DA - Dieu Khien PID Cho Dong Co DC

8/3/2019 DA - Dieu Khien PID Cho Dong Co DC

1/25

n mn hc I : iu khin v tr ng c

- 1 -

Li ni u !

T chic my tnh u tin do Pascalpht minh ra n nhng chic my

tnh by gi l mt qu trnh pht trin v cng to ln ca khoa hc k

thut , nht l trong nhng thp nin gn y, s pht trin cng mau l.

Trong , mt trong nhng ht nhn ca qu trnh pht trin l cng

ngh in t. Nhng chic my tnh by gi c th dng lm nhng vic

m con ngi trc kia b ra hng nm thc hin xong, gi c th ch trong

nhy mt.

Trong k thut mi thi gian khng cn c tnh bng giy na , m lmicr giy , thm ch cn nh hn na . Mt b iu kin t ng c th thay

th cho nhiu cng nhn , nhiu k s, thm ch lm nhng vic m t mnh ,

con ngi khng th lm ni.

L mt sinh vin k thut , ngnh t ng , ang chp chng bc vo

mt lnh vc to ln y , th vic hc tp , vn ng nhng iu hc vo

trong thc tin , trao i kin thc l chuyn ng nhin. V n t ng

1, c th l cng trnh u tinca nhiu bn sinh vin cng ngnh lm , nh u s hin in u tin ca mnh trong lnh vc ny.

Trn con ng trao di , hc tp tr thnh k s thc , ngoi bn thn

ca mnh , cn l s gip , y ca cc thy c gio. V vy em xin chn

thnh cm n thy hng n , cc thy cc c trong trng , cho em nhng

kin thc c th hon thnh c n ny.

Vn bit cn nhiu thiu st , em rt mong thy c gip , cho kin ,

cho em nhng hiu bit su sc hn , thc hin tt hn n mn hc 2 spti .

Em xin chn thnh cm n!


2/25


- 2 -

A/ S LC VI IU KIN P89V51Rx2:

1. Khi qut cc tnh nng:

+ Khi qut:

P89V51RD2 l vi iu khin 80C51 c 64kB Flash v 1024bytes b nh dliu RAM.

Tnh nng c bit ca P89V61RD2 l ch hot ng mode x2. Ngi thit k chnchy ng dng ca mnh ch ny nng i tc khi hot ng cng tn s

dao ngB nh chng trnh Flash cho php lp trnh ISP hoc/v song song. Ch lptrnh song song ca ra thch ng vi tc cao, gim thi gian v gi thnh.IAP/ISP.

+Cc tnh nng:

CPU 80C51.

Hot ng 5VDC trong tm tn s dao ng n 40MHz.

64kB ISP.

SPI

5 PCA vi chc nng PWM/capture/compare 16bits.

4 cng xut nhp.

3 Timers/Couters 16bits.

Watchdog Timer c th lp trnh c.

8 ngun ngt.

2 thanh ghi DPTR.

Tng thch mc logic TTL v CMOS.

Pht hin ngun yu

Ch Low-power, Power down, Idle.


3/25


- 3 -

S khi ca MCU P89V51RD2:

S qua v cc chn ca vi iu khin:Port 0, Port 1, Port 2, Port 3: Nh cu trc 8051 kinh in.

Port 0: l port c hai chc nng cc chn t 32-39 . Trong cc thit k c nh khngdng b nh m rng n c chc nng nh cc ng vo ra.

Port 2:l mt port cc chn t 21-28 c dng cho chc nng IO port hoc l byte a

ch cao ca Bus a ch .

Port 3: l port c tc dng kp , t chn 10-17. Cc chn ca port ny ngoi IO , cn c

nhiu chc nng c bit .Port 1:

Ngoi chc nng IO port , P89V51Rx2 cn c thm nhiu chc nng mi:

P1.0 - T2: Ng vo Counter cho Timer/Counter 2 hoc ng ra cho Counter/Timer2.P1.1 - T2EX: iu khin hng v cnh kch chc nng Capture cho timer/Counter 2.


