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NHN XT CA GIO VIN HNG DN

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LI NI U
Ngy nay vi s pht trin ca khoa hc cng ngh, nht l trong lnh vc iu
khin v truyn thng, rt nhiu my, h thng t ng thng minh ra i, lm
thay i v mi mt cuc sng ca con ngi. C th trong cng nghip l cc my
t ng, cc trm sn xut linh hot, cc nh my thng minh... Trong dn dng l
cc thit b phc v trong cc gia nh nh my git, t lnh, cc h thng bo v,
chiu sng t ng. Trong trao i, mua bn cng xut hin cc thit b t ng
nh cc my ATM, cc my thanh ton card, cc my bn c ph.Vi nhng chic
my vic mua bn, trao i ca con ngi tr ln thun tin hn. Trong bo co
ny, nhm mun cp n mt trong nhng chic my t ng ng dng trong giao
thng, l my bn hng t ng.
ti Thit k v ch to m hnh my bn hng t ng m nhm c
giao, tht s l mt th thch, do nguyn l hot ng, kt cu c kh, phng php
iu khin ca cc my loi ny hon ton xa l vi cc thnh vin ca nhm, cc ti
liu v nhng chic my ny hon ton khng c. Nhng chnh thch thc cng l
ng lc nhm lm vic. Qua ti, cc thnh vin ca nhm pht trin c
nhiu k nng nh lm vic nhm, cch tip cn vi vn mi, cch gii quyt vn
Hn th na trong qu trnh lm ti, nhm vn dng c nhng kin thc
hc nh thit k c kh, lp trnh iu khin, thit k h thng gii mt bi
ton rt thc t.
hon thnh tt ny, trc tin v trn ht, chng con mun cm n b m,
cm n b m sinh ra chng con, nui dy chng con, hiu chng con, ng h
chng con. B m cng l ng lc chng con phn u.
Chng em xin chn thnh cm n thy Nh Qu Th v cc thy c trong b
mn C in T, cng nh cc thy c trong khoa c kh gip chng em trong
thi gian lm ti. V hn na, cm n thy du dt, trang b kin thc c
chuyn mn ln cuc sng cho chng em trong bn nm qua. Sau khi ra trng,
chng em mong vn c thy, v cc thy c gip , ch bo.
ng thi nhm cng cm n cc bn trong lp CT1_K1 c nhng gp
qu bu cho nhm. V cm n v tnh bn ca cc bn.
Do thi gian c hn nn cng khng th trnh c nhng sai st trong qu
trnh lm ti. Nhm mong c nhng kin ng gp ca cc thy c v cc bn
c th hon thin ti tt hn.
Xin chn thnh cm n.
H Ni, ngy 01 thng 06 nm 2010
Sinh vin thc hin:
C Huy Hong
Nguyn Vn Phong
Lng Vn Tun
Nguyn Th Thy
2

MC LC

CHNG I

GII THIU CHUNG

1.1. Gii thiu chung


My bn hng t ng l mt chic my thng minh c th t ng thc hin
giao dch mua, bn cc loi hng c trong kho ca n vi khch hng. Ngi mua l
khch hng, ngi bn l chic my . Thao tc mua, bn v c bn din ra bnh
thng nh truyn thng.
Vi s xut hin ca my bn hng t ng trong nhng nm gn y to ra
s pht trin mnh m cc dch v cng cng nh bn nc ung, n nhanh
Nhng my bn hng t ng ny xut hin ch yu nhng ch tp trung ng
ngi nh: siu th, ngn hng, hoc nhng khu vui chi gi tr.
Nhng li ch m my bn hng t ng em li cho chng ta l rt ln, c th
nh:
Vi mt chic my bn hng, vic mua bn c th din ra bt c thi gian no,
trong iu kin thi tit no.
Mt chic my bn hng t ng c th coi tng ng mt quy hng nh,
chuyn bn mt s mt hng. Hn na quy hng ny khng cn nhn vin bn hng,
nn tit kim c tin lng tr cho nhn vin.
My bn hng t ng c din tch nh nn c th t c nhiu ni, tn
dng c nhiu khong trng, v c th tit kim c tin thu mt bng.
Mi ngi thng c tm l e ngi khi mua mt s mt hng cc quy hng,
th vic mua cc my bn hng t ng, hon ton thoi mi.
Cc loi my bn hng t ng c thit k giao tip ngy cng thn thin
vi ngi s dng. Vic thc hin mua sn phm rt d dng, v khng sai xt.
Bng vic s dng nhng ng tin xu s lm thay i suy ngh ca mi
ngi trong vic s dng v lu thng nhng ng tin xu. Cc my hin i c kh
nng thanh ton bng th tn dng, nn c th gim c lng tin mt lu thng
trn th trng.
T nhu cu thc tin v li ch ca x hi ta thy my bn hng t ng l rt
cn thit trong mt x hi pht trin.
My bn hng t ng l mt cm t chung, nh cc my bn c ph, my np
th in thoi t ng, my bn n nhanh t ng.Nn trong ti ny, nhim
v c th ca nhm l thit k v ch to m hnh my bn hng t ng, bn hai loi
nc ng chai v mt loi hng dng hp, giao dch bng ba loi tin xu Vit Nam:
1000, 2000 v 5000.
1.2. Cc vn t ra
Cc my bn hng t ng c bn trn th trng t hon thin trong
kt cu cng nh trong tnh nng. Nhng l nhng chic my c pht trin bi
nhng cng ty c kinh nghim trong vic ch to nhng sn phm dng ny. Vi

mt ti tt nghip, vic thit k v ch to m hnh chic my, nhm gp nhiu


vn cn gii quyt:
Trc tin, l cng ngh dng nhn dng tin, c th trong ti l nhn
dng cc loi tin xu Vit Nam. Cc thit b nhn dng bn trn th trng s dng
nhiu cng ngh khc nhau, vi gi c, tin cy, tc x l rt khc nhau. V c
bit rt kh mua ti Vit Nam.
Trong vic thit k v ch to c h thng c kh phi chnh xc, m bo
cho my chy m, khng b kt trong qu trnh hot ng. c bit l vic thit k h
thng phn loi tin, tr tin, v h thng tr hng.
Vic xy dng c thut ton iu khin v phng php iu khin cho
my cng gp nhiu vn kh khn, va phi m bo iu khin cho my hot
ng c chnh xc, d phng c cc li xy ra khi my hot ng, va phi lm
sao cho vic lp trnh n gin nht c th.
C cu chp hnh s dng trong my l ng c DC v ng c bc, cn
c iu khin chnh xc.
My phi tuyt i an ton, c tin cy cao.
1.3. Phng php nghin cu
My bn hng t ng l mt sn phm c pht trin trn th trng, v l
mt sn phm c in t, nn trong qu trnh lm n, nhm p dng phng
php nghin cu sau:
- Nghin cu m hnh ca cc chic my bn c sn trn th trng, kt cu,

giao din, tnh nng ca nhng chic my . T p dng thit k trong gii
hn ti.
- p dng phng php lun trong thit k c in t vo thit k my, c th
l:
+ Thit k theo tun t, v ng thi.
+ M hnh ha phn c, m phng ha phn in, ti u ha trc khi hon
thin thit k trc khi ch to.
+ Ch to mu cc chi tit cha m bo hot ng nh mong mun, hoc cha
c thit k trong cc h thng tht trc , ch to mu mch in. Sau cng, ch
to tht m hnh my.
1.4.

Phm vi v gii hn ca nghin cu

Mt chic my bn hng t ng c rt nhiu tnh nng. Tuy nhin trong phm


vi mt ti tt nghip, vi nhng gii hn v thi gian, ti chnh v tm hiu bit,
nhm ch ch to mt m hnh my bn hng t ng vi tnh nng sau:
ti ch nghin cu my bn nhng loi hng bng chai, lon v dng hp.
My ch giao dch vi nhng ng xu c mnh gi 5000, 2000 v 1000.
My khng c chc nng gi lnh ung.
My ch dng mt vi iu khin 8 bit iu khin.
5

V my c ch to bng vt liu n gin.

CHNG II

TNG QUAN V MY BN HNG T NG

2.1. My bn hng t ng
My bn hng t ng l mt sn phm t ng ha rt ph bin trn th
gii. cc nc pht trin nh Nht, M, EU., sn phm ny tr ln thng
dng vi ngi dn. Cc loi my ny, bn rt nhiu cc loi mt hng t cc loi
nc ng chai, n cc loi n, cc sn phm dn dng V mi y nht l
chic my bn vng t ng. Cc loi my ny trn th gii rt hon thin v kt
cu, tnh nng s dng, v hon thin, a dng trong cng ngh nhn bit loi thit
b dng thanh ton nh c th dng tin xu, tin giy, th tn dng hay bng tin
nhn SMS qua in thoi di ng
Vit Nam, nm 2003 khi tin xu a vo lu thng, my bn hng t ng
cng xut hin, nhng s pht trin loi my ny Vit Nam rt chm chp. Gn
y l xut hin cc loi my t ng thanh ton bng tin polyme. Xu hng ny c
v c chp nhn hn do tm l ngi dng tin xu ca ngi Vit Nam.
Trong ti ny nhm ch to mt chic my bn hng t ng thanh ton bng
tin xu.
V c bn, mt my bn hng t ng bao gm mt hay nhiu kho hng
cha sn phm, cc my hin i, cc kho c thit k c chc nng gi nhit
mt hng mc mong mun. Mt hay mt s thit b dng khch hng thanh ton
tin, c th l mt thit b nhn dng tin mt, mt thit b tr tin trong card hay
mt thit b kt ni mng tr tin qua smsCc c cu chp hnh a hng ra,
l cc ng c, xilanh thy lcCc thit b hin th, c th l mn hnh led hoc
mn hnh cm ng. Cc nt bm, cc c cu tr tin tha. B iu khin v cc cm
bin
Trong chng ny, nhm s gii thiu l thuyt cc cng ngh, cc nguyn l,
cc thit b m nhm s dng trong ti.
2.2. S lc v cc loi tin xu
Nhn dng tin xu l mt vic quan trng khi thit k, ch to my bn hng t
ng. Trn th gii, cc modul nhn dng tin xu c chun ho v kch
thc( theo mt s mu quy nh ) gip cc nh ch to c th thay th d dng khi
modul nhn dng tin xu gp trc trc k thut.
2.2.1. Cc loi tin xu kim loi trn th gii
Hu ht cc nc trn th gii k c cc nc c h thng thanh ton khng
dng tin mt tin kim loi vn s dng ph bin trong cc giao dch nh bi v tin
kim loi mang li li ch thit thc cho c nh pht hnh v ngi s dng. i vi
ngi pht hnh tin kim loi bn hn nn tit kim c chi ph pht hnh trong di
hn. i ngi s dng tin kim loi sch hn khng b rch nt, khng hp th tp
cht nh tin giy v ph hp vi vic s dng cc loi hnh dch v t ng ho.
6

Tuy nhin tin kim loi nng hn, kh m v d ri hn tin giy. Mc d vy trong
x hi hin i khng th thiu tin kim loi khi cc dch v thng mi t ng ho
pht trin.
Tu theo tp qun s dng v iu kin c th ca mi nc m c s khc
bit ng k v ng knh v trng lng ng tin. chu u ng tin nh nht
c ng knh 14mm ng tin ln nht l 31mm, ng tin nh nht l 0,55 gam,
ng tin nng nht l 13,5 gam. chu ng tin nh nht c ng knh l
15mm ng tin ln nht c ng knh 32mm, ng tin nh nht c trng lng
0.45 gam, ng tin nng nht c trng lng 15,5 gam.
Qua nghin cu ngi ta a ra ng knh ti u ca ng xu nm trong
khong 15 n 30 mm v n thun tin cho vic s dng m vn m bo tit kim
chi ph c dp. ng tin kim loi c mnh gi ln nht phi nn c ng knh nh
hn 30 mm v trng lng di 10 gam d phng khi cn pht hnh ng tin
kim loi c mnh gi ln hn trong tng lai. Chiu dy ca ng tin kim loi phi
ln hn 1mm p ng cc yu cu k thut trong qu trnh c ct phi p tin
ng thi to thun li cho vic s dng tin kim loi. Nhn b ngoi ng tin c
mnh gi ln hn c kch thc ln hn nhng trn thc t mi quan h ny khng
th hin r lm hu ht cc b tin kim loi trn th gii bi kch thc, trng
lng ca chng cn ph thuc vo cch phn nhm mnh gi trong mi b tin kim
loi.
V vt liu c tin, c th phn chia thnh ba nhm chnh: hp kim, thp m v
kim loi thun tu. Hp kim c bn mu, chng mi mn v chng oxi ho cao
nhng gi thnh sn xut cng cao. V vy chng c dng c cc nhm tin c
mnh gi cao trong b tin kim loi ca cc nc, nh 1 Euro, 2 Euro, 2 la
Canada, 1 la SingaporeHay nh loi tin 5000 ti Vit Nam pht hnh thng
12/2003.
Thp m( m ng hoc niken) c bn km hn nhng gi thnh li r hn
trong khi vn p ng c nhng yu cu v c, dp nn chng c dng sn
xut nhm tin c mnh gi thp hn trong h thng. Do tnh cht vt liu, tin kim
loi lm bng thp m ng d b xn mu hn tin lm bng hp kim ngay c khi
mi pht hnh. Ngoi ra tin kim loi ni chung nhanh b hng nu tip xc vi cc
cht n mn. Thc t cho thy ng 1000 v 2000 lm bng thp m ng ca Vit
Nam nhanh b xn mu hn cc loi mnh gi cn li, n khng th bn nh ng
5000 c lm bng hp kim CuAl16Ni2.
2.2.2. Cc loi tin xu Vit Nam
Vit Nam l mt trong nhng nc ang trn pht trin, tin hnh cng
nghip ho, hin i ho t nc nn hng lot cc dch v thng mi t ng ho
xut hin. Chnh v th vic s dng tin xu cho cc dch v ny ngy cng tr nn
cn thit i vi ngi dn Vit Nam. Nhn bit c iu , sau mt thi gian di
vng bng tin kim loi, k t nm 2003 ngn hng nh nc Vit Nam cho pht

hnh rng ri cc loi tin xu kim loi vi cc mnh gi 5000, 2000, 1000, 500, 200
ng. Tin xu Vit Nam c cc c im nh sau:

a, ng 5000 VN

Hnh 2.1 Hnh dng ng 5000


Thng s k thut:
- Ngy pht hnh: 17/12/2003
- ng knh: 25.5mm
- dy mp: 2.20 mm
- Khi lng: 7.70 g
- Mu sc: vng nh .
- Vt liu: hp kim (CuAl16Ni2)
- Mt trc: hnh quc huy.
- Mt sau: dng ch NGN HNG NH NC VIT NAM, s mnh gi
5000 ng, hnh Cha Mt Ct.
b, ng 2000 VN

Hnh 2.2 Hnh dng ng 2000


Thng s k thut:
- Ngy pht hnh: 01/04/2004
- ng knh: 23.5mm
- dy mp: 1.8 mm
8

- Khi lng: 5.10 g


- Mu sc: vng ng thau
- Vt liu: thp m ng thau
- Mt trc: hnh quc huy
- Mt sau: dng ch NGN HNG NH NC VIT NAM, s mnh gi
2000 ng, hnh Nh Rng.
c, ng 1000 VN

Hnh 2.3 Hnh dng ng 1000


Thng s k thut:
- Ngy pht hnh: 17/12/2003
- ng knh: 19.00mm
- dy mp: 1.95 mm
- Khi lng: 3.8 g
- Mu sc: vng ng thau
- Vt liu: thp m ng thau
- Mt trc: hnh quc huy
- Mt sau: dng ch NGN HNG NH NC VIT NAM, s mnh gi
1000 ng, hnh Thu nh, n .
d, ng 500 VN

Hnh 2.4 Hnh dng ng 500


Thng s k thut:
- Ngy pht hnh: 01/04/2004
- ng knh: 22.00mm
- dy mp: 1.75 mm
9

- Khi lng: 4.5 g


- Mu sc: trng bc
- Vt liu: thp m Niken
- Mt trc: hnh Quc huy
- Mt sau: dng ch NGN HNG NH NC VIT NAM, s mnh gi
500 ng, chi tit hoa vn dn tc.
e, ng 200 VN

Hnh 2.5: Hnh dng ng 200


Thng s k thut:
- Ngy pht hnh: 17/12/2003
- ng knh: 20.00mm
- dy mp: 1.45 mm
- Khi lng: 3.2 g
- Mu sc: trng bc
- Vt liu: thp m niken
- Mt trc: hnh quc huy
- Mt sau: dng ch NGN HNG NH NC VIT NAM, s mnh gi
200 ng, chi tit hoa vn dn tc.
2.3. Cc phng php nhn dng tin xu:
C rt nhiu phng php c th xc nh c cc thng s ca tin xu. Tuy
nhin y, ti ch trnh by nhng phng php c ng dng trong thc t:

10

Hnh 2.6 S khi cc phng php xc nh gi tr tin xu

2.3.1. o ng knh
LED thu 5000
LED thu 2000
LED thu 1000
LED thu 500
LED thu 200

d2

Gi trca mu
Loi b mu

d1

d3

d5

d4

LED phat

Xc
nh mnh gi
theo tn hiu t cc
LED thu

Tin xu

Hnh 2.7 Nhn dng tin xu bng phng php o ng knh


C th xc nh ng knh tin xu bng cch s dng cp led thu pht hng
ngoi vi cc v tr nh trc. Da trn ng knh bit ca cc loi mnh gi, s
nguyn l c cu xc nh gi tr mnh gi c trnh by nh hnh 2.7.
ng knh ca tin xu s lm thay i v tr ca led pht tng ng vi ng
knh ca tin xu v cc led thu 5000, 2000, 1000 s nhn c tn hiu t led
pht. Khi mnh gi c xc nh bng phng php s vi s tr gip ca vi
iu khin hoc phn mm.
2.3.2. o khi lng

11

R
R

R
R

5
2

U
3

R
R

R
R

L M

3 5 8

g n d

Hnh2.8 Nhn dng tin xu bng khi lng dng loadcell


o khi lng ca tin xu, c th dng loadcell. Tuy nhin do khi lng
ca tin xu nh, sai lnh ca cc xu nh(sai lch ln nht l 3.7g) v vy phi dng
loadcell c nhy ln, ng thi kt hp vi mch c h s khuyt i ln.
Khuyt im ca phng php: thi gian p ng kh chm, ng xu phi
trng thi tnh khi o, hn na chi ph cao nn khng th p dng phng php ny
trong thc t.

