Mach diéu khign nban gid tri dat cia cdc bin khép (66 thé qua hé sé chuyén d6i nao d6) va diéu khién khép theo sit dién Ggn thdi gian cila bién khop. Mach diéu khién kiéu nay don gidn hon, nhung 46 chinh xée bi han ché do chinh d0i tuong can gidm sét wc tigp 1A phn cong tac lai nim ngoai mach diéu khién. He diéu khién trong khong gian cong née (hin 4.9) nhan uruc tsp thong s6 cla khéng gian khdp lam sé ligu dau vao, bai todn ngugc due gidi trong mach phan hdi, nén vé ly thuyét thi ¢6 vé chinh x4c hon. Tuy nhién, né cé hai nhuge diém co ban. Thit nat, hé diéu khién phic tap hon. Thit hai, hé thong do thuting gan len cde khdp, gidm sat true tigp cde thong sé cua khép. Mudn chuyén ching sang khong gian cong tac thi phai thuc hién cdc phép tinh déng hoc thuan va do ciing 1a nguén phat sinh sai s6. *e x aidunniéy [5>} paar ons: Ef ern E>) ravmay [> + Hinh 4. 9: Sado hé diéu khiéh trong khong gian cong tac 4.2.1. Diéu khién trong khong gian khép * Trong chuong 3 ching ta di xay dung duoc phuong trinh téng quat biéu dién chuyén dong cia tay may trong khong gian khép. Néu bo qua luc tuong téc v6i moi trudng (gid thiét tay mdy chuyén dong khong tai) va luc ma sat tinh (do khé mo hinh hod) thi phutong trinh cé dang sau: BQ)G + Clade + Fog + ggha Tt (4. 26) Muon xay dung hé diéu khién chuyén dong ctta tay may phai xdc dinh # thanh phan cua tuc téng quat (néu 1a khdp trugt) hoac momen téng quat (neu 1a khdp quay), sao cho quy dao the q(t) va quy dao mong mudn qt) cang gan nhau cang tt, nghia 1 ching ta mong muén HO = Gdt) 76Ky higu g,, 18 vector chuyén vi cita cot cau phat dong, K, 1a ty sé truyén cita truyén dong co khi, Gid thiet bd qua bién dang va khe hé trong truyén dong co khi, ching ta cé quan hé Gu = Kay (4.27) Tuong tu, ky higu ,, id vector momen do co cau phat dong sinh ra, ta cling c6 1, = K,'r (4. 28) Dé y ring ma tran quan tinh B(q) ¢6 thanh phan khong déi B didu thi qudn tinh trung binh cla méi khép va thanh phan phy thude cau hinh cua khop AB(q): Biqj= B+ ABiq} (4.29) Thay cae biéu thtic (4. 27) dén (4. 29) vao (4. 26), ta duge: t, = Ki BRIG, + £4, +4 (4. 36) trong 46 F,,=Kj'F.K;! (4.31) bidu thi ma trin cac hé sé ma sat nhét quanh truc dong co va dK ABQ). 'G, + KK CG GK, "Gy + K,'8g) (432) bigu thi thanh phan phu thugc cau hinh cia cdc khép. Hinh 4.10 12 so dé khoi minh hoa cho phuong trinh dong hoc diéu khién tay may (4.30). N6 gém 2 bd phan: mot bd phan nhan ¢, lam dai luong vo, g,, Jam dai hrong ra. Gitta ching c6 quan hé tuyén tinh va don (linear and decoupled), vi méi thanh phan cta +, chi anh huéng dén mot thanh phn cita g,,. BO phan thi hai nhan dai lugng vao 18 dy, Pan Gy Vad lam dai luong ra v6i quan hé phi tuyén va kép (nonlinear and coupled). Dua vao so dé trén cd thé dé xuat mot s6 thuat todn diéu khién voi cdc m6 hinh dong Lyc hoc khdc nhau. Trudng hop don gian nhat xay ra khi h¢ s6 gidm tc 1én, v6i su han ché vé van We va gia tc. Khi dé, hé thong duoc xem La klip diéu khién don (single joint servo), cdn dai lugng d duge coi 1a nhiéu. Diéu dé dan dén két cau diéu khién phan tin, trong dé cée kh6p duoc coi la dée Kip voi nhaw. BO diéu kbign phai dim bdo kha ning chdng nhiéu cao va kha nang “bam” quy dao tt. Vé thuc chat, hé diéu khién nay 1am viée theo sai s6 gitta gid tri ra va gid tri can diéu khién. 77by Ket) Ve PHI TUYEN, KEP SK Lia Ly kaa Ki Im 3 ae Te ra oe ss | y yee Hinh 4. 