B

KHOA CNG NGH I NT MN I N T CNG NGHI P

TI LI U H NG D N TH NGHI M - TH C HNH

I. H TH NG I U KHI N MOTOR B C.

A. M C CH: Th c hnh l p trnh ng d ng trn my tnh, bin d ch chng trnh, n p vo vi i u khi n v s d ng m hnh th nghi m ki m ch ng. i u khi n thi t b ngo i vi b ng cc port c a vi i u khi n. Tm hi u nguyn l ho t ng c a cc lo i ng c b c cng su t nh . Tm hi u nguyn l i u khi n ng c b c b ng vi i u khi n v ng d ng l p trnh i u khi n ho t ng cho cc ng c b c ny.

B. YU C U: N m v ng t p l nh c a vi i u khi n MCS-51. Bi t cch vi t cc chng trnh i u khi n ng c b c quay thu n/ng c, quaylin t c/t ng b c, . N m c s v nguyn l ho t ng c a kh i ng c b c trn m hnh th nghi m. N m c nguyn l ho t ng v nguyn l i u khi n ng c b c. Bi t cch vi t cc chng trnh ng d ng i u khi n ng c b c ho t ng theo cc ch khc nhau.

Gio trnh th c hnh vi x l.

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I. H TH NG I U KHI N MOTOR B C. Bi 1: Chng trnh i u khi n STEPPER1 quay cng chi u kim ng h (CTRL MOTOR c n i v i Port0). 1 Trnh t ti n hnh th nghi m: 1.1 K t n i thi t b th nghi m. T t ngu n c p cho m hnh th nghi m. Dng dy bus 8 n i J63 (PORT0 / DATA) kh i vi i u khi n v i J31 (CONTROL MOTOR) kh i motor b c. Dng dy bus 4 n i J30 (MOTOR 1) kh i motor b c v i cc dy i u khi n c a motor b c (s d ng lo i motor b c c 5 dy (4 i u khi n +1 ngu n) ho c lo i 6 dy (2 i u khi n + 1 ngu n v 2 i u khi n + 1 ngu n). Dng dy bus 3 n i J105 (POWER) kh i motor b c v i ngu n +5V kh i ngu n. Dng dy bus 1 n i cc dy ngu n c a motor b c v i ngu n +5V kh i ngu n.

1.2 S

nguyn l c a h th ng:
RP1
1 +5V AD0 AD1 AD2 AD3 AD4 AD5 AD6 AD7

C2
33p

X1
12MHz

C1
33p

2 3 4 5 6 7 8 9 10K P0.0/AD0 P0.1/AD1 P0.2/AD2 P0.3/AD3 P0.4/AD4 P0.5/AD5 P0.6/AD6 P0.7/AD7 P2.0/A8 P2.1/A9 P2.2/A10 P2.3/A11 P2.4/A12 P2.5/A13 P2.6/A14 P2.7/A15 P3.0/RXD P3.1/TXD P3.2/INT0 P3.3/INT1 P3.4/T0 P3.5/T1 P3.6/WR P3.7/RD

+5V

+5V

+5V 19

U1
XTAL1

U2
39 AD0 38 AD1 37 AD2 36 AD3 35 AD4 34 AD5 33 AD6 32 AD7 21 22 23 24 25 26 27 28 10 11 12 13 14 15 16 17 AD0 AD1 AD2 AD3 1 2 3 4 5 6 7 8 1B 2B 3B 4B 5B 6B 7B 8B ULN2803 COM 1C 2C 3C 4C 5C 6C 7C 8C 10 18 17 16 15 14 13 12 11 A V+ B +88.8 D V+ C

18

C3
10uF 9

XTAL2

RST

R1
10k 29 30 31 PSEN ALE EA

MA CH IE U KHIE N O NG C B C (STEPPER MOTOR)

1 2 3 4 5 6 7 8

P1.0 P1.1 P1.2 P1.3 P1.4 P1.5 P1.6 P1.7 AT89C51

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I. H TH NG I U KHI N MOTOR B C. Bi 1: Chng trnh i u khi n STEPPER1 quay cng chi u kim ng h (CTRL MOTOR c n i v i Port0). 1.3 V lu gi i thu t v vi t chng trnh i u khi n.

