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LI M U---------------------------------------------------------------------------------------- 3
LI CM N ---------------------------------------------------------------------------------------- 4
PHN 1. VI IU KHIN AVR ----------------------------------------------------------------- 7
I. GII THIU AVR MCU ATMEL -----------------------------------------------------------7
1. Gii thiu: -------------------------------------------------------------------------------------7
2. u th ca MCU AVR ----------------------------------------------------------------------7
3. Mt s dng AVR ph bin ----------------------------------------------------------------8
II. ATMEGA16 KIN TRC TNG QUAN ----------------------------------------------8
1. u im: --------------------------------------------------------------------------------------8
2. Cu trc Atmega16 --------------------------------------------------------------------------9
3. Cc khi chnh: ----------------------------------------------------------------------------- 11
4. B nh - Memory: ------------------------------------------------------------------------- 14
5. Qu trnh thc thi lnh: -------------------------------------------------------------------- 16
III. CC MODULE IU KHIN TRONG ATMEGA 16------------------------------- 17
1. Input & Output ----------------------------------------------------------------------------- 17
2. Cu to chn -------------------------------------------------------------------------------- 18
3. Thit lp truy xut I/O: -------------------------------------------------------------------- 18
4. INTERRUPT Ngt ---------------------------------------------------------------------- 19
5. TIMER COUNTER --------------------------------------------------------------------- 21
IV. NG C DC SERVO ------------------------------------------------------------------- 33
1. Khi qut v ng c DC servo ---------------------------------------------------------- 33
2. Encoder -------------------------------------------------------------------------------------- 34
3. Mch cu H --------------------------------------------------------------------------------- 36
4. Chip driver LMD18200 ------------------------------------------------------------------- 38
PHN 2: THI CNG PHN CNG ----------------------------------------------------------- 41
I. KHI VI IU KHIN --------------------------------------------------------------------- 41
II. KHI NT NHN BUTTON ----------------------------------------------------------- 41
III. KHI ENCODER -------------------------------------------------------------------------- 42
n hc phn 1D
IV. KHI CNG SUT ----------------------------------------------------------------------- 43
PHN 3 - TNG KT---------------------------------------------------------------------------- 44
I. KT QU T C --------------------------------------------------------------------- 44
II. HN CH ------------------------------------------------------------------------------------ 44
III. HNG PHT TRIN TI --------------------------------------------------------- 44
IV. KT LUN --------------------------------------------------------------------------------- 44
TI LIU THAM KHO ------------------------------------------------------------------------ 45
n hc phn 1D
LI M U
T khi cng ngh ch to loi vi mch lp trnh ra i em n cc k thut iu
khin hin i c nhiu u im hn so vi vic s dng cc mch iu khin lp rp
bng cc linh kin ri nh kch thc nh, gi thnh r, kh nng lm vic tin cy, cng
sut tiu th nh. Hng lot nh sn xut MCU ra i nh Atmel, Philip, Motorola vi
hng lot chip vi nhiu tnh nng v cng phong ph v a dng. Ngy nay, lnh vc
