TRNG I HC BCH KHOA H NI

KHOA IN T - VIN THNG

-------------------o0o----------------

BI TP LN
Mn : VI X L
ti :
IU KHIN CHUYN NG RBT
BNG NG C BC

Thy hng dn : Nguyn Hong Dng

Nhm sinh vin :
1. Hong cGiang Nguyn
2. Nguyn Phi Tun
3. Phm Quang Vinh
4. V Th Thanh Tho
5.Nguyn Thu Thy

H NI , THNG 5-2006

LI NI U
Sau mt thi gian hc tp trn ging ng ca trng i hc bch
khoa H Ni ni chung hay khoa in t vin thng ni ring ,chng em
tip thu c nhng kin thc khoa hc v cng ngh. c bit l
mn vi x l do thy Nguyn Hong Dng ging dy, chng em c c
hi chuyn kin thc l thuyt thnh sn phm thc t qua ti iu
khin chuyn ng rbt bng ng c bc. Nhn c s quan tm
v ch bo ca thy chng em hon thnh c sn phm ca mnh.
Qua y chng em c thm c nhiu kin thc thc t gip cho cng
vic sau ny.

Chng em xin chn thnh cm n.

Chng I:
M u
I. t vn
II. Mc ch thit k
-Pht huy thnh qu ng dng ca vi iu khin to ra nhng sn
phm tin tin c tch hp cao v cng ngh.
-Vic thc hin ti ny gip em tip cn vi thc t, pht huy nhung
kin thc hc trong mn vi x l.
- Qua y c thm nhiu kinh nghim gip ch sau khi ra trng c th
ha nhp vi cng ngh tin tin trn xa hi.
III. Ni dung ti
1. ti
iu khin chuyn ng ca rbt bng ng c bc.
2.Chc nng ca h thng
- Chuyn ng ng c bc theo mun ca ngi lp trnh .
+ Chuyn ng thng: tin, li.
+ Chuyn ng quay tri, phi.
+ iu khin c tc chuyn ng ca ng c.
+ iu khin ng c bc theo ng i bt k ( bng cm ng
quang).

CHNG II

THIT K
I.Nhim v thit k
- Thit k iu khin chuyn ng rbt bng ng c bc. Vy ta
lm cc bc sau:
+Mch iu khin ng c
+Thit k m hnh ng c
+Vit chng trnh iu khin

II.S khi ca h thng

Khi iu khin

Khi c hc

III.Thit k v phn tch nguyn l tng khi

1.Khi iu khin
iu khin chuyn ng ca ng c theo mun cn phi c
trnh dch chnh xc vi chuyn ng ca ng c, v mt ngun dng
ph hp m bo cho ng c hot ng. C rt nhiu cch lm phc
v mc ch ny. Vi vic iu khin ng c ch cn dng qua cun
dy c 500 mA, c th dng dy IC loi dy Darlington cllct h :
+ULN2003, ULN2803
+DS2003( national semiconductor 2003) ,MC1413(motorola).
Tuy nhin nhng cch lm trn ch s dng cho nhng ng c nh,
trn thc t chng ti dng IC opto coupler v IC tip 122 c cu to
dng mch mc theo kiu Darlington .
a.Mt s c tnh k thut ca tip 122

BCE
Vi dng vo cc baz c th t khong 120 mA , dng Ic khong 5
n 8 ampe.
Mch c mc theo s

Nhng trn thc t ta mc tip 122 vi opto coupler dng vo cc

baz nh hn 120 mA th ta s mc u vo vi 1 in tr R= 10k.
b.1 s c tnh k thut ca opto coupler
Khi iu khin ng c chuyn ng trn mt t ta phi dng mt
ng c c cng sut ln vi mc in p l 12V. Mt khc tn hiu ra
l mt l 5V, iu phi kch p v dng qua ng c. C rt nhiu
cch khc nhau, v mt trong nhng cch hay chnh l dng opto
coupler nh mt kho chuyn t 5V sang 12V v a trc tip ngun
dng t ngun sang ng c.Vi cu to:

Tuy nhin cu to ca opto coupler(p51) trn th trng Vit Nam ch

c 4 chn 1, 2, 4, 5 m khng c cc chn cn li v khng cn thit.
IC ULN2003 cho dng vo cun dy I<500 mA.
b. Thit k mch to chuyn ng dng ULN2003 :
Ni hai IC ULN2003 vi :
+ u vo cc chn t 1-4 ca 2 IC ln lt vi u ra tng ng 4 bit
thp v cao ca 89C51.
+ u ra ni vi cc chn A, B, C, D ca 2 ng c bc.
S ni chn c th ging nh hnh v tng quan ca mch iu khin
ng c s ni ti sau.
c. Gii thiu s lc v IC 89C51
-IC iu khin 89C51tng thch vi h MSC51 c c im sau :
+ 4K Bytes Flash rom
+ 128 Bytes Ram
+ 4 port 8 bit
+ 2 b nh thi 16 bit
+ C port ni tip
+ C th m rng b nh chng trnh ngoi 64 K Byte
+ B x l bit
- Cu trc bn trong ca 89C51:

