Hệ thống cửa thông minh tòa nhà

Tuy nhien cda tu dong cOng co rat nhieu loai tuy theo yeu cau ve muc dfch sd dung nhu trong luong cda, chieu cao hay phan mach dieu khien cda.. + Cda tu dong chi co 1 canh: Loai cda nay

BO MON TU DONG HOA

GVHD: NGUYEN SON TUNG

SVTH: Nguyen The Quan _2019607883Mai Xuan Thang _2019607884

DE TAI: HE THONG CVA THONG MINH TOA NHA

PHAN THUYET MINH:

- GIOI THIEU CAC LOAI CVA THONG MINH HIEN HANH

- KHAO SAT CAC LOAI CVA DONG MO TV DONG O HE THONG TOA NHA HIEN NAY

- PHAN TICH QUY TRINH CONG NGHE.

- CHON HE TRUYEN DONG

- THIET KE MAY BIEN AP

- GIOI THIEU CAC THIET Bl VA CAC LINH KIEN THIET KE.

- GIOI THIEU MOT SO CACH PHAT HIEN VAT THE.

- GIOI THIEU CHUNG VE ENCODER

- SV DUNG PHAN MEM MO PHONG

LOI NOI DAU 2

CHUONG I: CAC LOAI CUA TU DONG HIEN NAY 4

cuon 4

keo 6

troot 7

? / / "> / i /\ ■> /\ /\

CHUONG II: KHAO SAT CAC LOAI CUA DONG MO

TU DONG O HE THONG TOA NHA HIEN NAY 9

CHUONG III: PHAN TICH QUY TRlNH CONG NGHE 12

DONG 144.1: gidi thieu chung ve dong co 1 chieu 14

4.1.1: Cau tao dong co dien mot chieu 14

4.1.2: Phan loai dong co dien mot chieu 15

4.1.3: Nguyen ly lam viec cua dong co dien mot chieu 17

4.1.4: Phoong trinh dac tmh co cua dong dien mot chieu Uch to doc lap 17

4.2: gidi thieu ve dong co khong choi than 19

4.3: cac phoong phap thay doi toc do dong co 20

4.3.1: Phoong phap dieu chinh dien ap cap cho phan dng dong co 20

4.3.2: Phoong phap thay doi to thong dong co 22

AP 245.1: khai niem chung ve may bien ap 24

chung 24

5.1.2: Cac dai loong dinh mdc cua may bien ap 25

CHUONG VI: GIOI THIEU CAC THIET Bj VA CAC LINH KIEN THIET

KE 29

cdng 29

AT89C51 296.1.2: IC tao on ap 7805( IC on ap 5v) 31

GVHD: ThS.Ngo Sy DSng

6.1.3: Bo chuyen doi tuong tu sang so ADC 32

6.1.4: SENSOR CAM BIEN 33

6.1.5: IC dieu khien dong co L298 34

6.2: Phan mem 35

6.2.1: Phan mem mo phOng mach 35

6.2.2: Ngon ngd lap trinh 36

Chtfong VII: Gidi th'ieu mot so each phat Men vat the 38

7.1: phuong phat phat hien vat the dng dung cong nghe vi song 38

7.2: phuong phap phat hien vat the dua tren hieu dng dien quang 39

7.2.1: Te bao quang dan 39

7.2.2: Photodiode 40

7.2.3: Phototranzito 40

7.3: phuong phap phat hien vat the bang nhan dang hinh anh 41

7.4: cam bien tiep can dien cam 42

7.4.1: Cam bien tiep can dien cam 42

7.4.2: Cam bien tiep can dien dung 43

7.4.3: Cam bien tiep can quang hoc 43

7.5: cam bien hong ngoai 45

CH^ONG VIII: GO THIEU CHUNG VE ENCODER 47

8.1: khai niem ve encoder 47

8.2: cac loai encoder 48

8.3: mo hinh mo phong cda tu dong 53

CH^ONG IX: SU DUNG PHAN MEM SOLID WORK 2012 54

9.1: Giao dien chmh 54

9.2: Md mot file da co 55

9.3: Luu file 56

9.4: Ve cac doi tuong 2D 57

9.4.1: Ve cac bien dang 2D 57

9.4.2: Cac lenh chinh sda ve nhanh cac doi tuong 2D 58

9.4.3: Tao doi tuong 3D to doi tuong 2D 62

9.5: Ban ve lap 64

LOI NOI BAU

Trong xa hoi van minh hien dai, cda la mot bo phan khong the thieu duoc trong tdng cong trinh kien true Tuy nhien loai cda binh throng (cda khong tu dong) ma chung

ta hay dung hien nay lai co nhdng nhuoc diem gay phien toai cho nguoi sd dung do la: cda thuong chi dong md duoc khi co tac dong cua con nguoi vao no Vi vay ma dung cda thuong lam ton thoi gian va gay cam giac ngai cho nguoi sd dung

Viec thiet ke ra mot loai cda tien fch hon, da nang hon, phuc vu tot hon cho doi song con nguoi trong thoi diem xa hoi ngay cang hien dai va phat trien hien nay la tat yeu va vo cung can thiet Vi vay can thiet ke ra mot loai cda tu dong khac phuc tot nhdng nhuoc diem cua cda thuong

