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8/10/2019 3 Thiet Ke Phan Cung Robot NGMThao
1/22
Trch t Lun V n Thc S Tc gi : Nguyn Gia Minh Tho in-in T, H Bch Khoa TpHCM.
CH NG 4. THIT K V THI CNG M HNH ROBOT HAIBNH T CN BNG TH C NGHIM
4.1. Thit k m hnh c kh
4.1.1. S cu trc c kh ca robot
M hnh robot hai bnh t cn bng thc nghi m trong ti ny bao g m 1khung thn b ng nhm v nh a cng ch u lc. Hai ng c DC servo c thng s nh mc: 24[V] - 30[W] - 600[RPM], dng truyn ng trc tip cho 2 bnhxe. M i ng c DC servo c g n km encoder lo i quang t ng i, v i phngii 100 xung/vng, hai tn hi u xung A-B phn hi tc ca ng c . M-un cm bin gc s dng m t cm bin gia t c gc v m t cm bin vn tc gc phn hi gi tr gc nghing t c th i ca thn robot. Vi iu khi n trung tm16-bit MC9S12XDP512 s thu th p tn hi u phn hi t m- un cm bin gcnghing, t hai encoder v xu t tn hi u iu khin 2 ng c DC qua 2 m- unng lc cu H c cch ly. ( Hnh 4.1 )
Hai acqui 12V-3.5Ah c mc ni tip to thnh ngu n 24V cung c p cho 2ng c DC-servo ( Hnh 4.2 ). Mt acqui 12V-1.5Ah cung c p cho m- un vi iukhin trung tm. Cc ch hot ng ca robot nh : ng th ng bng ti ch, dichuyn tin li, quay tri, quay ph i, c th c iu khin bng cc nt nh ntrn m- un iu khin trung tm hay iu khin t xa bng b thu pht sng vtuyn (RF remote).
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Trch t Lun V n Thc S Tc gi : Nguyn Gia Minh Tho in-in T, H Bch Khoa TpHCM.
Hnh 4.1: M hnh ph n c ng ca robot hai bnh cn b ng th c nghi m
Bng 4.1: Gi tr thng s ca m hnh robot hai bnh t cn b ng th c nghi m
K hiu Thng s Gi tr [ n v ]
WL WR W M M M = = Khi l ng bnh xe, bnh xe tri v bnh xephi c kh i l ng bng nhau
0.5 [kg]
B M Khi l ng qui i ti trng tm c a thnrobot7 [kg]
W R Bn knh bnh xe 0.075[m]
L Kho ng cch t trng tm thn robot n trchai bnh xe
0.36 [m]
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Trch t Lun V n Thc S Tc gi : Nguyn Gia Minh Tho in-in T, H Bch Khoa TpHCM.
D Kho ng cch gi a hai bnh xe 0.35 [m]
4.1.2. ng c DC-Servo dng truyn ng cho robot
Hnh 4.2: ng c DC-Servo c dng thi t k robot trong ti.
Cc ph ng trnh c bn ca ng c mt chi u l:
E = K
(4.1)
U = E + R I (4.2)
M = K I (4.3)
Trong :
R: in tr phn ng [ ]I : Dng ph n ng [A]
U: in p ph n ng [V] : Tc ng c [rad/s] : T thng trn m i cc [Wb]
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Trch t Lun V n Thc S Tc gi : Nguyn Gia Minh Tho in-in T, H Bch Khoa TpHCM.
+ Tn hao cng su t nh
Xt m ch in nh Hnh 4.3 :
Hnh 4.3: M ch nguyn l i u r ng xung
Bng cch thay i th i gian ng ng t cng t c S , ta c th thu c in ptrung bnh t trn ng c thay i theo mu n, kho ng thay i t 0 V n U.Dng p ra nh sau :
Hnh 4.4: D ng p ra sau khi i u ch
Tr trung bnh in p trn t i tnh theo cng th c :
U T
t U U on t ==
(4.7)
V i: T = t on + t off l chu k khng i ca xung kch kha S .
