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Cong nghiep rimg V/THIET K E M O PHONG M Q T SO BAI TOAN V^iT LY KY THUAT TREN MAY TINH PHUC VU GIANG DAY Lou Bich Linh, BM Thi Toan Thu ThS Trudng Dai hoc Lam nghiep TOM TAT Bii bio nay giai thieu ra[.]
Cong nghiep rimg V/THIET K E M O PHONG M Q T SO BAI TOAN V^iT LY KY THUAT TREN MAY TINH PHUC VU GIANG DAY Lou Bich Linh, BM Thi Toan Thu ThS Trudng Dai hoc Lam nghiep TOM TAT Bii bio giai thieu rapt so bai toan vat ly ky thuat duoc thiet ke vi mo phong tren may ti'nh phuc vu giang day cho sinh vien truong Dai hpc Lam nghiep Ung dung bo cong cu Simulink - Madab de thiet ke va mo phong chuyen dpng ciia cSnh tay robot vdi bac tu do, mach dien chinh luu ban chu ky bing diode vi chuyen dpng nem len ciia chSt diem CTng dung bp cong cy Gui - Matlab da thiat ka vira6phong bai toan chuyen dpng tinh tien cua chit diem; khao sat 06 mach dien rapt pha a chS dp xac lap vi hien tupng giao tboa, nhieu xa quang hpc Ket qua li da xay dimg dupe 02 thi m5 phong chuyen dpng ciia chat diem vi canh tay robot; 03 thj bieu dien sir phu thupc ciia van toe, gia tdc ciia chat diem vi cuong d6 d6ng dien theo thoi gian; 06 thi bieu dien sv phu thupc cuong dp van trudng g ^ vi trutrag xa theo thoi gian Xuit kat qua dinh lupng vi bien luan cho timg bii todn Tir khoa: Gui, ky thugt, md phdng, simulink, vgtlL L DAT VAN BE n NQI DUNG, PHUONG PHAP NGHIEN CUtJ 2.1 Noi dung ng:liien cuu Ung dung bd cdng cu Simulink, Gui Matlab de thiet kS vk md phdng bki toan ca hgc ky thuat, dien - dien tii ky thuat vk quang ky thuat 2.2 Phuang phap ngtiien cuu - Phirong phdp thiet ki lira chgn cdc bdi loan: dua tren tiSu chf nhu ndi dung chuong trinh mdt sd mdn hgc ca bkn vk ca sd chuySn ngknh dang dugc gikng day tai trudng Dai hgc Lam nghiep vk chuang trinh dko tao cac ngknh hgc dS phan loai ckc bki tokn nhkm dkp ung vk phu hgp vdlckc ddi tugng sinh vien - Phucmg phdp xic l^ bdi todn bdng ly thuyit Sir dung ly thuySt mdn vat ly, ca ly thuySt vk ky thuat dien dien tu dS phan tich va xu ly eke DS tai; "ifng dung phdn mem MatLab de dii kien cua eke bki tokn mku tu dd lkm ca sd dS xky dung thuat toan tinh toan lap chuang thiet ki vd mo phong cdc bdi todn vgt ly" thuc trinh chi tiSt hien nam 2012 da dugc hgi ddng nghiem thu - Phtrong phdp xir ly bdi todn bdng ung danh gia tdt vS tfnh mdi va kha nkng kp dyng dting phan mem vao gikng day mdn hgc tai tnidng Dai LTng dung phkn mem Simulink, Gui hpc Lam nghiep Nhkm tiSp tuc gdp phkn nkng Matlab xky dung thuat toan tfnh toan vk lap cao hem nvta chat lugng gikng day mdn vat ly chuong tnnh de giai quySt ckc bki toan dk lua ndi rieng va ckc mdn ca sd ky thuat ndi chung chgn, kSt quk mong dgi la se md phdng cac bki tkc gik md rgng hudng nghien cuu thuc hien; " toan mdt each nhanh chinh xkc vk true quan Thiit ki mo phong mgt