10: So dé quan hé dong luc hoc cha tay may Trudng hop thét hai, khi doi hoi van téc cao, ding hé thong truyén dong truc tiép (K, = J), thi céc thanh phan phi tuyén d cé anh hudng nhiéu, sai sé quy dao sé Idn hon. Trong he thong phai c6 bd phan bii cho céc thanh phan phi tuyén bang cdch tao ra momen bid. D6 la giai php tich cuc, vi n6é nhim loai trit nguyén nhan sai s6 cht khong phai han ché anh hudng cua chting. Diéu dé dan dén thuat toan diéu khién tap trung. Nhu vay, tuy theo kiéu diéu khién ma bo phan phat dong co vai tr khdc nhau. Doi v6i hé digu khién phan tén, bo phat dong (actuator) déng vai ud may phat duoc diéu khién theo van t6c (velocity-controlled generator). Trong hé diéu khién tap trung, n6é duge coi 1a may phat duoc diéu khién theo momen (torque-controlled generator). Ca hai trudng hop tén déu sit dung ky thuat diéu khién theo sai s6 giita quy dao thyc va quy dao yeu cdu, khong phan biét ding lién hé nguoc hay lién hé thudn. Di v6i m6 hinh dong luc hoc nao di nia thi céc he thong thue ciing phai duge don gin hod bang cach nao dé, vi dy bd qua ma sat tinh, khe ho, bién dang dan héi, sai s6 ché tao,.... trong hé théng. 784.2.2. Diéu khién doc lap Tring hop don gidn nhat trong diéu khién robot 18 mdi khép duoc diéu khién hoi to’in déc lap véi céc khop khic, va hé digu khién chi cé mét dai luong vao va m6t dai luong ra {single-input ‘single-output system). Su anh hung kép gitla céc kh6p véi nhau trong qué trinh lam vige duge xem [a nhiéu. So dé ca hé théng nay (hinh 4.11) tuong img voi phiin tuyén tinh va don cia hinh 4.10. ae | Hinh 4. 11: Su dé diéu khién doc tap cla méi khép Khong lam mat tinh téng qudt, xét dng hop thiét bi chap hanh 1a dong co dién mot chiéu. Nhu vay, 6 14 gdc quay cilia truc dong co, / 1a momen quan tinh trung binh cilia phin chuyén dong quy déi dén truc dong co. R, Fa dign tre phén ting cia dong co. &, va &, 18 hé sé momen va hé sé van t6c cua dong co. G, la hé $6 dign 4p cla bo khuyéch dai cong suat. Gia thiét he sé ma sét nhét trén truc cua dong co rat nhd (cd thé bd qua) so véi hé sG can dién nang, nghia 1a: kk, FP, << Ham truyén cita dong co'cé thé duge viét duéi dang: k M(s)=-——2—— 4.33 OI (4. 33) . i. Rit as “ a ade va trong d6, k= 7-10, = 7%, tong ding la hE 6 chuyén déi van téc - dign dp va hing s6 thdi gian ciia dong co. 794.2.2.1. Diéu khién c6 lién hé nguoe Dé dam bdo kha nang chéng nbiéu, bo diéu khién phai thod man cde diéu kien: ~ Hé 86 khuyéch dai I6n dat phfa trude diém tac dong ciia nhieu, ~ C6 tae dong tich phan trong 66 diéu khién dé han ché anh hudng cha trong trudng toi dai long ra khi hé thong 6 wang thai tinh (gid cho #7 khong déi). Yeu cau trén gofi ra ¥ tuting diing tic dong digu khign PL eProporticnsd - Integral) wong mach chinh vei ham trayén Te sf, C(s=K, NG cé thé cho sai s6 trong trang thdi xdc lap khi 14¢ dong cua nhi¢u khong déi, tai s = -#/T,. Dé cai thien cdc dac tinh dong lye hoc, nén ding cae vong diéu khién cd phan héi cuc bo dé Khir tic dong cila nhicu. Bén canh viéc déng kin mach phan héi vi tri, thuéng ding ca mach phan hdi van téc va gia téc. Digu dé dan dén mach c6 so dé nhu trong hinh 4. 12, trong dé C;(s), C.(s) va C,¢s) tuong tng biéu thi cdc bo diéu khién vi trf, van tdc vA gia tc: hyp. Ky. ky, A cdc hang sé cita ede bo bién di. Trong so dé nay, momen nhiéu D cing duge chuyén déi thanh dign Ap nhd hé s6 chuyén déi R/k,. Tit so dé co ban trén, c6 thé nay sinh mdt s6 phuong an didu khién cé phan héi riéng, nhu phan hdi vj tr phan héi vi Uri va van 6c, phan héi vi tri, van t6c va gia tdc, Soper ee--[Ees Hinh 4. 12: So dé mach diéu khién khop doc kip 80& © Piéu khién cé phan hoi vj tri Trong trudng hyp nay, tae dong digu khién duoc dic triug bow cae ham trayén: 2 OI CyQs i ky =k, 30. trong hinh 4.13, ta xée dinh duge ham trayén che mach thuan (chua ké tic dong cla nhiéu): pixye beKel tT T+sT,) va cho mach phan hoi: Hfs}=kyy | : ‘ fe} Hinh 4. 