U穎"f映pi"j o"n羽pj"ejw{吋p"8鰻k"pj逢"ucw< a = tf([1],[Tf 1]); ad = c2d(a,0.001,'zoh'); Vtqpi"8„<" ‚ÒcÓ"n "rj逢挨pi"vt·pj"nk‒p"v映c c栄a b瓜 l丑c ‚ÒcfÓ"n "rj逢挨pi"vt·pj"e栄a b瓜 l丑e"ucw"mjk"8逢嬰c r運i r衣c
‚Ò20223Ó"n "vj運i gian chu k l医y m磯u Ts (giây)
V噂i s嘘 li羽u Tf = 0.05 (b違pi"503+"vc"8逢嬰c k院t qu違 chuy吋p"8鰻i là: 待 待怠苔腿 佃貸待 苔腿待態 V逢挨pi"v詠."vj詠e"jk羽p"ejq"eƒe"j o"nk‒pv映e"e”p"n衣k"e„"m院v"sw違"pj逢"ucw<
Hình 507"Mｘv"sてc"ejw{あp"8ごk"eてc"mjぐk"oqogp"vtqpi"o»"j·pj"pi⇔ぢe
Hình 508"Mｘv"sてc"ejw{あp"8ごk"eてc"mjぐk"8kうp"ƒr"vtqpi"o»"j·pj"pi⇔ぢe
Hình 50:"Mｘv"sてc"ejw{あp"8ごk"eてc"mjぐk"vぐe"8じ"i„e"vtqpi"o»"j·pj"vjwｆp
5.3. M蔭V"SW謂"Oð"RJ碓PI"T云K"T萎E"VTQPI"AK陰W"MK烏P"N""V姶雲PI
STT Vj»pi"U嘘 M "Jk羽w"Ocvncd Ikƒ"Vt鵜
1 J羽"u嘘"n丑e"KOE Tf 0,05 2 J羽"u嘘"n丑e"mjƒe Td_m 0,001 3 Oqogp"v違k TL 0,3 N.m 4 V嘘e"8瓜"i„e"8員v Omega_ref 1000 RPM = 104,72 rad/s 5 Momen quán tính JJ_m 120.など貸滞 kg.m2 6 Ak羽p"vt荏 R_m 0,8 ohm 7 A瓜"v瑛"e違o L_m 0,5.など貸戴 H 8 J茨pi"u嘘"8k羽p"ƒr Ke_m 0,12 9 J茨pi"u嘘"oqogp Kt_m 0,12 10 Piw欝p"FE Vin_amplitude 24 V 11 J羽"u嘘"oc"uƒv B 5.など貸滞 Nm.s/rad 12 Vj運k"ikcp"o»"rj臼pi Tsim 5s 13 U嘘"e員r"e詠e PP_m 2
D違pi"7.2 Eƒe"vj»pi"u嘘"f́pi"vtqpi"o»"rj臼pi"ok隠p"t運k"t衣e="vtqpi"8„ thông s嘘"8瓜pi"e挨"vjco"mj違q"v k"nk羽w"]3:]
O»"rj臼pi"vtqpi"8k隠w"mk羽p"n#"v逢荏pi"pij c"n "vj»pi"u嘘"v pj"vqƒp"o»"rj臼pi"ej pj" zƒe"x噂k"vj»pi"u嘘"vj詠e"v院"e栄c"8瓜pi"e挨0
Ta có m院v"sw違"pj逢"ucw<
Hình 50;"Vぐe"8じ"8ƒr"とpi"8Ｚw"tc
Hình 5033"FＴpi"u„pi"8kうp"ƒr"eＸr"ejq"8じpi"e￢"*3"rjc+
Hình 5034"Oqogp"8ƒr"とpi
Tiêu chí O泳e"8瓜
A瓜"x丑v"n嘘 5 %
Uck"u嘘"zƒe"n壱r ~ 5%
D違pi"7.3: D違pi"pj壱p"zfiv"8ƒpj"ikƒ"j羽"vj嘘pi"8k隠w"mjk吋p"v嘘e"8瓜"DNFE"vtqpi"ok隠p"t運k"t衣e f詠c"vt‒p"8k隠w"mk羽p"n#"v逢荏pi0
Pj壱p"zfiv< H羽"vj嘘pi"8k隠w"mjk吋p"KOE"ejq"8瓜pi"e挨"DNFEvtqpi"ok隠p"t運k"t衣e8«"ejq" m院v"sw違"t医v"v嘘v0"Aƒr"泳pi"v嘘e"8瓜, momen e栄c"8瓜pi"e挨"8衣v"8逢嬰e"pj逢oqpi"ow嘘p0"J羽"vj嘘pi" jq衣v"8瓜pi"鰻p"8鵜pj"x "d隠p"x英pi"mjk"v違k"vjc{"8鰻k0
5.4. M蔭V"SW謂"Oð"RJ碓PI"T云K"T萎E"AK陰W"MK烏P"MJðPI"N""V姶雲PI
