Do An Tot Nghiep

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Tracked Mobile Robot
MC LC
MC LC.....................................................................................................................1 MC LC HNH V...................................................................................................2 LI NI U..............................................................................................................3 TNG QUAN V N TT NGHIP...................................................................4 CHNG I...................................................................................................................5 TNG QUAN V MOBILE ROBOT..........................................................................5 CHNG II................................................................................................................17 VN CU H V MOBLE ROBOT DNG XCH.........................................17 CHNG III...............................................................................................................20 NG HC V NG LC HC.........................................................................20 CHNG IV .............................................................................................................26 KT CU ROBOT.....................................................................................................26 THIT K H THNG IU KHIN V XY DNG PHN MM IU KHIN ROBOT...........................................................................................................61 CHNG VI............................................................................................................117 KT LUN...............................................................................................................117 TI LIU THAM KHO.........................................................................................118 PH LC BN V CC CHI TIT.......................................................................120
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MC LC HNH V
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LI NI U
Ngy nay, robotic t c nhng thnh tu to ln trong sn xut cng nghip cng nh trong i sng. Sn xut robot l ngnh cng nghip tr gi hng t USD v ngy cng pht trin mnh. Robot c th di chuyn vi tc v chnh xc cao thc hin nhng ng tc lp i lp li nh hn hay sn. Trong cng nghip in t, cc robot t cc linh kin vi siu chnh xc, to nn cc thit b tinh vi nh in thoi di ng hay my tnh. Trong cc h robot, chng ta khng th khng nhc ti mobile robot vi nhng c th ring m cc loi robot khc khng c. Cc tay my c nh ch hot ng trong mt khng gian b gii hn quanh v tr ca n. Ngc li, mobile robot c th di chuyn, do to nn khng gian hot ng rt ln v cho n nay n dn khng nh vai tr quan trng khng th thiu trong nhiu lnh vc, thu ht c rt nhiu s u t nghin cu. Trong mobile robot cng c th phn chia thnh nhiu chng loi , ch yu l theo cch thc chng vn hnh (mobile robot dng bnh, dng chn, dng xch).Di s hng dn ca Th.s ng Bo Lm v Th.s Nguyn Hi Sn, nhm chng em chn ti nghin cu v thit k mobile robot dng xch. Chng em xin chn thnh cm n s gip tn tnh ca cc thy.
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TNG QUAN V N TT NGHIP

Chng I: Tng quan v mobile robot s nu nhng im khi qut chung v lch s pht trin, s phn loi mobile robot trn th gii. Chng II: Vn cu h v mobile robot dng xch s nu cc vn hn ch trong cng tc cu h v nhng phn tch nh gi u nhc im, phm vi ng dng ca mobile robot dng xch i vi mt s robot khc, ng thi s a ra nhng yu cu nhim v c th thit k mobile robot dng xch trong n ny. Chng III : ng hc v ng lc hc l nhng tnh ton ng hc, ng lc hc tng qut cho m hnh chung ca mobile robot dng xch. quan tm ti nhng vn ca mt robot thc t v thit k mt kt cu di ng u vit th s nghin cu phi c nhng tham kho trong nhng kt cu lin quan c trn th gii.Vn ny s c trnh by chng IV: Kt cu robot.Cc loi xch(ai) vi hnh dng kt cu khc nhau s c trnh by chi tit trong phn ny. Chng V: Thit k h thng iu khin v xy dng phn mm iu khin robot . Phn ny s tp trung vo tnh ton thit k v mch in t, iu khin, phn mm h tr hon thin robot theo yu cu t ra. Chng VI: Kt lun a ra nhng nh gi v qu trnh nghin cu v kh nng pht trin cho robot trong tng lai.
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CHNG I
TNG QUAN V MOBILE ROBOT

1.1. Gii thiu
Thut ng robot ln u tin xut hin nm 1922 trong tc phm Rossums Universal Robot ca Karel Capek. Trong tc phm, nhn vt Rossum v con trai to ra nhng chic my ging con ngi phc v cho con ngi. Robot di ng (mobile robot) l mt loi my t ng m c kh nng di chuyn trong mt mi trng nht nh. Robot di ng c kh nng di chuyn xung quanh mi trng ca chng v khng c nh vi mt mi trng vt l no. Robot di ng tp trung vi s lng ln cc nghin cu hin nay v hu ht cc trng i hc ln u c mt hoc nhiu phng th nghim tp trung nghin cu robot ny. Robot di ng cng c trong cng nghip, qun s v bo mt. Chng cng xut hin nh nhng sn phm dnh cho ngnh gii tr hoc thc hin nhng nhim v nht nh trong cuc sng hng ngy nh ht bi hay ct c
1.2.Lch s pht trin ca mobile robot

Hnh dng robot u tin xut hin Hoa K, l loi tay my chp hnh dng trong phng th nghim vt liu phng x. Vo nhng nm 50 th k trc, bn cnh cc tay my chp hnh c kh, cc loi tay my chp hnh thu lc in t xut hin. Tuy nhin, cc tay my thng mi u c chung nhc im l thiu s di ng. Cc tay my c nh ch hot ng trong mt khng gian b gii hn quanh v tr ca n. Ngc li, mobile robot l loi robot di ng c th di chuyn t khng gian ny ti khng gian khc mt cch c lp hay c iu khin t xa, do to nn khng gian hot ng rt ln. T nm 1939 n 1945: Trong cuc chin tranh th gii ln th II, nhng con rbt di ng u tin c xut hin. N l kt qu ca nhng thnh tu cng ngh trong nhng lnh vc nghin cu mi c lin quan nh khoa hc my tnh v iu khin hc, hu ht chng l nhng qu bom bay, v d nh nhng qu bom ch n trong nhng dy mc tiu nht nh... s dng h thng hng dn v raa iu khin. Tn la V1 v V2 c phi cng t ng v h thng pht n, chng l tin thn ca u n ht nhn t iu khin hin i.
T nm 1948 n 1949: W.Gray Walter to nn Elmer v Elsie, hai con rbt t ng trng ging con i mi. V mt hnh chnh , chng c gi l Machina Speculatrix bi v nhng con rbt ny hot ng trong mi trng nh nhng ch chim i mi. Elmer v Elsie c trang b mt b cm bin sang. Nu chng nhn ra mt ngun sng, chng s di chuyn v pha . Chng c th trnh hoc chuyn
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nhng chng ngi trn ng di chuyn ca chng. Nhng con rbt ny chng minh rng nhng c ch phc tp c th pht sinh t mt thit k n gin. Elmer v Elsie ch c thit k tng ng hai t bo thn kinh. T nm 1961 n 1963: Trng i hc Johns Hopkins pht trin Beast. Beast s dng h thng nh v chuyn ng xung quanh. Khi pin yu , n s t tm cm in v cm vo
Nm 1969: Mowbot l con rbt u tin ct c bi c mt cch t ng. The Stanford Cart line follower l con rbt di ng c th di chuyn thng qua nhn dng ng k trng, s dng mt camera nhn. N bao gm mt knh truyn thanh gn vi h thng my tnh ln to ra nhng tnh ton.
Nm 1970: Cng thi im 1969-1972, vin nghin cu Stanford ang xy dng v nghin cu ra Shakey. Shakey c mt camera, mt dy knh gm, mt b cm bin v mt b phn truyn thanh. Shakey l con rbt u tin c th l gii v nhng chuyn ng ca n. iu ny c ngha l Shakey c th a cho nhiu lnh chung v con rbt ny s tnh ton nhng bc cn thit hon thnh nhim v c giao.
Nm 1976: Trong chng trnh Vikiry, t chc NASA phng hai tu v tr khng ngi li ln sao Ho.

Nm 1977: B phim Chin tranh gia cc v sao phn I, A new Hope m t R2D2, mt con robot di ng hot ng c lp v C3P0, mt con robot hnh ngi. H khin cng chng bit n nhng con rbt Nm 1980: Th hiu ca ngi tiu dng v robot tng , robot c by bn v mua v s dng trong nh. V d , RB5X vn tn ti ti ngy nay v mt lot mu robot HERO. Robot The Stanford Cart c pht trin mnh, n c th li tu bin vt qua nhng tr ngi v to ln bn nhng ni n i qua.

Nm 1989: Mark Tinden pht minh ra BEAM robotics.
Nm 1990: Cha ca nn rbt cng nghip Joseph Engelberger lm vic vi cc ng nghip v pht minh ra nhng con rbt t ng trong ngnh y t v c bn bi Helpmate. S an ninh M gy qu cho d n MDARS-I da vo robot bo v trong nh Cybermotion. Nm 1993-1994: Dante-I v Dante-II c pht trin bi trng i hc Carnegie Mellon, c hai l robot dng thm him ni la ang hot ng.

Nm 1995: Rbt di ng c th lp trnh Pioneer (ngi tin phong) c bn sn mt mc gi chp nhn c,iu dn ti s gia tng rng ri v nghin cu robot v cc trng i hc nghin cu v robot trong sut cc thp sau . Robot di ng tr thnh mt phn khng th thiu trong chng trnh ging dy ca cc trng i hc.
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Nm 1996-1997: NASA phng con tu Mars Pathfinder c 2 robot Rover v Sojourner ln sao Ho. The Rover thm him b mt sao ho c iu khin t mt t. Sojourner c trang b vi mt h thng trnh ri do cao. H thng ny lm cho Sojourner c th tm thy ng i ca n mt cch c lp trn a hnh ca sao Ho.
Nm 1999: Sony gii thiu Aibo, mt con rbt c kh nng i li, quan st v tc ng qua li ti mi trng. Robot iu khin t xa dng cho qun s PackBot cng c gii thiu.
Nm 2001:D n Swaim-Bots, Swaim-Bots ging nhng by cn trng c khi ng. Chng bao gm mt s lng ln cc con robot n l, c th tc ng ln nhau v cng nhau thc hin nhng nhim v phc tp
Nm 2002: Roomba, mt con robot di ng dng trong gia nh, thc hin vic lau nh c xut hin.

