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Li ni u
Trong nhng nm gn y vi s pht trin mnh m ca khoa hc k thut.c
bit ca ngnh cng nghip ch to cc linh kin bn dn,cc cc vi mch tch hp IC
mt hng pht trin mi ca Vi x l hnh thnh l Vi iu Khin.Vi nhng u
im to ln v tc , chnh xc cao,kh nng s l cc ba ton,tnh linh hot nn cc
Vi iu khin c ng dng trn hu ht cc lnh vc trong cuc sng. Bng cch
p dng Vi iu Khin trong sn xut v x l,Vi iu Khin thc s th hin c
cc u im ca mnh so vi cc thit b thng thng khc.
V nhng ng dng to ln ca Vi iu khin,do m cc trng i Hc,Cao
ng,TCCN. V khoa hc cng ngh .Mn vi x l tr thnh mt mn hc khng
th thiu c trong trng trnh o to.vi iu khin 8051 s cung cp cho sinh vin
nhng khi nhin c bn cch thc hot ng ca Vi x l qua sinh vin c t duy
,kin thc nn tng, c th gii quyt cc bi ton ng dng thc t trong cuc
sng,cng nh l c s hc tp nghin cu cc dng Vi x l khc nh :PIC,AVR.
Qua n ny chng em c ci nhn thc t hn,su sc hn v vi iu khin.chng
em cng hiu thm nhiu v cch thc x l mt bi ton thc t phc tp.
Vi s hng n tn tnh ca thy:o c Thnh chng em hi vng chng em c
th hon thnh tt n ny.
Chng em xin chn thnh cm n thy!

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Contents
Li ni u .............................................................................................................................................. 1
CHNG 1.GII THIU CHUNG ........................................................................................................ 3
1.1.kho st h thng ........................................................................................................................... 3
1.2.Nhim v v yu cu k thut ......................................................................................................... 3
CHNG 2:S KHI ................................................................................................................. 4
2.1.S khi ca mch ...................................................................................................................... 4
2.2.nhim v - chc nng ca tng khi. .............................................................................................. 4
CHNG 3:C S L THUYT GII QUYT BI TON ................................................................ 5
3.1. Vi iu Khin 8051. ..................................................................................................................... 5
3.2.ng c mt chiu DC. .................................................................................................................. 7
3.3. LCD ............................................................................................................................................. 7
3.4.L298 .............................................................................................................................................. 8
3.5 encoder .......................................................................................................................................... 8
CHNG 4:THIT K S NGUYN L V TNH TON THAM S ........................................ 9
4.1.mch ngun nui............................................................................................................................ 9
4.2.mch nguyn l ca c h thng. .................................................................................................... 9
4.3 tnh ton tham s. ......................................................................................................................... 10
CHNG 5:THIT K CHNG TRNH .......................................................................................... 14
5.1lu thut ton . ......................................................................................................................... 14
5.2.code chng trnh . ...................................................................................................................... 15

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CHNG 1.GII THIU CHUNG

1.1.kho st h thng
Hin nay trong rt nhiu lnh vc i sng v sn xut cc loi ng c in ngy
cng c ng dng rng ri hn so vi nhng loi ng c s dng nng lng nh
xng, du, kh t..Nhng loi ng c in ny c nhng u im hn hn v hiu
sut s dng, cu to nh gn, gi thnh hp l, d dng iu chnh tc , o chiu,
cng bc cc qu trnh khi ng, qu trnh hm dng d dng.Trong thc t c rt
nhiu loi ng c in c s dng bao gm:
+ ng c in c in 3 pha c chia lm cc loi c bn l: ng c in 3 pha
dy qun v 3 pha roto lng sc, ng c in 1 pha.
+ ng c in 1 chiu bao gm cc loi nh: kch t song song v loi kch t ni
tip.
1.2.Nhim v v yu cu k thut
- Thit k mt mch in iu khin ng c DC 12 v.vi cc yu cu quoay thun
,quoay nghch, tng tc,gim tc,v o chiu quoay ng c.
-

Thc hin thao tc iu chnh cc chc nng trn thng qua cc nt n bao gm
:nt khi ng ng c,nt iu khin quay thun, nt iu khin quay ngc, nt
tng tc, nt gim tc, v nt dng ng c, thng qua cc nt n ny cho php ta
c th iu chnh ng c lm vic 1 tc nh mong mun.

H thng cho php hin th tc lm vic c th s dng LCD hoc LED 7

thanh, ng thi c cc led n thng bo trng thi quay thun, quay ngc,
dng cn gi tr tc ng c c hin th chi tit l bao nhiu trn LED 7
on.

