Ung Dung Sim Mechanic Mo Phong Can Truc Quay

B mn GCVL&DCCN
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B gio dc v o to
cng ho x hi ch ngha vit nam
Trng i hc bch khoa h ni
c lp T do Hnh phc
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Nhim v n tt nghip
H v tn sinh vin:
Lu Vn Hiu
H v tn sinh vin:
Lng Vn Hng S hiu sinh vin: 20001464
Kho: 45
Khoa: C kh
S hiu sinh vin: 20001137
Ngnh: Cng ngh ch to my
1. ti:
ng dng cng c Simmechanics m phng h iu khin cn trc
2. Cc ti liu:
- Cc ti liu v phn mn matlab, cng c Simulink, cng c
Simmechanics
- Cc ti liu v l thuyt iu khin
3. Ni dung cc phn thuyt minh v tnh ton:

- Gii thiu chung v Matlab, Simulink & Simmechanics
- Gii thiu chung v cn trc
- Gii thiu v b iu khin PID
- M phng c cu ng hc ca cn trc trn Matlab
- Thit k & m phng h iu khin cn trc trn Matlab
- Kt qu ca n
4. H v tn cn b hng dn:
ThS. o B Phong
Lu Vn Hiu & Lng Vn Hng CTM4 - K45
B mn GCVL&DCCN
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5. Ngy giao nhim v n:........................................................................

7. Ngy hon thnh n:............................................................................
Ngy ..... thng ..... nm ..........

Ch nhim B mn
Cn b hng dn
Sinh vin hon thnh v np n tt nghip, ngy.....thng.....nm........
Ngi duyt
B mn GCVL&DCCN
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B gio dc v o to
Trng i hc bch khoa h ni.
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Bn nhn xt n tt nghip
H v tn sinh vin: Lu Vn Hiu
H v tn sinh vin: Lng Vn Hng
Kho: 45
Cn b hng dn: ThS. o B Phong

Cn b duyt:
Nhn xt ca gio vin hng dn:

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Ngy.......thng.......nm...........
Ngi hng dn
B mn GCVL&DCCN
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B gio dc v o to
Trng i hc bch khoa h ni.
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Bn nhn xt n tt nghip
H v tn sinh vin: Lu Vn Hiu
H v tn sinh vin: Lng Vn Hng
Kho: 45
Cn b hng dn: ThS. o B Phong

Cn b duyt:
Nhn xt ca gio vin duyt:

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Ngi duyt
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Li ni u
Cng ngh m phng ang dn chim mt v tr quan trng trong qu trnh
sn xut. Bi v sau qu trnh tnh ton thit k chng ta rt mong i mt cch
no xem h thng hot ng c ng nh mong i khng, trnh vic i vo
sn xut lun m chng may gp ni thit k, tnh ton no gy lng ph ln
c v vt cht ln thi gian. V vy cng vi qu trnh tnh ton thit k kt hp
vi cng c m phng chng ta c th m phng lun h thng kho st h
thng, xem h thng hot ng nh th no ng nh mong i cha. Qua
c th rt ngn thi gian v gim chi ph nghin cu pht trin sn phm
mt cch ng k. iu ny c bit c ngha khi sn phm l cc h thng
thit b k thut phc hp vi gi tr kinh t cao.
Cng vi s pht trin ca cng ngh in t v tin hc Cng ngh m phng
ang pht trin rt nhanh vi hng ng dng tin hc. Nhiu nc tin tin trn
th gii nghin cu v cho ra i nhng phn mm m phng mnh vi dao
din ho v kh nng hot ng nh tht. Mt trong nhng phn mm l
phn mm Matlab, mt cng c mnh cho php m phng v kho st i tng,
h thng hay qu trnh k thut vt l vv.
Bng cng c Simulink v SimMechanics trong phn mm Matlab, vi s
gip tn tnh ca thy gio o B Phong chng ti, hai sinh vin Lu Vn
Hiu v Lng Vn Hng tin hnh thit k m phng mt h thng iu
khin cn trc, mt cng c thit yu dng trong xy dng v cng nghip di
chuyn vt nng, hng ho v vt liu. Trn c s m hnh ton ca cn trc
quay, chng ti thit k hai b iu khin ring bao gm b iu khin tnh tin
hng knh v b iu khin quay. Bn trong mi b iu khin , c hai b iu
khin PID c dng _ b iu khin PID t hiu chnh cho ng chuyn ng
hng knh v chuyn ng quay ca cn trc, b iu khin PID lm gim dn
s dao ng ca vt nng n mc nh nht c th. Nhng kt qu m phng
cho thy rng hot ng ca b iu khin l tt.
Qua y hai chng ti xin c by t lng bit n su xc n thy gio
o B Phong ngi tn tnh hng dn hai chng ti trong sut qu trnh
lm n. Cng xin c cm n thy Hong Vnh Sinh cho chng ti
nhiu kin qu bu gip chng ti hon thnh n ny.
Do thi gian c hn cng nh s hn ch v kin thc ca chng ti, hn
chng ti cn nhng thiu st rt mong nhng gp , nhng li nhn xt b sung
ca cc thy v cc bn sinh vin.
Xin chn thnh cm n!
H Ni, thng 5 nm 2005
Hai sinh vin:
Lu Vn Hiu
Lng Vn Hng
B mn GCVL&DCCN
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Mc lc
Phn1:
Phn mn matlab, cng c simulink v khi
simmechanics .............................................................................................. 10
1.1. Phn mn matlab, cng c simulink...................................................... 10
1.2. cng c simmechanics........................................................................... 10
1.2.1. Th vin bodies............................................................................... 10
1.2.1.1. Khi Body ................................................................................ 10
1.2.1.2. Khi Ground ............................................................................ 17
1.2.2. Th vin Constraints & Drivers ...................................................... 18
1.2.2.1. Khi Angle driver .................................................................... 18
1.2.2.2. Khi Distance driver ................................................................ 20
1.2.2.3. Khi Linear driver ................................................................... 21
1.2.2.4. Khi Velocity driver ................................................................ 22
1.2.2.5. Khi Point- curve driver .......................................................... 24
1.2.2.6. Khi Parallel constraint ........................................................... 26
1.2.2.7. Khi Gear constraint................................................................ 27
1.2.3. Th vin Joints:............................................................................... 29
1.2.3.1. Khi Primastic ......................................................................... 29
1.2.3.2. Khi Revolute .......................................................................... 33
1.2.3.3. Khi Spherical.......................................................................... 34
1.2.3.4. Khi Planar .............................................................................. 36
1.2.3.5. Khi Univeral........................................................................... 37
1.2.3.6. Khi Cylindrical ...................................................................... 39
1.2.3.7. Khi Gimbal ............................................................................ 40
1.2.3.8. Khi Custom joint.................................................................... 41
1.2.3.9. Khi Weld................................................................................ 43
1.2.3.10. Khi Telescoping..................................................................... 44
1.2.3.11. Khi In-Plane........................................................................... 45
1.2.3.12. Khi Bushing ........................................................................... 47
1.2.3.13. Khi Bearing............................................................................ 48
1.2.3.14. Khi Sx-DoF........................................................................... 49
1.2.3.15. Khi Screw .............................................................................. 50
1.2.4. Th vin Sensor & Actuators.......................................................... 52
1.2.4.1. Khi Body actuator .................................................................. 52
1.2.4.2. Khi Joint actuator................................................................... 54
1.2.4.3. Khi Driver Actuator ............................................................... 58
1.2.4.4. Khi Body sensor..................................................................... 61
1.2.4.5. Khi Joint sensor ..................................................................... 64
1.2.4.6. Khi Constraint & driver sensor .............................................. 69
1.2.4.7. Khi Joint Initial Condition Actuator ...................................... 72
1.2.4.8. Khi Joint Stiction Actuator .................................................... 74
1.2.5. Th vin Utilities ............................................................................ 76
1.2.5.1. Khi Connection ports ............................................................. 76
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Phn2:
Ng dng cng c simmechanics m phng h
iu khin cn trc................................................................................. 78
2.1. Gii thiu v Cn trc............................................................................ 78
2.2. t vn .............................................................................................. 79
2.3. M phng h thng c ng hc ca cn trc quay vi cng c
SimMechanics .................................................................................................. 80
2.3.1. Cc gi thit khi m phng............................................................. 80
2.3.2. M phng h thng c ng hc .................................................... 81
2.4. S h thng iu khin ..................................................................... 88
2.4.1. S khi h thng iu khin ...................................................... 88
2.4.2. Chn b iu khin PID.................................................................. 89
2.4.2.1. L do chn b iu khin PID ................................................. 89
2.4.2.2. Gii thiu v b iu khin PID .............................................. 90
2.4.3. S cc b iu khin .................................................................. 92
2.4.3.1. S khi b iu khin tnh tin hng knh........................ 92
2.4.3.2. S khi b iu khin quay................................................. 93
2.5. M phng h thng iu khin vi cng c Simulink........................... 94
2.5.1. M phng b iu khin tnh tin hng knh ............................... 95
2.5.2. M phng b iu khin quay ........................................................ 96
2.6. Ghp ni h thng iu khin vi h thng c ng hc ...................... 97
2.6.1. Khi tnh ton thng s ghp ni ................................................... 97
2.6.2. Ghp ni h iu khin vi h thng c ng hc ......................... 99
2.7. Tnh ton b iu khin PID.................................................................. 99
2.7.1. nh hng tnh ton cc thng s b iu khin PID................... 99
2.7.2. Tnh ton cc thng s PID cho b iu khin tnh tin hng knh
100
2.7.3. Tnh ton cc thng s PID cho b iu khin quay .................... 101
2.7.4. Kim tra v hiu chnh cc thng s PID trong trng hp cc b
iu khin ng thi hot ng .................................................................. 102
2.8. M phng & nh gi cht lng m phng....................................... 102
2.8.1. Tin hnh m phng ..................................................................... 102
2.8.1.1. Kt qu m phng khi khng c h iu khin ..................... 103
2.8.1.2. Kt qu m phng khi c h iu khin ................................ 103
2.9. hng pht trin ................................................................................... 117
Kt lun .................................................................................................... 118
B mn GCVL&DCCN
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Phn1:
1.1.
Phn mn matlab, cng c simulink v

khi simmechanics
Phn mn matlab, cng c simulink
MATLAB l mt b chng trnh phn mn ln c vit cho my tnh PC

nhm h tr cho cc tnh ton khoa hc k thut vi cc phn t c bn l cc ma
trn. Thut ng Matlab l ch vit tt t hai t MATrix v LABoratory, th hin
nh hng chnh ca chng trnh l cc php tnh vector v ma trn. Phn ct
li ca chng trnh bao gm cc hm ton hc, cc chc nng xut nhp cng
nh cc kh nng iu khin chng trnh.
MATLAB cung cp cc toolbox vi phm vi chc nng chuyn dng khc
nhau. V d nh : mt s toolbox lin quan ti iu khin( control system
toolbox, Optimzation toolbox...) ; cc toolbox lin quan ti lnh vc in, c
kh...
SIMULINK l mt cng c ca MATLAB nhm mc ch m hnh ho, m
phng v kho st cc h thng ng hc. Giao din ho trn mn hnh ca
SIMULINK cho php th hin h thng di dng s tn hiu vi cc khi
chc nng quen thuc. SIMULINK cung cp cho ngi s dng mt th vin rt
phong ph, c sn vi s lng ln cc khi chc nng cho cc h tuyn tnh, phi
tuyn v gin on.
1.2.
cng c simmechanics
SIMMECHANICS l mt cng c ca Matlab cho php ngi dng m hnh

ho c cc chi tit c kh, t xy dng c m hnh cc b phn my, cc
my c kh.
SIMMECHANICS gm c cc th vin v cc khi sau:
1.2.1. Th vin bodies
1.2.1.1.
Khi Body
Mc ch:
Biu din mt vt th cng tu
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M t:
Khi Body biu din mt vt th cng m thuc tnh ca n l tu bn. S

miu t, bn cn n nh bao gm:
Khi lng ca vt th v tensor mmen qun tnh
To trng tm ca vt th (CG)
Mt s h to Body tu (CSs)
Mt vt th cng c xc nh trong khng gian bi v tr trng tm v
hng ca n trong mt h to no . Vic t nhng iu kin ban u
(Setting Body Initial Conditions) : V tr v hng ban u ca vt th c ci
t bi nhng mc nhp trong hp thoi Body ca n. Nhng iu kin ban u
gi nguyn khng thay i; tr phi, bn ni n vi mt khi to iu kin ban
u cho khp( Joint Initial Condition Actuator), bn thay i iu kin ban u
ca khp c ni vi Body trc khi bt u m phng, hoc bn kch ng
Body vi mt khi Body Actuator.
Trong SimMechanics, bn nhp vo thuc tnh ca Body qua hai lp, thuc
tnh hnh hc v thuc tnh khi lng:
Thuc tnh hnh hc c xc nh bi h to Body ca vt.
H to Body cn n mc ti thiu l h to vi gc ca n
ti trng tm. im trng tm xc nh c v tr ban u ca ton Body v l
gc ca h to trng tm. Bn cng phi t hng cho nhng trc h to
trng tm.
Bn c th t thm mt s h to Body trn Body. Bn phi nh
ngha mi h to Body bi v tr gc ca n v hng nhng trc to ca
n.
Mi s kt ni ca mt khi Joint, Constraint/ Driver, Actuator,
hoc Sensor vi mt Body cn n mt im mu trn Body. im mu ny l
mt trong s nhng gc h to Body.
H to Body trn khi sn sng dng cho vic ni kt hin ln
trn cc bn ca khi. Bn c th cho hin hay n
bi cng h to Body
mi h to Body trn cc pha ca khi.
Tp hp nhng gc h to Body xc nh v li ca Body, mt
trong s nhng hnh biu tng xut hin biu din mt Body trong khng gian.
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Thuc tnh khi lng c nh ngha bi khi lng ca Body v tensor

qun tnh.
Khi lng l qun tnh ca Body ng vi gia tc dch chuyn ca
trng tm bng 1 trong s phn ng vi mt lc tc dng bng 1 n v.
Tensor qun tnh th hin s phn b mt khi lng trong Body
v iu khin gia tc quay ca Body xung quanh trng tm bng s phn ng vi
mt mmen tc dng.
Nhng thnh phn ca tensor qun tnh iu khin hng ban u
ca Body v lun lun c th hin nh trong nhng trc h to trng tm.
Hng nhng trc h to trng tm i vi h to khc bn ngoi Body
(World CS, mt CS trn mt Ground, hoc mt CS trn mt Body khc) sau
xc nh hng ca Body i vi nhng Body khc hay i vi World.
Tensor qun tnh ca Body nh ngha trc chnh ca n, mmen v
ellipsoid tng ng ca n, mt trong s nhng hnh biu tng xut hin cho
s biu din mt Body trong khng gian.
Ngm nh trng thi ban u ca mt Body (Default Initial State of a Body)
Hai b thuc tnh xc nh v tr v hng ban u ca Body:
V tr ban u ca Body c t bi v tr trng tm ca n.
Hng ban u c t bi nhng thnh phn tensor qun tnh ca n
(trong h to trng tm) v hng ca nhng trc to trng tm i vi h
to khc trong my.
iu kin ban u ca mt my c th c thay i vi khi Joint Initial
Condition Actuator trc khi bt u qu trnh m phng. Nu bn khng thay
i trng thi ban u ca mt Body trc khi m phng, SimMechanics t v
tr/ hng ban u ti nhng mc hp thoi Body ca n. SimMechanics cng
t nhng vn tc di/ gc ban u ca Body l 0 trong trng hp ny.
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Hp thoi v nhng thng s (Dialog Box and Parameters)
Hnh 1.2.1.1a: Bng thng s nh ngha body

Hp thoi c hai vng hot ng, Mass Properties v Body Cooordinate
Systems.
Mass Properties
Mass
Nhp vo khi lng ca Body trong vng u tin v chn n v trong
danh mc ko xung pha bn phi, s thc hoc biu thc tng ng trong
MATLAB. Gi tr ngm nh l 1 v kg.
Inertia tensor
Nhp vo tensor qun tnh (i vi nhng trc ca h to trng tm
Body) trong vng u tin v chn n v trong danh mc ko xung pha bn
phi. Tensor phi l ma trn s thc 3x3. Tensor ngm nh l ma trn n v
3x3. Mt tensor 0 zeros (3,3) nh ngha khi lng im. n v ngm nh l
kg-m2.
Body Coordinate Systems (Nhng h to Body)
Configuring a Body Coordinate System (nh cu hnh h to
Body)
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Bn ci t h to Body trong vng Body coordinate systems:

+ Ngm nh vic nh cu hnh gm c ba h to Body: Cn n h
to trng tm gn vi trng tm ca Body v hai h to Body tu khc,
c gi l CS1 v CS2, kt ni Joint, Constraint, hoc Driver.
+ Bn c th nh cu hnh h to trng tm nhng khng th xo n.
Bn cng khng th thm h to trng tm, mc d bn c th sao li h to
trng tm vi tn khc.
+ Nhng h to khc c th c hnh thnh hoc xo nh mun.
+ nh hnh h to Body cn n hai nhm bc:
- V tr gc h to Body trong bng Position
- nh hng cc trc h to Body trong bng Orientation.
+ nh ngha h to Body cn quy vo mt s ci khc, h to tn
ti trc. Trong mt khi Body, bn c th quy vo h to Body v Grounded
theo ba cch. H to lin quan phi l:
- World
- H to Body khc trn cng mt Body
- Adjoining CS, h to trn Body hng xm hoc Ground trc tip
ni vi h to Body c chn bi mt Joint, Constraint, hoc Driver.
Hnh 1.2.1.1b: H to ca body lin quan

+ La chn gia bng Position hoc Orientation vi nhng thng s trong
mi bng.
Mi h to Body c gn vi mt tn, v nh CG cho h to trng tm,
v CS1, CS2, , cho nhng h to thm vo.
nh cu hnh cho bng Position
Vng Position cho mi h to Body xc nh v tr gc ca h to nh
mt vector tnh tin.
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Nhng thnh phn bng s ca vector mang theo n v.

