ac servo

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Chng 1: GII THIU V SERVO MOTOR V DRIVER

1.1. ng c servo

ng c DC v ng c bc vn l nhng h hi tip vng h - ta cp in ng c quay nhng chng quay bao nhiu th ta khng bit, k c i vi ng c bc

l ng c quay mt gc xc nh ty vo s xung nhn c. Vic thit lp mt h

thng iu khin xc nh nhng g ngn cn chuyn ng quay ca ng c hoc lm

ng c khng quay cng khng d dng.

Mt khc, ng c servo c thit k cho nhng h thng hi tip vng kn. Tn

hiu ra ca ng c c ni vi mt mch iu khin. Khi ng c quay, vn tc v v

tr s c hi tip v mch iu khin ny. Nu c bt k l do no ngn cn chuynng quay ca ng c, c cu hi tip s nhn thy tn hiu ra cha t c v tr mong

mun. Mch iu khin tip tc chnh sai lch cho ng c t c im chnh xc.

ng c servo c nhiu kiu dng v kch thc, c s dng trong nhiu my

khc nhau, t my tin iu khin bng my tnh cho n cc m hnh my bay v xe hi.

ng dng mi nht ca ng c servo l trong cc robot, cng loi vi cc ng c dng

trong m hnh my bay v xe hi.

Hnh 1. Mt s loi ng c Servo trn th trng hin nay.

GVHD: Th.s on Minh Hi SVTH: Nguyn nh DngTrn Minh ThngNguyn Trn V

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1.2. Nhng loi ng c Servo ph bin

C 3 loi ng c servo s dng rng ri hin nay:

- ng c servo DC : Da trn nn tng ng c DC tc l ng c DC c

b iu khin hi tip.

Hnh 2. nh minh ha 1 ng c DC servo.

Hnh 3. Cu trc c bn 1 ng c DC servo.

- ng c servo R/C(Radio-Controlled) : L ng c servo c iu khin

bng lin lc v tuyn(iu khin t xa). Trong thc t, bn thn ng c servo khng

phi c iu khin bng v tuyn, n ch ni vi my thu v tuyn trn cc m hnh

my bay, xe hi.... ng c servo nhn tn hiu t my thu ny.


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Hnh 4. nh minh ha 1 ng c RC servo.

1. Motor

2. Bng in t

3. Dy ngun dng

4. Dy tn hiu

5. Dy ni t

6. Volt k

7. Trc bnh rng8. a trn nh km

9. V ng c

10. Encoder

Hnh 5. Cu trc c bn ng c R/C servo.

- ng c servo AC. ng c AC Servo c s dng rt rng ri trongcng nghip, trong cc nh my t ng m c th l iu khin v tr, vn tc cc c cu

servo, robot, chuyn ng chy dao trong my CNC


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Hnh 6. nh minh ha 1 ng c AC servo.

- ng c AC servo da trn nn tng l ng c xoay chiu 3 pha. ng c

xoay chiu 3 pha lm vic theo nguyn l cm ng in t. Khi cp in p xoay chiu 3

pha vo ng c, trong stato xut hin t trng quay, t trng ny tc ng ln roto

lm roto quay theo.

Hnh 7. Stato v dng in 3 pha.


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Hnh 8. Cu trc c bn 1 ng c AC servo.

1.3. ng c AC servo L Series SGML ca hng Yaskawa Nht Bn.

Hnh 9. ng c AC servo Yaskawa SGML-02AF12.


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1.3.1. Thng s k thut

Bng thng s k thut ng c AC servo SGML-02AF12

Cc thng s quan trng cn ch :

- Cng sut : 200 W

- Ngun cp : 200 V

- Mmen : 0.673 N.m

- Tc ti a : 3000 vng/pht

- Encoder : 1024 xung/vng

Bng thng s sn phm ca dng SGM servo motor:


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1.3.2. Cu trc chi tit

Hnh 10. Cu trc chi tit ng c AC servo dng SGML.

1.3.3. Kt ni vi Driver(servopack)

ng c AC servo kt ni vi Driver bng 2 ng cp chnh:

- Mt l ng cp ngun C4: gm 4 si dy nh hnh di.

Hnh 11. S chn u cp C4.


