Robocon-Nhung Dieu Can Biet

7/31/2019 Robocon-Nhung Dieu Can Biet

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Phn 1Robocon Khoa Khoa Hc & K Thut My Tnh

I. ROBOCON

Robocon vit tt ca ch Robot Contest, l k thi sng to robot Chu Thi Bnh Dngc t chc hng nm. K thi c t chc ln u tin vo nm 2002 ti Nht bn vi 20 itham gia v Vit Nam ln u tin ng quang ti k thi ny. T n nay Vit Nam 3 lnv ch vi i din tham gia l trng HBK TpHCM. Thnh tch tt nht ca cu lc b BkitHardware l c 3 i vo ti vng 1/8 ti vng chung kt ton quc 2010.

K thi ny thu ht rt nhiu cc bn sinh vin trong khu vc yu cng ngh, yu khoa hctham gia. c rt nhiu th h sinh vin t c rt nhiu thnh cng t nhng k th ny.

II. HOT NG ROBOCON CA KHOA KHOA HC & K THUT MY TNH

Vi mc tiu to sn chi hc tp, nghin cu v hc hi, khoa khoa hc & k thut my tnhni chung v cu lc b phn cng ni ring to nhiu iu kin t vic trang b phng c, ccthit b mch in, c kh sinh vin c th hc tp vlm vic trong mi trng thun linht.

Ban u vi s i tham gia l 1 n 2 i, nm 2009 c 7 i tham gia vi 6 i trcthuc qun l ca cu lc b phn cng my tnh. S lng cc bn sinh vin cng ngy cngtng theo s lng cc i,gip phong tro ngy cng c y mnh.

Thi gian t chc thng l sau tt nguyn n, cu lc b s bt tay vo ch to robot. Vcng bt u t y, hot ng robocon s din ra rm r nht trong nm.

III. TRANG THIT B LM VIC

Vi 2phng lm vic chnh l xng c kh ca khoa khoa hc k thut my tnh c aim k phng photo, i din B10. Phng ny c trang b y cc dng c c kh, ccmy mc trang thit b ca ct, ghp ni nhm cng cc vt liu c th to thnh mt bkhung c kh hon chnh cho robot.

Phng lm vic th 2 l phng lab 105 C6. Ti y c my tnh vi y phn mm lptrnh v hc tp cng cc trang thit b v mch in.

Nm 2009 c khoa trang b thm phng th nghim C5 test robot.

c s u t y v phng c, trang thit b nh vy, chng ta hon ton c th ch tora nhng robot hon chnh ph hp vi nhng thi robocon hng nm. Vn cn li y lnhn t con ngi, c th l cc bn sinh vin tham gia.

IV. IU KIN SINH VIN THAM GIA ROBOCON


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y c xem l cu hi thng gp nht ca cc bn nm nht, nm hai khi mun tham giarobocon.

Vi sinh vin nm nht, nm hai cc bn cha hc c nhiu kin thc chuyn ngnh nntm l thng e ngi khi tham gia robocon, v cc bn thng ngh rng, c tham gia

robocon phi chun b trc y nhng kin thc lin quan?

Tuy nhin, robocon l mt sn chi hc tp, nghin cu nn nhng kin thc lin quann robocon cc bn tham gia s c hc tp v trao i vi cc thy, cc bn c kinh nghimtham gia trc y.

Nh vy, c th iu kin tham gia robocon l g?

Trc tin cc bn phi l sinh vin hin ang theo hc ti trng HBK TpHCM. C tinhthn hchi, tm ti cc kin thc lin quan n robocon. C sc khe tt c th lm vic cng cao. C tinh thn thn thin, ha ng lm vic nhm. V vn quan trng nht

chnh l hn ch ci ti trong qu trnh lm vic.

V. BN HC HI C GT VIC THAM GIA ROBOCON

Vi mt bn nhit tnh hc hi, hon thnh tt cc nhim v c cc thy, cc n anh giaocho, iu chng t bn hc hi c tinh thn lm vic nhm, y l kha cnh m cc bnc c hi hon thin mnh trong mi trng lm vic khc nghit ca robocon.

Mt iu quan trng l cc bn c th bit c rng, lm ra c robot hon chnh cnnhng k nng g, t m cc bns hc hi v i su hn v nhng g mnh ang thiu xt.

C li khuyn, ln u tham gia, cc bn nn thc hin khu c kh, c th xem y l nntng cho vic ch to robocon v c rt nhiu c hi bn hc tp v cch thc gii quytvn . Vi khu ny, cc bn s tch ly c nhiu kin thc v c hc, ng hc, bit thm vcc phn mm chuyn dng thit kc kh. Khu ny ng vai tr ti quan trng trong vichon thnh mt robot hon ho. Nu khu c kh tt, s to iu kin rt tt cho vic lp trnhc thun li hn.

Vi phn mch in, cc bn s c tm hiu v mch iu khin ng c, cc loi sensorv c bit l cc mch vi x l. T y cc bn c kh nng hiu r nguyn l hot ng cacc mch thng c s dng trong robot v l nn tng cho cc bn t thit k cc mch ngdng v cc mch in c lin quan n cc mn hc sau ny.

Phn lp trnh, y c th l phn m nhiu bn k vng nht v c xem l mc ch chnhca nhiu bn khi tham gia robocon. V tht s cc bn s hc hi rt nhiu v gii thut, cchthc lp trnh, tip cn vi cc vi iu khin AVR, PIC, 89V51 Cch thc lp trnh kt ni vicc thit b ngoi vi. T y gip bn pht huy nhng tng sng to thit k ra nhng ngdng mang tnh thc tin hn trong tng lai.


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Phn 2Teamwork & Cc vn thng gp khi tham gia Robocon

Phn ny, chng ta s bn lun v qu trnh tham gia v lm vic, hc tp trong mitrng robocon, t rt ra nhng vn cc bn thng xuyn gp phi khi tham gia

robocon.

1.u tin, hy tr li cu hi:v sao cc bn mun tham gia robocon?

Tht s, robocon l cuc thi thng nin trng cng nh khoa chng ta, v vycc bn s bit v n rt nhiu, t mi ngi s c nhng suy ngh ring t nhngngun thng tin ny. Ban u, cc bn tham gia c th l do s t m hay s yu thchthc s, c th l tham gia cho c bn c b hoc l c tnh thch khm ph nhngiu mi m trong khoa hc cng ngh. D bt ngun t bt k l do no i na, khi tham gia cc bn lun phi ra nhng mc ch c th cn t n. C nhiu bn rthng hi tham gia, nhng trong qu trnh lm vic thiu s nng ng, kh nng ha

nhp vo i nhm hn ch nn ch sau mt thi gian nhng bn ny ngng thamgia. Vic ny c nhiu nguyn nhn m chng ta s bn lun sau.

