Do Thi Vu vd Dtg Tap chf KHOA HOC & CONG NGHE 86(10): 43-48 NGHIEN CLTU VA iTNG DUNG DIEU KHIEN SO VAO VIEC CAI TAO NANG CAP MAY PHAY VAN NANG 6P13B
B6 Thi Vu', Pham Dinh Tiep, Ngo Manh Tiln Truang Cao ddng Kinh ti Ky Thuat - DH TN TOM T A T
Dieu khien so vdi cac mach vdng phan hoi kin dam bao cho he thong on djnh va dam bao cac ehi tieu ve mat chat lugng dgng nhu: do qua dieu chinh, toe do, thdi gian dieu chinh...Do do viec img dung dieu khien so vao viec cai tao va nang cap he thong truyen dgng ban ciia cac may phay cii mang y nghTa thue tien.
Bai bao da nghien ciru va irng dung dieu khien so nham cai tao nang cap he truyen dgng ban an dao may phay 6R13B . Bang ket qua phan tich va tong hgp he thong so va viec thiet ke xay dyng phan cii'ng ciia he thong truyen dgng lam co sd cho viec tiep tuc nghien ciru ii'ng dung vao chuyen doi nhii'ng he thong truyen dgng ciia may cii sang he thong so ma he thong nay dang dugc nghien ciru va irng dung thye te.
'Til' khoa: He thdng truyen dgng sd, Mdy phay vgn ndng, he ihdng T-D, dgng ca mgi chieu, dieu khien lap.
DAT VAN DE
Trong nhung nam gan day viee ung dung he truyen ddng mdt chieu T - D vdi eac mach vdng phan hdi kin nham dao bao tdt cac chi tieu tTnh va dgng ciia he thdng ngay cang dugc sii' dyng phd bien, nd ed kha nang ung dyng eho he truyen ddng ed cdng suat nhd den cdng suat ldn.
Viec di sau nghien cuu va iing dyng dieu khien sd vao viec cai tao nang cap may phay van nang d xudng Cat ggt trudng Cao dang Kinh te - Ky thuat cd mdt y nghTa thye tien.
May phay 6P13B da dugc san xuat va dua vao sir dung tren 30 nam, hien nay nd van dang dugc sii' dyng. Ban may ed 2 truyen ddng can quan tam.
- Truyen ddng chinh (quay dao phay) la truyen ddng quay trdn nhd ddng eg khdng ddng bd rdto Idng sdc, lam viec vdi cdng suat khdng ddi, khdng yeu eau dao chieu quay khi dang van hanh.
- Truyen ddng an dao: Truyen ddng an dao tren may ed yeu eau phirc tap, yeu cau ve pham vi dieu chinh tdc do rdng, dac tinh co cd do cirng cao, do dn djnh tde do cao. He thdng truyen ddng an dao phai dam bao do tae ddng nhanh, diing may chinh xac, dam
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bao sy lien ddng vdi truyen ddng chinh khi lam viec ty ddng.
Ddi chieu vdi cac yeu eau nay thi hien tai truyen ddng ban may phay 6P13B chua dap ung dugc vx m,y ®- qu, cd chii yeu la diing tay gat co' khi va eac ham cat dieu khien ddng eat dien cho cac cdng tac vi the do ehinh xac khdng cao, vi the viec cai tao nang cap truyen ddng ban an dao may phay la can thiet.
Chon phu-gng an cai tao va nang cap truyen dong ban may phay
De cai tao nang cap truyen ddng ban may phay d tai xudng trudng Cao dang Kinh t l - Ky thuat cho dap u'ng vdi yeu eau nhu: pham vi dieu chinh tdc do rdng. do dn djnh toe do cao ed the diing 2 he truyen ddng ma gan day ngudi ta sii dung dd la:
- He dieu khien vector bien tan ddng ca 3 pha.
- He thdng Thyristor - Ddng ca.
Qua phan tich ta thay ca hai he thong deu dap irng dugc cae yeu cau truyen ddng ban may phay. Tuy nhien xet cau true ciia he thong cu ciia may vdi myc dich dl cai tao va nang cip thi he T-D mang tinh kha thi ban.
Thiet ke he thong truyen dong so cho truyen dong ban an dao may phay
De khao sat dn djnh cu the ciia mdt he thong truyen ddng ta tiln hanh tinh chgn cac thdng sd va thay vao eac cdng thuc tinh toan.