INT\*1
INT\*0
TIMER2
TIMER1
PORT ni tip

iu khin
ngt

Cc thanh
ghi khc

128 byte
Ram

Rom
4K-8051
OK-8031

Timer1
Timer2

CPU

Tao
dao
ong

ieu
khien
bus

EA\ RST PSEN ALE

Cac
port I\O

P0 P1

P2

Port
noi
tiep

P3
TXD* RXD*

T1*
T2*

- S chn ca 89C51 :

30p

40
19
XTAL1

12MHz
30p

18

29
30
31
9

RD\
WR\
T1
T0
INT1
INT0
TXD
RXD

Vcc
XTAL2

PSEN\
ALE
EA\
RET

17
16
15
14
13
12
11
10

Vss
20

2.Khi c hc
a. ng c bc
- Cu trc bn trong ng c bc

Po.7
Po.6
Po.5
Po.4
Po.3
Po.2
Po.1
Po.0
P2.7
P2.6
P2.5
P2.4
P2.3
P2.2
P2.1
P2.0
P1.7
P1.6
P1.5
P1.4
P1.3
P1.2
P1.1
P1.0

32
33
34
35
36
37
38
39

AD7
AD6
AD5
AD4
AD3
AD2
AD1
AD0

8
7
6
5
4
3
2
1
28
27
26
25
24
23
22
21

A15
A14
A13
A12
A11
A10
A9
A8

A
B
A',B',C',D'
C
D

-Phng php iu khin ng c bc

Cc cun dy c cp dng theo vng. Mi khi vng dy c cp th
ng c c gi l quay 1 bc

A
A'
B
B'

C
C'

D
D'

t
t

Hot ng ca tng cun dy trong ng c bc.

Cc cun dy ABCD c np theo chu trnh :

ABCD= 1001 1100 0110 0011.
Lc ng c s quay ngc chiu kim ng h c 1 vng .
Mun ng c quay thun chiu kim ng h th ta ch vic thay i
ngc li chu trnh np trn .
Tuy nhin, chng em xin s dng ng c bc trn th trng vi cc
bc khc trong sch:
ABCD= 1001, 1110, 0110, 0001. Vi cc cun dy B,C lun
cng mc in p.
b.Cc thnh phn c hc khc
Bao gm cc bnh xe :
+ 2 bnh xe iu khin chuyn ng, c to trc thch hp gn lin
vi trc quay ca 2 ng c bc.
+ 1 bnh xe con gn lin vi thn rbt c th quay mi hng xung
quanh trc gn lin .

IV. S mch v hot ng ca rbt

1.S mch

2.Hot ng ca rbt
a.Hot ng v mt nh tnh
+Chuyn ng tnh tin:
Khi ngun 5V cung cp vo ton mch v ng c, tn hiu thay i
lin tc s c xut ra cng P0 a vo u vo ca 4 chn u ca
ULN2003, tn hiu ra c a ln lt ra 2 ng c lm cho 2 ng c
chy cng lc vi vn tc nh nhau, iu s gy ra chuyn ng tnh
tin ca rbt.
+Chuyn ng quay:
Sau khi i c qung ng, chng ta mun ng c chuyn hng.
thc hin c ta s thi khng xut tn hiu 4 bt u, hay sau,
tu theo hng quay. Lc mt ng c s khng cn tn hiu vo v
s khng quay. Lc ny do sc nng ca bnh lm cho ng c l
mt trc quay bnh cn li quay quanh chng. iu cng dn n
chuyn ng quay ca rbt.