Vn rt ra y l cc bn cn tham kho kin t nhiu ngun: thy c, bn b vsch bo ... T ra nhng k hoch cng nh mc ch cn tin ti trong qutrnh tham gia. V d: c m ca bn l t mnh ch to c chic xe hon ch nh.Ban u, bn c phn cng v phn c kh, (hu ht cc bn mi tham gia ln uu lm c kh) l c hi bn th hin kh nng hiu bit v c hc, c hi hc hicc phn mm thit k c kh chuyn dng, v mc ch bn cn t n l cng ngi to ra nhng sn phm c kh tt, chc chn.

2.

Vn thnh lp nhm tham gia nh th no?

Nu cc bn c y bn b lp nn mt i, mt nhm th y l iu rt tt. Ccbn khng tn nhiu thi gian lm quen, thng nht vi nhau v cch lm vic,cng nh nhng tng a ra gii quyt vn . Tuy nhin, nu bn khng tm cnhng bn b thn quen lp nhm th cng hy mnh dn ng k tham gia. V lc bn s c cc thy hng dn sp xp bn vo mt nhm. Trc l sau quen,cc bn s c c hi c quen nhiu bn b hn v l c hi, th thch, rn luynkh nng thch nghi ca bn vi mi trng lm vic mi, cng vic mi v hp tc vinhng con ngi mi. V tht s, bn s hc hi v trao i c rt nhiu iu tnhng con ngi mi ny v l nhng ngi s cng bn tri qua nhiu giai onthng trm trong qu trnh tham gia robocon. Bn hy trn trng iu !

V khi cc bn tham gia vo mt i, mt nhm ri, iu quan trng l kh nng ktdnh ca cc thnh vin trong nhm.

3.Xy dng nhm v ch


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Trn y l nhng dn chng tiu biu i vi cng vic ca mt nhm trng, t c th thy vai tr ca nhm trng tht s quan trng, v lun phi khng ngng hchi va m bo uy tn vi cc thnh vin trong nhm, va m bo tin cngvic c giao.

Cn i vi cc thnh vin cn li, cc bn l nhn t ch cht to nn thnh cng camt i, mt nhm. Hu ht vi tm l mi tham gia, cc bn s t m rt nhiu v lmvic rt chm ch, nhng im khc bit gia nhiu bn l kh nng duy tr tinh thnnh vy. Thi gian u cc bn thng lm theo nhng g c nhm giao ph, ccbn ng qu k vng vo kh nng ca mnh, hy lm t t v hon thnh tt nhimv c giao. Cc bn hy thng xuyn hi kin cc n anh c kinh nghim cth hon thnh xut sc nhim v ca mnh cho d l nhim v n gin nht. Cnhiu bn t tin vo kh nng ca mnh nn nn nng lm nhng nhim v kh hnv t xut hin nhng thch thc mi. Nu cc bn vn hon thnh tt nhngnhim v , tht s l mt bc pht trin rt tt cho cc bn tip tc hc hi vpht trin trong nhng thi gian sau ny. Nhng nu tht bi, tm l chn nn s xut

hin v s khng cn tp trung vo nhng g mnh c giao, hay tm nhng vic khc lm! T s lm xo trn nhng mc ch v nhim v ca c nhm. Vic nyging nhtrong bng, nu bn c giao nhim v theo km tin o i phng,bn khng hon thnh tt v lin tc tin o i phng vt qua, t bn schn nn v mun ln lm tin v hay tin o, trong khi nhng v tr c nhngthnh vin khc thc hin rt tt. Nh vy cc bn s x tr tnh hung ny nh thno? Bn khng c php mt tp trung i vi nhim v ca mnh, hy ku gi sgip t nhng thnh vin xung quanh, v khi bn vt qua c kh khn, s lc hch rt ln i vi bn cng nh gip cho tinh thn tp th ca nhm bn tng lnrt nhiu. Trng hp ny cng i hi cc thnh vin khc, c th l trng nhmphi bit tnh hnh cng vic ca tng thnh vin, t ra nhng hnh ng gip, bc lt cho tt cng nhau hon thnh nhim v ra.

Ngoi ra, cu lc b lun t chc nhng hot ng mang tnh ng i cao: bng ,game halflife va mang tnh cht gii tr, va tng cng kh nng h tr gia ccthnh vin trong nhm.

Tuy nhin, x hi no cng phi c lut l, v i nhm no cng phi c quy tc. Quytc trong nhm chnh l yu t gip cc bn ng nht vi nhau v thi gian v cchthc lm vic.

c. Quy tc chng ta bn lun y chnh l h thng v lut tn vinh.

l mt h thng quy lut n gin nhng mnh m, kim sot hnh vi bn trong cami i nhm, t chc, gia nh, c nhn v thm ch c quc gia. Nhng quy lut nyquyt nh cch chng ta c x vi cc thnh vin trong nhm. Chng l tri tim v tinhthn ca i. Cc quy tc ra phi tht s r rng, ch hiu theo mt ngha duy nht.Lun hng n mc ch v li ch ca tp th. Chng ta cn ch , nhng quy tc phi to s thoi mi, khng nn qu g b cho cc thnh vin v lun tn dng ccc k nng v kh nng ca tng thnh vin trong nhm.


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Khi xy dng c mt quy lut nh vy, s l vn ha ring, phong cch lmvic c trng cho nhm ca bn. Lut tn vinh nh vy gip cho chng ta c cm giclun c h tr t ng i, v quan trng l chng s gip nhm ca bn thnh mtkhi thng nht.

iu kh khn ln nht chnh l bo m c nhng quy lut, quy tc trn c bnvng. Chng hn, trong cuc hp ca nhm thng nht v tng lm vic haythc thi nhng nhim v sp ti, nhng li thiuvng vi thnh vin th tht s, ccbn hy xem li nhng quy tc ca nhm, ng bao gi xem nh nhng cuc hp nhvy, d l bn v vn nh ca nhm. Chng ta c mt chui cc kt qu tc khi quy tc c thi hnh ng n: quy lut cng cht ch ----> hiu qu hotng cng cao ----> cng phi tht cht cc sai s quy lut cng cht ch hn. ---->

