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MC LC
CHNG 1:.................................................................................................................4 TNG QUAN V CC LOI ROBOT.....................................................................4 1.1. LCH S PHT TRIN CA ROBOT................................................................4 1.2. TNG QUAN V CC LOI ROBOT VT A HNH...............................14 CHNG 2:...............................................................................................................17 C S L THUYT V KT CU C KH V H THNG IU KHIN. .17 2.1. PHN TCH PHNG N V CHN KT CU C KH............................17 2.1.1. Chn loi ng c............................................................................................17 2.1.2. Chn loi ai....................................................................................................18 2.1.3. Chn c cu truyn ng..................................................................................20 2.2.PHN TCH PHNG N V CHN H THNG IU KHIN.................21 CHNG 3:...............................................................................................................22 TNH TON THIT K KT CU C KH ROBOT LEO CU THANG.............................................................................................................22 3.1. TNH TON THIT K BNH AI.................................................................22 3.2. TNH TON THIT K THN ROBOT...........................................................23 3.3. TNH TON THIT K B TRUYN GIM TC.........................................24 3.3.1. Chn loi xch .................................................................................................24 3.3.2. Chn s rng a xch.......................................................................................28 3.4. ROBOT THI CNG......................................................................................29 CHNG 4:...............................................................................................................33 GII THIU THIT B IU KHIN S DNG................................................33 4.1. S KHI.......................................................................................................33 4.1.1. S mch nguyn l.......................................................................................33 4.2. CC CH TIU CA SN PHM.....................................................................36 4.2.1. Chc nng........................................................................................................36 4.2.2. Cht lng sn phm........................................................................................36 4.3. THIT K MCH THU, PHT SNG RADIO................................................36 4.3.1. Gii thiu v truyn thng ni tip.....................................................................36 4.3.2. Truyn thng ni tip d b v ng khung d liu.............................................38 4.3.3. Khi thu, pht RF khng c IC gii m..............................................................39 ti: Thit k, ch to Robot leo cu thang Trang 1

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4.3.4. Mch pht thu co IC gii m..............................................................................40 4.4. S MCH THU............................................................................................44 4.4.1. Giao tip SC2272.............................................................................................45 4.4.2. iu khin knh nhn.......................................................................................46 4.5. MT S THNG TIN V IC P89V51RD2........................................................47 4.5.1. Hnh dng thc t v m phng.........................................................................47 4.5.2. Khi qut cc tnh nng....................................................................................48 4.5.3. T chc b nh ...............................................................................................50 4.5.4. nh ngha cc thanh ghi chc nng...................................................................52 4.6. NGUYN LY IU KHIN CUA RLE 8 CHN............................................53 4.6.1. Gii thiu rle..................................................................................................53 4.6.2. ng dng trong mch in .................................................................................................................................54 4.6.3. Nguyn ly iu khin ng c bng mach FET + rle.........................................55 4.7. NGUYN LY HOAT NG FET IRF3205........................................................56 4.7.1. Cu to ca Mosfet...........................................................................................56 4.7.2. Nguyn l hot ng.........................................................................................57 4.8. Nguyn ly hoat ng opto P521...........................................................................59 4.9. NG C DC......................................................................................................59 4.11. MCH IU KHIN THI CNG.............................................................60 CHNG 5: ..............................................................................................................62 THIT K CHNG TRNH GIAO TIP MY TNH V LP TRNH CHO VI IU KHIN................................................................................62 CHNG 6: ..............................................................................................................67 CHNG TRNH IU KHIN ROBOT.............................................................67 6.1. LU THUT TON....................................................................................67 6.2. CHNG TRNH ASSEMBLY ............................................................70

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LI NI U
T xa xa kht vng chinh phc t nhin lun thi thc con ngi tm ti,
nghin cu khoa hc. n nay con ngi t c cc thnh tu khoa hc to ln trong nhiu lnh vc, k c chinh phc cc khong khng gian m trong gii hn ca con ngi khng cho php, bng vic ch to ra cc robot thng minh c th hot ng mt cch c lp v linh hot trong cc mi trng khc nghit, nguy him nht. L sinh vin theo hc khi k thut ni chung v ngnh C in T ni ring, c hc v tha hng cc kin thc khoa hc m cc th h i trc li, ngoi vic phi nm vng cc kin thc sn c thng qua vic hc l thuyt , cc sinh vin k thut cn phi a cc kin thc vo thc tin thng qua vic t to ra cc m hnh khoa hc c kh nng ng dng vo thc tin v vy n tt nghip chnh l c hi tt nht cho chng em s dng cc kin thc c hc trng. C th ni Robot l mt thnh tu ca C in T xut hin t sm v ang c nhng thay i mnh m, thng minh hn, linh hot hn, chnh xc hn. Bn cnh vic ng dng cng ngh khng dy vo vic truyn nhn thng tin gia ngi iu khin v Robot gip cho Robot hot ng c hiu qu hn nh c iu khin trc tip t con ngi trong nhng tnh hung bt ng m bn thn khng th x l c, ngoi ra n cng mang n s an ton cho ngi iu khin trong cc mi trng cng vic nguy him. T , chng em chn ti: THIT K, CH TO ROBOT LEO CU THANG cho n tt nghip ca mnh. Robot c iu khin bng hai cch thng qua my tnh cng nh tay cm. Tuy c gng tm ti, nghin cu v s dng cc kin thc bn thn nhng do s hn ch v mt kin thc m khoa hc v Robot li rng ln nn chng em khng th trnh c nhng thiu st hay mt cng ngh c th cn lc hu. V vy chng em rt mong nhn c s ch bo tn tnh ca cc thy trong khoa gip chng em b sung v nm vng vn kin thc ca mnh. Chng em xin cm n s hng dn tn tnh ca PGS.TS. Trn Xun Ty cng cc thy trong khoa C kh gip chng em hon thnh n ny. Sinh Vin Thc Hin ng Xun Hi Nguyn Duy Khim

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CHNG 1: TNG QUAN V CC LOI ROBOT


1.1. LCH S PHT TRIN CA ROBOT Mt bc di chuyn ngn ca robot ng ngha vi mt bc pht trin ln v tri thc ca nhn loi. Sng to ra robot l nim vinh hnh ca con ngi. Chng loi robot hin nay kh phong ph, chng thc hin c rt nhiu chc nng: t thm d chinh phc v tr, h tr thy thuc chn on bnh, gip ngi khuyt tt, cho n vn chuyn vt v tham vui chi cng vi tr em. Cc nh nghin cu chu u v M phng nhiu robot ln sao Ho, nhm khm ph, thm d v chinh phc Hnh tinh ny. Theo k hoch nh, tu v tr Mars Express ca chu u, sau khi vt qua chng ng 485 triu km thc hin ng tc cho Robot Beagle-2 tip "t" sao Ho vo m Noel nm 2003. V phn mnh, NASA cho 2 robot c ng (Rovers) h cnh xung b mt Hnh tinh vo thng Ging nm 2004. Mc tiu ca cc robot ny khng nh: tm kim du vt ca nc v c th l du vt ca s sng, tng tn ti trn hnh tinh lng ging ca Tri t. Nu vt qua c thch thc ny, th robot qu tht thc hin c mt cuc thm him v tr k diu. Lnh vc th hai m robot pht huy tc dng tch cc l h tr thy thuc khm, chn on v pht hin bnh. Robot cn h tr ngi khuyt tt thc hin cc thao tc hng ngy, m h khng lm c.Nhm robot khc c h thng my mc to kh nng t hnh cao hn, ging "ngi" hn: v d nh -t t iu khin (khng cn s h tr ca ngi); robot thch ng thm d bin th h th ba - loi robot ny i c gn ging ngi. Nhm robot ny hot ng nhng a im nguy him nht m con ngi khng thm nhp c, nh trong nh my in ht nhn hay trong ni la. Hin nay, vic nghin cu k thut robot cn ang giai on u, nhng c nhng ng dng ban u rt thnh cng. C th khng nh, y l lnh vc cng ngh rt c trin vng. Trong nhm robot h tr, ngi ta to c mt s robot c kh nng di chuyn ti u, gn ging di chuyn (c ng) ca ngi. Phng Th nghim tin hc, K thut robot v Vi in t Montpellier (LIRMM) Php ch to thnh cng v cung cp cho cc nh phu thut dng c robot h tr, ci thin cc thao tc phu thut. V d in hnh l dng c robot tch bc da trong phu thut ghp da b bng. Trn thc t, thao tc ny i hi phi thc hin rt chnh xc, t phu thut vin thc hin c hon ho, trong khi dng c robot do LIRMM cung cp thc hin rt tt. Gim c Trung tm Nghin cu Khoa hc Quc gia ca Php nh gi: "Dng c robot c kh nng xc nh chnh v tr lm vic ca mnh v xc nh c chun khong cch gia tay v mt ca phu thut vin. Dng c robot c th gip phu thut vin khng b run tay v

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tng tc thao tc, nht l trong vi phu thut". i vi phu thut tim, dng c robot cng h tr c rt nhiu: m lng ngc chnh xc (ng v tr) cho bnh nhn, t ng thc hin mt s nhim v lp i lp li (nh thao tc khu vt m chng hn). Ti LIRMM, cc chuyn gia ang nghin cu iu khin robot thc hin thao tc khu tim thao tc khng th thiu khi ng lng ngc, m khng lm tim ngng p. y l thao tc rt phc tp v i hi chnh xc cao. LIRMM thnh cng trong vic ch to dng c ny, c th ni, y l mt kt qu m mn. Trc , LIRMM phi hp vi Phng Th nghim K thut Robot Paris (LRP) v Phng Th nghim K thut nh, m hnh ho v kh nng nhn bit (TIMC), U ban Nng lng Nguyn t Quc gia (CEA) ca Php v.v trong khun kh d n Robea Gabie. Mc tiu v nhim v chnh yu ca D n ny l thit k "H thng ch dn bng nh ton k", phc v phu thut tim. Trong mt lnh vc hon ton khc, cc chuyn gia ca LIRMM thit k h robot bit sa chnh m ngh. Nh c h robot ny, ngh nhn c kh nng nhn i gi tr tc phm iu khc ca mnh. Trong thc t, c nhng robot dng ny ang s dng trong cng nghip v sn xut nhng vt phm ng nht. Song, trong thit k v sn xut loi thit b ny khng tnh n nhng ng gn ca sn phm, s s ca vt liu v nhng ng nt ring ca ngi sng to ra sn phm mu. Ti , ngh nhn khc trm theo cm gic o ring v bng bn tay ca mnh. Cc thao tc ny c th hiu chnh c bng robot vi mc kch c thc trn c s mu iu khc ca ngi sng to. Vin Bo tng Louvre Paris rt quan tm n loi robot ny. Nh vy, cc lnh vc tinh t nh y hc v ngay c m thut k thut robot cng xen vo c.Trong tng lai, s c mt loi robot khc, c kh nng thc hin mt s hot ng thay th hon ton cho con ngi ang phi m nhim hin nay. thit k c loi robot ny, cc nh nghin cu phi c ngun cm hng tuyt vi: l s sng. Mt s ng vt c kh nng giao cm v thch ng vi s thay i ca mi trng. Do , ngi ta ny sinh tng thit k robot m phng theo mt s loi vt. Trung tm Nghin cu v s nhn bit ca ng vt (CRCA) Toulouse nghin cu "tr tu" ca loi kin thng qua Kin Robot. Kin Robot c a vo trong t kin v kt giao vi cc loi cn trng khc. Kin Robot s hi nhp x hi cn trng v c kh nng gy nh hng n cc quyt nh ca cng ng cn trng.Trong khun kh ca D n chu u Leurre, m CRCA tham gia, cc nh nghin cu Php s thc hin cc nghin cu m phng v Rn Robot. Nhnh k thut robot ny s to ra cc h robot chc chn, linh hot, hiu sut cao v gi r. Trong tng lai gn, robot ng vt s to ra kh nng mi trong lnh vc thm him cc vng lnh th cha tng bit n. Nhm nghin cu Animartlab trc thuc Phng Th nghim ca i hc Paris VI (LIP6) th nghim la chn thit k ch to Chut Robot vi l do chut l

