TRUCiNG DH SU' PHAM KY THUAT TPHCM
KHOA CO KHI CHE TAO MAY
BO MON CO DIENTl)
DE THI CUOI HOC KY I NAM HOC 23-24
Mon: HE THONG TRUYEN DONG SERVO
Ma mon hoc: SERV334029
De s6: 03 De thi co 6 trang.
Thbi gian: 75 phut.
Duoc phep sir dung tai lieu.
SV lam bai true tiep tren de thi va nop lai de
Chu ky giam thi 1 Chu ky giam thi 2
Diem va chir ky
CB cham thi thu nhat CB cham thi thu hai
Ho va ten:..................................................................
Ma so SV: ..................................................................
So TT:.......................Phong thi:
.............................
Phan 1 (Trac nghiem 5 diem)
Cau 1 (0.5d). Choose the correct statement:
A. A current feedback signal is used to stabilize torque of a servo motor.
B. A low pass filter can be used to eliminate noise from encoder signals
C. A typical servo system is normally a semi-closed loop system
D. All true
Cau 2 (0.5d). Cho dong co buoc PM co goc bucrc 1.8° chay a che do vi buoc vdi he so chia bucrc N
= 32. Tinh xung PWM b buoc thu hai..............................?
Cau 3 (0.5d). Cau khang djnh nao sau day la DUNG:
A. Noi suy DDA chay duoc dubng thang va cung tron
B. Noi suy DS cho ket qua chinh xac hon noi suy SA vi cho phep chay true X va Y
dong thbi.
C. Noi suy lay mau (sampled-data) nhanh va chinh xac hon cac phuong phap noi suy
xung chuan (reference pulses)
D. A va B
E. TSt ca deu SAI
Cau 4 (0.5d). Cho dong co buoc co cau tao va so do kich nhu hinh
A. Dong co buoc loai PM dang hoat dong che do nua buoc (half-step)
S6 hieu: BM3/QT-PDT-RDTV/02 Lan soat xet: 02 Ngay hieu lire: 15/5/2020 Trang: 1/6
B. Sii dung mach cong suat la mach cau H cho moi pha de dieu khien dong co hoat
dong theo so do kich.
C. Goc birdc cua dong co bang 15°
D. Tat ca deu DUNG
Cau 5 (0.5d). Trong bai toan chuyen dong diem-diem:
A. Gia toe cua chuyen dong la hang s6 tai diem dung neu su dung phuong phap quy
dao hon hop
B. Nang lugng ton hao nho nhdt neu su dung quy dao bac Ion hon hoac bang 3
C. Quy dao dugc chia thanh 3 giai doan vdi gia toe Ion nhat va nho nhat lan luot tai
diem bat dau va ket thuc.
D. Tat ca deu DUNG
Cau 6 (0.5d). In a servo system, a PWM signal is:
A. a frequency which has variable width pulses
B. is applied to a servo motor to control its velocity
C. normally isolated by a Schottky diode
D. applied to the power amplifier
E. A and D
Cau 7 (0.5d) Cho he servo su dung dong co AC servo nhu sau:
Biet Pb = 10 (mm); toe do cua dong co: 3000 RPM; Z1/Z2 = 1/15
Bo dieu khien vi tri (positioning controller) co tan so xung toi da 200 Khz, do phan giai cua encoder
Pro = 131072 (pulse/round).
Van toe toi da cua ban may la (ghi ro don v j):........................................?
Cau 8 (0.5d) Su dung hinh va thong so cua cau 7. Cai dat thong so cho bo chuyen doi xung (electronic
gear) de co cau tren dat do chlnh xac cao nhat?
K = ; do chinh xac:
Cau 9 (Id) Su dung giai thuat noi suy xung chuan DS d goc phan tu thu I, nguoc chieu kim dong ho
(CCW), R = 4. Trinh bay ket qua chay giai thuat (bang so lieu va hinh thu dugc)
So hieu: BM3/QT-PDT-RDTV/02 Lan soat xet: 02 Ngay hieu luc: 15/5/2020 Trang: 2/6
Bang ket qua (0.5d) Ket qua goc I, CCW (0.5d)
Phan 2 (Tir luan 5 diem):
Cau 1 (3d): Cho he servo vj trf dung dong co DC servo co so do khoi nhu hinh:
a. (Id) Bilt dong co hoat dong a dai van toe trung binh, giai thich va ve lai so do khoi xap xi cua toan
bo he thong (bo sung phan “Motor and Load”)
S6 hieu: BM3/QT-PDT-RDTV/02 Lan soat xet: 02 Ngay hieu lire: 15/5/2020 Trang: 3/6
b. (Id) Sii dung so d6 cau a, bilt Kv = 0.24, tim thong s6 Kp d8 dap ung cua he du nhanh nhirng
khong co vot 16 va dao dong?
_____________________
c (Id). Be cai thien dap ung tren thirc te, ky su sir dung them bo loc thong thap ngay sau Kp, viet
cong thuc roi rac tfnh tin hieu dieu khien u trong truong hop nay?
So hieu: BM3/QT-PBT-RBTV/02 Lan soat xet: 02 Ngay hieu luc: 15/5/2020 Trang: 4/6
Cau 2. (2d) Trinh bay va vi£t giai thuat noi suy theo phuxmg phap lay mau (sampled-data) de noi suy
dircrng tron tam (0 ,0 ), ban ki'nh R.
Ghi chu: Can bo coi thi khong duac giai thick d i thi.
So hieu: BM3/QT-PBT-RBTV/02 Lan soat xet: 02 Ngay hieu luc: 15/5/2020 Trang: 5/6