Download - Thiết kế bộ điều khiển bám cho AGV dùng kỹ thuật tuyến tính hồi tiếp.DOC

Transcript
  • 7/25/2019 Thit k b iu khin bm cho AGV dng k thut tuyn tnh hi tip.DOC

    1/36

    0B GIO DC V O TO

    TRNG I HC K THUT CNG NGH TP. HCM

    ---------------------------

    V TH GM

    THIT K B IU KHIN BM CH!

    "GV #$NG K THUT TU%N T&NHH'I TIP

    (UN V)N THC *+Chuyn ngnh :K thut in

    ! "# ngnh: $% &' %' %'

    T,M T-T (UN V)N THC *+

    T() *+ C*, I*. th/ng 0' n12 '%0'

  • 7/25/2019 Thit k b iu khin bm cho AGV dng k thut tuyn tnh hi tip.DOC

    2/36

    1

    CHNG / GI0I THIU/./. T123 4562

    Thut ng3 456 7#t8 9ut ;h/t t< ti=ng >?@ AC?@h 457tE8 @F

    nghE H @6ng i@ tJ; L@h tMng N L@h 5""u2P" Qni?M"EH 57t"@RE KEM?H CE;?. n12 0S'0) CF H F H 2Ut gi W 7En Xu @h@/@ nh "/ng @h= thut Y nh3ng @Z @u. 2/y 2F@ 7[t @h\]@ @/@hJt Ung @Z 7[; @RE @n ng\^i)

    V h_ng n12 0S`S. @/@ 2/y @6ng @a iYu hibn "# ME ^i.nhc2 /; dng yu @Xu giE @6ng @/@ @hi ti=t tMng ngnh @h= tJ 2/y

    7Ey) 56 7#t H "e tf h; h_ n1ng hJt Ung Hinh hJt @RE @/@ @Z @u

    iYu hibn t< 9E ]i 2d@ U 4tMi thd@8 ngy @ng ;hng ;h @RE hth#ng iYu hibn th? @h\Zng tMnh "# @ng nh\ thut @h= tJ @/@

    7U @_2 7i=n. @6ng ngh H; tMnh @/@ ;h/t tMibn @RE tMj tu nhkntJ)Ut i "# Hiu Y "# H\ng M6 7#t \@ "_n 9ut N 2Ut i n\]@@6ng nghi; ;h/t tMibn nh\ 7_ng)

    Bng 1.1. S lng r bt sn xut mt s nccng nghip pht trin

    \]@ >l 12 0SS% 12 0SS` 12 0SSm

    ht $%)00m 'S)&$ $)%%%

    `)o' )$o` 00)0%%

    d@ &)m`& &)0'& m)$%%

    p ')&%% ')`%m `)%%%

    (h/; 0)`mm 0)0S ')%%%

    qnh &0% 0)%m$ 0)&%%

    AT>) (hJ2 1ng ;h\]@. n12 '%%. 4 Gi/ tMnh M7t8. h 9ut7_n Ji *r@ sng

    gy nEy. i@ ;h/t tMibn ti=n t]i te Ung hFE tMng @/@ ngnhEng tMN thnh n Y uEn tMrng @RE nhiYu u#@ giE. in @_nh tM\]@2[t H @/@ thi=t 7L in tv te Ung hFE \@ dng ang ngy @ng MUng

    M!i 2Eng HJi nhiYu hiu u_ @E tMng hXu h=t @/@ Hnh e@ inh t=.