Thng qua ti, lm quen vi cch thc, nguyn l iu khin i tng ng c

1 chiu.

Tm hiu thc t cc linh kin, cc loi IC, hot ng ca cc loi cm bin.

Vit chng trnh cho vi iu khin thc hin thnh cng theo yu cu ra.

Tm hiu cc hng pht trin ca ti, nng cao cht lng ca h thng.

chi ph cho h thng khng qu cao,ph hp vi yu cu kinh t.

Mch s dng cc linh kin sau:

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-

Vi iu khin :AT89c52.
B cm bin quang hc:encoder ( c gn trc tip trn ng c DC)
ng c in mt chiu: 12v
Nt nhn.
LM7805.
Mch cu H: L298.
Ngoi ra cn cc phn t in khc nh:t ha,t phn cc,in tr

CHNG 2:S KHI

2.1.S khi ca mch

NGUN 12 V

Phm n
HIN TH
LED 7 seg

VI X L
8051

N P
NGUN 5V

IU
KHIN
NG C

NG C

L293

DC-12V

Xung in
ENCODER

S khi ca mch.
2.2.nhim v - chc nng ca tng khi.
ng c:ng c in c s dng trong mch l ng c in mt chiu c in p
t vo ti a 24V.Trn trc ng c c gn mt a trn c khot cc l trn cho
nh sng t led pht quang c th i qua ti con mt thu quang c th o c tc
ng c. y chng ta dng ng c DC 12V.

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Encoder :dng o s vng quay ca ng c v pht hin chiu quoay ca ng

c.encoder n s o tc ng c thng qua s lin lc, mt lin lc ca led pht
quang v b phn thu quang ri chuyn thnh cc xung in p vung gi ti chn
ngt ca Vi X L.
Vi X L:nhn cc tn hiu t encoder thng qua c ch ngt t cn c vo s
xung do n s tnh ton x l :
- a ra tc ng c hin th ln led 7 thanh.
- iu ch rng xung PWM iu khin tc ng c cho ph hp vi yu
cu.
Khi vi x l l tri tim l khi c ca h thng l phn quan trng nht iu khin
mi hot ng ca mch.
Khi iu khin:iu khin hng ca ng c in mt chiu.trong bi ton ny
chng em x dng mch cu H iu khin hng ca ng c.
Khi hin th:nhn s liu v tc ng c t vi x l ri hin th ln cc led 7 thanh
theo s iu khin ca Vi iu khin.
Khi ngun n p 5V:c chc nng cung cp in p n nh cho cc khi trong
mch.C th trong mch ta s dng hai ngun ring bit:
- Ngun 5V DC dng nui cc IC trong mch hot ng to ra cc tn hiu xut
ra chun TTL,trnh cc trng hp nhiu in p khng ng vi in p cp cho
IC => trnh IC khng hot ng,hng hc,chp chy.
- Ngun 12V DC dng cung cp cho ng c mt chiu DC (trong n ny s
dng ng c mt chiu DC 12V.)

CHNG 3:C S L THUYT GII QUYT BI TON

3.1. Vi iu Khin 8051.

IC vi iu khin 8051/8031 thuc h MSC51 c c im sau :
- 4 kbyte ROM (c lp trnh bi nh sn xut ch c 8051 )
- 128 byte RAM

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- 4 port I/0 8 bit
- Hai b nh thi 16 bit
- Giao tip ni tip
- 64 KB khng gian b nh chng trnh m rng
- 64 KB khng gian b nh d liu m rng
- 210 bit c a ch ha
- B phn/chia 4s
U1
39
38
37
36
35
34
33
32
1
2
3
4
5
6
7
8
19
18
31
9

P0. 0/AD0
P0. 1/AD1
P0. 2/AD2
P0. 3/AD3
P0. 4/AD4
P0. 5/AD5
P0. 6/AD6
P0. 7/AD7

P2.0/A8
P2.1/A9
P2.2/ A10
P2.3/ A11
P2.4/ A12
P2.5/ A13
P2.6/ A14
P2.7/ A15

P1. 0/T2
P3. 0/R XD
P1. 1/T2-EX P3. 1/TXD
P1. 2
P3.2/INT0
P1. 3
P3.3/INT1
P1. 4
P3.4/ T0
P1. 5
P3.5/ T1
P1. 6
P3.6/ WR
P1. 7
P3.7/ RD
XTAL1
XTAL2

ALE/ PROG
PSEN

21
22
23
24
25
26
27
28
10
11
12
13
14
15
16
17
30
29

EA/VPP
RST
AT89C 52

cu trc trong ca vi iu khin.

