i hc Quc Gia TP.

HCM
Trng i hc Cng Ngh Thng Tin
----------

BO CO N MN HC 1
ti: Thit k xe mini chy theo vch k cho trc s
dng sensor
Gio vin hng dn : Ths.Lm c Khi
Khoa : K thut my tnh
Kha : 03
Nhm thc hin :
1.Nguyn Thnh c

08520095 (Nhm Trng)

2.Hunh Xun Tm

08520326

3.Nguyn Hoi Nam

08520242

4.Phan Thanh Hng

08520164

TP.HCM,ngy 15,thng 2,nm 2012

 n mn hc 1 : Thit k xe d ng

LI M U
Cng ngh robot len li vo tng ngc ngch,vo tng phn nh
nht ca cuc sng ca chng ta.Robot,cho d ch sinh ra phc v nhng
nhu cu thng ngy ca cuc sng,nh robot ht bi Roomba ,hay thc
hin nhng cng vic ln hn nh cng vic lp rp cc nh my ch to
t,my bay,thm him v tr cho d chng hnh dng no th cng
khng cn qu xa l nh trc na.Robot ang v ngy cng gn vi con
ngi hn.
Robot c th c hiu rng l nhng my t ng a chc
nng,c th lp trnh li,c thit k di chuyn vt cht,b phn,cng
c,hay cc thit b c bit thng qua nhng chuyn ng c lp trnh
sn dnh cho nhng nhim v a dng.
Robot c t khong 270 nm trc cng nguyn, l nhng c
quang v ng h nc vi hnh dng c th chuyn ng c do mt k
s ngi Hy Lp ch to ra!.Nm 1961,tc l 20 nm sau khi c y
tn,Robot cng nghip u tin mi c ch to ti phn xng nh my
General Motor New Jersey. C th coi y l im bt u ca ngnh cng
nghip ch to nhng c my tinh vi ny.
Trong ti ny,sn phm l 1 chic xe mini s dng sensor(h thng
d ng) di chuyn theo vch k cho trc(robot t d ng).So vi
nhng robot c k trn th n ch l 1 robot nh,n gin nhng li l nn
tng cho vic pht trin nhng ci ln hn

GVHD : Ths.Lm c Khi

Page 1

 n mn hc 1 : Thit k xe d ng

LI CM N
Li u tin,em xin chn thnh cm n GVHD-Thy Lm c Khi
c nhng gp ,hng dn nhit tnh trong qu trnh thc hin n
ny!Cng nh thng cm cho nhm khi ng cho nhm gia hn tin
bo co n khi nhm cha hon thnh ng tin trong bng k hoch.
Xin cm n tt c cc thnh vin trong nhm tch cc hot
ng,gp phn chung hon tt n ny.
Xin chn thnh cm n n mt s bn b cng lp c nhng gp
rt b ch cho n ny.
Xin chn thnh cm n n cc bn sinh vin mt s din n trn
mng.Chnh nhng gp ca cc bn gip cho nhm hiu ra v khc
phc c mt s vn ny sinh trong qu trnh thc hin n ny.
V cui cng,xin chn thnh cm n n cc bn tng lm v robot
d ng.Cc bn chia s cc n ca cc bn,nhng thng tin qu bu
ca cc bn l kin thc v gi vi chng ti.

GVHD : Ths.Lm c Khi

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 n mn hc 1 : Thit k xe d ng

LI NHN XT
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GVHD : Ths.Lm c Khi

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 n mn hc 1 : Thit k xe d ng

MC LC
1. C s ti................................................................................................5
1.1. L do chn ti ...................................................................................5
1.2. Gii thiu ti .....................................................................................5
1.3. S khi ton h thng ......................................................................6
1.4. K hoch thc hin ...............................................................................6
2. Xc nh mc tiu v gii hn .................................................................7
2.1. Mc tiu .................................................................................................7
2.2. Gii hn .................................................................................................8
3. Hin thc ti ........................................................................................8
3.1. Khi ngun ............................................................................................8
3.2. Khi vi iu khin ...............................................................................11
3.3. Khi ng c ........................................................................................14
3.4. Khi cm bin ......................................................................................16
4. Ti liu tham kho..................................................................................21
5. Ph lc ....................................................................................................21
5.1. Hnh nh cc khi v sn phm hon chnh .....................................21
5.2. Danh sch thit b ...............................................................................25
5.3. Cc Datasheet ......................................................................................26

