thuyet minh

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Thit k tay may co 3 bc

MUC LUC Trang MUC LUC.................................................................1 LI NOI U............................................................3 Chng 1: GII THIU V TAY MAY CNG NGHIP 41.1. S LT QU TRNH PHT TRIN CA ROBOT CNG NGHIP INDUSTRIAL ROBOT): 1.2. NG DNG ROBOT CNG NGHIP TRONG SN XUT : 1.3. CC KHI NIM V NH NGHA V ROBOT CNG NGHIP : (IR :

1.3.1. nh ngha robot cng nghip : 1.3.2. Bc t do ca robot (DOF : Degrees Of Freedom) : 1.3.3. H to (Coordinate frames) : 1.3.4. Trng cng tc ca robot (Workspace or Range of motion):1.4. CU TRC C BN CA ROBOT CNG NGHIP :

1.4.1. Cc thnh phn chnh ca robot cng nghip : 1.4.2. Kt cu ca tay my :1.5. PHN LOI ROBOT CNG NGHIP :

1.5.1. Phn loi theo kt cu : 1.5.2. Phn loi theo h thng truyn ng 1.5.3. Phn loi theo ng dng :1.5.4. Phn loi theo cch thc v c trng ca phng php iu khin :

Chng 2: PHN TCH VA CHON PHNG AN THIT K .....................................................................................2.1.TNH LINH HOT CA MT TAY MY CNG NGHIP:

2.1.1.Phn tch mt s khu , khp c trong c kh:2.1.2.Mt s kt cu tay my in hnh:

2.2. LA CHN PHNG N THI CNG:2.2.1.Tnh thc t ca mt n: 2.2.2. n thit k tay my c 3 bc t do:(RRR) 2.2.3. Mt s tin thc hin n c hiu qu: Chng 3: THIT LP PHNG TRNH NG HOC CHO C CU.......................................................................3.1.L THUYT M U:

3.1.1.Mi quan h gia cc khu khp trong tay my: Chng 4: THIT K PHN C TNH TOAN SC BN CHI TIT MAY4.1.GII THIU V VIC THIT K TAY MY

4.1.1.Cch thc truyn ng v phm vi lm vic 4.1.2.Mt s chi tit chnh: 4.1.3.ng c bc: 4.1.4.Phn tch ng hc tay my:4.2.NGUYN L, C CU TRUYN NG CA TAY MY:

4.2.1.Nguyn l hot ng ca tay my: 4.2.2.Cc thnh phn ca tay my 3 bc t do: 4.2.3.Khu th nht: Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 1

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4.2.4.Khu th hai: 4.2.5. Khu th 3: 4.2.6.Khp 3+C cu kp 4.2.7.Tnh chn ln: :4.2.8. Tnh ton trc: Chng 5: THIT K CAC MODUL IN IU KHIN5.1.GII THIU VI IU KHIN:

5.1.1. Tng quan v k thut vi iu khin: 5.1.2.Chc nng cc chn vi iu khin: 5.1.3.T chc b nh ca b vi iu khin 8051: 5.1.4. Cng tc Reset: 5.1.5. Hot ng ca b nh thi 5.1.6. Hot ng ca ngt: 5.1.7. Cc ngt ca AT89C51:

5.2.THIT K PHN IN T IU KHIN TAY MY:5.2.1. Mch ngun cho c h: 5.2.2. Mch vi iu khin: 5.2.3. Mch giao tip my tnh: 5.2.4 Modul cng sut: 5.2.5 Mch cng tc hnh trnh v bn phm: Chng 6: CHNG TRNH IU KHIN.................................. TAI LIU THAM KHAO.................................................

LI NOI UTh ky 21 la th ky cua khoa hoc ky thut hin ai va Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 2

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tin tin, no i su vao toan b i sng con ngi trn trai t, giup con ngi trong moi lnh vc, no thay i c bp con ngi t nhng cng vic n gian n nhng cng vic phc tap, trong o co nganh c in t . S i ln cua nganh c kh gn lin vi s ng dung cng ngh mi. ap ng nhu cu ngay cang cao cua xa hi va tip cn nn khoa hoc ky thut trong tng lai, th nn tang cua nganh c in t ma chung em c cac thy, c truyn at va nghin cu la c s ban u chung em tip thu va trang b nhng kin thc cao hn na, lam chu nhng may moc cng cu hin ai . an tt nghip ma chung em c giao la Thit k tay may 3 bc t do Trong qua trnh thit k an vi s hng dn tn tnh cua thy c giao va n lc cua ban thn, n nay nhim vu cua chung em a hoan thanh, mc du rt c gn trong qua trnh tm hiu, tnh toan va thit k nhng chc chn khng th tranh khoi c nhng sai sot. Chung em rt mong c s ch bao cua cac thy giao trong b mn an c hoan thin hn. Chung em xin chn thanh cam n s quan tm hng dn tn tnh cua thy: Trn nh Sn v cc thy, c giao trong khoa c kh trng ai hoc Bach Khoa a Nng Chung em xin ha sau khi bao v thanh cng an tt nghip ra trng se tip tuc tm toi hoc hoi, kt hp gia ly thuyt vi thc t hoan thanh tt nhim vu c giao. Mt ln na chung em xin chn thanh cam n s ng vin cua ba me, s giup cua cac ban trong lp a ch bay hoan thanh tt an nay!!! a nng ngay 27 thang 5 nm 2007 Sinh vin thc hin Phan Th Anh V Minh Vng

Nhom SVTH : Phan Th Anh V Minh Vng

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Chng 1: GII THIU V TAY MAY CNG NGHIP1.1. S LT QU TRNH PHT TRIN CA ROBOT CNG NGHIP (IR : INDUSTRIAL ROBOT):Thut ng Robot xut pht t ting Sec (Czech) Robota c ngha l cng vic tp dch trong v kch Rossums Universal Robots ca Karel Capek, vo nm 1921. Trong v kch ny, Rossum v con trai ca ng ta ch to ra nhng chic my gn ging vi con ngi phc v con ngi. C l l mt gi ban u cho cc nh sng ch k thut v nhng c cu, my mc bt chc cc hot ng c bp ca con ngi. u thp k 60, cng ty M AMF (American Machine and Foundry Company) qung co mt loi my t ng vn nng v gi l Ngi my cng nghip (Industrial Robot). Ngy nay ngi ta t tn ngi my cng nghip (hay robot cng nghip) cho nhng loi thit b c dng dp v mt vi chc nng nh tay ngi c iu khin t ng thc hin mt s thao tc sn xut. V mt k thut, nhng robot cng nghip ngy nay, c ngun gc t hai lnh vc k thut ra i sm hn l cc c cu iu khin t xa (Teleoperators) v cc my cng c iu khin s (NC - Numerically Controlled machine tool). Cc c cu iu khin t xa (hay cc thit b kiu ch-t) pht trin mnh trong chin tranh th gii ln th hai nhm nghin cu cc vt liu phng x. Ngi thao tc c tch bit khi khu vc phng x bi mt bc tng c mt hoc vi ca quan st c th nhn thy c cng vic bn trong. Cc c cu iu khin t xa thay th cho cnh tay ca ngi thao tc; n gm c mt b kp bn trong (t) v hai tay cm bn ngoi (ch). C hai, tay cm v b kp, c ni vi nhau bng mt c cu su bc t do to ra cc v tr v hng tu ca tay cm v b kp. C cu dng iu khin b kp theo chuyn ng ca tay cm. Vo khong nm 1949, cc my cng c iu khin s ra i, nhm p ng yu cu gia cng cc chi tit trong ngnh ch to my bay. Nhng robot u tin thc cht l s ni kt gia cc khu c kh ca c cu iu khin t xa vi kh nng lp trnh ca my cng c iu khin s. Di y chng ta s im qua mt s thi im lch s pht trin ca ngi my cng nghip. Mt trong nhng robot cng nghip u tin c ch to l robot Versatran ca cng ty AMF, M. Cng vo khong thi gian ny M xut hin loi robot Unimate 1900 c dng u tin trong k ngh t. Tip theo M, cc nc khc bt u sn xut robot cng nghip : Anh 1967, Thy in v Nht 1968 theo bn quyn ca M; CHLB c -1971; Php - 1972; 1973. . . Tnh nng lm vic ca robot ngy cng c nng cao, nht l kh nng nhn bit v x l. Nm 1967 trng i hc tng hp Stanford (M) ch to ra mu robot hot ng theo m hnh mt-tay, c kh nng nhn bit v nh hng bn kp theo v tr vt kp nh cc cm bin. Nm 1974 Cng ty M Cincinnati a ra loi robot c iu khin bng my vi tnh, gi l robot T3 (The Tomorrow Tool : Cng c ca Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 4

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tng lai). Robot ny c th nng c vt c khi lng n 40 KG. C th ni, Robot l s t hp kh nng hot ng linh hot ca cc c cu iu khin t xa vi mc tri thc ngy cng phong ph ca h thng iu khin theo chng trnh s cng nh k thut ch to cc b cm bin, cng ngh lp trnh v cc pht trin ca tr khn nhn to, h chuyn gia ... Trong nhng nm sau ny, vic nng cao tnh nng hot ng ca robot khng ngng pht trin. Cc robot c trang b thm cc loi cm bin khc nhau nhn bit mi trng chung quanh, cng vi nhng thnh tu to ln trong lnh vc Tin hc - in t to ra cc th h robot vi nhiu tnh nng c bit, S lng robot ngy cng gia tng, gi thnh ngy cng gim. Nh vy, robot cng nghip c v tr quan trng trong cc dy chuyn sn xut hin i. Mt vi s liu v s lng robot c sn xut mt vi nc cng nghip pht trin nh sau :

Nc SX Nht M c Php Anh Hn Quc

Nm 199066.118 4.237 5.845 2.500 1.448 510 1000

Nm 199429.756 7.634 5.125 2.408 1.197 1086 1200

Nm 199867000 11000 8.600 4000 2000 1500

M l nc u tin pht minh ra Robot nhng nc pht trin cao nht trong lnh vc nghin cu ch to s dng li l Nht Bn.

1.2. NG DNG ROBOT CNG NGHIP TRONG SN XUT :T khi mi ra i robot cng nghip c p dng trong nhiu lnh vc di gc thay th sc ngi. Nh vy cc dy chuyn sn xut c t chc li, nng sut v hiu qu sn xut tng ln r rt. Mc tiu ng dng robot cng nghip nhm gp phn nng cao nng sut dy chuyn cng ngh, gim gi thnh, nng cao cht lng v kh nng cnh tranh ca sn phm ng thi ci thin iu kin lao ng. t c cc mc tiu trn l nh vo nhng kh nng to ln ca robot nh : lm vic khng bit mt mi, rt d dng chuyn Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 5

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ngh mt cch thnh tho, chu c phng x v cc mi trng lm vic c hi, nhit cao, cm thy c c t trng v nghe c c siu m ... Robot c dng thay th con ngi trong cc trng hp trn hoc thc hin cc cng vic tuy khng nng nhc nhng n iu, d gy mt mi, nhm ln. Trong ngnh c kh, robot c s dng nhiu trong cng ngh c, cng ngh hn, ct kim loi, sn, phun ph kim loi, tho lp vn chuyn phi, lp rp sn phm . . . Ngy nay xut hin nhiu dy chuyn sn xut t ng gm cc my CNC vi Robot cng nghip, cc dy chuyn t mc t ng ho cao, mc linh hot cao . . . y cc my v robot c iu khin bng cng mt h thng chng trnh. Ngoi cc phn xng, nh my, k thut robot cng c s dng trong vic khai thc thm lc a v i dng, trong y hc, s dng trong quc phng, trong chinh phc v tr, trong cng nghip nguyn t, trong cc lnh vc x hi . . . R rng l kh nng lm vic ca robot trong mt s iu kin vt hn kh nng ca con ngi; do n l phng tin hu hiu t ng ho, nng cao nng sut lao ng, gim nh cho con ngi nhng cng vic nng nhc v c hi. Nhc im ln nht ca robot l cha linh hot nh con ngi, trong dy chuyn t ng, nu c mt robot b hng c th lm ngng hot ng ca c dy chuyn, cho nn robot vn lun hot ng di s gim st ca con ngi.

1.3. CC KHI NIM V NH NGHA V ROBOT CNG NGHIP :1.3.1. nh ngha robot cng nghip : nh ngha theo tiu chun AFNOR (Php) : Robot cng nghip l mt c cu chuyn ng t ng c th lp trnh, lp li cc chng trnh, tng hp cc chng trnh t ra trn cc trc to ; c kh nng nh v, nh hng, di chuyn cc i tng vt cht : chi tit, dao c, g lp . . . theo nhng hnh trnh thay i chng trnh ho nhm thc hin cc nhim v cng ngh khc nhau. nh ngha theo RIA (Robot institute of America) : Robot l mt tay my vn nng c th lp li cc chng trnh c thit k di chuyn vt liu, chi tit, dng c hoc cc thit b chuyn dng thng qua cc chng trnh chuyn ng c th thay i hon thnh cc nhim v khc nhau. nh ngha theo GOCT 25686-85 (Nga) : Robot cng nghip l mt my t ng, c t c nh hoc di ng c, lin kt gia mt tay my v mt h thng iu khin theo chng trnh, c th lp trnh li hon thnh cc chc nng vn ng v iu khin trong qu trnh sn xut. C th ni Robot cng nghip l mt my t ng linh hot thay th tng phn hoc ton b cc hot ng c bp v hot ng tr tu ca con ngi trong nhiu kh nng thch nghi khc nhau. Robot cng nghip c kh nng chng trnh ho linh hot trn nhiu trc chuyn ng, biu th cho s bc t do ca chng. Robot cng nghip c trang b nhng bn tay my hoc cc c cu chp hnh, gii quyt nhng nhim v xc nh trong cc qu trnh cng ngh : hoc trc tip tham gia thc hin cc nguyn cng (sn, hn, phun ph, rt kim loi vo khun c, lp rp my . . .) hoc phc v cc qu trnh cng ngh (tho lp chi tit gia cng, dao c, g . . .) vi nhng thao tc cm nm, Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 6

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vn chuyn v trao i cc i tng vi cc trm cng ngh, trong mt h thng my t ng linh hot, c gi l H thng t ng linh hot robot ho cho php thch ng nhanh v thao tc n gin khi nhim v sn xut thay i. 1.3.2. Bc t do ca robot (DOF : Degrees Of Freedom) : Bc t do l s kh nng chuyn ng ca mt c cu (chuyn ng quay hoc tnh tin). dch chuyn c mt vt th trong khng gian, c cu chp hnh ca robot phi t c mt s bc t do. Ni chung c h ca robot l mt c cu h, do bc t do ca n c th tnh theo cng thc :w = 6n ip ii =1 5

y: n - S khu ng; pi - S khp loi i (i = 1,2,. . .,5 : S bc t do b hn ch). i vi cc c cu c cc khu c ni vi nhau bng khp quay hoc tnh tin (khp ng loi 5) th s bc t do bng vi s khu ng . i vi c cu h, s bc t do bng tng s bc t do ca cc khp ng. nh v v nh hng khu chp hnh cui mt cch tu trong khng gian 3 chiu robot cn c 6 bc t do, trong 3 bc t do nh v v 3 bc t do nh hng. Mt s cng vic n gin nng h, sp xp... c th yu cu s bc t do t hn. Cc robot hn, sn... thng yu cu 6 bc t do. Trong mt s trng hp cn s kho lo, linh hot hoc khi cn phi ti u ho qu o,... ngi ta dng robot vi s bc t do ln hn 6. 1.3.3. H to (Coordinate frames) : Mi robot thng bao gm nhiu khu (links) lin kt vi nhau qua cc khp (joints), to thnh mt xch ng hc xut pht t mt khu c bn (base) ng yn. H to gn vi khu c bn gi l h to c bn (hay h to chun). Cc h to trung gian khc gn vi cc khu ng gi l h to suy rng. Trong tng thi im hot ng, cc to suy rng xc nh cu hnh ca robot bng cc chuyn dch di hoc cc chuyn dch gc ca cc khp tnh tin hoc khp quay . Cc to suy rng cn c gi l bin khp.(hnh 1.1)

Cc h to gn trn cc khu ca robot phi tun theo qui tc bn tay phi : Dng tay phi, nm hai ngn tay t v p t vo lng bn tay, xo 3 ngn : ci, tr v gia theo 3 phng vung gc nhau, nu chn ngn ci l phng v chiu ca trc z, th ngn tr ch phng, chiu ca trc x v ngn gia s biu th phng, chiu ca trc y (hnh 1.2). Trong robot ta thng dng ch O v ch s n ch h to gn trn khu th n. Nh vy h to c bn (H to gn vi khu c nh) s c k hiu l O0; h to gn trn cc khu trung gian tng ng s l O1, O2,..., On-1, H to gn trn Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 7

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1.3.4. Trng cng tc ca robot (Workspace or Range of motion): Trng cng tc (hay vng lm vic, khng gian cng tc) ca robot l ton b th tch c qut bi khu chp hnh cui khi robot thc hin tt c cc chuyn ng c th. Trng cng tc b rng buc bi cc thng s hnh hc ca robot cng nh cc rng buc c hc ca cc khp; v d, mt khp quay c chuyn ng nh hn mt gc 3600. Ngi ta thng dng hai hnh chiu m t trng cng tc ca mt robot (hnh 1.3).