Nm 2004: Robosapien, mt con rbt chi, thit k bi Mark Tilden c bn sn. Trong d n The Centibots Project 100 con rbt cng lm vic vi nhau to ln mt bn cho mt vng khng xc nh v tm nhng vt th trong mi trng . Trong cuc thi u tin DARPA Grand Challenge, cc con rbt t ng cng nhau tranh ti cng nhau trn sa mc. Nm 2006: Sony dng vic sn xut Aibo v Helpmate. PatrolBot tr ln ph bin khi cc robot di ng vn tip tc cnh tranh nhau tr thnh mt hng c quyn. S an ninh M b d n MDARS-I, nhng li gy qu cho d n MDARSE mt loi rbt an ninh t ng khc. TALON-Sword, mt loi rbt t ng dng bn sn vi dn phng lu n v nhng s la chn v v kh hp thnh khc ra i. Asimo ca Honda bit cch chy v leo cu thang ch vi hai chn nh con ngi.
Nm 2007: H thng KiVa, robot thng minh tng nhanh v s lng trong quy trnh phn phi, nhng robot thng minh ny c phn loi theo mc ph bin nhng ni dung ca chng. Robot Tug tr thnh phng tin ph bin trong cc bnh vin dng vn chuyn trong kho t ni ny sang ni khc. ARCSinside Speci-Minder mang mu v cc vt mu t trm y t ti phng xt nghim. Seekur, robot dch v dng ngoi tri vi mc ch phi qun s c th ko mt xe qua mt bi u xe, li mt cch c lp (t ng) vo trong nh v bt u hc cch li ra ngoi. Trong khi , PatrolBot hc cch theo sau con ngi v nu ca m m th ng li.
1.3. Phn loi mobile robot

Robot di ng c th phn loi bng cc cch: Phn loi theo mi trng m chng di chuyn: Robot ngoi tri v robot trong nh. Thng thng, chng c lp bnh xe, nhng cng c loi robot c chn (gm 2 hoc nhiu chn) nh robot hnh ngi, robot hnh dng ng vt hoc cn trng.
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Robot trn khng thng dng cho cc phng tin trn khng, phng tin khng ngi li. Robot di nc dng cho cc phng tin hot ng di nc, chng hot ng c lp. Phn loi theo phng php di chuyn: Robot c chn, chn ging ngi hay chn ging ng vt. Robot c bnh xe. Robot di chuyn bng bnh xch.
1.4. Mt s dng iu khin mobile robot

C nhiu dng iu khin robot di ng, sau y l mt s dng iu khin thng dng.
1.4.1. iu khin t xa bng tay

Robot iu khin t xa bng tay vi cc b phn c cn iu khin hoc nhng thit b iu khin khc. Thit b iu khin c th c gn trc tip vo robot, v d: mt cn gt khng dy, hoc mt ph kin ca mt my tnh khng dy... Robot iu khin t xa gip con ngi trnh khi nhng nguy him. V d robot iu khin t xa bng tay gm c: Foster-Millers Talon v iRobots PackBot.
1.4.2. Rbt iu khin t xa t bo v

Robot iu khin t xa t bo v c kh nng pht hin v trnh nhng chng ngi vt nhng iu khin cng ging nh robot iu khin t xa bng tay. C rt t con robot ch dng n l b iu khin t xa t bo v.
1.4.3. Rbt theo l trnh

Mt vi robot t ng u tin l nhng robot theo l trnh. Chng c th theo nhng ng c sn khc trn sn, trn nh hay trn mt dy in trn sn. a s rbt ny hot ng theo mt thut ton n gin l gi l trnh trong b cm bin trung tm, chng khng th i vng qua cc chng ngi vt, chng ch dng li khi c vt no cn ng chng. Rt nhiu mu ca loi rbt ny vn c by bn bi FMC, Egemin, HK system v mt vi cng ty khc.
1.4.4. Rbt ngu nhin hot ng c lp

Rbt hot ng c lp vi nhng chuyn ng ngu nhin, v c bn l nhng chuyn ng nh nhy bt ln tng, nhng bc tng ny c cm nhn do s cn tr v mt vt l nh my ht bi Roomba, hoc vi b cm bin in t nh my ct c Friendly Robotics.
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1.5. ng dng ca mobile robot

Mobile robot c dng trong ph bin trong nhng mi trng c hi, nhng ni m con ngi khng th i ti hay i ti mt cch rt kh khn v nguy him, mobile robot cng c dng nhiu trong lnh vc gii tr v trong phc v i sng. Cc ni con ngi khng c kh nng n c nh sao Ha, y bin ngi ta phi dng robot t hnh vi cu trc c bit. Robot Sojourner c s dng trong nhim v tm kim s sng trn sao Ha nm 1997. Robot ny hu nh hon ton c iu khin t xa t tri t. Tuy nhin, robot c mt s sensor c trang b trn n gip n c th di chuyn mt cch kh c lp.
Hnh 1. 1
Robot Sojourner ca NASA
Trong mi trng nguy him v cc mi trng kh c th ti c thm ch ngay c trn tri t, cc mobile robot c nghin cu v s dng thay th con ngi. Robot Pioneer, c thit k d tm v kim tra nng phng x trong thm ha Chernobyl. Robot MBARIs ALTEX AUV hot ng di y bin.
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Hnh 1. 2
Robot Pioneer.
Trong mt s trng hp, v s phc tp ca mi trng, con ngi khng th iu khin trc tip hot ng ca robot. Con ngi ch a ra cc ch dn v v tr v hot ng cn thit, cn robot s t iu chnh hot ng ca mnh di chuyn v hot ng chnh xc. Robot i b Plustech c thit k di chuyn cc thanh g sau khi khai thc ra khi rng. Robot s t iu chnh cc ta hot ng ca chn robot ,ngi iu khin ch phi a ra hng i cho robot.
Hnh 1. 3
Robot chuyn g Plustech.
Trong cng nghip, mobile robot c s dng ch yu di chuyn cc thit b, mang vc nguyn liu v ph kin cn thit. Robot c dn hng bi cc ng
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dy in t di sn, hay cc robot ny c lp trnh theo mt ng i v cng vic nht nh. Hin nay, c hng ngn robot loi ny ang phc v trong cng nghip thm ch trong c bnh vin. Robot ny thng khng c tnh c ng linh hot. Mobile robot khng ch c ng dng trong cng nghip m c trong qun s v trong i sng hng ngy. Robot lau nh RC 3000 c pht trin v bn bi Alfred Krcher GmbH & Co., Germany. Robot RC 3000 c kh nng t nhn bit khu vc cha c qut dn da trn sensor trang b trn n. Cc sensor quang trang b trn robot s t ng o bn ca sn nh v a ra ch lm vic cho robot. Robot TALON dng trong qun s c trang b sng, raa d tm, di chuyn linh hot trn cc loi a hnh.
Hnh 1. 4
Robot lau nh RC 3000
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Hnh 1. 5
Robot TALON small dung trong qun s
Ngy nay, nhu cu ca con ngi ngy cng cao, i hi hng th v gii phng sc lao ng ngy cng nhiu, cc loi robot phc v cho nhu cu gii tr cng xut hin vi s lng ngy cng ng o. Cc cuc thi ca cc con robot t ng c t chc nhiu hn, t cc cuc thi ny, cc ng dng ca khoa hc robot c s dng vo i sng thc t. T cuc thi chy ca cc MALOI robot (mt loi robot ging ngi), cc robot tng t xut hin c bn trn th trng nhm phc v nhng nhu cu ca con ngi nh vn an ninh, gii tr hay n gin hn c nhng ngi mua chng v ch c cm gic c ngi trong nh (v y l loi robot ging ngi) gip khng kh gia nh tr nn m cng.
1.6.Cc loi chuyn ng ca Mobile robot

C nhiu loi chuyn ng ca mobile robot nhng tp trung ch yu vo ba loi chuyn ng sau y.
1.6.1. Chuyn ng bng chn(legged mobile robot)

Mobile robot di ng bng chn l loi robot c nhng chuyn ng phc tp bng cch ri rc ho vic tip xc vi mt t theo cc im, vic chuyn ng nh vy lm cho loi robot ny c u th trn cc a hnh phc tp, g gh v khng lin tc. ng thi, bng cch thay i chiu di hiu dng ca cc chn cho ph hp vi mi trng nn robot di chuyn rt m. Ty thuc vo s chn m ngi ta phn chia thnh cc loi robot mt chn, hai chn (biped), bn chn (quadruped), su chn (hexaped) hoc nhiu hn. Tuy c u im nu trn, nhng loi robot ny kh iu khin v kh ch to.
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Hnh 1. 6
Robot hai chn BRAT
Hnh 1. 7
Robot MANOI AT01 v MANOI PF01
1.6.2.Chuyn ng bng xch (tracked mobile robot)

Loi robot ny chuyn ng bng cc bnh c lp xch nh xe tng, rt ph hp khi di chuyn trn cc a hnh phc tp. i hng, n thay i tc quay ca 2 bnh xch ch ng. Tuy nhin do chuyn ng bng xch khi i hng s xy ra hin tng trt do kh iu khin chnh xc. Mt vn na l loi robot ny rt d lm hng b mt ca nn, c bit l khi chuyn hng.
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Hnh 1. 8
Robot irobot chuyn ng bng xch
Hnh 1. 9
Robot gin di chuyn bng xch
1.6.3. Di chuyn bng bnh xe. (wheeled mobile robot)

Loi robot ny dng bnh xe di chuyn. Phn ln mobile robot dng bnh xe di chuyn, do bnh xe d iu khin, n nh v chuyn ng nhanh hn so vi xch hay l chn. Nhc im nh ch ph hp vi a hnh c b mt nhn v cng, vi b mt mm robot rt d b xa ly.
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Hnh 1. 10
Robot ca NASA chuyn ng bnh xe
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Hnh 1. 11
Robot Snake
Hin nay, cc loi chuyn ng ca robot ngy cng phc tp ln theo pht trin ca khoa hc k thut. Cc chuyn ng ny khng cn n gin l bnh xe, xch hay chn na. C nhng con robot c phi hp chuyn ng ca bnh xe v chn, ca xch v chn Cc con robot loi ny c iu khin mt cch ht sc phc tp, cng ngh ch to cng ht sc tinh vi, i hi chnh xc cao, cc chuyn ng khp cng mn do hn. Cc robot kiu mi ny thng c ng dng trong vic vt cc chng ngi vt hay di chuyn trong cc a hnh ht sc phc tp. Chng c gn cc sensor t hnh nhm t s l s c xy ra trn ng di chuyn.
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CHNG II
VN CU H V MOBLE ROBOT DNG XCH

