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

Design the velocities of two DC servo motors to reach to the identical state Lecturer : Dr.Vo Tuong Quan... Why do we have to control the motor to reach identical state?. Adjust the tor

Design the velocities of two DC servo motors to reach to the

identical state

Lecturer : Dr.Vo Tuong Quan

Group’s member

Why do we have to control the motor to reach identical state ?

In the electric drive systems , it has many shaft , every shaft is driven by one motor

Requirement for control electric drive systems is :

1 Synchronize velocity of motor

2 Adjust the torque of motor to keep the tension invariably

3 Control and supervise by the computer network

In many applications , it requires the synchronization of motor ,

if it isn’t responded , that systems doesn’t work or work

ineffectively

Why do we have to control the motor to reach identical state ?

Example :

→ So ,control the motor to reach identical state is important problem

 Firstly ,we input the speed

 This is a desired speed of motor 1 and motor 2

 The actual speed of motor 1 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 1 to reach the desired speed

 About the motor 2 :

 The actual speed of motor 2 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 2 to reach the desired speed

 Finally, microcontroller calculate the error between actual

speed of motor 1 and actual speed of motor 2

 PID algorithm will be used to adjust the error smaller

 So , motor 1 and motor 2 reach the identical state

 We have three PID subprogram to adjust the speed of motor

1 and motor 2

 The disadvantage of this method is the needed time to reach the identical state is long

Summary

Block diagram

Circuit schematic

P W M 1

O S C 2

D 4

V C C

2

S en s e 1

1 2

3

D I R 1 A

1 Y 1

3

0

S en s e 2 B

1 2

3

V C C

R S

0

A

C

V C C

R W

D

0

1 2

D

V C C

0

E

1

2 Y 2

1 2

KeyPad

D 4

2

O S C 1

2 Y 1

Actuator

D 5

C

M G 2

M O TO R S E R V O

1 2

1 Y 2

D 6

3

D 7

1 2

E

P W M 2

U 3

L 2 9 8

5 10

2

1 3

6 11

1 15

9

1 A 1

2 A 1

1 Y 1

2 Y 1

1 E N

1 E

V C C 1

R W

E N 1

P W M 1

1 2

3

R S

E N 2

1Y 1

C 1

D 7

1 Y 2

M G 3

D I R 2

D 6

5V

P W M 2

O S C 1

P V N 1

P I C 1 8 F 4 4 3 1

2 4 6

3 3

3 5

3 7

3 9

1 5

1 7

2 3

2 5

1 9

2 1

2 7

2 9

1 3

1 4

3 2

3 1

1

8

1 0

R A 0 / A N 0

R A 2 / A N 2 /V R E F -/ C A P 1 / I N D X

R A 3 / A N 3 /V R E F +/ C A P 2 / Q E A

R A 4 / A N 4 /C A P 3 / Q E B

R A 5 / A N 5 /L V D I N

R B 0 / P W M 0

R B 2 / P W M 2

R B 4 / K B I 0 / P W M 5

R B 5 /P G M /K B I 1 /P W M 4

R B 6 /P G C /K B I 2

R C 0 / T1 O S O / T1 C K I

R C 1 / T1 O S I / C C P 2 / F L TA *

R C 2 / C C P 1 /F L TB *

R C 3 / T0 C K I / T5 C K I / I N T0

R C 4 / I N T1 / S D I / S D A

R C 5 / I N T2 / S C K / S C L

R C 6 / TX/ C K / S S *

R C 7 / R X/D T/ S D O

R D 0 / T0 C K I / T5 C K I

R D 1 /S D O

R D 2 / S D I / S D A

R D 3 / S C K /S C L

R D 4 / F L TA *

R D 5 / P W M 4

R D 7 / P W M 7

O S C 1 / C L K I N / R A 7

O S C 2 / C L K O U T /R A 6

V D D

A V D D

V S S

A V S S

M C L R * / V P P / R E 3

R E 0 / A N 6

R E 2 / A N 8

D 5

12 V 1

Element is used :

 We use Pic18f4431 for controller

 Lcd 16x2 is used to display

Element is used :

 Key pad is used to input the speed

 L298 is used to motor driver

 2 DC servo motor are actuator

Thank for your attention