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ng vt c h thn kinh pht trin nht v con ngi bit v n r nht. Chut Robot c mang tn Psikharpax tn ca vua chut trong truyn phng theo thn thoi "T Iliade n Home". Chut Robot c gn chng trnh tin hc ny, m bo robot thc hin c cc chc nng chnh nh di chuyn v nh v, la chn thao tc, Hin ti, Chut Robot ang trong qu trnh ch to. Chut nhn to s c th vo mi trng mi l v phi hc thch ng vi mi trng . Phng Th nghim T ng Besancon va a vo vn hnh robot kch thc nh, gi l vi robot, c kh nng vn chuyn nhng vt th kch thc bng mt non bo (vi chc micromet). Vi loi vi robot ny, ngi thy thuc c th iu khin d dng mt non bo, m khng s h hi. Robot ny c th p dng cho qu trnh th tinh in-vitro. Phng Th nghim t ng Besancon cn thit k ch to c h thng (trm) vi iu khin cc nh, t c vo trong knh hin vi in t qut. Vi thit b ny, ta c th d dng nhn bit iu khin mt vt th kch thc bng ht ct nh mt chi ca tr em.Song song vi cng trnh nghin cu ch to Chut Robot, nhm Animartlab cn mun ch to chim Hi u nhn to Robot c cnh v, c kh nng chy, bay theo gi, sau h cnh. H thn kinh v hnh dng ca loi robot ny s c m ho trong "B gen" ca n v s c ci tin thng xuyn t th h ny n th h khc. Bn cnh , cc nh nghin cu thuc Phng Th nghim dng c v quan h Ngi My (LIRIS) Verily cng ang s dng quy trnh ny ch to cc b phn ca robot khc.Robot nhn bit cm xc ca ngi Bn th mnh xung gh bnh, bt mt thu hnh v xem mt b phim no trn truyn hnh. Trong phim c th xut hin cnh bun, thng tm, bn quay tm chic khn mi xoa. Tuy nhin, bn khng cn phi tm na, robot gip vic gia nh mang n cho bn, lau nc mt cho ch nhn ca n v bn s n mt n ci. c phi l khoa hc vin tng? T lu, con ngi t nim tin v nhnh tin hc c mnh danh l "My tnh bit cm xc". Nh c b mn ny, n mt ngy no , my tnh s nhn bit c cm xc ca ngi v th hin cm xc ca n vi ngi.Phng th nghim Heudiasyc, c tr s ti thnh ph Compigne (Php) t t nhim v cho mnh: nghin cu cc phng php phn tch nt mt v nhn dng nt mt ngi.Cm xc ca ngi, tu trung li th hin 6 loi: vui v, gin d, s hi, chn nn, ngc nhin v bun ru. nhn dng cm xc ca ngi, giai on u tin i vi my tnh l tm khun mt ca ngi, sau lp m hnh tnh trn c s 40 thng s. Vic lp m hnh s cho php xc nh c loi xc ng, th hin trn nt mt.Nhng kt qu u tin ca cng trnh nghin cu ny rt ng khch l, v t l nhn dng c vo khong 85% trn nh c nh ca nt mt. Tuy nhin, nhim v cn rt phc tp, v s xut hin nt mt ngi rt khc nhau, do rt kh thng s ho c (ru, np nhn v knh lm nhiu lon s nhn dng). Mt khc, my tnh khng lp c m hnh i vi khun mt khng c chiu sng

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v v tr khng thun li. Ngoi ra, cn c nhiu trng hp cm xc khc na. Cc gii php p dng y l phn tch s thay i ca nt mt bng k thut video.K thut robot tnh n vic ng dng kt qu ca cng trnh ny cho nhiu lnh vc khc nhau. Song, c mt iu khng nh l cng ngh ny s c a vo ng dng rt nhanh trong i sng thng nht. Trong th gii robot, cch y khng lu va xut hin loi robot c bit, thay th con ngi hot ng nhng v tr c bit nguy him, v d trong trng hp xy ra s c nh my in ht nhn, loi robot ny pht huy tc dng rt tch cc. Trong s cc robot loi ny phi k n Quimporte robot do CEA pht trin. Quimporte c kh nng thc hin mt s thao tc, nh: m van hoc mang mt vt nng ti 5kg. H thng in t ca robot ny chu c bc x 10.000 ln hn kh nng ca con ngi. Trong lnh vc thm him, robot Hylos, do LRP thit k, c trang b c cu chuyn ng lai ghp (bnh xe c ni vi tay my), do c th vt qua c vt cn cao 20 cm. Hylos c h th gic 3 chiu (3D), c th v c bn s ti ch v nhn dng c cu trc ca t. Ngi ta cn c th s dng robot ny g mn, thm d hnh tinh khc, nghin cu c ch hot ng ca ni la v.vCui cng l h hng nh vi robot (microrobots) v robot thm d sao Ho.Robot nh nht th gii hin nay c ch to cui nm 2003 ti LRP vi kch thc: di 3,5 mm, rng 6 mm v cao 0,5 mm. Robot ny c kh nng mang vc khi lng ln gp 2000 ln trng lng ca chnh n. Trong tng lai, vi robot s rt c dng, c bit l trong lnh vc thng dng (thng ng ng). Robot u tin c a ln sao Ha mang tn Sojourner, ch to nm 1997. Sojourner c iu khin t Tri t. Thng Ging nm 2004, 2 robot Rovers ca M tip cn sao Ho, mi ngy t di chuyn c c chc mt. Phng Th nghim phn tch v kin trc h thng (LAAS) Toulouse ang pht trin loi robot tng t, c kh nng thch ng vi mi trng m n hot ng. Robot ny c t tn l LAMA, c h th gic 3D. LAMA c kh nng dng li bn t u n cui hnh trnh m n i qua. LAMA cn nhn dng c mi trng nh c h th gic. Ngoi ra, robot ny cn c kh nng phn.Robot in hnh trong cng nghip c hnh dung nh c my thc hin cc tc v kh khn, nguy him hay thm ch rt n n na. Chng nhc nhng vt nng, xch cc thng sn hay ha cht c hi, hay lm cng vic lp rp khc trong hng gi lin, ngy qua ngy vi mt chnh xc khng thay i. Chng khng bao gi mt mi nn chng khng phm cc sai lm do mt mi em li. Chnh v th, robot rt l tng cho cng vic kiu lp i lp li. Theo cu trc c kh, robot c th c phn chia thnh cc loi chnh nh sau:

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Hnh 1.1. Cartesian robot/ Gantry robot Loi robot ny thch hp vi cng vic gp vt th v t chng vo v tr khc. Cc ng dng c th l ng gi, lp rp my mc, cm nm cc my cng c hoc hn theo hnh cung. i vi loi robot ny, cnh tay c to thnh t 3 khp trt m trc ca chng trng vi h trc ta -cc-t.

Hnh 1.2. Cylindrical robot S dng trong cng ngh lp rp, cm nm cc my cng c, hn im. Loi robot ny, trc c dng h ta tr.

Hnh 1.3. Spherical/Polarrobot

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c s dng cm nm cc dng c, hn im, nh bong, hn hi hoc hn theo cung. Trc ca robot to thnh h ta cu.

Hnh 1.4. SCARA robot c s dng gp nh vt, ng gi, lp rp hay cm nm my cng c. Robot c 2 khp xoay song song vi nhau cho php thao tc trn mt phng.

Hnh 1.5. Articulated robot S dng lp rp, nh bng, hn hi, hn theo cung, sn phun. Loi robot ny c ti thiu 3 khp xoay.

Hnh 1.6. Parallel robot

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Thng c ng dng to ra khung xoay t do trong m phng bay. Loi robot ny c cc khp trt v xoay ng thi

Hnh1.7.Robot cng nghip Robot cng nghip c s dng nhiu trong cng nghip t, ch to my. Robot ct v g cc chi tit, lp rp my mc, kim tra cc chi tit va hon thnh. Mt s loi robot chuyn dng nh: np nhin liu, gp phi c, khoan, rn, sn xut knh, nghin, x l nhit, cm nm my mc v cc b phn, o, iu khin phng x, xit c, sp xp, lm sch my mc, iu khin cht lng, tn rive, phun ct, thay cng c v hn.Bn ngoi th gii sn xut, robot cn nm gi nhiu cng vic quan trng. Robot c th c thy trong cc nhim v mo him, thit k CAD/CAM, ly mu, bo tr, cu ha, y t, qun s v trong nng tri

Hnh1.8. Demeter Trong hnh trn, l ra nng dn phi li hng triu chic xe i chm chp trong hng dm, quanh nm trn cng mt khu t. Xc nh rng khu t rt rng ln. Robot c chng minh tnh hiu qu trong trng hp ny. Robot gt hi tn Demeter l mt m hnh ca cng ngh robot di ng kiu thng mi ha. Demeter cha b iu khin, nh v, cnh bo an ton v phn mm tc v chuyn bit ha cho nng nghip.

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Hnh 1.9. Pioneer Mt s robot khc c dng kim sot cc mi trng nguy him. Pioneerrobot thc cht li l mt h thng gim st iu khin t xa gip phn tch mitrng bn trong l phn ng s 4 nh my in ht nhn Chornobyl. Cc thnh phn ca h thng ny gm mt robot di ng iu khin t xa dng ri cc cm bin v thit b ly mu. Mt bn t ng dng to ra cu trc 3D bn trong ta nh. Mt thit b ct v thu thp mu vt. Ngoi ra n cn c trang b b gip chng phng x v cc cm bin o c mi trng khc.

Hnh 1.10. DanteII Vi 8 chn v dy ko, robot Dante II c th i xung su vo ming ni la ang hot ng Mt. Spurr, mt ngn ni la vng Alaska nm cch 90 dm v pha ty Anchorage. Nhim v ca Dante II l di chuyn t ng trn cc a hnh g gh v trong mt mi trng cc k khc nghit. N nhn cc hng dn t thit b iu khin t xa, th nghim cc phng php thng tin phc tp v chng trnh iu khin, xc

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nh nng Carbon Dioxide, Hydrogen Sulfide v Sulfur dioxide c trong hi ga phun ln t cc h phun trong ming ni la.Thng qua v tinh, Dante II gi cc d liu hnh nh v cc thng tin khc cng nh nhn cc ch dn t nhm vn hnh ng ti trung tm iu khin Anchorage, Washington D.C. v trung tm nghin cu Ames ca NASA San Francisco. Dante II gip cc nh nghin cu ni la khng phi thm nhp vo cc h ang phun ca cc ni la ang hot ng. Ngoi ra, n ang th nghim cng ngh cn thit phi trang b cho robot c th thm him b mt Mt trng hay cc hnh tinh khc. Nhng robot phi c kh nng di chuyn trn cc b mt lm chm v trong mt mi trng khc nghit, nhn lnh iu khin t trung tm vn hnh rt xa bit phi i ti u, nhng mnh lnh phi c robot t vn hnh thc hin.

Hnh 1.11. Phantom Robot ln c s dng thm him v thu thp thng tin v cc b mt trong lng i dng. Project Jeremy l mt v d nh th. l sn phm hp tc gia NASA v i hc Santa Clara. Cc nh khoa hc th mt thit b t hnh iu khin t xa (TROV) vo trong lng Bc Bng Dng nghin cu cc tn tch ca tu sn c voi m t nm 1871. TROV c dong dy t tu Polar Star trn mt bin. TROV gip nh v hai tu vi s tr gip ca stereo video camera v c cu iu khin tng t nh robot thm d sao Ha Mars Pathfinder. Trong nhng bc hnh khc, TROV cng thu thp cc thng tin kho c v thng tin v mi trng nc ti y. Bng cch nghin cu su v mi trng Tri t, cc nh khoa hc ang dn chun b cho vic nghin cu mi trng trn cc hnh tinh khc.Robot trong khng gian.Robot trong khng gian ca NASA ri vo mt trong ba tc v: Robot thm him, Robot bo tr thit b v robot tr gip bay trn qu o. Vn c mi lin h gia robot thng mi trn Tri t v robot khng gian. Phn chung chnh l cc cng ngh c chuyn tip sinh ra t cc chng trnh robot khng gian p dng vo robot thng mi v mt s cng ngh ch to cc b phn ca robot nh l thit k cc khp, cc c, dy chng, khung xng v cng ngh cm bin.Hin nay, c hai thit b quan trng c kim chng nh l cc robot khng gian. Mt l xe vn hnh c iu khin - Remotery

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Operated Vehicle (ROV) v th hai l tay my ngoi khng gian- Remote Manipulator System (RMS).

Hnh1.12.Sojourner Mt ROV c th tr thnh mt phi thuyn khng gian khng ngi li vo giai on cui ca chuyn bay. Mt b phn tip t s nhn lnh iu khin t cc tu khng gian trn qu o ca hnh tinh . ROV s di chuyn trn b mt a hnh a vt ca hnh tinh sau khi n tip t an ton. Kh xc nh chnh t khi no th cc c cu t hnh n gin chuyn thnh cc robot thm him hay ROV, ch nhp nhng l s phi thuyn khng gian n gin v rt lu trc y c iu khin t Tri t. ROV ni ting nht hin ny l Sojourner c th t tu thm him sao Ha Mars Pathfinder. Ngoi ra, mt s trung tm khc ca Nasa cng ang nghin cu pht trin cc robot thm him cc hnh tinh v robot khng gian.