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Trch t Lun V n Thc S Tc gi : Nguyn Gia Minh Tho in-in T, H Bch Khoa TpHCM.
T cng th c (4.7) ta th y 0 U t U, v U t ph thuc t s ont T
= , vy c
th iu ch nh in p trn t i theo mu n bng cch thay i t s .
iu khin ng c DC b ng ph ng php PWM v i tn s ca xung iukhin cao, ng i ta c th s dng cc vi iu khin to xung (t n s t 5Khz n 20 Khz) iu khin cc kh i mch ng lc.
Gi i thiu v Encoderi km v i ng c DC 24V-30W trong lun vn- Loi encoder quang t ng i dng trong lu n vn c gn ng trc v i
ng c DC 24V-30W , v c phn gi i l 100 xung/vng, 2 xung tn hi uA-B l ch pha nhau 90[ ] nh Hnh 4.5 .
Hnh 4.5: M hnh encoder quang lo i t ng i v i 2 xung tn hi u
- Hai xung a ra t 2 vng l ch nhau 90 [ ], nu vng ngoi (chu i xung A)nhanh pha h n vng trong (chu i xung B) th ng c quay t tri sang ph i v
ng c li. ( Hnh 4.6 )
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Trch t Lun V n Thc S Tc gi : Nguyn Gia Minh Tho in-in T, H Bch Khoa TpHCM.
Hnh 4.6: S xung ra c a encoder quang t ng i
4.2. Cc mch in t
4.2.1. M ch cm bi n gc nghing thn robotMch cm bin gc nghing (Hnh 4.7) l s k t h p gia mt cm bin gia
tc gc MMA7260 c a hng FreeScale [21] (Hnh 4.8) v mt cm bin vn tc
gc LISY300AL c a hng ST-Electronics (Hnh 4.9) .
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Trch t Lun V n Thc S Tc gi : Nguyn Gia Minh Tho in-in T, H Bch Khoa TpHCM.
Hnh 4.7: S nguyn l c a m- un cm bi n gc
C m bi n gia t c gc MMA72600 c a hng FreeScale, c cc c i m sau :
C th chn c nhy ng v i tm (1.5g/2g/4g/6g)
Dng tiu th 500uA v sleep mode l 3uA
nhy cao 800mv/g i v i tm 1.5g
Th i gian kh i ng nhanh
Tch h p sn 1 b lc thng th p, v c kh nng ch u sc cao.
G1-G2: ch n tm hot ng.
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Trch t Lun V n Thc S Tc gi : Nguyn Gia Minh Tho in-in T, H Bch Khoa TpHCM.
c tnh c a cm bi n vn t c gc LISY300AL, hng ST-Electronics . [22]
Hnh 4.10: S chn c a cm bi n vn t c gc LISY300AL
Hot ng ngun t 2.7V n 3.6V. T m nhi t hot ng: -40 C n+85 C
Tiu th in nng thp. Tch h p b gim p. o vn tc gc quanh tr c z. Ton t m o l : 300 /s , kh nng o l ng l -3 dB, b ng thng l 88
Hz Ng ra l tn hi u t ng t tuyt i. nhy l : 3.3 mV/ /s Tch h p b lc thng th p Tch h p m- un t kim tra. Kh nng ch ng sc cao.
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Trch t Lun V n Thc S Tc gi : Nguyn Gia Minh Tho in-in T, H Bch Khoa TpHCM.
4.2.2. M ch cu H cng su t i u khi n ng c DC c cch ly
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Trch t Lun V n Thc S Tc gi : Nguyn Gia Minh Tho in-in T, H Bch Khoa TpHCM.
Hnh 4.11: S m- un ng l c 2 c u H i u khi n 2 ng c
IC MC33932 (c a hng FreeScale, [21]) ch a 2 kh i cu H c lp v inhau, m i khi cu H c ch c nng nh sau :
- Tm in p ho t ng l : 8Vdc n 28Vdc i v i tr ng h p dng lin t c ,5V n 40V i v i tr ng h p dng gin on.