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3.2.ng c mt chiu DC.

Hnh nh thc t ca ng c DC v encoder.

Hot ng theo nguyn l cm ng in t: Khi c dng in chy trong mch phn ng,
cc thanh dn phn ng s chu tc ng bi cc lc in t theo phng tip tuyn vi
mt tr rto, lm cho rto quay.
ng c ny c gn sn encoder bn trong ri.nh hnh v trn.
3.3. LCD

LCD 16x2
M t chn ca LCD
-LCD gii thiu y c 16 chn.
-VCC v VSS l chn ngun +5V v chn t, cn VEE c dng iu khin
tng phn ca ca LCD.
-RS (Register Select)- Chn thanh ghi n. Nu RS=0 th chon thanh ghi m lnh hoc
Nu RS=1 th chn thanh ghi d liu
- R/W (Read/Write) Chn c/ghi. R/W=0 th c php c thng tin t LCD, RW=1
th c php ghi thng tin ln LCD.

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3.4.L298

IC L298 l mch tch hp n chip c kiu v cng sut 15 chn (multiwatt 15) v
POWERSO20 (linh kin dn cng sut). IC L298 l mt mch cu i (dual full- bridge )
c kh nng hot ng in p cao,dng cao.
-

in p cp ln ti 46V
Tng dng mt chiu chu c ti 4A
in p bo ha
Chc nng bo v qu nhit
Logic 0 t 1.5V tr xung.

3.5 encoder
a.phn loi.
Gm :
encoder kiu cm ng.
encoder tng i(encoder m xung).
b.cu ta encoder dng trong n ny
-led hng ngoi
-transistor quang
-a m ha
=> nh s nhn c hay khng nhn
c tn hiu t led hng ngoi ti
transistor m ta c th tnh c tc
theo cng thc: n = 60f/p hoc n=60f/N

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CHNG 4:THIT K S NGUYN L V TNH TON THAM S

4.1.mch ngun nui.

Mch ngun 5v cho VK

4.2.mch nguyn l ca c h thng.

S khi iu khin

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Khi mch lc

4.3 tnh ton tham s.

a..tnh ton gi tr np vo cho timer0 v timer1.
Phn tch la chn phng n o tc bng encoder:
phng n 1:Tnh s cnh sung trong khong thi gian Ts (sampling time) suy ra
vn tc trung bnh ca ng c (Pulse/Ts).
phng n 2:Tm thi gian sut hin hai cnh xung lin tip ca encoder t c th
suy ra vn tc trung bnh ca ng

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b.Phn tch la chn phng n:

Phng n 1:
- S dng phng n ny ta cn mt timer nh thi gian ly mu v mt
counter dm s xung.
- Nu s dng phng n 1 s b gii hn v mt p ng do encoder gy ra (s
xung qu ln,trn counter/hoc encoder c phn gii thp th thi gian ly
mu Ts phi ln gim thiu sai s o c)
Phng n 2: Nu dng phng n ny
- ta cng cn 1 counter nh thi gian v 1 chn (c th l counter/ngt
ngoi/1 chn in/out bnh thng).
- thi gian thc thi chim hu ht thi gian hot ng ca MCU nn s dng mt
thit b (device) ring bit lm nhim v ny.
- Trong thut gii ca MCU MASTER ,dng giao tip song song gim thiu
thi gian ly mu,tt nhin cn giao thc bt tay m bo nhn ng d
liu,chiu quoay ca ng c cng c ENCODER READER CARD nhn v
gi ln.
c.la chon phng n
Trong ti ny chng em chon phng n 1 v :
-

n gin
Tn t thit b hn phng n 2
Gii thut n gin.

d.tnh ton vi phng n chn

o tc ng c ngi ta s lm nh sau:

Timer 0

Ts

TF=1

Counter 1

encoder
Hnh 1.s c tc t encoder.
-

11

S dng Timer 1 ch 1 dng lm counter m s xung cnh ca encoder.