Muc dfch cua viec thiet ke cda tu dong la de tao ra duoc mot loai cda vda duy tri duoc nhdng dac trnh can co cua cda, vda khac phuc nhdng nhuoc diem ldn cua loai cda binh thuong

Do do, khi sd dung cda tu dong, nguoi dung hoan toan khong phai tac dung truc tiep len canh cda ma cda van tu dong dong md theo y muon cua minh Vdi tmh nang nay, cda tu dong mang lai nhdng thuan loi ldn cho nguoi sd dung:

Thu nhat, cda tu dong ro rang se dem lai cam giac thoai mai cho nguoi dung, loai

bo hoan toan cam giac ngai, kho chiu nhu khi dung cda thuong

Thu hai, neu nguoi dung cda dang be vac vat gi do (bang ca hai tay) thi cda tu dong khong nhdng chi tao cam giac thoai mai ma thuc su da giup nguoi dung, tao thuan loi cho nguoi hoan thanh cong viec ma khong bi can trd

Thu ba, sd dung cda tu dong se giup nguoi dung no do ton thoi gian de dong md cda' tuc la tiet kiem cho ho mot khoang toi gian du la rat nho nhung cOng co the rat can thiet trong nhip song cong nghiep hien dai ngay nay

Dac biet, d nhdng noi cong cong, cong sd, cda tu dong ngay cang phat huy uu diem Do la vi cda tu dong se giup cho luu thong qua cda nhanh chong de dang, cOng nhu se giam di nhdng va cham khi nhieu nguoi cung sd dung chung mot canh cda

Them vao do, hien nay he thong may lanh duo sd dung kha rong rai o' nhdng noi cong sO, cong cong Neu ta dung loai cda binh throng thi phai dam bao cda luon dong khi khong co nguoi qua lai de tranh that thoat hoi lanh ra ngoai gay lang phL The nhung dieu nay trong thuc te lai rat kho thuc hien vi y thdc cua moi nguoi O noi cong cong la rat khac nhau Do do, cda tu dong, vdi tmh chat la luon dong khi khong co nguoi qua lai

da dap dng duoc tot yeu cau nay

Chmh vi nhdng Uu diem noi bat cua cda tu dong ma chung ta cang phai phat trien dng dung no rong rai hon, dong thoi nghien cdu de cai tien va nang cao chat luong hoat dong cua cda tu dong de no ngay cang hien dai hon, tien fch hon

De nghien cdu mot cach chmh xac va cu the ve cda tu dong, can thiet phai che tao

ra mo hinh cda dong mO tu dong, mo ta hoat dong, hinh dang, cau tao cua cda tu dong

Td mo hinh nay t co the quan sat va tim hieu hoat dong cua cda tu dong, cOng nhu co the luong trudc nhdng khoi khan co the gap phai khi che tao cda tu dong tren thuc te COng td mo hinh co the thay duoc Uu nhuoc diem cua thiet ke ma td do khac phuc nhdng han che, phat huy the manh thiet ke canh cda Uu viet hon, hoan thien hon cho con nguoi

/ 7 .A ACHUONG I CAC LOAI CUA TU OONG HIEN

la rat Idn ve so luong va chung loai

1.1 Cda cuon

Hinh 1.2: Cda cuon ung dung cda gara o to

Hinh 1.3: Dong co cua cda cuon

Loai cda nay co uu diem la gon nhe tien dung va de sd dung, lai chi can dong co cong suat nho Loai cda nay throng duo dung cho gara o to No co t^nh kinh te kha cao

vi khong may kho khan khi lam duo loai cda nay

Nhung co nhuo diem la cda khong chac chan va de bi hong hon cac loai cda khac

1.2 Cda keo

Hinh 1.4: Cda keoLoai cda nay nhin rat la, vdi ket cau dan gian mot dong co dooc gan co dinh vdi tran nha Cda dooc dong co keo bang mot doan day Uu diem cua loai nay la don gian nhong hieu qua, so vdi loai cda cuon thi canh cda chac hon nhieu Co le nhooc diem cua loai cda nay la dong co gan vdi tran nha vi vay can phai gan du chac de chiu dooc sdc nang cua cda Vi vay trong thoc te ngodi ta ft sd dung loai cda keo nay do nhooc diem la phai gan du chac de chiu sdc nang neu khong se rat nguy hiem cho ngodi sd dung

1.3 Cda truot

Hinh 1.5: Cda troot Eurowindow

Loai cda nay co dac diem la co mot ranh truot co dinh cho phep canh cda th truot qua truot lai Loai cda nay thudng duoc sd dung trong nha hang, khach san,

co quan hay san bay, nha ga

Loai cda nay co uu diem la ket cau kha nhe nhang,tao ra mot cam giac thoang dat

va thoai mai va lich so rat thfch hop vdi nhung noi cong cong, co quan

Hinh 1.6: Cac loai cda truot thong dungLoai cda nay thiet ke rat toan ven, no co the nhan biet duoc ngudi, may moc cOng nhu loai vat co the di qua