Sc mnh ca lut tn vinh tht s rt to ln, chng s gn kt cc c nhn li vinhau, bo v ton i trong nhng p lc ln nht, vch ra nhng quyt nh ng ntrong nhng thi im quyt nh v s vi dp s ni dy ca ch ngha c nhn. V

iu s c th thch qua nhng thi im mang tnh cht quyt nh ca nhmbn trong qu trnh tham gia robocon. V d: trong tnh hung thi u robocon, trnghp gay cn gia 2 i, vic retry hay khng mang tnh quyt nh n s thnh bi,nhm bn hay c th l 3 thnh vin trn sn s x l th no? Trong thi u, thng bil chuyn thng tnh, nhng cch m chng ta ginh chin thng hay tht bi nh thno mi l quan trng, nu trong tnh hung cc bn ci nhau v ai cng mun nh mnh c thc hin th d cho ginh chin thng cng khng fairplay khi xt vtinh thn ng i v chc g trn tip theo i s ginh chin thng, cn i vi mti tuy khng thng nhng kin ca h a ra c ng lng, nht tr th nhng yut khin h cha ginh c chin thng chc chn s c khc phc c trongthi gian sau ny nh tinh thn ng i vng chc . V khi nhm vt qua nhng

thi im quyt nh, chng ta c th khng nh rng nhm bn tht s v ch.Tuy nhin c c mt i v ch tht s i hi nhiu yu t, mt trong nhngyu t rt cn thit l s rng buc gia cc thnh vin trong cng vic.

d.y tht s l mt th thch v l mt ngh thut trong phn cng cng vic. Thnhvin A khng th thit k c kh theo mnh m phi ph hp vi tng lp trnh,thnh vin B lp trnh phi da vo phn mch in, v thnh vin C thit k mch inphi a ra nhng module giao tip ph hp vi m hnh thit k c kh T chng ta c th thy phn c kh hon chnh n mc no khi c ra vo lp trnh,thnh vin lp trnh hiu bit v mch in nh th no khi test robot v mch in htr c cu robot chuyn ng hiu qu n u ... t c mc nh vy, ccthnh vin trong nhm m c bit l nhm trng phi c s bn bc v phn cngtng cng vic ph hp vi cc c nhn trong nhm. V vy, cc khu ny phi c slin h cht ch vi nhau v tng khu phi c s n lc s ng b gia cc khulun c m bo, cng vic lun c tin hnh theo ng lch trnh ra. T ,kh nng lm vic nhm v tinh thn teamwork ca nhm bn tht s tin b rtnhiu.


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e. Xy dng phong cch lm vic chuyn nghip

iu cui cng, chng ta bn bc y chnh l tnh chuyn nghip trong lm vic: khng phi l mt phong cch lm vic cao siu, lm nhng vic tht to ln. Tnhchuyn nghip th hin kt qu t c i vi bt k mt cng vic m bn c

giao. Nu bn c giao hy dn dp xng c kh trc khi v trong vng 3 ngy lintip. Bn s hon thnh n nh th no? Chc chn trong bn s lm rt tt trong ngyu tin. V n ngy th 2 th vn gn gng, nhng trong lc thc hin bn khng cns tp trung na. n ngy th 3, nhn c v mi th u ok nhng tht s lc thchin bn khng cn coi n l quan trng na v bn s ngh rng: iu khng tht squan trng v ngy mai chng s b bn tr li. V t tnh chuyn nghip trong lclm vic ca bn gim i rt nhiu v nn tng bn tr thnh mt k s lm vicchuyn nghip b nh sp t khi n cn cha c xy dng!

C cu: k s phi ng no trc khi ng th. Cc bn lun phi tm ra gii phptrc khi thc hin mt vn , lun tnh ton mi trng hp xy ra khi bn thc hin

chng, khng khc g khi bn chi vn c. Nu bn thy nhng ngi nhiu kinhnghim lm c kh, nhn trng tht n gin v thch mt, ngh mnh cng lm c thl bt tay vo lm, kt qu ngoi sc tng tng: chng ta phi mua nhm mi lm li. V bn cha lng trc c phc tp ca vn , cha hc hi ckinh nghim ca nhng ngi i trc. V c mt c trng i khi lm robocon cngnh nhiu vic khc, khi bn c nhiu gii php v khng bit la chn gii php noth hy tm kim nhng v d n gin m thc nghim gii php , bn s thy ngayt thc t kt qu t c v tm ra li gii cn thit nht.

Tuy nhin, cc bn nn hiu rng, trong mt nhm bn ti gii n u th mi kinbn a ra khng nn mang tnh p t v phi c s bn bc gia cc thnh vin

trong nhm v hi kin ca Gio vin hng dn. iu ny tht s cn thit, cnhng vn vi nhng kinh nghimca bn khng th gii quyt c v bn khngth bo th v gi vn bn v nhm bn t nghin cu v thi gian c hn,hy hi kin ca ngi dn dt bn hay cc thnh vin c kinh nghim, bn s thuc nhng kt qu hu ch bt ng.

Ngoi ra, bn khng ch th hin tinh thn teamwork trong nhm ca bn m cn phith hin teamwork vi nhng nhm khc. iu ny tht s rt quan trng, n nhhng rt ln n li ch khng ch nhm ca bn m cn nh hng n li ch cakhoa, ca cu lc b. Hy gip cc nhm khc, cc i khc cng ln mnh, t chng ta khng ch c s lng m cn cht lng cc i tham gia v mnh chin thng cc i khc. V nhng iu cc bn khng th t lm c, c nhngvn hy hi kin ca thy hng dn, l nhng ngi lun t li ch ca tpth ln hng u, trong c li ch ca bn.

Tm li bn hy lun hon thnh tht tt cng vic c giao. Thc hin n u phichc chn rng mi th mnh tp trung lm ht mnh. V ng bao gi tm c bo cha nhng sai lm v nu iu xy ra bn s khng th tin b trong mitrng lun i hi s c gng v quyt tm khi tham gia robocon.


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y l nhng kinh nghim m nhm robocon gm 11 thnh vin K05 ca chng ti rt ra c saunhng khong thi gian di c hc tp v lm vic trong mi trngrobocon. C th nhng kinh nghim trn nhiu ch cn mang tnh cht ch quan nhngchng ti chc chn vi bn rng l nhng nn tng nhm cc bn thnh cngkhng ch khi tham giarobocon m cn nhiu d n quan trng khc.

Phn 3Gii Thiu Cc Linh Kin C Kh & Cch s dng

A. Gii thiu mt s dng c c kh

1) -t

Cch s dng:2 thnh kp 2 bn c kh nng thayi khong cchbng cch quaytrc c tay cm.

Cng dng:kp cc vt liu i hi phi c nh trong qu trnh lmvic.

2) Khoan v mi khoan

a) Khoan bn

- Cch s dung:

C b phn tho, gn mi khoan cn s dng. Thay i kch thc hp l gia mi khoan v b mt gi linh

kin cn khoan. Nhn nt xanh(ON) my khoan hot ng, nhn nt ( OFF) tt

my khoan. Ko cn khoan xung thc hin khoan.