2.1. Vn cu h v hng tip cn bng robot
Th gii chng kin rt nhiu nhng thm ha. Nhng thm ha n t pha thin nhin cng nh t pha con ngi. Ngy nay,nhng thm ha xy ra ngy cng nhiu v thm khc, n t l thun vi s pht trin ca con ngi. Nhng thm ha n t pha thin nhin c th k ra nh ng t, chy rng, sng thn, vi rng, bo l T pha con ngi c th k n l chin tranh,ha hon, khng b, sp hm m Nhng thm ha u mang n nhng thit hi to ln v ngi ln ca. Vic tm kim, cu h nhng ngi b thng, mt tch lun gp nhiu kh khn v nguy him. Ti Vit Nam , hng nm cng c nhiu v gy thit hai ln, c bit l nhng v sp hm m, sp nh ca. Tuy nhin cng tc cu h din ra th s n gin, chuy yu ph thuc vo sc ngi l chnh.Vn an ton cho ngi tham gia cu h khng c m bo v phi hot ng trong mi trng tim n nhiu nguy him, nhiu cht gy chy n, cht kh c hi. Xut pht t nhng im nu trn, cng vi tnh hnh pht trin mobile robot trn th gii,chng em a ra tng ch to mobile robot cu h vi nhim v: i trc tin phong nhm tm kim, phc ha a hnh, o c mt s thng s nh nhit m, gi hnh nh v my iu khin, lm vic c lp hoc lm vic theo nhm vi robot khc Nh nhng tnh nng , con ngi c th nh gi c nguy him mi trng, a ra nhng phng n cu h hp l. Mobile robot c kh nhiu nhng nghin cu ch to nc ta, nhng hu ht u tp chung mng mobile robot dng bnh. Vi mong mun mobile robot c th thc hin c vic vt qua nhiu dng a hnh, t bng phng n ghp ghnh, thm ch l khng lin tc,nn nhm chng em quyt nh la chn mng mobile robot dng xch v y l nhm c kh nng di ng linh hot cao,c kh nng bm mi a hnh, iu m mobile robot dng bnh rt kh tha mn. Hn th na vic nghin cu, ch to cng s khng gp qu nhiu kh khn phc tp so vi nhm mobile robot dng chn, iu ny ph hp vi hon cnh ch to thc t v kh nng lm vic ca nhm. Nhng iu nu trn l l do nhm quyt nh chn Tracked mobile robot phc v cu h .
2.2.
u nhc im ca Mobile robot dng xch
2.2.1. V cu to
Robot chy bng xch phc tp hn cc loi robot khc b phn xch v c nh bnh. Thng th xch khng c sn trn th trng ln phi t ch to ring theo tng
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ngi thit k bnh xch v theo tng loi robot ln c nhiu loi xch khc nhau. Vt liu lm xch bng vt liu do, un d dng. B phn ny kh ch to 1 cch chnh xc, khi di chuyn lun i hi xch c cng nu khng xch s ri khi bnh xch. iu ny khng xy ra vi robot chy bng bnh c lp hay di chuyn bng chn.Vi nhng robot kch thc nh , vic dng ai thay xch c xem l mt phng n rt hiu qu, rt ph hp mc n, nhm khc phc nhng nhc im nu. Nhng robot chy bng xch nh c cu to xch ln khng c hin tng trt trn bnh nh robot chy bnh c lp v cng d iu khin hn robot di chuyn bng chn. Kh nng bm a hnh ca robot dng xch l ni tri nht bi ma st ln vi b mt tip xc. Khng nhng th kt cu ca robot cng t ra khng qu phc tp, thm ch c nhng kt cu cn c th thay i mt cch rt linh hot, to kh nng vt chng ngi vt n gin.
2.2.2. V iu khin
Robot di chuyn bng xch n gin rt d iu khin v cm cc bnh di chuyn ph thuc vo nhau thng qua b chuyn xch. Robot thng c 2 ng c 2 bn nn mch n gin nht l mch iu khin 2 ng c. Ngoi ra cn loi robot di chuyn bng xch khc c thm 1 nhnh nh trn thun li cho vic leo qua cc a hnh cao hn th cn c 1 hoc 2 ng c khc nn mch iu khin s l 3 hay 4 ng c. Nhng cng chnh v th nn ng c chn cn c cng sut ln, ko theo kch thc ln nn i khi gy tr ngi cho vic thit k hnh dng kch thc robot. Robot di chuyn bng bnh th thng c 4 ng c c lp nhau nn kh m bo tnh ng tc, cn robot di chuyn bng chn th di chuyn thng qua cc khp phi hp nhau, rt kh iu khin.
2.2.3. V kh nng linh ng

Robot dng xch chim u th trong vic chinh phc cc a hnh gp ghnh. Vi nhng cu to khc nhau c th to ra nhiu phng n vt qua nhng chng ngi phc tp m i vi robot dng bnh v dng chn l c mt vn hc ba.Tuy th trn mt phng n li t ra nng n, chm chp hn so vi robot dng bnh.
2.3. Yu cu,nhim v nghin cu 2.3.1. Yu cu

Yu cu v tnh nng: C kh nng vt qua chng ngi vt,di chuyn d dng trn nhng a hnh mp m, khng lin tc. C th di chuyn theo nhiu cch, nhiu t th khc nhau. C kh nng quan st v t bm theo mt vt c nh hoc di ng, truyn hnh nh v my tnh iu khin. C th iu khin robot bng tay, iu khin t xa hoc robot c kh nng t hnh.
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Yu cu v kch thc: V mc ch n l nghin cu mobile robot dng cho cng tc cu h nn kch thc robot cng ch nh gn m bo nhng yu cu chung t ra. iu kin ch to thc t: Nhng thit b linh kin ch to robot phi d kim, mi qu trnh ch to cn c n gin ha ti a. y cng c th coi l tiu ch quan trng bc nht trong qu trnh thit k cng nh ch to robot.

2.3.2. Phm vi nghin cu

Vic thit k mt robile robot dng xch(ai) c chuyn ng v hnh vi thng minh i hi s kt hp ca nhiu i tng trn nhiu lnh vc. Mc ch ca n ny l ch to mt m hnh mobile robot vi nhiu tnh nng thng minh v c tnh k tha v pht trin nhng modun mi. Nhng lnh vc cn nghin cu phc v cho vic ch to robot thnh cng gm c: kt cu, ng hc, ng lc hc,s nhn dng v x l t ng c s dng sensors, camera, iu khin ng c v ci t chng trnh cho robot t hnh. Thc hin khi lng cng vic trn gm 3 sinh vin: Trn Xun Tin, Trn Quc Dng v Nguyn Hi ng.
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CHNG III
NG HC V NG LC HC
3.1. Gii thiu chung
ng hc nghin cu v chuyn ng c hc ca vt th v mt hnh hc, khng quan tm n nguyn nhn xy ra chuyn ng cng nh nguyn nhn gy nn sh bin i chuyn ng. ng hc robot m t nhng s chuyn ng robot. Chng ta cn hiu hnh vi c kh ca ngi my nhm thit k mobile robot cho nhng nhim v mong mun v to ra phn mm iu khin cho phn cng. ng hc thun gii quyt nhng mi quan h hnh hc gy nh hng n h thng robot, v mi quan h gia nhng tham s iu khin v hnh vi robot trong khng gian lm vic, l: cho nhng thng s gc quay nht nh ca robot th robot s n im no v n bng cch no. Vn ng hc ngc li s tnh ton nhng thng s gc quay ca robot t c mc ch khi mun n ti mt v tr nht nh, theo mt phng hng nht nh. Phn ny s xut mt cch tip cn ng hc cho mobile robot dng xch nhm tng kh nng iu khin chuyn ng v a ra nhng nh gi. ng hc phc tp bi c s trt v s tng tc gia xch v t lm cho kh c th xc nh chnh xc chuyn ng ca robot da trn vn tc xch. Gii php gii quyt c xut ti y da trn tm quay tc thi(ICRs) trn mt phng chuyn ng ca robot. Nhn tng th, v tr tm tc thi trn mt a hnh c th s cho kt qu mt mu ng hc gn ng cho mobile robot.
Hnh 3. 1
Nguyn l iu khin c s trt
3.2.
M hnh ng hc
Nhng m hnh ng hc ca phng tin dng xch chng t s hu ch cho thit k iu khin v m phn chnh xc, nhng chng cng qu t cho iu khin
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theo thi gian thc. Nh mt s la chn, trong phn ny chng ta s tho lun v mi quan h hnh hc c th s dng thay th.
Hnh 3. 2
ICRv trn mt phng Robot nh mt vt rn quay quanh tm quay tc thi ICRv
t tm h trc ti tm khung chnh, trc y hng theo hng chuyn ng. Nhiu trong nhng cch iu khin vi sai bnh, phng tin dng xch chu chi phi bi 2 thnh phn iu khin:vn tc di ca nhnh phi v nhnh tri i vi khung robot (Vl, Vr) nn phng trnh ng hc tuyt i trn mt phng c th c pht biu nh sau: (vx, vy, z) = fd(Vl, Vr) (4.1.1) Vi v = (vx,vy) l vn tc thng ca robot z l vn tc gc ca robot Phng trnh ng hc ngc ca robot : (Vl,Vr) = fi(vx,vy,z) (4.1.2) Nu robot c xt trong h ta 2 chiu th tm quay tc thi(ICRv) l im v cng trn mt phng m chuyn ng ca phng tin ch c quay, khng c tnh tin, c th c biu din : ICRv = (xICRv, yICRv). Trn mt phng chuyn ng ca robot, khng ch hng vo chuyn ng ca ton robot m cn quan tm n chuyn ng ca 2 nhnh xch trn bn mt a hnh.Mt nhnh xch c th coi l m hnh vt rn vi s bc t do khng gii hn , n c tc ln ring. V th ,chuyn ng ca 1 im trn mt g g l thnh phn ca chuyn ng ca ton robot v ca s ln ca xch. Bi th tm quay tc thi ca 1 xch trn mt phng chuyn ng khc vi ca robot. Nn c th nh ngha tm quay tc thi ca nhnh tri v nhnh phi l: ICRl = (xICRl , yICRl) v ICRr = (xICRr , yICRr ) (4.1.3)
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Theo l thuyt Kennedys ICR (Shigley and Uicker 1980) th ICRl v ICRr nm trn ng thng song song vi trc x v i qua ICRv . Ta robot v tm quay tc thi c mi quan h theo biu thc sau:
xICRv =
vy
(4.1.4) (4.1.5) (4.1.6)
x ICRr =
x ICRl =
r .Vr v y z l .Vl v y
z
vx z
y ICRv = y ICRl = y ICRr =
(4.1.7)
xICRv bin thin trong ph thuc vo gc ln ca robot. Vn tc tnh tin v vn tc quay tc thi thu c rt ra t (4.1.4)(4.1.7):
vx =
Vr Vl yICRv xICRr x ICRl
(4.1.8) (4.1.9)
vy =
Vr + Vl V V x + x ICRl vx = r l ( ICRr ) 2 xICRr x ICRl 2
wz =
C th vit thnh:
Vr Vl xICRr x ICRl
(4.1.10)
vx v = A.Vr V y r z A= x ICRr y ICRv . l 1 x . ICRv l xICRl l y ICRv . r x ICRv . r r
(4.1.11)
(4.1.12)
(l ,r ) gi l cp h s ph thuc vo iu kin bnh, xch, a hnh hot ng, c tnh tng tc gia bnh, xch vi a hnh. Khi = l = r v xICR = xICRl = -xICRr ta c:
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0 0 A= (4.1.13) x ICRv xICRv 2.x ICRr 1 1 Mi quan h gia khong cch tm 2 nhnh bn vi khong cch 2 tm quay tc thi 2 nhnh : L = (0 1) (4.1.14) x ICRr x ICRl L l khong cch gia 2 nhnh. = 1 khi khng xy ra s trt. H s lch tm chun: x + x ICRl e = ICRr (4.1.15) xICRr xICRl Cc h s xICR v c th c tnh theo cng thc: Vr dt Vl dt (4.1.16) xICR 2 2d (4.1.17) Vr dt + Vl dt
Trong : : gc quay thc t t c. d: khong cch i c thc t trn a hnh phng. Hai h s ny xc nh bng thc nghim. Tm quay tc thi ca 2 dy xch cng c tnh bng thc nghim. xc nh v tr cc tm quay ny cn gn t nht 2 sensor o vn tc trc theo phng x trn mi dy xch. T ta dng phng php hnh hc xc nh tm quay tc thi nh hnh v:
V
1
Vl
Vt1 ICRl Vl
Vt2
Hnh 3.3
ICRv trn mt phng Robot nh mt vt rn

