Driver Điều Khiển Động Cơ Dc Servo

1DRIVER IU KHIN NG C DC SERVO CROW

User ManualDesigned by Khoi Nguyen Gia

http://vpt.edu.vn/www.linhkien.vntech

2MC LCTrang

1. Gii thiu ............................................................................................................3a. Gii thiu CROWb. c tnh k thut

2. Phn cng....43. Cng c....74. Phng php hiu chnh b tham s PID.....8

31. Gii thiua. Gii thiu CROW

- CROW l driver iu khin v tr ng c DC Servo da trn thut tonPID, ng dng trong iu khin CNC, robot, robocon.

- Hm PID lin tc:

- Thut ton PID ri rc:error = mong_muon dat_duoc;P_part = kp*error;I_part += ki*error*sampling_time;D_part = kd*(error1 - old_err1)/sampling_time;output = (P_part+I_part+D_part);old_err = error;

- CROW c thit k vi tnh n nh cao, s dng ring bit ngun nuiphn iu khin v phn cng sut, bo v chng qu dng cho phn cng sutbng cch s dng in tr cng sut R_SHUNT o gi tr dng in so snhvi dng cho php.

- Chng trnh iu khin c vit trn MCU ARM 32bit ca hngSTMicroelectronics, vi hiu nng v tc cao m bo tnh thi gian thc choh thng.b. c tnh k thut

- in p phn cng sut: 15-80VDC

4- in p phn iu khin: 5VDC- Dng ti a 6A, cng sut max 350W- iu khin v tr s dng mt knh DIR v mt knh PWM- Tn s cp xung ln n 100Khz- phn gii ca encoder c tng ln gp 4 ln- chnh xc 1/ 4 xung encoder (nu hiu chnh hp l b tham s KP

, KI, KD)- H tr ng c DC Servo c phn gii encoder t 13-2000 xung- Phn hi dng chng qu ti cho mch cng sut, bo v chng chy n

2. Phn cng

1- Khi cng sut2- Header ly tn hiu encoder v tn hiu iu khin t Master3- Header cp ngun cho phn iu khin v phn cng sut4- Cng kt ni vi my tnh thng qua USBtoCOM

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- in p phn iu khin: 5VDC- Dng ti a 6A, cng sut max 350W- iu khin v tr s dng mt knh DIR v mt knh PWM- Tn s cp xung ln n 100Khz- phn gii ca encoder c tng ln gp 4 ln- chnh xc 1/ 4 xung encoder (nu hiu chnh hp l b tham s KP


2. Phn cng


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- in p phn iu khin: 5VDC- Dng ti a 6A, cng sut max 350W- iu khin v tr s dng mt knh DIR v mt knh PWM- Tn s cp xung ln n 100Khz- phn gii ca encoder c tng ln gp 4 ln- chnh xc 1/ 4 xung encoder (nu hiu chnh hp l b tham s KP


2. Phn cng


5 Header ly tn hiu encoder v tn hiu iu khin t Master

- Kt ni encoder vi cc chn VCC, GND, CH_A (knh A), CH_B (knhB).

- Kt ni knh o chiu v knh xung t Master ln lt vo cc chn DIRv PWM, mt xung PWM cp vo th ng c s quay xung encoder. Ngunca Master v ngun phn iu khin ca CROW s dng chung t GND.

Ch : Trng hp ng c quay lin tc khi cha cp xung iu khinth thay i v tr hai knh A v B ca encoder.

Header cp ngun cho phn iu khin v phn cng sut

6- Kt ni ngun cho mch cu H vo chn VSS (15-80VDC), kt ni nguncho mch li cu H vo chn 12V (12-13VDC). Ngun cho mch cu H v nguncho mch li s dng chung t GND_S.