Gc c di i t gc ca mt ci khc, h to tn ti trc
trong my mc ca bn bi vector tnh tin ny.
Nhng thnh phn ca vector tnh tin c nh hng i vi b
trc to khc.
Hnh 1.2.1.1c: Thng s xc nh cc h to body

* Vector v tr ca gc to [x y z]( Origin posittion vector [x y z])
Nhp vo vector tnh tin xc nh v tr gc h to Body m ta ang
nh ngha.
* Units
La chn n v di cho vector tnh tin. Ngm nh l m.
* Xc nh gc h to lin quan ti h to ta ang nh ngha thng qua
vector tnh tin ta nhp( Translated from the origin of)
Trong danh mc ko xung, c cc s la chn khc, h to tn ti
trc trong my mc ca bn m xc nh im bt u cho vector tnh tin. S
la chn l World, Adjoining, v h to Body khc trn Body ny. im cui
ca vector tnh tin l gc ca h to body ny.
* Xc nh hng cc trc ca h to ta ang nh ngha thng qua vector
tnh tin nhp( Components in the axes of)
Trong danh mc ko xung, chn h to m nhng trc ca n xc
nh nhng thnh phn vector tnh tin. S la chn l WORLD, ADJOINING,
v h to Body khc trn Body ny. Nhng thnh phn vector tnh tin c
chiu ln cc trc ca to c chn trong ct ny.
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nh cu hnh cho vng Orientation

Vng Orientation cho mi h to Body xc nh hng ca b ba trc h
to nh mt nh mt vector quay:
Vector hng xc nh vector quay c ba thnh phn
Thnh phn bng s ca vector mang theo n v ca n.
S quay c nh hng i vi b nhng trc to ca h to
tn ti trc trong mhnh my ca bn.
Nhng thnh phn vector hng c th hin trong s qui c miu
t chuyn ng quay.
Hnh 1.2.1.1d: Bng thng s xc nh hng ca body

* Orientation vector (Vector hng)
Nhp vo nhng thnh phn ca vector quay m xc nh hng nhng
trc h to Body. ngha hnh hc ca nhng thnh phn c xc nh
bi ct Specified using convention. Nhng mc nhp c bit i vi h to
trng tm nh hng cc trc h to trng tm. Cng vi mc nhp Inertia
tensor trong Mass properties, nhng trc h to trng tm nh hng ton b
Body v h to khc trong my mc ca bn.
* Units
La chn n v gc cho s quay, hoc rad. Ngm nh l .
Relative to coordinate system
Trong danh mc ko xung, la chn h to tn ti trc trong m
hnh my ca bn m nh ngha hng ban u cho chuyn ng quay. S la
chn l WORLD, ADJOINING, v nhng h to khc trn Body ny.
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* Specified using convention

Trong danh mc ko xung, la chn kiu biu din cho chuyn ng quay:
Rotation Conventions (Nhng qui c quay)
C ba qui c chung miu t chuyn ng quay:
Euler
Qui c gc Euler n nh chuyn ng quay nhng trc h to Body bi
s quay xung quanh ba trc theo th t. Nhng thnh phn ca vector ct 1x3 l
ln lt l gc quay xung quanh trc X, Y, Z bng n v hoc rad.
V d nh, Euler X-Y-Z c ngha l quay xung quanh trc X u tin, tip
theo l xung quanh trc Y, k tip l xung quanh trc Z.
3-by-3 Transform (Bin i ma trn 3x3)
Qui c transform xc nh s quay nh mt ma trn quay trc giao khng
th nguyn. S nghch o ma trn trc giao R l bng ma trn chuyn v: R1=RT. Ct ca R l nhng vector n v (x,y,z) theo nhng trc h to Body.
Danh mc nhng n v l khng hot ng.
Quaternion
Qui lut Quaternion xc nh s quay di hnh thc gc trc nh mt vector
ct khng th nguyn 1x4
[nx*sin( /2) ny*sin( /2) nz*sin( /2) cos( /2)]
n=(nx, ny, nz) l mt vector ba thnh phn vi chiu di n v:n*n = nx2 +

ny2 + nz2 = 1
Vector n v n xc nh trc quay. Gc quay xung quanh trc l v tun
theo quy tc bn tay phi.
1.2.1.2.
Khi Ground
Mc ch
Biu din mt im c nh trn nn/gi , ni t gc ca h to World.
M t
Mt khi Ground biu din mt im c nh trong h to tuyt i

World. Gn khi ny vo mt bn ca khp ngn chn s chuyn ng ca
bn ca khp. Nh vy th khi ny tng ng vi mt ngm.
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Ground nm trong th vin Bodies v n chnh l mt body c bit. Nhng

chng ta ch c th ni mt u ca n vi mt khp. Cc khi ground t ng
ly h to c cc trc song song vi h ta ng World( gn ti mt trong cc
ground trc ) v gc ti ground point.
Bt k mt m hnh Simmechanics no cng cn c t nht mt ground
Bn khng th ni cc khi cm bin cng nh kch ng vo ground bi v
chng u c chuyn ng.
Bng thng s
Hnh 1.2.1.2: Bng thng s xc nh Ground

Thng s ca ground ch c to gc ca ground trong h to World,
l mt vct c ba thnh phn v n v ca n. Khi bn nhp thng s cho
ground l [0 0 0] th ground chnh l ti gc to Wrold.
1.2.2. Th vin Constraints & Drivers
1.2.2.1.
Khi Angle driver
Mc ch
nh r gc gia hai vector trc ca Body nh mt hm theo thi gian
M t
Khi Angle Driver truyn dn ng cc vector trc c nh ngha trn hai

Body. Bn nh r cc vector trc ca follower body v base body c nh aB, aF
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trong h to Body trn mi Body cc bn ca Angle Driver, sau truyn dn

ng gc gia nhng vector trc body nh mt hm ca thi gian.
Khi Angle Driver nh r gc c nh ngha bi cng thc
cos = |aB.aF|/(|aB|.|aF|)
nh mt hm ca thi gian: = f(t) . Bn lin kt khi Angle Driver vi mt khi
Driver Actuator.
Tn hiu vo Simulink trong Driver Actuator xc nh hm truyn ph thuc thi
gian f(t) v hai o hm u ca n cng nh nhng n v ca n. Nu bn khng
kch ng Angle Driver, khi ny hot ng nh mt s cng bc thi gian c lp
m lm c nh gc gia hai trc Body ti gi tr ban u ca n trong sut qu
trnh m phng.
Cc Driver hn ch bc t do tng i gia mt cp Body nh hm thi gian
nh ra. Mt cch cc b trong my, ngi ta thay th mt khp nh l s din t
bc t do. Mt cch ton din, khi Driver phi xut hin trong nhng vng ng.
Nh nhng Body c kt ni vi khp, hai Body c kt ni vi Driver theo th t
nh base v follower, n nh hng chuyn ng tng i.
Bn cng c th ni mt khi Driver vi mt Constraint&Driver Sensor, m o
nhng phn lc/mmen gia nhng Body truyn ng.
Hnh 1.2.2.1: Bng thng s ca khi Angle Driver
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Cc thng s ca khi Angle Driver

Fixed axis: cho Base Body v Follower Body, theo th t, nhp vo nhng
vector trc body. Ngm nh l [1 0 0].
Reference csys (h to quy chiu): S dng danh mc ko xung, chn
h to (World, base Body CS, hoc follower Body CS) m nhng trc to ca
chng v nhng vector trc follower Body v base Body l cng hng vi nhau. H
to ny cng xc nh phn lc/mmen mang ngha tuyt i. Ngm nh l
WORLD.
1.2.2.2.
Khi Distance driver
Mc ch
nh r khong cch gia hai gc h to Body nh mt hm theo thi gian
M t
Khi Distance Driver truyn dn ng khong cch gia hai gc ca hai h

to Body nh mt hm thi gian m bn nh r. Hm ny phi lun lun
c gi khng m trong khi m phng.
Cho r1, r2 l nhng vector v tr gc ca CS1 trn mt Body v ca CS2 trn
mt Body khc. Distance Driver nh ra khong cch v hng |r1 - r2| gia
nhng im nh mt hm thi gian:
|r1 - r2| = f(t).
Bn ni khi Distance Driver vi mt khi Driver Actuator.
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Hnh 1.2.2.2: Bng thng s ca khi Distance Driver

Hp thoi c mt vng hot ng, Connection parameters. Vng ny hot
ng mt cch t ng.
1.2.2.3.
Khi Linear driver
Mc ch
nh r mt thnh phn vector ni hai gc h to Body nh mt hm theo thi
gian
M t
Khi Linear Driver nh r mt thnh phn ca vector ni hai gc h to nh

mt hm ca thi gian.
Cho r1, r2 l vector v tr gc ca CS1 trn mt Body, CS2 trn mt Body khc, v
R=r1-r2. Khi Linear Driver n nh mt thnh phn ca vector R=(X,Y,Z) c
chiu trn nhng trc h to World, nh mt hm thi gian:
X, Y, or Z = f(t).
Bn ni mt khi Driver Actuator vi Linear Driver
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Hnh 1.2.2.3: Bng thng s ca khi Linear Driver

Cc thng s ca khi Linear Driver
World axis: Trong danh mc ko xung, la chn mt thnh phn ca vector R
gia nhng gc h to Body m bn mun truyn ng nh mt hm thi gian.
Nhng thnh phn c o i vi nhng trc h to World. S la chn l X, Y,
hoc Z. Ngm nh l X.
1.2.2.4.
Khi Velocity driver
Mc ch
nh r mt s kt hp tuyn tnh gia vn tc di v vn tc gc ca hai Body
nh mt hm ca thi gian
M t
Khi Velocity Driver truyn dn s kt hp tuyn tnh ca vn tc gc v vn tc

di c chiu ca hai Body. Nhng vn tc c chiu bi cc tch s bn trong
trn nhng vector khng i m bn n nh.
Cho vB, vF l hai vector vn tc di Body v B, F l hai vector vn tc gc Body.
Cho cB, cF, dB, dF l nhng vector c nh. Cc ch s B v F m ch base body v
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follower body. Khi Velocity Driver n nh s kt hp tuyn tnh ny bi:

cB vB + dB B - cF vF - dF F = f(t)
nh mt hm thi gian f(t). Bn nh r vector cB, cF, dB, dF. Bn cng ni mt
khi Driver Actuator vi Velocity Driver.
Hnh 1.2.2.4: Bng thng s ca khi Velocity Driver

Cc thng s ca khi Velocity Driver
Angular velocity units
T danh mc ko xung, la chn nhng n v chung cho tt c nhng vector
vn tc gc. Ngm nh l deg/s
Nhng vector dB v dF hon ton mang nhng n v chuyn i ca chiu
di/gc. Hm truyn f(t) c nhng n v vn tc di m bn ci t trong khi
Driver Actuator bn ni vi Velocity Driver. Nu n v f(t) l khc so vi nhng n
v c t trong Linear velocity units trong hp thoi ny, nhng vector dB v dF
hon ton mang thm nhng n v chuyn i.
Linear velocity units
T danh mc ko xung, chn n v chung cho tt c nhng vn tc di. Ngm
nh l m/s.
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Hm truyn f(t) c n v o vn tc di c ci t trong khi Driver Actuator

m bn lin kt vi Velocity Driver. Nu n v hm s f(t) khc n v vn tc di
trong hp thoi, vector cB v cF s mang n v thay th.
Velocity coefficients for base
Pha di [x y z], nhp vo cc vector h s vn tc di v vn tc gc cho base
Body. C cc thnh phn ca dB v cB, theo th t. Ngm nh l [1 0 0].
Trong danh mc ko xung, la chn cc h to (World hoc Base) m cc
vector dB v cB l cng hng vi cc trc to ca n. Ngm nh l WORLD.
Nhng vector dB v cB mang hon ton cc n v chuyn i bin i tt c
cc vn tc sang n v vn tc di chung ca f(t) m bn ci t trong khi Driver
Actuator c ni.
Velocity coefficients for follower
Pha di [x y z], nhp vo cc vector h s vn tc di v vn tc gc cho
follower Body. C nhng thnh phn ca dF v cF, theo tun t. Ngm nh l [1 0 0].
Trong danh mc ko xung, la chn cc h to (World hoc Follower) m
cc vector dF v cF l cng hng vi nhng trc ca n. Ngm nh l WORLD.
Nhng vector dB v cB mang hon ton nhng n v chuyn i bin i tt c
nhng vn tc sang n v vn tc di chung ca f(t) m bn ci t trong khi
Driver Actuator c ni.
1.2.2.5.
Khi Point- curve driver
Mc ch
Cng bc chuyn ng ca mt im trn mt Body di chuyn dc theo mt
ng cong trn mt Body khc
M t
Hai Body c ni bi Point-Curve Constraint ch c th di chuyn tng i vi

Body kia nu mt im trn mt Body di chuyn dc theo mt ng cong trn mt
Body khc. im trn mt Body l gc ca h to Body m mt bn ca PointCurve Constraint ni. Tng ng vi im bt u ca ng cong trn Body th hai
l gc ca h to Body m bn th hai ca Point-Curve Constraint c ni.
Specifying the curve: Bn xc nh hm ng cong trn Body th hai nh mt
ng spline vi nhng im ri v iu kin kt thc.
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Hnh 1.2.2.5: Bng thng s ca khi Point Curve Contraint

Hp thoi c hai vng hot ng, Connection parameters v Spline specification.
N lu gi thng tin xc nh ca mt ng n spline cho s cng p.
Specifying the Spline
Hp thoi Point-Curve Constraint cho bn hai cch xc nh ng cong
spline. Cch th nht l vo hp thoi ny nhng to im gy v im kt thc
trn follower v l thch hp cho vic xc nh ng cong ba chiu. Cch th hai l
hin th th v sa chnh ng spline trong Edit spline editor (xem sau), ch thch
hp cho ng cong hai chiu trn follower.
* Break point
Danh sch y nhng thnh phn theo trc x, y, z theo th t, ca nhng
im gy v im kt thc m nh ngha cho spline:
X: vo (x0, x1, ..., xN+1) nh mt vector.
Y: vo (y0, y1, ..., yN+1) nh mt vector.
Z: vo (z0, z1, ..., zN+1) nh mt vector.
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* Units
Trong danh mc ko xung, la chn n v chiu di cho khong cch trn
nhng Body c cng p. Ngm nh l m
* End conditions
Trong danh mc ko xung, la chn kiu iu kin cui trn ng cong
spline. C th l nhng iu kin:
End Condition
Natural
Not-a-knot
Periodic
nh ngha
Khp mi ng dc
cui vi ng dc thuc
loi ng bc ba (ng
cubic) lm cho va
bn im u s kt
thc
Ch ng cong v
o hm u ca n l
lin tc im u v
im bn trong cui
Lm cho hp o hm
th nht v th hai ca
hai im cui
S im ti thiu
Hai im
Bn im
Hai im, ba in l
tt nht
Ngm nh l natural. iu kin cui Periodic ng ng spline.

