-ĐỒ-AN-VI-XỬ-LÝ

n I:o lng v iu khin tc ng c 2012

GVHD:o c Thnh 1

N VI X L

O V IU KHIN TC NG C DNG 8051

GVHD:o c Thnh

Sinh vin thc hin: Trng Vn Trng

Phan Cng Ton

Li ni u

Trong nhng nm gn y vi s pht trin mnh m ca khoa hc k

thut.c bit ca ngnh cng nghip ch to cc linh kin bn dn,cc cc vi

mch tch hp IC mt hng pht trin mi ca Vi x l hnh thnh l Vi

iu Khin.Vi nhng u im to ln v tc , chnh xc cao,kh nng s l

cc ba ton,tnh linh hot nn cc Vi iu khin c ng dng trn hu ht

cc lnh vc trong cuc sng. Bng cch p dng Vi iu Khin trong sn xut v

x l,Vi iu Khin thc s th hin c cc u im ca mnh so vi cc

thit b thng thng khc.

V nhng ng dng to ln ca Vi iu khin,do m cc trng i

Hc,Cao ng,TCCN. V khoa hc cng ngh .Mn vi x l tr thnh mt

mn hc khng th thiu c trong trng trnh o to.vi iu khin 8051 s

cung cp cho sinh vin nhng khi nhin c bn cch thc hot ng ca Vi x l

qua sinh vin c t duy ,kin thc nn tng, c th gii quyt cc bi ton ng

dng thc t trong cuc sng,cng nh l c s hc tp nghin cu cc dng Vi

x l khc nh :PIC,AVR.

Qua n ny chng em c ci nhn thc t hn,su sc hn v vi iu

khin.chng em cng hiu thm nhiu v cch thc x l mt bi ton thc t

phc tp.

Vi s hng n tn tnh ca thy:o c Thnh chng em hi vng chng

em c th hon thnh tt n ny.

Chng em xin chn thnh cm n thy!


GVHD:o c Thnh 2

CHNG I.GII THIU CHUNG

I.1.kho st h thng.

Hin nay trong rt nhiu lnh vc i sng v sn xut cc loi ng c in

ngy cng c ng dng rng ri hn so vi nhng loi ng c s dng nng

lng nh xng, du, kh t..Nhng loi ng c in ny c nhng u im

hn hn v hiu sut s dng, cu to nh gn, gi thnh hp l, d dng iu

chnh tc , o chiu, cng bc cc qu trnh khi ng, qu trnh hm dng d

dng.Trong thc t c rt nhiu loi ng c in c s dng bao gm:

+ng c in c in 3 pha c chia lm cc loi c bn l: ng c in 3

pha dy qun v 3 pha roto lng sc, ng c in 1 pha.

+ng c in 1 chiu bao gm cc loi nh: kch t song song v loi kch t

ni tip.

Thng thng vi nhng ng c thng xuyn i hi o chiu,tng,

gim, hm dng th thng s dng ng c in 1 chiu l ch yu, v s d dng

iu khin hn so vi ng c xoay chiu. tin hnh iu khin ng c 1

chiu, c rt nhiu bin php c ng dng nh l: thay i in p phn ng,

thay i t thng, hoc s dng in tr ph mc thm vo phn ng ca ng c.

lm c iu , chng ta cn i xy dng nhng h thng iu khin, c rt

nhiu h thng c ng dng nh l: cc h thng iu khin PID, iu khin

ng c bng Vi iu khin, hay c th iu khin bng cch s dng cc loi kh

c in. Trong ti ny chng em s tin hnh nghin cu cc qu trnh iu

khiu ng c bng phng php s dng Vi iu khin h 8051.

I.2.Nhim v v yu cu k thut.

* Thit k mt mch in iu khin ng c DC 12 v.vi cc yu cu quoay

thun ,quoay nghch, tng tc,gim tc,vad o chiu quoay ng c.

* Thc hin thao tc iu chnh cc chc nng trn thng qua cc nt n bao gm :nt khi ng ng c,nt iu khin quay thun, nt iu khin quay ngc, nt tng tc, nt gim tc, v nt dng ng c, thng qua cc nt n ny cho php ta c th iu chnh ng c lm vic 1 tc nh mong mun.


GVHD:o c Thnh 3

* H thng cho php hin th tc lm vic c th s dng LCD hoc LED 7 thanh, ng thi c cc led n thng bo trng thi quay thun, quay ngc, dng cn gi tr tc ng c c hin th chi tit l bao nhiu trn LED 7 on.

* Thng qua ti, lm quen vi cch thc, nguyn l iu khin i tng ng

c 1 chiu.

* Tm hiu thc t cc linh kin, cc loi IC, hot ng ca cc loi cm bin.

* Vit chng trnh cho vi iu khin thc hin thnh cng theo yu cu ra.

* Tm hiu cc hng pht trin ca ti, nng cao cht lng ca h thng.

* chi ph cho h thng khng qu cao,ph hp vi yu cu kinh t.

Mch s dng cc linh kin sau:

- Vi iu khin :AT89c52.

- B cm bin quang hc:encoder ( c gn trc tip trn ng c DC)

- ng c in mt chiu: 12v

- Led 7seg.

- Nt nhn.

- Led n.

- LM7805.

- Mch cu H: L298.

- Ngoi ra cn cc phn t in khc nh:t ha,t phn cc,in tr


GVHD:o c Thnh 4

CHNG II:S KHI

II.1.s khi ca mch

Xung in

S khi ca mch.

II.2.nhim v - chc nng ca tng khi.

ng c:ng c in c s dng trong mch l ng c in mt chiu c

in p t vo ti a 24V.Trn trc ng c c gn mt a trn c khot cc

l trn cho nh sng t led pht quang c th i qua ti con mt thu quang

c th o c tc ng c. y chng ta dng ng c DC 12V.

Encoder :dng o s vng quay ca ng c v pht hin chiu quoay ca

ng c.encoder n s o tc ng c thng qua s lin lc, mt lin lc ca

led pht quang v b phn thu quang ri chuyn thnh cc xung in p vung

gi ti chn ngt ca Vi X L.

HIN TH

LED 7 seg

IU

KHIN

NG C

L293

VI X L

8051

NG C

DC-12V

ENCODER

N P

NGUN 5V

NGUN 12 V Phm n


GVHD:o c Thnh 5

Vi X L:nhn cc tn hiu t encoder thng qua c ch ngt t cn c vo

s xung do n s tnh ton x l :

- a ra tc ng c hin th ln led 7 thanh.

- iu ch rng xung PWM iu khin tc ng c cho ph hp vi

yu cu.

Khi vi x l l tri tim l khi c ca h thng l phn quan trng nht iu

khin mi hot ng ca mch.

Khi iu khin:iu khin hng ca ng c in mt chiu.trong bi ton

ny chng em x dng mch cu H iu khin hng ca ng c.

Khi hin th:nhn s liu v tc ng c t vi x l ri hin th ln cc led 7

thanh theo s iu khin ca Vi iu khin.

