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GVHD: Th.S V Th ng

LI CM N

Trc ht chng em xin cm n Khoa K Thut Cng ngh to iu kin

chng em c th c xt vi thc t cng nh nh gi c nng lc v trnh
ca bn thn mnh.
Chng em xin gi li cm n chn thnh n Thy V TH NG tn tnh
hng dn ch bo chng em trong sut qu trnh thc hin n.
V chng em cng xin gi n cc Thy C, bn b, v ng nghip chn
tnh gip v ng gp kin trong qu trnh thc hin n ny.
Chng em xin chn thnh cm n!
Bnh Dng, thng 05 nm 2012.

Sinh vin thc hin.

L Duy Tn
V Duy Khnh

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LI NHN XT CA GIO VIN

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Bnh Dng, ngy

thng

nm 2012

K tn

V Th ng

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MC LC
LI CM N ....................................................................................................................... 1
MC LC ............................................................................................................................ 3
LI NI U ...................................................................................................................... 4
PHN GII THIU ............................................................................................................. 5
Chng I. t vn ........................................................................................................ 5
1. Tnh hnh nghin cu ............................................................................................ 5
2. Cng vic thc t ca n ................................................................................. 5
3. S kho st, m t thc t ................................................................................ 6
PHN NI DUNG............................................................................................................... 7
CHNG 1. C S L THUYT CA TI.......................................................... 7
A. PHN CNG ....................................................................................................... 7
I. VI IU KHIN ............................................................................................... 7
Tng quan v vi iu khin AT89S52 ................................................................... 7
II.
CC THIT B KHC TRONG MCH .................................................... 20
2.1. ng c bc: .......................................................................................... 20
2.2. Optical encoder: ........................................................................................ 22
2.3. IC L298: .................................................................................................... 23
2.4. IC to n p 7805( IC n p 5v) ............................................................... 24
B. PHN MM ....................................................................................................... 26
1. Phn mm m phng mch: Phn mm Proteus 7 Professional ...................... 26
2. Phn mm lp trnh: KeilC compiler ............................................................... 27
CHNG 2. THIT K TNG QUT PHN CNG ............................................... 28
I. H THNG IU KHIN ............................................................................... 28
1. S khi tng qut ........................................................................................ 28
2. S lc chc nng ca tng khi ..................................................................... 28
2.1. Khi ngun ............................................................................................... 28
2.2. Khi Reset ................................................................................................ 29
2.3. Khi iu khin: ....................................................................................... 29
2.4. Khi to xung dao ng: S dng thch anh 12MHz .............................. 30
2.5. Khi iu khin trung tm ........................................................................ 30
2.6. Khi hin th LCD .................................................................................... 30
2.7. Khi khuch i cng sut........................................................................ 31
2.8. Khi chp hnh: ng c DC ................................................................... 31
II. CHNG TRNH IU KHIN ...................................................................... 32
1. S gii thut ca chng trnh .................................................................... 32
2. Code lp trnh cho vi iu khin ...................................................................... 35
3. Nguyn l hot ng ca mch ........................................................................ 35
4. S mch in................................................................................................... 36
5. Board mch hon chnh.................................................................................... 37
PHN 3. KT LUN ........................................................................................................ 38
I. KT QU T C. ......................................................................................... 38
II.
HN CH CA TI: ................................................................................... 38
III.
HNG PHT TRIN CA TI: .............................................................. 38
TI LIU THAM KHO .................................................................................................. 39

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LI NI U
Cng cuc cng nghip ha hin i ha t nc ang din ra theo s tin
b ca khoa hc k thut. Trc tnh hnh c kh nhiu yu cu cp bch v
cng c nhng thch thc t ra cho gii tr thc .
in t v c bit l vi x l l mt lnh vc mi m nc ta ang nghin
cu v tng bc pht trin ng dng vo qu trnh sn xut gp phn nng cao
nng sut lao ng .
Do vy l sinh vin vi chuyn ngnh k thut in t cn phi nm vng kin
thc v k nng t n gin n phc tp nh trong cc h thng iu khin ng m
ca xe hi, my bay, robot,... Rn luyn k nng lp trnh trn cc h thng s dng vi
iu khin trong cc h thng cng nghip v cc ng dng trong sinh hot v sn
xut.
Tuy nhin do thi gian v kin thc chng em cn hn ch nn khng trnh khi
s thiu st, mong Thy C v cc bn thng cm.
Em xin chn thnh cm n !
Bnh Dng, thng 05 nm 2012
Nhm sinh vin thc hin !!!
L Duy Tn
V Duy Khnh

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PHN GII THIU

Chng I. t vn
1. Tnh hnh nghin cu
iu khin ng c DC l mt ng dng thuc dng c bn nht ca iu khin t
ng v ng c DC mt c cu chp hnh (actuator) c dng nhiu nht trong cc
h thng t ng nh robot, cc m hnh my bay, xe hi, cc c cu truyn ng yu
cu tnh chnh xc trong cc my mc,
iu khin c ng c DC l chng ta c th t xy dng c cho mnh rt
nhiu h thng t ng. Vy cu hi t ra y l lm sao chng ta c th bit c
tc ca ng c v lm th no iu chnh c n?.
Chnh v nhng l do , nn nhm em quyt nh chn ti iu khin ng
c DC servo pht huy thm kh nng ca mnh v gp phn nh vo cho i sng
x hi.
2. Cng vic thc t ca n
Vi mc ch nghin cu v ng dng vi iu khin vo thc t nn trong n
s dng cc phn t c bn nh:
o Vi iu khin h Atmel 8051
o ng c DC 12V c gn encorder c s vng quay.
o Nt nhn iu khin.
o Vi iu khin pht xung PWM iu chnh vn tc ng c.
o LCD hin th d liu ( vn tc ca ng c).
o Dng mch cu H khuch i cng sut iu khin ng c (v ng ra
ca vi iu khin ch mc logic 5V khng cp cho ng c hot ng).
Ngi s dng s iu chnh tc ca ng c thng qua nt nhn vo vi iu
khin, vn tc ca ng c s c hin th ln LCD thng qua encorder.

