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Report No 02.02Gi n: Ni dung: Thy Lu Hng Vit Gio vin hng dn FPGA
nhm Hiu, Bc. Project iu khin ng c bc n cc (Unipolar motor)
MICROSOFT WORD Tm tt: Bo co gii thiu tng quan v cch to mt Project
hon chnh vi ISE 8.2i v np vo KIT Spartan 3E ca Xilinx. Ti liu gm cc
phn sau: Mch iu khin ng c bc Cc components ca d n
1. Mch iu khin ng c bc 1.1. Gii thiu ng c bc n cc ng c c dng
trong project ny l ng c bc n cc (unipolar motor).
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Hnh 1.1: ng c bc n cc
Hnh 1.2: Cu to ng c bc ng c bc n cc cun theo s hnh 1.2, vi mt u
ni trung tm trn cc cun. Khi dng cc u ni trung tm c ni ln u dng ca
ngun cp, cn 2 u cn li ca mi mu ln lt c ni t o chiu t trng to bi cun
. Mu 1 nm cc trn v di ca stator, cn mu 2 nm hai cc bn phi v bn tri
ng c . Rotor l mt nam chm vnh cu vi 6 cc, 3 Nam v 3 Bc, xp xen k
trn vng trn. x l gc bc mc cao hn, rotor phi c nhiu cc i xng hn. ng
c bc c dng l ng c nam chm vnh cu vi mi bc l 1.8 . C nhiu cch iu
khin ng c bc: iu khin 1 bc, iu khin na bc v iu khin vi bc. iu khin
1 bc Nh trong hnh, dng in i qua t u ng tm ca mu 1 n u a to ra cc Bc
trong stat or trong khi cc cn li ca stator l cc Nam. Nu in mu 1 b
ngt v kch mu 2, rotor s quay 30 , hay 1 bc. quay ng c mt cch lin
tc, chng ta ch cn p in vo hai mu ca ng c theo dy: Mu 1a
1000100010001000100010001 Mu 1a 1100110011001100110011001 Mu 1b
0010001000100010001000100 Mu 1b 0011001100110011001100110 Mu 2a
0100010001000100010001000 Mu 2a 0110011001100110011001100 Mu 2b
0001000100010001000100010 Mu 2b 1001100110011001100110011 thi gian
> thi gian >
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REP02.02 3/14
iu khin na bc V tr bc c to ra bi hai chui trn khng ging nhau; kt
qu, kt hp 2 chui trn cho php iu khin na bc, vi vic dng ng c mt cch
ln lt ti nhng v tr nu mt trong hai dy trn. Chui kt hp nh sau: Mu 1a
11000001110000011100000111 Mu 1b 00011100000111000001110000 Mu 2a
01110000011100000111000001 Mu 2b 00000111000001110000011100 Thi
gian > 1.2. Mch iu khin ng c Da theo nguyn l cu to nh phn 1.1.
chng ta cn iu khin s ng ngt chn 1a, 1b, 2a, 2b vi t. Mch dng cch ly
quang PC521 cch ly in p gia bo mch Spartan 3E v mch lc bn ngoi. iu
khin ng ngt cc chn dng Transtor Darlington TIP122 (NPN) c tn sut ng
ct ln.
Hnh 1.3: Mch iu khin
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Khi c tn hiu tch cc 1 chn Phase 1_in th PC521 thng dn n TIP122
thng v chn tng ng ca stepper motor c ni vi t khi phn dy s c dng chy
qua, sinh ra t thng. Do , tn hiu a vo mch s ging ht nh cc s
1.1.
Hnh 1.4: S mc cc chn ca ng c ng c c 6 dy vi 2 dy u c ni ln ngun
dng, cc chn cn li ni vi mch iu khin trn, ngoi ra mi chn ny ni vi 2
diode m bo trong trng hp ng ngt t ngt cc na cun dy.
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Hnh 1.5: S mch in
2. Cc thnh phn ca d n2.1. Stepper Motor Controller
B iu khin gm c u vo l: Clk: Xung clock s quyt nh tc ca ng c.
Rst: Tn hiu reset li trng thi ban u. En: Tn hiu xc nh ng c ch quay
hay ch gi.
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Dir: iu khin chiu quay ca motor
u ra l 4 bit n iu khin mch lc. Thut ton: Da vo bng xung nh phn
tch mc 1.1. ta thy 4 tn hiu ra chnh l 4 tn hiu trch t mt vector
11100000 quay vng trn, trong 4 tn hiu l trch ca 4 bit 0, 2, 4, 6.
Bi v khi quay nh th th ti mi thi im lun c 2 tn hiu = 1 trong iu
khin na bc.
Khi m phng ta s c dng tn hiu nh mong mun.
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Cch m phng mt le VHDL trong Xilinx ISE: Vo menu Project ->
New Source, chn Test Bench WaveForm vi tn
stepper_motor_controller_tbw trong ca s Select Source Type
Chn le Source tng ng l: Stepper_Motor_Controller.vhd
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Thit lp cc tham s cho vic m phng trong hp thoi Initial Timing
and Clock Wizard Initialize Timing.
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Vo window -> float m mt le trong ca s to hn. Ngc li vo
window->dock xem le trong hp thoi ban u. Vi hp thoi init ban u
ta s khi to cho cc dng tn hiu u vo c mu xanh da tri nh hnh v.
Trong tab Sources chn Behavioral Simulation. Nhn chn vo le UUT,
trong tab Proceses kch p vo Simulation Behavioral Model
Khi chng ta s xem c dng xung u ra ti 4 phase.
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Chi tit xem phn Simulation ti ti liu [1] 2.2. iu ch clock c tn s
thay i Sau khi to c b iu khin mong mun, chng ta s i to xung clock c
tn s thay i. Chi tit v cch thay i c ni chi tit trong ti liu [4]
Khi xoay nm th mt xung clock s thay i tn s theo gi tr hin th trn
LCD. Xung clock ny s lm xung chun iu khin ng c bc. to ra c tn s
chun cn dng 2 DCM (Digital Clock Manager) mt clock nhn tn v mt
clock dng lm gim lch xung.
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Phn c s thay i ca Rotary_ecoder do mt chip nhng 8 bit PicoBlaze
m nhim.
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2.3. Giao tip vi PC Giao tip vi UART dng 2 module uart_tx_plus v
uart_rx v mt Picoblaze giao tip vi cng RS232 dng ch : Flow:
xon/xoff chng trn b m nn truyn tc rt cao.
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Hnh v m t khng hon ton ging vi trong d n vi ca em khu iu khin
ngt interrupt_control. Qua RS232 ta c th t tc cho cc ng c bng cu
lnh: SPSM3> Step xx yy Trong xx, yy l gi tr truyn xung. Nh vy tn
s xung vo mi ng c = tn s xung to ra phn trn /xx hoc yy. Chi tit xem
ti liu [5]
Ti liu tham kho
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1. Xillinx, ISE In-Depth Tutorial, www.xilinx.com 2.
Xilinx,Spartan 3E Started Kit User Guide, www.xilinx.com 3. Xilinx,
PicoBlaze 8-bit Embedded Microcontroller User Guide, www.xilinx.com
4. Xilinx, Frequency Generator for Spartan-3E Starter Kit,
www.xilinx.com 5. Xilinx, Software Implementation of Pulse Width
Modulation (PWM).A reference Design using the Spartan-3E Starter
Kit, www.xilinx.com