  • 7/25/2019 Thit k b iu khin bm cho AGV dng k thut tuyn tnh hi tip.DOC

    3/36

    2

    thut @ng nh\ tMng ^i "#ng 9! hUi hcng ngy) Gi_i ;h/; @hn Y ny H 9ky eng @/@ 26 hnh M6 7#t te Ung hFE i @huybn

    7cng 7/nh nhc2 /; dng nhu @Xu the@ t= @RE @/@ ky @huyYn "_n

    9ut H h=t "d@ @Xn thi=t)56 7#t \@ "v ang b thEy th= @n ng\^i tMng nh3ng @6ng i@nh\:

    - C/@ @6ng i@ Hw; i Hw; HJi. nh2 @h/n. nwng nhr@: n @huybnnguyn t Hiu. H[; M/;. gi; t1ng n1ng "ut ti=t i2 "d@ HEUng @RE @n ng\^i)

    - TMng 26i tM\^ng h[@ nghit hw@ nguy hib2: ngi h_ngh6ng tMa. tMn @hi=n tM\^ng. \]i n\]@ "ku. tMng Hxng t. nZi @F

    ;hFng 9J. nhit U @E.)))

    - h3ng i@ xi hi U @hjnh 9/@ @E: H[; M/; @/@ @u tv tMng@/@ i 2J@h.)))

    *in nEy. @/@ thi=t 7L in tv te Ung hFE nh\ @/@ 9? te hnhAEutn2u" gui? ?hi@H? z qGV hEy M6 7#t i Ung 7cng 7/nh

    A{h??H? 27iH? 57t z |5 ngy @ng \@ "e uEn tk2 H]n@RE nhiYu ng\^i tMng nh3ng n12 gXn ky. @hng \@ dng angMUng M!i tMng @/@ ngnh h/@ nhEu nh\ @6ng nghi;. n6ng Hk2nghi;. y t=. L@h a)

    b h[@ ;ha@ nh3ng t}n tJi. /; dng nh3ng th/@h thd@ 2]i wt MEtMng 9u h\]ng tn @Xu hFE. the@ hin th[ng Hi @6ng @uU@ @6ngnghi; hFE. hin Ji hFE t n\]@) Th? uEn ib2 @RE t6i th @Xn

    ;h_i @F 2Ut t\ uy thEy fi uEn ib2 b 2N MUng dng ang @hd@n1ng te Ung hFE tMng @/@ ngnh @6ng nghi; L@h a @REn\]@ tE)

    /.7. T89 :;: 9 ?@23 :A2 23DE2 ?F5

    1. Structur!l "r#p$rti$s !n% &l!ssi'ic!ti#n #' (in$m!tic!n%)*n!mic +#%$ls #' ,h$$l$% +#bil$ -#b#ts/ 0u* &!mpi#n/0$#rg$s B!stin/!n% Brigitt$ )2n%r&!34#5$6 i777 tr!ns!cti#ns

    #n -#b#tics !n% !ut#m!ti#n/ 5#l. 18/ n#. 1/ '$bru!r* 199:.;1

  • 7/25/2019 Thit k b iu khin bm cho AGV dng k thut tuyn tnh hi tip.DOC

    4/36

    3

    2. ,+- c#ntr#l 5i! %*n!mic '$$%b!c= lin$!ri>!ti#n? +.@$n%itt$lli/ )$sign/ impl$m$nt!ti#n !n% $xp$rim$nt!l 5!li%!ti#n60ius$pp$ Ari#l#/ +$mb$r/ 777/ 2l$ss!n%r# )$ Cuc!/ +$mb$r6

    777/ !n% +!ril$n! @$n%itt$lli/ 777 Dr!ns.ntr#l. S*st. D$chn#l./@#l. 1E/ 4#. :/ pp. FGHIFH8/ 4#5. 8EE8.;J

    nhn thy

    T TA> q %=t< ;t Ao)'

    T> D IT n m U T n m U =. @F thb \@ i=t HJi

    nh\ "Eu:

    D DS +S> S T +S &S U> + + =&&

    Ao)0

    (h\Zng tMnh Ung He@ hr@ the@ "e @RE qGV ]i @/@ nhiu 7n ngi

    @F thb \@ 7[t ;h/t tMibn t< ;h\Zng tMnh Ao)0D D %S +S> S T +S &S U> + + + =&&

    %+> &> +&Ao)0m

    V]i :D T n m U T n m U+ S +S =

    D T n m U T n m U& S T +SZ&S U = &

    0 T n m U% %+

    0 T n m U%

    Ao)0S

    0 ' D

    % % %; ' '