1.4. CU TRC C BN CA ROBOT CNG NGHIP :1.4.1. Cc thnh phn chnh ca robot cng nghip : Mt robot cng nghip thng bao gm cc thnh phn chnh nh : cnh tay robot, ngun ng lc, dng c gn ln khu chp hnh cui, cc cm bin, b iu khin , thit b dy hc, my tnh ... cc phn mm lp trnh cng nn c coi l mt thnh phn ca h thng robot. Cnh tay robot (tay my) l kt cu c kh gm cc khu lin kt vi nhau bng cc khp ng c th to nn nhng chuyn ng c bn ca robot. Ngun ng lc l cc ng c in (mt chiu hoc ng c bc), cc h thng xy lanh kh nn, thu lc to ng lc cho tay my hot ng. Dng c thao tc c gn trn khu cui ca robot, dng c ca robot c th c nhiu kiu khc nhau nh : dng bn tay nm bt i tng hoc cc cng c lm vic nh m hn, mi, u phun sn ... Thit b dy-hoc (Teach-Pendant) dng dy cho robot cc thao tc cn thit theo yu cu ca qu trnh lm vic, sau robot t lp li cc ng tc c dy lm vic (phng php lp trnh kiu dy hc). Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 8

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Cc phn mm lp trnh v cc chng trnh iu khin robot c ci t trn my tnh, dng iu khin robot thng qua b iu khin (Controller). B iu khin cn c gi l Moun iu khin (hay Unit, Driver), n thng c kt ni vi my tnh. Mt moun iu khin c th cn c cc cng Vo - Ra (I/O port) lm vic vi nhiu thit b khc nhau nh cc cm bin gip robot nhn bit trng thi ca bn thn, xc nh v tr ca i tng lm vic hoc cc d tm khc; iu khin cc bng ti hoc c cu cp phi hot ng phi hp vi robot ...

1.4.2. Kt cu ca tay my : Nh ni trn, tay my l thnh phn quan trng, n quyt nh kh nng lm vic ca robot. Cc kt cu ca nhiu tay my c phng theo cu to v chc nng ca tay ngi; tuy nhin ngy nay, tay my c thit k rt a dng, nhiu cnh tay robot c hnh dng rt khc xa cnh tay ngi. Trong thit k v s dng tay my, chng ta cn quan tm n cc thng s hnh - ng hc, l nhng thng s lin quan n kh nng lm vic ca robot nh : tm vi (hay trng cng tc), s bc t do (th hin s kho lo linh hot ca robot), cng vng, ti trng vt nng, lc kp . . . Cc khu ca robot thng thc hin hai chuyn ng c bn : Chuyn ng tnh tin theo hng x,y,z trong khng gian Descarde, thng thng to nn cc hnh khi, cc chuyn ng ny thng k hiu l T (Translation) hoc P (Prismatic).

1.5. PHN LOI ROBOT CNG NGHIP :Robot cng nghip rt phong ph a dng, c th c phn loi theo cc cch sau: 1.5.1. Phn loi theo kt cu : Theo kt cu ca tay my ngi ta phn thnh robot kiu to cc, Kiu to tr, kiu to cu, kiu to gc, robot kiu SCARA nh trnh by trn. 1.5.2. Phn loi theo h thng truyn ng : C cc dng truyn ng ph bin l : H truyn ng in : Thng dng cc ng c in 1 chiu (DC : Direct Current) hoc cc ng c bc (step motor). Loi truyn ng ny d iu khin, kt cu gn. H truyn ng thu lc : c th t c cng sut cao, p ng nhng iu kin lm vic nng. Tuy nhin h thng thu lc thng c kt cu cng knh, tn ti Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 9

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phi tuyn ln kh x l khi iu khin. H truyn ng kh nn : c kt cu gn nh hn do khng cn dn ngc nhng li phi gn lin vi trung tm to ra kh nn. H ny lm vic vi cng sut trung bnh v nh, km chnh xc, thng ch thch hp vi cc robot hot ng theo chng trnh nh sn vi cc thao tc n gin nhc ln - t xung (Pick and Place or PTP : Point To Point). 1.5.3. Phn loi theo ng dng : Da vo ng dng ca robot trong sn xut c Robot sn, robot hn, robot lp rp, robot chuyn phi .v.v... 1.5.4. Phn loi theo cch thc v c trng ca phng php iu khin : C robot iu khin h (mch iu khin khng c cc quan h phn hi), Robot iu khin kn (hay iu khin servo) : s dng cm bin, mch phn hi tng chnh xc v mc linh hot khi iu khin. Ngoi ra cn c th c cc cch phn loi khc tu theo quan im v mc ch nghin cu.

Chng 2: PHN TCH V CHN PHNG N THIT KNhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 10

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2.1.TNH LINH HOT CA MT TAY MY CNG NGHIP:2.1.1.Phn tch mt s khu , khp c trong c kh: Mun xc nh mt vt th trong khng gian ta cn phi bit c phng hng, v tr ta ca vt th m ta cn tip cn. V mt l thuyt th mt khu trong khng gian c 6 bc t do: l chuyn ng tnh tin v quay ln lc quanh cc trc x , y , z ca h ta Descarde. Trong thc t th ta thng thy cc khp ca ca Robot ch c mt s bc t do nht nh, v d nh ch chuyn ng quay hay tnh tin m thi. Vi khp tnh tin th s bc t do b hn ch l 5. Khp quay s bc t do b hn ch cng l 5 c trng ca loi khp ny ta thng thy thc t l loi khp bng l. Khp cu s bc t do b hn ch l 3, loi khp ny tng i linh hot. T mt l thuyt nh vy: trong qu trnh tip cn vt th th tay my thng qua cc khp n di chuyn cho khu chp hnh cui c th tip cn chnh xc vt th thc hin mt tc v no . 2.1.2.Mt s kt cu tay my in hnh: Robot kiu to cc : l tay my c 3 chuyn ng c bn tnh tin theo phng ca cc trc h to gc (cu hnh T.T.T). Trng cng tc c dng khi ch nht. Do kt cu n gin, loi tay my ny c cng vng cao, chnh xc c kh d m bo v vy n thung dng vn chuyn phi liu, lp rp, hn trong mt phng ...

Hnh 2.1 Robot hot ng theo ta D Cc. Robot kiu to tr : Vng lm vic ca robot c dng hnh tr rng. Thng khp th nht chuyn ng quay. V d robot 3 bc t do, cu hnh R.T.T nh hnh v 2.2. C nhiu robot kiu to tr nh : robot Versatran ca hng AMF (Hoa K).


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Hnh 2.2 Robot hot ng theo h ta tr. Robot kiu to cu : Vng lm vic ca robot c dng hnh cu. thng cng vng ca loi robot ny thp hn so vi hai loi trn. V d robot 3 bc t do, cu hnh R.R.R hoc R.R.T lm vic theo kiu to cu (hnh 2.3).

Hnh 2.3 Robot hot ng theo h to cu. Robot kiu to gc (H to phng sinh) : y l kiu robot c dng nhiu hn c. Ba chuyn ng u tin l cc chuyn ng quay, trc quay th nht vung gc vi hai trc kia. Cc chuyn ng nh hng khc cng l cc chuyn ng quay. Vng lm vic ca tay my ny gn ging mt phn khi cu. Tt c cc khu u nm trong mt phng thng ng nn cc tnh ton c bn l bi ton phng, u im ni bt ca cc loi robot hot ng theo h to gc l gn nh, tc l c vng lm vic tng i ln so vi kch c ca bn thn robot, linh hot cao.

Hnh 2.4 Robot hot ng theo h ta gc. Cc robot hot ng theo h to gc nh : Robot PUMA ca hng Unimation - Nokia (Hoa K - Phn Lan), Irb-6, Irb-60 (Thu in), Toshiba, Mitsubishi, Mazak (Nht Bn) .v.v. Hnh 2.4 l mt v d ca robot hot ng theo h ta phng sinh c cu hnh Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 12

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RRR.RRR. Robot kiu SCARA : Robot SCARA ra i vo nm 1979 ti trng i hc Yamanashi (Nht Bn) l mt kiu robot mi nhm p ng s a dng ca cc qu trnh sn xut. Tn gi SCARA l vit tt ca "Selective Compliant Articulated Robot Arm" : Tay my mm do tu . Loi robot ny thng dng trong cng vic lp rp nn SCARA i khi c gii thch l t vit tt ca "Selective Compliance Assembly Robot Arm". Ba khp u tin ca kiu Robot ny c cu hnh R.R.T, cc trc khp u theo phng thng ng. S ca robot SCARA nh hnh 2.5.

Hnh 2.5 Robot kiu SCARA

2.2. LA CHN PHNG N THI CNG:2.2.1.Tnh thc t ca mt n: Mt d n c xem l thnh cng nu n c c mt s tnh cht sau: -N thc t (ph thuc vo yu cu ca i sng sn xut, dn n yu cu nghin cu ch to ra t c mc ch ca thc tin cuc sng). -Thng qua qu trnh nghin cu ri thit k xong th mt iu quan trng l thnh qu vu to ra c iu kin sn xut, ch to khng. -Sn phm to ra phi tho mn yu cu l: gi thnh nh nht, cht lng m bo, 2 c tnh ny mi nhn vo th thy hi nghch l, nhng suy i xt li th iu ny t ra cho nh thit k mt cch suy ngh mi, l kh nng tnh ton v x l cc yu cu sao cho khong cch gia nh thit k vo ch to khng cn cch bit na, m iu ny ngy cng tr thnh hin thc bng cch ng dng cng ngh thng tin vo qu trnh thit k m phng, lm rt ngn qu trnh ch to, sn xut, lm tng tnh cnh tranh ca sn phm cng ty mnh lm ra trn th trng. -Sn phm mnh lm ra c nhiu ngi dng bit n, kha cnh ny li phi ph thuc vo qu trnh maketting ca nhm kinh doanh trong cng ty . -Nhn chung th l mt qu trnh lu di c to nn t nhiu khu, v mi khu l mt mc xch khng th thiu c.

2.2.2. n thit k tay my c 3 bc t do:(RRR) Gii thiu n: Tay my chng em ch to thuc vo dng robot to tr.


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Hnh 2.6 S ng tay my Khu th nht l khp quay, khp th 2 quay, khp th 3 quay. Tnh ng dng: Vi tay my kiu ny th phm vi hot ng tng i ln n c th dng trong vic ly sn phm hay cp phi cho cc my gia cng t ng. Do thi gian thc hin n c hn, cng vi kinh nghim thc t cha nhiu, chng em phn phi thi gian c th hon thnh n ng thi hn: Thng u tin: Tm ti liu, nghin cu ci mi v kt hp nhng g c hc trng. Thng th 2: Thit k mch iu khin. Thng th 3: Thit k phn c kh, thi cng thc t. Thng th 4: iu khin v vit thuyt minh.

2.2.3. Mt s tin thc hin n c hiu qu: Vi li th l mt sinh vin ngnh C in T, chng em c thy c cung cp cho mt s lng kin thc nht nh v c kh, in, in t, cng ngh thng tin. Qua 5 nm hc trng chng em cng c tip xc vi thc t kh nhiu, thng qua cc n H Thng C in T, n Vi iu Khin, n k thut mch, n thit k my cng c. Chng em c rn luyn vi k nng lm vic nghim tc, bit kt hp k tha nhng thnh tu c t trc ri t ci tin bin nhng ci ca h thnh ca mnh. ng dng ca cng ngh thng tin vo qu trnh thc hin n: vi thi i ngy nay th internet tr nn ph bin th thng tin tr nn l mt mn hc khng th thiu nht l i vi mt sinh vin chuyn ngnh k thut. Mi th iu c cp nht trn mng ton cu, i hi ngi sinh vin thm mt s k nng v ngoi ng tip cn n mt cch d dng v thu c hiu qu cao nht. Mt s cng c phn mm c chng em s dng trong vic thit k v thc thi n: Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 14

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-Pro wildfire 3.0: y l mt version mnh m trong vic thit k c kh(3D), n cho chng ta bit c cc thng s cn thit cho vic ch to. -Autocad 2006: Cng c v 2D d dng. -Thit k mch in vi ORCAD 15.7:cng c thit k mch mnh m, tng i d s dng. -V mt s phn mm khc s c cp k hn chng cui cng gip cho cng vic thc hin n c d dng hn.