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quay quanh tm quay tc thi ICRv Vt l vn tc trt ti im cn o Cc phng trnh trn chnh l phng trnh ng hc ch ra phng trnh (4.1.1).Phng trnh ng hc ngc c biu din nh sau: (4.1.18) v + x . Vr = y ICRr z (4.1.19) C th thy vx khng nh hng g n Vr, Vl cng nh khi iu khin gi tr u vo th khng cn quan tm n yICRv .
Vl = v y + x ICRl . z
3.3.
ng lc hc
Do s tc ng qua li gia bnh v mt t ln vic tm hiu v ng lc hc l rt quan trng. Khi robot thay i hng v v tr trn mt t th lc ma st ca n cng thay i v khi lc ma st ny tc ng li thng cao hn l lc qun tnh, thm ch nu vn tc l tng i thp th thuc tnh ng lc hc c nh hng nhiu hn so vi lc khc. Ln trong nhiu trng hp ngi ta thng b qua phn tnh ton ng lc hc ny v trn thc t l mun tnh ton n th ht sc kh khn nu khng mun ni l khng th thc hin c vic tnh ton ny.Vn iu khin robot s c gii quyt bng vic ch to mch iu khin v robot c iu khin t xa bi ngi s dng Di chuyn ca robot l di chuyn chy bng xch, dng di chuyn l di chuyn trt, da vo ma st ca bnh vi b mt di chuyn. Trong mc ny, thay v i tnh ton bi ton ng lc hc phc tp, ta s phn tch cc lc tc ng ln robot khi di chuyn. Cc lc bao gm: Lc ko tip tuyn
Pk =
M k M rl M jk rl
(3.3.1)
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v Pj G.sina G Pk
Hnh 3.4 S cc lc Trong : Mk : moment ng c truyn n bnh ch ng Mrl : moment ma st trong cc khu khp ca nhnh xch ch ng c moment xon ca bnh ch ng gy ln Mjk : moment cc lc qun tnh bnh ch ng v cc khu ca xch rl : bn knh bnh ln ch ng
G.cosa
Pf
M rl =
fr : h s ma sat gia cht v khu xch T :lc cng nhnh xch ch ng : T = Mk/rl rc : bn knh cht xch : gc quay khi khu xch chuyn ng z: s rng bnh ch ng Thnh phn lc do trng lng robot gy ra : Z= G.sin : l gc nghing a hnh Lc qun tnh ca robot Pj=.M.j M: khi lng ln hp robot, bao gm ton b cc chi tit trong robot j: gia tc tip tuyn ca lin hp robot : h s nh hng ca cc chi tit quay Lc cn ln Bao gm 2 lc: Lc cn chn dp t:
f r .T .rc . .z 2
(3.3.2)
(3.3.3)
(3.3.4) (3.3.5)
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Trong qu trnh chuyn ng di xch t ln xung lm cho cc lp t bn mt b chn dp to ln cc vt xch. Trong qu trnh bin dng t lm cn ch chuyn ng ca xch gy ra lc cn chn dp Pfl Lc cn do ma st sinh ra trong xch N bao gm lc cn do ma st gia cc bnh ln ai xch v ma st cng ban u gy ra trong khp ca nhnh xch b ng Pf =G.f (3.3.6)
f = G ( 2 + m) 4 E 3 b.l 5 + 4. f r .T0 .rc f .( 1 + 2 + 2 ) + 0 t.G r0
(3.3.7)
t: bc xch, t=2 r1/z (3.3.8) f0 : h s ma st thu gn (tnh n ma st ln ca bnh xe trn da xch v ma st trong bi ca cc bnh ) r0: bn knh bnh cng xch rl : bn knh bnh ln ch ng Phng trnh cn bng ng lc hc: Pk =Pf Pj G sin (3.3.9) Vi Pj ly du + khi robot chuyn ng nhanh dn, du - khi robot chuyn ng chm dn Vi G.sin ly du + khi robot ln dc, du - khi robot xung dc
CHNG IV
KT CU ROBOT
4.1 Gii thiu
T lu xch(ai) c s tin tng v kh nng lu ng tt hn so vi bnh v trong tng lai s c nhng phng tin di chuyn vt tri khi dng xch. Trong khi , phng tin dng bnh phi kh khn mi c th lt qua nhng chng ngi vt. Mt s loi chng ngi v a hnh vn c th ngn cn c phng tin dng 6 bnh th vi phng tin dng xch c kch thc tng ng s c th vt qua d
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dng. C th k ra nh: a hnh mm (ct ti, bt tuyt mm, bn), nhng chng ngi c th kt gia cc bnh, hay nhng ni c khe nt. Xch s c kh nng di ng ln hn,hiu qu iu khin thp hn bnh. Vi loi a hnh nu n t ra ph hp. Tuy nhin n khng phi u tt cho mi trng hp. Nhng phng tin u tin dng xch sm xut hin nhng nm 1900 v c s dng rng ri nhiu ni. Dng u tin vn c s dng cho n ngy nay trong nhng thit b xy dng hng nng. Kt cu bnh xch u, c nhng bnh dn lm nhim v cng ai, v mt s chi tit khc s gip h thng xch di chuyn c trn mt t.Kt cu c bn ,n gin ny khe v d iu khin. Hu ht trong cc kt cu n gin, cc dng xch u c pht trin da trn nhng kt cu ca bnh tng t c trc . Nhng b mt lin tc trn mt t chnh l li th cho xch, vi bnh th l nhng b mt di rng. p lc ln t nh hn cho php phng tin dng xch c c li th y. Mt khc,ta cng c th thc hin bng cch thay i kt cu hnh dng chn hoc tng s rng tip xc. Nhng phng tin dng bnh lun tn ti vn a hnh cao khi tm bnh i qua s lm knh, dn n kh nng mt iu khin cc bnh, hoc hin tng mc kt bnh. Khi mc kt, h thng gim xc cng khng th ko xe ln. khc phc c th tng s lng bnh xe ln 6, 8 bnh nhm tng din tch tip xc vi khe, rnh, tuy nhin s cng lm h thng tr ln phc tp kh iu khin. Nhng xch s khng gp phi vn v xch lun ln trn a hnh. Phng tin dng xch c th vt qua nhng chng ngi vt , tuy nhin cng cn phi thm vo mt s c cu nh tm tha mn ln hn mt na chiu di phng tin. Hu ht cc loi phng tin dng xch u c s lng cc chi tit chuyn ng nhiu hn so vi phng tin dng bnh. Tt c u nhm phc v tng ma st ln. Mt thit k tt phi thc s c hiu qu hn so vi kt cu dng bnh khi i trn nhng b mt rt mm. S lng chi tit chuyn ng ln hn s lm tng s phc tp. Mt vn quan trng ca thit k xch l phi c h thng cng xch . H thng xch trng cng s cn tr hiu qu ca phng tin. H thng xch c lp ghp ca rt nhiu cc thnh phn: xch, bnh xch, bnh dn hng, bnh cng xch, h thng cng ai, h thng bnh ln h tr. Nhng vn cn quan tm y l: S thit k cho xch (bao gm cc khp ni, khp bn l thp,ai cao su, khi rnh dn hng). Phng php lp ghp, gi cho h thng xch gn trn phng tin(pin in hole, guide knives, V-groove). H thng cng xch (dng bnh c hoc khng mang l xo hoc c th dng h thng bnh c nh). To hnh cho mt trn hc c 2 mt ca h thng xch. Kch thc hp l gia xch v bnh xch.
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Nhng s thay i trong kt cu ca h thng xch c kim chng. Mt s t ra c thnh cng ln, s khc dng nh cha ci thin c tnh linh ng ca h thng xch. C nhiu dng kt cu xch v dng kt cu vi s lng xch khc nhau. Cc dng ny u mang nhng u im cng nh nhc im ring ca chng,thng c cc loi: Mt dy xch (vi mt phng php iu khin ring). Dng c bn: 2 dy xch i xng nhau. Hai dy xch (vi mt phng php iu khin ring). Mt s dng thit k s dng 4 dy xch. Kt cu dng 6 dy xch, bao gm 2 dy xch chnh ,2 dy chn trc v sau phc v leo tro.Kt cu ny t ra qu mc yu cu v c mt kt cu 4 dy xch v cng n tng, trong ch s dng 3 c cu truyn ng. Robot dn tip cn n nhng nhu cu s dng thng thng trong gia nh v nhng cng vic ngoi tri cn tnh do dai. Vic leo cu thang s tht kh khn khi ch s dng h thng bnh, nhng nu ch thm mt dy xch vic s tr ln d dng hn. Xch s lm n gin ha vn v c th leo cu thang m hn khi dng bnh. Bnh c th leo thng trn cu thang nhng chng c th b nghing i ph thuc hng li, ngha l ph thuc vo s kho lo ca ngi iu khin. Phn ny s l ci nhn bao qut ca tt c cc kt cu xch c hoc c s dng vo sn xut cc phng tin c kch c t 30 cm n hn 45 m. Xch c th c s dng rt hiu qu cho nhng phng tin nh nhng cng c th thit k cho nhng phng tin ln nh p dng nhng loi vt liu cng bn.
4.2 Vn iu khin phng tin s dng xch

