Tgp Chi Khoa Hpc Gido Due Ky Thugt (32/2015) Trudng Dgi Hpc SuPhgm Ky Thugt TP Hd ChiMinh
T H m i KE HE THONG DIEU KHIEN XE GAN MAY LAI DESIGNING CONTROL SYSTEM FOR HYBRID MOTORCYCLE
Nguyin Ngoc Triiu', L§ Thanh Phuc^
'TruoTig Cao Ddng Nghi Long An
^Trudng Dgi Hoc Su Phgm Ky Thudt TP. Hd Chi Minh Ngdy toa soan nh$n bai 11/3/2015. ngay phan bten danh gia 21/3/2015. ngay chap nhan dang 27/3/2015
TOM TAT
Bdi bdo gidi thieu mgt kiiu xe gdn mdy lai duac cdi tien tie xe gdn may hieu Attila dai 2002 dd qua su dung. Tdc gid dung vi diiu khiin di diiu khiin dong ca difn DC cong sudt 400W hogt dong phdi hap vdi dong caxang vd ciing truyen moment quay din bdnh sau cua xe. Hai binh accu 12V-14Ah mdc ndi tiep nhau se cdp dien cho dgng ca diin. Hai binh ndy luon duac ngp ddy tit mdy phdt dien ciia xe khi dong ca xdng hogt dong. Trong sudt qud trinh hogt dong dien dp hinh accu, cuang do dong diin cdp cho he thong diiu khien vd dgng ca diin luon duac vi diiu khiin kiim tra, xie ly nhdm bdo ve accu vd todn bg he thong khong hi hu hong. Sau khi tiin hdnh thiit ki vd chi tgo hi thing diiu khien. tdc gid da dua vdo thie nghiim thuc te. Kit qud cho thdy cdc thiit bi ldm viec ddm bdo an todn. ddp ieng duac cdc yiu cdu de ra. Qua thie nghiem, chi phi nhien lieu gidm tit 10% din 18%. nong do HC gidm tie 18% den 50%, ndng do CO gidm tu 10% den 40% (tuy tieng che do tie do khde nhau) so vdi chi do xe chi chgy bdng dgng caxang.
ABSTRACT
The article presents a type of hybrid motorcycle improved from a used scooter Attila 2002.
The author has used microcontroller to control a DC electric motor with the power of400Wthat works in collaboration with the gasoline engine and the torque transmitted to the rear wheels of the vehicle. Each of two I2V-14Ah battery connected in series will supply power to the electric motor. These two are always charged hy the generator of the vehicle when the gas engine operates. During accumulator's charging operation, current is provided to the control system and electric motor is always checked by microcontrollers and processors in order to protect the accumulator as well as to make sure the entire system is not damaged. After designing and manufacturing the control system, the author has put it into the actual test. The results showed that the device worked safely and met all the requirements. Through the test compared with mode with only the gas engine, fiiel costs decreased by 10% to 18%, HC density decreased by 18% to 50%, the concentration of CO decreased by 10% to 40%, which depend on different speed mode.
I. G l d l THIEU
Hien nay, xe gan may la phuong tien giao dang dugc chii y va phat trien. Mdt sd nuoc thdng phd bien ciia ngudi dan Viet Nam, bdi tren thg giai da san xuit ra nhieu xe gan may nd dugc danh gia cao d raiic do linh hoat ca lai m§u ma dep. Trong nudc, de tai "Thiet kg nhan. The nhung, trong bdi canh nhign lieu he thdng truygn dpng xe gin may lai" cua Dao hda thach ngay cang can kiet va tinh hinh Trpng Cudng [1], da nghien cuu cai tao va lap d nhigm mdi trudng do xe may tao ra ngay rap them he thdng truygn ddng tir mpt ddng co cang cao, ngudi ta da dimg nhieu bien phap dien DC dg cung phdi hgp moment quay vdi dg tigt kiem nhign lieu va giam thigu chit thai ddng co xang dEn ddng banh xe sau trgn xe do chiing tao ra. Trong dd, ngudn ddng lire lai Attila ddi 2002. Toan bd he thdng truygn dpng
Tgp Chi Khoa Hpc Gido Dgc Ky Thugt (32/2015) Tnrdng Dgi Hpc Su Phgm Ky Thugt TP Hd ChiMinh dugc thiet kg la mdt cum chi tiet rdi, cd the
lap rap dg dang vao xe may. Dg tai "Nghign Cliu, thiet kg, lap dgt dpng co lai trgn xe gan may"cua Phgm Qudc Phong [4], dugc ap dung trgn xe Wave, d toe dp 40 km/h hd len, ddng CO xang hoat ddng, d toe dp thap hon 40 km/h, ddng eo dien hogt ddng. Thiet ke he thdng didu khidn bang vi digu khign sii dung phan raem AVR de dieu khien ddng ea dipn hogt ddng phdi hgp vdi ddng co xang va cimg truyen moment quay cho banh sau cua xe, nham tiet kiem nhign lieu va giam phat thai khi lara d nhiem mdi trudng la muc dich cua nghien eim nay.
