Do An New

I HC QUC GIA TP.
H CH MINH
TRNG I HC BCH KHOA
KHOA IN IN T
B MN IN T
---------------o0o---------------
N MN HC II
IU KHIN ROBOT DNG

RASPBERRY PI 3
GVHD: LU PH
SVTH: PHM B QUC HNG 41301604
L TRNG THANH HNG 41301587
TP. H CH MINH, THNG 06 NM 2017

LI CM N GVHD: LU PH
LI CM N
Trc tin chng em xin gi li cm n chn thnh su sc ti cc thy c gio trong trng i
hc Bch Khoa Tp. HCM ni chung v cc thy c gio trong khoa in-in t tn tnh ging
dy, truyn t cho chng em nhng kin thc, kinh nghim qu bu trong sut thi gian qua.
c bit chng em xin gi li cm n n thy Lu Ph, thy tn tnh gip , trc tip ch
bo, hng dn trong sut qu trnh lm n. Trong thi gian lm vic vi thy, chng em khng
ngng tip thu thm nhiu kin thc b ch m cn hc tp c tinh thn lm vic, thi nghin
cu khoa hc nghim tc, hiu qu, y l nhng iu rt cn thit trong qu trnh hc tp v cng
tc sau ny.
Sau cng xin gi li cm n chn thnh ti gia nh, bn b ng vin, ng gp kin v gip
trong qu trnh hc tp, nghin cu v hon thnh n.
I
SVTH: PHM B QUC HNG, L TRNG THANH HNG
TM TT N GVHD: LU PH
TM TT N
n gm 5 chng. Trnh by nhng kin thc c bn v Raspberry Pi 3 v nhng ngoi vi ca
n..
n c tch lm 5 chng chnh nhm lm cho ngi c tin theo di nhng kin thc phn
cng cng nh phn mm cn thit.
Chng 1: Gii thiu chung v sn phm
Ni dung chng ny gm 3 phn:
Phn 1: Gii thiu nhng c im chung ca sn phm.
Phn 2: Trnh by mc tiu nghin cu
Phn 3: Trnh by s khi v nguyn l hot ng c bn ca sn phm.
Phn 3: Gii thiu v dng ARM Cortex-A, mt s c im chnh v ni tri so vi cc dng

ARM khc.
Chng 2: WLAN v h giao th TCP/IP
Ni dung chng ny gii thiu v l thuyt WLAN v h giao thc TCP/IP
Chng 3: Thit k phn cng
Ni dung chng ny gii thiu cc module phn cng cn s dng to thnh sn phm.
Vi cc ngoi vi thch hp sn bn trong Chip nh GPIO, PWM u tin s trnh by nhng

c tnh c bn, sau l phn cu hnh phn cng ca cc ngoi vi tng thch vi nhng yu
cu ca sn phm.
Chng 4: Thit k phn mm
Chng ny trnh by kin thc v phn mm lp trnh cho sm phm da trn kit Raspberry
Pi 3.
Trnh by cc cng c h tr lp trnh, cc b th vin v cc cu hnh ngoi vi cho sn phm.

II
TM TT N GVHD: LU PH
Chng 5: Kt qu, hn ch v hng pht trin
Chng ny cho thy kt qu, hn ch ca n v hng pht trin ca d n IOT.
III
MC LC GVHD: LU PH
MC LC
LI CM N .................................................................................................................................. I
TM TT N ......................................................................................................................... II
MC LC .................................................................................................................................... IV
DANH SCH HNH V ............................................................................................................. VII
DANH SCH BNG BIU......................................................................................................... IX
K T VIT TT ........................................................................................................................ X
CHNG 1. GII THIU CHUNG V SN PHM .................................................................. 1
1.1. Gii thiu ............................................................................................................................. 1
1.2. Mc tiu nghin cu ............................................................................................................ 1
1.3. S khi ............................................................................................................................ 2
1.4. Nguyn l hot ng c bn ................................................................................................ 2
1.5. Tng quan v CPU ARM Cortex-A53................................................................................. 2
1.5.1. Gii thiu v dng ARM Cortex................................................................................... 2
1.5.2. Raspberry Pi .................................................................................................................. 3
CHNG 2. WLAN V H GIAO THC TCP/IP..................................................................... 5
2.1. Tm hiu v WLAN ............................................................................................................. 5
2.1.1. Gii thiu ...................................................................................................................... 5
2.1.2. Chun IEEE 802.11 b/g/n ............................................................................................. 6
2.1.2.1. 802.11b................................................................................................................... 6
2.1.2.2. 802.11g................................................................................................................... 7
2.1.2.3. 802.11n................................................................................................................... 7
2.1.3. Kin trc giao thc........................................................................................................ 8
2.1.4. Cc k thut iu ch .................................................................................................... 9
IV
MC LC GVHD: LU PH
2.1.4.1. K thut iu ch kha m b (CCK) .................................................................... 9
2.1.4.2. K thut tri ph trc tip (DSSS) ....................................................................... 10
2.1.4.3. Nguyn l ghp knh phn chia theo tn s trc giao OFDM............................. 11
2.1.5. MAC frames................................................................................................................ 12
2.1.6. Qun l MAC .............................................................................................................. 15
2.1.6.1. ng b ................................................................................................................ 15
2.1.6.2. Roaming ............................................................................................................... 16
2.2. H giao thc TCP/IP .......................................................................................................... 16
2.2.1. Tng ng dng (Application Layer) ........................................................................... 17
2.2.2. Tng giao vn (Transport Layer) ................................................................................ 17
2.2.3. Tng Internet (Internet Layer) .................................................................................... 23
2.2.4. Lp giao tip mng ..................................................................................................... 26
CHNG 3. THIT K PHN CNG ...................................................................................... 27
3.1. S nguyn l mch ........................................................................................................ 27
3.2. Kit Raspberry Pi 3 .............................................................................................................. 30
3.3. Chi tit cc modules s dng trong mch .......................................................................... 35
3.3.1. ng c DC gim tc ................................................................................................. 35
3.3.1.1. DC gim tc v1 .................................................................................................... 35
3.3.1.2. Nguyn l hot ng ............................................................................................ 35
3.3.1.3. C ch sinh lc quay ca ng c DC ................................................................. 37
3.3.2. Module iu khin ng c L298 ............................................................................... 38
3.3.2.1. Module L298 ........................................................................................................ 38
3.3.2.2. Mch cu H .......................................................................................................... 41
3.3.2.2.1. Gii thiu ...................................................................................................... 41
V
MC LC GVHD: LU PH
3.3.2.2.2. Mch cu H dng transistor BJT .................................................................. 41
3.3.2.2.3. Nguyn l hot ng mch cu H ................................................................. 42
3.3.2.2.4. iu khin bng phng php iu ch xung PWM .................................... 43
CHNG 4. THIT K PHN MM ........................................................................................ 46
4.1. Python ................................................................................................................................ 46
4.2. Flask Framework ............................................................................................................... 46
4.3. LogMeIn Hamachi ............................................................................................................. 46
4.4. S gii thut .................................................................................................................. 47
4.5. Chng trnh ...................................................................................................................... 48
CHNG 5. Kt qu v hng pht trin ................................................................................... 55
5.1. Giao din Webserver.......................................................................................................... 55
5.2. Hng pht trin IOT ........................................................................................................ 55
TI LIU THAM KHO ............................................................................................................ 56
VI
DANH SCH HNH V GVHD: LU PH
DANH SCH HNH V

Hnh 1.1 S khi ........................................................................................................................ 2
Hnh 1.2 Kin trc vi x l ARM Cortex-A53 ............................................................................... 3
Hnh 1.3 S khi ARM Cortex-A53, A57 ................................................................................. 4
Hnh 2.1 Mng khng dy .............................................................................................................. 5
Hnh 2.2 H IEEE 802 v mi lin h vi m hnh OSI ................................................................ 8
Hnh 2.3 Kin trc giao thc chun IEEE 802.11 v thit lp cu ni ........................................... 8
Hnh 2.4 Kin trc giao thc v qun l IEEE 802.11 ................................................................... 9
Hnh 2.5 M hnh tham chiu ISO/IC ............................................................................................. 9
Hnh 2.6 Tri ph chui trc tip DSSS ....................................................................................... 10
Hnh 2.7 Khun dng PPDU ......................................................................................................... 12
Hnh 2.8 Khung qun l ................................................................................................................ 15
Hnh 2.9 Truyn beacon trong h tng mng 802.11 bn ............................................................. 15
Hnh 2.10 Truyn beacon trong mng 802.11 c bit bn .......................................................... 16
Hnh 2.11 Cu trc h giao thc TCP/IP ...................................................................................... 17
Hnh 2.12 Cu trc gi TCP ......................................................................................................... 18
Hnh 2.13 Lu trng thi kt ni TCP ..................................................................................... 19
Hnh 2.14 Cu trc goi UDP ......................................................................................................... 22
Hnh 2.15 Cu trc gi tin IP ........................................................................................................ 23
Hnh 2.16 Cu trc gi tin ARP .................................................................................................... 25
Hnh 3.1 S RP3-L298............................................................................................................. 27
Hnh 3.2 Mch ngun 12-5VDC dung LM2596 ........................................................................... 27
Hnh 3.3 S khi LM2596 ....................................................................................................... 28
Hnh 3.4 Mch nguyn l Switch kiu buck ................................................................................. 28
VII
DANH SCH HNH V GVHD: LU PH
Hnh 3.5 Kit Raspberry Pi 3 .......................................................................................................... 30
Hnh 3.6 Ngun vo ...................................................................................................................... 32
Hnh 3.7 Khi Cemara, Display v HDMI ................................................................................... 33
Hnh 3.8 Khi GPIO ..................................................................................................................... 34
Hnh 3.9 ng c DC gim tc v1 ............................................................................................... 35
Hnh 3.10 Module L289 ................................................................................................................ 38
Hnh 3.11 L298 Schematic ........................................................................................................... 39
Hnh 3.12 S khi l298 ............................................................................................................ 40
Hnh 3.13 Mch cu H .................................................................................................................. 41
Hnh 3.14 Cu H dng BJT........................................................................................................... 42
Hnh 3.15 th dng xung iu ch PWM ................................................................................. 43
Hnh 3.16 Van bn dn ................................................................................................................. 44
Hnh 3.17 S xung ca van iu khin v u ra .................................................................... 45
Hnh 4.1 LogMeIn Hamachi ......................................................................................................... 47
Hnh 4.3 S gii thut .............................................................................................................. 47
Hnh 5.1 Webserver ...................................................................................................................... 55
VIII
DANH SCH BNG BIU GVHD: LU PH
DANH SCH BNG BIU