Hnh 1.13. RMS Hin nay, loi robot ph bin nht l cc tay my thng c dng trong sn xut. Cc c cu tay my m phng cc c ng ca cnh tay con ngi vi nhng chuyn ng khng ch tri phi, ln xung m i khi xoay vng 360 cc c tay vic m con ngi khng th lm c. C hai loi tay my. Mt l tay my vn hnh bi my tnh v c lp trnh cho cc tc v c sn. Loi khc cn vn hnh ca con

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ngi thc th iu khin p lc v cch thc chuyn ng ca cnh tay. Tay my RMS ca Nasa c th biu din cc c ng trong nhiu tc v khng gian nh cm nm, lp rp, t , cu cc thit b phc v cho cc phi hnh gia khi lm vic trong khng gian. 1.2. TNG QUAN V CC LOI ROBOT VT A HNH Cng vi s pht trin ca rt nhiu loi robot phc v cho cc nhu cu khc nhau ca con ngi, robot vt a hnh cng l loi hnh robot c rt nhiu nc quan tm nghin cu v sn xut nh vo cc ng dng rng ri ca n i vi i sng hng ngy. Cng vi s pht trin ca nn kinh t, sc khe v tnh mng ca mi mt con ngi ngy cng c coi trng. Chnh v th, trong nhng iu kin lm vic c hi hoc nguy him, robot iu khin t xa vt a hnh s c s dng n thay cho con ngi. Cng vi Nht Bn, Hoa K l nc i tin phong trong vic ng dng robot vo i sng hng ngy. Cng ty I-robot l cng ty sn xut robot ln ca Hoa K, chuyn nghin cu v cung cp cc loi robot vt a hnh phc v cc nhu cu khc nhau ca con ngi. Di y l mt s mu robot ca cng ty:

Hnh 1.14. iRobot 210 negotiator Robot ny chuyn lm nhim v xm nhp, do thm vo nhng vng nguy him. Chng hn nh vo trong mt ta nh ang chy tm ngi b nn thay cho lc lng cha chy hoc c dung trong nhng v gii cu con tin ca cnh st, vi camera truyn hnh nh trc tip v ngi iu khin, ta c th bit c v tr ca ti phm cng nh con tin.

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Hnh 1.15.iRobot 710 Warrior Robot ny c s dng trong qun i, n nh mt chin binh, mang cc kh ti qun s cng nh vn chuyn cc robot khc phc v cho tc chin.

Hnh 1.16. iRobot 510 Packbot Robot ny ngoi nhim v vt a hnh thm nhp do thm nhng ni nguy him, chng cn c trang b cnh tay my gp c cc vt, c bit l phc v cho cng tc tho g bom mn.

Hnh 1.17. iRobot SUGV

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Robot ny c phc v trong qun i, khng ch c kh nng vt a hnh, n cn c cnh tay 3 bc t do mang vc, tho d cc vt nng. Robot ny c tc rt cao cng vi kh nng iu khin t xa c ly ln, c qun i Hoa K rt a chung. 1.3. S PHT TRIN CA ROBOT VT A HNH TI VIT NAM D li vo d vng, nhng hu qu ca cuc chin tranh vn hin hnh qua hng trm v n bom mn cn tn ti trong long t. Chnh v l do nhn o, cuc thi sng ch robot r ph bom mn do Hi C Kh TP H Ch Minh v Trung Tm Cng ngh x l bom mn (B T lnh Cng binh) pht ng. PGS-TS ng Vn Nghn, Trng ban t chc cuc thi, Ch tch Hi C kh TP H Ch Minh, cho bit hin nc ta cn ti 6,6 triu ha t, mt nc (chim 20% din tch c nc) cha bom mn. D rt c gng, nhng vi tc lm sch bom mn ch c khong 20.000 ha/nm nh hin nay th cn 300 nm na nc ta mi r sch c khi cht n cng nhng m nh ca chin tranh. Chnh v th, nhm huy ng sc lc v tr tu ca mi ngi dn tm gii php, thit b r ph bom mn, Hi C kh TP H CH Minh v Trung tm Cng ngh x l bom mn (B T lnh Cng binh) phi hp pht ng cuc thi sang to robot ph bom mn rng ri trn c nc.

Hnh 1.18. Cuc thi ROBOMIN Khi chn ti ny, chng em mun nhng tng v cc robot vt a hnh cng nh r ph bom mn khng ch dng li mt cuc thi m phi pht trin thnh mt phong tro thc s. ng dng ca robot vt a hnh phi tht rng ri, ngoi vic r ph bom mn cn phi c kh nng vt c cc a hnh phc tp hn nh leo c cu thang thay th con ngi i vo nhng khu vc nguy him. a hnh cu thang l loi a hnh phc tp nht, chnh v th, vt c cu thang th ng dng ca loi hnh robot ny s thc s rng ri, thay th dn cng vic ca con ngi nhng khu vc nguy him.

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CHNG 2: C S L THUYT V KT CU C KH V H THNG IU KHIN


2.1. PHN TCH PHNG N V CHN KT CU C KH Robot leo cu thang c th leo bng ba phng n: leo bng bnh, bng xch hoc bng ai. Robot leo bng bnh c kh nng chuyn ng m, nh nhng nhng vic thit k, ch to kt cu kh, vic tnh ton trng tm khi leo cu thang cng kh khn. Robot leo bng xch c th d dng hn trong vic thit k v ch to m hnh hn robot leo bng bnh, d dng xc nh c trng tm hn trong khi leo nhng to ra ting n khi di chuyn, d b trt khi leo do ma st km. Robot leo bng ai c th khc phc c tt c cc nhc im trn mt cch d dng, vy ta chn phng n di chuyn cho robot l di chuyn bng ai. 2.1.1. Chn loi ng c - Hin ti trn th trng Nng c 3 loi ng c thng dng l: ng c DC bnh thng,ng c ,ng c gt nc. + ng c DC bnh thng: Nh gn,d g t nhng cng sut yu.V th khng ph hp. + ng c : C cng sut ln, ph hp cho vic truyn ng chnh cho robot, nhng co kh khn l ta phi qun li s vng dy cho ph hp vi yu cu. Thng s ca ng c sau khi qun li s dng l: in p lm vic: 24V, dng in lm vic l :1.5A, ti trng l 30kg. + ng c lep: C cng sut ln,g t v s dng d dng.Vy ta chn ng c lep cho hot ng cn trc ca robot.

Hnh 2.1. ng c lep

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Theo hnh dng tit din ai, ai c phn ra cc loi: ai dt(tit din hnh ch nht), ai hnh thang(ai hnh chm), ai nhiu chem(ai hnh rng ) v ai rng. ai dt c cc loi: ai da, ai vi cao su, ai vi bng, ai si len v ai si tng hp. ai da c bn mn cao, chu va p tt nhng khng dng c ni c axt hoc m t, gi thnh li t nn t dung. ai vi cao su gm nhiu lp vi bong v cao su sunfua ha,c xp tng lp cun tng vng kn hoc cun xon c. Nh c c tnh : bn, do, t b nh hng ca m v s thay i nhit , ai vi cao su c dung kh ph bin, rng ri. ai si bng nh, mm, thch hp vibanhs ai ng knh nh v vi vn tc ln nhng kh nng ti v tui th thp. ai si len nh c n hi tt nn chu c ti trng va p, ng thi t chu nh hng ca nhit , m, axt v.v, tuy nhin kh nng chu ti li thp hn cc loi ai khc. Gn y bt u s dng cc loi ai si tng hp. l cc loi ai bn cht do trn ct l si caprn vi cc lp ph l nha polyamit trn vi cao su nitrin(CHK - 40) hoc nha nairit. ai si tng hp c gii hn bn cao ( b =120 -150 MPa) c th lm vic vi vn tc v 60m/s, cng sut ti 3000 KW. ai nhiu chm (ai hnh lc xem hnh 2.. ) gm nhiu on nh hnh chm phn b dc theo mt trong ca ai v tip xc vi cc rnh chm ca bnh ai. Lp si (si vitkozo, si thy tinh ) l lp chu ti ch yu. ai hnh chm c ch to thnh vng kn vi chiu di tiu chun. Vi cng mt cng sut truyn, chiu rng ca ai nhiu chm nh hn so vi b truyn ai hnh thang. S dng ai nhiu chm phi hp c u im v bm tt ca ai hnh thang vi u im lin khi v do ca ai dt, nh c th dung bnh ai nh vi ng knh b hn v c th lm vic vi t s truyn ln hn (u 15).

Hnh 2.2. ai hnh thang

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ai hnh thang c tit din hnh thang, mt lm vic l hai mt bn tip xc vi cc rnh hnh thang tng ng trn bnh ai, nh h s ma st gia ai v bnh ai hnh thang ln hn so vi ai dt v do kh nng ko cng ln hn. Tuy nhin cng do ma st ln nn hiu sut ai hnh thang thp hn ai dt. C ba loi ai hnh thang : ai thang thng, ai thang hp v ai thang rng. ai thang thng, t s gia chiu rng tnh ton b t o theo lp trung ha v chiu cao h ca tit din hnh thang b t /h 1.4, ai thang hp b t /h =1.5 1.1 v ai thang rng b
t

/h = 2 4.5. ai thang rng thng dung trong cc bin tc ai. Nh lp si c bn

cao hn, ti trng phn b u hn trn chiu rng ca lp chu ti trong ai thang hp nn kh nng chu ti ca n ln hn so vi ai thang thng, do cng mt cng sut cn truyn, chi ph vt liu lm ai v bnh ai gim xung(2 ln) ; ai thang hp c th lm vic vi vn tc cao hn v40m/s, trong khi ai thang thng thng lm vic vi vn tc v 30m/s. Do vy bn cnh ai thang thng c s dng ph bin hin nay, ai thang hp c s dng ngy cng nhiu.

Hnh 2.3.Cc thng s ca ai hnh thang Do yu cu ca robot leo cu thang l cn phi c ma st cao, vn tc chuyn ng thp (0,6m/s), ta chn loi ai thang bnh thng loi O

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n Tt Nghip 2.1.3. Chn c cu truyn ng

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Truyn ng gia cc trc thng thng dng cc c cu truyn l truyn ng bng bnh rng, truyn ng bng xch, bng ai, bng vt, v.v y ta ch xt n 2 c cu thch hp l truyn ng bng bnh rng v truyn ng bng xch. Truyn ng bnh rng dng truyn ng gia cc trc, thng thng c km theo s thay i v tr s v chiu ca momen hoc vn tc. Ty theo v tr tng i ca cc trc , phn ra: truyn ng bnh rng tr (rng thng, rng nghing, rng ch V) truyn chuyn ng gia cc trc song song ; truyn ng bnh rng cn (rng thng, rng nghing, rng cung trn) truyn chuyn ng gia cc trc giao nhau ; truyn ng bnh rng tr cho hoc bnh rng cn cho truyn chuyn ng gia cc trc cho nhau. Trong qu trnh lm vic, rng ca bnh rng c th b hng mt rng nh trc r, mn, dnh hoc hng chn rng nh gy, trong nguy him nht l trc r mt rng v gy rng. l cc ph hng mi do tc dng lu ngy ca ng sut tip xc v ng sut un thay i c chu k gy ra. Ngoi ra rng c th b bin dng d, gy gin lp b mt, hoc ph hng tnh chn rng do qu ti. V vy khi thit k cn tin hnh tnh truyn ng bnh rng v bn tip xc ca mt rng lm vic v bn un ca chn rng, sau kim nghim rng v qu ti. Truyn ng bng xch thuc loi truyn ng bng n khp gin tip, thng c dng truyn ng cho cc trc xa nhau. C th dung truyn ng xch gim tc hoc tng tc. So vi truyn ng ai, kh nng kh nng ti v hiu sut ca truyn ng xch cao hn, cng mt lc c th truyn chuyn ng v cng sut cho nhiu trc. Tuy nhin truyn ng xch i hi ch to v chm sc phc tp, lm vic c va p, chng mn, nht l khi bi trn khng tt v mi trng lm vic nhiu bi. Trong thc t thng dng truyn ng xch truyn cng sut di 100kW, vn tc ti 15m/s. Tui th ca truyn ng xch trong cc my tnh t vo khong 3000-5000 gi. B truyn xch lm vic c kh nng xut hin cc dng hng sau : mn bn l v rng a, con ln b r hoc b v, cc m xch b t v mi, trong mn bn l nguy him hn c v thng xuyn l nguyn nhn ch yu lm mt kh nng lm vic ca b truyn xch. V vy ch tiu tnh ton c bn ca b truyn xch l tnh v mn, xut pht t iu kin p sut sinh ra trong bn l khng c vt qu mt gii hn cho php. Xut pht t yu cu lm vic ca robot l leo cu thang, hot ng trn a hnh phc tp nn yu cu bnh ca robot phi c momen ln, v cng xut pht t cng ngh ch to v kinh t, do ta s dng b truyn xch truyn ng gia ng c v bnh robot, gia ng c v cn trc ca robot.