2.3.3. Nhn dng da trn s bin i in dung

d
Tin xu

m tn - xc
nh mnh gi
theo xung m

Hnh 2.9 Nhn dng tin xu bng phng php bin i in dung
Khi tin xu c a vo gia hai bn t, th in mi gia hai bn t s thay
i dn n in dung t cng thay i, lm cho tn s ca mch cng hng thay
i theo. Mch m tn s m xung v xc nh c tn s ca tn hiu a vo t
xc nh c mnh gi ca tin a vo.
2.3.4. Nhn dng da trn k thut x l tn hiu s

12

Hnh 2.10 Nhn dng da trn k thut x l s tn hiu


y l phng php phc tp da trn k thut x l s. Bn cht vt liu c
thc hin bng cc php kim tra cng, n hi hay tng tc vt lV mt
cch thc c ngh l thc hin vic phn tch tc ng ca tin xu khi va chm
vi b mt xc nh trc.
S phn tch m thanh va chm ca tin xu c thc hin nh hnh 2.10. T
thanh nh hng, tin xu s ri t do ln b mt cng(bn kim loi) . Ti thi im
va chm tin xu s ny ln nhiu ln v to thnh chui m thanh dao ng ngt
qung. Nh hnh 2.11 biu din mu m thanh va chm ca tin xu ln mt b mt c
cng ln v khng n hi.

Hnh 2.11 Chui m thanh va chm ca tin xu vo mt b mt


Chui m thanh cho thy cc chui thi gian c trng:
- Khong thi gian ny(Tnay) lin quan n trng lng hnh dng v cao h.
- Khong thi gian vang(Tvang) lin quan n cht liu v c tnh b mt tip
xc.
Vic phn tch cc thng s thi gian v bin ca chui m thanh ny bng
x l s s cho ta kt qu chnh xc v mnh gi ca tin a vo. V y l phng
php hin i nn vic thc hin kh phc tp nhng li c chnh xc rt cao.
13

2.3.5. Nhn dng da trn vt liu ch to tin xu


a, Kho st t tnh ca vt liu kim loi
- Cc vc t trng:

T trng ngoi thng c biu din bng H v gi l cng t trng.


T trng sinh ra trong mt ng dy hnh tr(solenoid), gm N vng dy qun
kht nhau vi chiu di l, v ti mt dng in, cng t trng c tnh bng:
H=NI/l
n v o H l ampe-vng/mt hoc A/m
Cm ng t hay mt t thng B, biu th t trng bn trong cht chu tc
dng ca t trng H. n v o ca B l Tesla(W/m2). C B v H u l nhng
vector trng c trng bi ln v chiu trong khng gian ca trng.
Cng t trng v mt t thng c quan h theo biu thc sau:
=
Tham s gi l thm t, l tnh cht ring ca mi trng trong H tc
dng. i lng B c o nh hnh minh ha sau.
thm t c o bng weber trn ampe-mt(Wb/A.m) hay l Henry trn
mt(H/m).

Hnh 2.12 T trng H do dng in i qua ng dy sinh ra v khi c hoc


khng c vt rn bn trong
Trong :
Trong chn khng th: B0= 0H.
0 thm t ca chn khng, l hng s c gi tr 4.10-7(H/m)
B0 Mt t thng trong chn khng.
C nhiu thng s m t tnh cht t ca vt rn, v d t s gia thm t
trong vt liu v thm t trong chn khng:
r= /0
r thm t tng i.

14

thm t hoc thm t tng i ca vt liu l s o mc t ha vt


liu hay kh nng m t trng B c cm ng trong vt liu khi c t trng ngoi
H.
Vector t ha(t ) ca vt rn c xc nh theo biu thc:
=0 + 0
Khi trong t trng H, cc momen t ca vt liu nh hng theo trng o
v tng cng n bng chnh t trng ring ca chng. S hng 0 trong biu thc
trn chnh l thnh phn ng gp .
ln ca t l vi trng t vo l:
=m
m t ha(h s t ha). H s t ha v thm t tng i lin h vi
nhau theo:
m= r 1
Cc n v t trng rt d nhm ln, bi thc t c hai h thng c s dng
ph bin. Mt l SI(meter-kilogram-second), h kia l CGS EMU(centimeter
gram second electromagnetic unit). Cc n v trong hai h v h s chuyn
i cho trong bng 1 sau:
Bng 1: Cc n v v cc h s chuyn i gia hai h SI v CGS EMU
i
lng

n v SI
K hiu

Dn xut

Gc

n v
CMSEMU

Chuyn
i

Cm
ng
t(mt
t
thng)

Tesla(Wb/m )

Kg/s.C

Gauss

Cm ng
t(mt
t thng)

Cng
t
trng

Amper.vng/
m

C/m.s

Oersted

Cng
t trng

Vector
t ha

Amper.vng/
m

C/m.s

Maxwell/c
m2

Vector t
ha

thm
t ca
chn
khng
thm
t tng

Henry/m

Kg.m/C2

Khng
n v

thm
t ca
chn
khng

r(SI)

Khng n v

Khng
n v

Khng
n v

thm
t tng

(CGS-EMU)

15

t
ha(h
s t
ha)

m(SI)
m(CGS-EMU)

Khng n v

Khng
n v

Khng
n v

t
ha(h s
t ha)

- Tnh thun t v nghch t:

Nghch t l mt dng rt yu ca t tnh, khng vnh cu v ch tn ti khi c


mt t trng ngoi tc dng. Trng cm ng sinh ra do c s thay i chuyn
ng qu o ca in t bi trng ngoi.
Moment t c tr s rt nh v hng ngc chiu vi t trng ngoi. Nh vy
thm t tng i r nh hn 1(tuy nhin ch rt t) v t ha l m. Ngha l
cng ca t trng B trong vt rn nghch t vo khong -10-5. Khi t vo gia
hai cc ca mt nam chm in mnh, cc vt liu nghch t s b ht v pha nhng
khu vc t trng yu.
Hnh 2.13 s minh ha cu hnh cc lng cc t nguyn t ca mt vt liu
nghch t khi c v khng c t trng ngoi. y, cc mi tn biu th cc
moment lng cc nguyn t, khc vi trnh by trc, cc moment ch biu th cc
moment in t. S ph thuc ca B vo t trng ngoi H i vi vt liu nghch t
biu din hnh bn di.

Hnh 2.13 Tnh cht ca vt liu thun t v nghch t


Tnh nghch t c tt c cc vt liu, nhng v n rt yu nn ch c th quan
st c khi khng c cc dng t tnh khc, do chng t c ngha trong thc t.
Bng 2: H s t ha nhit phng ca cc vt liu nghch v thun t
Nghch t

Thun t
16

Vt liu

H s t ha

Vt liu

H s t ha

Nhm oxit

-1,81.10-5

Nhm

2,07.10-5

ng

-0,96.10-5

Crm

3,13.10-5

Vng

-3,44.10-5

Crm clorua

1,51.10-5

Thy ngn

-2,85.10-5

Mangan sulfat

3,7.10-5

Silic

-0,41.10-5

Mlipden

1,19.10-5

Bc

-2,38.10-5

Natri

8,48.10-5

Natri clorua

-1,41.10-5

Titan

1,81.10-5

Km

-1.56.10-5

Zini

1,09.10-5

Trong nhiu vt liu, mi nguyn t c mt moment lng cc vnh cu do kt


qu trit tiu ln nhau khng hon ton ca cc moment t spin v cc moment t qu
o. Khi khng c t trng ngoi, cc moment t nguyn t ny nh hng hn
lon, do vt liu s khng c vector t ha v m ring. Khi c t trng ngoi,
cc lng cc nguyn t ny quay t do v tnh thun t ch th hin khi s quay ny
to ra mt nh hng u tin no nh hnh trn. Kt qu lm tng t trng
ngoi, gy ra mt thm t trng tng i r ln hn 1 v do t ha tng
i nh nhng li c gi tr dng.
C hai cht thun t v nghch t u c coi l vt liu khng t tnh, bi v
chng ch b t ha khi c mt t trng ngoi. Mt t thng trong chng hu nh
ging nhau trong chn khng.
b, Cm bin dng in Foucault
Phn t chnh ca cm bin l mt cun dy c cung cp dng in c tn s
cao, n s to ra mt t trng thay i chung quanh cun dy. Mt vt kim loi
nm trong vng t trng ny s xy ra hiu ng dng in Foucault. Theo nh lut
Lenz, dng in ny c chiu chng li nguyn nhn to ln n, nn mt t thng
ngc li vi t thng ca cun dy s c sinh ra, iu ny dn n lm gim h
s t cm ca cun dy.

Hnh 2.14 Cm bin dng in Foucault v mch tng ng


17

Cm bin t tr thay i ch dng vi nhng i tng vt liu st t, cm


bin dng in Foucault c dng c nhng vt l kim loi. Tuy nhin p ng
khng ch ph thuc vo khong cch i tng, m cn ph thuc c tnh
in (in tr sut, t thm) v nhng c tnh hnh hc (dng v kch thc).
i tng v cm bin thng t trong mi trng khng kh, vic lp t c th
b tr trong mi trng cch in, iu ny cho php tn hao t i vi tn s
dng in hot ng. L thuyt n gin v hot ng ca loi cm bin ny
c xy dng da trn vic xem i tng kim loi nh mt mch in c h cm
M vi cun dy. Ta c:
Z1 = R1 + fL1: tng tr cun dy
Z 2 = R2 + jL2 : tng tr tng ng ca i tng
M=K

: h s h cm

K: h s ghp gia cun dy v i tng, ph thuc vo v tr ca i tng.


Ta c phng trnh:
S cp: ( R1 + jL1 ) i1 + jM i2 = e1
Th cp: ( R2 + jL2 ) i2 + jM i1 = 0
Rt gn:
Khi cun dy c cung cp, tng tr cun dy s cp c bin i
do ghp thm vi cun th cp.
+ in tr cun dy s cp gia tng:
+ in cm cun dy gim:
+ Trong trng hp i tng l vt dn in tt:

V tng tr tng ng cun dy s cp rt gn:


;
Phng php ny ng dng ca nguyn l dng in Foucault trong vic nhn
dng tin xu.
Cm bin nhn dng xu theo nguyn l so snh vi ng xu mu.
Nguyn l nhn dng ny n gin, khng cho php o trc tip cc thng s vt l
v b dy ca ng xu. Vic xc nh mnh gi ca ng xu da trn vic so snh
ng xu cn kim tra c ging ng xu mu hay khng.

18

Hnh 2.15 Cm bin nhn dng tin xu da trn


nguyn l dng in Foucault
- C s l thuyt
Khi mt ng xu kim loi c t vo t trng, nu mu b vo c cu to
vt liu kim loi c t tnh (nghch t, thun t) th vt liu s b t ha, v s to ra
mt t trng ring cng chiu(thun t) hoc ngc chiu(nghch t) vi t trng
ngoi. Khi t trng s xm nhp vo ng tin xu cn kim tra v to nn dng
in Foucault trong n. Tu thuc vo dng vt liu, hnh dng, b dy ca ng xu
m dng in Foucault ny sinh ra t trng chng li. T thng ny c th o c.
- Nguyn l hot ng
Cm bin gm 3 cun dy: cun dy th cp H2, cun s cp H1 v H3, ba
cun ging nhau.
Cun H2 c t gia, ng trc v cch u 2 cun H1 v H2.
Hai cun H1 v H2 mc i ngu.
Cho dng in xoay chiu chy qua 2 cun H1,H3. Khi t thng sinh ra bi
cun dy H1 s sinh ra dng in Foucault trong ng xu mu.Ty thuc vo b dy
ca ng xu mu m dng Foucault ny sinh ra mt t thng, t thng ny s gy ra
mt in p trn cun th cp H2. in p ny mang thng s v c tnh ca ng
xu mu.
Tng t nh cun dy H3 n s sinh ra mt in p ngc chiu vi in p
ca cun dy H2 sinh ra. Nu xu mu v xu cn nhn dng ging nhau th p vi sai
trn cun dy th H2 bng 0 v ngc li th s khc 0.

19

Hnh 2.16 Nhn dng tin xu bng phng php cm bin in t


y l mch nguyn l ca cm bin nhn dng tin xu theo kiu Comparable
coin selector so snh vi ng xu mu trong cc module nhn dng trc y do
Trung quc sn xut. Chng ta thng thy trong cc my game xu ti cc siu th,
cc khu gii trNhc im ca phng php ny l vi mt b cm bin ta ch
nhn bit c mt loi tin xu tng ng vi ng xu chng ta cn so snh. Mun
nhn dng c nhiu tin xu th ta phi thit k cc b cm bin ni tip vi nhau,
s b cm bin tng ng vi s ng xu m chng ta cn so snh. Cch ny c
dng rt nhiu trc y.
c, Cm bin in cm
Nguyn l v c tnh tng qut:
S dch chuyn m ta mun bin i thnh tn hiu in c thc hin
nh mt trong nhng phn t mch t, ko theo s thay i t thng trong
cun dy. Khi phn t di chuyn l mt li st t, mt s chuyn i s dch chuyn
thng hay quay trn c th hin bi:
- S thay i h s t cm (in cm thay i)
- S thay i ghp gia cc cun dy s v th cp ca bin p (bin p vi
sai, microsyn) gy ra mt s thay i in p th cp.
Khi cun dy quay trn so vi mt cun c nh, th mt cun gi vai tr
phn cm, cn cun kia phn ng, n tc ng nh mt bin p c ghp thay i.
Cun s l phn cm, cun th l phn ng v to ra mt in p hot ng
theo gc quay (bin tr in cm, resolver). Nhng thay i h s t cm v
h cm M theo s dch chuyn ca li st thng thng c s tuyn tnh km,
iu ny c th ci thin ng k nh vic b tr hai cun dy i khng m h s
t cm L v h cm M thay i ngc nhau i vi cng mt chuyn ng.
Nh vy, ta thc hin mt s b tr mt phn khng tuyn tnh
(hot ng push pull). Cm bin in cm c dng trong mch c ngun cung
cp bi mt ngun in p sin, c tn s thng gii hn c hng chc kHz
gim bt nhng mt mt v t v dng in Foucault, cng nh nh hng
in dung k sinh. in p o m, l kt qu ca s bin i bin ca in p
cung cp EScosSt bi s dch chuyn x(t):
m = K . x(t) . EScos(St+ )

20

Rt him, nhng thay i phn t in cm c th c dng bin i tn s


ca mch dao ng, t l vi s dch chuyn. Trong mi trng hp, bt k
loi bin i no, tn s f ca s chuyn ng phi rt nh so vi tn s sng mang
fS d dng cho vic tch sng: f< fS / 10. Nhng cm bin in cm nhy i vi
nhng t trng nhiu, l l do ti sao cn t nhng mn bo v t trong cun
dy.

Hnh 2.17 Cm bin loi khe h khng kh thay i


H s t cm L ca cun dy c N vng dy c din t theo t tr R
ca mch t:
L=

vi R=

- t thm; S - tit din mch t


Khi tit din ca mch t khng i trong tng on:

R=
Trong :
- chiu di trung bnh ca ng sc trong li st v trong
khng kh.
- tit din mch t v khe h khng kh
- t thm tng i ca vt liu t( vo khong 103 n 104)
o= 4 .107 MKSA

2.4. Cm bin nhn dng tin xu


2.4.1. Mt s module cm bin nhn dng tin xu

21

Hnh 2.13 Module cm bin nhn dng tin xu


Hnh trn l cc modul nhn dng tin xu ng dng dng Foucault. Cm
bin nhn dng gm ba cun dy c mc ng trc to thnh hai khe, mt khe
ng ng tin xu mu, khe kia cho ng xu cn kim tra chy qua, nu ng xu
tht th s kch relay hot ng nhn ng xu vo, nu l xu gi th relay khng c
kch ng th ng xu c tr ra ngoi.
2.4.2. Modul nhn dng tin xu trong ti
Trn c s l thuyt v cm bin in cm, nhm s dng b cm bin
nhn dng tin xu EU1 Multi Coin Coin Selecter do Trung Quc sn xut.
Nguyn l hot ng ca cm bin ny da tn nguyn l cun cm:

Hnh 2.18 Phng php xc nh gi tr theo s bin thin in cm


Tng t nh phng php bin i din dung, ng vo chnh l mch dao
ng LC. Khi ta b tin vo gia li cun dy th khi in cm L ca cun dy s
thay i dn n tn s dao ng ca mch cng thay i v sng sin ny c
chuyn thnh chui xung vung, k n a vo IC x l.Nhim v ca IC l kim
tra s thay i tn s ca chui xung vung a vo, ri so snh gi tr ca mu
c(gi tr mu c ly mu t trc v np vo trong IC) ri a ra quyt nh xem
tin xu l tht hay gi. Nu l gi th relay s khng c kch hot v khi ng
xu s b tr ra ngoi. Nu l tht relay s kch hot, ng nam chm in ht m tay
gt, ng xu c nhn vo my. ng thi, IC s truyn ti ng ra s xung do ng

22

xu to ra, ta s nhn ly s xung ny nhn bit gi tr ca ng xu. Thng thng,


ta a vo vi iu khin x l v cho ra gi tr ca ng xu .

Hnh 2.19 Cm bin nhn dng tin xu EU1

Hnh 2.20 Bn v k thut ca cm bin nhn dng tin xu


2.4.3. Thng s k thut
a, C th lp trnh bng chng trnh Hand Held hoc PC.
b, Cc knh tin xu
12 knh tin xu c chia lm 2 loi ngn hng (12=6+6): ngn hng A v
ngn hng B(thay i qua cng tc). Xt v d sau:
+ Ngn hng A vi nhng ng tin xu ca nh nc, ngn hang B vi nhng
ng tin xu thay th.
+ C hai ngn hng A v B cng l nhng ng xu nhng vi tn dng khc
nhau(hai gi).
c, La chn :
4 hin th s(cho thy n v o lng m bn ci t v tch lu gi tr).
23

d, Ng ra:
+ Xung / tng hp ng ra:
Tha nhn rng gi=10 la:
Ci t 10 la tin xu: 10=10 chuyn ra ng ra 1 xung
Ci t 5 la tin xu: 5<10 khng phn x, ci t them 5 la tin xu
khc: 5+5=10 chuyn thnh 1 xung.
Ci t 50 la tin xu: 50=10+10+10+10+10 chuyn thnh 5 xung.
+ Ng ra thi gian:
EU1 c th lm vic nh mt timer mc d n l mt sn phm khc.
EU1 s iu khin my trc tip(AC 90V ~ AC 240V/8Amp). Hin th s cho
thy n v tin t m bn ci t v m xung thi gian.
+ Ng ra tng t.
+ Ng ra RS232.
e, C mt ng cn tr cho ngi iu khin my
f, Ch :
+ in p: DC 12V
+ Nhit lm vic: 5 ~ +500C
+ ng knh ng xu 17 ~ 31mm
+ B y ng xu 1.0 ~ 3.0 mm.
2.5. B iu khin ca my
Bt k mt sn phm c in t thng minh no mun hot ng c phi c
mt b iu khin trung tm iu khin mi hot ng ca sn phm. B iu khin
trung tm ny, ngy nay rt a dng c th l mt PC c t trong sn phm ,
hoc kt ni vi sn phm thm ch t khong cch rt xa, cng c th l mt b
PLC, hay vi iu khin
Trong ti, nhm s dng mt vi iu khin lm b iu khin trung tm
cho my. Dng chip c s dng l Atmega 128, mt sn phm ca hng Atmel.