Khi ngun n p 5V:c chc nng cung cp in p n nh cho cc khi

trong mch.C th trong mch ta s dng hai ngun ring bit:

- Ngun 5V DC dng nui cc IC trong mch hot ng to ra cc tn hiu

xut ra chun TTL,trnh cc trng hp nhiu in p khng ng vi in

p cp cho IC => trnh IC khng hot ng,hng hc,chp chy.

- Ngun 12V DC dng cung cp cho ng c mt chiu DC (trong n

ny s dng ng c mt chiu DC 12V.)


GVHD:o c Thnh 6

CHNG III:C S L THUYT GII QUYT BI TON

III.1. Vi iu Khin 8051.

III.1.1. Kin trc phn cng AT89C52

AT89C51 l phin bn 8051 c ROM trn chip l Flash. Phin bn ny thch

hp cho ng dng nhanh v b nh Flash c th xo trong vi giy. AT89C51 c

th c lp trnh qua cng COM ca my tnh IBM PC.

Cc thnh phn bn trong n gm c:

- 128 byte RAM

- 8Kbyte ROM

- 32 ng xut nhp

- 3 b nh thi m 16 bit

- 8 nguyn nhn ngt

- mt port ni tip song cng

- mt mch dao ng v to xung clock trn chi

a. Cu hnh cc chn ca 89ATC52:

b. M t cc chn

U1

AT89C52

9

1819

2930

31

12345678

2122232425262728

1011121314151617

3938373635343332

RST

XTAL2XTAL1

PSENALE/PROG

EA/VPP

P1.0/T2P1.1/T2-EXP1.2P1.3P1.4P1.5P1.6P1.7

P2.0/A8P2.1/A9

P2.2/A10P2.3/A11P2.4/A12P2.5/A13P2.6/A14P2.7/A15

P3.0/RXDP3.1/TXD

P3.2/INT0P3.3/INT1

P3.4/T0P3.5/T1

P3.6/WRP3.7/RD

P0.0/AD0P0.1/AD1P0.2/AD2P0.3/AD3P0.4/AD4P0.5/AD5P0.6/AD6P0.7/AD7


GVHD:o c Thnh 7

- Vcc (40):chn cp in (5V)

- GND (20):chn t (0V)

* Cng Port 1 c ch nh l cng I/O t chn 1 n 8. Chng c s dng

cho mc ch duy nht l giao tip vi thit b khi cn thit. Ngoi ra cc chn

P1.0, P1.1 l 2 chn lin quan n hot ng ngt ca b nh thi 2.

Trong nhng m hnh thit k khng dng b nh ngoi, Port 0 l cng I/O.

Cn i vi cc h thng ln hn c yu cu mt s lng ng k b nh ngoi

th Port 0 tr thnh cc ng truyn d liu v 8 bit thp ca bus a ch. Ngoi ra

chn P1.0(T2) l ng vo ca b m thi gian 2. P1.1(T2EX) l chn

capture/reload ca b m thi gian 2.

* Cng Port 2 l cng I/O hoc l ng tryn 8 bit cao ca bus a ch cho

nhng m hnh thit k c b nh chng trnh nm ngoi hc c hn 256 byte

b nh d liu ngoi .

* Cng Port 3 ngoi mc ch chung l cng I/O, nhng chn ny cn kim lun

nhiu chc nng khc lin quan n c tnh c bit ca vi iu khin.

Bit Tn a ch

bit

Chc nng th hai

P3.0 RXD B0H Nhn d liu cho cng ni tip

P3.1 TXD B1H Truyn d liu cho cng ni tip

P3.2 INTO B2H Ngt 0 bn ngoi

P3.3 INT1 B3H Ngt 1 bn ngoi

P3.4 T0 B4H Ng vo b m thi gian 0

P3.5 T1 B5H Ng vo b m thi gian 1

P3.6 WR B6H Tn hiu iu khin ghi b nh d liu

ngoi

P3.7 RD B7H Tn hiu iu khin c b nh d liu

ngoi


GVHD:o c Thnh 8

Nhng chc nng th hai ca chn cng Port 3

- /PSEN l mt tn hiu iu khin cho php b nh chng trnh bn ngoi

hot ng. N thng c kt ni n chn /OE (Output Enable) ca

/EPROM c cc byte chng trnh. Xung tn hiu /PSEN lun mc

thp trong sut phm vi qu trnh ca mt lnh. Cn khi thi hnh chng

trnh t ROM ngay bn trong chip, chn /PSEN lun mc cao.

- Tn hiu ALE c chc nng c bit tch byte a ch thp v bus d liu

khi cng P0 c s dng c ch tun t hay cn gi l ch dn knh,

ngha l s dng cng mt ng truyn cho cc bit d liu v byte thp ca

bus a ch

- Khi chn /EA mc cao, vi iu khin c thc hin cc chng trnh

lu tr vng nh thp hn 8Kbyte ROM bn trong chip. Cn /EA mc

thp ch c nhng chng trnh lu b nh ngoi mi c thc hin

- AT89S52c mt b dao ng ni bn trong chip hot ng theo tn s ca

mt dao ng thch anh nm bn ngoi. Tn s thng dng ca thch anh l

11,0592 MHZ.

- RST (9):ng vo reset mc cao trn chn ny trong 2 chu k my.

Mch reset tc ng bng tay v s t ng reset li my.

- XTAL1 v XTAL2:l hai ng vo v ra ca b khuch i o ca mch

giao ng,c cu hnh dng dng nh mt b giao ng trn chp.

RST


GVHD:o c Thnh 9

Khng c yu cu no v chu k nghin v ca tn hiu xung Clock bn

ngoi do tn hiu ny phi qua mch flip-flop chia hai trc khi ti mch to xung

bn trong.Tuy nhin cc chi tit k thut v thi gian mc thp v thi gian mc

cao,in p cc i ,in p cc tiu cn c xem xt.

c.t chc b nh

Khng gian b nh ca b vi iu khin c phn chia thnh 2 phn: b nh

d liu v b nh chng trnh. Hu ht cc IC MCS u c b nh chng trnh

nm bn trong chip, tuy nhin cng c th m rng dung lng ln n 64K b nh

chng trnh v 64K d liu bng cch s dng mt s b nh ngoi.

Bn trong chip vi iu khin AT89C51 c 128 byte b nh d liu. Khng

gian b nh bn trong c chia thnh cc bank thanh ghi, RAM a ch theo bit,

RAM dng chung v cc thanh ghi chc nng c bit.