so bdi todn vgt ly ky vdi su bien dpng vk thay ddi eua nhieu tham sd thugt tren may tinh ph^ic vu gidng day " dku vko Hien bd mdn Vat ly tham gia dkm nliiem gikng day cho hku het sinh vien cac ngknh hpc tokn trudng, vay sd tin chi phan phdi cho cac hpe phan vat ly lai qua ft, dkn dSn chkt lugng giang day vk hgc tap han che Bd mdn da cd nhiSu giki phkp cu thS dugc dku tu xky dung thknh nhung dS tai nghien cuu khoa hpc nham muc dich nkng cao han nija chat lugng giang day vk hgc tap mon vat ly tai tnidng Dai hgc Lkm nghiep Trong sd nhiing giki phkp dugc dua cd giai phkp ung dung cac phan mSm tien ich lap tiinh ckc bai tokn ky thuat va lua chpn ckc bg cdng cu cua phan mem dS tliiSt ke vk md phdng true quan ckc bki tokn vat Iy ky thuat phuc vu gikng day TAP CHI KHOA HQC VA CONG NGHE LAM NGHIEP SO - 2014 125 Cong nghi^ rung - Phucmg phap tham vdn chuyen gia - Phuang phdp to chirc hoi thdo: Tham vkn ehuySn gia vS Matlab dS gdp Td chiic hdi thao ckp bp mdn nhkm danh phkn xkc dinh vk dknh gik ckc lenh trinh, gik va gdp y cho ckc chuong trinh da viet Phuang phkp nghiSn cuu cua bki bao dugc chuang tnnh dk viSt tdm tkt theo sa sau Thietke bai toan Bang ling dung )hknmem Bang ly thuyet Xulvbaiti Tham van chuyen gta Thuat to so Chiroag ninh "vy vy" Hinh Sa phuang phdp nghien ciru m KET QUA NGHIEN CUtJ VA THAO LUAN - Thuat giki tren Simulink/Matlab 3.1 Bai toan chuyen ddng cua vat nem len Phuang trinh ddng luc hpe diSu khiSn qua trinh mo phdng bkng Simulink cua chuySn ddng qua bdng Ik: Lap chuang trinh Simulink/Matlab khao sat dv chuySn dpng eua quk bdng cao su dugc nem dx _ (3.1) thkng dung ISn tii dp cao h ~ 10m so vdi mkt Gia thiet Trong dd g Ik gia tdc trgng trudng vk v Ik van va cham giiia qua bdng vk mat dkt Ik dan hdi toe cua quk bdng, x{t) Ik tpa dp quk bdng tai va bd qua mpi ma sat cbuySn dgng thdi diSm t dkt vdi van tdc ban dku v^ =\5mls 126 TAP CHI KHOA HOC VA CONG NGHE LAM NGHIEP SO - 2014 Cong nghiep rung Qua bong va chanfi voi mat dat Dieu kien toa Gia toe trang truong Dieu kien van toe Hinh So khoi gidi bdi todn chuyen dpng cua qud bdng cao su bang Simulink - Xukt kSt quk: ^ eaa i j:^[j3)\^^> li^hiE^ ^ nn ^ :^ [CD - ^|-\;|Hf\/NN^N^*^ Hinh Kit qud mo phong qua bong ndy Nhan xet: Quan sat hien tugng thuc te ta thky, qua bdng khdng len theo phuong thkng dung ban dau niia mk sau mdi lan va cham vdi mat dkt nd lai ISn theo phuang hgp vdi phuang eua mat dkt mdt gdc nko dd, ket quk Ik quy dao ciia qua bdng Ik nhihig parabol quay bS ldm xudng dudi cho den van tdc bay len eua quk bdng cd phucmg nam ngang thi nd se lan tren mat dkt CJ thi thu nhat, md phdng dang quy dao cua quk bdng he iga De-ckc cd gdc tai chkn dp cao h Dd chfnh Ik quy dao mk ta quan skt thay thuc tS Dd thi thii hai md tk sy phu thupc van toe ciia quk bdng theo thdi gian Qua md phdng ta thky hien tugng