iu khin c ng dng rng ri trong cc thit b, sn phm phc v cho nhu cu
sinh hot hng ngy ca con ngi nh my git, ng h bo gi.. gip cho i
sng ca chng ta ngy cng hin i v tin nghi hn. Bn cnh , ng c servo vi
nhiu kiu dng v kch thc cng ngy cng c ng dng trong nhng thit b yu
cu c chnh xc cao v tc v s vng quay, hot ng linh hot vi nhiu chc
nng khc nhau nh trong nhng cnh tay rbt trong cng nghip, rbt d ph bom
mn trong qun i, cc ng c trong m hnh xe hi, my bay, my CNC
Trong s nhng nh sn xut MCU 8 bit th Atmel tr nn qu quen thuc vi
gii sinh vin, k thut Vit Nam. Nhm chng em tm hiu ti v MCU AVR mt
trong nhng MCU c s dng rt rng ri trong k thut iu khin v vy nhm em
xin chn ti: IU KHIN TC NG C DC S DNG VI IU
KHIN AVR. V thi gian v kin thc c hn nn trong ni dung ti chng em ch
dng li n vic iu khin tc ng c ch khng ti bng cch tng gim thi
gian TON ca xung PWM, o chiu quay, hm ng c v hin th cc thng s ny trn
LCD
n hc phn 1D
LI CM N
n hc phn 1D
Nhn xt
(Ca gio vin hng dn)
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TPHCM, ngy thng nm 2012
Gio vin hng dn
n hc phn 1D
Nhn xt
(Ca gio vin phn bin)
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TPHCM, ngy thng nm 2012
Gio vin phn bin
n hc phn 1D
PHN 1. VI IU KHIN AVR
I. GII THIU AVR MCU ATMEL
1. Gii thiu:
AVR l mt h vi iu khin do hng Atmel sn xut. Atmel cung cp cc vi iu
khin ph bin nh 8051, AT91, ARM7, Atmel AVR 8-bit RISC, v mi y l DSP
dual-CPU AT57. Atmel AVR32 l mt vi iu khin lai DSP vi 7 tng pipeline v kh
nng thc thi song song. AVR l chip vi iu khin 8 bits vi cu trc tp lnh n gin
ha RISC (Reduced Instruction Set Computer), mt kiu cu trc ang th hin u th
trong cc b x l.
Atmel ATMEGA16
2. u th ca MCU AVR
Kt ni phn cng cho AVR n gin vi nhng linh kin thng dng nh in
tr, t in, thch anh. Dng ra iu khin Port ln v khng cn dng in tr ko.
Thit k mch np cho AVR kh n gin giao tip qua cng LPT, COM, USB.
H tr ISP lp trnh trc tip trn mch. H tr lp trnh trn nn ngn ng ASM, C vi
nhiu cng c h tr nh CodeVision, AVR Studio.
Hu ht cc chip AVR c nhng tnh nng sau:
- Xung External OSC ln n 16Mhz v Internal OSC 8Mhz.
- B nh chng trnh Flash c th lp trnh li rt nhiu ln v dung lng ln c
th ghi v xa trn 1000 ln. Bn cnh b nh EEPROM c th lp trnh c.
- 32 Port xut nhp.
- 8 bits, 16 bits timer/counter tch hp PWM.
- Cc b chuyn i Analog Digital phn gii 10 bits
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- Analog comparator.
- Giao din ni tip USART (tng thch chun ni tip RS-232).
- Giao din ni tip Two -Wire -Serial (tng thch chun I2C) Master v Slaver.
- Giao din ni tip Serial Peripheral Interface (SPI).
3. Mt s dng AVR ph bin
- AT90S1200; AT90S2313
- AT90S2323; AT90S2343; AT90S2333; AT90S4433
- AT90S4414; AT90S8515; AT90S4434; AT90S8535
- ATtiny10; ATtiny11; ATtiny12; ATtiny15; ATtiny22; ATtiny26
- ATmega8/8515/8535; ATmega16;
ATmega161; ATmega162;
ATmega163;
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2. Cu trc Atmega16
2.1 S chn
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2.2 S khi:
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2.3 Cc PORT xut nhp:
PORT A: L PORT xut nhp thng thng 8 bit cn c thit k cho b ADC
chuyn i tng t s. PORT A thit k vi in tr ni treo ln mc cao.
PORT B: L PORT xut nhp thng thng 8 bit.
PORT C: L PORT xut nhp thng thng 8 bit. Bn cnh PORT C cn c
mt s chn giao tip JTAG PC5-TDI, PC3-TMS, PC2 TCK.
PORT D: L PORT xut nhp thng thng 8 bit.
Cc chn khc: VCC, AVCC, AREF, XTAL1, XTAL2, RESET
3. Cc khi chnh:
3.1 CPU:
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AVR c cu trc Harvard, trong ng truyn cho b nh d liu (data memory
bus) v ng truyn cho b nh chng trnh (program memory bus) c tch ring.