7F

RAM dng chung

FF

F0 F

7

F

6

F

5

F

4

F

3

F

2

F

1

F

0

B

E0 E

7

E

6

E

5

E

4

E

3

E

2

E

1

E

0

ACC

D0 D

7

D

6

D

5

D

4

D

3

D

2

D

1

D

0

PSW

CD TH2

CC TL2


GVHD:o c Thnh 10

30

CB RCA

P2L

CA RCA

P2H

C8 T2C

ON

B8 - - - B

C

B

B

B

A

B

9

B

8

IP

2F 7

F

7

E

7

D

7

C

7

B

7

A

7

9

7

8

B0 B

7

B

6

B

5

B

4

B

3

B

2

B

1

B

0

P3

2E 7

7

7

6

7

5

7

4

7

3

7

2

7

1

7

0

A8 A

F

- - A

C

A

B

A

A

A

9

A

8

IE

2

D

6

F

6

E

6

D

6

C

6

B

6

A

6

9

6

8

A0 A

7

A

6

A

5

A

4

A

3

A

2

A

1

A

0

P2

2C 6

7

6

6

6

5

6

4

6

3

6

2

6

1

6

0

99 SBU

F

2B 5

F

5

E

5

D

5

C

5

B

5

A

5

9

5

8

98 9

F

9

E

9

D

9

C

9

B

9

A

9

9

9

8

SCO

N

2

A

5

7

5

6

5

5

5

4

5

3

5

2

5

1

5

0

90 9

7

9

6

9

5

9

4

9

3

9

2

9

1

9

0

P1

29 4

F

4

E

4

D

4

C

4

B

4

A

4

9

4

8

8D TH1

28 4

7

4

6

4

5

4

4

4

3

4

2

4

1

4

0

8C TH0

27 3

F

3

E

3

D

3

C

3

B

3

A

3

9

3

8

8B TL1

26 3

7

3

6

3

5

3

4

3

3

3

2

3

1

3

0

8A TL0


GVHD:o c Thnh 11

25 2

F

2

E

2

D

2

C

2

B

2

A

2

9

2

8

24 2

7

2

6

2

5

2

4

2

3

2

2

2

1

2

0

89 TMO

D

23 1

F

1

E

1

D

1

C

1

B

1

A

1

9

1

8

22 1

7

1

6

1

5

1

4

1

3

1

2

1

1

1

0

88 8

F

8

E

8

D

8

C

8

B

8

A

8

9

8

8

TCO

N

21 0

F

0

E

0

D

0

C

0

B

0

A

0

9

0

8

PCO

N

20 0

7

0

6

0

5

0

4

0

3

0

2

0

1

0

0

1F

Bank Register

83 DPH

82 DPL

81 SP

00 80 8

7

8

6

8

5

8

4

8

3

8

2

8

1

8

0

P0

S chi tit khng gian b nh d liu bn trong vi iu khin

d.cc thanh ghi c bit.

AT89C52 c cc thanh ghi R0 n R7 v 21 thanh ghi chc nng c bit

SFR (Special Function Register) nm phn trn ca RAM t a ch 80H n

FFH.


GVHD:o c Thnh 12

- Thanh ghi trng thi PSW (program stastus word):

Bit K hiu a ch M t bit

PSW.7 CY D7H C nh

PSW.6 AC D6H C nh ph

PSW.5 FO D5H C 0

PSW.4 RS1 D4H Chn dy thanh ghi(bit 1)

PSW.3 RS0 D3H Chn dy thanh ghi(bit 0)

00=bank1: a ch t 00h n 07h

01=bank2: a ch t 08h n 0Fh

10=bank3: a ch t 10h n 17h

01=bank2: a ch t 18h n 1Fh

PSW.2 OV D2H C trn

PSW.1 - D1H D tr

PSW.0 P D0H C kim tra chn l

- Thanh ghi B: thanh ghi lun c s dng km theo thanh ghi A thc

hin cc php ton nhn v chia. Thanh ghi B xem nh l thanh ghi m dng

chung. N c a ch t F0 n F7.

- Con tr ngn xp: l mt thanh ghi 8 bit, n cha a ch ca phn d liu

ang hin din ti nh ngn xp. Ngn xp hot ng theo phng thc LIFO.

Hot ng y vo ngn xp lm tng SP ln trc khi ghi d liu vo. Hot ng

ly ra khi ngn xp s c d liu ra rI gim SP.

- Con tr d liu DPTR(Data Pointer): DPTR c s dng truy cp vo

b nh chng trnh v b nh d liu ngoi, l thanh ghi 16 bot c 8 bit thp

a ch 82H (DPL) v 8 bit cao a ch 83h (DPL)


GVHD:o c Thnh 13

- Cc thanh ghi cng: Cc cng I/O ca VDL bao gm P0 ti a ch 80H,

P1 a ch 90H, P2 ti a ch A0H, P3 tI a ch B0H. Tt c cc cng u c

a ch bit nn cung cp kh nng giao tip vi bn ngoi rt mnh

- Cc thanh ghi b m thi gian: AT89C52 c 3 b m thi gian 16 bit

nh cc khong thi gian hay m cc s kin. Timer0 c a ch 8AH (TL0:

bit thp) v 8CH(TH0: byte cao). Timer1 c a ch 8BH (TL1: bit thp) v

8DH(TH1: byte cao). Timer2 c a ch CCH (TL2: bit thp) v 8CD(TH2: byte

cao). Hot ng ca cc b m thi gian c thit lp bi cc thanh ghi

TMOD,TCON, T2CON. Ngoi ra cc thanh ghi RCAP2L, RCAP2H c s dng

trong ch t np ca 16 bitb nh thi 2.

- Cc thanh ghi cng tun t: IC AT89C52 cha mt cng ni tip kt

ni vi cc thit b ni tip nh moderm hoc giao tip vi cc IC khc s dng

giao tip ni tip. B m d liu ni tip SBUF lu gi c d liu truyn i v d

liu nhn c.

- Cc thanh ghi ngt: AT89C52 c 6 nguyn nhn ngt v 2 ngt u tin.

Cc ngt b cm sau khi h thng khi ng li v c bt bng cch ghi vo

thanh ghi cho phep ngt IE. Mc u tin c thit lp thng qua thanh ghi u tin

IP.

- Thanh ghi iu khin nng lng PCON (Power Control Register): cha

nhiu bit iu khin m bo cc chc nng khc nhau.

III.1.2.hot ng ca timer.

a.cc thanh ghi ca b nh thi.

truy cp b nh thi ta s dng 11 thanh ghi FSR:

SFR Mc ch a ch nh a ch bit

TCON iu khin 88H C

TMOD Chn ch 89H Khng

TL0 Byte thp ca b nh thi 0 8AH Khng

TL1 Byte thp ca b inh thi 1 8BH Khng

TH0 Byte cao ca b inh thi 0 8CH Khng


GVHD:o c Thnh 14

TH1 Byte cao ca b inh thi 1 8DH Khng

T2CON iu khin b nh thi 2 C8H C

RCAP2L Nhn byte thp ca b nh thi 2 CAH Khng

RCAP2

H

Nhn byte cao ca b nh thi 2 CBH Khng

TL2 Byte thp ca b inh thi 2 CCH Khng

TH2 Byte cao ca b nh thi 2 CDH Khng

- Thanh ghi TMOD (Timer Moder Register):

Bit Tn Timer Chc nng

7 GATE 1 Khi bit Gate=1 v INT1 cao th Timer 1 mi hot

ng

6 C/T 1 Bit chn counter/timer (1/0)

5 M1 1 Bit mode 1

4 M0 1 Bit mode 0

3 GATE 0 Bit GATE ca timer 0

2 C/T 0 Bit chn counter/timer (1/0) Timer 0

1 M1 0 Bit mode 1 ca Timer 0

0 M0 0 Bit mode 0 ca Timer 0

Cc bt a ch ca thanh ghi TMOD:

Thanh ghi TMOD c chia thnh 2 nhm 4 bit dng truy cp cc ch

hot ng ca Timer0 v Timer1.