13: Mach dieu khién 6 phan hoi vf rvé Cudi cing. ham tr ! Ot (4.35) Gory yd Twong ty. ham ruyén cua mach kin nhicu/a bing oR 1 KK kyl bt 9T, Ors) RKokiot ste) (4.36) ish v{fawy A Kok tba xP KERIan 81Bang phuong phip phan tich quy tich nghiém'' ¢6 thé chi ra pherong hung thidt Ke -hé diéu khién c6 phan hoi vi wi. ohu sau: - He théing chi c6 thé du dink khi hang $6 thoi gian cla bd diéu khidn (tong ubng hop nay 1a kha tuyén tinh) lén hon hang so 1hdi gian cua dong co, nghia la: T, > V,. - HE giam thdi gian phan ing cea he thing, can tang 7,. Thudng ding Too Tye = De chéng uhiéu eo higu qué edn tang he so tuyén K,. Vich X, = Koken date goi fit nhan chong bid pdisimhunee rejection furor eding phu thude K,.. Tuy ohien, néu tang K,, qua mue 6 the gay nen dao dong cita dai lugng ra. © Diéu khién cé phan hi vi tri va van toc So dé kho: cua hé thdng duee thé hin trong hink 4.14. Tac dong diéu khien duve dac trumg boi it Coteie KR C= Kk, Cite ky, =0 ee Com me pm ea 2 Le rep ot ELE Le 5] | = Hinkle 4. #4: Ser do didit khién 66 pheint h6i vi rf va van 166 Ham truyén cita mach thudin vit cua mach phan hdi: rosy = 4a8 3 © Root-tocus analysis 1 mdt cdng cu dé khito sé cae chi vidu chat Lug etta he thong, chu tink Sa dink, dge tinh tinh va dye tinh cua qué winh gua de a2Ham truyén clia mach kin vao/ra: i es ean ; (4.37) OS) Sky : Koki ky Kokiek, Ham truyén clia mach kin nhiéu/ra: Os) _ (4.38) D(s) sky, It + Ko kip ky Kp kip Ky Nhan t6 chong nhiéu: — Xy = Kk; pK, © Diéu khién co phan héi vi tri, van toe va gia tc Hé diéu khién nay tg v6i so dé trong hinh 4.15. Tac dong diéu khién duge dac trung boi: 1+87. ChS)= Kp Cl) = Ky C,(8)=K, 2 5 Hinh 4. 15; Su dé diéu khién 6 phan hoi vi wi, van te va gia toc Dé cho biéu thie duge don gian, phan gach chéo trong so dé dugc thay thé tuong duong bang mot khéi cé ham truyén: G (s)=——-—— mm sT, (1+ kK kg 1+k, Bk 1+ bs (1 RAK (+E, Kyk) 83Ham truyén cia mach thuan va cua nach phiin hoi: KA KOK (f= 87 A ee Gtk isis haath OME i s- Ria, Prs Thon Guyer cud mach Kin vao/ra Ost 8 é 4 Bas) k wos } KA Ham teayén cia mach kin nh sk, Bs) if tf. tor Drs SCLeR KA? kk Rk KK Nhiui t chong nhidu: y= Kk ok, Ky 4.2.2.2. Diéu khién co bit Cie su dé disu Ahién c hen he nguoe nhu tink bay Girsn nhim tao ra kha wang chéng nhicu tot. Nhung Ahi cin bara sat quy dao vei tie do va gin We idn thi chung khong dip ung duge, Co ché digu khicn c6 bir cho phép gidm sai sé quy dao. Tuong ting vei moi so dé didu khicn co phin héi, chuing ta ¢6 thé thict lap nigt so dé tong Ung cho diéu khién oo bi (hink 4.16) va dai lugng vao tuong tng cla méi so dé sé duee thay He thee cic quan Ra au: ise aes!Sel Ten -- fs 7 Of in DR, ¥ |e — Daf Fpllesty i= e Lie 2 24 AC Mts) + 8 a Dike khién 66 bn ved phan hd vi wi : {ice} & re on [es 4 Le ty} 4, }—---—.—- —_—__] b: Diéu khién co ba vei phan hoi vi tet va van Hic ty the 7 REYNE Lr 4 i ane es bn 7 bpp of Didi khidn cé bit vil phan hei vi art, vari Wie va wie toe fink 4. 16. Cac he theng dict bhicn ce phen hei= os kee c: So'do diéu khién tuong ditong kiéu PIDD? Hinh 4. 