4/25


- 4 -

P1.2 ECI: Ng vo xung nhp. Tn hiu ny l ngun xung nhp ngoi cho chc nngPCA.P1.3CEX0: ng vo xung nhp cho chc nng Capture/Compare modul 0.P1.4:

o SS: Chn cng ph vo cho SPI.o CEX1: ng vo xung nhp cho chc nng Capture/Compare modul 1.

P1.5:

o MOSI: phc v SPIo CEX2: ng vo xung nhp cho chc nng Capture/Compare modul 2.

P1.6:

o MISO: phc v SPIo CEX3: ng vo xung nhp cho chc nng Capture/Compare modul 3.

P1.7:

o SCK: phc v SPIo CEX4: ng vo xung nhp cho chc nng Capture/Compare modul 4.

PSEN: Cho php dng b nh chng trnh ngoi. Khi MCU s dng b nh chng trnhtrong chip, PSEN khng tch cc. Khi s dng b nh chng trnh ngoi, PSENthng mc tch cc 2 ln trong mi chu k my. S chuyn mc cao sang thp trnPSEN cng bc t bn ngoi khi ng vo RST ang mc cao trong hn 10 chu kmy s a MCU vo ch lp trnh host t bn ngoi.RST: Khi ngun dao ng ang hot ng, mc cao trn chn RST trong t nht 2 chuk my s Reset li h thng. Nu chn PSEN chuyn mc trong khi RST vn cn mc cao, MCU s vo ch lp trnh host t bn ngoi, nu khng, s hot ng

bnh thng. EA: Cho php s dng b nh chng trnh ngoi.

o EA=0 :B nh ngoi.o EA=1:B nh trong chip.

ALE/PROG: Cho php kha a ch ngoi ra, chn ny cn c dng a vo ch lp trnh FLASH

S chn ca IC:

U1

9

1819

20

2930

31

40

12345678

21222324

25262728

1011121314151617

39383736

35343332

RST

XTAL2XTAL1

GND

PSENALE/PROG

EA/VPP

VCC

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

P2.0/A8P2.1/A9P2.2/A10P2.3/A11P2.4/A12P2.5/A13P2.6/A14P2.7/A15

P3.0/RXDP3.1/TXDP3.2/INT0P3.3/INT1P3.4/T0P3.5/T1P3.6/WRP3.7/RD

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


5/25


- 5 -

B/ PHN CHNG TRNH THC HIN

I/ THIT K PHN CNG:

Phn cng gm hai khi chnh :

+ Khi iu kin : kt iu kin+ Khicng sut : Ngun , cu H , v ng c

RS232

Encoder

Khi iu kin: Khi chp hnh

Khi iu kin:Ngun 5V , IC , cng com RS-232, hin th lcd , hin th led,led 7 on

ng c

Ngun 24VDC

Cu H

My tnh

Kt iu kin :P89V51RX2


6/25


- 6 -

+ Ngun cho kit vxl:

J12

CON2

12

0.1uF

0

7805

1 3

2

IN OUTGND 5V

12

470

2200uF

D18LED

- +

D17

BRIDGE

1

4

3

2

+ Khi x l ca kit:

p0.0

p2.4

Y1

ZTA

p0.7

p3.3

p3.1

p1.5

p0.2

p17

p2.1

p1.0

p1.1

p2.6

R12

RESISTOR SIP 9

123456789

p3.1

J3

CON8

12345678 p2.2

5V

R1R

C2

1n1

2

p1.1

p3.4

0

p0.0

SW1

p2.4 p3.7

J15

CON8

12345678

J4

CON8

12345678

p0.4

p2.2

p2.0

SW44

0

p1.2

p0.2

SW4

p0.4

U1

AT89C51

9

1819

20

2930

31

40

123

45678

2122232425262728

101112

1314151617

3938373635343332

RST

XTAL2XTAL1

GND

PSENALE/PROG

EA/VPP

VCC

P1.0P1.1P1.2

P1.3P1.4P1.5P1.6P1.7

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/INT0

P3.3/INT1P3.4/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

p0.3

p3.7

0

5V

p3.5

p1.6

p3.4

J2

CON8

12345678

5V

p1.3

p3.2

p0.5

R13

RESISTOR SIP 9

123456789

0

p2.0 p1.3

p1.4

C1

1n1

2

p0.7

p2.7

p1.2

p3.2

p2.6

p2.3

p2.3

C3C

p2.7

p2.5

p0.6p2.5

p0.6

p3.6p1.4

p3.0

J16

CON8 12345

678

p3.5

5V

p1.7

p0.1

5V

p0.1

p1.6

p2.1

p0.5

p3.0

p3.3

p0.3

p1.0

J1

CON8

12345678

p1.5

p3.6

- Khi gm c cc gic cm c , xut port, giao tip bn ngoi- Bn nt bm , v nt sw44 reset lai vxl- Vi x l s t ng reset khi c ngun nh t C3- Thch anh 12Mhz s to ngun xung cho chn 18,19


7/25


- 7 -

-+ Khi hin th:

- Hin th led 7 on:

5V

G

AB

O3C

5VR30 330 8

U10

LED7.2

6

12

3

4

5

78

910

B

ED

T

C

DP

A L

FG

F

O2

O7

5V

O5

G G

A

R32 1K

Q3C1815

CB

F

O7

E

R34 1K

E

5V

R33 1K

5V

BO4

O4

U3

7447

7126

453

1312111091514

16

8

D0D1D2D3

BI/RBORBILT

ABCDEFG

5V

GND

O1

R29 330D

CR27 330

E

5V

O0

O4

8

U9

LED7.1

6

12

3

4

5

78

910

B

ED

T

C

DP

A L

FG

5V

D

O1

R28 330

A

C

J10

CON8

12345678

O5

O3

F

C

G

5V0

E

0

A

O5

R35 1K

B

O0

E 8

U13

LED7.4

6

12

3

4

5

78

910

B

ED

T

C

DP

A L

FG

O7

O6

R31 330

0

AR23 330O2

Q4C1815

F

D D

R24 330

Q5C1815

G

U11

74LS245

2

0

10

191

23456789

1817161514131211

VCC

GND

GDIR

A1A2A3A4A5A6A7A8

B1B2B3B4B5B6B7B8

8

U12

LED7.3

6

12

3

4

5

78

910

B

ED

T

C

DP

A L

FG

B

O6

O6D

Q2C1815

F

- Khi gm IC nng 74LS245 , c tc dng nng dng cho port iu kin.- 4 led 7 on , 4 BJT C1815 c tc ng chn led s ng cho qut led-.- IC gii m 7447 , gii m BCD sang cc chn ca led hin th s.

+LCD:

- Khi gm c : git cm ci 16 chn cho LCD- Git 8 chn dnh cho bus d liu- Git 3 chn dnh cho 3 chn iu kin- in tr r28 hn dng cho led trong LCD- Bin R25 chnh tng phn cho LCD

0

R26

J912345678

R25

0

5V 5V

J7

CON16

12345678910111213141516

J8

123

0 5V


8/25


- 8 -

- Mch hin th led:

- xut led , gm 2 IC nng dng 74LS245, cc gic cm c a ra ngoi.- Mt dy led hin th.

