng thit b c chc nng DA.V d y l b iu ch rng xung PWM [4] . - Khu DAC thng s dng khi o c gi tr thc ca i lng ra .N c th l chip ADC ( v d o dng in ) hoc tn ti di mt dng khc mang bn cht ca mt khu ADC ( v d o tc t encoder ) - Cu trc c sh thng iu khin s [4] Hnh 3.24 Cu trc tng qut h thng iu khin s 3.2.2 Tng hp b iu khin v m phng offline a) Xy dng h phng trnh ton hc ng c DC servo RH-14D 3002 Cc tham s c bn cu ng c Ra=2.7O La=1.1mH Kt=5.76 Nm/A Kb=0.6 V/rpm Bf=0.15 Khu iu chnh DACi tng iu khin ADC vk wk _ ukyk 105J=81.6e-3 Ta c 1( )AA A A A Adc cdc t AA bdiu e i R LdtdM Mdt JM K ie K ne = + += == (3.5) 1( )AA A A A Adc cdc t AA bdiu e i R LdtdM Mdt JM K ie K ne = + += == (3.6) Chuyn sang min nh laplace 1( )A A A A A Adc cdc t AA bu e i R L i ss M MJM K ie K ne = + = == (3.7) 1( )1( )A A AA Adc cdc t AA bi u eR L sM MJsM K ie K ne= += = = (3.8) 106Thay AAALTR=ta c h phng trnh nh sau: 1/( )11( )AA A AAdc cdc t AA bRi u eT sM MJsM K ie K ne= += = = (3.9) T h phng trnh trn ta xy dng c s cu trc ca ng c nh sau: Hnh 3.25 Cu trc ng c DC servo Thay cc thng s vo ta dc m hnh ng c DC servo nh sau Hnh 3.26 Cu trc ng c DC servo RH-14D 3002 c tnh qu tc v dng nh sau bK1/1AART s + tK1fJs B + cM+_ +_ dcM AinAU 1070 0.1 0.2 0. 3 0.4 0.5 0.6 0.7 0.8 0.9 10123456789Time (s)Current (A) Hnh 3.27 c tnh dng phn ng ng c DC servo RH-14D 3002 0 0.1 0.2 0. 3 0.4 0.5 0.6 0.7 0.8 0.9 105001000150020002500300035004000Time (s)Speed (RPM) Hnh 3.28c tnh tc ng c DC servo RH-14D 3002 b) Thit k b iu chnh v tr cho ng c DC servo iu khin v tr ng c DC servo thng thng ta dng h thng ba vng iu chnh ,Tuy nhin ng c DC servo RH-14D 3002 l loi ng c c nh nn c th b qua mch vng dng. Chu k trch mu chon theo nh l Shamnon-Nyquist tn s ly mu > 2 ln bandwith ca h . tuy nhin trong thc th rt kh p ng c tn s nh vy- Ta chn chu k trch mu mch tc : Tw=0.001s - chu k trch mu mch vng v tr : T=0.1s 108 Hnh 3.29 cu trc mch vng iu chnh Xy dng vng iu khin tc thunlitrongqutrnhtnghpbiukhintacoignngb bin i cng sut (PWM) l khu qun tnh bc nht vi hng s thi gian Tf = 1/f vi f = 30000HZ l tn s bm xung.Hm truyn b bin i cng sut l : bdK 0.0092( )Tf s + 1 3.333e-005 s + 1bdG s = =(3.10) khi mch vng dng in c cu trc nh sau : Hnh 3.30S tng hp b iu khin tc hm truyn t ca ng c 22.133*100Gsaclose3.324e-5 s+ 0.08166 s + 1.43=(3.11) Biu din bng ton t Z 109 21,635 z + 0,7454Gsaclosezz- 1.07 z + 0.08574=(3.12) Biu din dng DSP (Z-1) -1 -2-1 -21,635 z+ 0,7454 zGsaclosez1 - 1.07 z+ 0.08574 z=(3.13) Hm truyn i tng mch vng tc 3 21,963Gsw = Gsaclose.Gsbd1.108e-009 s+ 3.597e-005 s+ 0.08171 s + 1.43=(3.14) Hm truyn trn min Z 23 20,01432 z+ 0.007573z + 6.126e-006Gswz = z- 1.07 z+ 0.08574 z - 8.026e-15 (3.15) Chuyn sang z-1 -1 -2 -3-1 -2 -30.01432 z+ 0.007573 z+ 6.126e-006zGswz1 = 1 - 1.07 z+ 0.08574 z- 8.026e-015 z (3.16) S dng cng c SISO design ca matlab ta xc nh c hm truyn t ca vng iu chnh tc l . w0.05( z+ 0.08)( )z 1G z = (3.16) 110 Hnh 3.31 H ta cc v p ng ca h thng trn SISO design 0 0. 1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1020040060080010001200Time (s)Speed (RPM) Hnh 3.32 Mch vng iu khin tc v p ng Tng hp b iu khin v tr Tin trnh tng hp b iu khin v tr R tng t cc mch vng khc .Tuy nhin vi cu trc nh trn th hm truyn b iu khin v tr s khng c thnh phn m ch l P hay PD . B iu khin v tr thng c tnh theo iu kin gia tc hm cc i hmaxiviqungnghmccihmax saochothi gianhmkhng vt qu thi gian tmax .Ti thi im hm ,tng ng vi tn hiu sai lch tc u vo b iu chnh tc bng khng. n gin ta coi b iu khin v tr l mt khu khuch i vih s k=400 thi gian ly mu T = 0,1s .Khi cu trc b iu khin v tr xy dng trn DSP C2000 l . 