Data memory bus ch c 8 bit v c kt ni vi hu ht cc thit b ngoi vi, vi
register file. Trong khi program memory bus c rng 16 bits v ch phc v cho
instruction registers.
3.2 ALU
ALU lm vic trc tip vi cc thanh ghi chc nng chung. Cc php ton c
thc hin trong mt chu k xung clock. Hot ng ca ALU c chia lm 3 loi: i s,
logic v theo bit.
3.3 Thanh ghi trng thi SREG
y l thanh ghi 8 bit lu tr trng thi ca ALU sau cc php tnh s hc v logic.
- C: Carry Flag
- Z: Zero Flag
c nh.
C zero.
- N: Negative Flag
kt qu php ton m.
c b 2.
kim tra 2 c N v V.
c s dng lm ni trung
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3.4 Thanh ghi chc nng chung
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L mt thanh ghi 16 bit nhng cng c th c xem nh hai thanh ghi chc nng
c bit 8 bit dng lu tr bin trong qu trnh tnh ton. Stack c hiu nh l 1
thp d liu, d liu c cha vo stack nh thp v d liu cng c ly ra t
nh. Kiu truy cp d liu ca stack gi l LIFO.
Khai bo SP ti mt vng nh trong SRAM vi a ch ca SP thit lp >$60. Con
tr gim a ch xung 1 khi d liu c a vo Stack vi lnh PUSH v hai khi c
Subroutine hoc Interrupt c gi. Con tr tng a ch ln 1 khi c lnh POP d liu
thc hin v ln hai khi tr d liu v cho chng trnh con.
4. B nh - Memory:
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B nh chng trnh ch gm 1 phn l Application Flash Section nhng trong cc
chip AVR mi chng ta c thm phn Boot Flash section. Thc cht, application section
bao gm 2 phn: phn cha cc instruction v phn cha interrupt vectors. Cc vector
ngt nm phn u ca application section t a ch 0x0000 v di n bao nhiu ty
thuc vo loi chip v phn cha instruction nm lin sau . Cc chng trnh c vit
sau a ch .
4.2 B nh d liu SRAM:
y l phn cha cc thanh ghi quan trng nht ca chip, vic lp trnh cho chip
phn ln l truy cp b nh ny v b nh ny gm cc phn sau:
Phn 1: l phn u tin trong b nh d liu bao gm 32 thanh General Purpose
Rgegister GPR. Tt c cc thanh ghi ny u l cc thanh ghi 8 bits. Tt c cc chip
trong h AVR u bao gm 32 thanh ghi Register File c a ch tuyt i t 0x0000 n
0x001F. Mi thanh ghi c th cha gi tr dng t 0 n 255 hoc cc gi tr c du t 128 n 127 hoc m ASCII ca mt k t no Cc thanh ghi ny c t tn theo
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th t l R0 n R31. Chng c chia thnh 2 phn, phn 1 bao gm cc thanh ghi t
R0 n R15 v phn 2 l cc thanh ghi R16 n R31.
Phn 2: l phn nm ngay sau SFR bao gm 64 thanh ghi I/O hay cn gi l vng
nh I/O. Vng nh I/O l ca ng giao tip gia CPU v thit b ngoi vi. Vng nh I/O
c th c truy cp nh SRAM hay nh cc thanh ghi I/O. Nu s dng instruction truy
xut SRAM truy xut vng nh ny th a ch ca chng c tnh t 0x0020 n
0x005F. Nhng nu truy xut nh cc thanh ghi I/O th a ch ca chng c tnh t
0x0000 n 0x003F.
Phn 3: Internal SRAM l vng khng gian cho cha cc bin trong lc thc thi
chng trnh.
4.3 B nh d liu EEPROM
ATmega16 cha b nh d liu EEPROM dung lng 512 byte, v c sp xp
theo tng byte, cho php cc thao tc c/ghi tng byte mt. EEPROM c tch ring
v c a ch tnh t 0x0000H.
5. Qu trnh thc thi lnh:
Gin xung:
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mt b m chng trnh PC (Program counter). Hu ht cc instruction u c thc
thi trong 1 chu k xung clock.