Nhng phng tin iu khin s dng xch da trn mt nguyn tc n gin, l iu khin 1 nhnh xch nhanh hn nhnh cn li s to ra chuyn ng quay quanh mt im. N thc s ging nh nhng phng tin dng bnh nhng c th trt trn mt t, cng c th gi l iu khin vi sai. Lc trt yu cu trong phng tin dng xch c th bng hoc cao hn mt cht so vi phng tin dng 4 bnh c th trt. T khi c yu cu dng phanh tham gia vo iu khin nhng phng tin dng xch th cch n gin nht lm chm mt nhnh l to c cu phanh mt bn ca nhnh . Mt trong nhng phng php c th lm tng kh nng linh ng cho phng tin l iu khin dng khp ni. Kt cu ny l 2 mt xch c ni vi nhau bng mt khp ni cho php chuyn ng iu khin c t nht theo mt hng.Khp ny hng vo tm xe lm n quay quanh mt gc. H thng ny c th lm tnh linh ng tng ln na nu thm vo mt bc t do cho php iu khin hoc chuyn ng theo bi 1 khp bn l theo phng ngang ging vi khp lin kt iu khin C nhng phng php c th lm gim cng sut iu khin trn nhng phng tin c bnh li trt c th p dng cho phng tin dng xch, v d, lm yu bt
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mt cht h thng cng xch gia nhnh xch . iu ny c hiu qu lm tng gii hn, l gim cng sut yu cu phanh khi mun xe r hng, iu ny cng l gim tc dng chnh ca xch, s c nhiu din tch khng tip xc vi xch thng xuyn hn trong khi chuyn ng.
4.3 Cc kt cu mt xch
Cc mt xch c xy dng bng nhiu cch khc nhau. Gn y, cc mt xch c lm hu nh ton bng thp bi v thp d mua v n lm cho bnh xch khe. Cc mt xch ton bng thp rt nng v trn cc xe nh hn, y c th l mt vn kh khn. Trn cc xe ln hn hoc cc xe c thit k mang ti ln, cc mt xch thp c th l gii php tt nht. y, t nht c 6 k thut ph bin khc nhau xy dng mt xch. Cc mt xch , khp ni ton bng thp. Cc mt xch thp c khp ni vi cc ming m urethane c th di chuyn c. Mt xch lm t urethane rn. Mt xch cu to l urethane c gn li thp chu p lc. Mt xch cu to l urethane c gn cc b phn p lc bng thp v cc m phanh thp m rng (i khi c gi l cc chm). Mt xch cu to l urethane c gn cc b phn p lc bng thp v gn cc thanh ngang iu khin bng thp vi s rng dn hng nguyn.
Hnh 4. 1
Kt cu mt xch thp c bn biu din im c th kt.
Xch c mt xch c khp ni ton bng thp (hnh4.1) dng nh l dng thit k bn nht c th chu va p ti a m xch chu c. Nhng c mt vi tr ngi i vi thit k ny, mnh vn c th b mc vo cc khng gian gia cc mt xch chuyn ng v c th gy kt xch. Mt gii php cho vn ny l h cc im khp ni mt cch thp nht c th. iu ny lm gim su rnh, lm gim din tch c th b mc. y l ch nh nhng l phn quan trng ca vic thit k bnh xch thp. Thit k ny c ch ra trong hnh 4.2:
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Hnh 4. 2
V tr khp ni hiu qu ca xch lm t thp.
Hnh 4. 3
Mt xch lm t nha urethane rn
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Hnh 4. 4
Mt ct ngang m hnh xch dng nha urethane c li thp chu lc v c cp trong.
T hnh 4.3 cho ta thy cu to ca 1 mt xch lm t urethane rn v hnh dung cch ghp ni gia cc mt xch. Xch rt do dai, ma st tng i cao so vi thp, v khng t. N cng khng lm hng b mt a hnh mt mc no .Nu xch cn c ma st cao hn c th bt bulng nhiu tm urethane v nhng mt xch c tm m urethane s c cu to cc khp lin kt c kh nng di chuyn. Urethane vi kh nng co gin trong hu ht cc loi xch. Nhc im ny c khc phc bng cch c urenthane li l nhng cp thp bn.Li thp th hon ton c bao ph bi urethane, v th khng s b mi mn. Thp loi tr s ko cng.Thm ch mun chu cng ln hn, cc thanh thp c ti, c thnh li xch.Nhng tm ny c hnh dng xc nh v v tr xc nh v th cc rng trn bnh xch iu khin c th n khp mt cch trc tip ln chng. iu ny truyn cho xch urethane sc bn p lc ln hn nhiu, v ko di tui th ca n. y l cch b tr thng gp nht i vi cc xch urethane trn cc xe cng nghip. Hnh 4.4 cho thy mt ct ngang ca kt cu ny.
4.4 Cch b tr xch

H thng xch c bn c to thnh bi mt bnh xch iu khin, bnh chy khng, v nhng bnh to ng chuyn ng . Chng c hiu qu trong nhiu ng dng. Phn ny trnh by nhng kt cu n gin, c th ch to c,vi s gim bt phc tp v hnh dng, tng kh nng hot ng v tnh cng vng. Kh nng hot ng c th m rng bng cch tng chiu cao pha trc ca xch, n h tr trong vic vt chng ngi vt cao hn. Tnh cng vng c th tng ln bng cch i ch cc thnh phn d b h hi, nh l bnh xch iu khin, ri xa khi cc v tr gy tn hi nu c th. Cc thay i ny c th c ng dng ti bt k thit k xch no,
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nhng l khng cn thit trn cc xch c th thay i c hoc c th thay i v mt hnh dng. Cch n gin nht tng chiu cao chng ngi vt c th i qua c l to ra bnh trc ca h thng ln hn. Phng php ny khng lm tng phc tp ca h thng mt cht no, v trn thc t c th lm n gin ho n bng cch thm vo nhng bnh ln h tr. Cch b tr ny kt hp vi vic xc nh bnh xch iu khin trn trc xe trc cng lm tng tnh cng vng h thng iu khin. iu ny lm gim s thay i ca vic gy hi bnh xch iu khin v cc phn lin quan. Mt cch khc lm tng kh nng ca xch l ch to chng dc thoi. Cc thnh phn dc thoi thm vo c th lm tng s lng ca cc bnh ln h tr v do s lng ca cc thnh phn ng, nhng chng c th lm tng ng k kh nng hot ng. Dc v trc thng ph bin v c cc u im r rt, nhng dc thoai thoi sau c th h tr kh nng di ng khi chy trong cc khng gian cht m yu cu li tro ln trn chng ngi vt.
Hnh 4.5 a
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Hnh 4. 5 b.
Hnh4. 5 c.
Hnh4. 5 d.
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Hnh 4. 5
Cc hnh dng xch thay i ci thin tnh linh ng v tnh cng vng.
Nhiu cng ty thit k v xy dng cc h thng xch m c th thay i hnh dng. H thng xch c th thay i hnh dng s dng mt dng xch linh ng hn hu ht cc loi khc. Kt cu ny cho php xch un xung quanh cc bnh xch nh hn v cc bnh m, c th xoay theo hu ht cc hng. Cc bnh m thng c nng h trc tip trong gm xch thng qua mt vi h thng cng xch, bnh chy khng c nng trn mt cnh tay m c th di chuyn theo mt cung m lm thay i hnh dng ca gc dc trc. Mt bnh chy khng lc to lc cng th 2 c th c b xung cho h thng xch duy tr cng i vi tt c v tr ca xch.
Hnh4.6a
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Hnh4.6 b Hnh 4. 6 H thng xch c th thay i c Khi chu c p lc trong xch v m men quay iu khin, bnh xch iu khin (v cc kt cu iu khin lin kt) l mt phn d tn hi nht ca mt h thng xch. Chng c th c v tr hoc pha trc hoc pha sau ca xch, tuy vy chng thng c s dng trong b phn ng sau gi chng ri xa khi cc va chm khng th trnh c pha trc khi xe di ng. mt gii php tt l nng bnh xch dn ng ln khi mt t di trnh cho bnh xch va chm chng ngi trn mt ng. Kt cu ny mang li mt hnh dng xch ph bin, nh ch trong hnh 4.5 c. C mt cch n gin m rng kh nng di ng l rp thm mt nhnh ni c dc vi khung gm hoc thn phng tin. Nhnh ny dc, khng chuyn ng v m rng pha trc v pha trn cc xch v trt trn cc chng ngi vt cao hn xch. iu ny truyn cho xe c kh nng vt qua cc chng ngi vt m cao hn h thng xch vn c. Nh vy ta c th dng cch nh mt mo hay tng kh nng hot ng, ngha l gn thm cc phn c nh , c dc cho xe.
4.5 H thng cng xch

