Lai Khac Lai vd Dtg lap chi KHUA HQC & CONG NGHE 88(12): 163 167 MOT FHirONG PHAP DIEU KHIEN THICH NGHI H £ T R U Y E N DONG QUA BANH RANG Lai Khac Lai'*, Le Thj Thu Ha\ Le Thj Minh Nguyet, Nong Le Huy 'Dgi hgc Thdi Nguyen 'Trudng DII Ky thudt Cdng nghidp - DH Thdi Nguven TOM T A T Ngay ky thuat dieu khien t6c dp dong ca dien da dat dupc nhung ti^n bp dang k^ song khong the thay the dugc co cau banh rang vi ngoai chirc nang di^u chinh t6c dp ca cSu banh nang dam nhan mpt vai chuc nang khac nhu thay doi chieu chuyen dpng theo phuang vuong goc, chuydn doi tir chuyen dpng quay sang chuydn dpng tjnh ti^n, tang mo men quay d^ keo may san xuat v.v Khi cd sy tham gia cua banh rang he thdng truyen dpng dien da lam giam dang kk chat lupng cua he thdng truyen dpng nhu phat sinh dao dpng, gay va dap co th^ lam gly rang, gay tieng on Bai bao dh xuat phuang phap su dung bp di^u khi^n thich nghi theo mo hinh mlu song song cho he Uuyen dpng qua banh rang Cac k^t qua mo phong tren Matlab da cho thay hieu qua va tinh kha thi cua phuang phap de xuat Tu' khoa: Truyen ddng bdnh rdng dieu khien PID, dieu khien thich nghi MO DAU He thdng truyen ddng dien qua banh rang dugc md ta bang so dd khdi nhu hinh Trong dd ddng co dien dugc cap dien tir ludi qua bd dieu khien tryc ddng ca ndi vdi banh rang chii ddng va truyen chuyen ddng den may san xuat thdng qua banh rang bj ddng (hogc mdt vai banh rang trung gian) Truyen dpng banh rang dugc sir dung nhieu logi may va co cau khac de truyen chuyen ddng quay tir tryc sang tryc khac hogc de bien chuyen ddng quay chuyen ddng tjnh tien va ngugc Igi Truyen ddng banh rang dugc sir dyng rdng rai vi cbiing cd uu diem nhu kha nang truyen lye ldn, dam bao ty sd truyen dn djnh, be sd ed ich Idn va truyen dpng em Truyen ddng banh rang la nbung co cau quan trgng d td, may keo, ddng co dot trong, may edng cu, may ndng nghiep, may can cau va nhieu logi thiet bj khac Ngay ky thuat diSu khiin toe ddng co dien da dat dugc nhtrng tien bd dang ke song khdng the thay the dugc co cau banh rang vi ngoai chiic nang dilu chinb toe co cau banh nang cdn dam nhgn mdt vai chuc nang khac nhu thay doi cbilu chuyin ddng theo phuang vudng gdc, chuyen doi tii' chuyen dpng quay sang chuyen ddng tjnh tien, tang ind men quay de keo may san xuat, v.v Tel: n9l^.Sf)7J.fJ- F- l^ifTffr Dien iir6i Nhieu khe hey ma sat, dan hoi If! He thong dieu khien dong CO — • Dpng CO dien • Co cau banh rang May san xuat Hinh Sa dd khdi cua he truyen ddng qua bdnh rdn Khi cd sy tham gia cua banh rang he thdng truyen ddng dien da lam giam dang ke chat lugng cua be thdng truyen ddn^ nbu phat sinh dao ddng, gay va dap cd the lam gay rang, gay tieng dn Sd dT cd nhu'ng nhuge diem dd la do: giua cac banh rang cdn tdn tgi khe hd nen khdng dam bao cac dieu kien an khdp ldi che tgo hogc banh rang bj mdn qua trinh lam viec; xuat bien ma sat giua cac rang; vat lieu cbe tgo banh rang va cac true khdng phai la cirng tuyet ddi De khac phuc nbirgc diem trudc day ngudi ta thud'ng dimg cac bien phap co nbu nang cao chinb xac che tgo banh