1.2.2.6.
Khi Parallel constraint
Mc ch
Cng bc vector trc Body ca hai Body lun song song
M t
Hai Body c ni bi Parallel Constraint l c khng ch chuyn ng quay

tng i gia chng. Parallel Constraint c ni trn cc pha vi mt h to
Body, mt trn mi Body. Mt vector aB c nh ngha trong mt h to Body
trn base Body gi song song vi mt vector th hai aF c nh ngha trong h h
to Body kia trn follower body.
Khi Parallel Constraint yu cu rng:
|aB aF|/(|aB||aF|) = 1
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Bn n nh hng ban u m c hai vector phi c gi song song.

Hnh 1.2.2.6: Bng thng s ca khi Parallel Constraints

Cc thng s ca khi Parallel Constraints (Parameters)
Parallel constraint axis [x y z]
Nhp vo vector trc xc nh hng ban u ca hai vector trc body ab, af.
Nhng vector trc body c khng ch lun c gi song song vi hng
trc ban u. Ngm nh l [1 0 0]: tng ng l trc X.
Reference csys ( h quy chiu)
Dng danh mc ko xung, la chn h to ( World, the base Body CS, hoc
the follower Body CS) m nhng trc Parallel constraint ban u cng hng vi
nhng trc to ca n. CS ny cng quyt nh ngha tuyt i ca lc/mmen
phn lc Constraint ny. ngm nh l WORLD.
1.2.2.7.
Khi Gear constraint
Mc ch
Cng bc chuyn ng quay ca hai Body di chuyn dc theo vng trn bc
rng tip tuyn
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M t
Hai Body c ni bi mt khi Gear Constraint l c khng ch quay tng

i dc theo vng trn bc mi Body. Cc tm vng trn bc l cc gc ca cc
h to Body ch khi Gear Constraint c ni nm trn hai bn. Vng trn
bc l tip tuyn ch tip xc.
Cho r1, r2 l bn knh ca hai vng trn bc v 1, 2 l vn tc gc ca hai
Body. Gear Constraint yu cu:
1r1 =
2r2
Bn n nh bn knh r1, r2 ca vng trn bc.
Hnh 1.2.2.7a: V d s dng khi Gear Contraint

y l mt v d n gin cho bit kt cu mt phn m hnh c s dung khi
Gear Constraint.
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Hnh 1.2.2.7b: Bng thng s ca khi Gear Constraint

Cc thng s ca khi Gear Constraint (Parameters)
Pitch circle located at base
Nhp bn knh v n v cho vng trn bc h to base Body. Ngm
nh l 1 v m.
Pitch circle located at follower
Nhp bn knh v n v cho vng trn bc h to follower Body. Ngm
nh l 1 m.
1.2.3. Th vin Joints:
1.2.3.1.
Khi Primastic
Mc ch:
Biu din mt khp lng tr vi mt bc t do tnh tin
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M t
Khi Prismatic biu din mt bc t do tnh tin n dc mt trc c xc

nh gia hai Body. Khp lng tr l mt trong nhng khp nguyn thu ca
SimMechanics, cng vi khp quay v khp cu.
Khi Prismatic c lp rp: bn phi kt ni mi bn ca khp vi mt
khi Body im gc h to Body, v nhng gc ca h to Body phi
lm dc trc lng tr, vi dung sai lp ghp bn trong. Nhng gc h to
Body khng cn c sp xp vo mt ch trong khng gian.
Bn c th ni khi Joint no vi hai v ch hai khi Body, v mi Joint c
hai cng ni ngm nh cho s kt ni base Body v follower Body.
Mt khi Joint ch miu t chuyn ng tng i tng tng ca hai Body,
khng l chnh nhng Body. Bn phi n nh mt h to quy chiu xc
nh hng ca trc khp.
Hnh 1.2.3.1a: M hnh khp trt

Chuyn ng tnh tin ca follower (xanh) tng i vi base ()
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Hp thoi v nhng thng s
Hnh 1.2.3.1b: Bng thng s ca khi Prismatic

Hp thoi c hai vng hot ng, Connection parameters v Parameters.
Connection Parameters
Current base
Khi bn ni cng ni base trn khi Prismatic vi mt cng h to Body
trn Body, thng s ny t ng ci t li tn h to ny.
Curren follower
Khi bn ni cng ni follower trn khi Prismatic vi mt cng h to
Body trn Body, thng s ny t ng ci t li tn h to ny.
Number of sensor/actuator ports
S dng danh mc quay trn, bn c th t s nhng cng ni thm cn cho
vic ni khi Joint Actuator hay khi Joint Sensor vi khi ny. Ngm nh l 0.
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Thng s
La chn gia cc bng Axes v Advanced vi cc thng s ca n.
Cc mc nhp trn bng Axes c yu cu. Chng xc nh hng ca bc
t do tnh tin m khp lng tr th hin.
Hnh 1.2.3.1c: Thng s xc nh hng trc

Name
Ct ny t ng hin th kiu ca mi khp nguyn thu cha trong khi Joint.
Vi Prismatic, c ch mt khp nguyn thu, mt khp lng tr, nhn l P1.
Primitive
Nhp vo y nh mt vector 3 thnh phn, hng trc dc theo hng m bc
t do tnh tin c th di chuyn. Vector ngm nh l [0 0 1].
Reference csys
S dng danh mc ko xung, la chn h to (World, base Body CS, hay
Follower Body CS) m nhng trc h to ca n v vector trc tnh tin l cng
hng. H to ny cng xc nh tuyt i ngha l lc v chuyn ng dc trc
khp. Ngm nh l World.
Advance
Bng Advanced c chn. Bn s dng n iu khin SimMechanics th
hin topology di dng biu .
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La chn Mark as the preferred cut joint

Trong mt vng ng, mt v ch mt khp c giao nhau trong sut qu trnh
m phng. SimMechanics lm s giao nhau bn trong v t ng.
Nu bn mun khp c bit ny c u i thm cho vic giao nhau trong
sut qu trnh m phng th la chn chn. Ngm nh l khng c chn.
1.2.3.2.
Khi Revolute
Mc ch
Biu din mt khp quay kt hp vi mt bc t do tnh tin.
M t
Khi Revolute miu t mt bc t do quay n xung quanh mt trc xc nh

gia hai Body. Hng quay c xc nh theo quy tc bn tay phi. Khp quay
l mt trong nhng khp nguyn thu SimMechanics, cng vi khp lng tr v
khp cu.
Khi Revolute c lp ghp: Bn phi ni mi bn ca khi Joint vi khi
Body ti nhng im h to Body, v nhng gc h to phi l nhng
im sp xp trong khng gian, vi dung sai lp ghp bn trong.
Hnh 1.2.3.2a: M hnh khp quay

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Hnh 1.2.3.2b: Bng thng s ca khi Revolute

Cc thng s ca khi Revolute
Cc thng s y c vai tr nh nhng thng s i vi khp Prismatic v
vy khi la chn th thc hin tng t.
Thng s quan trng cho khp quay hot ng l trc quay v vic n nh
h to xc nh trc quay .
1.2.3.3.
Khi Spherical
Mc ch
Biu din mt khp cu lp ghp vi ba bc t do quay.
M t
Khi Spherical biu din ba bc t do quay ti mt im trung tm, khp qu

cu-hc. Hai bc t do quay xc nh mt hng trc, v bc t do quay th ba
xc nh chuyn ng quay xung quanh hng trc . hng ca mi bc t do
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quay c xc nh theo qui tc bn tay phi, v ba chuyn ng quay cung

nhau to thnh mt h thng bn tay phi. Khp cu l mt trong s nhng khp
nguyn thu SimMechanics, cng vi khp lng tr v khp quay.
Hnh 1.2.3.3a: M hnh khi khp cu

Hnh 1.2.3.3b: Bng thng s ca khi Sperical

Cc thng s ca khi
Thng s quan trng cho khp cu hot ng l im quay v vic n nh
h to xc nh im quay .
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1.2.3.4.
Khi Planar
Mc ch
Biu din mt khp kt hp vi hai bc t do tnh tin v mt bc t do quay,
vi trc quay trc giao vi mt phng cc trc tnh tin.
M t
Khi Planar biu din mt khp kt hp vi hai bc t do tnh tin nh hai

khp nguyn thu Prismatic v mt bc t do quay nh mt khp nguyn thu
Revolute. Trc quay phi trc giao vi mt phng c xc nh bi hai trc tnh
tin.
Hnh 1.2.3.4a: M hnh khp hai bc t do tnh tin

kt hp mt bc t do quay
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Hnh 1.2.3.4b: Bng thng s ca khi Planar

Cc thng s ca khi
khp Revolute v vy khi la chn th thc hin tng t.
1.2.3.5.
Khi Univeral
Mc ch
Biu din mt khp kt hp hai bc t do quay( c cu cc_ng)
M t
Khi Universal biu din mt khp kt hp hai bc t do quay nh hai khp

nguyn thu Revolute. Khng c s cng bc gia cc khp.
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Hnh 1.2.3.5a: M hnh khp cc_ng

Hnh 1.2.3.5b: Bng thng s ca khp Universal

Cc thng s ca khi Universal
Cc thng s y c vai tr nh nhng thng s i vi khp Revolute v
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1.2.3.6. Khi Cylindrical

Mc ch
Biu din mt khp kt hp mt bc t do tnh tin v mt bc t do quay, vi
trc quay v trc tnh tin song song vi nhau( khp tr).
M t
Khi Cylindrical biu din mt khp kt hp vi mt bc t do tnh tin nh

mt khp lng tr v mt bc t do quay nh mt khp nguyn thu quay. Trc
quay v trc tnh tin phi l song song.
Hnh 1.2.3.6a: M hnh khp tr

Hnh 1.2.3.6b: Bng thng s ca khi Cylindrical

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Cc thng s ca khi Cylindrical

khp Revolute v vy khi la chn th thc hin tng t.
1.2.3.7.
Khi Gimbal
Mc ch
Biu din mt khp kt hp ba bc t do quay
M t
Khi Gimbal biu din mt khp kt hp vi ba bc t do quay nh ba khp

nguyn thu quay. Khng c s cng bc gia cc khp.
Hnh 1.2.3.7a: M hnh khp kt hp ba bc t do quay
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Hnh 1.2.3.7b: Bng thng s ca khi Gimbal

Cc thng s ca khi Gimbal
Cc thng s y c vai tr nh nhng thng s i vi khp Revolute v
1.2.3.8.
Khi Custom joint
Mc ch
Biu din mt khp kt hp tu vi di ba bc t do tnh tin v di ba
bc t do quay.
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M t
Khi Custom l mt khi kt hp m bn c th tu bin vi s kt hp c

bit cc khp nguyn thu miu t chung nht v khng cng bc bc t do
theo ba hng:
Di ba bc t do tnh tin nh ba khp nguyn thu lng tr
Di ba bc t do quay:
+ Nh mt khp nguyn thu cu n
+ Nh hai hoc ba khp nguyn thu
Bn c th thm, nh cu hnh, v xo nhng khp nguyn thu t
Custom Joint, vi s t nht v ngm nh l mt khp. Thuc tnh ca mi khp
l nh ring khp cng vi tn tng t.
Hnh 1.2.3.8: Bng thng s khi Custom Joint
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Cc thng s ca khi Custom Joint

Cc thng s y c vai tr nh nhng thng s i vi khp Prismatic,
Revolute, Spherical v vy khi la chn th thc hin tng t.
1.2.3.9.
Khi Weld
Mc ch
Biu din mt khp khng bc t do( Mi ni cng).
M t
Khi Weld biu din mt khp khng bc t do. Hai Body ni vi cc pha
khc nhau ca khi Weld c kho cng vi nhau, m khng th chuyn ng
tng i.
Hnh 1.2.3.9a: M hnh mi ni cng

Hnh 1.2.3.9b: Bng thng s ca khi Weld

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Cc thng s ca khi Weld

Thng s quan trng i vi khp ny l trc ng (Axis of action) v h to
xc nh trc ng .
1.2.3.10.
Khi Telescoping
Mc ch
Biu din mt khp kt hp mt bc t do tnh tin v ba bc t do quay.
M t
Khi Telescoping biu din mt khp kt hp vi mt bc t do tnh tin nh

khp nguyn thu lng tr v ba bc t do quay nh khp nguyn thu cu. Khng
c s cng bc gia cc khp. Khng nh Bearing, Telescoping biu din cc bc t
do quay nh mt khp cu, hn l ba chuyn ng quay.
Hnh 1.2.3.10a: M hnh khp kt hp ba bc t do quay

vi mt bc t do tnh tin
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Hnh 1.2.3.10b: Bng thng s ca khi Telescoping

Cc thng s ca khi Telescoping
Cc thng s y c vai tr nh nhng thng s i vi khp Prismatic,
Spherical v vy khi la chn th thc hin tng t.
1.2.3.11.
Khi In-Plane
Mc ch
Biu din mt khp kt hp vi hai bc t do tnh tin
M t
Khi biu din mt khp kt hp vi hai bc t do tnh tin nh hai khp nguyn
thu lng tr. Khng c s cng bc gia cc khp.
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Hnh 1.2.3.11a: M hnh khp hai bc t do tnh tin

Hnh 1.2.3.11b: Bng thng s ca khi In-Plane

Cc thng s ca khi In-Plane
Cc thng s y c vai tr nh nhng thng s i vi khp Prismatic v vy
khi la chn th thc hin tng t.
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1.2.3.12.
B mn GCVL&DCCN
Khi Bushing
Mc ch
Biu din mt khp kt hp vi ba bc t do tnh tin v ba bc t do quay.
M t
Khi Bushing biu din mt khp kt hp vi ba bc t do tnh tin nh ba

khp nguyn thu lng tr v ba bc t do quay nh ba khp nguyn thu quay.
Khng c s cng bc gia cc khp. Khng nh Six-DoF, Bushing biu din
cc bc t do quay nh ba chuyn ng quay, hn l mt khp cu.
Hnh 1.2.3.12: Bng thng s ca khi Bushing
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Cc thng s ca khi Bushing

Revolute v vy khi la chn th thc hin tng t.
1.2.3.13.
Khi Bearing
Mc ch
Biu din mt khp kt hp vi mt bc t do tnh tin v ba bc t do quay.
M t
Khi Bearing biu din mt khp kt hp vi mt bc t do tnh tin nh khp

nguyn thu lng tr v ba bc t do quay nh ba khp nguyn thu quay. Khng c
s cng bc gia cc khp. Khng nh Telescoping, Bearing biu din cc bc t
do quay nh ba khp quay, hn l mt khp cu.
Hnh 1.2.3.13a: M hnh khp Bearing
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Hnh 1.2.3.13b: Bng thng s ca khi Bearing

Cc thng s ca khi Bearing
1.2.3.14.
Khi Sx-DoF
Mc ch
Miu t mt khp kt hp vi ba bc t do tnh tin v ba bc t do quay
M t
Khi Six-DoF biu din mt khp kt hp vi ba bc t do tnh tin nh ba khp

nguyn thu lng tr v ba bc t do quay nh l mt khp nguyn thu cu. Khng
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c s cng bc gia cc khp nguyn thu. Khng nh Bushing, Six-DoF biu din
cc bc t do quay nh l mt khp cu, hn l ba chuyn ng quay.
Hnh 1.2.3.14: Bng thng s ca khi 6 bc t do

Cc thng s ca khi Six-DoF
Spherical v vy khi la chn th thc hin tng t.
1.2.3.15.
Khi Screw
Mc ch
Biu din mt khp kt hp vi mt bc t do tnh tin v mt bc t do quay, vi
trc tnh tin v trc quay l song song v mt s cng bc bc tuyn tnh gia
chuyn ng tnh tin v chuyn ng quay.
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M t
Khi Screw biu din mt khp kt hp vi mt bc t do tnh tin nh mt khp

nguyn thu lng tr v mt bc t do quay nh mt khp nguyn thu quay. Cc
trc tnh tin v quay l song song. Cc bc t do tnh tin v quay c cng bc
bi s cng bc bc c t l chuyn ng.
Hnh 1.2.3.15a: Hnh v m t khi vt me - ai c

