Thiết kế hệ thống điều khiển screw gear drive 3

Thiết kế hệ thống điều khiển Screw gear drive Giảng viên: PGS.TS Hoàng Vĩnh Sinh Sinh Viên: Nguyễn Thái Sơn MSSV: 20198524 Cấu tạo Mơ -đun bình thường MN = mm + Bánh răng: - góc xoắn B1 = 30 độ, hướng quay trái - Số Z1 = 15 - Đường kính D1 = 34,64 mm + Bánh xe: - góc xoắn B2 = 30 độ, hướng quay trái - Số Z2 = 30 - Đường kính D2 = 69,28 mm Tỷ lệ vận tốc: I = Z2/Z1 = D2/D1 = Góc trục bánh E = B1 + B2 = 60 độ Các trục bánh xe không song song bánh xe tham gia vào bánh cạnh đối diện chọn thép C45 làm vật liệu Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Bánh Z15 • Lực : F = 100 N • Khối lượng : = 12.086 g Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Bánh Z30 • Lực : F = 100 N • Khối lượng : = 27.666 g Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Ổ Bi • Chọn d=20mm => =650 Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Tính độ cứng, khối lượng hệ số giảm chấn • Độ cứng hệ Do hệ nối tiếp nên độ cứng hệ tính sau: • Tổng khối lượng hệ 12.086 + 2x27.666 = 0.067kg • Hệ số giảm chấn hệ Tra bảng vật liệu thép C45: 0,57 Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Tính hàm truyền hệ Phương trình Newton: Thay m, b, k vừa tính trên: Với m tổng khối lượng hệ b hệ số giảm trấn hệ k độ cứng hệ Laplace vế để thu hàm truyền: Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Khảo sát ổn định hàm truyền Nhập vào hàm truyền matlab Đồ thị biểu diễn hàm truyền: nyquist(G)  Xét đồ thị không qua điểm (-1,0) -> Hàm truyền ổn định Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Mô simulink Khi không sử dụng điểu khiển pid 𝑣 𝑖 ℎ 𝑚 𝑡𝑟𝑢𝑦 ề 𝑛 𝐹 ( 𝑡 )= 067 𝑠 +0 17 𝑠+0 367 Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Mô simulink Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Mô simulink Khi sử dụng điểu khiển pid 𝑣 𝑖 ℎ 𝑚 𝑡𝑟𝑢𝑦 ề 𝑛 𝐹 ( 𝑡 )= 067 𝑠 +0 17 𝑠+0 367 Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Mô simulink Sử dụng tune để tìm hệ số Kp Ki Kd Kp = 0,7768 Ki = 1,082 Kd = 0,1374 Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Mô simulink Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 THANK YOU ! Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3 Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3Thiet.ke.he.thong.dieu.khien.screw.gear.drive.3