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V12

3. S kho st, m t thc t

J101

VCC

SW301

R101
330

C102
+

LCD501

BTN1

LCD 16X2

VCC

D0
D1
D2
D3
D4
D5
D6
D7

LED

7
8
9
10
11
12
13
14

VSS
VDD
VEE

D101

RS
R/W
E

10uF

12V

VDD (BL)
VSS (BL)

BUTTON

4
5
6

10uF

1
2
3

J102
1

VOUT

SW302
BTN2
BUTTON

15
16

VIN

C101 7805
+

12V

GND

U101
1
2

SW303
BTN3

RP201

D4
D5
D6
D7

VCC

RS

BUTTON
SW304
BTN4

R501
10k

10k

BUTTON

ENCODER

C202
33pF

Y201

C203

AT89S52
12MHz

2
3
4
5
6
7
8
9

SW305
BTN5
VCC
RS
E
D4
D5
D6
D7

BUTTON

U401
L298

L298_IN1
L298_IN2

L298_IN1
L298_IN2

VCC

5
7
10
12
6
11
1
15

V12

VCC
VCC

R201
10k

40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21

IN1
IN2
IN3
IN4
ENA
ENB
SENSA
SENSB

ENCODER

J401
1
2
3
ENCODER
J402

VS

10uF

VCC
AD0/P0.0
AD1/P0.1
AD2/P0.2
AD3/P0.3
AD4/P0.4
AD5/P0.5
AD6/P0.6
AD7/P0.7
EA/VPP
ALE/PROG
PSEN
A15/P2.7
A14/P2.6
A13/P2.5
A12/P2.4
A11/P2.3
A10/P2.2
A9/P2.1
A8/P2.0

OUT1
OUT2
OUT3
GND

C201
+

RST

T2/P1.0
T2X/P1.1
P1.2
P1.3
P1.4
(MOSI) P1.5
(MISO) P1.6
(SCK) P1.7
RST
P3.0/RXD
P3.1/TXD
P3.2/INT0
P3.3/INT1
P3.4/T0
P3.5/T1
P3.6/WR
P3.7/RD
X2
X1
GND

SW201

BTN1
BTN2
BTN3
BTN4
BTN5

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20

VCC

VCC

MCU201

OUT4

2
1

3
13

MOTOR

14

33pF

Hnh 1. S nguyn l ca mch

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PHN NI DUNG
CHNG 1. C S L THUYT CA TI
A. PHN CNG
I. VI IU KHIN
Tng quan v vi iu khin AT89S52
Vi iu khin 89S52 l mt vi iu khin ca hng Atmel, dung CMOS c cng sut
thp, hiu sut cao. Vi
8 KB Flash Memory
256 Byte RAM ni
4 Port xut nhp I/O 8 bit
2 con tr d liu, 3 b nh thi timer/counter 16 bit.
1 kin trc 6 vector ngt vi 2 mc, 1 b dao ng v 1 mch xung clock.
Giao tip ni tip
64 KB vng nh m ngoi
64 KB vng nh d liu ngoi
X l Boolean ( hot ng trn bit n)
210 v tr nh c th nh v bit.
4s cho hot ng nhn hoc chia.
Thm vo , vi iu khin 89S52 cn c thit k vi logic tnh c th hot ng
n tn s 0Hz v c h tr 2 ch tit kim nng lng c th la chn c
bng phn mm. Ch khng ti (Idle mode) dng CPU trong khi cho php RAM,
Timer/Counter, Port ni tip v h thng ngt tip tc hot ng. Ch tt ngun (
Power down mode) lu tr d liu trong RAM nhng ng bng b dao ng, dng
hot ng cc chc nng khc ca Chip cho n khi ngt xy ra hoc phn cng c
Reset.

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2.1. S chn AT89S52

U3
19

18

29
30
31

1
2
3
4
5
6
7
8

XTAL1

XTAL2

RST

PSEN
ALE
EA

P1.0/T2
P1.1/T2EX
P1.2
P1.3
P1.4
P1.5
P1.6
P1.7

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

39
38
37
36
35
34
33
32
21
22
23
24
25
26
27
28
10
11
12
13
14
15
16
17

AT89C52

Hnh 2. S chn IC 89S52

Hnh 3. Hnh dng thc t IC 89S52

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Hnh 4. S khi ca b vi iu khin AT 89S52

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Chc nng cc chn IC AT89S52:

Chn 29 (PSEN Program Store Enable): l chn tn hiu ng ra c tc
dng cho php c b nh chng trnh m rng v thng c ni n
chn OE ca Eprom, cho php c cc byte m lnh.
Chn 30 (ALE: Adress Latch Enable) l tn hiu iu khin xut ra, n cho
php phn knh bus a ch v bus d liu ca port 0.
Chn 31 (EA: Eternal Acess) c a xung thp cho php chon b nh
m ngoi
32 chn cn li chia lm 4 cng vo ra:
Vo ra tc l c th dng chn c mc logic.
Port 0: t chn 32 n chn 39 tng ng l cc chn P0_0 n P0_7, c 2
chc nng:
Trong thit k c nh khng dng b nh m rng, c chc nng
nh ng I/O.
i vi cc h thng ln c b nh m rng n va l bus a ch
byte thp va l bus d liu truy cp b nh ngoi.
Port 1: t chn 1 n chn 9 tng ng l cc chn P1_0 n P1_7
Port 2: t chn 21 n chn 28 tng ng l cc chn P2_0 n P2_7: l
Port c tc dng kp nh cc ng I/O hoc l byte cao (A8 A15) ca
bus a ch i vi cc thit b dng b nh m rng.
Port 3: t chn 10 n chn 17 tng ng l cc chn P3_0 n P3_7P3.0
RxD : chn nhn d liu ni tip khi giao tip RS232(Cng COM). P3.1 _
TxD : phn truyn d liu ni tip khi giao tip RS232.
P3.2 _ INTO : interrupt 0 , ngt ngoi 0.
P3.3 _ INT1: interrupt 1, ngt ngoi 1.
P3.4 _T0 : Timer0 , u vo timer0.
P3.5_T1 : Timer1, u vo timer 1.
P3.6_ WR: Write, iu khin ghi d liu.
P3.7 _RD: Read , iu khin c d liu.
Chn 18, 19 ni vi thch anh to thnh mch to dao ng cho VK. Tn
s thch anh thng c dng trong cc ng dng l : 11.0592Mhz(giao tip
vi cng com my tnh) v tn s ti a 24Mhz. Tn s cng ln VK x l
cng nhanh.
Chn 9 (RST Reset): Khi tn hiu ny a ln mc cao t nht 2 chu k
my, cc thanh ghi bn trong c np nhng gi tr thch hp khi ng h
thng. Khi cp in cho h thng th mch t ng reset.

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+5V
100

+5V
10UF

8,2K

Hnh 5. Mch Reset h thng

Trng thi tt c cc thanh ghi ca 8051 sau khi reset:

Thanh ghi

m chng trnh
Tch ly
B
PSW
SP
DPTR
Port 0-3
IP
IE
Cc thanh ghi nh thi
SCON
SBUF
PCON(HMOS)
PCON(CMOS)

Ni dung
0000H
00H
00H

00H
07H
0000H
FFH
XXX00000B
0XX00000B
00H
00H
00H
0XXXXXXB
0XXX0000B

Quan trng nht trong cc thanh ghi trn l thanh ghi m chng trnh, n c
t li 0000H. Khi Reset tr li mc thp, vic thi hnh chng trnh lun bt u
a ch u tin trong b nh chng trnh: a ch 0000H, ni dung ca RAM trn
chip khng b thay i bi lnh Reset.
Chn 18, 19(XTAL1,XTAL2): ni vi thch anh to thnh mch to dao
ng cho VK. Tn s thch anh thng dng trong cc ng dng l :
11.0592Mhz(giao tip vi cng com my tnh) v 12Mhz Tn s ti a
24Mhz. Tn s cng ln VK x l cng nhanh.

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Hnh 6. Xung dao ng thch anh

Chn 40, 20 ( VCC, GND): cp ngun v ni t cho vi iu khin.

2.2. T chc b nh bn trong vi iu khin 89S52
RAM bn trong 89S52 c phn chia nh sau:
Cc bank thanh ghi c a ch t 00H n 1FH
RAM truy xut tng bit c a ch 20H n 2FH
RAM a dng t 30H n 7FH
Cc thanh ghi c chc nng c bit t 80H n FFH bao gm:
-

Thanh ghi trng thi chng trnh ( PSW: Program Status Word)

Thanh ghi B

Thanh ghi con tr ngn xp (SP1, SP2: Stack Pointer).

Thanh ghi con tr d liu (DPH, DPL).

Cc thanh ghi Port xut nhp (P0, P1, P2, P3).

Cc thanh ghi Timer/ Counter.

Cc thanh ghi Port ni tip (SBUF, SCON)

Cc thanh ghi ngt (IE, IP)

Thanh ghi iu khin cng sut (PCON)

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Bng tm tt cc vng nh ca 8051

a ch
Byte

a ch
Byte

a ch bit

7F

a ch bit

FF
F0 F7 F6 F5 F4 F F2 F1 F0
3

RAM a dng
E0 E7 E6 E5 E4 E E2 E1 E0
3

ACC

D0 D7 D6 D5 D4 D3 D2 D1 D0 PSW
30
2F
2E
2D
2C
2B
2A
29
28
27
26
25
24
23
22
21
20
1F
18
17
10
0F
08
07
00

B8 7F 7E
77 76
6F 6E
67 66
5F 5E
57 56
4F 4E
47 46
3F 3E
37 36
2F 2E
27 26
1F 1E
17 16
0F 0E
07 06
Bank 3

7D
75
6D
65
5D
55
4D
45
3D
35
2D
25
1D
15
0D
05

7C
74
6C
64
5C
54
4C
44
3C
34
2C
24
1C
14
0C
04

7B
73
6B
63
5B
53
4B
43
3B
33
2B
23
1B
13
0B
03

7A
72
6A
62
5A
52
4A
42
3A
32
2A
22
1A
12
0A
02

Bank 2
Bank 1
Bank thanh ghi 0
(mc nh cho R0-R7)