Hnh 1.2.3.15b: Bng thng s khi Screw

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Cc thng s ca khi Screw

Thng s bc
Thng s bc iu khin Screw dch chuyn on bao nhiu cho mi vng quay.
Pitch: khong chiu di m Screw di chuyn dc trc Screw cho mt vng quay
hon chnh 3600. Ngm nh l 1.
Unit (per revolute): trong danh mc ko xung, la chn n v cho khong chiu
di bc. Ngm nh l mm.
1.2.4. Th vin Sensor & Actuators
1.2.4.1.
Khi Body actuator
Mc ch
Tc dng lc/ mmen vo mt Body
M t
Khi Body Actuator kch hot mt khi Body vi tn hiu lc suy rng, th hin
lc/ mmen tc ng ti mt Body
Lc cho chuyn ng tnh tin
Mmen cho chuyn ng quay
Lc suy rng l mt hm theo thi gian xc nh bi mt tn hiu vo
Simulink. Tn hiu ny c th l tn hiu Simulink no , gm c tn hiu phn hi
t khi Sensor.
Body Actuator gy ra tn hiu kch ng trong h to quy chiu xc nh
trong hp thoi.
Cng vo (Inport) l a tn hiu vo Simulink. Cng ra (Output) l cng
ni m bn dng ni vi khi Body bn mun kch hot.
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Bn nn cn thn phn bit khi Body Actuator vi nhng khi Driver:

Khi Body Actuator tc ng nhng lc suy rng vo mt Body trong h to
quy chiu xc nh.
Khi Driver truyn dn ng bc t do tng i gia nhng cp Body.
Nhng cch khc kch ng nhng Body (Other Ways to Actuate Bodies)
Khi Body Actuator kch ng mt Body ch thng qua tn hiu lc/mmen.
kch ng mt Body vi nhng tn hiu chuyn ng hoc nhng iu kin ban u,
hoc truyn bc t do tng i gia mt cp Body.
Hnh 1.2.4.1a: Bng thng s ca khi Body Actuator

Hp thoi c mt vng hot ng l Actuation.
Actuating body at coordinate system: Vng ny khng hot ng. Bn la
chn h to Body ni gy ra s kch ng bng vic kt ni n vi Body
Actuator.
Using reference coordinate system: trong danh mc ko xung, la chn h
to m lc/mmen kch ng c th hin bi n: hoc h to cc b
(local) (Body CS) m Actuator c ni hoc ngm nh l h to tuyt i
(World).
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Di y l mt Body Actuator c ni vi mt Body
Hnh 1.2.4.1b: V d v cch s dng khi BodyActuator

Bn phi ni Body Actuator vi Body ti mt trong s nhng h to Body
c gn ca Body , ti cng h to Body tng ng. Tn hiu kch ng hot
ng trn Body ti gc ca h to Body.
Generalized Forces
Bn c th tc ng mt lc, mt mmen hoc c lc suy rng vo mt Body.
Nu bn tc ng c, bn cn gi vector mmen v lc li thnh mt tn hiu 6 thnh
phn, theo th t hin trong hp thoi.
Apply torque (tc ng bng mmen)
La chn chn nu mt phn hoc tt c tn hiu kch ng l mmen quay.
Ngm nh l khng c chn. Mmen Simulink a vo l mt gi tn hiu ba
thnh phn. Trong danh mc ko xung, chn n v cho mmen kch ng. Ngm
nh l N-m.
Apply force (tc ng bng lc)
La chn chn nu mt phn hoc tt c tn hiu kch ng l lc tnh tin.
Ngm nh l c chn. Lc Simulink a vo l mt gi tn hiu ba thnh phn.
Trong danh mc ko xung, chn n v cho mmen kch ng. Ngm nh l N.
1.2.4.2.
Khi Joint actuator
Mc ch
Tc ng lc/mmen hoc to chuyn ng cho mt khp nguyn thu
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M t
Khp gia hai Body th hin bc t do tng i gia nhng Body. Khi Joint
Actuator kch hot mt khi Joint ni gia hai Body vi mt trong nhng tn hiu
sau:
Mt lc suy rng:
+ Lc cho chuyn ng tnh tin dc theo khp nguyn thu lng tr (khp
tnh
tin)
+ Mmen cho chuyn ng quay quanh mt khp nguyn thu quay.
Mt chuyn ng
Chuyn ng tnh tin cho khp nguyn thu lng tr, di dng v tr, vn tc v
gia tc theo chiu di. Tn hiu vn tc phi l o hm ca tn hiu v tr, v gia tc
l o hm ca vn tc.
Chuyn ng quay cho khp nguyn thu quay, di dng v tr, vn tc, v gia
tc gc. Tn hiu vn tc gc phi l o hm ca tn hiu v tr gc, v gia tc gc l
o hm ca vn tc gc.
Lc suy rng hoc chuyn ng l mt hm ca thi gian c xc nh bi mt
tn hiu vo Simulink. Tn hiu ny c th l tn hiu Simulink no , gm c tn
hiu phn hi t khi Sensor.
Joint Actuator tc ng tn hiu kch ng dc/quay quanh trc khp trong h to
quy chiu m xc nh khp nguyn thu trong hp thoi ca khp. Joint
kt ni base Body v follower Body. Th t base-follower quyt nh chiu ca tn
hiu kch ng.
Cng vo l tn hiu vo Simulink. Cng ra l cng ni m bn ni vi khi Joint
bn mun kch ng. Khi Joint Actuator kch ng khp nguyn thu mt ln:
Mt khp nguyn thu (tnh tin hoc quay) ch c mt khp nguyn thu bn
trong kch ng.
Mt khp kt hp c nhiu khp nguyn thu bn trong, v bn phi la chn
trong s nhng khp nguyn thu kch ng vi Joint Actuator.
Lu : Bn khng th kt ni mt Joint Actuator vi khp cu.
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Hp thoi v thng s (Dialog Box v Parameters)
Hnh 1.2.4.2a: Bng thng s ca khi JointActuator

Hp thoi c mt vng hot ng( Actuation)
Connected to primitive
Trong danh mc ko xung, la chn khp nguyn thu bn trong khp m bn
mun kch ng vi Joint Actuator. Mt khi Joint nguyn thu ch c mt khp
nguyn thu.
Lu : Bn khng th kt ni mt Joint Actuator vi mt khp cu.
Nu Joint Actuator l khng c kt ni vi khi Joint, danh mc ny ch hin
Unknown
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Di y l Joint Actuator c kt ni vi khp lng tr m kt ni hai Body
Hnh 1.2.4.2b: V d v cch s dng khi JointActuator

Bn phi thm mt cng Actuator (cng kt ni) vo khi Joint ni Joint
Actuator vi n. Th t base-follower Body trn hai pha ca khp quyt nh chiu
ca d liu Joint Actuator.
S dng nhng nt bm radio bn c th cht gia hai kiu kch ng,
Generalized forces v Motion.
Generalized Forces
La chn ny th hin tn hiu kch ng nh mt lc hoc mmen gia hai Body
c ni bi khi Joint bn ang kch ng.
Hnh 1.2.4.2c: La chn tn hiu kch ng l lc

Apply torque (tc ng bng mmen, ch cho chuyn ng quay)
Trong danh mc ko xung, la chn n v cho mmen kch ng. Ngm nh
l N-m. La chn ny ch thch hp nu bn ni khi Actuator vi khp quay. Tn
hiu vo Simulink c mt thnh phn.
Apply force (tc ng bng lc, ch cho chuyn ng tnh tin)
Trong danh mc ko xung, la chn n v cho lc kch ng. Ngm nh l N.
la chn ny ch thch hp nu bn kt ni khi Actuator ny vi khp nguyn thu
lng tr. Tn hiu vo Simulink c mt thnh phn.
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Motion
La chn ny th hin tn hiu kch ng nh l mt s chuyn ng ca khp
nguyn thu m bn ni vi Joint Actuator
Hnh 1.2.4.2d: La chn tn hiu kch ng l tn hiu chuyn ng

Apply translational motion (gy ra chuyn ng tnh tin, ch vi khp lng tr)
Trong danh mc ko xung, la chn n v cho v tr, vn tc v gia tc kch
ng theo chiu di.
Apply rotational motion (gy ra chuyn ng quay, ch i vi khp quay)
Trong danh mc ko xung, la chn n v cho v tr, vn tc v gia tc kch
ng theo gc.
1.2.4.3.
Khi Driver Actuator
Mc ch
Gy ra chuyn ng tng i gia mt cp Body cng bc thng qua mt khi
Driver.
M t
Khi Driver Actuator kch ng khi Driver ni gia mt cp Body. Bn ni khi

vi khi Driver ni gia hai Body. Khi Driver th hin mt s cng bc ph thuc
thi gian qua mt bc t do tng i gia hai Body. Mt Driver yu cu mt hm
ph thuc thi gian xc nh v tr, vn tc v gia tc tng i ca nhng Body
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c ni. u ra ca Driver Actuator l hm ph thuc thi gian f(t) v hai o hm

u tin ca n.
Bn xc nh ba hm ny nh mt gi tn hiu vo Simulink. Tn hiu ny c th
l tn hiu Simulink no , gm c phn tn hiu t khi Sensor , tho mn nhng
iu kin sau:
Tn hiu phi gm c gi ba thnh phn. Ngoi l, Velocity Driver yu cu
gi hai thnh phn.
Ba thnh phn phi theo th t ( f(t), df(t)/dt d2f(t)/dt2 ). Ngoi l, vi khi
Velocity Driver yu cu mt hm v o hm ca n ( f(t), df(t)/dt )
Mi thnh phn tn hiu k tip phi l o hm theo thi gian ca thnh
phn trc.
ngha c bit ca hm f(t) tu thuc vo khi Driver c ni m ang
c kch ng. La chn khi Driver c bit mt cch chi tit.
Nhng chuyn ng theo chiu di
Distance Driver
Linear Driver
Velocity Driver
Nhng chuyn ng theo gc

Angle Driver
Driver ni base Body v follower Body. Th t base-follower quyt nh chiu

ca tn hiu kch ng. Cng vo l tn hiu vo Simulink. Cng ra l cng ni bn
ni vi khi Driver m bn mun kch ng.
Lu : Bn khng nht thit phi ni mt khi Driver vi Driver Actuator. Nu
bn khng kch ng mt Driver, khi Driver hot ng nh mt s cng bc
khng ph thuc thi gian m lm t lit bc t do tng i c truyn gia hai
Body, gi tr s ban u ca chng trong sut thi gian m phng.
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Hnh 1.2.4.3a: Bng thng s ca khi DriverActuator

Hp thoi ny c mt vng hot ng( Actuation)
Di y l mt Driver Actuator ni vi Distance Driver, m ni hai Body.
Hnh 1.2.4.3b: V d cch s dng khi DriverActuatorr

Bn phi thm cng Actuator (cng ni) vo khi Driver ni Driver Actuator
vi n. Th t base-follower Body trn hai pha ca Driver quyt nh hng ca d
liu Driver Actuator.
Driver Actuator truyn chuyn ng tng i gia hai Body vi Driver. Tnh
cht khi Driver c ni quyt nh chnh xc ngha ca d liu kch ng, bao
gm c s la chn nhng n v.
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Position
Trong danh mc ko xung, la chn n v cho hm kch ng f(t) m gy ra
chuyn ng tng i gia hai Body. Nu Driver Actuator c ni vi Velocity
Driver , vng nay khng xut hin.
Velocity
Trong danh mc ko xung, la chn n v cho hm kch ng df(t)/dt m gy
ra chuyn ng tng i gia hai Body. Nu Driver Actuator c ni vi Velocity
Driver , vng ny quy v hm f(t).
Acceleration
Trong danh mc ko xung, la chn n v cho hm kch ng d2f(t)/dt2 m gy
ra chuyn ng tng i gia hai Body. Nu Driver Actuator c kt ni vi
Velocity Driver , vng ny quy v hm df(t)/dt.
1.2.4.4.
Khi Body sensor
Mc ch
o s chuyn ng ca Body
M t
Khi Body Sensor d tm v tr, vn tc, v/ hoc gia tc ca Body c biu

din bi khi Body.
Body Sensor o s chuyn ng trong h to quy chiu xc nh trong hp
thoi.
Bn c th o mt, hai hay c ba i lng c trng cho chuyn ng :
Chuyn ng tnh tin ca mt Body, di dng nhng vector v tr, vn tc,
v/ hoc gia tc theo chiu di
Chuyn ng quay ca Body, di dng nhng vector vn tc v/ hoc gia
tc theo gc.
Chuyn ng quay ca Body, di dng matrix quay 3x3.
u vo l cng ni m ni vi Body ang c cm bin. u ra l mt b
nhng tn hiu Simulink hoc mt gi nhng tn hiu vector v tr, vn tc, v/ hoc
gia tc v/ hoc ma trn quay ca Body.
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Hp thoi v thng s (Dialog Box and Parameters)
Hnh 1.2.4.4a: Bng thng s ca khi Body Sensor

Hp thoi c mt vng hot ng, Measurements
Measuring Body coordinate system (h to Body o)
Vng ny l khng hot ng. Bn la chn h to Body m o chuyn
ng qua vic lin kt n vi Body Sensor.
With respect to coordinate system (i vi h to )
Trong danh mc ko xung, la chn h to m s chuyn ng ca
Body c o: hoc h to ring Local m Actuator c ni hoc ngm nh
l h to tuyt i World.
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Di y l mt Body Sensor ni vi mt Body
Hnh 1.2.4.4b: V d cch s dng khi Body Sensor

Bn phi ni Body Sensor vi Body ti mt trong s nhng h to Body gn
lin ca Body , tng ng vi cng h to Body. Sensor o chun ng ca h
to Body .
Nhng s la chn chn cho mt trong s nhng i lng o c th m
bn mun dng:
Chuyn ng tnh tin: Vector v tr (Position), vn tc (Velocity), v gia tc
(Acceleration)
Chuyn ng quay: Vector vn tc gc (angular velocity) v gia tc gc (Angular
acceleration) v matrix quay (Rotation matrix)
Matrix quay l matrix quay trc giao 3x3 R:
th hin hng quay v tho mn RTR=RRT=1.

Nu bn chn With respect to coordinate system l h to tuyt i
(World), matrix quay o hng quay ca Body so vi hng ban u ca n. Nu
bn chn With respect to coordinate system l h to cc b (Local), matrix quay
tr thnh matrix ng dng 3x3.
Mi vector o l mt vector ct trong tn hiu u ra Simulink.
Trong danh mc ko xung, chn n v cho mi i lng o bn mun:
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* Chuyn ng di (Linear motion): ngm nh l m, m/s, m/s2, v N th t

cho Position, Velocity, v Acceleration.
* Chuyn ng gc (Angular motion): ngm nh l deg/s v deg/s2 theo th
t cho Angular velocity v Angular acclation. Matrix quay l khng c th nguyn.
Out selected parameters as one signal (nhng thng s c chn i ra nh mt
tn hiu)
La chn chn ny bin nhng tn hiu ra thnh mt gi tn hiu n. Ngm
nh l c chn. Nu bn khng chn n, khi Body Sensor s mc ra nhiu cng
ra Simulink bng vi s nhng tn hiu hot ng c chn, cng th t t trn
xung di, trong hp thoi.
Nu chn c chn, tn hiu ra Simulink c tt c nhng tn hiu hot ng
theo th t trong mt vector ct n cng th t m bn thy trong hp thoi. Nhng
thnh phn khng c chn l khng i ra t vector tn hiu.
1.2.4.5.
Khi Joint sensor
Mc ch
o chuyn ng v lc / momen ca mt khp nguyn thu
M t
Khi Joint Sensor o v tr, vn tc, v/ hoc gia tc ca mt khp nguyn thu
trong mt khi Joint.
Joint Sensor o chuyn ng dc/ quay quanh trc khp (hoc quay quanh mt
im i vi khp cu) trong h to quy chiu xc nh cho khp nguyn thu
trong hp thoi ca khp. Joint ni mt base Body vi mt follower Body. Th t
base-follower quyt nh hng chuyn ng.
Tu thuc vo khp nguyn thu ang c cm bin, bn o mt trong nhng
kiu chuyn ng sau:
Chuyn ng tnh tin cho khp nguyn thu lng tr, di dng v tr, vn
tc, v/ hoc gia tc theo chiu di.
Chuyn ng quay i vi loi khp nguyn thu quay, di dng v tr, vn
tc, v/ hoc gia tc theo gc.
Chuyn ng cu i vi loi khp cu, di dng quaternion, o hm
quaternion, v/ hoc o hm cp hai quaternion.
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u vo l cng ni c ni vi Joint ang c cm bin. u ra l mt b

tn hiu Simulink hoc mt gi tn hiu Simulink ca v tr, vn tc, v/ hoc gia tc
ca khp .
Mt khi Joint Sensor o mt khp nguyn thu ring bit:
Mt khp nguyn thu (Lng tr hoc Quay) ch c mt khp nguyn thu
bn trong o
Mt khp kt hp c nhiu khp nguyn thu bn trong, v bn phi la
chn khp no cm bin vi Joint Sensor.
Hnh 1.2.4.5a: Bng thng s khi Joint Sensor
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Hp thoi ny c mt vng hot ng, Measurements.