Khng gian gia bnh xch iu khin v bnh quay theo cn phi c tip xc u nhau vi mt t t c hiu qu cao nht ca xch. iu ny c thc hin bng mt vi cch.Cc im khc nhau gia cc phng php ny l hiu qu iu khin, tnh phc tp, v da theo c tnh a hnh. c bit l i vi cc xch di, na trn cng cn c h tr cng xch, thng dng y l mt bnh ln th ng
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n gin hoc l mt dy phn b u gia bnh xch iu khin v bnh xch quay khng. Cc phng php chnh cng xch l : Cc cnh dn hng. Cc bnh con c nh to bin dng. Cc cp bnh con cn bng to bin dng. Cc bnh con to bin dng c trn cc trc l xo Cc cnh dn hng l cc bnh ray n gin m thng c thit k chy trong cc rnh dn hnh ch V dc theo chiu di xch. Chng c th c ko di t u ny n u kia xch, hiu qu nht l dc ton b chiu di ca xch. Tuy vy, chng cng gp vn khi c b mt d trt di m trong thc t khng th c bi trn. Mt bc ci tin l thay i t cc cnh dn hng n cc bnh con c nh to bin dng th hin hnh 4.7. y l cc bnh ln trn cht tr ngn nh v trn khung phng tin. Cc bnh ny c th tng i nh so vi bnh xch, khi ln ln chng ngi vt chng vn gi c bin dng cho xch . Chng to din tch tip xc vi t nh cnh dn hng nhng c hiu qu nhiu hn nhiu. Cc bnh ln c nh l mt s la chn tt i vi h thng xch.
Hnh 4. 7
Cc bnh ln.
a hnh mp m lm gim hiu qu ca xch, bi v khung gm phng tin b tro ln hoc tro xung va chm vi a hnh g gh. Chuyn ng ny c bit cn loi b tc cao. Cch b h thng cn lc cn bng c s dng trn cc xe c bnh th hu nh hiu qu trn cc xch trong trng hp ny. Cc bnh ln c tng cp trn cn lc cn bng b tr gia bnh a iu khin v bnh quay theo. Cc cn lc cn bng (hnh 4.8) cho php xch bin i khng ng k khi i ngang qua
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a hnh g gh, n lm gim chuyn ng theo phng thng ng ca khung. Cc bnh ln s to p lc cng xch.
Hnh 4. 8 Cng xch dng cn lc cn bng. Phng n tng t nhng phc tp nht, v cng hiu qu v chuyn ng m nht l gn ln cc bnh ln cc trc c l xo, c 3 loi chnh ca cc h thng cng ai thng c s dng. Tay ko trn l xo xon. Tay ko vi l xo cun. L xo l cn bng. Tay ko trn l xo xon c v trong hnh 4.9. N l mt thit b n gin da vo s xon ca l xo, n quay xung quanh tm l xo xon gn trn khung.Bnh ln gn u cn li ca tay ko v to ra lc lun t ln xch. Ta cng c th h tr phn cui ca tay ko vi mt l xo (hnh 4.10). u im ca l xo cun trn h thng cng xch dng l xo xon l vt nng c h tr bi l xo rt gn vi im trng ti, lm gim cc lc v cc mmen cho tay ko. iu ny c th lm gim ti cho h thngcng xch. H thng t bn trong khng gian xch tt hn l bn trong khung gm phng tin.
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Hnh 4. 9
Cng ai dng l xo xon
Hnh 4. 10
Cng ai dng cc l xo cun.
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Mt s thay i n gin ca h thng cn lc cn bng l dng cc l xo l (hnh 4.11). iu ny lm gim chn ng va chm ti cn lc cn bng v l mt cch n gin hn. Cc cn lc cn bng thng rt cng ln vn cho php cc bnh ln to ra cc s di chuyn ln. H thng ny c th dng b xung nu xch khng m v lt i yu cu. Hnh 4.11 dng cc bnh con ln kp.
Hnh 4. 11
Cng ai dng l xo l
4.6 Cc kt cu ca h thng xch 4.6.1 B truyn ng iu khin mt xch

Kt cu b tr xch n gin nht l b tr m ch s dng mt xch. B tr ny, trn thc t cn tn ti t nht mt dng, v tnh di ng kh tt. Dng thng gp l ca xe mt xch chy trn tuyt v bng. Mc d cc xe ny c thit k dnh ring cho s dng trn tuyt, cc bnh xe thay th vn trt, chng cng c th c s dng trn cc mt phng cng. p lc ln xch trn tuyt nh hn nhiu so vi trn mt t. Kh nng di ng c quyt nh bi 2 im : cc bnh cn c y vt ln trn cc chng ngi vt v s dn hng c thc hin bi h thng Ackerman, n s ngn chn vic quay trong khng gian. Hnh 4.12 l kt cu dng xch dc thoi pha trc ph bin trn cc xe chy bng my trn tuyt
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Hnh 4. 12
Mt xch, 2 bnh trc iu khin: h thng li Ackerman
4.6.2 B truyn ng iu khin 2 xch

Kt cu dng 2 xch th ph bin hn rt nhiu. Dng c bn ca n n gin, d hiu, v tng i d xy dng. Hai xch c gn vo 2 bn, v mi bnh dn ng c cp ngun bi mi ng c ring. Cc thit k cng vng thc cht c ng c c bn trong khung v c gn trc tip vo bnh xch iu khin. Khi bnh xch iu khin cn r th iu khin tc 2 ng c lch nhau, hu nh lun c mt phng n gim tc ng c phc v cho b truyn ng. Hnh 4.13 cho thy mt b tr 2 xch, vi cc ng c iu khin, cc hp s, cc thanh dn hng c nh ca xch, v cc xch khng dc thoi. Kt cu ny i din cho b tr n gin nht ca mt xe c bnh xch.
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Hnh 4. 13
B tr 2 xch c bn.
4.6.3 B truyn ng 2 xch vi cc h thng thit b li ring r

Mt kt cu phc tp hn, nhng km hiu qu hn l kt cu 2 xch c iu khin thng qua b truyn ng vi sai, v robot c li bi mt tp cc bnh xe c gn trn xch. B tr ny s dng khi cc toa xe ln khng c ma st trn cc con ng khng chun b trc,thay th cc bnh xe pha sau bng thnh cch h thng xch mang xp x khi lng nh nhau. Kt cu ny (hnh 4.14) c gi cc xch mt na. S thay i ng ch ca b tr 2 xch l t 2 xch ni tuyn (inline), mt xch ng trc mt xch khc (hnh 4.14). Trng thi n nh c duy tr bng cch to cc xch rng, v thit b li c hon thnh vi mt khp ni gia 2 xch. Cc xch buc phi c h tr t cc mt phng (side), ging nh trn mt xe chy bng my trn tuyt. Nng lng ca thit b li c truyn thng qua mt hoc hai c cu truyn ng tuyn tnh hoc quay l b phn ca ch ni c khp ni. Khi cc xch chc chn thng dc theo nhau, hnh dng cung trn mi xch khng to ra bt k s lc l no. H thng ny c tnh di ng ln, nhng xch mt na khng th quay trong khng gian. N s c kh nng lm vic rt tt i vi cc xe s dng trn tuyt hoc trn ct. 2 xch c th hoc mang cc khung ca chng hoc gn trn mt khung n c gn vo trc ni vn nng.
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Hnh 4. 14 Xch 2 bnh rng, fore-and-aft 4.6.4 Cc b truyn ng c 4 nhnh xch iu khin. Vic thm vo nhiu hn cc xch s lm tng tnh di ng ca xe. C mt vi vn vi cch tip cn ny. Thm vo nhiu hn cc xch c ngha l tt yu c nhiu phn chuyn ng hn, nhng n cng thng c ngha l to ra xe di hn. Kt cu tt nht l b tr m thm nhiu hn cc xch vi s lng t nht ca cc phn chuyn ng thm vo, v gi xe c chiu di cn thit. Tiu ch cui dnh cho mt kt cu c kh nng thay i cu hnh, kt cu cn chiu di di hn khi cn thit. Kt cu ny c trin khai trong 2 cch khc nhau. Hnh 4.15 cho thy kt cu chung ca Urbie telerobotic iRobot. B tr ny s dng c cu truyn ng th 3 iu khin mt cp xch tay tro quay xung quanh cc bnh quay theo trc. Chng c vn hnh bi cc ng c ging nhau v lun lun quay cng ng c. B tr ny biu din hnh dng n gin nht ca xe 4 nhnh xch, v c kh nng di chuyn rt cao.
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Hnh 4. 15
IRobots Urbie, a four-tracked teleoperated robot layout
Trng tm ca Urbie c t pha trn u ca xe, vi cc chn tro c ko di, Urbie c th tro qua khe nt m rng hn mt na chiu di ca xe c bn. V tr trng tm ny cng lm cho cc chn cho c kh nng lt robot ln trn nu n b o ngc. Khi cc chn tro quay, chng to dc ln, Urbie c th tro qua cc chng ngi vt m cao hn chiu cao ton b ca xch c bn. y cng c cc chc nng khc, chn tro c th thc hin khng lin quan ti tnh di ng, ging nh kh nng ng. iu ny lm cho robot cao hn v cho php mt camera c t vi tr chin lc nhn khp vng a hnh.
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Hnh 4.16a.
Hnh 4. 16
Hnh 4.16b. Cc chn tro chiu di nh nhau, trc xe gia dng chung.
Mt kt cu gn vi b tr ca Urbie (hnh 4.17 a-b) l kt cu m cc cp xch c kch thc ging nhau, c gn ln cng trc gia. C 2 loi c cu truyn ng khc nhau cung cp lc mt cch c lp cho 4 nhnh xch v mt c cu truyn ng th 5 cung cp lc cho trc gia nng ln h xung. Th thut ny lm nng ton b khung, nhng n cng lm tng kh nng ln khi ma st l khng cn ln. B tr c th cu hnh li ny bao gm tnh di ng cao.
4.6.5 Cc b truyn ng c 6 bnh xch.

y l mt b tr xch cui cng (hnh 4.17) .N l mt s m rng ca thit k Urbie, nhng trn thc t c sng ch trc kt cu Urbie. B tr tng ln 2 nhnh xch.Cc chn tro c ng trc v ng sau, c iu khin c lp.B tr ny cho php xe ng ln gn ging trong hnh 4.16. Chn tro kp ko di chiu di phng tin, lm d dng vt qua cc k nt rng v tro ln cc bc thang, song vn cha cho php quay trong khng gian mt li hp.
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Hnh 4. 17
2 bnh xch, chn cho kp.
4.7 Phng n thit k 4.7.1 tng chung

Trc khi bc vo thit k, ta s im qua v chc nng v gii hn ca robot theo yu cu t ra. Ta cn ch to mt mobile robot di chuyn dng xch c th thc hin c nhiu nhim v trong nh cng nh ngoi tri. Robot c th vt qua a hnh gp nghnh,mp m bt k, c th leo cu thang thng thng, c th nhn bit (theo mu, hnh dng) ca mt vt v t di chuyn theo vt . Cng vi nhng hiu bit chng trc, ta s i thit k mt mobile robot mi ph hp vi nhng yu cu t ra. Yu cu nhim v c th a hnh cn vt qua ca robot phc v cho thit k c kh l: Chiu cao ca a hnh c th vt qua: 100 mm Chiu di a hnh khng lin tc c th vt qua: 200 mm Gc nghing a hnh c th i n nh: 300
4.7.2 Kch thc v hnh dng tng th ca robot.