17: Céc so dé tong duong ctia hé diéu khién cé phéin héi 86Chit ¥ rang, lwong bu van ioe va gia téc duge tinh dé dang bang gidti tich, dua vao thong sé vi tri Ost), con Més) la ham truyén cua dong co chap hanh. Cae so dé tren cho phép bam sat quy dgo vio trong pham vi tuyén tink ctta hé thong. Kha nang dé con phu thudc mie dd phi hop ela bo digu khién va cdc tham 6 bil véi cae thong sé cua qua tinh. “fuy nhién, he cing cé nhiéu vong phan hoi thi cing it phai quan tam dén chung. Céc kh6i bao hoa trong so dé Ta ec phan tir phi tuyen, duge dig dé han che ving isn thien cu i van toc 1 te. Didu ds gitip pt inh tmtong. cita su biéh thién thai qua ctia cae dai lugng vao dén qua trinh qua dd, nhung ciing c6 thé lam gidm dé chinh xée bam quy dao. Trén hinh 4.17 1a cdc so dé tuong duong cit cae so dé trén hinh 4.16. Ching chi ding mach phan héi vi tri. cong thém mot bo higu chinh (phan gach chéo trong so 46) véi cdc Hic dong diéu khisn Uiéu chun 1 PL PID, PLDD*, 4.2.3. Dieu khién tap trung Frong, myc 4.2.2 trinh bay cdc Van dé et 86 cika vide thiét KE cde bo diéu khien doc lap trong khang gian khdp. Chiing déu [cde hé thong don (single-input ! single- ordput), vi anh hudng qua lai gida cade khép déu due coi Ia nhiéu. Digu dé c6 nghia 1A ching ta mdi chi quan tam dén mot phan (tuyén tinh va don) cua hé thong. M6 hinh todn hoc (4.26) va. so dé Khoi trén hinh 4.10 cho thay tay may 1a moc he n-ipas (gdm 2 momen khép), -orpuds (g6m st vi tel khép) va phi tuvéir (phan lon moi quan hé giita chiing 1a phi tuyén). Vi vé mat phuong phép Ivan thie ké he diéu khién robot, cain xem xél tay may la mot hé thong da hich va phi niyén. Sit dung luat digu khién phi tuyén-tap tung Ia giai phép dim bao cdc dac tung dong lye hoc cia robot. Phan nay sé trinh bay co sé ton hoc hinh thanh |uat didu khién may. bé dé theo di, chung ta hay xem lai cdc phuong tinh (4.26), (4.27) va (4.28), biéu din cde quan hé dong tue cla tay may, olla hé wuyén dong co khi va cita dong co khép. 87Drude phe Go placa tank 128s sa do én ink 4.11. be edu ngudt. Sahin othe dsoe ties dues dang nis nda hing ede phuong tinh sau: 4h wd fds trong dé; K, - ma tran dime chéo cac hing sé nomen cia # ddng ces, i, - vector cde dine dién phan ting cha #7 dong co, v, = vector cae dign dp tren phan tng ola p done co R, - ma tran duding chéo cae dign ind en phan ting ella. déng oot K, - ma tein drttmg chée cdc hing sé dign dp clan dong co, G, - ma inin ducng chéo cile hé 86 cian bo khuyéch dai, + vector cde dién ap diéu khign cba 1 dong co bidu die wen, nhan dude dane khac cba mé hinh dong Feng hap oa luc hoe dung treny diée khiga robot: Beg hj ~ Cagrii s 0G + gtqheu 4d Trong dé F fa ma tran cidng chéo cla toan bd lye can. cé 2 thanh phan 1a co khi va dign. va u fa vector cdc dai lugng vao cita hé thong: FoR + KKRIKK, . (4. 45) u=KKR/G: (4.46) So stinh cade bidu thite (4.44) va (4.26) va chi ¥ dén cae biéu thie tinh Fu 6 trén. ching ta rit ra md hinh diéu khidn hé théng bang dién dp. Sa dé kh6i cita hé duce thé hién wen binh 4.18. U-KKRIKK, = 0 (4.47) ~ Linge a ate Ki Ke Re Gy TAY MAY i |g, ' i= RL Re RS | Hinh 4. 18: So dé diéu khién robot bang didn dp 88Trony so dé ten, dai lrgng vao 1 phy thude cé tham so KK. Betta lam vies. Dé loai wir ede anh hucng dé, ¢6 thé ding he dic khiéh bang monten hay dong dics, Cac phutong tinh 4. 43), (4.45), va (4.46) duoc thay the bang dong co, ma gid tri cla ching bai thay dai thee diéu ki i,= Gv (4 ASy bok (4 dad a= KKiin (4. SO) dicen phan en hing sor trong dé Gla ma tran hang. the hien quan he ty Ie gitta don: pdigu khicn ». Bay g : én hink 4.19 pana ge, ue : u 4 g KG TAY MAY [2 | | 9s, Hink 4.19: Sedo diéu khitén rehot bing momen for he thang due 1h ling }, va di¢n dst Xuat phat tir mé hinh dicu khién cot ban (4.44), co the thc hién cic nhigm vu digu khién khic nhaw bang cach chon dai fuong vaio i thich hop. Scar day chiing ta xét 2 trang hop ting dung mé hinh digu khigu tap trung cho robot. 