Connected to primitive (c ni vi khp nguyn thu)
mun o vi Joint Sensor. Mt khi Joint nguyn thu ch c mt khp nguyn thu.
Nu Joint Sensor l khng c ni vi khi Joint, mc ny ch hin Unknown.
y l mt Joint Sensor ni vi mt Prismatic l khp ni hai Body
Hnh 1.2.4.5b: V d cch s dng khi Joint Sensor

Bn phi thm mt cng Sensor cho khi Joint ni Joint Sensor vi n. Th t
base-follower trn hai bn ca Joint quyt nh chiu d liu Joint Sensor.
vung Measurement bn thy trong hp thoi Joint Sensor ph thuc vo kiu
khp nguyn thu m bn ni vi Joint Sensor.
Prismatic joint primitive (P)
La chn chn cho mt trong s nhng i lng o c th bn mun o: v tr,
vn tc, gia tc, lc c tnh, phn mmen, v phn lc.
+ Computed force l lc hng dc theo trc lng tr m lm pht sinh chuyn
ng ca follower i vi base.
+ Reaction force v/ hoc momen l vector 3 thnh phn ca lc v/ hoc momen
m khp nguyn thu truyn ti base hoc follower Body.
Trong danh mc ko xung Reactions measured on, la chn Body m vector
phn lc v/ hoc mmen l c o, base hoc follower. Ngm nh la base. Cng
la chn nh vy vi With respect to coordinate system qua phn mmen v/ hoc
phn lc. Ngm nh l Absolute
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Trong danh mc ko xung, la chn n v cho mt trong s nhng thng s o

bn mun. Ngm nh nh hnh nh bn di.
Hnh 1.2.4.5c: Cc la chn tn hiu c o khi ni vi khp tnh tin

Gi tn hiu ra Simulink cho khp lng tr c nhng i lng o c th t
theo vector ct. Nhng thnh phn khng c o khng di chuyn ra t vector tn
hiu.
Revolute joint primative (R)
La chn nhng chn cho mt trong s nhng i lng o c th bn mun
o: Angle, Angular velocity, Angular acceleration, Computed Torque, Reaction
Torque, v Reaction Force.
Mmen c tnh l mmen quay quanh trc quay m lm pht sinh chuyn
ng follower so vi base
Phn lc v/ hoc mmen l vector 3 thnh phn ca lc v/ hoc mmen m
khp nguyn thu truyn ti base hoc follower Body.
Trong danh mc ko xung Reactions measured on, chn body no m vector
phn lc v/ hoc mmen l c o trn n, base hoc follower Body. Ngm nh l
base. Cng chn With respect to cooordinate system cho phn lc v/ hoc mmen.
Ngm nh l tuyt i (World)
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Trong danh mc ko xung, chn n v cho mi i lng o bn mun. Ngm

nh l m, m/s, m/s2, N, v Nm th t cho Position, Velocity, Acceleration, Force, v
Torque.
Hnh 1.2.4.5c: Cc la chn tn hiu c o khi ni vi khp quay

Lu : gc tuyt i ca chuyn ng quay c vch ra trong khong (-1800 ,
+1800).
Spherical joint primitive (S)
Chn chn cho mi i lng o c th o m bn mun o: Quaternion,
Quaternion derivative, v Quaternion second derivative, Reaction torque v Reaction
Force.
Phn lc v/ hoc mmen l vector 3 thnh phn ca lc v/ hoc mmen m
khp nguyn thu truyn ti base hoc follower Body.
Trong danh mc ko xung Reactions measured on, chn body no m vector
phn lc v/ hoc mmen l c o trn n, base hoc follower Body. Ngm nh l
base. Cng chn With respect to coordinate system cho phn lc v/ hoc mmen.
Ngm nh l tuyt i (World)
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Quaternion l khng th nguyn. n v thi gian o hm l giy. Mi i

lng o quaternion l mt vector ct 4 thnh phn.
Hnh 1.2.4.5d: Cc la chn tn hiu c o khi ni vi khp cu

Output selected parameters as one signal (nhng thng s c la chn ra
nh mt tn hiu)
La chn chn ny chuyn i tt c tn hiu ra thnh mt gi tn hiu n.
Ngm nh l c la chn. Nu bn khng la chn n, khi Joint Sensor s mc
nhng cng ra Simulink bng vi nhng tn hiu hot ng c chn, theo cng th
t t trn xung di, trong hp thoi.
Nu chn l c chn, tn hiu ra Simulink c tt c nhng tn hiu hot ng
theo th t thnh mt vector ct n. Th t v kiu nhng thnh phn tn hiu ph
thuc vo khp nguyn thu, nh bng sp xp tn hiu Simulink trn.
1.2.4.6.
Khi Constraint & driver sensor
Mc ch
o lc/ mmen cng bc gia mt cp Body cng bc.
M t
Khi Constraint & Driver Sensor o lc/ mmen (phn lc/ mmen) cng bc
gia mt cp Body. Bn ni khi vi khi Constraint hoc Driver ni gia hai
Body. Tn hiu ra l phn lc/ mmen.
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Constraint & driver Sensor o phn lc/mmen trong h to quy chiu xc

nh trong khi hp thoi. Khi Constraint hoc Driver ni base v follower Body.
Bn chn trong hp thoi o phn lc/ mmen trn mt trong hai base v follower
Body.
u vo l cng ni ni vi khi Constraint hoc Driver bn mun cm bin.
Cng ra l mt b nhng tn hiu hoc mt gi nhng tn hiu Simulink cc vector
phn lc/ mmen.
Hnh 1.2.4.6a: Bng thng s ca khi Constraint & Driver

Hp thoi ny c mt vng hot ng, Measurements.
Reactions measeassured on (nhng phn lc c o trn)
Trong danh mc ko xung, chn o phn lc/ mmen trn base hoc follower
Body. Ngm nh l base.
With respect to coordinate system (i vi h to )
Trong danh mc ko xung, chn h to phn lc/ mmen hoc s
chuyn ng c gii thiu ( c th qua hnh thc t tn ). Ngm nh l
Absolute.
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Di y l mt Constraint & Driver Sensor ni vi mt Gear Constraint, m

ni cng bc hai Body.
Hnh 1.2.4.6b: V d cch s dng khi Contraint & Driver

Bn phi thm mt cng cm bin ti khi Constraint/Driver ni Constraint &
Driver Sensor vi n. Th t base-follower Body trn hai pha ca Joint quyt nh
chiu ca d liu Constraint & Driver Sensor.
Reaction torque
La chn chn nu bn mun o phn mmen. Ngm nh l c chn.
Mmen l mt vector ct tn hiu ra Simulink. Trong danh mc ko xung, chn
n v cho phn mmen. Ngm nh l N-m.
Reaction force
La chn chn nu bn mun o reaction force. Ngm nh l c chn. Lc
l vector ct trong tn hiu ra Simulink. Trong danh mc ko xung, chn n v cho
phn lc. Ngm nh l N.
Output selected parameters as one signal (nhng thng s c chn i ra
nh mt tn hiu)
Chn chn ny chuyn nhng tn hiu ra thnh mt gi tn hiu n. Ngm
nh l c chn. Nu bn khng chn n, khi Constraint & Driver Sensor s mc
ra nhiu cng ra Simulink bng vi nhng tn hiu hot ng c chn, theo th t
t trn xung di trong hp thoi. Nu chn c chn, tn hiu ra Simulink c tt
c nhng tn hiu hot ng c gi thnh mt vector ct n, theo th t hin
trong hp thoi. Kiu ca nhng thnh phn tn hiu ph thuc vo nhng i lng
o c chn.
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1.2.4.7.
B mn GCVL&DCCN
Khi Joint Initial Condition Actuator
Mc ch
t v tr v vn tc ban u cho mt khp trc khi bt u m phng
M t
Khi Joint Initial Condition Actuator cung cp gi tr d kin ban u cho mt

khp nguyn thu trong khi Joint. Gi tr ban u l v tr v vn tc ca khp
nguyn thu v hon ton xc nh tnh trng chuyn ng ban u ca khp
nguyn thu .
Khi bn xy dng my, cu hnh hnh hc xc nh hon ton v tr (gc) ban u
ca nhng Body i vi mt ci khc v mt h to World. Tuy nhin qu trnh
xp t Ground, Body v Joint ch xc nh to ban u, khng xc nh c vn
tc tng ng ban u. Bt u mt qu trnh m phng vi tnh trng hon ton ci
t tt c vn tc ban u l 0. Bn c th ci t y tnh trng chuyn ng ban
u c v v tr v vn tc ca tt c nhng khp nguyn thu bng cch s dng
khi Joint Initial Condition Actuator.
Bn c th ci t vi tr v vn tc u cho hai kiu khp:
iu kin tnh tin ban u cho khp lng tr nguyn thu, di dng v tr
v vn tc di
iu kin quay ban u cho khp quay nguyn thu, di dng v tr v vn
tc gc.
Khi ny kch hot mt khp nguyn thu mt ln.
Joint Initial Condition Actuator t tnh trng ban u dc theo/xung quanh trc
khp trong h to quy chiu xc nh khp nguyn thu trong hp thoi ca
khp. Joint ni mt base Body v mt follower Body. Th t base-follower quyt
nh hng tn hiu kch ng.
u ra l cng ni bn ni vi khi Joint bn mun kch ng. Bn ci t v tr
v vn tc di hoc gc u trong hp thoai ca khi, v th nn khng c cng vo
hoc tn hiu vo.
Bn khng th ni Joint Initial Condition Actuator vi khp cu.
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Hnh 1.2.4.7a: Bng thng s ca khi Joint Initail Condition Actuator

Hp thoi c mt vng hot ng l Actuation
Trong danh mc ko xung, chn khp nguyn thu trong khp m bn mun
kch hot vi khi Joint Initial Condition Actuator. Mt khi Joint nguyn thu ch c
mt khp nguyn thu.
Bn khng th ni Joint Initial Condition Actuator vi khp cu.
Nu Joint Initial Condition Actuator khng c ni vi khi Joint , mc ny ch
hin Unknown.
y l mt Joint Initial Condition Actuator ni vi khp lng tr, m ni hai
Body.
Hnh 1.2.4.7b: V d cch s dng khi IC

Bn phi thm vo mt cng Actuator (cng ni) vo khi Joint ni Initial
Condition Actuator vi n. Th t base- follower Body trn hai bn ca khp quyt
nh hng d kin Initial Condition Actuator.
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Initial position
Trong vng ny, ci t v tr ban u theo chiu di hoc gc, tu thuc vo
Actuator ny c ni vi khp tnh tin hay khp quay. Ngm nh l 0.0.
Trong danh mc ko xung, chn n v cho v tr ban u theo chiu di hay
gc. Ngm nh cho theo chiu di l m, theo gc l deg.
Initial velocity
Trong vng ny, ci t vn tc ban u theo chiu di hoc gc, tu thuc vo
Actuator ny c ni vi khp tnh tin hay khp quay. Ngm nh l 0.0.
Trong danh mc ko xung, chn n v cho vn tc ban u theo chiu di hay
gc. Ngm nh cho theo chiu di l m/s, theo gc l deg/s.
1.2.4.8.
Khi Joint Stiction Actuator
Mc ch
Gy ra ma st c in cho mt khp nguyn thu
M t
Khi Joint Stiction Actuator gy ra ma st tnh (static friction = stiction) cho mt

khp tnh tin hay khp quay nguyn thu. Ma st tnh c iu chnh li bi m
hnh l tng m cc thng s ca n do bn xc nh. (Xem l thuyt ma st tnh
bn di). Joint Stiction Actuator gy ra ma st tnh cho khp nguyn thu di dng
lc/ mmen tng i gia nhng Body c ni ca khp. Nhng Body c th cm
thy nhng lc thm vo c lp ca khp.
u vo l nhng tn hiu Simulink. u ra l cng ni. Bn khng th ni mt
Joint Stiction Actuator vi khi Spherical hoc khp cu nguyn thu. S hn ch
ng thi trn nhng Actuator v nhng Sensor:
Bn khng th kch ng mt khp nguyn thu ng thi vi mt Joint
Stiction Actuator v mt Joint Actuator. Nhng vi cng vo External Actuator ca
Joint Stiction Actuator, bn c th gy ra vi khp nguyn thu tn hiu kch ng
lc/ mmen ngoi tng ng vi vic tc ng mt Joint Actuator.
Bn c th kch ng ng thi mt khp nguyn thu vi mt Joint Stiction
Actuator v mt Joint Initial Condition Actuator.
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Bn cng c th kch ng ng thi khp nguyn thu vi mt Joint

Stiction Actuator v o lc/ mmen dc theo/ xung quanh khp nguyn thu vi mt
Joint Sensor.
Hnh 1.2.4.8: Bng thng s ca khi Joint Stiction Actuator

Hp thoi c mt vng hot ng l Stiction actuation.
mun kch ng vi Joint Stiction Actuator. Mt khi Joint nguyn thu ch c mt
khp nguyn thu.
Bn khng th ni mt Joint Stiction Actuator vi khp cu nguyn thu.
Nu Joint Stiction Actuator khng c ni vi khi Joint, mc ny ch hin
Unknown.
External force units
Trong danh mc ko xung, chn n v cho ngoi lc/moment khng ma st
Fext. Ngm nh l N nu c ni vi khp tnh tin v l Nm nu c ni vi khp
nguyn thu quay.
Kinematic friction units
Trong danh mc ko xung, chn n v cho lc/moment ma st ng FK. Ngm
nh l N nu c ni vi khp tnh tin v l Nm nu c ni vi khp nguyn
thu quay.
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Locking velocity threshold (MKS-SI units) (ngng vn tc kho)

Nhp vo vn tc tng i ca khp nguyn thu m khp b kho li bi ma st
tnh. Trn vn tc , khp khng b kho. n v MKS phi l: cho khp lng tr
nguyn thu l m/s; cho khp quay nguyn thu l rad/s.
1.2.5. Th vin Utilities
1.2.5.1.
Khi Connection ports
Mc ch
To mt cng kt ni vi m hnh vt l cho mt h thng con.
M t
Khi ny nm bn trong h thng con c xy dng ca cc khi

Simmechanics. Cng ni oc th hin bn ngoi h thng cong bng mt vng
trn gn ti vin ca khi h thng con. Khi cng ni c ni vi mt tn
hiu th vng trn chuyn thnh hnh trn mu en.
Bn ni cc khi Simmechanics ring r v cc h thng con ti cc khi hay
cc h thng con khc vi mt ng kt ni t bit thay v ng tn hiu m
phng bnh thng. Khi c hnh thnh th h thng con t ng cc cc cng
kt ni nu ngi s dng khng ni cng kt ni. Bn cng c th thm cc
cng kt ni bng cch thm cc cng kt ni cho h thng con ca bn.
Hp thoi cc cc thng s( Dialogbox & Parameters)
Hnh 1.2.5.1: Bng thng s ca khi Connection port
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Cc thng s ca khi Connection port:

* Port number: Cc nhn( tn) khc nhau ca cc cng kt ni trong h
thng con c to bi thng s nay. Trong mt h thng con c nhiu cng kt
ni th mi cng cn c mt tn khc nhau chnh l s c nhp trong thng
s ny. Gi tr mc nh cng tn hiu u tin l 1.
* Port location on parent subsystem: Chn ti y mt trong hai v tr ca
cng kt ni pha bn ngoi ca h thng con.
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Phn2:
2.1.
Ng dng cng c simmechanics m

phng h iu khin cn trc
Gii thiu v Cn trc
Cn trc quay c coi nh l mt cng c thit yu dng trong cng nghip

v xy dng di chuyn vt nng, hng ho v vt liu t ch ny n ch
khc. Mt u im ln kh c th thay th ca cn trc quay l chng c th di
chuyn c nhng vt nng ln cao v vo ni nguy him qua chng lm
tng tin qu trnh sn xut.
Nhn chung, cn trc quay c rt nhiu cu trc bn vng hp l nng
nhng trng ti nng. Nh trong hnh v 2.1, cu trc chung cn trc quay bao
gm:
Mt thp ng gi cn ngang ca
cn trc quay. Sinh ra chuyn ng quay
ca cn trc thng qua thp ng ny.
Mt chn thng c nh vi nn
ngn chn s x dch ca cn trc.
Mt cn ngang c t trn thp v
quay trong mt phng ngang xung quanh
trc ng c nh.
Mt xe gi vt nng v c th di
chuyn trn cn ngang.
Hnh 2.1: M hnh cn trc
H thng treo bao gm cc dy cp

v rng rc.
Nh vy th, s kt hp chuyn ng ca xe v cn c th di chuyn vt nng
n mi ni trong mt phng ngang trong phm vi ca cn trc quay. Vt nng
c treo vo xe bng cch s dng mt b cc dy cp. Chiu di dy cp c
th thay i phc v cho qu trnh nng h vt nng ln xung.
Mt trong nhng vn hin nay i vi cn trc trong cng nghip v xy
dng l cn trc ngy cng tr ln ln hn v cao hn p ng c vi
nhng cng trnh ln hn v cao hn vi yu cu thi gian hon thnh ngn hn.
Nhng tht khng may, cn trc vi cu trc ln tng ng vi khong di
chuyn ln m li di chuyn vi tc cao l lun lun i km vi s dao ng
ca vt nng khng mong i do ng lc hc h thng. M nu vt nng dao
ng mnh th s pht sinh cc vn nh kt cu ca cn trc phi cng vng
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hn rt nhiu chu cc lc khc nhau do dao ng ca vt nng cng nh

gim tui th ca cn trc, ri kh kim sot mc dao ng ca cn trc dn
n tnh an ton km.
Nh vy chng ta cn thit k b iu khin cho cn trc quay di chuyn
vt nng vi hai yu cu chnh.
* Th nht l thi gian cn cho vt nng di chuyn t v tr nng n v tr
h phi l ngn nht.
* Th hai l phi khng ch c s dao ng ca vt nng sao cho nh
ngn nga ri ro cho con ngi v nhng thit b trong vng lm vic.
2.2.
t vn
Ly mt h to Decac OXYZ lm h to tuyt i xc nh cn trc.

