Bai Gaing6 Cdt-k2

7/31/2019 Bai Gaing6 Cdt-k2

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BI GING H I HC

LP: HCT K2

Ging vin : Phan nh Hiu

B mn : C in t

Mn hc : C in t 2


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Thit k h thng c in t

Phn tch thit k xe hai bnh t cn bng di chuyn trn ahnh phng


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1 YU CU

- Xe tr mt ngi vi khi lng 60kg

- Vn tc chuyn ng l 5m/s

- Xe t ng gi thng bng- Xe c th chuyn ng tin li

- Thay i tc ca xe khi thay i gc ca tay li

- Xe chy c vi thi gian l ba ting



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2. THIT K H THNG2.1 Phc tho tng- Vn chnh ca h thng l iu khin tc ca

hai bnh xe gi cho xe lun trng thi cn bng

- Tng tc ca xe khi ngi cng nghing v phatrc. Gim tc khi ngi v v tr cn bng v xe lili khi ngi ng v pha sau.

- o chnh xc gc nghing v vn tc gc nghing

ca tay li so vi phng thng ng trong qu trnhng v qu trnh tnh

- o v tr v vn tc ca xe trong qu trnh xechuyn ng



5/18

- Bo v h thng khi h thng gp s c qu dng- Xy dng thut ton iu khin cho xe

- Thit k v xy dng mch cm bin, mch iu khin vmch cng sut

2.2 Thit k s b

- M hnh tng quan h thng xe cn bng



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- M hnh c kh+ Xy dng m hnh bng phn mm thit k



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- H thng cm bin+ Cc cm bin o gc nghing v vn tc gc gia tayli v phng thng ng s dng hai loi cm bin lGyro v accelermeter. Trong Gyro o vn tc gc v

gc ng cn accelermeter o gc tnh. Do gc nghingdao ng trong mt phng ln cc cm bin o gc lmt trc

+ Cc cm bin o v tr v vn tc gc: S dngEncoder gn hai ng c+ Cm bin o qu dng s dng in tr Shunt



9/18

-H thng c cu chp hnhS dng hai ng c mt chiu c gn Encoder o vn tcv v tr. in p cp nh mc 24VDC.

-H thng iu khin

+ Mch o v x l tn hiu cm bin+ Mch tnh ton v x l trung tm

+ Mch cng sut

-H thng hin th

+ S dng Led hin th

- H thng ngun cp

+ Ngun cp cho ng c



10/18

+ Ngun cp cho cm bin

+ Ngun cp cho mch iu khin

+ Ngun cp cho mch cng sut

2.3 Thit k chi tit

2.3.1 H thng c kh

- Sau khi tnh ton v kt cu, vt liu, a ra bn v lpc th ch to phn c kh

2.3.2 H thng cm bin

Trn c s phn tch cc yu cu h thng la chn rahai cm bin o gc v vn tc gc:

- Cm bin gyro Murata ENC-03 o vn tc v gc ng



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Cc.thng s k thut:+ Kh nng loi b rung cao

+ Vn tc gc cao 300 /s

+ nhy cao 0,67mV/dec/s

+ Vref = 1,25VDC

Tch hp b lc thng thp

- Cm bin gia tc Accerlemeter ADXL202A

Cc thng s k thut:+ nhy cao 312mV/g

+ Cm bin 2 trc trn IC n chip

+ Chu shook 1000g



12/18

o chnh xc khng b nhiu tc ng thng trong h thngs dng thm b lc Karman lc nhiu

2.3.3 C cu chp hnh- Trn c s tnh ton momen ti v vn tc di chuyn ca xes tnh chn c cng sut v vn tc nh mc ca ng c.+ ng c cng sut l 100W+ Vn tc nh mc l 70 vng trn pht

2.3.4 H thng iu khin

- Mch cng sut ng cS dng mch cu H cp ngun cho ng c



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+Trn c s chn cng sut ng c ta tnh chn cng sut camch cu H.

Chn phn t cng sut trng MOSFET l IRFP140 vi inp VGS = +- 20VDC. Tn s ng ct t 7- 15kHz

+ Cm bin o dng in dng in tr shunt c ni vimch cu H.

- Mch iu khin+ S dng vi iu khin Microchip 18F452

. Tch hp kh nng tnh ton cc thut ton iu khin, thutton lc karman, a hin th kt qu ra n hin th LED

. y chc nng ca mt vi iu khin



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2.3.6 Thit k cc thut ton iu khin h thng- M hnh ha h thng: Biu din mi quan h gia cc bin

trng thi v momen

Cm bin v h thng o


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2.3.5 H thng ngunBa bnh cqui 12VDC mc ni tip cung cp ti ng c,

Mosfet v vi iu khin



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- Xc nh thut ton iu khin+ Phn tch v t hp h thng tnh c b iu khin l matrn phn hi trng thi

+ Xy dng thut ton iu khin x l bi ton cn bng

+ Xy dng b lc karman x l tn hiu+ Ti u ha bi ton thit k iu khin


Bai Gaing6 Cdt-k2

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