Bai Tap Lon Dieu Khien Chuyen Dong Robot Bang Dong Co Buoc

8/6/2019 Bai Tap Lon Dieu Khien Chuyen Dong Robot Bang Dong Co Buoc

1/22

TRNG I HC BCH KHOA H NIKHOA IN T - VIN THNG-------------------o0o----------------

BI TP LNMn : VI X L

ti :IU KHIN CHUYN NG RBT

BNG NG C BC

Thy hng dn : Nguyn Hong Dng

Nhm sinh vin :1.Hong cGiang Nguyn

2. Nguyn Phi Tun

3. Phm Quang Vinh

4. V Th Thanh Tho

5.Nguyn Thu Thy

H NI , THNG 5-2006


2/22

LI NI USau mt thi gian hc tp trn ging ng ca trng i hc bch

khoa H Ni ni chung hay khoa in t vin thng ni ring ,chng em

tip thu c nhng kin thc khoa hc v cng ngh. c bit l

mn vi x l do thy Nguyn Hong Dng ging dy, chng em c chi chuyn kin thc l thuyt thnh sn phm thc t qua ti iu

khin chuyn ng rbt bng ng c bc. Nhn c s quan tm

v ch bo ca thy chng em hon thnh c sn phm ca mnh.

Qua y chng em c thm c nhiu kin thc thc t gip cho cng

vic sau ny.

Chng em xin chn thnh cm n.


3/22

Chng I:

M uI. t vn

II. Mc ch thit k

-Pht huy thnh qu ng dng ca vi iu khin to ra nhng sn

phm tin tin c tch hp cao v cng ngh.

-Vic thc hin ti ny gip em tip cn vi thc t, pht huy nhungkin thc hc trong mn vi x l.

- Qua y c thm nhiu kinh nghim gip ch sau khi ra trng c th

ha nhp vi cng ngh tin tin trn xa hi.

III. Ni dung ti

1. ti

iu khin chuyn ng ca rbt bng ng c bc.

2.Chc nng ca h thng- Chuyn ng ng c bc theo mun ca ngi lp trnh .

+ Chuyn ng thng: tin, li.

+ Chuyn ng quay tri, phi.

+ iu khin c tc chuyn ng ca ng c.

+ iu khin ng c bc theo ng i bt k ( bng cm ng

quang).


4/22

CHNG II

THIT KI.Nhim v thit k

- Thit k iu khin chuyn ng rbt bng ng c bc. Vy ta

lm cc bc sau:

+Mch iu khin ng c+Thit k m hnh ng c

+Vit chng trnh iu khin

II.S khi ca h thng

Khi iu khin Khi chc


5/22

III.Thit k v phn tch nguyn l tng khi

1.Khi iu khin

iu khin chuyn ng ca ng c theo mun cn phi c

trnh dch chnh xc vi chuyn ng ca ng c, v mt ngun dng

ph hp m bo cho ng c hot ng. C rt nhiu cch lm phc

v mc ch ny. Vi vic iu khin ng c ch cn dng qua cun

dy c 500 mA, c th dng dy IC loi dy Darlington cllct h :+ULN2003, ULN2803

+DS2003( national semiconductor 2003) ,MC1413(motorola).

Tuy nhin nhng cch lm trn ch s dng cho nhng ng c nh,

trn thc t chng ti dng IC opto coupler v IC tip 122 c cu to

dng mch mc theo kiu Darlington .

a.Mt s c tnh k thut ca tip 122


6/22

BCE

Vi dng vo cc baz c th t khong 120 mA , dng Ic khong 5

n 8 ampe.

Mch c mc theo s

Nhng trn thc t ta mc tip 122 vi opto coupler dng vo ccbaz nh hn 120 mA th ta s mc u vo vi 1 in tr R= 10k.

b.1 s c tnh k thut ca opto coupler

Khi iu khin ng c chuyn ng trn mt t ta phi dng mt

ng c c cng sut ln vi mc in p l 12V. Mt khc tn hiu ra

l mt l 5V, iu phi kch p v dng qua ng c. C rt nhiu

cch khc nhau, v mt trong nhng cch hay chnh l dng opto

coupler nh mt kho chuyn t 5V sang 12V v a trc tip ngundng t ngun sang ng c.Vi cu to:


7/22

Tuy nhin cu to ca opto coupler(p51) trn th trng Vit Nam ch

c 4 chn 1, 2, 4, 5 m khng c cc chn cn li v khng cn thit.