Cc ch hot ng ca b nh thi:


GVHD:o c Thnh 15

+ M1=0, M0=0: Mode 0 (Ch nh thi 13-bit)

+ M1=0, M0=1: Mode 1 (Ch nh thi 16 bit)

+ M1=1, M0=0: Mode 2 (Ch t ng np 8 bit)

+ M1=1, M0=1: Mode 3 (Ch nh thi chia x).

- Thanh ghi iu khin b nh thi TCON (Timer control register):

Bit K hiu a ch bit M t

TCON.7 TF1 8FH C trn b nh thi

TCON.6 TR1 8EH Bit iu khin hot ng ca b nh thi 1

TCON.5 TF0 8DH C trn b nh thi 0

TCON.4 TR0 8CH Bit iu khin hot ng ca b nh thi 1

TCON.3 IE1 8BH C ngt bn ngoi 1

TCON.2 IT1 8AH C ngt bn ngoi 1

TCON.1 IE0 89H C ngt bn ngoi 0

TCON.0 IT0 88H C ngt bn ngoi 0

c.cc ch ca timer v c trn

Ch nh thi 13 bit (mode 0):

Mode 0 t c s dng trong cc h thng mi. Byte cao ca b nh thi

THx c kt hp vI 5 bit c trng s nh nht va byte thp ca b nh thi

TLx to nn b nh thi 13 bit. #bit cn li ca TLx khng c s dng.

Ch nh thi 16 bit (mode1):

Trong Mode 1, tn hiu ng h c a vo c 2 byte cao v thp ca b

nh thi (TLx,THx). Khi nhn xung ng h, b nh thi bt u m ln t

TLx (5bit)

THx (8bit)

TF


GVHD:o c Thnh 16

0000H. Hin tng trn xy ra khi c chuyn tip t FFFFH v 0000H v lm bt

c trn.

Ch nh thi 8 bt t ng np li (mode 2):

Trong Mode 2, thanh ghi nh thi TLx hot ng nh l b dnh thi 8

bit trong khi byte cao ca b dnh thi lu gi tr np li. Khi qu trnh m

TLx b trn t FFH v 00H th khng nhng c trn bt ln m gi tr tng THx

c np vo TLx, v tip tc qu trnh m t gi tr ny ti khi xy ra s

chuyn i tip theo t FFH v 00H.

Ch nh thi phn chia (mode 3):

Timer 0 trong mode 3 c chia thnh 2 b nh thi 8b bit. TL0 v TH0

hot ng nh 2 b nh thi ring r v s dng cc c trn tng ng l

TF0,TF1. Timer 1 trong mode 3 ngng lm vic nhng c th hot ng bng

cch chuyn n sang mt trong mode khc. iu hn ch duy nht l c trn

ca Timer mode khng b nh hng khi xy ra trn Timer1, bi v n c ni

n TH0

TLx(8bit) THx(8bit) TFx(c trn) Timer Clock

Timer Clock TLx(8bit)

THx(8bit)

TFx(c trn)

TL1(8bit) TH1(8bit) Timer Clock

TL0(8bit) TF0(c trn) Timer Clock

TH0(8bit) TF1(c trn) 1/12 FOSC


GVHD:o c Thnh 17

III.1.4.h thng ngt.

a.gii thiu chung.

Ngt ng vai tr trong vic thit k v thc hin cc ng dng ca vi iu

khin. Chng cho php h thng p ng mt cch khng ng b n mt s kin

v gii quyt s kin khi chng trnh khc khi chng trnh khc ang

chy.

Chng trnh gii quyt yu cu ca mt ngt gi l th tc phc v ngt ISR.

ISR dng p ng li mt ngt v thng l thc hin cc hot ng vo ra i

vi mt thit b vo ra ni vi vi iu khin. Khi xy ra mt ngt chng trnh

chnh tm dng cng vic ang thi hnh v r nhnh sang ISR, tip theo ISR hot

ng p ng yu cu ca ngt v n s kt thc bng lnh quay tr v, chng

trnh chnh s hot ng tip tu ngay sau im r nhnh. Chng trnh chnh thc

hin mc c bn cn ISR thc hin mc ngt.

Ti chng trnh phc v ngt tr v chng trnh chnh ni xy ra ngt

C ch thc hin ngt

b.t chc ngt.

AT89C51 c tt c 6 nguyn nhn ngt: hai ngt do bn ngoi, ba ngt do b

nh thi, mt ngt do port ni tip. Tt c cc ngt u b cm sau khi h thng

khi ng (reset) sau chng c cho php bng phn mm.

c. u tin ngt.

Mi mt ngun ngt c th c lp trnh t c mt trong 2 mc u

tin thng qua thanh ghi chc nng c bit c a ch bit IP tI 0B8H. Thanh ghi

Chng trnh chnh

ISR


GVHD:o c Thnh 18

IP b xo sau khi h thng khi ng t cc ngt mc u tin thp hn so vi

mc nh. Trong AT89C51 tn tI 2 mc u tin. Khi mt u ngt c mc u tin

cao xut hin trong mt ISR c mc u tin thp ang thi hnh th ISR s b

ngng li, ISR c mc u tin cao hn s c thc hin. Nu 2 ngt c mc u

tin khc nhau xy ra cng mt lc th ngt c mc u tin cao hn s c phc

trc:

Thanh ghi IE.

Cc bt trong thanh ghi IP (thanh ghi iu khin u tin ngt):

Bit K hiu a ch

bit

M t

IP.7 - - Khng nh ngha

IP.6 - - Khng nh ngha

IP.5 PY2 BDH u tin cho ngt Timer 2

IP.4 PS BCH u tin cho ngt cng nI tip

IP.3 PT1 BBH u tin cho ngt Timer 1

IP.2 PX1 BAH u tin cho ngt ngoi 1

IP.1 PT0 B9H u tin cho ngt Timer 0

IP.0 PX0 B8H u tin cho ngt ngoi 0


GVHD:o c Thnh 19

d.c ch la chn tun t.

Nu c 2 ngt cng mc u tin xy ra ng thi, mt c ch chn la theo

th t c sn s xc nh ngt no c p ng trc. Vic chn la theo th t

l: External 0, Timer 0, External 1, Timer 1, Serial Port, Timer 2.

Qu trnh x l ngt:

Khi mt ngt xut hin v n c CPU chp nhn, chng trnh chnh b

ngng, cc hot ng tip theo xy ra nh sau:

+ Thc hin xong lnh hin hnh

+ B m chng trnh PC c lu vo trong Stack

+ Lu gi tnh trng ca ngt hin ti

+ Cc ngun ngt c gi ti mc ca ngt hin ti

+ Nap vo PC a ch Vector ca ISR

+ ISR thc hin

ISR hot ng p ng li yu cu ngt. ISR kt thc bng lnh RETI c

tc dng quay tr v chng trnh chnh, lnh ny s np li gi tr c ca PC trong

ngn xp v khi phc tnh trng ca ngt c. Vic thc hin chng trnh chnh

tip tc din ra ti ni n tm dng.

e.vector ngt.