GVHD : Ths.Lm c Khi

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 n mn hc 1 : Thit k xe d ng

1.C s ti :
1.1.L do chn ti :
Robot c vai tr rt quan trng trong i sng hin nay c bit l
nhng ng dng ca n trong sn xut kinh t, quc phngTuy nhin cng
ngh ch to robot l 1 nghnh cn kh mi m vi Vit Nam nn vic pht
trin nghnh cng nghip ny bt kp vi cc nc pht trin khc l 1
iu v cng quan trng.
Theo nhm ngh,cch tip cn robot n gin nht l thc hin thit
k xe mini s dng cm bin,c th l trnh vt cn,i trong m cung,hoc l
d ngV nhm chn ti xe t ng d ng.Vi ti ny,nhm
c th kt hp l thuyt vi iu khin hc vi thc hnh,ng thi tm
hiu thm v in-in t.
1.2.Gii thiu ti :
Sn phm l 1 chic xe mini t ng c chc nng t di chuyn theo
vch k cho trc(trng hoc en-nhm cho xe i theo vch en).
u tin ta thit k ng i l 1 vch en (nhm dng bng keo en).
Xe c mt b phn cm bin u xe,b phn ny d vch en,nu xe bt
c vch en th truyn tn hiu n vi iu khin.T ,vi iu khin xut
tn hiu iu khin ng c chuyn ng sao cho ph hp vi hon cnh xe
bt c vch en ang trng thi no (i thng,tri,phi).
ti ny s dng vi iu khin Atmega8.
Ta c th hiu r hn c ch hot ng ca xe thng qua s khi
bn di.

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 n mn hc 1 : Thit k xe d ng

1.3.S khi ton h thng :

MCH
SENSORS

MCH
VI IU KHIN

IU KHIN NG
C

XE CHUYN NG

1.4.K hoch thc hin: Thi gian :1/11/2011-15/2/2012

Giai
on
1
2

K hoch
Tm hiu,phn tch yu cu n.
Lp k hoch v thit k khi mch ngun
Lp bng k hoch
Tm hiu v cc ngun cung cp cho ng c,vi
iu khin,sensor
Tm hiu v IC LM7805 : c chc nng chuyn
ngun 7-24V sang ngun 5V.
V mch nguyn l b chuyn i in p t
ngun 9V5V trn Orcad.
Lm board mch chuyn in p 9V5V.
Khi iu khin
Tm hiu vi iu khin(VDK) Atmega8.Tm
hiu cc chn VDK,ngt,timer/couter.
V s nguyn l khi iu khin.
Nghin cu mch np cho Atmega8 : s v
tr cc chn,cch np,cch set s dng c
thch anh ngoi.
Thit k board mch vi iu khin cho php
np chng trnh trc tip ln board.

GVHD : Ths.Lm c Khi

Tn Thnh
vin thc hin
C nhm
C nhm
Hunh Xun
Tm
&
Phan Thanh
Hng

Thi gian
1/11-4/11
5/11-21/11
5/11-7/11
8/11-21/11

8/11-6/12
Nguyn Thnh 8/11-18/11
c &
Nguyn Hoi
Nam
Hunh Xun
19/11-6/12
Tm
&
Nguyn Thnh
c
Page 6