Tj»pi"u嘘"e栄c"8瓜pi"e挨8»k"mjkmj»pi"jq p"vq p"ej pj"zƒe"pj逢"vtqpi"n#"vjw{院v."e„" vj吋"fq"uck"u嘘"mjk"8q"8衣e"x "piw{‒p"pj¤p"ej pj"fq"8瓜pi"e挨jq衣v"8瓜pi"vtqpi"vj運k"ikcp"f k f磯p"8院p"v·pj"vt衣pi"vj»pi"u嘘"vj詠e"v院"d鵜"vjc{"8鰻k0"X·"x壱{"f磯p"8院p"m院v"sw違"o»"rj臼pi"vj詠e"v院" x噂k"8k隠wmk羽pmj»pi"n#"v逢荏pi0"Eƒe"ikƒ"vt鵜"vj»pi"u嘘"vjc{8鰻k"8逢嬰e"vt·pj"d {"vtqpi"d違pi"5.2
Hình 5.14 FＴpi"u„pi"8kうp"ƒr"*3rjc+
Hình 5038"Oqogp"8ƒr"とpi Tiêu chí O泳e"8瓜 A瓜"x丑v"n嘘 10 % Vj運k"ikcp"zƒe"n壱r 0.3 s Uck"u嘘"zƒe"n壱r ~ 5% D違pi"7.4: D違pi"pj壱p"zfiv"8ƒpj"ikƒ"j羽"vj嘘pi"8k隠w"mjk吋p"v嘘e"8瓜"DNFE"vtqpi"ok隠p"t運k"t衣e f詠c"vt‒p"8k隠w"mk羽p"mj»pi"n#"v逢荏pi0 J羽"8k隠w"mjk吋p"ejq"8瓜pi"e挨"DNFE"vtqpi"ok隠p"t運k"t衣e"f詠c"jq衣v"8瓜pi"鰻p"8鵜pj"x " d隠p"x英pi"荏"o泳e"vk‒w"ejw育p"m吋"e違"mjk"vj»pi"u嘘"e栄c"8瓜pi"e挨"*L."T."N."Mg."VN.000+"vjc{"8鰻k" vtqpi"mjq違pi"ikƒ"vt鵜"n噂p0"Ak隠w"p {"ik¿r"vc"e„"vj吋"vj医{"xk羽e"z¤{"f詠pi"j羽"8k隠w"mjk吋p"8瓜pi" e挨"DNFE"vtqpi"vj詠e"v院"jq p"vq p"e„"v pj"mj違"vjk0
EJ姶愛PI 6. THI CÔNG MÔ HÌNH VJ衛E"PIJK烏O 6.1. IK閏K"VJK烏W"X陰"Oð"JîPJ 6.1.1. A瓜pi"E挨"DNFE [18] Hình 6.1 Motor BLDC uぬ"fつpi"vtqpi"vjばe"pijkうo Ejk"vk院v"vj»pi"u嘘"m悦"vjw壱v"8k羽p"8瓜pi"e挨"pj逢"ucw< ‚ Nq衣k"8瓜pi"e挨<"A瓜pi"e挨"o瓜v"ejk隠w"mj»pi"ej鰻k"vjcp"*DNFE+ ‚ Model: 86BLS Î 314W ‚ Zw医v"z泳<"TqdqvFkii"Ujcpijck"*Vtwpi"Sw嘘e+" ‚ M院v"p嘘k"f¤{"sw医p<"j·pj"ucq ‚ I„e"e違o"dk院p"x鵜"vt "Jcnn<"342"8瓜 ‚ U嘘"e員r"e詠e: 2 ‚ U嘘"rjc: 3 ‚ E»pi"uw医v<"536"Y ‚ Ak羽p"ƒr"8鵜pj"o泳e: 48VDC ‚ V嘘e"8瓜"8鵜pj"o泳c: 3000 vòng/phút ‚ Oqogp"8鵜pj"o泳e<"3"N.m ‚ Oqogp"v嘘k"8c<"5"P0o
‚ E逢運pi"8瓜"f”pi"8k羽p"8鵜pj"o泳e: 14.8 A ‚ E逢運pi"8瓜"f”pi"8k羽p"v嘘k"8c<"47"C Piq k"tc"e„"eƒe"vj»pi"u嘘"m悦"vjw壱v"8k羽p"8«"p‒w"vtqpi"D違pi"5.2 Hình 604"Eƒe"f¤{"mｘv"pぐk"eてc"oqvqt Vj»pi"u嘘"x隠"o員v"e挨"mj "e栄c"8瓜pi"e挨"pj逢"ucw< ‚ J·pj"f衣pi<"Mj嘘k"xw»pi ‚ Ejk隠w"f k"vj¤p<":2"oo ‚ E¤p"p員pi<"405"Mi ‚ A逢運pi"m pj"vt映e<"36"oo
Hình 605"DＶp"xｖ"nc{qwv"eてc"8じpi"e￢
6.1.2. Xk"z穎"n#"CTO"UVO54"]3;."42]
O瓜v"u違p"rj育o"e„"jk羽w"uw医v"ecq"e栄c"j«pi"8k羽p"v穎"UVOketqgngevtqpkeu"8逢嬰e"vtcpi" d鵜"ejkr"CTO"Eqtvgz-O6"OEW"x噂k"734"MD"Hncuj."v嘘e"8瓜"z穎"n#"38:"OJ¦0
F”pi"UVO54H629zz"e栄c"UVOketqgngevtqpkeu"f詠c"vt‒p"n k"CTO̶"Eqtvgz"ª"-M4 32-dkv"jk羽w"uw医v"ecq"jq衣v"8瓜pi"荏"v亥p"u嘘"n‒p"8院p"38:"OJ¦0"N k"Eqtvgz-O6"e„"o瓜v"8挨p"x鵜"