Bng 2.1 Ch tiu k thut ca cc chun IEEE 802.11 ................................................................. 6
Bng 2.2 Khun dng trng iu khin khung ........................................................................... 13
Bng 2.3 M ha trng thi gian ................................................................................................ 13
Bng 2.4 Trng iu khin trnh t ............................................................................................ 14
Bng 2.5 M t chi tit a ch MAC trong 802.11 ca khung d liu MAC .............................. 14
IX
K T VIT TT GVHD: LU PH
K T VIT TT
K hiu T vit tt
ARM Advanced RISC Machine
BSS Basic Service Set
BSSID Basic Service Set Identifier
CRC Cyclic Redundancy Check
DCF Distributed Coordination Function
DIFS DCF Interframe Space
DMA Direct Memory Access
DNS Domain Name System
DSSS Direct Sequence Spread Spectrum
ESS Extended Service Set
FCS Frequency Control Symposium
FHSS Frequency Hopping Spread Spectrum
FTP File Transfer Protocol
HTML Hypertext Markup Language
HTTP HyperText Transfer Protocol
ICMP Internet Control Message Protocol
IEEE Institute of Electrical and Electronics Engineers
IGMP Internet Group Management Protocol
IP Initial Permutation
LLC Logical Link Control
MAC Media Access Control
MSDU MAC Service Data Unit
NAV Network Allocation Vector
OFDM Orthogonal Frequency-Division Multiplexing
X
K T VIT TT GVHD: LU PH
OSI Open Systems Interconnection

PCF Point Coordination Function
PHP Hypertext Preprocessor
PIFS PCF Interframe Space
PLCP Physical Layer Convergence Procedure
PMD Physical Medium Dependent
PPDU PLCP Protocol Data Unit
PSDU Presentation Service Data Unit
PWM Pulse Width Modulation
RTS/CTS Request to Send / Clear to Send
SA Security Association
SFD Start Frame Delimiter
SIFS Short Interframe Space
SMTP Simple Mail Transfer Protocol
SNMP Simple Network Management Protocol
STA Station
TCP/IP Internet Protocol Suite
UART Universal Asynchronous Receiver/Transmitter
UTP User Datagram Protocol
WEP Wired Equivalent Privacy
WLAN Wireless local area network
XI
N MN HC II GVHD: LU PH
CHNG 1. GII THIU CHUNG V SN PHM
1.1. Gii thiu
Ngy nay cng vi s pht trin mnh m ca cc ngnh khoa hc k thut, cng ngh k thut
in t m trong k thut t ng iu khin ang ng vai tr quan trng trong mi lnh vc
khoa hc k thut, qun l, cng nghip, cung cp thng tin Do chng ta cn bit vn dng
n mt cch hiu qu nhm gp phn vo s pht trin khoa hc k thut thi gii ni chung v
trong s pht trin k thut ni ring, bn cnh cn gp phn thc y s pht trin ca nn
kinh t nc nh.
Nh chng ta bit, gn nh cc thit b t ng trong nh my, trong i song ca cc gia nh

ngy nay u c lp vi nhau, mi thit b c mt quy trnh s dng khc nhau. Chng cha c
mt s lin kt no vi nhau v mt d liu. Nhng i vi cc h thng iu khin t xa thng
qua internet th li khc. y mi thit b c kt ni vi nhau thnh mt h thng hon chnh
qua mt thit b x l trung tm v c th giao tip vi nhau v mt d liu. in hnh ca mt h
thng iu khin t xa thng qua mng internet gm cc thit b n gin nh bng n, qut my,
l si n cc thit b tinh vi nh tivi, my gic, iu ha, h thng bo ng N hot ng
nh mt ngi nh thng minh. Ngha l tt c thit b ny c th giao tip vi nhau v mt d liu
thng qua mt h thng x l trung tm. H thng ny c th l mt my vi tnh hon chnh hoc
c th l mt b vi x l c lp trnh iu khin cc thit b c kt ni vi n.
1.2. Mc tiu nghin cu
n ny c nghin cu v thc hin mi mc ch p dng nhng kin thc c hc trong

nh trng thit k, to ra mt h thng iu khin t xa qua internet.
Nghin cu v to ra mt giao din Webserver thc hin iu khin qua internet vi chun giao
tip TCP/IP.
Nghin cu v s dng kt Raspberry Pi 3 ca Raspberry Pi Foundation.
1
1.3. S khi
Robot
Hnh 1.1 S khi
D xa ngi nh ngi s dng vn c th dng my tnh, in thoi, my tnh bng c kt

ni vi internet gi tn hiu iu khin v b x l trung tm tc ng iu khin robot.
c im:
Trung tm l Raspberry Pi 3 (ARM Cortex-A53).

Robot (2 ng c DC, 1 camera).
1.4. Nguyn l hot ng c bn
Raspberry Pi 3 nhn tn hiu iu khin t Webserver bng giao thc TCP/IP iu khin
robot.
1.5. Tng quan v CPU ARM Cortex-A53
1.5.1. Gii thiu v dng ARM Cortex
Cortex l b x l th h mi a ra mt kin trc chun cho nhu cu a dng v cng ngh. Khng
ging nh cc dng ARM khc, dng Cortex l mt li x l hon thin a ra mt chun CPU
2
v kin trc h thng nhng. Dng Cortex gm 3 nhnh: dng A dnh cho cc ng dng cao cp,
dng R dnh cho cc ng dng thi gian thc v dng M dnh cho cc ng dng vi iu khin v
chi ph thp.
Li ARM Cortex-A53 thuc dng Cortex-A50 c xy dng trn kin trc b ch dn ARMv8
64-bit.
Hnh 1.2 Kin trc vi x l ARM Cortex-A53
1.5.2. Raspberry Pi
Raspberry Pi
Raspberry Pi l mt seri cc my tnh ch c mt board mch kch thc ch bng mt th tn

dng, c pht trin ti Anh bi Raspberry Pi Foundation vi mc ch thc y vic ging dy
v khoa hc my tnh c bn trong cc trng hc v cc nc ang pht trin.
3
Raspberry Pi ban u c da trn h thng trn mt vi mch(SoC)BCM2835 ca Broadcom,

bao gm mt vi x l ARM1176JZF-S 700 MHz, VideoCore IV GPU, v ban u c xut
xng vi 256 MB RAM, sau c nng cp (model B v B +) ln n 512 MB. Board ny
cng c socket Secure Digital (SD) (model A v B) hoc MicroSD (model A + v B +) dng lm
thit b khi ng v b lu tr lin tc.
ARM Cortex-A53
Hnh 1.3 S khi ARM Cortex-A53, A57
4
CHNG 2. WLAN V H GIAO THC TCP/IP
2.1. Tm hiu v WLAN
2.1.1. Gii thiu
Mng WLAN (wireless local area networkWLAN ) hay mng cc b khng dy l mt h thng
truyn thng s liu linh hot c thc hin trn s m rng ca mng LAN hu tuyn. WLAN
gm cc thit b c ni li vi nhau c kh nng giao tip thng qua sng RADIO hay tia hng
ngoi trn c s s dng cc giao thc chun ring ca mng khng dy thay v cc ng truyn
dn bng dy.
Hnh 2.1 Mng khng dy
Mng WLAN bao gm cc cng ngh c vng ph tm vi trm mt. Ni bt l cng ngh Wifi
vi nhiu chun m rng khc nhau thuc gia nh 802.11 a/b/g/h/i/... Cng ngh Wifi gt hi
c nhng thnh cng to ln trong nhng nm qua. Bn cnh WiFi th cn mt ci tn t nghe
n l HiperLAN v HiperLAN2, i th cnh tranh ca Wifi c chun ha bi ETSI.
5
2.1.2. Chun IEEE 802.11 b/g/n
Chun 802.11 ca Vin k thut in v in t (IEEE,1997) c t hu ht cc h ni ting ca

