Cong nghiep rimg V/THIET K E M O PHONG M Q T SO BAI TOAN V^iT LY KY THUAT TREN MAY TINH PHUC VU GIANG DAY Lou Bich Linh, BM Thi Toan Thu ThS Trudng Dai hoc Lam nghiep TOM TAT Bii bio nay giai thieu ra[.]
Trang 1V / T H I E T K E M O PHONG M Q T SO BAI TOAN V^iT LY KY THUAT
TREN MAY TINH PHUC VU GIANG DAY
Lou Bich Linh, BM Thi Toan Thu
ThS Trudng Dai hoc Lam nghiep
TOM TAT
Bii bio nay giai thieu rapt so bai toan vat ly ky thuat duoc thiet ke vi mo phong tren may ti'nh phuc vu giang day cho sinh vien truong Dai hpc Lam nghiep Ung dung bo cong cu Simulink - Madab de thiet ke va mo phong chuyen dpng ciia cSnh tay robot vdi 3 bac tu do, mach dien chinh luu ban chu ky bing diode vi chuyen dpng nem len ciia chSt diem CTng dung bp cong cy Gui - Matlab da thiat ka vi ra6 phong 3 bai toan
chuyen dpng tinh tien cua chit diem; khao sat 06 mach dien rapt pha a chS dp xac lap vi 6 hien tupng giao
tboa, nhieu xa trong quang hpc Ket qua li da xay dimg dupe 02 do thi m5 phong chuyen dpng ciia chat diem
vi canh tay robot; 03 do thj bieu dien sir phu thupc ciia van toe, gia tdc ciia chat diem vi cuong d6 d6ng dien theo thoi gian; 06 do thi bieu dien sv phu thupc cuong dp van trudng g ^ vi trutrag xa theo thoi gian Xuit kat qua dinh lupng vi bien luan cho timg bii todn
Tir khoa: Gui, ky thugt, md phdng, simulink, vgtlL
L DAT VAN BE
Hien nay bd mdn Vat ly tham gia dkm
nliiem gikng day cho hku het sinh vien cac
ngknh hpc trong tokn trudng, tuy vay sd tin chi
phan phdi cho cac hpe phan vat ly lai qua ft,
dkn dSn chkt lugng giang day vk hgc tap con
han che Bd mdn da cd nhiSu giki phkp cu thS
dugc dku tu xky dung thknh nhung dS tai
nghien cuu khoa hpc nham muc dich nkng cao
han nija chat lugng giang day vk hgc tap mon
vat ly tai tnidng Dai hgc Lkm nghiep Trong sd
nhiing giki phkp dugc dua ra cd giai phkp ung
dung cac phan mSm tien ich lap tiinh ckc bai
tokn ky thuat va lua chpn ckc bg cdng cu cua
phan mem dS tliiSt ke vk md phdng true quan
ckc bki tokn vat Iy ky thuat phuc vu gikng day
DS tai; "ifng dung phdn mem MatLab de
thiet ki vd mo phong cdc bdi todn vgt ly" thuc
hien nam 2012 da dugc hgi ddng nghiem thu
danh gia tdt vS tfnh mdi va kha nkng kp dyng
ngay vao gikng day mdn hgc tai tnidng Dai
hpc Lam nghiep Nhkm tiSp tuc gdp phkn nkng
cao hem nvta chat lugng gikng day mdn vat ly
ndi rieng va ckc mdn ca sd ky thuat ndi chung
tkc gik md rgng hudng nghien cuu thuc hien; "
Thiit ki mo phong mgt so bdi todn vgt ly ky
thugt tren may tinh ph^ic vu gidng day "
n NQI DUNG, PHUONG PHAP NGHIEN CUtJ
2.1 Noi dung ng:liien cuu
Ung dung bd cdng cu Simulink, Gui trong Matlab de thiet kS vk md phdng bki toan ca hgc ky thuat, dien - dien tii ky thuat vk quang
ky thuat
2.2 Phuang phap ngtiien cuu
- Phirong phdp thiet ki lira chgn cdc bdi loan: dua tren tiSu chf nhu ndi dung chuong