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S dng timer 0 nh thi gian ngt (Ts) thi gian ny c lp trnh c

th thay i ty vo mc ch , ca ngi s dng.nhng chng ta nn
chon Ts sao cho vic tnh ton tc ng c l n gin nht:
Ta c:
Gi s trong Ts (c xc nh bi b nh thi timer0) th timer1 ch
count1 m c count xung c minh ha nh hnh v di:
count

Ts
Ts
(s) nn tn s xung l f=1/T
count
60 f 60.count
Suy ra: c tc ng c l: n

(vong/giay)
N
N .Ts

Th ta c chu k ca xung l : T

cho vic tnh ton tc ng c c d dng chng ta nn chn :

60
1 khi tc ng c ch n gin l :
N .Ts

n=count (vong/giay).
Vy l by gi chng ta ch vic hin th con s count ln thit b hin th
(trong n ny th thit b hin th l led 7seg)
Trong bi ny chng em dng encoder N = 100xung/vong.nn t biu thc trn ta
c:

60
1 Ts=0.6 (s).
100.Ts

Tn s thch anh ca 8051 l 12MHz => mi nhp xung ng h c :

T0 =12/f=1us
Suy ra s nhp cn cho VK (c tn s thch anh f=12MHz) trong thi gian 0.6(s)
0.6
600000 =12.50000 >65536 do ta np cho cc thanh ghi TH0 v TL0 ca vi
l:
106
iu khin gi tr:65536-50000=15536D=3C0B H
TH0=0x3C v TL0=0xB0.
.tnh ton gi tr np cc thanh ghi ca cho timer2 thc hin PWM.

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To mt xung c tn s f=1kHz T=1/1000=0.001s=1000us=1000 chu k my.chng ta

to PWM vi 10 cp iu chnh tc l phi to c xung 10%,20%,30%....100%.mt
xung nh sau:
T1
5V

0v
T

Trong :T1 l khong thi gian xung mc cao 5V

T l chu k ca xung.
Xung % tc l T1/T=%=/100.
Xung PWM s c a ra iu khin L298 thng qua rng xung.khi
khng c xung ng c khng quoay,khi 100% xung th ng c quoay
max.tuy xung phi ln hn mt mc no mi khi ng ng c.
- c th thay i 10 cp vi chu k T=1000us th ta phi khi to cho ngt
timer2:100us ngt 1 ln .
- S dng timer2 vi ch t np 16bit th ta phi np cho
RCAP2H;RCAP2L cc con s :65536-100=65436=FF9C H.
RCAP2H=0xFF v RCAP2L=0x9C.
-

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CHNG 5:THIT K CHNG TRNH
5.1lu thut ton .

start

Khi to:
-timer 0:ch 16bit (50.000us).
-timer2 :ch 16bit.
- timer 1:ch count1 16 bit
3
2

Kim ta mt n

TR2=1

14

PWM

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Tin hieu K
ng C

STOP

GT

TT

QN

QT

ng c

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Xung encoder

Count 1

Ngt timer0

Dem ++

Dem ==12

Hien thi
5.2.code chng trnh .
#include <REGX52.H>
#include<stdio.h>
#include<string.h>
int i,dem,soxung1,soxung2;
/*===========khai bao bien toan cuc============*/
sfr LCDdata = 0x80; // cong P2, 8 bit du lieu.
sbit BF = 0x87; // co ban, bit DB7.
sbit RS = P1^5; // chon thanh ghi

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sbit RW = P1^6; // doc/ghi
sbit EN = P1^7; //cho phep chot du lieu
/*===========cac chuong trinh con cua LCD==========*/
/*--------------kiem tra su san sang cua LCD------------------------*/
void wait(void)
{
RS=0; //chon thanh ghi lenh
RW=1; //?oc tu LCD
LCDdata=0xff; //gia tri 0xff
while(BF) //kiem tra co ban
{
EN=0; //dua xung cao xuong thap ?e chot.
EN=1; //dua chan cho phep len cao
}
}
/*------------------------thiet lap lenh cho LCD--------------------------*/
void LCDcontrol(unsigned char x)
{
RS=0;//chon thanh ghi lenh
RW=0;//ghi len LCD.
LCDdata=x ;// gia tri x
EN=1;//cho phep muc cao
EN=0;//xung cao xuong thap

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wait();//?oi LCD san sang.
}
/*------------------------------Khoi tao LCD-------------------------*/
void LCDinit(void)
{
LCDcontrol(0x38);//2 dong va ma tran 5x7
LCDcontrol(0x0e);//bat man hinh, bat con tro
//LCDcontrol(0x01);//xoa man hinh
}
/*-------------------------thiet lap du lieu cho LCD-----------------*/
void LCDwrite(unsigned char c)
{
RS=1;//ghi du lieu
RW=0;//ghi du lieu len LCD
LCDdata=c;//gia tri C
EN=1;//cho phep muc cao
EN=0;//xung cao xuong thap
wait();//cho
}
void LCDwrites(unsigned char *s)
{
unsigned char data lens,count;
lens=strlen(s);