4.2.3.1. Diéu khién PD co bu trong luc Dat bai todn: Tay may géni ahi khau, khep va cde co cau Tién quan. Méi bo phan déu c6 trong Iwong. Trong qua tink lam vic phan luda thay d6i, nén trong luc dat lén chang cling thay déi va khong theo quy tuat dinh tude, Nhigm vu cba be diéu khién La dn dinh tang thai cua tay may dit né dang Jam vige 6 thé nao. Bo diéu khién phai thing xuyén gidm sat trang thai cla hé théng dudi tic dung cla trong trutmg. sinh ra tin hicu dicu khicn thich hop dé bi lai, Phan nay adi vé eich chow dang ciia bam diéu khi thé cia cac bo ‘nw dé thuc hién chute nang bi treng Lue. DE Lim viée do, ching ta str dung phuong phap Lyapine, NO dua oon nguyén tac. 1a trong qué trinh hé théng tiém tiga den arang thai can bang thi nang lugng cua nd gidm dan va ¢ trang thai can bang. nang lucy ct he dat cue Geu. 89‘Ta bicu dién nang long cua he bing ham } fe), trong dé ¢ [A sai lech gilfa trang thai thye va wang thai can bang cla he. Néu cdc diéu kién sau duoc déng thoi thod man thi he sé dat trang thai can bang toin cuc. Viel>0 vee: Flej=0 — e=0); Fiej<0 Vert: Krel=a [leer Trong trudng hop dang xét. wang thai cia hé théng [i thé cia phan céng lic va duye biéu thi bang vector pdm 4 phan tir a | trong dé 7 1a sai ech gitta gid tri thuc g va gid wri 6 wang thai cin bang da (F = Gy — 4) cha bidn khép thiti¢? = fa). Nang luyny cita hé 1 ham s6 eda sai [Geb @ va van toe ¢: wt wip . . Maa Bugis Li KG >0 vga (4.51) trong dé, K, la ma tan doi xing (x w) bigu thi dé cing: ctta he thong. Thank phan thit nhat biéu thi déng nang. thanh phan thi hai biéu thi thé nang cia he t Lay dao ham bigu thie theo thdi gian va chi ¥ g, Ia hing so: Lops ~ Pag Beng + 59! Biya G" Kad {4.52} Rut Bfq ig tit (4.44) va thay né vdo (4.52), akan duge LG (Bg) 201 q.G 9 =F FG OU BEI KH) 458) Thanh phan thir nhat cia biéu thie wen bang 0; thanh phan thet hai xde dinh am. Thanh phan thit ba chit yéu 1 trong luc gig) va mot tac dong diéu khién ty 18 Aq . chtia sai tech trang thai. Vi vay. néu chon tin hiéu didu khié wa etyl+ Kg thi cing da dat duge diéu kign cua phuong phap Lyapunov. Tuy nhién, 66 thé tng We dé xdc lap néu them mot tac dong vi phan, dé nhan duge tic dong diéu khién PD w= giqgi+ Rig - Kig trong J6, K,, la ma tran hang s6. xc dinh ty 1é bit phi tuyén cla trong luc. 90yen If diéu khién tip (rung c6 bi Wong luc duge thé hign tren hinh hinh 4.26, wong dé chting ta nhin 58 1ac dong cla sai lech trang thai he théng dén trang thai thuc. TAY MAY —_—-—_—______] gq la Hinh 4, 20: Sur dei diéu thie PD e6 bai trang hte 4.2.3.2. Diéu khien ding dong luc hoc nguoc Van dé bam qué dao di duoe dé cip vGi hé diéu khién doc lap. trong, d6 gia thiet hé 1a tuyén tinh va don. Phan nay al toa anh cua he da bién va phi tuyén. quyét ciing bai ”im sat qu¥ dao nhung trong boi M6 hinh dong luc hoc (4.44) duge viét lai cho tay may c6 # khdp nhu sau Beg) +g.g) =u (4. S4) trong dé aad) = Cig.gig + Fa + gtq) (45S) Vector diéu khién w 1a ham trang thai cia hé thdng va cho phép the hign quan hé vao/ra duéi dang tuyén tinh. Tuy ahién, day la vu tuven tinh hod todn cye nhd phan hdéi phi tuyén tir thong s6 trang thai. Diing » = @ v6i gid tri hoan toan ade dith 1m dai tung vio, ta c6 thé Vit a didi dang khae cua ham diéu khién w= Begiy + fgg) 14. 