79
71
69
61
59
51
49
41
39
31
29
21
19
11
09
01

78
70
68
60
58
50
48
40
38
30
28
20
18
10
08
00

BC BB BA B9 B8 IP

B0 B7 B6 B5 B4 B3 B2 B1 B0 P.3
A8 AF

AC AB AA A9 A8 IE

A0 A7 A6 A5 A4 A3 A2 A1 A0 P2
99 khng c a ch ha bit
98 9F 9E 9D 9C 9B 9A 99 98

SBUF
SCON

90 97 96 95 94 93 92 91 90

P1

khng c a ch ha bit
khng c a ch ha bit
khng c a ch ha bit
khng c a ch ha bit

TH1
TH0
TL1
TL0
TMOD

88 8F 8E 8D 8C 8B 8A 89 88
87 khng c a ch ha bit

TCON
PCON

8D
8C
8B
8A
89

83
82
81
80

khng c a ch ha bit
khng c a ch ha bit
khng c a ch ha bit
87 86 85 84 83 82 81 80

Trng i Hc Tr Vinh

DPH
DPL
SP
P0

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3. Hot ng nh thi
3.1. Gii thiu
Cc b nh thi (Timer) c s dng rng ri trong cc ng dng o lng v
iu khin. Ty thuc vo ng dng u vo ca b nh thi c th l ngun xung ly
t xung nhp ca vi iu khin hoc ngun xung t bn ngoi a n.
Vi iu khin h 8051 c ba b nh thi 16 bit trong hai b Timer 0 v Timer 1
c bn ch hot ng, cn Timer 2 c ba ch hot ng.
3.2. Cc thanh ghi ca b nh thi.
3.2.1. Cc thanh ghi ca Timer 0 v Timer 1.
o Thanh ghi ch nh thi TMOD: Thanh ghi TMOD cha hai nhm 4 bit
dng t ch lm vic cho Timer 0 v Timer 1
Bit

Name

Timer

Description

GATE

Khi GATE = 1, Timer ch lm vic khi INT = 1

C/T

Bit m s kin hay ghi gi

C/T = 1: m s kin
C/T = 0: Ghi gi u n

M1

Bit chn Mode ca Timer 1

M0

Bit chn Mode ca Timer 1

GATE

Bit chn cng ca Timer 0

C/T

Bit chn ch Timer/Counter ca Timer 0

M1

Bit chn Mode ca Timer 0

M0

Bit chn Mode ca Timer 0

o Thanh ghi iu khin Timer TCON: Thanh ghi TCON cha cc bit trng thi
iu khin cho Timer 0 v Timer 1.
Bit

Symbol

Bit
Address

Description

TCON.7

TF1

8FH

C bo trn ca Timer1, c t bi phn

cng khi c trn, c xa bi phn mm
hoc bi phn cng khi b x l ch n
chng trnh phc v ngt.

TCON.6

TR1

8EH

Bit iu khin Timer 1 hot ng, c t/

xa bng phn mm iu khin cho Timer
chy/dng

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TCON.5

TF0

8DH

C bo trn Timer 0

TCON.4

TR0

8CH

Bit iu khin Timer 0 hot ng

TCON.3

IE1

8BH

C ngt do Timer 1.

TCON.2

IT1

8AH

C ngt ngoi 1.

TCON.1

IE0

89H

C ngt do Timer 0

TCON

IT0

88H

C ngt ngoi 0

3.2.2. Cc thanh ghi ca Timer 2.

o Thanh ghi T2CON
o Thanh ghi T2MOD: c a ch 0C9H, thanh ghi ny khng nh a ch bit.
o Thanh ghi TH2 v TL2, RCAP2H v RCAP2L: Thanh ghi TH2 v TL2 cha
gi tr m ca Timer 2, cn RCAP2H v RCAP2L cha gi tr cn np li ca Timer
2.
3.3. Ch ca b nh thi
3.3.1 Cc ch ca Timer 0 v Timer 1.
- Mode 0 (mode Timer 13 bit): l ch nh thi 13 bit, ch ny tng thch
vi cc b vi iu khin trc , trong cc ng dng hin nay, ch ny khng cn
thch hp.

- Mode 1 (Mode Timer 16 bit): trong ch 1, b Timer dng c 2 thanh ghi TH

v TL cha gi tr m, v vy ch ny cn c gi l ch nh thi 16 bit.

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- Mode 2(ch 8 bit t np li): Timer dng TL cha gi tr m v TH

cha gi tr np li v vy ch ny c gi l ch t np li 8 bit. Cch iu
khin ging ch 1.

- Mode 3(Ch tch Timer): Timer 0 c tch thnh 2 b Timer hot ng

c lp, ch ny s cung cp cho vi iu khin thm mt Timer na.