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- Cng dng:

Khoan nhng l khoan i hi s chnh xc cao.

b) Khoan cm tay

- Cch s dng:

C bphn gn, tho mi khoan ging nh khoan bn. C cn gt ngay tay cm thay i chiu quay mi khoan.

Bp nt nht ngay tay cm thc hin khoan.

- Cng dng:

Nhng l khoan i hi khoan nhanh, chnh xc tng i cao. Nhng chi tit cn khoan vi chnh xc cao nhng khng t c

vo trong khoan bn.

Bn cnh , chng ta c nhiu mi khoan vi kch thc ng kinh khcnhau t 1mm n 13mm, cc mi khot t 14mm n 60mm.

3) Ca & My Ct

a) My ct cm tay

- Cch s dng:

My c phn li ca c th tho lp c d dng.


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V tr t tay cm gn vi nt khi ng ca my.

- Cng dng:

Ct nhm, php k c cc loi inh c. Linh hot trong vic ca, ct. Mt khc c th dng mi nhn cc chi tit.

- Lu :

Lict quay vi tc cao. Khi ct, my tng i rung, cn phicm chc v cn thn trong khi ct.

Sau khi ct xong, t xung cn thn trnh li ct va chm vo dyin hay cc vt khc s gy h hao v nguy him trong qu trnh lmvic.

b) Ca My

- Cch s dng:

Trc khi ca, iu chnh gc ca nh mong mun, c tay cm iuchnh gc, cn vn cht tay cm ny khi ca trnh trng hp gc cab x dch trong khi ca.

Tay cm pha trn c nt nhn iu chnh tc quay cali ca. t v tr cn ct vo khe ct, ko li ca xung m th. Thc hin ca: va ko tay cm, va nhn nt (cn nhn nt linh hot

iu chnh tc quay ca li ca mt cch hp l).

- Cng dng:

Ca nhm, nha khi.

- Lu :

y l thit b c li ca bn, quay vi tc rt cao, c kh nnggy thng tch cao, cn phi cn thn, t bit vi tay cm nhm,nha trong qu trnh ca, cn c t t th thch hp m boan ton.


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4) Km

y l dng c rt ph bin nn chng ta ch cp n nhng loi tthng dng.

- Cch s dng:

Km cht:

+ c nt vn di phn tay cm iu chnh rng ca ming km.

+ Vi rng thch hp ca ming km, bp tay cm li, linh kin ckp li rt cht.

Km m phe:

+ c kt cu ng bn( km thng thng c k cu bt cho) nn khibp tay cm, ming km s m ra.

- Cng dng:

Km cht dng xit cht, gi c nh cc chi tit mt cch d dng, ttn cng.

Km m phe dng m phe ( phe l linh kin c dng thay thtn c, gn vo rnh c su tng ng trn cc trc).

5) Gia

Cch s dng:

- Tip xc vi cc chi tit, to ma st ln bo mn hay lm phng ccchi tit ny ( thng lm nhm, php).


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Cng dng:

- bo mn,lm phng, gip cc chi tit nhn, gn, p.

6) c v kha lc gic:

- Cch s dng:

c lc gic:

- Dng vn kt ri cc linh kin li vi nhau ( ging nh c thng

- Trn nh c c phn lm xung hnh lc gic l phn giao tip vi khavn.

Kha lc gic:

- Hnh ch L v mi u u c hnh lc gic, giao tip vi c lc gic.

- Cng dng:

Kha lc gic nh cnh tay n, gip vn c c lc gic vo su bntrong cc chi tit.

7)Dy ai:

- Cch s dng:

Ct dy vi chiu di nh mong mun Dng la h nng 2 u n khi dy chy ra. p cht hai u dy li, c gng to thnh hnh trn Thi vo ch tip xc chng mau ngui, nhanh kt dnh. Dng gia hay my ca tay mi ch ni.


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- Cng dng:

Lin kt cc b phn cn iu khin quay vi ng c. Lu :

Trnh khng c ngi khi bc ln t dy trong qu trnh h la v khny khng tt cho sckhe.

8)Thc o:

-y cng l dng c kh ph bin v c hc ( thc kp) nnkhng nhc li.

- y ch cp n thc nc, dng kim tra tnh cht cnbng.

9) Km bm Riv:

- Cch s dng:

Khoan l ng knh 3mm hay 4mm. Gn inh riv c u to vo l. Gn u km bm riv vo phn nh v di ca inh riv. Bp tay cm km riv n khi no inh riv gy phn thn

di. Trong qu trnh bp tay cm km riv, u km lun tip xc st phn

u to ca inh riv.

- Cng dng:

Lin kt cc chi tit mt cch chc chn. Ch phn giao tip no ca chi tit khng tho lp thng xuyn mi

dng riv bm li,ngc li hy dng c xit cht.


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10)Bnh xe:

Hin nhin cng dng ca bnh xe dng gip robo di chuyn.

Bnh xe c rnh: dng lin kt vi ng c mt cch gin tip qua dyai.

Bnh xe khng rnh: lin kt trc tip vi ng c. Bnh Omni: dng gn vo phn trc robo gip robo c th di

chuyn theo chiu ngang d dng Ngoi ra, cc linh kincn dng khng c sn ngoi th trng hoc tm

khng ra th chng ta phi em i tin, phay.

B. MT S A CH MUA VT LIU

Ca hng Nga 78 L Nam P.7 Q.11: php, nha khi, nha tr

Ca hng c Tan 317A L Thung Kit Q.11 (t cng LTK i vhung Ng t By Hin): Bn nhm loi

Ca hng Inox ng NHM : 234 L Thung Kit P.8 Q.TB

Gia cng ca, lan can,

c thp nh hnh : Nhmng Inox

Tim (mua inh c):

Cc tim bn do dc ng T Uyn gn ng Tn Thnh v trongch Tn Thnh vi cc tim bn inh c, l xo, cc thit b xe p, xe my (cc linh kin xe p, xe my c rt nhiu trng hp hu dng trong qutrnh thit k v lm robo).

Cc ca hng bn ng c:

542 Nht To

ng Vnh Vin


15/48

Ca hng bn kho lc gic, chi than, li ca (T Uyn, Q.5)

Ca hng c gang, c bnh xe (22 T Uyn, Q.5)

Ca hng bn bc n, dy ai v mt s ph kin (Phc Nga,

28A T Uyn)

Phn 4Mch ATMega64 iu khin Robot

I. MCH AVR

Robocon nm nay, BKIT s dngATmega64(vi iu khinca hng ATMEL) iu khin robot. u im ca ATmega64 lr, pht trin chng trnh nhanh vi s h tr ca

CodeVisionAVR mch n nh.

Mt s c tnh ca ATmega64:

- Vi iu khin 8-bits ch to theo kin trc RISC.