Nhuoc diem cua loai cda nay la khong he chac chan, nhe nhang nhung khong co nghTa la gon gang ma nguoc lai co khi lai rat cong kenh

Co mot dieu khong the phu nhan do la tmh pho bien cua loai cda nay

CHUONG II KHAO SAT CAC LOAI CUA BONG

MO TU BONG O HE TH6NG T6A NHA HIEN NAY

Thong qua viec quan sat, tim hieu ve cda tu dong o' mot so dia diem tren Ha Noi hien nay, ta nhan thay cda tu dong duoc sd dung chu yeu O nhdng noi giao dich throng mai, nhdng cong sO ldn, 0 san bay, ngan hang va cac khach san ldn SO dT nhu vay la do nhdng noi nay co luong nguoi qua lai lon, dong thoi nhdng noi nay lai yeu cau co tmh hien dai, sang trong va tien dung Sd dung cda tu dong tai nhdng noi nay se phat huy duoc tat ca nhdng uu diem cua no

Tuy nhien cda tu dong cOng co rat nhieu loai tuy theo yeu cau ve muc dfch sd dung nhu trong luong cda, chieu cao hay phan mach dieu khien cda

Theo trong luong cda thi co cac loai sau: loai 200 kg/hai canh tai Cung van hoa hdu nghi Viet Xo,loai 180kg/2 canh tai ngan hang nong nghiep va phat trien nong thon Ngoai ra nguoi ta con chia ra lam hai loai theo so canh cda:Loai mot canh va loai hai canh

+ Cda tu dong chi co 1 canh: Loai cda nay chu yeu duoc dung trong 2 dieu kien nhu sau:

Mot la, nhdng noi yeu cau tmh hien dai, sang trong nhung lai co so luong nguoi di qua lai khong nhieu nhu cac khac san lon, nha nghi lon, hay cong sO ma khong co tmh chat giao dich

Hai la, nhdng loai cong co kmh thuoc lon dung 0 cac cong ty, xf nghiep hay nhdng ngoi nha lon

Ngoai ra con co the co loai cda tu dong ma chi co 1 canh dong mO tu dong con lai 1 canh la dong mO nhu loai binh thuong

+ Cda tu dong co hai canh: Loai cda nay duoc dung rong rai hon so voi loai cda tu dong 1 canh

Theo phan mach dieu khien, hien nay thi hau het nhdng loai cda tu dong moi deu dung loai mach phi tiep diem nhu tai toa nha 14 Lang Ha, khach san Horison Ngoai ra tai san bay Noi Bai do nhu cau giao dich va van chuyen hien dai

nen he thong cda tu dong d day dung phan mem logo de dieu khien De tim hieu sau hon trong cong nghe nay ta se phan t^ch he thong cda tu dong d san bay Noi Bai.

• Khao sat cda tu dong d san bay Noi Bai - Ha Noi

Hinh 2.1:Cu’a tu dong d san bay noi bai

Trudc cda ra vao noi ban ve va lam thu tuc bay cua san bay Noi Bai ca tang 1 va tang 2 moi tang co nhieu he thong cda tu dong Tat ca cac cda nay deu co ket cau co kh va hinh dang ben ngoai giong nhau Day la loai cda truot rat pho bien

Cda tu dong tai day sd dung he thong cda hai canh trong luong moi canh khoang

80 kg Dong co dung trong cda tu dong tai day la dong co mot chieu dieu chinh toc do bang phuong phap dieu chinh dien ap.He thong cda tai day khong dung he thong con lan phu ma thay vao do la sd dung hai gd sat co dinh xuong san

Cuoi hanh trinh md co dat mot cong tac hanh trinh de bao ve tranh cho cda khong chuyen dong vuot qua hanh trinh

Quan sat cda chuyen dong em thay cda chuyen dong vdi hai cap toc do Khi md cda cda md ra vdi van toc nhanh de kip thdi md ra tranh tinh trang ngudi phai chd doi cda

md gay cam giac kho chiu cho ngudi muon di vao, gan het hanh trinh md cda giam toc

va dung lai, khi cda dong cda dong vdi van toc cham hon so vdi luc md de tranh gay cam giac cho ngudi muon di vao tu dang xa.Gan het hanh trinh cda giam toc va dung lai chmh xac

Khi cda dang dong ma co tm hieu ngudi di vao thi cda se md ra vdi van toc nhanh sau gan cuoi hanh trinh thi giam toc va dung lai chmh xac d cuoi hanh trinh.Cam bien dung d day la hai cam bien quang: Mot cam bien dat d ph^a ben ngoai, mot cam bien dat d phfa ben trong cua canh cda de dam bao nhan biet va bao trn hieu khi co ngudi di

tu trong ra cOng nhu khi co nguoi di tu ngoai vao.Hai cam bien nay tren khung canh cda.Phuong thdc hoat dong cua loai cda nay la dung mach dieu khien khong tiep diem dung cac phan td logic thi co uu diem la re, viec hong hoc co the sda chda de dang, nhung no co mot nhuoc diem rat ldn la lam viec khong lau ben bang phuong phap dung

bo dieu khien logo, PLC Con cda dung phan mem dieu khien bang logo lai co uu diem

la la viec rat on dinh nhe em, tron nhung co nhuoc diem la gia ca dat, neu hong hoc rat kho sda chda.Do do hien nay tuy theo nhu cau sd dung va von dau tu khac nhau, ma viec dng dung loai cda nao cho phu hop