FPU (Floating Point Wpkv+"fw{"pj医v."ej pj"zƒe."j厩"vt嬰"v医v"e違"eƒe"mk吋w"f英"nk羽w"x "j逢噂pi" f磯p"z穎"n#"f英"nk羽w"ej pj"zƒe"fw{"pj医v"e栄c"CTO0"P„"e pi"vj詠e"jk羽p"o瓜v"v壱r"j嬰r"8亥{"8栄" eƒe"eƒe"e医w"vt¿e"d瓜"z穎"n#"u嘘"*Fkikvcn"Ukipcn"Rtqeguuqt+"x "o瓜v"8挨p"x鵜"d違q"x羽"d瓜"pj噂"
(Memory Protection Unkv+"ik¿r"v<pi"e逢運pi"d違q"o壱v"ejq"泳pi"f映pi0
F”pi"UVO54H629zz"m院v"j嬰r"eƒe"d瓜"pj¿pi"v嘘e"8瓜"ecq"*d瓜"pj噂"Hncuj"n‒p"8院p"3" Od{vg."n‒p"8院p"3;4"Md{vg"UTCO+"x "o瓜v"f違k"eƒe"pi "K"1"Q"p¤pi"ecq"x "eƒe"vjk院v"d鵜"piq衣k" xk"8逢嬰e"m院v"p嘘k"x噂k"jck"dwu"CRD."dc"dwu"CJD
Xk"z穎"n#"ewpi"e医r"dc"d瓜"34"dkv"CFE."jck"d瓜"FCE."o瓜v"TVE"e»pi"uw医v"vj医r."o逢運k" jck"d瓜"vkogt"38"dkv"vtqpi"8„"dcq"i欝o"jck"d瓜"RYO"8吋"8k隠w"mjk吋p"8瓜pi"e挨."jck"d瓜"vkogt"54" dkv"x "o瓜v"d瓜"v衣q"u嘘"pi磯w"pjk‒p"vj詠e"*TPI+0"Ej¿pi"e pi"e„"eƒe"ikcq"fk羽p"ikcq"vk院r"vk‒w" ejw育p"x "vk‒p"vk院p0
‚ Piq k"tc"e„"eƒe"vj»pi"u嘘"m "vjw壱v"ucw<
‚ D瓜"pj噂<"3"Od
‚ SRAM: 192 Kb
‚ Piw欝p"ewpi"e医r"pi "tc<"5XFE"x "7XFE
‚ Piw欝p"ewpi"e医r<"piw欝p"7XFE"jq員e"WUD
‚ Piw欝p"v衣q"zwpi<"6"Î 26 MHz
‚ D瓜"FCE<"4z34"dkv"*2"Î 3VDC analog)
‚ D瓜"vkogt<"34"z"38-bit và 2 x 32-dkv"v亥p"u嘘 168 MHz, o厩k"nq衣k"e„"v噂k" 6"KE"1"QE"1"RYO"jq員e"d瓜"8院o"zwpi"x "8丑e"v p"jk羽w"gpeqfgt"8亥w"
‚ Ikcq"fk羽p"vtw{隠p"vj»pi<"37
‚ Eƒe" pi " vtw{隠p" vj»pi" ikcq" vk院r<" 6" WUCTV" x " 4" WCTVu" *3207"
Mbit/s)
‚ D瓜"n壱r"vt·pj"x "p衣r ST-LINK / V2-C"v ej"j嬰r"vt‒p"dq"o衣ej cùng
x噂k"mj違"p<pi<"d瓜"pj噂, e鰻pi"EQO"違q ikcq"vk院r0
‚ J厩"vt嬰"pjk隠w"oôi vt逢運pi"rjƒv"vtk吋p< IAR Embedded Workbench®, MDK-ARM và STM32CubeIDE.
Hình 608"Ejk"vkｘv"u￢"8げ"ejとe"p<pi"eてc"UVO54H629
Pj運"x q"eƒe"v pj"p<pi"p鰻k"d壱v"p {"n o"ejq"j丑"xk"8k隠w"mjk吋p"UVO54H629zz"rj́" j嬰r"x噂k"pjk隠w"泳pi"f映pi<
‚ Ak隠w"mjk吋p"泳pi"f映pi"x "vtw{隠p"8瓜pi"8瓜pi"e挨
‚ Vjk院v"d鵜"{"v院
‚ 永pi"f映pi"e»pi"pijk羽r<"RNE."dk院p"v亥p."d瓜pi逸v"o衣ej
‚ Máy in và máy quét
‚ J羽"vj嘘pi"e違pj"dƒq."nk‒p"n衣e"xkfgq
‚ Vjk院v"d鵜"¤o"vjcpj"ikc"8·pj
6.1.3. D瓜"Aq"V嘘eA瓜"Gpeqfgt"]43]
Hình 6.7 Encoder hãng Omron
Vj»pi"u嘘"m悦"vjw壱v"pj逢"ucw<
‚ Model: Omron E6B2-CWZ6C 1000 P/R
‚ Ak羽p"ƒr"u穎"f映pi<"7"Î 24 VDC.