- 32x8 thanh ghi thng dng v thanh ghi iu khin.

- C th hot ng ln ti 16 triu lnh/1giy (16 MIPS) - nu s dng thch anh16MHz.

- 64KBytes b nh Flash cho chng trnh.

- 2KBytes EEPROM.

- 4KBytes SRAM ni.

- C th m rng ln ti 64KBytes b nh ngoi.

- Ghi/Xa: 10.000 Flash / 100.000 EEPROM.

- Giao tip SPI cho vic lp trinh trn chp - In-Sytem Programming. (Mch npAVR910 - s dng SPI np chng trnh cho chp)

- 2 b Timer/Counter 8-bit ch Separate Prescalers, Compare Modes.
http://www.bkit4u.com/BUI%20THI%20HA/Desktop/DOCUMENT%20TTTN/ATmega64.pdfhttp://www.bkit4u.com/BUI%20THI%20HA/Desktop/DOCUMENT%20TTTN/ATmega64.pdfhttp://www.bkit4u.com/BUI%20THI%20HA/Desktop/DOCUMENT%20TTTN/ATmega64.pdfhttp://www.bkit4u.com/BUI%20THI%20HA/Desktop/DOCUMENT%20TTTN/ATmega64.pdf


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- 2 b Timer/Counter 16-bits ch Separate Prescalers, Compare Modes andCapture Mode.

- 2 knh iu xung PWM 8-bits.

- 6 knh iu xung PWM c th lp trnh c t 1 ti 16 bits.

- 8 knh ADC 10 bits.

- 2 b giao tip UART.

- Master/Slaver thng qua giao tip SPI.

- Lp trnh Watchdog Timer vi b giao ng trn chp.

- 53 cng I/O.

- in p hot ng: 2,7V - 5,5V vi dng ATmega64L, 4,5V - 5,5V vi dngATmega64.

- Dao ng thch anh ngoi: 0-8MHz vi dng ATmega64L, 0-16MHz vi dngATmega64.

S chn:

S khi:


17/48

Hinh 2

Schematic robocon gm cc module:

- MCU ATmega64.

- Ngun 5V (Input 12V DC - Output 5V DC) cho vi iu khin v linh kin trn mch.

- PS2 giao tip vi Gamepad - PlayStations Sony.

- Character LCD 16x2.

- Dispswitch 4 chn case chin thut.

- 4 ng ENCODER.


18/48

- 1 bus giao tip I2C.

- 1 bus giao tip UART.

- Chun ISP np chng trnh cho vi iu khin.

- 4 ng nhp input 8-bits: trong c 1 ng nhp ADC cho mch d v 3 ng nhp thngthng cho switch, cng tc hnh trnh...

- 2 ng output.

- 8 led n hin th trng thi nhn vch trng.

- 1 ng output 10-bits tn hiu dng iu xung v nh hng cho ng c.

Hinh 3

Chi tit module trn mch schematic v mch thc t:

1. MCU Atmega64:


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Hinh 4

2. Ngn 5V DC (Input 12V DC Output 5V DC):

Schematic:

Layout:


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Hinh 5

y s dng IC RegulatorLM7805vLM2576 (Fix or ADJ).

Mch ngun 5V DC y s dng IC LM2576 (Fix 5V output) (s mch hnh 4).

- Pin 1Volt input: 12V DC.

- Pin 2Volt output: 5V DC.

- Pin 3GND.

- Pin 4Feedback: Volt ouput.

- Pin 5ON/OFF, Level 0: On & level 1: OFF.

Hnh 6

3. PS2giao tip Gamepad Playstation Sony:

Schematic:
http://www.bkit4u.com/LM7805.PDFhttp://www.bkit4u.com/LM7805.PDFhttp://www.bkit4u.com/LM7805.PDFhttp://www.bkit4u.com/LM2576.pdfhttp://www.bkit4u.com/LM2576.pdfhttp://www.bkit4u.com/LM2576.pdfhttp://www.bkit4u.com/LM2576.pdfhttp://www.bkit4u.com/LM7805.PDF


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Hnh 7

Layout:

Hnh 8

Giao tip vi Gamepad y s dng giao tip SPI giao tip, gm cc chn giaotip:

- PS2_ATT:

- PS2_COMMAND:

- PS2_CLK:

- PS2_DATA:

- PS2_ACK:

- PS2_VCC:


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- PS2_GND:

4. Character LCD 16x2:

Ta c th s dng LED 7 hay Character LCD lm phn hin th ca mch bit

c chng trinh c chy ng nh lp trnh khng hay dng test cc thng snh ADC, Switch, Speed

u im ca LED 7 on l thi gian hin th nhanh tn thi gian ca h thngnhng nhc im l thng tin hin th t. u im ca Character LCD l thng tinc th hin th l rt nhiu, d iu khin nhng li tn thi gian ca h thng dophi Delay khi gi Command hay Data ln cho LCD. Nhng thi gian nay c thchp nhn c v n cng khng lm mt i tnh Realtime ca chng trnh nnchng ta chn Character LCD.

Schematic:

Hnh 9

Layout:

Hnh 10

Chc nng:

- V_CONTRAST : Chnh tng phn ca mn hnh LCD.


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- lcd_RS: Register Select.

- lcd_E: LCD Enable.

- lcd_RD: Read Write.

Character LCD 16x2 cos th hot ng 2 ch truyn data: 4 -bits v 8-bits.Mun s dng ch truyn data 4-bits hay 8-bits th khi initLCD ta truynlnh command l: WriteCommand(0xxx). y ta s dng ch truyn data 4 -bits.

S dng CodevisionAVR sinh code cho chng trnh, CodeVisionAVR h trth vin v hm giao tip LCD Character:

Hnh 11 - S dng CodeVisionAVR sinh code iu khin LCD

Mt s hm iu khin LCD:

- void _lcd_write_data(unsigned char data);// write a byte to the LCD character generator or display RAM

- void lcd_write_byte(unsigned char addr, unsigned char data);


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// read a byte from the LCD character generator or display RAM

- unsigned char lcd_read_byte(unsigned char addr),// set the LCD display position x= 0...15 y= 0...1

- void lcd_gotoxy(unsigned char x, unsigned char y);

// clear the LCD

- void lcd_clear(void);- void lcd_putchar(char c);

// write the string str located in SRAM to the LCD

- void lcd_puts(char *str);// initialize the LCD controller

- unsigned char lcd_init(unsigned char lcd_columns);

Trc khi iu khin LCD ta bt buc phi gi hm lcd_init().

