NGHIEN CUfU - TRAO D | THI NGHIEM DIEU KHIEN HE THONG LAI KHONG TRUC LAI QUA PHAN MEM LAB VIEW PGS.TS Nguyin Van Bang, ThS Triin Vdn Lcfi Trfldng Dai hpc Giao thdng Van tdi TOM TAT Bdi bdo gidi thiiu nghien cdu bUdc ddu he thong lai khong true lai hao gom: Che tao mo hin thudt todn dieu khien He thdng Idi khong true lai gdm hai phdn chinh, phdn tren Id vdnh Idi, phan d Id bd chap hdnh Hai phan ndy dUdc Hen kit vdi qua ddy ddn, vqy, phdt sinh mgt so vdn dep gidi quyet Thd nhdt, phdi ddm bdo ti le truyingiUa vdnh Idi vd true cd cau lai (tile 1:1) ThU hai, p CO cdm gide Idi xdc thUc cho ngUdildi Dd tien hdnh thiet ke, che tao mo hinh vd thi nghiem xdc din khiin ddp Ung tdc gida vdnh Idi vd cd cdu Idi ABSTRACT The main content of this paper concentrate on delay time of steer by wire The Steer by wire c sists of two main parts, the upper part is hand-wheel and the lower part is actuator (steer actuator, pin angle, gear assembly) Because of the separation, there are some problems which must be solved Th it must ensure that the motions of upper part (hand-wheel) and lower part have the same speed The s ond, it must ensure that Steer by wire has to produce realistic steering feel A parameter is identified processing variety tests Keywords: Labview, The steer by wire, PID I.DATVANDE phd bom min, tau Ian thi he thdng lai dien la lUa chpn tdi flu nhat Ngdy nay, h? thdng lai d td, cung vdi nhflng cdi tiln ca khi, dien tfl cung dflpc dp dung rdng rai nham ddpflngcac yeu cdu chuyen mdn mdt each chinh xdc Xu hfldng tich hpp dilu khien tfl ddng cho cae he thdng thuan ca cung la xu hfldng chung hien Trong tfldng lai, he thdng lai dien cd the la lfla chpn cho cdc xe Ddi vdi cae xe sfl dung mdi trfldng dpc hai, Q TAP CHf CO KHf V I £ T NAM • Khi ket hpp eac phan tfl ca khi, diln va dieu khiln he thdng Idi d td, chung can phdi lam viec ddng bp vi moi phan tfl cd nhflng thupc tinh rieng Trong nghien cflu ndy, da sfl dung phan mIm Lab View de thay ddi thudc tinh ciia phan tfl dilu khien phu hpp vdi cdc phan tfl cfl vd dien cho trfldc Sd (Thang nam 2012) NGHIEN ClJU-TRAO 061 XAY DLTNG M O H i N H H £ T H N G V A 2.2 D i l u khiln he thdng lai khdng true lai bdng PHl/ONG P H A P D I E U KHIEN thudt toan PID 2.1 Gidi thiiu he thdng lai khdng true Idi 2.2.1 Bd dilu khien PID Ddi vdi he thdng lai thdng thfldng, lien kit gifla vdnh lai sd vd cd cau lai sd Id true lai sd vatrue cdc dang sd Trin he thdng lai khdng true lai, thay the true lai bang bd dieu khiln sd vd md to dien sd 7,11 cung vdi cdm biln sd 8,10 (Hinh va2) Bd dieu khiln PID la mdt bd dilu khien cd ed che phdn hdi theo vdng dilu khien Bp dieu khien PID dflpc sfl dung rdng rai nhat cdc he thdng dilu khiln cdng nghiep ed phan hdi Bp dilu khiln PID tinh todn sai sd gifla gid tri thdng sd dau vdo vd gia tri ddt mong mudn, tren ed sd dd, se thflc hien gidm tdi da sai sd bang cdch dilu chinh gid tri dieu khien dau vdo Bd dilu khiln PID xac dinh ba thdng so: ti le (KP), tich phan (Kl)va dao ham (KD) (Hinh 3) >1 ^ ^ / j K: Tichph; Hinh 3; So bo Siin khien PID Hinh 1: He thdng lai thfldng Do tdc d6ng cua cdc yeu td nhu qudn tinh, ma sat nen luon cd sai so gida van tdc ddu vao cho trddc theo yeu cdu vd van toe dap dng B6 dieu khien PID giup van toe dap dng gan bang gia tri dat ban dau Cd the dp dung bo diSu khiln PID