‚ A瓜"ej pj"zƒe<"v逢挨pi"8嘘k
‚ A瓜"rj¤p"ik違k<"6222"zwpi" / 1 vòng
‚ V亥p"u嘘"8ƒr"泳pi"v嘘k"8c: 100Khz ‚ V嘘e"8瓜"8ƒr"泳pi"v嘘k"8c<"8222"TRO ‚ D衣pi"pi "tc"zwpi<"PRP"e詠e"vjw"j荏 ‚ A逢運pi"m pj"vt映e<"8oo ‚ A逢運pi"m pj"vj¤p<"62oo Hình 60:"EＸw"vＴq"e￢"mj "eてc"gpeqfgt 6.1.4. O衣ej"Ftkxgt"]44]
Hình 60;"OＴej"nƒk"oqvqt"DNFE"DNF"- 750
BLD - 972"o衣ej"8k隠w"mjk吋p"DNFE"5"rjcx瑛c"n o衣ej"zwpi."x瑛c"n "o衣ej"8k隠w" mjk吋p"v嘘e"8瓜"*GUE+"f́pi"ejq"eƒe"v医v"e違"eƒe"nq衣k"8»pi"e挨"mj»pi"ej鰻k"vjcp"5"rjc"e„"8k羽p" ƒr"8院p"6:X"x噂k"o泳e"e»pi"uw医v"972Y0"D瓜"ftkxgt"8k隠w"mjk吋p"e„"v ej"j嬰r"Jcnn"Ugpuqt0 Các
ej¤p"m院v"p嘘k<
‚ E医r"piw欝p: VCC (+), GND (-)
‚ 3 dây pha motor: U, V, W
‚ V p"jk羽w"8k隠w"mjk吋p"v嘘e"8瓜"*urggf"eqpvtqnngt+<"swc"dk院p"vt荏"jq員e"v p" jk羽w"cpcpnqi"2"- 5VDC
‚ Ak隠w"mjk吋p"ejk隠w"swc{"vjw壱p1pij鵜ej"*ej¤p"H1T).
‚ phanh hãm motor (BRAKE).
Vj»pi"u嘘"m悦"vjw壱v< ‚ Ak羽p"ƒr"jq衣v"8瓜pi<"6:"VDC ‚ F”pi"v嘘k"8c<"8院p 30A ‚ E»pi"uw医v"v嘘k"8c: 750 W ‚ D違q"x羽"swƒ"pjk羽v<"E„"*p„pi"j挨p"322"8瓜"E."e»pi"uw医v"u胤"ik違o"o瓜v" p穎c+ ‚ D違q"x羽"swƒ"f”pi<"E„"*f”pi"8k羽p"u胤"v詠"8瓜pi"ik違o"ucw"mjk"swƒ"v違k+ ‚ D違q"x羽"swƒ"ƒr<"E„"*v詠"8瓜pi"pi逸v)
Hình 6032"Vごpi"vjあ"x "eƒe"mｘv"pぐk"eてc"oＴej"DNF-750
6.1.5. Piw欝pEwpi"E医r
‚ Ngõ vào: 110 Î 220 VAC
‚ Ak羽p"ƒr"8亥w"tc<"6:"VDC
‚ F”pi"8k羽p"8亥w"tc<"32"A
6.1.6. WUD"Ikcq"Vk院r"WCTV"[23]
O衣ej" ejw{吋p" WUD" WCTV" ER4324u穎" f映pi" KE CP2102 chính hãng SILICON LABS 8逢嬰e"f́pi"8吋"ikcq"vk院r"v瑛"WUD"ucpi"WCTV"VVN"x "pi逢嬰e"n衣k"x噂k"v嘘e"8瓜"x "8瓜"鰻p" 8鵜pj"ecq0O»"v違"ej¤p"pj逢"ucw<
‚ VZF<"Ej¤p"vtw{隠p"f英"nk羽w"WCTV"VVN"*505XFE+."f́pi"m院v"p嘘k"8院p" ej¤p"pj壱p"TZe栄c"eƒe"oqfwng0
‚ RXD: Ej¤p"pj壱pf英"nk羽w"WCTV"VVN"*505XFE+.f́pi"m院v"p嘘k"8院n
ej¤p"pj壱p"VZe栄c"eƒe"oqfwng0
‚ IPF<"p嘘k"ocuu0
‚ 7X<"Ej¤p"e医r"piw欝p"7XFE"v瑛"e鰻pi"WUD."v嘘k"8c"722oC0
‚ FVT<"Ej¤p"v p"jk羽w"FVT."vj逢運pi"8逢嬰e"f́pi"8吋"e医r"v p"jk羽w"Tgugv" p衣r"ej逢挨pi"vt·pj"ejq"o衣ej"Ctfwkpq0
‚ 3.3V: Chân piw欝p"505XFE"*f”pi"e医r"t医v"pj臼"v嘘k"8c"322oC+0