trinh mdt sd mdn hgc ca bkn vk ca sd chuySn ngknh dang dugc gikng day tai trudng Dai hgc Lam nghiep vk chuang trinh dko tao cac ngknh hgc dS phan loai ckc bki tokn nhkm dkp ung vk phu hgp vdlckc ddi tugng sinh vien
- Phucmg phdp xic l^ bdi todn bdng ly thuyit
Sir dung ly thuySt mdn vat ly, ca ly thuySt vk
ky thuat dien dien tu dS phan tich va xu ly eke
dii kien cua eke bki tokn mku tu dd lkm ca sd
dS xky dung thuat toan tinh toan lap chuang trinh chi tiSt
- Phtrong phdp xir ly bdi todn bdng ung dting phan mem
LTng dung phkn mem Simulink, Gui trong Matlab xky dung thuat toan tfnh toan vk lap chuong tnnh de giai quySt ckc bki toan dk lua chgn, kSt quk mong dgi la se md phdng cac bki toan mdt each nhanh chinh xkc vk true quan vdi su bien dpng vk thay ddi eua nhieu tham sd dku vko
TAP CHI KHOA HQC VA CONG NGHE LAM NGHIEP SO 2 - 2014
Trang 2- Phucmg phap tham vdn chuyen gia
Tham vkn ehuySn gia vS Matlab dS gdp
phkn xkc dinh vk dknh gik ckc lenh trinh,
chuang tnnh dk viSt
- Phuang phdp to chirc hoi thdo:
Td chiic hdi thao ckp bp mdn nhkm danh gik va gdp y cho ckc chuong trinh da viet Phuang phkp nghiSn cuu cua bki bao dugc tdm tkt theo sa do sau
Thietke bai toan
Bang ling dung
)hknmem Xulvbaiti
Bang ly thuyet
Tham van chuyen gta
Hinh 1 Sa do phuang phdp nghien ciru
m KET QUA NGHIEN CUtJ VA THAO LUAN
3.1 Bai toan chuyen ddng cua vat nem len
mo phdng bkng Simulink
Lap chuang trinh Simulink/Matlab khao sat
chuySn dpng eua quk bdng cao su dugc nem
thkng dung ISn tii dp cao h ~ 10m so vdi mkt
dkt vdi van tdc ban dku v^ =\5mls Gia thiet
va cham giiia qua bdng vk mat dkt Ik dan hdi
va bd qua mpi ma sat trong cbuySn dgng
- Thuat giki tren Simulink/Matlab Phuang trinh ddng luc hpe diSu khiSn qua trinh cua chuySn ddng qua bdng Ik:
(3.1)
dv dx _
Trong dd g Ik gia tdc trgng trudng vk v Ik van toe cua quk bdng, x{t) Ik tpa dp quk bdng tai
thdi diSm t
126 TAP CHI KHOA HOC VA CONG NGHE LAM NGHIEP SO 2 - 2014
Trang 3Qua bong va chanfi voi mat dat
Gia toe trang truong Dieu kien toa do
Dieu kien van toe
Hinh 2 So do khoi gidi bdi todn chuyen dpng cua qud bdng cao su bang Simulink
- Xukt kSt quk:
^ eaa i j:^[j3)\^^> l i ^ h i E ^ ^ nn ^ :^ [CD 1
-^|-\;|Hf\/NN^N^*^
Hinh 3 Kit qud mo
Nhan xet: Quan sat hien tugng trong thuc te
ta thky, qua bdng khdng nay len theo phuong
thkng dung ban dau niia mk sau mdi lan va
cham vdi mat dkt nd lai nay ISn theo phuang
hgp vdi phuang eua mat dkt mdt gdc nko dd,
ket quk Ik quy dao ciia qua bdng Ik nhihig
parabol quay bS ldm xudng dudi cho den khi
van tdc bay len eua quk bdng cd phucmg nam
ngang thi nd se lan tren mat dkt CJ do thi thu
nhat, md phdng dang quy dao cua quk bdng
trong he iga do De-ckc cd gdc tai chkn dp cao
h Dd chfnh Ik quy dao mk ta quan skt thay
trong thuc tS Dd thi thii hai md tk sy phu
thupc van toe ciia quk bdng theo thdi gian Qua
md phdng ta thky hien tugng md tk bkng md
phong qua bong ndy
hinh Simulink/Matlab phu hgp tdt vdi hien tugng xay la trong thuc te