IL CAU T^O VA NGUYEN LY HOAT DQNG
1. Cau t^o va nguyin ly hoat ddng cua he thong truyen lyc tu* dong c& dien din bdnh xe
Dpng CO xang din ddng true tiep banh xe sau. Dpng ea dien khi dugc vi digu khien cap dien tir 2 binh accu 12V mac ndi tiep nhau, se truyen moment quay dgn banh sau thdng qua hop truyen dpng. Day la kidu phdi hgp truygn ddng. Trong dd, ddng co xang ddng vai trd la ngudn nang lugng truyen moment chinh, cdn dpng CO dien chi ddng vai trd hd trg.
Hinhl: So dd khdi co ciu truygn ddng ciia ddng CO dien [1]
Hinh 2: So dd khoi co cau truyen dpng ciia ddng CO dien sau khi lap rap [1]
Loai dpng CO dipn sii dung trong bp truyen ddng lai la ddng co dien mdt chieu (DC). Cdng suat phat ra: 400W; dien ap su dung: 85 V; tdc dp cue dgi: 2.500 v/p; ddng tieu thu khdng tai:
5,8A; ddng tigu thu cue dai: 40A; moment cue dgi phat ra: 12Nm; moment lign tuc: l,70Nm.
2. Cau tao va nguyen Iy lam viSc cua hi thong dieu khiin
Vi cd hai ngudn nang lugng tir ddng co xang va dpng co dien cimg dan ddng banh sau ciia xe tgi cimg thdi diem. Do dd, de hai ngudn nang lugng nay lam viec eiing nhau thi tdc dp ciia banh xe va tdc dp cua ddng co dien phai bang nhau (vi ti sd truygn tir ddng ca dien den banh xe la 1 :1).
a. So do to chiic he thong dieu khien
*Cau tao
- Accu cung cap ngudn cho khdi mgch vi digu khien, mgch digu khign ddng co dien.
- Ddng CO dien lay ngudn boat ddng tii mach digu khign ddng co dien.
- Chip vi dieu khien atmega32 duge nudi vdi mite dien ap 5v va dugc cap tu khdi ngudn chuyen ddi dien ap accu thanh dien ap 5v, dugc tich hgp san tren mach vi dieu khien.
-Ngudn nudi cac cam bien se dugc cip tii mgch vi dieu khien vdi miic dien ap la 5v.
Tgp Chi Khoa Hge Gido Dgc Ky Thugt (32/2015) I Truimg Bgi Hge SuPhgm Ky Thugt TP. Hd ChiMinh
ACCU
Tin hieu dim ap tir accu
Cam bien do cucmg dp dong dien
Cam bien toe do banhxe Cim bien toe do
done CO dien
MACH SAC ACCU
Batt
MACH \ i 8 r i : u KHrtNATMEGA32
analog to digital converter
external intem^its
Timer
MAY PHAT
Mach dieu khien toe cadien
Dong CO dien
Hinh 3: So do to chirc he thdng dieu khien
*Nguyen ly hoat dong
- Khi banh xe quay, cam bien toe do banh xe se giri tin hieu ve mach vi dieu khign. Mach vi diSu khien bat dau xuat tin hieu PWM truyen den mach digu khien dgng co dien, dieu khien dong CO dien quay theo toe dp cua banh xe.