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- Chc nng cc chn ca u cp C4(ni trc tip vo Driver):

- Hai l ng cp tn hiu C9 ca Encoder ni vi cp CN2 ca Driver, l 1cng kt ni c 9 l:

Hnh 12. S chn u cp C9.


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- Chc nng cc chn ca u cp C9 v C9N(2 u cp ny ni vi nhau):

- Cp C9 c ni vi u cp C9N ca Driver:

Hnh 13. S chn u cp C9N.


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- Cui dy cp ny l u cp CN1 ca Driver. Di y l hnh v th t

chn ca u cp CN2 :

Hnh 14. S chn u cp 2CN.

- Chc nng cc chn ca u cp CN2 :

S kt ni vi Driver :

- Cp C4 gm 4 si dy U,V,W v GND s c ni vi driver theo th t

nh hnh di.

- u cp C9 kt ni vi u cp C9N c chuyn qua u cp CN2 v kt

ni vi driver v tr CN2 nh hnh di.


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Hnh 15. S kt ni dy vi Driver.

- Nh vy ng c AC servo nhn ngun cp t cp C4 hot ng. ngthi encoder cng xut tn hiu hi tip qua cp CN2 v Driver x l v iu khin

hot ng ca ng c.


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1.4. Servopack(Driver)

Hnh 16. Servopack SGDL - 01AS.

- S lc Diver L Series SGDL - 01AS ca hng Yaskawa - Nht Bn.

- B Diver SGDL - 01AS l b iu khin tc /Mmen ng c AC servovi chnh xc v tc cao.

- H tr ci t v iu khin bng mn hnh Operator.

- S dng connector CN1 36 cng vi 30 cng giao tip bn ngoi.

- 24 thng s t Cn00 - Cn23 c th ci t h tr vn hnh ng c servo.


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- iu khin ng c AC servo vi 3 cp tc .

1.4.1. Driver SGDL - 01AS

1.4.2. Nhng thng s k thut

- Ngun cp u vo : AC200 230V 50/60Hz 1 phase.

- Ngun ra : 0 230V max. 200W

Bng thng s sn phm ca dng servopack SGD:


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1.4.3. S cu to ca Driver

Hnh 17. S cu to ca Driver


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1.4.4. S kt ni bn ngoi ca Driver

Hnh 18. S kt ni Driver vi cc cng v thit b bn ngoi.

S chn ca connector CN1:

Hnh 19. S chn ca Connector CN1.


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Chc nng cc chn ca Connector CN1:

1.5. Hng dn s dng c bn mn hnh Operator OP03A.

Hnh 20. Mn hnh Operator OP03A dng ci t v iu khin.

- Mn hnh OP03A c dng ci t cc gi tr cho Driver nhm iu

khin ng c Servo theo hun hoc dng trc tip mn hnh ny iu khin ng

c servo thng qua Driver.


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Sau y l phn hng dn s dng mn hnh Operator OP03A

- Nhn phm MODE/SET chn ch ci t

- Dng cc phm tng gim iu chnh ch v cc thng s.

- Nhn phm DATA nu mun ci t thng s ca 1 ch chn.


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Phn tch cc Du hiu trn mn hnh

M t cc k hiu:


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Nhng m thng gp

Cch chn v thay i cc thng s ca tng ch

- n chn ch ci t

-n phm v thay i ch cit.


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- n phm hin th d liu cathng s ang chn

- n phm v thay i d liuca thng s ang chn

- n phm lu thng s gi tr ci t.

n led s nhp nhy, biu hin thng tin c lu.

- n phm ln na quay v ch ci t thng s Cn.

- Vi nhng hng dn trn, chng ta c th s dng mn hnh Operator

OP03A ci t nhng thng s n gin.

1.5.1. Bng ci t thng s tiu chun ca nh sn xut.Servopack SGDL c thit k c th kt ni vi nhng ng c thuc dng

SGML ca hng Yaskawa. D ,ta khng th kt ni, cp ngun ri cho ng c chy

lun m bt buc phi ci t cc thng s thch hp vi loi ng c Servo ta ang s

dng. Mi loi ng c c nhng thng s ci t ring c th hot ng. By gi ta


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s tin hnh ci t cc thng s tiu chun ca nh sn sut dnh cho ng c Servo

SGML 02AF12 theo nhng bng thng s di y.