56) Ham nay dua trén bai ton nguge cia déng Ie hoc robot va due thé hign tén so dé wong hinh 4.21. Véi dai long vao y, hé tré nh tuyen dé Ip. Noi céch khic, phén tir y, chi inh hudmg dén bicn khép ¢. mét cach déc lap véi cae khép khdc. tinh OL1 SH ats) ve Hinh 4.24: Sedo uvén tinh hod wan cuc ding thet ton ding bite hee nguie Nhigm vu bay bao tink nang him quy dao, vita dn dinh, ham y can e6 dang. sau ya-Kig- Rig treg (4.87) aid la xtc dinh cu thé ham diéu khién y. Dé vita dam Digu dé dan den hé phueng tinh vi phan cap 2 G+ Kuga Kygr Neu K,. va K,, li cac ma train xc dink durong thi hé s@ dn diah tiém tién, Moi khi cho trudge qué dao 9/1) thi viée bam sit n6 due thuc hién bai dai Luong vao gém 3 thinh phan he + Aud + Kad, Thay r trong (4158) vae (4.57), ta co: G+ Rotg, q+ Kiljy-@ i th. 59) HGe KG + Ky Hinh 4.22 1 so dé diéu khign theo thuat todn dong luc hoe nguge. ong dé song kin Wong thé hie ie Jue hye (4.54) hoac (4.56). song ngoai thuc higa che nang him guy dao va én dinh hé théng. lam vive theo sai lech etia trang thai (4.59), mo hinh dé Se dé digu khicn nay cd uu diém La cho phép thay thé hé phi ty bang n hy anved tinh, dem, Tuy ahién, né doi hoi phai tinh ma tran quan tinh Brg) va cae vector lye Coriolis, ly tam, trong tubng, can... ngay trong thi gian Lam vie cua robot (online va real time). Mat khéc. thuat loan con ddi hoi phai biet chink wae cic thang s6 cla hé thong. 92ory Kaien ruven thin Wee Bu pm TUYEN vA DON Hinh 4. 22: So do diéu kh in theo thudt todn dong hic hoc nguorc ‘Trén thue té, khong thé biét va mo hinh hod chinh xde duge cic thong s6 két cau co khf va cling khong thé dam bao gidi mOt cach chinh xéc bai toan nguoc cla dong luc hoc tay may. Tinh trang trén duge khic phuc bang cach két hop cdc ky thuat diéu khién da néu v6i ky thuat diéu khién bén ving (Robust Control) hoac diéu khign thich nghi (Adaptive Control). 4.2.4. Diéu khién trong khong gian cong tac Trong cde muc trude chting ta ndi vé diéu khién robot theo tr tong bai todn thuan cla dong hoc va dong Ive hoc tay may. Muc tiéu diéu khién 1a dam bao vi tri, van toc va gia 6c cua khién duoc thuc hién trong khong gian khap. khdp, nen bai toan diéu Thong thudng, guy dao yeu edu cia phan cong tic due xdc dinh trong khong gian cong téc, sau d6 cdc thong s6 chuy kh6p dugce tinh nhd giai bai to may. Trong khi robot lam vig dong tuon! img cia caic guge cla dong hoc va dong luc hoc tay (tri ra (cde bién khép) due do, tong hop thanh gia tri tuong tng cita thong s6 guy dao Hare nho giai bai toan thuan, dua tro lai dau vao theo mach phan hoi Vé nguyén tac, bai todn ngugc duge gidi khong chi dé xae dinh vi ti ma ca van t6c va gia t6e cita cae kh6p. Tuy nhien, dé don gin hoa két cau diéu khi¢n, bai todn nguoc chi duge ding khi xdc dinh vi ui cia cic khdp. con van tc va gia tc cla chting duoc xac dinh bing phuong phap vi phan s6. Noi chung, phong phap diéu khién tap trung doi hdi Khoi 98hiong tinh todn Kin. Vi vay. né duce sir dung Khi ngoai you cata vd chuyén dong con phai tinh dén luc wong Lie cia phan cong tae voi doi tusng. 4.2.4.1. Cae dang so dé chung Hiéu khién trong khong gian cong tac dita Vio su so sanh gitia qui deo yeu cau cua phan cong tic wong khong gian céng tic voi geet dues ie, due xde dinh tr gid Ui thye (do duge) cla cde bien khap. Nhu vay ong mach: thuan cia so 46 diéu khign can cd cdc khau dé chuyén ddi sai so guy duo trong Khong gian cong téc than gid ul dc bien trong Aheiry giant kieip. Mot phutong an thye hién phép chuyén doi noi ten la citig par trea Jacobian nghich dée (hinh 4.23). Trong ser dd, Av ia sai Ieeh gitia oi uni yéu cau va vi thi thye cla phan cong te tong khong gian cone tae. Thong qua khau bien déi, dong ma tran Jacobian nghich dio. 1. duce bien déi thanh cdc sai lech dy ciia cde bién khdp dé digu khica cae khop Khoi GAIN MATRIX cé tée dung nhir ld xo, sinh ra Ive dan héi theo chiéu khif cac sai léch Ag (va do d6 kh A). nw az [fo 89 | can v gq 4 warn AY MAY Hinh 4. 