Tap chi KHOA HOC & CONG NGHE 86(10): 43-48 Sa do khdi;
X D MVT
=
Hinh L Sa do khoi he thong truyen dgng so On dinh mach vong ddng dien
* Tong hop mach vdng ddng dien
Til' sa do cau true ciia he thdng ta cd sa dd mach vdng ddng dien dudi day;
Hinh 2. Sa do cau triic mach vong dong dien Ap dyng cac djnh luat ve ham so truyin dat eho cac khdi 1,2 ta cd:
R|(2) -
l+T.s+T.,T,-s' Rl(s)
Hinh 3. Sa do cau tnic rut ggn mach vdng ddng dien Vdi cae sd lieu tinh toan nhu sau:
T = 0,00165 Kp =0,25 ; K, =42
Sau khi thay sd va bien ddi ta dugc kit qua nhu sau :
Ham truyen he kin cua mach vdng ddng dien la:
H'JZ)
" ; 7 ( ^ ) =
\ + W,{Z)
D,Z- +D,Z- + D^Z + D„
(1 + Z), )Z' + (C, + D, ) Z ' + (C, + D, )Z + C„ + Z)„
W (Z) - ^^^^ - ^'^' * ^'^' ^ -^'^ ^ ^°
C,(Z) E,Z'+E,Z' +E,Z + E„
Thay sd vao ta cd:
Eo = -3,4181 E, = 11,8326 E: = - 13,6669
E3 = 5,2945
* Xet on djnh mach vdng dong dien
Tir ham truyen dat he kin ciia mach vdng ddng dien thay sd va bien ddi ta dugc ket qua nhu sau;
Go = 0,0421 G| =0,6383 G, = 7,4635 03 = 34,2122 Ta cd;
GoV^ + G|V-+G2V+G3 = 0
0,0421.V^+0,6383.V- + 7,4635.V-H34,3122=0 Xet dn djnh cho mach vdng ddng dien theo tieu chuan dn djnh Routh:
Theo tieu ehuan Routh, de cho mach vdng ddng dien dn djnh thi dieu kien can va dii la:
G o > 0 ; G , > 0 ; N o > 0 ; N , > 0 Vay ta thay:
0,0421>0; 7,4635>0;5,2073>0; 34,2122>0 Vay khi ta chgn cac he sd Kp va K, cho bg dieu khien ddng dien va thdi gian lugng tii' T phai dam bao dieu kien tren thi mach vdng ddng dien dn djnh.
On djnh ciia mach vong toe do
* Tong hcrp mach vdng toe do
Sau khi tdng hgp mach vdng ddng dien ta tong hgp mach vdng tdc do theo sa do khdi sau:
Uo.(Z)
"<?H
Ro(z) W K I ( Z ) Wn(Z) n(Z)Hinh 4. Sa dd cau triic mach vdng tic do Vdi cac sd lieu tinh toan nhu sau;
T = 0,00165 Kp = 0,25 K, = 42 Ka)=0,0006
Ham truyen he kin cua mach vdng tdc do:
W„„(Z)
W K „ ( Z ) =
• + Wo„(Z)
Dd Thi Vu vd Dtg Tap chi KHOA HOC & CONG NGHE 86(10): 43-48 _ K,D,Z' + K,DX' + K,DX- + K,D,Z
F,Z'+ F,r + P.Z^-^ F^Z -F, _ n{Z)
Trong dd:
Fo = -Eo; F| = KoDo + EQ - E,; F, = KoD, + E, - E,; F3 = K0D2 + E2 - E3;
F4 = K0D3 + E3 Thay sd vao ta dugc:
Fo = 3,4181; F, = - 15,9200; F, = 27,7740; F,
= -21,5483;F4 = 6.2856
* Xet on djnh ciia mach vdng toe do Tir ham truyen dat he kin ciia mach vdng tdc do:
W,..,iZ) : K„D,Z' + K,D,Z' + K^D.Z- + K,D,Z F,Z'+ F,Z' + F^Z^ + F,Z - F, _ n{Z)
U,..{Z)
Ta ed phugng trinh dac tinh:
F^Z" + F3Z' + FjZ^ + F|Z - F, = 0 6,28562"-21,5483Z' + 27,7740Z- -15,9200Z + 3,4181 = 0
Ddi bien 2 = 1-ti Tacd:
V -\
•&i^,
E\-^\+P\T—A +P V+\\ JV+]]
c^P+P+P+P+F,)V+{4p+2p-2p-4Fg)V' +{6p -2F, +6F„)V' +X4p -2F,+2p-4F^)V +I']-F,+F,-p-\-p=0
Dal;
Q^^=F,+F+F+p+F,
Q, =4F,+2F,-2p-AF, Q,^6F,-2F,_+6F,
Q,=4F,-2F,+2F,-4F, Q^=F,-F,+F,_-F,+F,
Thay so vao ta cd: Qo = 0,0094; Q, = 0,2130;
Q2 = 2,6741; Q3 = 22,7266;Q4 = 74,9460 Ta cd :
Q4V" + Q3V- + QjV- + Ql V + Qo = 0
74,9460. V' + 22,7266. V- + 2,674 l.V' + 0,2130.V +0,0094 = 0
Ta xet dn djnh cho mach vdng tdc do theo tieu chuan Routh.