WLANs trong nhiu sn phm sn c (mt chun truyn thng cho mng WLAN). Chun ny
a ra cc quy nh hot ng hai lp. Lp DataLink (MAC): Thc hin cho php chia s cc
knh truyn. Lp vt l (physical) cung cp vic truyn d liu theo nhng phng thc khc nhau.
Bng 2.1 Ch tiu k thut ca cc chun IEEE 802.11
2.1.2.1. 802.11b
T thng 6 nm 1999, IEEE bt u m rng chun 802.11 ban u v to ra cc c t k thut

cho 802.11b. Chun 802.11b h tr tc ln n 11Mbps, ngang vi tc Ethernet thi by
gi. y l chun WLAN u tin c chp nhn trn th trng, s dng tn s 2,4 GHz. Chun
802.11b s dng k thut iu ch kha m b (Complementary Code Keying - CCK) v dng k
thut tri ph trc tip ging nh chun 802.11 nguyn bn. Vi li th v tn s (bng tn nghip
d ISM 2,4GHz), cc hng sn xut s dng tn s ny gim chi ph sn xut.
u v nhc im ca chun 802.11b.
+ u im: Gi thnh thp nht, tm ph sng tt v khng d b che khut.
+ Nhc im: Tc ti a thp, c th b nhiu bi cc thit b gia dng.
6
2.1.2.2. 802.11g
Nm 2002 v 2003, cc sn phm WLAN h tr chun mi hn c gi l 802.11g ni ln trn

th trng; chun ny c gng kt hp tt nht 802.11a v 802.11b. 802.11g h tr bng thng
54Mbps v s dng tn s 2,4GHz cho phm vi ph sng ln hn. 802.11g tng thch ngc vi
802.11b, ngha l cc im truy cp (access point AP) 802.11g s lm vic vi card mng Wi-Fi
chun 802.11b...
Thng 7/2003, IEEE ph chun 802.11g. Chun ny cng s dng phng thc iu ch OFDM
tng t 802.11a nhng li dng tn s 2,4GHz ging vi chun 802.11b. Chun ny vn t tc
54Mbps v c kh nng tng thch ngc vi chun 802.11b ang ph bin.
u v nhc im ca chun 802.11g.
+ u im: Tc cao, tm ph song tt v t b che khut.
+ Nhc im: Gi thnh t hn 802.11b, c th b nhiu bi cc thit b khc s dng cng bng
thng.
2.1.2.3. 802.11n
Chun Wi-Fi mi nht trong danh mc Wi-Fi l 802.11n. 802.11n c thit k ci thin tnh
nng ca 802.11g v tng bng thng c h tr bng cch tn dng nhiu tn hiu khng dy v
anten (gi l cng ngh MIMO-multiple-input and multiple-output). Khi chun ny hon thnh,
802.11n s h tr tc ln n 100Mbps. 802.11n cng cho tm ph sng tt hn cc chun Wi-
Fi trc nh tng cng tn hiu. Cc thit b 802.11n s tng thch ngc vi 802.11g.
u v nhc im ca chun 802.11n.
+ u im: Tc nhanh, vng ph sng tt, tr khng ln hn chng nhiu t cc tc ng

ca mi trng.
+ Nhc im: Chun ny vn cha c ban b, gi cao hn 802.11g, s dng nhiu lung tn
hiu c th gy nhiu vi cc thit b 802.11b/g k cn.
7
2.1.3. Kin trc giao thc
Hnh 2.2 H IEEE 802 v mi lin h vi m hnh OSI
Hnh 2.3 Kin trc giao thc chun IEEE 802.11 v thit lp cu ni
Hnh 2.3 cho thy hu ht kch bn ph bin : mt mng LAN khng dy IEEE 802.11 kt ni ti
mt mng Ethernet 802.3 qua mt cu ni.
8
Hnh 2.4 Kin trc giao thc v qun l IEEE 802.11
Cc lp v cc phn lp c biu din da theo Hnh 2.5 di y:
Hnh 2.5 M hnh tham chiu ISO/IC
2.1.4. Cc k thut iu ch
2.1.4.1. K thut iu ch kha m b (CCK)
CCK s dng mt tp 64 word cc m 8 bit, do 6 bit c th c i din bi bt k code word

no. V l mt tp hp nhng code word ny c cc c tnh ton hc duy nht cho php chng
c bn nhn nhn ra mt cch chnh xc vi cc k thut khc, ngay c khi c s hin din ca
nhiu.
9
Vi tc 5.5 Mbps s dng CCK m ho 4 bit mi sng mang, v vi tc 11 Mbps m ho

8 bit mi sng mang. C hai tc u s dng QPSK (Quadrature Phase-shift keying) lm k
thut iu ch v tn hiu 1.375 Mbps. V FCC iu chnh nng lng u ra thnh 1 watt
Effective Isotropic Radiated Power(EIRP). Do vi nhng thit b 802.11b, khi bn di chuyn
ra khi sng radio, radio c th thch nghi v s dng k thut m ho t phc tp hn gi d
liu v kt qu l tc chm hn.
Chun ny c tc truyn thp nht nhng li c dng ph bin trong mi trng kinh doanh,
sn xut dch v do chi ph mua linh kin thp, tc truyn dn p ng cc nhu cu trao i
thng tin trn internet nh: duyt web, chat, email, nhn tin.
2.1.4.2. K thut tri ph trc tip (DSSS)
DSSS rt ph bin v c s dng rng ri nht trong s cc cng ngh tri ph v n d dng
ci t v c tc cao. Hu ht cc thit b WLAN trn th trng u s dng cng ngh tri
ph DSSS (nhng s b thay th bng OFDM c tc cao hn). DSSS l mt phng php truyn
d liu trong h thng truyn v h thng nhn u s dng mt tp cc tn s c rng 22
MHz. Cc knh rng ny cho php cc thit b truyn thng tin vi tc cao hn h thng FHSS
nhiu.
Hnh 2.6 Tri ph chui trc tip DSSS
Trong :
: Thi gian mt bit ca lung s cn pht

: Chu k ca m ngu nhin dng cho tri ph
DSSS kt hp tn hiu d liu ti trm truyn vi mt chui bit d liu tc cao (qu trnh ny
c gi l Chipping code hay Processing gain). Processing gain cao s lm tng tnh khng c
ca tn hiu i vi nhiu. Processing gain ti thiu m FCC cho php l 10 v hu ht cc sn
10
phm thng mi u hot ng di 20. Nhm lm vic IEEE 802.11 thit lp yu cu

processing gain ti thiu l 11.
Tin trnh ca DSSS bt u vi mt sng mang c modulate vi mt chui m (code sequence).

S lng chip trong code s xc nh tri rng bao nhiu, v s lng chip trn mt bit (chip per
bit) v tc ca code (tnh bng chip per second) s xc nh tc d liu.
Direct Sequence System
Trong bng tn 2.4 GHz ISM, chun IEEE 802.11xc nh vic s dng DSSS tc d liu 1
v 2 Mbps. i vi chun 802.11b th tc ln n 5.5 v 11 Mbps.
Cc thit b 802.11b hot ng tc 5.5 v 11 Mbps u c th giao tip vi cc thit b 802.11

hot ng 1 v 2 Mbps bi v chun 802.11b cho php tng thch ngc. V th ngi dng
khng cn nng cp thit b 802.11 trn ton b mng WLAN ca h sang thit b 802.11b.
Hin nay th cc thit b theo chun 802.11a cho php tc ln n 54 Mbps nhng khng may
l cc thit ca chun 802.11a khng th giao tip c vi cc thit b ca chun 802.11 v
802.11b (v chun mi 802.11g) bi v 802.11a s dng bng tn 5 GHz UNII trong khi 802.11
v 802.11b s dng 2.4 GHz ISM.
iu ny c th gy ra nhiu vn bi v nhiu ngi s dng mun tn dng nhng li th ca

cng ngh DSSS truyn d liu vi tc 54 Mbp nhng li khng mun tn thm chi ph cho
vic nng cp ln mt mng mi. V th, mt chun mi l chun 802.11g ra i cho php h
thng DSSS hot ng trong bng tn 2.4 GHz ISM c th truyn d liu ln n 54 Mbps. Cng
ngh 802.11g l cng ngh 54 Mbps u tin c th tng thch ngc vi cc thit b 802.11 v
802.11b
2.1.4.3. Nguyn l ghp knh phn chia theo tn s trc giao OFDM
OFDM nm trong mt lp cc k thut iu ch a sng mang (MCM) trong thng tin v tuyn.
Cn trong cc h thng thng tin hu tuyn cc k thut ny thng c nhc n di ci tn:
a tn (DMT). K thut OFDM ln u tin c gii thiu trong bi bo ca R.W.Chang nm
1966 v vn tng hp cc tn hiu c di tn hn ch khi thc hin truyn tn hiu qua nhiu
11
knh con. Tuy nhin, cho ti gn y, k thut OFDM mi c quan tm nh c nhng tin b
vt bc trong lnh vc x l tn hiu v vi in t.
tng chnh trong k thut OFDM l vic chia lung d liu trc khi pht i thnh N lung d
liu song song c tc thp hn v pht mi lung d liu trn mt sng mang con khc nhau.
Cc sng mang ny l trc giao nhau, iu ny c thc hin bng cch chn gin cch tn s
gia chng mt cch hp l.
H thng tn s LAN v tuyn ban u c hng vo bng tn thng tin quc gia cha c
ng k U-NII t 5,15 n 5,25, t 5.25 n 5,35 v 5,725 n 5,825 GHz... H thng OFDM cung
cp LAN v tuyn vi tc truyn d liu l 6, 9, 12, 18, 24, 36, 48, 54 Mbps.
Phn lp OFDM PLCP: Trong khi truyn, PSDU c cung cp cng vi mt phn u khung
PLCP v mo u PLCP to mt PPDU. Ti phn thu, phn m u khung v mo u PLCP
c x l h tr iu ch v phn phi PSDU.
Hnh 2.7 Khun dng PPDU
2.1.5. MAC frames
Mi khung MAC s bao gm cc thnh phn c bn lit k di y:
u khung MAC: gm thng tin iu khin khung, khong thi gian, a ch v thng tin
iu khin trnh t.
Thn khung vi chiu di thay i bao gm thng tin c ch nh cho tng loi khung.
12
Trt t kim tra trong khung (FCS) bao gm m vng d (IEEE-CRC) 32 bt.
Cc trng:
Bng 2.2 Khun dng trng iu khin khung
Trng phin bn giao thc (Protocol Version)