Cc ch c bit:


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Cc ch thng dng 1:

Cc ch thng dng 2:


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- Vi nhng thng s trn khi ci t vo Driver ta c th iu khin ng c

mt cch c bn.

Chng 2: ENCODER V COUNTER

2.1. ENCODER

2.1.1. Gii thiu v phn loi

Encoder l tn gi chung ch cc thit b m ha. Trong thc t c rt nhiu

loi v hnh thc encoder khc nhau. Thng thng, i vi cc chuyn ng quay,

encoder dng qun l v tr gc ca mt i quay, bnh xe, hay trc ng c, hoc bt

k thit b quay no cn xc nh gc ca n.

Encoder c chia lm 2 loi: absolute encoder v incremental encoder.

Absolute encoder l encoder tuyt i, ngha l tnh hiu ta nhn c ch r

rng v tr ca encoder, khng cn phi x l thm.

Incremetal encoder l encoder m ha gia tng (encoder tng i), thng ch

c ti a l 3 vng l. Nu encoder c cng nhiu l trn a th thng tin nhn c cng

chnh xc. C mi ln i qua mt l, phi lp trnh thit b o m ln 1 n v, do

loi ny c tn la incremetal encoder (encoder m ha gia tng).

2.1.2. Nguyn l hot ng c bn ca encoder

Nguyn l c bn ca encoder l mt a trn xoay quay quanh trc, trn a c

cc l (hoc rnh). Dng n led chiu ln mt a. Khi quay, ch khng c l (rnh) th

n khng th chiu xuyn qua c, ch c l (rnh) th n s chiu xuyn qua. Pha


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mt bn kia ca a c t mt cm bin thu. Vi cc tn hiu c hoc khng c nh

sng chiu qua, ngi ta ghi nhn c n led c chiu qua l hay khng.

Gi s trn a c n l, th mi ln cm bin thu nhn c n ln tn hiu n led

th c ngha l a quay c mt vng.

2.1.3. phn gii ca encoder

2.1.3.1. Absolute encoder

phn gii ca encoder l mt thng s rt quan trng. Lm th no bit aquay c 1/2, 1/4 hay 1/n vng ch khng phi ch bit a quay c mt vng.Vi

mt s nh phn c 2 bit, chng ta s c 4 trng thi. iu ngha l vi mt s nh phn

2 bit, chng ta c th chia a thnh 4 phn bng nhau, v khi quay chng ta s xc nh

c chnh xc n vng. Tng t, vi mt s nh phn n bt, ta s xc nh c

chnh xc n 1/2n vng.

Cch thc xc nh 2n

trng thi ca a encoder:

Hnh 21 . a Encoder.

V d a encoder c 2 vng a (hnh trn). vng trong cng c mt rnh

rng bng 1/2 a, vng pha ngoi c 2 rnh i din nhau. Cn 2 led pht pht xuyn

qua 2 vng l v 2 cm bin thu quang.


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Gi s vng l th nht (vng trong), cm bin thu ang nm v tr c l h

th tn hiu nhn c t mt thu s l 1. vng l th hai, cm bin thu ang nm v

tr c l h th tn hiu nhn c s l 1. Kt hp 2 bit ta c s nh phn 11, chng ta

s xc nh c a quay ang nm gc phn t pha trn bn phi.

Nu a quay c 10 vng l th ta s qun l c v tr chnh xc n 1/210 vng

(1/1024 vng), hay cn gi l d phn gii ca encoder l 1024 xung trn vng (pulse per

revolution ppr).

2.1.3.2. Incremetal encoder

Li th ca encoder tuyt i th hin r rt trong trng hp gc quay nh v

ng c khng quay nhiu vng. Khi vic x l encoder tuyt i tr nn d dng cho

ngi dng. Ch cn c gi tr l chng ta c th bit ngay v tr gc ca trc quay. Tuy

nhin, nu ng c quay nhiu vng th iu ny khng c li, bi v khi ta phi x l

m s vng quay ca trc.

Ngoi ra khi thit k encoder tuyt i, nu i hi chnh xc cng cao th cn

cng nhiu vng l, dn n s gii hn v kch thc ca encoder, bi v vic gia cng

chnh xc cc l qu nh l khng th thc hin. Ngoi ra vic b tr dy n led v cmbin thu cng chim mt din tch rt ln trong trng hp ny.