IC ULN2003 cho dng vo cun dy I


8/22

TXD* RXD*

T1*

T2*

P0

P1

P2

P3

INT\*1

INT\*0

TIMER2TIMER1PORT ni tip

EA\ RST PSEN ALE

Cc thanh

ghi khc

128 byte

Ram

Rom4K-8051

OK-8031

Timer1

Timer2

iu khin

ngt

ieu

khienbus

CPU

Port

noitiep

Cacport I\O

Taodao

ong


9/22

- S chn ca 89C51 :

2.Khi c hca. ng c bc- Cu trc bn trong ng c bc

18

19

12MHz

40

2930

319

17

16151413121110

RD\

WR\T1T0INT1INT0TXDRXD

A15A14A13A12A11A10A9A8

2827262524232221

8

7

6

5

4

3

2

1

32333435

36373839

Po.7Po.6Po.5Po.4

Po.3Po.2Po.1Po.0

AD7AD6AD5AD4

AD3AD2AD1AD0

P1.7P1.6P1.5P1.4P1.3P1.2P1.1P1.0

P2.7P2.6P2.5P2.4P2.3P2.2

P2.1P2.0

PSEN\ALE

EA\RET

Vcc

20

Vss

30p

30p

XTAL1

XTAL2


10/22


11/22


12/22

IV. S mch v hot ng ca rbt1.S mch

2.Hot ng ca rbta.Hot ng v mt nh tnh+Chuyn ng tnh tin:

Khi ngun 5V cung cp vo ton mch v ng c, tn hiu thay ilin tc s c xut ra cng P0 a vo u vo ca 4 chn u caULN2003, tn hiu ra c a ln lt ra 2 ng c lm cho 2 ng cchy cng lc vi vn tc nh nhau, iu s gy ra chuyn ng tnhtin ca rbt.

+Chuyn ng quay:Sau khi i c qung ng, chng ta mun ng c chuyn hng. thc hin c ta s thi khng xut tn hiu 4 bt u, hay sau,tu theo hng quay. Lc mt ng c s khng cn tn hiu vo vs khng quay. Lc ny do sc nng ca bnh lm cho ng c lmt trc quay bnh cn li quay quanh chng. iu cng dn nchuyn ng quay ca rbt.


13/22

Gii php trn rt hiu qu nhng chng cng c th thc hin chuynng quay ca rbt bng cch cho 2 ng c chuyn ng ngc chiunhau, dn n chuyn ng quay nh mun.b.Hot ng ca ng c v mt nh lng

Tu thuc vo chng trnh chy cho tr( delay) bao nhiu th tc ng c s thay i by nhiu. Tc v ca ng c t nghch vi hmtr .Gi s vi mt hm delay no tc ng c l vo(khi tnh c lcma st), mun chuyn thnh tc v1 trong gii hn cho php th ta chcn tng hoc gim t l nghch hm delay vi tc ng c.Theo tnh ton thc t th rbt c th chy c vi hm delay c tr l AF.AF n 5f.5f.V.Thit k mch chy theo ng i tu 1.t vn

Khi c mch iu khin ng c nh trn, chng em li mun pht trinthm v vic iu khin rbt.Rbt chuyn ng theo mt ng inht nh ca ngi lp trnh th khng th linh hoat trong mi tnhhung.V vy, chng em mun iu khin rbt theo ng i vch ratrn mt t, c th y l di en s tip tc khai thc ngay sau.2. Thit k mchTrn nhng kinh kin c sn trong cuc sng, bng tm ti nhm quyt nh dng mt linh kin n gin chnh la quang tr. Bng sph thuc ca in tr vo quang nhm thit k ra mch ngtngoi vi iu khin ng thi chuyn nhng chng trnh chy ph hpca ng c ng vi cc ngt hay ni cch khc l x l cho ngnhng vn trn ng i ca rbt.2.1 S mch


14/22

2.2 Ghp ni v hot ng ca mch trn ng ia.Ghp ni:

Cc chn 2,3 ca mch trn c ni vi cc chn ngt ca ng c,c th l chn 2 c ni vi chn 12, chn 3 ni vi chn 13 ca 89C51.b.Hot ng ca mch

C s: khi chiu mt ngun sng vo quang tr cc mc in tr sthay i. V vy da vo cc mc in tr thay i ta co th mc 1 chnquang tr vi m ngun v mt chn qua tr (r) nh hnh v.