6.2. N一R"VTîPJ"XK"AK陰W"MJK韻P"UVO54 Vc"e„"u挨"8欝"n壱r"vt·pj"ukownkpm"v鰻pi"vj吋"pj逢"ucw< Hình 6.13 Vごpi"vjあ"nｆr"vt·pj"xk"zぬ"n# Hình 6.14 Mjぐk"Vctigv"Ugvwr Mj嘘k"Vctigv"Ugvwr"e„"ej泳e"p<pi"mjck"dƒq"o衣ej"xk"z穎"n#"u胤"pj¿pi"ej逢挨pi"vt·pj" 8k隠w"mjk吋p
Hình 6.16 Mjぐk"ikcq"vkｘr"fの"nkうw"WUCTV
Mj嘘k"ikcq"vk院r"WUCTV"e„"pjk羽o"x映"m ej"jq衣v"v pj"p<pi"vtw{隠p"f英"nk羽w"m院v"swc"8q" v嘘e"8瓜"v瑛"gpeqfgt"i穎k"x隠"ejq"xk"z穎"n#"UVO540"Mj嘘k"WUCTV"Tz"8„pi"xck"vt”"n "d瓜"pj壱p" v p"jk羽w"i穎k"x q0
Hình 6.18 Mjぐk"dじ"8kｚw"mjkあp"KOE
Mj嘘k"8k隠w"mjk吋p"KOE"8„pi"xck"vt”"swcp"vt丑pi"e栄c"vq p"j羽"vj嘘pi0"Mj嘘k"8k隠w"mjk吋p" pj壱p"x "uq"uƒpj"4"v p"jk羽w"v嘘e"8瓜"8員v"x "v嘘e"8瓜"8q"8逢嬰e0"V瑛"8„."mj嘘k"u胤"v pj"vqƒp"tc"dk‒p" 8瓜"ƒr"8員v"x q"d‒p"rj c"oqvqt0
Hình 6.20 Mjぐk"ejとe"p<pi"dkｘp"8ごk"x "zwＸv"v p"jkうw"cpcnqi
Mj嘘k"dk院p"8鰻k"x "zw医v"v p"jk羽w"cpcnqi"e„"pjk羽o"x映"sw{"8鰻k"m院v"sw違"dk‒p"8瓜"ƒr"d‒p" rj c"d瓜"8k隠w"mjk吋p"KOE"v pj"vqƒp"8逢嬰e"vj pj"ikƒ"vt鵜"cpcnqi"vtqpi"mjq違pi"2"Î 3 VDC. Sau
8„"zw医v"v p"jk羽w"cpcnqi"8逢嬰e"sw{"8鰻k"ucpi"o衣ej"ftkxgt"e栄c"DNFE0
6.3. VJK"EðPI"Oð"JîPJ"AK陰W"MJK韻P
X噂k"j羽"vj嘘pi"x”pi"m p."vc"u胤"f詠c"x q"8亥{"8栄"o»"j·pj"pi逢嬰e"x "o»"j·pj"vjw壱p"8吋" z穎"n#"f英"nk羽w"v pj"vqƒp"*pj壱p"x "uq"uƒpj"v嘘e"8瓜"8員v"x噂k"v嘘e"8瓜"8q+."zw医v"dk‒p"8瓜"ƒr"ejq" o衣ej"Ftkxgt0"N¿e"p {."gpeqfgt"n "vjk院v"d鵜"8q"v嘘e"8瓜"DNFE"x "vtw{隠p"m院v"sw違"8q"8逢嬰e"jk吋p" vj鵜"n‒p"o p"j·pj"ikƒo"uƒv."8欝pi"vj運k"j欝k"vk院r"x隠"ejq"xk"z穎"n#"vtwpi"v¤o"UVO54H629"v衣q" vj pj"o瓜v"x”pi"8k隠w"mjk吋p"mjfir"m p0
Hình 6.21 Nc{qwv"o»"j·pj"8kｚw"mjkあp"x”pi"m p
O»"j·pj"e„"eƒe"pi "m院v"p嘘k"pj逢"ucw<
Ncrvqr<"WUD"3"x "WUD"4"e医r"piw欝p"x "p衣r"eqfg"ejq"4"o衣ej"xk"z穎"n#0"WUD"5"u胤" pj壱p"v p"jk羽w"8q"v嘘e"8瓜0
UVO54H629<"WUD"pj壱p"piw欝p"x "vk院r"pj壱p"f英"nk羽w"v瑛"ncrvqr"vtw{隠p"ucpi0"RC4 là
vk院r"8k吋o"pi "tc"e栄c"v p"jk羽w"cpcnqi"zw医v"ucpi"o衣ej"ftkxgt"*2-3VDC) và PB11 là ngõ vào
e栄c"v p"jk羽w"v嘘e"8瓜"vj»pi"swc"ej泳e"p<pi"WUCTV"Tz
Driver: SV - EQO"n "ej¤p"pj壱p"v p"jk羽w"8k隠w"mjk吋p"v p"jk羽w"piq衣k"xk"*2-5VDC).