Theo tieu chuan Routh, de cho tdc do dn djnh thi dieu kien can va dii la:
Qo > 0; Q, > 0; Ro > 0; R, > 0; So > 0 0,0094>0;0,2I30>0; 1,6743>0; 13,1900>0;
74,9460>0
Vay khi chgn cac he sd K,,, cho bd dieu khien tde do sd va thdi gian lugng tii' T ta phai dam bao dieu kien tren thi mach vdng tdc do dn djnh.
Chat Ingng ciia mach vong ddng dien va mach vdng tdc do
*Mach vong dong dien
Ta tien hanh tim cac gia trj Kp va K; cua bd dieu khien ddng dien Ri(Z) irng vdi tirng gia trj thdi gian lugiig tii' T de cho mach vdng ddng dien dam bao eac yeu eau chat lugng de ra.
Ham truyen he kin eiia mach vdng ddng dien
W K , ( Z ) RI(Z) _ D , Z ' + D , Z ' + D|Z + Dp U|(Z) ~ E3Z''+E2Z- + E|Z + Eo Ta cd phuong trinh dai sd:
E 3 Z ' ' Y ( Z ) + E2Z-Y(Z) + E,ZoY(Z) + EoY(Z)
= D,Z'U(Z) + D,Z-U(Z) + D|ZoU(Z) + DoU(Z)
Trong dd:
Y(Z) = R.I(Z)
Vay phuang trinh sai phan u'ng vdi phuong trinh dai sd tren la:
E3Y(K+3) + E2Y(K+2) + E,Y(K+1) + EoY(K)
= D3U|(K+3) + D2U|(K+2) + D,U|(K+1) + DoU,(K+l) + DoU|(K)
Vdi gia thiet tin hieu vao U, =l(t) vdi t > 0 do dd ta ed:
U,(K+3) = U,(K+2) = U,(K+1) = U:(K+1) =1 Vay;
Y(K+1) = (-E2 Y[K+2] - E, Y[K+1] - Eo Y[K] + D3 + D, + D| + Do)/E3
Tir phuong trinh sai phan nay lap trinh theo ngdn ngtr Pascal ta ve dugc dudng cong i(t) ling vdi cac gia tj Kp va K,, ta ve cac dudng
£)o Thi Vu vd Dtg Tap chi KHOA HOC & CONG NGHE cong nay tren ciing mdt he true tga do.
Chuo'ng trinh ve dudng cong nay cd ten:
"Program DDIEN 1"
Gia trj sd lieu de ve dudng cong ddng dien i(t) l . T = 0,5.Tu = 0,00165 (s)
+ Kp, = 0,25 + Kp2 = 0,25 + Kp3 = 0,25
2. T = 0,5.Tu = 0,002(s) K , i = 2 5 K,2 = 42
KB = 95 + Kpr
+ Kp2 + Kp3
0,25; K,i= 23,45
= 0,25; K,2 = 50
= 0,25; K,3=102 Til' cac dudng cong qua do ddi chieu vdi cac tieu ehuan chat lugng ta chgn dugc cac gia trj Kp va Kj nhu sau:
l.T=0,5.Tu = 0,00165 (s) + Kp = Kp2 = 0,25;Ki = K,2=42 2 . T = 0,5.Tu = 0,002(s) + Kp = Kp2=0,25;Ki = K,2 = 50
Til' day ta xay dyng chuong trinh "Program DIEN 2" ta ve dugc dudng cong R.i(t) ciing nhu la bang ket qua eiia R.I[K] u'ng vdi cac gia trj Kp va K, da chgn.