24

Hnh 2.21 Chip Atmega128


Dng vi iu khin ny vi cc c tnh v chc nng ph hp c miu t
di y.
-

128 Kbytes b nh Flash c th lp trnh li, vi 10000 ln xa, ty.

4 Kbtes EEROM vi 100000 ln xa ty.

4 Kbytes SRAM ni.

Trn di 64 Kbytes b nh ngoi.

Ch bo v chng trnh( Fuse)

64 thanh ghi I/.O.

160 thanh ghi vo ra m rng.

32 thanh ghi a mc ch.

2 timer 8 bit.

2 thanh ghi 16 bit.

2 knh PWM 8 bit tng ng.

6 knh PWM 16 bit tng ng.

8 ngt ngoi.

ng gi 64 chn vi 6 PORT, vi 53 chn I/O.

B nh thi watchdog.

B dao ng ni RC tn s 1MHz, 2MHz, 4MHz, 8MHz.

ADC 8 knh vi phn gii 10 bit.


25

B so snh tng t c th la chn ng vo.

2 khi USART lp trnh c.

Khi truyn nhn ni tip SPI.

H tr bootloader .

Tn s ti a 16MHz.

Ngun nui 4,5V- 5,5 V.

M t c th cc tnh nng ca chip ny c s dng trong ti:


2.5.1. Cc port vo/ra
Vi iu khin Atmega 128 c 53 chn I/O, c chia lm 7 Port: PortA, PortB,
PortC, PortD, PortE, PortF, PortG, trong Port G gm 5 chn. 3 thanh ghi iu
khin chc nng I/O l PORTx, PINx, DDRx. nh dng chn l I hay O, do thanh
ghi DDRx.x quyt nh.
2.5.2. Ngt ngoi
Ngt l mt tnh nng rt hay ca cc dng vi iu khin, l mt trong hai k
thut bt s kin c bn: hi vng v ngt. l mt tn hiu c gi n vi iu
khin, vi iu khin s ngng lp tc cc chng trnh ang thc hin, thc hin cc
chng trnh c lp trnh xy ra trong ngt, theo th t u tin ca ngt.
Vi iu khin Atmega 128 c 8 chn ngt ngoi. S kin ngt xy ra khi c s
chuyn in p t ngt trn cc chn ny, nn c th l rising, falling
Cc thanh ghi iu khin ngt l EICRA, EICRB, EIMSK v EIFR.\
2.5.3. Timer, Counter
Vi iu khin Atmega 128 c 2 timer 8 bit : timer 0 v timer 2, v 2 timer 16
bit : timer 1 v timer 3. Cc timer ny c th hot ng cc ch nh thi, ch
m s kin, hoc ch PWM (Chip Atmega128 c kh nng iu khin tc c
lp cho 8 ng c DC).
Ch iu khin hot ng ca cc timer ny rt phc tp, chi tit mc nh
cc ch , xem c th trong datasheet.
2.5.4. Giao tip SPI
SPI l mt chun truyn thng ni tip tc cao. y l mt chun truyn
thng theo kiu Mastr-Slave. Mt chip Master iu khin qu trnh truyn thng, v
cc chip Slave c chip Master ny iu khin. Truyn thng SPI, s dng 4 dy:
SCK, SS, MOSI, MISO. Mi chn c mt chc nng ring bit, c m t c th
trong datasheet.
Vn hnh SPI trn AVR c thc hin da trn vic c v ghi 3 thanh ghi
SPCR, SPDR v SPSR. C th v qu trnh truyn nhn, phng thc la chn
Master, Slave, cch thc mt Slave nhn tn hiu mc nh t mt Master, tham kho
chi tit trong datasheet.

26

2.6. C cu chp hnh


B iu khin nhn cc tn hiu u vo, iu khin cc c cu chp hnh hot
ng. C th ni l nguyn l hot ng chung ca cc sn phm t ng. Trong
ti ny, nhm s dng c cu chp hnh l ng c bc v ng c DC.
2.6.1. ng c bc
- Gii thiu v ng c bc:
ng c bc l mt c cu chp hnh c - in dng bin i nng lng
in thnh chuyn ng c hc. c tnh chuyn ng ca ng c bc l ri rc,
tri ngc vi c tnh chuyn ng quay lin tc ca ng c DC v AC. Mi xung
dng cp cho cun dy stato, trc ng c thc hin mt gc gi l bc gc. c
m c bn ca ng c bc l tc gc t l vi tn s xung vo. ng c bc
iu khin tn hiu s c s dng kh rng ri trong my iu khin s NC, my
in, robot, my photocopy v cc my khc. ng c bc c th iu khin c v v
tr v tc (di tc 0 n 300 vng/pht) m khng cn mch cu hi tip nhng
vn m bo c chnh xc v tr. Tn s cung cp cho ng c nm vng tn
s thp. chnh xc v tr khong 1 n 5% bc gc. Vi cng ngh hin nay,
cng nghip sn xut ng c bc vi cng sut ln nht l 2KW.
u vit ca ng c bc l ch n c kh nng iu khin trc tip bng mch
s. V vy, trong mch iu khin khng cn mch bin i s tng t(DAC). V
n cng khng cn cc chuyn mch hoc chi than nh ng c mt chiu (DC).
iu khin v tr bng ng c bc trnh sai st tch lu chiu di ca chuyn ng.
ng c bc c s dng trong cc mch iu khin h. Mt u im khc ca
ng c bc l t gy n.
ng c bc sn xut theo tiu chhun gc hoc theo cng sut. Di bc gc
ca ng c t 0.720 n 900 tng ng vi 1.80 , 7.50, 150, 300 hoc 900.
ng c bc c ba kiu: ng c nam chm vnh cu PM, ng c c bin t
tr bin i VR v ng c bc kiu kt hp hai dng ng c bc PM v VR gi
l ng c lai.
ng c bc c th c miu t nh l mt ng c in khng dng b
chuyn mch. C th, cc mu trong ng c l stato, v roto l nam chm vnh cu
hoc trong trng hp ng c bin t tr, n l nhng khi rng lm bng vt liu
nh c tnh t. Tt c cc mch o phi c iu khin bn ngoi bi b iu
khin, v c bit, cc ng c v b iu khin phi c thit k ng c gi
nguyn v tr bt k c nh no, cng nh quay n v tr bt k no.
ng c bc c s dng trong ti l ng c lng cc, bc gc 1,80.
Cu to:

Hnh 2.22 Cu to ng c bc
27

ng c ny gm cc mu, khi c dng in i qua, to thnh cc cp cc.


iu khin ng c ny, mch iu khin cho ng c i hi mt mch cu
H cho mi mu. Mt cu H cho php cc ca ngun p n mi u ca mi mu
c iu khin mt cch c lp.
Tn hiu u vo ca mi mu, iu khin c bc:
u 1a + - - - + - - - + - - - + - - ++-- ++-u 1b - - + - - - + - - - + - - - + --++ --++
u 2a - + - - - + - - - + - - - + - -++- -++u 2b - - - + - - - + - - - + - - - +
+--+ +--+
Thi gian --- >

++---++
-+++--+

++---++
-+++--+

Trong trng hp ny, mch iu khin cn 4 chn u vo iu khin. Nhng


c nhiu chp iu khin cu H c mt u vo iu khin u ra, v mt u vo
iu khin hng. Trong trng hp ny, dy iu khin ng c chuyn ng
nh trng hp trn l:
Enable 1 1010101010101010 1111111111111111
Hng 1 1x0x1x0x1x0x1x0x 1100110011001100
Enable 2 0101010101010101 1111111111111111
Hng 2 x1x0x1x0x1x0x1x0 0110011001100110
Thi gian----- >
- Mch iu khin cho ng c bc.
Khi s dng cc ng c bc c cng sut ln, trong cc my cng c, ngi
ta thng s dng cc driver. Nhng gi thnh ca cc loi driver ny qu cao, v
cng khng cn thit vi yu cu s dng ng c bc trong ti, nn nhm t
thit k mch iu khin, s dng cp i L297, L298. C nhiu mch nguyn l
iu khin ng c bc, theo nguyn l dng cu H iu khin in vo mi
mu, nhng trong ti ny, ng c bc c kch thc nh, iu khin tc v
v tr khng cn chnh xc cao, nn cp i ny t ra u vit, hot ng n nh,
gi thnh thp, c th iu khin c bc v na bc.
Nguyn l ca mch iu khin:

28

Hnh 2.23 Nguyn l mch iu khin ng c bc


- IC L297
Trong mch iu khin ng c ny, IC L297 ng vai tr nh driver iu
khin cc cu H.
L297 l IC iu khin ng c bc thng dng trong cc ng dng iu
khin in t. N c chc nng to ra 4 pha tn hiu iu khin tng ng vi 2 pha
ca ng c bc lng cc hoc 4 pha ca ng c bc n cc. S dng chip
ny, c th iu khin ng c bc ch na bc, ch bnh thng v tch
hp c mch PWM iu chnh dng in cun dy trong ng c. Vi IC ny,
iu khin ng c, ch cn tn hiu xung clock, tn hiu logic cho chiu quay, ch
. IC ny gip gim vic to cc phase iu khin (trc y c to bng cc chip
vi x l) nn chng trnh iu khin ng c rt gn. IC L297 thng dng km
vi cc IC mch cu cng sut nh L298N hoc L293E.
La chn ch iu khin c bc hoc na bc bng cch la chon in p
u vo chn HALF/FULL l mc cao hay mc thp. Nu mc cao, l iu kin
na bc, cn mc thp, l iu khin c bc.
Chi tit v dng ng gi chip, lc khi, gin xung cc trng hp iu
khin na bc v c bc, tham ko trong ph lc..
- IC L298
IC L298 l mt mch cu i c kh nng hot ng in th cao(46V), dng
cao(4A). N c thit k tng thch chun TTL v li ti cm khng nh relay,
cun solenoid, ng c DC v ng c bc. N c 2 chn enable cho
php/khng cho php IC hot ng, c lp vi cc chn tn hiu vo. Cc pht ca
transistor di ca mi mch cu c ni vi nhau v ni ra chn ngoi ni vi
in tr cm ng dng khi cn.
29

C th chn vo ra, lc khi, tham kho trong ph lc.


2.6.2. ng c DC
ng c DC cng l mt c cu chp hnh c-in, bin nng lng in thnh
cc chuyn ng c hc.
ng c DC hot ng c da trn 2 nh lut Loren v Faraday. Cu to ca
ng c DC gm phn ng, phn kch t, chi than v c gp. C 5 loi ng c DC
l : ng c kch t ni tip, ng c kch t song song, ng c kch t hn hp,
ng c kch t c lp v ng c nam chm vnh cu.

Hnh 2.24 Cu to ng c DC
Cc trng hot ng ca ng c DC kh n gin, phn tch da trn ng
c tnh c ca ng c. Gm cc trng thi khi ng v trng thi hm. Do ng
c tnh c l mt ng thng, nn vic phn tch s ph thuc ca momen v vn
tc ca ng c cc trng thi n gin.
w

w0

wdm

M
Mdm

Mnm

Hnh 2.25 ng c tnh c ng c DC


- iu khin tc ng c DC

30

C nhiu phng php c s dng i khin tc cho ng c in mt


chiu.
iu khin tc s dng mch cng sut tng t: B mch cng sut l khu
kt ni gia b iu khin v ng c. B mch cng sut tng t l mch khuych
i dng in hoc in p. Mch cng sut s dng cc transistor cng sut, FET,
Transistor Darlington, IC khuych i. Thng cc b khuych i l khuych i
dng in.
iu khin ng c mt chiu s dng iu ch rng xung (PWM): tn hiu
vo mch cng sut c th nhn trc tip t vi x l ca b iu khin ( Khng phi
qua b chuyn i DAC). l mt dy xung c bin khng i v rng thay
i.

Hnh 2.26 Gin xung phng php PWM


iu khin ng c mt chiu s dng mch chnh lu: c p dng i vi
loi ng c cng sut ln, s dng ngun cp l mch xoay chiu c chnh lu
thnh mch mt chiu. C th thay i gi tr in p mt chiu nh thay i gc m
ca cc thit b chnh lu. Thit b mch cng sut thng s dng l cc thyristor.
ng m cc van cng sut ny s thay i c gi tr in p. Qu trnh pht xung
iu khin tc ng c:
U
A
t

U
B
t
t
U
dk

U
rc
U
D

U
E
U
F
t
X
dk

t
U
d
t

t1

t2

t3

t4

t5

Hnh 2.27 Gin pht xung mch chnh lu


Trong ti, vi ng c tng i nh, nhm s dng phng php iu
khin tc bng phng php PWM, mch cng sut l mch cu H, tch hp trong
IC L298.

31

CHNG III

M HNH HA H THNG

3.1. Xy dng m hnh c kh


M hnh ho phn c kh my bn hng t ng

Hnh 3.1 Bn v m hnh c kh


Hnh 3.1 th hin kt cu c kh ca my bn hng t ng, tt c cc chi tit
c lp ghp nh hnh v.
Cc chi tit bao gm:
1. Khung my, dng v g t cc chi tit.
32

2. ng c bc, dng to chuyn ng quay cho cc cnh gt tin, gt hng..


3. Khp ni Oldham, dng ni gia trc ng c v trc cnh gt hng.
4. Cnh gt kho cha lon. Khi ng c quay, s to chuyn ng quay cho cnh

ny, gt cc lon Coca t kho cha xung ni ngi s dng nhn hng. Cnh gt kho
cha chai tng t.
5. Kho cha chai, c thit k da trn nguyn l ca cc kho cha phi trong

cc trm cp phi t ng, cha chai Lavie. Kho cha lon tng t.
6. Module lu tr tin. Tin sau khi qua b nhn dng c cha y.
7. Mng dn tin xu. Dn tin t b phn loi n cc kho cha tin.
8. Khay cha tin. cha tin khi cc kho cha y.

15. Gi . Bn gi dng hai trc cnh gt hng.


16. bi. S dng bn bi .
17. Trc chai. gn cnh gt hng, truyn chuyn ng t ng c n cnh
gt.
18. Cnh tr tin. Khi tr li tin hoc tin vo khay cha, cnh ny quay, ly
tin t cc module lu tr tin ra.
21. Kho cha chai. Tng t kho cha lon, kch thc ln hn.
23. Cnh gt thuc l. ng c quay cnh gt ny s gt cc bao thuc t hp
ng thuc l xung ni khch nhn hng.
24. Hp cha thuc l. Cha cc bao thuc.
3.2. M hnh ho h thng iu khin
T yu cu thit k mt chic my bn hng t ng:

C kh nng thanh ton t ng bng cc loi tin xu ca Vit


Nam, c th trong ti ny l s dng 3 loi tin 5000 VND, 2000 VND,
1000VND.

My s bn 3 loi mt hng l 2 loi nc gii kht v thuc l.

C giao din thn thin vi ngi s dng.

C cc c cu kho cha hng, tr hng, tr tin tha ph hp.

Vi yu cu trn, nhm thit k mt cch tng quan s khi ca chic my. S


nu r cc khi u vo, khi iu khin trung tm, cc c cu chp hnh m
nhm s dng, cng cc b phn hin th, giao tip vi ngi s dng.

33

K hi phm bm

K hi cm bin
hng ngo i

Step1
T r tin
1K

Step2
T r tin
2K
C m bin
nhn d ng
tin

B iu khin
trung tm

Step3
T r tin
5K

Step4
T r hng
thuc l

L ed 7 seg
hin th
tin v sp

ng c D C 1
tr lon C oca

ng c D C 2
tr chai L avie

Hnh 3.2 M hnh ho h thng iu khin

34

B x l trung tm:
L mt thit b c kh nng nhn v lp trnh x l c cc tn hiu vo theo
yu cu u vo ca h thng ny, ng thi xut c cc tn hiu theo yu cu. Vi
ti ny, nhm s dng mt vi iu khin: AT128, vi cc tnh nng ph hp nh:
s u vo, ra ln, kh nng lm vic n nh, b nh chng trnh ln lp
trnh.
u vo ca h thng gm c:

Cm bin nhn dng tin xu. C chc nng nhn bit cc loi tin
tht, gi v a tn hiu sau khi nhn dng vo cho b diu khin trung tm x l.

Khi phm bm, dng giao tip gia my vi khch hng.

Khi cm bin hng ngoi, pht hin cc i tng trong my


cn hay khng cn nh hng trong kho, tin trong ng.. La chn cm bin hng
ngoi v kh nng to cp thu pht vi khong cch kh ln ca loi cm bin ny,
ng thi c gi r, lm vic n nh. Tn hiu t con thu c a vo b x l
trung tm, a ra cc x l iu khin ph hp.
u ra ca h thng gm:

Thit b hin th giao tip gia my vi khch hng, la chn l


led 7 thanh, trong c 5 led dng hin th s tin khch hng a vo, v 3 led
dng hin th s lng mi loi sn phm ngi dng la chn.

2 ng c DC dng tr hng lon Coca v chai nc lc. Do yu


cu ca vic tr 2 loi hng ny l ng c phi c momen ln, c t hm tt c
khi c in v khng c in. La chn ng c DC c hp gim tc l ph hp.

4 ng c bc tr tin v tr loi hng dng bao thuc. Do yu


cu ca chuyn ng ny cn chnh xc, nhng li khng yu cu momen ln, khng
chu va p, nn ng c bc rt ph hp.
M hnh ca h thng v thit b c la chn l c s thit k cc phn c
kh ca my, phn in iu khin.