 n mn hc 1 : Thit k xe d ng

Code demo chng trnh test th board mch vi

iu khin :
Chng trnh led sng nhp nhy.
Chng trnh khi n ngt ngoi th lm
cho led ang sng th tt v ngc li.
Khi ng c
Tm hiu v IC L298N iu khin ng c :
nguyn tc hot ng,cng dng cc chn
Tm hiu v ng c DC
Thit k s vt l khi ng c.
Kt ni khi vi iu khin,khi ngun vi khi
ng c.
Code demo iu khin ng c :
ng c quay thun nu n ngt th quay
ngc,v n ngt tip th quay thun.
ng c nu c n ngt th quay chm
hn,n ngt tip th quay nhanh li.
Khi cm bin (sensor)
Tm hiu led thu,pht hng ngoi,IC khch i
LM324.
Thit k b cm bin vi 8 cp led thu-pht
hng ngoi.
Kt ni cc khi mch li hon chnh
Code demo test mch xe :
Sensor sng bn no,ng c bn quay.
Hon thin xe
Xy dng khung xe.(Nguyn Thnh c)
Xy dng ng i.(Phan Thanh Hng)
Code hon chnh.(Nguyn Hoi Nam)
Chnh sa,khc phc cc s c.(Hunh Xun
Tm)
Vit bo co

Phan Thanh
Hng
&
Nguyn Hoi
Nam

19/11-6/12

7/12-3/1
Nguyn Thnh 7/12-3/1
c
&
Hunh Xun
Tm
Nguyn Hoi
Nam
&
Phan Thanh
Hng

7/12-3/1

4/1-10/1
Nguyn Hoi
Nam &
Phan Thanh
Hng
11/1-12/1
Nguyn Hoi
Nam
13/1-17/1
C nhm

C s lin h
gia cc thnh
vin trong
nhm

6/2-13/2

2.Xc nh mc tiu v gii hn :

2.1.Mc tiu :
H thng iu khin phi c khi ngun cung cp n nh.
H thng c th nhn c cc tn hiu bo nhn ng i.
H thng c kh nng iu khin ng c tt,linh hot.
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 n mn hc 1 : Thit k xe d ng
Khi x l trung tm(khi iu khin) hot ng tt,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.
Cht lng sn phm : kt cu c kh p,chy n nh.
Hon thnh ng thi hn.
2.2.Gii hn :
Tc cha cao.
Thnh thong b trt khi ng khi chy nhanh,khi b cua.

3.Hin thc ti :
3.1.Khi ngun :
Trong khi ngun,nhm s dng pin kh 9V.Tuy nhin,vi iu khin
Atmega8 ch hot ng c in p 4.5V-5.5V.Do ,nhm to ra ngun
5V cung cp cho h thng iu khin,v cc khi mch khc.
Trc ht,ta xt th mt mch n p dng Diode Zener:

Hnh 1: mch n p dng Diode Zener.

Mch n p to p 33V c nh cung cp cho mch d knh trong Ti
vi mu :
T ngun 110V khng c nh thng qua in tr hn dng R1 v
gim trn Dz 33V ly ra mt in p c nh cung cp cho mch d
knh

GVHD : Ths.Lm c Khi

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 n mn hc 1 : Thit k xe d ng
Khi thit k mt mch n p nh trn ta cn tnh ton in tr hn
dng sao cho dng in ngc cc i qua Dz phi nh hn dng m
Dz chu c, dng cc i qua Dz l khi dng qua R2 = 0
Nh s trn th dng cc i qua Dz bng st p trn R1 chia cho
gi tr R1 , gi dng in ny l I1 ta c
I1 = (110 - 33 ) / 7500 = 77 / 7500 ~ 10mA
Thng thng ta nn dng ngc qua Dz 25 mA.
Mch n p dng Diode Zener nh trn c u im l n gin nhng
nhc im l cho dng in nh ( 20mA ) . c th to ra mt in p
c nh nhng cho dng in mnh hn nhiu ln ngi ta mc thm
Transistor khuych i v dng nh s di y.

Hnh 2 : Mch n p dng Transistor.

mch trn in p ti im A c th thay i v cn gn nhng in
p ti im B khng thay i v tng i phng.
Hnh trn l cch phn cc bng ngun in chung cho Transistor.
Ta c : VCC= VBB + VBE + VEE
Do , ta c nguyn l n p nh sau : Thng qua in tr R1 v Dz
gim c nh in p chn B ca Transistor Q1, gi s khi in p chn E
n Q1 gim => khi in p VBE tng => dng qua n Q1 tng => lm
in p chn E ca n tng , v ngc li ...