  • 7/25/2019 Thit k b iu khin bm cho AGV dng k thut tuyn tnh hi tip.DOC

    20/36

    19

    TMng F:0

    m%'

    'm%'

    H @n tMn @RE @/@ nhiu)V@ tZ 7i=n tMJng th/i \@ Lnh nghE H:

    [ ]T ' 09 t B T n m U =

    Ao)'0D

    p p rM lM rM lMx *[ [ =

    DeE tMn @/@ 7ibu thd@ Ao)00. Ao)0m. Ao)0S Ao)'0. h th#ng Ung

    He@ hr@ @RE qGV \@ thb hin tMng @/@ hnh thd@ 26 hnh h6nggiEn tMJng th/i nh\ "Eu:

    0

    -0'

    % %>B9

    B

    n T n m U n

    %

    = +

    &&

    &

    Ao)''

    Gi_ "v Mcng "# H\ng @/@ y=u t# Xu @RE h th#ng

    r T n m U

    -0

    ! \@ 9=; hJngT n m U

    . @ tZ Xu @F thb thu \@:

    [ ]' u % +Ao)'o

    V]i:

    0u B T n m U &H 2Ut @ tZ iYu hibn Xu )

    T< 7ibu thd@ Ao)'o.7ibu thd@ Ao)'' \@ i=t HJi:

    0

    %>AB9 u A9 gA9u

    % I

    n T n m U

    T n m U T n m U T n m U

    &

    Ao)'`

    V]i :

  • 7/25/2019 Thit k b iu khin bm cho AGV dng k thut tuyn tnh hi tip.DOC

    21/36

    20

    ' 0

    0

    >ABA9

    %T n m U

    T n m U

    '%

    gA9 I

    n T n m U T n m U T n m U

    T n m U T n m U

    CHNG QTHIT K B IU KHINTU%N T&NHH'I TIP

    Q./ Vs2 ct ?h2 3DaD 45eO:Q.7 Pu2 :f? L c6 A6 3DaD rQ. TDO: qO `< cDt5 qDZ2 :5eO2 :f2 ]D :DOGi_ "v h!y 9?2 9t ;hi tuy=n h th#ng IO "Eu ky:

    9 A9 gA9u&

    A`)0

    y hA9A`)'

    TMng F:

    -

    ' 09 T n m U H @ tZ tMJng th/i)

    -

    0u T n m U H @ tZ iYu hibn Xu )

    -0y T n m U

    H @ tZ Xu ME)

    -

    ' 0A9 T n m U

    'gA9 T n m U T n m U

    0hA9C T n m U

    H @/@@ tZ h6ng giEn tMJng th/i)

    a@ tiu @RE @h\Zng ny H b thi=t = 2Ut 7U iYu hibn n \^ng@h ;h; qGV th? 2Ut @n \^ng 2ng 2u#n) V]i ;h\Zng tMnh

    Xu ME \@ thb hin 7Ni 2Ut @ tZ y nh\ "Eu:

  • 7/25/2019 Thit k b iu khin bm cho AGV dng k thut tuyn tnh hi tip.DOC

    22/36

    21

    [ ] [ ]0 ' 0 'y BD D

    * * h T U h T U= =A`)o

    TMng F:

    -0 h T U

    H h_ng @/@h ng[n nht t< ib2!"

    tMn qGV =n \^ng n2ng 2u#n)

    -' Bh T U

    H n t#@ tuy=n tjnhp5

    @RE ib2 ( @RE qGV r@ th? tMa@ l%)TMng tM\^ng h; 2Ut \^ng thng \@ 26 t_ 7Ni 7ibu thd@:

    %2x B* &+ + =

    0 0' '

    ! !! !2x B* &

    * T U h T x / * / U2 B

    + +

    = =+

    A`)`

    V' ' B p p* h T U x c#s * sin = = +& &

    ' rM lM p

    rT U 5 = + =

    A`)&TMng F:

    -! !T x / * U

    H trE U @RE ib2!"