-Cam bien t6c do dpng eo di?n giri tin hieu hdi tigp ve mach vi dieu khien de vi dieu khien nh$n biet dupe toe dp dpng co dien quay chinh xac khong. Tit do dieu chinh xuat lai xung PWM.
-Cam bien do cuong dp dong dien diing 6k kiSm tra cucmg do dong di?n cua m^ch digu
khien dpng co dien va dpng co dien, bao ve vi diSu khijn, nh5m mue dich bao ve mach diSu khien dpng co 3i?n va d6ng co di?n, trdnh truong hpp qua dong bi ehay. Khi cucmg dp dong di?n qua Idn vupt mirc cho phep thi vi digu khign se ngat chg dp dieu khign dOng eo dien. Dpng eo dien ngimg hoat dpng -Gia tri di?n ap accu duge mach vi digu khign lien tuc kigm tra. Khi gia tri di?n ap accu qua thSp khong du yeu ciu ( < 18V ) thi mach vi digu khign se tit chg dp digu khign dOng eo dien. Dpng CO dien ngimg hoat ddng.
b. Sff ah nguyin 1^ timg bo ph^n
*Kh6i vi digu khien:
Tgp Chi Khoa Hge Gido Dgc Ky Thudt (32/2015) Truimg Bgi Hge Sir Phgm Ky Thudt TR Hd ChiMinh
m m
Hinh 4: So dd nguyen ly mach MCU (micro controller unit) 1 .Vi dieu khien Atraega32 4.Nhgn tin hieu tu cam bign 2. LCD_16x2 hign thi 5.Dgc gia hi dien ap accu 3.DigukhignPWM
*Khdi Driver:
m
.j,j-«=,„JL 'G
i 1
Hinh 5: So dd nguyen ly - Khi vi dieu khien khdng digu xung PWM, khdng cd ddng qua Oppto PC817, Tl ngat, Mosfet IRF3205 khdng dugc kich, dien ap cue S bang khdng. Motor khdng hogt dpng - Khi vi digu khign digu xung PWM, cd ddng qua Oppto PC817, T2 din, Mosfet 1RF3205 dugc kich va dSn, di$n ap cue S gan bang dien ap ngudn (12V), motor quay
- Khi vi digu khien ngit PWM dot ngot, motor
Driver digu khien ddng co
ngat dot ngpt, xuat hien siic dien dpng tu cam cd chigu nguge vdi ddng dien, lam cho dien the giiia 2 dau Mosfet tang cao, ngu vugt qua miic gidi han cho phep lam hdng Mosfet. Dl cd nhiem vu dap siic dien ddng tu cam.
- Do Mosfet dugc digu khign bing tin hieu PWM, hic la Mosfet dang d chg dp chuygn miic logic (ddng => ngit va nguge lai).Tai day Mosfet lam viec d chg dp khugch dai
Tgp Chi Khoa Hoc Gido Due Ky Thugt (32/2015) Trudng Bgi Hge SuPhgm Ky Thugt TR Hd ChiMinh
nghia la npi tro Mosfet tang cao. Thai gian *Kh5i chuygn ddi tin hieu tir xung sin thanh xay ra khugch dai rSt ngin nhung cung anh xung vuong va mach kiem tta dong dien qua huong mpt phin dgn su nong len cua Mosfet. dpng eo dien.
Vi vay gin dien trd RI dg xa khi Mosfet ngat.
^ %
Hinh 6: a) So do nguygn ly mach chuygn ddi tin hieu xung sin thanh xung vudng b) So do nguyen ly mach kigm tra cudng dp
ddng dien qua ddng ca dien - Nguygn ly mgch chuyen ddi tin hieu xung sin thanh xung vudng:
Dua vao chg dp so sanh cua Opamp LM358, ta xet nhanh 1 cua cam bien banh xe:
nd so sanh tin hieu dien ap V+ trgn cau phan ap R1,R6 va dien ap V- trgn can phan ap giiia R2,D3. Dien ap V- thay ddi khi dien ap tu cam bien dien tii chuyen pha. Ta cd 2 trudng hop
V- > V+ => Vout = OV, nguge Igi V- < V+ =>
Vout ^ Vcc = 5V. Nhu vgy dien ap ngd ra se la miic OV va 5 V.