Ngoai ra qua viec quan sat vua qua em thay viec lap dat cda tu dong thudng duoc sap xep d nhung noi ma tam nhin co do rong ldn, khong gian rong va thudng co cac loai cda khac di kem nhu cda day hay cda cuon de tao them my quan.Cac cam bien dung trong cac loai cda tu dong co d Ha Noi hien nay deu la cam bien hong ngoai

A / \ A ACHUONG III PHAN TICH QUY TRINH CONG NGHE

Quy trinh cong nghe cua cda tu dong nhu sau:

Cda tu dong sd dung dong co mot chieu khong choi than kfch td bang nam cham vTnh cdu sd dung encorder de dieu chinh qua trinh thay doi toc do nhan biet ngudi va vat bang cam bien hong ngoai Cu the nhu sau:

+khi co tfn hieu ngudi hoac cda se md ra vdi toc do nhanh, khi gan den cuoi hanh trinh md cda giam toc do va ddng lai mot cach chmh xac

+d hanh trinh dong khi khong co tfn hieu ngudi hoac vat cda se dong lai vdi toc do nhanh, khi gan den cuoi hanh trinh thi cda giam toc do va ddng lai

+ khi cda dang dong neu co tfn hieu ngudi hoac vat thi cda lai md ra vdi toc do khi md cda

+khi cda dang md neu mat tfn hieu thi cda ddng lai khoang vai giay roi dong lai +thiet

bi dieu khien la bo dieu khien PLC S7-200 cua hang Siemens + phfa tren dung vi xd ly de dieu khien chd chay gom 5 chd T 0 T H 0 cu the nhu sau:

- khi cda md chd se sang td gida sang hai ben

- khi dong cua chd se tat dan td hai ben vao gida

Trong nghanh tu dong hoa dang kha la hot d Viet Nam, thi cda tu dong la mot trong nhdng san pham duoc nhieu ngudi ua chuong nhat Do cau truc an toan cho he thong an ninh cOng nhu tien loi sd dung va tham my nen hien nay no duoc sd dung kha nhieu tai cac thanh pho cOng nhu doanh nghiep cong ty Nguyen tac hoat dong cua no kha phdc tap nhat la loai cda tu dong sd dung mo to Hay cung tim hieu va rut ra nguyen tac hoat dong cua loai cda nay:

1)Bo phan Mo To

Loai mo to ma cda tu dong tai Viet Nam hay sd dung la loai mo to mot chieu, khong choi nan 24VDC, tuy vao loai cda ma dung loai 60W hoac 75W Vdi loai mo to nay cda tu dong co the hoat dong tot, lau hon ma khong bi nong Khi cda tu dong van hanh thudng khong bi rung hoac rung nhe do thiet ke cua moment xoat ldn giup cho may co the tang toc va tang luc khdi dong nhanh va he thong ga duoc

thiet ke dac biet

2) Bo dieu khien cua cda tu dong

Cda tu dong la mot san pham rat thong minh ngoai che do dong md thong thudng, no con co the ket hop vdi nhieu dung cu thiet bi hien dai khac nhu dau doc the, khoa dien

de dam bao anh ninh va an toan

Cda co the quay lai va doi hudng neu gap chudng ngai vat Day la mot chuc nang rat tuyet vdi cua cda tu dong, no giup ngudi sd dung hoac vat dung khi mac ket d cda se khong bi kep Nguyen tac cho hoat dong nay la gap vat can no se lai md ra va tu tu khep lai, neu gap 3 lan lien tuc nhu vay thi no se dung lai va chd lenh hoat dong trd lai tu mat than sensor

3) Mat than Sensor

Day la mot bo phan cam bien co do nhay cao va co tam quet cam ung vat can tot vdi toc

do kha nhanh

4) Hop ky thuat cda tu dong (Rail Base)

Duoc che tao bang nhom, co do ben va cung cao nham giup cho khung khong bi mon hay bien dang trudc va dap thong thudng khi dung

A A ACHUONG VI:CHON HE TRUYEN DONG

He truyen dong duoc sd dung la he truyen dong dong co dien mot chieu khong choi than kfch td bang nam cham vTnh cdu