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2.2.PHN TCH PHNG N V CHN H THNG IU KHIN Hin nay c nhiu cch lp trnh iu khin cho robot, y chng em chn s dng IC P89V51RD2, lp trnh iu khin bng ngn ng Assembly v phn mm Visual Studio 2008. Robot c iu khin bng hai cch. Cch th nht: iu khin bng my tnh vi giao din c thit k bng phn mm Visual Studio 2008, p mt v thn thin vi ngi s dng. Cch th hai: iu khin trc tip bng tay cm. Ta c th iu khin Robot t xa vi khong cch ln ti hn 100m. iu ny c th gip cho ngi iu khin trnh tip xc trc tip vi nhng tnh hung nguy him cng nh mi trng c hi.

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CHNG 3: TNH TON THIT K KT CU C KH ROBOT LEO CU THANG


3.1. TNH TON THIT K BNH AI Do ta chn ai thang thng loi O, c bc rng l b= 5, theo tiu chun c chiu di ng knh ai l 1160 mm, nn theo yu cu, ta chn ng knh bnh ai l 100mm. Bnh ai ch ng, bnh ai b ng v bnh ai cng trc c thit k nh hnh 3.1, 3.2, 3.3:
R15 R6 50 R50

R5

Hnh 3.1. Bnh ai ch ng


95 R50

R15 R6

R5

Hnh 3.2. Bnh ai b ng

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R10

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50 R25

R5

Hnh 3.3.Bnh ai cng trc Bnh cng ai c thit k nh hnh 3.4:


40 R15

R25

R5

Hnh 3.4.Bnh cng ai 3.2. TNH TON THIT K THN ROBOT Vi ng knh bnh ai l 100mm, ai c chu vi l 1160 mm, ta c chiu di ca hai trc chnh cch nhau l 400 mm. Vt liu lm thn gm: + St tm dy 2,2 mm v 1,5 mm + Thanh st hp 15x15 mm

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V robot s dng acquy c dng 5A/h, nng 2.5 kg, c cc kch thc di x rng x cao l 150 x 80 x 90 mm nn ta thit k chiu rng trong thn robot l 320mm.

410

320

Hnh 3.5.Khung xe 3.3. TNH TON THIT K B TRUYN GIM TC Ta c tc ng c sau khi qun li s vng dy cho ph hp l 400v/p, m theo yu cu thit k ca robot, tc di chuyn chm (vtb 0,6 m/s ), ta gim tc sao cho tc vng quay bnh ch ng 25 v/p. Chn c cu gim tc bng xch, t s truyn cp nhanh in = 4, t s truyn cp chm ic = 4. T s truyn ca c cu l : i = in. ic = 16 3.3.1. Chn loi xch C 3 loi xch: xch ng, xch con ln v xch rng. Cc kch thc c bn ca xch ng cho trong bng 3.6, xch con ln bng 3.7 v xch rng trong bng 3.8, trong bc xch p l thng s hnh hc quan trng nht, ti trng ph hng Q l c trng c bn v bn

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Hnh 3.6. Bng cc thng s ca xch ng

Hnh 3.7.Bng cc thng s ca xch con ln

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Hnh 3.8. Cc thng s ca xch rng Xch ng ( Hnh 3.9) n gin, gi thnh r v khi lng gim v khng dung con ln, nhng cng v th m bn l mn nhanh. V vy ch dung xch ng i vi cc b truyn khng quan trng, mt khc yu cu khi lng nh.

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GVHD: PGS.TS Trn Xun Ty Hnh 3.9. Cu to ca xch ng

Xch ng con ln gi tt l xch con ln (Hnh 3.10), v kt cu ging nh xch ng, ch khc pha ngoi ng lp thm con ln, nh c th thay th ma st trt gia ng v rng a ( xch con ln). Kt qu l bn mn ca xch con ln cao hn xch ng, ch to n khng phc tp bng xch rng, do xch con ln thng c s dng rng ri. N dng thch hp khi vn tc lm vic di 10 n 15m/s. Nn u tin dung xch 1 dy, nhng cc b truyn quay nhanh, ti trng ln nu dung xch 2, 3 hoc 4 dy s lm gim c bc xch, gim ti trng ng v kch thc khun kh ca b truyn.

Hnh 3.10. Cu to ca xch con ln Xch rng (Hnh 3.11) c u im kh nng ti ln, lm vic m, nhng ch to phc tp v gi thnh li t hn xch con ln, do vy ch nn dng xch rng khi vn tc xch trn 10 n 15 m/s.

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GVHD: PGS.TS Trn Xun Ty Hnh 3.11. Cu to ca xch rng

Da vo yu cu lm vic ca robot, ta chn loi xch con ln lm b truyn cho robot. 3.3.2. Chn s rng a xch S rng a xch cng t, a b ng quay cng khng u,ng nng va p cng ln v xch mn cng nhanh. V vy khi thit k cn bo m cho s rng nh nht ca a xch ln hn zmin (zmin = 17 19 i vi xch con ln vn tc trung bnh, zmin = 13 15 khi vn tc thp ; i vi xch rng zmin = 1.2 1.3 ln cc gi tr trn). C th da vo t s truyn i chn z 1 theo bng 3.4 hoc theo cng thc: z1 = 29 - 2u 19 v nn quy trn theo s l.

Hnh 3.12. Bng tiu chun s rng a xch Da vo hnh 3.12, i vi xch con ln, ta chn: z1 = 12 rng ng knh d1= 20 mm T s rng a nh, ta c s rng a ln l:
z 2 =u.z1 z max
z 2 = 4.12 = 48 rng

Vi zmax c xc nh t iu kin hn ch tng bc xch do bn l b mn sau mt thi gian lm vic: zmax = 120 i vi xch ng con ln; zmax = 140 i vi xch rng. ng knh a ln l d 2 = 80 mm.

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n Tt Nghip 3.4. ROBOT THI CNG

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Hnh 3.13.Robot nhn t pha trc

Hnh 3.14.Robot nhn t trn xung

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Hnh 3.15. Robot nhn t bn phi

Hnh 3.16. B truyn xch

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Hnh 3.17. Robot khi h cng

Hnh 3.18. Robot khi h cng

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Hnh 3.19.Robot hon chnh

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CHNG 4: GII THIU THIT B IU KHIN S DNG


4.1. S KHI

IU KHIN NG C VI IU KHIN

THU RF

NGUN TRUNG TM IU KHIN Hinh 4.1. S khi ca h thng Nhim v tng khi: - Khi Vi iu khin: Nhn tn hiu t khi thu RF v iu khin ng c. - Khi Thu RF: Nhn tn hiu RF t tay cm iu khin pht tn hiu RF. - Khi Ngun: Cung cp in p hot ng cho ton b mch. - Khi iu khin ng C: iu khin ng c dng FET v Rle. - Trung tm iu khin: Pht tn hiu RF iu khin. 4.1.1. S mch nguyn l 4.1.1.1. Mch ngun

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n Tt Nghip Nguyn l hot ng:

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- 7805 to ngun 5V cung cp cho hot ng ca ton b mch. - Cu ch (Fuse) bo v mch trong trng hp dng in tng t ngt. 4.1.1.2. Mch Vi iu khin Nguyn l hot ng: Nhn tn hiu digital t mch thu RF qua Port 3, xut tn hiu iu khin ng c qua cc chn P1.0, P1.1, P1.4, P1.5. Mch Reset khi to li trng thi ban u cho mch vi iu khin.

Hnh 4.2.Mch vi iu khin 4.1.1.3. Mch iu khin ng c (mch cng sut)

Hnh 4.3.Mch cch ly

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* Tnh ton mch cch ly, s dng b cch quang PC817. Iled =1,7 V, Iled xanh =2,3 V
R = VCC VLED VDIODE 5 1,7 1,2 = = 2,1 I LED 10

- ULN2803 gm 8 BJT ghp darlington c sn cc in tr v diode bo v, cung cp dng n 500mA, in p lm vic ln n 50V. iu kin lm vic bnh thng ca ULN2803: IC =100mA, IB=250A, VCE=2V in tr ghp vi ng ra ca PC817 in tr kh ln: chn 4,7 K IB_C1815/A1015(SAT) 1.43mA RC_ULN2803 =
12 VCESAT 12 2 = = 100 I CSAT 100

Dng yu cu kch cho BJT nh hn nn ly R =330 . - Gi tr ca in tr cng sut trn ti ra ca mch y ko.
R CS = 12 VCESAT 12 0,2 = = 0,236K 50 50

Ly Rcs=300 - Cng sut tiu th trn in tr. ICESAT =50mA


2 2 Pcs = I CESAT .R CS = 50 .300 = 0,75W

Chn cng sut in tr Pcs =1 n 2W.

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n Tt Nghip Nguyn l hot ng:

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- Opto cch ly mch vi iu khin v mch cng sut. - ULN2803 khuch i dng ra, kch hot ng cho FET v Rle. - FET cho php dng in chy qua hoc khng, iu khin ng c chy hay dng. - Rle o chiu dng in, lm o chiu ng c. 4.2. CC CH TIU CA SN PHM 4.2.1. Chc nng - H thng iu khin trc ht phi c kh nng giao tip vi ngi s dng, tc l cho php thay i thit lp h thng v hin th trng thi h thng. Chc nng giao tip ny phi c thit k thn thin vi ngi s dng. - H thng iu khin phi c khi cung cp ngun n nh. - H thng c th nhn c cc tn hiu bo nhn ng i. - H thng c kh nng iu khin tc bnh xe Robot mt cch linh hot. - H thng c kh nng iu khin cc ng c vi cng sut khc nhau theo c hai chiu. - Mt vn l h thng cn c chc nng hin th, cho ta bit ch hot ng cng nh trng thi ca h thng. - H thng c kh nng la chn nhiu ch hot ng khc nhau. - V yu cu quan trng nht i vi mt h thng l c n v x l trung tm c th phi hp cc khi khc hot ng ng thi v n nh trong ton b qu trnh hot ng. - C hng pht trin sau ny nh ci tin thnh 1 robot thng minh hn na. 4.2.2. Cht lng sn phm Kt cu c kh bn, p, chy n nh, c th thch nghi vi cc a hnh khc nhau. c bit l kh nng leo cu thang. 4.3. THIT K MCH THU, PHT SNG RADIO 4.3.1. Gii thiu v truyn thng ni tip Khi mt b vi x l truyn thng vi th gii bn ngoi th n cp d liu di dng tng khc 8 bt (byte) mt. Trong mt s trng hp chng hn nh cc my in th thng tin n gin c ly t ng bus d liu 8 bt v c gi i ti bus d liu 8 bt ca my in. iu ny c th lm vic ch khi ng cp bus khng qu di v cc ng cp di lm suy gim thm ch lm mo tn hiu. Ngoi ra, ng d liu 8 bt gi thng t. V nhng l do ny, vic truyn thng ni tip c dng truyn d liu gia hai h thng cch xa nhau hng trm n hng triu dm.

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Hnh 4.5. Hnh di l s truyn ni tip so vi s truyn song song Thc t l trong truyn thng ni tip l mt ng d liu duy nht c dng thay cho mt ng d liu 8 bt ca truyn thng song song lm cho n khng ch r hn rt nhiu m n cn m ra kh nng hai my tnh cch xa nhau c truyn thng qua ng thoi. i vi truyn thng ni tip th lm c cc byte d liu phi c chuyn i thnh cc bt ni tip s dng thanh ghi giao dch vo - song song - ra - ni tip. Sau n c th c truyn quan mt ng d liu n. iu ny cng c ngha l u thu cng phi c mt thanh ghi vo - ni tip - ra - song song nhn d liu ni tip v sau gi chng thnh tng byte mt. Tt nhin, nu d liu c truyn qua ng thoi th n phi c chuyn i t cc s 0 v 1 sang m thanh dng sng hnh sin. Vic chuyn i ny thc thi bi mt thit b c tn gi l Modem l ch vit tt ca Modulator/ demodulator (iu ch/ gii iu ch). Khi c ly truyn ngn th tn hiu s c th c truyn nh ni trn, mt dy dn n gin v khng cn iu ch. Tuy nhin, truyn d liu i xa dng cc ng truyn chng hn nh ng thoi th vic truyn thng d liu ni tip yu cu mt modem iu ch (chuyn cc s 0 v 1 v tn hiu m thanh) v sau gii iu ch (chuyn tn hiu m thanh v cc s 0 v 1). Truyn thng d liu ni tip s dng hai phng php ng b v d b. Phng php ng b truyn mt khi d liu (cc k t) ti cng thi im trong khi truyn d b ch truyn tng byte mt. C th vit phn mm s dng mt trong hai phng php ny, nhng chng trnh c th rt di v bun t. V l do ny m nhiu nh sn xut cho ra th trng nhiu loi IC chuyn dng phc v cho truyn thng d liu ni tip. Nhng IC ny phc v nh cc b thu - pht d b tng hp UART (Universal Asynchronous Receiver Transmitter) v cc b thu - pht ng - d b tng hp UBART(Universal Asynchronous Receiver Transmitter).