35

CHNG IV

THIT K V THI CNG H THNG

4.1. Thit k v thi cng h thng c kh


4.1.1. Thit k module phn loi lu tr v tr li tin xu
a, Thit k module phn loi tin xu
- Thng s c trng ca cc loi tin xu Vit Nam
Sau khi qua cm bin nhn dng tin xu, ng xu s ln vo 1 mng dn cho ti
khi chm phi cc c chn tng ng vi cc ng tin xu phn loi vo cc ng
cha ring bit. Do trong ti khng s dng ng 500, 200 nn nhim v ca
mng y l phn loi cc ng xu 5000, 2000, 1000 vo cc ng cha ring
bit.
phn loi cc dng tin xu c nhiu cch thc hin nh trnh by trn.
Sau khi i vo b cm bin nhn dng tin xu, nhng ng xu gi s c tr trc
tip ra ngoi, cn nhng ng xu tht c a ti mng dn, nn y phn loi
cc loi ng xu ta s dng phng php phn loi theo ng knh l d dng v ti
u nht. Ta xt bng gi tr cc thng s c trng ca cc loi tin xu Vit Nam
nh sau:
Bng 3: Bng thng s cc loi tin xu
Mnh gi

200

500

1000

2000

5000

ng
knh

20mm

22mm

19mm

23.5mm

25.5mm

Chiu
dy

1.45mm

1.75mm

1.95mm

1.8mm

2.2mm

Trng
3.8g
4.5g
3.8g
5.1g
7.7g
lng
Ta nhn thy ng xu 5000 l ln nht c ng knh l 25,5mm , tip l
ng 2000 vi ng knh 23,5mm, v ng 1000 nh nht vi ng knh
19mm.
T c im k thut ca cc ng xu nn phng php phn loi tin xu theo
ng knh gim dn l bin php ti u nht.
- Phn loi tin xu theo phng php ng knh gim dn
Thc hin theo cch ny th ng 5000 c ng knh ln nht s tch ra khi
mng dn trc tip l ng 2000 v cui cng l ng 1000. Ta phi s nhng
rnh nh cho ng xu lt ra khi mng mi rnh ta t cc c cht tng ng vi
kch thc ng knh ng xu khi ng xu ln trn mng s gp cc c chn ny s
b lt xung ng tng ng.
Rnh thit k phi ln hn b dy ca ng xu ln nht nhng khng c ln
hn b dy ca 2 ng tin xu nh nht. Trnh tnh trng 2 ng tin cng ln 1 lc.
36

C chn th nht dng chn ng 5000, ng knh ng 5000 l


25,5mm, ng knh ng 2000 l 23,5mm, vy chn chiu cao t c chn th nht
ti y rnh phi nm trong khong 24mm n 25mm, nh vy th ng xu 5000 s
b chn li v ri vo ng cha 5000 cn ng 2000, 500, 200, 1000 s chy
qua d dng m khng b chn li.
C chn th hai dng chn ng 2000. ng knh ng 2000 l 23,5mm,
ng knh ng 500 l 22mm, vy chn chiu cao t c chn th hai ti y rnh
phi nm trong khong 22,5mm n 23mm, nh vy th ng xu 2000 s b chn li
ri ri vo ng cha 2000 cn ng 500, 200, 1000 s chy qua d dng m
khng b chn li.
C chn th ba dung chn ng 1000(do nhm khng s dng cc ng
500 v 200). Do ng knh ng xu 1000 l nh nht(19mm) nn chiu cao t
c chn ny ti y rnh t 18mm hoc c th nh hn. Tng t ng xu 1000 s
ri vo ng cha 1000.
Ni dn tin xu vo
rnh
C chn 5000
C chn 2000
C chn 1000

Hnh 4.1 Mng dn phn loi tin xu


Phn loi theo ng knh gim dn c nhng u im l:
+ dc ca mng trt ln khi tc ng xu ln nhanh hn
+ Tc phn loi v kh nng x l nhanh.
+ C th t cc cm bin nhn bit v m trc tip s ng xu tng ng
chy qua trn mng dn.
b, Thit k module lu tr tin xu
Module c thit k gm 3 ng tr cha 3 loi tin 5000, 2000, 1000. Sau
khi i qua mng phn loi chng s ri vo cc ng cha tng ng.

37

ng knh ca ng 5000 l 25,5mm nn ta phi chn ng kinh trong


ca ng t 27mm tr ln, nhng tit kim chi ph ch to ta nn chn nhng loi
ng trn th trng sn c, do ta dng ng nha ng knh 34mm.
ng knh ca ng 2000 l 23,5mm, ta phi chn ng knh trong ca
ng t 25mm tr ln, nh trn ta c th dng ng nha ng knh 27mm.
ng knh ca ng 1000 l 19mm, ta chn ng knh trong ca ng t
21mm tr ln, do ta vn c th dng ng nha ng knh 27mm(loi ng dy
hn).
ng 5000
ng 2000
ng 1000

Hnh 4.2 ng cha tin xu


ng c t cch mt phng tay gt ca ng c vi nhng khong cch
tng ng vi chiu dy ca mi loi tin xu, sao cho sau mi mt ln gt ch c mt
ng tin c y ra.
Trn mi ng ta lp t hai b cm bin thu pht, mt b bo tin trong ng
y, b cn li bo tin trong ng ht.
Khi cm bin bo y tin bt k ng cha tin no hot ng, ta s iu
khin ng c quay thun cho tin vo kho.
Bnh thng my s tr li nhng ng tin tha ln trc nhng nu cm bin
bo ht tin bt k ng cha tin no hot ng lc ta s iu khin cho ng c
cc ng cha tin khc hot ng tr li tin tha chnh xc(ng c quay
ngc).
c. Thit k module tr li tin xu
Tr li tin ng cho khch hng l mt vic quan trng trong my bn hng t
ng. Chnh v vy i hi chng ta phi thit k sao cho c cu tr li tin xu tr li
tin phi n gin, chnh xc v nhanh chng.
C cu tr li tin gm c:
38

+ Cnh gt.
+ ng c bc gn trn gi iu khin cnh gt.
+ Khp ni gia ng c v cnh gt.
- Cnh gt tin
ng c iu khin cnh gt l ng c bc v do yu cu tr li tin phi
nhanh chng, chnh xc nn nhm chn cnh gt hnh trn c ng knh 130mm
chung cho mi ng. Trong mi cnh gt c khot 4 l hnh trn cch nhau 90 0 c
ng knh bng ng knh ca cc ng cha ng xu tng ng ng xu c th
ri vo , cnh gt c th gt c 4 ng xu khi ng c quay 1 vng.
ng knh ca cnh gt ph hp cho vic tr li tin tha, lu tin vo kho khi
ng cha y, gim mmen tc ng ln trc ng c. Do ti ch s dng ng xu
5000, 2000, 1000 ,v ng xu 2000 c chiu dy(1.8mm) nh nht nn chiu
dy cnh gt c thit k c chiu dy 1.5mm khi tho mn trng hp ca hai
ng xu cn li.
ng thi, cnh gt c thit k nh vy, s gim c lc va chm gia cnh
gt v tin, cnh gt v ng cha. m bo an ton cho cc chi tit khi lm vic.
V sau y l kch thc, hnh dng ca cc cnh gt:

Hnh 4.3 Cnh gt ng 5000


Hnh dng b ngoi ca cc cnh gt tng t nhau.

39

Hnh 4.4 Cnh gt ng 2000


Cc ng xu 5000, 2000, 1000 c kch thc khc nhau, nn ng knh
ca cc l gt ng xu khc nhau, ph thuc vo ng xu tng ng.

Hnh 4.5 Cnh gt ng 1000


Cc cnh gt c ch to bng nha polymer, kch thc c th xem trong ph
lc.

40

Module tr li tin tha sau khi lp ghp cc chi tit s c hnh dng nh sau:

Hnh 4.6 Module cha v tr li tin tha


4.1.2 Thit k module cha v tr sn phm
My ch bn nhng mt hng dng nh: dng lon, dng chai v dng hp. Nn
khi thit k cc kho cha hng, nhm tnh n hnh dng ca kho sao cho c th
ti u nht nh: gt sn phm c d dng nht, cha c nhiu sn phm nht, v
c th thay th khi xy ra li k thut. V nhng l do nhm a ra phng
php thit k da trn c s ca h thng cp phi t ng.
C ba loi kho cha dnh cho ba loi sn phm: dng chai, dng lon v dng hp.
a, Kho cha chai
Do chiu di ca chai l 170 mm,nn chiu rng ca kho cha chai khi thit k
l 185mm m bo chai c th ln xung y ca kho mt cch d dng. Hnh
dng ca kho cha cho php cha c nhiu hng v lm cho cc sn phm chuyn
ng mt cch d dng.
Tuy nhin do sai s v hnh dng v kch thc trong qu trnh ch to, nn khi
hot ng, i khi vn xy ra li.

41

Hnh 4.7 Kho cha chai


b, Kho cha lon
Hnh dng ca kho cha lon ging nh kho cha hng do kch thc ca 2 mt
hng khc nhau nn kho cha c kch thc khc nhau.

Hnh 4.8 Kho cha lon

42

C kho cha lon v kho cha chai u c ch to bng g. Kch thc ch


to theo kch thc ca chai v lon m nhm quyt nh s dng bn. Kch thc
c th xem trong ph lc.
c, Kho cha hng dng hp
Kho cha hang dng hp c kh nng cha cc sn phm dng hnh hp ch
nht, c th trong ti nhm thit k kho cha ginh cho sn phm c th l bao
thuc l Vinataba.

Hnh 4.9 Hp cha bao thuc


d, Cnh gt sn phm dng chai v lon
Do hng cn chuyn c dng tr trn, qu trnh chuyn hng khng b kt,
hot ng ca my phi trn tru nn nhm thit k cnh gt hng c hnh dng nh
sau:

Hnh 4.10 Cnh gt hng

43

Mt bn ca rnh nhm thit k vt i mt gc 100 khi iu khin ng c


quay 900 th s c mt sn phm ln xung, trnh trng hp ng c quay m sn
phm khng ln ra. Cnh gt c ch to bng thp tm, dy 3mm. Kch thc
c th xem trong ph lc.
e, Cnh gt sn phm dng hp
Do hng l dng hp(bao thuc l) nn ta c th xp chng ln nhau, do vy
cnh gt hp ch to n gin nht, c th kch thc v hnh dng nh sau:

Hnh 4.11 Cnh gt hng dng hp


f, Module tr sn phm dng chai v lon.
Do hai loi sn phm ny c dng tr trn nn c cu c thit k da trn
nguyn l ca h thng cp phi t ng cho dng phi trn:

Hnh 4.12 Module tr sn phm dng chai v lon

44

C cu va c tc dng tr sn phm li va c tc dng chn sn phm khi


cha c lnh tr sn phm(da vo c tnh t hm ca ng c c hp s).
Hnh dng ca c cu s lm gim lc tc dng cng nh momen xon tc dng
vo ng c, ton b trng lng ca tt c sn phm s c bi hai gi .
Khi ng c quay c 900 th s c mt sn phm c tr ra.
g, Module tr sn phm dng hp
C cu tr sn phm dng hp l mt c cu gm c mt cnh thng c lp
trc tip trn u trc ca ng c, khi ng c quay c 1800 th s c mt sn
phm c tr ra.

Hnh 4.13 Module tr sn phm dng hp


Cc chi tit trong module ny u c ch to bng g, kch thc xem trong
ph lc.
h, H thng dn ng.
Trc dng gn cnh gt hng, c to chuyn ng quay nh mt ng c
DC, truyn chuyn ng quay qua mt khp ni cng. Trc bc, ch to bng thp.
Hnh dng trc lp cnh gt ca chai v lon nh sau:

45

Hnh 4.14 Bn v 3D trc cnh gt ca chai v lon


1 - Trc lp cnh gt chai
2 - Trc lp cnh gt lon
Truyn ng ca ng c c truyn trc tip vo cc cnh gt da vo cc
khp ni Oldham.

Hnh 4.15 u ni lp trn trc chai v lon v u ni lp trn trc ng c

Hnh 4.16 Khp ni Oldham


C cu Oldham cho php truyn lch tm t 1 n 20.
46

4.1.3 Khung my
Khung my tt c cc chi tit, c cu.
Khung c thit k sau cng, kch thc ca khung theo kch thc ca cc
chi tit, b phn khc.

Hnh 4.17 Hnh v b ngoi khung my


Kch thc khung my 1000x800x1500mm. Cc kch thc cn li: khong
cch cc thanh xem chi tit trong ph lc.
Khung my c ch to bng thp hp, kch thc 20x20mm, dy 0,8mm. Cc
thanh thp c hn li vi nhau, m bo c cng vng ca khung.
Cc tm p b ngoi s dng g p.
4.2. Thit k v thi cng h thng iu khin
Phn iu khin thc hin chc nng iu khin ton b my, c th l cc cng
vic sau:
4.2.1. i tng iu khin:
- Nhn tn hiu t b cm bin EU1, m s tin a vo.
- X l 3 phm bm la chn sn phm v mt phm START.
- iu khin 2 ng c DC c iu khin tc ,dung trong c cu tr hng lon
Coca v chai nc lc..
47

- iu khin 3 ng c bc gt tin v mt ng c bc tr hng thuc l.


- Nhn tn hiu u vo t 12 cm bin hng ngoi t cc v tr bo hng
trong kho, cc ng ng tin cn tin tr li, cc ng ng tin y, v dng 2
ng c DC.
- iu khin 8 led 7 seg hin th s tin a vo v s sn phm tng loi
c la chn.
4.2.2. Yu cu ca vic iu khin:
Thit k my thc hin chc nng bn hng. Ngi mua b tin vo, tng s
tin phi c hin th. Sau s la chn s sn phm mun mua, s sn phm
cng c hin th. Qu trnh kt thc bng nt la chn START, ngi mua s nhn
li hng v tin tha. Trong qu trnh thao tc, cc s c c th xy ra nh ht sn
phm, thiu hng tr li cho khch hng, thiu tin tr li., my phi x l c.
Vi yu cu iu khin cc i tng c th nh trn, nhm thit k c th,
phn mch v thut ton iu khin nh sau:
4.2.3. Phn mch iu khin
Vi yu cu cc i tng cn phi iu khin v tn hiu cn phi x l nh
trn, phn mch iu khin c chia lm cc phn sau:
a. Mch iu khin trung tm
Phn mch ny gm 1 vi iu khin dung iu khin cc tn hiu u vo v
xut tn hiu iu khin cc i tng, v cc linh kin x l tn hiu khc.
Vi iu khin c s dng l chip Atmega128:
Trong ti ny, nhm s dng 4 ngt ngoi, vi INT0 nhn tn hiu t cm
bin nhn dng tin, INT1, INT2, INT3 l u vo phm bm. S dng 2 knh PWM
16 bit iu khin ng c DC, v 35 chn thc hin chc nng I/O.
Ngoi ra do yu cu ca vic iu khin, trong mch cn dung IC dn knh
74LS151, x l trng hp cc ng ng tin y. IC ny c vai tr lin tc kim
tra trng thi ca cc kho cha tin bng cch kim tra 3 cm bin hng ngoi t 3
ng cha. Khi cc cp cm bin ny b chn, s xy ra mt ngt ngoi INT4, bng
cch kim tra trng thi ca 3 chn iu khin 74HC151, ta s bit c ngt xy ra
do cm bin kho cha no, v ng c kho s quay theo chiu b tin vo
ngn tin.
S chn v bng chn l ca IC 74LS151 nh trong ph lc.

S nguyn l ca mch iu khin trung tm:


48

G
C
3

C
3

1X

VCC

3X
X

A
A
A
A
A
A
A
A

0
1
2
3
4
5
6
7

5
5
4
4
4
4
4
4

1
0
9
8
7
6
5
4

B
B
B
B
B
B
B
B

0
1
2
3
4
5
6
7

1
1
1
1
1
1
1
1

0
1
2
3
4
5
6
7

03
13
23
33
43
54
64
74

5
6
7
8
9
0
1
2

C
C
C
C
C
C
C
C

R
R

0 1
3
S5
1 7
1 9

B
E

P
P
P
P
P
P
P
P

A
A
A
A
A
A
A
A

0
1
2
3
4
5
6
7

/
/
/
/
/
/
/
/

S
S
M
M
O
O
O
O

S / P
C
K
O
S
I S O
C
0
C
1
C
1
C
2

P
P
P
P
P
P
P
P

C
C
C
C
C
C
C
C

0
1
2
3
4
5
6
7

A
A
A
A
A
A
A
A

O
D
D
D
D
D
D
D
D

/ P
I /
/
/ P
A
B
/ O
/
/
/
/
/
/
/
/

A
A
A
A
A
A
A
A

0
P
P

1L

2
4
6
8
1

C
I O

0
1

0
1
2
3
4
5
6
7
B

B
B

1
2 S 0 EP TE
R S
2D 2
5 3 G N
6 3 G N
AG T N M

S
S

/ P

R
T
X
O
O
O

0
1
2
3
4
5

P
P
P
P

N
T
D
D
DE

R
T

6 2
A R
E F
L2 A4 1
A 2 L 3 X2 T A L 1
X T A L 2

T
T

C
4 A V C
C
2 1 V C C
V C 5C 2 V C C
V C C
0
2 5 D
C
L / I N 2 T 6 D0 / 1 P D 0
D
A / I N 2 T7 D 1 / 2 P D 1
X D
1 / I 2N 8 TD 2 3 / P D 2
X D
1 / I N2 9 T D 3 4 / P D 3
I C
P 1 3 / P0 D D 5 4
X C
K 1 3 / 1P D D 6 5
T 1 / P 3 D2 D6 7
T 2 / P D 7
E 0
2
X D 0 / P3 D E I 1 / P E 0
X D
0 / P 4 D EO 2 / P E 1
C K 0 / A 5 I N E 03 / P E 2
C 3 A / A 6 I NE 14 / P E 3
C 3 B / I 7 N ET 45 / P E 4
C 3 C / I 8 N ET 56 / P E 5
T 3 / I N T9 6 E/ P 7 E 6
C P 3 / I N T 7 / P E 7
6 1 F 0
P F 0 / A6 0D F C 1 0
P F 1 / A5 9D F C 2 1
P F 2 / A5 8D F C 3 2
P F 3 / A5 7D F C 4 3
F 4 / A D 5 C6 F 4 5 / T C K
F 5 / A D 5 C5 F 5 6 / T M S
F 6 / A D 5 C4 F 6 7 / T D O
F 7 / A D C
7 / T D
I
0
3 3 G
P G
0 /3 W 4 G R 1
P G 1 4/ R 3 G D 2
P G
2 /1 A 8 GL E 3
T O S C 1 2 9 / G P 4G 3
T O S C
1 / P G 4

N 1 D
3
5
7
9

1
3
5
7

2
4
6
8
1

R
V

D
D
D
D

T
C

D
C

0
2
4
6

I
V

I P

D
D
D
D

2
3
B 4
/ P B 5
/ P B 6
C
1 C
8
9
1
1
1
1
1
1

GND

15

E
R

X T

I O
A
A
A
A

1
3
5
7

C
C
C
C
G

6
4
2
0
0

1
1
1
1
1

R
F
F
F
F

1
3
5
7

1
3
5
7
9

P
2
4
6
8
1
1
1
1
1
2

1
3
5
7
9

E1
3
5
7
9

1
3
5
7
1
3
5
7

1
3
5
7
9

1
1
1
4 1
N 1D

1 2 8 P

0
2
4
6
8
0

A
A
A
A
G
C
C
C
C
G

I O

2
4
6
8
1

A
F
F
F
0 F

I O
E
E
E
E
B
B
B
B
G
G

0
2
4
6
8
0

T
V
0
2
4
6

Hnh 4.18 Cc cng vo ra ca ATmega 128


Chip Atmega 128 ng gi dng dn, do nhm thit k ring mch ny thc
hin chc nng ni cc chn chip ra cc jump, d dng kt ni vi cc mch khc
nhn tn hiu vo, v xut tn hiu ra iu khin cc i tng. ng thi thit k ny
cng c u im l d dng thay th trong trng hp chip hng, hoc phn kt ni
thay i thit k. Trong ti s dng thch anh ngoi lm b to dao ng, tm s
thch anh 16MHz. Np chip theo chun SPI.
Do mch trn ch thc hin chc nng xut hoc nhn tn hiu t vi iu khin
ra cc jump, nn cn mt mch kt ni vi n.