Hinh 4.1: Bong ca dung trong mo h'mh cua tu dong

4.1.Gidi thieu chung ve dong co dien mot chieu

4.1.1 Cau tao dong co dien mot chieu A Phan tTnh

a Coc td chfnh

Coc td chmh la bo phan tao ra td trodng gom co loi sat coc td va day quan hch td ngoai loi sat coc td Loi sat lam bang nhdng la thep kT thuat dien hay thep cac bon day td 0.5 den 1mm ep lai va tan chat, cOng co the dungthep khoi Coc td duoc tan chat vao vo may nhd cac bu long Day quan kfch td duoc quan bang day dong boc cach dien va moi cuon day deu duoc boc cach dien kT thanh mot khoi va

tam son each d'len trodc khi dat len cac coc td Cuon kfch td dat len cac coc td Cuon kfch td dat tren cac coc td nay dooc noi tiep vdi nhau

b Coc td phu

000c dat xen ke vdi coc td chrnh, xung quanh cac coc td phu co day quan coc td phu Day quan coc td phu dau noi tiep vdi day quan roto, nhiem vu cua coc td phu la triet tieu td thong phan dng Tren vung trung trnh hinh hoc de han che xuat hien tia Ida dien tren choi than va co gop

c Vo may(gong td)

Dung de lam mach td noi lien cac coc td, dong thdi lam vO may Trong dong co dien mot chieu nhO va vda thodng dung thep tam day, uon va han lai, vdi dong co ldn thodng dung thep duc

B Phan quay ( phan dng )

a Loi sat phan dng

Loi sat phan dng dung de dan td.Thodng dung cac tam thep kT thuat dien ( thep hop kim silic) day 0.5 mm phu cach dien mOng d 2 mat roi ep chat lai de giam hao ton do dong dien xoay gay len Tren la thep co dap hinh dang ranh de saukhiep lai thi dat day quan vao

b Day quan phan dng.

Day quan phan dng la phan sinh ra suat dien dong va co dong dien chay qua, day quan phan dng thodng dooc lam bang day dong co boc cach dien Trong dong co nho thodng dung day co tiet dien tron, con dong co vda va ldn thodng dung day co tiet dien hinh chd nhat Day quan dooc cach dien can than vdi ranh cua loi thep

C

o gop

co gop (hay con goi la vanh gop hay vanh dao chieu) dung de doi chieu cua dong dien xoay chieu thanh mot chieu

4.1.2 Phan loai dong co dien mot chieu

Tuy theo cach mac mach kfch td so vdi mach phan dng ma dong co dien mot chieu dooc chia ra thanh cac loai sau:

+0ong co dien mot chieu kfch td doc lap

Khi nguon dien mot chieu co cong suat du ldn thi mach phan dng va mach kfch

td mac vao hai nguon mot chieu doc lap vdi nhau, luc nay dong co dooc goi la

dong co kfch td doc lap.' ' ' Ui

O

- KT

H'inh 4.2: Sa do nguyen ly noi day dong ca dien 1 chieu kch td doc lap

+Dong co dien mot chieu kfch td song song

KT

Hinh 4.3: Sa do nguyen ly noi day dong ca dien 1 chieu kch td song song Khi

nguon dienn mot chieu co cong suat vo cung ldn va dien ap khong doi thi mach kfch td thodng mac song song vdi mach phan dng, luc nay dong co dooc goi la dong co kfch td song song

+Dong co dien mot chieu kfch td noi tiep:

H'inh 4.4 : So' do nguyen ly noi day dong ca dien 1 chieu kich td noi tiep Dac

diem cua dong co kfch td noi tiep la cuon kfch td mac noi tiep vdi cuon day phan dng, nen cuon kfch td co tiet dien lon, dien trO nho, so vong ft, che tao de dang

+Dong co dien mot chieu kfch td hon hop:

Hinh 4.5: So do nguyen ly noi day dong ca dien 1 chieu kich td hon hap Dac

diem cua dong co nay la td thong cua may la tong hop cua cac cuon kfch td song song

va kfch td noi tiep Do vay no tan dung duoc nhdng dac tmh co ban cua hai loai tren tuy theo cach dau day de sd dung cuon day kfch td nao dong vai tro chu yeu

4.1.3 Nguyen ly lam viec cua dong co dien mot chieu

Khi dong dong co quay den toc do n dat dien ap Ukfch td nao do len day quan kfch td thi trong day quan kfth td co dong dien, va do do mach td cua may se co td thong, do trong mach phan dng co dong dien chay qua nen so toong tac gida td thong

va dong dien phan dng sinh ra mo men dong colam quay dong co

4.1.4 Phoong trinh dac tfnh co cua dong dien mot chieu kich td doc lap:

Ndu bo qua ton that thep thi mo men true dien co bang momen dien td, ta khieu la M, nghTa la: Mdt = Mco = M

Uu Ru + Rf

^ a k$ (k$)2 .Mdt (3)

Gia thiet phan dng phan dng duoc bu du, td thong ® = const thi phuong trinh dac tmh co dien (2) va phuong trinh dac tmh co la tuyen tmh, do thi cua chung duoc the hien nhu sau:

Hinh 4.6 a Dac tinh ca dien cua dong

ca dien 1 chieu

Hinh 4.6 b Dac tinh ca dong ca dien mot chieu kich td doc lap

Theo cac do thi tren khi lu =0 hoac M = 0 ta co:

Uu

a - — -ao k$

4.2.Gidi thieu ve dong co khong choi than

Nhu ten goi cua no, dong co khong choi than la loai dong co khong co choi than, vanh gop, nhdng bo phan can thiet trong cac dong co dien mot chieu thong thudng