;*************************************************** ;CHUONG TRINH DIEU KHIEN DONG CO BUOC (MOTOR 1) QUAY LIEN TUC ;*************************************************** ;KET NOI: MOTOR CONTROL -> PORT0 (ACT = 0) ;*************************************************** ORG 00H MAIN: MOV P0,#00000001B ;XUAT PORT DIEU KHIEN MOTOR - BUOC 1 ACALL DELAY MOV P0,#00000010B ;XUAT PORT DIEU KHIEN MOTOR - BUOC 2 ACALL DELAY MOV P0,#00000100B ;XUAT PORT DIEU KHIEN MOTOR - BUOC 3 ACALL DELAY MOV P0,#00001000B ;XUAT PORT DIEU KHIEN MOTOR - BUOC 4 ACALL DELAY SJMP MAIN ;QUAY LAI ;**************************************************** DELAY: ;CHUONG TRINH CON TAO THOI GIAN TRE 1S PUSH 00H MOV R0,#100 MOV TMOD,#01H LOOP2: MOV TH0,#HIGH(-10000) MOV TL0,#LOW(-10000) SETB TR0 JNB TF0,$ CLR TR0 CLR TF0 DJNZ R0,LOOP2 POP 00H RET END

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I. H TH NG I U KHI N MOTOR B C. Bi 1: Chng trnh i u khi n STEPPER1 quay cng chi u kim ng h (CTRL MOTOR c n i v i Port0). 1.4 Lu chng trnh v bin d ch chng trnh. 1.5 Ki m tra l i v hi u ch nh l i n u c. 1.6 G n chip vi i u khi n th nghi m vo socket tng ng trn kh i n p chip v b t ngu n cho kh i n p chip ho t ng. 1.7 N p chng trnh vo vi i u khi n. 1.8 S d ng vi i u khi n v a n p g n vo socket tng ng trn kh i vi i u khi n. 1.9 B t ngu n cho m hnh th nghi m. Quan st k t qu ho t ng, n u k t qu ho t ng khng ng yu c u c a bi th ph i quay l i ki m tra vi c k t n i m ch, hi u ch nh chng trnh v lm l i cc b c t b c 3 n b c 9. 2 Bi t p: (xem thm trong ph n h ng d n v ph n bi t p c a Bi 3)

Gio trnh th c hnh vi x l.

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I. H TH NG I U KHI N MOTOR B C. Bi 2: Chng trnh i u khi n STEPPER1 quay cng chi u kim ng h m t vng r i d ng l i (CTRL MOTOR c n i v i Port0). 1 Trnh t ti n hnh th nghi m: 1.1 K t n i thi t b th nghi m. Qu trnh k t n i thi t b th nghi m tng t nh Bi 1. 1.2 S nguyn l c a h th ng: S nguyn l c a h th ng tng t nh Bi 1. 1.3 V lu gi i thu t v vi t chng trnh i u khi n.

;*************************************************** ;CHUONG TRINH DIEU KHIEN DONG CO BUOC (MOTOR 1) QUAY 1 VONG ;*************************************************** ;KET NOI: MOTOR CONTROL -> PORT0 (ACT = 0), 1.8 DEG/STEP (200 STEP/ROUND) ;*************************************************** ORG 00H MAIN: MOV P0,#00H ;DUA MOTOR VE TRANG THAI TINH MOV R0,#0 ;BIEN DEM SO BUOC MOV A,#00000001B ;TRANG THAI BAN DAU (BUOC 1) STEPNEXT: MOV P0,A ;XUAT XUNG DIEU KHIEN MOTOR ACALL DELAY RL A ;CHUYEN DICH SANG TRANG THAI XUNG DIEU KHIEN KE TIEP INC R0 ;DEM SO BUOC QUAY

Gio trnh th c hnh vi x l.

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I. H TH NG I U KHI N MOTOR B C. Bi 2: Chng trnh i u khi n STEPPER1 quay cng chi u kim ng h m t vng r i d ng l i (CTRL MOTOR c n i v i Port0).
CJNE MOV NEXT: CJNE R0,#200,STEPNEXT ;KIEM TRA MOTOR DA QUAY DU 1 VONG - 200 BUOC SJMP $ ;DUNG KHI DA DU 1 VONG ;**************************************************** DELAY: ;CHUONG TRINH CON TAO THOI GIAN TRE 1S PUSH 00H MOV R0,#100 MOV TMOD,#01H LOOP2: MOV TH0,#HIGH(-10000) MOV TL0,#LOW(-10000) SETB TR0 JNB TF0,$ CLR TR0 CLR TF0 DJNZ R0,LOOP2 POP 00H RET END A,#00010000B,NEXT A,#00000001B ;KIEM TRA TRANG THAI XUNG DIEU KHIEN (4 BUOC ?) - Y: CHUA DU ;DUA XUNG DIEU KHIEN VE TRANG THAI BAN DAU (BUOC 1)

1.4 Th c hi n l n l t cc b c t 1.3 2 Bi t p:

n 1.8 tng t nh bi trn.