III. CC MODULE IU KHIN TRONG ATMEGA 16
1. Input & Output
1.1 Gii thiu
Vi iu khin ATmega16 c 32 ng vo ra chia lm bn PORT: PORTA
PORTB PORTC PORTD mi PORT 8bit c th tng tc iu khin tng bit mt.
Cc cng ra c in tr ni ko ln nn khi dng chc nng Input ta khng cn dng in
tr ko ln bn ngoi. Cc PORT c iu khin bi cc b thanh ghi sau: thanh ghi
d liu cng PORT, thanh ghi d liu iu khin cng DDR v cui cng l a ch chn
vo ca cng PIN.
1.2 Thanh ghi DDR
y l thanh ghi 8 bit (ta c th c v ghi cc bit thanh ghi ny) v c tc dng
iu khin hng cng PORT (tc l cng ra hay cng vo). Nu nh mt bit trong thanh
ghi ny c set th bit tng ng trn PORT c nh ngha nh mt cng ra.
Ngc li nu nh bit khng c set th bit tng ng trn PORT c nh ngha l
cng vo.
1.3 Thanh ghi PORT
y cng l thanh ghi 8 bit (cc bit c th c v ghi c) n l thanh ghi d liu
ca cng PORT v trong trng hp nu cng c nh ngha l cng ra th khi ta ghi
mt bit ln thanh ghi ny th chn tng ng trn PORT cng c cng mc logic.
Trong trng hp m cng c nh ngha l cng vo th thanh ghi ny li mang d
liu iu khin cng. C th nu bit no ca thanh ghi ny c set (a ln mc 1)
th in tr ko ln (pull-up) ca chn tng ng ca port s c kch hot. Ngc
li n s trng thi hi-Z. Thanh ghi ny sau khi khi ng Vi iu khin s c gi tr l
000.
1.4 Thanh ghi PIN
y l thanh ghi 8 bit cha d liu vo ca PORT (trong trng hp PORT c
thit lp l cng vo) v n ch c th c m khng th ghi vo c.
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2. Cu to chn
Cu trc chn ca AVR c th phn bit r chc nng (vo ra) trng thi (0 1) t
ta c 4 kiu vo ra cho mt chn ca AVR. Khc vi 89 l ch c 2 trng thi duy nht
(0 1) . c bit ngun t chn ca AVR kho iu khin Led trc tip (mA) cn 89
ch l vi A .
Bng trng thi truy xut I/O:
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n hc phn 1D
- a d liu ra thanh ghi iu khin DDRxn t cho PORTx (hoc bit n trong
port) l u ra (xa thanh ghi DDRx hoc bit).
- Xut gi tr ra Port.
4. INTERRUPT Ngt
4.1 Gii thiu
Ngt l mt c ch cho php thit b ngoi vi bo cho CPU bit v tnh trng sn
sng cho i d liu ca mnh.V d: Khi b truyn nhn UART nhn c mt byte n
s bo cho CPU bit thng qua c RXC, hoc khi n truyn c mt byte th c TX
c thit lp
Khi c tn hiu bo ngt CPU s tm dng cng vic ng thc hin li v lu v
tr ang thc hin chng trnh (con tr PC) vo ngn xp sau tr ti vector phuc v
ngt v thc hin chng trnh phc v ngt cho ti khi gp lnh RETI (Return from
Interrupt) th CPU li ly PC t ngn xp ra v tip tc thc hin chng trnh m trc
khi c ngt n ang thc hin. Trong trng hp m c nhiu ngt yu cu cng mt lc
th CPU s lu cc c bo ngt li v thc hin ln lt cc ngt theo mc u tin.
Atmega 16 c cc ngt sau:
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4.2 Ngt ngoi External Interrupts
Atmega16 c 3 ngt ngoi INT0 (PORTD.2), INT1 (PORTD.3) v INT2 (PORTB.2).
