MỤC LỤC
Tiep theo, slf bo sung dieu khitn vong dong (closed loop control) eho vi tfl, tOc dc'j va life khong nhlrng t~o dU<;1C SIf "Ian theo" chinh xac cac bien tham ehieu, rna con lam cho M thong ho~t d9ng tLIang d6i tuyen tfnh, eho dil h~ thong cO khi. ho~t d9ng khong tuyen tfnh. Vi~c hi) qua, khong ep bUge phai tuyen tinh d6i voi phan CO khf lam giiim dang k~ cong sue cho thiet ke va ehe t~o. Ben c~nh d6, dieu khien thich nghi va'dieu khien tren co sa rnb hlnh (model -based and adaptive control) cho phcp ph~m vi hO'.lt d¢ng cua thiet bj r¢ng hem so vai dicu khien co djnh (co nguy co khbng on djnh va hOi,lt d¢ng ch~rn ch<J.p).
NhiIng thong tin nay thlIemg pbl,le Vl,l nhlI la duu VaG bQ xU Ii, dlIt;1C xU If roi dlIQ'e gui tai mOdun kieh truyen dQng (actuation module) M tht!c hi~n cae ho~t dQng dlIQ"e yeu cau. Modun giao di¢n lien quan tai vi¢c di chuyen thong tin giUa cac muc trong h¢ thong va iJ t<;\i mue cao nhat, cung cap giao di¢n nguai - may dn thiet cho truyen thong tin eua nguai su dl:lllg.
Dan chat va hlnh thai clla mod un phil.n mem co moi lien quan v6i ban chat va CC1 cau clla moo.un. Cae h¢ thong thanh phan, ngoai vi¢e chju dieu khien eua may trnh trong h¢ con duqe oicu hanh hai may tlnh trung tam de phoi hqp hOi;lt dQng cua 3 M thong thong qua mddun truyen thong cua h¢.
Sau kill dl1qc tfUyen, cac lin hi~u da dieu bien dl1qc giiH bien de tra ve tr<,lng thai tin hi¢u ban dau.
Cam -can Jac kh6ng gian (quay). Truycn dqng banh rang. Rinh rang ia Cd cau duqc Slt <.h;mg fat ph6 bien d~ truy~n ehuyen d9ng quay tfon. Chung duqe sii dl]ng khi can thay d6i toe dQ ho~c momen quay eua thiet. Clluyen dOng quay co the duqc truyen tii m¢1 lr1,lC sang lr!,lc kh:k qua c~p. biinh Ir!,l quay nho rna sal ti€p xuc. Tuy nhien Iruyen d¢ng kieu nay co nhieu khli nang sinh lruqt In~n be rn~t tiep xue. a) Imyln dqng hm tn.le song song: banI!. Thea huang cat rang, bil.nh rang tn" va rang nghicng co th~ gQi banh rang trt,tl banh rang nghieng rang thang khi than rang duqc dt thea huang thing trl,lc, rang xien khi than rang duqc cat xien m(>t goc so vai trl,lc va banh rang xa~n khi than rang duqc d.t thea duang xain oc (goc xien rang bien thien). SI! an khap con bi anh hu6ng boi kich thuac- hinh dang hloh hQC va so luqng rang cua c~p banh an kh6p. Kich thuac hinh hQc cua rang phl,l thuoc vao gia trj m6Uun m, U<:Ii luqng quyet djnh chicu cao, dinh va chan rang. Sau day la mot s6 cong thlic duqc Slr dt,tng trang thi.et ke truyen dong rang:. Chicu cao dinh rang: ha= m. Sa do ket call Ki hicu M6i quan h~ hilln. Banh rang- banh rang. Z2 Binh rang - thanh rang. An khllp !rong. An khllp chu6i banh ,ang. Tru)'en dt)ng dai Ixieh.
Dieu flay dUde thl!e hi¢n bai bom chuyen deli dau vao (toe di) va momen quay eua tr~c roto) thanh nang IUQ'I1g d<)ng du6i d~ng dong chay. Lue dau vao, tuc nang luc:mg cd duqe chlly~n deli thanh nang lUQ'I1g d¢ng cua dong chilt long thl nang luqng dau vao da co the duqc truycn den bat cu vj tri n~lO trang may, nai yeu cau ll!c nha h~ dlIOng 60g dan de'n diem do, Chat long dlIqc philn phoi ~cn dc diem nay nha mQt so' van dieu chinh toc dQ, up suat va hlICmg thuy il!c phil hqp thea cac yeu du chue nang cua may. T<;Ii nhililg diem mfY, nang llIqng d9ng dong chay co the' tLrng philn 53. ho~c Pl9t philn co the. b, lieu Ian qua van xii tip khi chi yell du mc.)1 phan h!c hfttl feh. Nguon cap nang lU'!f1g Ngu6n cap nang lUQ'flg eho hf thcJng limy life la bam thuy It!e va eho h¢ thong khi nen la may nen khL Bam thuy IlfC va may nen khf dw;tc keo bbi d(Jng CO' di~n. Van chlnh luu luqng thuemg 13 cac van tiet hru, ho~t dQng tren co sa dieu chlnh tiet di¢n dong di qua, Thuemg chenh l~ch ip t~o ra khi dong di qua van tiet lLru duqc ki~rn soit bbi bQ bu ap (blnh tlch ap).