Tuong tu nhu tren, tin hieu cam bien tdc dp ddng CO dien ciing chuygn tu xung sin thanh xung vudng.
- Dg do cudng dp ddng dien, sir dung cam bidn do ddng IC ACS 756SCA dua hen hieu ling Hall. Vout thay ddi tuygn tinh theo su thay ddi ddng dien lp dugc lay mau tir Motor.
c. Luu do thuat toan
Tgp Chi Khoa Hoc Gido Due Ky Thugt (32/2015) Trudng Bgi Hoc Su Phgm Ky Thugt TRH3 ChiMinh
KHOI TAO ADC: INTERRUPT: TIMER; PX\"M;
DOC D f UtX T f DnO; INTl: .ADC2;
TTvH TO.AN R A D I E N .iP VA CT'ONG DO DONG DIEN
TINH TOAN RA S 6 V O N G QU.^Y Ct"A B i N H XE VA
MOTOR
Iz. = ^
H I E N THI JLAN H I V H LCD
w
Bl£S AP <18^": CVaSG DO DONG Dl£N >15A
NGAT TTV Hl£U PWAI KHONG CHO MOTOR
SO SANH l 6 c DO QUAY CUA BANH XE V d l T 6 C D O QUAY CUA MOTOR
D r t r CmNH XUNG PWlil SAO CHO T 6 C D O D O N G CO PHU HOP \'ca T 6 C D O QUAY CUA BAN'H XE
Hinh 7: Luu do thugt toan digu khien Khai bao tien xir ly dg su dung cac ham ciia
thu vien dugc cung cap sin, khai bao cac kigu dii lieu cho bidn de sii dung cac bien nay trong chuong trinh. Khdi tao cac chiic nang ADC, INTERRUPT, TIMER, PWM, LCD bang each thigt lap bit cua cae thanh ghi trong vi didu khign. Cac chiic nang nay dugc su dung dg digu khign cac thigt bi ngogi vi va nhan du lieu tu cac thilt bi ngoai vi vao vi dieu khien.
Tir dd vi dilu khign sg xir ly, tinh toan cac dii lieu dugc nhan tir thiet bi ngogi vi. Sau dd hign thi cac thdng sd ygu cau len man hinh LCD.
Cac dii lieu dugc dpc vao vi dieu khien se dugc xir li va so sanh vdi diiu kien do ngudi lap trinh dat ra. Dua vao dd vi dieu khien se dua ra tin hieu dieu khien thigt bi ngoai vi sao cho chinh xac, diing vdi yeu ciu dat ra.
m . THT/C NGHIEM
Sau khi thiet ke va che tgo xong he thdng dieu khien, tien hanh thii nghiem kigm tra toan bd he thdng. Ket qua cho thay xe hogt ddng tdt d chg dp lai. Binh accu, cac vi mgch dien tir dugc bao ve tdt. Mgch sgc binh accu boat ddng tdt.
I. Kiem tra se ehay tren durmg va so sanh chi phi nhien lieu
Quang dudng chgy thii nghiem S = 20 km, Q la lugng nhien lieu tigu hao tren quang dudng S. Miic tigu hao nhien ligu tren quang duong 100km: q =
Tgp Chi Khoa Hge Gido Bgc Ky Thugt (32/2015) Trudng Bgi Hge SuPhgm Ky Thugt TR Hd ChiMinh
Bang 1: So sanh chi phi nhien lieu 6 hai che dp lai va khong lai
TT 1 2 3 4
Toe dp duy tri V
(km/h) 3(>t2 40±2 50±2 6()±2
Chi phi nhign lieu trung binh trgn quang ducmg 100km - q(Llt/100km)
Khong lai 2.78 2.57 3.13 3.28
Co lai 2.3 2.1 2.72 2.93
Lupng nhign lieu giam (Lit/lOOkm)
0.48 0.47 0.41 0.35
Ti le nhien lieu giam %
n.n
18.29 13.1 10.6 DO THI DAC TINH TIEU HAO NHIEN LIEU q(lit/100km)
l:Cbed$ khong lai 2: Cbi dp lai
VOan/i) Hinh 8; Do thi dac tinh tieu hao nhien lieu
Kgt lu jn: Trgn cimg mot loai dudng, miic tieu hao nhien heu khi ehay xe 6 chg dp lai giam 17%
-18% (tdc dp 30 km/h - 40 km/h), giam 10% - 13% (tdc dp 50km/h -60km/h).
