tiết kế bộ điều khiển vận tốc 2 động cơ DC servo ( đính kèm mạch code)

Group Microcontroller Project Design the velocities of two DC servo motors to reach to the identical state Lecturer : Dr.Vo Tuong Quan Group University of technology HCMC Microcontroller Project Group Group’s member University of technology HCMC Group Microcontroller Project Why we have to control the motor to reach identical state ? Requirement for control electric drive systems is : Synchronize velocity of motor Adjust the torque of motor to keep the tension invariably Control and supervise by the computer network In the electric drive systems , it has many shaft , every shaft is driven by one motor In many applications , it requires the synchronization of motor , if it isn’t responded , that systems doesn’t work or work ineffectively University of technology HCMC Group Microcontroller Project Why we have to control the motor to reach identical state ? Example : → So ,control the motor to reach identical state is important problem University of technology HCMC Microcontroller Project Group Principles      Firstly ,we input the speed This is a desired speed of motor and motor The actual speed of motor is measured by encoder and feedback to the controller Microcontroller will calculate the error between actual speed and desired speed PID algorithm will be used to adjust the speed of motor to reach the desired speed University of technology HCMC Microcontroller Project Group Principles     About the motor : The actual speed of motor is measured by encoder and feedback to the controller At there , microcontroller will calculate the error between actual speed and desired speed PID algorithm will be used to adjust the speed of motor to reach the desired speed University of technology HCMC Microcontroller Project Group Principles    Finally, microcontroller calculate the error between actual speed of motor and actual speed of motor PID algorithm will be used to adjust the error smaller So , motor and motor reach the identical state University of technology HCMC Microcontroller Project Group Summary   We have three PID subprogram to adjust the speed of motor and motor The disadvantage of this method is the needed time to reach the identical state is long University of technology HCMC Microcontroller Project Group Block diagram University of technology HCMC Group Microcontroller Project Circuit schematic O S C 14 12 31 O S C /C L K O U T /R A A V S S V S S A V D D V D D D D D E R W V S S (G N D ) V D D R S V o R S R /W E D V C C 11 32 10 D B D B D D D D D B R S R W E R E /A N R E /A N R E /A N 9 L C D -1 O S C /C L K IN /R A 2 2 2 U R D /T C K I/T C K I R D /S D O R D /S D I/S D A R D /S C K /S C L R D /F L T A * R D /P W M R D /P W M R D /P W M 7 D B /T O S O /T C K I /T O S I/C C P /F L TA * /C C P /F L T B * /T C K I/T C K I/IN T /IN T /S D I/S D A /IN T /S C K /S C L /T X/C K /S S * /R X /D T /S D O 3 3 3 M M M M M M B I2 B I3 D B C C C C C C C C F -/C A P /IN D X F + /C A P /Q E A /Q E B IN /P W /P W /P W /P W /P W /P W C /K D /K 10 R R R R R R R R /V R E /V R E /C A P /L V D R B R B R B R B R B /K B I0 R B /P G M /K B I1 R B /P G R B /P G D B 5 D B N N N N N N D B /A /A /A /A /A /A 11 13 12 O S C A A A A A A 13 S ense1 S ense2 1 1 2 2 R R R R R R K (L E D -) P W M P W M M C L R * /V P P /R E 14 A ( LE D +) A B C D P V N 15 16 V C C V C C KeyPad P IC F 4 A D IR U 3 P W M 10 12 E N D IR 15 2 5V 12V 11 1A 1A 1Y 1Y 2A 2A 2Y 2Y 2 1Y 1Y B 13 14 2Y 2Y C D 1E 2E 1E N 2E N V C C V C C P W M V C C L298 Actuator M G + + - A 2Y C 1Y 2Y M G O S C 22P M O TO R S E R V O C - A 1Y E N Y 20M H z O S C M O TO R S E R V O 22P University of technology HCMC 10 Microcontroller Project Group Element is used :  We use Pic18f4431 for controller  Lcd 16x2 is used to display University of technology HCMC 11 Microcontroller Project Group Element is used :  Key pad is used to input the speed  L298 is used to motor driver  DC servo motor are actuator University of technology HCMC 12 Microcontroller Project Group Simulation University of technology HCMC 13 Group Microcontroller Project Thank for your attention University of technology HCMC 14 [...]...Microcontroller Project Group 6 Element is used :  We use Pic18f4431 for controller  Lcd 16x2 is used to display University of technology HCMC 11 Microcontroller Project Group 6 Element is used :  Key pad is used to input the speed  L298 is used to motor driver  2 DC servo motor are actuator University of technology HCMC 12 Microcontroller Project Group 6 Simulation University of technology HCMC 13 Group ... 15 2 5V 12V 11 1A 1A 1Y 1Y 2A 2A 2Y 2Y 2 1Y 1Y B 13 14 2Y 2Y C D 1E 2E 1E N 2E N V C C V C C P W M V C C L298 Actuator M G + + - A 2Y C 1Y 2Y M G O S C 22 P M O TO R S E R V O C - A 1Y E N Y 20 M... 12 O S C A A A A A A 13 S ense1 S ense2 1 1 2 2 R R R R R R K (L E D -) P W M P W M M C L R * /V P P /R E 14 A ( LE D +) A B C D P V N 15 16 V C C V C C KeyPad P IC F 4 A D IR U 3 P W M 10 12. .. Element is used :  Key pad is used to input the speed  L298 is used to motor driver  DC servo motor are actuator University of technology HCMC 12 Microcontroller Project Group Simulation University