3.3.2 Cc ch ca Timer 2: c 3 ch hot ng l ch thu nhn, t np

li v cung cp tc baud cho cng ni tip.
RCLK+TCLK TR2
0
0
0
1
1
X
X
X

CP/#RL2
1
1
1
0

Ch
16 bit Auto reload: 16 bit t np li
16 bit capture: 16 bit thu nhn
Baud rate Generator: cung cp tc baud
(Off)

ch thu nhn (capture):

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ch t np li

- Ch cung cp tc Baud

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4. Hot ng truyn d liu ca Vi iu khin 89S52

4.1
Gii thiu.
Truyn d liu ni tip ca MCS 51 c th hot ng nhiu kiu ring bit
trong phm vi cho php ca tn s. D liu dng song song c chuyn thnh ni tip
truyn i v nhn v dng ni tip c chuyn thnh song song.
Chn TXD (P3.1) l ng xut d liu i v chn RXD (P3.1) l ng nhn d liu
v.
c trng ca truyn d liu ni tip l hot ng song cng ngha l c th thc
hin truyn v nhn cng 1 lc.
Hai thanh ghi chc nng c bit phc v cho truyn d liu l thanh ghi m
SBUF v SCON. Thanh ghi m SBUF nm a ch 99H c 2 chc nng: nu vi iu
khin gi d liu ln thanh ghe SBUF th d liu s c truyn i, nu h thng
khc gi d liu n th s c lu vo thanh ghi m SBUF.
4.2 Cc thanh ghi cng ni tip
C 2 thanh ghi chc nng c bit cho php phn mm truy xut n cng ni tip
l SBUF v SCON
- Thanh ghi SCON ( Serial Controller): Thanh ghi iu khin cng ni tip a
ch 98H, l thanh ghi c nh a ch bit, cha cc bit trng thi v cc bit iu khin
lin quan ti cng ni tip. Cc bit iu khin t ch hot ng cho cng ni tip,
cc bit trng thi bo co kt thc vic pht hoc thu mt k t.
- Thanh ghi SBUF ( Serial buffer): Thanh ghi ny c chc nng m cc k t
khi chng c nhn v t cng ni tip hoc c truyn i t cng ni tip, vic
truyn nhn qua cng ni tip thc cht l vic truy xut thanh ghi ny
4.3 Cc ch hot ng
- Ch 0: ch m cng ni tip c dng nh mt hanh ghi dch 8 bit. D
liu truyn nhn trn chn RXD v TXD. Tc baud c nh bng Fosc /12.
- Ch 1: Cng ni tip hot ng nh b UART 8 bit c tc thay i. D
liu truyn nhn trn chn RXD v TXD, ch ny cung cp cho vi iu khin mt
cng c giao tip vi my tnh qua cng COM.
- Ch 2: Cng ni tip hot ng nh b UART 9 bit, ch ny thng
c dng khi cn chn thm bit kim tra chn l vo trong khung truyn gim bt
li trn ng truyn.
- Ch 3: L s kt hp ca ch 1 v ch 2.
4.4 Trao i d liu qua cng ni tip
Bao gm cc thao tc chnh nh sau:
Khi to cng ni tip.
Kim tra c TI khi truyn v c RI khi nhn.
Ghi c byte d liu SBUF.
5. Hot ng ngt v x l ngt:
Trong thc t ngi ta mun tn dng kh nng ca CPU lm thm nhiu cng
vic khc na, ch khi no c cn trao i d liu mi cn yu cu CPU tm dng cng
vic hin ti phc v vic trao i d liu. V vy 1 h thng s dng ngt c th p
ng nhanh cc yu cu trao i d liu trong khi vn c th lm c cc cng vic khc.
T chc ngt AT89S52 bao gm:

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- Ngt ngoi n t chn #INT0.

- Ngt ngoi n t chn #INT1.
- Ngt do b Timer0.
- Ngt do b Timer1.
- Ngt do b Timer2.
- Ngt do Port ni tip.
Su ngun ngt ny c xa khi reset v c t ring bng phn mm bi cc bit
trong thanh ghi cho php ngt IE v thanh ghi u tin ngt IP.
Phng php iu ch rng xung (PWM)
- Phng php iu ch PWM ( Pulse Width Modulation) l phng php iu
chnh in p ra ti hay ni cch khc l phng php iu ch da trn s thay i
rng ca chui xung vung dn n s thay i in p ng ra.
6.

- Chng ta s dng b Timer 16 bit ca vi iu khin to ra xung c t s

rng nh mong mun.
7. Gii thut iu khin PID
- PID l vit tt ca Propotional (t l), Integral (tch phn) v Derivative (o
hm).

Kp = h s t l
Ki = h s tch phn
Kd = h s vi phn

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- Bin e l thnh phn sai lch, l hiu gia tn hiu vo mong mun v tn hiu
ra thc t. Tn hiu sai lch (e) s a ti b PID v b iu khin tnh ton c thnh
phn tch phn ln vi phn ca (e).

- c tnh b iu khin PID:

Thnh phn t l (Kp) c tc dng lm tng tc p ng ca h thng, v
lm gim ch khng trit tiu sai s xc lp ca h
Thnh phn tch phn (Ki) c tc dng trit tiu sai s xc lp nhng c th
lm gim tc p ng ca h.
Thnh phn vi phn (Kd) l tng n nh h thng, gim vt l v ci
thin tc p ng ca h

II. CC THIT B KHC TRONG MCH

2.1. ng c bc:
- ng c bc l mt c cu chp hnh rt thng dng trong cc ng dng iu
khin chnh xc.
- ng c bc c chia lm nhiu loi nh ng c bin t tr, ng c n
cc, ng c hai cc v ng c nhiu pha.
o ng c bin t tr: c 3 cun dy, c ni mt u chung li vi nhau
(C), khi s dng th u ni chung (C) c ni vo dng ngun v cc cun
c kch theo th t.