    )

    -p p

    T x / * / U

    H Hin uEn =n @/@ 7i=n iYu hibn 7cng @/@;h\Zng tMnh "Eu ky)

    ! p !

    ! p !

    x x C c#s

    * * C sin

    = +

    = +

    A`)$C/@ iYu in Xu 9ut hin tMng @/@ ;h\Zng tMnh Xu ME h/@

    7it nh\ "Eu:

  • 7/25/2019 Thit k b iu khin bm cho AGV dng k thut tuyn tnh hi tip.DOC

    23/36

    22

    00 h0

    h00 h0

    t At>AtBt

    >tB At>AtB

    t

    h*

    T U*

    =

    =

    &&

    &&&

    A`)

    h00 h0

    >tB At>Atu

    t

    T U*

    =

    &&&

    A`)m

    ' h' h' ABB ABu* = =& &

    A`)SV]i :

    00h0 At

    t

    nh =

    0'h' AB

    B

    T n m Uh =

    H 2E tMn E@7iEn)

    E tMn

    t/@h Ming :

    K0 h0 'K

    K' h'

    At At>At AB AB

    T n m U

    A`)0%C/@ 2E tMn E@7iEn tMng 7ibu thd@ A`)0% @h @/@ \^ng thng\@ "uy ME t< 7ibu thd@ A`)& A`)$ nh\ "Eu:

    0h0 A

    h=

    ' '

    0

    %

    %

    D

    ! !

    2

    B

    BC c#s 2C sin2 B

    = +

    A`)00

  • 7/25/2019 Thit k b iu khin bm cho AGV dng k thut tuyn tnh hi tip.DOC

    24/36

    23

    V

    'h' AB

    B ' '

    h r r = = A`)0'

    T< 7ibu thd@ A`)m - A`)0%. 2E tMn t/@h Ming \@ "v ang b thi=tH; @/@ ;h_n h}i th6ng tin tuy=n tjnh Xu -Xu ME nh\ "Eu:

    0K K

    '

    y B u*

    *

    = =

    &&&&&

    &

    A`)0oV@ tZ Xu iYu hibn b Jt \@ Xu -Xu ME tuy=n tjnh\@ @hrn:

    -0KK

    u - B &

    A`)0`

    TMng F:

    - H @ tZ n t#@ @RE 7/nh 9?)

    -

    ' 0

    \@ Lnh nghE nh\ H @ tZ Xu iYu hibn 2]i@F Jng:

    00

    ''

    " p ) p %

    @ 5 %

    = $ = $ r

    = $ r

    + + = = +

    & &&

    &

    A`)0&

    V" ) @= / = / =

    H h "# \@ HeE @hrn b _2 7_ "e hUi ta th? h22 @RE @/@ Hi iYu hibn Y h6ng)V]i @ tZ"Ei "# L tMj n t#@ tuy=n tjnh \@ Lnh nghE nh\ "Eu:

    00

    ''

    ? p %

    5 %

    $ r *

    $ r *

    = =

    A`)0$

  • 7/25/2019 Thit k b iu khin bm cho AGV dng k thut tuyn tnh hi tip.DOC

    25/36

    24

    T< 7ibu thd@ A`)0& - A`)0. @/@ "Ei "# L tMj n t#@ @RE @/@ hth#ng xng h; jn \@ \E ME 7Ni:

    %p ) p " p$ = $ = $+ + =&& &

    A`)0m

    %5 @ 5$ = $+ =&A`)0S

    fn Lnh th? h2 2)

    Q.Q (5 c] 3DaD :5: cDt5 qDZ2 :5eO2 :f2 ]D :DO

    *nh `)0 \u } gi_i thut iYu hibn tuy=n tjnh h}i ti=;

    CHNG v KT wUx M PHyNGv./ w5z cXg 9g23 95>2 ?g "GV ={ |23 9@ }23

    *nh &)0 7ibu in u J 2ng 2u#n @h qGV @F Jng \^ngthng ]i @hiYu i H '.m'A2 @F Jng y 9) V]i @/@ y=u t#

    rd+-

    e( 4.15) ( 4.14)