Chng 3:THIT LP PHNG TRNH NG HC CHO C H.3.1.L THUYT M U:3.1.1.Mi quan h gia cc khu khp trong tay my: Bt k mt robot no cng c th coi l mt tp hp cc khu (links) gn lin vi cc khp (joints). Ta hy t trn mi khu ca robot mt h to . S dng cc php bin i thun nht c th m t v tr tng i v hng gia cc h to ny. Denavit. J. gi bin i thun nht m t quan h gia mt khu v mt khu k tip l mt ma trn A. Ni n gin hn, mt ma trn A l mt m t bin i thun nht bi php quay v php tnh tin tng i gia h to ca hai khu lin nhau. A1 m t Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 15

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v tr v hng ca khu u tin; A2 m t v tr v hng ca khu th hai so vi khu th nht. Nh vy v tr v hng ca khu th hai so vi h to gc c biu din bi ma trn. T2 = A1.A2 Cng nh vy, A3 m t khu th ba so vi khu th hai v : T3 = A1.A2.A3 Cng theo Denavit, tch ca cc ma trn A c gi l ma trn T, thng c hai ch s: trn v di. Ch s trn ch h to tham chiu ti, b qua ch s trn nu ch s bng 0. Ch s di thng dng ch khu chp hnh cui. Nu mt robot c 6 khu ta c : T6 = A1.A2.A3.A4.A5.A6 T6 m t mi quan h v hng v v tr ca khu chp hnh cui i vi h to gc. Mt robot 6 khu c th c 6 bc t do v c th c nh v tr v nh hng trong trng vn ng ca n (range of motion). Ba bc t do xc nh v tr thun tu v ba bc t do khc xc nh hng mong mun. T6 s l ma trn trnh by c hng v v tr ca robot. Hnh 3.1 m t quan h vi bn tay my. Ta t gc to ca h m t ti im gia ca cc ngn tay. Gc to ny c m t bi vect p (xc nh v tr ca bn tay). Ba vect n v m t hng ca bn tay c xc nh nh sau:

Vecto a:Vect c hng m theo bn tay s tip cn n i tng. Vecto o:Vect c hng m theo cc ngn tay ca bn tay nm vo nhau khi cm nm i tng. Vecto n:Vect php tuyn n (normal).n =o a

Chuyn v T6 s c cc phn t:n x n T6 = y n z 0 0x 0y 0z 0 ax ay az 0 px py pz 1

Ma trn T6 c th biu hin gn hn nh sau:


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an tt nghip t do T6 Ma trn nh hng R 0 0 0

Thit k tay may co 3 bc Ma trn v tr p 1

Ma trn R c kch thc 3x3, l ma trn trc giao biu din hng ca bn kp (khu chp hnh cui) i vi h to c bn. Vic xc nh hng ca khu chp hnh cui cn c th thc hin theo php quay Euler hay php quay Roll, Pitch, Yaw. Vect im p c kch thc 3x1, biu din mi quan h ta v tr ca ca gc h ta gn trn khu chp hnh cui i vi h to c bn. 3.1.2.Cc php bin i thun nht: Khi xem xt, nghin cu mi quan h gia robot v vt th ta khng nhng cn quan tm n v tr (Position) tuyt i ca im, ng, mt ca vt th so vi im tc ng cui (End effector) ca robot m cn cn quan tm n vn nh hng (Orientation) ca khu chp hnh cui khi vn ng hoc nh v ti mt v tr. m t quan h v v tr v hng gia robot v vt th ta phi dng n cc php bin i thun nht. 3.1.2.1.Php bin i tnh tin: Gi s cn tnh tin mt im hoc mt vt th theo vecto dn Trc ht ta nh ngha mt ma trn chuyn i H. H=trans(a,b,c)=1 0 0 0 0 1 0 0 0 0 1 0 a b c 1h =ai +b j +c k

.

Gi u l vecto biu din im cn tnh tin u = [ x y z w]T Th v l vecto bin din im bin i c xc nh bi:1 0 v=H.u= 0 0 0 1 0 0 0 0 1 0 a x x + aw x / w + a b y y + bw y / w + b . = = c z z + cw z / w + c 1 w w 1

Nh vy bn cht ca php bin i tnh tin l php cng vecto gia vecto biu din cn chuyn i v vecto dn. 3.1.2.2.Php quay (Rotation) quanh cc trc ta : Gi s ta cn quay mt im hay mt vt th quanh mt trc to no mt gc ta c cc ma trn chuyn i nh sau. Rot( x, 0 )=1 0 0 0 0 cos sin 0 0 1 0 0 0 sin cos 0 sin 0 cos 0 0 0 0 1 0 0 0 1

Rot( y, 0 )=

cos 0 sin 0


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an tt nghip t docos sin 0 0 sin cos 0 0 0 0 1 0

Thit k tay may co 3 bc0 0 0 1

Rot( z, 0 )=

3.2.BIN I TA :3.2.1.Php quay Euler: Trn thc t vic nh hng l kt qu ca php quay quanh cc trc x, y, z. Php quay Euler m t kh nng nh hng bng cch. Quay mt gc xung quanh trc z. Quay tip mt gc quanh trc y mi, l y. Cui cng l quay mt gc quanh mt trc z mi l z.

Hnh 3.2. Php quay Euler. Ta c th biu din php quay Euler bng cch nhn 3 ma trn vi nhau. , Euler( , )=Rot(z, )Rot(y, )Rot(z, ).0 1 0 0 sin 0 cos 0 0 cos 0 sin . 0 0 1 0 sin cos 0 0 0 0 1 0 0 0 0 1

cos 0 , )=Rot(z, ). , Euler( sin 0 cos sin = 0 0 sin cos 0 0 0 0 1 0

0 cos cos 0 sin . 0 sin cos 1 0

cos sin cos sin sin 0

sin 0 cos 0

0 0 0 1 cos sin sin sin cos 0 0 0 0 1

cos cos cos sin sin sin cos cos + cos sin = sin cos 0

cos cos sin sin cos sin cos sin + cos cos sin sin 0


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an tt nghip t do 3.2.2.Php quay Roll-Pitch-Yaw :


Hnh Yaw.

3.3.Php quay Roll-Pitch-

Ta tng tng gn h to xyz ln con tu. Dc theo thn tu l trc z. Roll l chuyn ng lc ca thn tu, tng ng vi vic quay quanh thn tu mt gc , quay quanh trc z. Pitch l s bng bnh, tng ng vi vic quay mt gc xung quanh trc y. V Yaw l s lch hng, tng ng vi php quay mt gc quanh trc x.(Hnh 3.3.). RPY( ,,) =Rot(z, )Rot(y, )Rot(x, ). Ngha l quay 1 gc quanh trc x tip theo l quay 1 gc quanh trc y, quay mt gc quanh trc z. Hnh 3.4 biu th cc gc quay o trn.

Hnh 3.4. Cc gc quay ca bn tay Robot. cos 0 RPY( ,,) =Rot(z, ). sin 0 0 1 0 0 sin 0 cos 0 0 1 0 0 . 0 0 1 0 0 cos sin 0 0 sin cos 0 0 0 0 1


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an tt nghip t docos sin = 0 0 sin cos 0 0 0 0 1 0 0 cos 0 0 . 0 sin 1 0

Thit k tay may co 3 bcsin sin cos cos sin 0 sin cos sin cos cos 0 0 0 0 1

cos cos sin cos = sin 0

cos sin sin sin cos sin sin sin + cos cos cos sin 0

cos sin cos + sin sin sin sin cos cos sin cos cos 0

0 0 0 1

3.2.3.Quan h gia cc h ta bin i: Gi s ta c 3 h ta A, B, C. Trong h ta B c quan h vi h A qua php bin i ATB . C c quan h vi ta B thng qua php bin i BTC.Ta c im P trong h C k hiu P zc Pc Yc zbza C Pa B Y a Xb Xa Yb Xc

A

Hnh 3.5.

Chng ta bin i pC thnh pB nh sau: pB=BTC.pC Chng ta bin i pB thnh pA nh sau: pA=ATB.pB Vy: pA=ATB.BTC.pC. Qua trn ta thy c th m t mi quan h gia h ta gn trn im tc ng cui ca h to c bn thng qua mi quan h ca cc ta trung gian gn trn cc khu ca Robot bng cc ma trn T.


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Hnh 3.6. H ta c bn v h ta trung gian ca Robot.

3.3.CC THNG S C TRNG CA TAY MY:3.3.1.B thng s Denavit-Hartenberg (DH): Mt robot nhiu khu cu thnh t cc khu ni tip nhau thng qua cc khp ng. Gc chun (Base) ca mt robot l khu s 0 v khng tnh vo s cc khu. Khu 1 ni vi khu chun bi khp 1 v khng c khp u mt ca khu cui cng. Bt k khu no cng c c trng bi hai kch thc: di php tuyn chung : an. Gc gia cc trc trong mt phng vung gc vi an : n .

Hnh 3.7. Chiu di v gc xon ca mt khu. Hnh 3.8.B thng s Denavit-Hartenberg. Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 21

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Mi trc s c hai php tuyn vi n, mi php tuyn dng cho mi khu (trc v sau mt khp). V tr tng i ca hai khu lin kt nh th c xc nh bi dn l khong cch gia cc php tuyn o dc theo trc khp n v n l gc gia cc php tuyn o trong mt phng vung gc vi trc. dn v n thng c gi l khong cch v gc gia cc khu. m t mi quan h gia cc khu ta gn vo mi khu mt h to . Nguyn tc chung gn h ta ln cc khu nh sau : Gc ca h to gn ln khu th n t ti giao im ca php tuyn a n vi trc khp th n+1. Trng hp hai trc khp ct nhau, gc to s t ti chnh im ct . Nu cc trc khp song song vi nhau, gc to c chn trn trc khp ca khu k tip, ti im thch hp. Trc z ca h to gn ln khu th n dt dc theo trc khp th n+1. 3.3.2. c trng ca cc ma trn A: Trn c s cc h to n nh cho tt c cc khu lin kt ca robot, ta c th thit lp mi quan h gia cc h to ni tip nhau (n-1), (n) bi cc php quay v tnh tin sau y : Quay quanh zn-1 mt gc n. Tnh tin dc theo zn-1 mt khong dn. Tnh tin dc theo xn-1 = xn mt on an. Quay quanh xn mt gc xon n. Bn php bin i thun nht ny th hin quan h ca h to thuc khu th n so vi h to thuc khu th n-1 v tch ca chng c gi l ma trn A : An = Rot(z, ) Trans(0,0,d) Trans(a,0,0) Rot(x, ).cos sin 0 0 1 0 sin cos 0 0 0 1 . An= 0 0 1 0 0 0 0 0 1 0 0 0 sin sin cos sin cos sin cos cos cos sin An= 0 sin cos 0 0 0 0 a 1 0 0 0 . 1 d 0 0 1 0 a cos a sin d 1 0 cos sin 0 0 sin cos 0 0 0 0 1

i vi mt khu i theo mt khp quay th d, a v a l hng s. Nh vy ma trn A ca khp quay l mt hm s ca bin khp . i vi mt khu i theo mt khp tnh tin th , a l hng s. Ma trn A ca khp tnh tin l mt hm s ca bin s d.

3.4. PHNG TRNH NG HC CA TAY MY (RRR):


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Hnh 3.9. Hnh dng hnh hc tay my RRR. 3.4.1. Gn h ta ln c cu. S dng nhng qui tc c trnh by trn, ta tin hnh gn h ta . Hnh 3.9. Biu din cc h ta sau khi gn kt. 3.4.2. Lp bng thng s DH: Khu 1 2 3

3 2 1

900 0 0

a 0 a2 a3

D d1 0 0

3.4.3.Tnh cc ma trn c trng A:cos sin An= 0 0 sin cos cos cos sin 0 sin sin cos sin cos 0 a. cos a sin a 1

A1=C1. Vi qui c: C1= Cos 1 . S1= Sin 1 . C2= Cos 2 . S2= Sin 2 C3= Cos 3 S3= Sin 3C 2 S 2 S 2 C 2 A2 = 0 0 0 0 0 o 1 0 a 2 .C 2 a 2 .S 2 . a2 1 C 3 S 3 S 3 C1 A3 = 0 0 0 0 0 0 1 0 a3 .C 3 a3 .S 3 . a3 1

3.4.4. Lp cc ma trn T: 2 T3=2A3=A3. 1 T3=A2A3.C 2 S 2 S 2 C 2 1 T3= 0 0 0 0 0 o 1 0 a 2 .C 2 C 3 S 3 a 2 .S 2 S 3 C1 .. a2 0 0 1 0 0 0 0 1 0 a 3 .C 3 a 3 .S 3 a3 1


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an tt nghip t doc 2 .c3 s .c 2 3 1 T3= s 2 .s 3 + c 2 .s 3 0 0 c 2 .s 3 s 2 .c3 s 2 .s 3 + c 2 .s 3 0 0

Thit k tay may co 3 bc0 c 2 .a 2 .c3 s 2 .a 3 .s 3 + a 2 .c 0 s 2 a 2 .c3 + c 2 a 3 .s 3 + a 2 .s 2 . 1 a 2 + a3 0 1 0 0 1 0 c2 .a2 .c3 s2 .a3 .s3 + a2 .c s2 a2 .c3 + c2 a3 .s3 + a2 .s2 a2 + a3 1

T3=

C 2 S 2 0 0

S 2 0 c2C 2 s2 .s3 a2 ..c3 s ..c2 c .s C 2 o 22 S 3 2 3 a + 0 1 a2 0 0 0 1 0

c2 .s3 s2 .c3 s2 .s3 + c2 .s3 0 0

T3 2 ( C2 ( C2 .C3 S 2 S3 ) S=.S 2C3 + C2 S3 ) S 2 ( C2 .C3 S 2 S3 ) + C2 ( S 2C3 + C2 S3 ) 0 0

S 2 ( C2 .C3 S 2 S3 ) C2 S 2 ( S 2C3 + C2 S3 ) C2 ( C2 .C3 S 2 S3 ) + C2 ( S 2C3 + C2 S3 ) 0 0

C2 ( C2 a2C3 S 2a3 S 3 + a 2C2 ) S 2 ( ( s2 a3c3 + c2 a3 s3 + a 2s 2) + a2c2 s2 (c2 a2c3 s2 a3 s3 + a2c2 ) + 0 c2 ( s2 a3c3 + c2 a3 s3 + a2 s3 ) + a2 s2 1 a3 + 2a2 0 1 0

C2 ( C2 .C3 S 2 S3 ) S 2 ( S 2C3 + C2 S3 ) S 2 ( C2 .C3 S 2 S3 ) + C2 ( S 2C3 + C2 S3 ) 0 0

S 2 ( C2 .C3 S 2 S3 ) C2 S 2 ( S 2C3 + C2 S3 ) C2 ( C2 .C3 S 2 S3 ) + C2 ( S 2C3 + C2 S3 ) 0 0

C2 ( C2 a2C3 S 2a3 S 3 + a 2C2 ) S 2 ( ( s2 a3c3 + c2 a3 s3 + a 2s 2) + a2c2 s2 (c2 a2c3 s2 a3 s3 + a2c2 ) + 0 c2 ( s2 a3c3 + c2 a3 s3 + a2 s3 ) + a2 s2 1 a3 + 2a2 0 1 0

3.4.5. Phng trnh ng hc ngc ca RRR :


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Sau khi tnh toan ta c: S dng php bin i Roll, Pitch, Yaw xc nh cc gc: , , . Ta c: T3=Rot(z, ).Rot(y, ).Rot(x, ). Rot-1(z, ).T3=Rot(y, ).Rot(x, ). V Cos Cos Sin phi= Sin Cos 0 Cos Sin Cos Sin Sin 0 Sin 0 Cos 0 0 0 * 0 1