Day la lo~i van cho dong chay chi v6 rnQt hwing., Vi chung ngan kh6ng cho dong chay thea chieu ngugc l~i nen loc;ti van nay con duqc gQi III van mot chieu (nonreturn vahes) ho~c la van ki~rn (check vaivess). Van servo va van ti l¢ la van thuang duQ'c si'r d',mg d~ dieu khi~n lien 't~c chuy~n vi, toc dO va IlfC cua thanh phan kfch truyen dQng thuy llfc, lo~i thlfc hi¢n theo yeu cau dinh vi chfnh xac, ho~c dn Slf chtnh xae trong cae dieu ki¢ll hoc;tt d¢ng, ho~c h0<:tt d¢ng trang bien d¢ dili th6ng tan s6. Trang van, cae bi, dia ho~c dau con lien ket voi vi tri d~t van (valve seat) d6 dieu ehinh lUll IUqIlg, vi dl,l, khi nhan buton, bi duqc keo khoi vi tti ella n6 de dong qua. Van dan thuang c6 eang suat nho va c6 the v~n hanh thtl eong ho~c bC1i solenoit).
Xilanh thuy II!C la rn¢t ang r(jng, trong do piston co thi truQt dQc. Chuy~n d¢ng thang do xilanh thuy ll,fc sinh ra thtICmg duqc Sll dl,lng de v~n hanh van ong. Vi¢c chQn xilanh duqc. chuyen tai va toc d¢ dieh chuy~n. Xilanh thuy Ilfc e6 kha nang truyen life cao han nhieu so vrn xilanh khf nen, Tuy nhien xilanh khi nen l~i cap toe dO djeh chuyen nhanh hon. Lifc sinh bdi xilanh lhuy hie: F~A_p. Vdi A la tiet di¢n ngang clla xilanh, p In. ap suat lam viec clla xilanh. v=Q/A, nhu v~y toc dQ ella xilanh thuy il!c bang luqng chat long Q chia cho tiet di¢n A cua piston. Toe d¢ eua xilanh khf nen kh6ng the. tfnh thea each trcn do phl,l thuQc vao toc dQ t<!-i d6 kh6ng khf d!eh ehuyen piston. Cae h¢ thong khi nen luon c6 van de dieu chinh toc d<). Ap suat chat lUll t~i duang vao lam quay eanh qui,lt. Bt) kich truyC-n dt)ng mim ngan la. Vall di(!u cMnli qua trinh khi nen thuang la thanh phan di~u khien cuoi, duqc kich dOng boi chuyen d¢ng eiia CC1 cau chap hanh h¢ kich truyen dong.
Khi co dong di¢n ch<:J,Y qua eUQn day, xuit hi~n mQt tU truemg day tay don ehuy~n dQng bUQc cae tiep xuc phai ma ho~c dong. Thai gian tri hoiin c6 th€ dieu ehlnh va dugc bat dau khi co dong di~n ch<:lY qua cUQn day hO~lC ~hi dong ngirng. - Dong vao cong IG (dong kfch) phii du 1rang thai gian (thuemg m9t vai micro giay). Dong cong dUQ"c Wo bai xung di¢n ap dtIemg ngan, ap qua cbng va chan cathode. Lugng t6i thieu cua dong de giil tiristo dong m<).ch gQi la dong ghim (latching curent). Khi hi~u di~n the dich thu~n, dong van gifr kh6ng dang ke cho den khi VlIQ1. qua di~n iip chQc thung thu~n. tiristo gtC! tr<~ng thai nhu v~y dlO den khi dong thu~n giam xl10ng dt!6i nllIe V~lj miliampe. f)i¢n ap t~i d6 xuat hi¢n tr<;tng thai chQc thung thu~n duCJc quyct djnh bai dong kich t<).1 cong, dong kkh dng cao thl di¢n ap chQc thung thu~n dng thap.
De Slt dlJng khuech d<;li cong suat, chi co 3 cach mac, chung cmita, chung coleto ho~c chung basa dUQ'c Slr dJ.!.ng. (stator), mQt cUQn day (selenoid) va mot 15i thep non (feramagnetic) a trung tam, dong vai tro nhu mQt piston. D¢ng Cd di¢n thUOng duqc dung nhu thanh phan dieu khitin cuoi cung trong cac h¢ thong dieu khi~n v~ trl ho?c dieu khitin toc d¢.
Toe dq ella d(>ng cO DC tren co the thay dbi khi doi ho~e dong cam ho~e dong {rng (thuang thay doi dong ttng). IJhhl khiln t(fc d(i d(Jng co DC: toe dQ eua dQng eO DC h~ ,inh hllemg bdi di~n ap cap va thong \uqng tu, thay deli m¢t trong hai tham so nay sc thay Mii toe dq dt)ng Cd.
B¢ vi dilu khitn (miCJ;ocontrol!er); Ia chip tich hqp cao, chua tat d cae thanh phan cua mN b(> dieu khien., hic CPU + MEMORY+I/O va timer duqc tich hqp tren m¢t con chip. Microcontroller thuang dUlac thiet k€ de dieu khien nhilng nhi¢m Vl,l d~ bi~t de dieu khien cac h¢ th6ng chuyen dl,lflg. NQi dung ve cac b¢ dieu khien tren cO sa bQ vi xU-Ii b~n d'JC co the xem chuang 3.
'Ibui'mg cac may tlnh nhUng (embeded computer), duqc l~p trlnh bang ng6n ngii b~c thap de co the dieu khien 160 nhat nguan tai nguyen cua phAn cling. Ng6n ngii C va ng6n~ ngu b~t cao duqc dung de l~p trlnh cau truc mUc cao han nhu cac chuang tdnh ung dl,lllg.