Trng Type v Subtype
Trng To DS
Trng From DS
Trng More Fragment (phn mnh thm)
Trng Retry
Trng Power Management (Qun l ngun)
Trng More Data (Thm d liu)
Trng WEP
Trng Order
Trng th t khong thi gian trng (Duration/ID): Trng ny c di 16 bit
Bng 2.3 M ha trng thi gian
Trng Address: C 4 dng trng Address trong khun dng khung MAC. Cc trng
c s dng ch th BSSID, a ch ngun, a ch ch, a ch trm gi v a ch
trm nhn.
13
Phn loi a ch
a ch con MAC l mt trong hai loi sau y:
a ch c nhn: l a ch lin kt vi tng nhm a ch trn mng.

a ch nhm: L a ch a ch, lin kt vi 1 nhm hoc nhiu trm trn mng.
Trng Sequence Control:
Bng 2.4 Trng iu khin trnh t
Trng Sequence number - S trnh t

Trng Fragment Number - S phn on
Trng Frame Body (iu khin khung): L trng c chiu di bin i cha thng tin
ch nh cho tng loi khung (Type) v phn loi khung (Subtype) ring bit.
Trng FCS: L trng c di 32 bit cha 32 bit CRC.
Khung d liu: Cu trc c bn ca MAC data frame bao gm cc trng sau:
Frame control
Duration ID
Address 1, 2, 3, 4
Sequence control.
Data
Bng 2.5 M t chi tit a ch MAC trong 802.11 ca khung d liu MAC
14
Hnh 2.8 Khung qun l
2.1.6. Qun l MAC
Vic qun l MAC l vic trng tm trong trm theo IEEE 802.11 nh l thm hoc gim vic
iu khin tt c chc nng lin quan n h thng tch hp, v d tch hp gia trm khng dy
vo trong BSS, khun dng ca ESS ng b ca cc trm .v.v. nhng chc nng theo tng nhm
phi c nh danh v s c tho lun chi tit trong phn tip theo y:
2.1.6.1. ng b
Hnh 2.9 Truyn beacon trong h tng mng 802.11 bn
15
Hnh 2.10 Truyn beacon trong mng 802.11 c bit bn
2.1.6.2. Roaming
Mng khng dy in hnh trong cc ta nh yu cu nhiu hn mt im truy cp bao trm

mi phng. Ph thuc vo tnh vng chc v nguyn liu ca tng, mt im truy cp c th
truyn khong 10-20 m nu l truyn thng cht lng cao. Nu ngi dng i li xung quanh
trm khng dy, trm phi di khi mt im truycp ti mt n v dch v cung cp khc. Di
chuyn gia cc im truy cp c gi l Roaming.
2.2. H giao thc TCP/IP
TCP/IP l vit tt ca Transmission Control Protocol / Internet Protocol (Giao thc iu Khin
Truyn Thng /Giao thc Internet).Cc tng trong m hnh ny l:
Tng ng Dng (Application Layer).

Tng Giao Vn (Transport Layer).
Tng Lin Mng (Internet Layer).
Tng Giao Tip Mng (Network Interface Layer)
16
Hnh 2.11 Cu trc h giao thc TCP/IP
2.2.1. Tng ng dng (Application Layer)
Gm nhiu giao thc cung cp cho cc ng dng ngi dng. c s dng nh dng v trao
i thng tin ngi dng v h thng. Mt s giao thc thng dng trong tng ny l: HTTP, FTP,
SMTP Trong phm vi n, chng ta s dng giao thc HTTP m c th l xy dng mt
Webserver.
HTTP l giao thc truyn ti siu vn bn (HyperText Transfer Protocol). HTTP xc nh cch
cc thng ip c nh dng v truyn ti ra sao v hot ng ca Webserver v cc trnh duyt
Web. Trong m hnh ca HTTP, Webserver ng thi cng l TCPServer, m sn port mc nh
dnh cho dch v HTTP l TCP80 ( ch listen), sn sng i yu cu kt ni t cc client. Cc
client s khi to kt ni TCP thng qua port ny, sau khi Webserver chp nhn kt ni, client s
gi mt bn tin HTTP (HTTP message) gi l HTTP request ti server trn kt ni TCP va thit
lp. Server s tr li li bng mt bn tin HTTP khc l HTTP response. Bn tin ny s cha ni
dung trang Web yu cu (c vit bng ngn ng HTML). Nh vy giao thc HTTP s da c
bn trn cc bn tin HTTP, gm 2 loi l HTTP request v HTTP response.
2.2.2. Tng giao vn (Transport Layer)
Nhim v ca tng l thit lp phin truyn thng gia cc my tnh v quy nh cch truyn d
liu. Hai giao thc chnh trong tng ny gm UDP(User Datagram Protocol) v TCP(Transmission
Control Protocol). Do UDP cung cp cc knh truyn thng phi kt ni nn n khng m bo
truyn d liu mt cch tin cy. Ngc li vi UDP, TCP cung cp cc knh truyn thng hng
kt ni v m bo truyn d liu 1 cch tin cy. TCP thng truyn cc gi tin c kch thc ln
v yu cu pha nhn xc nhn v cc gi tin nhn.
17
Hnh 2.12 Cu trc gi TCP
S port ch v s port ngun: phn bit cc tin trnh ng dng ang xy ra trong my
tnh
Cc s sequence v Acknowledgement: s sequence phn bit cc segment khc nhau
trong mt dng d liu, cc s Acknowledgement dng trong c ch xc nhn.
Vng Data offset: chiu di ca Header tnh theo n v 32 bit Mt s c (flags):
URG (Urgent): thit lp 1 khi c d liu quan trng cn truyn ngay.

ACK: cho bit c s xc nhn nm trong vng Acknowledgement.
PSH (Push): c thit lp trong trng hp d liu nn c giao tc thi.
RST (Reset): ch th mt li sai v hy b phin lm vic.
SYN (Synchronize): trong cc bn tin khi to khi thit lp mt kt ni truyn d liu.
FIN (Finish): dng ng 1 phin lm vic.
Vng Window: ch ra s lng khng gian b m kh dng nhn d liu.
Vng Checksum: vng kim tra sai cho c segment.
Vng Urgent Pointer: ch ra chiu di ca d liu urgent.
Vng Options: xc nh kch thc cc i ca 1 segment.
18
iu khin lung: iu phi tc v kch thc lung d liu m bo pha nhn

kh nng nhn v x l lung d liu.
Kim sot li: m bo cc gi tin n ng v .
Bo nhn: khi nhn c d liu v khng c li, pha nhn phi bo li vi pha gi bit.
thc hin c cc chc nng , mt qu trnh truyn d liu qua giao thc TCP (m ta gi
l phin truyn thng session) gm c 3 giai on: Thit lp kt ni, truyn d liu v gii phng
kt ni.
c th gim st cht ch trng thi v mi s kin xy ra trong mt kt ni TCP, trng thi ca
mt kt ni TCP c chuyn i tun theo mt lu trng thi nh sau:
Hnh 2.13 Lu trng thi kt ni TCP
19
Gii thch:
TCP l giao thc hng kt ni, dng client server. Tc l trong mt phin truyn thng
th s c mt pha ng vai tr client, pha cn li, lc no cng trng thi ch i cc client thit
lp kt ni ti chnh l server.
Khi truy cp web, th my tnh ca ta l client, my ch cha trang web chnh l server, lc
no cng trng thi i cc my tnh client kt ni n (v phi c kh nng thit lp ng thi
nhiu kt ni, v c th c nhiu client kt ni ti cng lc).
Trong lu trn, p dng cho c client v server. C client v server u bt u bng
trng thi Close. Client s thit lp kt ni theo con ng Active Open (ch ng thit lp kt
ni). Server s thit lp kt ni theo con ng Passive Open (th ng).
Qu trnh chuyn trng thi:
C hai bt u bng trng thi close, khng c kt ni no tn ti.