    ( 3.23)u ( 3.22)

    W

    ( 4.1)x y

    I ~ I 3I5

    %

  • 7/25/2019 Thit k b iu khin bm cho AGV dng k thut tuyn tnh hi tip.DOC

    26/36

    25

    0 0 %2 / B / & .= = = Vn t#@ tuy=n tjnh 2ng 2u#n @RE qGV H

    ' % %&%

    r . ; m R s ={ |23 ?g `< cDt5 qDZ2 :5eO2 :f2 ]D :DO

    C/@ h "# @RE @ tZ ib2"/t Xu 2]i H:

    'o $"= . ; s

  • 7/25/2019 Thit k b iu khin bm cho AGV dng k thut tuyn tnh hi tip.DOC

    27/36

    26

    C/@ gi/ tML thE2 "# 7cng "# @/@ gi/ tML 7En Xu @h 26 ;hng

    thj nghi2 \@ \E ME tMng B_ng &)0 B_ng &)')

    B_ng &)0 C/@ gi/ tML th6ng "# @RE qGV

    KW hiu Gi/ tML \]n 5^ KW hiu Gi/ tML \]n 5^

    b % oS. ; m < Mm ' n&. ; = g Int?MnEtinEH Cn?M?n@? n Int?HHig?nt 57t" En>y"t?2" >En Di?g. 4Kin?2Eti@ En DynE2i@ CntMH E |h??H?

    7iH? 57t8.&2/ OS2/ Act 89 3 4#5 8/ 8EEN.0%) Mu Eng. Dng7ing Gu . T"ut2u itE . En *u"h?ng *u.4nHin?EM TME@ing CntMH O q CEM-i?27iH? 57t ViEDynE2i@ ??7E@ in?EMiEtin8.ntr#l 8EEJ/ Oni5$rsit* #' B!th/O(/ S$p 8EEJ. 00)5) i?MM En ) ) ?{i". ?HH{. I ntr#l #' !

    4#nh#l#n#mic +#bil$ -#b#t Osing 4$ur!l 4$tM#r=s/ 777

    tr!ns!cti#ns #n n$ur!l n$tM#r=s/ 5#l. 9/ n#. J/ Pul* 199F.

    0') ) *ung. TuEn) D) V. E?) >) I. *) K) Ki2 En >) B) Ki2.4tin CntMH O2niiM?@tinEH 7iH? (HEtM2 M TME?@tMyTME@ing Q"ing Int?gMEH >Hiing ? CntMHH?M8. nt$rn!ti#n!l

    #urn!l #' ntr#l/ 2ut#m!ti#n !n% S*st$ms T&2SU. VH) m. ) $.D?@?27?M '%00)0o) ?En-E@u?" ) >Htin? En |?i;ing i. 2ppli$% 4#nlin$!r

    ntr#l. (M?nti@?-*EHH Int?MnEtinEH. In@). 0SS0)0`) C z {EM" En >)V)";uMg?n. >Hiing 2? @ntMH:8 Th?MyEn q;;Hi@Etin. (M?nti@? z *EHH int?MnEtinEH. In@. 0SS0)

    0&) hn DyH?. BMu@? MEn@i". qHH?n TEnn?n7Eu2 A0SS%/ BE"i@Cn@?;t". hn DyH?. BMu@? MEn@i". qHH?n TEnn?n7Eu2.K$$%b!c=ntr#l Dh$#r*. E@2iHHEn (u7Hi"hing C). ;Eg? Ao0- `%)

    0$) ) K) *?Mi@ En q) GiMEM A8EEHU/ ??7E@ in?EMiEtin. )K) *?Mi@ En q) GiMEM . ntr#l #' 4#nlin$!r )*n!mic S*st$ms?Dh$#r* !n% 2pplic!ti#ns/;Eg? A0oo z 0$%)