D瓜"dc"W-V-Y"n "5"pi "tc"8瓜pi"n詠e"p嘘k"x噂k"5"f¤{"rjc"e栄c"DNFE0"E員r"vk院r"8k吋o"XEE"Î IPF"n "ej¤p"e医r"piw欝p"ejq"o衣ej"Ftkxgt"e pi"pj逢"8員v"ikƒ"vt鵜"dk‒p"8瓜"8k羽p"ƒr"v嘘k"8c"ejq" oqvqt"v瑛"8X"8院p"6:XFE0
Gpeqfgt<"8亥w"vt映e"m院v"p嘘k"x噂k"oqvqt"vj»pi"swc"d瓜"mj噂r"p嘘k"*8oo"Î 14mm). A,B
n "4"ej¤p"m‒pj"zw医v"zwpi"e栄c"gpeqfgt"x "e員r"XEE"Î IPF"n "4"ej¤p"e医r"piw欝p"ejq"
encoder (5 Î 24VDC).
UVO54H633<"WUD"pj壱p"piw欝p"x "vk院r"pj壱p"f英"nk羽w"v瑛"ncrvqr"vtw{隠p"ucpi0"RC2." RC3"pj壱p"u嘘"zwpi"v瑛"gpeqfgt"i穎k"ucpi"x "RC4"e„"pjk羽o"x映"vtw{隠p"8k"f英"nk羽w"m院v"sw違"v嘘e" 8瓜"oqvqt"*x”pi1rj¿v+"vj»pi"swc"ej泳e"p<pi"WUCTV"Vz0
Hình 6.22 O»"j·pj"8kｚw"mjkあp"x”pi"m p"vjばe"vｘ
6.4. M蔭V"SW謂"X一P"JÉPJ"Oð"JîPJ"VJ衛E"PIJK烏O
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Hình 6.23 Quá trình pＴr"ejq"xk"zぬ"n#
Ej衣{"泳pi"f映pi"ik違"n壱r"ÐJgtewnguÑ"ikƒo"uƒv"v嘘e"8瓜"vj»pi"swc"e鰻pi"EQO"v瑛"WUD0"
Hình 6.24 Eぬc"uご"ikƒo"uƒv"vぐe"8じ
Hình 6.25 Pjｆr"vぐe"8じ"8ｐv"3222"x”pi1rj¿v
Hình 6.26 Dkあw"8げ"mｘv"swＶ"8kｚw"mjkあp"3222"x”pi1rj¿v
Hình 6.27 Pjｆr"vぐe"8じ"8ｐv"722"x”pi1rj¿v
Hình 6.28 Dkあw"8げ"mｘv"swＶ"8kｚw"mjkあp"722"x”pi1rj¿v
Hình 6.29 Pjｆr"vぐe"8じ"8ｐv":22"x”pi1rj¿v
Hình 6.30 Dkあw"8げ"mｘv"swＶ"8kｚw"mjkあp":22"x”pi1rj¿v
Vc"e k"8員v"ejq"8瓜pie挨"ej衣{"v瑛pi"eƒe"e医r"v嘘e"8瓜"pj逢"ucw< ‚ V<pi":22"x”pi1rj¿v ‚ V<pi"vj‒o"422"x”pi1rj¿v ‚ Ik違o"522"x”pi1rj¿v ‚ Ik違o"922"x”pi1rj¿v."8瓜pi"e挨"f瑛pi0 Hình 6.31 Mjck"dƒq"dkｘp"eƒe"eＸr"vぐe"8じ"ejq"oqvqt
Hình 6.32 Nｆr"vt·pj"ejq"oqvqt"ejＴ{"pjkｚw"eＸr"vぐe"8じ
Hình 6.33 Dkあw"8げ"mｘv"swＶ"8kｚw"mjkあp"DNFE"pjkｚw"eＸr"vぐe"8じ
6.4.5.V<pi. Gk違o Thông S嘘E k"A員v
Fq"o瓜v"u嘘"piw{‒p"pj¤p"mjk院p"ejq"vj»pi"u嘘"n壱r"vt·pj"mj»pi"ik嘘pi"x噂k"vj»pi"u嘘" vj詠e"v院"oqvqt"*uck"u嘘."8k隠w"mk羽p"n o"xk羽e"f k"j衣p.È)."vc"vj詠e"jk羽p"vj "pijk羽o"8k隠w"mjk吋p" oqvqt"vjgq"u詠"dk院p"8鰻k"eƒe"vj»pi"u嘘"pj逢"D違pi 3.2.