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 n mn hc 1 : Thit k xe d ng

Hnh 3 : IC n p LM7805 to ngun 5V.

S vt l ca nhm :

Hnh 4: s vt l khi ngun chuyn i 5V.

Bao gm chn cm ngun 9V,4 diode to mt mch chnh lu c chu
k,IC LM7805 chuyn sang ngun 5V,cc loi t lc,1 n Led bo hiu v
in tr hn dng cho n Led.
Lp mch chnh lu : mch chnh lu c tc dng chuyn ngun xoay
chiu sang 1 chiu.Do ,ta ko cn quan tm ti vic cc m v cc dng
ca ngun khi lp vo chn cm.
Thng qua mch chnh lu ta thu c ngun 1 chiu nhp nh th t
1000F c tc dng lm phng ngun 1 chiu,t ny c in dung cng ln
th in p u ra cng bng phng,thng thng c tr s khong vi trm
n vi ngn F.Hai t cn li 2 u ca IC LM7805 c tc dng lc nhiu
cho IC ny.Theo datasheet,ta c : CIN =0.33F,COUT = 0.1F v IOUT ti a
chu c l 500mA.Do th trng khng c t 0.33F nn nhm gn lun
t 0,1F,iu ny cng khng nh hng bao nhiu.
Vi n bo hiu,nhm s dng Led siu sng trng 2-3V..Nhm o
c Led c p 2.8V.
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 n mn hc 1 : Thit k xe d ng
Ta c dng qua Led thng t 5-20mA. y,nhm mun n sng vi
I=5mA,khi ta c cng thc tnh cho in tr nh sau:
R=(5-2.8)/0.005=440.
Do th trng khng bn loi ny nn nhm dng loi 330,ta c dng
gn 6,6mA sng cho Led.
3.2.Khi vi iu khin :
S vt l ca nhm :

Hnh 5 : s vt l khi vi iu khin.

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 n mn hc 1 : Thit k xe d ng
*Gii thch s :
Vi iu khin Atmega8 c h tr 2 chn PWM(PB1 v PB2) c
dng iu ch xung iu khin ng c.ng thi c b nh flash,cng
ngh np ISP (In System Programming) tc l np m khng cn tho chip
ra khi mch, gip vic lp trnh v test rt thun tin.
Chn AREF v chn AVCC dng cho b chuyn i ADC(nhm
khng s dng).Trong :
o AVCC l ngun cho b ADC hot ng c mc trc tip ti
ngun 5V.
o AREF l in p tham chiu (in p chun) ADC so
snh,nu c dng lm in p tham chiu ni th cn
chng nhiu n bng cch ni thm ti t 104 ri ni t.
Led c mc thm bo hiu mch c np thnh cng,hoc
dng test ng c trong qu trnh thc hin.Led c mc thm in tr
330 hn dng.
Bus 5x2 dng np ISP vi cc v tr c mc ph hp vi
chun cho mch np USB AVR910,chuyn dng cho h AVR.
Mch dao ng s dng thch anh 12Mhz,nh vy khi dng Timer
s c tn s f=12/12=1Mhz chu k T=1/1*106=10-6s=1s.Tin cho vic
tnh ton v lp trnh.Tuy nhin c hn ch l khng th truyn thng vi
my tnh qua cng COM(i hi thch anh 11.0592Mhz).Thch anh ny
c ni t vi t gm 22pF chng nhiu.
Mch s dng SW to ngt,c ni ti chn INT1 v INT2 c
mc nh trn l hp l :
o Trn m phng,thng thng cc chn INT ny ta mc nh sau:

Hnh 6 : 1 v d v cch mc cng tc.

o Khi n SW th VDK c ni ti t,lc VDK c th c
gi tr 0.Tuy nhin,lc nt nhn c th ra,chng ta thy rng
ng vo ca VDK chng c ni ti mt linh kin no c,vy
l in p chn ca VDK s tri ni khng xc nh.Nu
khng may mn,in p tri ni ny ri vo vng logic 0,ri li
nhy sang vng logic 1th r rng chng ta khng th xc
nh c nt bm c c bm hay khng?!!!
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 n mn hc 1 : Thit k xe d ng
o V vy, m bo,nu khi khng bm nt SW,VDK phi c
in p tham kho l 5V(chip Atmega chu c ngun 4,5V5,5V v 20mA),sau khi bm nt th in p s gim xung 0V:

Hnh 7 : cch mc cng tc trnh b in p tri ni.

o Tuy nhin,nu n nt bm,th s gy ra ngn mch,v R=0,
I= .Do ta cn phi a thm vo mt in tr gia t ,nt
bm v ngun.Vn t ra l in tr s c t u,v
gi tr ca n l bao nhiu?Khi ta c 2 cch mc sau :

Hnh 8: 2 cch mc cng tc trnh ngn mch.

- Ta c I=U/R,nu mc tr R=10k,ta c:I=5V/10k=0.5mA.
- Thit k ny m bo cho hot ng ca VDK c an
ton.Ta c th thay R=1k thu c I=5mA vn ph hp.
- Cch mc 1,n nt th chn VDK c ni ti t.
- Cch mc 2,khng c hin tng tri ni in p.
o Khi n th SW,s c hin tng rung,khong thi gian rung
VDK kh c th nhn bit nt bm ang trng thi n hay
khng, m bo khi n nt m VDK lun nhn bit c,ta
ni song song vi nt n mt t ha(t phn cc).Khi va n
nt,in p c np cho t, khong thi gian rung,lc VDK
khng nhn c trng thi n SW th t x in p to trng
thi nh n nt.Tuy nhin,dng loi t c gi tr bao nhiu cho
va ?!!!
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 n mn hc 1 : Thit k xe d ng
- Khi t np in,ta c : Vc(t)=VDC(1-e-t/T).
t: thi gian t np (s),T=RC l hng s thi gian(s), y
khng c mc R nn ta ch xt gi tr C.
Vc cng tin gn v VDC 1/et/T >>0 et/T>>
T>>0C>>0.
T c gi tr cng nh th np cng nhanh.
- Khi t x in,ta c :Vc(t)=VDC*e-t/T.
Vc cng tin gn v VDC 1/et/T >>1 et/T>>1
t/T>>0T>>C>>.
T c gi tr cng ln th x cng nhiu.
-T c gi tr cng ln th np cng lu v x cng
nhiu.
-T c gi tr cng nh th np cng nhanh v x
cng t.
- Da vo cch tnh trn,v ta thy khong thi gian nhn
nt SW xy ra rt ngn nn ta cn loi t np nhanh,do
chn loi t c tr s nh,t ha c tr s t 1F10000F.Do ,ta chn t ha 1F (c th chn cao
hn,chng hn nh 10F).
3.3.Khi ng c :
S vt l :

Hnh 9 : S vt l khi ng c .
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 n mn hc 1 : Thit k xe d ng
*Gii thch s vt l :
IC L298N bn trong tch hp hai mch cu H,mi mch cu H gm 4
cng AND v 2 Tranzito. S khi bn trong ca n nh sau(Hnh
10) :