N c xc nh nh sau:
Gc O ti im nn cn trc.
Trc OX hng sang phi v nm trong mt phng cn trc khi cn trc v
tr ban u (cha c s di chuyn).
Trc OY hng thng ng ln trn trng vi trc ca thp.
Trc OZ nm thun theo quy tc bn tay phi.
Ly mt h to Decac OXYZ gn lin vi s chuyn ng ca cn
ngang
Hai h to ny c OY OY, Ti thi im ban u hai h to ny
trng nhau, ti thi im t hai h to c gc hp bi OX v OX l (t).
r(t)
Cn ngang Xe trt
Thp
ng
Y'
Vt nng
O
X'
Z'
Hnh 2.2. H thng to ca cn trc
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Chng ta di chuyn vt nng t mt v tr n mt v tr khc cn hai

chuyn ng: cn ngang quay trong mt phng ngang xung quanh trc OY mt
gc (t), xe di chuyn trn cn ngang vi v tr r(t) c xc nh trn trc OX.
Khi di chuyn vt nng, cc chuyn ng lm cho vt nng dao ng.
Vt nng dao ng c c trng bi hai gc l v . Gc l gc hp bi
dy cp v chiu m ca trc Y trong mt phng XOY, cn gc l gc hp
bi dy cp v mt phng XOY.
A(X'o, Y'o, Z'o)
t
t
Y'
X'
Z'
B(X', Y', Z')
Hnh 2.3. Cc gc dao ng ca vt nng

Nh vy, vn t ra y l thit k mt b iu khin vi chc nng tho
mn hai yu t chnh.
* Th nht l thi gian cn di chuyn vt nng t v tr nng ban u n
v tr h l nh nht.
* Th hai l cc gc dao ng v phi nh n mc c th ngn nga
nhng ri ro cho con ngi v trang thit b ti ni lm vic, tng nng sut lao
ng.
2.3. M phng h thng c ng hc ca cn trc
quay vi cng c SimMechanics
2.3.1. Cc gi thit khi m phng
B qua ma st ti cc khu khp ca cn trc.
B qua s co dn ca dy treo vt nng.
B qua nh hng ca gi.
H cn trc c coi l cng vng tuyt i
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2.3.2. M phng h thng c ng hc

M hnh cn trc c xy dng t cc khi ca matlab nh hnh di:
Hnh 2.3.2a: M hnh cn trc xy dng bng cc khi ca matlab

cn trc c xy dng bi khi Ground vi thng s duy nht l
to ca n so vi h to gc( World). Ly to ny =[0 0 0] ngha l
cn trc ti gc h to World.
cn trc c khai bo trong matlab nh hnh di:
Hnh2.3.2b: Thng s ca cn trc

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Khp quay cn trc c th quay ta gn khp quay gia v thp ng

khp quay c xy dng t khi Revolute vi thng s l trc quay theo 1 h
to no . Cc thng s nhp l chuyn ng quay quanh trc Y ca h to
World nh hnh di.
Hnh 2.3.2c: Thng s ca khp quay

Ta s phi dng mt khu kch ng cho khp quay ny to ra chuyn
ng quay cho cn trc, v mt khu cm bin o gc quay lm tn hiu phn
hi cho h iu khin. V vy trong mc khai bo connection parameters nhp
thng s l 2.
Thp ng cn trc c xy dng t khi body vi cc thng s:
Khi lng 3000( Kg). C dng hnh hc l hnh hp ch nht kch thc
theo h to hnh v 2.1, XxYxZ= 1,5x50x1,5 ( m). Trong chng trnh hnh
dng hnh hc ca n c th hin qua mt tensor momen qun tnh( 3x3) vi
cch khai bo : [ I1 0 0; 0 I2 0; 0 0 I3] v gi tr c tnh nh sau:
Thp ng: 3000Kg; XxYxZ= 1.5x50x1.5m;
Tnh [I]:
1
1
.m.(Y 2 + Z 2 ) = .3000(502 + 1.52 ) = 625562.8 625563(Kg.m2 )
12
12
1
1
I 2 = .m.( X 2 + Z 2 ) = .3000(1.52 + 1.52 ) = 1125(Kg.m 2 )
12
12
I1 =
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I3 =
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1
1
.m.( X 2 + Y 2 ) = .3000(1.52 + 502 ) = 625562.8 625563(Kg.m2 )
12
12
Thp ng c khai bo trong matlab nh hnh di:
Hnh 2.3.2d: Thng s ca thp ng cn trc

Khp ni c xy dng t khi Weld c tc dng ni cng hai body
khng c thng s cn phi nhp t ngi s dng trong trng hp ny. Tuy ta
c th thm c cc cm bin o ng sut nu cn.
Cn ngang c xy dng t khi body vi cc thng s:
Khi lng 5000( Kg). C dng hnh hc l hnh hp ch nht kch thc
theo h to hnh v 2.1, XxYxZ= 30x1x1 ( m). Trong chng trnh hnh dng
hnh hc ca n c th hin qua mt tensor momen qun tnh( 3x3) vi cch
khai bo : [ I1 0 0; 0 I2 0; 0 0 I3] v gi tr c tnh nh sau:
Cn ngang 5000( Kg); XxYxZ= 30x1x1 ( m)
Tnh [I]:
1
1
.m.(Y 2 + Z 2 ) = .5000(12 + 12 ) = 833.33 833(Kg.m 2 )
12
12
1
1
I 2 = .m.( X 2 + Z 2 ) = .5000(30 2 + 12 ) = 375416.6 375417(Kg.m 2 )
12
12
1
1
I 3 = .m.( X 2 + Y 2 ) = .5000(30 2 + 12 ) = 375416.6 375417(Kg.m 2 )
12
12
I1 =
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Cn ngang c khai bo trong matlab nh hnh di:
Hnh 2.3.2.e: Thng s ca cn ngang cn trc

Khp trt xe trt c th dch chuyn tnh tin trn cn ngang ca cn
trc c xy dng t khi Prismatic vi thng s l trc tnh tin theo 1 h
to no . Cc thng s nhp l chuyn ng tnh tin theo trc X ca h to
World nh hnh di:
Hnh 2.3.2f: Thng s ca khp trt

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Ta s phi dng mt khu kch ng cho khp tnh tin ny to ra chuyn

ng tnh tin cho cn trc. V vy trong mc khai bo connection parameters
nhp thng s l 1.
Xe trt c xy dng t khi body vi cc thng s:
Khi lng 200( Kg). C dng hnh hc l hnh hp ch nht kch thc theo
h to hnh v 2.1 XxYxZ= 0,5x0,2x0,4 ( m). Trong chng trnh hnh dng
hnh hc ca n c th hin qua mt tensor momen qun tnh( 3x3) vi cch
khai bo : [ I1 0 0; 0 I2 0; 0 0 I3] v gi tr c tnh nh sau:
Xe trt:200Kg; XxYxZ=0,5x0,2x0,4m
Tnh [I]:
1
1
.m.(Y 2 + Z 2 ) = .200(0.4 2 + 0.4 2 ) = 1.333 1.3(Kg.m 2 )
12
12
1
1
I 2 = .m.( X 2 + Z 2 ) = .200(0.5 2 + 0.4 2 ) = 6.8333 6.8(Kg.m 2 )
12
12
1
1
I 3 = .m.( X 2 + Y 2 ) = .200(0.5 2 + 0.2 2 ) = 4.8333 4.8(Kg.m 2 )
12
12
I1 =
Xe trt c khai bo trong matlab nh hnh di:
Hnh 2.3.2.g: Thng s ca xe trt
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Dy + vt nng: V khi lng ca vt nng ln hn rt nhiu so vi dy

treo nng nn trng tm ca body ny coi nh ti trng tm vt nng. c xy
dng t khi body vi cc thng s:
Khi lng 3000( Kg). C dng hnh hc l hnh lp phng kch thc theo
h to hnh v 2.1 XxYxZ= 1x1x1 ( m). Trong chng trnh hnh dng hnh
hc ca n c th hin qua mt tensor momen qun tnh( 3x3) vi cch khai
bo : [ I1 0 0; 0 I2 0; 0 0 I3] v gi tr c tnh nh sau:
Vt nng:3000Kg; XxYxZ=1x1x1m( hnh lp phng)
Tnh [I]:
1
1
.m.(Y 2 + Z 2 ) = .3000(12 + 12 ) = 500(Kg.m 2 )
12
12
1
1
I 2 = .m.( X 2 + Z 2 ) = .3000(12 + 12 ) = 500(Kg.m 2 )
12
12
1
1
I 3 = .m.( X 2 + Y 2 ) = .3000(12 + 12 ) = 500(Kg.m 2 )
12
12
I1 =
Dy + Vt nng c khai bo trong matlab nh hnh di:
Hnh 2.3.2h: Thng s ca vt nng

Mt cm bin khp quay: c th xc nh c v tr ca cn trc quay
so vi v tr ban u ca n, ta cn xc nh gc quay ca cn trc. o gc
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quay ca cn trc ta s dng khi Joint sensor vi thng s cn o l gc

quay. Khi ny c gn vi khp quay gia v thp ng. Cc thng s v
gc to , gi tr o v n v c khai bo nh hnh di.
Hnh 2.3.2i: Thng s ca cm bin o gc quay

Hai cm bin v tr: xc nh c cc gc dao ng ca vt nng th
cn phi xc nh c v tr ca vt nng v v tr ca xe trt ti thi in t.
xc nh c v tr ca xe trt trn cn ngang ca cn trc v v tr ca vt
nng ta s dng khi body sensor gn vo xe trt v vt nng. Cc thng s
v gc to , gi tr o v n v c khai bo nh hnh di:
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Hnh 2.3.2j: Thng s ca cm bin o v tr

i vi vt nng do c lin kt vi xe trt bng dy cp m y ta m hnh
ho n l mt khp cu lin kt vi mt thanh mnh. V vy khng th o trc
tip to ca vt nng trong h to cn trc( quay cng cn trc), do ta
s phi tnh gin tip ra cc to ca vt nng trong h to cn trc bng cc
o to ca n trong h to c nh World sau dng mt khi chuyn
i h to tnh ra to ta cn( trong h to cn trc). V vy trong khai
bo thng s ca cm bin ny c khc mt cht so vi cm bin gn trn xe
trt nh hnh di.
2.4.
S h thng iu khin
2.4.1. S khi h thng iu khin

Chng ta cn xc nh mt cch r rng cc phn t ca h thng. Cng nh
mi h thng iu khin n c m hnh chung vi cc phn t sau:
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Thit b iu khin: l mt b iu khin no

i tng iu khin: l chuyn ng tnh tin hng knh ca xe v
chuyn ng quay ca cn ngang.
Thit b o lng: l cm bin o cc gc dao ng v ca vt nng.
Cc tn hiu tc ng trong h thng:
Tn hiu vo: l hai tn hiu to chuyn ng tnh tin hng knh ca xe
rd(t) v chuyn ng quay ca cn ngang d(t) m chng ta c th bit c t
bng iu khin ca ngi iu khin.
Tn hiu ra: l mt b 2 tn hiu gm v tr thc ca xe ra(t), gc quay thc
ca xe a(t).
Tn hiu iu khin tc ng ln i tng: l d2r(t)/dt2 v d2(t)/dt2.
Tn hiu phn hi: l mt b 4 tn hiu gm v tr thc ca xe ra(t), gc
quay thc ca xe a(t), gc dao ng (t) v (t).
..
Tn hiu
u vo
ra(t)
a(t)
H iu khin
cn trc
r (t )
..
(t )
M hnh
cn trc
rd(t), d(t),(t),(t)
Hnh 2.4.1. S khi h thng iu khin cn trc
2.4.2. Chn b iu khin PID
2.4.2.1.
L do chn b iu khin PID
Nhn thy chuyn ng tnh tin hng knh ca xe gy ra gc dao ng v

chuyn ng quay ca xe gy ra gc dao ng nn ta ch ch thit k hai b
iu khin:
B iu khin tnh tin hng knh cho xe vi tn hiu phn hi c s dng
l gc . B iu khin quay cho cn ngang vi tn hiu phn hi c s dng
l gc .
Nh vy l b iu khin tnh tin hng knh ca xe c nhim v l ng
thi a cc sai lch v v tr r v gc dao ng v gn 0, b iu khin quay
ca cn ngang c nhim v l ng thi a cc sai lch v gc quay v gc
v gn 0.
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Ta so b iu khin ca chng ta vi chc nng iu khin nh vy vi cc

b iu khin m ngy nay chng ta c nh:
B iu khin tuyn tnh v phi tuyn c b iu khin M, b iu
khin PID, b iu khin M lai PID, b iu khin trt, vv
B iu khin s.
B iu khin logic.
Ta thy rng ph hp hn c l b iu khin PID bi v l b iu khin
c nhim v a sai lch v 0 sao cho qu trnh qu tho mn cc yu cu c
bn v cht lng v v i tng iu khin ca chng ta l kiu i tng SISO
(mt vo mt ra) theo nguyn l hi tip, hn na PID cn c tnh n gin c v
cu trc ln nguyn l lm vic.
2.4.2.2.
Gii thiu v b iu khin PID
Tn gi PID l ch vit tt ca ba thnh phn c bn c trong b iu khin