Khi mt ngt c chp nhn th gi tr np vo PC gi l vect ngt. N

chnh l a ch bt u ca ISR tng ng vi ngt c chp nhn.

* Hm ngt:

Void tenhamngat(void) interrupt ngun ngt

{

// Chng trnh ngt y

}


GVHD:o c Thnh 20

* Ch v hm ngt.

- Hm ngt khng c tr li hay truyn bin vo hm - Tn hm bt k - Interrupt l hm ngt phi phn bit vi hm khc - Ngun ngt t 0-5 theo bng vecto ngt - Bng thanh ghi Ram chn t 0-3

- Sau y l bng cc vect ngt

Ngt C a ch Vector

System reset RST 0000H

External 0 IE0 0003H

Timer 0 TF0 000BH

External 1 IE1 0013H

Timer 1 TF1 001BH

Serial Port RI or TI 0023H

Timer 2 TF2 or EXF2 002BH

Bng:Cc vecto ngt.

III.2.cm bin tc (encoder).

III.2.1.cu to v phn loi encoder.

III.2.1.1.phn loi.

Gm :

encoder kiu cm ng. encoder tng i(encoder m xung).


GVHD:o c Thnh 21

III.2.1.2.cu to v nguyn l hot ng ca mi loi encoder.

a.encoder kiu cm ng.( Absolute encoder)

cu to.

- Gm mt nam chm vnh cu N-S trn c mt cun dy.

- Mt bnh rng trn c p rng.bnh rng c gn trn trc quoay ca

ng c.

nguyn l hot ng.

Khi ng c quoay vi tc n(vong/pht) th bnh rng cng quoay vi tc

n(vong/phut) th t thng ca nam chm vnh cu gi qua cun dy s bin

thin.lm xut hin trn hai cun dy mt sc in ng E c tn s ph thuc vo

tc quoay ca bnh rng.

n = 60f/p hoc n=60f/N

Trong :

p:s rng trn bnh rng hay s l.

n :tc ca c (vong/phut).

N:s xung/vng ca encoder.

f :tn s ca sc t ng to ra trn hai u cun dy.

Ch cn o c tn s xung f ny ta c th xc nh c tc ca ng c.


GVHD:o c Thnh 22

b.encoder tng i (encoder m xung).

Cu to. - Mt led hng ngoi (b pht).

- Mt transistor quang P.TZT (b thu).

- a m ha:nm gia led hng ngoi (b pht) v transistor P.TZT (b

thu).

Cu to trong ca encoder tng i.

Nguyn tc hot ng. - to m xung th mi b ENCODER s s dng hai led pht v tng

ng l hai b tch sng (hai con mt thu) .hai led c t sao cho hai tn

hiu ra c pha vung gc nhau xc nh chiu quoay ca a(tng

ng vi chiu quoay ca ng c).

- Tc quoay ca a c xc nh nh vo tn s ca tn hiu.chiu

c xt bng cch xem tn hiu no sm pha hay mun pha hn.


GVHD:o c Thnh 23

B encoder trong thc t gn trn ng c thng c 4 dy trong :

- Dy :l dy ngun 5V.

- Dy xanh l :GND

- Dy vng v dy trng l hai tn hiu lch pha nhau 90 dng o tc

ng c.


GVHD:o c Thnh 24

III.3.Led 7seg.

Led 7seg c th coi l mt tp hp ca 7 led n ghp li di dng cc thanh

to ra .c hai loi led 7 thanh l loi catot chung v loi anot chung.

8 led n trn led 7 on c Anode(cc +) hoc Cathode(cc -) c ni chung vi nhau vo mt im, c a chn ra ngoi kt ni vi mch in. 8 cc cn li trn mi led n c a thnh 8 chn ring, cng c a ra ngoi kt ni vi mch in. Nu led 7 on c Anode(cc +) chung, u chung ny c ni vi +Vcc, cc chn cn li dng iu khin trng thi sng tt ca cc led n, led ch sng khi tn hiu t vo cc chn ny mc 0. Nu led 7 on c Cathode(cc -) chung, u chung ny c ni xung Ground (hay Mass), cc chn cn li dng iu khin trng thi sng tt ca cc led n, led ch sng khi tn hiu t vo cc chn ny mc 1.

V led 7 on cha bn trong n cc led n, do khi kt ni cn m bo dng qua mi led n trong khong 10mA-20mA bo v led. Nu kt ni vi ngun 5V c th hn dng bng in tr 330 trc cc chn nhn tn hiu iu khin.

S v tr cc chn c b ch nh sau:


GVHD:o c Thnh 25

Trong :cc in tr 330 m mc ngoi dng hn dng qua led 7 thanh khi n c ni vi ngun in p 5V.

M led 7 thanh:

- M cho led 7 thanh anot chung (cc led n sng mc logic 0):

S hin th trn led 7

on

M hin th led 7 on dng

nh phn


thp lc phn

h g f e d c b a

0 1 1 0 0 0 0 0 0 C0

1 1 1 1 1 1 0 0 1 F9

2 1 0 1 0 0 1 0 0 A4

3 1 0 1 1 0 0 0 0 B0

4 1 0 0 1 1 0 0 1 99

5 1 0 0 1 0 0 1 0 92

6 1 1 0 0 0 0 1 0 82

7 1 1 1 1 1 0 0 0 F8

8 1 0 0 0 0 0 0 0 80

9 1 0 0 1 0 0 0 0 90

A 1 0 0 0 1 0 0 0 88

B 1 0 0 0 0 0 1 1 83

C 1 1 0 0 0 1 1 0 C6

D 1 0 1 0 0 0 0 1 A1

E 1 0 0 0 0 1 1 0 86

F 1 0 0 0 1 1 1 0 8E

- 1 0 1 1 1 1 1 1 BF

- M led 7 thanh cato chung (cc led sng mc logic 1):

S hin th trn led 7

on


nh phn

M hin th led 7 on

dng thp lc phn

0 0 0 1 1 1 1 1 1 3F

1 0 0 0 0 0 1 1 0 06

2 0 1 0 1 1 0 1 1 5B

3 0 1 0 0 1 1 1 1 4F

4 0 1 1 0 0 1 1 0 66


GVHD:o c Thnh 26

5 0 1 1 0 1 1 0 1 6D

6 0 1 1 1 1 1 0 1 7D

7 0 0 0 0 0 1 1 1 07

8 0 1 1 1 1 1 1 1 7F

9 0 1 1 0 1 1 1 1 6F

A 0 1 1 1 0 1 1 1 77

B 0 1 1 1 1 1 0 0 7C

C 0 0 1 1 1 0 0 1 39

D 0 1 0 1 1 1 1 0 5E

E 0 1 1 1 1 0 0 1 79

F 0 1 1 1 0 0 0 1 71

- 0 1 0 0 0 0 0 0 40

III.4.mch cu H.