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n Tt Nghip

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4.3.2. Truyn thng ni tip d b v ng khung d liu D liu i vo u thu ca ng d liu trong truyn d liu ni tip ton l cc s 0 v 1, n tht l kh lm cho d liu y c ngha l nu bn pht v bn thu khng cng thng nht v mt tp cc lut, mt th tc, v cch d liu c ng gi, bao nhiu bt to nn mt k t v khi no d liu bt u v kt thc. Truyn thng d liu ni tip d b c s dng rng ri cho cc php truyn hng k t, cn cc b truyn d liu theo khi th s dng phng pht ng b. Trong phng php d b, mi k t c b tr gia cc bt bt u (start) v bt dn (stop). Cng vic ny gi l ng gi d liu. Trong ng gi d liu i vi truyn thng d b th d liu chng hn l cc k t m ASCII c ng gi gia mt bt bt u v mt bt dng. Bt bt u lun lun ch l mt bt, cn bt dng c th l mt hoc hai bt. Bt bt u lun l bt thp (0) v cc bt dng lun l cc bt cao (bt 1). V d: Hy xt v d trn hnh 4.6 trong k t A ca m ASCII (8 bt nh phn l 0100 0001) ng gi khung gia mt bt bt u v mt bt dng.

Hnh 4.6. ng gi d liu ng khung mt k t A ca m ASCII (41H) c tn hiu l 1 (cao) c coi nh l mt du (mark) , cn khng c tn hiu tc l 0 (thp) th c coi l khong trng (space) . Lu rng php truyn bt u vi start sau bt D0, bt thp nht LSB, sau cc bt cn li cho n bt D7, bt cao nht MSB v cui cng l bt dng stop bo kt thc k t A. Trong truyn d liu nu d liu c th c va pht v va c thu th gi l truyn song cng. iu ny tng phn vi truyn n cng chng hn nh cc my in ch nhn d liu t my tnh. Truyn song cng c th c hai loi l bn song cng v song cng hon ton ph thuc vo truyn d liu c th xy ra ng thi khng? Nu d liu c truyn theo mt ng ti mt thi im th c gi l truyn bn song cng. Nu d liu c th i theo c hai ng cng mt lc th gi l song cng ton phn. Tt nhin, truyn song cng i hi hai ng d liu (ngoi ng m ca tn hiu), mt pht v mt thu d liu cng mt lc.

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n Tt Nghip

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Hnh 4.7.Cc kiu truyn d liu 4.3.3. Khi thu, pht RF khng c IC gii m 4.3.3.1. Mch thu

Hnh 4.8. Mch thu khng c IC gii m in p hot ng Dng in hot ng Nhit hot ng nhy Tc dng d liu cc i D liu ng ra 4.5V n 5.5V 4mA ng vi 5V -10C - 60C -105dBm 4.8k TTL Hnh 4.9. Thng s k thut mch thu

4.3.3.2. Mch pht

Hnh 4.10. Mch pht khng c IC gii m

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in p hot ng 2.5 V n 12V Dng in hot ng 4mA ng vi 5V, 15mA vi 9V Dng in tnh 10uA Nhit hot ng -10C 60C Kiu m ha ASK Tc dng d liu cc i 9.6k D liu ng vo TTL Cng sut tiu th 20mW ng vi 5V Hnh 4.11. Thng s k thut mch pht 4.3.4. Mch pht thu co IC gii m Trn th thng c rt nhiu dng module thu pht c IC gii m khc nhau. Xin ly v d v cp IC thu pht gi m thng dng l IC PT2262/PT2272. 4.3.4.1. Tm hiu chung

Hnh 4.12. Module thu

Hnh 4.13. Module pht Gii thiu: PT2262 v PT2272 l sn phm ca Princeton Technology c pht trin v ra i sau dng m ha 12E/D ca hng Holtek PT2262 c 2 loi chnh : loi c

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n Tt Nghip

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8 a ch m ha , 4 a ch d liu v loi c 6 a ch m ha v 6 a ch d liu. M ha 12 bit 1khung A0-->A7,D0-->D3 ( * cc linh kin PT2262 a vo vit Nam ch c loi PT2262 vi 8 a ch m ha v 4 a ch d liu. -- Tng t vi PT2262 c 2 kiu th PT2272 cng c 2 kiu : PT2272 c 8 a ch gii m v 4 d liu u ra Thng c k hiu : PT2272 - L4 + mt loi na l PT2272 c 6 a ch gii m v 6 gi liu ra : k hiu PT2272 - L6 . ( loi L4 l thng dng vit nam v t c loi L6 ). PT2262 c " 3 m 12 " m ha tc l c th m ha 531441 m mi c th trng lp li. So vi thng anh HT12E ra i trc n th n tri hn hn v ci khon mt m ny. ( HT12E ch c 2 m 12 m ha ) cch m ha PT2262 c th lm c bng cch ni ngn mch cc chn " m ha a ch " ln dng ngun ( m ha + ) v xung m ngun ( m ha - ) hoc c th b trng ( m ha 0 ). + D liu + m ha c truyn trn mt khung 12 bit gm 8 bit u l m ha (A0-->A7 ) v 4 d liu . Bi vy bn c th truyn c song song 4 bit d liu 0 hoc 1. nu truyn d liu th nn mc nh cho 4 chn d liu ny l 0 hoc l 1 bng cch ni thm in tr " ko ln " hoc " a xung GND) trnh nhiu. PT2262 dng dao ng ngoi : n gin l ch cn lp thm 1 in tr dao ng vo chn 15 v chn 16 ca PT2262. + Tn hiu encoder c a ra chn 17 ca PT2262, chn ny thng mc 1 khi tn hiu ngh v mc 0 khi tn hiu hot ng. Tn hiu a ra gm : sng mang dao ng < 700KHz + a ch m ha + d liu. + Tn s Sng mang dao ng c quyt nh bi R chn 15 v 16 v c tnh bng : f = R/12 . V d : mc in tr 470k vo chn 15 v 16 u ra chn 17 s c 470/12 = khong 39Khz ( ci ny c th lm iu khin hoc truyn d liu bng hng ngoi vi con PT2262 y nh. ) ( PT2262 c in p rng : C th lm vic c t 2,5V n 15 V . PT2272 l con gii m ca PT2262 n cng c 8 a ch gii m tng ng + 4 d liu ra + 1 chn bo hiu m ng VT ( chn 17 ).Cch gii m nh sau : Chn 15 v 16 cng cn mt in tr lm dao ng gii m . Trong di hng ngoi hoc di 100KHz c th dng R rt ln hoc khng cn. Nhng t khong 100KHz dao ng tr ln --- th bt buc phi dng R to dao ng cho PT2272. Gi tr R ca PT2272 s bng khong : ( Gi tr R ca PT2262) chia cho 10 ---> v d : PT2262 mc in tr 4,7 megaom th PT2272 s mc 470k gii m : cc chn m ha ca PT2262 ( chn 1 n chn 8 ),ni th no th cc chn gii m ca PT2272 cng phi ni tng t nh vy. Chn no ni dng, chn no ni m, chn no b trng ...v.v th chn ( 1 n 8 )ca PT2272 hy lm nh th . Khi truyn mt m ng v gii m ng th chn 17 ca PT2272 s c in p cao a ra , bo hiu l ng m ha. 4 chn d liu c th truyn song song, ni tip rt c lp.

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n Tt Nghip 4.3.4.2. Mch pht sng Radio

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Hnh 4.14.S mch pht Mch pht da trn nguyn l ca mch dao ng Colpitts. Mch hot ng c bng cch chia gi tr in p trn t in gia cc collector v base .Tn s pht c mch tnh theo cng thc:

Vic tnh ton gi tr ca cun cm L rt kh nn trong mt s trng hp pht c tn s mong mun ngi ta dng phng php ct v th ( cut and try ) sau nhiu ln c gi tr cun cm nh mong mun. C th chnh sa tn s mch dao ng bng cch thay i gi tr ca t C4 . Vic ni tng cc BJT nhm tng h s khuch i tn hiu. T C7 cch li in th phn cc, cho dng cao tn i qua. 4.3.4.3. S lc v IC PT2264 PT2264 ca hng Priceton Technology c pht trin v ra i sau dng m ha 12 E/D ca hng Holtek. Sn phm ny c 2 dng chnh l : loi c 8 a ch m ha, 4 a ch d liu v loi c 6 a ch m ha, 6 a ch d liu. Ti Vit Nam sn phm ch yu l 8 a ch m ha v 4 a ch d liu.

Hnh 4.15. S chn PT2264 Khung m ha 12 bit theo dng : A0A1A2A3A4A5A6A7D0D1D2D3, PT2264 c 3 m khng trng lp hn hn nhng tnh nng ca HT12E ra i trc n ch c
12

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n Tt Nghip

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kh nng m c 212 m khng trng lp. Cch m ha c lm bng cch ni cc chn m ha a ch ln dng ngun (m ha +) bng in tr ko ln hc ko xung m ngun (m ha -) bng cch ni xung GND hoc trng chn m ha (m ha 0). 4 a ch d liu D0D1D2D3 trnh nhiu khi truyn tt nht ta nn m ha (+) hoc m ha (-) . Do ta c th truyn mt lc song song 4 bit d liu 0 (hoc 1) ln mt khung gm : 12 bit trong 8 bit u l bit m ha a ch v 4 bit sau l 4 bit d liu. Tn hiu encoder c a ra chn 17 ca PT2264, chn ny c mc 1 khi PT2264 ngh lm vic v c mc 0 khi n hot ng. Tn hiu u ra gm : sng mang dao ng c tn s vo khong 700Khz + a ch m ha + d liu truyn .Tn s sng mang c quyt nh bi in tr ni trnchn 15 v 16 : f= R/12 . Da vo tn s PT2264 ta c th lm mch pht v nhn hng ngoi. in p lm vic trong din rng t : 2,5V 15V nhng theo thc nghim tt nht ta dng khong 9V 12V. 4.3.4.4. Giao tip vi PT2264

Hnh 4.16. S mch m ha IU KHIN KNH TRUYN: Mch c thit k cho Remote iu khin v giao tip my tnh. Cc a ch m ha c ni vo Port 2 ca vi iu khin c th m ha 1 ( hoc 0 ) d dng, cc knh d liu c ni vo chn t P0.0 P0.4 ca Port 0. Vic m ha knh truyn c thc thi bng chng trnh trong vi iu khin, tng ng vi cc trng thi hot ng ca Robot.

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Hnh 4.17. S giao tip vi iu khin 4.4. S MCH THU

Hnh 4.18. S mch thu Hai tng FET dng khuch i cao tn, khuch i FET ta ch vic iu khin in p cc cng G (Gate). in tr t cc ngun S (Source) ca FET to ra s chnh p so vi cc cng. Gi tr in tr cng ln th in p cc ngun tng ln v s chnh p so vi cc cng cng ln. H s khuch i cng ln khi tn hiu u ra quay tr li u vo lm khuch i dao ng. Tuy nhin nu in tr qu ln s lm cho h s khuch i gim cht t.

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n Tt Nghip

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Mch dao ng LC song song t cc mng D (Drain) gip cho mch dao ng hot ng n nh, ng thi b tn tht do in tr tp tn mch dao ng gy nn, ci thin ng cong c tnh tn s dao ng khi c thm ni tr.