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for(count=0;count<lens;count++){
LCDwrite(*(s+count));
}
}
/*=====================chuong trinh tre================*/
void delay(long time)
{
while(time--)
{
for(i=0;i<1000;i++){;}}
}
/********************* ghi so nguyen **************************/
void ghi_so_nguyen(long so,long so1)
{
unsigned char a,b,c,d,e;
so=so1*255+so;
e=so/10000;
a=(so-10000*e)/1000; // Lay phan nghin
65536=6*10000+5*1000+5*100+3*10+6
b=(so-10000*e-1000*a)/100; // Lay phan tram
c=(so-10000*e-1000*a-100*b)/10; // Lay phan chuc
d=(so-10000*e-1000*a-100*b-10*c);
LCDwrite(e+48);
LCDwrite(a+48);

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LCDwrite(b+48);
LCDwrite(c+48);
LCDwrite(d+48);
LCDwrites(" v/p");
}
/******************* ham khoi tao
**************************************************/
void khoitao(void){// Ham khoi tao
P3=0xFF;
TMOD=0x51;
IE=0xAA;
TR0=1;
TR1=1;
TH0=0x3C;
TL0=0xB0;
T2MOD=0xc9;//Timer 2 che do 2 8 bit auto reload,tine1 16 bit
T2CON=0x04; //timer 2 o che do tu nap 16 bit va nap boi RCAPL2
RCAP2H=0xff; //Cho timer2 o che do dem 50.000 micro giay
RCAP2L=0x9b;
ET2=1;// Cho phep ngat timer 0
EA=1;// Cho phep ngat toan cuc
TR2=1;// Chay timer 0 bat dau dem so chu ki may
}

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/***********************Chuong trinh tao

tre************************************/

/***************************Ngat timer********************************/
void timer()interrupt 1{
TR0=0;
TR1=0;
dem++;
TH0=0xD8;
TL0=0xF0;
if(dem==60){
soxung1=TL1;
soxung2=TH1;
TL1=TH1=0;
dem=0;
}
TR0=1;
TR1=1;
}
/*****************************************Ham
ngat******************************************/
unsigned char xung;
unsigned char phantramxung;
unsigned char chay=0;// Khai bao bien dem de dem tu 1 den 10

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void timer2(void) interrupt 5{ //Ngat timer 2

TR2=0;
TF2=0;

// Dung chay timer 2

chay++;
if(chay<=phantramxung) P2=xung; // Neu bien dem < phan tram xung thi dua gia
tri 1 ra chan
else P2=0x0F;

// Neu dem = phan tram xung

if(chay==10) chay=0; // Neu dem du 10 thi gan lai bang 0 de bat dau chu ki moi
TR2=1; // Cho chay timer
}
/**********************************Ham tang
toc*************************************/
char tangtoc(void){//ham tang toc dong co
if(phantramxung>0){
if (P1_0==0){//neu nut tang duoc bam
while(P1_0==0){ //nut dang giu;
;

//khong lam j ca;

}
phantramxung++;
if (phantramxung>9) phantramxung=10;
}
}
return phantramxung;
}

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/**************************************Ham giam
toc***********************************/
char giam(void){//ham giam toc dong co
if (P1_1==0){//neu nut giam duoc bam
while(P1_1==0){ //nut dang giu;
;

//khong lam j ca;

}
phantramxung--;
if (phantramxung<=1) phantramxung=1;
}
return phantramxung;
}
/*********************************************ham khoi
dong***************************/
char khoidong(void){//ham khoi dong dong co
if(P1_2==0){
LCDcontrol(0x01);
LCDwrites(" quay thuan:");
xung=0x01;
phantramxung=6;
}
return phantramxung;
}
/*********************************************ham quay
nguoc***************************/

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char quaynguoc(void){//ham khoi dong dong co
if(P1_4==0){
LCDcontrol(0x01);
LCDwrites("quay nghich:");
xung=0x02;
phantramxung=6;
}
return phantramxung;
}
/*********************************************ham
dung***************************/
char dung(void){//ham khoi dong dong co
if(P1_3==0){

phantramxung=0;
}
return phantramxung;
}
void main(void){
khoitao();
while(1){
LCDinit();
khoidong();
tangtoc();

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o lng v iu khin tc ng c
giam();
dung();
quaynguoc();

LCDcontrol(0x38);
//LCDwrites("");
LCDcontrol(0xc0);// dua con tro den vi tri thu 4 dong 1
ghi_so_nguyen(soxung1,soxung2);
delay(40);
// LCDwrites(" V/p");
//LCDcontrol(0x01);

}
}

24

GVHD:o c Thnh

201