+ Khi giao tip:- RS-232:

0

C4

P1

5948

37261

5V

C6

0

U2

MAX232_1

13

45

16

15

2

6

12

9

11

10

13

8

14

7

C1+C1-

C2+C2-

VCC

GND

V+

V-

R1OUT

R2OUT

T1IN

T2IN

R1IN

R2IN

T1OUT

T2OUT

C7

p3.0

0

p3.1

5V

C5

o Mch c cng DB9 , v IC max232

R9

D9p1.0 R15

p1.5

5VJ5

CON8

12345678

p1.4

D1

5V

0

0

U6

74LS245

20

10

191

23456789

1817161514131211

VCC

GND

GDIR

A1A2A3A4A5A6A7A8

B1B2B3B4B5B6B7B8

J11

CON8

1 2 3 4 5 6 7 8

0

p1.3

R2

p1.7

0

p1.2

U7

74LS245

20

10

191

23456789

1817161514131211

VCC

GND

GDIR

A1A2A3A4A5A6A7A8

B1B2B3B4B5B6B7B8

J6

CON8

12345678

R22 D16

J13CON8

1 2 3 4 5 6 7 8

p1.6

D80

p1.1

5V

5V

0


9/25


- 9 -

o IC max232 v cc t lm nn mch chuyn mc p TTL sang 232o Cp nguncho max232 l 5v, mch trong IC v cc t s to ra ngun +-

10V

-Ma trn phim:SW26

P0.0

P0.3

SW35

P0.6

SW34

P0.7

SW28

P0.2

P0.4

SW31

SW38

SW32

SW39 SW40

SW37

P0.1

SW29SW27

P0.5

SW41

SW33

SW36

SW30

oMch gm 8 chn ni vi port 1 .oKhi qut phim . Nu nt nhn c mt chn c a vo mc cao, mt

chn mc thp , khi nhn phim , th c hai chn u mc thp , v viiu kin c th nhn ra s thay i.

S khi Kit:

Ngun 5v

Khi hin th

Khi x l

Khi giao tip


10/25


11/25


- 11 -

o Hai opto c nhim v cch ly ngun in ca vi iu kin vi b cng suto Cc zener bo v mch , v x khi c dng hi t ng c v -v mch

ngun l cu diof , khng x c.-o T lc gai cho ng c khi chyo Nguyn tc chng trng n : khng th kch ( mc cao) cho 2 ng vo

cng lc- Ngun 24VDC:

J1

24VAC

12 C4

0.1uFC1

2200uF

R22.2k

Q1

J2

24VDC

12- +

D81

4

3

2

D2D10D1

zener 24v

D7

C5

470uF

R1

270

0 + Mch c cu diof chnh lu. T ha C4 lc phng thng thp . T C4 lc thng

cao , BJT cng sut 2N3005.+ diof gn i zener b li in th mt do BJT. V R1 duy trng cho zener . T

C5 lc .

II> CHNG TRNH THC HIN:

THNH PHN , S , GII THUT TNG QUT:Thnh phn :

+ Gm c 2 phn chng trinh chinh:Chng trnh trn my tnh , vit bng Visual basicChng trnh trn vi x l , vit bng hp ng

S v gii thut chnh:+ Chng trnh Visual Basic:

o

GIAO IN:- Hin th- Nhn lnh

X L :- Phn mm

PID, c chnhsa

- Ngt timer thc hin k,v xut kt qu

GIAO TIP VXL:

-

Nhn liu t vxl- Truyn

lnh ti vxl

Vi iukin


12/25


- 12 -

+ Chng trnh hp ng :

M lnh

PWM

Gt encoderencoder

CHI TIT CHNG TRNH:o CHNG TRNH TRN VB:

Visual basic:Giao din VB:

Timer1MSComm

Timer2

CmdketnoiLabecd

Labsovong

Labvantoc

Cmddung

Cmdtien cmdlui txtvitriCmdchay

H_vantoc txtvantoc Cmdclr_ecd

Cmd_dungvitri

-Nhn m lnhT my tnh

Timer 2 toxung uart

My tnh

Giao tipmy tnh iu xung

m gi trencode

Timer1: qut gi gi trencoder ln my tnh

ng c


13/25


- 13 -

Giao din gm c:- Nt kt ni vi iu khin- Khung iu khin tin li:

Nt tin ng c Li ng c ng ng c TextBox nhp gi tr iu xung Thanh trt , to gi tr iu xung

- Khung iu khin v tr ng c: TextBox nhp v tr chy ti Nt start qu trnh. Nt clear gi tr encoder Nt dng chc nng.

