Tom Tat de Tai Xe Hai Banh Tu Hanh - DHBK HCM

8/13/2019 Tom Tat de Tai Xe Hai Banh Tu Hanh - DHBK HCM

1/11

7/21/2005Xe scooter hai bnh tcn bng

Lun vn tt nghip ks

XE HAI BNH T CN BNGDI CHUYN TRNA HNH PHNG

GVHD: KS. V Tng Qun

SVTH: Mai Tun t

TRNG I HC BCH KHOA TP.HCM

CHNG TRNH O TO KSCHT LNG CAO VIT-PHP

BMN CIN T

7/21/2005 Xe scooter hai bnh tcn bng Page 2

Mc lc trnh by Nhim v lun vn

Tng quan ng lc hc m hnh M phng Phn ckh Phn in t

Ngun in in tcng sut cho ng c Cm bin o nghing v vn tc gc B phn x l v iu khin trung tm

Gii thut x l v iu khin Kt qu


TNG QUANNguyn l hot ng chnh

Thno l xe hai bnh tcn bng.

Cn bng B nghing

Nguyn l githng bng

Btu di chuyn


i trn mt nghing ca xe 3/4 bnh v xehai bnh tcn bng


2/11


TNG QUANSo snh cc loi xe

Nhcim

uim

Mt khi sdng nhiuKhng nhanh bng xe hiAn ton va phi

Khng th leo bc thangqu caoVn chuyn 1 ngi

Mt v tn sc khi sdng nhiu v leo dcKhng nhanh bng xehiKhng th leo bcthang

Gi thnhtKm linh hot trongxoay tr (con h)

Chim nhiu din tchNguy him khi leo dcnghing hn 10o

nhim (petrol car)Kh sa cha

Khng nhima nngLinh hot trong di chuynKhng tn nhiu scChim t din tch (1)Gi thnh va phi

Khng nhimt chim din tch (2)Gi thnh rD sa cha

NhanhLeo dc d dngTin nghi khiingtrngAn ton khi chy tcchm

Xe 2 bnh tcn bngXepXe 4 bnh


Tnh hnh trn thgii: robot 2 bnh

TOYOTA-Rolling JOEMt s ti v robot 2 bnh

nBot

Bender


Tnh hnh trn thgii: xe 2 bnh

Mt sdng scooter hai bnh tcn bng


NHIM V LUN VN

Xy dng m hnh

l thuyt iu khin

Thc hin

m hnh thc

Nguyn l cn bngTnh ton v xy dng hm trngthi tng tm hnh con lcngc.M phng m hnh bng vNNastran v MatLAB.

Thit kkhung sn ca mhnh.Cng sut in v in t(iukhin bnh xe).Cm bin (gc, v tr, vn tc) v

phi hp cm bin.Calibre cm bin.Biu khin trung tm.Lp trnh.


3/11


TM HNH CON LC NGCti Vit Nam

pht trin kh

hon chnh m hnhcon lc ngc. H Bch Khoa H Ni H Bch khoa Tp.HCM

Cha c ti vscooter 2 bnh tcn bng


Con lc ngc vs. xe 2 bnh tcn bng

C c ngu lc bnh xe, momen sn v lcy t

bnh tcng ln con lcNg voiu khin: ngu lc bnhxe C(t)Bnhxe lnnh hngn gc nghing ca conlc

Ch c tcng ca lc ca sn

i vi con lcNg voiu khin: lc f(t)Bnhxe ln khngnh hngngc nghing ca con lc

Khcnhau

Bn cht vt l phn con lc ngc: hotng v tr cn bng khng bnCthdng cng mt mhnhiu khin

Gingnhau

Xe 2 bnh tcn bngCon lc ngc


NG LC HC & M PHNG

ng lc hc m hnh xe 2 bnh tcn bng:


NG LC HC & M PHNGKt qu tnh ton: tm cc h thng bng hm trng thi

Tr ring ca A:

Eigenvalue Damping Freq. (rad/s)4.40e+000 -1.00e+000 4.40e+0000.00e+000 -1.00e+000 0.00e+0000.00e+000 -1.00e+000 0.00e+000-4.40e+000 1.00e+000 4.40e+000

Theo Lyapunov: cc c phn thcdng h nguyn thy khngn nh

rank(A)=4iu khin c cond(A)= 80.2510 kh iu khin va phi

Cn phi to mt vngiu khin n nh mi


4/11


5/11


NG LC HC & M PHNGKt ni gia Visual Natran v MatLAB

Cnh mt v tr

vNastran 4D avi1,2

Di chuyn vNastran avi1,2


NG LC HC & M PHNG

Kt qu tnh bng VisualNastran: cnh ti mt v tr

K = [-36.72 -39.76 -466.05-120.41]


NG LC HC & M PHNG

Kt qu tnh bng VisualNastran: di chuyn

K = [0 -39.76 -466.05-120.41]


THIT K& GIA CNG CKH

Cu trc ckh gm bnphn: Khung: inox 25, v inox

vung 25x25mm. Sn: nhm, dy 5mm, vng

chc. Tay li: inox vung 25x25mm,

v tay cm ca tay li: ngnha 21, di 250mm.

Hai ng ctch hp tronghai bnh xe c ng knh

40cm.


6/11


Kt cu ckh


Kt cu ckh


Kt cu ckh


S khi hot ng

Vi ieu khien

PIC 18F452

Gyro Accelerometer

MOSFET driver 1 MOSFET driver 2

Power MOSFET 1 Power MOSFET 2

ong c DC 1 ong c DC 2

Encoder 1 Encoder 1

Bien tr +cong tac ieu khien

LED hien th


7/11


IN TCm bin o nghing v vn tc gc

Cm bin gia tc:

Cm bin vn tc gc:


Cm bin o nghing: accelerometer vgyro

Trng trng

1g

Ng ra accelerometer

Acc= 1g*sin()

Cm bin gia tc:

o i lng gia tc (m/s2) Trng lc c gia tc 9.81 m/s2

c thdng gia tc kophng

Cm bin gyro

nhy cao 0,67mV/deg/s. Vn tc gc cao 300o/s c ci t sn tn hiu Vref=1,35V


Nhc im khi ch dngaccelerometer hoc gyro o gc

Cho c gc tnh D sai khi m hnh chuyn

ng

Trngtrng

1g

Chuynngthng

0.3g

Tng

1.04g

Cc nhyi vi chuynng nh

B tri khio gi tr gc tnh


GII THUT XL TN HIU O GCB lc tn hiu cc cm bin : b lc Kalman

Gii thut

Time Update(Predict)

Mesurement Update(Correct)

rate=q = q_m - q_bias

angle+=rate*dt

Pdot = A*P *A' + Q

P= P+ Pdot*dt

angle_m=read(accelerometer)

angle_error=angle_m angle

E=CPCT+R

angle+= K_0 * angle_err;

q_bias+= K_1 * angle_err;

( )PKCIP =

=

EPCt

EPCt

K

K

/0_

/0_

1

0


8/11


Gc v vn tc gc trc v sau khiqua b lc Kalman

-300

-250

-200

-150

-100

-50

0

50

100

150

1 8 15 2 2 2 9 3 6 4 3 50 5 7 6 4 7 1 7 8 85 9 2 9 9

Gyro mi (1.5+2.5)*3=12ms

Kalman

Accelerometer

-60

-40

-20

0

20

40

60

80

100

1 8 1 5 22 2 9 3 6 4 3 5 0 5 7 6 4 7 1 78 8 5 9 2 9 9

Tch phn gi trgyro

Kalman

Accelerometer

So snh gi tr vn tc gc trn gyro,o hm accelerometer v vn tc gc

sau b lc Kalman

So snh gi tr gc trn gyro (tchphn vn tc gc), accelerometer v

sau b lc Kalman


IN TCm bin o gc nghing ( accelerometer+gyro)