Cau truc co ban cua dong co khong choi than la mot nam cham vTnh cdu quay vuot

qua cac vong day co dong dien chay qua Ve khna canh nay, no tuong duong

18

voi mot dong co d'len mot ch'ieu thong throng da hoan doi vi tn gida stato va rotor Trong ca hai troong hop, dong dien trong day dan phai thay doi coc tmh moi khi mot coc nam cham dich chuyen theo mot thd to nao do phai dam bao rang mo men dooc sinh ra co mot phoong duy nhat

Trong dong co dien mot chieu thong thoong, viec dao chieu coc tmh dooc thoc hien boi choi than va vanh gop Khi vanh gop co dinh trong roto, thoi diem chuyen mach dooc to dong dong bo hoa voi coc tmh thay doi cua to troong ma day dan voot qua

4.3 Cac phoong phap thay doi toc do dong co

Ve phoong dien dieu chinh toc do, dong co dien mot chieu co nhieu ou viet hon

so voi cac loai dong co khac, khong nhdng no co kha nang dieu chinh toc do de dang

ma cau truc mach loc, mach dieu khien don gian hon dong thoi lai dat chat loong dieu chinh cao trong dai dieu chinh toc do rong

Thoc te co hai phoong phap co ban de dieu chinh toc do dong co dien motchieu:

- Dieu chinh dien ap cap cho phan dng dong co

- Dieu chinh dien ap cap cho mach kmh to dong co

4.3.1 Phoong phap dieu chinh dien ap cap cho phan dng dong co

De dieu chinh dien ap phan dng dong co mot chieu can co thiet bi nguon nho may phat dien mot chieu kmh to doc lap, cac bo phan chinh lou dieu khien v.v Cac thiet bi nguon nay co chdc nang bien nang loong dien xoay chieu thanh mot chieu co sdc dien dong Eb dieu chinh dooc nho tm hieu dieu khien Udk vi la nguon co cong suat hdu han so voi dong co nen cac bo bien doi nay co dien trO trong Rb va dien cam

Vi td thong cua dong co gid khong doi nen do cdng dac tmh co cQng khong doi, con toc do khong tai ly tuOng thi tuy thuoc vao gia tri dien ap Udk cua he thong, do do co the noi phuong phap dieu chinh nay la triet de.

De xac dinh dai dieu chinh toc do ta de y rang toc do ldn nhat cua he thong bi chan bOi dac tmh co co ban, la dac tmh dng vdi dien ap phan dng dinh mdc va td thong cQng diyoc gid o' gia tri dinh mdc Toc do nho nhat cua dai dieu chinh bi gidi han yeu cau ve sai so toc do va ve mo men khOi dong Khi mo men tai la dinh mdc thicac gia tri ldn nhat

va nho nhat cua toc do la:

De thoa man kha nang qua tai thi dac tmh thap nhat cua dai dieu chinh phai co

mo men ngan mach la:

©Omax | p | / Mdm< 10

Vi the vdi tai co dac tmh mo men khong doi thi gia tri pham vi dieu chinh toc do cOng khong viuot qua 10 Doi vdi cac mayco yeu cau cao ve dai dieu chinh toc do va do chmh xac duy tri toc do lam viec thi viec sd dung cac he thong hd nh^ tren la khong thoa man duo

Trong pham vi phu tai cho phep co the coi cac dac tmh co tTnh cua truyen dong mot chieu kmh td doc lap la tuyen tmh Khi dieu chinh dien ap phan dng thi do cdng cac dac tmh co trong toan dai dieu chinh la nh^ nhau, do

do do sut toc tuong doi se dat gia tri ldn nhat tai dac tmh thap nhat cua dai dieu chinh Hay noi cach khac, neu dac tmh co thap nhat cua dai dieu chinh

ma sai so toc do khong vuO qua gia tri sai so cho phep, thi he truyen dong

se lam viec vdi sai so luon nho hon sai so cho phep trong toan bo dai dieu

Trong suot qua trinh d'ieu chinh d'len ap phan dng thi td thong kfch td dooc gid nguyen ,do do mo men tai cho phep cua he se la khong doi :

Mc.cp = K0dm Idm = Mdm

Do vay, dieu chinh toc do bang each thay doi dien ap phan dng la rat thnch hop trong trodng hop mo men tai la khong doi trong toan dai dieu chinh

4.3.2 Phu'Ong phap thay doi td thong dong co

Dieu chinh td thong kfch thnch cua dong co dien mot chieu la dieu chinh mo men dien td cua dong co M = K^lo va sdc dien dong quay cua dong co

Eo = K^© Mach kfch td cua dong co la mach phi tuyen, vi vay he dieu chinh dong co cOng la he phi tuyen :

Trong do rk- Dien trO day quan kfch thnch

rb - Dien trO cua nguon dien ap kfch thnch ©k - so vong day cua day quan kfch thnch

Trong che do xac lap ta co quan he :