Khi Server m mt port TCP i client thit lp kt ni, n chuyn sang trng thi
Listen.
Khi client gi i bn tin SYN, n chuyn sang trng thi SYN sent.
Lc ny khi server nhn c bn tin SYN t client v gi p li 1 bn tin SYN, n chuyn
sang trng thi SYN Received.
Client s gi li bn tin xc nhn ACK, n chuyn sang trng thi thit lp kt ni
Established.
Server nhn c bn tin ACK trn ca client, n cng chuyn sang trng thi
Established.
Sau hai bn tin hnh truyn d liu, trng thi c hai u l Established.
Mt trong hai pha truyn xong d liu, n y th vai tr hai bn l nh nhau, ta gi s
client truyn xong d liu trc, n s gi bn tin FIN, v chuyn sang trng thi FIN wait 1.
Pha server nhn c bn tin ny, gi xc nhn ACK, v chuyn sang trng thi Close
wait.
Khi client nhn c xc nhn t server (nhn c bn tin ACK trn) th n chuyn sang
trng thi FIN wait 2.
20
n lc ny server vn c th tip tc gi d liu v client vn tip tc nhn (v ch c

client bo l gi xong d liu).
n khi no server cng gi ht d liu, n s gi i bn tin FIN, cho bit n cng gi
xong d liu v chuyn sang trng thi LAST ACK.
Khi client nhn c bn tin FIN trn t server, n gi xc nhn (ACK) v chuyn sang
trng thi Time wait, sau ch 1 khong thi gian Timeout v ng kt ni, quay li trng thi
Close.
Khi server nhn c n cng chuyn t Last ACK sang Close (khng cn i
Timeout).
UDP
UDP (User Datagram Protocol) l mt trong nhng giao thc ct li ca giao thc TCP/IP. Dng
UDP, chng trnh trn mng my tnh c th gi nhng d liu ngn c gi l datagram ti
my khc. UDP khng cung cp s tin cy v th t truyn nhn m TCP lm; cc gi d liu c
th n khng ng th t hoc b mt m khng c thng bo. Tuy nhin UDP nhanh v hiu qu
hn i vi cc mc tiu nh kch thc nh v yu cu kht khe v thi gian. Do bn cht khng
trng thi ca n nn n hu dng i vi vic tr li cc truy vn nh vi s lng ln ngi yu
cu.
Nhng ng dng ph bin s dng UDP nh DNS (Domain Name System), ng dng streaming
media, Voice over IP, Trivial File Transfer Protocol (TFTP), v game trc tuyn.
UDP dng cng cho php cc giao tip gia cc ng dng din ra.
Cng dng 16 bit nh a ch, v vy s ca cng nm trong khon 0 n 65.535. Cng 0 c

dnh v khng nn s dng.
Cng t 1 n 1023 c gi l cng "well-known" v trn cc h iu hnh ta Unix, vic gn

kt ti mt trong nhng cng ny i hi quyn root.
Cng 1024 n 49.151 l cng ng k.
Cng t 49.152 n 65.535 l cc cng tm, c dng ch yu bi client khi lin lc vi server.
21
UDP l giao thc hng thng ip nh nht ca tng giao vn hin c m t trong RFC
768 ca IETF.
Trong b giao thc TCP/IP, UDP cung cp mt giao din rt n gin gia tng mng bn di
(th d, IPv4) v tng phin lm vic hoc tng ng dng pha trn.
UDP khng m bo cho cc tng pha trn thng ip c gi i v ngi gi cng khng
c trng thi thng ip UDP mt khi c gi (V l do ny i khi UDP cn c gi
l Unreliable Datagram Protocol).
UDP ch thm cc thng tin multiplexing v giao dch. Cc loi thng tin tin cy cho vic truyn
d liu nu cn phi c xy dng cc tng cao hn.
Hnh 2.14 Cu trc goi UDP
Source port
Trng ny xc nh cng ca ngi gi thng tin v c ngha nu mun nhn thng tin phn
hi t ngi nhn. Nu khng dng n th t n bng 0.
Destination port
Trng xc nh cng nhn thng tin, v trng ny l cn thit.
Length
Trng c di 16 bit xc nh chiu di ca ton b datagram: phn header v d liu. Chiu

di ti thiu l 8 byte khi gi tin khng c d liu, ch c header.
Checksum
22
Trng checksum 16 bit dng cho vic kim tra li ca phn header v d liu. Phng php tnh
checksum c nh ngha trong RFC 768.
2.2.3. Tng Internet (Internet Layer)
Nm bn trn tng truy nhp mng. Tng ny c chc nng gn a ch, ng gi v nh tuyn
(Route) d liu. 4 giao thc quan trng nht trong tng ny gm:
IP (Internet Protocol): C chc nng gn a ch cho d liu trc khi truyn v nh tuyn
chng ti ch.
ARP (Address Resolution Protocol): C chc nng bin dch a ch IP ca my ch thnh
a ch MAC.
ICMP (Internet Control Message Protocol): C chc nng thng bo li trong trng hp
truyn d liu b hng.
IGMP (Internet Group Management Protocol): C chc nng iu khin truyn a hng
(Multicast).
Hnh 2.15 Cu trc gi tin IP
Version (c chiu di 4 bit): cho bit phin bn ca giao thc, i vi trng hp ca chng
ta, giao thc l IP version 4, trng ny s lun c gi tr l 4 (0100).
Header Length (4 bit): cho bit chiu di ca header IP, tnh theo n v 4 byte (32 bit).
TOS (8 bit): Type of Service.
Total Length (16 bit): 16 bit tng chiu di ca gi IP gm c phn header.
Identification (16 bit): dng nhn din cc phn on ca gi IP.
23
Flags:
Bit u tin khng s dng.
Bit 2: DF (Dont Fragment) = 1 c ngha l khng phn on gi ny.
Bit 3: MF (More Fragment) = 0 => y l phn on cui cng.
Fragmented offset (13 bit): di (n v 8 byte) tnh t im bt u ca Header ti im
bt u ca phn on.
TTL (Time to Live) (8 bit): thi gian tn ti trn mng hoc s chng trn mng m gi i
qua trc khi b hy b.
Protocol (8 bit): nhn din Protocol trn lp IP.
Header checksum (16 bit): sa sai cho phn Header.
Cc vng a ch ngun, a ch ch: a ch IP 32 bit.
Option: cc ty chn dng cho vic kim tra: Loose source routing, Strict source routing,
Record route v Timestamp.
Padding: Gm cc s zero c thm vo sao cho chiu di ca vng Header l bi s ca
32 bit.
Cch thc d liu c gi qua giao thc IP:
Khi nhn c mt segment d liu (t giao thc lp trn l TCP) cn gi n ch no
, a ch ch ny phi c xc nh bng a ch IP (tc l a ch mng hay a ch lun l).
Lp giao thc IP s gn thm vo u segment d liu mt header IP to thnh gi IP hon
chnh. Trong header IP ny c cha 2 thng tin quan trng, l a ch host gi (source IP address)
v a ch host nhn (destination IP address). a ch source ng nhin l a ch ca bn thn
n, cn a ch ch phi c cung cp cho lp IP khi mun gi d liu qua giao thc ny.
Gi tin IP ny sau c chuyn n lp giao thc ethernet thm phn header ethernet
vo v gi i.
Nhng giao thc ethernet li gi cc khung d liu i da vo mt loi a ch khc l a ch
MAC (hay cn gi l a ch vt l). Ti sao li cn n 2 a ch nh vy? L do l a ch vt l
ch c gi tr trong phm vi mng LAN, n s khng th gip xc nh v tr host bn ngoi phm
vi mng LAN. Khi gi d liu ra ngoi mng LAN, cc router s chuyn d liu i da v a ch
IP.
a ch MAC ch, s c 2 trng hp xy ra:
24
Nu host ch nm trong cng 1 mng LAN, a ch MAC ch l a ch tng ng ca

host ch. Frame d liu s c gi thng n ch.
Nu host ch nm bn ngoi mng LAN, r rng khng th gi d liu trc tip n host
ch m phi thng qua gateway, khi a ch MAC ch phi l a ch gateway.
Trong c hai trng hp trn, d l cn gi cho gateway hay thng n host ch, th n y, mi
ch bit a ch IP ca host ch (hay ca gateway) m khng bit a ch MAC tng ng. Vy
lm sao bit c a ch MAC ca 1 host khi n a ch IP?
Giao thc phn gii a ch (APR Address Resolution Protocol). Vai tr ca giao thc ny l tm
ra a ch MAC khi bit a ch IP ca 1 host.
Hnh 2.16 Cu trc gi tin ARP
Hardware type (2 bytes): cho bit loi a ch phn cng, i vi a ch MAC ca giao
thc ethernet th gi tr ny c qui nh l "0x0001".
Protocol type (2 bytes): cho bit loi a ch giao thc lp trn, i vi a ch IP, gi tr
ny c qui nh l 0x0800.
Hardware address length (1 byte): cho bit chiu di ca a ch vt l (a ch MAC).
Protocol address length (1 byte): cho bit chiu di ca a ch giao thc (a ch IP).
Operation code (2 bytes): cho bit hot ng ang thc hin trong gi tin ny (request hay
reply).
Source hardware address (6 bytes): a ch vt l ca pha gi.
25
Source protocol address (4 bytes): a ch IP ca pha gi.