rang, sii' dung cac banh rang cd bien dgng phii hgp Trong mSy nam gan day da xuat bien phuong phap dien de khac phuc anh budng ciia banh rang [4;5] Ndi dung co ban cua phuo'ng phap dien la ap dung nhung qui lugt phii hgp de dilu khien ddng co dipn cho chiing cd the bii dugc nhu'ng sai lech giua true chii ddng va 163 Lai Khac Lai v() Dig true bj ddng, nhung sai lech luiy thudng xual hipn rat ngau nhien qua trinh lam vipc ciia he Ibdng Irong cac nghien ciru trirdc chimg tdi cl;i \;iy dyng md hinh loan hgc ciia he banh rang cd kc den anh hudng ciia kbc bd ma s;il va dan hdi [1:31 qua dd chi rd iiiih budng cua khe luT diin hdi \;i ma sat cu;i be banh rang den chat lugng he Ibdng truycMi dgiig diC'n cd banh rang [1] ddng ibdi da de xiuit mgt sd phirong phap su dung bd dieu khien md thich nghi dc khac phiic c;ic anh birdiig dd, qua dd da nang cao diiiig kc chat lugng loan hp thdng f2;3| Trong bcii hao ii;i\ cluing ldi dc xiuit phuang phap su dung bd dieu khien ibich nghi iheo md hinh mau song song cho he truyen ddng qua banh rang Ciic kcl qua md phdng tren Matlab da cho ihay bieu qua va linh kha thi ciia phuong phap de xuat Tren co sd cau triic chung be dieu khien thich nghi d tren chimg toi da xay dyng bd dieu khien thich nghi theo md hinh mau song song cho be thong truyen dgng dien qua banh rang vdi ciic thdng sd nhu sau: I lp dan dgng la dgng co DC servor cd cac Ibdng sd: Cdng suat P = 1,5 KW; tdc dinh mirc n = 2000(vdng/pbul), dien ap djnh mirc Udm - I40(V), ddng dien djnh mirc: ldm = 13,8(A) Viec dieu chinh tdc ddng eg dugc thuc bien bang each thay thay ddi dien ap thdng qua bd bien ddi cdng suat lie thdng banh rang gdm rang an khdp theo kieu banh rang thang, rang tru, so Iruycn ddng dugc ebi tren binh vii cd mo hinh loan [3] dugc bieu thirc (1) J fZ) XAV DUNG DIHU KlllHN TIIJCH NGHI HE THONG TRUYEN D O N G DIEN QUA BANH RANG Cdu trite chung: Cau true chung ciia he dieu khien thich nghi theo md binh mau song song dugc chi tren binh Trong dd md hinh mau dugc mac song song vdi ddi tugng dieu khien sai sd dau ciia md hinh (y,„) va ciia ddi tugng (y) dugc so sanh vdi sai lech giira \ ,„ va y (e = y ,„ y) dugc sir dung de thay ddi thdng sd hoac cau tnic cua bd dieu khien nham hieu chinh de dau he thdng ludn bam sat dau md binh mau Hinh Cdu true he dieu khien thich nghi Xdy dimg bd dieu khien thich nghi theo md hinh mdu song song cho he truyen ddng qua bdnh rdng 164 88(12): 163-167 Tap chi KHOA HQC & CONG NGHE M^, J, c =_ Mr M Hinh 5(7 Iruycn ddng cua he bdnh rdng Ji+j ^iM S, r, , -+— -0, I "ã:,, rj, r; .ik+.^.iki5^ ux - b, *b r ô r-, r^, r;, •"IM 5, r,, , M = •— + - ' - - — , I "•: r^, r-, r w, \lv (1) Trong dd: Ji la mdmen quan tinh cua banh rang ddi \di true di qua trgng tam: J2 la mdmen quan linh ciia banh rang doi vdi true di qua trgng tam; Mj la mdmen phat ddng ciia ddng eg phat ddng; M^ la md men tai mang tinh phan khang; 61 sai sd k l din khe hd, ma sat, dan hdi banh rang ben tryc chu ddng; 62 sai sd ke den kbe bd, ma sat, dan hoi banh rang ben true bj dgng He thdng cd mach vdng dilu