- T ng thch v i mc tn hi u iu khin TTL (3V , 5V).
- C b o v ngn mch ng ra, qu dng, qu nhi t.
- Tm nhi t hot ng (v i tn nhit c c s n) l t -40 oC n 125 oC.
- Dng in ti trung bnh l 5A , dng in ti nh l 8A.
- Tn s iu rng xung t i a l 20 Khz.
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Trch t Lun V n Thc S Tc gi : Nguyn Gia Minh Tho in-in T, H Bch Khoa TpHCM.
Mch ng lc ny c cch ly v i mch vi iu khin trung tm b ng haiopto t c cao TLP2630 (cch ly cho cc tn hi u iu rng xung) v optoTLP521 (cch ly cc tn hi u iu khin cho php IC MC33932 c tch
cc,).
4.2.3. M ch vi i u khi n trung tm, s d ng vi i u khi n 16-bit hai nhn
MC9S12XDP512 c a hng FreeScale
Hnh 4.12 : Vi i u khi n trung tm MC9S12XDP512
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Trch t Lun V n Thc S Tc gi : Nguyn Gia Minh Tho in-in T, H Bch Khoa TpHCM.
Vi i u khi n MC9S12XDP512, thu c h vi i u khi n HCS12X, c cc c i m chnh nh sau :
L h vi iu khin 16-bit c t c x l nhanh nh t ca hng FreeScale
(tr c y l Motorola, [21]), g m 2 li x l: Li chnh c t n s xung nh pbus ni c th ln n 40 Mhz v m t li x l ph (li X-Gate) c t n s xung nh p bus n i ti a l 80Mhz. Li x l ph X-Gate chuyn dng x lcc ng t. Hai li u c th cng truy c p vo m t vng nh chung ckhai bo tr c.
Ch to theo cng ngh HCMOS nn c n nh, bn cao v c tch h pVng kha pha-th ng hay g i l b PLL.
c nng c p t h vi iu khin 68HC(S)12 v khng c s thay i no v t chc cc thanh ghi x l so v i 68HC(S)12 nn cc on ch ng trnh vi tbng h p ng s dng cho 68HC(S)12 u c th s dng li c v iHCS12X.
Cc lo i b nh bn trong g m c: RAM , EEPROM , Flash . Dung l ng b nh l n, c bit l b nh Flash v c kh nng m rng b nh ngoi.
Tch h p nhiu chc n ng th i gian nh : Bt gi ng vo , so snh ng ra, b m xung v s kin cng, b iu rng xung PWM, ng t th i gian th c,Watchdog
C cc m- un truy n thng n i tip nh : Giao ti p bt ng b (SCI ), giaotip ng b ( SPI ) , IIC.
Tch h p ch Debug ch y nn ,ch cn s dng 1 dy tn hi u duy nh t (gitt l BDM)
C cc ch hot ng tit kim n ng l ng C 1 n 2 b chuyn i tn hi u t ng t sang tn hi u s, phn gi i 10-bit,
c 8 n 16 knh ( channel ). H tr tp lnh logic M khi vi t ch ng trnh b ng h p ng.
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Trch t Lun V n Thc S Tc gi : Nguyn Gia Minh Tho in-in T, H Bch Khoa TpHCM.
Nhiu Port xu t nhp a dng: Port A, Port B , Port K, Port J, Port H, Port M,Port S.
Ngoi ra, ty theo ng dng ,m i dng chuyn d ng trong h HCS12 s tch
h p thm cc m- un chc nng chuyn d ng nh: USB, CAN , BDLC ,Ethernet , iu khin LCD , iu khin Motor
Ngoi nh ng c i m chung c a h vi i u khi n HCS12X, th v i u khi n
MC9S12XDP512 cn c nh ng c i m ring nh sau : c ng gi theo ki u chn LQFP c 112 chn , t m nhi t hot ng l:
-40 oC -:- 150 oC.