Hnh 4.19. c tnh Q (Queue) T C6 c gi tr ln, cng vi 2 diod n c chc nng l cho dng in cao tn theo mt chiu nht nh i qua. IC so snh LM385 bo cho vi iu khin bit khi no c tn hiu v khi no khng c tn hiu bng cch so snh in p u vo t trn chn V (+) v in p so snh c gi tr b khong 0,12 V t trn chn V(-). 4.4.1. Giao tip SC2272
U 1 2 3 4 5 6 7 8 9 A A A A A A A A V s 2 0 V C 1 V 2 O S 3 O S 4 D 5 D 6 D 7 D S S D c 2 2 T C C I N 0 1 2 3 1 C1 1 1 1 1 1 1 1 d V 8 7 6 15 24 3 2 1 0 C C R R 0 1 2 3 R 5 4 D 4 a t a i n

p p p p

2 2 2 2

R. . . .

L E

7 2

Hnh 4.20. S mch thu S LC V SC2272: Tng t nh kiu m ha a ch v d liu ca PT2264, khung nhn tng ng gm: 12 bit trong 8 bit u l m ha a ch v 4 bit sau l d liu:

Hnh 4.21.S chn SC2272

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n Tt Nghip

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Cc chn m ha ca PT2264 ni nh th no th cc chn m ha t A0 A7 ca SC2272 cng phi ni tng t nh vy. Khi truyn mt m ng m SC2272 nhn c s c mt xung dng pht ra trn chn 17. Bn pht d liu c chuyn t knh no th tng t bn thu cng thu c tn hiu tng ng trn knh . V d: Khung pht l 12 bit : 101010101001 ngha l cc chn a ch m ha l : 10101010 cn d liu truyn i s l 1001, tng ng bn thu ta nhn c t chn D0D1D2D3 l 1001 nu cc chn a ch tng t l 10101010. Trn chn 15 v 16 gn thm in tr to dao ng cho mch. Trong mch ny gn in tr c gi tr 270K. 4.4.2. iu khin knh nhn Ti u ra ca d liu nhn c cho ta mc in p vo khong 3,75 3,9V nu d liu nhn c l mc 1, khi knh khng c truyn hoc d liu truyn l 0 n mc 0V. Nu ta ly ngay mc tn hiu v cho vi iu khin x l s nhn ton l mc 0, thnh thong nhn c mc 1 do dao ng trn u vo ca chn vi iu khin. iu s lm sai lch tn hiu truyn i. x l cng on ny tip tc a vo b cch ly quang in OP PC817 a ra mc 1 vi chun p 5V m vi iu khin nhn din c. Nhng nh th khi knh c truyn vi gi tr 0 s nh th no ? Lc ny b quan in khng lm vic, ti v tr u vo ca vi iu khin lc ny c mc tr khng cao, hoc s c mc 0, hoc s c mc 1 do chng trnh qui nh. iu gy kh khn cho qu trnh nhn u vo. Do phc tp cho thut ton x l ta tip tc cho qua mt b so snh LM324 ging nh cm bin nhng mc u tin u ra x l l mc 1 tng ng ch th Led tt, cc ch th cn li sng ging nh ch th ca u ra knh d liu D0 D3 khi c truyn. Ta cng ly u ra ca b so snh LM324 v Port 1 ca vi iu khin x l tn hiu truyn tng ng vi thao tc u ra trc quan ca Robot. T duy nht mt IC PT2264 vi s khc nhau a ch m ha ta c th m rng ti 38 IC thu SC2272 m khng nhm ln knh truyn u ra. Tng ng ta c 38x4 d liu c gii m. Tuy nhin nhc im ca vic m rng IC thu l khi chuyn t IC thu ny sang IC thu khc th mc tn hiu vn cn tn ti trn IC trc, mun xa tn hiu gi ny ta ch c th dng chng trnh xa hoc Reset mch. Nhng vic Reset mch s gy nhiu kh khn do Robot khng t nh c chng trnh ang lm vic nn trn mi IC nhn SC2272 ta lun qui nh mt trng thi m Robot khng lm bt c vic g. Khi chuyn t IC ny sang IC khc ta ng thi chuyn IC trc sang trng thi khng lm g ca Robot do IC qui nh v chuyn knh lm vic sang IC mong mun cho Robot lm vic m khng chu bt k nh hng no do IC thu trc mang li.

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Hnh 4.22. S giao tip vi iu khin. Vic t hp cc trng thi d liu ra cho php ta x l gn knh truyn, t 4 bit d liu ta c n 24 = 16 knh ra, tuy nhin cn ch v truyn song song. Trn l thuyt ta c th truyn song song n 4 bit d liu ra cng lc nhng do tnh cht ng truyn l khng gian nn nh hng ca nhiu lm u thu khng c nh mong mun. x l vn ny trong chng trnh ta cn c i c li nhiu ln tn hiu u vo ri mi a ra tnh hung x l. 4.5. MT S THNG TIN V IC P89V51RD2 4.5.1. Hnh dng thc t v m phng

Hnh 4.23.Hnh dng thc t IC P89V51RD2

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Hinh 4.24.S chn ca IC P89V51RD2 4.5.2. Khi qut cc tnh nng 4.5.2.1.Khi qut P89V51RD2 l vi iu khin 80C51 c 64kB Flash v 1024bytes<1kB> b nh d liuRAM. Tnh nng c bit ca P89V61RD2 l ch hot ng mode x2. Ngi thit k chn chy ng dng ca mnh ch ny nng i tc khi hot ng cng tn s dao ng (mt chu k my = 6 chu k xung nhp). B nh chng trnh Flash cho php lp trnh ISP hoc/v song song. Ch lp trnh song song c a ra thch ng vi tc cao, gim thi gian v gi thnh. P89V51RB2/RC2/RD2 cng c tnh nng IAP, cho php b nh flash c thit lp li ngay c khi cc ng dng ang chy. 4.5.2.2. 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.

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n Tt Nghip 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 <Brownout Detect> Ch Low-power, Power down, Idle. 4.5.2.3. S khi ca MCU P89V51RD2

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Hnh 4.25. 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. P1.0 - T2: Ng vo Counter cho Timer/Counter 2 hoc ng ra cho Counter/Timer 2. P1.1 - T2EX: iu khin hng v cnh kch chc nng Capture cho timer/Counter 2.

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P1.2 ECI: Ng vo xung nhp. Tn hiu ny l ngun xung nhp ngoi cho chc nng PCA. P1.3 CEX0: 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 SPI o CEX2: ng vo xung nhp cho chc nng Capture/Compare modul 2. P1.6: o MISO: phc v SPI o CEX3: ng vo xung nhp cho chc nng Capture/Compare modul 3. P1.7: o SCK: phc v SPI o 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 trnh trong chip, PSEN khng tch cc. Khi s dng b nh chng trnh ngoi, PSEN thng mc tch cc 2 ln trong mi chu k my. S chuyn mc cao sang thp trn PSEN cng bc t bn ngoi khi ng vo RST ang mc cao trong hn 10 chu k my 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 chu k 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. E A : Cho php s dng b nh chng trnh ngoi. o E A =04B nh ngoi. o E A =14B nh trong chip. ALE/ PROG : Cho php kha a ch (nh 8051 c in) ngoi ra, chn ny cn c dng a vo ch lp trnh FLASH. 4.5.3. T chc b nh MCU P89V51RD2 c 2 vng khng gian a ch ring bit: vng lu tr cho b nh chng trnh v cng a ch cho b nh d liu (cu trc Harvard).

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n Tt Nghip 4.5.3.1. La chn bank b nh chng trnh flash

GVHD: PGS.TS Trn Xun Ty

C 2 vng b nh ni flash trong MCU, Block 0 c 64kB v c t chc thnh 512 sector, mi sector cha 128 Bytes. Block 1 cha chng trnh ISP/ICP v c kch hot khi chn kt hp bit reset mm (SWR) <FCF.1> v bit chn bank (BSEL) <FCF.0>.

Hnh 4.26. Mch Reset hp l Qu trnh tun t sau khi ngun c bt, chng trnh boot s t ng thc thi v c gng ly tn hiu autobaud t my ch. Nu khng c qu trnh ny xy ra trong vng 400ms v bit c SoftICE khng c bt, chng trnh boot s t ng vo on chng trnh c ngi dng lp trnh. 4.5.3.2. Thc thi on code Reset ngun sau khi bt ngun (Power-on reset code execution) Khi mi cp in vo MCU, tt c cc port u trng thi bt k no ti khi oscillator bt u hot ng v qu trnh reset ko tt c cc pin ln mc cao. Qu trnh bt ngun m khng i i vi vic Reset MCU hp l s dn ti tnh trng ta khng bit MCU thc thi lnh vng nh no! iu c th dn n m lnh trong flash b thay i. Reset h thng trong khi chng trnh ang hot ng s khng c nh hng ti RAM ca MCU, tuy nhin, ni dung ca vng nh RAM trn chip trong qu trnh bt ngun l cc gi tr ngu nhin. Khi bt u m ngun, chn RST phi c gi mc cao mt khong thi gian cho oscillator khi ng (thng l vi mili giy i vi dao ng tn s thp), thm na, qu trnh reset l hp l, cn gi mc cao t nht 2 chu k my. Cc gi tr tr v t c chn trn hnh 4.18.

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Hnh 4.27. Mch MCU P89V51RD2 khi s dng ISP Ta lu cn ni cc chn TxD, RxD ng theo trnh t mch giao tip RS232:

DB1: DB9 female ni cng COM ca PC ISP: JACK kt ni 2 mch lp trnh Hnh 4.28. Mch giao tip RS232 qua cng COM 4.5.4. nh ngha cc thanh ghi chc nng Do P89V51RD2 c thm mt s thanh ghi chc nng c bit, nu ang s dng cc trnh bin dch thng thng, cn phi khai bo cc thanh ghi chc nng . C th xem cc trang 11-12-13 ca datasheets nh ngha cc thanh ghi chc nng. V d: on code di y v d cho nh ngha cc thanh ghi chc nng khi dng ASM. Khi to 200601312020 CCAP0H DATA 0FAH Trang 52

ti: Thit k, ch to Robot leo cu thang

n Tt Nghip CCAP1H CCAP2H CCAP3H CCAP4H CCAP0L CCAP1L CCAP2L CCAP3L CCAP4L CCAPM0 CCAPM1 CCAPM2 CCAPM3 CCAPM4 TOG_0 PWM_0 ECCF_0 DATA DATA DATA DATA DATA DATA DATA DATA DATA DATA DATA DATA DATA DATA BIT BIT BIT 0FBH 0FCH 0FDH 0FEH 0EAH 0EBH 0ECH 0EDH 0EEH 0DAH 0DBH 0DCH 0DDH 0DEH CCAPM0.2 CCAPM0.1 CCAPM0.0

GVHD: PGS.TS Trn Xun Ty

4.6. NGUYN LY IU KHIN CUA RLE 8 CHN 4.6.1. Gii thiu rle Rle ng dng trong robocon thng l loi rle 8 chn 12v-5A(10A)

Hnh 4.29. R le Chng ta c th phn n lm hai phn: Phn iu khin: l hai chn ca cun dy. Trong hnh l chn 1-5. ti: Thit k, ch to Robot leo cu thang Trang 53

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Phn cng tc: gm cc chn 4-2-3 v 8-6-7 to thnh 2 cng tc ng m ng thi. Khi c khng c tn hiu in (12v) vo 2 chn 1-5 th cc chn 2-4 v 6-8 ni vi nhau. (Hnh A) Khi c tn hiu vo cc chn 1-5 th khi chn 2-3 v 6-7 s ni vi nhau.(Hnh B) Mt s ch khi s dng rle: Rle ch hot ng vi in p 12v. Nu b st p rle s ht rt yu hoc khng ht. Cc tip im ca rle rt nh cho nn trnh hot ng vi dng ln (~10A) khng xy ra phng in gy hn dnh cc tip im li lm h rle.. 4.6.2. ng dng trong mch in Ta c th ng dng Rle k chiu quay ca ng c mt cch d dng v rt tin li.

Hnh 4.30.Mch iu khin Rle hnh 4.21: khi khng c tn hiu a vo cun dy, chn 2-4 v 6-8 ca rle ng. ng c chy theo chiu nh hnh v.Ta ni chn 3 v chn 8, chn 4 v chn 6 ca rle li to s o chiu ca ng c khi chiu dng in khng i.

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Hnh 4.31.o chiu Rle Trong hnh 4.22: khi a tn hiu vo cun dy ( chn 1 v 5), lc chn 2-3 v 6-7 ni vi nhau. ng c chy theo chiu ngc li. Nh vy vi cch mc nh trn chng ta c th o chiu ng c khi chiu dng in c nh. Tn hiu iu khin ( chn 1-5) chng ta c th s dng cc nt bm thng m hoc iu khin bng mch in. 4.6.3. Nguyn ly iu khin ng c bng mach FET + rle

Hnh 4.32.iu khin ng c bng FET+Rle

y l module iu khin ng c gm c 1 rle v 1 Fet . Module ny c thit k dnh cho cc ng dng iu khin tc v v tr dng DC Motor (motion control).