Tuy nhin, iu ny c khc phc bng incremetal encoder mt cch kh

n gin. V vy, incremetal c s dng nhiu trong nhng ng dng hin i.

Nguyn l hot ng ca incremetal encoder: incremetal encoder s tng mt

n v khi c mt ln ln xung ca cnh xung, ngha l khi led qut qua mt l th

encoder s tng mt n v trong bin m.

m c s vng ng c quay v hn ch sai s xung tch ly (trong

trng hp c rung ng khng th kim sot c th gy ra sai s xung m c

encoder), mt l nh v c thm vo m s vng quay ca encoder (hnh di)


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Hnh 22 . Vng quay Encoder vi l nh v.

Ngi ta t hai n led lch nhau vng l hoc s dng 2 vng l v 2 cm

bin thu pht xc nh chiu quay ca ng c.

Hnh 23 .Xc nh chiu quay bng cch s dng 2 vng l v 2 b cm bin thu - pht.

2.2. COUNTER

2.2.1. Gii thiu counter HANYOUNG NUX GE6-T6D


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Hnh 24. CHnh 24. Counter.

Thng s k thut:

- Kch thc: 72x36x86 mm (chiu ngang x chiu cao x chiu dy)

- Loi: TOTAL (ch s)

- S: 999999 (6 s)

- Ch : 1 ch

- Ngun cp: 24V 60V d.c

- Tiu th in nng: ti a 9 VA

- Tc m : 1 cps/ 30 cps / 1k cps / 10k cps

- Ng vo: CP1, CP2, RESET. Mc cao: 4-30 V d.c, mc thp: 0-2 V d.c

- Tn hiu vo thp nht: thit lp phm vi tn hiu u vo: 0.1ms/ 1ms/

20ms

- Ngun ra: 12 V d.c ( 5%) ti a 100 mA


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- Nhit in tr: ti thiu 100 M

- Nhit mi trng: 20 ~ 65 oC

- m mi trng: -10 ~ 55 oC, 35 ~ 85 %

- Cp tn hiu sau 100ms k t khi c cp ngun

- Lu gi nng lng 200ms k t khi tt ngun in

2.2.2. Hng dn s dng counter HANYOUNG NUX

S ni dy:

Hnh 25 . S ni dy ca Counter.

Hng dn ci t

- Bc 1: Khi ng ch ci t thng s

Nhn gi phm trong 2 giy khi ng ch ci t

- Bc 2: Ci t ch b m cho counter


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Khi m hnh hin ch , ch 1 giy counter hin th ch c lp

trnh. Nu mn hnh hin th , tip tc n chuyn sang bc 3. Nu mn hnh

hin th , n chuyn sang ch , sau n chuyn sang bc3.

- Bc 3: Chn ch m v dng xung u vo

Mn hnh hin ch , 1 giy sau mn hnh s hin th ch m ang

c ci sn. V trong kit thc tp s dng counter m xung a ra t encoder ca

ng c servo nn ta chn ch . n chuyn sang bc 4.

- Bc 4: Ci t tc m cho counter

Mn hnh hin ch , 1 giy sau mn hnh s hin th tc m ci sn.

n chn tc m ti a l (10 kHz)

- Bc 5: Thit lp quy m

Mn hnh hin ch , sau 1 giy, tt c cc led s hin th s liu ci t

sn. n di chuyn qua tng con s, n tng gi tr ca s ang chn, n

gim gi tr s ang chn. i vi kit thc tp ny, thit lp gi tr l 000100 . n

chuyn sang bc 6.

- Bc 6: Thit lp quy m nhn


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Mn hnh hin ch , n di chuyn du chm qua cc con s. t

du chm sau s 1 ca dy s 000100 va ci t c h s nhn l 1. n sang

bc 7.

- Bc 7: Thit lp du chm thp phn

Mn hnh hin ch , Sau 1 giy mn hnh s hin 0000, nu c du chm

thp phn, n cho n khi du chm thp phn bin mt (khng s dng du chm

thp phn). n sang bc 8.

- Bc 8: Thit lp thi gian reset

Mn hnh hin ch , 1 giy sau mn hnh s hin th thng s thi gian

reset ci sn. Thng s ny nn ci theo mc nh ca h thng l . n sang

bc 9.