Mi mch cu H c iu khin bi 2 tn hiu Input v 1 tn hiu

Enable .V d vi mch cu H iu khin Out1 v Out2 cho ng
c 1(bnh tri ) c iu khin bi 3 tn hiu In1,In2,EnA
(In1,In2,EnA c xut t vi iu khin,EnA=5V).
Ta c mi quan h gia cc tn hiu ny nh sau :
Out1
Out2
In1
In2
EnA
0 VDC
0 VDC
0
0
1
0 VDC
12 VDC
0
1
1
12 VDC
0 VDC
1
0
1
12 VDC
12 VDC
1
1
1
Treo
Treo
X
x
0
Khi c chnh p gia Out1 v Out2 th ng c quay.Nu
In1In2=01 th tin ti,v In1In2=10 th li.
Tng t cho mch cu H th 2 chu iu khin bi In3,In4 xut
tn hiu Out3,Ou4 iu khin ng c 2(bnh phi).
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 n mn hc 1 : Thit k xe d ng
Cung cp ngun Vcc=5V cho IC hot ng,v cp ngun Vs=12V
cho ng c hot ng.
Mi mch cu H bao gm 1 ng ngun Vs(tht ra l ng chung
cho 2 mch cu),mt chn current sensing(cm bin dng) phn
cui ca mch cu(ta c 2 chn SENA v SENB cho 2 mch
cu),chn ny khng c ni t m b trng ngi dng ni 1
in tr gi l sensing resistor,mc ch n nh dng,n l in
tr cng sut c gi tr c nh,thng t 0,5-2ohm,2W(theo
datasheet),khi b chuyn mch trong L298N dn,n trng thi bo
ha mnh,dng qua gn nh l maximum,do kh nng ht dng rt
ln d st ngun nu khng c in tr ny.
T C1 l t lc nhiu cho L298N,thng l t 0.1uF,t C2 v C4 l t
lc ngun ,gip ngun cp 12V c phng,n nh hn.
Khi o chiu ng c hay ngng ng c,lc ny ng c ging nh
1 ci my pht in nh.N pht sinh dng in ngc c th c gi
tr rt ln,v l thuyt L298N chu c 4A,nhng nu l 2A th IC
rt nng,nu dng pht sinh t ngng ny chy ngc v IC th rt
d gy hng IC.Chnh v vy mt mch diode cu i theo bo v
chip.my con diode ny dng ngn dng ngc khi ng c o
chiu hay ngng khng cho dng ny quay ngc tr li lm chy IC .
Nhm dng diode 1N5399,2A.
3.4.Khi cm bin :
ng i ca xe c v bng vch en nm trn nn trng. nhn
ra c ng i,nhm s dng cc cp led thu pht hng ngoi t gn
nhau.Led pht hng ngoi khng pht ra nh sng m pht ra cng ,led
thu c in tr ph thuc vo c nhn c cng hng ngoi phn x li
t ng i hay khng.

Hnh 11 : s phn x nh sng ca led pht trn nn trng v en.

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 n mn hc 1 : Thit k xe d ng
S ca 1 cp thu pht hng ngoi (Hnh 12):

L1 l n pht hng ngoi c di in p ??(cha test li)

R1
Led thu c mc ngc.Vic tnh ton R2 y sao cho
chnh lch ca Vs khi c v khng c nh sng l ln nht.(Vs
l in p ri trn R2).
- Gi s in tr ca Led thu khi c nh sng l Rmin,v
khi khng c nh sng l Rmax.
- Tng ng c in p khi c nh sng l
Vs=I*R2=Vcc*R2/(R2+Rmin)
V khi khng c nh sng l Vs=Vcc*R2/(R2+Rmax)
chnh lch in p :
Delta= |Vcc*R2/(R2+Rmax) - Vcc*R2/(R2+Rmin)|
Kho st hm
y(R2)= |Vcc*R2/(R2+Rmax) - Vcc*R2/(R2+Rmin)|.Tm R2
sao cho hm y(R2) t cc i.
Tnh ton n thun ta c cng thc R2=sqrt(Rmin*Rmax).
Vi Led thu,theo tnh ton thc nghim ca cc nhm
nghin cu trc lm th khi khng c nh sng,in tr
ca led thu c 100k; khi c nh sng th gim xung cn 1k
R2=sqrt(1*100)=10k
Vi s trn,theo l thuyt :
+Khi khng c nh sng(gp vch en) : Vs=5*10/(10+100)=0.45V
+Khi c nh sng(vch trng) : Vs=5*10/(10+1)=4.54V
Tuy nhin,trong qu trnh chy thc nghim,ty khong cch gia led
thu v led pht,v khong cch gia cm bin v mt ng m cho gi tr

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 n mn hc 1 : Thit k xe d ng
Vs khc nhau khi c nh sng.Vi kt qu thc nghim ca nhm,khi c nh
sng nhm o c Vs xp x 1,6V,v khi khng c nh sng l xp x 0V.
in p 1,6V l rt thp,khng th a vo vi iu khin hot ng
c,do cn phi c khch i.in p Vs c so snh vi in p
Vref c tinh chnh theo cch mc sau(Hnh 13) :