- Khung hin th : Label- Hin th gi tr encoder tuyt i (c offset ) Label- Hin th s vng tng ng ( 400 xung / vng ) Label- Vn tc ng c ( c chng nhy do thay i qu nhanh )

- MSComm : < name : gt > : cng c giao tip vi ngoi vi thng qua cng com- Timer1: lin tc ly gi tr trung bnh ca vntc , chng nhy khi hin th- Timer2: To ngt trong khong thi gian 10ms , phc v iu khin v tr ca ng

cM ca chng trnh:

Phn khai bo u chng trnh:Option Explicit

Dim ht As Double 'v tr encoder lay veDim D_tt As Double vn tc tc thi ca ng cPrivate e_p As Double sai s ca v tr ng c_gi liPrivate e_tichluy As Long Sai s tch ly , dng cho thng s KIPrivate dblvitridat As Double bin lu tr v tr xc lpPrivate intvt As Integer bin lu vn tc ng cPrivate ht_p As Double bin lu li gi tr trc ca encoderPrivate d_p(20) As Double Bin lu li chui vn tc tc thiPrivate dang_load As Boolean nh u v tr bt u ca chui ly vPrivate thu_tu As Byte th t ca tn hiu a vPrivate ecd(4) As Long chui gi tr encoder ly v t vi x lPrivate trang_thai As Byte Trng thi : tin , li , dng ca ng cDim P As Double H s P ca b PID-v trDim I As Double H s IDim D As Double H s D


14/25


- 14 -

X l cc skin: Kt ni vi my tnh:Private Sub cmdketnoi_Click()

On Error Resume Next

gt.Settings = "28800,N,8,1" tc 28,8 kgt.CommPort = 1

gt.RThreshold = 1

gt.PortOpen = True

gt.InputLen = 1cmddung.Enabled = True Khi cha kt ni cc nt bmcmdtien.Enabled = True cha c kch hot , chngcmdlui.Enabled = True li cho chng trnhcmdchay.Enabled = Truecmdclr_ecd.Enabled = True

cmd_dungvitri.Enabled = Truelab_trangthai.Caption = "da ket noi !" hin th gc di , phiEnd Sub

Khi togi tr ban uPrivate Sub Form_Load()

Timer1.Interval = 10 ngt mi ln l10msTimer1.Enabled = True kch hot timer 1Timer2.Interval = 10

Timer2.Enabled = False cm timer 2P = 0.282 Cc thng s b PID

D = 1.125 Cc gi tr c tm bngi = 0.0187 PP Zeigler-Nicholsintvt = 0thu_tu = 0

trang_thai = 0

End Sub

X l nhn k t:Private Sub gt_OnComm()

Dim a As Integer

Dim b As Double

Select Case gt.CommEvent Nhn bit s kinCase comEvReceive Nhn d liuDim buffer As Variant b m thubuffer = gt.Inputa = Asc(buffer) chuyn k t ra m asciilab.Caption = a & " ;" & buffer hin th gc cui phibuffer = "" xa tin theo di

If dang_load = True Then Nu nhn c im


15/25


- 15 -

thu_tu = thu_tu + 1 bt u th np d liuecd(thu_tu) = a

If thu_tu = 3 Then

dang_load = False

thu_tu = 0

End IfElse

If a = 99 Then k t gc bt u npdang_load = True

ht = ecd(3) * 256 * 256 + 256 * ecd(2) + ecd(1) - 8388608Gi tr encoder tuyt i tr i gi tr offset

b = ht / 400 s vnglabsovong.Caption = Format(b, "00000.0000")

labecd.Caption = htEnd If

End IfEnd Select

X l cc nt bm tin , li , dng:

Private Sub cmdtien_Click()intvt = Val(txtvantoc)

trang_thai = 1

If intvt >= 256 Then gi tr iu xung maxMsgBox ("gia tri phai nho hon 256")

Exit SubEnd If

Call chay(intvt)End Sub

Private Sub cmdlui_Click()

intvt = Val(txtvantoc)trang_thai = 2

If intvt >= 256 Then

MsgBox ("gia tri phai nho hon 256")

Exit SubEnd If

Call chay(-intvt)

End Sub

Private Sub cmddung_Click()

trang_thai = 0

gt.Output = Chr(3) gi k t c m l 3


16/25


- 16 -

End Sub

S kinthanh trt:

Private Sub H_vantoc_Change()txtvantoc = H_vantoc.Value

intvt = Val(txtvantoc)

Select Case trang_thaiCase 1:

Call chay(intvt) chy tiCase 2:

Call chay(-intvt) chy luiEnd Select

End Sub

Cc nt bm cn li , k v tr ng c

Private Sub cmd_dungvitri_Click()Call cmddung_Click

e_tichluy = 0

Timer2.Enabled = False ngng timer, kt thc tm v trEnd Sub

Private Sub cmdchay_Click()

Timer2.Enabled = True bt u chy v trEnd Sub

Private Sub cmdclr_ecd_Click()

gt.Output = Chr(4) M clear encoderEnd Sub

Hm chay( ):

Private Sub chay(ByVal v As Integer)

If (v > 255) Or (v < -255) Then Exit Sub Max iu xung =256gt.Output = Chr(0) m nhp vn tcIf v < 0 Then

v = -v

gt.Output = Chr(v) truyn vn tcgt.Output = Chr(1) lnh chy liElse

gt.Output = Chr(v) truyn vn tc


17/25


- 17 -

gt.Output = Chr(2) lnh chy tiEnd If

X l s kin timer1, timer2:

Private Sub Timer1_Timer()Dim D_tong As Double

Dim tong As Double

Dim i As IntegerD_tong = ht - ht_p

D_tt = D_tong ly vn tc tc thi cho b PIDht_p = ht

tong = 0

For i = 20 To 2 Step -1 ly tng gi tr vn tc trong 0.2s

d_p(i) = d_p(i - 1)tong = tong + d_p(i)Next

d_p(1) = D_tong

tong = tong + d_p(1)D_tong = tong / 20 ly gi tr trung bnh , x l nhpD_tong = D_tong * 10 nhylabvantoc = Format(D_tong, "0000.00") Cho gi tr ng yn trnGD End Sub

Private Sub Timer2_Timer()

Static g As IntegerDim e As Double

Dim v As Integer

dblvitridat = Val(txtvitri) * 400

e = htdblvitridat Ly sai s cho b PIDv = PID(e, e_p) ly vn tc t b PIDCall chay(v)

e_p = e

If e = 0 Theng = g + 1

Else

g = 0

End IfIf g = 30 Then Timer2.Enabled = False nu ng v tr trong vngEnd Sub 0.3s th dng chc nng li


18/25


- 18 -

B PID:

Private Function PID(ByVal e As Double, ByVal e_c As Double) As Integer

Dim step1 As Integer

Dim up As Double

Dim ui As DoubleDim ud As Double

Dim u As Double

If D_tt = 0 Then Hiu chnh thng s Istep1 = 3 Lm gim thi gian a sai s v 0Else

step1 = 1

End If

up = -P * e

ud = -D * (e - e_c)If (e > -130) And (e < 130) Then Kch hot thng s Ki khi ng ce_tichluy = e * step1 + e_tichluy cch ch khong 1 vngui = -I * e_tichluy

Else

e_tichluy = 0ui = 0

End If

u = (up + ui + ud)

If u > 255 Then u = 255 Khu bo haIf u < -255 Then u = -255PID = CInt(u)If e = 0 Then PID = 0