49

T
0
2
4
6
0
2
4
6

- C

F
C

R
E
E
E
E
B
B
B
B
G
R

2
7
5
3
1
1

2
4
6
8
1
1
1
1
1
2

1
3
5
7
9

T
0
2
4
6

3
E

- E

I / O

VCC

V
1
R

G
R

N
U

R
V

C
4

0 ER 5

( I N

GND

2
4A
6A
8A
1O

E N
0E n N
E N
H U

A V C
BF L 0 E( E 2
BF L 2 E( E 4
BF L 4 E( E 6
0 FN 6 G ( H2

1
3
5
7
1
3
5
7

)
D

0D R 1

( I N

J
0D R 3

1T
2

( I N

F 0 ( E
S B P 2 (2 C
F 6 ( H
G N D

0E R 6

( I N

1T
2

F 1 ( E
B 3 ( C
S F P 7 (3 H
G N D

C
N)
N)
N)
)U

A
A
A

B
B
B

L
L
L

E
E
E

1
3
5

)
)
)

49

B
D

D
I N
I N
1 5
1 5

6
4
2
0
0

( 1H A
( 3T I E
( 5T I E
7
9
1 1
1 3
1 5
1 7
1( H 9 U

2
N4
T 56
T 78
1
L O 1
L O 1
L O 1
U O1
2
U

E
GE
) E
) E
0 B
C2 B
C4 B
C6 B
8NG
0 R

0
D2
4
6
0
K 2 2
K 4 4
K 6 6
G3
E

O
L

4
3
2
1
J

( I N

0 1)
2
3

(C D 2
( I N
( I N
( D
( )C
( )C
( )C
(6 H )
S E

U) N
T 4
T 6
U N
L O
L O
L O
U O
T

C
N
7
2

)
)
C
C
C

E
H

I E

L
0
1
2
3
4K 1
5K 3
62 )
7
N D
N D

G
G

K
K
K

1
3
5

)
)
)

G
V

6
1
1
0

N
N

N
C

I E

D
D
D

N
N
N

G
G
G

C
C
C

5
6
7

( 1
( 1
( 1

5
5
5

G
C

D
D

3
4

D
D

I E

F
B
G
G

5
C

V
C

_ C

N
G
V

1
C

( I N

1 2
4
3
2
1

I E

( E
6 ( C
3 ( H
N D

AN

_ 1

A
A
A
)E
E
B
G
G

N
R
R
R
R
R
R
R
R4

CC

EO

1A B L E 5 )
L O2 C
K 5 )
U 3O N G 5 )
4

I P

5
7

1A B L E 4 )
O2 C
K 4 )
U 3O N G 4 )
4

2
C

A
A
A
G
1

V4

F
B
G
G

3
4
5
2
3
0

N
N

(
(
(
(
(
(

T
T
T
D
D
D
D
D

( E
( C
4 ( H
N D

N
L

5
C

1A B L E 6 )
O2 C
K 6 )
U 3O N G 6 )
4

V
O

7
E

N
L

C
N

( E
( C
1 ( H
N D

F
B
G
G

N
V
G

2
1

N
O

3
5

2
1

5
6

1
Y2
Y3

1T 7 )
2 T I E

4H U A
3H D U 0 A
2H D U 1 A
1 D 2
1 5 D 3
1 4 D 4
1 3 D 5
1 2 D 6
D 7
1 1_ A )
1 0_ A B )
19 _ B C )
C
7

O
O
O

0 ER 7 ( I N
D A N G
C 1 2
1 u F

F 2 ( E N 1A B L E 3 )
B 4 ( C L O2 C
K 3 )
S G P 0_ (I HN UC 3 OR NE AG S 3 E)
G N D
4

8
J

D
C

7
G
G
A
B
E
E

1
2
3
4
) 5
) 6
7
8
9
1 0
C

- E

K
A

V
G
A
G

6
5
4
3
2
1
C

2
V C C
41 ) D 0 ( I N T 0 )
63 ) D 2 ( I N T 2 )
8_ A )D 4 ( S T A R T )
C
1_ 0C D) 6 ( 1 5 1 _ B )
C
C
P O R T
A - C
C
N 2 G A_ O0 ( K H 2 A ) N G _ C O
N 4 _ OA K2 ( 1 H ) A N G _ C O
N 6 _ OA K4 ( 3 T ) I E N _ O C K
A 6
C
8
G
1 0 G 2
G
1 2 C 7
1 4 C 5
1 6 C 3
1 8 C 1
O2 0 N G G 1 3 ( ) H U O N
G

T
T
1
1

1
( 3D
( 5I N
( 7I N
9
(1 C 1
(1 C 3
(1 C 5
4 1( H 7
N 1 D9

V
R

N 1A B L E 2 )
L O2 C
K 2 )
U 3O
N G 2 )
4

1
G

C 1 0
1 u F
E

P
6

N 1A B L E 1 )
L O2 C
K 1 )
U 3O
N G 1 )
4

1T
2

VCC

N 1
(3
(5
(7
(9

R
J

R
C

16

I O
E
E
E
E
B
B
B
B
G
G

C 9
1 u F
_

VCC

C
C
C
C
G

T G

4 I O

1
3
5
7

I O
A
A
A
A

C 7
1 u F

C 1 1
1 u F

I O
1
3
5
7

D
D
D
D

1T
2

1
F 1 3(
F 1 3 05 (
F 5 7(
F 7 9(

kC

61

VCC
2

1T
2

C 8
1 u F

T
V

J
( I N

5
2

C 1
1 u F

D
T

( S 1T
2

5
D

VC C _12V

GND

R
C

V
J

4
C

B
1
1
1
1

0
1
2
3

( H
( H
( H
N D
A O
N
N
N
N

I E
I E
I E
U
U
U

N
N
N
N
N
N

U
R
R
R
R
RR
RR
RR
RR
R
R
R
R

M
_
_
_
G
G
G

1
1
2
2
2
2
2
2

R 1
A N R G 1
A N R G 1
A N G
R
D A RY
R

0
1
2

O
O
O
G

G
G
G
D

C
C
C

H
H
H

U
U
U

B I E N
8
O 9 K 11 )
O 0 K 22 )
O 1 K 33 )
D2 C 4 1 )
D4 C 5 2 )
D3 C 6 3 )
5
7
8

N
B

O
A

C O N
C A M
4
_5 O 1K 1 )
_6 O 2K 2 )
_ O 3K 3 )
4
T I E N

A
A
A

1
2
3

I E

I N

I E

Hnh 4.19 Mch ghp ni vi vi iu khin

50

Mt s ch khi thit k mch vi chip ny:


-

Nu thit k mch, np chip theo kiu SPI, ch bng sau:


Symbol

Pins

I/O

Description

MOSI(PDI)

PE0

Serial data in

MISO(PDO)

PE1

Serial data out

SCK

PB1

Serial clock

Hnh 4.20 SPI


- PORT C ca AT128 ch c th l ng ra.
- PORTF, PORTG ch c th xut nhp c theo PORT, mun xut nhp theo

tng PIN ring l,phi can thip bng phn mm.


b. Phn mch hin th
Mch hin th c chc nng hin th s tin a vo v s sn phm la chn,
hin th 8 lede 7 seg vi cc s c lp trnh..
S dng PORTC ca AT128 . S dng mt IC chuyn dng hin th led 74LS47
v IC m rng cng 74LS138.
-

IC 74LS47
IC 74LS47 l IC chuyn dng hin th led 7 thanh, in p chun CMOS,
ngun nui trong khong t 4,75V-5,25 V.. Bng cch iu khin in p 4 chn
u vo, kt ni 8 chn u ra vi cc chn tng ng ca led 7 thanh, ty theo
trng hp mch iu khin anode chung hay cathode chung, chng ta s c cc
s tng ng. Trong n ny, nhm s dng led 7 thanh anode chung.
S chn, bng chn l ca IC ny nh trong ph lc.

IC 74LS138
IC 74LS138 l IC ghi dch 8 bit. in p chun CMOS, ngun nui trong
khong 4,75V - 5,25V. Bng cch iu khin in p 3 chn u vo v mt chn
cho php tn hiu iu khin G1, s cho ra in p mc 0 cc chn tng ng cc
chn tn hiu u vo.
Trong ti ny, nhm s dng IC ny n nh tn hiu iu khin sng, tt
cc led 7 thanh, ng thi tit kim s chn s dng iu khin led. (4 chn iu
khin ng, m 8 led).
S chn v bng chn l nh trong ph lc.

51

S nguyn l mch iu khin:

G
G

D
D
D
D
A
B
C
G

0
1
2
3
U

N
N

D
D
D
D

D
D
V
G

0
1
2
3
C
N

7
1
2
6
C
D

2
D
D
D
D

1 3
5

0
1
2
3

L T
R B

A4

I / R

L
L
L
L
L
L
L

3
2
1
0
5
4
B

E
E
E
E
E
E
E

D
D
D
D
D
D
D

_
_
_
_
_
_
_

A
B
C
G
G
G

C
N

C
D

1
N
N

A
B
C
G
G
G

1
2
2

GN D

V
G

1
2
3
6
D 4
D 5

Y
Y
Y
Y
Y
NY
NY
Y

A
B

1
N1
N1
N1
N1
N1
N9
N7
N

U
U
U
U
U
U
U
U

5
4
3
2
1
0

0
1
2
3
4
5
6
7

R
U

le
C

U
C

E
d

le

U
C

E
d

4
N

l e

E
d

C
6

Q
P

5
N

l e

E
d

C
7

B
4

Q
P

7
C

C
5

E
d

6
B

P
le

l e

7
N

R
Q
P

8
N

3
N

5
B

Q
P

3
4

0
1
2
3
4
5
6
7

l e

9
N

Q
P
4

16

C
D

3
2
1

C
N

VC C

V
G

2
2
1

Q
P

6
N

l e

E
d

2
N

R
Q
P

V
N

1
4

R
Q
P

A
B
C
D
E
F
G

1
1
1
1
9
1
1

A
B
C
D
E
F
G

GN D

16

1
9
8
7
6
5
4
3
2
1

VC C1

VCC

D
L
L
L
L
L
L
L
d
d
d

I P

E D _ A 1
E D _ B 2
E D _ C 3
E D _ D 4
E D _ E 5
E D _ F 6
E D _ G 7
k _ l e d 81
k _ l e d 92
k _ l e d13 0

I E

5
L
L
L
L
L
L
L
G

E
E
E
E
E
E
E

D
D
D
D
D
D
D

_
_
_
_
_
_
_

A
B
C
D
E
F
G

I E

d
d
d
d
d
G

1
2
3
4
5
6
7
8
C

K H O
I E N

k
k
k
k
k

_
_
_
_
_

l
l
l
l
l
D

e
e
e
e
e

d
d
d
d
d

I E

14
25
36
47
58
6
N

I E

Hnh 4.21 S nguyn l mch u vo


iu khin cc IC,u ra ni ra cc led 7 seg
Gii thch:
4 chn B0, B1, B2, B3 ca vi iu khin dng iu khin IC 74LS47. Lp
trnh iu khin tn hiu cc chn ny mc cao, thp tng ng nh trong bng
chn l ca IC ny, chng ta s hin th c cc s mong mun trn cc led 7 thanh.
4 chn A, B, C, G1 ca IC 74LS138 c ni vi cc chn tng ng ca vi
iu khin. Bng cch qut tn hiu cao hay thp 4 chn ny, chng ta s c c
u ra mc 0 tng ng cc chn ng ra U0U7. (Khi mt ng ra mc 0, 7 ng
ra cn li mc 1). Tn hiu t ng ra ca IC ny s iu khin cc transistor PNP
ng, ngt ngun nui cho cc led 7 thanh.
S dng thut ton qut led, ta s hin th c cc s khc nhau nh mong
mun trn cc led 7 thanh.
c. Mch cm bin
52

Trong ti, nhm dng 11 cm bin hng ngoi, dng kim tra trng thi
ca kho hng, ng ng tin v dng ng c DC( c vai tr nh encorder).
Cm bin hng ngoi, khi s dng cn mt cp thu pht. Led pht pht nh
sng hng ngoi. Led thu l mt cp P N, hot ng nh mt cm bin quang, vi
tn hiu quang kch thng cp P N l nh sng hng ngoi. Led thu ny gm 2 loi 3
chn v 2 chn.
Nhm s dng loi cm bin ny do kh nng nhn tn hiu thu pht vi
khong cch tng i ln, gi thnh r, d thit k v s dng, d mua, hot ng
n nh do nh sng pht ra l nh sng hng ngoi, khng b nhiu bi nh sng t
nhin. Cm bin ny c kch thc nh nn d dng lp t.
Tuy nhin, s dng cc cm bin ny vi mc ch pht hin i tng, nn
hon ton c th thay cm bin hng ngoi bng cc loi cm bin khc nh cm
bin tim cn, cng tc hnh trnh. (hn ch s dng cng tc hnh trnh, do l tip
xc c, hay nhiu trong trng hp ny cc i tng thng chuyn ng v c
khi lng nh).
Tn hiu vo t cm bin hng ngoi, c a vo OP-AM, so snh vi in
p u vo cn li ca OP-AM, c th thay i nh bin tr vi chnh, t s c tn
hiu du ra l 0 hay 1. IC thc hin vic so snh ny l LM324.
IC LM324 l IC khuch i thut ton, trong trng hp ny hot ng ch
so snh. Ic ny gm 4 b OP AM, in p u vo so snh nm trong mc t 0,3V
n 32V, dng cc i 50mA.
Trong ti, nhm cn iu ch tn hiu vo t 12 cm bin hng ngoi, nn
cn s dng 3 IC ny.
S chn v cc c tnh c th trong ph lc.
Vi nguyn l nh trong mch nhm thit k, khi khng c vt cn gia 2 cm
bin thu pht, u ra ca OP AM l 5V, cn khi c vt cn, u ra l 0V.
Ty tng trng hp ca cm bin, ta c th x l tn hiu a ra cc lnh
iu khin mong mun.
S nguyn l:

53

VCC

VCC

VCC

J
2

R
3

L
I _

I S

A
R

1
L

1
E

5
L

2
L

I S

V
2

RL

J
I
I
I
I
I
I
G
G

9
U

L
L

I S

e
d

3
L

5 +

6
L

_
_
_
_
_
_

L
L
L
L
L
L

e
e
e
e
e
e

N
N

d
d
d
d
d
d
D
D

C
I _

I S

I _ L
I _ L
I _ L
G
N

e
e
e

0+

L
I _

9 -

e
e
e

C
J

I S

R
R

+0

3
L

1
E

I S

V
R

2+

3-

L
1

0
11

R
I E

+0

7
L

4
O

1
1

4
L

1
I S

2+

3-

d 11
d 21
d 31
D 4

0
1
2

I N

I E

R D

I E

5
U

R
3

L
I _

I S
N

VC C
D

R R

R
G

2
L

I _

3
U

L
I _

D
G

R
3

R
G

VCC
R

1
K

11

9
S

4
I _

9 -

VC C
1

R
3

11

7
E

d 17
d 28
d 39
D 4

9 -

11

R
R

11

VCC

I _ L
I _ L
I _ L
G
N

e
d

8
L

8
3

2+

3-

I S

R
R

11

V
3

A
6

NR

I _

L
L
L
L
L
L
L
L
L
L
L
L

e
e
e
e
e
e
e
e
e
e
e
e

d
d
d
d
d
d
d
d
d
d
d
d

1
2
3
4
5
6
7
8
9
1
1
1

2
4
6
8
1
1
1
1
1
2
2
2

1 1
1 3
1 5
1 7
1 09
2 11
2 23
C

1
3
5
7
9

0
2
4
6
8
0
2
4

GND

R
4

4
L

C
R

11
22
33
44
55
66
7
8

VCC

4
2

I _

6 -

VCC

R
3

VCC
B

1
2

4
I _

11

D
O

2
L

5 +

R
U

L
I _

6 -

4
2

I S

d
5

R
3

11
S

6 -

e
d

VCC
B

1
L

5 +

I S

4
2

3
S

VCC
U
d

2 -

R
e

4
I _

R
3

11

2 -

11
E

2 -

V
G

6
4

11

11

4
4

I N

Hnh 4.22 Mch cm bin


d. Mch iu khin ng c bc
Mch iu khin ng c:
Vi nguyn l ca vic iu khin nh trn, nhm thit k mt mch iu
khin ng c bc, la chn c 2 ch c bc v na bc bng phn cng.
Mch nguyn l:

54

D
P

1
F

F R
2P 1 H

1
A

5F 5 R
G
N

5F 5 R
2P 3 H
D

1
A

5F 5 R

5F 5 R
2 4

5F 5 R

R
2

1
R

1 R G1
2 4 7

7D
E

DB

2N

C
5

8
51

N
F

WC

A
A

1
1

OE

1
21

2
Y 31
Y
2

P
P

H
H

A
A

2
2

1
2

12
2

1 3 P
Y 11 4 P
Y
2

H
H

A
A

2
2

3
4

N
N
C
C

1
2

8
V

R
2
4 7 0

23

k5

R
2
O

C
1
3 . 3

NR

1
2

D
G

K
O
1C
2
3
4

2
2

1
1

5
6

G
H
5

1
2
3

j U CM OP N

P
2 4 V C
C 5 CV C
C

5
7

0
2 2 A
2 A
S E N 1 S 3
S E N 1 S5 1 4 E
R
9
2 E
0 . 2R 5 1 0
H 63
0 . 2 5I N
I N
H 1 4 1 1 E
2 E
5 V C 9C
2 4 V C4 V C C
V C
C
5
1 0 0+ n C
7
C
6
4 7 0 u 1 0 0L n2 9

D
1
A

2
2

C
D

5F 5 R
2P 2 H

A
B

VREF

5 V C
C
HT F 2
U L LO L C
K 2
KI R
E C
2
WS C
R
E F
E N
S 3
1 E N
S 4
25 V C
C
G N
D
O L

2 0
N
C / R
E 1S 9 E
D H
A L F 1 / 8F C
M E/ C
L O1 7 C D
C
W
/ 1C 6 OC
H
1
O S 1C 5 V
V r e1 f 4 S
S E N 1 S3 S
H
2 S E N 1 S2
V s1 1
2
A CB LO E N
T R