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n Tt Nghip 4.6.3.1. c tinh ky thut - Ngun cng sut t 12V->24V - Dung IC kch FET IRF3205 - C led bo chiu quay ng c. - Kch thc board nh gn 4.6.3.2. ng dung - Dng trong diu khin Robot

GVHD: PGS.TS Trn Xun Ty

- Dng iu khin cc ng c trong cc my mc, thit b. - iu khin chiu ca cc Solenoid 4.7. NGUYN LY HOAT NG FET IRF3205 Mosfet l Transistor hiu ng trng (Metal Oxide Semiconductor Field Effect Transistor) l mt Transistor c bit c cu to v hot ng khc vi Transistor thng thng m ta bit. Mosfet thng c cng sut ln hn rt nhiu so vi BJT. i vi tn hiu 1 chiu th n coi nh l 1 kha ng m. Mosfet c nguyn tc hot ng da trn hiu ng t trng to ra dng in, l linh kin c tr khng u vo ln thch hp cho khuych i cc ngun tn hiu yu. 4.7.1. Cu to ca Mosfet Khc vi BJT, Mosfet c cu trc bn dn cho php iu khin bng in p vi dng in iu khin cc nh.

Hnh 4.33.Cu to MOSFET Cu to ca Mosfet ngc Knh N G : Gate gi l cc cng S : Source gi l cc ngun D : Drain gi l cc mng

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n Tt Nghip

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Trong : G l cc iu khin c cch l hon ton vi cu trc bn dn cn li bi lp in mi cc mng nhng c cch in cc ln dioxit-silic (Sio2). Hai cc cn li l cc gc (S) v cc mng (D). Cc mng l cc n cc ht mang in. Mosfet c in tr gia cc G vi cc S v gia cc G vi cc D l v cng ln , cn in tr gia cc D v cc S ph thuc vo in p chnh lch gia cc G v cc S ( UGS ) Khi in p UGS = 0 th in tr RDS rt ln, khi in p UGS > 0 => do hiu ng t trng lm cho in tr RDS gim, in p UGS cng ln th in tr RDS cng nh.

Hnh 4.34.K hiu cc loi MOSFET Qua ta thy Mosfet ny c chn tng ng vi Transitor + Chn G tng ng vi B + Chn D tng ng vi chn C + Chn S tng ng vi E 4.7.2. Nguyn l hot ng Mosfet hot ng 2 ch ng v m. Do l mt phn t vi cc ht mang in c bn nn Mosfet c th ng ct vi tn s rt cao. Nhng m m bo thi gian ng ct ngn th vn iu khin li l vn quan trng .

Hnh 4.35.Nguyn l hot ng MOSFET

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Mch in tng ng ca Mosfet . Nhn vo ta thy c ch ng ct ph thuc vo cc th in k sinh trn n. y ti khng ni r chi tit cu trc bn dn ca n n ng hoc m. Cc pc nn hiu nn na l : + i vi knh P : in p iu khin m Mosfet l Ugs0. Dng in s i t S n D + i vi knh N : in p iu khin m Mosfet l Ugs >0. in p iu khin ng l Ugs<=0. Dng in s i t D xung S. Do m bo thi gian ng ct l ngn nht ngi ta thng : i vi Mosfet Knh N in p kha l Ugs = 0 V cn Knh P th Ugs=~0. 4.7.2.1. Th nghim v nguyn l hot ng ca Mosfet

Hnh 4.36. Mch th nghim Cp ngun mt chiu UD qua mt bng n D vo hai cc D v S ca Mosfet Q (Phn cc thun cho Mosfet ngc) ta thy bng n khng sng ngha l khng c dng in i qua cc DS khi chn G khng c cp in. Khi cng tc K ng, ngun UG cp vo hai cc GS lm in p UGS > 0V => n Q1 dn => bng n D sng. Khi cng tc K ngt, Ngun cp vo hai cc GS = 0V nn. Q1 kha ==>Bng n tt. => T thc nghim trn ta thy rng : in p t vo chn G khng to ra dng GS nh trong Transistor thng thng m in p ny ch to ra t trng => lm cho in tr RDS gim xung 4.7.2.1. Cc thng s th hin kh nng ng ct ca Mosfet Thi gian tr khi ng/m kha ph thuc gi tr cc t k sinh Cgs.Cgd,Cds. Tuy nhin cc thng s ny thng c cho di dng tr s t Ciss, Crss,Coss. Nhng di iu kin nht inh nh l in p Ugs v Uds. Ta c th tnh c gi tr cc t .

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n Tt Nghip 4.8. NGUYN LY HOAT NG OPTO P521

GVHD: PGS.TS Trn Xun Ty

Opto hay cn gi l cch ly quang l linh kin tch hp c cu to gm 1 led v 1 photo diot hay 1 photo transitor. c s dng cc ly gia cc khi chnh lch nhau v in hay cng sut nhu khi c cng sut nh vi khi in p ln. S mch nguyn l cho opto:

Hnh 4.37.Nguyn l hot ng ca opto Khi c dng nh di qua 2 u ca led c trong opto lm cho led pht sng. Khi led pht sng lm thng 2 cc ca photo diot, m cho dng in chy qua. 4.9. NG C DC Gm hai ng c v hai ng c lep ghp ni vi VDK thng qua mach iu khin ng c dung OPTO P521, IRF540 va rle 8 chn .Rle l linh kin c tc dng o chiu ng c. Khi ng c c tc dng trc tip n vic thc hin cc chc nng ca sn phm nh vic nhn cc tn hiu iu khin t VDK. Chng ta cn iu chnh tc ca hai bnh xe mt cch linh hot, v vy chng ta s dng cng ngh iu chnh tc m t theo rng xung PWM. 4.10.CAMERA QUAN SAT

Camera IP wireless tch hp sever bn trong, camera cho ca hang, gia inh, cng s - CMOS 300,000 pixel, chun Motion-JPEG-N

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- Frame hnh: 25 fps - Cho php iu khin quay tri - phi 270,ln -xung 120. - Cho php quan st ban m xa 10m (10 led hng ngai) - nhy sng 0.0.1 Lux/F1.2 - m thanh 2 chiu cho php m thai t xa, tch hp loa bn trong, c ng Audio out h tr khuch i m thanh - C th t chc 10 ngi xem cng lc. - Tch hp iu khin thit b n tt m t xa qua mng, in thai - H tr chc nng motion bo chuyn ng v nhn tin qua in thai di ng - Quan st bng tt c cc lai in thai di ng m khng cn ci t driver - H tr mng DDNS t ng cp nht xem bng a ch IP ca nh sn xut - H tr wireless chun WIFI, 802.11B/G 4.11. MCH IU KHIN THI CNG

Hnh 4.38.Mch iu khin trung tm

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Hnh 4.39.Mch iu khin ng c

Hnh 4.40.Mch ci, n, phm bm

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CHNG 5: THIT K CHNG TRNH GIAO TIP MY TNH V LP TRNH CHO VI IU KHIN
iu khin Robot thng qua my tnh, ta dng phn mm Visual studio phin bn 2008 vit chng trnh. u tin, to giao din nh hnh:

iu khin Robot, ta c th nhn vo cc nt trn giao din chng trnh hoc l dng bn phm (vi cc phm tt c nh ngha sn) iu khin. Ta vit code iu khin cng COM ng, m v thc hin cc cng vic giao tip cn thit nhm iu khin Robot hot ng ng theo : Public Class Form1 Private Sub Form1_Load(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles MyBase.Load If SerialPort1.IsOpen Then SerialPort1.Close() SerialPort1.Open() End Sub Private Sub Button_rephai_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button_rephai.Click

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SerialPort1.Write("d") TextBox1.Text = "Robot ang r phi!" End Sub Private Sub Button_nangcang_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button_nangcang.Click SerialPort1.Write("i") TextBox1.Text = "Robot ang nng cng!" End Sub Private Sub Button_tien_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button_tien.Click SerialPort1.Write("w") TextBox1.Text = "Robot ang i ti!" End Sub Private Sub Button_hacang_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button_hacang.Click SerialPort1.Write("k") TextBox1.Text = "Robot ang h cng!" End Sub Private Sub Button_retrai_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button_retrai.Click SerialPort1.Write("a") TextBox1.Text = "Robot ang r tri!" End Sub Private Sub Button_lct_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button_lct.Click SerialPort1.Write("z") TextBox1.Text = "Bo ng!" End Sub Private Sub Button_lui_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button_lui.Click SerialPort1.Write("s") TextBox1.Text = "Robot ang i lui!" End Sub

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Private Sub Button_dung_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button_dung.Click SerialPort1.Write("x") TextBox1.Text = "Robot dng!" End Sub Private Sub Form1_FormClosed(ByVal sender As System.Object, ByVal e As System.Windows.Forms.FormClosedEventArgs) Handles MyBase.FormClosed If (SerialPort1.IsOpen) Then SerialPort1.Close() End Sub Private Sub TinToolStripMenuItem_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles TinToolStripMenuItem.Click SerialPort1.Write("w") TextBox1.Text = "Robot ang i ti!" End Sub Private Sub RphiToolStripMenuItem_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles RPhiToolStripMenuItem.Click SerialPort1.Write("d") TextBox1.Text = "Robot ang r phi!" End Sub Private Sub RtriToolStripMenuItem_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles RTriToolStripMenuItem.Click SerialPort1.Write("a") TextBox1.Text = "Robot ang r tri!" End Sub Private Sub Button_thoat_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button_thoat.Click End End Sub Private Sub LiToolStripMenuItem_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles LiToolStripMenuItem.Click SerialPort1.Write("s") TextBox1.Text = "Robot ang li!" End Sub

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GVHD: PGS.TS Trn Xun Ty

Private Sub DngToolStripMenuItem_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles DngToolStripMenuItem.Click SerialPort1.Write("x") TextBox1.Text = "Robot dng!" End Sub Private Sub LnCuThangToolStripMenuItem_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles LnCuThangToolStripMenuItem.Click SerialPort1.Write("z") TextBox1.Text = "Bo ng!" End Sub Private Sub NngCngToolStripMenuItem_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles NngCngToolStripMenuItem.Click SerialPort1.Write("i") TextBox1.Text = "Robot ang nng cng!" End Sub Private Sub HCngToolStripMenuItem_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles HCngToolStripMenuItem.Click SerialPort1.Write("k") TextBox1.Text = "Robot ang h cng!" End Sub Private Sub HngDnToolStripMenuItem_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles HngDnToolStripMenuItem.Click MsgBox(" Bn c th iu khin Robot bng bn phm trn my tnh: Ctrl + W: Tin ; Ctrl + S: Li; Ctrl + A: R tri ; Ctrl + D: R phi ; Cltr + X: dng ; Cltr + C: Ln cu thang ; Cltr + I: Nng cng; Cltr + K: H cng;") End Sub Private Sub PhngNnToolStripMenuItem_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles PhngNnToolStripMenuItem.Click ColorDialog1.ShowDialog() Me.BackColor = ColorDialog1.Color End Sub Private Sub MuNtNhnToolStripMenuItem_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles MuNtNhnToolStripMenuItem.Click

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ColorDialog1.ShowDialog() Button_dung.BackColor = ColorDialog1.Color Button_hacang.BackColor = ColorDialog1.Color Button_lct.BackColor = ColorDialog1.Color Button_lui.BackColor = ColorDialog1.Color Button_nangcang.BackColor = ColorDialog1.Color Button_rephai.BackColor = ColorDialog1.Color Button_retrai.BackColor = ColorDialog1.Color Button_tien.BackColor = ColorDialog1.Color Button_thoat.BackColor = ColorDialog1.Color End Sub End Class

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CHNG 6: CHNG TRNH IU KHIN ROBOT


6.1. LU THUT TON CHNG TRNH CHNH IU KHIN ROBOT

START

PHM 1 SAI PHM 2 SAI

NG

CHUONG TRNH 1

NG

CHUONG TRNH 2

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CHNG TRNH 1: IU KHIN BNG TAY CM


START

LCALL LCD1

OC GIA TRI TU P0

ANL P0,#0FH

P0 = #08H SAI

UNG

CHAY THANG

P0 = #04H SAI

UNG

LUI

P0 = #0CH SAI

UNG

RE PHAI

P0 = #02H SAI

UNG

RE TRAI

P0 = #0AH SAI

UNG

NANG CANG

P0 = #06H SAI

UNG

HA CANG

P0 = #0EH SAI

UNG

BAO ONG

P0 = #01H SAI

UNG

STOP

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CHNG TRNH 2: IU KHIN BNG MY TNH