Hnh 7. ng c bin t tr

o ng c bc n cc: Cu to c 5,6 hoc 8 dy ra, c qun theo s

(hnh bn di), vi 1 u ni trung tm trn cc cun. Khi dng, cc u ni
trung tm thng c ni vo cc dng ngun v hai u cn li ca mi mu
ln lt ni t o chiu t trng bi cun .

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Hnh 8. ng c bc n cc

o ng c bc hai cc: Cc cun dy ca ng c hai cc ging nh ng

c n cc nhng khng c u ni trung tm 2 cun, v vy n gin hn
nhng mch iu khin o cc mi cp cc trong ng c th phc tp hn.
Mch iu khin cho ng c ny i hi phi c mch iu khin cu H cho mi
mu.

Hnh 9. ng c bc hai cc

o ng c nhiu pha: ng c ny khng c ph bin nh cc ng c

trn, cc cun dy ca n c qun ni tip thnh cc vng kn.

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Hnh 10. ng c bc nhiu pha

2.2. Optical encoder:

o Encoder l thit b qun l s vng quay, qun l v tr gc ca mt a quay,
a quay c th l bnh xe, trc ng c,
o H thng Optical encoder bao gm mt ngun pht quang (thng l hng
ngoi infrared), mt cm bin quang v mt a c chia rnh.

HnhOptical
11. Optical
encoder
encoder

o C hai loi encoder: encoder tuyt i (absolute encoder) v encoder tng i

(incremental encoder).
Trong ti ny chng em tm hiu incremental encoder.
- Encoder thng c 3 knh (3 ng ra): knh A, B v I (Index)

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- Hnh trn cng trong hnh trn th hin s b tr ca 2 cm bin knh A v

knh B lch pha nhau. Khi cm bin A bt u b che th cm bin B hon ton
nhn c hng ngoi xuyn qua v ngc li. Hnh bn di l dng xung ng ra
ca 2 knh.
2.3. IC L298:
L IC bn dn tch hp mch cu H iu khin cng sut ng c, tt c mch
kch, mch cu u c tch hp sn

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+ in p cp ln n 46V
+ Tng Dng DC chu ng ln n 4A
+ in p bo ha
+ Chc nng bo v qu nhit
+ in p logic0t 1.5V tr xung

Tn cng sut ng ra:

IC L298 tch hp 2 tng cng sut (A, B). Tn cng sut chnh l mch cu v ng ra
ca n c th li cc loi ti cm thng dng nhiu ch hot ng khc nhau
(ty thuc vo s iu khin ng vo) .
Dng in t chn ng ra chy qua ti n chn cm ng dng : in tr ngoi RSA,
RSB cho php vic cm ng cng dng in ny.

Hnh 12. Mch cu H

Tn ng vo:
Mi cu c iu khin bi 4 cng ng vo In1, In2, EnA, v In3, In4, EnB. Cc chn
In c tc dng khi chn En mc cao, khi chn En mc thp, cc chn ng vo In
trng thi cm. Tt c cc chn u tng thch vi chun TTL.
2.4. IC to n p 7805( IC n p 5v)
Vi nhng mch in khng i hi n nh ca in p qu cao, s dng IC n
p thng c ngi thit k s dng v mch in kh n gin. Cc loi n p
thng c s dng l IC 78xx, vi xx l in p cn n p. V d 7805 n p 5V,
7812 n p 12V. Vic dng cc loi IC n p 78xx tng t nhau, di y l minh
ha cho IC n p 7805:

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Hnh 13. S IC 7805

S chn 7805:
Chn s 1 l chn IN
Chn s 2 l chn GND
Chn s 3 l chn OUT.
Ng ra OUT lun n nh 5V d in p t ngun cung cp thay i. Mch ny
dng bo v nhng mch in ch hot ng in p 5V (cc loi IC thng hot
ng in p ny). Nu ngun in c s c t ngt: in p tng cao th mch in
vn hot ng n nh nh c IC 7805 vn gi c in p ng ra OUT 5V khng
i.

IC n p 7805 : u vo > 7V u ra 5V 500mA. Mch n p: cn cho VK v nu

ngun cho VK khng n nh th s treo VK, khng chy ng, hoc reset lin
tc, thm ch l cht chp.

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B. PHN MM
1. Phn mm m phng mch: Phn mm Proteus 7 Professional
- Proteus l mt phn mm m phng v thit k mch in. Phn mm bao gm 2 thnh
phn l ISIS v AREA.
- ISIS l phn m phng mch, n c th m phng c mch s v mch tng t, tuy
nhin, im mnh nht l n tch hp rt nhiu th vin linh kin s, c bit l vi iu
khin. Trong qu trnh thit k mch s, cn m phng phn mm ca vi iu khin
nh PIC, AVR, 8051, th y l phn mm l tng nht. Bn cnh , n cn tch
hp m phng mch tng t, m phng ngn ng m t phn cng Verilog,
- AREA l phn thit k mch in, bn kh nh, chy dy kh thng minh, tuy nhin
vic qun l, sp xp v tr khi c nhiu linh kin cha hiu qu lm.