Khi xy ra mt trong cc s kin i vi cc chn ny:
- Low level - in p chn ngt xung mc logic 0 V
- Any change - Bt k s thay i in p t chn ngt
- Falling Edge - Khi c 1 sn in p xung (5V 0V)
- Rising Edge - Khi c 1 sn in p ln (0V 5V)
Sau 1 c ngt s c a ln 1 v bo cho bit c ngt, nhy n chng trnh
con thc hin ngt.
4.3 Cc thanh ghi phc v ngt
4.3.1 MCUCR MCU Control Register.
Thanh ghi MCUCR cha cc bit cho php chng ta chn 1 trong 4 MODE trn cho
cc ngt ngoi. MCUCR l mt thanh ghi 8 bit nhng i vi hot ng ngt ngoi,
chng ta ch quan tm n 4 bit thp ca n (4 bit cao dng cho Power manager v Sleep
Mode). Bn bit thp l cc bit Interrupt Sense Control (ISC) trong 2 bit ISC11: ISC10
dng cho INT1 v 2 bit ISC01: ISC00 dng cho INT0. Bng chn tr cho cc bit ISC01,
ISC00 hon ton tng t.
20
n hc phn 1D
4.3.2 MCUCSR MCU Control and Status Register
Bit 6 ISC2: Interrupt Sense Control 2: l bit quan trng nht trong thanh ghi ny
dng ghi v xa c ngt INT2.
4.3.3 GICR General Interrup Control Register
GICR cng l 1 thanh ghi 8 bit nhng ch c 3 bit cao (bit 5, 6 v bit 7) l c s
dng cho iu khin ngt. Bit 7 INT1 gi l bit cho php ngt (Interrupt Enable), set
bit ny bng 1 ngha bn cho php ngt INT1 hot ng, tng t, bit INT0 v INT2 iu
khin ngt INT0 v INT2.
4.3.4 GIFR General Interrupt Flag Register
Thanh ghi c ngt chung GIFR (General Interrupt Flag Register) c 2 bit INTF1
v INTF0 l cc bit trng thi (hay bit c - Flag) ca 2 ngt INT v INT0. Nu c 1 s
kin ngt ph hp xy ra trn chn INT1, bit INTF1 c t ng set bng 1 (tng t
cho trng hp ca INTF0), chng ta c th s dng cc bit ny nhn ra cc ngt, tuy
nhin iu ny l khng cn thit nu chng ta cho php ngt t ng, v vy thanh ghi
ny thng khng c quan tm khi lp trnh ngt ngoi.
5. TIMER COUNTER
Timer Counter (T/C) l cc module c lp vi CPU. Chc nng chnh ca cc
b T/C, nh tn gi ca chng, l nh th (to ra mt khong thi gian, m thi gian)
v m s kin. Trn cc chip AVR, cc b T/C cn c thm chc nng to ra cc xung
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n hc phn 1D
iu rng PWM (Pulse Width Modulation), mt s dng AVR, mt s T/C cn c
dng nh cc b canh chnh thi gian (calibration) trong cc ng dng thi gian thc.
C th trn chip Atmega16 c 2 b Timer 8 bit (T/C0 v T/C2) v 1 b 16 bit
(T/C1) c cc chc nng sau:
- B m mt knh
- Xa b nh thi khi trong mode so snh (t ng np)
- PWM
- To tn s
- B m s kin ngoi
- B chia tn 10 bit
- Ngun ngt trn b m v so snh
Trc khi s dng cc b T/C ca AVR, c mt s nh ngha quan trng cn
c cp n:
- BOTTOM: l gi tr thp nht m mt T/C c th t c, gi tr ny lun l 0.
- MAX: l gi tr ln nht m mt T/C c th t c, gi tr ny c quy nh
bi bi gi tr ln nht m thanh ghi m ca T/C c th cha c. V d vi mt b
T/C 8 bit th gi tr MAX lun l 0xFF (255), vi b T/C 16 bit th MAX bng 0xFFFF
(65535). Nh th MAX l gi tr khng i trong mi T/C.