Sau khi tnh toan ta c

Chng 4: THIT K PHN C KH V TNH TON SC BN CHI TIT MY.4.1.GII THIU V VIC THIT K TAY MY:4.1.1.Cch thc truyn ng v phm vi lm vic: Tay my thit k c dng to tr rng gm 3 khp, khp quay, khp quay, khp quay, thng c ng dng trong cc dy chuyn sn xut t ng, cc nh my, hoc cc xng c kh. N c th lm nhim v cung cp phi cho cc my gia cng t ng, cp sn phm hoc ly sn phm t bng ti Tay my c truyn ng bng b truyn bnh rng,b truyn ai rng vi s kt hp ca ng c bc lm cho kt cu tay my c vng chc, hot ng tin cy v d t n v tr ca vt th c tc ng. ng c c chn dn ng l ng c bc c cng sut 5,1W, ngun cung cp 3.5VDC/Phase. S ng c s dng l 3 ng c bc v 1 ng c DC( ngun cung cp l 12V). 4.1.2.Mt s chi tit chnh: , cc tm, cc thanh . Cc trc quay cc trc . bi vng m, l xo, c vt Cc ng c Step, ng c DC, cng tc, cm bin. 4.1.3.ng c bc: 4.1.3.1.Gii thiu chung: ng c bc c th c m t nh l mt ng c in khng dng b chuyn mch. C th, cc mu trong ng c l stator, v rotor l nam chm vnh cu hoc trong trng hp ca ng c bin t tr, n l nhng khi rng lm bng vt liu nh Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 25

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c t tnh. 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 c thit k ng c c th gi nguyn bt k v tr c nh no cng nh l quay n bt k v tr no. Hu ht cc ng c bc c th chuyn ng tn s m thanh, cho php chng quay kh nhanh, v vi mt b iu khin thch hp, chng c th khi ng v dng li d dng cc v tr bt k. ng c bc c th c dng trong h thng iu khin vng h n gin, nhng h thng ny m bo cho h thng iu khin gia tc vi ti trng tnh, nhng khi ti trng thay i hoc iu khin gia tc ln, ngi ta vn dng h iu khin vng kn vi ng c bc. Nu mt ng c bc trong h iu khin vng m qu ti, tt c cc gi tr v v tr ca ng c u b mt v h thng phi nhn din li. 4.1.3.2.Mt vi thng s k thut: ng c bc c chia lm hai loi, nam chm vnh cu v bin t tr (cng c loi ng c hn hp na, nhng n khng khc bit g vi ng c nam chm vnh cu). Nu mt i nhn trn ng c, cc bn vn c th phn bit hai loi ng c ny bng cm gic m khng cn cp in cho chng. ng c nam chm vnh cu dng nh c cc nc khi bn dng tay xoay nh rotor ca chng, trong khi ng c bin t tr th dng nh xoay t do (mc d cm thy chng cng c nhng nc nh bi s gim t tnh trong rotor). Bn cng c th phn bit hai loi ng c ny bng ohm k. ng c bin t tr thng c 3 mu, vi mt dy v chung, trong khi , ng c nam chm vnh cu thng c hai mu phn bit, c hoc khng c nt trung tm. Nt trung tm c dng trong ng c nam chm vnh cu n cc. ng c bc phong ph v gc quay. Cc ng c km nht quay 90 mi bc, trong khi cc ng c nam chm vnh cu x l cao thng quay 1.8 n 0.72 mi bc. Vi mt b iu khin, hu ht cc loi ng c nam chm vnh cu v hn hp u c th chy ch na bc, v mt vi b iu khin c th iu khin cc phn bc nh hn hay cn gi l vi bc. i vi c ng c nam chm vnh cu hoc ng c bin t tr, nu ch mt mu ca ng c c kch, rotor ( khng ti) s nhy n mt gc c nh v sau gi nguyn gc cho n khi moment xon vt qua gi tr moment xon gi (hold torque) ca ng c.

Hnh 4.1. Roto ca ng c bin t tr. Du thp trong hnh 4.1. l rotor ca ng c bin t tr quay 30 mi bc. Rotor trong ng c ny c 4 rng v stator c 6 cc, mi cun qun quanh hai cc i din. Khi cun 1 c kch in, rng X ca rotor b ht vo cc 1. Nu dng qua cun 1 b ngt v ng dng qua cun 2, rotor s quay 30 theo chiu kim ng h v rng Y s ht vo cc 2. Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 26

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quay ng c ny mt cch lin tc, chng ta ch cn cp in lin tc lun phin cho 3 cun. Theo logic t ra, trong bng di y 1 c ngha l c dng in i qua cc cun, v chui iu khin sau s quay ng c theo chiu kim ng h 24 bc hoc 2 vng: Cun 1 1001001001001001001001001 Cun 2 0100100100100100100100100 Cun 3 0010010010010010010010010

Hnh 4.2.

ng c bc n cc, c nam chm vnh cu v ng c hn hp, vi 5, 6 hoc 8 dy ra thng c qun nh s hnh 4.2, vi mt u ni trung tm trn cc cun. Khi dng, cc u ni trung tm thng c ni vo cc dng ngun cp, v hai u cn li ca mi mu ln lt ni t o chiu t trng to bi cun .

Hnh 4.3. ng c nam chm vnh cu hoc hn hp hai cc c cu trc c kh ging y nh ng c n cc, nhng hai mu ca ng c c ni n gin hn, khng c u trung tm. V vy, bn thn ng c th n gin hn, nhng mch iu khin o cc mi cp cc trong ng c th phc tp hn. Minh ho hnh 4.3 ch ra cch ni ng c. Ngoi cc loi ng c bc c gii thiu trn th cn c loi ng c nhiu fa. 4.1.3.3.Mch iu khin ng c bc: Vn ny s c cp k hn phn thit k mch( in t ). 4.1.4.Phn tch ng hc tay my: Tay my c cu trc c kh gm 3 khu. Trong , khu 0 l khu c nh(gi), cc Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 27

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khu 1,2 v 3 l cc khu ng c ni vi nhau bng 3 khp ng loi 5. 4.1.4.1.Thng s k thut: y ta ch tay my c 3 bc t do:(quay, tnh tin, tnh tin) nn ln lc ta c cc bin khp. * 1, d2 ,d3 . Kch thc ca cc khu trn tay my thit k: * 1 : Khp quay quanh trc Z gc 3600 . * 2 : Khp quay quanh trc gc 900 . * : Khp quay quanh trc gc 1200 . Trng lng tay my: 15 kg. Ti trng ln nht cho php: 500g

Hnh 4.4. l m hnh tay my c thit k.

Hnh 4.5. m hnh tay my. 4.1.4.2.Khng gian hot ng ca tay my:

C

B

D


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Hnh 4.6.

Phm vi hot ng ca tay my l hnh tr rng c vng gii hn trong l 100 (mm). Vng gii hn ngoi l 600 (mm) . Chiu cao ti a: 760 (mm).

4.2.NGUYN L, C CU TRUYN NG CA TAY MY:4.2.1.Nguyn l hot ng ca tay my: Tay my hot ng c da vo s hot ng ca cc ng c bc qua cc b truyn nh: hp gim tc bnh rng, bnh rng-thanh rng. Tng ng c trn tay my s iu khin chuyn ng ca tng khu tng ng. 4.2.2.Cc thnh phn ca tay my 3 bc t do: Gm 3 khu : Khu th nht dng b truyn bnh rng , khu th 2 dng b truyn bnh rng , khu 3 dng b truyn bnh rng ai rng , ngoi ra cn c c cu vit me ko dy kp 4.2.3.Khu th nht: Dn ng t ng c bc truyn qua b truyn bnh rng to chuyn ng quay cho ton b c h. B bnh rng c t s truyn u=1 . 4

Bnh rng c ni t ng c qua bnh b dn truyn qua bnh dn to chuyn ng cho c cm c cu pha trn Bnh rng dn c z=17 , m=1.75 , d=30 Bnh rng b dn co z=68 , m=1,75 , d=120


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Hnh 4.7 .M hnh ca r bt 4.2.4.Khu th hai: y l nhm truyn ng c +hp gim tc +bnh rng B truyn bnh rng vi cc thng s sau: T s truyn u=1/4 Bnh rng dn c z=17 , m=1.75 , d=30 Bnh rng b dn co z=68 , m=1,75 , d=120

Hnh 4.8. Khp th 2

Hnh 4.9. Bnh rng ch ng trn khu 2.


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Hnh 4.9. Bnh rng b ng trn khp 2 Hp gim tc : Do ng c bc c m men nh nn tng m men ln chng em s dng hp gim tc vi t s truyn 1/40 . Nh vy t s truyn ca ton khu ny l : u1=1/4*1/40=1/160 4.2.5. Khu th 3:

Hnh 4.10.M phng khp S dng b truyn ai rng kt hp hp gim tc c sn trong ng c. T s truyn ca b truyn ai rng 1 : Bnh rng trong ai c z=20 , m=1 ,d=30.

Hnh 4.11. Bnh ai trong b truyn ai rn 4.2.6.Khp 3+C cu kp C cu kp s dng vt me ko dy dng kp chi tit , iu khin bng ng c DC.


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Hnh 4.12.M hnh khp th 3

Hnh 4.12 Tay kp

Nguyn l hot ng: ng c 1 ni vi b truyn vt me keo dy kt hp l x tay kp kp vt .

4.2.7.Tnh chn ln: 4.2.7.1. ln cho ln c cc thng s: d=17 mm D=40 mm B rng B=9,525(mm). 4.2.7.2. ln trn khp 1+ ln gi d=12mm D=35mm B rng B=10mm 4.2.7.3 ln trn khp 2 d=8 mm D=30 mm B rng B=10m). 4.2.8. Tnh ton trc: Chn vt liu cho trc : Chn vt liu lm trc l thp 35 thng ho c : bk=520 (N/mm2) bc=270 (N/mm2) n=n n2

n + n

2

[n ]

Mt s thnh phn lc tc dng ln trc. Xt trng hp trc ch chu ng sut tip ng sut tip (xon) bin i tho chu k mch ng:n =

1k a + m

a =m =

max Mx = 2 2W0


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V trc quay nn ng sut un thay i theo chu k i xng

a= Vy

max

=

min

=

n =

1

MU W

m =0;

k a

Chng 5: THIT K CC MODUL IN IU KHINDn nhp: C nhiu cch iu khin, lp trnh cho tay my hot ng. Mt s hng sn xut thi im s khai h s dng cc mch logic kim sot s thay i ca cnh tay my. Nh c s pht trin mnh m ca ngnh cng nghip in t m c th l cng ngh bn dn lm cho qu trnh iu khin tay my c d dng, ti u hn. Ngy nay ngi ta s dng cc b vi iu khin, vi x l ri lp trnh sau nhng vo cc cng c ny c c kh nng thch ng cao. Cng chnh nh cng c ny m cc robot chng ta cng linh hot v d thch ng hn( c mt chng trnh iu khin mi th thi gian c c n l rt ngn, ngi ta s dng phn mn lp trnh sau np chng trnh xung b vi iu khin hay b vi x l t c cc yu cu m con ngi c ra ). Mt driver iu khin cho tay my i hi ngi thit k phi am hiu mt cch tng tn v k nng x l cc tnh hun xy ra, v d nh dng in, in p phi c vo l bao nhiu c th t c cng sut theo yu cu, ng thi ngi thit k phi hiu thm v mt s k thut lp trnh nht nh t mi c tm nhn xa hn trong vic thit k mch bi v nu khng c nhng yu t ny th c l sn phm lm ra thi gian s b ko di hn, tin bc b ra cng ln hn lm cho tnh cnh tranh ca sn phm trn th trng yu i. Ngy nay vn thit k hay lp trnh c n gin ho hn bi s pht trin mnh m ca cng ngh thng tin, hu nh trn mi lnh vc cng ngh thng tin i n tng ng ngch ca cuc sng. N lm cho con ngi ta c thoi mi hn, thay v chng ta phi i m ln t u th vic tr nn d dng vi vic p dng nhng thnh tu c cc chuyn gia nghing cu ri chuyn dao cng ngh, ri c cc nh lp trnh ng dng a n vo cc sn phm ca mnh, ri t ngi s dng li s dng cc thnh tu a n vo thc t, v qu trnh ny c din ra mt cch lun hi, to thnh mt chui khp kn ( t thc tin cuc sng thc tin cuc sng ). Ngi ng dng gii l nhng nh bit cch chim hu nhng g m nhn loi dy cng lm ra. Tay my m chng em thit k s dng b vi iu khin AT89C51 nhng iu khin cho c cu hot ng. L do chn b vi iu khin ny l chng em c nh trng a mn hc vi iu khin AT89C51 vo khung chng trnh o to l mt u th, ngoi ra n cn c mt s u im l cng c lp trnh cho chp ny Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 33

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rt nhiu, tp lnh cng n gin, v quan trng hn m i vi sinh vin l gi thnh ca sn phm r ph hp vi cc ng dng mang tnh cht th nghim v thc hnh.

5.1.GII THIU VI IU KHIN:5.1.1. Tng quan v k thut vi iu khin: 5.1.1.1. Khi qut chung v b vi iu khin: B vi iu khin vit tt l Micro-controller, l mch tch hp trn mt chip c th lp trnh c, dng iu khin hot ng ca mt h thng, theo chng trnh iu khin np sn bn trong chip. 5.1.1.2 Lch s pht trin ca vi iu khin: B vi iu khin thc ra l mt loi vi x l trong tp hp cc b vi x l ni chung. B vi iu khin c pht trin t b vi x l, t nhng nm 1970 do s pht trin v hon thin v cng ngh vi in t da trn k thut MOS (Metal-OxideSemiconductor), mc tch hp ca cc linh kin bn dn trong mt chip ngy cng cao. 5.1.1.3 Cu trc bn trong ca b vi iu khin: IC vi iu khin 8051/8031 thuc h MCS51 c cc t im sau : 4 kbyte ROM (c lp trnh bi nh sn xut ch c 8051) 128 byte RAM 4 port I/0 8 bit Hai b nh thi 16 bits Giao tip ni tip 64KB khng gian b nh chng trnh ngoi l 64 KB khng gian b nh d liu ngoi b x l lun l (thao tc trn cc bit n) 210 bit c a ch ha B nhn / chia 4 s


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an tt nghip t doINT\*1 INT\*0 TIMER2 TIMER1 PORT ni tip iu khin ngt Cac thanh ghi khac 128 byte Ram


Rom 4K-8051 OK-8031

Timer1 Timer2

T1* T2*

CPU

Tao dao ng

iu khin bus

Cac port I\O

Port ni tip

EA\ RST PSEN ALE

P0 P3

P1

P2 TXD* RXD*

Hnh 5.1. Cu trc bn trong ca h 8051 CPU(Central processing unit) l phn chinh cua vi iu khin 8051/8031: Thanh ghi tich luy A Thanh ghi tich luy phu B, dung cho phep nhn va phep chia n vi logic hoc (ALU : Arithmetic Logical Unit ) T trang thai chng trinh (PSW : Prorgam Status Word) Bn bng thanh ghi Con tro ngn xp Ngoai ra con co b nh chng trinh, b giai ma lnh, b iu khin thi gian va logic. B dao ng: to tn hiu gi nhp cho CPU. B iu khin ngt: x l cc tn hiu ngt v cc bin c bn ngoi. Timer 1,2: Hai b nh thi 16 bit hot ng nh b m. Port 0, Port 1, Port 2, Port 3: giao tip vi cc thit b ngoi vi. Port ni tip: Giao tip vi computer, ng dng trong mng VK, thng qua cng com ca my tnh. Cc thanh ghi: dng lu tr data trong qu trnh x l. 5.1.2.Chc nng cc chn vi iu khin: Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 35

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

40

U P P P P P P P P R P P P P P P P P

1

1 1 1 1 1 1 1 1 S 3 3 3 3 3 3 3 3

. . . . . . . . . . . . . . . .