Hnh 14. Mn hnh Protues 7 professional

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2. Phn mm lp trnh: KeilC compiler

KeilC l trnh bin dch C do cng ty pht trin phn mm Keil c tr s ti c.

N cung cp mt s cng c pht trin nh: IDE Integrated Development
environment, Project Manager, Simulator, Debugger, C Cross Compiler, Cross
Assembler,

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CHNG 2. THIT K TNG QUT PHN CNG

I. H THNG IU KHIN
1. S khi tng qut

Khi ngun

Khi iu
khin

DAC

Vi iu
Khin

To xung dao
ng

iu khin
ng c

AT89S52
Encorder

Khi
hin th

Reset

Hnh 15. S khi tng qut

2. S lc chc nng ca tng khi

2.1. Khi ngun

V12

Khi ngun cho VK:

J101

VIN

C101 7805
+

J102
1

VOUT

12V

GND

U101
1
2

10uF

VCC
C102
+

R101
330

10uF
D101

12V
2

LED

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Ngun nui ca vi iu khin l ngun DC 5V, sau khi qua bin p 12V, in p
xoay chiu 220V s cn 12V v c a qua chnh lu thnh dng 1 chiu, sau khi
qua IC n p 7805,in p ra cn 5V v c a vo vi iu khin.
y l mch dng to ra ngun in p chun +5V. S dng IC7805. u vo l
in p xoay chiu sau khi c bin i qua my bin th, a vo b Diod cu
cho ra dng in mt chiu( lc ny in p nm trong khong t 7->10V). Sau khi i
qua IC n p 7805 s to ra ngun in p chun +5V cung cp cho mch

2.2.

Khi Reset

Khi RESET c tc dng a vi iu khin v trng thi ban u. Khi nt Reset

c n in p +5V t ngun c ni vo chn Reset ca vi iu khin c chy
thng xung t lc ny in p ti chn vi iu khin thay i t ngt v 0, VK
nhn bit c s thay i ny v khi ng li trng thi ban u cho h thng.
2.3. Khi iu khin:
Gm 5 nt n, hot ng tng t nt Reset. Khi n nt th cc chn ca vi iu
khin c ni vi chn mass a in p xung t lc ny in p ti cc chn ny
bng 0 lm cho vi iu khin nhn bit c s thay i ny v thc hin lnh cn
SW301
iu khin.
BTN1
BUTTON
SW302
BTN2
BUTTON
SW303
BTN3
BUTTON
SW304
BTN4
BUTTON
SW305
BTN5
BUTTON

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2.4. Khi to xung dao ng: S dng thch anh 12MHz

C202
33pF

Y201

C203
12MHz
33pF

2.5. Khi iu khin trung tm

Vi iu khin AT89S52 l phn t thu nhp x l thng tin v a ra cc tn hiu iu
khin thit b.

VCC
RP201

10k

VCC

SW201

C201
+

RST

10uF

ENCODER
BTN1
BTN2
BTN3
BTN4
BTN5

R201
10k

C202
Y 201

33pF
C203

T2/P1.0
T2X/P1.1
P1.2
P1.3
P1.4
(MOSI) P1.5
(MISO) P1.6
(SCK) P1.7
RST
P3.0/RXD
P3.1/TXD
P3.2/INT0
P3.3/INT1
P3.4/T0
P3.5/T1
P3.6/WR
P3.7/RD
X2
X1
GND

VCC
AD0/P0.0
AD1/P0.1
AD2/P0.2
AD3/P0.3
AD4/P0.4
AD5/P0.5
AD6/P0.6
AD7/P0.7
EA/VPP
ALE/PROG
PSEN
A15/P2.7
A14/P2.6
A13/P2.5
A12/P2.4
A11/P2.3
A10/P2.2
A9/P2.1
A8/P2.0

40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20

2
3
4
5
6
7
8
9

MCU201

RS
E
D4
D5
D6
D7

L298_IN1
L298_IN2

AT89S52
12MHz

33pF

2.6. Khi hin th LCD

VDD (BL)
VSS (BL)
15
16

D0
D1
D2
D3
D4
D5
D6
D7
7
8
9
10
11
12
13
14
D4
D5
D6
D7

4
5
6

RS
R/W
E

LCD 16X2

RS

VCC

1
2
3

VSS
VDD
VEE

LCD501

R501
10k

VCC

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Dng LCD 4 bit kch thc 16x2, c ni vi Port 0 ca vi iu khin. Nhim v

ca khi ny l hin th tc ca ng c.
Chn VSS ni ln Vcc, chn VDD ni xung mass, cn chn VEE c ni vi 1 bin
tr tng gim sng cho LCD.
2.7. Khi khuch i cng sut
S dng IC L298 tch hp mch cu H khuch i cng sut ng ra ca vi iu
khin iu khin ng c.
Chn Vcc ca IC ni ln Vcc t n p 5V ra, cn chn VS th ni ln ngun 12V.
Chn IN1 v IN2 ni v Port 2 ca vi iu khin ly tn hiu v, ng c c
ni vo chn OUT 1 v OUT 2 .