Hình 6.34 E k"8ｐv"eƒe"vj»pi"uぐ"v<pi"n‒p
Hình 6.36 E k"8ｐv"eƒe"vj»pi"uぐ"ikＶo
Hình 6.37 Dkあw"8げ"mｘv"swＶ"8kｚw"mjkあp"xずk"eƒe"vj»pi"uぐ"e k"8ｐv"ikＶo
Tiêu chí O泳e"8瓜 A瓜"x丑v"n嘘 Mjq違pi"2-5 % Vj運k"ikcp"zƒe"n壱r 0.3 s Uck"u嘘"zƒe"n壱r ~ 5% D違pi"803 D違pi"pj壱p"zfiv"8ƒpj"ikƒ"j羽"vj嘘pi"8k隠w"mjk吋p"v嘘e"8瓜"DNFE vt‒p"o»"j·pj"vj詠e"pijk羽o Eƒe"m院v"sw違"vj詠e"pijk羽o"8«"ejq"vj医{"j羽"vj嘘pi"jq衣v"8瓜pi"鰻p"8鵜pj."vj運k"ikcp"8ƒr" 泳pi"v嘘e"8瓜"pjcpj."8瓜"x丑v"n嘘"vj医r0"A欝pi"vj運k"m院v"sw違"ej泳pi"okpj"8逢嬰e"j羽"vj嘘pi"jq衣v"8瓜pi" d隠p"x英pi"pic{"e違"mjk"vj»pi"u嘘"*L."T."N."Mg."Mv+"vjc{"8鰻k"vtqpi"mjq違pi"ikƒ"vt鵜"n噂p0 Pj逢"x壱{."v医v"e違"eƒe"m院v"sw違"e栄c"j羽"vj嘘pi"8k隠w"mjk吋p"8瓜pi"e挨"DNFE"f詠c"vt‒p"o»" rj臼pi"e pi"pj逢"vj詠e"pijk羽o"8隠w"8ƒr"泳pi"x噂k"d瓜"vk‒w"ej "8ƒpj"ikƒ"ej医v"n逢嬰pi"j羽"vj嘘pi" 8k隠w"mjk吋p"8瓜pi"e挨"8«"8員v"tc"rj亥p"o荏"8亥w"Nw壱p"X<p0
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7.1. M蔭V"NW一P
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- O»"rj臼pi"rj逢挨pi"rjƒr"KOE"8k隠w"mjk吋p"DNFE"vtqpi"ok隠p"vj運k"ikcp"t運k"t衣e<"m院v" sw違"ejq"vj医{"8ƒr"泳pix隠 v嘘e"8瓜, momen e栄c"8瓜pi"e挨"8衣v"8逢嬰e"pj逢"e k"8員v"dcp"8亥w0"J羽" vj嘘pi"jq衣v"8瓜pi"鰻p"8鵜pj"x "d隠p"x英pi"m吋"e違"mjk"vj»pi"u嘘"8瓜pi"e挨"vjc{"8鰻k"vtqpi"mjq違pi" ikƒ"vt鵜"n噂p.
- Xk院v"ej逢挨pi"vt·pj"8k隠w"mjk吋p"x "pj¿pi"xk"z穎"n#"UVO54"vj»pi"swc"ej逢挨pi"vt·pj"
Matlab
- Z¤{"f詠pi"o»"j·pj"vtw{隠p"8瓜pi"vj詠e"v院"8k隠w"mjk吋p"x "ikƒo"uƒv"v嘘e"8瓜"8瓜pi"e挨" DNFE"u穎"f映pi"UVO54"Î BLDC Driver Î Máy tính.
- Mk吋o"ej泳pi"vj pj"e»pi"rj逢挨pi"rjƒr"8k隠w"mjk吋p"o»"j·pj"p瓜k"ƒr"f映pi"x q"vj詠e" v院"xk羽e"8k隠w"mjk吋p"x "ikƒo"uƒv"v嘘e"8瓜"DNFE0
7.2. J姶閏PI"RJèV"VTK韻P"A陰"VÉK
F詠c"x q"m院v"sw違"pijk‒p"e泳w"x "u違p"rj育o"e栄c"nw壱p"x<p"vc"e„"vj吋"rjƒv"vtk吋p"o»"j·pj"
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thông qua sóng wifi, bluetooth).
+ Vjk院v"m院"e違k"vk院p"o衣ej"ftkxgt"DNFE"ucq"ejq"mj逸e"rj映e"8逢嬰e"pj逢嬰e"8k吋o" e栄c"8k隠w"mjk吋p"f衣pi"u„pi"8"d逢噂e"v衣q"p‒p"f衣pi"u„pi"pj医r"pj»"荏"v嘘e"8瓜"8亥w"tc0
[1]
TÀI NK烏W THAM MJ謂Q
R. Arulmozhiyal. and T0"Mcpfkdcp."ÐAn intelligent speed controller for
Brushless DC motor,Ñ 2012 7th IEEE Conference on Industrial Electronics and
Applications (ICIEA), 2012. FQK: 10.1109/iciea.2012.6360690.
[2] X0 Jin-feng, Z0 Lei, Z0 Fei-jwk." cpf" Q0" Okp." ÐBLDC motor field orientation
control system based on LPIDBP neural network,Ñ IET International Conference
on Information Science and Control Engineering 2012 (ICISCE 2012), 2012.