- Bc 9: Ci t trng thi b nh khi mt ngun

Mn hnh hin th , sau 1 giy mn hnh hin th ch ci t sn. C 2

ch l hoc . Chn Save th khi mt ngun, s liu counter ang m s

c lu li, khi c in tr li, s liu s tip tc hin ln. Chn Clear th khi mt ngun,

s liu m s b reset v mc nh ban u l 0. Trong kit thc tp ny chn ch

Clear. n sang bc 10.

- Bc 10: Ci t kim tra logic u vo


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Mn hnh hin th , 1 giy sau mn hnh s hin th u vo b m c

s dng ch no (NPN hay PNP). Trong kit thc tp ny, u vo b m c

ci t l NPN.

Lu : y ch l thng s kim tra cho bit u vo ca b m ang ch

no, khng th thao tc trn cc phm thay i ch u vo ca b m. n

sang bc 11.

- Bc 11: Thit lp kha phm.

Sau khi n bc 11, mn hnh s hin ln thit lp kha phm hin thi

ca counter. Cc ch kha phm gm: : khng kha phm. : khng th s

dng bt k phm no, ngoi tr phm . : khng th s dng phm

. : khng th s dng phm mt trc.


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Chng 3 : GII THIU KIT THC TP NG C AC SERVO

3.1. Hnh nh thc t KIT thc tp ng c AC servo.


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Hnh 26 . KIT thc tp ng c AC Servo.

3.2. Hnh nh thc t giao din chnh KIT thc tp ng c AC servo.


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Hnh 27 . Giao din chnh KIT thc tp ng c AC Servo.

3.3. Bn v thit k giao din chnh KIT thc tp ng c AC servo.


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Hnh 28. Bn v thit k mt n KIT thc tp ng c AC servo

3.4. Cc thng s thit k KIT

3.4.1. Hp ng KIT.

- Cht liu: c lm t thp, bn ngoi c ph sn tnh in.

- Kch thc: theo th t di x rng x cao l 400 x 300 x 220 (phn np hp

50, thn hp 170) n v mm.

- Phn thn hp c thit k gn thm 1 y gi thun tin cho vic c

nh cc thit b bn trong.

- Tm Mica kch thc 395mm x 295mm in thng tin v n c bt vt

ln trn np hp.

- Quay xch c gn bn hng thn hp.

- Np hp gn 4 phm gt h ng m hp mt cch thun tin.

- L cm ngun 220V v cng tc ngun cng c gn bn hng thn hp.

3.4. 2. Mt n KIT(giao din chnh).

- Cht liu: mt n KIT c lm t Inox.

- Nhng hnh v, ng dy c in bng cng ngh in la v n mn axit.

- Phn vin mu chnh l gii hn kch thc ca mt n KIT.

- Kch thc mt n KIT: 390mm x 290mm

- Nhng vng t mu xanh l nhng vng b ct b gn cc thit b ln

mt n KIT.

3.5. Cc thit b c gn ln mt n KIT.


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3.5.1. ng c AC servo.

Hnh 29 . ng c AC servo v vng trn Mica.

u trc ca ng c c gn thm mt vng trn Mica c vch k, vng trn

ny s kt hp vi vng chia trn mt n KIT gip ta xc nh c ng c quay

mt vng cha.

3.5.2. Driver.

Hnh 30 . Driver SGDL 01AS.

3.5.3. Hai cng kt ni ca Driver.


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Hnh 31 . Cng kt ni CN1 v CN2 ca Driver.

3.5.4. Cng tc iu khin.

Hnh 32 . Cng tc iu khin.

3.5.5. Nt cm dy in.

Hnh 33. Nt cm dy in.

3.5.6. Counter.


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Hnh 34 . Counter.

3.5.7. Bin tr Volume.

Hnh 35 . Bin tr Volume 2K.

3.6. S kt ni ca Driver vi cc thit b iu khin trn KIT thctp AC servo.


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Hnh36. S kt ni vi thit b iu khin ca Driver.

Hnh 37 . S ni dy iu khin Mmen.

Hnh 38 . S ni dy iu khin tc .

3.7. Kt ni thc t gia cc cng v thit b iu khin.

- Cng CN1-11 c iu khin bi cng tc :


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Hnh 39 . Cng tc CN1-11.


Hnh 40 . Cng tc CN1-12.


Hnh 50 . Cng tc START.