de dieu khifo hi thong Idi khong true Idi thong qua phan mem Lab View Ihuat todn ndy cho phep dieu khifo tUOng thich toe dp quay true vao co cau lai theo vdng quay vanh lai Hinh 2: He thong lai khong true lai - Vanh lai; - True lai; 3-Co cdu lai; - Banh xe dan hudng; - True cdc dang; 6-R6Tuyn Idi; - Dong ca •lien (vanh Idi); 8- Cdm bien (vanh Idi); - HOp dieu tlii&; 10 - Cdm bien moment cdn tac dung Ita banh xe; 11-Dpng CO difo TAP CHi C O KHl V I £ T Hinh 4: Bp dieu khien PID cho dpng co DC NAM S6 (Thang nam 2012) NGHIEN CUTU - TRAO D(!)l 2.2.2 Dilu khien ddp ijing tdc dp giiifa vdnh Idi vd cd cau lai Dilu khien thflc nghiem dap flng quay vdng dfldc thflc hi^n vdi md hinh Idi dilu khiln bdng Lab View thdng qua may tinh (Hinh 5) Hinh 5: Nguyen Ii md hinh Idi khong true Idi 1-Vanh lai; 2- Dgng cd dien vanh lai; 3-M6 td dilu khien ca cau lai; 4-Cd cau lai; 5-Bdnh xe dan hfldng; 6-May tinh; 7-Card giao tiep may tinh; 8-Driver dieu khien dgng cd; 9-Cam bien dong; 10-Driver dieu khien dgng cd; 11 -Encoder xac dinh tdc dp quay vanh lai THf NGHlfiM CHQN H | SO Kp Di tiln hdnh xdc dinh thdng sd Kp, da 1dm thi nghiem d eac ehi dd chuyin ddng khac eua d td Thi nghiem dflpc tien hdnh tren md hinh tinh tac gid thiet ke (hinh 7) kit hop vdi giao di^n dilu khiln bang Lab View cho phep cai d?it cdc thdng sd ch^y xe khdc Hinh Md hinh h | th6ng lai khong true lai I'Dong cd DC; 2-Cam bien xdc dinh tdc dd va vong quay cd cau lai; 3-Cd cau lai; 4-Bg ngudn; 05: Vanh lai Do quan tinh cua cdc bd phan nhfl bdnh Giao dien dieu khien cd the thay doi thong xe, CO cau lai va ma sat tai cac khau, cac khdp nen sd Kp khdc giup quan sdt ddp flng gifla vanh ddng cd dilu khiln cd cau Idi ludn cd xu hfldng lai va ca cau Idi (Hinh i tre so vdi yeu cau chuyen dpng tfl vanh Idi Sai sd gifla yeu cau va dap flng dflpc lay lam thdng sd dau vao de dilu khien cho lan tiep theo Trong thi nghiem md he thdng lai khdng true lai, tae gid lap trinh dieu khiln vdi phan mem Lab View vdi thdng sd ty le Kp la chu yiu (Hinh 6) Hinh 8: Giao dien chinh'dieu khiln Tie thong lai ^ khdng true lai qua may tinh Kit qud quan sdt thay ddi Kp vdi cac eia tri khac nhau: Hinh 6: Lap trinh dieu khien he thong lai khong true lai vdi thuat toan dieu khiln PID TAP CHI C O KHf VIET NAM V - Khi chpn Kp = 0.8 Sd (Thdng nam 2012) • NGHIEN Cflu-TRAODOI -ChnnKp= 17,2 Hinh 9: Dap ung vanh iai va trut cu cau lai Idn he so dap flng Kp =0.8, thdi giancham tac dung 4s, sai s6 400 xung Ta cd the thay rd dp tri gifla yeu cau ve tdc dp va gdc quay vdng (dfldng mau trang) va dap ling (dfldng mdu do) Hinh 12: Dap flng vanh tay lai va tryc cd cKu lai he so dap flng Kp - 17.2, thdi gian cham tac dung 0,001s, sai s6 xung -Chpn Kp = 20 - Khi chon Kp = Hinh 13: Vung mat on dinh vdi Kp = 20 Thdng qua thflc nghiem xac dinh Kp cho HinhlO: Dapflngvanh lai va true ca cau lai he so dap thay, gia tri Kp thay ddi tfl 15-17.2 Id vung dilu ling I^ =4, thdi gian cham tac dung 0,5s, sai so 50 xung khiln 6n dinh cua he thong lai khong true Idi vdi dp tre tfl 12-7 xung dilu khiln ddng ed - Chpn Kp = 10 C3 vung gia tri thap hdn ed cau lai dap flng tre nhilu so vdi vdnh Idi tfl 450 - 30 xung Vung Kp ngodi 18 Id vung mat on dinh cua he thdng Ddng ca khong ddp flng kip quan tinh cd cua he thdng • Hinh 11: Dap flng vdnh lai va true cd cau Idi he sd