Phn 4 tip theoMch ATMega64 iu khin Robot

5. Dispswitch 4 chn mode chin thut

linh hot trong khi thi u cng nh trong luyn tp nn ta s dngdispswitch chn chin thut. Ta s vit nhiu chng trnh vi nhiu ngi cho robot khi thi u c th linh hot chn chin thut ty vo tng trnu v tng i th. Ta c 4x4 = 16 chin thut trong chng trnh.

Trn robot ta cn c 4 switch nhn cho thun tin nn c th c tt c 4x16= 64 chin thut cho robot.

Hnh 12

Code chn chin thut:


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// main.c

voidmain(){

while(1){

run();

}

}

// run.c

voidrun(){

switch(inputDispswitch) { // inputDispswitch l gi tr c vo ca dispswitch.

case 1:

if(L1){ // chin thut 1

}

else if(L2){ // chin thut 2

}

else if(R1){ // chin thut 3

}

else if(R2){ // chin thut 4

}

else{}

break;

case 2:

if(L1){ // test ADC


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}

else if(L2){ // test SENSOR

}

else if(R1){ // test ENCODER

}

else if(R2){ // test DC

}

else{}

break;

}

}

}

Code c gi tr ca Dispswitch:

/* read switch disp --------------------- */

unsigned char read_dipsw(){

unsigned char temp_switch = 0;

init_sw();

if(PING & 0x10)

temp_switch = temp_switch | 0x08;

if(PING & 0x08)



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if(PINB.6)


if(PINB.5)


return temp_switch;

}

6. ENCODER

Encoder l k thut mi trong robot c s dng my nmgn y. Da vo

gi tr ca Encoder ta c th bit c robot chy c qung ng bao xa(vi chnh xc cho php), bit c robot ang chy ti hay li. Encodercn c p dng trong gii thut PID gii thut iu khin ng c DC. PIDl gii thut iu khin ng c DC ph bin.

Vi yu cu ca bi ton robocon 2009 l s kt hp gia 2 robot bng tay vt ng, BKIT a ra 2 gii php l:

_ Cho robot t ng chy pha trc vi tc c xc nh trc v robotbng tay chy pha sau v phi chy theo tc ca robot t ng.

_ Gn Encoder vo tay ca robot t ng pha trc v cho robot bng tay tng iu chnh tc ca robot t ng thng qua kiu Kago.

Vi 2 gii php trn th ta thy r c vi giiphp th nht th tc chyca robot l khng cao phi test robot rt nhiu ln ta mi co th a ra ctc hp l cho robot t ng v s kt hp ca robot bng tay ph thuc rtnhiu vo ngi iu khin bng tay. Vi gii php th 2 th tc ca robot tng ta c th iu khin c ngi iu khin robot bng tay c th nhnthy cn phi cho robot chay nhanh hay chm nhng qung ng no v chng cho iu khin cho 2 robot chy nhu th.

Vi gii php th 2 ta c th y nhanh tc ca robot. S dng gii phpnay th tc robot ca BKIT chy tng i nhanh v hon thanh tt cnhim v ca robocon 2009 vi 60s/180s.

Ngoi ra cn s dng Encoder vi K thut d line trng robot c th chythng theo line trng m khng b lc.

Schematic:


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Hnh 13

Layout:

Hnh 14

y ta s dng 74HC245 m d liunhn tn hiu t ng Encoder

truyn cho MCU. Khi ta mc chn Direction ln mc High v chn Outputenable Input xung mc Low th d liu c truyn t A B. y ta s dng ngt ngoi c gi tr Encoder. Trn mch ta s dng cc

ngt ngoi 2, 3, 6 v 7 c gi tr Encoder. Tn hiu nhn c t 2 chn A v B ca Encoder:


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Hnh 15

Da vo tn hiu tr v ca Encoder, khi Encoder quay ti th tn hiu B chmhn tn hiu A chu k cn khi Encoder quay li th tn hiu B nhanh hn tnhiu A chu k. Da vo ta a ra gii thut khi c tn hiu cnh xungca A thi ta kim tra nu ti thi im tn hiu ca B l mc High thEncoder ang quay ti cn tn hiu ca B l mc Low th Encoder ang quayli.

Phn 4 tip theo v htMch ATMega64 iu Khin Robot

6. ENCODER (tip theo)

Code iu khin:

// External Interrupt 7 service routine

interrupt[EXT_INT7]voidext_int7_isr(void){

// Place your code here

if(ENCODER4_DIR){

distance_slide ++;

}else


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{

distance_slide --;

}

}


interrupt [EXT_INT3] voidext_int3_isr(void){


if(ENCODER2_DIR){

distance_right ++;

}

else{

distance_right--; --;

}

}


interrupt [EXT_INT2] voidext_int2_isr(void){


if(ENCODER1_DIR){

distance_Left ++;

}

else{

distance_Left --;


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}

}

/*

Define:

PD.4 - ENCODER1_DIR

PD.5 - ENCODER2_DIR

PD.6 - ENCODER3_DIR

PD.7 - ENCODER4_DIR

*/

7. UART

Mc ch chnh ca module UART l debug chng trnh dng my tnh.S dng giao tip UART truyn gi tr ca cc bin trong chng trnh lnmy tnh PC cho ngi lp trnh d dng quan st v theo di hot ng carobot. y cng l cch Debug chng trnh mi thay v phi i theo robot xem xet robot chay nh th no m mnh c th ngi 1 ch quan st.

Schematic:

Hnh 16

Sdng CodeWizardAVR sinh code cho module UART:


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Hnh 17

y ta s dng Interrupt cho c Transmiter v Receiver, khi c tn hiutruyn v nhn UART th xy ra ngt v nhy vo chng trnh phc v truynhoc nhn thc hin. Mt Frame truyn hay nhn l 32-bits mi ln truynhay nhn th ch c 8-bits, s dng tc Baud Rate l 9600, mi ln truyn dliu gm c 8-bits data + 1 stop bit + No Parity.

8. 3 ng Input 8-bits v 3 ng Output

Schematic:


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Hnh 17

u im ca mch l ch s dng 11 chn ca vi iu khin m c th nhngi tr trn 3 ng input 8-bits v c th xut gi tr Output 8-bits trn 3 ng, trnmch s dng 1 ng Output cho 8 led n hin th trng thi mch d linetrng. y ta dung 3-bits cho Chip Select (CS) v 8-bits data. Vi cch ny tatit kim c rt nhiu chn ca vi iu khin.

Nh trn mch hnh trn ta s dng 3 chn PG0, PG1 v PG2 (define: A0, A1,A2). 3 bits A0, A1 v A2 c ni vo input ca IC 74HC138, 2 chn G2A vG2B c ni xung mc Low cn chn G1 c ni ln mc High. Khi tac bng Chip Select nhu sau:


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Bnh thng cc bits A0, A1, A2 u mcHigh ln gi tr Output ca74HC138 l CS7, do CS7 khng s dng nn mc nh khng c Input hayOutput.