3.2 Bai toan chuyen dong ciia canh tay robot CO 3 bac t y do
Khko sat va md phdng robot cdng nghiep Ik mdt bki toan dugc nhiSu trudng Dai hpc d nude ta nghien ciiu (DH Bach khoa Hk Ngi,
DH Cdng nghiep Ha Npi ) trudc khi chS tao robot Muc dfeh la nhkm quan sat nhung chuySn ddng gan gidng vdi chuyen ddng thyc cua robot dS cd phuang kn hokn thien skn phkm
Ddi tugng md phdng: Khko sat vS mat ddng hgc (tfnh toan tga do vk van tdc) eua cknh tay robot cd 3 bkc ty do nhu hinh 4
Trang 4Hinh 4 Cdnh tay robot - Dai tugng md phong cda bdi todn
- Thuat giki tren Gui/Matlab
Begin
Khdi dpng thu vien ROBOTTICS TOOLBOX
Khai bao ckc bien ckng di8u kien; thiSt lap cac biSn toa dp vk van t6c | Nhap cac ma tran D-H; ti'nh cac ma tran tmyen bang phep tich ma tran trong Matlab
T
Tao rao hinh robot: - L?nh Link tao mpt khau L
- Lenh SerialLink(Li,L2,L3) tao robot noi tiep cac khku
Giai bii totn dpng hpc; mo phong chuyen dpng dung cdc lenh plot, plot3 va pause de tao doan
phim chuyen dpng
Giai bii toin dpng hpc ngupc nhcr l^nh solve (giai phuong tiinb), subs (thay gia tri) Mo ph6ng chuyan dpng diing cic lenh plot, plot3 vi pause de tao doan phim chuyen dpng
( ^ E n d ^
Hinh 5 Sa do thugt todn khdo sdt chuyen dpng vd mo phdng robot 3 bpc tu do
- Xuat kSt quk:
M O PHONG DONG HOC CANH TAY ROBOT 3 BAC TU DO
^^-i-ign^^gd,
. ^
-Jl^fe^
g^'
-'••" - ^ s ' _
KET QUA M O PHONG
I
i' / ' : - ^ x X
^
\
F Hinh 6 Mo phdng chuyen dpng cua robot 3 hpc ttr do
Trang 533 Bai toan mach dien m^t pha d che do
xaclap
Lap chuong trinh Gui/Matlab khao sat cac
thdng sd dkc trung nhu dien ap, ddng dien,
cdng suat cua ckc mach dien khac nhau
- Thuat giki trSn Gui/Matlab
Xet mach dien tdng qukt gdm m nhknh, u
niit Ap dung ckc dinh luat Kiec-xdp cho nut
di?n va mat dien, ta se lap dugc he gdm m
phuang trinh vi phkn nhu sau:
fEik(t) = 0
r ^ (3.2)
[Vbogy ® ^ ^ J Vim
Chuyen he phuang trinh (3.2.) sang sd phiic ta
cd:
1 i
(3.3)
Hay:
2:
Dat:
Ru+iKi ojq
(3.4)
K = I.K
Z,= R , + j J „ L , l
-la tdng trd phiic ciia nhanh k Ta cd he
phuang tnnh tdng qukt cua mach:
(3.5) Ket Uiiic
Hinh 7 Sff do thugt todn phdn tich mach £in tuyen tinh
He phuang trinh (3.5) Ik he phuang trinh chS dp xkc lap dugc chi ra trSn hinh 7
dai so tuySn tfnh, ta de dkng giki dugc bkng Trong tnidng hgp mach cd hd cam, ta ckn nhap each lap trinh trSn Matlab Luu dd thuat tokn thSm cac he sd hd cam M, ddng thdi trong phkn tdng qukt de giki bki tokn ly thuySt mach d tiiih toan ckn tinh thSm ckc tdng yd ho ckm
Trang 6ZM KSt qua md phdng mach dien mdt pha d
che dp xkc lap
Vdi cac thdng sd:
- Dien ap hieu dung U = 220 V Tkn sd gdc
(0 = 314 rad/s Pha ban dku <p=Q
- Nhknh 1: R, = 7 ii; Li = 0,016 H; Ci = OF
- Nhanh 2: Rj = 5.65 H; U = 0.018 H; C2 =
0,001061 F
- Nhknh3: R3 = 0.8ii; Ls = 0H;C3 = 0F
Ta thu dugc ket qua hien thi nhu trSn hinh 8
MACH D!EN MOT PHA XAC LAP
Mach gan 2 nhanh song song
' TliiHl U m chuono tnnh
^ i [