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Hnh 51 . Cng tc IU KHIN.

- Cng CN1-1 v Cng CN1-2 c ni vi cc nt dy:

Hnh 52 . Kt ni cc cng CN1-1 v CN1-2 vi bin tr.

- Cng CN1-3 v Cng CN1-4 c ni vi cc nt dy:

Hnh 53 . Kt ni cc cng CN1-3 v CN1-4 vi bin tr.

3.8. Mch in kt ni cc thit b

3.8.1. Bn v Capture.


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Hnh 54 .Bn v Capture.

3.8.2. Bn v mch in(Layout).

Hnh 55 . Layout.

3.8.3. S h tr kt ni linh kin.


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Hnh 56 . S kt ni linh kin.

3.9. Cc phn vng trn KIT thc tp

3.9.1. Phn vng Driver v cng kt ni

Hnh 57 . Phn vng Driver v cc cng kt ni.

Chc nng: Ni t Driver v cc cng lin kt vi Driver.

3.9.2. Phn vng chn ch iu khin.


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Hnh 58. Phn vng chn ch iu khin.

Chc nng: Ngi dng c th ty chn cc ch iu khin nh: o chiu

quay ng c, iu khin tc , iu khin mmen.

3.9.3.Phn vng iu khin.

Hnh 59. Phn vng iu khin.

Chc nng: Ni t cc cng tc iu khin chnh. Ngoi ra cn c s m t cu to

cc cng c lin kt vi cc cng tc iu khin.


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3.9.4.Phn vng Servo motor:

Hnh 60 . Phn vngServo motor.

Chc nng: Ni t ng c servo, kt hp vi vng trn chia gip ta xc

nh gc quay ca ng c.

3.9.5.Phn vng Counter v bin tr Volume:

Hnh 61. Phn vng Counter v bin tr Volume.

Chc nng: Ni t counter v bin tr Volume. Counter dng o s xung

ca Encoder, bin tr Volume dng iu chnh tc cng nh mmen cng ng c.

3.9.6. Phn vng s kt ni ng c v Driver.


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Hnh 62. Phn vng s kt ni ng c v Driver.

Chc nng: Gip ngi dng hiu r kt ni phn cng gia ng c servo v Driver.

3.10. Cc thit lp vn hnh ng c trong cc ch yu cu c bn.

M ngun ng c:

Set bit CN1-14 xung mc thp (0V), set bit CN1-13 ln mc cao (12V)

Ci t chiu quay mc nh:

- Ci t thng s CN-02 Bit 0:


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Trng hp CN-02 Bit 0 = 0: chiu quay thun s ngc chiu kim ng h (ch

1)

Trng hp Cn-02 Bit 0 = 1: chiu quay thun s cng chiu kim ng h (ch

2)

Trong kit thc tp s dng ch 2.

Vn hnh ch iu khin moment / tc (c o chiu):

Set thng s CN-1 bit A v CN-1 bit B ln 1 cho php chuyn i gia 2 ch

iu khin vn tc v iu khin moment.

Ch iu khin vn tc: Bit CN1-15 c set xung mc 0

Ch iu khin moment: Bit CN1-15 c set ln mc 1

ng c s quay thun khi in p tham chiu u vo dng. Khi in p tham

chiu u vo m, ng c s quay theo chiu nghch

Ci t moment tham chiu c bn

Thit lp d liu trong bit CN-13

Thit lp d liu trong bit CN-13 t 10 n 100. Thng s mc nh l 30

Trong trng hp d liu trong bit cn-13 l 30 (mc nh) th khi in p t vo

hai chn CN-1 v CN-2 l 3V, moment ng c s t nh mc (30 x 0.1 = 3V).

Ci t tc tham chiu:


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Ci t thng s t 0 2162. Mc nh l 500.

Trong trng hp thng s l 500, th 6V, ng c s t tc ti a l 3000

vng/ pht (3000/500 = 6V).

Vn hnh ch 3 cp tc mc nh:

Ci t thng s Cn2 bit 2 ln mc 1.

Quay thun : set bit Cn1-15 xung mc 0 (12V).

Quay nghch: set bit Cn1-15 ln mc 1 (0V).

Bng cc ch mc nh:

: Bit Cn1-11

: Bit Cn1-12

Phn hng dn tip theo s c nu r chng bi tp v hng dn thc

hnh.