0 1 2 3 4 5 6 7 T 0 1 2 3 4 5 6 7 L L D

P P P P P P P P

0 0 0 0 0 0 0 0

. . . . . . . .

0 1 2 3 4 5 6 7

/ / / / / / / / V

A A A A A A A A

3 3 3 3 3 3 3 3

9 D8 D7 D6 D5 D4 D3 D2 D

0 1 2 3 4 5 6 7

V C C

1 8 1 9 2 0 A

X T A X T A G N

E A / / A LX ED R / T X D / I N P TS / I N T / P T 20 . 7 / P T 21 . 6 / PW 2 R 5 . / PR 2 D . 4 P 2 . 3 P2 2 . 2 1P 2 . P 2 .

3 1 P P R0 9 8 17 16 15 14 13 12 19 8 5 4 3 2 1 0 O G

/ P3 2 0E N 1 2 / A2 / A2 / A2 / A2 / A2 / A2 1 / 2 A 0 / A

Hnh 5.2. S chn AT89C51. Vi iu khin 8051 c 32 trong 40 chn c chc nng nh l cc cng I/O, trong oa 24 chn c s dng vi hai mc ch. Ngha l ngoi chc nng cng I/O, mi chn c cng dng kp ny c th l mt ng iu khin ca Bus a ch hay Bus d liu hoc l mi chn hot ng mt cch c lp giao tip vi cc thit n bit nh l cng tc, LED, transistor Port0: l port c 2 chc nng trn chn t 32 n 39 ca MC 8051. Trong cc thit k c nh khng dng b nh ngoi, P0 c s dng nh l nhng cng I/O. Cn trong cc thit k ln c yu cu mt s lng ng k b nh ngoi th PO tr thnh cc ng truyn d liu v 8 bit thp ca bus a ch. Port1 : Port1 l mt port I/O chuyn dng trn cc chn 1-8 ca MC8051. Chng c s dng vi mt mc ch duy nht l giao tip vi cc thit b ngoi khi cn thit. Port2 : Port2 l mt cng c cng dng kp trn cc chn 21 28 ca MC 8051. Ngoi chc nng I/O, cc chn ny dng lm 8 bit cao ca bus a ch cho nhng m hnh thit k c b nh chng trnh ROM ngoi hoc b nh d liu RAM c dung lng ln hn 256 byte. Port3 : Port3 l mt cng c cng dng kp trn cc chn 10 17 ca MC 8051. Ngoi chc nng l cng I/O, nhng chn ny kim lun nhiu chc nng khc na lin quan n nhiu tnh nng c bit ca MC 8051, c m t trong bng sau :

T 8 9 C

5 1


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Bit

Tn

Chc nng chuyn i Nhn data cho port ni tip. Xut data cho port ni tip Ngt ngoi 0. Ngt ngai 1. Ng vo ngt ngoi 0. Ng vo ca timer 1. Tn hiu ghi b nh ngoi. Tn hiu c b nh d liu ngoi.

P3.0 P3.1 P3.2 P3.3 P3.4 P3.5 P3.6 P3.7

RxD TxD INT0 INT1 T0 T1 WR RD

PSEN (Program Store Enable ) : 8051 c 4 tn hiu iu khin. PSEN l tn hiu ra trn chn 29. N l tn hiu iu khin cho php truy xut b nh chng trnh m rng v thng c ni n chn OE (Output Enable) ca mt EPROM cho php c cc byte m lnh ca chng trnh. Tn hiu PSEN mc thp trong sut phm vi qu trnh ca mt lnh. PSEN s mc thp trong thi gian ly lnh. Cc m nh phn ca chng trnh c c t EPROM qua bus v c cht vo thanh ghi lnh ca 8051 gii m lnh. Khi thi hnh chng trnh trong ROM ni PSEN s mc cao. ALE (Address Latch Enable ) : ALE l tn hiu cht a ch vo mt thanh ghi bn ngoi trong na u ca chu k b nh. Sau , cc ng Port 0 dng xut hoc nhp d liu trong na sau chu k ca chu k b nh. Cc xung tn hiu ALE c tc bng 1/6 ln tn s dao ng trn chip v c th c dng l ngun xung nhp cho cc h thng. Nu xung trn 8051 l 12MHz th ALE c tn s 2MHz. Chn ny cng c lm ng vo cho xung lp trnh cho EPROM trong 8051. EA (External Access) : Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 37

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Tn hiu vo EA trn chn 31 thng c ni ln mc cao (+5V) hoc mc thp (GND). RST (Reset) Ng vo RST trn: chn 9 l ng reset ca 8051. Khi tn hiu ny c a ln mc cao (trong t nht 2 chu k my ), cc thanh ghi trong 8051 c a vo nhng gi tr thch hp khi ng h thng. OSC: Nh thy trong cc hnh trn, 8051 c mt b dao ng trn chip. N thng c ni vi thch anh gia hai chn 18 v 19. Tn s thch anh thng thng l 12MHz. POWER: 8051 vn hnh vi ngun n +5V. Vcc c ni vo chn 40 v Vss (GND) c ni vo chn 20. 5.1.3.T chc b nh ca b vi iu khin 8051: 8051 c b nh theo cu trc Harvard : c nhng vng b nh ring bit cho chng trnh v d liu. Nh ni trn, c chng trnh v d liu c th bn trong 8051, d vy chng c th c m rng bng cc thnh phn ngoi ln n ti a 64 Kbytes b nh chng trnh v 64 Kbytes b nh d liu. B nh bn trong bao gm ROM (8051) v RAM trn chip. RAM trn chip bao gm nhiu phn : phn lu tr a dng, phn lu tr a ch ha tng bit, cc bank thanh ghi v cc thanh ghi chc nng c bit. 7FH 5.1.3.1. Chi tit v b nh RAM trn chip : RAM bn trong chip 8051 c phn chia nh sau:30 H 2FH 1FH 18 H 17 H 0FH 10 H 08 H 07 H 00 H

RAM a mc ch RAM theo bit Bank 3 Bank 2 Bank 1 (Stack) Default Register Bank for R0-R7R7 R6 R5 R4 R3 R2 R1 R0

7F 7E

7 7 7 7 7978 D C B A

1 1 1 1 1F 1E 1918 D C B A 17161514 13121110 00 0 0 0F 0E 0908 DC B A 07060504 0302 0100

Hnh 5.3. Tm tt b nh d liu bn trong chip. Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 38

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Mi a ch trong vng RAM a dng u c th c truy xut t do dng cch nh a ch trc tip hoc gin tip. V d, c ni dung a ch 5FH ca RAM ni vo thanh ghi tch ly lnh sau s c dng : MOV A, 5FH Lnh ny di chuyn mt byte d liu dng cch nh a ch trc tip xc nh a ch ngun (5FH). ch nhn d liu c ngm xc nh trong m lnh l thanh ghi tch ly A. RAM bn trong cng c th c truy xut dng cch nh a ch gin tip qua R0 hay R1. V d, sau khi thi hnh cng nhim v nh lnh n trn: MOV R0, #5FH MOV A, @R0 Lnh u dng a ch tc thi di chuyn gi tr 5FH vo thanh ghi R0 v lnh th hai dng a gin tip di chuyn d liu c tr bi R0 vo thanh ghi tch ly. RAM a ch ha tng bit : 8051 cha 210 bit c a ch ha, trong 128 bit l cc a ch byte 20H n 2FH, v phn cn li trong cc thanh ghi chc nng c bit. C 128 bit c a ch ha a dng cc byte 20H n 2FH. Cc a ch ny c truy xut nh cc byte hoc cc bit ph thuc vo lnh c dng. V d, t bit 67H, ta dng lnh sau : SETB 67H y a ch bit 67H l bit c trng s ln nht (MSB) a ch byte 2CH, lnh trn s khng tc ng n cc bit khc ca byte ny. 5.1.3.2. Cc bank thanh ghi: MC 8051 cung cp 32 byte thp nht ca b nh d liu ni l dnh cho cc bank thanh ghi. 8 thanh ghi (R0 n R7) v tr cui cng ca RAM v theo mc nh (sau khi Reset h thng) cc thanh ghi ny cc a ch 00H-07H, tip l bank 1, bank 2 v bank 3. Lnh sau y s c ni dung a ch 05H vo thanh ghi tch ly: MOV A,R5 y l lnh mt byte dng a ch thanh ghi. Tt nhin, thao tc tng t c th c thi hnh bng lnh 2 byte dng a ch trc tip nm trong byte th hai: MOV A,05H Cc lnh dng cc thanh ghi R0 n R7 th s ngn hn v nhanh hn cc lnh tng ng dng a ch trc tip. Cc gi tr d liu c dng thng xuyn nn dng mt trong cc thanh ghi ny. 5.1.3.3. Cc thanh ghi c chc nng c bit: Cc thanh ghi ni ca 8051 c truy xut ngm nh bi b lnh. V d lnh INC A s tng ni dung ca thanh ghi tch ly A ln 1. Tc ng ny c ngm nh trong m lnh. Cng nh R0 n R7, c 21 thanh ghi chc nng c bit (SFR: Special Funtion Rgister) vng trn ca RAM ni, t a ch 80H n FFH. Ch rng hu ht 128 a ch t 80H n FFH khng c nh ngha, ch c 21 a ch SFR l c nh ngha. Ngoi tr tch ly (A) c th c truy xut ngm nh ni, a s cc SFR c truy xut dng a ch trc tip. ch rng mt vi SFR c th c a ch ha bit hoc byte. Khi thit k phi thn trng khi truy xut bit v byte. V d lnh sau: SETB 0E0H Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 39

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S Set bit 0 trong thanh ghi tch ly, cc bit khc khng thay i. Ta thy rng E0H ng thi l a ch byte ca thanh ghi tch ly v l a ch bit c trng s nh nht trong thanh ghi tch ly. V lnh SETB ch tc ng trn bit, nn ch c a ch bit l c hiu qu. 3.1.3.4. T trng thi chng trnh(PWS): B i t P S W . 7 P S W . 6 P S W . 5 P S W . 4 P S W . 3 P S W . 2 P S W . 1 P S K hiu CY AC F0 RS1 RS0 OV P a ch ngha.

D7H D6H D5H D4H D3H D2H D1H D0H

C nh C nh ph C 0 Bit 1 chn bank thanh ghi Bit chn bank thanh ghi. C trn D tr C Parity chn


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C nh (CY) c cng dng kp. Thng thng n c dng cho cc lnh ton hc: n s c set nu c mt s nh sinh ra bi php cng hoc c mt s mn php tr . V d, nu thanh ghi tch ly cha FFH, th lnh sau: ADD A,#1 S tr v thanh ghi tch ly kt qa 00H v set c nh trong PSW. C nh cng c th xem nh mt thanh ghi 1 bit cho cc lnh lun l thi hnh trn bit. V d, lnh s AND bit 25H vi c nh v t kt qa tr vo c nh: ANL C,25H C nh ph AC: Khi cng cc s BCD, c nh ph (AC) c set nu kt qa ca 4 bit thp trong khong 0AH n 0FH. Nu cc gi tr cng c l s BCD, th sau lnh cng cn c DA A( hiu chnh thp phn thanh ghi tch ly) mang kt qu ln hn 9 tr v tm t 0 9. C zero F0: C F0 l mt bit c a dng dnh cc ng dng ca ngi dng. Cc bit chn bank thanh ghi: Cc bit chn bank thanh ghi (RS0 v RS1) xc nh bank thanh ghi c tch cc. Chng c xa sau khi reset h thng v c thay i bng phn mm nu cn. V d, ba lnh sau cho php bank thanh ghi 3 v di chuyn ni dung ca thanh ghi R7 (a ch byte 1FH) n thanh ghi tch ly: SETB RS1 SETB RS0 MOV A,R7 Khi chng trnh c hp dch cc a ch bit ng c thay th cho cc k hiu RS1 v RS0. Vy lnh SETB RS1 s ging nh lnh SETB 0D4H. C Trn: C trn (OV) c set mt lnh cng hoc tr nu c mt php ton b trn. Khi cc s c du c cng hoc tr vi nhau, phn mm c th kim tra bit ny xc nh xem kt qa ca n c nm trong tm xc nh khng. Khi cc s khng du c cng, bit OV c th c b qua. Cc kt qu ln hn +127 hoc nh hn 128 s set bit OV. Thanh ghi B: Thanh ghi B a ch F0H c dng cng vi thanh ghi tch ly A cho cc php ton nhn v chia. Lnh MUL AB s nhn cc gi tr khng du 8 bit trong A v B Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 41

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ri tr v kt qu 16 bit trong A (byte thp) v B (byte cao). Lnh DIV AB s chia A cho B ri tr v kt qu nguyn trong A v phn d trong B. Thanh ghi B cng c th c xem nh thanh ghi m a dng. N c a ch ha tng bit bng cc a ch bit F0H n F7H. Con tr ngn xp: Con tr ngn xp (SP) l mt thanh ghi 8 bit a ch 81H. N cha a ch ca byte d liu hin hnh trn nh ca ngn xp. Cc lnh trn ngn xp bao gm cc thao tc ct d liu vo ngn xp v ly d liu ra khi ngn xp. Lnh ct d liu vo ngn xp s lm tng SP trc khi ghi d liu, v lnh ly d liu ra khi ngn xp s dc d liu v lm gim SP. Ngn xp ca 8051 c gi trong RAM ni v c gii hn cc a ch c th truy xut bng a ch gin tip. chng l 128 byte u ca 8051. khi ng li SP vi ngn xp bt u ti 60H, cc lnh sau y c dng: MOV SP,#5FH Con tr d liu: Con tr d liu (DPTR) c dng truy xut b nh ngoi, y l mt thanh ghi 16 bit a ch 82H( byte thp) v 83H (byte cao). Ba lnh sau s ghi 55H vo RAM ngoi a ch 1000H: MOV A,#55H MOV DPTR,#1000H MOVX @DPTR,A Lnh u tin dng a ch tc thi ti d liu 55H vo thanh ghi tch ly, lnh th hai cng dng a ch tc thi, ln ny ti d liu 16 bit 1000H vo con tr d liu. Lnh th ba dng a ch gin tip di chuyn d liu trong A (55H) n RAM ngoi a ch c cha trong DPTR (1000H). Cc thanh ghi port xut nhp: Cc port ca 8051/8031 bao gm Port 0 a ch 80H, Port 1 a ch 90 H, Port 2 a ch A0H v Port 3 a ch B0H. Tt c cc Port u c a ch ha tng bit. iu cung cp mt kh nng giao tip thun li. Cc thanh ghi timer: 8051 cha 2 b nh thi m 16 bit c dng trong vic nh thi hoc m s kin. Timer 0 a ch 8AH (TL0:byte thp) v 8CH (TH0:byte cao). Timer 1 a ch 8BH (TL1:byte thp) v 8DH (TH1: byte cao). Vic vn vn hnh timer c set bi thanh ghi Timer Mode (TMOD) a ch 89H v thanh ghi iu khin timer (TCON) a ch 88H. Ch c TCON c a ch ha tng bit. Cc thanh ghi port ni tip: 8051 cha mt port ni tip trn chip dnh cho vic trao i thng tin vi cc thit b ni tip nh my tnh, modem hoc cho vic giao tip vi cc IC khc c giao tip ni tip (c b chuyn i A/D, cc thanh ghi dch..). Mt thanh ghi gi l b m d liu ni tip (SBUF) a ch 99H s gi c hai d liu truyn v nhn. Khi truyn d liu th ghi ln SBUf, khi nhn d liu th c t SBUF. Cc mode vn hnh khc nhau c lp trnh qua thanh ghi iu khin port ni tip (SCON) c a ch ha tng bit a ch 98H. Cc thanh ghi ngt: 8051 c cu 5 ngun ngt, 2 mc u tin. Cc ngt b cm sau khi reset h thng v s c cho php bng vic ghi vo thanh ghi cho php ngt (IE) a ch 8AH mt Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 42