End Function

PID s: ))(( 1_ kk

S

DTLk

I

Skp ee

T

Te

T

TeKV

Trong h s Ts l chu k ly muTm thng s bng cch :

-Cho h s khuch i K ( Ki,Kd = 0) n khi h bt u ao ng n nh quanhv tr cnbng ( c kch nh ) ta c : k=0.47, T=0.31s

- Kp = 0.6 x k = 0.282 ; Ti = 0.1505 ; Td = 0.03875-Vy D = 1.0927 ; I = 0.1874


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- 19 -

o CHNG TRNH TRN VI IU KIN:INCLUDE p89v51rx2.mc

ECD DATA 40h ; Lu gi gi tr qut xut d liuECD1 DATA 41h ; 3 byte Lu gi gi tr encoderECD2 DATA 42hECD3 DATA 43h

ECD1_P DATA 44h ; 3 byte tip trung gian lu giECD2_p DATA 45h ; gi tr xut, m bo xut chnh xcECD3_p DATA 46hvan_toc DATA 49h ; Vn tc c nhp vo y

nhap_vt BIT 33h ; C nhp vn tc

org 0000hLJMP main

org 0003hLJMP ngat_ngoai0

org 000bhLJMP ngat_T0;ngat time de quet truyen data

org 0023h

LJMP NGAT_NT; tao toc do boau

main:

MOV fst,#08h ;Nng i tc x l caMOV t2mod,#02h ;IC

SETB RCLK ;cho php nhn d liu t PCSETB TCLK ;Cho php xut liu nPCMOV rcap2h,#ffh ; tc baud 28800MOV rcap2l,#f3hMOV scon,#50hSETB TR2

;--------------MOV CCAPM0,#01000010BMOV CCAPM1,#01000010BMOV CCAPM2,#01000010BMOV CCAPM3,#01000010B


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- 20 -

MOV CCAPM4,#01000010BMOV cmod,#0CLR nhap_vtMOV ccap3h,#ffhMOV ccap4h,#ffh

SETB cr ; cho php chc nng PCA chy;--------------

MOV tmod,#01hMOV ien0,#10010011b

SETB it1SETB it0

MOV ip0,#05h ;u tin ngt ngoiMOV ip0h,#0

MOV van_toc,#100

MOV ecd,#1SETB tr0

;--------------------------------------------MOV ecd1,#0hMOV ecd2,#0hMOV ecd3,#128SJMP $

;------------------------------------------- ngat_nt:

JNB ri,thoat_ngat_ntCLR riPUSH accMOV A, sbufMOV p2,AACALL nhan_dkPOP accJNB ti,thoat_ngat_ntCLR ti

thoat_ngat_nt: RETI

;*******************************************************; Chng trnh trong on ny nhn tn hiu iu khin t my tnh.; Gm c nhn chth chy ti , ng ,chy li , nhn tc chy, reset gi tr

encoder


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;------------------------------------nhan_dk:

JNB nhap_vt,tiepMOV van_toc,ACLR nhap_vt

LJMP thoat_nhan_dk

tiep:CJNE A,#0,tiep0LCALL nhap_vantocLJMP thoat_nhan_dk

tiep0: CJNE A,#1,tiep1LCALL chay_toiLJMP thoat_nhan_dk

tiep1: CJNE A,#2,tiep2

LCALL chay_luiLJMP thoat_nhan_dktiep2: CJNE A,#3,tiep3

LCALL dung_dcLJMP thoat_nhan_dk

tiep3: CJNE A,#4,thoat_nhan_dkLCALL clr_ecd

thoat_nhan_dk:RET

chay_toi:

MOV A , van_tocCPL AMOV ccap3h,AMOV ccap4h,#ffhRET

chay_lui:MOV A , van_tocCPL AMOV ccap4h,AMOV ccap3h,#ffh

RETdung_dc:

MOV ccap3h,#ffhMOV ccap4h,#ffhRET

nhap_vantoc:


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SETB nhap_vt ;a chng trnh thu voch

RET ; nhp Vn tcclr_ecd:

MOV ecd1,#0

MOV ecd2,#0MOV ecd3,#128RET

;*******************************************************

; Chngtrnh trong 2 on i , gm c:; - Ngt timer 0 , lin tc gi hm hien_thi.; - Hm hien_thi tun t xut 3 byte lu tr

;v tr encoder ca ng c cho my tnh . Mi

;ln c gi , xut 1 byte.;-------------------------------------------------------

ngat_T0: CLR tf0CLR tr0MOV th0,#fchMOV tl0,#00SETB tr0PUSH 00hMOV R0,ECD

INC R0CJNE R0,#4,thoatMOV R0,#0

thoat: MOV ECD,R0POP 00hLCALL hien_thi

RETI;-------------------------------------------------------

hien_thi:

PUSH accMOV A,ECDCJNE A,#0,O_N_1

MOV sbuf,#99MOV R2,ecd1MOV ecd1_p,R2


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MOV R2,ecd2MOV ecd2_p,R2MOV R2,ecd3MOV ecd3_p,R2SJMP Thoat_hien_thi

O_N_1:CJNE A,#1,O_N_2MOV A,ecd1_pMOV sbuf,ASJMP Thoat_hien_thi

O_N_2:CJNE A,#2,O_N_3MOV A,ecd2_pMOV sbuf,ASJMP Thoat_hien_thi

O_N_3: CJNE A,#3,thoat_hien_thiMOV A,ecd3_pMOV sbuf,a

Thoat_hien_thi: POP accret

;*******************************************************

;Ngt ngoi khi c xung encoder vo vi iu khin; Nu chn cn li mc cao th ng c ang li , ngc li l ang tin.;-------------------------------------------------------

------ngat_ngoai0:

JNB p3.3,tang_encoderJMP giam_encoder

thoat_ngat0:RETI

;------------------------------------------------------- tang_encoder:

INC ECD1

MOV R1,ecd1CJNE R1,#0,thoat_tang_ecdMOV ecd1,#0INC ECD2MOV R1,ecd2CJNE R1,#0,thoat_tang_ecdMOV ECD2,#0


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INC ECD3thoat_tang_ecd:

LJMP thoat_ngat0;------------------------------------------------------- giam_encoder:

MOV R1,ecd1CJNE R1,#0,giam_ecd1MOV ecd1,#ffh

MOV R1,ecd2CJNE R1,#0,giam_ecd2MOV ecd2,#ffh

MOV R1,ecd3CJNE R1,#0,giam_ecd3

MOV ecd3,#ffhSJMP thoat_giam_ecdgiam_ecd1: DEC ecd1

SJMP thoat_giam_ecdgiam_ecd2: DEC ecd2

SJMP thoat_giam_ecdgiam_ecd3: DEC ecd3

thoat_giam_ecd:LJMP thoat_ngat0

END


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25

Mc lc :

Trang

Li ni u . 1

A/ S LCV VI IU KIN P89V51Rx2. 2

Khi qut cc tnh nng. 2

S khi3

S chn... 4

B/ CHNG TRNH THC HIN5

I/ Thit k phn cng... 5

Khi iu khin ..5

+ Ngun cho kit vxl... 6

+ Phn x l ca kit.. 6

+ Phn hin th.. 7

+ Phn giao tip 8

S ton kt10Khi cng sut.10

- Mch cu H..10-Ngun 24Vdc.. 11

II/ Chng trnh thc hin... 11

Thnh phn , s , gii thut tng qut. 11 Chi tit chng trnh 12

-Chng trnh trn visual basic. 12

+ Giao din VB 12

+ Code chng trnh trn VB...13

+ PID s .. 18

- Chng trnh trn vi iu khin.. 19

Mc lc :.25

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