(hnh 2.4.2.2a): khuch i t l (P), tch phn (I), v vi phn (D). B iu khin
PID c v nh mt tp th hon ho gm ba c nhn vi ba tnh cch khc
nhau:
+ Phc tng v thc hin chnh xc nhim v c giao (t l).
+ Lm vic v c tch lu kinh nghim thc hin tt nhim v c giao
(tch phn).
+ Lun c sng kin v phn ng nhanh nhy vi s thay i trong qu trnh
thc hin nhim v (vi phn)
uP
e(t)
uI
u(t)
uD
Hnh 2.4.2.2a: Ba thnh phn

ca b iu khin PID
e(t)
u(t)
B iu khin PID c s dng kh rng ri iu khin i tng SISO

(mt vo, mt ra) theo nguyn l hi tip (hnh 2.4.2.2b). L do b iu khin
PID c s dng rng ri l v tnh n gin ca n c v cu trc ln nguyn l
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lm vic. B iu khin PID c nhim v a sai lch e(t) ca h thng v 0 sao

cho qu trnh qu tho mn cc yu cu c bn v cht lng. Nguyn l lm
vic ca b iu khin PID c m t mt cch nh tnh nh sau:
+ Nu sai lch e(t) cng ln th thng qua thnh phn uP(t), tn hiu iu
chnh u(t) cng ln (vai tr ca khu khuch i KP).
+ Nu sai lch e(t) cha bng 0 th thng qua thnh phn uI(t), b iu khin
PID vn cn to tn hiu iu chnh u(t) (vai tr ca khu tch phn TI).
+ Nu s thay i ca sai lch e(t) cng ln th thng qua thnh phn uD(t),
b iu khin PID s phn ng cng nhanh (vai tr ca khu vi phn TD).
x(t)
e(t)
-
B iu
khin PID
u(t)
i tng
iu khin
y(t)
Thit b o
lng
Hnh 2.4.2.2b: M hnh h thng iu khin vi b PID
Biu thc ton hc ca b iu khin PID c dng:
1
u (t ) = k P e(t ) +
TI
e( )d + TD
de(t )
dt
Trong e(t) l tn hiu u vo, u(t) l tn hiu u ra, kP c gi l h s

khuch i, TI l hng s tch phn, TD l hng s vi phn.
T biu thc ton hc trn ta suy ra c hm truyn t ca b iu khin
PID:
1
R (s ) = k P 1 +
+ TD s
TI s
Cht lng ca h thng ph thuc vo cc tham s kP, TI, TD. Mun h thng
c c cht lng nh mong mun th phi phn tch i tng ri trn c s
chn cc tham s kP, TI, TD cho ph hp. Hin c kh nhiu phng php xc
nh cc tham s kP, TI, TD cho b iu khin PID. Di y l mt s nhng
phng php thng c s dng:
+ Phng php ti u mdun, phng php ti u i xng
+ Phng php ca Ziegler-Nichols
+ Phng php thc nghim
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+ Phng php ca Reinisch

Mt im cn ch l trong nhiu trng hp khng cn xc nh c ba tham
s kP, TI, TD cho b iu khin PID. Chng hn nh bn thn i tng c
thnh phn tch phn th trong b iu khin ta khng cn phi c thm khu tch
phn mi trit tiu c sai lch tnh, tc l ta ch cn s dng b iu khin PD
l . Hm truyn t ca b iu khin PD c dng:
R(s ) = k P (1 + TD s )
Nu tn hiu trong h thng thay i tng i chm v bn thn b iu

khin khng cn phi c phn ng tht nhanh vi s thay i ca sai lch e(t) th
ta ch cn s dng b iu khin PI vi hm truyn t c dng:
R(s ) = k P 1 +
TI s
2.4.3. S cc b iu khin
Nh vy l chng ta c hai b iu khin. Mt l b iu khin chuyn ng
tnh tin hng knh ca xe, bn trong c hai b iu khin PID vi mt cho vic
hiu chnh chuyn ng tnh tin hng knh ca xe trn cn ngang v mt cho
vic lm gim dn gc dao ng . Hai l b iu khin chuyn ng quay ca
cn ngang, bn trong cng c hai b iu khin PID vi mt cho vic hiu chnh
chuyn ng quay ca cn ngang v mt cho vic lm gim dn gc dao ng .
2.4.3.1.
S khi b iu khin tnh tin hng knh
B iu khin ny phi m nhim hai nhim v gim thi gian dch chuyn
ca vt nng t v tr ban u ti v tr yu cu ng thi gim dn gc dao ng
trong mt phng cn trc (t) (Vi chuyn ng tnh tin th ch gy ra gc dao
ng ny do vy mun dp tt gc dao ng ny ch c th dng chuyn ng
tnh tin).
n gin ta gi s ch c chuyn ng tnh tin ti thi im ny, ngha l
ch c gc dao ng trong mt phng (t).
gim gc dao ng ta s dng b iu khin PID vi c ch hot ng
nh sau: Nu gc dao ng ny nh hnh v 2.3 th l gc dng khi tn
hiu ra t khi PID gim dao ng ny l gia tc tnh tin dng, khi xe trt
s tng gia tc ui theo vt nng -> s gim c gc dao ng. Trong
trng hp gc dao ng ang l m th tn hiu ra ca PID gim dao ng ny
s phi l tn hiu gia tc m, khi xe s gim gia tc tng ng l vn tc
gim ch vt nng -> gim c gc dao ng.
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V vy tn hiu phn hi( gc dao ng trong mt phng (t)) phi c gi tr

i s, iu ny ph hp vi cch tnh gc (t) trn. V phi c mt h s
chuyn i t gia tc gc sang gia tc tnh tin tng ng cho tn hiu ra ca PID
gim dao ng gc.
gim thi gian dch chuyn ta s dng mt b PID iu khin chuyn
ng tnh tin vi tn hiu u vo l sai lch ca chuyn ng tnh tin( c sai
lch ny l do qu trnh tng gim ca gia tc tnh tin gy ra trong qu trnh
lm gim gc dao ng). u ra l gia tc tnh tin.
Mi u ra ca mt PID trn s m nhim mt nhim v ca h iu khin
v vy khng th hon thnh c hai nhim v tt nht nh khi thc hin tng
nhim v n l. Ta phi chp nhn mt kt qu c th coi l tt nht khi thc
hin c hai nhim v cng mt lc bng cch nhn vi mi tn hiu ra mt h s(
K1,1-K1) nh cc i trng.
T ta xy dng c b iu khin chuyn ng tnh tin vi hai b PID
c s m hnh b iu khin nh hnh di.
rd (t )
ra (t )
PID hiu
chnh chuyn
ng tnh tin
K1
+
(t ) PID lm gim
gc dao ng
&r&( t )
1-K1
Hnh 2.4.3.1 :S khi b iu khin tnh tin
2.4.3.2.
S khi b iu khin quay
Tng t nh b iu khin chuyn ng tnh tin b iu khin ny cng

phi m nhim hai nhim v l gim thi quay ca vt nng t v tr ban u ti
v tr yu cu ng thi gim dn gc dao ng ngoi mt phng cn trc (t)
(Vi chuyn ng quay s gy ra dao ng gc ngoi mt phng ( nhng gi tr
nh) v gc dao ng ngoi mt phng do vy mun dp tt gc dao ng ny
cn dng n c hai chuyn ng tnh tin v quay).
Ti mt thi im chuyn ng c c gc dao ng trong mt phng (t) v
gc dao ng ngoi mt phng (t). Gc dao ng trong mt phng c gim
do b iu khin tnh tin m nhim.
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gim gc dao ng ngoi mt phng (t) ta s dng b iu khin PID vi

c ch hot ng nh sau: Nu gc dao ng ny nh hnh 2.3 th l gc m
khi tn hiu ra t khi PID gim dao ng ny l gia tc gc m. Khi cn
trc s gim gia tc quay ch vt nng -> s gim c gc dao ng. Trong
trng hp gc dao ng ang l dng th tn hiu ra ca PID gim dao ng
ny s phi l tn hiu gia tc dng, khi gia tc quay cn trc tng ui
theo vt nng -> gim c gc dao ng.
V vy tn hiu phn hi( gc dao ng ngoi mt phng (t)) phi c gi tr
i s, iu ny ph hp vi cch tnh gc (t) trn.
Nh iu khin chuyn ng tnh tin gim thi gian dch chuyn ta s
dng mt b PID iu khin chuyn ng quay vi tn hiu u vo l sai lch
ca gc quay( c sai lch ny l do qu trnh tng gim ca gia tc gc gy ra
trong qu trnh lm gim gc dao ng). u ra l gia tc gc quay.
Mi u ra ca mt PID trn s m nhim mt nhim v ca h iu khin
v vy khng th hon thnh c hai nhim v tt nht nh khi thc hin tng
nhim v n l. Ta phi chp nhn mt kt qu c th coi l tt nht khi thc
hin c hai nhim v cng mt lc bng cch nhn vi mi tn hiu ra mt h s(
K2,1-K2) nh cc i trng.
T ta xy dng c b iu khin chuyn ng quay vi hai b PID vi
m hnh b iu khin nh hnh di.
d (t )
a (t )
(t )
PID hiu
chnh chuyn
ng quay
K2
+
PID lm gim
gc dao ng
&&(t )
1-K2
Hnh 4.3.2: S khi b iu khin quay

2.5. M phng h thng iu khin vi cng c
Simulink
T s khi cc b iu khin ta tin hnh m phng cc b iu khin vi
cng c Simulink ca Matlab.
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2.5.1. M phng b iu khin tnh tin hng knh

T m hnh khi ta xy dng c h iu khin tnh tin vi cc u vo
v ra nh hnh di:
Hnh2.5.1: B iu khin tnh tin

u vo:
+ u vo s 2 l tn hiu chuyn ng tnh tin phn hi( chuyn ng
tnh tin thc ca cn trc do tn hiu iu khin t h iu khin cn trc iu
khin).
+ u vo 5 l tn hiu iu khin mong mun, tn hiu t ngi iu
khin cn trc a vo.
Tn hiu ny c xy dng l tn hiu vn tc. V vy tn hiu chuyn
thnh tn hiu v tr R(t) ta s dng khu tch phn( TP) cng tc chuyn i (
S1) ta ngt chuyn ng tnh tin khi cn.
ly sai lch chuyn ng tnh tin ta dng khi Sum vi du tn hiu
phn hi du m.
+ u vo 3 l tn hiu gc dao ng trong mt phng cn trc, tn hiu
ny s c a qua PID th hai( PID gim dao ng gc) a ra tn hiu gia tc
gc dao ng, tn hiu ra s c a vo iu khin gia tc tnh tin v vy ta
cn c mt khu khuych i bin gia tc gc dao ng thnh gia tc tnh tin
tng ng.
u ra:
+ u ra 3 l gia tc tnh tin, tn hiu ny s c a qua khu kch
ng iu khin chuyn ng tnh tin cn trc.
+ u ra 3 s c a ti khu hin th ch th p ng ca h thng.
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2.5.2. M phng b iu khin quay

Tng t nh trn ta s xy dng c iu khin chuyn ng quay vi cc
u vo v u ra nh hnh di:
Hnh 2.5.2: H iu khin gc quay

u vo:
+ u vo s 1 l tn hiu gc quay phn hi( gc quay thc ca cn trc
do tn hiu iu khin t h iu khin cn trc iu khin).
+ u vo 6 l tn hiu iu khin mong mun, tn hiu t ngi iu
khin cn trc a vo, tn hiu ny c xy dng l vn tc gc theo n v
Rad/s.
Thng qua mt khi khuych i c gi tr 57,23 chyn i n v gc
thnh /s. tn hiu chuyn thnh tn hiu gc (t) ta s dng khu tch phn(
TP) cng tc chuyn i ( S1) ta ngt chuyn ng quay khi ch cn chuyn
ng quay.
ly sai lch chuyn ng tnh tin ta dng khi Sum vi du tn hiu
phn hi du m.
+ u vo 4 l tn hiu gc dao ng ngoi mt phng cn trc, tn hiu
ny s c a qua PID th hai( PID gim dao ng gc) a ra tn hiu gia tc
gc.
u ra:
+ u ra 1 l gia tc gc, tn hiu ny s c a qua khu kch ng
iu khin chuyn ng quay cn trc.
+ u ra 4 s c a ti khu hin th ch th p ng gc quay ca h
thng.
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2.6.
Ghp ni h thng iu khin vi h thng c hc
2.6.1. Khi tnh ton thng s ghp ni

V chng ta khng th o ngay c gi tr cc tn hiu phn hi. Do vy ta
phi xy dng mt khi c chc nng tnh ton cc tn hiu ny thng qua cc
gi tr thng s o c.
V khng o c v tr ca vt nng (im B_ Hnh2.2.1) theo h to cn
trc (X,Y,Z), nn ta phi o v tr ca n theo h to World (X,Y,Z) sau
chuyn h to bng khi ChangeCS1 khi ny c xy dng nh sau:
i h to ( quay quanh trc Y)
X
Gn vi cn trc
X
M
Quay cng cn trc
Z
z
Hnh 2.6.1a: Biu din to mt im trn hai h to

By gi ta thc hin quy i to im M t h to World c nh gn
vi cn trc (OXYZ) v h to gn vi mt phng cn trc( OXYZ). Ta
c:
x' cos
y ' = 0

z ' sin
0 sin x
1
0 y
0 cos z
T cng thc ton hc xy dng c b thay i to trong matlab nh

hnh di:
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Hnh 2.6.1b: Khi chuyn i h to OXYZ -> OXYZ ChangeCS1

Ta c th o to ca im A ( Hnh 2.3) theo h to gn vi cn ngang
v theo cng thc ton hc:
Vi to A(Xo,Yo,Zo) l im u trn ca dy m t vo xe v
B(X,Y,Z) l v tr ca vt nng trong h to gn vi cn ngang th cc gc
dao ng c tnh nh sau:
X ' X ' o
Y 'o Y '
Z 'o Z '
(t ) = ac sin
; L: chiu di dy.
L
(t ) = actg
Ta thit k c khi tnh ton cc gc dao ng nh hnh di:
Hnh 2.6.1c: Khi tnh ton cc tn gc dao ng

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2.6.2. Ghp ni h iu khin vi h thng c ng hc

Sau khi thit k c m hnh, h iu khin, cc khi tnh ton, ta c th
gp ni cc khi vi nhau nh hnh di:
Hnh 2.6.2a: M hnh cn trc c ghp ni h iu khin

Bc tip theo l tnh ton cc thng s ca PID kt qu iu khin l tt
nht.
2.7.
Tnh ton b iu khin PID
2.7.1. nh hng tnh ton cc thng s b iu khin PID

Bi v i tng iu khin c m hnh phc tp cao v khng thuc vo
mt loi c bit no, v vy l khng th dng mt vi phng php thng
thng tnh nhng thng s cho cc b iu khin PID nh phng php ti
u m un, phng php ti u i xng, phng php Reinisch, phng php
Chien-Hrones-Reswick, phng php Kuhn. Trong trng hp ny nhng thng
s ca cc b iu khin PID (KP,TI, TD) lun lun c tnh bi phng php
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Ziegler-Nichols th hai (phng php thc nghim). Tuy nhin s l rt kh v

phc tp xc nh ng thi cc thng s cho 4 b iu khin PID bi v s
thay i cc thng s cho b iu khin PID ny s lm nh hng n cc b
iu khin PID khc. V th chng ta c mt s gii php sau:
Th nht, chng ta ch tnh cc thng s cho b iu khin t hiu chnh
hng knh v b iu khin PID ngn chn s dao ng hng knh trong
trng hp chuyn ng hng knh.
Th hai, chng ta ch tnh cc thng s cho b iu khin t hiu chnh
hng knh v b iu khin PID ngn chn s dao ng hng knh trong
trng hp chuyn ng quay. Cc thng s b iu khin PID c tnh trong
trng hp chuyn ng hng knh s c s dng trong trng hp chuyn
ng quay ny.
Cui cng, chng ta kim tra cc b iu khin PID c tnh trong
trng hp tng hp (c chuyn ng hng knh v chuyn ng quay) v iu
chnh chng nu cn thit.
Nguyn l tnh ton ca phng php Ziegler-Nichols th hai
Nguyn l ca phng php ny nh sau:
Thay b iu khin bng mt b khuch i. S dng tn hiu th l hm step
1(t). Sau tng dn h s khuych i ti gi tr kth h kn bin gii n
nh, ngha l h(t) c dng dao ng iu ho. Xc nh chu k Tth ca dao ng.
Xc nh tham s cho b iu khin P, PI, PID nh sau:
1
2
Nu s dng b iu khin khuch i R ( p) = k P th chn k P = k th
Nu s dng b iu khin PI: R ( p) = k P 1 +
1
th chn k P = 0.45k th v
TI p
TI = 0.85Tth
Nu s dng b iu khin PID: R ( p) = k P 1 +
1
+ TD p th chn k P = 0.6k th ,
TI p
TI = 0.5Tth v TD = 0.12Tth
2.7.2. Tnh ton cc thng s PID cho b iu khin tnh tin hng knh
Vi m hnh c xy dng p dng phng php Ziegler-Nichols xc
nh cc thng s theo tng bc. u tin l xc nh tng cc cp thng s cho
tng b PID ca cc chuyn ng ring r. Sau cho tt c cc chuyn ng v
xem xt kt qu v chnh sa li cc thng s cho tt hn:
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Bc 1: Xc nh cc thng s cho b iu khin tnh tin. Ban u ta tt

chuyn ng quay v ly h s K1 =1 i xc nh cc thng s cho PID iu
khin chuyn ng tnh tin. Thay tn hiu iu khin bng tn hiu th l hm
step1(t) c h s khuch i kth h thng bin gii n nh l: kth = 82 v
chu k dao ng Tth = 9 (s)
S dng b iu khin tnh tin PID vi cc thng s nh sau:
kP = 50, TI = 5 (s), TD = 1.08 (s) tc l hm truyn t:
R ( p ) = 50 +
10
+ 55 p
p
Bc 2: Xc nh cc thng s cho PID gim dao ng gc trong mt phng.