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gi tr ph hp. C hai thanh ghi c a ch ha tng bit. Cc thanh ghi iu khin cng sut: Thanh ghi iu khin cng sut (PCON) a ch 87H cha nhiu bit iu khin. thanh ghi ny ta cn ch bt PCON.7 nu bt ny c set th tc baud s c tng gp i cc mode 1, mode 2, mode 3. 5.1.4. Cng tc Reset: 8051 c reset bng cch gi chn RST mc cao t nht trong 2 chu k my v tr n v mc thp. RST c th c kch khi cp in dng mt mch R-C.V C C C _ B A R

R

1

1

0 0

1 0

U

F

RESETS W 1 R 1 0 2 K

Hnh 5.4. Mch Reset. Thanh ghi Ni dung m chng trinh 0000H Tich luy 00H B 00H PSW 00H SP 07H DPTR 0000H Port 0-3 FFH IP XXX00000B IE 0XX00000B Cac thanh ghi inh thi 00H SCON 00H SBUF 00H PCON(HMOS) 0XXXXXXB PCON(CMOS) 0XXX0000B Bng 5.5. Trng thi cc thanh ghi sau khi b Reset. Quan trng nht trong cc thanh ghi trn l thanh ghi m chng trnh, n c t li 0000H. Khi RST tr li mc thp, vic thi hnh chng trnh lun bt u a ch u tin trong b nh trong chng trnh: a ch 0000H. Ni dung ca RAM trn chip khng b thay i bi lnh reset. 5.1.5. Hot ng ca b nh thi: Mt nh ngha n gin ca timer l mt chui cc flip-flop chia i tn s ni tip vi nhau, chng nhn tn hiu vo lm ngun xung nhp. Ng ra ca tn s cui lm ngun xung nhp cho flip-flop bo trn ca timer (flip-flop c). Gi tr nh phn trong Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 43

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cc flip-flop ca timer c th xem nh s m s xung nhp (hoc cc s kin) t khi khi ng timer. V d timer 16 bit s m ln t 0000H n FFFFH. C bo trn s ln 1 khi s m trn t FFFFH n 0000H. 8051 c 2 timer 16 bit, mi timer c bn cch lm vic. Ngi ta s dng cc timer : nh khong thi gian, m s kin hoc to tc baud cho port ni tip trong 8051. Trong cc ng dng nh khong thi gian, ngi ta lp trnh timer mt khong u n v t c trn timer. C c dng ng b ha chng trnh thc hin mt tc ng nh kim tra trng thi ca cc ng vo hoc gi cc s kin ra cc ng ra. Cc ng dng khc c th s dng vic to xung nhp u n ca timer o thi gian tri qua gia hai s kin (v d : o rng xung). m s kin dng xc nh s ln xy ra ca mt s kin. Mt s kin l bt c tc ng ngoi no c th cung cp mt chuyn trng thi trn mt chn ca 8051. Cc timer cng c th cung cp xung nhp tc baud cho port ni tip trong 8051.Truy xut timer ca 8051 dng 6 thanh ghi chc nng c bit cho trong bng sau: S F R T C O N T M O D T L 0 T L 1 T H 0 T H 1 Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 44 MC CH A CH 88H 89H 8A H 8BH 8CH 8D H a ch ho tng bit C Khng Khng Khng Khng Khng

iu khin timer Ch timer Byte thp ca timer 0 Byte thp ca timer 1 Byte cao ca timer 0 Byte cao ca timer 1

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Bng 5.6. Thanh ghi chc nng c bit dng timer. Thanh ghi ch timer TMOD: TMOD cha hai nhom 4 bit dung t ch lam vic cho timer0 va timer1. Tim Bit Tn M t er Bit (M) cng, khi 1 7 GATE ln 1 timer ch chy khi INT1 mc cao. 6C/T 1

Bit chn ch Counter/ timer. Bt 1 ca ch mode Bt 0 ca ch mode Bit (m) cng Bit chn counter/timer Bit 1 ca ch Bit 0 ca ch

5

M1 M0

1

4 3 2 1 0

1

GATE

0

C/T

0

M1

0

M0

0

Bng 5.7. Chc nng ca cc bit nm trong TMODE Thanh ghi iu khin timer (TCON): Thanh ghi TCON cha cc bit trng thi v cc bit iu khin cho timer 0 v timer 1. TCON.7(TF1-8FH): C bo trn Timer 1: t bi phn cng khi trn, c xo bi phn mn hoc phn cng khi b x l ch n chng trnh phc v ngt. TCON.6(TR1-8EH): Bt iu khin cho timer 1 chy. TCON.5(TF0-8DH): C bo trn timer 0. TCON.4(TR0-8CH): Bt iu khin timer 0 chy. TCON.3(IE1-8BH): C ngt 1 bn ngoi. TCON.2(IT1-8AH): Bt quyt nh mc tc ng ca ngt l tc ng cnh (sn xung) hay tc ng mc. TCON.1(IE1-8BH): C ngt 0 bn ngoi. TCON.0(IT1-8AH): Bt quyt nh mc tc ng ca ngt l tc ng cnh (sn xung) hay tc ng mc. Cc ch ca b nh thi: Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 45

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Ch 0 - ch timer 13 bit: tng thich vi 8048 (co trc 8051) ba bit cao cua TLX (TL0 va/hoc TL1) khng dung. TLx THx (5 bit) (8 bit) Xung nhpTFx

C bo trn

Hnh 5.8. Nguyn l ca b nh thi hot ng ch 0. Ch 1- ch timer 16 bit: hoat ng nh timer 16 bit y u. C bao tran la bit TFx trong TCON co th oc hoc ghi bng phm mm. MSB cua gia tri trong cac thanh ghi timer la bit 7 cua THx va LBS la bit 0 cua TLx. Cac thanh ghi timer (TLx/THx) co th c oc hoc ghi bt c luc nao bng phm mm. TLx THx (8bit) (8 bit)

TFx

Xung nhp C bo trn Hnh 5.9. Nguyn l ca b nh thi hot ng ch 0. Ch 2- ch t ng nap lai 8 bit: TLx hoat ng nh mt timer 8 bit, trong khi o THx vn gi nguyn gia tri c nap. Khi s m tran t FFH n 00H, khng nhng c timer c set ma gia tri trong THx ng thi c nap vao TLx. Vic m tip tuc t gia tri nay ln n FFH xung 00H va nap lai... Ch nay rt thng dung vi s tran timer xay ra trong nhng khoang thi gian nht inh va tun hoan mt khi a khi ng TMOD va THx.

TLx (8 bit)

TFx

THx (8 bit) Hnh 5.10. Ch t ng np li. Ch 3- ch tach timer: Timer 0 tach thanh hai timer 8 bit (TL0 va TH0), TL0 co c bao tran la TF0 va TH0 co c bao tran la TF1. Timer 1 ngng ch 3, nhng co th c khi ng bng cach chuyn sang ch khac. Gii han duy nht la Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 46

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c bao tran TF1 khng con bi tac ng khi timer 1 bi tran vi no a c ni ti TH0. (Hnh 5.11.) Xung nhip TL1 TH1 Timer Xung nhip Timer Xung nhip Timer

TL0

TF0

TH0 Hnh 5.11. Ch b nh thi th 3 .

TF1

5.1.6. Hot ng ca ngt: Ngt l hot ng ngng tm thi mt chng trnh ny thi hnh mt chng trnh khc. Cc ngt c mt vai tr quan trng trong thit k v kh nng thc thi ca vi iu khin. Chng cho php h thng p ng khng cng lc ti mt cng vic v gii quyt mt cng vic trong khi mt chng trnh khc ang thc thi. Mt h thng c iu khin bng ngt cho o gic l lm nhiu vic ng thi. D nhin CPU mi ln khng th thc thi mt chng trnh thc thi mt chng trnh khc, ri quay v chng trnh u. khi c yu cu ngt. Chng trnh gii quyt ngt c gi l chng trnh phc v ngt (ISR : Interrupt Sevice Reutine). 3.1.6.1. T chc ngt. 8051 c 5 ngun ngt: 2 ngt ngoi. 2 ngt t timer. 1 ngt port ni tip. Tt c cc ngt s khng c t sau khi reset h thng v cho php ngt ring r bi phn mm. Cho php v khng cho php ngt: Mi ngun ngt c cho php hoc khng cho php tng ngt mt qua thanh ghi chc nng t bit c nh a ch bit IE (Interrupt Enable : cho php ngt) a ch A8H. Cng nh cc bit cho php mi ngun ngt, c mt bit cho php hoc cm ton b c xa cm tt c cc ngt hoc c t ln 1 cho php tt c cc ngt. Bit K a ch M t(1: cho php, 0: Cm) hiu bit IE. EA AFH Cho php hoc cm ton b 7 AEH Khng c nh ngha IE. ET5 ADH Cho php ngt t timer 2 6 E5 ACH (8052) IE. ET1 ABH Cho php ngt Port ni tip 5 EX1 AAH Cho php ngt t timer 1 Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 47

an tt nghip t do IE. 4 IE. 3 IE. 2 IE. 1 IE. 0 ET0 EX0 A9H A8H

Thit k tay may co 3 bc Cho php ngt ngoi 1 Cho php ngt t timer 0 Cho php ngt ngoi 0

Bng 5.12. Thanh ghi ngt IE. u tin ngt: Mi ngun ngt c lp trnh ring vo mt trong hai mc u tin qua thanh ghi chc nng c bit c a ch bit IP (Interrupt Priority : u tin ngt) a ch B8H. B K a Mt (1=mc u tin cao, 0 mc it hiu ch thp) bit I Khng c nh ngha. P. Khng c nh ngha. 7 PT2 BDH u tin cho ngt t timer 2 I PS BCH (8052). P. PT1 BBH u tin cho ngt Port ni tip. 6 PX1 BAH u tin cho ngt timer 1. I PT0 B9H u tin cho ngt ngoi 1. P. PX0 B8H u tin cho ngt timer 0. 5 u tin cho ngt ngoi 0. I P. 4 I P. 3 I P. 2 I P. 1 I P. 0 Bng 5.13. Thanh ghi u tin ngt IP. Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 48

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Cc ngt u tin c xa sau khi reset h thng t tt c cc ngt mc u tin thp hn. X l ngt: Khi c mt ngt xy ra v c CPU chp nhn, chng trnh chnh b ngt qung. Nhng hot ng sau xy ra: Thi hnh hon chnh lnh ang hin hnh. Ct a ch vo ngn xp. Trng thi ngt hin hnh c ct bn trong. Cc ngt c chn ti mc ca ngt. Np vo PC a ch Vector ca ISR. ISR thc thi. ISR thc thi v p ng ngt. ISR hon tt bng lnh RETI. iu ny lm ly li gi tr c ca PC t ngn xp v ly li trng thi ngt c. Chng trnh li tip tc thi hnh ti ni m n dng. Cc Vector ngt: Khi chp nhn ngt, gi tr c np vo PC c gi l Vector ngt. N l a ch bt u ca ISR cho ngun to ngt. Cc Vector ngt c cho bng sau: Ngt Reset h thng Bn ngoi 0 Timer 0 Bn ngoi 1 Timer 1 Port ni tip C RST IE0 TF0 IE1 TF1 TI hoc RI a ch Vector 0000H 0003H 000BH 0013H 001BH 0023H

Bng 5.14. Cc c ngt. Vector reset h thng (RST a ch 0000H) n ging nh mt ngt. N ngt chng trnh chnh v ti vo PC mt gi tr mi. Khi ch n mt ngt c gy ngt t ng b xa bi phn cng, tr ra R1, T1 cho cc ngt cng ni tip. V c hai ngun c th c cho ngt ny, khng thc t CPU xa c ngt ny. Cc bit phi c kim tra trong ISR xc nh ngun ngt v c to ngt s c xa bng phn mm. 5.1.7. Cc ngt ca AT89C51: 5.1.7.1. Cc ngt timer: Cc ngt timer c a ch Vector ngt l 000BH (timer 0) v 001BH (timer 1). Ngt timer xy ra khi cc thanh ghi timer (TLx - THx) trn v set c bo trn (TFx) ln 1. Cc c timer (TFx) khng b xa bng phn mm. Khi cho php cc ngt, TFx t ng b xa bng phn cng khi CPU chuyn n ngt. 5.1.7.2. Cc ngt cng ni tip: Ngt cng ni tip xy ra khi hoc c pht (TI) hoc c ngt thu (RI) c t ln 1. Ngt pht xy ra khi mt k t c nhn xong v ang i trong SBUF Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 49

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c c. Cc ngt cng ni tip khc vi cc ngt timer. C gy ra ngt cng ni tip khng b xa bng phn cng khi CPU chuyn ti ngt. Do c hai ngun ngt cng ni tip TI v RI. Ngun ngt phi c xc nh trong ISR v c to ngt s c xa bng phn mm. Cc ngt timer c ngt c ngt c xa bng phn cng khi CPU hng ti ISR. 5.1.7.3. Cc ngt ngoi: Cc ngt ngoi xy ra khi c mt mc thp hoc cnh xung trn chn INT0 hoc INT1 ca vi iu khin. y l chc nng chuyn i ca cc bit Port3. (Port 3.2 v Port 3.3). Cc c to ngt ny l cc bit IE0 v IE1 trong TCON. Khi quyn iu khin chuyn n ISR, c to ra ngt ch c xa nu ngt c tch cc bng cnh xung. Nu ngt c tch cc theo mc, th ngun yu cu ngt bn ngoi s iu khin mc ca c thay cho phn cng. S la chn ngt tch cc mc thp hay tch cc cnh xung c lp trnh qua cc bit IT0 v IT1 trong TCON. Nu IT1 = 0, ngt ngoi 1 c tc ng bng mc thp chn IT1. Nu IT1 = 1 ngt ngoi 1 s c tc ng bng cnh xung. trong ch ny, nu cc mu lin tip trn chn INT1 ch mc cao trong mt chu k v ch mc thp trong chu k k, c yu cu ngt IE1 trong TCON c t ln1 Nu ngt ngoi c tc ng bng cnh xung th ngun bn ngoi phi gi chn tc ng mc cao ti thiu mt chu k v gi n mc thp thm mt chu k na m bo pht hin c cnh xung. Nu ngt ngoi c tc ng theo mc th ngun bn ngoi phi gi tn hiu yu cu tc ng cho n khi ngt c yu cu c tht s to ra v khng tc ng yu cu ngt trc khi ISR c hon tt . Nu khng mt ngt khc s c lp li.