111 0 5 10 15 20 25 30-5000500100015002000250030003500Timer (s)Speed (RPM) 0 5 10 15 20 25 300102030405060708090100Timer (s)Position (mm) Hnh 3.33 Mch vng iu khin tc v p ng 3.2.3 iu khin realtime vi DSP F2812 T cc kt qu m phng trn ta tin hnh xy dng b iu khin trn DSP.Biukhinlb iukhinmphngphntrctuynhinm hnh ng c v b bin i cng sut khng khng cn na m ng c v b binibyginmphangoi.Biukhinkhngphithchintrn matlab m nm trn DSP .Vic o tc v v tr ng c khng phi c tnh ton da trn m hnh na m c o t encoder hoc cc knh ADC do ta cn xy xng mt khi o ring xc nh tc v v tr hin ti ca encoderM hnh b iu khin v tr 112 Hnh 3.33 Cu trc iu khin realtime vi DSP F2812 Trongcckhitransmittohost,setpointtohost,receivefrom hostlcckhilmnhimvgiaotipvimatlabthngquacngtruyn thng RTDX Khi Position control v speed control l cc b iu khin v tr v tc .Khi measure c chc nng o tc v v tr ng c .u vo khi ny lgitr m xungencoder ca bcounter,ura lgitc quay (RPM) ca ng c v v tr (mm) ca b truyn ng vt me .. Khi measure c xy dng nh sau 113 (a) (b) ( c ) (d) Hnh 3.34 Khu o lng(a) cu trc , (b) khi QEP clock , (c) khi Position caculator, (d) khi speed caculator 114Nguyn l hot ng : S xung m c ca b counter c gi tr t 0 - 65535khitrnbmliquaytrv0.Xungmnycavokhi QEP clock ,Khi QEP clock lm nhim vtnh ton s xung m v chiu quay trong mt chu k ly mu ( 0,001s) .Nu chiu thun th u ra delta clock mang gitrdng,vchiungcthmanggitrmvtrtuyticanls xung m trong mt chu k .Gi tr delta clock ny c a qua hai khi ring bit xc nh v tr v tc ng c.Vic xc nh tc ng c c thc hin theo cng thc (3.4) Kt qu thc nghim Trng hp khi tn hiu t v tr l 100mm t v tr gc (0 mm) p ng tc khi m phng0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 50500100015002000250030003500Time (s)Speed (RPM)19 20 21 22 23 24 25050010001500200025003000Time (s)Speed (RPM) Hnh 3.35 p ng tc khi m phng vi gi tr t v tr l 100mm Tc o c khi chy thc Hnh 3.36 p ng tc khi chy thc vi gi tr t v tr l 100mm 115p ng v tr khi m phng 0 5 10 15 20 25 300102030405060708090100Time(s)Position (mm) Hnh 3.37 p ng v tr khi m phng vi gi tr t v tr l 100mm p ng v tr khi chy thc Hnh 3.38 p ng v tr khi chy thc vi gi tr t v tr l 100mm Ghi ch :Cc khi Scope khi chy m phng c n v cc trc l n v chun.Vthigian(Time)cnvlgiy(s),Tc(Speed)lvng/pht (RPM),v tr(Position)l mm.Cnkhichythc doyl vectorscope nn cc n v trc tung ph thuc vo tc Frame ( do trong khi truyn thng cn 116gim mu ph hp vi tc truyn thng ca thit b ) .C th n v thi gian l 10s (0,1 tng sng vi 1s) . Nhn xt :-H thng khng c sai lch tnh .p ng v tr bm st vi tn hiu t l 100 mm-Thi gian tng tc n 3000(V/P) l 0,7s v gim tc l 3,5s -Thi gian p ng v tr 100mm l 22s -Khng c qu iu chnh -pngvtrvtckhithcnghimvmphnglhonton ging nhau Tng t vi cc trng hp khcTrng hp khi tn hiu t v tr l -100mm t v tr gc (0 mm) p ng tc khi m phng0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5-3500-3000-2500-2000-1500-1000-5000Time (s)Speed (RPM)19 20 21 22 23 24 25-3500-3000-2500-2000-1500-1000-5000Time (s)Speed (RPM) Hnh 3.39 p ng tc khi m phng vi gi tr t v tr l -100mm Tc o c khi chy thc Hnh 3.40 p ng tc khi chy thc vi gi tr t v tr l - 