T nhng phn tch v kt cu, ta quyt nh la chn phng n kt cu robot gm 2 cp ai. Trong thn chnh ca robot gm c 1cp ai i xng 2 bn, nhnh trn ca robot l 2 tay gt chuyn ng nh ai . Vi kt cu ny robot c kh nng vt nhng chng ngi vt cao khng qu 2/3 chiu di ln nht ca n mt cch d dng
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Hnh 4. 18
Bn v thit k ca robot
Hnh 4. 19
Robot sau khi ch to

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Kch thc chnh ca robot Kch thc di nht:Lmax=490 mm Kch thc rng nht:Wmax= 380 mm Kch thc cao nht:Hmax= 124 mm 4.7.3 Kt cu ai c la chn Trong pham vi n ny, chng ti s dng ai thay th cho h thng xch bi nhng l do sau: Do kch thc ca robot l tng i nh nn vic dng xch l kh khn v khi lng xch rt nng n. Vic ch to xch t yu cu l c mt cng vic phc tp tn nhiu cng sc, trong khi vic dng ai t ra u vit hn. Vt liu l ai vn mm v c kh nng ma xt tt, vic to ai theo yu cu bm ng thc hin n gin hn rt nhiu so vi ch to xch. Kt cu robot s n gi hn m vn c hiu qu cao. Khi lng robot theo cng s gim ng k, ng c v ngun cung cp cng s c nhiu s la chon hp l hn Tuy nhin vic la chn ai cng cn phi m bo nhng yu cu sau: ai c kh nng chuyn chuyn ng tt, hiu qu, khng xy ra hin tng trt ai,do ai trong qu trnh hot ng. H thng ai phi c mt ngoi ma st tng i tt, m bo cho robot lun bm a hnh, c bit trong a hnh g gh ai phi to ma st ln robot c th vt qua. Vi nhng yu cu trn ai c hnh dng thit v thng s nh sau: Hnh dng tng th: ai dng cho nhnh chnh:
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Hnh 4. 20 ai dng cho nhnh ch ai dng cho nhnh tay:
Hnh 4. 21 ai dng cho nhnh tay Cu to, kch thc chnh: ai 1 mt (mt trong) Nhnh chnhc chu vi:C1=804 mm,nhnh tay:C2=562 mm. Mun: m= 3 B rng Wai=25 mm Ming to ma st cho mt ngoi ai(cao su), c dn mt ngoi ca ai kch thc: LxWx H =24x7x4.
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4.7.4 Kt cu nhnh chnh
4.7.4.1 Nhim v
Nhnh chnh c nhng nhim v sau: To chuyn ng chnh cho c robot di chuyn ng thi l b phn dn hng chnh trong khi chuyn ng. Cha ng c v ngun cp nng lng(acquy), mch iu khin v thit b giao tip, trao i tn hiu(camera). Cu to gm nhng b phn chnh sau: - Cm bnh ai dn ng(s lng 2). - Cm bnh ai theo (s lng 2). - Trc trc(s lng 2). - Khung(s lng 1). 4.7.4.2 Bnh ai dn ng Chc nng, cu to:c lp trc tip trn trc ng c dn ng v c truyn chuyn ng nh cht chuyn, c c nh u trc nh 2 vt M3 t ln m n hi v cht chuyn(m n hi lp u trc ng c). Bnh truyn chuyn ng sang ai v c 2 tm hm 2 bn (c bt vo bnh nh 4 vt M3 mi bn) gi ai khng tut khi chuyn ng. Hnh dng: Bnh ai dn ng: Hnh dng:
Hnh 4. 22 Bnh ai dn ng Kch thc chnh: ng knh ngoi 102 Mun m =3 S rng :n=34
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B dy: Wbnhai= 25 mm Cht truyn: Hnh dng
Hnh 4. 23 Cht truyn Kch thc: 2, di lct=12 mm Vng chn ai
Hnh 4. 24
Vng chn ai
Vng n hi
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Hnh 4. 25 Vng n hi Cm chi tit bnh ai dn ng:
Hnh 4. 26
Lp ghp ca cm chi tit bnh ai dn ng
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4.7.4.3 Trc trc

Nhim v: Truyn mmen ng c quay nhnh tay ca robot. ng vai tr l trc quay ca bnh ai theo v bnh ln ca nhnh tay gt , nhng bnh ny lp vi trc thng qua bi. Cu to: Hnh dng:
Hnh 4. 27
Trc trc
4.7.4.4 Bnh ai theo.

Nhim v: To vi cm bnh ai dn ng thnh khi chuyn ng chnh ca robot. Truyn chuyn ng cho ai ca nhnh tay gt. Cu to Hnh dng:
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Hnh 4. 28
Bnh ai theo
Kch thc chnh: ng knh ngoi 102 Mun m =3 S rng :n=34 B dy: Wbnhai= 25 mm
4.7.4.5 Khung
Nhim v: l ni g ca trc, ng c, mch iu khin, ngun cp, webcam Cu to: Hnh dng:
Hnh 4. 29
Khung di
4.7.4.6 Thanh tng cng cho khung

Nhim v :to song song gia 2 mt bn ca khung. Cu to:
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Hnh 4. 30
Thanh tng cng cho khung
4.7.4.7 Bnh cng ai di

Cu to:
Hnh 4. 31
Bnh cng ai di
4.7.4.8 Bnh cng ai trn.

Cu to:
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Hnh 4. 32
Bnh cng ai trn
4.7.5 Kt cu nhnh tay quay 4.7.5.1 Nhim v

Lin kt vi nhnh chnh to ra khi chuyn ng trong khi di chuyn trn a hnh khng qu g gh. C nhim v nng robot, bm a hnh khi gp nhng chng ngai vt ln. Mt nhim v quan trng na l dn trng tm robot v pha trc hn ch cho robot khng b lt nga khi i trn a hnh dc.
4.7.5.2 Bnh ai ln
Cu to: Ging bnh theo ca nhnh chnh
4.7.5.3 Bnh ai nh
Cu to:
Hnh 4. 33 Bnh ai nh
Kch thc chnh: ng knh ngoi: 101,8

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Mun: m=3 S rng: n= 16 Bc rng: 9,42 Cu to:
4.7.5.4 Tm tay
Hnh 4. 34
Tm tay
4.7.5.5 Cu to cm chi tit

Bnh ai ln c bt vi bnh theo bi 4 Bulng M5, nhm chuyn moment quay t bnh theo sang bnh ln. C 2 bnh c lp trn trc thng qua nhng bi, c c nh nh gh trc v h thng cc bc lt. Nh vy bnh theo v bnh ln c th quay lng khng vi trc. V trc ni vi ng c trc vt nn s c tnh t hm, khi 2 bnh quay nhnh tay quay s ch c chuyn ng ca ai ng b vi ai ca nhnh chnh.
Hnh 4. 35
Lp ghp v c nh 2 bnh
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Tm tay quay c gn cng vi bc x rnh, bc nylp trn trc v c truyn moment quay thng qua cht. u trc c c nh bi ai c 6 rnh. Tm tay quay lm nhim v nng robot khi cn, ng thi gp phn chng trt cho ai.
Hnh 4. 36
Lp ghp cho tm tay quay
Trn tm tay quay c gn 2 ming nhm ch L tng cng, u trn tm tay quay bt bulng qua c tc dng nh trc quay cho bnh nh , mt u c nh bng ai c v m vnh.
Hnh 4. 37
Lp ghp cho bnh nh

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4.8 Tnh chn ng c

Robot hot ng nh 4 ng c , 2 ng c i xng pha sau lm nhim v to moment chuyn ng chnh ca robot, 2 ng c i xng pha trc c nhim v to chuyn ng quay ca cnh tay robot.
4.8.1 ng c pha sau
Hnh 4. 38
S t lc robot
Theo hnh 6.20, c: : gc nging ca nn r: bn knh bnh v: vn tc robot FN : p lc ln nn,FN= m.g.cos Fw :Lc cn do trng lng robot, Fw = m.g.sin (4.8.1) Ff : Lc ma st , Ff = .m.g.cos vi l h s ma st ph thuc tnh cht nn v ai Fapp :Lc ko ca ng c robot c th chuyn ng th: Fapp= Ff + Fw (4.8.2) Fapp= m.g.sin + .m.g.cos Fapp= m.g.(sin + .cos) (4.8.3) Cng sut cn thit ca ng c : P = 1/2.Fapp.v (4.8.4) P =1/2. m.g.(sin + .cos).v (4.8.5) Moment khi ng cn thit: T = P/ = P.r/v (4.8.6) Kt qu thc t robot c khi lng : m = 15 kg , gc nghing a hnh yu cu =300 , vn tc yu cu ca robot :v = 0,15 m/s, ly =0,3, r = 56 mm =0,056 m
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Vy P = 1/2. 15.9,8.(sin 300 + 0,015.cos300) = 37,7 W T =37,7.0,056/0,15=14 Nm ng c la chn : GMN6MP026A Matsushita Geared dual shaft servo motor Ngun cp: 22V Tc :110 rpm (11,5 rad/s) Do iu kin ng c mua khng r thng s nn kh nng ca ng c c xc nh qua thc nghim. ng c trn tha mn nhng tnh ton nu.
4.8.2 ng c pha trc

ng c pha trc ch c nhim v nng cnh tay nn ti trng l khng ng k, tuy nhin cn c kh nng t hm m bo gc nghing n nh khi robot di chuyn cng nh va chm. V th ng c la chn l ng c c b truyn trc vt bnh vt.
4.9 Kh nng hot ng ca robot