^ i 1 i?ti) J
3 K 1
Do i n dong mach 1 I
Dothiilaigmactig [
ThudnenmachS ) I DDDiidiingniachS
TlmthitnniachC ] [ DaltiidongniachB |
m P H K tiien madi 2
—Tri hieu dung cua dong dien—
—Cong sual beu thu—
P1-87041M(W) P2= 468 3306 (W)
—&ea thuc cua cac dong dien—
r l ^ 1S 765rcil5(3141»11S SMBi
•2= 13 14T6-coa(3141->140 Te4S|
Hinh 8 Ket qud bdi todn mach dipn mpt pha & che dp xdc Ipp
3.4 Bai loan mo phdng cac hien tuvng quang
De mo phdng dugc cac hien tugng giao
thoa va nhiiu xa ta sii dung phuang phap
khai trien chudi fiirie tuan theo nguyen tac
mpt ham tukn hoan tiiy y chu ky T co the
bieu diln dudi dang chudi:
/(f) =-ao+2][a^ cosm^t+b^^ sinco^t] (3.6)
Trong dd: o)^ =fcfi;^;fi iTt la tan sd ca
ban Ckc so hang dang sin, cos Ik cac hki
bac 1,2 den bac cao ciia chudi He s6 cua
chudi dugc xac dinh:
-* 0
cosOjrfr
(3.7)
sin a^dt
Khai trien mpt ham tuan hoan co so hang cang nliieu cteg chinh xSc, khac voi chuoi liiy thua chuoi furie co the xap xi ham 6 bat ky diem nao Vi vay tong hiiu han trong chuoi furie co the biSu diln kha tot mot him tuan hoan
Xet vec to song sang tai M co vec to toa
dor: E(r,t)=—COi(,(ai-qrr{)
q la dien tich tai diem co toa do r^; rf^=^-f\; Khai triSn Furig duoi dang:
£{r,() = J^—^cos((at-?rr,) (3.8)
Trang 7- Xky dung thuat tokn
Viec md phdng dugc ckc hien tugng nhiSu
xa cung dugc su dung phuang phap khai trien
chuoi furie tuan theo nguyen tkc mdt hkm tukn
hoan tuy y chu ky T nhu dk trinh bky d phan giao thoa So do khdi cho thuat tokn giki nhu sau:
Nhap so lieu dau vao X, q,a,tp, D,N
Khao sdt hien tucmg nhieu xa
qua 1 khe h?p
Khao sdt hien tuong nhieu xa qua 2 khe h?p
- Ve do thi bieu diln cirong dp sang
- Mo phong hinh anh nhilu xa
T
End
Hinh 9 Thupi todn gidi bdi todn hien tupng nhieu xa
Ket qua chay chuang trinh cho trucmg
hpp anh sang dem s jc mau xanh:
Buoc song Z = 0,5 IO"'m
Khoang each khe: a = 101 = 0,5.10"' m
So khe : N = 1 ; N = 1
Kich thuoc vung giao thoa:
L = 0,5 mm; L = 1000 mm
Do rpng khe 0 = 50.-1
So nguon n = 100; n = 50 Xuat ket qua: Ta duoc do thi mo ta sir phan b6 cuong do sdng duoc trinh bay nhu cac Mnh duoi day:
0.5
0
-0.5
O
-1
2
1.5
- 4
Nhieu
- 2
xa \Ajng xa l_= 1000mm
/ : \
/ X
o
; ^
2
1
;
4 e
JO - 8 0 - 6 0 - 4 0 20 O 20 40 6 0 so 1C
100 - s o -60 -40 -20 O 2 0 4 0 6 0 8 0 100
Hinh 10 Do thi phdn ^o cudng dp vdn nhieu xg dnh sdng qua mpt Agp
Trang 8IV KET LU^^N
LTng dung cdng cu GUI/Matlab va
SIMULINK/Madab trong lap trinh md phdng
ckc bki tokn vat 1^ ky thuat phuc vu gikng day,
kSt quk dat dugc nhu sau:
Trong cac bai toan cff hoc ky thu^t
- Xay dung so dd thuat giki va chuang trinh
tu dgng ti'nh tokn cho bki toan dgng hgc ve
chuySn ddng cua chkt diSm trong khong gian 2
ehiSu xOy khi biSt phuang trinh chuySn ddng
vk md phdng dugc chuySn dgng cua chkt diSm
- Xky dyng thuat giki va chuong trinh
Simulink md phdng qua trinh chuySn ddng ciia
quk bdng nay khi dugc nem ISn theo phucmg