Target hardware address (6 bytes): a ch vt l ca pha nhn, nu cha bit th s l cha
ton 0.
Target protocol address (4 bytes): a ch IP ca pha nhn.
2.2.4. Lp giao tip mng
Tng giao tip mng lin quan ti vic trao i d liu gia hai trm thit b trong cng mt mng.
Trong chng giao thc TCP/IP, vic gi v nhn d liu c thc hin da vo a ch vt l hay
cn gi l a ch MAC. Trong mi khung u cha 2 a ch MAC: mt a ch ca host gi v
mt a ch ca host nhn. Khi nhn c mt khung d liu, trc ht n s kim tra a ch host
nhn xem c phi l a ch ca n khng (tc l gi cho n), nu ng n s nhn khung ny v
chuyn n lp IP. Ngoi ra cn c 1 trng hp na l s nhn khung l nu a ch host nhn l
a ch broadcast (tc l gi cho tt c mi my trong mng LAN), trong trng hp ny frame s
c nhn v x l.Ngoi vic kim tra a ch, cn c 1 trng cha m kim tra li gip pht
hin nhng li xy ra trong qu trnh truyn, cc khung b xc nh l c li s b b qua.
26
CHNG 3. THIT K PHN CNG
3.1. S nguyn l mch
Hnh 3.1 S RP3-L298
12V U1 R1
1 4
Vout
Vin IN FeedBack
C1 R2 CFF 1k
ON/OFF
3.1k
100uF L1 0
GND
2 1 2 Vout
OUT
33uH
5V
0
3
10104
D1 C2
1N5822 220u
0 0 0
Hnh 3.2 Mch ngun 12-5VDC dung LM2596
27
Hnh 3.3 S khi LM2596
Module LM2596 l loi ngun Switch kiu Buck:
y l kiu bin i ngun cho in p u ra nh hn so vi in p u vo.
Hnh 3.4 Mch nguyn l Switch kiu buck
28
Mch c cu to nguyn l n gin ch dng mt van ng ct ngun in v phn lc u ra.

in p u ra c iu bin theo rng xung Khi " Switch On" c ng tc l ni ngun
vo mch th lc dng in i qua cun cm v dng in trong cun cm tng ln, ti thi
im ny th t in c np ng thi cng cung cp dng in qua ti. Chiu dng in c
chy theo hnh v Khi " Swith Off" c m ra tc l ngt ngun ra khi mch. Khi trong cun
cm tch ly nng lng t trng v t in in c tch ly trc s phng qua ti. Cun
cm c xu hng gi cho dng in khng i v gim dn. Chiu ca dng in trong thi im
ny nh trn hnh v. Qu trnh ng ct lin tc to ti mt in p trung bnh theo lut bm xung
PWM. Dng in qua ti s dng xung tam gic m bo cho dng lin tc qua ti. Tn s ng
ct kh cao m bo trit nhiu cng sut cho mch. Van cng sut thng s dng cc van
nh Transitor tc cao, Mosfet hay IGBT...
in p u ra c tnh nh sau :
Vout = Vin * (ton/(ton+toff)) = Vin* D ( vi D l rng xung %)
Vi ton, toff ln lt l thi gian m v thi gian kha ca van i vi kiu ngun Buck ny th
cho cng sut u ra rt ln so vi cng sut u vo v s dng cun cm, tn hao cng sut thp.
Do vy nn ngun buck c s dng nhiu trong cc mch gim p ngun DC.
29
3.2. Kit Raspberry Pi 3
Hnh 3.5 Kit Raspberry Pi 3
CPU 64 bit quad-core b vi x l ARM Cortex A53, tc 1.2GHz gp 10 ln so vi th

h u tin.
Tch hp wireless chun 802.11n.
Tch hp Bluetooth 4.1 ( s hu tnh nng tit kim nng lng BLE).
B nh RAM 1G
4 cng USB
Cng HDMI, h tr Full HDMI
Cng Ethernet (hay l cng mng LAN)
Jack cm audio 3.5mm
Giao tip Camera qua CSI
H tr hin th DSI
Khe gn Micro SD card c hn cht trn board theo kiu Push-Pull.
Vi x l hnh nh VideoCore IV 3D
30
31
Hnh 3.6 Ngun vo
32
Hnh 3.7 Khi Cemara, Display v HDMI
33
Hnh 3.8 Khi GPIO
34
3.3. Chi tit cc modules s dng trong mch
3.3.1. ng c DC gim tc
3.3.1.1. DC gim tc v1
Hnh 3.9 ng c DC gim tc v1
ng c:
in p hot ng: 3-12VDC.

Dng in tiu th 110-200mA.
T s truyn 1:48.
S vng/pht: 125 ti 3VDC v 206 ti 5VDC.
Moment: 0.8KG.CM
3.3.1.2. Nguyn l hot ng
Stator ca ng c in 1 chiu thng l 1 hay nhiu cp nam chm vnh cu, hay nam chm
in, rotor c cc cun dy qun v c ni vi ngun in mt chiu, mt phn quan trng khc
ca ng c in 1 chiu l b phn chnh lu, n c nhim v l i chiu dng in trong khi
35
chuyn ng quay ca rotor l lin tc. Thng thng b phn ny gm c mt b c gp v mt

b chi than tip xc vi c gp.
Pha 1: T trng ca rotor cng cc vi stator, s y nhau to ra chuyn ng quay ca rotor.
Pha 2: Rotor tip tc quay.
Pha 3: B phn chnh in s i cc sao cho t trng gia stator v rotor cng du, tr li pha
1.
Nu trc ca mt ng c in mt chiu c ko bng 1 lc ngoi, ng c s hot ng nh

mt my pht in mt chiu, v to ra mt sc in ng cm ng Electromotive force (EMF).
Khi vn hnh bnh thng, rotor khi quay s pht ra mt in p gi l sc phn in ng counter-
36
EMF (CEMF) hoc sc in ngi khng, v n i khng li in p bn ngoi t vo ng

c. Sc in ng ny tng t nh sc in ng pht ra khi ng c c s dng nh mt my
pht in (nh lc ta ni mt in tr ti vo u ra ca ng c, v ko trc ng c bng mt
ngu lc bn ngoi). Nh vy in p t trn ng c bao gm 2 thnh phn: sc phn in ng,
v in p ging to ra do in tr ni ca cc cun dy phn ng. Dng in chy qua ng c
c tnh theo biu thc sau.
( )
=

Cng sut c m ng c a ra c, c tnh bng.
3.3.1.3. C ch sinh lc quay ca ng c DC
Khi c mt dng in chy qua cun dy qun xung quanh mt li st non, cnh pha bn cc
dng s b tc ng bi mt lc hng ln, trong khi cnh i din li b tc ng bng mt lc
hng xung theo nguyn l bn tay tri ca Fleming. Cc lc ny gy tc ng quay ln cun
dy, v lm cho rotor quay. lm cho rotor quay lin tc v ng chiu, mt b c gp in s
lm chuyn mch dng in sau mi v tr ng vi 1/2 chu k. Ch c vn l khi mt ca cun
dy song song vi cc ng sc t trng. Ngha l lc quay ca ng c bng 0 khi cun dy
lch 90o so vi phng ban u ca n, khi rotor s quay theo qun tnh.
Trong cc my in mt chiu ln, ngi ta c nhiu cun dy ni ra nhiu phin gp khc nhau
trn c gp. Nh vy dng in v lc quay c lin tc v hu nh khng b thay i theo cc
v tr khc nhau ca rotor.
37
3.3.2. Module iu khin ng c L298
3.3.2.1. Module L298
Hnh 3.10 Module L289
Thng s k thut
Driver: L298N tch hp hai mch cu H.

in p iu khin: +5 V ~ +12 V
Dng ti a cho mi cu H l: 2A (=>2A cho mi motor)
in p ca tn hiu iu khin: +5 V ~ +7 V
Dng ca tn hiu iu khin: 0 ~ 36mA
Cng sut hao ph: 20W (khi nhit T = 75 )
Nhit bo qun: -25 ~ +130
38
Hnh 3.11 L298 Schematic
39
Hnh 3.12 S khi l298
4 chn INPUT: IN1, IN2, IN3, IN4 c ni ln lt vi cc chn 5, 7, 10, 12 ca L298.

y l cc chn nhn tn hiu iu khin.
4 chn OUTPUT: OUT1, OUT2, OUT3, OUT4 (tng ng vi cc chn INPUT) c ni
vi cc chn 2, 3, 13, 14 ca L298. Cc chn ny s c ni vi ng c.
Hai chn ENA v ENB dng iu khin cc mch cu H trong L298. Nu mc logic
1 (ni vi ngun 5V) th cho php mch cu H hot ng, nu mc logic 0 th mch cu H
khng hot ng.
Khi ENA = 0: ng c khng quay vi mi u vo .
Khi ENA = 1:
INT1 = 1; INT2 = 0: ng c quay thun.

