Bo Cong Cu Thi Nghiem Dieu Khien Dong Co Dc Servo 12-03-2011

8/2/2019 Bo Cong Cu Thi Nghiem Dieu Khien Dong Co Dc Servo 12-03-2011

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3T Robotics Grouphttp://www.robot3t.com 1

B CNG C H TRTH NGHIM

IU KHIN NG CDC SERVO V2.0

M hnh ckhn gin, diu chnh, htrg t nhiu loing cvi nhiu loi ti khc nhau.

Driver DC servo a tnh nng( qu dng, qu p, phn hidng,) , htrnhiu thut ton v mc ch iu khin( v tr,vn tc, lc,) v nhiu chun giao tip( UART, CAN,).

Biu khin trung tm sdng dsPIC30f4011.

Thvin cc thut ton iu khin c vit bng C (PID, Fuzzylogic, Neural Network, Adaptive, Robust, Sliding mode control,

Impedance control, ).

Phn mm min ph giao tip vi my tnh, hin th kt qu vnh gi cht lng iu khin.
http://www.robot3t.com/http://www.robot3t.com/


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M HNH CKH H TRTH NGHIM IUKHIN NG C

M hnh ckh htrth nghim iu khin ng cl mt phn trongb cng c th nghim hon chnh iu khin ng cDC servo km

mch driver cng sut ln, biu khin dsPic30f4011, thvin cc

thut ton iu khin v phn mm htrv th, nh gi cht lng

h thng iu khin thng qua giao tip vi my tnh.

Htrnhiu loi ng c, ng knh t20 -100 mm, chiu di t50ti 100 mm.

G t, iu chnh, cnh ng cmt cch ddng. y cc loi ti i xng v bti xng phc v cho vic th nghim

cc thut ton iu khin.

Tt c cc chi titc gia cng trn my CNCm bo chnh xccao.

Gi thnh hp l v cht lng cao.


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M HNH C KH G T NG C


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PH HP VI NHIU LOI NG C TNH TI LN


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CC LOI TI I XNG V BT I XNG

KCH THC BAO CA M HNH C KH


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THNG ST HNG M HNH C KH

Thng st hng

M sthng cbn

ng knhtrc motor(mm)

Loi vt liu

M1- XX- X-1: Nha2. Nhm3. Thp

V d

Bn mun t mt m hnh ckh, ng knh trc ng cca bn l 5mm, vt

liu m hnh l nhm th thng st hng ca bn s l: M1- 05- 2.BNG GI THAM KHO M HNH C KH

S lng m hnh t hng Gi ( VND)1 Nha: 700 000

Nhm, Thp: 800 0002-9 Nha: 650 000

Nhm, Thp: 750 00010-100 Nha: 600 000

Nhm, Thp: 700 000

Thi gian giao hng khong t 1 ti 3 tun k t thi im cc bn thanh ton han. Gi cho chng ti thng st hng v s lng bn mun, chng ti s gibo gi cho bn trong vng 24h.

THNG TIN LIN H M HNH C KH

Nhm Robotics 3T

in thoi: + 84 974908615

Email: [email protected]

Website: http://www.robot3t.com
http://www.robot3t.com/mailto:[email protected]://www.robot3t.com/http://www.robot3t.com/mailto:[email protected]://www.robot3t.com/


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DRIVER DC SERVO

Driver DC Servo vi nhiu tnh nng( qu dng, qu p, phn hi dng, tngt khi li,), htrnhiu thut ton v mc ch iu khin khc nhau(

v tr, vn tc, lc,v nhiu chun giao tip (UART, CAN, ). Biu khin c thit ksdng dsPIC30f4011 Mch li cng sut cao ( >10A) Mch c thit kvi nhiu im kim tra tn hiu gip xl nhanh khi gp

sc. y chng trnh mu giao tip vi cc ngoi vi. Mch cht lng cao v gi thnh hp l.


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CC C IM V THNG S K THUT CA DRIVER DC SERVO

Biu khin s dng dsPIC30f4011 ca Microchip Driver cng sut cao (24V, 10A) Nhiu chun giao tip tn hiu phn hi t encoder, h trtruyn xa,

chng nhiu. Tnh nng qu dng, qu p, pht hin li, H trgiao tip CAN H trgiao tip UART gia 2 vi iu khin vi nhau v gia vi iu

khin vi my tnh. Ngun dng vi n nh cao Hin th Led, LCD Nhiu nt nht chn ch v bin trng vai tr l ng vo iu

khin

HNH NH TNG QUAN CA DRIVER DC SERVO


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S CHI TIT DRIVER DC SERVO

Mch iu khin trung tm dsPIC30f4011

Mch giao tip CAN


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Mch giao tip UART

Mch c tn hiu encoder ( Chun 3 chn)


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Mch c tn hiu encoder ( chun 10 chn)

Mch loa

Mch nt nhn


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Mch hin th LCD

Mch ngun dng


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Mch led hin th

Mch li cng sut v phn hi dng


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THNG ST HNG DRIVER DC SERVO

Thng st hng

M sthng cbn

La chn tnh nng

E1- XX-01: M hnh y 02: Khng bao gm IC phn hi dng

V d

Bn mun t mt driver DC servo, vi y linh kin km theo th thng st

hng ca bn s l: E1- 01.