START

LCALL LCD2

OC GIA TRI TU P3

ANL P3,#0FH

P3 = #0CH SAI

UNG

CHAY THANG

P3 = #0AH SAI

UNG

LUI

P3 = #0EH SAI

UNG

RE PHAI

P3 = #09H SAI

UNG

RE TRAI

P3 = #0DH SAI

UNG

NANG CANG

P3 = #0BH SAI

UNG

HA CANG

P3 = #0FH SAI

UNG

BAO ONG

P3 = #08H SAI

UNG

STOP

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n Tt Nghip 6.2. CHNG TRNH ASSEMBLY

GVHD: PGS.TS Trn Xun Ty

;KHAI BAO CAC THANH GHI CUA CHIP PHILIP ;<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< CCAPM0 CCAPM1 CCAPM2 CCAPM3 CCAPM4 DATA0DAH DATA0DBH DATA0DCH DATA0DDH DATA0DEH

CMOD CCON CR CH CL T2CON T2MOD RCAP2L RCAP2H TL2 TH2 TR2 TF2 BANH_TRAI BANH_TRAI_DAO BANH_PHAI BANH_PHAI_DAO CANG CANG_DAO PHIM_1 PHIM_2 BIT BIT

DATA0D9H DATA0D8H BIT 0D8H.6 DATA 0F9H DATA 0E9H DATA0C8H DATA0C9H DATA0CAH DATA0CBH DATA0CCH DATA0CDH BIT BIT 0C8H.2 0C8H.7

DATACCAP3H ; P1.6 BIT BIT BIT P3.0 P3.1 Trang 70 P1.2 P1.1 P1.0 DATACCAP2H ; P1.5 DATA CCAP4H ; P1.7

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n Tt Nghip LCD_RS LCD_RW LCD_E bit bit bit P0.0 P0.1 P0.2 P2

GVHD: PGS.TS Trn Xun Ty

LCD_DATA equ

;>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> ;<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< ; CHUONG TRINH CHINH ROBOT ;<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< ORG 0000H AJMP MAIN MAIN: CHON_MODE: MOV CMOD,#0 SETB CR MOV CCAPM0,#01000010B MOV CCAPM1,#01000010B MOV CCAPM2,#01000010B MOV CCAPM3,#01000010B MOV CCAPM4,#01000010B JB PHIM_2,KIEM_TRA_PHIM_BAM LCALL COI LCALL CHUONG_TRINH_2 ;<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< CHUONG_TRINH_1: LCALL LCD1 LAP: MOV A,P0 CALL DELAY_50MS ANL A,#00001111B CJNE A,#00001000B,LAP1 CALL DELAY_50MS ti: Thit k, ch to Robot leo cu thang Trang 71

n Tt Nghip CALL TIEN LAP1: CJNE A,#00000100B,LAP2 CALL DELAY_50MS CALL LUI LAP2: CJNE A,#00001100B,LAP3 CALL DELAY_50MS CALL NANG_CANG LAP5: CJNE A,#00000110B,LAP6 CALL DELAY_50MS CALL HA_CANG LAP6: CJNE A,#00001110B,LAP7 CALL DELAY_50MS CALL DUNG LAP7: CJNE A,#00000001B,LAP CALL DELAY_50MS CALL BAO_DONG

GVHD: PGS.TS Trn Xun Ty

;<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< CHUONG_TRINH_2: LCALL LCD2 L00P: MOV A,P2 CALL DELAY_50MS ANL A,#00001111B CJNE A,#00001100B,L00P1 CALL TIEN L00P1: CJNE A,#00001010B,L00P2 CALL LUI ti: Thit k, ch to Robot leo cu thang Trang 72

n Tt Nghip L00P2: CJNE A,#00001110B,L00P3 CALL TRAI L00P3: CJNE A,#00001001B,L00P4 CALL PHAI L00P4: CJNE A,#00001101B,L00P5 CALL NANG_CANG L00P5: CJNE A,#00001011B,L00P6 CALL HA_CANG L00P6: CJNE A,#00001111B,L00P7 CALL BAO_DONG L00P7: CJNE A,#00001000B,L00P CALL DUNG JMP MAIN RET ;CAC CHUONG TRINH CON

GVHD: PGS.TS Trn Xun Ty

;<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< TIEN: MOV MOV SETB SETB RET LUI: CLR CLR CALL BANH_TRAI_DAO BANH_PHAI_DAO DELAY_50MS Trang 73 BANH_TRAI,#120 BANH_PHAI,#130 BANH_TRAI_DAO BANH_PHAI_DAO

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n Tt Nghip MOV MOV RET TRAI: MOV MOV SETB CLR RET BANH_TRAI,#120 BANH_PHAI,#90 BANH_TRAI_DAO BANH_PHAI_DAO BANH_TRAI,#100 BANH_PHAI,#110

GVHD: PGS.TS Trn Xun Ty

NANG_CANG: MOV BANH_TRAI,#0 MOV BANH_PHAI,#0 SETB CANG_DAO MOV CANG,#110 RET HA_CANG: MOV BANH_TRAI,#0 MOV BANH_PHAI,#0 CLR CANG_DAO MOV CANG,#140 RET BAO_DONG: LCALL COI LCALL NHAY_DEN CALL BAO_DONG RET DUNG: MOV BANH_TRAI,#0 Trang 74

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n Tt Nghip MOV BANH_PHAI,#0

GVHD: PGS.TS Trn Xun Ty

MOV CANG,#0 SETB BANH_TRAI_DAO SETB BANH_PHAI_DAO SETB CANG_DAO RET COI: CPL CPL CPL CPL RET NHAY_DEN: CPL P3.3 LCALL DELAY100MS LCALL DELAY100MS CALL NHAY_DEN RET ACALL CSTROBE MOV MOV MOV MOV MOV A,#06H A,#80H A,#'C' A,#'H' A,#'U' Trang 75 ACALL CSTROBE ACALL CSTROBE ACALL DSTROBE ACALL DSTROBE P3.2 P3.2 P3.2 P3.2 LCALL DELAY_50MS LCALL DELAY_50MS LCALL DELAY_50MS LCALL DELAY_50MS

ti: Thit k, ch to Robot leo cu thang

n Tt Nghip ACALL DSTROBE MOV MOV MOV MOV MOV MOV MOV MOV MOV MOV MOV MOV A,#'O' A,#'N' A,#'G' A,#' ' A,#'T' A,#'R' A,#'I' A,#'N' A,#'H' A,#' ' A,#'1' A,#0C0H ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL CSTROBE MOV MOV MOV MOV A,#'D' A,#'K' A,#' ' A,#'B'

GVHD: PGS.TS Trn Xun Ty

ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ti: Thit k, ch to Robot leo cu thang Trang 76

n Tt Nghip MOV MOV MOV MOV MOV MOV MOV MOV MOV MOV MOV RET LCD2: MOV MOV A,#38H A,#0fH ACALL CSTROBE A,#'A' A,#'N' A,#'G' A,#' ' A,#'G' A,#'A' A,#'M' A,#'E' A,#'P' A,#'A' A,#'D'

GVHD: PGS.TS Trn Xun Ty

ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE

ACALL CSTROBE MOV MOV A,#'C' A,#'H' ACALL DSTROBE ACALL DSTROBE ti: Thit k, ch to Robot leo cu thang Trang 77

n Tt Nghip MOV MOV MOV MOV MOV MOV MOV MOV MOV A,#'U' A,#'O' A,#'N' A,#'G' A,#' ' A,#'T' A,#'R' A,#'I' A,#'N'

GVHD: PGS.TS Trn Xun Ty

ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE

ACALL DSTROBE MOV MOV A,#'2' A,#0C0H ACALL DSTROBE ACALL CSTROBE MOV MOV MOV MOV MOV A,#'D' A,#'K' A,#' ' A,#'B' A,#'A'

ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ti: Thit k, ch to Robot leo cu thang Trang 78

n Tt Nghip MOV MOV MOV MOV MOV MOV MOV MOV MOV MOV MOV RET CSTROBE: ACALL READY MOV CLR CLR CLR RET DSTROBE: ti: Thit k, ch to Robot leo cu thang LCD_DATA,A LCD_RS LCD_RW LCD_E A,#'N' A,#'G' A,#' ' A,#'M' A,#'A' A,#'Y' A,#' ' A,#'T' A,#'I' A,#'N' A,#'H'

GVHD: PGS.TS Trn Xun Ty

ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE ACALL DSTROBE CALL DSTROBE ACALL DSTROBE

SETB LCD_E

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n Tt Nghip ACALL READY MOV CLR CLR RET READY: SETB P2.7 CLR LCD_RS LCD_E SETB LCD_RW BACK: CLR SETB LCD_E JB RET DELAY200MS: MOV D3: MOV MOV WAIT2: JNB CLR CLR RET DELAY_50MS: DE_1: MOV R6,#100 DE_2: ti: Thit k, ch to Robot leo cu thang TF0,WAIT2 TF0 TR0 TH0,#3CH TL0,#0B0H ; R5,#4 LJMP D3 P2.7,BACK LCD_DATA,A LCD_RW LCD_E SETB LCD_RS SETB LCD_E

GVHD: PGS.TS Trn Xun Ty

SETB TR0

DJNZ R5,D3

Trang 80

n Tt Nghip MOV R7,#250 DJNZ R7,$ DJNZ R6,DE_2 MOV R6,#0 RET DELAY100MS: MOV D1: MOV MOV WAIT: JNB CLR CLR RET TF0,WAIT TF0 TR0 TH0,#3CH TL0,#0B0H R7,#2 LJMP D1

GVHD: PGS.TS Trn Xun Ty

SETB TR0

DJNZ R7,D1

END

----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- CODE ROBOT PHAT---------------------

ti: Thit k, ch to Robot leo cu thang

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n Tt Nghip ORG JMP ORG MOV MOV MOV SETB TR1 LOOP: JNB CLR MOV RI, $ RI A, SBUF 00H MAIN 30H MAIN: SCON, #52H TMOD, #20H TH1,#-3

GVHD: PGS.TS Trn Xun Ty

;PORT NOI TIEP MODE 1 ;TIMER 1 MODE 2 ;9600 BAUD

;DOI NHAN DU LIEU ;LAY DU LIEU

KT_SANG_TRAI: CJNE A, #'A', KT_SANG_PHAI MOV P0,#01110111B CALL DELAY_50MS MOV P0,#0 CALL DELAY_50MS JMP MAIN ;NEU LA YEU CAU SANG TRAI

KT_SANG_PHAI: CJNE A, #'D',TIEN MOV P0,#10011001B CALL DELAY_50MS MOV P0,#0 CALL DELAY_50MS JMP TIEN: CJNE A, #'W', LUI MOV P0,#00110011B CALL DELAY_50MS MOV P0,#0 ti: Thit k, ch to Robot leo cu thang Trang 82 MAIN

n Tt Nghip CALL DELAY_50MS JMP LUI: CJNE A, #'S', NANG_CANG MOV P0,#01010101B CALL DELAY_50MS MOV P0,#0 CALL DELAY_50MS NANG_CANG: CJNE A, #'I', HA_CANG MOV P0,#10111011B CALL DELAY_50MS MOV P0,#0 CALL DELAY_50MS HA_CANG: CJNE A, #'K', DUNG MOV P0,#11011101B CALL DELAY_50MS MOV P0,#0 CALL DELAY_50MS DUNG: CJNE A, #X, BAO_DONG MOV P0,#11111111B CALL DELAY_50MS MOV P0,#0 CALL DELAY_50MS BAO_DONG: CJNE A, #'Z', MAIN MOV P0,#00010001B ti: Thit k, ch to Robot leo cu thang MAIN

GVHD: PGS.TS Trn Xun Ty

Trang 83

n Tt Nghip CALL DELAY_50MS MOV P0,#0 CALL DELAY_50MS DELAY_50MS: MOV TMOD,#01H MOV R0,#50 LOOP20: MOV TH0,#0ECH MOV TL0,#78H SETB TR0 JNB TF0,$ CLR TF0 CLR TR0 DJNZ R0,LOOP20 RET END

GVHD: PGS.TS Trn Xun Ty

TI LIU THAM KHO


1. H Vi iu khin 8051 Tng Vn n

ti: Thit k, ch to Robot leo cu thang

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n Tt Nghip

GVHD: PGS.TS Trn Xun Ty

2. Thit k chi tit my Nguyn Trng Hip , Nguyn Vn Lm 3. Tnh ton thit k h dn ng c kh tp 1, 2 Trnh Cht, L Vn Uyn 4. Bn v k thut, tiu chun quc t - Trn Hu Qu, Nguyn Vn Tun 5. Trang web Dientuvietnam.net

ti: Thit k, ch to Robot leo cu thang

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