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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 chuyn ng 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.

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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 rng 8. 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 trong

cng 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 1

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

nh hnh di. 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. ng

thi 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 servo 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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vi chnh xc v tc cao.

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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

chn ch ci t

n phm

thay i ch ci

t.

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n phm thng s ang chn

-

hin th d liu ca

n phm v ca thng s ang chn

-

thay i d liu

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 a quay 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 cm bin 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: 20ms Ngun ra: 12 V d.c ( 5%) ti a 100 mA 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/

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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 trong 2 giy khi ng ch ci t

Nhn gi phm -

Bc 2: Ci t ch b m cho counter

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Khi m hnh hin ch trnh. Nu mn hnh hin th hin th , n

, ch 1 giy counter hin th ch c lp , tip tc n chuyn sang bc 3. Nu mn hnh , sau n chuyn sang bc3.

chuyn sang ch

Bc 3: Chn ch m v dng xung u vo , 1 giy sau mn hnh s hin th ch m ang

Mn hnh hin ch

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 , 1 giy sau mn hnh s hin th tc m ci sn. (10 kHz)

Mn hnh hin ch n

chn tc m ti a l Bc 5: Thit lp quy m

Mn hnh hin ch sn. n

, sau 1 giy, tt c cc led s hin th s liu ci t tng gi tr ca s ang chn, n

di chuyn qua tng con s, 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 sang

du chm sau s 1 ca dy s 000100 va ci t c h s nhn l 1. n bc 7. Bc 7: Thit lp du chm thp phn

Mn hnh hin ch thp phn, n thp phn). n -

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

cho n khi du chm thp phn bin mt (khng s dng du chm sang bc 8.

Bc 8: Thit lp thi gian reset , 1 giy sau mn hnh s hin th thng s thi gian . n sang

Mn hnh hin ch

reset ci sn. Thng s ny nn ci theo mc nh ca h thng l bc 9. Bc 9: Ci t trng thi b nh khi mt ngun

Mn hnh hin th ch l hoc

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

, 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

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. bc 11, mn hnh s hin ln thit lp kha phm hin thi : khng kha phm. . : khng th s

Sau khi n

ca counter. Cc ch kha phm gm: dng bt k phm no, ngoi tr phm .

: khng th s dng phm mt trc.

: khng th s dng phm

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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). mt n KIT. 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

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 thc tp 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 <CN1-11>:

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Hnh 39 . Cng tc CN1-11. Cng CN1-12 c iu khin bi cng tc <CN1-12>:

Hnh 40 . Cng tc CN1-12.

Cng CN1-14 c iu khin bi cng tc <START>:

Hnh 50 . Cng tc START.

Cng CN1-15 c iu khin bi cng tc <IU KHIN>:

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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 vng Servo 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 <IU KHIN> qua bn TC .

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Tip theo, ta khi ng ng c bng cch gt cng tc <START> 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 <IU KHIN> qua bn MMEN.

Tip theo, ta khi ng ng c bng cch gt cng tc <START> 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 dng counter, 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

la chn thng s Cn-00

n phm

hin th d liu ca thng s Cn-00

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n phm

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

vn hnh ng c. ng c quay thun khi phm ng c quay nghch khi phm c nhn gi. c nhn gi.

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.

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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 ca Encoder 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

la chn ch ci t thng s

MODE Cn, n phm

la chn thng s Cn-00

n phm

hin th d liu ca thng s Cn-00

n phm

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:

n phm

la chn ch ci t thng s

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MODE Cn, n phm

la chn thng s Cn-02

n phm

hin th d liu ca thng s Cn-02

n phm

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.

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