23: So do didu khicn ding ma tran Jacobian nghich dio Phuong an chuyén déi thit hai ding me tran Jacobian chayén vi (hin 4.24), ms bz [can 7, oH yeti, Fe ig Le} tay may - Minh 4.24: Se dé dieu khién ding me trgn Jacobian chuven vi 94Trong truéng hop nay khoi GAIN MATRIX duge dua lén uude, sinh ra luc diéu khién cde khép theo chigu hudng khit sai s6 Ax. Lue tng quat d6 sé duge phan phoi cho cée khdp nhd khoi Jacobian chuyén vi Ching ta cting thay, ca hai phuong an déu str dung bai toda thuan cua déng kuc hoe trong mach phan héi ‘Tvong tu nhu phiong phdp digu khién tap trung wrong khong gian khop. trong khong gian cong ide ciing tn tai 2 dang: didu kien ci bit trong le va dieu khién diag dong hoc nguve 4.2.4.2. Diéu khién PD cé bi trong lue Ky vi ui can dat cila phan cong tac trong khong gian cong tic la iui thuc la«. Ching ta mong muén sai Jéch vi rf 4. 60)) 6 xu hung tim Nang luong cia hé 1a ham sé c1 sai léch ¥ va van t6c g: vaE20 (4.61) trong dé, K,, [a ma tra déi xtmg fr 217), bigu thi do cing cia hé thong. Lay dao ham biew thie thea thé gian, alan duge lo, gly y Peg! Bras Sq! Bray - 2 KS (4.62) Vi x, =0 vachd § ring ¥ J (gig. acd ghd Do dé: q! Beg ji + A Gg! Bewg -a' F(QK ,F (4.63) Dé ¥ mo hinh dong lye hoe (4.44), rit raz Pa-g' Fo +q'(u-alqi- J (QyK 2). (4. 64) Bidu thite trén got ¥ chon ludt diéu khign mes eg) J QIK FE —S(W)K J fqig (405) trong dé. K,, JA ma tran bing sd, Vi vay, phuong trinh (4.64) tré thank Vag Fg-g' S\igik) tag (4, 66} oS,He diéu khidn nhu uén hinh 4.25 c6 dang teeme tu sedis hink 4.20 = IAT) wl carnae lo | 2. BL) fee Hinh 4. 25: So dé dieu khién PD 06 bit rong dite Ludi diéu khign (4.65) hinh than mot tic deéng bit phi uyén cho wong lc trong khong gian khép (arong ting wi thanh phan ig!) va mot tac dong diéu kh ‘n PD trong khong gian cong Lic. Bieu thie (4.66) cho thay véi moi qué dao cho trude, khi g #0 thi him Lyapunov gidm, hé théng sé tien Idi trang thai cin bang. Trang thai 6 duecte sie dinh béi JAGR =O tha?y 4.24.3. Dieu khién dang dong luc hoc nguoe Viet lat mo hinh dong luc hoe (L443 che tay miiy oO 4 khap nhur sau Begg + ag.gisu 48} tong de my gl= Cg. gig + FG + ag) i409} Chon fat dieu khige dudi dang tuych tinh hod By iv sty gi fd My 3é dan ten hinr uch phan aay Tey Dai lung vie y duge adc dinh theo tinh nang bine quy dao cho tude 10, Dé ahan duge quan be ¥ J aie dandy %Gthi co thé chon J qld, + K+ KK -J fgg) 22, voi Ky va K, 18 cde ma tran chco xac dinh duong Thay (4.72) vao (4.71), nhan due phuong irinh mo ta sai lech dong luc hoc trong khong gian cong tae: Y-KY 4K, Y SO hea; trong do, K,, vi K,. sae diniy 1c dé bGi ty eta sui Koh 161 0, Sod dicts khién duoc thé bién irén hink 4.26 Ben canh x va, can phai do vd g va g. Neer va & duce do gidn isp thi bo dieu khién céin phai tinb todis true tuyen cate ham ky) VAS Co). aa lia. Lye Minh 4. 20° Si dé diéu khiée then thud iadn dong lee hoc agai tie Lion Nhu tinh iodn di chi ra, digs khién trong Khong gian 6: Iudn ddi hoi Unk Jecobun, vi vay né thuimg phic tap hou so véi dieu khién tong khéng gian khdp. Be lai, ching ta akan dugic cde tnuan igi or vice mo ta tree ticp quy dao tong kang giaii cong tic. SS RTKB iu 97Chuogng 5 CO SO THIET KE VA LUA CHON ROBOT Chuong nay sé khdi quat két cfu co khi dién hink cia tay may. No nham tao cho ngudi su dung robot mot co sé thuc lién dé chon mua loai robot phi hop véi yeu edu cong nghé vA dac diém sir dung. Déng ahd, day cfing 18 14 ligu tham khao cho ngudi thict ké, 16 hop robot. 