Khi cn nhn gi tr Input Port 1 ta cho gi tr ca A2A1A0 l 000 v lu gitr PORT A ca vi iu khin vo bin cha gi tr Input 1. Tng tmunnhn gi tr Input Port 2 v Port 3 ln lt ta xut gi tr ca A2A1A0 l 001v 010. Khi gi tr ca A2 l 0 nn 74HC245 (U216) s cho gi tr Input tA qua B, gi tr t Port Input c a vo chn ca vi iu khin. Bnhthng gi tr Input l mc High khi c tin hiu th tr v mc Low. Ngnhp Input ADC a tn hiu t mch d ln v c a trc tip vo ccchn t ADC0 ADC7 trn vi iu khin.

Khi cn xut gi tr Output ra 3 ng Output th ta cho gi tr ca A2A1A0 lnlt l:100, 101 v 110. Khi gi tr ca bit A2 l 1 ln 74HC245 (U216)

khng c chn nn khng c gi tr input. Gi tr Output c xut ra cc Port Output khi c cnh ln cc chn CS4,

CS5 v CS6.

Gi tr Input y dng cho cc Switch hay cng tc hnh trnh trn robot, davo cc gi tr ta c th bit c robot c gp vt cn hay khng, cnh tayrobot nng cao ti mc no, cnh tay robot c kp khi qu hay khng

9. BUS iu xung PWM v nh hng cho ng c

Trong k thut iu khin ng c ta c phng php iu xung hay bm xung

iu khin ng c.


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ATmega64 c tt c 6 knh iu xung 16-bits. Thi gian mc 1 cng nhiu thgi tr p trung bnh cp cho ng c cng cao dn ti vn tc trunh bnhcang c cng cao, nu thi gian mc 1 l 0% thi gi tr volt trung bnh bng 0,

nu thi gian mc 1 l 100% th gi tr volt trung bnh l cc i v bng V+dn ti vn tc trung bnh bng vn tc cc i ca ng c.

Phn 5Gii thut PID

I. TNG QUAN V PID CONTROLLER1. Gii thiu

Trong qu kh, hin ti cng nh trong tng lai, vic iu khin mt h thng sao cholun p ng c ng nhng gi tr mong mun ca ngi iu khin l mt trong nhng vn gp phi trong iu khin ni chung v iu khin cng nghip, robot ... ni ring. Do , bncnh nhng m hnh iu khin khc, PID controller ra i v ni ln nh mt gii php cho vn chng sai s trong iu khin bng cch dng cc m hnh iu khin lp v iu chnh png ng ra ca h thng da trn cc gi tr hi tip ca qu trnh.

Robocon l mt trong nhng lnh vc i hi kh nng iu khin h thng t n chnh xc cao. Do , nhu cu v vic xy dng mt module iu khin vn tc ca robot bng PID ngy cng cn thit. xy dng mt module PID tng i hon chnh nhm phc v cho

iu khin robot trong cc ma robocon sau ny, chng ti, di s ch dn ca cc anh cc thytrong cu lc b phn cng my tnh khoa KH&KTMT, xy dng b ti liu ny nh mt btham kho nhanh v c th p dng thc t v PID controller.

2. PID l g?B iu khin PID l mt c ch iu khin lp hi tip c s dng rng ri trong h

thng iu khin cng nghip do d p dng v d s dng. Mt b iu khin PID c gng iuchnh gia gi tr bin o c v gi tr mong mun t c bng cch tnh ton v xut ra mt


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"hnh ng iu chnh" nhanh chng gi cho li mc nh nht c th c. B iu khin PID gm 3 thng s hay 3 ch : Proportional, Integral v Derivative.

Proportional: xc nh tng tc vi gi tr li hin ti.Integral: xc nh tng tc vi tng gi tr li gn y ( li tch ly trong " qu kh").

Derivative: xc nh tng tc vi tc thay i li.Mt vi ng dng ch cn s dng mt hoc hai ch trong vic iu khin h thng. iu

ny t c bng cch gn cho hng s khng mun s dng bng khng. Do , PIDcontroller c th tr thnh PD, PI, P, I ...controller.

M hnh P, PI, PID c s dng thng dng nht.

3. L thuyt iu khin PIDM hnh iu khin PID c cu thnh t 3 thnh phn, gi tham s thao tc iu chnh l

MV thay i theo thi gian t:MV(t) = Pout + Iout + Dout

Trong : Pout, Iout, Dout l cc hm ng gp vo gi tr ng ra sau cng ca MV(t).

Hm li ti thi im t:E(t) = SP - PV

Trong : SP : Setpoint ( gi tr mong mun), PV: measurable output( gi tr o c).

a. Proportional ( hm t l)Hm t l gip thay i mc iu khin ( output) t l vi gi tr li hin ti.

Pout = Kp x E(t)

Kp: hng s t l, tham s dng tinh chnh.Hng s Kp cng ln th s iu chnh cng ln khi E(t) cng ln. Ngc li, Kp cng

nh th s p ng iu chnh nh i vi li.b. Integral term ( hm tch phn)

Hm tch phn iu chnh mc iu khin tng ng vi mc li c tch ly theo thigian

Ki: hng s iu chnh hm tch phn.Hm tch phn gip cho kh nng iu chnh nhanh chng t n mc mong mun v

hn ch gi tr d tha li cn hn ch hm t l.


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c. Derivative term ( hm o hm )Hm o hm p ng vi tc thay i ca li, hay dc li, theo thi gian

Kd: hng s iu chnh hm o hm.Hm o hm gip nhanh chng t c mc n nh ca gi tr mong mun ( nu chn

c Kd ph hp ). Cn nu Kd khng ph hp th gi tr output s giao ng quanh gi trmong mun.

4. Phng php tinh chnh cc tham s trong PIDTrong PID Controller, mt trong s nhng vn gp phi cn gii quyt l phi chn c

gi tr cc tham s ( hng s Kp, Ki, Kd) cho tng hm hiu chnh PID sao cho ph hp nht cth PID Controller t c hiu qu cao nht. Nu la chn cc tham s khng ph hp thqu trnh iu khin s khng n nh, v khng chnh xc nh mong mun.

V vy, trong thc t s dng c mt vi phng php phc v cho qu trnh tinh chnhny, trong , ph bin phi k n l manual tuning, Ziegler-Nichols, Software tools, Cohen-Coon.

Trong gii hn v phm vi p dng l robocon, manual tuning ( tinh chnh bng tay) ltng i d dng tip cn nht so vi cc phng php cn li.