III.4.1.nguyn l hot ng ca mch cu H

Mt mch cu H dn gin c dng nh s sau:

Theo s trn ta mch cu H gm c:

- Dy cp ngun +V.

- Dy cp mass GND.

- 4 kha ng m.

Khi kha A1 v A2 ng th dng chy t ngun +V qua

A1,MOTOR,A2 => ng c chy thun.


GVHD:o c Thnh 27

Khi kha B1 v B2 ng th dng chy t ngun +V qua

B1,MOTOR,B2 => ng c quoay ngc.

Cc kha ny c th ng m c bt c lc no.Chng ta c 4 kha vy s c

16 trng thi.Tuy nhin ch c 4 trng thi l c s dng.Nhng trng thi cn

li s khng hot ng v nu hot ng s gy chy n.Trong qu trnh iu khin

chng ta phi lun trnh cc trng thi khng mong mun.Cch thc hot ng

c tm tt nh bng sau.

A1 B1 A2 B2 Trng thi ca ng c

1 0 1 0 Quoay thun

0 1 0 1 Quoay nghch

1 1 0 0 Hm ng c

0 0 1 1 Hm ng c

1 0 0 1 Chp in

0 1 1 0 Chp in

y ta xt: A,Bx = 1l ng cng tc. A,Bx = 0 l m cng tc.

T bng trn ta nhn thy,cu H ch dng vi 4 trng thi u tin.V vy khi s

dng cn thit phi trnh cc trng thi khng mong mun.

Mch cu H chng ta dng iu khin chiu quoay ca ng c .C rt nhiu

loi mch cu H khc nhau nh:mch cu H bn dn,mch cu H tch hp.mch

cu H dng rle

III.4.2.gii thiu v L298 (IC mch cu H).

IC L298 l mch tch hp n chip c kiu v cng sut 15 chn (multiwatt 15)

v POWERSO20 (linh kin dn cng sut). IC L298 l mt mch cu i (dual

full- bridge ) c kh nng hot ng in p cao,dng cao.

- in p cp ln ti 46V

- Tng dng mt chiu chu c ti 4A

- in p bo ha

- Chc nng bo v qu nhit

- Logic 0 t 1.5V tr xung


GVHD:o c Thnh 28

Dng ng v ca L298.

Cc gi tr c trng:


GVHD:o c Thnh 29

S chn v cu trc bn trong:

s chn cu trc bn trong

Chc nng cc chn.

MW.15 powerSO Tn Chc nng

1,15 2,19 senseA

,senseB

Chn ny qua in tr cm ng dng xung GND iu khin dng ti

2,3

4

4,5

6

Out 1,out 2

VSS

Ng ra ca cu A,dng ca ti mc gia hai chn ny c quy nh bi chn 1. Chn cp ngun cho tng cng sut.cn c mt t in 100nF ni gia chn ny vi chn GND

5,7 7,9 Input1,

Input 2

Chn ng vo ca cu A,tng thch chun TTL.

6,11 8,14 enableA

enableB

Chn ng vo enable(cho php) tng thch chun TTL.mc thp chn ny s cm ng ra cu A (i vi chn enableA)hoc cu B (vi enableB).

8 1,10,11,20 GND Chn t (ground)

9 12 VSS Cp ngun cho khi logic,cn 1 t 100nF ni gia chn ny vi GND.

10,12 13,15 Input 3 Cc chn ng vo cu B


GVHD:o c Thnh 30

,input 4

13,14 15,17 Out 3,

Out 4

Ng ra ca cu B,dng ca ti mc gia hai chn ny c quy nh bi chn 15.

- 3,18 N.C Khng kt ni (b ng)

III.5.ng c in mt chiu DC.

Hnh nh thc t ca ng c DC v encoder

Cu to bn trong ca ng c in mt chiu.

ng c in mt chiu l ng c in hot ng vi dng in mt chiu.

Cu to ca ng c gm c 2 phn: stato ng yn v rto quay so vi stato. Phn

cm (phn kch t-thng t trn stato) to ra t trng i trong mch t, xuyn

qua cc vng dy qun ca phn ng (thng t trn rto). Khi c dng in chy

trong mch phn ng, cc thanh dn phn ng s chu tc ng bi cc lc in t

theo phng tip tuyn vi mt tr rto, lm cho rto quay. Chnh xc hn, lc


GVHD:o c Thnh 31

in t trn mt n v chiu di thanh dn l tch c hng ca vect mt t

thng B v vect cng dng in I. Dng in phn ng c a vo rto

thng qua h thng chi than v c gp. C gp s gip cho dng in trong mi

thanh dn phn ng c i chiu khi thanh dn i n mt cc t khc tn vi

cc t m n va i qua (iu ny lm cho lc in t c sinh ra lun lun to

ra mmen theo mt chiu nht nh).


GVHD:o c Thnh 32

CHNG IV:THIT K V GIA CNG PHN CNG

IV.1.mch ngun nui.

Trong thc t ngy nay i vi cc vi iu khin,ICngi ta a s dng mc

tng thch TTL hn l CMOS.mc TTL th IC TTL dng c v IC CMOS

cng dng c (cc IC c di in p 3:8v).Mc TTL c chun dng 5V v

chun m 0 V.cc chp vi iu khin,IC TTLi hi phi c ngun cung cp n

nh 5V(giao ng t 4.75 ti 5.25) nu in p khng nm trong gii m

xung thp hn th IC khng hot ng,cao hn th IC chy hng.Do trong cc

thit k mch s dng IC phi cung cp cho chng mt ngun nui n nh khng

ln xung theo in p ngun cp vo.

Mch ngun n p 5v.


GVHD:o c Thnh 33

Mch in ca khi ngun.

Mch ny s dng:

- Mt IC n p LM 7805.

- Mt led n :bo trng thi c ngun.

- 4 t:chng nhiu v san phng in p

IV.2.encoder

Khi tai sng t led hng ngoi chiu vo chn B ca transistor quang lm ni

tr Rce ca transistor gim mc 0 c a vo chn dng (+) ca OPAM lc

my u ra ca b khuch i thut ton l 0.

a m ha c gn trn trc ng c dn ti khi ng c quoay c lc a s

chn tia sng chiu t led quang ti chn B ca transistor lm cho ni tr Rce ca

transistor tng ln a in p dng (5V) vo chn dng (+) ca OPAM lm cho

u ra ca b khuch i l mc dng.

Bin tr:R9 to in p so snh.


GVHD:o c Thnh 34

Hai mc 0 v 1 c a v chn ngt ca VXL m .to mt bin m

m s ln ngt t ta c th xc nh c tc ng c.

IV.3.mch VK 89c51.

S nguyn l


GVHD:o c Thnh 35

CHNG V:TNH TON THAM S V THIT K PHN MM

V.1.tnh ton tham s.