Hinh 5. Dudng cong qua do khi T = 0.00165
*Mach vdng toe do
Ca sd ly thuyet de xet chat lugng cho mach vdng toe do cung gidng nhu mach vdng ddng dien. Dd la phai tim gia trj K„ cua bg dieu chinh toe do R„ iing vdi thdi gian lugng tu T va gia trj Kp, K ciia bg dieu khien ddng dien Ri da chgn d (a) de cho mach vdng tdc do dam bao cac chi tieu chat lugng.
De ve dudng cong n = f(t) ta cung dimg phuong phap sd Tustin.
Ham truyen he kin cua mach vdng tdc do:
W K „ ( Z ) = KoDjZ" + KoD,Z' + KoD|Z- + K^JDQZ _ n(Z)
F.Z' + FjZ^+FjZ^ + FiZ-Fo UJZ)
F 4 Z " Y ( Z ) + F 3 Z ' Y ( Z ) + F 2Z-Y(Z) + F ,ZY(Z)+FoY(Z) = KoD3Z"U<„ (Z) + KoD2Z-'Uo, (Z) + KG D , Z ' U , „ ( Z ) + KoDoZ U„ (Z)
Trong dd Y(Z) = n(Z).
Vay phuang tinh sai phan ung vdi phuong trinh dai sd tren la:
F4Y[K+4] + F3Y[K+3] + F2Y[K+2] + F,Y[K+l] + FoY[K] =
KoDjU^ [K+4] + K0D2U0, [K+3] + KoD,U„
[K+2] + KoDoU„[K+l]
Vdi gia thiet tin hieu vao Uj=l(t) vdi t>0 do dd ta cd:
U4K+4] = U„ [K+3] = U„ [K+2] = U„
[K+1]
Y[K+4] = (-F3Y[K+3] - F2Y[K+2] - F,Y[K+1] - FoY[K] + K0D3 + K0D2 + KoD, + KoDo)/F4
Tir phuong trinh sai phan nay lap trinh theo ngdn ngu Pascal ta ve dugc dudng cong n(t) ung vdi cac gia trj K„ ta ve cac dudng cong nay tren ciing mgt he true tga do. Chuong trinh ve cac dudng cong cd ten la "Program TOCDO 2"
Gia trj sd lieu de ve cac dudng cong w(t) 1. T = 0,5.Tu = 0,00165 (s)
Kp = Kp, = 0,25; K, = K„ = 42 K„, = 0,0006;
K „ 2 = 0 , 0 I ; •' Hinh 6. Duong cong qua do khi T = 0.0020
Dd Thi Vu vd Dtg Tap chi KHOA HOC & CONG NGHE 86(10): 43-48 K,o3 = 0,00009;
2 . T = 0,5.Tu = 0,002(s) Kp = Kp, = 0,25; K, = K, = 5 0 K„„ = 0,00058;
K„2= 0,0125;
K„3 = 0,00009;
Til' cac dudng cong qua do ddi chilu vdi cae tieu chuan chat lugng ta chgn dugc cae gia trj Kp va K, nhu sau:
l . T = 0,5.Tu = 0,00165 (s) Kp = Kp2=0,25;Ki = K,2 = 42 K„=K,32 = 0.0006;
2. T = 0,5.Tu = 0,002(s) Kp = Kp2=0,25;Ki = K,2 = 50 K„=K„2 = 0.00058;
Til' day dya vao chuong trinh "Program TOCDO 1" ta ve dugc dudng cong n(t) ciing nhu la bang ket qua ciia n[K] irng vdi cae gia trj T, Kp, K(,j va K, da chgn.
• „ < , .
I
•0,73 .'
0 , 3
O.'iS o.xes
D u e mw con
K n i - KP3Z
0 . 3 3
o toe do « = r < t
O.25Q0 , K i 1 = 0.2S00 . K i 3 .
..-^
) k h i I-O 3 . T u -
50.tMOO.K-2 =
o . «
D.OOJ630
o.oioo O.OOOl
o . e ^ .<.>
Hinh 7. Dudng cong qua do khi T = 0.00165
„ , . .
