C6NG NGHE LTNG DUNG Nhiimg cd sd nen tang cua Cunent Position I li ^ Amplifier ^^^B- Mechanical Feedback t Device Position Hinh Bd dieu khien chuyin dong la trung tam ciia he thong dieu khiin chuyin dong Cac yeu cau cua dieu khien chuyen dpng odng ed thdng dung nhat mdi tru'dng edng nghiep va mdi tru'dng nhung la ddng ed bddc, ddng cd ehoi than va dpng ed DC khdng chdi than, nhien edn ed nhieu li/a chpn khac Moi ddng ed ddi hdi cac tin hieu dau vao rieng giiip lam quay ddng cd va chuyen dien nang ed nang Xet d nghia rdng nhat, dieu khien chuyen ddng giup ban sd dung ddng cd nham dap dng tdt nhat cac yeu cau dng dung cua ban ma khdng can phai giai quyet tat ca cac van de truyen tfn hieu cap thap can thiet de lam quay ddng cd Ngoai ra, dieu khien chuyen ddng tao cae ehde nang cap cao, dd ban cd the thi/e hien eac dng dung tiiy chinh mdt each cd hieu qua di/a tren viec xay di/ng cac khdi de tao cac giai phap thi/c hien cac tac vu thdng thu'dng nhd dinh vi chfnh xac, ddng bd hda nhieu true, ehuyen ddng vdi tdc do, gia tdc va ham tdc xac dinh Do hau het ddng cd du'dc van hanh hoan canh tam thdi, cac cdng cu dieu khien ehuyen ddng can thiet de thfch u'ng vdi tai khac va dieu kien thay dd'i, ddi hdi thuat toan dieu khien xd If phde tap va phan hdi thdng tin td he thdng ed khf Cudi eung nhu'ng khdng kem phan quan trpng, cae tac vu chuyen dpng thddng cd y nghia dac biet va thu'dng sii dung may mde cd the gay hai cho ngu'di xung quanh Do vay, eac ehde nang an ninh nhu' cdng tac gidi han va cac kenh I/O ddde sd dung de thu thap thdng tin trang thai ddng thdi thi/c hien cac thii tue ddng cat Cac phan he thong dieu khien chuyen dpng Sd dd tren hinh minh hpa cae phan thiet yeu cua mdt he thdng dieu khien chuyen ddng Oac tru'ng ddi vdi dng dung cua ban la phan mem dng dung ma ban phat then Phan mem ifng dung bao gdm nhieu Idp chpn Thu'dng thi cd mdt dng dung giao dien ngddi sd dung cung cap kha nang tu'dng tac ngu'di van hanh Rat nhieu cac dng dung chuyen ddng ed cac Idp dng dung xd If canh bao va ket ndi cd sd dO' lieu de ndi vdi mot he thdng SCADA Chiing cung ed eac hu'dng dan dieu khien ehuyen ddng dddc thi/c hien bdi bp dieu khien chuyen ddng Nha san xuat bd dieu khien ehuyen ddng tao moi tru'dng phat Khi dpng ed chuyen ddng, thiet bi phan hoi - thu'dng la mot cam bien vi tri dda thdng tin vi tri trd lai bd dieu khien de ddng vdng lap dieu khien Td cam bien vi trf nay, bd dieu khien chuyen ddng biet du'dc vi trf cua dpng ed va cd the suy dddc van toe ma ddng cd dang ehuyen dpng Mac du cac thiet bi phan hdi cung cap phan hdi vi trf, ddi la thdng tin phan hoi dac biet nhu' dd lieu t d mot cam bien ap suat hay cam bien dp rung, can dddc gdi trd lai bd dieu khien Kien true bp dieu khien chuyen dpng Mdt bp dieu khien chuyen dpng ddng vai trd nhu' bd nao cua he thong dieu khien chuyen ddng va tinh toan tdng quy dac ehuyen dpng theo yeu cau Bp dieu khien chuyen ddng sd dung cac quy dao ma no tinh toan de xac dinh lenh momen xoan thich hdp de gdi tdi bp khuyeeh dai dpng cd dong thdi gay chuyen dpng Bp dieu Trajedtory Generation (ms) Supwvisory Conlrol (ms) UO Control Loop (MS) (with Interpolalioii) Updates Tra|ecd on VO And User Response Hinh Klin true bo dieu khiin ehuyen dong 16|TUOPNGHbANGAYNAY^(S6l17- 7/2010) trien ma ban sd dung de phat trien phan mem dng dung Vdi chi dan da dddc nhae den d tren, bd dieu khien chuyen ddng tao cac profile chuyen dpng Di/a vao cac profile nay, bd dieu khien girl cac tin hieu (thu'dng la eac tin hieu ±10 V hoac tfn hieu bdde va tfn hieu djnh hu'dng) thdng qua mot bo khuyeeh dai, hay mdt truyen ddng tdi dpng cd Nhiem vu cua bd khuyeeh dai la du'a tfn hieu t d bp dieu khien va bien ddi chung tin hieu lam cho ddng ed ehuyen dpng Sensot _UUNU NCiHt U N G D^NG dieu khien cliuyen dong Hinh Cae bo dieu khien chuyin dong plug-in DSP-Based Bd dieu khien chuyen dpng plug-in DSP-Based Hinh Cae bq dieu khien chuyen dong tiiy chinh sir dung LabVIEW NI SoftMotion Module khien cung phai ddng vdng lap dieu khien va quan li dieu khien giam sat bang each giam sat cac gidi han va diem ddng khan cap nham dam bao hoat dpng an toan Moi mot hoat dpng can phai dien thdi gian thi/e nham dam bao dp tin cay, chinh xac, on dinh va an toan cao d mde can thiet de tao mot he thdng dieu khien chuyen dpng cd kha nang hoat ddng Cac nhiem vu khac ma mot bp dieu khien ehuyen dpng phai thi/c hien, gom: Di'eu khien giam sat - Cung cap chuoi lenh va sd phoi hdp can thiet de thdc hien cac hoat ddng cu the nhd sau: - Khdi tao he thdng - Quan li Sl/ kien - Phat hien loi Tao quy dao Vong lap di'eu l