- TOP: l gi tr m khi T/C t n n s thay i trng thi, gi tr ny khng
nht thit l s ln nht 8 bit hay 16 bit nh MAX, gi tr ca TOP c th thay i bng
cch iu khin cc bit iu khin tng ng hoc c th nhp tr tip thng qua mt s
thanh ghi.
22
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5.1 Timer Counter 0
5.1.1 S khi
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- FOC0: Bit ny ch tch cc khi bit WGM00 ch nh ch lm vic
khng c PWM
- WGM00 v WGM01: Cc bit ny cho php la chn 1 trong 4 ch hot
ng ca T/C0 theo bng sau:
24
n hc phn 1D
TIMSK (Timer/Counter Interrupt Mask Register): L thanh ghi mt n cho
ngt ca tt c cc T/C trong Atmega 16, trong ch c bit TOIE0 v OCIE0 trong
thanh ghi ny l lin quan n T/C0
- OCIE0: Cho php ngt bo hiu so snh
- TOIE0: Cho php ngt trn b m
25
n hc phn 1D
Ngoi ra, Timer Counter 0 cn c 2 ch hot ng na l Fast PWM v Phase
Correct PWM
5.2 Timer Counter 2:
ATmega 16 cn c b Timer Counter 2 hot ng ging nh b Timer Counter
0. Ngoi ra, T/C2 cn c kh nng hot ng khng ng b vi chip thng qua vic
thit lp thanh ghi ASSR (Asynchronous Status Register)
AS2: Khi AS2 = 0, T/C2 c cp xung nhp t ngun xung nhp ca h thng.
Khi AS2 = 1, T/C2 c cp xung nhp t b dao ng bn ngoi thng qua chn TOSC1
TCN2UB: Khi T/C2 hot ng ch khng ng b, bt ny s bng 1. Khi
TCNT2 c cp nht t thanh ghi d liu tm thi, bt ny s t ng xa bi phn
cng. TCR2UB = 0 ngha l thanh ghi TCNT2 ang sn sng c th cp nht mt gi
tr mi.
OCR2UB: Tng t nh bit TCN2UB nhng i vi OCR2
TCR2UB: Khi T/C2 hot ng ch khng ng b, bt ny s bng 1. Khi
TCCR2 c cp nht t thanh ghi d liu tm thi, bt ny s t ng xa bi phn
cng. TCR2UB = 0 ngha l thanh ghi TCCR2 ang sn sng c th cp nht mt gi
tr mi.
5.3 Timer Counter 1
Timer Counter 1 l b T/C 16 bit v c 5 ch hot ng. Ngoi cc chc nng
nh th thng thng, T/C 1 rt l tng trong vic lp trnh v o lng v c phn
gii cao (16 bit) v cn c kh nng to xung PWM dng iu khin ng c
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5.3.1 S khi
27
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TCNT1H & TCNT1L (Timer/Counter 1 High and Low Register): l 2 thanh
ghi 8 bit to thnh thanh ghi 16 bit (TCNT1) cha cc gi tr vn hnh ca T/C1
28
n hc phn 1D
- TOIE1: quy nh ngt trn cho T/C 1
- OCIE1A & OCIE1B: bit cho php ngt khi c 1 s kin trong vic so snh
gia thanh ghi TCNT1 vi OCR1A & OCR1B
- TICIE1: bit cho php ngt trong trng hp Input Capture c dng
Cng vi vic set cc bit trn, bit I trong thanh ghi SREG cng phi c set nu
mun s dng ngt
TIFR (Timer/Counter Interrupt Flag Register): L thanh ghi c nh cho tt c
cc T/C trn AVR, cc bit ICF1, OCF1A, OCF1B v TOV1 l cc c trng thi ca T/C1
29
n hc phn 1D
5.3.3.1 Normal mode (ch thng)
Trong ch ny, thanh ghi TCNT1 tng t gi tr BOTTOM (0x0000) n gi tr
TOP (0xFFFF) v quay v gi tr BOTTOM v c TOV1 s c set.