Khi cp ngun 5v cho mch do quang tr ni tip vi R nn ta c thtinh c p chn ln quan tr bng cng thc

Vqt= 5.Rqt/(Rt+ R) cho mc in p trn gia khi cm nhn mu en v mu trng l

ln v in p mc 0 phi nh hn mt kh nhiu, ng thi in p mc 1 khng qu b ta s tnh c RTrn thc t chng ta o c mc in p trn quang tr mc mu

trng l 4k v mc mu en l 40k. Chng ta tnh ton v chon trR=70k.Tn hiu ny c khuych i bi tranzitor C828 nh hnh v. Lc

ta c mch u ra cc C ca tranzitor t mc 0 v 1 nh yu cu.Mt tn hiu c qua cng not a sang chn 12, cn li th a sang

chn 13 thc hin chng trnh ngt nh lp trinh.


15/22

Nh hng dn chi tit trong lp trnh lm cho ng c chuynng theo vch en mt cch chun xc.VI. Lp trnh vi iu khin

1. Chng trnh iu khin chuyn ng ca ng c theo 1 ngi vch sn

;-----------------------------------------------------------

;

; CHUONG TRINH DK DONG CO BUOC

; DT9 -- K48

;

;-----------------------------------------------------------

org 0h

ljmp main

;------------ INTERRUPT ADDRESS ----------

org 0003h

ljmp int0

org 0013h

ljmp int1

;----------- MAIN PROGRAM ---------------

org 30h

main:

MOV IE,#00000000B ; Enable int1 and int 0

mov p2,#00h

CLR A

MOV A,#0ffh

MOV p2,A

MOV A,#066h

MOV B,#066h

MOV 7fh,#00h

l:

MOV R4,#077h ; CHANGE THIS

gf0:

ACALL forward

ACALL delay

DJNZ R4,gf0


gl0:

ACALL tleft

ACALL delay

DJNZ R4,gl0



16/22

gr0:

ACALL tright

ACALL delay

DJNZ R4,gr0

sjmp l

;------------------ INT 01 ----------------

int0:

MOV R2,A

MOV A,7fh

JZ stl

;------ TURN RIGHT ------

MOV A,R2

SETB p0.0

MOV p1,#00h


gf1:ACALL forward

ACALL delay

DJNZ R4,gf1

MOV R1,A

ttr:

MOV A,R1

ACALL tright

ACALL delay

MOV R1,A

MOV A,p2

ANL A,#00000001b

JZ ttr

MOV A,R1

gr1:

ACALL tright

ACALL delay

DJNZ R4,gr1

CLR p0.0

MOV 7fh,#00h

MOV IE,#10000101B

RETI

;-------- TURN LEFT ---------

stl:

MOV A,R2

SETB p0.1

MOV p1,#00h



17/22

gf2:

ACALL forward

ACALL delay

DJNZ R4,gf2

MOV R1,A

ttl:

MOV A,R1

ACALL tleft

ACALL delay

MOV R1,A

MOV A,p2

ANL A,#00000001b

JZ ttl

MOV A,R1

gl1:

ACALL tleftACALL delay

DJNZ R4,gl1

CLR p0.1

MOV 7fh,#00h

MOV IE,#10000101B

RETI

;----------------- INT 01 --------------------

int1:

MOV 7fh,#01h

MOV IE,#10000001B

RETI

;----------------- GO FORWARD -----------------

Forward:

RR A

MOV R1,A

ANL A,#00001111b

MOV R3,A

MOV A,B

RL A

MOV R2,A

ANL A,#11110000b

ORL A,R3

MOV p1,A

MOV A,R1

MOV B,R2


18/22

RET

;---------------- TURN LEFT --------------------

TLeft:

RR A

MOV R1,A

ANL A,#00001111b

MOV p1,A

MOV A,R1

RET

;---------------- TURN RIGHT --------------------

TRight:

RL A

MOV R1,A

ANL A,#00001111b

MOV p1,A

MOV A,R1

RET

;--------------- DELAY PROCEDURE ------------------

delay:

MOV R1,#07fh

dl1: MOV R2,#07fh

dl2: DJNZ R2,dl2

DJNZ R1,dl1

RET

End

2. Chng trnh iu khin ng c theo mt ng i bt k (di en);-----------------------------------------------------------

;

; CHUONG TRINH DK DONG CO BUOC

; DT9 -- K48

;

;-----------------------------------------------------------org 0h

ljmp main

;------------ INTERRUPT ADDRESS ----------

org 0003h

ljmp int0

org 0013h


19/22

ljmp int1

;----------- MAIN PROGRAM ---------------

org 30h

main:

MOV IE,#10000101B ; Enable int1 and int 0

mov p2,#00h

CLR A

MOV A,#0ffh

MOV p2,A

MOV A,#066h

MOV B,#066h

MOV 7fh,#00h

l:

ACALL Forward

ACALL delay

sjmp l

;------------------ INT 01 ----------------

int0:MOV R2,A

MOV A,7fh

JZ stl

;------ TURN RIGHT ------

MOV A,R2

SETB p0.0

MOV p1,#00h


gf1:

ACALL forward

ACALL delay

DJNZ R4,gf1

MOV R1,A

ttr:

MOV A,R1

ACALL tright

ACALL delay

MOV R1,A

MOV A,p2

ANL A,#00000001b

JZ ttr

MOV A,R1

gr1:

ACALL tright

ACALL delay

DJNZ R4,gr1

CLR p0.0


20/22

MOV 7fh,#00h

MOV IE,#10000101B

RETI

;-------- TURN LEFT ---------

stl:

MOV A,R2

SETB p0.1

MOV p1,#00h


gf2:

ACALL forward

ACALL delay

DJNZ R4,gf2

MOV R1,A

ttl:MOV A,R1

ACALL tleft

ACALL delay

MOV R1,A

MOV A,p2

ANL A,#00000001b

JZ ttl

MOV A,R1

gl1:

ACALL tleft

ACALL delay

DJNZ R4,gl1

CLR p0.1

MOV 7fh,#00h

MOV IE,#10000101B

RETI

;----------------- INT 01 --------------------

int1:

MOV 7fh,#01h

MOV IE,#10000001B

RETI

;----------------- GO FORWARD -----------------Forward:

RR A

MOV R1,A

ANL A,#00001111b

MOV R3,A

MOV A,B


21/22

RL A

MOV R2,A

ANL A,#11110000b

ORL A,R3

MOV p1,A

MOV A,R1

MOV B,R2

RET

;---------------- TURN LEFT --------------------

TLeft:

RR A

MOV R1,A

ANL A,#00001111b

MOV p1,A

MOV A,R1

RET

;---------------- TURN RIGHT --------------------

TRight:

RL A

MOV R1,A

ANL A,#00001111b

MOV p1,A

MOV A,R1

RET

;--------------- DELAY PROCEDURE ------------------

delay:

MOV R1,#07fh

dl1: MOV R2,#07fh

dl2: DJNZ R2,dl2

DJNZ R1,dl1

RET

End

VI.Ti liu tham khoK thut vi x l, tc gi: Vn Th Minh.


22/22

Cu trc lp trnh v h vi iu khin 8051, tc gi: Nguyn TngCng Phan Quc Thng.Datasheet v cc linh kin ly t trang AT89C51, v cc linh kin khcly t trang web www.alldatasheet.com.Mt ln na chng em xin cm n thy ch nhim b mn vi x l to iu kin thun li cho chng em hon thnh c bi tp ln vinhng kin thc l th. Nu c iu kin chng em xin pht trin thmv con rbt vi nhng tnh nng c bit hn nh: cm ng vt khichuyn ng hay nhng tc dng khc rbt c th l mt cng chon thin hn ca con ngi.
http://www.alldatasheet.com/http://www.alldatasheet.com/

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Bai Tap Lon Dieu Khien Chuyen Dong Robot Bang Dong Co Buoc