.,»
• 0 , 7 3 /
/
n,n
<i,XS
ynjorxa c o n g tot to u = r < t > k m I - 0 . 5 " I u = 0.0O20OD
Kt>2= 0 . 2 3 0 O , K I 2 : 50.00Oa*(>'Z= 0 . 0 L 2 3 Kf33: 0.33OD ,K13= 3O.OOO0,Ki,3= O.OOOl
D , l « 3 0 . 3 3 0 . 4 9 3 n.tA 0 , B 2 3 K s l
KET LUAN
1. Phan tich va tim hieu ky thye trang ciia may phay cua trudng Cao dang Kinh te Ky thuat tir dd de xuat dugc phuang an cai tao, thay the nang cap may nay dd la thay the he thdng truyen dgng an dao bang he thdng T - D sd.
2. Tien hanh phan tich va tdng hgp he thdng truyen ddng sd de danh gia dugc chat lugng cua he thdng. Cu the la:
- Mach vdng ddng dien vdi thdng sd:
+ Vdi T = 0,5.Tu = 0,00165(s) Kp=Kp2=0,25; K, = Ki2 = 42 + V d i T = 0,5.Tu = 0,002(s)
Kp = Kp2=0,25; K,= K,2=50 - Va mach vdng tdc do vdi thdng sd :
+ Vdi T=0,5.Tu = 0,00165(s) Kp=Kp2=0,25; K = K,2 = 42 Km= Kft)2 = 0,0006
+ Vd'iT = 0,5.Tu = 0,002(s) Kp = Kp2=0,25; K,= K,2=50 Ko)= Ko)2 = 0,00058
thi he dn djnh va cd chat lugng tdt.
3. Tren ca sd phan tinh toan khao sat eiia he thdng truyen ddng da tien hanh thiet kl xay dyng phan cirng ciia he thdng truyin ddng.
bo'n, ddng thdi phai tien hanh thi nghiem tren md hinh thye.
KIEN NGHI
De de tai cd the ung dung vao san xuit thi cin cd thdi gian nghien cu'u 1 each chi tilt cu thi Lam duge nhu vay thi de an se cd tinh kha thi iing dyng vao thye te.
Hinh 8. Dudng cong qua do khi T = 0.0020
TAI LIEU THAM KHAO
[1] TS.Trin Thg, PGS.TS.Vo Quang Lap (2004), Ca sd dieu khien tie dgng truyin dgng dien, Nha xuat ban Khoa hoc va Ky thuat, Ha Ngi.
[2] Biii QuIc Khanh, Nguyen Van Lien, Pham QuIc Hai, Duong Van Nghi (2006) Diiu chinh tu dgng truyen ddng dien, Nha xuit ban Khoa hoc va Ky thuat. Ha Ngi.
[3] Vo Quang Lap, Trin Xuan Minh (1998), Bdi [6] VQ Quang Hdi, Nguyen Van Chit, Nguyin Thj gidng mdn hoc ky thudt bien ddi, Dai hge Ky thuat Lien. Trang bi dien - dien tir mdy gia cdng kim eong nghiep. Thai Nguyen. logi. Nha xuit ban Khoa hge va Ky thuat
[4] Nguyen Cdng Hiln (2006), Md hinh hod he
//7d'«gvfl/Md/7/!o«g, Dai hoc Bach khoa, HaNoi. ["^J ^^ ^ 5 " Doanh, Nguyen The Cong, Nguyen [5] Ta Duy Lien (1999) He thdng diiu khiin sd cho '^''""8 ^on, Cao Van Thanh (1999). Diiu khiin s6 mdy cdng cu. Nha xuit ban Khoa hge va Ky thuat. ' " ^ ^'^"- ^^^ ^"^^ ''^" Khoa hge va Ky thuat.
SUMMARY
RESEARCH AND APPLY DIGITAL CONTROL IN IMPROVEMENT OF 6P13B UNIVERSAL MILLING MACHINE
Do Thi Vu*, Pham Dinh Tiep, Ngo Manh Tien College of Economics and Technology - TNU
Control of the closed loop feedback system to ensure stability and guarantee the quality indicators such as: the process control, speed, time to adjust ... Therefore the application control of the renovation and upgrading of the transmission area of the old milling machine practical significance.
The article was researched and control applications aimed at improving and upgrading the transmission table 6R13B feed milling. By analysis and synthesis of digital systems design and build hardware and transmission systems as a basis for continued applied research on switching and transmission systems of the old machine to the numbering system that the system under study and practical application.
Keywords: digital transmission .system. Universal milling machine, T-D system, a DC motor, control-loop
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