(xem thm trong ph n h ng d n v ph n bi t p c a Bi 3)

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I. H TH NG I U KHI N MOTOR B C. Bi 3: Chng trnh i u khi n STEPPER1 quay b ng cch nh n nt KEY1: quay thu n, KEY2: quay ng c, KEY0: d ng (CTRL MOTOR c n i v i Port0, MOMENTARY SW: c n i v i Port1). 1 Trnh t ti n hnh th nghi m: 1.1 K t n i thi t b th nghi m. T t ngu n c p cho m hnh th nghi m. Dng dy bus 8 n i J63 (PORT0 / DATA) kh i vi i u khi n v i J31 (CONTROL MOTOR) kh i motor b c. Dng dy bus 8 n i J64 (PORT1) kh i vi i u khi n v i J76 (MOMENTARY SW) kh i nt nh n. Dng dy bus 4 n i J30 (MOTOR 1) kh i motor b c v i cc dy i u khi n c a motor b c (s d ng lo i motor b c c 5 dy (4 i u khi n +1 ngu n) ho c lo i 6 dy (2 i u khi n + 1 ngu n v 2 i u khi n + 1 ngu n). Dng hai dy bus 3 n i J105 (POWER) kh i motor b c v J114 (POWER) kh i nt nh n v i ngu n +5V kh i ngu n. Dng dy bus 1 n i cc dy ngu n c a motor b c v i ngu n +5V kh i ngu n.

1.2 S

nguyn l c a h th ng:
RP1
1

C2
33p

X1
12MHz

C1
33p

2 3 4 5 6 7 8 9 10K P0.0/AD0 P0.1/AD1 P0.2/AD2 P0.3/AD3 P0.4/AD4 P0.5/AD5 P0.6/AD6 P0.7/AD7 P2.0/A8 P2.1/A9 P2.2/A10 P2.3/A11 P2.4/A12 P2.5/A13 P2.6/A14 P2.7/A15 P3.0/RXD P3.1/TXD P3.2/INT0 P3.3/INT1 P3.4/T0 P3.5/T1 P3.6/WR P3.7/RD

AD0 AD1 AD2 AD3 AD4 AD5 AD6 AD7

+5V

MAC H IEU KHIEN ONG C BC (STEPPER MOTOR)

+5V +5V

+5V 19

U1
XTAL1

U2
39 AD0 38 AD1 37 AD2 36 AD3 35 AD4 34 AD5 33 AD6 32 AD7 21 22 23 24 25 26 27 28 10 11 12 13 14 15 16 17 AD0 AD1 AD2 AD3 1 2 3 4 5 6 7 8 1B 2B 3B 4B 5B 6B 7B 8B ULN2803 COM 1C 2C 3C 4C 5C 6C 7C 8C 10 18 17 16 15 14 13 12 11 A V+ B +88.8 D V+ C

18

C3
10uF 9

XTAL2

RST

R1
10k 29 30 31 PSEN ALE EA

+5V

+5V

+5V

KEY0

KEY1

AT89C51

Gio trnh th c hnh vi x l.

KEY2

KEY0 1 KEY1 2 KEY2 3 4 5 6 7 8

R2
10k

R3
10k

R4
10k

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

STOP

FOR

REW

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I. H TH NG I U KHI N MOTOR B C. Bi 3: Chng trnh i u khi n STEPPER1 quay b ng cch nh n nt KEY1: quay thu n, KEY2: quay ng c, KEY0: d ng (CTRL MOTOR c n i v i Port0, MOMENTARY SW: c n i v i Port1). 1.3 V lu gi i thu t v vi t chng trnh i u khi n.

Gio trnh th c hnh vi x l.