INT1 = 0; INT2 = 1: ng c quay nghch.
INT1 = INT2: ng c dng ngay tc th. (tng t vi cc chn ENB, INT3, INT4).
40
3.3.2.2. Mch cu H
3.3.2.2.1. Gii thiu
Xt mt cch tng qut, mch cu H l mt mch gm 4 "cng tc" c mc theo hnh ch H.
Bng cch iu khin 4 "cng tc" ny ng m, ta c th iu khin c dng in qua ng c

cng nh cc thit b in tng t.
Hnh 3.13 Mch cu H
4 "cng tc" ny thng l Transistor BJT, MOSFET hay relay. Ty vo yu cu iu khin khc
nhau m ngi ta la chn cc loi "cng tc" khc nhau.
3.3.2.2.2. Mch cu H dng transistor BJT
Mch cu H dng transistor BJT l loi mch c s dng kh thng dng cho vic iu khin
cc loi ng c cng sut thp. L do n gin l v transistor BJT thng c cng sut thp hn
cc loi MOSFET (relay th khng phi bn ri), ng i cng r v d tm mua, s dng n
gin.
41
y l s tng qut ca mt mch cu H s dng transistor BJT.
Hnh 3.14 Cu H dng BJT
Trong s ny, A v B l 2 cc iu khin. 4 diode c nhim v trit tiu dng in cm ng

sinh ra trong qu trnh ng c lm vic. Nu khng c diode bo v, dng in cm ng trong
mch c th lm hng cc transistor.
Transistor BJT c s dng nn l loi c cng sut ln v h s khch i ln.
3.3.2.2.3. Nguyn l hot ng mch cu H
Hnh 3.14 cho ta thy khi:
A mc LOW v B mc HIGH
pha A, transistor Q1 m, Q3 ng. pha B, transistor Q2 ng, Q 4 m. D , dng in

trong mch c th chy t ngun 12V n Q1, qua ng c n Q4 v GND. Lc ny, ng c
quay theo chiu thun.
A mc HIGH v B mc LOW
42
pha A, transistor Q1 ng, Q3 m. pha B, transistor Q2 m, Q 4 ng. D , dng in

trong mch c th chy t ngun 12V n Q2, qua ng c n Q3 v GND. Lc ny, ng c
quay theo chiu ngc.
A v B cng mc LOW
Khi , transistor Q1 v Q2 m nhng Q3 v Q4 ng. Dng in khng c ng v c GND

do khng c dng in qua ng c - ng c khng hot ng.
A v B cng mc HIGH
Khi , transistor Q1 v Q2 ng nhng Q3 v Q4 m. Dng in khng th chy t ngun 12V

ra do khng c dng in qua ng c - ng c khng hot ng.
3.3.2.2.4. iu khin bng phng php iu ch xung PWM
Phng php iu xung PWM (Pulse Width Modulation) l phng php iu chnh in p ra ti,
hay ni cch khc, l phng php iu ch da trn s thay i rng ca chui xung vung,
dn n s thay i in p ra. Cc PWM khi bin i th c cng 1 tn s v khc nhau v
rng ca sn dng hay sn m.
Hnh 3.15 th dng xung iu ch PWM
43
PWM c ng dng nhiu trong iu khin. in hnh nht m chng ta thng hay gp l iu
khin ng c v cc b xung p, iu p... S dng PWM iu khin nhanh chm ca ng
c hay cao hn na, n cn c dng iu khin s n nh tc ng c.
Ngoi lnh vc iu khin hay n nh ti th PWM cn tham gia v iu ch cc mch ngun nh :

boot, buck, nghch lu 1 pha v 3 pha...
PWM cn gp nhiu trong thc t cc mch in iu khin. iu c bit l PWM chuyn dng
iu khin cc phn t in t cng sut c ng c tnh l tuyn tnh khi c sn 1 ngun 1
chiu c nh. Nh vy PWM c ng dng rt nhiu trong cc thit b in- in t. PWM cng
chnh l nhn t m cc i Robocon s dng iu khin ng c hay n nh tc ng c.
Nguyn tt hot ng
y l phng php c thc hin theo nguyn tc ng ngt ngun ca ti mt cch c chu k
theo lut iu chnh thi gian ng ct. Phn t thc hin nhin v trong mch cc van bn dn.
Hnh 3.16 Van bn dn
44
Hnh 3.17 S xung ca van iu khin v u ra
Nguyn l : Trong khong thi gian 0 - t0, ta cho van G m, ton b in p ngun Ud c a
ra ti. Cn trong khong thi gian t0 - T, cho van G kha, ct ngun cung cp cho ti. V vy vi
t0 thay i t 0 cho n T, ta s cung cp ton b , mt phn hay kha hon ton in p cung cp
cho ti.
45
CHNG 4. THIT K PHN MM
4.1. Python
Python l mt ngn ng lp trnh thng dch do Guido van Rossum to ra nm 1990. Python hon
ton to kiu ng v dng c ch cp pht b nh t ng; do vy n tng t
nh Perl, Ruby, Scheme, Smalltalk, v Tcl. Python c pht trin trong mt d n m m, do t
chc phi li nhun Python Software Foundation qun l.
Ban u, Python c pht trin chy trn nn Unix. Nhng ri theo thi gian, n "bnh
trng" sang mi h iu hnh t MS-DOS n Mac OS, OS/2, Windows, Linux v cc h iu
hnh khc thuc h Unix.
S pht trin ca Python n hin nay chia lm 3 giai on hay 3 phin bn gm: Python 1, Python
2 v Python 3
4.2. Flask Framework
Flask l mt Micro Framework dnh cho Python, da trn 2 utility libraries l Werkzeug, Jinja
2. im mnh ca Flask l s nh gn, c th to nhanh mt trang web th nghim cc tng
ca mnh mt cch nhanh chng.
4.3. LogMeIn Hamachi
LogMeIn Hamachi l mt h thng VPN (Virtual Private Network - Mng ring o) s dng giao
thc UDP vi kin trc bo mt m.
Mi my tnh kt ni vo mng Hamachi ln u s c gn cho mt ID; mt my ch s c

nhim v dn ng cho cc my khch kt ni c vi nhau, to thnh mt mng LAN o qua
Internet. Sau khi kt ni, cc my khch khng cn thm s h tr no khc t my ch Hamachi
na.
Mi mng trong Hamachi chnh l mt mng LAN o, vi tn v mt khu khc nhau. Sau khi gia
nhp vo mng bn c th kt ni, chia s d liu vi cc my tnh khc cng trong mng.
n dung Hamachi iu khin t xa v tng tnh bo mt cho sn phm.
46
Hnh 4.1 LogMeIn Hamachi
4.4. S gii thut
Bt u
Khi to GPIO, ng c phi gim

Y Phi
camera tc
ng c tri v phi
livestream camera main joystick Tin Y quay thun(tc
theo joystick)
ng c tri v phi
ng c tri gim
quay nghch(tc Y Li Tri
tc
theo joystick)
Hnh 4.2 S gii thut
47
4.5. Chng trnh
app.py
#import cc th vin cn thit

from flask import Flask, render_template, request, redirect, url_for, make_response
import subprocess
import motors, camera, csystem
import RPi.GPIO as GPIO
#ci t mode gpio theo board

GPIO.setmode(GPIO.BOARD)
#ci t flask server

app = Flask(__name__) #set up flask server
#return index.html
@app.route('/')
def index():
return render_template('index.html')
#code x l iu khin
@app.route('/add')
def reroute():
changePin = request.args.get('check', 0, type=int)#ly tn hiu iu khin ti li

dutyL = request.args.get('dutyl', 0, type=int)#ly duty cho bnh xe tri
dutyR = request.args.get('dutyr', 0, type=int)#ly duty cho bnh xe phi
if changePin == 1:
motors.forward(dutyL, dutyR)
elif changePin == 2:
motors.backward(dutyL, dutyR)
else:
motors.stop()
response = make_response(redirect(url_for('index')))
return(response)
#code n camera v khi ng h thng

@app.route('/camera/<string:cam_cmd>', methods=['GET'])
def put_camera(cam_cmd):
res = camera.execute(cam_cmd)
return res
48
@app.route('/system/<string:system_cmd>', methods=['GET'])
def edit_system(system_cmd):
res_sys = csystem.execute(system_cmd)
return res_sys
#Khi ng server port 5000

app.run(debug=True, host='0.0.0.0', port=5000)
motors.py
import RPi.GPIO as GPIO

from time import sleep
GPIO.setmode(GPIO.BOARD)
Motor1A = 13 #(GPIO 27 - Pin 13)

Motor1B = 15 #(GPIO 22 - Pin 15)
Motor2A = 16 #(GPIO 23 - Pin 16)

Motor2B = 18 #(GPIO 24 - Pin 18)
#ci t gpio outputs

GPIO.setup(Motor1A,GPIO.OUT)
GPIO.setup(Motor1B,GPIO.OUT)
GPIO.setup(Motor2A,GPIO.OUT)
GPIO.setup(Motor2B,GPIO.OUT)
#ci t gpio pwm

pwm1A=GPIO.PWM(Motor1A, 10000)
pwm1B=GPIO.PWM(Motor1B, 10000)
pwm2A=GPIO.PWM(Motor2A, 10000)
pwm2B=GPIO.PWM(Motor2B, 10000)
#khi ng pwm vi duty=0

pwm1A.start(0)
pwm1B.start(0)
pwm2A.start(0)
pwm2B.start(0)
#tin
def forward(dutyL, dutyR):
print("Going Forwards")
pwm1A.ChangeDutyCycle(dutyR*10)#thay i duty
pwm1B.ChangeDutyCycle(0)
pwm2A.ChangeDutyCycle(dutyL*10)
49
#li
def backward(dutyL, dutyR):
print("Going Backwards")
pwm1A.ChangeDutyCycle(0)
pwm1B.ChangeDutyCycle(dutyR*10)
pwm2B.ChangeDutyCycle(dutyL*10)
#dng
def stop():
print("Stopping")
csystem.py
import subprocess
#khi ng li h thng
def restart():
cmd = ["sudo","init","6"]
p = subprocess.Popen(cmd, stdout = subprocess.PIPE, stderr=subprocess.PIPE,
stdin=subprocess.PIPE)
out,err = p.communicate()
return out
def execute(cmd):
if cmd == "restart":
restart()
return "system restart"
camera.py
import subprocess
#khi ng camera
def start():
cmd = ["sudo", "python", "/home/pi/WebCtrl/run_camera.py"]
p = subprocess.Popen(cmd, stdout = subprocess.PIPE, stderr=subprocess.PIPE,
stdin=subprocess.PIPE)
out,err = p.communicate()
return out
50
def execute(cmd):
if cmd == "stop":
stop()
return "camera stopped"
else:
start()
return "camera started"
run_camera.py
#khi chy stream