5.3.3.2 Ch CTC (Clear Timer on Compare Match)
Trong ch CTC (WGM13:0 = 4 hoc 12), thanh ghi OCR1A hoc thanh ghi
ICR1 c s dng nh ngha phn gii ca b m. Trong ch CTC, b m
b xa v 0 khi gi tr m bng gi tr mt trong hai thanh ghi OCR1A (WGM13:0 =
4) hoc ICR1 (WGM13:0 = 12). Cc thanh ghi OCR1A hoc ICR1 nh ngha gi tr
TOP ca b m ng thi cng l phn gii ca b m. Ch ny cho php
iu khin tt hn tn s u ra so snh. N cng n gin ha hot ng
m s kin
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n hc phn 1D
Gin trn minh ha cho ch Fast PWM mode 14 hoc 15. V d trong
mode 14, gi tr TOP (chu k ca xung PWM) c cha trong thanh ghi ICR1, thanh ghi
TCNT1 tng t gi tr 0, lc ny chn OC1A mc H (gi s COM1A1 =1 & COM1A0
= 0); khi TCNT1 tng n gi tr ca thang ghi OCR1A th chn OC1A c xa v mc
L; thanh ghi TCNT1 tip tc tng ti gi tr TOP cha trong thanh ghi ICR1 th TCNT1
reset v 0 v chn OC1A tr v mc H. Hot ng Fast PWM ca knh B hon ton
tng t nh ca knh A
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n hc phn 1D
TCNT1 bt u gim dn gi tr; khi TCNT1 = OCR1A ln th 2 th chn OC1A c
set ln H, TCNT1 gim n gi tr 0 th hon tt 1 chu k.
Ngoi ra, trn AVR cn c mt s module iu khin khc nh: giao tip UART,
SPI, ADC, I2C, Tuy nhin do gii hn ca ti nn chng em ch tm hiu ti phn
ny, cc phn cn li chng em s pht trin cc n k tip.
32
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IV. NG C DC SERVO
33
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34
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Trong 2 phng php u tin l phng php analog v dng optiacal encoder
(encoder quang) thuc nhm phng php digital.
H thng optical encoder bao gm mt ngun pht quang (thng l hng ngoi
infrared), mt cm bin quang v mt a c chia rnh. Optical encoder li c chia
thnh 2 loi: encoder tuyt i (absolute optical encoder) v encoder tng i
(incremental optical encoder). y ta dng incremental optical encoder, gi tt l
encoder.
Cu to encoder quang
Encoder thng c 3 knh (3 ng ra) bao gm knh A, knh B v knh I (Index).
Trong hnh 2 bn thy hy ch mt l nh bn pha trong ca a quay v mt cp thu
pht dnh ring cho l nh ny. l knh I ca encoder. C mi ln motor quay c
mt vng, l nh xut hin ti v tr ca cp pht - thu, hng ngoi t ngun pht s
xuyn qua l nh n cm bin quang, mt tn hiu xut hin trn cm bin. Nh th
knh I xut hin mt xung mi vng quay ca motor. Bn ngoi a quay c chia
thnh cc rnh nh v mt cp thu pht khc dnh cho cc rnh ny. y l knh A
ca encoder, hot ng ca knh A cng tng t knh I, im khc nhau l trong 1 vng
quay ca motor, c N xung xut hin trn knh A. N l s rnh trn a v c gi l
phn gii (resolution) ca encoder. Mi loi encoder c phn gii khc nhau, c khi
trn mi a ch c vi rnh nhng cng c trng hp n hng nghn rnh c chia.
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n hc phn 1D
iu khin ng c, bn phi bit phn gii ca encoder ang dng. phn gii
nh hng n chnh xc iu khin v c phng php iu khin.
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n hc phn 1D
ng c Dc servo c iu khin bi tn hiu t vi iu khin theo nguyn l iu
khin rng xung (Pulse width modulation PWM), s dng mch cu H.
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n hc phn 1D
ng c 4 kha? Hin tng ngn mch (short circuit), V v GND gn nh ni trc tip
vi nhau v hin nhin c qui s b hng hoc nguy him hn l chy n mch xy ra.