100mm 117p ng v tr khi m phng 0 5 10 15 20 25 30 35 40 45 50-120-100-80-60-40-200Time (s)Position (mm) Hnh 3.41 p ng v tr khi m phng vi gi tr t v tr l -100mm p ng v tr khi chy thc Hnh 3.42 p ng v tr khi chy thc vi gi tr t v tr l -100mm 118Trng hp khi tn hiu t l hm nhy bc p ng v tr khi m phng 0 5 10 15 20 25 30 35 40 45 500102030405060708090100 Hnh 3.43 p ng v tr khi m phng vi gi tr t l tn hiu nhy bc p ng v tr khi chy thc Hnh 3.44 p ng v tr khi m phng vi gi tr t l tn hiu nhy bc Nh vy qu cc ln chy th nghim ta c th d dng thy c l c tnh m phng gn nh trng kht hon ton vi c tnh iu khin thc . Cc 119ln chy th nghim v m phng u thc hin vi chu k ly mu mch vng tc l 0,001s v mch vng v tr l 0,1s .Thi gian ly mu nh hn th c th h thng s p ng nhanh hn tuy nhin s gy sai s nhiu trong o lng lm cho kt qu p ng c th khng chnh xc .Mch vng v tr l khu P vi h s Kp = 400 v mch vng tc l khu PI vi Kp=0,05 v Ki =0,08 . Kt qu thc nghim c kt qu rt chnh xc so vi m phng nhng cmtvnvncnphinhnmnhylvicthchinbiukhin trn matlab c th chy c nhng cha chc chy c trn nn tng mt vi x l bt k .iu ny khng c ngha l l thuyt iu khin khng ng m l do ch lthuyt iukhinvm phngthil cha .Chngtacn phi quan tm n nng lc tnh ton v cc php ton x l s hc trn vi x l v iu ny trn matlab v cc h vi x l c lp thng thng l khc nhau .i khisbt cn trongvicthchin ccbiukhinscthgynh hng nghim trng n h thng ( v d nh hin tng trn d liu hay khi thc hin cc php ton c th lm p ng bngc li so vi mong mun) . 120KT LUN Sau12tun,visnlcca bnthnvschbocaccthyc gio trong b mn ,cc bn ,v s ch bo tn tnhthy gio TH.S Phm Tun Anh em c bn hon thnh n vi cc ni dung t ra .Bi boco mtlnna nilnnhng uimca biukhins ,s ng dng rng ri ca cc h thng iu khin s trong mi lnh vc khc nhau ca i sng x hi v cng nghip. Gip cho chng ta hiu hn v cu trc ca mtbiukhins,bnchtcacckhuADC,DACNidungquan trnghnv cnglnidungch ocan ny l trnhby mtcch khchititvicthcthimtbiukhinsdngphnmmmatlab-mt phn mm c bit n kh ph bin trong lnh vc iu khin vi t cch l m phn mm tnh ton , m phng v mt h vi x l rt mnh s dng rng riiukhinsngc,nnglnglDSPTMS320F2812baogm vicphncng(nglc+iukhin)vphnmmiukhin.t chngminhmtcchtrcquanvtnhngncacclthuyt iukhin trn c s so snh cc kt qu m phng (trn matlab) v thc nghim ( trn mt h vi x l c lp ) . Tuy bc u thnh cng trong vic thc hin cc b iu khin s trn nntng mtvi xl cth ,xong mi dnglimc ngin ,cha ng dngccc lthuytiukhinhini.itngiukhinmichs dng ng c DC servo tc l cha khai thc c nhiu ti nguyn ca Matlab v DSP TMS320F2812 .Do trnh v thi gian c hn nn nhng ni dung ny em cha thc hin c v y s l hng pht trin tip theo ca ti . Trong qu trnh nghincu vhonthnh n dokinthcc hn ,kh nnglnhhicckinthcmicnhnchnnnidungbococnnhiu thiu st em rt mong c s ch bo ca cc thy c .Em xin chn thnh cm n ! Sinh vinPhm Vn Khnh 121TI LIU THAM KHO Ting Vit [1]LVnDoanh-Ccbcmbintrongkthutolngviukhin, Nh xut bn Khoa hc v K thut. [2]Nguyn DonPhc,Lthuytiukhintuyntnh , Nh xutbnKhoa hc v K thut. [3]PGS.TSKHNguynPhngQuang(2006),MATLABvSimulinkdnhcho k s iu khin t ng, Nh xut bn Khoa hc v K thut. [4] PGS.TSKH Nguyn Phng Quang (2009), Bi gingiu khin sTing Anh [5] eZdspTM F2812 Reference Technical- SPECTRUMDIGITAL 2003 [6] TMS320C2812 Digital Signal Processors Data Manual Texas Intrument[7]CodeComposerStudioDevelopmentToolsv3.3GettingStartedGuide Texas Intrument [8] Embedded IDE Link 4 Users Guide Texas Intrument [9]RolandS.Burns(2001),Advancedcontrolengineering,Butterworth Heinemann [10]DEVELOPMENTOFAMOTORSPEEDCONTROLSYSTEMUSING MATLABANDSIMULINK,IMPLEMENTEDWITHADIGITALSIGNAL PROCESSOR -ANDREW KLEE B.S. University of Central Florida, 2003 [11]TMS320F2812DIGITALSIGNALPROCESSORIMPLEMENTATIONTUTORIAL Texas Intrument [12] RH DC servo catalog[13] VisSim Embedded Controls Developer [14] Target for TI C2000 mathworks Mt s trang WED [15] www.mathworks.com/ [16] http://www.ti.com/ 122PH LC 1 S NGUYN L BOARD EZDSP F2812 123 124 125 126 127PH LC 2 CHNG TRNH MFILE MATLAB clc Tw=0.001; Tp=0.1;%Hang so thoi gian khau phan hoi toc do %Thiet ke bo dieu khien cho dong co dien mot chieu %----------Nhap cac thong so----------------- Ra=2.7;%[ohm]-dien tro phan ung La=1.1e-3%[H] f=30000%675;%[Hz]-tan so bam xung Tf=1/f; Ta=La/Ra; Kcs=23/2500;2500 la gia tri period cua bo counter PWM,23 la dien ap nguon Kt=5.76; Kb=0.6; Bf=1.5e-1; J=81.6e-3; %__________________________________________________________________________ disp('Ham truyen dong phan ung') Gsa0=tf(1/Ra,[Ta 1]) disp('Ham truyen momem') Gsa1=Kt disp('Ham truyen bo bien doi cong suat') Gsbd=tf(Kcs,[Tf 1]) disp('Ham truyen toc do') Gstd=tf(1,[J Bf]) %Gsa2=N(s)/T(s) ham truyen toc do disp('anh huong sdd phan ung kb=') Gsafb=Kb% He so back E.M.F Gsaopen=Gsa0*Gsa1*Gstd disp('Ham truyen doi tuong') disp('Bieu dien bang toan tu Laplace (S)') Gsaclose=feedback(Gsaopen,Gsafb)*100%Ham truyen dat co phan hoi E.M.F%++++++++++++Khao sat doi tuong+++++++++++++++++++ disp('Bieu dien bang toan tu Z') Gsaz=c2d(Gsaclose,Tw,'zoh')%chuyen mo hinh dong co sang mien Z[numgaz,dengaz]=tfdata(Gsaz,'v') disp('Bieu dien dang DSP (Z^-1') Gsaz1=filt(numgaz,dengaz,Tw)%Bien ham truyen Motor ve dang Z^(-1) %__________________________________________________________________________ disp('___________________________________________________________________') disp('Ham truyen s phan hoi mach toc do') Gsphw=tf(1,[Tw 1]) disp('Ham truyen tren mien z') Gsphwz=c2d(Gsphw,Tw,'zoh') disp('chuyen sang z^-1') [numGsphwz,denGsphwz]=tfdata(Gsphwz,'v'); Gsphwz1=filt(numGsphwz,denGsphwz,Tw)

disp('Ham truyen s doi tuong mach toc do') Gsw=Gsaclose*Gsbd disp('Ham truyen tren mien z') Gswz=c2d(Gsw,Tw,'zoh') disp('chuyen sang z^-1') [numGswz,denGswz]=tfdata(Gswz,'v'); Gswz1=filt(numGswz,denGswz,Tw) 128Mc lc LI M U.................................................................................................... 1 CHNG 1. TNG QUAN V H THNG IU KHIN S...................... 3 1.1 KHI NIM V H THNG IU KHIN S...................................... 3 1.1.1 Khi qut chung v iu khin s ...................................................... 3 1.1.2 Cu trc ca mt h thng iu khin s............................................ 4 1.1.3 Mt vi h thng ng iu khin s trong thc t .............................. 5 1.2 M HNH TN HIU V H THNG................................................... 11 1.2.1 M hnh h thng iu khin s....................................................... 11 1.2.2 M hnh khu ADC ......................................................................... 12 1.2.3 M hnh khu DAC ......................................................................... 13 1.2.4 Hm truyn ca khu chm bc khng (ZOH) ................................. 14 1.2.5 Kt hp hm truyn ca cc khu DAC, h thng con Analog vKhu ADC..........