import os
os.system('sudo modprobe bcm2835-v4l2')
os.system('LD_LIBRARY_PATH=/usr/local/lib mjpg_streamer -i "/usr/local/lib/input_uvc.so -d
/dev/video0 -quality 100 -f 30 -r 320x240" -o "/usr/local/lib/output_http.so -w /usr/local/www -p
8080"')
Website index.html
<!DOCTYPE html>
<html>
<head>
<title>Robot Cam</title>
<meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
<script type="text/javascript" src="{{ url_for('static', filename='js/jquery-
3.2.1.min.js') }}"></script>
<script type="text/javascript">
$(document).ready(function(){
$(".range").change(function(){
sendCtrl();
});
$("#stop").click(function(){
$.getJSON('/add', {
check: 3,
dutyl: 0,
dutyr: 0
}, function(data) {
$("#result").text(data.result);
});
});
$('#restart').click(function() {
51
$.get('/system/restart');
});
});
function sendCtrl(){
var duty_val1 = $('#forwardb').val();

var duty_val2 = $('#leftr').val();
if((duty_val1 > 0) && (duty_val2 == 0))
{
var check = 1;
var dutyl = duty_val1;
var dutyr = duty_val1;
}
else if((duty_val1 > 0) && (duty_val2 > 0))
{
var check = 1;
var dutyl = duty_val1;
var dutyr = duty_val1-duty_val2/10*duty_val1;
}
else if((duty_val1 > 0) && (duty_val2 < 0))
{
var check = 1;
var dutyl = duty_val1-Math.abs(duty_val2)/10*duty_val1;
var dutyr = duty_val1;
}
else if((duty_val1 < 0))
{
var check = 2;
var dutyl = -duty_val1;
var dutyr = -duty_val1;
}
else if((duty_val1 == 0) && (duty_val2 == 0))
{
var check = 3;
var dutyl = 0;
var dutyr = 0;
}
$.getJSON('/add', {
check: check,
dutyl: dutyl,
dutyr: dutyr
}, function(data) {
$("#result").text(data.result);
});
52
</script>
</head>
<style type="text/css">
table, td, tr {
width: 30%;
}
body {
background: #1c2831;
}
a{
color: #fff;
}
.button{
background-color: white;
color: black;
border: 2px solid #73AD21;
border-radius:5px;
padding: 10px 20px;
text-align: center;
text-decoration: none;
display: inline-block;
font-size: 16px;
font-family: "Lucida Sans Unicode";
}
.button:hover{
background-color: #73AD21;
color:white;
}
.button:active{
background-color: green;
border-color: green;
}
</style>
<body>
<center>
<header>
<strong style="color: #fff; font-size: 2.50em;">Robot</strong>
</header>
</br>
<fieldset style="width:250px;">
53
<img src="http://192.168.137.68:8080/?action=stream" height="240px"

width="320px" alt="Camera"/>
<div class="container" id="panelCtrl">
<table style="width:100%; max-width: 300px; height:200px;"></br></br>
<tr><td><a>Li Tin</a></td><td><input class="range" id="forwardb"
name="forwardb" type="range" min="-10" max="10" value="0" style="transform: rotate(-
90deg); width: 150px;"></td></tr>
<tr><td><a>Tri Phi</a></td><td><input class="range" id="leftr"
name="leftr" type="range" min="-10" max="10" value="0" style="width: 150px;"></td></tr>
</table>
<input class="button" id="stop" type="button" value="Stop"/>
<input class="button" id="restart" type="button" value="Restart"/>
</div>
</fieldset>
</center>
</body>
</html>
54
CHNG 5. Kt qu v hng pht trin
5.1. Giao din Webserver
Hnh 5.1 Webserver
5.2. Hng pht trin IOT
Internet of Things (IoT) l mt kch bn ca th gii, khi m mi vt, mi vt, con ngi
c cung cp mt nh danh ca ring mnh, v tt c c kh nng truyn ti, trao i thng tin,
d liu qua mt mng duy nht m khng cn n s tng tc trc tip gia ngi vi ngi, hay
ngi vi my tnh. IoT pht trin t s hi t ca cng ngh khng dy, cng ngh vi c in
t v Internet.
Internet of Thing (IoT) l mi vt u c th kt ni vi nhau qua Internet, ngi dng c th kim

sot vt ca minh qua mt thit b thng minh nh laptop, table PC hay smatphone.
55
TI LIU THAM KHO GVHD: LU PH
TI LIU THAM KHO
[1] Trn Vn S. Truyn s liu v mng thng tin s.
[2] Raspberry Pi 3. Datasheet.
[3] L298. Datasheet.
[4] Din. n. ARM. VN. [Online]. Available: http://www.arm.vn/.
[5] Wikipedia. [Online]. Available: https://vi.wikipedia.org/.
[6] Web Ngnh in. [Online]. Available: https://nganhdien.com/
[7] Th Gii Vi Tnh PCWorld VN. Available: http://www.pcworld.com.vn/
56

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I HC QUC GIA TP.

IU KHIN ROBOT DNG

TP. H CH MINH, THNG 06 NM 2017

Chng 1: Gii thiu chung v sn phm

Ni dung chng ny gm 3 phn:

Phn 1: Gii thiu nhng c im chung ca sn phm.

Phn 2: Trnh by mc tiu nghin cu

Phn 3: Trnh by s khi v nguyn l hot ng c bn ca sn phm.

Phn 3: Gii thiu v dng ARM Cortex-A, mt s c im chnh v ni tri so vi cc dng

Chng 2: WLAN v h giao th TCP/IP

Ni dung chng ny gii thiu v l thuyt WLAN v h giao thc TCP/IP

Chng 3: Thit k phn cng

Vi cc ngoi vi thch hp sn bn trong Chip nh GPIO, PWM u tin s trnh by nhng

Chng 4: Thit k phn mm

Trnh by cc cng c h tr lp trnh, cc b th vin v cc cu hnh ngoi vi cho sn phm.

Chng 5: Kt qu, hn ch v hng pht trin

Chng ny cho thy kt qu, hn ch ca n v hng pht trin ca d n IOT.

DANH SCH HNH V ............................................................................................................. VII

DANH SCH BNG BIU......................................................................................................... IX

CHNG 1. GII THIU CHUNG V SN PHM .................................................................. 1

1.1. Gii thiu ............................................................................................................................. 1

1.2. Mc tiu nghin cu ............................................................................................................ 1

1.3. S khi ............................................................................................................................ 2

1.4. Nguyn l hot ng c bn ................................................................................................ 2

1.5. Tng quan v CPU ARM Cortex-A53................................................................................. 2

1.5.1. Gii thiu v dng ARM Cortex................................................................................... 2

1.5.2. Raspberry Pi .................................................................................................................. 3

CHNG 2. WLAN V H GIAO THC TCP/IP..................................................................... 5

2.1. Tm hiu v WLAN ............................................................................................................. 5

2.1.1. Gii thiu ...................................................................................................................... 5

2.1.2. Chun IEEE 802.11 b/g/n ............................................................................................. 6

2.1.3. Kin trc giao thc........................................................................................................ 8

2.1.4. Cc k thut iu ch .................................................................................................... 9

2.1.4.1. K thut iu ch kha m b (CCK) .................................................................... 9

2.1.4.2. K thut tri ph trc tip (DSSS) ....................................................................... 10

2.1.5. MAC frames................................................................................................................ 12

2.1.6. Qun l MAC .............................................................................................................. 15

2.1.6.2. Roaming ............................................................................................................... 16

2.2. H giao thc TCP/IP .......................................................................................................... 16

2.2.1. Tng ng dng (Application Layer) ........................................................................... 17

2.2.2. Tng giao vn (Transport Layer) ................................................................................ 17

2.2.3. Tng Internet (Internet Layer) .................................................................................... 23

2.2.4. Lp giao tip mng ..................................................................................................... 26

CHNG 3. THIT K PHN CNG ...................................................................................... 27

3.1. S nguyn l mch ........................................................................................................ 27

3.2. Kit Raspberry Pi 3 .............................................................................................................. 30

3.3. Chi tit cc modules s dng trong mch .......................................................................... 35

3.3.1. ng c DC gim tc ................................................................................................. 35

3.3.1.1. DC gim tc v1 .................................................................................................... 35

3.3.1.2. Nguyn l hot ng ............................................................................................ 35

3.3.1.3. C ch sinh lc quay ca ng c DC ................................................................. 37

3.3.2. Module iu khin ng c L298 ............................................................................... 38

3.3.2.1. Module L298 ........................................................................................................ 38

3.3.2.2. Mch cu H .......................................................................................................... 41

3.3.2.2.1. Gii thiu ...................................................................................................... 41

3.3.2.2.2. Mch cu H dng transistor BJT .................................................................. 41

3.3.2.2.3. Nguyn l hot ng mch cu H ................................................................. 42

3.3.2.2.4. iu khin bng phng php iu ch xung PWM .................................... 43