V.1.1.tnh ton gi tr np vo cho timer0 v timer1.

a. Phn tch la chn phng n o tc bng encoder:

phng n 1:Tnh s cnh sung trong khong thi gian Ts (sampling time)

suy ra vn tc trung bnh ca ng c (Pulse/Ts).

phng n 2:Tm thi gian sut hin hai cnh xung lin tip ca encoder t

c th suy ra vn tc trung bnh ca ng c.

b.Phn tch la chn phng n:

Phng n 1:

- S dng phng n ny ta cn mt timer nh thi gian ly mu v

mt counter dm s xung.

- Nu s dng phng n 1 s b gii hn v mt p ng do encoder gy

ra (s xung qu ln,trn counter/hoc encoder c phn gii thp th

thi gian ly mu Ts phi ln gim thiu sai s o c)

Phng n 2: Nu dng phng n ny


GVHD:o c Thnh 36

- ta cng cn 1 counter nh thi gian v 1 chn (c th l counter/ngt

ngoi/1 chn in/out bnh thng).

- thi gian thc thi chim hu ht thi gian hot ng ca MCU nn s

dng mt thit b (device) ring bit lm nhim v ny.

- Trong thut gii ca MCU MASTER ,dng giao tip song song gim

thiu thi gian ly mu,tt nhin cn giao thc bt tay m bo nhn

ng d liu,chiu quoay ca ng c cng c ENCODER READER

CARD nhn v gi ln.

c.la chon phng n

Trong ti ny chng em chon phng n 1 v :

- n gin

- Tn t thit b hn phng n 2

- Gii thut n gin.

d.tnh ton vi phng n chn

o tc ng c ngi ta s lm nh sau:

Ts TF=1

Hnh 1.s c tc t encoder.

- S dng Timer 1 ch 1 dng lm counter m s xung cnh ca

encoder.

- S dng timer 0 nh thi gian ngt (Ts) thi gian ny c lp trnh

c th thay i ty vo mc ch , ca ngi s dng.nhng

chng ta nn chon Ts sao cho vic tnh ton tc ng c l n gin

nht:

Ta c:

Timer 0

encoder

Counter 1


GVHD:o c Thnh 37

Gi s trong Ts (c xc nh bi b nh thi timer0) th timer1 ch

count1 m c count xung c minh ha nh hnh v di:

count

Ts

Th ta c chu k ca xung l :Ts

Tcount

(s) nn tn s xung l f=1/T

Suy ra: c tc ng c l: 60 60.

.

f countn

N N Ts (vong/giay)

cho vic tnh ton tc ng c c d dng chng ta nn

chn : 60 1.N Ts

khi tc ng c ch n gin l :

n=count (vong/giay).

Vy l by gi chng ta ch vic hin th con s count ln thit

b hin th (trong n ny th thit b hin th l led 7seg)

Trong bi ny chng em dng encoder N = 100xung/vong.nn t biu thc

trn ta c: 60

1100.Ts

Ts=0.6 (s).

Tn s thch anh ca 8051 l 12MHz => mi nhp xung ng h c :

0T =12/f=1us

Suy ra s nhp cn cho VK (c tn s thch anh f=12MHz) trong thi gian

0.6(s) l: 6

0.6600000

10 =12.50000 >65536 do ta np cho cc thanh ghi TH0 v

TL0 ca vi iu khin gi tr:65536-50000=15536D=3C0B H

TH0=0x3C v TL0=0xB0. V cn cho VK chy lp li 12 ln m bo

T=12.500000. 610 =0.6 (s).


GVHD:o c Thnh 38

V.1.2.tnh ton gi tr np cc thanh ghi ca cho timer2 thc hin PWM.

To mt xung c tn s f=1kHz T=1/1000=0.001s=1000us=1000 chu k

my.chng ta to PWM vi 10 cp iu chnh tc l phi to c xung

10%,20%,30%....100%.mt xung nh sau:

T1

0v

Trong :T1 l khong thi gian xung mc cao 5V

T l chu k ca xung.

Xung % tc l T1/T= %= /100.

- Xung PWM s c a ra iu khin L298 thng qua rng xung.khi

khng c xung ng c khng quoay,khi 100% xung th ng c quoay

max.tuy xung phi ln hn mt mc no mi khi ng ng

c.

- c th thay i 10 cp vi chu k T=1000us th ta phi khi to cho

ngt timer2:100us ngt 1 ln .

- S dng timer2 vi ch t np 16bit th ta phi np cho

RCAP2H;RCAP2L cc con s :65536-100=65436=FF9C H.

RCAP2H=0xFF v RCAP2L=0x9C.

V.1.3.mt s tnh ton khc.

- Do cng P0 ca vi iu khin 89C52 c dng

5V

T


GVHD:o c Thnh 39

Nh vy cn c in tr treo khong 10K (hoc 4.7k)


GVHD:o c Thnh 40

V.2.lu thut ton

a.lu chng trnh ca mch.

S S S S S

start

Kim ta mt n

Khi to:

-timer 0:ch 16bit (50.000us).

-timer2 :ch 16bit.

- timer 1:ch count1 16 bit

GT TT QN QT STOP

TR2=1 PWM Tin hieu K ng C

ng c END

1

2


GVHD:o c Thnh 41

b.cc lu chng trnh con v cc hm chc nng.

Chng trnh to tr:

S

1

Xung encoder

Count 1

Dem ==12

Dem ++

Hien thi

2

Delay(long time)

Long k=0

K++==time

exit

Ngt timer0


GVHD:o c Thnh 42

Chng trnh khi to:

Khoitao(void)

P3=0xFF

TMOD=0x51

IE=0xAA

TR0=1

TR1=1

TH0=0x3C

TL0=0xB0

T2CON=0x04

RCAP2H=0xFF

RCAP2L=0x9C

ET2=1

EA=1

TR2=1


GVHD:o c Thnh 43

Hm khi ng ng c quoay thun.

S

Note:P1.5 v P1.6 l cc chn iu khin sng led thng bo l ang chy thun

hay chy nghch.

Qoay thuan(void)

P1.2==0

P1.5=0

P1.6=1

Xung =0x01

Phantramxung=6

Return phantramxung


GVHD:o c Thnh 44

Hm khi ng ng c quoay ngc.

S

Quoay nguoc(void)

P1.4==0

P1.5=1

P1.6=0

Xung=0x02

Phantramxung=6

Return phantramxung


GVHD:o c Thnh 45

Hm khi tao dng ng.

Dung(void)

P1.3==0

P1.5=1

P1.6=1

Phantramxung=0

Return phantramxung


GVHD:o c Thnh 46

hm tng tc :

S

S

S

tangtoc

Phantramxung >0

P1.0==0

Phantramxung >9

P1.0==0

Phantramxung ++

Phantramxung=10

Return phantramxung


GVHD:o c Thnh 47

Hm gim tc :

S

S

S

P1.1==0

Phantramxung


GVHD:o c Thnh 48

Hm hin th ch s ra cc PORT.

trong :X l tham s truyn cho hm

Chuso(usigned char x)

X

X=7

P0=0x24;break X=2

P0=0x79;break X=1

P0=0x40;break X=0

X=6

X=3

X=4

X=5

X=8

P0=0x10;break

P0=0x78;break

P0=0x00;break

P0=0x02;break

P0=0x30;break

P0=0x19;break

P0=0x12;break

X=9

return


GVHD:o c Thnh 49

Hm hin th s .

tham s truyn cho hm l n,m

Hienthiso(long n,long m)

int a,b,c,d,e;

n=m*255+n

e=n/10000;

n=n-10000*e

a =n/1000

n=n-1000*a

b=n/100

n=n-100*b

c=n/10

n=n-10*c

d=n

P3.0=1

Chuso(a);delay(1);P3.0=0

P3.1=1

Chuso(b);delay(1);P3.1=0

P3.2=1

Chuso(c);delay(1);P3.2=0

P3.3=1

Chuso(d);delay(1);P3.3=0


GVHD:o c Thnh 50

Chng trnh ngt timer0.