FQK: 10.1049/cp.2012.2476.
[3] Z0"Nkw."cpf"D0"Ycpi."ÐApplication of cerebellar model articulation controller
in permanent magnet synchronous,Ñ 2017 2nd International Conference on
Robotics " " " " " " " " "
and Automation Engineering (ICRAE), 2017. Available:
10.1109/icrae.2017.8291387.
[4] C0-Y0 Chen, M0 H.-M. Cheng, and C0-H0"[cpi."ÐOqfkhkgf"Unkfkpi"Mode Speed
Control of Brushless DC Motor Using Quantized Current Regulator,Ñ Fourth
International Conference on Innovative Computing, Information and Control,
2009. FQK<320332;1KEKEKE0422;0489
[5] M. Morari and E. Zafiriou, Robust process control. Upper Saddle River, N.J: PTR
Prentice Hall, 2002.
[6] H0 Lin, W0 Yan, J0"Ycpi."[0"[cq."cpf"D."Icq."ÐRobust nonlinear speed control for a brushless DC motor using model reference adaptive backstepping
approach.Ñ 2009 International Conference on Mechatronics and Automation, pp.
335-340, 2009. FQK: 10.1109/icma.2009.5246576.
[7] P. Thirusamvjkowtwicp." cpf" R0" Fcpcplc{cp." ÐA Robust Auto Tuning Speed
Control of Permanent Magnet Brushless DC Motor,Ñ International Conference
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[8] A. Rubaai. and R. Kotarw." ÐNeural net-based robust controller design for
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1999. FQK: 10.1109/5326.777080.
[9] C. Garcia. and M. Morari, ÐInternal model control. A unifying review and some
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[11] M. T. Tham, Internal Model Control. University of Newcastle Upon Tyne, 2002.
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Inc, 2019.
[13] A. Tashakori, M. Gmvgucdk"cpf"P0"Jquugkp¦cfgj."ÐModeling of BLDC Motor with
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1508.
[14] N. H. Phúc, Mぶ"Vjwｆv"Akうp"4. Xk羽v Nam: A衣k"J丑e"Sw嘘e"Ikc"VR0JEO."42350
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Publishing L.L.C., 2010.
[16] Brian Douglas, ÐFkuetgvg" eqpvtqn" %4<" Fkuetgvk¦g#" Iqkpi" htqo continuous to
discrete domain.Ñ Youtube: https://youtu.be/rL_1oWrOplk, Aug. 29, 2021.
[17] Brian Douglas, ÐFkuetgvg" eqpvtqn #1: Introduction and overview.Ñ Youtube:
https://youtu.be/14cMhrp5wlk, Aug. 12, 2021.
[18] RobotDigg Equip Makers, Ð48V 220W to 800W 86BLS BLDC Motor.Ñ Internet:
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[19] STMicroelectronics, ÐSTM32F407VG - STMicroelectronics.Ñ Internet:
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[20] STMicroelectronics, ÐSTM32F405xx - STM32F407xx.Ñ Internet:
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[21] OMRON Corporation, ÐKpetgogpvcn" 62-mm-dia. Rotary Encoder E6B2-C.Ñ
Internet: https://www.mouser.com/datasheet/2/307/e6b2-c_ds_csm491-
25665.html, Nov. 1, 2021.
[22] MOUSER Electronics, ÐIncremental 40-mm-dia. Rotary Encoder E6B2-C.Ñ
Internet: www.mouser.com/datasheet/2/307/e6b2-c_ds_csm491-25665.pdf, Aug. 9, 2021.
[23] RobotDigg, ÐBLD-750 size 86 Brushless DC Motor Driver.Ñ Internet:
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[24] Silicon Labs, ÐCP2102/9.Ñ Internet: www.silabs.com/documents/public/data-
RJ井P LÝ N卯EJ TRÍCH NGANG
- J丑 và tên: Piw{宇p"Vt亥p"Swcpi"Jw{
- Ngày, tháng, p<o sinh: 01/01/1997
- P挨kukpj<"VR0"J欝"Ej "Okpj
- A鵜cej雨 liên n衣e< 7 Z„o"X»k."Rj逢運pi"36."Sw壱p"7."VR0"J欝"Ej "Okpj.
QUÁ TRÌNH AÉQ"V萎Q
- 2015 Î423;<"A衣k"J丑e"E»pi"Pijk羽r"Vj詠e"Rj育o"VR0JEO", chuyên ngành M悦 vjw壱vAk羽p."mjqc"Ak羽p"ÎAk羽p"V穎.
- 2019 Î 2021: J丑e viên cao j丑ev衣kVt逢運piA衣kj丑e Bách Khoa ÎAJSIÎ Tp.
HCM, chuyên ngành M悦vjw壱v8k羽p0
QUÁ TRÌNH CÔNG TÁC
- 12/2020 Î Nay: Ik違pi"xk‒p"d瓜"o»p"Ak羽p"E»pi"Pijk羽r."mjqc"Ak羽p"ÎAk羽p"V穎." Vt逢運pi"Ecq"A鰯pi"M悦"Vjw壱v"Ecq"Vj逸pi0