Cch ng cc kha nh th ny s lm hng mch cu H. trnh vic ny xy ra,
ngi ta thng dng thm cc mch logic kch cu H. Gi thit cui cng l 2 trng
hp cc kha phn di hoc phn trn cng ng (v d L1 v R1 cng ng, L2 v
R2 cng m). Vi trng hp ny, c 2 u A, B ca i tng cng ni vi mt mc
in p v s khng c dng in no chy qua, mch cu H khng hot ng. y c th
coi l mt cch thng ng c (nhng khng phi lc no cng c tc dng). l
nguyn l c bn ca mch cu H. Nh vy thnh phn chnh ca mch cu H chnh l
cc kha, vic chn linh kin lm cc kha ny ph thuc vo mc ch s dng
mch cu, loi i tng cn iu khin, cng sut tiu th ca i tng v c hiu bit,
iu kin ca ngi thit k. Nhn chung, cc kha ca mch cu H thng c ch to
bng rle, BJT hay MOSFET.
4. Chip driver LMD18200
LMD18200 l IC cu H chuyn dng dng iu khin ng c DC v Step
motor ca hng National Semiconductor, dng in lin tc ln n 3A
4.1 S khi
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n hc phn 1D
4.2 S chn
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n hc phn 1D
Bng logic ca LMD18200
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n hc phn 1D
PHN 2: THI CNG PHN CNG
I. KHI VI IU KHIN
Khi vi iu khin gm c:
- Vi iu khin ATmega16 vi thch anh 8MHz
- Cc jack cm kt ni vi cc khi LCD, khi cng sut, khi encoder v khi
nt nhn
II. KHI NT NHN BUTTON
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n hc phn 1D
Khi nt nhn gm c 6 nt nhn, mi nt nhn c mc song song vi 1 t in
103 v c kt ni vi khi vi iu khin bng jack cm J2
III. KHI ENCODER
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n hc phn 1D
IV. KHI CNG SUT
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n hc phn 1D
PHN 3 - TNG KT
I. KT QU T C
- Tm hiu c cu trc cng nh mt s chc nng ca vi iu khin AVR v ng
dng cc chc nng vo mc ch iu khin tc ng c DC
- Bc u thc hin c m hnh thc t v hot ng ng vi khi lp trnh
II. HN CH
- Cha tm hiu c ht cc chc nng ca vi iu khin AVR
- M hnh cn cng knh, cha gn, tnh thm m cha cao i khi phn hin th b nhiu
do phn cch li gia khi cng sut v khi vi iu khin cha c thc hin tt
III. HNG PHT TRIN TI
- Tip tc nghin cu tt c cc chc nng ca vi iu khin AVR v ng dng
- n gin ha m hnh, hn ch nhiu cho khi vi iu khin v LCD
- p dng thut ton PID iu khin ng c, giao tip gia khi vi iu khin vi
my tnh vic iu khin ng c c d dng hn
IV. KT LUN
Qua ti tm hiu v iu khin tc ng c DC s dng vi iu khin
AVR nhm chng em hc thm c rt nhiu kin thc. Qu trnh tm hiu, nhm
chng em thc hin mch thc t v t c nhng kt qu nht nh. Tuy nhin v
kin thc v thi gian cn nhiu hn ch nn ti cha c m rng vi nhng ng
dng thc t. Trong thi gian ti nhm s c gng tm hiu nhiu ng dng c th hn
na qua cc n k tip
Cui cng chng em xin chn thnh cm n tt c cc thy c cng cc bn sinh
vin, nhng ngi ng gp rt nhiu kin, cng sc rt qu bu gip nhm hon
thnh tt n ny. c bit, nhm chng em rt bit n thy Hong nh Khi
nhit tnh hng dn, ch bo em nhng kinh nghim cng kin thc thc t ti
c hon thnh mt cch nhanh chng.
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n hc phn 1D
TI LIU THAM KHO
1. in t cng sut, Nguyn Bnh, NXB Khoa hc K thut nm 2000
2. Datasheet Atmel ATmega16L 8PU
3. http://www.hocavr.com
4. .http://www.dientuvietnam.net
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