- Kt ni ngun ring cho mch iu khin v encoder vo chn VCC (4-6VDC), kt ni cc m ca ngun vo chn GND. Trng hp hiu chnh tham sPID t phn mm nn s dng ngun 5V t USBtoCOM, lc ny khng nn ktni ngun 5V iu khin vo chn s 7 (5V-VCC)

- Kt ni hai u dy ngun ca ng c vo chn M+ v M-.Ch : Khng s dng chung t cho ngun cng sut vi ngun iu

khin.

Cng kt ni vi my tnh thng qua USBtoCOM.

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- Kt ni ngun cho mch cu H vo chn VSS (15-80VDC), kt ni nguncho mch li cu H vo chn 12V (12-13VDC). Ngun cho mch cu H v nguncho mch li s dng chung t GND_S.



khin.


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- Kt ni ngun cho mch cu H vo chn VSS (15-80VDC), kt ni nguncho mch li cu H vo chn 12V (12-13VDC). Ngun cho mch cu H v nguncho mch li s dng chung t GND_S.



khin.


7- Trn board nhn t tri sang phi ln lt l chn TX, RX, GND, VCC(ngun t USB 5V)

- S dng USBtoCOM kt ni ng vi chc nng ca tng chn trn mch

3. Cng c- Phn mm hiu chnh thng s PID

ci t file setup, sau khi ci t xong ta s c giaodin nh hnh di

- USBtoCOM kt ni gia CROW vi my tnh

84. Phng php hiu chnh b tham s PID- Sau khi thc hin ng cc kt ni vi CROW (cp ngun, kt ni

encoder, kt ni ngun ng c, kt ni vi USBtoCOM), ti bc hiu chnhkhng cn kt ni knh DIR v knh PWM t Master vi CROW.

- Khi ng phn mm PID_NGK_V1.0, la chn ng COM Port, tc Baud rate =115200, Data Mode click chn HEX. Click vo nt Open Port sau click vo nt Graph_ER m th biu din sai s.

- Tham s KP, KI, KD u phi nhp y vo textbox k c khi tham s bng 0, gi tr ca cc tham s phi l s nguyn trong khong t 0-255

9- Thanh trt Setup Speed dng truyn tn hiu mong mun l s xungtruyn xung CROW trong thi gian ly mu, yu cu ng c phi bm theo tngs xung cp xung CROW

BC 1: Tng dn KP- Nhp tham s KP>0, KI=KD=0, nhn nt SEND- Nhn nt START biu din sai s ln th- Ko thanh trt Setup Speed sang phi truyn tn hiu mong mun

xung CROW, lc ny ng c s quay. Quan st trn th POSITION orSPEED Error, nu 0.1_ 4

Errora puls encoder th ta tip tc tng h s KP nkhi a 0.1 bng cch ko thanh trt v 0 v nhn nt STOP, sau nhp thams KP nhn nt SEND sau nhn nt START.

- Tip tc thc hin lp li tun t nh trn cho n khi t yu cu.

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BC 2: Tng dn KI- Sau khi ly c tham s KP, nhp tham s KI>0, KD=0. Tng dn KI

cho n khi a 0.002- Thc hin thao tc tun t nh bc 1.- Hnh di ta c th thy sai s Error =0

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BC 3: Tng dn KD- Thc hin xong bc 2 ta c tham s KP v KD- Tin hnh ko thanh thanh trt Setup Speed t gi tr MAX n gi tr

MIN v ngc li quan st lt v.- Tng dn KD gim lt v, khng nn chn qu ln v s lm rung ng

c trong qu trnh hot ng.- Cc bc thc hin tun t nh bc 1.

Video demo xem ti yhttps://www.youtube.com/watch?v=E9_Dd-uzuKQhttps://www.youtube.com/watch?v=9Y6RDbF0lUMhttps://www.youtube.com/watch?v=oLRfnSlCHgIDemo thc hin trn ng c DCServo 24VDC-60W, encoder 200 xung

(200x4=800)

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Hy vng rng sn phm ny s hu ch trong qu trnh hc tp nghin cuv pht trin sn phm ca cc bn.

Mi thc mc xin lin h:[email protected]: 0989740413

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Driver Điều Khiển Động Cơ Dc Servo