Gii php trn rt hiu qu nhng chng cng c th thc hin chuyn
ng quay ca rbt bng cch cho 2 ng c chuyn ng ngc chiu
nhau, dn n chuyn ng quay nh mun.
b.Hot ng ca ng c v mt nh lng
Tu thuc vo chng trnh chy cho tr( delay) bao nhiu th tc
ng c s thay i by nhiu. Tc v ca ng c t nghch vi hm
tr .
Gi s vi mt hm delay no tc ng c l vo(khi tnh c lc
ma st), mun chuyn thnh tc v1 trong gii hn cho php th ta ch
cn tng hoc gim t l nghch hm delay vi tc ng c.
Theo tnh ton thc t th rbt c th chy c vi hm delay c
tr l AF.AF n 5f.5f.
V.Thit k mch chy theo ng i tu
1.t vn
Khi c mch iu khin ng c nh trn, chng em li mun pht trin
thm v vic iu khin rbt.Rbt chuyn ng theo mt ng i
nht nh ca ngi lp trnh th khng th linh hoat trong mi tnh
hung.V vy, chng em mun iu khin rbt theo ng i vch ra
trn mt t, c th y l di en s tip tc khai thc ngay sau.
2. Thit k mch
Trn nhng kinh kin c sn trong cuc sng, bng tm ti nhm
quyt nh dng mt linh kin n gin chnh la quang tr. Bng s
ph thuc ca in tr vo quang nhm thit k ra mch ngt
ngoi vi iu khin ng thi chuyn nhng chng trnh chy ph hp
ca ng c ng vi cc ngt hay ni cch khc l x l cho ng
nhng vn trn ng i ca rbt.
2.1 S mch

2.2 Ghp ni v hot ng ca mch trn ng i

a.Ghp ni:
Cc chn 2,3 ca mch trn c ni vi cc chn ngt ca ng c,
c th l chn 2 c ni vi chn 12, chn 3 ni vi chn 13 ca 89C51.
b.Hot ng ca mch
C s: khi chiu mt ngun sng vo quang tr cc mc in tr s
thay i. V vy da vo cc mc in tr thay i ta co th mc 1 chn
quang tr vi m ngun v mt chn qua tr (r) nh hnh v.
Khi cp ngun 5v cho mch do quang tr ni tip vi R nn ta c th
tinh c p chn ln quan tr bng cng thc
Vqt= 5.Rqt/(Rt+ R)
cho mc in p trn gia khi cm nhn mu en v mu trng l
ln v in p mc 0 phi nh hn mt kh nhiu, ng thi in p
mc 1 khng qu b ta s tnh c R
Trn thc t chng ta o c mc in p trn quang tr mc mu
trng l 4k v mc mu en l 40k. Chng ta tnh ton v chon tr
R=70k.
Tn hiu ny c khuych i bi tranzitor C828 nh hnh v. Lc
ta c mch u ra cc C ca tranzitor t mc 0 v 1 nh yu cu.
Mt tn hiu c qua cng not a sang chn 12, cn li th a sang
chn 13 thc hin chng trnh ngt nh lp trinh.

Nh hng dn chi tit trong lp trnh lm cho ng c chuyn

ng theo vch en mt cch chun xc.
VI. Lp trnh vi iu khin
1. Chng trnh iu khin chuyn ng ca ng c theo 1 ng
i vch sn
;----------------------------------------------------------;
;
CHUONG TRINH DK DONG CO BUOC
;
DT9 -- K48
;
;----------------------------------------------------------org 0h
ljmp main
;------------ INTERRUPT ADDRESS ---------org 0003h
ljmp int0
org 0013h
ljmp int1
;----------- MAIN PROGRAM --------------org 30h
main:
MOV IE,#00000000B ; Enable int1 and int 0
mov p2,#00h
CLR A
MOV
MOV
MOV
MOV
MOV
l:

A,#0ffh
p2,A
A,#066h
B,#066h
7fh,#00h

MOV R4,#077h

; CHANGE THIS

gf0:
ACALL forward
ACALL delay
DJNZ R4,gf0
MOV R4,#027h

; CHANGE THIS

gl0:
ACALL tleft
ACALL delay
DJNZ R4,gl0
MOV R4,#027h

; CHANGE THIS

gr0:
ACALL tright
ACALL delay
DJNZ R4,gr0
sjmp l
;------------------ INT 01 ---------------int0:
MOV R2,A
MOV A,7fh
JZ stl
;------ TURN RIGHT
MOV A,R2
SETB p0.0
MOV p1,#00h
MOV R4,#027h

------

; CHANGE THIS

gf1:
ACALL forward
ACALL delay
DJNZ R4,gf1
MOV R1,A
ttr:
MOV A,R1
ACALL tright
ACALL delay
MOV R1,A
MOV A,p2
ANL A,#00000001b
JZ ttr
MOV A,R1
gr1:
ACALL tright
ACALL delay
DJNZ R4,gr1
CLR p0.0
MOV 7fh,#00h
MOV IE,#10000101B
RETI
;-------- TURN LEFT --------stl:
MOV A,R2
SETB p0.1
MOV p1,#00h
MOV R4,#027h