S Y
G N
H
O
A
/ I N
B
C
/ I N
D L E
E N

1
G
N
D2
G
N
D3
A 2
4
I N
H 53
B 2
6
C
2
7
I N
H 84
D
2
9
E N
A 1 B0

I E

I E

4
C

n
1
2
3
4

t rC o Ol
C
D
E

4N

w4

ir e

N
D
L O C
K 2
I R
E C
2
N
A B L E 2

P
P
P
P

H
H
H
H

A
A
A
A

O
21
22
23
24

ST

OT

ER P

1
2
3
4

T U I ON

N H

I E

T V I NA

OH

4.23 Mch iu khin ng c bc


Mch trn tha mn yu cu iu khin, dng ti, iu khin theo kiu
chopping, v kh nng la chn ch iu khin, bng phn cng.
C th c miu t:
- Dng ti
Vic iu khin dng ti l bn cht c c tc n nh
v moment ring.
C vi cch iu khin dng ti:
- Cung cp 2 loi (mc) in p.
- Chopping bng PRM (Pulse Rate Module).
- Chopping bng PWM (Pulse Width Module).
L297 cung cp vic iu khin dng ti bng 2 PWM chopper.
Mi chopper cho 1 pha i vi ng c lng cc v cho mi cp
cun dy i vi ng c n cc. i vi ng c n cc, 2 cun
55

I E

dy A, B khng bao gi cp in cng vi nhau nn chng c th


cng chung 1 chopper.
Mi chopper cha 1 b so snh, 1 flipflop v 1 in tr cm
ng bn ngoi. B dao ng chung ca chip cung cp xung nhp
ti c 2 choppers.
Trong mi chopper, flipflop c thit lp bi mi xung t b
pht xung cho php u ra v cho php dng ti tip tc tng.
Dng ti tng ko theo s tng din p trn Rs ti khi no t in
p VRef , flipflop s c xa, khng cho php u ra cho ti khi
xung tip theo ca b pht xung c to ra. u ra ca mch
(u ra Q ca flipflop) to ra 1 di tn hiu PWM .
Ch rng: VRef nh r dng ti nh.
Trong n chn s dng loi ng c bc c dng ti nh
ILOAD MAX = 4A. in tr o dng Rs = 1Omh/5W. in p phn hi
v L297 c in p ln nht l U = I.R = 4V. Nh vy, in p a
vo chn VREF < 4V. Chn in p ny trong mch thc t c ly
t mt cp in tr phn p.
in p cung cp : Vcc = 5V
Hai in tr phn p : R4 = 1k , R5 = 4k7
in p so snh : Vref = Vcc*R5/(R4+R5)
= 5*4k7 / (1k + 4k7) 4V (tha mn).
V

R 4
1 k

5
Q

r e

f
R

2
1

VR EF

R 5
4 k 7

Hnh 4.24 Dng ti


- iu khin kiu chopping
Chopper c th hot ng trn c line pha (ABCD) hoc trn
cc line chn (inh1 v inh2 ). Vic la chn ch hot ng c
quyt nh bi chn tn hiu vo control. Inhibit chopping c s
dng cho ng c n cc, cn i vi ng c lng cc, c th
s dng c 2 cch chopping. L do cho s la chn c gii
thch tt nht qua 1 v d khc.
u tin, xt trng hp chopper trn ng line pha
Trc ht chng ta iu khin ng c lng cc 2 pha. t A
cao v B mc thp. Dng in chy qua Q1 , cun dy, Q4 v RS.
Khi in p qua RS t ti VRef chopper s set ln mc cao (1)
ct dng qua cun dy.

56

Nng lng cha trong cun dy c phn tn bi dng in


tun hon qua Q1 v D3. Dng in suy gim qua phn mch
chm bi v in p trn cun dy thp (VCEsatQ1 + VD3 ).
Ti sao li set B ln mc cao m khng RESET A xung mc
thp? L do l trnh dng in suy gim qua R2. Khi dng in
tun hon trong na trn ca cu, dng in ch chy qua in tr
cm bin khi cun dy hot ng. Phn nng lng t nht c
phn tn trn Rs v chng ta c th s dng vi cc in tr r
hn.
Gii thch v sao pha chopping li khng c s dng cho
ng c n cc: khi cun dy A c cp in (driver), chapper
hot ng trn cun dy B.
Khi a tn hiu vo control xung mc thp, chopper hot
ng theo ch inhibit chopping trn cc line chn: inh1 v inh2.
S dng li v d trn, A mc cao v B mc thp. Q1 v Q4
thng v dng in chy qua Q1 , cun dy, Q4 v RS . Trong trng
hp ny khi in p qua RS t gi tr VRef , chopper flipflop c
reset v inh1 hot ng (a xung mc thp), inh1 s ct c 4
transistor, do dng in tun hon t t qua D 2 , cun dy v
D3 ti VS . Dng x chy ti ngun cung cp (ngun cung cp c
th ln n 46V, dng in suy gim rt nhanh).
Li ch ca vic suy gim nhanh l r rng. N cho php hot
ng nhanh vi ng c lng cc v n l la chn duy nht cho
ng c n cc. Nhng ti sao li c c phng php iu khin
bng line pha? Trong mt s trng hp bt buc dng di
chopper thp vi nhng ng c khng cha nhiu nng lng
trong cun dy. Nu s suy gim rt nhanh dng in cc ng
c trung bnh c th moment c ch c c rt thp nhng di
chopper thp th c th. V du, nu c 1 ng c ln hn trong h
thng ging nhau. trnh nhiu cng tc trn ground plane, tt
c cc drive cn c ng b v di chopper c thit lp
theo ng c ln nht trong h thng.
Trong ch na bc v ch c bc 1 pha c 2 tn hiu
na c to ra t khi output logic l inh1 v inh2. l cc tn
hiu chn c s dng cp i vi chn u vo cho php ca
L298N v p ng tc dng ngc khi ct dng qua mt
cun dy.
Khi c 2 cun dy lin tc c cp in trong ch c bc
2 pha do khng c tn hiu no c to ra.
thy c hot ng ca tn hiu th no, hy quan st
cu ca L298N kt ni vi 1 cun dy ca ng c lng cc ch
2 pha. Cn nh rng cc tn hiu vo A, B ca L298N nh r
cp translator hot ng ko y. Cn tn hiu INH1 th tt c c 4
transistor.
Gi s A mc cao (1), B mc thp (0), dng chy qua Q 1,
Q4 v cun dy. Nu A c a xung mc thp, dng in tun
hon chy qua D2, Q4, RS c tc suy gim chm v lm tng s
tiu hao trn Rs. Trong trng hp khc A c a xung thp v
57

inh1 hot ng, tt c cc transistor u ngt. Dng in tun


hon trong trng hp ny s t t ti VS qua D2 v D3 c tc
suy gim dng nhanh (faster decay), do n cho php motor
hot ng tc cao hn. Hn na, khi dng tun hon
khng chy qua RS nn 1 in tr r hn c th c s dng.
Tn hiu INH1 v INH2 c to ra bi hm OR
A+ B = INH1 , C + D = INH2
D th no thi khi output logic phc tp hn bi v ng
inhibit cng c s dng bi chopper.

Hnh 4.25 iu khin kiu chopping


- La chn ch iu khin
Khi iu khin trung tm ca L297 gi l transistor. Khi ny
to ra tun t iu khin cho cc pha cc ch : na bc, c
bc 1 pha v 2 pha. Khi c iu khin bng 2 tn hiu vo la
chn ch l: hng (CW/CCW) v (HALF/FULL). Ngoi ra cn c
1 u vo CLOCK cp xung hot ng cho h thng.
Bn tn hiu ra iu khin cho cc pha c a x k qua
khi output logic.
Khi ny c chc nng iu khin kiu chn (inhibit) v iu
khin kiu chopper.
Bn trong mi khi translator c cha b m cng 3 bit nhm
thit lp 8 bc c s cho ng c. Tt c cc tun t iu khin 3
ch u c to ra t mt th t chun. Cc ch iu khin
c thit lp trc tip t tn hiu a vo chun HALF/FULL.
Khi la chn ch c bc 1 pha v 2 pha ngoi tn hiu t
chn HALF/FULL th cn ph thuc vo trng thi ca khi
translator. Nu ch c bc c la chn v c khi translator
trng thi cc bc l chng ta c ch c bc 2 pha. Cn
58

nu khi translator trng thi cc bc chn th chng ta c ch


c bc 1 pha.
e. Mch iu khin ng c DC
Nguyn l iu khin: dng mch cu H, phng php PWM iu khin tc
ca ng c. iu khin chuyn ng vng ca ng c bng encorder t ch.
Mch cu H iu khin 2 ng c, trong ti, nhm s dng IC L298 nh
trn, v mt IC o 74LS04.
S nguyn l mch iu khin:

40

. 1

1
2
1
2

5
7

I
1 0 I
1 2 I
I
S 1 E
1 5 I
I

N
M

1
5
2

N
N
N
N
R
S
S

1
2
3
4
E
E

1 E
E

N
N

V
V

S
S

V C C 4
4 V C 9C

N
N

O
O

2
3T 1
1T 32
1T 43
T 4

U
U
U
U

U
U

1
2

U
I N

n
1
2
3
4

I N

t Cr o O l

2
D

D
8

/ M

5 R

I N

6 G

w Ce

I E

11

I E

G N D
G N D
5 V C C
2 4 V C

2
F

K
V

I E

2R

7 L

3R

8 L

N
E

4
F

1
A
R

Hnh 4.26 Mch iu khin ng c DC


Mt chip L298 c th iu khin c hai ng c DC, nhng trong ti ny
d dng cho vic kim tra v thay th trong trng hp li mch hoc IC c s c,
nhm s dng mt chip L298 iu khin mt ng c.
Chi tit cch s dng chip L298, tham kho trong datasheet.
4.3.

C
C

2
D

D
rO

1
2
3
4
E

G
R

I H

G N D
I N 1
P W
M
S E N S

P
o

K
C

1
2

A
B

A
B

T
T

OUT1

O
O
O
O

2M

OUT2

N
N
N
N

GND

I
I
I
I

OUT1

Xy dng thut ton iu khin

Vi cc yu cu lm vic ca my, v t m hnh ca h thng, nhm xy


dng thut ton iu khin.
Thut ton gm 4 s :

S 1: Main. Nu thut ton iu khin chung cho ton my.

S 2: S thut ton la chn sn phm.


59

S 3: S thut ton tr li hng cho khch.

S 4: S thut ton tr li tin.

Cc s ny s c trnh by c th phn di.

4.3.1. Thut ton iu khin chung ca my

60

Btngun

Khngbti
n
C tin

Bti
nvo

Ti
ngi

Trli

Tin tht

Nhndng

T
nht
ngti
n, ti
n
tha, hi
nth

Ph
nloi ti
n

Lachnsnphm

KhngnStart

n Start

NtStart

Trhng

Trli ti
n

Khng
y

Ktrang
ng
ti
n

Trti
nvokho

Reset hthng

Hnh 4.27 Thut ton iu khin chung ca my


Gii thch s :
61

My lun trng thi ch ngi s dng b tin vo, v thc hin thao tc. Khi
tin b vo, n s i qua b nhn dng, kim tra tht gi. Nu l tin gi, tr li. Nu
l tin tht, thc hin bc tip theo, vi iu khin m tin, v hin th.
Tin tht sau khi qua b nhn dng s c phn loi vo cc ng cha.
Sau khi b s tin vo, ngi s dng s thao tc la chn sn phm. Thut
ton c th ca thao tc ny phn sau.
Tt c cc qu trnh ny kt thc khi ngi dng nhn nt Start.
Sau khi nt Start c nhn, my s thc hin thao tc tr hng cho khch, tr
li tin tha (thut ton c th cho 2 vic ny s c trnh by bn di), kim tra
ng cha tin, nu y th s b tin vo kho. Cui cng l reset h thng, xa cc
thng s.
4.3.2. Thut ton x l chn sn phm
Khi ngi dng n chn sn phm,phi m bo trong kho cha hng vn cn
sn phm , v s tin mua s lng sn phm
Lachnsnphm

Khngnhn

Khngnhn

Ntchnsp1

Khngnhn

Nhn

Nt chnsp3

Nhn

Nhn

Ntchnsp2

Tnhti
ntha

<gi SP1

<gi SP2

Bo li

Ktra kho3

H
t

Bo li

Cn

Bo li

SP2++

<gi sp3

>gi SP3

H
t

Tnhti
ntha

Khng n Start

Bo li

Ktra kho2

Cn

Bo li

Cn

SP1++

>gi SP2

H
t

Khng n Start

Bo li

>gi SP1

Khng n Start

Ktra kho1

Tnhti
ntha

SP3++

Nhn Start

Nhn Start

Nhn Start

K
t Thc

Hnh 4.28 Thut ton x l chn sn phm


Gii thch thut ton:
62

Do cch chn 3 sn phm ging nhau, nn gii thch thut ton chn sn phm
1.
Khi nt chn sn phm 1 c nhn, my s kim tra s tin tha, bng cch ly
s tin a vo tr i s sn phm chn nhn gi sn phm . Nu tin tha nh
hn gi sn phm ny, my bo li, qu trnh chn kt thc. Nu tin tha tha mn,
my tip tc kim tra kho 1. Nu kho 1 ht hng, my bo li, qu trnh chn sn
phm ny kt thc. Nu kho 1 cn hng, my s tng s sn phm 1 chn ln 1
n v, ng thi hin th s lng ny. Qu trnh ny lp i lp li cho n khi nt
Start c nhn.
Cc sn phm khc la chn tng t.
4.3.3. Thut ton tr li hng
Thut ton ny nu cch tr hng cho ngi s dng, v cch x l cc trng
hp gp phi.
Trhng

Ht

Ktra kho1

Cn
Tr1 sp3

SP3>0

SP1>0
Tnh li
tin tha

SP2--

Tnh li
tin tha

SP2=0

SP1--

Bo li

Tr1 sp2

SP2>0

Bo li

Tr1 sp1

SP1=0

Tnh li
tin tha

Ktra kho3

Cn

Cn

Bo li

Ht

Ktra kho2

SP3-SP3=0

Ht

End

Kt thc

Hnh 4.29 Thut ton tr li hng


Gii thch s :
Qu trnh tr 3 sn phm l nh nhau, nn ch gii thch phn tr sn phm 1.
63

Bt u qu trnh tr hng, my s kim tra kho1. Nu kho 1 cn hng,my s


tr ra 1 sn phm, ri li kim tra kho, tr li cho n khi ht. Trong qu trnh tr li,
nu s sn phm tr ra cha bng s sn phm m ngi s dng la chn m trong
kho cha ht, my s bo li ht hng, v tnh li s tin tha tr li cho khch.
Qu trnh tr cc sn phm cn li tng t.
4.3.4. Thut ton tr li tin tha
Tr li tin
tha

=0

Tnh tin
tha

Kt thc

>0
Ht
Kim tra ng
5000
<5000

Ht
Kim tra ng
<2000
2000

Ht
Kim tra ng
Bo li
1000
<1000

Cn

Cn

Cn
Tr 1 dng
5000

Tr 1 dng
2000

Tr 1 dng
1000

S ng 5000
tr +1

S ng 2000
tr +1

S ng 1000
tr +1

Hinh 4.30 Thut ton tr li tin tha


Bt u qu trnh tr li tin, my s tnh s tin tha. Nu s tin tha bng 0,
qu trnh kt thc.
Nu s tin tha khc 0. u tin my kim tra ng ng tin 5000. Nu ng
5000 cn tin, v s tin tha ln hn 5000, my s tr ra mt ng 5000. Tip
tc tnh l tin, v kim tra nh trn. Thc hin n khi tr li tin, hoc kho
64

5000 ht tin, hoc s tin tha nh hn 5000, khi s chuyn sang kim tra ng
2000, thc hin tng t nh bn ng 5000. Cui cng l sang ng 1000.
Khi ng 1000 ht tin m s tin tr li khng , my s bo li.
Cc thut ton trn c a vo chy th nghim, trong trng hp kt cu
my chun nh thit k, my hot ng khng h c sai xt.

CHNG V

KT QU, NH GI

5.1. Kt qu
65

Sau mt thi gian lm vic nghim tc nhm ch to thnh cng my bn hng


t ng vi nhng c im sau:
- Hin th c s tin a vo, s lng tng loi mt hng mun mua v hin th
c li xy ra khi ht hng, ng thi tr li tin cho khch. Tuy nhin do phn hin th
nhm thit k c 5 LED nn s tin hin th khng vt qu 100.000VN, tng t s
lng hng mi loi nh hn 10.
- ng dng c b nhn dng 5 loi tin xu do Trung Quc sn xut trong vic

nhn dng tin tht, gi. Thc t cho thy my phn bit c ng 500, 1000, 2000,
5000.
- Phn loi c cc ng xu sau khi nhn dng, hot ng tt.
- My c kh nng tr li tin tha cho khch hng. Khi ht tin hoc y tin trong

kho cha th my s bo nh cc cm bin hng ngoi. C cu tr tin hot ng chnh


xc, khng h c li.
- Thut ton iu khin m nhm a ra hon thin. Trong iu kin chnh

xc c kh v cm bin m bo, thut ton ny iu khin my hot ng cha h pht


sinh li.
- My c th bn c 3 loi sn phm l lon nc, chai nc v hp thuc l,

v khng c chc nng gi lnh ung..


- S lng hng m my tr ra chnh xc.
- My c kh nng thay i gi ca hng ha, khi gi th trng tng hay gim.
- My c hnh dng nh nn tit kim c din tch mt bng.

- D s dng, thn thin vi ngi s dng.


Tuy nhin m hnh my m nhm ch to, trong qu trnh hot ng vn tn ti mt s
nhc im sau:
- Vic tr cc sn phm dng chai, i khi cn pht sinh li.
- Khng th thc hin mua bn khi mt in.
- Vic sa cha rt mt thi gian.
- B nhn dng sau nhiu ln th nghim, hot ng khng n nh.

- Tc x l ca my cn chm.
5.2. Nguyn nhn v bin php khc phc
C cu tr hng dng chai trong qu trnh kim tra c hin tng kt, ng c
khng quay c, nguyn nhn l kho cha hng ch to rng hn thit k n
10mm, cch khc phc thu hp chiu rng ca kho dn hng hoc lp ng c c
momen ln hn.
My dng b ngun my tnh nn nu trong qu trnh giao dch xy ra mt in th
s lm mt tin ca khch hng do vy cch khc phc l phi lp thm c qui d
phng. Cng do s dng b ngun my tnh nn ch c th cp ngun 12V cho ng c
DC 24V, lm gim moment ca ng c trong qu trnh hot ng.