kbiln: Mgch vdng ddng dien va mgch vdng tdc Bai toan dilu khien dgt d day la giam thilu sy rung ddng toe cua true bj dan (may san xuat) tac dgng ciia kbe hd, dan hoi va ma Lai Khac Lai vd Dtg Tap chi KHOA HOC & CONG NGHE sat cua cap banh rang gay nen Trudc tien chiing tdi thiet ke bd dilu kbiln PID kinh diln cho mgch vdng tren, sau dd tien hanh phan tich thiet ke bg dieu khien thich nghi a) Thiit ki PID kinh diin: D I thilt kl PID kinh dien cbo be truyen dgng qua banh rang can gia thiet bd qua khe hd, dan hdi va ma sat Khi dd quan he giua true dan \a true bj dan the bien thdng qua hang sd K = = const, toan he thdng dugc coi la tuyen tinh Mgch vdng ddng dien \a mgch \dng tdc dirge thiet ke theo lieu chuan tdi uu mddul Bd dieu khien mgch vdng ddng dien theo qui luat PI vdi Kpi = 1; K|j = 9, bd dieu khien mgch vdng tdc theo qui lugt PD voi cac thdng sd Kp,, = 88(12): 163 167 Trong dd: Md hinh mau chinb la he thong truyin ddng da trinh bay d muc a) khdng ke den khe hd, dan hdi va ma sat; co cau thich nghi cd nhiem vu bo sung he so khuech dgi ciia bd dilu khien PD Cau triic bd dilu kbiln duoc chi tren binh CDIn2 f Kd 1200;KD„ = Out1 Hinh Cdu true bd dieu khien '/|([i4->i[i'»"ff^ 0.5 Day chinb la bd dieu khien P theo qui lugt PD, dd Kodirgc giu' ed djnh cdn he sd ti le Kpthay ddi theo tac ddng cua nhieu: Kp = K + k vdi lugt thich nghi MIT: dk' r Ket qud md phdng 0.5 1.5 Thoi gian (s) 25 1.2 Hinh Ddc tinh ddng cua he PID kinh dien Ket qua md phdng tren Matlab Simulilk version 7.5 dugc chi tren binh 4, dd dudng la dgc tinh ddng cua tdc true bj dan khdng ke den khe hd, dan bdi va ma sat; dudng la dgc tinh ddng cua tdc tryc bj dan ke den khe hd, dan hdi va ma sat, vdi tac ddng cua chung la cac nhieu ngau nhien dn trang Ta thay rang cd tac ddng cua kbe bd dan hdi va ma sat, true bj dan rung ddng kha manh (bien rung ddng ldn nhat dgt tdi 60%) gay nen tien dn Id'n, lam giam chat lugng san pham va giam tuoi thg he thong h) Thiet ke bd dieu khien thich nghi: De giam thieu rung ddng cac nhieu ngau nhien gay nen, chiing tdi dl xuat giu nguyen mach vdng ddng dien va thilt kl bd dieu kbiln thich nghi theo md hinh mlu song song cho mach vdng tdc theo cau triic nhu hinh 0,8 FnmTfrT"^"" Iff*rmT 0.6 0.4 02 ol 0.5 1.5 TTioi gian (s) 25 Hinh Ddc tinh ddng cua he thich nghi' PID kinh dien 1.5 2.5 Thoi gian (s) Hinh Dgc tinh ddng cita he dieu khien kinh dien vd diiu khien thich nghi khodng 1,5 den gidy 165 Tap chi KHOA HQC & CONG NGHE Lai Khac Lai vd Dig 08 06 |f^ff>"'4^i>'^'"'ff|>'^ 0? n 02 -0 -0 OS 15 Thoi gian (s) 25 FTinh Sai sd gii7a dgc tinh ddng cita md hinh vd cua din tugng su diiiig PID kinh dien 02 -0 0.5 1.5 25 Tboi gian (s) Hinh Sai sd giua ddc tinh ddng cua md hinh vd cua ddi tugng su dung DK thich nghi 08 0.6 04 PID kinh dien ^ / Dieu khien thich nghi 02 -0.2 -0 25 Thoi gian (s) Hinh 10 Sai lech ddc tinh ddng dieu khien hdng PID kinh dien vd dieu khien thich nghi Cac ket qua md phdng cho be truyen ddng qua banh rang dugc chi Iren cac binh tir Hinh din Hinh 10 Trong dd: Hinh nghi theo md hinh mau