md tk bkng md hinh Simulink/Matlab phu hgp tdt vdi hien tugng xay la thuc te 3.2 Bai toan chuyen dong ciia canh tay robot CO bac t y Khko sat va md phdng robot cdng nghiep Ik mdt bki toan dugc nhiSu trudng Dai hpc d nude ta nghien ciiu (DH Bach khoa Hk Ngi, DH Cdng nghiep Ha Npi ) trudc chS tao robot Muc dfeh la nhkm quan sat nhung chuySn ddng gan gidng vdi chuyen ddng thyc cua robot dS cd phuang kn hokn thien skn phkm Ddi tugng md phdng: Khko sat vS mat ddng hgc (tfnh toan tga vk van tdc) eua cknh tay robot cd bkc ty nhu hinh T ^ CHI KHOA HQC VA C N G N G H E L A M N G H I E P SO - 2014 127 Cong nghiep rung Hinh Cdnh tay robot - Dai tugng md phong cda bdi todn - Thuat giki tren Gui/Matlab Begin Khdi dpng thu vien ROBOTTICS TOOLBOX Khai bao ckc bien ckng di8u kien; thiSt lap cac biSn toa dp vk van t6c | Nhap cac ma tran D-H; ti'nh cac ma tran tmyen bang phep tich ma tran Matlab T Tao rao hinh robot: - L?nh Link tao mpt khau L - Lenh SerialLink(Li,L2,L3) tao robot noi tiep cac khku Giai bii totn dpng hpc; mo phong chuyen dpng dung cdc lenh plot, plot3 va pause de tao doan phim chuyen dpng Giai bii toin dpng hpc ngupc nhcr l^nh solve (giai phuong tiinb), subs (thay gia tri) Mo ph6ng chuyan dpng diing cic lenh plot, plot3 vi pause de tao doan phim chuyen dpng (^End^ Hinh Sa thugt todn khdo sdt chuyen dpng vd mo phdng robot bpc tu - Xuat kSt quk: M O PHONG DONG HOC CANH TAY ROBOT BAC TU DO KET QUA M O PHONG ^^-i-ign^^gd, - ^ - Jl^fe^ g^' -'••" -^s' i' / ' : - ^ x :_( :, I X \ Al ^ \ F _ Hinh Mo phdng chuyen dpng cua robot hpc ttr 128 TAP CHi KHOA HOC v A CONG NGHE LAM N G H I f P SO - 2014 Cong nghiep rirng 33 Bai toan mach dien m^t pha d che xaclap Lap chuong trinh Gui/Matlab khao sat cac thdng sd dkc trung nhu dien ap, ddng dien, cdng suat cua ckc mach dien khac - Thuat giki trSn Gui/Matlab Xet mach dien tdng qukt gdm m nhknh, u niit Ap dung ckc dinh luat Kiec-xdp cho nut di?n va mat dien, ta se lap dugc he gdm m phuang trinh vi phkn nhu sau: fEik(t) = r ^ [Vbogy ® (3.2) ^^ J Vim Chuyen he phuang trinh (3.2.) sang sd phiic ta cd: (3.3) i Hay: (3.4) 2: Ru+iKi ojq K = I.K Dat: Z,= R,+jJ„L, lla tdng trd phiic ciia nhanh k Ta cd he phuang tnnh tdng qukt cua mach: (3.5) Ket Uiiic Hinh Sff thugt todn phdn tich mach £in tuyen t He phuang trinh (3.5) Ik he phuang trinh dai so tuySn tfnh, ta de dkng giki dugc bkng each lap trinh trSn Matlab Luu dd thuat tokn tdng qukt de giki bki tokn ly thuySt mach d chS dp xkc lap dugc chi trSn hinh Trong tnidng hgp mach cd hd cam, ta ckn nhap thSm cac he sd hd cam M, ddng thdi phkn tiiih toan ckn tinh thSm ckc tdng yd ho ckm ZM- TAP CHI KHOA HQC VA CONG NGHE LAM NGHIEP SO - 2014 129 Cong nghiep rirng - KSt qua md phdng mach dien mdt pha d che dp xkc lap Vdi cac thdng sd: - Dien ap hieu dung U = 220 V Tkn sd gdc (0 = 314 rad/s Pha ban dku