66

Cc chi tit c kh ca my ch yu l t ch to nn rt mt thi gian, vic thay th


v sa cha cng kh khn do vy cn s dng nhng chi tit c sn trong qu trnh thit
k my.
B nhn dng tin xu, phin bn u, sn xut t nm 2003, nn sau nhiu ln test,
hot ng khng n nh, kh nng nhn bit tin tht, gi vn tt, nhng tn hiu a
ra nhn bit loi tin xu no b sai lch. Li ny hon ton c th khc phc bng
vic mua mt b mi, cc phin bn i cao hn. Nhng ti th trng Vit Nam, thit b
ny rt kh mua, nn khc phc li do tn hiu sai ca b EU1, nhm lp thm cm
bin, kt hp vi b nhn dng, t nhn bit loi tin xu( b nhn dng c nhim v
phn loi tht gi, cn cc cm bin c nhim v nhn bit loi tin va c a vo).
Nhm phn bit cc loi tin 1000, 2000, 5000 bng cch o kch thc ng xu i
qua. y l phng php khng ti u, trong trng hp ny, do chnh xc khi lp
t cm bin khng cao. V do trong qu trnh chuyn ng, cc ng tin khng chuyn
ng thng do lc n hi vi mng, nn kch thc o c b sai lch, dn n m
sai tin, gia 2 ng xu 2000 v 5000. Khc phc bng cch lp t phi chnh xc,
cm bin s dng c th thay bng cc cm bin m pht nh sng theo tia( nhm s
dng cm bin hng ngoi, pht nh sng theo trm), tia sng cng nh cng tt. Nhng
cch tt nht vn l mua b nhn dng mi nu c th.
Tc m tin ca my cn chm. Khi cho tin vo nhanh, lin nhau, b nhn
dng khng x l kp. Nguyn nhn do tn hiu tr ra t b nhn dng c chu k
25ms/xung. Khc phc bng cch s dng b nhn dng c tc x l cao hn.
Do y l chic my u tin m chng nhm thit k v ch to nn cng khng
th trnh c nhng sai st, chng em mong nhn c nhng kin ng gp ca
Thy C v cc bn.
5.3. Hng pht trin ti
Ti Vit Nam, th trng cn rt tim nng pht trin cc dng my bn hng t
ng, v vy ti ca nhm c th tip tc c pht trin tr thnh mt sn phm
thng mi. Khi cc tnh nng ca my c th c ci tin:
- Kho cha c thit k li, gi kch thc ca kho, nhng ci tin b phn
chuyn hng ra theo dng mng, nh vy s gim c momen tc ng ln trc ng
c, nn c th thay ng c chuyn hng DC hin ti bng ng c bc, s hot ng
chnh xc hn( Hin tai y l vn ln nht nhm gp phi).
- Thit b nhn dng c th mua i cao hn, hot ng s m bo khng h c sai
lch khi tnh tin.
- Thm tnh nng thanh ton bng tin polyme v th ATM.( cc thit b ny c bn
sn, tn hiu a ra hon ton x l c).
- Thit k li giao din my, thay thit b hin th bng led ma trn hoc mn hnh
cm ng, s thn thin hn. Nt bm s dng li loi nt chm.
- Tng s lng hng m my bn, thm chc nng gi lnh...

KT LUN
67

Sau mt thi gian lm vic nhm ch to thnh cng m hnh mt chic my bn


nc ng chai sn, tha mn cc yu cu ca ti. My bn c ba loi mt hng l:
lon Coca, chai Lavie v bao thuc l Vinataba, thanh ton bng ba loi tin xu Vit Nam:
1000, 2000 v 5000,my hot ng tt, n nh.
Mt chic my, c th a vo thc t, cn ci tin v nng cp nhiu ln. Chic
my ny cng vy, cn nhiu thi gian v cng sc tip tc pht trin n. Chng ti
nhn thy, y l mt ti hay cho mt n tt nghip. Sau khi tt nghip, chng ti
mong mun chic my ny tip tc c pht trin i n hon thin.

68

TI LIU THAM KHO


- TS. Bi Qu Lc, H thng iu khin s trong cng nghip, NXB khoa hc k

thut, 2004.
- B mn T-L, khoa in, trng HCN H Ni, Truyn ng in, HCN

H Ni.
- L Trung Thng, Vi iu khin Atmega 128, Ebook.
- Michael J. Pont, Embedded C, Ebook.
- Ng Gia Khnh, n Nhn dng tin xu, HBK TPHCM, 2006.

- Diendandientu.com
- Datasheet.com
- Atmel.com

69

PH LC
1. Chng trnh iu khin ca my
T gii thut a ra, nhm lp trnh chi tit cho my hot ng. Chng trnh
gm cc th vin v mt hm chnh, c vit trn nn ca phn mm Codevision.
1.1: Th vin MAIN.H
Th vin ny dng khai bo cc bin s dng, chip, tn s thch anh.
/
************************MAIN.H**************************************
*****/
///////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////
#ifndef _MAIN_H
#define _MAIN_H
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
#include <mega128.h>
#define OSC_FREQ (16000000UL)
#define OSC_PER_INST (1)
typedef unsigned char new_char;
typedef unsigned int new_int;
typedef unsigned long new_long;
new_char xung=100, chuc_nghin, nghin, tram, sp1, sp2,
sp3,loi_sp1,loi_sp2,loi_sp3,start;
new_char error_detect_good1, error_detect_good2, error_detect_good3;
new_char error_detect_money_5k, error_detect_money_2k, error_detect_money_1k,
error_not_enough_money, error_repay_money, error_store_money;
new_int sotien, tien_thua,bien_hien_thi=0;
#endif
1.2: Th vin PORT.H
Th vin ny dng nh ngha cc chn ca vi iu khin Atmega128 c s
dng.

70

/********************************************************************
- - - - - - - - - - - - - - - - - PORT.H- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ______________________________________________
*************Define PINS of Microcontrol using in this project,Designed circur
and defined by Vending machine group ******************************/
///////////////////////////////////////////////////////////////////////////////////////////////////////////
#ifndef _PORT_H
#define _PORT_H
////////////////////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////////////////////
/******************define Pins control Step_motors**********************/
#define STEP1_CLOCK PORTB.2
#define STEP2_CLOCK PORTB.3
#define STEP3_CLOCK PORTB.4
//#define STEP4_CLOCK PORTB.5
//#define STEP5_CLOCK PORTB.6
#define STEP4_CLOCK PORTB.7
/********define Pins control 74LS47 IC**********************************/
#define input_7447_A PORTC.0
#define input_7447_B PORTC.1
#define input_7447_C PORTC.2
#define input_7447_D PORTC.3
/***********define Pins control 74LS138 IC*******************************/
#define input_74138_A0 PORTC.4
#define input_74138_A1 PORTC.5
#define input_74138_A2 PORTC.6
#define input_74138_E3 PORTC.7
/*************define Pins use as buttons*********************************/
#define SELECT_PRODUCT1 PIND.1
#define SELECT_PRODUCT2 PIND.2
#define SELECT_PRODUCT3 PIND.3
#define START

PIND.4

#define SELECT

#define NOT_SELECT

/**********define Pins use controlling DC motor**************************/


71

#define STOP_DC1 PINE.2


#define STOP_DC2 PINE.3
#define ok

#define not_ok

/********** define Pins use to detect goods_ok in the store*******************/


#define hang1_thuocla PINA.0
#define hang2_coca PINA.1
#define hang3_water PINA.2
/******** define Pins use to detect moneys_ok in the store*******************/
#define kho5k PINA.3
#define kho2k PINA.4
#define kho1k PINA.5
/****************************define Pins control led, display status of
machine********************************/
#define Status_machine_safe PORTA.7
//////////////////////////////////// End define/////////////////////////////////////////////////////////////////
#endif
1.3: Th vin Step.h
Th vin ny gm c Step.h, khai bo cc hm con c s dng iu khin ng
c bc, v Step.c, vit cho cc hm con khai bo ti Step.h..
1.3.1: Step.H
////////////////////////////////////////////// STEP.H ////////////////////////////////////////////////
////////////////////////////// Define functions control Step_motors /////////////////////////////////
/////////////////////////////////// VENDING MACHINE GROUP////////////////////////////////////
/*******************************************************************/
#ifndef _STEP_H
#define _STEP_H
//////////////////////////////////////////////////////////////////////////////////////
/* when we call those functions, step_motor will rotate 1/4 circle with direction as you
can see */
/* And n is the number of 1/4 circle which you wanna step_motor rotate*/
void step1_rotate_left(new_char n);
void step2_rotate_left(new_char n);
void step3_rotate_left(new_char n);
void step4_rotate_left(new_char n);
void step1_rotate_right(new_char n);
void step2_rotate_right(new_char n);
72

void step3_rotate_right(new_char n);


void step4_rotate_right(new_char n);
void step1_stop();
void step2_stop();
void step3_stop();
void step4_stop();
#endif
1.3.2: Step.c
////////////////////////////////////////////// STEP.c ////////////////////////////////////////////////
////////////////////////////// Write functions control Step_motors /////////////////////////////////
/////////////////////////////////// VENDING MACHINE GROUP/////////////////////////////////////
/******************************************************************/
#include <mega128.h>
#include <delay.h>
#include <MAIN.H>
#include <PORT.H>
#include <LED7SEG.H>
#include <PORTFG.H>
#include <ERR.H>
#include <INTERFACE.H>
#include <LED7SEG.c>
//#include <PORTFG.c>
///////////////////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////////////////////
void step1_rotate_left(new_char n)
{
new_char i,j;
out_F0_high();//enable
out_F6_high();//direct
for(i=1;i<=n;i++)
{
for(j=1;j<=50;j++)
{
STEP1_CLOCK=~STEP1_CLOCK;
display_product();
display_money();
73

display_err();
STEP1_CLOCK=~STEP1_CLOCK;
display_product();
display_money();
display_err();
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
void step1_rotate_right(new_char n)
{
new_char i,j;
out_F0_high();//enable
out_F6_low();//direct
for(i=1;i<=n;i++)
{
for(j=1;j<=50;j++)
{
STEP1_CLOCK=~STEP1_CLOCK;
display_product();
display_money();
display_err();
STEP1_CLOCK=~STEP1_CLOCK;
display_product();
display_money();
display_err();
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
void step1_stop()
{
out_F0_low();
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
void step2_rotate_left(new_char n)
74

{
new_char i,j;
out_F1_high();//enable
out_F7_high();//direct
for(i=1;i<=n;i++)
{
for(j=1;j<=50;j++)
{
STEP2_CLOCK=~STEP2_CLOCK;
display_product();
display_money();
display_err();
STEP2_CLOCK=~STEP2_CLOCK;
display_product();
display_money();
display_err();
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
void step2_rotate_right(new_char n)
{
new_char i,j;
out_F1_high();//enable
out_F7_low();//direct
for(i=1;i<=n;i++)
{
for(j=1;j<=50;j++)
{
STEP2_CLOCK=~STEP2_CLOCK;
display_product();
display_money();
display_err();
STEP2_CLOCK=~STEP2_CLOCK;
display_product();
display_money();
75

display_err();
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
void step2_stop()
{
out_F1_low();
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
void step3_rotate_left(new_char n)
{
new_char i,j;
out_F2_high();//enable
out_G0_high();//direct
for(i=1;i<=n;i++)
{
for(j=1;j<=50;j++)
{
STEP3_CLOCK=~STEP3_CLOCK;
display_product();
display_money();
display_err();
STEP3_CLOCK=~STEP3_CLOCK;
display_product();
display_money();
display_err();
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
void step3_rotate_right(new_char n)
{
new_char i,j;
out_F2_high();//enable
out_G0_low();//direct
76

for(i=1;i<=n;i++)
{
for(j=1;j<=50;j++)
{
STEP3_CLOCK=~STEP3_CLOCK;
display_product();
display_money();
display_err();
STEP3_CLOCK=~STEP3_CLOCK;
display_product();
display_money();
display_err();
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
void step3_stop()
{
out_F2_low();
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
void step4_rotate_left(new_char n)
{
new_char i,j;
out_F5_high();//enable
out_G4_high();//direct
for(i=1;i<=n;i++)
{
for(j=1;j<=50;j++)
{
STEP4_CLOCK=~STEP4_CLOCK;
display_product();
display_money();
display_err();
STEP4_CLOCK=~STEP4_CLOCK;
display_product();
77

display_money();
display_err();
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
void step4_rotate_right(new_char n)
{
new_char i,j;
out_F5_high();//enable
out_G4_low();//direct
for(i=1;i<=n;i++)
{
for(j=1;j<=50;j++)
{
STEP4_CLOCK=~STEP4_CLOCK;
display_product();
display_money();
display_err();
STEP4_CLOCK=~STEP4_CLOCK;
display_product();
display_money();
display_err();
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
void step4_stop()
{
out_F5_low();
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
1.4: Th vin LED7SEG.H
Th vin ny gm cc hm hin th led 7 seg, cng gm LED7SEG.H v
LED7SEG.c.
1.4.1: LED7SEG.H
78

/**************************LED7SEG.H*******************************/
//////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////
#ifndef _LED7SEG_H
#define _LED7SEG_H
//////////////////////////////////////////////////////////////////////////////////////
void so(new_char i);
void dk_8led_ok(void);
void dk_8led_off(void);
void dk_led1_on(void);
void dk_led2_on(void);
void dk_led3_on(void);
void dk_led4_on(void);
void dk_led5_on(void);
void dk_led6_on(void);
void dk_led7_on(void);
void dk_led8_on(void);
void display_money(void);
void display_product(void);\
void err(void);
void display_err(void);
#endif
1.4.2: LED7SEG.c
/*************************LED7SEG.c*******************************/
////////////////////////////////////////////////////////////////////////////////////
#include <mega128.h>
#include <MAIN.H>
#include <PORT.H>
#include <ERR.H>
#include <ERR.c>
#include <LED7SEG.H>
////////////////////////////////////////////////////////////////////////////////////\
///////////////////////////////////////////////////////////////////////////////////
void so(new_char i)
{
switch(i)
79

{
case 0:
{
//hien thi so 0
input_7447_A=0;
input_7447_B=0;
input_7447_C=0;
input_7447_D=0;
break;
}
case 1:
{
//hien thi so 1
input_7447_A=1;
input_7447_B=0;
input_7447_C=0;
input_7447_D=0;
break;
}
case 2:
{
//hien thi so 2
input_7447_A=0;
input_7447_B=1;
input_7447_C=0;
input_7447_D=0;
break;
}
case 3:
{
//hien thi so 3
input_7447_A=1;
input_7447_B=1;
input_7447_C=0;
input_7447_D=0;
break;
80

}
case 4:
{
//hien thi so 4
input_7447_A=0;
input_7447_B=0;
input_7447_C=1;
input_7447_D=0;
break;
}
case 5:
{
//hien thi so 5
input_7447_A=1;
input_7447_B=0;
input_7447_C=1;
input_7447_D=0;
break;
}
case 6:
{
//hien thi so 6
input_7447_A=0;
input_7447_B=1;
input_7447_C=1;
input_7447_D=0;
delay_us(200);
input_7447_A=1;
input_7447_B=0;
input_7447_C=1;
input_7447_D=1;
break;
}
case 7:
{
//hien thi so 7
81

input_7447_A=1;
input_7447_B=1;
input_7447_C=1;
input_7447_D=0;
break;
}
case 8:
{
//hien thi so 8
input_7447_A=0;
input_7447_B=0;
input_7447_C=0;
input_7447_D=1;
break;
}
case 9:
{
//hien thi so 9
input_7447_A=1;
input_7447_B=0;
input_7447_C=0;
input_7447_D=1;
delay_us(200);
input_7447_A=1;
input_7447_B=0;
input_7447_C=1;
input_7447_D=1;
break;
}
case 13:
{
//hien thi chu e
input_7447_A=1;
input_7447_B=0;
input_7447_C=1;
input_7447_D=1;
82

delay_us(200);
input_7447_A=0;
input_7447_B=1;
input_7447_C=0;
input_7447_D=1;
break;
}
case 101:
{
//hien thi chu d
input_7447_A=0;
input_7447_B=1;
input_7447_C=0;
input_7447_D=1;
delay_us(200);
input_7447_A=1;
input_7447_B=0;
input_7447_C=0;
input_7447_D=0;
break;
}
case 111:
{
//hien thi chu o
input_7447_A=0;
input_7447_B=1;
input_7447_C=0;
input_7447_D=1;
delay_us(200);
input_7447_A=1;
input_7447_B=1;
input_7447_C=0;
input_7447_D=1;
break;
}
}
83

}
///////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
void dk_8led_off(void)
{
input_74138_E3=0;
}
////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
void dk_8led_ok(void)
{
input_74138_E3=1;
}
//////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////
void dk_led1_on(void)
{
input_74138_E3=1;
input_74138_A0=0;
input_74138_A1=0;
input_74138_A2=0;
}
///////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
void dk_led2_on(void)
{
input_74138_E3=1;
input_74138_A0=1;
input_74138_A1=0;
input_74138_A2=0;
}
///////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
void dk_led3_on(void)
{
input_74138_E3=1;
84

input_74138_A0=0;
input_74138_A1=1;
input_74138_A2=0;
}
///////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
void dk_led4_on(void)
{
input_74138_E3=1;
input_74138_A0=1;
input_74138_A1=1;
input_74138_A2=0;
}
///////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
void dk_led5_on(void)
{
input_74138_E3=1;
input_74138_A0=0;
input_74138_A1=0;
input_74138_A2=1;
}
///////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
void dk_led6_on(void)
{
input_74138_E3=1;
input_74138_A0=1;
input_74138_A1=0;
input_74138_A2=1;
}
///////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
void dk_led7_on(void)
{
input_74138_E3=1;
85

input_74138_A0=0;
input_74138_A1=1;
input_74138_A2=1;
}
///////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
void dk_led8_on(void)
{
input_74138_E3=1;
input_74138_A0=1;
input_74138_A1=1;
input_74138_A2=1;
}
///////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
void display_product(void)
{
if(sp1!=0)
{
dk_led1_on();
so(sp1);
delay_us(500);
dk_8led_off();
}
if(sp2!=0)
{
dk_led2_on();
so(sp2);
delay_us(500);
dk_8led_off();
}
if(sp3!=0)
{
dk_led3_on();
so(sp3);
delay_us(500);
86

dk_8led_off();
}
}
/////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
void display_money(void)
{
if((error_not_enough_money==0)&&(error_detect_good1==0)&&(error_detect_g
ood2==0)&&(error_detect_good3==0)&&((nghin!=0)|(sp1!=0)|(sp2!=0)|(sp3!=0)|
(chuc_nghin!=0)|(tram!=0)))
{
dk_led8_on();
so(chuc_nghin);
delay_us(500);
dk_8led_off();
dk_led7_on();
so(nghin);
delay_us(500);
dk_8led_off();
dk_led6_on();
so(tram);
delay_us(500);
dk_8led_off();
dk_led5_on();
so(0);
delay_us(500);
dk_8led_off();
dk_led4_on();
so(0);
delay_us(500);
dk_8led_off();
}
}
////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
void err(new_char i)
{
87