Cc mch in tkhcEncoder trn bnh xe


IN T

Mch iu khin trung tm


9/11


IN TB khuych i cng sut cho ng c


IN T

Ngun in:


GII THUT XL V IU KHIN

Chng trnh chnh

Ngt cao

c cm bin gc

Lc KalmanGi tr cn ng ra ng c

Ngt thp

V tr v vn tc

LED nhy

Thit lp gi trban u iu khin ng cv kim sot dng in


GII THUT XL V IU KHINChng trnh chnh

DCPWM1 = 0DCPWM2 = 0

RE1 = 1

Bao saiNgng ong c

LED 7 oan sang

END

Start

Thiet lap PortPort B: nga vaoPort D: nga raPort C, E: nga ra

Thiet lap A/D

Khoa cau H

Thiet lap PWMTimer2

PWM1=PWM2 = 0

AN0 -> AN4 Vref = AN3

PS 1:4 , PR2 = 0xFF

RB0=0 (cong tac)or AN4>0

Delay 1s

No

Yes

Delay 5s

Chay ong c

Yes

Khi tao ngatGIE, Timer0,

Timer 1

RB0 = 0

Qua dongBao sai

Ngng ongc

Yes

No

No

DCPWM1=0

DCPWM2=0


10/11


GII THUT XL V IU KHINX l ngt cao


GII THUT XL V IU KHINX l ngt thp

Encoder2

Hng 2 = 1 X2 =X2 -1

X2 =X2 +1

RETFIE

Yes

Yes

Encoder1

Hng 1 = 1 X1 =X1 -1

X1 =X1 +1

RETFIE

Yes

Yes


GII THUT XL V IU KHINiu khin ng c

Trang thai hng 1 != Hng 1 motoror

Trang thai hng 2 != Hng 2 motorThang 2 banh

A

DCPWM1=PWM1DCPWM2=PWM2

Delay 20ms

RET

Delay 20ms

DCPWM1=3%DCPWM2=3%

No

Yes

Thang 2 banh

DCPWM1=0DCPWM2=0

Delay 20ms

Hng 1 motor = Trang thai hng 1Hng 2 motor =Trang thai hng 2

RET

ao LED RD5


Bt u sdng xe 2 bnh tcn bng

Ttbc mt chn ln trng tm ca xe

Nu xe vn n nh, bc chn cn li ln xeHotng ca xe Platform mobile robot


11/11


KT QU THC HIN

Thit kv hon thin m hnh ckh xe scooter tcn bng trnhai bnh.

Thit lp m hnh ton v hm trng thi cho m hnh. Xy dng chng trnh m phng hot ng bng Visual Nastran v

MatLAB-Simulink. Tt c phn cng thit kcho xe hot ng theo yu cu. Phn mm iu khin kim sot scn bng v chuyn ch mt

ngi.


HNG PHT TRIN

To giao din gia vi iu khin ca scooter vi mt vi iu khin/my tnh khc, scooter c thng vai tr l mt platform chomobile robot.

Tng khnng ti trng ca xe ln hn 100kg, l phi gii quytvn in tcng sut.

Lm nh bt trng lng ca xe, bng cch chuyn i khung inoxsang khung scarbon.

Thay i ng cbnh xe tc chi than thnh loi brushless tng cng sut ngu lc vi cng cng sut tiu th.

Nng cao khnng thng gp khi di chuyn vn tc cao.


LI CM N

Xin gi li cm n n ng b v cha m, nhng ngi thn trong gia nh Thy V Tng Qun, gio vin hng dn lun vn Bmn Cin t, Trng i Hc Bch Khoa TP.HCM Qu Thy C tham gia ging dy chng trnh Ks

cht lng cao Vit Php kha 2000-2005 Cng ty my tnh Bch Khoa Th.S Trn Cng Binh, ging vin b mn Thit bin Nhng ngi bn cng hc

Hotng ca xe Platform mobile robot

Tom Tat de Tai Xe Hai Banh Tu Hanh - DHBK HCM

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