BNG GI THAM KHO DRIVER DC SERVO

S lng m hnh t hng Gi cho driver y ( VND)1 1000 000

2-9 950 00010-100 900 000

( Nu khng bao gm IC phn hi dng, gi ca mi driver sgim bt 150 000VND.)

Thi gian giao hng khong t 1 ti 3 tun k t thi im cc bn thanh ton han. Gi cho chng ti thng st hng v s lng bn mun, chng ti s gibo gi cho bn trong vng 24h.

THNG TIN LIN H

Nhm Robotics 3T

in thoi: + 84 974908615




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THVIN C CC THUT TON IU KHIN

Thvin cc thut ton iu khin c vit bng C ( PID, Fuzzy logic,Neural Network, Adaptive, Robust, Sliding mode control, Impedance

control, ).

Phn mm min ph giao tip vi my tnh, hin th kt qu, iu chnhthng sbiu khin tmy tnh v nh gi cht lng iu khin.


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CC C IM CA THVIN C CC THUT TON IU KHIN

B th vin C cc thut ton iu khin vi nhiu thut ton iu khin v h trnhiu mc ch iu khin khc nhau, d dng tch hp trn cc nn vi iu khinkhc nhau.

Th vin cc thut ton iu khin bao gm:

Biu khin PID ( C1) Biu khin Feedforward ( C2) Biu khin Fuzzy Logic ( C3) Biu khin PID + Fuzzy Logic ( C4) Biu khin Neural Network ( C5) Biu khin Sliding Mode (C6) Biu khin Adaptive( C7) Biu khin Robust ( C8) Biu khin Passivity Based Control ( C9) Biu khin Impedance Control ( C10) Biu khin Hybrid Imdepance Control ( C11) Biu khin Admittance Control ( C12)

Cc thut ton iu khin mi vn ang c xy dng, v sc cp nhtthng xuyn.

CH V CC I TNG SDNG THVIN

Mc ch chnh ca th vin ny cung cp cho nhng c nhn, t chc v cng typht trin cc sn phm chuyn nghip, nhm gip gim thi gian pht trin ccsn phm trong lnh vc iu khin tng, nng cao cht lng ca sn phm.

Khng khuyn khch sinh vin sdng cc thvin ny, cc bn sinh vin nu

mun thc hin nhng ti lin quan ti iu khin tng c ththam gia lmcng tc vin ca nhm Robotics 3Tc hng dn thc hin cc ti ny.


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PHN MM GIAO TIP MY TNH

Phn mm m ngun mvi nhng tnh nng cbn gip giao tip vi mytnh, hin th kt qu, v iu chnh nhanh cc thng s t my tnh.

c vit bng nhiu ngn ng khc nhau ( C++, C#, Matlab, LabVIEW) ,gip ngi s dng nhanh chng tip cn v pht trin ng dng theo nhucu. Ngi s dng c chn ngn ng lp trnh mnh mun.

THNG ST HNG THVIN C CC THUT TON IU KHIN

Thng st hng

M sthng cbn

Loi thut ton iu khin

S1- XX-

C1: Biu khin PIDC2: Biu khin Feedforward,

V d

Bn mun t th vin biu khin Impedance Control th thng st hng cabn s l: S1- C10


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BNG GI THAM KHO THVIC C CC THUT TON IU KHIN

Loi thut ton iu khin Gi( VND)C1 100 000C2 400 000C3 400 000C4 400 000C5 600 000C6 600 000C7 600 000C8 600 000C9 600 000C10 800 000C11 800 000C12 800 000

Thi gian giao hng khong t 1 ti 2 tun k t thi im cc bn thanh ton han. Gi cho chng ti thng st hng bn mun v loi vi iu khin bn sdng cho nhng thut ton ny, chng ti s gi bo gi cho bn trong vng 24h.

THNG TIN LIN HNhm Robotics 3T

in thoi: + 84 974908615



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Bo Cong Cu Thi Nghiem Dieu Khien Dong Co Dc Servo 12-03-2011