5.2.THIT K PHN IN T IU KHIN TAY MY:5.2.1. Mch ngun cho c h:1N540 LM7809/TOGND

1N540 LM7805/TOVIN GND VOUT

12V

VIN

VOUT

5V

1 2

CON2

TU 2200 UF

TU 330UF

TU 2200UF

TU 104

+

+

330

+

TU 104

1 2

1K2

1K

CON2

LED XANH

LED VANG

LED DO

1 2

CON21 2

J11 2

CON2 12V DIODE 1A1 2

V 12( V ) AC CON2 DIODE 1A1 2

2 1

2 1

2 1

2 1

2 1

2 1

CON2

CON2

CON2

CON2

CON2

CON2

DIODE 1A


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Hnh 5.15. Mch ngun cho AT89C51. 5.2.1.1. Mc ch ca thit k mch ngun: Nh ta bit th mi mt sn phm in t lm ra n c cc tiu chun nht nh, M yu t quan trng nht m chng ta cn quan tm l ngun in s dng nh th no, y l mt yu t quan trng khng th thiu c bi v khi khng c ngun nng lng cung cp cho sn phm th hu nh mi sn phm lm ra iu l ph phm. Chi ph tp trung u t phn ngun in trong cc sn phm in t l rt ln: n phi p ng c mt s yu cu sau: p ng c cng sut lm vic cho sn phm to ra. Ngun in phi n nh, chng sc cho cc linh kin in t lm cho sn phm lm ra c bn hn. u vo ca cc ngun cung cp phi ph hp vi cc thng s m ngnh in lc ca quc gia s dng, v d nh p ng tn s, in p li in quc gia chn hn 5.2.1.2. Mch ngun thi cng trn: Ngun in m chng em s dng ngun my tnh c in p l 12VDC, dng in qua l 3(A). cho vi iu khin c th hot ng c th in p cung cp cho chp AT89C51 l 5V, v dng cn thit ch vi mmA m thi vy ta phi s dng 2 con IC n p LM7809 v LM7805 thc hin iu ch ra in p theo yu cu. St p ri trn 2 con IC n p ny l 3VDC . Nhng trnh sc cho 2 con IC n p ny ta cn c bin php bo v l:

1N540 LM7805/TOVin Vout

Hnh 5.16. Cch thc bo v cho IC n p. Diode trn c mc ch ngn chn khng cho c nhiu nh thng LM7805, ghim in p phn cc ngc l 0,7 V. Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 51

GND

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Ngoi ra n cn c mc ch l chng chy cho LM7805 khi ngi s dng u ln dy cung cp ngun in. Chng ta trn c in p ly ra l 12VDC ly ra t u vo ca bnh Ac qui, vi l do l c th dng cung cp cho mnh cng sut iu khin ng c hot ng th n phi ly ra trc tip ng vo, khng th ly ra ng ra con IC LM7809 bi v p lc ny l 9VDC, dng ch cn li vi mmA, chng ta phi ch n iu ny khi thit k mch. S dng t in to s n nh cho mch: F T in 2200 c s dng cc ng vo ca cc con IC n p vi mc ch l to in p n nh ngha l nng cao cng sut ca dng 1 chiu, bi v nu bn k dng ca dng xoay chiu t s c np in nhng trong khong chuyn bin t bn k dng sang bn k m th s c mt vng in p t (0,7 -0,7) lm cho Ic n p mt tc dng, nhng khi ta mc t in vo s khc phc c nhc im ny l khi t np in bn k dng ri th khi c s st p bn k tip theo, t in ny s x in p lm cho Ic n p lun hot ng trnh c hin tng treo trng thi trn. T 104 c tc dng cng khng km phn quan trng l: Mt tnh cht m chng ta hu nh ai cng bit l t in giy khng cho dng in mt chiu chy qua, y l mt yu t c trng ca t in kiu ny, n s c cng dng l ngn chn nhiu gy ra t bn ngoi( v d nh cc xung gy ra bi ng c in, cc tn hiu m thanh bn ngoi ). Lm thot nhiu l mt yu t rt quan trng bi v ta bit cc h vi iu khin s d dng b tc ng bi nhiu lm cho cc chc nng iu khin hot ng khng ng na, v vy lm cho c h hot ng km n nh, c nhiu cch trit c nhiu nhng mt trong cc bin php r tin v c hiu qu vi cc ng dng nh. Mt yu t cng khng km phn quan trng l tn hiu: Mt mch iu khin khng th coi l y d khi ngi s dng khng bit c l u c tn hiu, au khng c tn hiu iu ny l mt c im nhn dng, khi ngi thit k phi truy tm bnh khi mch in c vn n s lm cho cng vic gii qut cc s c c nhanh chng hn, m i khi ch cn mt tn hiu ca led l ta c th bt bnh c ri. V d nh trn led khng sng ta s c mt vi suy lun nh sau: Trc tin ta dng ng h o trng thi ang cp in, t ng h thang o in p thch hp. Nu o in p ng ra ca LM89C51 vi t m c in th chuyn sang phng n tip theo l: ta th ct ngun in, sau ng h thang o in tr ri kim tra xem con led m ta gn vo mch ng cc cha, nu kim tra trn vn ng th ta chuyn sang phng n kim tra tip theo l xem mch ca mnh c b c ch no khng bng cch s dng ng h o, nu phng n kim tra trn vn cha thu c kt qu g th ta tip tc kim tra bng cch th o in tr cc mi hn, dt c yu cu th in tr cc mi hn ni vi GND phi nh v dnh cht. l qui trnh suy lun Logic m mt nh thit k mch phi ngh n trong qu trnh thit k, hiu chnh cc tnh hun bt cht xy ra (rt quan trng). 5.2.2. Mch vi iu khin:


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Hnh 5.17. Mch vi iu khin tng qut. 5.2.2.1. Cu hnh cho chip AT89C51 hot ng: Mt s c trng: Nh phn tch phn trn th mi mt loi chip li c mt s tiu chun nht nh. AT89C51 cng vy: p cung cp cho vi iu khin hot ng l 5VDC. Cng P0 c cu to c bit do vy nu bn mun P0 va lm nhim v nhn tn hiu, va xut data th ta phi mt thm in tr thanh ngoi cung cp thm dng. B dao ng: c th thc hin c chng trnh, tm np v thi hnh m lnh th mi loi chp c mt b dao ng ring, n do nh sn xut qui nh. Xung dao ng thng l do thnh anh to nn, tinh th thch anh c tnh cht l t n to nn nhng xung clock. Mt s loi chp khc n c th c cung cp xung clock bng cc mch dao ng bn ngoi v d nh mch dao ng RC chn hn. Tn s cn thit cho AT89C51 hot ng l 12Mhz, trn ta s dng thnh anh dao ng vi tn s 11,0592Mhz, vi l do l khc phc cc sai s v tn s ch truyn ni tip so vi tc Baud ca my tnh. Cc t giy vi gi tr 33PF cch ly chng nhiu cho xung clock. Mch reset: dng thit lp li trng thi bang u cho AT89C51. Ta cn phi rng cc chp vi iu khin iu m kh nng kt ni thm b nh data bn ngoi vi cc ng dng m lng b nh khng vt qu 4Kbyte th iu ny khng thc s cn thit. Cng chnh v l do m trn m mt s chn chip vi iu khin khng c s dng ht. Ta cn quan tm n chn 31( E ). Chn ny c ni ln vi ngun A 5VDC th chng trnh thc thi lnh trong b nh ni. Nu chn ny c ni vi GND th thc thi chng trnh b nh ngoi. Ngi thit k phi ch n c im ny.


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5.2.3. Mch giao tip my tnh: ( Hnh 5.18.)

Chun truyn thng ni tip gia chip AT89C51 v my tnh c thc hin thng qua linh kin MAX232. Ta s dng cng com kt ni. S trn m t cch thc lin kt cc chn ca MAX232 vi cng DB9, v chn ca AT89C51. Chn s 9(OUT) ca MAX232 c ni vi chn c P3.0(RxD) ca chip AT89C51. 5.2.4 Modul cng sut: 5.2.5.1. iu khin ng c in 1 chiu c cu kp: Yu cu t ra: cho qu trnh iu khin ng c DC c d dng th mch iu khin phi t c mt s yu cu sau: ng ngt ng c c d dng. C th iu khin cho ng c o chiu quay. p ng dng v cng sut cho ng c hot ng bnh thng. thc hin c iu ta s dng Role tin hnh lm o chiu quay ca ng c. S dng FET ng ngt ng c.


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Hnh 5.17. Khi iu khin cng sut ng c 1 chiu. Gii thch nguyn l hot ng v mc ch ca cc linh kin c trong mch : Bnh thng khi mi cp ngun th KROLE mc 1 lm cho BJT C1815 dn lm st p ng ra Vce ca C1815 =0,2(V) coi nh gn =0(V) lm cho con C2229 tt => khng c dng vo cun dy ca RELAY(RELAY nm tip im ban u 5-1;6-2). Khi KROLE mc 0 th lm cho C1815 tt, p ri phn ln trn ng ra ca C1815=>C2229 dn bo ho vy c dng xung RELAY(RELAY nm tip im th 2: 5-3;6-4). L do s dng BJT C2229 l: con ic ny c h s khuch i ln lm cho dng IC qua BJT cng nh qua cun dy ca RELAY ln, yu t ny qut nh n l vic ng ngt Relay c c d dng hay khng. S dng con IC C1815 trn c mc ch: trng hp con IC C2229 b nh thng th phn ln dng v vi iu khin s rt ln, c nguy c ph hu vi iu khin. IC C1815 s c mc ch bo v trong trng hp trn. Diode cun dy Relay c mc ch bo v: bi v ta bit rng khi c dng ngc xut hin cun t cm s dn n dng i qua Fet rt ln lm cho Fet d b dnh thng ta mt diode y hn ch dng ngc . Bnh thng DKDC mc 1 th con C1815 dn lm cho p ri trn VGS ca IRF 540 nh khng phn cc cho FET dn => ng c ngng hot ng. Khi DKDC mc 0 th C1815 tt lm cho p ri trn VGS ln =>FET dn mnh lm cho ng c chuyn ng.


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Hnh 5.18. Mi quan h gia ID ,vi VDS . Qua trang datasheetarchiver.com ta tra c thng s ca FET v thy rng khi VGS =10V th dng qua Fet l rt ln =>coi nh ng c dn mnh. 5.2.2.2. Driver iu khin ng c bc: Phn ny trnh by v mch dn ng khu cui ca ng c bc. Mch ny tp trung vo mt mch pht n, ng ngt dng in trong cun dy ca ng c, ng thi iu khin chiu dng in. Mch in c ni trc tip vi cun dy v cp ngun ca ng c, mch c iu khin bi mt h thng s quyt nh khi no cng tc ng hay ngt. B iu khin in hnh ca ng c bc bin t tr da theo nguyn tc nh sau:


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Hnh 5.19. M hnh iu khin ng c bc. Trn hnh 5.19. cc hp k hiu cho cng tc, b iu khin (controller - khng th hin trn hnh) chu trch nhim cung cp tn hiu iu khin ng m cng tc ti tng thi im thch hp quay ng c. Trong nhiu trng hp, chng ta phi thit k b iu khin, c th l mt my tnh hoc mt mch iu khin giao tip lp trnh c, vi phn mm trc tip pht tn hiu iu khin ng m, nhng trong mt s trng hp khc mch iu khin c thit k km theo ng c, v i khi c cho min ph. Cun dy, li solenoid ca ng c hoc cc chi tit tng t u l cc ti cm ng. Nh vy, dng in qua cun dy khng th ng ngt tc thi m khng lm p tng vt t ngt. Khi cng tc iu khin cun dy ng, cho dng in i qua, lm dng in tng chm. Khi cng tc m, s tng mnh in p c th lm h cng tc tr khi ta bit cch gii quyt thch hp. C hai cch c bn x l s tng in p ny, l mc song song vi cun dy mt diod hoc mt t in. Hnh 5.20. minh ha hai cch ny:

Hnh 5.20. B iu khin in hnh ng c bc n cc thay i theo s :

Hnh 5.21. Trn hnh 5.21, hp biu din cc cng tc v mt b iu khin (khng th hin trn hnh) chu trch nhim cung cp tn hiu iu khin ng m cng tc vo thi im thch hp quay ng c. B iu khin thng l my tnh hay mt mch iu khin lp trnh c, vi phn mm trc tip pht ra tn hiu cn thit iu khin cng tc. Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 57

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Trong cc mch in phn trn, chng ta khng quan tm n cc cng tc v cc tn hiu iu khin. Bt k k thut ng ngt no t cu dao n MOSFETS cng u dng c ht! Hnh 5.22. l mt vi cch mc cho mi loi cng tc, bao gm c cun dy ca ng c v diod bo v phc v cho mc ch ng ngt k trn:

Hnh 5.22. Mi cng tc trn hnh 5.22. u tng thch vi u vo TTL. Ngun 5V s dng cho mch logic, bao gm open-collector driver 7407 nh trn hnh. Ngun in cho ng c, thng t 5V 24V, khng cn chnh xc cao. Ta cn ch rng cc mch ng ngt cc ngun ny phi thch hp cho vic dn ng cc cun dy, ng c DC, cc ti cm ng khc v c cc ng c bc. Transistor SK3180 trn hnh 5.22. l mt mch darlington cng sut c li dng hn 1000, do dng 10mA qua in tr hiu chnh 470 Ohm s ln qua transistor iu chnh dng vi Ampe qua cun dy ca ng c. B m 7407 dng iu khin darlington c thay th bi bt k con chip open-collector in th cao no m n c th iu khin mc ti thiu 10mA. Ngay c trong trng hp transistor h, open collector ny s gip bo v phn cn li ca mch logic khi ngun ca ng c. IC IRL540 trn hnh 5.22. l mt power field effect transistor. N c th chu c Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 58

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dng in ln ti 20A v n b nh thng 100V, do con chip ny c th hp thu nh nhn ca t cm m khng cn diode bo v nu n c gn vi mt b tn nhit ln. Transistor ny c thi gian ng ngt rt nhanh nn cc diode bo v cng phi nhanh tng ng hoc c chia nh bi cc t in. iu ny c bit cn thit cho cc diode bo v transistor chng li phn cc ngc. Trong trng hp transistor b h, diode zener v in tr 100 Ohm s bo v mch TTL. in tr 100 Ohm cn ng vai tr lm chm thi gian ng m ca transistor. Ni chung li tu loi ng c bc m ta c phng n lm mch vi iu khin ring cho ph hp.