S

ISR_timer0

TR0=0

TR1=0

dem++

TH0=0x3C

TL0=0xB0

Dem==12

Count1=TL1

Count2=TH1

TL1=TH1=0

dem=0

TR0=TR1=1


GVHD:o c Thnh 51

Hm to xung PWM s dng timer2.

S

S

Note:khi chy thun th P2.0=1 xung=0x01 cn khi chy ngc th

P2.1=1xung=0x02.

ISR_timer2

TR2=TF2=0

chay++

P2=xung

Chay


GVHD:o c Thnh 52

V.2.code c vit bng C.

/*********************Mo ta chuong trinh******************/

/*******Chuong trinh do luong va dieu khien dong co DC *******/

/******************** sinh vien thuc hien *******************

TRNG VN TRNG | PHAN CNG TON 20092784

SHSV:20092846 | SHSV :20092784

LP :DK&TH 4-K54 | LP :K&TH 4-K54

**********************************************************/

#include

int count1=0,count2=0;

int dem=0;

long k;

void khoitao(void){// Ham khoi tao

P3=0xFF;

TMOD=0x51;

IE=0xAA;

TR0=1;

TR1=1;

TH0=0x3C;

TL0=0xB0;

//T2MOD=0xc9;//Timer 2 che do 2 8 bit auto reload,tine1 16 bit

T2CON=0x04; //timer 2 o che do tu nap 16 bit va nap boi RCAPL2


GVHD:o c Thnh 53

RCAP2H=0xFF; //Cho timer2 o che do dem 50.000 micro giay

RCAP2L=0x9C;

ET2=1;// Cho phep ngat timer 0

EA=1;// Cho phep ngat toan cuc

TR2=1;// Chay timer 0 bat dau dem so chu ki may

}

/****************Chuong trinh tao tre ***********************/

void delay(long time){

for (k=0;k


GVHD:o c Thnh 54

dem=0;

}

TR0=1;

TR1=1;

}

/********************ngat tiner2 tao PWM******************/

unsigned char xung;

unsigned char phantramxung;

unsigned char chay=0;// Khai bao bien dem de dem tu 1 den 10

void timer2(void) interrupt 5{ //Ngat timer 2

TR2=0;

TF2=0; // Dung chay timer 2

chay++;

if(chay0){


GVHD:o c Thnh 55

if (P1_0==0){//neu nut tang duoc bam

while(P1_0==0){ //nut dang giu;

; //khong lam j ca;

}

phantramxung++;

if (phantramxung>9) phantramxung=10;

}

}

return phantramxung;

}

/**************************Ham giam toc*********************/

char giam(void){//ham giam toc dong co

if (P1_1==0){//neu nut giam duoc bam

while(P1_1==0){ //nut dang giu;

; //khong lam j ca;

}

phantramxung--;

if (phantramxung


GVHD:o c Thnh 56

char quoaythuan(void){//ham khoi dong dong co

if(P1_2==0){

P1_5=0;

P1_6=1;

xung=0x01;

phantramxung=6;

}


}

/*********************ham quay nguoc*************************/

char quaynguoc(void){//ham khoi dong dong co

if(P1_4==0){

P1_5=1;

P1_6=0;

xung=0x02;

phantramxung=6;

}


}

/************************ham dung***************************/

char dung(void){//ham khoi dong dong co

if(P1_3==0){


GVHD:o c Thnh 57

P1_5=1;

P1_6=1;

phantramxung=0;

}


}

/*********** cac ham dung de hien thi len leg **************/

void chuso(unsigned char x){// Ham dua du lieu ra PORT

switch(x){ // Tuy thuoc vao bien dau vao ma dua du lieu ra tu 0...9

//logic 1 tat led, logic 0 bat led

case 0: { P0=0x40; break; } // So 0

case 1: { P0=0x79; break; } // So 1

case 2: { P0=0x24; break; } // So 2

case 3: { P0=0x30; break; } // So 3

case 4: { P0=0x19; break; } // So 4

case 5: { P0=0x12; break; } // So 5

case 6: { P0=0x02; break; } // So 6

case 7: { P0=0x78; break; } // So 7

case 8: { P0=0x00; break; } // So 8

case 9: { P0=0x10; break; } // So 9

}


GVHD:o c Thnh 58

}

void hienthiso(long n,long m){

int a,b,c,d,e;

n=m*255+n;

e=n/10000;

n=n-10000*e;

a=n/1000;n=n-1000*a;

b=n/100;n=n-b*100;

c=n/10; n=n-c*10;

d=n;

P3_0=1;chuso(a);delay(1);P3_0=0;

P3_1=1;chuso(b);delay(1);P3_1=0;

P3_2=1;chuso(c);delay(1);P3_2=0;

P3_3=1;chuso(d);delay(1);P3_3=0;

}

/************** chuong trinh chinh ***********************/

void main(void){

khoitao();

while(1){

hienthiso(count1,count2);

quoaythuan();

tangtoc();


GVHD:o c Thnh 59

giam();

dung();

quaynguoc();

}


GVHD:o c Thnh 60

CHNG VI:KT LUN

VI.1 kt qu ca n.

Sau mt thi gian tm hiu nghin cu chng em hon ton bi ton :

O LNG V IU KHIN TC NG C

Tha mn cc ch tiu k thut d nh,chng trnh c vit trn keilC v

c m phong trong proteus cho kt qu nh mong i.y l hnh nh m phng

qua proteus:

VI.2.ng dng v phng hng pht trin.

1.ng dng.

Mch o v iu khin tc ng c dng xc nh tc ng c mt

chiu t C th:

- Bit tnh trng hot ng ca ng c.pht hin ng c c chy theo ng

thit k ban u khng bit c ng c c b hng hc hay khng.


GVHD:o c Thnh 61

- iu chnh tc ng c theo yu cu tc nh sn.

- Gip ngi vn hnh thit b c thm mt cng c quan st trc quan hn

c th nm tnh hnh,hn ch phn no s c k thut sy ravn hnh thit

b c tt hn.

- Trong cc thit b sn xut,dn dng cn hot ng vi tc n nh.

2.phng hng pht trin.

T nhng ng dng thc t m cc thit b o tc ngy cng c quan

tm pht trin.c mt trong hng lot cc ngnh khoa hc,trong san xut cng

nghip v cuc sng hng ngy.

Documents

-ĐỒ-AN-VI-XỬ-LÝ