V12

ENCODER
J402

VS

SENSA
SENSB

ENCODER

J401
1
2
3

OUT1
OUT2
OUT3
OUT4

2
1

3
13

MOTOR

14

1
15

IN1
IN2
IN3
IN4
ENA
ENB

GND

VCC

5
7
10
12
6
11

VCC

U401
L298
L298_IN1
L298_IN2

VCC

VCC

2.8. Khi chp hnh: ng c DC

S dng ng c DC 12V, c gn mt Encoder ng trc, c ba dy: mt dy

+5v, mt dy 0v, v mt dy xung (60xung/ vng.)

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II. CHNG TRNH IU KHIN

1. S gii thut ca chng trnh
a. Chng trnh chnh:

Begin

PWM Init
Timer/Counter Init
Interrupt Init
LCD Init

Welcome Indication

Check
BTN 1?

No

Yes
LCD clear
Indication Init

While (1)

End

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b. Chng trnh qut phm

While(1)

Yes

Start system
update DIR 1
Motor run with des_Speed

Yes

Run/ Stop Motor

Init Des_Speed(PID)
LCD Indication

BTN 3

Yes

Increase Duty Cycle

Set Duty Cycle
Update LCD

BTN 4

Yes

Decrease Duty Cycle

Set Duty Cycle
Update LCD

BTN 5

Yes

Change DIR 0
Convert the motor direction

BTN 1

No
BTN 2
No

No

No

No
Duty Cycle
PID

T
200ms?

Yes

Calculate speed indication

No
End

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c. Chng trnh ngt to PWM

Interrupt
Timer 0(PWM)

No
PWM= 0
Recharged Timer 0

PWM=0

Yes

PWM= 1
Recharged Timer 0

End

d. Chng trnh PWM_Set_Duty

PWM_Set_Duty
PWM_Set_Duty

TR0
=0
TRO=0

No
Duty=100
Duty=100

Yes

PWM
=1
PWM=1

No

Duty=0
Duty = 0

Yes

PWM
=0
PWM=0

PWM = 0
Calculate TON, TOFF
Recharged Timer
TR0=0

End
End

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2. Code lp trnh cho vi iu khin

- Phn ny nhm em s trnh by trong bui bo co.
3. Nguyn l hot ng ca mch
- Phn iu khin gm cc nt nhn: Run/Stop, motor chy thun (1), motor chy
ngc(0), tng tc, gim tc v nt reset.
- Khi ng chng trnh, khi to PWM, khi to Timer/Counter, khi to
chng trnh ngt, li cho s c hin th LCD, sau nhn nt u tin s vo
chng trnh iu khin.
- Mn hnh LCD hin th 2 dng: dng 1 l tc t (SP) v chiu quay hin ti
ca motor (DIR), dng 2 l tc thc t (PV) c o v qua Encoder v RUN
hoc STOP ty thuc vo trng thi motor.
- Nhn nt BTN 1(u tin) khi ng gi tr des_Speed cho motor ng thi
motor chy theo chiu thun. i chiu ta nhn nt nhn th 5 (BTN 5)
- Ci t tc cho motor bng cch nhn nt tng hoc gim, mi ln nhn tc
s c tng ln hoc gim theo mc m chng ta quy nh trong chng trnh.
- Dng chng trnh to PWM thay i chu k xung thay i tc cho
motor.
- p dng gii thut PID n nh tc cho motor. Khi tc c ci t, th
motor phi chy bm theo 1 tc nht nh .
- Chng ta phi iu chnh Kp, Ki, Kd t c tnh n nh .

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4. S mch in

Hnh 16. S mch in

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5. Board mch hon chnh

Hnh 17. Board mch hon chnh

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PHN 3. KT LUN
I. KT QU T C.

M hnh tuy nh nhng gip em hiu su hn v chuyn ngnh t ng ha,

gm tt c nhng phn: iu khin, chp hnh, tn hiu hi tip,
Hiu v nm r c cu trc ca vi iu khin, lp trnh C cho vi iu khin, cc
phng php iu khin tc ng c nh PWM, PID.
Tm hiu v bit thm v cc loi ng c, cc IC driver cho ng c, cm bin,
encoder,LCD
Bit thm v phng php thit k v thi cng mch in bng Orcad.
Thi cng v lp trnh c mch chy ng nh yu cu.
II. HN CH CA TI:
- Lp trnh C cn ri rc, khng c logic.
- Cha ng dng ht chc nng ca 89S52 ( b capture c gi tr ).
- Khng th nhp tc t bng phm m phi s dng nt nhn tng gim 1 gi
tr c lp trnh.
- Cha hiu tht r rng v PID nn cn hn ch trong lp trnh.
III. HNG PHT TRIN CA TI:
ng dng vi iu khin vo iu khin ng c bc, servo.
ng dng encoder o tc ca motor, o chiu di ca cc cun giy qun,
my qun li, t ng dng vo PLC iu khin trong cng nghip.
ng dng gii thut PID iu khin cc thit b khc trong cng nghip nh:
iu khin nhit , robot,

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TI LIU THAM KHO

1. Ti liu VI IU KHIN CU TRC-LP TRNH V NG DNG _ Kiu
Xun Thc (Ch bin). Nh xut bn gio dc Vit Nam.
2. Gio trnh 89C51,89S52 trng i Hc SPKT TP HCM.
3. Ti liu hc AVR Internet (www.hocavr.com)
4. Website: www.codientu.biz, www.electronicctu.net
5. Ti liu lp trnh C cho 8051, hng dn s dng KeilC,

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