Hnh 5.23. Driver cho ng c bc n cc. Thng s ng c bc s dng trong tay my: ng c bc n cc nam chm vnh cu n cc. Gc bc l 1,80 . Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 59

an tt nghip t do p ri trn mi pha l 3,5(V) Dng qua 1,7 A


Hnh 5.24. Hnh dng ca ng c bc s dng trong n. Xt mch iu khin ng c bc trn : V ng c bc c thng s nh vy m c th t c in p v dng th ta phi mt thm in tr to nn dng theo yu cu ca nh sn xut. Ta s i tm gi tr in tr ny: in p cung cp l 12VDC trong khi p ri trn 1 cc ca ng c bc l 3,5VDC vy nn p ri trn in tr l 12-3,5= 8,5VDC. Tm in tr: I chy qua ng c l 1,7 A. do vy: R = 8,5/1,7=5 (ohm) Tm cng sut ri trn in tr: P=RI2 =5*1,72 = 14,45 W. gim cng sut xung ta ci tin bng cch mt // 2 in tr c gi tr bng nhau vi gi tr l 10 Ohm, 10W. iu ny ch ng trong qu trnh lp trnh vi chui xung n nu ta cp chui xung kp th dng i hi cung cp cho ng c hot ng phi ln hn (c th l gp i dng hi ny). c c iu ta cng tnh ton nh vy => cn chn in tr 4,7 Ohm, 10W. 5.2.5 Mch cng tc hnh trnh v bn phm:


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hn ch port cho vi iu khin chng em dng ic gii m 74151 dng cho cng tc hnh trnh v mch bn phm.

Chng 6: TRNH IU KHIN ROBOTRS BIT P3.6 RW BIT P3.5 E BIT P3.4 DCB_X1 DATA DCB_X2 DATA DCB_X3 DATA DCB_X4 DATA DCB_Y1 DATA DCB_Y2 DATA DCB_Y3 DATA DCB_Y4 DATA DCB_Z1 DATA DCB_Z2 DATA DCB_Z3 DATA DCB_Z4 DATA RV DATA 3CH THANH DATA ROLE_KEP DC_KEP

30H 31H 32H 33H 34H 35H 36H 37H 38H 39H 3AH 3BH 3DH BIT BIT P1.7 P1.6

ORG 0000H JMPSTART ORG 0030H START: MOV P2,#0H CLR ROLE_KEP MOV DPTR,#BANGMA JMP QUA MOV R7,#33H SET_X: Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 61

an tt nghip t do MOV P2,#03H JNB P3.7,SET_Y CALL X_LUI SET_Y: MOV P2,#04H JNB P3.7,SET_Z CALL Y_LUI SET_Z: MOV P2,#05H JNB P3.7,DA_SET CALL Z_LUI DA_SET: MOV P2,#03H JB P3.7,SET_X MOV P2,#04H JB P3.7,SET_Y MOV P2,#05H JB P3.7,SET_Z MOV 2,#0H QUA: MOV A,#38H 5X8 ACALLCOMMAND MOV A,#01H ACALLCOMMAND MOV A,#0EH nhay ACALLCOMMAND MOV A,#06H dan ACALLCOMMAND MOV A,#80H ACALLCOMMAND MOV R0,#0 MOV R1,#0 MOV R2,#0 MOV R3,#0 ; MOV IE,#81H MOV R7,#33H CALL HIENTHI_LCD MOV RV,#0 MOV THANH,#255 KT_KEYPAD: ANL P1,#0F8H JB P3.3,K2 JMP KEP_VAT Nhom SVTH : Phan Th Anh V Minh Vng


; giao tiep 8 bit, hien thi 2 hang, ki tu ;tat hien thi con tro tro ve goc trai ;bat man hinh hien thi, con tro ko nhap ;con tro ve dau dong ben trai, AC tang ;con tro den dia chi 00 SO XUNG TUONH UNG THAP PHAN X ;SO XUNG TUONG UNG X SO XUNG TUONG UNG THAP PHAN Y ;SO XUNG TUONG UNG Y

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an tt nghip t do K2: ANL ORL JB JMP ANL ORL JB CALL K4: ANL ORL JB CALL ANL ORL JB CALL K6: ANL ORL JB CALL ANL ORL JB CALL K8: ANL ORL JB CALL K9: ANL ORL JB CALL ANL ORL JB JMP P1,#0F8H P1,#07H P3.3,K9 Z_LUI P1,#0F8H P1,#0H P3.7,K10 LUU_GIA_TRI_1 P1,#0F8H P1,#01H P3.7,KT_KEYPAD AU_TO P1,#0F8H P1,#01H P3.3,K3 NHA_VAT P1,#0F8H P1,#02H P1.3,K4 X_TIEN P1,#0F8H P1,#03H P1.3,K5 X_LUI P1,#0F8H P1,#04H P3.3,K6 Y_TIEN P1,#0F8H P1,#05H P3.3,K7 Y_LUI P1,#0F8H P1,#06H P3.3,K8 Z_TIEN


K3:

K5:

K7:

K10:


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;----------------------------------X_LUI: MOV A,R7 ANL A,#0FH CJNE A,#0CH,XUNG2_XLUI MOV P2,#09H CALL DELAY MOV A,R7 ANL A,#0F0H ORL A,#09H MOV R7,A JMP S_X_LUI XUNG2_XLUI: CJNE A,#09H,XUNG3_XLUI MOV P2,#03H CALL HIENTHI_LCD MOV A,R7 ANL A,#0F0H ORL A,#03H MOV R7,A DEC R0 DEC R0 DEC R0 JMP S_X_LUI XUNG3_XLUI: CJNE A,#03H,XUNG4_XLUI MOV P2,#06H CALL DELAY MOV A,R7 ANL A,#0F0H ORL A,#06H MOV R7,A JMP S_X_LUI XUNG4_XLUI: MOV P2,#0CH CALL HIENTHI_LCD MOV A,R7 ANL A,#0F0H ORL A,#0CH MOV R7,A DEC R0 DEC R0 DEC R0 S_X_LUI: Nhom SVTH : Phan Th Anh V Minh Vng Lp:05 CDT2 Trang 64

an tt nghip t do CALL DELAY CALL DELAY CALL DELAY MOV P2,#0H CLR C MOV A,R0 CJNE A,#253,X_AM_2 MOV R0,#97 DEC R1 RET X_AM_2: CJNE A,#254,X_AM_1 MOV R0,#98 DEC R1 RET X_AM_1: CJNE A,#255,KT_X_LUI MOV R0,#99 DEC R1 RET KT_X_LUI: RET ;------------------------Y_TIEN: MOV A,R7 ANL A,#0F0H CJNE A,#0C0H,XUNG2_YTIEN MOV P2,#60H CALL DELAY MOV A,R7 ANL A,#0FH ORL A,#60H MOV R7,A JMP S_Y_TIEN XUNG2_YTIEN: CJNE A,#90H,XUNG3_YTIEN MOV P2,#0C0H CALL HIENTHI_LCD MOV A,R7 ANL A,#0FH ORL A,#0C0H MOV R7,A INC R2 INC R2 INC R2 JMP S_Y_TIEN Nhom SVTH : Phan Th Anh V Minh Vng


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an tt nghip t do XUNG3_YTIEN: CJNE A,#30H,XUNG4_YTIEN MOV P2,#90H CALL DELAY MOV A,R7 ANL A,#0FH ORL A,#90H MOV R7,A JMP S_Y_TIEN XUNG4_YTIEN: MOV P2,#30H CALL HIENTHI_LCD MOV A,R7 ANL A,#0FH ORL A,#30H INC R2 INC R2 INC R2 MOV R7,A S_Y_TIEN: CALL DELAY CALL DELAY CALL DELAY MOV P2,#0H MOV A,R2 SUBB A,#100 JC KT_Y_TIEN MOV R2,A INC R3 KT_Y_TIEN: CLR C RET ;------------------------X_TIEN: MOV A,R7 ANL A,#0FH CJNE A,#0CH,XUNG2_XTIEN MOV P2,#06H CALL DELAY MOV A,R7 ANL A,#0F0H ORL A,#06H MOV R7,A JMP S_X_TIEN XUNG2_XTIEN: CJNE A,#09H,XUNG3_XTIEN Nhom SVTH : Phan Th Anh V Minh Vng


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an tt nghip t do MOV P2,#0CH CALL HIENTHI_LCD MOV A,R7 ANL A,#0F0H ORL A,#0CH MOV R7,A INC R0 INC R0 INC R0 JMP S_X_TIEN XUNG3_XTIEN: CJNE A,#03H,XUNG4_XTIEN MOV P2,#09H CALL DELAY MOV A,R7 ANL A,#0F0H ORL A,#09H MOV R7,A JMP S_X_TIEN XUNG4_XTIEN: MOV P2,#03H CALL HIENTHI_LCD MOV A,R7 ANL A,#0F0H ORL A,#03H MOV R7,A INC R0 INC R0 INC R0 S_X_TIEN: CALL DELAY CALL DELAY CALL DELAY MOV P2,#0H MOV A,R0 SUBB A,#100 JC KT_X_TIEN MOV R0,A INC R1 KT_X_TIEN: CLR C RET ;-----------------------Y_LUI: MOV A,R7 ANL A,#0F0H Nhom SVTH : Phan Th Anh V Minh Vng


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an tt nghip t do CJNE A,#0C0H,XUNG2_YLUI MOV P2,#90H CALL DELAY MOV A,R7 ANL A,#0FH ORL A,#90H MOV R7,A JMP S_Y_LUI XUNG2_YLUI: CJNE A,#90H,XUNG3_YLUI MOV P2,#30H CALL HIENTHI_LCD MOV A,R7 ANL A,#0FH ORL A,#30H MOV R7,A DEC R2 DEC R2 DEC R2 JMP S_Y_LUI XUNG3_YLUI: CJNE A,#30H,XUNG4_YLUI MOV P2,#60H CALL DELAY MOV A,R7 ANL A,#0FH ORL A,#60H MOV R7,A JMP S_Y_LUI XUNG4_YLUI: MOV P2,#0C0H CALL HIENTHI_LCD MOV A,R7 ANL A,#0FH ORL A,#0C0H DEC R2 DEC R2 DEC R2 MOV R7,A S_Y_LUI: CALL DELAY CALL DELAY CALL DELAY MOV P2,#0H CLR C MOV A,R2 Nhom SVTH : Phan Th Anh V Minh Vng


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an tt nghip t do CJNE A,#253,Y_AM_2 MOV R2,#97 DEC R3 RET Y_AM_2: CJNE A,#254,Y_AM_1 MOV R2,#98 DEC R3 RET Y_AM_1: CJNE A,#255,KT_Y_LUI MOV R2,#99 DEC R3 RET KT_Y_LUI: RET ;------------------------------Z_TIEN: MOV A,R7 ANL A,#0F0H CJNE A,#0C0H,XUNG2_ZTIEN MOV P1,#60H CALL DELAY MOV A,R7 ANL A,#0FH ORL A,#60H MOV R7,A JMP S_Z_TIEN XUNG2_ZTIEN: CJNE A,#90H,XUNG3_ZTIEN MOV P1,#0C0H CALL HIENTHI_LCD MOV A,R7 ANL A,#0FH ORL A,#0C0H MOV R7,A INC R4 INC R4 INC R4 JMP S_Z_TIEN XUNG3_ZTIEN: CJNE A,#30H,XUNG4_ZTIEN MOV P1,#90H CALL DELAY MOV A,R7 Nhom SVTH : Phan Th Anh V Minh Vng


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an tt nghip t do ANL A,#0FH ORL A,#90H MOV R7,A JMP S_Z_TIEN XUNG4_ZTIEN: MOV P1,#30H CALL HIENTHI_LCD MOV A,R7 ANL A,#0FH ORL A,#30H INC R4 INC R4 INC R4 MOV R7,A S_Z_TIEN: CALL DELAY CALL DELAY CALL DELAY MOV P1,#0H MOV A,R4 SUBB A,#100 JC KT_Z_TIEN MOV R4,A INC R5 KT_Z_TIEN: CLR C RET ;-------------------------------------Z_LUI: MOV A,R7 ANL A,#0F0H CJNE A,#0C0H,XUNG2_ZLUI MOV P1,#90H CALL DELAY MOV A,R7 ANL A,#0FH ORL A,#90H MOV R7,A JMP S_Z_LUI XUNG2_ZLUI: CJNE A,#90H,XUNG3_ZLUI MOV P1,#30H CALL HIENTHI_LCD MOV A,R7 ANL A,#0FH Nhom SVTH : Phan Th Anh V Minh Vng


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an tt nghip t do ORL A,#30H MOV R7,A DEC R4 DEC R4 DEC R4 JMP S_Z_LUI XUNG3_ZLUI: CJNE A,#30H,XUNG4_ZLUI MOV P1,#60H CALL DELAY MOV A,R7 ANL A,#0FH ORL A,#60H MOV R7,A JMP S_Z_LUI XUNG4_ZLUI: MOV P1,#0C0H CALL HIENTHI_LCD MOV A,R7 ANL A,#0FH ORL A,#0C0H DEC R4 DEC R4 DEC R4 MOV R7,A S_Z_LUI: CALL DELAY CALL DELAY CALL DELAY MOV P1,#0H CLR C MOV A,R4 CJNE A,#253,Z_AM_2 MOV R4,#97 DEC R3 RET Z_AM_2: CJNE A,#254,Z_AM_1 MOV R4,#98 DEC R5 RET Z_AM_1: CJNE A,#255,KT_Z_LUI MOV R4,#99 DEC R5 RET Nhom SVTH : Phan Th Anh V Minh Vng


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an tt nghip t do KT_Z_LUI: RET ;------------------------------------KEP_VAT: SETB ROLE_KEP CLR DC_KEP MOV P2,#2H JB P3.7,$ SETB DC_KEP JMP K2 NHA_VAT: CLR ROLE_KEP CLR DC_KEP MOV P2,#3H JB P3.7,$ SETB DC_KEP JMP K3 ;---------------------------------------LUU_GIA_TRI_1: MOV A,RV CJNE A,#0,LUU_GIA_TRI_2 MOV DCB_X1,R1 MOV DCB_X2,R0 ; MOV DCB_Y1,R3 ; MOV DCB_Y2,R2 ; MOV DCB_Z1,R5 ; MOV DCB_Z2,R4 MOV RV,#1 MOV A,#"O" ACALLHIENTHI MOV A,#"K" ACALLHIENTHI MOV A,#"1" ACALLHIENTHI JNB P3.7,$ RET LUU_GIA_TRI_2: MOV DCB_X3,R1 MOV DCB_X4,R0 ; MOV DCB_Y3,R3 ; MOV DCB_Y4,R2 ; MOV DCB_Z3,R5 ; MOV DCB_Z4,R4 MOV RV,#2 MOV A,#"O" ACALLHIENTHI Nhom SVTH : Phan Th Anh V Minh Vng


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an tt nghip t do MOV A,#"K" ACALLHIENTHI MOV A,#"2" ACALLHIENTHI JNB P3.7,$ RET


;

thuyet minh

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