2. Kilm tra va so s^nh nong d$ khi xii
Bang 2: So sanh thanh phin khi thai d hai chg do lai va khong lai TT
1 2 3 4
Toe AQ km/h
- 3 0 - 4 0 - 5 0 - 6 0
Thanh phan khi thai ppm vol HC
% vol CO ppm vol HC
% vol CO ppm vol HC
% vol CO ppm vol HC
% vol CO
Cheda khong lai
1590,33 7.53 1513 9.28 1675.67
8.52 1824.00
8.24
Che dp lai
943.66 6.69 740.67
5.68 1361.67
5.97 1485.33
4.96 Giam 646.67 0.84 772.33
3.6 314 2.55 338.67
3.28
Ti 1? % 40.66 11.15 51.04 38.79 18.74 29.92 18.57 39.81
Tgp Chi Khoa Hpc Gido Due Ky Thugt (32/2015) I Trudng Dgi Hge SuPhgm Ky Thugt TP. Hd ChiMinh \
Ket luan: Qua bang so sanh tren ta thay d cuiig mpt chg dp, khi chgy d chg dp lai thanh phan khi thai giam so vdi xe ehay d chg dp khong lai. Cu thg: Ndng do ppm vol HC d tdc dp ~ 30 -40 (km/h) giam hi 40% ddn 50 %, d tdc dp -50-60 (km/h) giam khoang 18 %.
Ndng dp % vol CO giam hi 10% dgn 40% hiy tiing ehd dp tdc dp.
IV. KET L U ^
Dg tai "Thigt kg he thdng digu khien xe gan may lai" da giai quyet dugc cac van de sau:
- Ung dung vi dieu khign dg digu khign ddng CO dien hoat ddng phdi hgp vdi ddng co xang va cung truyen moment quay dgn banh sau cua xe gan may ciing nhu dieu khien viee kigm tra, xu Iy dien ap binh accu, cudng dp TAI LIEU THAM KHAO
[I] Dao Trpng Cudng, Thiit ke he thong truyen dgng xe gdn mdy lai, LuSn van Thgc sT, Trudng Dgi hpc Su phgm Ky thugt TR Hd Chi Mmh, Nam 2014
[2] Ngd Dien Tap, A VR trong lap trinh C, NXB Khoa hpc va ky thugt, 2003 [3] Ngd Dien Tap, Ky thugt vi diiu khiin vai AVR, NXB Khoa hpc va ky thuat, 2003 [4] Phgm Qudc Phong, Nghiin cuu, thiit ki, lap dgt dgng ca lai tren xe gdn mdy, Luan van
Thae sT, Trudng Dgi hpc Bach Khoa Tp. Hd Chi Minh, 2007 [5] Tai lieu hudng din sir dung & bao tri xe Attila cua cdng ty SYM.
ddng dien cap cho mgch cdng suat, nham bao ve binh accu, mach vi dien tu va ddng co dien.
- Kgt qua thii nghiem cho thay d che dp xe lai chi phi nhign lieu va ndng dp CO, HC giara di mdt lugng dang kg.
- Loai xe nay rat phu hgp khi ehay trong thanh phd, khu vuc ddng dan cu ciing nhu viing ven thanh phd bdi nd phat huy hieu qua ro ret d tdc dp 30-40 km/h.
Tuy nhien, vi dg tai chi cai tign tir xe gan may da cd san va xe da qua sir dung ngn khdng dat ve my thuat. Cae chi tigu thii nghiem ve chi phi nhign lieu va khi thai ehi dimg Igi d mirc do so sanh khi xe lam viec d hai che do.
Do khdng cd bang thii xe may nen trong phan thu nghiem cdn gap nhigu han chg.