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I. H TH NG I U KHI N MOTOR B C. Bi 3: Chng trnh i u khi n STEPPER1 quay b ng cch nh n nt KEY1: quay thu n, KEY2: quay ng c, KEY0: d ng (CTRL MOTOR c n i v i Port0, MOMENTARY SW: c n i v i Port1).
;*************************************************** ;CHUONG TRINH DIEU KHIEN DONG CO BUOC (MOTOR 1) QUAY THUAN/NGHICH KHI NHAN NUT NHAN ;*************************************************** ;KET NOI: MOTOR CONTROL -> PORT0 (ACT = 0) ; MOMENTARY SW -> PORT1 (ACT = 0) ;*************************************************** ORG 00H MAIN: MOV A,#01H ;XUNG KHIEN BUOC 1 MOV P0,A ;XUAT XUNG KHIEN MOV R0,#0 ;BIEN NHAN GIA TRI CUA NUT DUOC NHAN (KEY0 = 0) TESTKEY: JB P1.0,NEXTKEY1 ;Y: KEY0 KHONG DUOC NHAN MOV R0,#0 ;NAP GIA TRI CUA NUT -> KEY0 NHAN NEXTKEY1: JB P1.1,NEXTKEY2 ;Y: KEY1 KHONG DUOC NHAN MOV R0,#1 ;NAP GIA TRI CUA NUT -> KEY1 NHAN NEXTKEY2: JB P1.2,COMPARE ;Y: KEY2 KHONG DUOC NHAN MOV R0,#2 ;NAP GIA TRI CUA NUT -> KEY2 NHAN COMPARE: CJNE R0,#1,NEXT_COM1 ;Y: NUT NHAN KHONG PHAI LA KEY1 RL A ;NUT NHAN LA KEY1 -> QUAY THUAN 1 BUOC ACALL ROTATE NEXT_COM1: CJNE R0,#2,NEXT_COM2 ;Y: NUT NHAN KHONG PHAI LA KEY2 RR A ;NUT NHAN LA KEY2 -> QUAY NGHICH 1 BUOC ACALL ROTATE NEXT_COM2: SJMP TESTKEY ;QUAY TRO VE ;**************************************************** ROTATE: ;CTC DIEU KHIEN QUAY MOTOR CJNE A,#10H,BIT4_BIT0 ;KIEM TRA TRANG THAI XUNG MOV A,#01H ;DIEU CHINH TRANG THAI XUNG VE BUOC 1 BIT4_BIT0: CJNE A,#80H,BIT7_BIT3 ;KIEM TRA TRANG THAI XUNG MOV A,#08H ;DIEU CHINH TRANG THAI XUNG VE BUOC 4 BIT7_BIT3: MOV P0,A ;XUAT XUNG KHIEN ACALL DELAY RET ;**************************************************** DELAY: ;CHUONG TRINH CON TAO THOI GIAN TRE 1S PUSH 00H MOV R0,#100 MOV TMOD,#01H LOOP2: MOV TH0,#HIGH(-10000) MOV TL0,#LOW(-10000) SETB TR0 JNB TF0,$ CLR TR0 CLR TF0 DJNZ R0,LOOP2 POP 00H RET END

1.4 Th c hi n l n l t cc b c t 1.3 2

n 1.8 tng t nh bi trn.

Bi t p: Bi 1: Hy vi t chng trnh i u khi n STEPPER2 quay ng c chi u kim ng h . Bi 2: Hy vi t chng trnh i u khi n STEPPER1 v 2 quay cng chi u kim ng h . Bi 3: Hy vi t chng trnh i u khi n STEPPER1 quay ng c chi u kim ng h v STEPPER2 quay cng chi u kim ng h . T l a ch n phng php k t n i motor b c. Bi 4: Hy vi t chng trnh i u khi n STEPPER1 ho t ng khi ta nh n phm trn bn phm: Nh n phm 1: STEPPER1 quay cng chi u kim ng h . 10 Bin so n: Ph m Quang Tr

Gio trnh th c hnh vi x l.

I. H TH NG I U KHI N MOTOR B C. Bi 3: Chng trnh i u khi n STEPPER1 quay b ng cch nh n nt KEY1: quay thu n, KEY2: quay ng c, KEY0: d ng (CTRL MOTOR c n i v i Port0, MOMENTARY SW: c n i v i Port1). Nh n phm 2: STEPPER1 quay ng c chi u kim ng h . Nh n phm ESC: STEPPER1 d ng. Bi 5: Hy vi t chng trnh i u khi n STEPPER1 quay cng chi u kim ng h khi ta nh n phm trn bn phm: Nh n phm 1: STEPPER1 tng d n t c quay. Nh n phm 2: STEPPER1 gim d n t c quay. Nh n phm ESC: STEPPER1 d ng. Bi 6: Hy vi t chng trnh i u khi n STEPPER1 ho t ng khi ta nh n nut nh n: Nh n nt KEY0: STEPPER1 quay cng chi u kim ng h . Nh n nt KEY1: STEPPER1 quay ng c chi u kim ng h . Nh n nt KEY2: STEPPER1 tng d n t c quay. Nh n nt KEY3: STEPPER1 gim d n t c quay. Nh n nt KEY4: STEPPER1 d ng. Bi 7: Hy vi t chng trnh i u khi n STEPPER1 quay cng chi u kim ng h , motor s quay khi ta nh p t bn phm s b c c n quay (0 n 200) v nh n phm ENTER, motor s d ng b t c lc no khi ta nh n phm ESC. S b c motor nh p vo v s b c motor quay s c hi n th ln ba LED 7 o n. Bi 8: Sinh vin t mnh suy ngh v pht tri n thm chng trnh.

Gio trnh th c hnh vi x l.

11

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