5.1. CAC THONG SO K¥ THUAT CUA RBCN RBCN wit da dang vé ket cau va tinh nang, duge dinh gid bing cdc thang s6 k¥ thuat rai khéc nhau. Tuy ohién, co nhing thong sé ky thuat chung cho hau het robot. Dua vao ede thong sé k¥ thuat chung dé, ngudi 1a thong nhat hod va tiéu chudn hoa két edu va tinh aang ctla robot. Nguriti ding c6 kinh nghiém khong bao gid c6 chon rebot cé moi tinh nang ky thuat tot nhat mA ict chon cdc thong s6 uu tien dé tho’ min yeu cau cong vide v6i chi phf thap ahat, Vi du, doi v4i mot robot van chuyén thi 3 bac ur de ed thé [a dé. shung robot phun son thudng can ti 6 bac ww do. Robot lap rap hode robot phye vu may cong cy thudng phai c6 do chinh xde dinh vi cao con robot phun son thi khong. Trén robot hin diém cé thé chon kiéu diéu khién diém - diém cho ré, cdn trén robot ban hé quang tht nhat thigt phai ding diéu khién dutng (contour), v.v... Muc nay ndi ve xhai nigm va huéng {ua chon mou s6 thong s6 ky thuat chinh. S.LLS nang cua tay may D6 1d kai Tung Idn nat cua val mi robot od thé nang duge (khong ke khdi luong cua cde co du khi 16c d6 dich chu it. Neu robot cé nhigu tay thi dé 1a ting site nang cua cdc tay. Thong s6 nay quan cong doi v6i cae robot van chuy€a, x¢p dé. Jap rip... Su tham Khao cae tai Ligu du trong tay may) Gong diéu kicn nhét dinh, vi cao nhat hoac khi tay vdi dai nl k¥ thuat hién nay ctta robot cho thay. dai ste nang cla tay my thay déi rat rong, «ir 0.[ dén hang agan kilogam. Hinh 3.1 cho thay robot ¢6 stic ning dudi 100 kg chiém da $6. Cae robot cé sée nang ldn thudng ding he truyén dong thuy luc va dién, trong dé ty le ding dong co d ngdy cing tang. Truyén dong khi nén cho dén nay van duge ding nhiéa tren RBCN, nhing chit yeu v6i cde robot 06 site nang duéi 40 kg. Doi véi mot sé kiéu robor, ngodi sue nang agua’ Lt cde e6 thé quan tim. den Jue hoge momen Lon nhat ma cain tay hede ban tay c6 the sinh ra us5.1.2. S6 bac tu do cia phan cong ta D6 1a téng 86 cdc toa do ma phan cong tac cé thé dich chuyén so v6i than robot. SO bac tu do cing 16n thi hoat dong cla robot cang linh hoat, nhung diéu khién n6 cang phite tap. Hinh 5. 2 cho thay phan Idn robot cé 4-5 bac tudo. % a » » a Js 25 0 =o =f --- meee 20 BS peeeseceeseseeee| Perefimpers- | Is} wf - ust z - iis 3 eee 7 ole pe fol 7 : ale atime 2 ¢ 8 gsr yy pre v 2 $ 3s ; o 7 aoe os 6 ow Dien @ Thuy he OKbinén Tong cep Hinh 5. 1: Phan bé robot theo sttc Hinh 5..2: Phan b6 robot theo nang sO bac tudo Trong co hoc da cd cong thie tinh s6 bac ty do DOF ctia mot chudi dyng hoc, nhu sau: DOF = 6n - 5k; ~ 4ky- 3ky- 2ky ky trong dé, n 1a sO khau chuyén dong duoc; kj, ky ky. ky. ks 18 86 khép 1, Il, INL, LV, V". Co cau phaing chi c6 cae khdp bac IV va bac V, nén: DOF = 6n - Sk, - 4k, Néu chudi dong hoc 1a chudi he (cho dén nay van duge ding pho bien trong tay may) thi s6 khau,bing so khép, nghia an =k, +k + ky + ky + k, nen: DOF =k+2kj+3kyt4hy+ Sk, Néu 1a chudi vira hd, vita phing thi: DOP = ky + 2k, * Khép bac I, I, IIL, IV, V, c6 5, 4,3, 2, | kha ning chuyén dong. 995.1.3. Ving cong tac Khi adi den viing cng bic ctia tay may, ngudi ta quan tam dép ca thé lich Gini bang m’) va hinb dang cua né. Hinh cua tay © 3 cho thay ving cong tic khéng chi phu thude vto két cau co khi ma cd (inh we cua cae Khau. png song gin vd 1 I a pom hop ids L fink 8. 2. Ving cong tae ett tay nndy (Q: khop quay, khéip wer) M61 thong s6 khéc lign quan dén ving cong téc clit tay may Li idm weit khi Su phan bo cia robot theo thé tich phan céng tic va theo fam vdi dulge the hign én Ninh 5. ++ cua cinh tay. Ting tim véi sé gay nén su mat dn dink cia tay mé lam vigc jimi