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Chng 4: BI TP THC HNH V HNG DN CHI TIT

4.1. Bi tp 1: iu khin tc ng c.

Hng dn thc hnh:

Mun iu khin tc ng c, trc tin ta phi ni dy chn ch iu

khin tc :

Sau , ta gt cng tc qua bn TC .


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Tip theo, ta khi ng ng c bng cch gt cng tc qua ON.

Cui cng, iu khin tc ng c ta vn bin tr Volume.

4.2. Bi tp 2: iu khin mmen ng c.

Hng dn thc hnh:

Mun iu khin mmen ng c, trc tin ta phi ni dy chn ch

iukhin mmen:


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Sau , ta gt cng tc qua bn MMEN.

Tip theo, ta khi ng ng c bng cch gt cng tc qua ON.

Cui cng, iu khin mmen ng c ta vn bin tr Volume.

Lu : iu khin tc th ta c th kim tra bng mt thng hay dngcounter, tuy nhin iu khin mmen khng th kim tra bng mt thng m phi dng

tay kim tra.


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Cch kim tra mmen bng tay: Dng tay gi chc vng trn Mica, sau vn

bin tr Volume theo hng tng dn, khi ta c th cm nhn c sc ko(mmen)

ca ng c ang tng ln.

4.3. Bi tp 3: iu khin ng c chy thun nghch.

Hng dn thc hnh:

C hai cch iu khin ng c chy thun nghch:

- Mt l iu khin bng mn hnh Operator.

- Hai l iu khin bng thit b iu khin trn KIT thc tp.

4.3.1. iu khin ng c bng mn hnh Operator.

Hng dn vn hnh ng c servo bng mn hnh Operator OP03:

- n phm la chn ch ci t thng s

- MODE Cn, n phm v la chn thng s Cn-00

- n phm hin th d liu ca thng s Cn-00


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- n phm v thay i d liu thnh .

- n phm thit lp ch vn hnh k thut s.

- n phm t ng c servo ln trng thi ON.


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- n phm v vn hnh ng c.

- n phm ln na a ng c servo v trng thi OFF.

- n phm tr v . ng c tr v trng thi OFF

- n phm mn hnh tr v ch ci t thng s Cn.

Kt thc qu trnh vn hnh th bng mn hnh OP03A.

4.3.2. iu khin bng thit b iu khin trn KIT thc tp.

- Mun iu khin ng c chy thun, ta ni dy theo s sau:

Sau lm cc bc nh iu khin tc hoc mmen.


ng c quay thun khi phm c nhn gi.

ng c quay nghch khi phm c nhn gi.

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- Mun iu khin ng c chy nghch, ta ni dy theo s sau:

Sau lm cc bc nh iu khin tc hoc mmen.

4.4. Bi tp 4: Xc nh s xung/vng ca Encoder bng counter.

Hng dn thc hnh:

Mun xc nh s xung/vng ca Encoder bng Counter, ta lm nhng bc sau:

- Cp ngun cho KIT thc tp.

- Ni dy chy ch thun hoc nghch.

- Chnh ch iu khin tc hoc mmen.


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- Gt cng tc IU KHIN qua TC hoc MMEN:

- C th gt cng tc START khi ng ng c hoc lm bng tay.


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iu khin bng bin tr Volume:

Vn bin tr ng c quay tht chm, ta cn c vo vng chia xc nh

khi no ng c quay mt vng. Khi ta s xc nh c s xung/vng caEncoder bng Counter.

iu khin bng tay:

Ta khng khi ng ng c m dng tay vn vng trn Mica, cn c vo

vng chia xc nh khi no ng c quay mt vng. Khi ta s xc nh c

s xung/vng ca Encoder bng Counter.

4.5. Bi tp 5: Tm gii hn o ca Counter.

Hng dn thc hnh:

Mun tm ra gii hn o ca Counter ta c 2 cch:

- Tnh ton trn l thuyt.

- Dng bin tr Volume tm gii hn o ca Counter.


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4.5.1. Tm gii hn o ca Counter bng php ton.

c thng s ca Counter ta thy tn s o ti a ca n l 10KHz. Vi s

xung/vng ca Encoder l 1024 xung/vng. T suy ra tc quay ti a ca ng c

m Counter c th o c l:

= 9,765 vng/giy = 585,9 vng/pht

M tc ti a ca ng c l 3000 vng/pht suy ra gii hn o ca Counter

bng xp x 1/5 tc ti a ca ng c.