Tn s xung nh p bus n i ti a ca li chnh l 40 Mhz , c a li ph X-Gate
l 80Mhz, v c tch h p b PLL. B nh : 14 KB b nh RAM ; 4 KB b nh EEPROM ; 512 KB FLASH. 2 b giao ti p ni tip bt ng b (SCI), 3 b giao ti p ni tip ng b
(SPI),1 b IIC.
5 b CAN , h tr c 2 chu n V2.0A v V2.0B; 1 b giao ti p BDLC ( theochu n J1850 )
8 knh ch c n ng th i gian nh : Bt gi ng vo , so snh ng ra , m xung-s kin cng , ng t th i gian th c , WatchDog Timer
2 b ADC- t ng l16 knh, phn gi i10-bit ; 8 knh trong m- un iurng xung (PWM)
4 Port xu t nhp s ( tng cng 29 chn) : Port A, Port B , Port K , Port E
20 chn c ch c nng to ngt nhn bit phm nh n ( Key-WakeUp).
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Trch t Lun V n Thc S Tc gi : Nguyn Gia Minh Tho in-in T, H Bch Khoa TpHCM.
4.2.4. M ch giao ti p v i my vi tnh.
Hnh 4.13: M ch giao ti p v i my vi tnh qua RS232 .
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Trch t Lun V n Thc S Tc gi : Nguyn Gia Minh Tho in-in T, H Bch Khoa TpHCM.
- Trong s ca khi mch ny, ta dng 3 dy truyn nhn d liu: TXD,RXD, v GND, t c l khng dng ch bt tay b ng ph n cng (cpDSR/DTR hay CTS/RTS). Hnh th c ny di n ra kh ph bin b i v tc x
l ca my vi tnh hi n nay r t cao. Khng ph i nh lc tr c : c lc my vitnh ang lm vi c g th ph i kim tra xem my vi tnh lm xong ch a, nuxong r i th th c hin vic truyn thng. Nu v l do g m c n phi bt tayth ta c th dng ch bt tay b ng ph n mm.
- Vi iu khin MC9S12XDP512 c 2 b giao ti p ni tip bt ng b hotng c lp v i nhau : SCI0 v SCI1 . S ny ang s dng b SCI0 .
- Thng s thit lp cho b SCI0 l : t c baud 115200 Bit/s , 8-bit d liu , 1-
bit Stop, khng c bit Parity.
4.2.5. M ch hi n th LCD
Hnh 4.14: M ch hi n th b ng LCD 4x20 ki u k t
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Trch t Lun V n Thc S Tc gi : Nguyn Gia Minh Tho in-in T, H Bch Khoa TpHCM.
S dng LCD ch na byte nn ch cn dng 4 bit cao d liu l D4 -:- D7
Bng 4.3 : S chn c a LCD k t
Chn K hiu Ch c nng
1 VSS Mass2 VDD Ngu n cung c p cho LCD
3 V_Cons Ch nh t ng phn cho LCD4 /RS Ch n thanh ghi trong LCD
5 R/W c (1) / Ghi d liu (0)6 Enable Cho php ch n LCD
7 D0 Bit 0 c a byte d liu
8 D1 Bit 1 c a byte d liu
9 D2 Bit 2 c a byte d liu
10 D3 Bit 3 c a byte d liu
11 D4 Bit 4 c a byte d liu
12 D5 Bit 5 c a byte d liu
13 D6 Bit 6 c a byte d liu
14 D7 Bit 7 c a byte d liu
15 LED_A Ngu n cho n LED n n ca LCD16 LED_K Mass cho n LED n n ca LCD
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Trch t Lun V n Thc S Tc gi : Nguyn Gia Minh Tho in-in T, H Bch Khoa TpHCM.