Phng php c p dng tng i n gin nh sau:- Bc 1: cho Ki = 0, Kd = 0, thay i gi tr Kp sao cho t c tc phn ng vi li

gn nh mong mun.- Bc 2: bt u thay i Ki, Kd. Bng nhiu php th v kim tra tnh p ng ca h

thng, chng ta rt ra mt b cc tham s Kp, Ki, Kd ph hp gn vi mong mun nht .

5. Nhu cu s dng PID Controller trong RoboconBn cnh li di chuyn truyn thng ca robot l di chuyn theo line ( vch trng) bng

cch d ng dng mch d ( sensor), thay i v to t ph trong cch di chuyn cng nhto ra s khc bit, cng vi kh nng di chuyn khng theo line, b cch d ng truyn thngm chy theo qu o mong mun c th l ng cong, ng zic-zac, ... bng cch dng nhiuk thut khc nhau, m ch yu l dng encoder. ci tin hn na s a dng trong li dichuyn ca robot v tng tnh n nh, chnh xc ln cao hn, PID Controller c kt hp voqu trnh iu khin nhm t c nhng mc tiu trn.

II. P DNG V HIN THC PID CONTROLLER CHO ROBOCON

Phn 5 tip theo

Gii thut PID

II. P DNG V HIN THC PID CONTROLLER CHO ROBOCON

1. M hnh truyn thng


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a. M hnh

S dng 1 vi iu khin ( H8, ATMega64 ...) qun l ton b hot ng ca robot trong PID

controller c tch hp nh mt hm gii thut.

PID c p dng vo gii thut v hot ng di dng mt hm vi thng s vo l gi tr vn

tc mong mun v "li" tham chiu, gi tru ra l pwm iu khin ng c. Hm tnh ton cho PID

c gi trong gii thut di chuyn ca robot, cn hm cp nht gi tr li tham chiu lin tc c cp

nht bng timer (thng l 5ms).

PID Controller c tch hp vo trong gii thut iu khin robot vi gi tr output l gi tr pwm

iu xung cho 2 ng c 2 bnh sao cho t c gi tr vn tc mong mun. ng dng gii thut PID

c p dng truyn thng ny th ch yu chiu khin vn tc cho robot chy thng vi gi tr vn

tc mong mun hoc lun chy gia line vi vn tc cnh, gi tr li tham chiu tnh ton trong gii

thut PID c thl lch ca bled sensor d ng so vi line trng ( thng dng) hoc l sai

lch v s xung gia encoder bn bnh tri v encoder bn bnh phi.


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2. M hnh p dng trong tng lai

a. M hnh

S dng 3 vi iu khin: 1 vi iu khin (ATMega64) ng vai tr master qun l ton b hot

ng chnh ca robot, 2 vi iu khin cn li ( 2 vi iu khin P89V51) qun l vic nhn xung encoder ( 1

vi iu khin cho mi bn: tri, phi) v tnh ton PID controller sao cho t c gi tr vn tc m

master truyn lnh xung cho slaver cn qun l robot lun t c nh mong mun. Giao tip

gia master v slaver thng qua giao tip UART ( giao tip ny hon ton c thc s dng ng

b qu trnh hai Slaver khi di chuyn), giao tip gia slaver nhm ng b qu trnh trong qun l di

chuyn ca robot thng qua ngt ngoi v 1 bit PORT I/O.

b. Cc k thut mi so vi m hnh truyn thng

+ Slaver - P89V51

Trong m hnh mi ny, P89V51 c s dng chuyn cho vic nhn xung encoder v tnh ton

PID iu khin ng c theo ng gi tr vn tc mong mun. Do , vic iu khin t c chnh

xc cao hn so vi m hnh truyn thng.

+ Chng mt xung encoder

P89V51 c mt chc nng phn cng cho php nhn xung encoder m khng cn bnh hng

t timer hay mc u tin ngt, l b timer 2 c ci t ch auto reload. Vi ch ny, timer

2 s nhn xung encoder lm xung m cho timer, gi trxung encoder c lu li trong TH2 v TL2 (

TH2 v TL2 sc t ng lu vo RCAP2H, RCAP2L), v chng trnh s ly gi tr trong 2 thanh ghi

ny tnh ton gi tr li tham chiu trn xung encoder.

+ iu khin vn tc theo l trnh

K thut s dng trong m hnh ny c ci tin hn so vi cch iu khin trong m hnh

truyn thng. L trnh tng thc chia thnh cc giai on, cc l trnh con ( gi l segment), trong

mi segment ny, vi iu khin phi m bo c robot chy ng mi segment vi cc gi tr tham s

ng vi mi segment, v d: qung ng phi i c ( tnh bng s xung encoder), vn tc ti a cn

t( sxung encoder l n v thi gian), khong thi gian delay chuyn tip qua segment tip theo

d_time, gia tc trong chuyn ng accel...


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Giao tip UART theo nh dng frame

master AVR giao tipn nh v t chnh xc cao vi 2 slaver P89V51, m hnh ny nh

dng frame giao tip thng qua UART.

+ ADDR: a chslaver c dng xc nh slaver no s giao tip vi master AVR.

ADDR = { LEFR_ID(0x10),RIGHT_ID(0x20),BROADCAST(0xFF)}

Dng thu gn: L, R, B.

+ Command: dng ch ra lnh truyn/nhn l g.

Command = {A,D,E,G,L,N,Q,R,S,T,V,X}

A(Accelerator): thay i tham sgia tc ca mt segment xc nh.

D(Distance): Thay i tham skhong cch ca mt segment xc nh.

V(Velocity limit): Thay i tham svn tc gii hn ca mt segment xc nh.

T(Time): Thay i tham skhong thi gian ca mt segment xc nh.

G(Go): Ra lnh chy cc segment xc nh.

L(Loop): ra lnh chy v lp li mt b cc segments.

Q(Query): xc nhn shin din ca slaver.

E(read Encoder): yu cu tng sxung encoder i c ktln c encoder gn nht.


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N(Normal mode): slaver thit lp gi trPWM c chra trong frame lnh.

X(Velocity mode): slaver qun l vn tc motor nh mong mun.

R(Reset): thit lp tt c cc tham sv gi trkhi to ban u.

S(Stop): ng c ngng hot ng ngay lp tc, vn tc lc bng 0.


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c. M hnh gii thutMaster - AVR


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Slave - P89V51


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M hnh lp trnh PID trn P89V51

Trong gii thut ny UpdTraj() l hm tng i quan trng nn ch th hin m hnh ny ca

hm, cn cc hm khc nh UpdPos(), CalcPID(), CalcError() tng i d hiu nn khng th hin

y)


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Gii thut chi tit trong UpdTraj()


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Robocon-Nhung Dieu Can Biet