// This programe display error was detected when machine done


new_char m,n;
m=i/10;
n=i%10;
dk_led8_on();
so(13);
delay_us(500);
dk_8led_off();
dk_led7_on();
so(101);
delay_us(500);
dk_8led_off();
dk_led6_on();
so(111);
delay_us(500);
dk_8led_off();
dk_led5_on();
so(m);
delay_us(500);
dk_8led_off();
dk_led4_on();
so(n);
delay_us(500);
dk_8led_off();
}
///////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////
void display_err(void)
{
if(error_not_enough_money==1)
{
display_error_not_enough_money();
}
if(error_detect_good1==1)
{
88

display_error_detect_good1();
}
if(error_detect_good2==1)
{
display_error_detect_good2();
}
if(error_detect_good3==1)
{
display_error_detect_good3();
}
if(error_store_money==1)
{
display_error_store_money();
}
if(error_repay_money==1)
{
display_error_repay_money();
}
}
//////////////////////////////////////////////////////////////////////////////
///////////////End every function//////////////////////////////////
DCmotor.H
Th vin ny c vit iu khin 2 ng c DC.
1.5.1. DCmotor.H
/**************************DCmotor.H******************************/
//////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////
#ifndef _DCmotor_H
#define _DCmotor_H
//////////////////////////////////////////////////////////////////////////////////////
// In main programe, define ICR1H=0x00;ICR1L=0x1E;
void stop_DC1(void);
void stop_DC2(void);
void DC1_rotate_left(new_char i); // i is numbers of 1/4 circle
void DC2_rotate_left(new_char i);// i is numbers of 1/4 circle
void DC1_rotate_right(new_char i);// i is numbers of 1/4 circle
89

void DC2_rotate_right(new_char i);// i is numbers of 1/4 circle


#endif
1.5.2. DCmotor.c
/*************************** DCmotor.c*****************************/
/******************************************************************/
/*********In this library, i built functions to control DCmotor*****************/
/***** DC_motors use to delive goods for clients, coca and beer can************/
/*************written by Vending machine group*************************/
/**********Two members of Mechatronic K1, HaUI and T_F_Love's love :d*****/
#include <mega128.h>
#include <delay.h>
#include <MAIN.H>
#include <PORT.H>
#include <PORTFG.H>
#include <STEP.H>
#include <LED7SEG.H>
#include <DCmotor.H>
#include <ERR.H>
#include <INTERFACE.H>
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// In main programe, define ICR1H=0x00;ICR1L=0x1E;
void stop_DC1(void)
{
OCR1AH=0x00;
OCR1AL=0x00;
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void stop_DC2(void)
{
OCR1BH=0x00;
OCR1BL=0x00;
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
90

void DC1_rotate_left(new_char i)
{
new_char n,m;
out_G1_low();
for(n=1;n<=i;n++)
{
m=0;
do
{
while((STOP_DC1==not_ok)&&(m==0))
{
OCR1AH=0x0D;
OCR1AL=0x6B; // 1/10 van toc toi da cua dong co
display_product();
display_money();
display_err();
}
OCR1AH=0x0D;
OCR1AL=0x6B;
m=1;
display_product();
display_money();
display_err();
}
while(STOP_DC1==ok);
OCR1AH=0x00;
OCR1AL=0x00;
}
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void DC1_rotate_right(new_char i)
{
new_char n,m;
out_G1_high();
for(n=1;n<=i;n++)
91

{
m=0;
do
{
while((STOP_DC1==not_ok)&&(m==0))
{
OCR1AH=0x0D;
OCR1AL=0x6B;
display_product();
display_money();
display_err();
}
OCR1AH=0x0D;
OCR1AL=0x6B;
m=1;
display_product();
display_money();
display_err();
}
while(STOP_DC1==ok);
OCR1AH=0x00;
OCR1AL=0x00;
};
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void DC2_rotate_left(new_char i)
{
new_char n,m;
out_G3_low();
for(n=1;n<=i;n++)
{
m=0;
do
{
while((STOP_DC2==not_ok)&&(m==0))
92

{
OCR1BH=0x0D;
OCR1BL=0x6B;
display_product();
display_money();
display_err();
}
OCR1BH=0x0D;
OCR1BL=0x6B;
m=1;
display_product();
display_money();
display_err();
}
while(STOP_DC2==ok);
OCR1BH=0x00;
OCR1BL=0x00;
}
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void DC2_rotate_right(new_char i)
{
new_char n,m;
out_G3_high();
for(n=1;n<=i;n++)
{
m=0;
do
{
while((STOP_DC2==not_ok)&&(m==0))
{
OCR1BH=0x0D;
OCR1BL=0x6B;
display_product();
display_money();
93

display_err();
}
OCR1BH=0x0D;
OCR1BL=0x6B;
m=1;
display_product();
display_money();
display_err();
}
while(STOP_DC2==ok);
OCR1BH=0x00;
OCR1BL=0x00;
}
}
//////////////////////////////////////////////////////////////////////////
END///////////////////////////////////////////////////////////////////////
1.6: Th vin PORTFG.H
Do chip Atmega 128 khng th xut nhp Port F v Port G theo tng chn ring bit,
nn nhm phi xy dng th vin ny iu khin 2 Port ny theo tng chn ring r.
1.6.1. PORTFG.H
/*************************PORTFG.H********************************/
//////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////
#ifndef _PORTFG_H
#define _PORTFG_H
//////////////////////////////////////////////////////////////////////////////////////
void out_F0_high(void);
void out_F1_high(void);
void out_F2_high(void);
void out_F3_high(void);
void out_F4_high(void);
void out_F5_high(void);
void out_F6_high(void);
void out_F7_high(void);
void out_G0_high(void);
void out_G1_high(void);
void out_G2_high(void);
94

void out_G3_high(void);
void out_G4_high(void);
void out_F0_low(void);
void out_F1_low(void);
void out_F2_low(void);
void out_F3_low(void);
void out_F4_low(void);
void out_F5_low(void);
void out_F6_low(void);
void out_F7_low(void);
void out_G0_low(void);
void out_G1_low(void);
void out_G2_low(void);
void out_G3_low(void);
void out_G4_low(void);
/////////////////////////////////End define function///////////////////////////////////
#endif
1.6.2. PORTFG.c
/************************PORTFG.c*********************************/
//////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////
#include <mega128.h>
#include <PORT.H>
#include <MAIN.H>
#include <PORTFG.H>
/////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////
///////////////////////// out Pins of PortF high ////////////////////////////////////
void out_F0_high(void)
{
PORTF=PORTF | 0X01;
}
void out_F1_high(void)
{
PORTF=PORTF | 0x02;
}
95

void out_F2_high(void)
{
PORTF=PORTF | 0x04;
}
void out_F3_high(void)
{
PORTF=PORTF | 0x08;
}
void out_F4_high(void)
{
PORTF=PORTF | 0x10;
}
void out_F5_high(void)
{
PORTF=PORTF | 0x20;
}
void out_F6_high(void)
{
PORTF=PORTF | 0x40;
}
void out_F7_high(void)
{
PORTF=PORTF | 0x80;
}
///////////////////////// out Pins of PortF low ////////////////////////////////////
void out_F0_low(void)
{
PORTF=PORTF& 0xFE;
}
void out_F1_low(void)
{
PORTF=PORTF& 0xFD;
}
void out_F2_low(void)
{
PORTF=PORTF& 0xFB;
96

}
void out_F3_low(void)
{
PORTF=PORTF& 0xF7;
}
void out_F4_low(void)
{
PORTF=PORTF& 0xEF;
}
void out_F5_low(void)
{
PORTF=PORTF& 0xDF;
}
void out_F6_low(void)
{
PORTF=PORTF& 0xBF;
}
void out_F7_low(void)
{
PORTF=PORTF& 0x7F;
}
///////////////////////// out Pins of PortG high ////////////////////////////////////
void out_G0_high(void)
{
PORTG=PORTG | 0X01;
}
void out_G1_high(void)
{
PORTG=PORTG | 0X02;
}
void out_G2_high(void)
{
PORTG=PORTG | 0X04;
}
void out_G3_high(void)
{
97

PORTG=PORTG | 0X08;
}
void out_G4_high(void)
{
PORTG=PORTG | 0X10;
}
///////////////////////// out Pins of PortG low ////////////////////////////////////
void out_G0_low(void)
{
PORTG=PORTG& 0xFE;
}
void out_G1_low(void)
{
PORTG=PORTG& 0xFD;
}
void out_G2_low(void)
{
PORTG=PORTG& 0xFB;
}
void out_G3_low(void)
{
PORTG=PORTG& 0xF7;
}
void out_G4_low(void)
{
PORTG=PORTG& 0xEF;
}
1.7. Th vin Err.H
Th vin ny xy dng hin th cc li ca my c th xut hin khi my hot ng.
1.7.1. Err.H
/*************************ERR.H***********************************/
//////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////
#ifndef _ERR_H
#define _ERR_H
//////////////////////////////////////////////////////////////////////////////////////
98

void display_error_not_enough_money(void);
void display_error_detect_good1(void);
void display_error_detect_good2(void);
void display_error_detect_good3(void);
void display_error_store_money(void);
void display_error_repay_money(void);
#endif
1.7.2. Err.c
/**************************** ERR.c********************************/
/*********In this library, i built functions to display err when machine action****/
/***** *********written by Vending machine group***********************/
/******** Two members of Mechatronic K1, HaUI and T_F_Love's love :d******/
#include <mega128.h>
#include <delay.h>
#include <MAIN.H>
#include <PORT.H>
#include <PORTFG.H>
#include <STEP.H>
#include <LED7SEG.H>
#include <DCmotor.H>
#include <ERR.H>
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void display_error_detect_good1(void)
{
new_int i;
if(error_detect_good1==1)
{
for(i=1;i<=1000;i++)
{
err(1);
display_product();
}
error_detect_good1=0;
}
99

}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void display_error_detect_good2(void)
{
new_int i;
if(error_detect_good2==1)
{
for(i=1;i<=1000;i++)
{
err(2);
display_product();
}
error_detect_good2=0;
}
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void display_error_detect_good3(void)
{
new_int i;
if(error_detect_good3==1)
{
for(i=1;i<=1000;i++)
{
err(3);
display_product();
}
error_detect_good3=0;
}
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void display_error_not_enough_money(void)
100

{
new_int i;
if(error_not_enough_money==1)
{
for(i=1;i<=1000;i++)
{
err(4);
display_product();
}
error_not_enough_money=0;
}
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void display_error_store_money(void)
{
new_int i;
if(error_store_money==1)
{
for(i=1;i<=1000;i++)
{
err(5);
display_product();
}
error_store_money=0;
}
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void display_error_repay_money(void)
{
new_int i;
if(error_repay_money==1)
{
101

for(i=1;i<=1000;i++)
{
err(6);
display_product();
}
error_repay_money=0;
}
}
/////////////////////////////////////////// END///////////////////////////////////////////////////////////////////////
1.8. Th vin INTERFACE.H
Th vin ny gm cc hm thc hin lu thut ton iu khin my.
1.8.1. INTERFACE.H
/******************INTERFACE.H***********************************/
//////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////
#ifndef _INTERFACE_H
#define _INTERFACE_H
//////////////////////////////////////////////////////////////////////////////////////
void trahang1_thuocla(void);
void trahang2_coca(void);
void trahang3_water(void);
void tra_hang(void);
void tra_lai_tien(void);
void reset_system(void);
#endif
1.8.2: INTERFACE.c
#include <mega128.h>
#include <delay.h>
#include <MAIN.H>
#include <PORT.H>
#include <PORTFG.H>
#include <STEP.H>
#include <LED7SEG.H>
#include <DCmotor.H>
#include <ERR.H>
102

#include <INTERFACE.H>
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void trahang1_thuocla(void)
{
while(sp1>0)
{
if(hang1_thuocla==not_ok)
{
error_detect_good1=1;
break;
}
step4_rotate_left(1);
sp1--;
display_product();
display_money();
display_err();
}
loi_sp1=sp1;
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void trahang2_coca(void)
{
while(sp2>0)
{
if(hang2_coca==not_ok)
{
error_detect_good2=1;
break;
}
DC1_rotate_left(1);
sp2--;
display_product();
display_money();
display_err();
103

}
loi_sp2=sp2;
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void trahang3_water(void)
{
while(sp3>0)
{
if(hang3_water==not_ok)
{
error_detect_good3=1;
break;
}
DC2_rotate_left(1);
sp3--;
display_product();
display_money();
display_err();
}
loi_sp3=sp3;
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void tra_hang(void)
{
if(sp1>0)
trahang1_thuocla();
if(sp2>0)
trahang2_coca();
if(sp3>0)
trahang3_water();
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void tra_lai_tien(void)
104

{
if((kho5k==not_ok)&&(kho2k==not_ok)&&(kho1k==not_ok))
error_store_money=1;
while((tien_thua>0)&&(error_store_money!=1))
{
while((kho5k==ok)&&(tien_thua>=5000))
{
step1_rotate_left(1);
tien_thua=tien_thua-5000;
display_product();
display_money();
display_err();
}
while((kho2k==ok)&&(tien_thua>=200))
{
step2_rotate_left(1);
tien_thua=tien_thua-2000;
display_product();
display_money();
display_err();
}
while((kho1k==ok)&&(tien_thua>=1000))
{
step3_rotate_left(1);
tien_thua=tien_thua-1000;
display_product();
display_money();
display_err();
}
if((kho5k==not_ok)&&(kho2k==not_ok)&&(kho1k==not_ok))
{
error_repay_money=1;
break;
}
}
}
105

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void reset_system(void)
{
xung=0;
chuc_nghin=0;
nghin=0;
tram=0;
sp1=0;
sp2=0;
sp3=0;
loi_sp1=0;
loi_sp2=0;
loi_sp3=0;
error_detect_good1=0;
error_detect_good2=0;
error_detect_good3=0;
error_detect_money_5k=0;
error_detect_money_2k=0;
error_detect_money_1k=0;
error_not_enough_money=0;
error_repay_money=0;
error_store_money=0;
sotien=0;
tien_thua=0;
}
////////////////////////////////////////////////// END///////////////////////////////////////////////////////////
1.9. Hm main.c
Chng trnh chnh vit iu khin my hot ng.
/*****************************************************
This program was produced by the
CodeWizardAVR V2.03.4 Standard
Automatic Program Generator
Copyright 1998-2008 Pavel Haiduc, HP InfoTech s.r.l.
http://www.hpinfotech.com

106

Project : Main programe to control vending machine.


Version : 10.1
Date : 03/06/2010
Author : Vending machine group
Company : Mechatronic K1, HaUI.
Comments: Nothing

Chip type
Program type

: ATmega128
: Application

Clock frequency

: 16.000000 MHz

Memory model

: Small

External RAM size : 0


Data Stack size

: 1024

*****************************************************/
#include <mega128.h>
#include <delay.h>
#include <MAIN.H>
#include <PORT.H>
#include <PORTFG.H>
#include <STEP.H>
#include <LED7SEG.H>
#include <DCmotor.H>
#include <ERR.H>
#include <INTERFACE.H>
#include <PORTFG.c>
#include <STEP.c>
#include <DCmotor.c>
//#include <ERR.c>
#include <INTERFACE.c>
//#include <LED7SEG.c>
/*#define gia_sp1 10000
#define gia_sp2 7000
#define gia_sp3 60000*/

107

// External Interrupt 0 service routine


interrupt [EXT_INT0] void ext_int0_isr(void)
{
// Place your code here
xung++;
}
// External Interrupt 1 service routine
interrupt [EXT_INT1] void ext_int1_isr(void)
{
// Place your code here
if(tien_thua>= gia_sp1)
{
if(hang1_thuocla==ok)
{
sp1++;
if(sp1>9)
sp1=9;
}
else
error_detect_good1=1;
}
else
error_not_enough_money=1;
}
// External Interrupt 2 service routine
interrupt [EXT_INT2] void ext_int2_isr(void)
{
// Place your code here
if(tien_thua>= gia_sp2)
{
if(hang2_coca==ok)
{
sp2++;
if(sp2>9)
108

sp2=9;
}
else
error_detect_good2=1;
}
else
error_not_enough_money=1;
}
// External Interrupt 3 service routine
interrupt [EXT_INT3] void ext_int3_isr(void)
{
// Place your code here
if(tien_thua>= gia_sp3)
{
if(hang3_water==ok)
{
sp3++;
if(sp3>9)
sp3=9;
}
else
error_detect_good3=1;
}
else
error_not_enough_money=1;
}
// External Interrupt 5 service routine
interrupt [EXT_INT5] void ext_int5_isr(void)
{
// Place your code here
sotien=sotien+5000;
}
// External Interrupt 6 service routine
109

interrupt [EXT_INT6] void ext_int6_isr(void)


{
// Place your code here
sotien=sotien+2000;
}
// External Interrupt 7 service routine
interrupt [EXT_INT7] void ext_int7_isr(void)
{
// Place your code here
sotien=sotien+1000;
}

// Timer 0 overflow interrupt service routine


interrupt [TIM0_OVF] void timer0_ovf_isr(void)
{
// Reinitialize Timer 0 value
TCNT0=0x00;
// Place your code here
//sotien=xung*500;
tien_thua=sotien-(sp1-loi_sp1)*gia_sp1-(sp2-loi_sp2)*gia_sp2-(sp3loi_sp3)*gia_sp3;
chuc_nghin=tien_thua/10000;
nghin=(tien_thua-10000*chuc_nghin)/1000;
tram=tien_thua-10000*chuc_nghin-1000*nghin;
display_product();
display_money();
display_err();
if(START==SELECT)
{
display_product();
display_money();
display_err();
tra_hang();
tra_lai_tien();
110

display_err();
reset_system();
}
}
// Declare your global variables here
void main(void)
{
PORTA=0x00;
DDRA=0xC0;
PORTB=0x00;
DDRB=0xFE;
PORTC=0x00;
DDRC=0xFF;
PORTD=0x00;
DDRD=0xE0;
PORTE=0x00;
DDRE=0x03;
PORTF=0x00;
DDRF=0xFF;
PORTG=0x00;
DDRG=0x1F;
ASSR=0x00;
TCCR0=0x01;
TCNT0=0xFF;
OCR0=0xFF;
TCCR1A=0xA2;
TCCR1B=0x19;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x1E;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
111

OCR1BL=0x00;
OCR1CH=0x00;
OCR1CL=0x00;
TCCR2=0x00;
TCNT2=0x00;
OCR2=0x00;
TCCR3A=0x00;
TCCR3B=0x00;
TCNT3H=0x00;
TCNT3L=0x00;
ICR3H=0x00;
ICR3L=0x00;
OCR3AH=0x00;
OCR3AL=0x00;
OCR3BH=0x00;
OCR3BL=0x00;
OCR3CH=0x00;
OCR3CL=0x00;
EICRA=0xAA;
EICRB=0xFC;
EIMSK=0xEF;
EIFR=0xEF;
/*
EICRA=0xAA;
EICRB=0x00;
EIMSK=0xEF;
EIFR=0xEF;
*/
// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x01;
ETIMSK=0x00;
ACSR=0x80;
SFIOR=0x00;
// Global enable interrupts
#asm("sei")
112

while (1)
{
// Place your code here
};
}
2.

Cc bn v
Phn ny gm bn v cc chi tit c kh nhm thit k.

113

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