Vref
Vs

Vref c tinh chnh in p 1V

C ch hot ng ca mch so snh :
- Khi c nh sng : Vs=1,6V>Vref => Output =5V
- Khi khng c nh sng : Vs=0V<Vref => Output=0V
Nhm s dng 8 cp led thu-pht.Do cn ti 8 b so snh.Nhm s
dng 2 IC LM324.Mi IC LM324 cha 4 b so snh.Vi s chn nh sau
(Hnh 14) :

IC LM324 vi ngun nui 5V th ch cho Output cao nht 3.7V,do

in p ri trn cc van chuyn mch,cc in tr bn trong n.Nhm o
c xp x 3,6V.Tuy nhin,in p ny vi iu khin hiu c l
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 n mn hc 1 : Thit k xe d ng
mc logic 1.Qua c th kim tra cc trng thi ca cm bin iu
khin ng c i ng hng.
Ngoi ra,nhm cn s dng 8 n led bo hiu cho 8 cp led thu-pht
d dng nhn bit c trng thi cm bin gp vch en hay vch trng.
Nhm s dng n 1,4V-1,8V.Nhm o c 1,8V,v mun dng 15mA
.Do ta c :
R=(5-1,8)/0.015=213 ,xp x 220
Khi gp vch en,Output(ca b so snh)=0 c s chnh p n
Led sng.
Khi gp vch trng,Output=3,6V s chnh p rt thp n Led
tt .
S nguyn l : gm 2 mch

Hnh 15 : mch d ng gm cc cp led thu pht.

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 n mn hc 1 : Thit k xe d ng

Hnh 16 : mch so snh ,khch i.

Trn mch ny,4 n bn tri dng n bo hiu,4 n bn phi
dng n vng bo hiu (n vng c V=2V T=(5-2)/220=13,6mA).
Xt t tri qua,n bo hiu c nh s t 1-8.Cc trng hp cm
bin d ng (bt vch en):
Phm vi n 4-5 : i thng.
Phm vi n 1-5 : lch tri quo tri.
Phm vi n 4-8: lch phi quo phi.

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 n mn hc 1 : Thit k xe d ng
*Lu gii thut(Hnh 17) :
KHI TO
GII THIU

D NG

NO

YES
LCH

i thng

Cua tri
Or Cua phi

4.Ti liu tham kho :

1.Bi ging vi x l vi iu khin-Thy Nguyn Minh Sn.
2.Mt s trang web tham kho :
-

www.hocavr.com
www.dientuvietnam.net
www.dieukhien.net
www.micromouse.tk

5.Ph lc:
5.1.Hnh nh cc khi v sn phm hon chnh :
*Khi ngun v khi vi x l cng nm trn mt board(Hnh 18)

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 n mn hc 1 : Thit k xe d ng

*Khi ng c (Hnh 19):

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 n mn hc 1 : Thit k xe d ng
*Khi cm bin gm 2 phn :
+B d ng (Hnh 20):

*B khch i tn hiu t b d ng(Hnh 21):

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 n mn hc 1 : Thit k xe d ng
*Sn phm hon chnh (Hnh 22):

*ng ua (Hnh 23):

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 n mn hc 1 : Thit k xe d ng
*Hnh nh xe i d ng(Hnh 24) :

5.2. Danh sch thit b :

Tn thit b
ng c hp s
Bnh xe ng c
Bnh xe dn hng
Pin 9V(sc c)
Led pht
Led thu
Led thng
T in cc loi : t s 22pF,t gm
0.1F,t ha 0.1F, 100F,1000F,
1F
in tr cc loi : 220,330,10k,100k
Atmega8
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S lng
2
2
1
3
8
8
10
vi

Vi
1
Page 25

 n mn hc 1 : Thit k xe d ng
LM7805
L298N
LM324
Diode 1N5399
Thch anh 12Mhz
Tn nhit loi nh
Jump cc loi
Lc
Cp ni : 6,8,10
Dy ng
5.3.Cc Datasheet
1. Atmega8
2. LM7805
3. LM324
4. L298N

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1
1
1
8
1
1
vi
vi
vi
1 cun

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