; CHANGE THIS

gf2:
ACALL forward
ACALL delay
DJNZ R4,gf2
MOV R1,A
ttl:
MOV A,R1
ACALL tleft
ACALL delay
MOV R1,A
MOV A,p2
ANL A,#00000001b
JZ ttl
MOV A,R1
gl1:
ACALL tleft
ACALL delay
DJNZ R4,gl1
CLR p0.1
MOV 7fh,#00h
MOV IE,#10000101B
RETI
;----------------int1:
MOV 7fh,#01h
MOV IE,#10000001B
RETI
;----------------Forward:
RR A
MOV R1,A
ANL A,#00001111b
MOV R3,A
MOV A,B
RL A
MOV R2,A
ANL A,#11110000b
ORL A,R3
MOV p1,A
MOV A,R1
MOV B,R2

INT 01

--------------------

GO FORWARD -----------------

RET
;---------------TLeft:
RR A

TURN LEFT

--------------------

MOV R1,A
ANL A,#00001111b
MOV p1,A
MOV A,R1
RET
;---------------TRight:
RL A

TURN RIGHT

--------------------

MOV R1,A
ANL A,#00001111b
MOV p1,A
MOV A,R1
RET
;--------------- DELAY PROCEDURE -----------------delay:
MOV R1,#07fh
dl1: MOV R2,#07fh
dl2: DJNZ R2,dl2
DJNZ R1,dl1
RET
End

2. Chng trnh iu khin ng c theo mt ng i bt k (di en)

;----------------------------------------------------------;
;
CHUONG TRINH DK DONG CO BUOC
;
DT9 -- K48
;
;----------------------------------------------------------org 0h
ljmp main
;------------ INTERRUPT ADDRESS ---------org 0003h
ljmp int0
org 0013h

ljmp int1
;----------- MAIN PROGRAM --------------org 30h
main:
MOV IE,#10000101B ; Enable int1 and int 0
mov p2,#00h
CLR A
MOV A,#0ffh
MOV p2,A
MOV A,#066h
MOV B,#066h
MOV 7fh,#00h
l:
ACALL Forward
ACALL delay
sjmp l
;------------------ INT 01 ---------------int0:
MOV R2,A
MOV A,7fh
JZ stl
;------ TURN RIGHT
MOV A,R2
SETB p0.0
MOV p1,#00h
MOV R4,#027h

; CHANGE THIS

gf1:
ACALL forward
ACALL delay
DJNZ R4,gf1
MOV R1,A
ttr:
MOV A,R1
ACALL tright
ACALL delay
MOV R1,A
MOV A,p2
ANL A,#00000001b
JZ ttr
MOV A,R1
gr1:
ACALL tright
ACALL delay
DJNZ R4,gr1
CLR p0.0

------

MOV 7fh,#00h
MOV IE,#10000101B
RETI
;-------- TURN LEFT --------stl:
MOV A,R2
SETB p0.1
MOV p1,#00h
MOV R4,#027h

; CHANGE THIS

gf2:
ACALL forward
ACALL delay
DJNZ R4,gf2
MOV R1,A
ttl:
MOV A,R1
ACALL tleft
ACALL delay
MOV R1,A
MOV A,p2
ANL A,#00000001b
JZ ttl
MOV A,R1
gl1:
ACALL tleft
ACALL delay
DJNZ R4,gl1
CLR p0.1
MOV 7fh,#00h
MOV IE,#10000101B
RETI
;----------------int1:
MOV 7fh,#01h
MOV IE,#10000001B
RETI
;----------------Forward:
RR A
MOV R1,A
ANL A,#00001111b
MOV R3,A
MOV A,B

INT 01

--------------------

GO FORWARD -----------------

RL A
MOV R2,A
ANL A,#11110000b
ORL A,R3
MOV p1,A
MOV A,R1
MOV B,R2
RET
;---------------TLeft:
RR A

TURN LEFT

--------------------

MOV R1,A
ANL A,#00001111b
MOV p1,A
MOV A,R1
RET
;---------------TRight:
RL A

TURN RIGHT

--------------------

MOV R1,A
ANL A,#00001111b
MOV p1,A
MOV A,R1
RET
;--------------- DELAY PROCEDURE -----------------delay:
MOV R1,#07fh
dl1: MOV R2,#07fh
dl2: DJNZ R2,dl2
DJNZ R1,dl1
RET
End

VI.Ti liu tham kho

K thut vi x l, tc gi: Vn Th Minh.

Cu trc lp trnh v h vi iu khin 8051, tc gi: Nguyn Tng

Cng Phan Quc Thng.
Datasheet v cc linh kin ly t trang AT89C51, v cc linh kin khc
ly t trang web www.alldatasheet.com.
Mt ln na chng em xin cm n thy ch nhim b mn vi x l
to iu kin thun li cho chng em hon thnh c bi tp ln vi
nhng kin thc l th. Nu c iu kin chng em xin pht trin thm
v con rbt vi nhng tnh nng c bit hn nh: cm ng vt khi
chuyn ng hay nhng tc dng khc rbt c th l mt cng c
hon thin hn ca con ngi.