Ban u chn h s i trng K1=0.87( H s ny nh hng n p ng ca h
thng. Nu h s ny ln th p ng ca h thng s gn vi tn hiu iu khin
a vo, nhng cng ng thi lm gim kh nng gim dao ng gc ca vt
nng. V vy h s ny phi c chn nhiu ln). Sau mt s ln chn la ta
chn c h s ny l K1=0.8 vi cc thng s ca PID gim dao ng gc nh
sau:
R ( p) = 1.8 +
0.2
+ 0.4 p
p
2.7.3. Tnh ton cc thng s PID cho b iu khin quay

Tng t khi xc nh cc thng s cho b iu khin quay. u tin chng
ta gn K2=1 loi b b iu khin lm gim dao ng gc ra khi m hnh v
thay i cc thng s cho b iu khin hiu chnh quay cho n khi h thng
t trng thi n nh. Kt qu l ta c c cc thng s ca PID iu khin gc
quay tng ng vi hm truyn t:
R ( p) = 5 +
0.1
+ 5p
p
Hm truyn t cho PID gim dao ng gc ngoi mt phng:

R ( p) = 6 +
0.3
+ 1.1 p
p
101
n tt nghip
B mn GCVL&DCCN
2.7.4. Kim tra v hiu chnh cc thng s PID trong trng hp cc b

iu khin ng thi hot ng
Cho cc chuyn ng cng mt lc v chnh sa li cc h s ca cc PID
cho ph hp chn c cc h s nh sau:
+ PID iu khin chuyn ng tnh tin: KP=50, KI=10, KD=105.
+ PID gim dao ng gc trong mt phng: KP=1.8, KI= 0.2, KD=0.4
+ PID iu khin chuyn ng quay: KP=5, KI=0.1, KD=5.
+ PID gim dao ng gc ngoi mt phng: KP=6, KI=0.3, KD=1.1
2.8.
M phng & nh gi cht lng m phng
2.8.1. Tin hnh m phng

Cc thng s ca cn trc m phng l:
+ Thp ng cao 50m, nng 3000Kg.
+ Cn ngang di 30m, nng 5000Kg( c i trng).
+ Xe trt nng 200Kg.
+ Vt nng nng 3000Kg.
Tn hiu t( tn hiu t ngi iu khin cn trc): Chuyn ng tnh tin
9m t v tr r= 1m ti v tr r= 10m. Chuyn ng quay 900.
thy c hiu qu ca h iu khin v tm c tn hiu t hp l nht
ta s xy dng tn hiu u vo cho ba trng hp:
+ Trng hp 1: Cc dch chuyn c thc hin trong 8s.
thy c cht lng iu khin ca h iu khin ta xy dng, ta cho c
h chuyn ng m phng khi khng c tc ng iu khin t h iu khin s
c c kt qu dao ng ca vt nng khi nh hnh di.
102
B mn GCVL&DCCN
n tt nghip
2.8.1.1.
Kt qu m phng khi khng c h iu khin
Hnh 2.8.1.1a: Dao ng gc trong mt phng
Hnh 2.8.1.1b: Dao ng gc khng gian

T kt qu ny ta c th thy l cc gc dao ng ca vt nng khng c xu
hng gim, iu ny l hp l v c h ta xy dng trn gi thit khng c ma
st, v cc gc ny rt ln. Mc d c h thc t c ma st th vi chuyn ng
khng c iu khin nh trn th cng phi rt lu th cc gc dao ng mi c
th nh ti mc an ton.
2.8.1.2.
Kt qu m phng khi c h iu khin
Trng hp 1: Cc dch chuyn c thc hin trong vng 8s.

Xy dng khi tn hiu t bng khi Signal Builder vi thng s vn tc
v gia tc nh hnh di:
103
n tt nghip
B mn GCVL&DCCN
Hnh 2.8.1.2a1: Tn hiu t cho chuyn ng tnh tin
Hnh 2.8.1.2b1: Tn hiu t cho chuyn ng quay

Sau khi xy dng c tn hiu t ta cho chy m phng:
Thng qua cc khi hin th Scope ta c c cc kt qu:
104
n tt nghip
B mn GCVL&DCCN
* Cc gc dao ng ca vt nng:
Hnh 2.8.1.2c1: Dao ng gc trong mt phng
Hinh 2.8.1.2d1: Dao ng gc khng gian cu vt nng
105
B mn GCVL&DCCN
n tt nghip
* Cc p ng ca h thng:
Hnh 2.8.1.2e1: p ng gc quay
Hnh 2.8.1.2f1: p ng tnh tin

T cc khi hin th ta c c kt qu
p ng tnh tin c qu<18%, thi gian t trng thi n nh( sai lch <
3%) = 32s.
Dao ng ca vt nng trong mt phng < 0.80 ti thi gian t=60s; dy c
chiu di l 20m vy dao ng ca vt nng quanh v tr mong mun l = 20*
sin(0.8) = 0.25m.
106
n tt nghip
B mn GCVL&DCCN
p ng gc quay c qu<8%, thi gian t trng thi n nh( sai lch <
3%) = 34s.
Dao ng ca vt nng ngoi mt phng < 2.10 ti thi gian t=60s; dy c
sin(2.1) = 0.75m.
v gia tc nh hnh di:

107
n tt nghip
B mn GCVL&DCCN

Hinh 2.8.1.2d2: Dao ng gc khng gian cu vt nng
108
B mn GCVL&DCCN
n tt nghip

p ng tnh tin c qu<6%, thi gian t trng thi n nh( sai lch <
3%) = 21s.
109
n tt nghip
B mn GCVL&DCCN

sin(0.3) = 0.1m.
p ng gc quay c qu<4.5%, thi gian t trng thi n nh( sai lch
< 3%) = 27s.
sin(1.5) = 0.5m.
v gia tc nh hnh di:
110
n tt nghip
B mn GCVL&DCCN

111
B mn GCVL&DCCN
n tt nghip
Hinh 2.8.1.2d3: Dao ng gc khng gian ca vt nng

112
B mn GCVL&DCCN
n tt nghip

p ng tnh tin c qu<3.8%, thi gian t trng thi n nh( sai lch <
3%) = 23s.
sin(0.33) = 0.117m.
p ng gc quay c qu<2.3%, thi gian t trng thi n nh( sai lch
< 3%) = 20s.
sin(1.05) = 0.35m.
+ Vi kt qu thu c ta thy rng nu khng c h iu khin th dao ng
ca vt nng l rt ln.
+ H iu khin ta xy dng l hot ng kh tt.
chn c tn hiu t ti u trong trng hp ny ta xy dng v m
phng thm cc trng hp cc chuyn ng c thc hin trong 10s, 17s, 25s.
113
B mn GCVL&DCCN
n tt nghip
Sau y l bng kt qu ca cc trng hp m phng:
A
8
11
14
18
20
25
B
18
10
6
4
3.8
2.5
C
8
6
4.5
2.5
2.3
2
D
32
25
21
22
23
25
E
34
32
27
18
20
25
F
2.5
1.8
1
1.1
1.1
1.2
G
0.8
0.4
0.3
0.32
0.33
0.33
H
5.5
4.5
3.2
2.2
2.5
2.5
I
2.1
2
1.5
1
1.05
1.05
Vi:
+ A: Thi gian cc chuyn ng c thc hin (s).
+ B: qu ca p ng ca chuyn ng tnh tin (%).
+ C: qu ca p ng chuyn ng quay (%).
+ D: Thi gian n nh ca chuyn ng tnh tin (s).
+ E: Thi gian n nh ca chuyn ng quay (s).
+ F: Gc dao ng trong mt phng ti t=40s ().
+ G: Gc dao ng trong mt phng ti t=60s ().
+ H: Gc dao ng ngai mt phng ti t=40s ().
+ I: Gc dao ng ngoi mt phng ti t=60s ().
Tng ng vi cc th:
114
B mn GCVL&DCCN
n tt nghip
qu(%)
Chuyn ng tnh tin
Chuyn ng quay
18
10
8
6
4.5
2
8
11 14
17
20
qu ca p ng
Thi gian n nh(s)
25
tn hiu t(s)
Chuyn ng tnh tin

Chuyn ng quay
34
32
27
25
22
20
18
11 14
17
20
Thi gian n nh
25
tn hiu t(s)
115
B mn GCVL&DCCN
n tt nghip
Bin dao
ng()
Ti t= 60s
Ti t= 40s
2.5
1.8
1.1
0.8
0.4
11 14
17
20
Dao ng gc trong mt phng
25
tn hiu t(s)
116
B mn GCVL&DCCN
n tt nghip
Bin dao
ng()
5.5
Ti t= 60s
Ti t= 40s
4.5
3.2
2.5
2.1
1.5
1.05
8 11 14 17 20
25
Dao ng gc trong khng gian tn hiu t(s)
Vi kt qu nhn c t th ta thy ng vi u vo ca qu trnh m

phng th ng vi thi gian thc hin cc chuyn ng bng 17s l tt nht. V
khi qu ca p ng khng ln, n nh nhanh, cc gc dao ng khng
ln.
2.9.
hng pht trin
Vi kt qu thu c bc u nh trn th c mt s hng pht trin trong

tng lai nh sau:
+ Xy dng m hnh c xt n nh hng ca cc yu t tc ng bn
ngoi: sc gi, gin dy,...
+ Xy dng h iu khin cho c ba chuyn ng quay, tnh tin, nng vt
cng mt lc.
+ Xy dng m hnh gn vi c h tht hn: c ma st ti cc khu khp, s
co gin ca dy, nh hng ca sc gi...
117
B mn GCVL&DCCN
n tt nghip
Kt lun
Sau thi gian bn thng n lc lm vic nghim tc v khn trng di s

hng dn tn tnh ca thy o B Phong v cc thy c trong b mn cng cc
bn ng mn, n ca chng ti c hon thnh ng thi gian qui nh.
y l ti ln u c nghin cu v vy chng ti buc phi bt u i
t nhng trng hp n gin hn m cha th nghin cu ngay vo trng hp
phc tp ca n. Chng ti lm bi ton trong trng hp b i mt s yu
t chng hn nh cha xt n nh hng ca gi, nh hng t nhng rung
ng ca khung cn cn trc, ma st ti cc khu khp. Trong trng hp ny
chng ti tin hnh thit k hai b iu khin, mt b iu khin chuyn ng
tnh tin v mt b iu khin chuyn ng quay. Bn trong mi b iu khin
c hai b iu khin PID c nhim c l iu khin theo qu o v dp dao
ng. Kt qu chy m phng cho thy i tng m phng gn st vi thc t,
b iu khin hot ng tt t chnh xc v tr cao, gim dao ng ng k,
thi gian di chuyn c rt ngn nhiu.
Hy vng kt qu ca nghin cu ny s lm c s, lm ti liu thit k h
iu khin thc cho cn trc. N gp phn lm gim thi gian, tin ca, cng sc
trong qu trnh thit k v ng thi gip cho k s thit k tin n kt qu
nhanh hn. Ngoi ra nghin cu cho thy c mt hng mi cho vic m phng
cc i tng c kh lm nn, lm nh hng cho cc nghin cu khc trong
lnh vc m hnh ho v m phng.
Tuy nhin vi kh nng v trnh cn hn ch cng nh thi gian c hn
nn n ny ca chng ti hn cn c nhiu thiu st, chng ti rt mong s
nhn c nhng kin ph bnh, gp v b xung ca cc thy c gio trong
b mn, cc bn ng nghip chng ti c th nghin cu , hon thin v b
xung thm phn kin thc cn thiu st, t khai thc mt cch c hiu qu
cao hn v cng ngh m phng, v vic thit k h iu khin.
Mt ln na chng ti xin chn thnh cm n s hng dn nhit tnh ca
thy gio ThS. o B Phong cng ton th cc thy trong khoa trong trng
nhit tnh gip chng ti trong thi gian o to, thc tp v hon thnh n
tt nghip ny.
118
B mn GCVL&DCCN
n tt nghip
Ti liu tham kho
1. Banh T. Long, Dao B. Phong, Design PID controller for the rotary cranes
to improve accuracy and stability, In Proceedings of 8th International
Conference on Mechatronics Technology, pages 417-424, Ha Noi, Viet Nam,
November 2004.
2. Nguyn Phng Quang, Matlab v Simulink dnh cho k s iu khin t
ng, Nh xut bn Khoa hc v k thut, H Ni, 2004
3. Nguyn Don Phc, L thuyt iu khin tuyn tnh, Nh xut bn Khoa
hc v k thut, H Ni, 2002.
4. MathWorks Inc, Matlab R13 and Simulink V5.0, 2002.
5. MathWorks Inc, SimMechanics Toolbox V1.0, 2002.
119

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B mn GCVL&DCCN

cng ho x hi ch ngha vit nam

Trng i hc bch khoa h ni

Lng Vn Hng S hiu sinh vin: 20001464

S hiu sinh vin: 20001137

Ngnh: Cng ngh ch to my

3. Ni dung cc phn thuyt minh v tnh ton:

Lu Vn Hiu & Lng Vn Hng CTM4 - K45

5. Ngy giao nhim v n:........................................................................

Ngy ..... thng ..... nm ..........

Sinh vin hon thnh v np n tt nghip, ngy.....thng.....nm........

Lu Vn Hiu & Lng Vn Hng CTM4 - K45

H v tn sinh vin: Lu Vn Hiu

S hiu sinh vin: 20001137

H v tn sinh vin: Lng Vn Hng

S hiu sinh vin: 20001464

Ngnh: Cng ngh ch to my

Cn b hng dn: ThS. o B Phong

Nhn xt ca gio vin hng dn:

Lu Vn Hiu & Lng Vn Hng CTM4 - K45

H v tn sinh vin: Lu Vn Hiu

S hiu sinh vin: 2000

H v tn sinh vin: Lng Vn Hng

S hiu sinh vin: 20001464

Ngnh: Cng ngh ch to my

Cn b hng dn: ThS. o B Phong

Nhn xt ca gio vin duyt:

Lu Vn Hiu & Lng Vn Hng CTM4 - K45

Lu Vn Hiu & Lng Vn Hng CTM4 - K45

Lu Vn Hiu & Lng Vn Hng CTM4 - K45

Phn mn matlab, cng c simulink v

Phn mn matlab, cng c simulink

MATLAB l mt b chng trnh phn mn ln c vit cho my tnh PC

SIMMECHANICS l mt cng c ca Matlab cho php ngi dng m hnh

Lu Vn Hiu & Lng Vn Hng CTM4 - K45

Khi Body biu din mt vt th cng m thuc tnh ca n l tu bn. S

Lu Vn Hiu & Lng Vn Hng CTM4 - K45

Thuc tnh khi lng c nh ngha bi khi lng ca Body v tensor

Lu Vn Hiu & Lng Vn Hng CTM4 - K45

Hp thoi v nhng thng s (Dialog Box and Parameters)

Hnh 1.2.1.1a: Bng thng s nh ngha body

Bn ci t h to Body trong vng Body coordinate systems:

Hnh 1.2.1.1b: H to ca body lin quan

Nhng thnh phn bng s ca vector mang theo n v.

Hnh 1.2.1.1c: Thng s xc nh cc h to body

Lu Vn Hiu & Lng Vn Hng CTM4 - K45

nh cu hnh cho vng Orientation

Hnh 1.2.1.1d: Bng thng s xc nh hng ca body

Lu Vn Hiu & Lng Vn Hng CTM4 - K45

* Specified using convention

n=(nx, ny, nz) l mt vector ba thnh phn vi chiu di n v:n*n = nx2 +

Mt khi Ground biu din mt im c nh trong h to tuyt i

Ground nm trong th vin Bodies v n chnh l mt body c bit. Nhng

Hnh 1.2.1.2: Bng thng s xc nh Ground

Khi Angle driver

Khi Angle Driver truyn dn ng cc vector trc c nh ngha trn hai

Lu Vn Hiu & Lng Vn Hng CTM4 - K45

trong h to Body trn mi Body cc bn ca Angle Driver, sau truyn dn

Hnh 1.2.2.1: Bng thng s ca khi Angle Driver

Lu Vn Hiu & Lng Vn Hng CTM4 - K45

Cc thng s ca khi Angle Driver

Khi Distance driver

Khi Distance Driver truyn dn ng khong cch gia hai gc ca hai h

Lu Vn Hiu & Lng Vn Hng CTM4 - K45