song song; Hinh la dgc linh ddng ciia be thdng dieu khien bang PID kinh dicMi va dilu khien thich nghi khoang thdi gian tir 1,5-3 giay; Hinh la sai lech giua dgc tinh ddng ciia md hinh 166 mau va ciia doi tugng sir dung PID kinh dien; Hinh la sai lech giira dac tinh dgng ciia md hinh mau va ciia ddi tugng sir dyng dieu khiin thich nghi; Hinh 10 la sai Ipcb dac tinh ddng dilu khien bSng PID kinh diln va dilu kbiln thich nghi so vdi mo binh mau khoang thai gian 1,5-3 giay KET LUAN Qua kit qua md phdng ta thay rang bd dieu khien ihicb nghi theo mo binh mau song song dl xuiit da lam giam dang kc bien rung dgng ciia toe dg true bj dan (bien rung dgng Idn nhat chi cdn 19%) giiip cho he thdng lam vice cm hon, tang ludi thg he truyen dpng va tang chat lugng san pham gia cdng Iren he ihong Tiep theo chimg tdi se ap dung bd dieu kbiln tren cbo be thdng thyc nghiem tai phdng tbi nghiem trudng Dgi hgc Ky thuat cdng nghiep Ddng thdi tiep tuc di theo hudng d l lam giam nhd bon niira cac rung dpng CO cau banh rang gay nen he thdng truyen ddng TAI LIEU THAM K H A O [I] Lai Khac Lai Le Thj Thu Ha Le Thi Ngu\et: "Khao sdt chdt lirgng he dieu khien cd khe hd" Tap chi Khoa hpc Cdng nghe Dai hpc Thai Nguyen; sd (2009) [2] Lai Khdc Lai Le Thi Thu Ha; "Hai gidi phdp ndng cao chdt lugng he truyen ddng cd khe ho" Tap chi Khoa hpc Cdng nghe Dgi hpc Thai Nguyen; sd (2009) 01 -0.6 1.5 88(12): 163-167 [3] Lgi Khac Lai, Le Thj Thu Ha; "Mdi phuang phdp ndng cao chdt lugng he truyen ddng qua bdng rdng"; Tu\en tap hpi nghj loan quoc lan thu \c Co dien tu, Nha xuat ban Khoa hpc ty nhien va Cdng nghe; Trang 134-137; (10/2010) [4] Huynh Van Ddng; "Tdng bgp dilu khien thich nghi dya tren phuang phap backstepping cho he truyen dpng co dan bdi, khe hd va ma sat kho phi tu> en'': Luan an tien sT ky thuat (2009) [5] Lassaad Waiha, Tahar Fakhfakh, Mohamed Haddar; "Nonlinear dynamics of a two-stage gear system with mesh stiffness fluctuation, bearing flexibility and backlash"; Mechanism and Machine Theory 44 (2009) 1058-1069 Lai Khac Lai vd Dtg Tap chi KHOA HOC & CONG NGHE 88(12): 163 167 ABSTRACT ONE ADAPTIVE CONTROL METHOD FOR GEAR SYSTEM Lai Khac Lai'\ Le Thi Thu Ha^ Le Thi Minh Nguyet, Nong Le Huy 'Thai Nguyen Unversity 'College of Technology - TNU Nowadays, control technique of electric motor's velocity attains so much progress but it can t replace gearing device because gearing device not only adjusts velocity but il also undertabes some functions such as alterating the direction of motion orthogonally, changing from rotating motion to translation motion, increasing torque to drive production machine and so on When gear takes part in driven system, they decrease much the quality of system such as: having fluctuation, impacting to break gears, noise This paper presents one method using adaptive controlller follow parallel standard model for gear system The results of simulation in Matlab show the effect and feasibility of this method Keywords: Transmission gear; PID controller, Adaptive - Fuzzy controller ' fnl not :!i:n-,.