4.5.2. Dng bin tr Volume tm gii hn o ca Counter.

Mun tm gii hn o ca Counter bng bin tr, ta khi ng ng c ch

iu khin tc . Sau ta vn bin tr theo chiu tng dn. Ta quan st thy tc o

ca Counter cng tng theo.Ta tip tc vn bin tr tng khi Counter khng th o

c na. Khi ta s xc nh gc quay ca bin tr tm ra gii hn o ca Counter.

Khi , ta s thy rng gc quay ca bin tr khi t n gii hn o ca Counter

s xp x bng 1/5 gc quay ti a ca bin tr. T ta suy ra gii hn o ca Counter

cng bng 1/5 tc ti a ca ng c. Tc l xp x bng 585,9 vng/pht.

4.6. Bi tp 6: Kim tra loi ng c ang s dng bng mn hnh

Operator.


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Hng dn s dng mn hnh kim tra loi ng c ang s dng




- n phm v thay i d liu thnh

- n phm hin loi motor ang s dng


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- n phm 2 ln na tr v mn hnh chn bit d liu ca Cn-00

- n phm quay v ch ci t thng s Cn.

4.7. Bi tp 7: Vn hnh ng c 3 cp tc mc nh.

Hng dn thc hnh:

Ta dng mn hnh Operator thc hin.

c th vn hnh ch 3 cp tc mc nh, phi ci t thng s Cn-02

bit 2 = 1, iu c ngha l s khng th s dng mch analog iu chnh tc

ng c. Cc bc ci t:



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- n phm v thay i d liu thnh

- n phm t bit 2 ca Cn-02 ln gi tr 1.

- n phm lu gi tr va ci t. n phm thm ln na quay

v ch ci t thng s Cn.

Vn hnh: Thao tc hai cng tc CN1-1, CN1-12 v CN1-15(IU KHIN)

theo biu sau vn hnh cc cp tc v nh o chiu quay.


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CHNG 5: KT LUN

Nhng kt qu t c:

- Nm c nguyn l hot ng v ng dng ca ng c AC Servo.

- Thit k v hon thin m hnh KIT thc tp Servo Motor v Driver.

- Tm hiu v s dng Counter o tc ng c.

- Son tho cc bi th nghim thc hnh KIT thc tp.

Nhng kt qu cha t c:

- Cha thit k c m hnh iu khin ng c bng m phng cng tc hnh

trnh.

- Gii hn o ca Counter vn cn nh so vi kh nng cp xung ca Encoder.

Hng pht trin:

- Thit k giao tip vi my vi tnh iu khin ng c hot ng.

- Kt ni v dng PLC iu khin hot ng ca ng c.

- Thit k m hnh s dng bng ti kim tra mmen ca ng c.


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Danh sch ti liu tham kho

1. USERS MANUAL YASKAWA:

http://www.yaskawa.com/site/dmservo.nsf/LEG/TKUR-7E9LMQ/$file/SGDL%20User%20Manual%20-%20Position.pdf

2. Gii thiu v cc loi ng c Servo:

http://webdien.com/d/showthread.php?t=20220

3. Ti liu ng c servo ca nhm tc gi Lm Qunh Trang L Trng Hin

Nguyn Minh Trung on Hip i hc Bch Khoa Thnh ph H Ch Minh .

4. V mt s ti liu c nh km trong CD bo co.
http://www.yaskawa.com/site/dmservo.nsf/LEG/TKUR-7E9LMQ/$file/SGDL%20User%20Manual%20-%20Position.pdfhttp://www.yaskawa.com/site/dmservo.nsf/LEG/TKUR-7E9LMQ/$file/SGDL%20User%20Manual%20-%20Position.pdfhttp://webdien.com/d/showthread.php?t=20220http://www.yaskawa.com/site/dmservo.nsf/LEG/TKUR-7E9LMQ/$file/SGDL%20User%20Manual%20-%20Position.pdfhttp://www.yaskawa.com/site/dmservo.nsf/LEG/TKUR-7E9LMQ/$file/SGDL%20User%20Manual%20-%20Position.pdfhttp://webdien.com/d/showthread.php?t=20220

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