Thodng khi dieu chinh td thong thi dien ap phan dng dooc gid nguyen bang gia tri dinh mdc, do do dac trnh co thap nhat trong vung dieu chinh td thong chnnh la dac trnh co dien ap phan dng dinh mdc, td thong dinh mdc va dooc goi la dac trnh co ban Toc do ldn nhat cua dai dieu chinh td thong bi han che boi kha nang chuyen mach cua

co gop dien Khi giam td thong de tang toc do quay cua dong co thi dong thdi dieu kien chuyen mach cua co gop cOng bi xau di, vi vay de dam bao dieu kien chuyen mach binh thodng thi can phai giam dong dien phan dng cho phep, ket qua la mo men cho phep tren truc dong co giam rat nhanh Ngay ca khi gid nguyen dong dien phan dng thi do cdng dac trnh co cOng giam rat nhanh khi giam td thong kfch thnch :

□HUONG V: THIET KE MAY BIEN AP 5.1 Khai niem chung ve may bien ap

5.1.1 Khai niem chung

May bien ap la mot thiet bi bien doi kieu cam dng co hai hay nhieu day quan ddng yen ho cam vdi nhau, dung de bien doi cac thong so dien ap va dong dien xoay chieu nhd hien tuong cam dng dien td

May bien ap hai day quan co the bao gom cac may bien ap mot pha hay nhieu pha co hai day quan so cap va thd cap khong noi vdi nhau ve mat dien Nang luong dien truyen td day quan nay sang day quan kia la nhd so lien he vdi nhau thong qua td trudng trong may bien ap

Day quan cua mau bien ap nhan dien nang cua ludi goi la day quan so cap Day quan con lai nhan dien nang td day quan so cap thong qua td trudng trong may bien ap Day quan nay co the noi vao ludi dien hoac cung cap troc tiep cho tai

May bien ap la mot thiet bi duoc sd dung rat rong rai, nhd cac may bien ap ma dien nang duoc truyen mot cach hieu qua td nha may phat dien den cac ho tieu thu De giam ton hao tren dudng day trong qua trinh truyen tai dien nang di xa, thi dien ap phai duoc thay doi qua nhieu cap do do tong dung luong cua may bien ap trong he thong dien phai ldn

Cac may bien ap phai duoc che tao theo nhdng dieu kien kT thuat hay nhdng yeu cau cua nhdng he thong tieu chuan, thoc hien cac chdc nang hoan toan xac dinh theo so bien doi dien nang

5.1.2.Cac dai lu'ofng dinh mUc cua may bien ap

Hlnh5.1 May bien ap dung trong mo h'rnh cda tJ dong

Cac tham so cua may bien ap bao gom cac dai luong dinh mUc cua may nhu sau:

-Dung luong dinh mu'c: dung luong dinh mUc cua may bien ap duoc hieu la cong suat

toan phan dua ra td day quan thU cap t^nh bang KVA hay VA Trong may bien ap hai day quan dung luong cua may bien ap la nhu nhau va bang dung luong dinh mu'c cua may bien ap

- Dien ap dinh mUc : Cac dien ap day cua moi day quan d cac dau day ra d che do dinh

mUc goi la dien ap dinh mUc cua may bien ap

-Dong dien dinh mu'c: la nhUng dong dien day cua day quan so cap va thU cap Ung vdi

cong suat va dien ap dinh mUc, no duoc t^nh bang ampe (A) hay kiloampe (kA) Dai luong nay duoc tmh theo dung luong dinh mu'c va dien ap dinh mUc cua moi day quan

I1dm =S1dm/U1dm V3 I2dm = S2dm/U2dm V3

-Tan so dinh mUc : tan so cua dong dien chay qua may bien ap goi

la tan so dinh mUc cua may bien ap, d nudc ta hien nay doi cac may bien ap thong thudng tan so nay la 50 Hz

Ngoai ra con co cac thong so ve dien ap ngan mach va dong dien

5.1.3 Cau tao may bien ap

Cac may bien ap thong thudng co ket cau gom cac phan sau:

- Day quan: la bo phan dan dien cua may bien ap, lam nhiem vu thu nang luong vao

va truyen nang luong ra Day dan thudng duoc lam bang dong Theo cach sap xep day quan cao ap va ha ap ngudi ta chia ra hai loai chmh la day quan dong tam va day quan xen ke

-Vo may: Vo may gom hai bo phan la thung va nap thung No co tac dung la bao ve

ruot may va lam thung dau

5.2.Che tao may bien ap

5.2.1: Tinh toan may bien ap

Do sd dung nhieu mdc dien ap de cung cap cho cac thiet bi hoat dong nen ta can co may bien ap Cu the co cac mdc dien ap sau khi quy doi nhu sau:

+ Dong co can cap dien ap de thay doi toc do la :

+Vi sd ly dung cuon:

5V lchieu (qua chinh luu + tu loc +on ap tuyen tmh) =5.5 V xoay chieu +Dau vao Encorder5V lchieu (qua chinh luu + tu loc + on ap tuyen tmh) =5.5 V xoay chieu +PLC: 12V lchieu (qua chinh luu + tu loc) =9.5 V xoay chieu

Td yeu cau cua viec thiet ke ta chon may bien ap co cac thong so sau:

+ dien ap cuon so cap: 220V

+Cac cuon thd cap co cac mdc dien ap sau:, 5V, 12V

H'mh 5.2: Cuon day sa cap va thd cap cua may bien ap

5.2.2 Tmh toan so vong day may bien ap

Thong so mach td cua may bien ap nhu' sau:

So vong day tren cuon so cap: W1=

U1 No= 2,3 220 = 506 vong

CHUmiG VI: GIOI THIEU CAC THIET Bj VA LINH KIEN THIET KE

A /

6.1 PHAN CUNG

6.1.1: Vi dieu khien AT89C51

Hinh 6.1: So do chan AT98C51

Y NGHlA CAC CHAN AT89C51

❖ 32 chan con lai chia lam 4 cong vao ra:

Vao ra tdc la co the dung chan do de doc mdc logic

❖ P0 td chan 39 den chan 32 tuong dng la cac chan P0_0 den P0_7

❖ P1 td chan 1 den chan 8 tuong dng la cac chan P1_0 den P1_7

❖P2 td chan 21 den chan 28 tuong dng la cac chan P2_0 den P2_7

❖P3 td chan 10 den chan 17 tuong dng la cac chan P3_0 den P3_7 Rieng cong 3 co 2 chdc nang d moi chan nhu tren hinh H1:

P3.0 - RxD : chan nhan dd lieu noi tiep khi giao tiep RS232

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P3.1 _ TxD : phan truyen du lieu noi tiep khi giao tiep RS232.

P3.2 _ INTO : interrupt 0 , ngat ngoai 0

P3.3 _ INT1: interrupt 1, ngat ngoai 1

P3.4 _T0 : TimerO , dau vao timerO

P3.5_T1 : Timer1, dau vao timer 1

P3.6_ WR: Write, dieu khien ghi du lieu

P3.7 _RD: Read , dieu khien doc du lieu

Chan 18, 19 noi vdi thach anh tao thanh mach tao dao dong cho VDK Tan so thach anh throng dung trong cac dng dung la: 11.0592Mhz (giao tiep vdi cong com may tinh) va 12Mhz Tan so toi da 24Mhz Tan so cang ldn VDK xd li cang nhanh

SI S2 S3 S4 S5

S6

Hinh 6.2: Xung dao dong thach anh

Rieng cong 3 co them chdc nang nhu' d^di day:

P3.0 - RxD : chan nhan du lieu noi tiep khi giao tiep RS232(Cong COM)

P3.1 _ TxD : phan truyen du lieu noi tiep khi giao tiep RS232

P3.2 _ INTO : interrupt 0 , ngat ngoai 0

P3.3 _ INT1: interrupt 1, ngat ngoai 1

P3.4 _T0 : Timer0 , dau vao timer0

P3.5_T1 : Timer1, dau vao timer 1

P3.6_ WR: Write, dieu khien ghi du lieu

P3.7 _RD: Read , dieu khien doc du lieu

Chan 18, 19 noi vdi thach anh tao thanh mach tao dao dong cho VDK Tan so thach anh thuong duoc dung trong cac dng dung la : 11.0592Mhz(giao tiep vdi cong com may tinh) va

Ngo ra OUT luon on dinh o' 5V du dien ap td nguon cung cap thay doi Mach nay dung de bao ve nhdng mach dien chi hoat dong 0 dien ap 5V (cac loai IC thudng hoat dong 0 dien ap nay) Neu nguon dien co so co dot ngot: dien ap tang cao thi mach dien van hoat dong on dinh nhd co IC 7805 van gid duoc dien ap 0 ngo ra OUT 5V khong doi.

Hinh 6.4: IC on ap 7805

IC on ap 7805 : Dau vao > 7V dau ra 5V 500mA Mach on ap: can cho VDK vi neu nguon cho VDK khong on dinh thi se treo VDK, khong chay dung, hoac reset lien tuc, tham chi la chet chip

6.1.3 Bo chuyen doi tuong tu sang so ADC

a Gidi thieu ve ADC 0804

Hinh 6.5: Bo chuyen doi tuong tu sang so ADC 0804 -

+ Khong yeu cau mot giao dien logic nao de ghep noi vdi VXL + Thdi gian chuyen

doi nho hon 100 n s + Co bo dao dong noi - Nguyen ly hoat dong cua ADC 0804:

ADC bat dau hoat dong khi chan CS va WR dong thdi d mdc thap (dch coc) Chan INTR dooc reset de d mdc cao ( khong dch coc ) Tm hieu analog o cac chan VIN+

va VIN- duoc dua vao lay mau va ma hoa trong 8 xung clock noi cua 0804 Sau do chan INTR dooc chuyen xuong mdc thap (tfch coc) bao hieu cho vi dieu khien qua trinh chuyen doi ADC da hoan tat Vi dieu khien dua tm hieu mdc thap vao chan RD cua

0804 de lay dd lien ra (Chan RD va CS co the duoc noi dat) Qua trinh chuyen doi tiep theo lai bat dau khi CS va WR nhan duoc tm hieu d mdc thap ( td vi dieu khien )

b So do lap mach ADC

V in+

Vin- _l

V FEF/2

10K d=150pF