thkng dung tir do cao h so vdi mat dat
- Xky dung thuat giki vk chuang trinh tu
dgng tinh tokn md phdng chuySn dgng cua
canh tay robot ed 3 bkc tu do
Trong phan ckc bai toan ley thuat dien
-dien tu
- Xky dung so dd thuat giai va chuong tnnh
tu ddng tfnh toan md phdng dugc 6 loai mach
dien xoay chiSu mgt pha d chS do xac ikp
Xay dung thuat giki vk chuang trinh
Simuhnk md phdng mach dien tir chinh luu
bkn chu ky bang diode
Trong phan cac bai toan quang hpc ky thuat
bai bko da xky dung sa do thuat giki chung
cung chuang trinh i\f dgng tinh toan va mo
phdng hien tugng giao thoa knh sang qua hai khe vk nhiSu khe hep, md phdng hien tugng nhilu xa qua mdt, hai khe hep, qua Id trdn, 16 chii nhkt, 16 clip
TAI LIfU THAM KHAO
1 Nguyin Viet Anh, Nguyin Hoing Hai (2004) Lap
trinh Matlab vd dng dung NXB Khoa hpc vS Ky thuat
2 Lucmg Duygn Binh (1998) Va/ l^ dgi cuang (Tap
1,2,3) NXB Khoa hoc vk Ky thu^t
3 Lucmg Duyen Binh (1998) Bdi tgp vdi ly dat
cuang (Tqp 1,2.3) NXB Khoa hpc -vk Ky thu^t
4 Dang Van Dao, Lg Van Doanh (2005) Ky thudt
dien NXB Khoa hpc va ky thu|it
5 Le Vi6t Du Khuong (2004) Bdi gidng Tin hgc cho
Vgt ly I, Vgt ly II Tnrcmg Dai hpc Khoa hpc Tu nhien
Hk NOi,
6 Le Thi Kilm (2011) Ca hgc ly thuyit I D ^ hpc
Lam nghiep Viet Nam
7 Nguyin Phiing Quang (2005) Matlab & Simulink
danh cho kp su dieu kliiin tu dpng NXB Khoa hpc va
KS thuat
8 Bdi gidng MS phong vd mo hinh hod {2011) Khoa
Cong ngh? dien tii va truyin thSng, DH Thai Nguy6n
9 Lira Bich Linh, Bili Thi Toan Thu (2012) "t/nj
dung phdn mim MatLab de thiet ke vd mo phdng cdc bai todn vgt l^" D I t&i d p co scr, Trucmg Dai hpc Lam
nghi€p,
DESIGN AND SIMULATION OF PHYSICAL TECHNICAL PROBLEMS FOR TEACHING PURPOSE
Luu Bich Linh, Bui Thi Toan Thu
SUMMARY
This paper introduces the simulating some physic problems on computer for university course of physics at Vietnam Forestry University Tool Simulik-Matlab is applieci to design and simulate the physic problems of movements of robot hand in 3 Ds (3 degrees of freedom), semi-rotated elecUonic circuit certificated with diode, and pressing movement of point Tool Gui-Matlab is used to design and simulate 3 problems of translational oscillation of point, 06 mono-phase electronic circuits in different setting conditions, and 06 types of interfering and diffraction in optics The designed simulations produce 03 graphs modeling the movements of point and robot hand; 03 graphs presenting the dependences of velocity, acceleration of points and intensity of electronic circuit by time; 06 graphs presenting the change of velocity in short time and long time period by time The text outputs and the interpretation of every simulation are produced for each problem
Keywords: Gui, modeling, physics, simulink, technical
Ngiroi phan bifn: PGS.TS Dmmg Van Tai
Ngdy nhgn bdi : 11/02/2014
Ngay nhgn phdn biin : 07/05/2014
Ngdy quyet dinh dang: 10/06/2014