- V trong ch ng trnh, ch s dng ch : ghi ra tr ln LCD ( Write) mkhng c c gi tr t LCD v ( Read) nn chn R/W c a LCD c ni v iMass .
-
Bin tr 20K ( R14 ) dng ch nh t ng ph n cho LCD , khi V_Cons =0V th LCD c mu mu m nht.
- Nt nh n SW3 dng bt n Led n n bn trong LCD , khi c th s dng LCD vo ban m.
4.2.6. M ch nt nh n i u khi n
Hnh 4.15: Cc nt nh n i u khi n cc ch hot ng ca robot
- Khi bn phm ny c 6 phm nh n, c ni trc tip vo Port H c a vi iukhin, gm c:
+ Phm START: Reset cc thng s ca b iu khin v cho php robot ho tng
+ Phm MODE: Ch nh gi tr cc thng s ca m hnh robot v thng s ca cc
b iu khin.+ Phm FORWARD, REVERSE : Dng tng/gim gi tr ca tng thng s
trong b iu khin, ng v i MODE chn. Ngoi ra, trong ch dichuyn, cho php robot di chuy n tin hay di chuy n li.
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Trch t Lun V n Thc S Tc gi : Nguyn Gia Minh Tho in-in T, H Bch Khoa TpHCM.
+ Phm LEFT, RIGHT : dng Tng/Gi m gi tr offset cho c m bin gia t cgc. Ngoi ra, trong ch quay trn, cho php robot quay t tri sang ph ihay quay t phi sang tri.
Nguyn l ho t ng cho kh i bn phm: Khi bn phm ( iu khin cc ch hot ng ca robot) u s dng chc nng Key-WakeUp ca vi iu khinMC9S12XDP512. Ch c nng Key-WakeUp c c im chnh nh sau :
+ Lc bnh th ng , khng c phm no nh n , do c in tr 4.7 K ko lnngun 5Vdc, gi tr cc chn ch c nng Key-WakeUp khng thay i mclogic ( u mc cao) v khng t o ra ng t.
+ Khi c phm c nh n , mc logic c a chn ch c n ng Key-WakeUp t ngng v i phm s thay i t mc 1 thnh m c 0 v s to ra m t tn hi ungt t ng ng, nh vi iu khin s lp tc nhn ra phm no c nhnv thc thi ch ng trnh t ng ng.
4.2.7. M- un thu pht tn hi u qua sng radio (RF)
Hnh 4.16: B m- un thu pht b ng tn hi u RF c s d ng trong ti
B thu pht RF v i 4 knh c nh, c cc ch c nng chnh Di tn s hot ng 315Mhz. S dng IC gi m XX-2272
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Trch t Lun V n Thc S Tc gi : Nguyn Gia Minh Tho in-in T, H Bch Khoa TpHCM.
4 knh tn hi u c nh : A, B, C, D in p ho t ng cho m- un thu (trn thn c a robot) l 5Vdc, in p
cho m- un pht tn hi u iu khin cm tay l 9Vdc n 12Vdc (s dng
Pin). Khi b m mt nt iu khin (nt A, B, C, D) trn b iu khin cm tay th
tn hiu ng ra knh ng ra t ng ng b thu s ln m c cao (m c5Vdc), cc knh ng ra cn l i s mc thp (mc 0Vdc). Vi iu khin s lin tc kim tra tn hi u ng vo cc chn I/O k t ni v i m- un thu tnhiu RF bit nt nh n no c nhn.
4.2.8. Hnh nh hai m hnh robot hai bnh t cn b ng th c hin:
( Hnh 4.17 , Hnh 4.18 ).
Hnh 4.17: M hnh robot hai bnh th c nghi m phin b n 0.1 04/2010.
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Trch t Lun V n Thc S Tc gi : Nguyn Gia Minh Tho in-in T, H Bch Khoa TpHCM.
Hnh 4.18: M hnh robot hai bnh th c nghi m phin b n 1.0 10/2010. y l phin b n robot c dng vi t bo co lu n vn.