Robot vi 2 nhnh ai ln rt linh hot trong khi di chuyn. Bnh thng, robot dng ch yu 2 dy ai ca nhnh chnh phc v di chuyn bng phng. Nh c ma st ln gia ai v b mt a hnh, robot di chuyn d dng qua a hnh thp c chiu cao khng ln hn gm robot hoc c th cao hn mt cht. Khi gp a hnh c chng ngi cao hn gm robot, 2 tay pha trc ca robot s c khi ng n xung nng gm robot cao hn chng ngi. Lc ma st ca ai v a hnh ti nhng im tip xc gi cho robot bm b mt khng b trt . Lc ny phn lc t a hnh ln robot cng gim ng k ng c dn ng pha sau s cung cp moment cho bnh ai c 2 nhnh cng ln, y robot tin ln pha trc.im th v y l c 2 nhnh ai lun cng chuyn ng, cc bnh ai lun quay ln tng lc y robot v pha trc l kh ln. Nhnh tay nhng v tr thch hp s c th to lc y ln hn cho robot, hn ch bt phn lc t b mt a hnh hnh a ta thy lc ma st ln b mt chng ngi vt l nh do b mt din tch tip xc nh, trong khi phn lc v robot t b mt tng khi lc pht ng tng. ai c xu hng trt trn bn mt a hnh. Robot s khng vt qua c chng ngi vt robot vt qua chng ngi vt, tay pha trc c nng ln nh hnh b. Lc ny lc ma st trn b mt ai ngoi nhnh tay ln, ai s khng b trt, ng thi phn lc t b mt a hinh nh hn rt nhiu, lc ny lc pht ng ch cn chng li thnh phn lc ca trng lng robot gy ra v cc lc ma st gia cc b phn trong robot. Vi mt ng c khe robot s c y ln pha trc
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Fpd Fms a,
Fpl Fms
b,
F2
F1
G.sina Fms
a
Fms
c,
F1 G.sina
a
F2
ms
Fms
d,
e,
Hnh 4. 39 Minh ha robot vt qua chng ngi vt
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CHNG V
THIT K H THNG IU KHIN V XY DNG PHN MM IU KHIN ROBOT

5.1 C cu chp hnh
Nh chng ta bit, thc hin mt chuyn ng tnh tin hay mt chuyn ng quay thi phi cn n mt c cu chp hnh, c th l h thng truyn ng thy lc cng c th l h thng truyn ng thy kh hay l h thng truyn ng in. Mi mt h thng u c mt mnh v nt yu ca n, v nh h thng truyn ng thy lc v h thng truyn ng thy kh th chu ti ln nhng cu to phc tp v cng knh cn h thng truyn ng in chu ti nh hn nhng nh gn v thng dng. Vi nhng phn tch trn y, i vi ti tt nghip ny yu cu nh gn v n gin th phng n c chn y l s dng h thng truyn ng in. nng cao kh nng chu ti ca h thng truyn ng in th lp thm cc hp gim tc(cng c tc dng tng kh nng chu ti) u ra ca h thng. C module ni trn c ng gi thnh sn phm c bn trn th trng l ng c in c gn hp gim tc u ra. truyn ng cho dy ai(h thng to chuyn ng ca robot) th chng ta dng hai ng c in mt chiu(DC-24V) c gn hp gim tc khai trin hai cp u ra. truyn ng cho hai cnh tay pha trc(nhm to gc nng cho robot vt chng ngi vt) th chng ta dng hai ng c in mt chiu (DC-12V) c gn hp gim tc trc vt-bnh vt u ra. y chng ta dng ng c c gn hp gim tc trc vt-bnh vt u ra l v loi hp gim tc ny c kh nng t hm(khng cho chuyn ng theo chiu ngc li khi c ti nu khng c cp in), kh nng t hm ny phc v cho mc ch c nh cnh tay v tr mong mun m khng s b thay i khi c ti.
5.2
Gii thiu v b vi iu khin 8 bit
Ngy nay, cc b vi iu khin ang c ng dng ngy cng rng ln trong cc lnh vc k thut v i sng x hi, c bit l trong lnh vc t ng ha v iu khin t xa. Gi y vi nhu cu chuyn dng ha, ti u ha (v thi gian, khng gian v gi thnh trn mt n v sn phm), bo mt, tnh ch ng trong cng vic... ngy cng i hi kht khe v vic a ra cng ngh mi trong lnh vc ch to mch in t nhm p ng nhng yu cu trn l hon ton cp thit mang tnh thc t cao.
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5.2.1
Khi nim v b vi iu khin
hiu khi nim v b vi iu khin, ta c th lm php so snh n vi b vi x l cng dng chung nh sau: Cc b vi x l cng dng chung nh h Intel x86 (8086, 80286, 80386, 80486 v Pentium) hay l h Motorola 680x0 (68000, 68010, 68020, 68030, 68040, ...) khng c RAM, ROM, cc b nh thi v cc cng vo/ra tch hp trn chip... Vi l do m chng c gi l cc b vi x l cng dng chung. Mt nh thit k h thng s dng mt b vi x l cng dng chung chng hn nh Pentium hay 68040 s phi b sung thm RAM, ROM, cc cng vo/ra v cc b nh thi bn ngoi cho chng hot ng c. Mc d vic b sung thm RAM, ROM, cc b nh thi v cc cng vo/ra s lm cho h thng cng knh ln nhng li c u im l ngi s dng cc b vi x l kiu ny rt linh hot trong vic quyt nh dung lng RAM, ROM v cc cng vo/ra va cho ng dng. Trong khi mt vi iu khin ng gi th c nhng mt CPU (b vi x l) cng vi mt mt s lng RAM, ROM, cng vo/ra c nh v b nh thi ty thuc vo tng loi vi iu khin. Do ngi thit k khng th b sung thm RAM, ROM, cc cng vo/ra hay b nh thi cho h thng. Vi mt lng RAM, ROM v cc cng vo/ra c nh nh vy l mt hn ch song n li tht s l tng i vi nhng ng dng mang tnh chuyn bit, ti u v gi thnh, ti i v khng gian... Hin nay trn th trng c cc b vi iu khin 8bit chnh l: 68011 ca hng Motorola, 8051 ca hng Intel, Z8 ca hng Xilog, PIC16x ca hng Microchip Technology. Mi loi trn y u c mt tp lnh v s thanh ghi ring bit nn chng khng tng thch ln nhau.
5.2.2
Cc yu cu la chn mt b vi iu khin
Khi la chn mt b vi iu khin th chng ta cn da vo cc yu cu m b vi iu khin c th p ng c: - p ng nhu cu tnh ton ca bi ton mt cch hiu qu v mt gi thnh v y chc nng c th nhn thy c (kh d). - C sn cc cng c pht trin phn mm nh trnh bin dch, trnh hp ng v g li. - Ngun cung cp cc b vi iu khin sn c v tin cy.
5.2.3
Cc tiu chun la chn mt b vi iu khin
Tiu chun u tin v trc ht trong la chn mt b vi iu khin l n phi p ng nhu cu bi ton v mt cng sut tnh ton, gi thnh v hiu qu. Trong khi phn tch cc nhu cu ca mt d n da trn b vi iu khin, chng ta trc ht phi bit l b vi iu khin no l 8 bt, 16 bt hay 32 bt c th p ng tt nht nhu cu tnh ton ca bi ton mt cch hiu qu nht.
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Nhng tiu chun c a ra cn nhc l: - Tc : Tc ln nht m b vi iu khin h tr l bao nhiu. - Kiu ng v: l kiu 28 chn DIP hay QFP hay l kiu ng v khc. y l iu quan trng i vi yu cu v khng gian, kiu lp rp v to mu th cho sn phm cui cng. - Cng sut tiu th: iu ny c bit kht khe i vi nhng sn phm dng pin, c quy. - Dung lng b nh RAM v ROM trn chp. - S chn vo/ ra, b nh thi, s ngt trn chp. - Kh nng d dng nng cp cho hiu sut cao hoc gim cng sut tiu th. - Gi thnh cho mt n v: iu ny quan trng quyt nh gi thnh cui cng ca sn phm m mt b vi iu khin c s dng.
5.3
B vi iu khin 8bit PIC16F876A
5.3.1 Cc c tnh ni bt ca b vi iu khin - S dng cng ngh tch hp cao RISC CPU. - Ngi s dng c th lp trnh vi 35 cu lnh n gin. - Tt c cc cu lnh thc hin trong mt chu k lnh ngoi tr mt s cu lnh r nhnh thc hin trong 2 chu k lnh. - Tc hot ng l: + Xung ng h vo l DC- 20MHz. + Chu k lnh thc hin trong 200ns. - B nh chng trnh Flash 8Kx14 words. - B nh Ram 368x8 bytes. - B nh EFPROM 256x 8 bytes. - C ti 14 ngun ngt trong v ngt ngoi. - Ngn nh Stack c phn chia lm 8 mc. - Truy cp b nh bng a ch trc tip hoc gin tip. - Ngun khi ng li (POR). - B to xung thi gian (PWRT) v b to dao ng (OST). - B m xung thi gian (WDT) vi ngun dao ng trn chp (ngun dao ng RC) hot ng ng tin cy. - C m chng trnh bo v. - Phng thc ct gi SLEEP. - C bng la chn dao ng. - Cng ngh CMOS FLASH /EEPROM ngun mc thp ,tc cao. - Thit k hon ton tnh . - Mch chng trnh ni tip c 2 chn. - X l c /ghi ti b nh chng trnh . - Di in th hot ng rng : 2.0V n 5.5V. - Ngun s dng hin ti 25 mA.
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- Dy nhit cng nghip v thun li . - Cng sut tiu th thp: + < 0.6mA vi 5V, 4MHz. + 20A vi ngun 3V, 32 kHz. + < 1A ngun d phng. - Timer0: 8 bt ca b nh thi, b m vi h s t l trc. - Timer1: 16 bt ca b nh thi, b m vi h s t l trc, c kh nng tng trong khi ch Sleep qua xung ng h c cung cp bn ngoi. - Timer 2: 8 bt ca b nh thi, b m vi 8 bt ca h s t l trc, h s t l sau. - C 1 ch bt gi, so snh, iu ch rng xung(PWM). - Ch iu ch rng xung vi 10 bt. - B chuyn i tn hiu s sang tng t vi 10 bt . - Cng truyn thng ni tip SSP vi SPI phng thc ch v I2C(ch/t). - B truyn nhn thng tin ng b, khng ng b(USART/SCL) c kh nng pht hin 9 bt a ch. - Cng ph song song (PSP) vi 8 bt m rng, vi RD, WR v CS iu khin.
Hnh 5. 1
S chn ca VK PIC16F873A/876A
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Hnh5. 2
S khi ca VK PIC16F873A/876A
5.3.2
So snh vi b vi iu khin 8051
khng nh v tnh u vit v gii quyt cu hi ti sao trong ng dng ca chng em h vi iu khin PIC c chn, chng ta thc hin php so snh gia hai b vi iu khin 8bit l PIC16F876A v 8051.
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B VK 8051 l b VK u tin ca h VK x51 do cc hang Intel, Siemens, Advanced Micro Devices, Fujitsu, Philips... B VK ny c cc c im chung nh sau: - C 4kbytes ROM. - C 128bytes RAM. - C 4 cng vo/ra (I/O) 8bits. - C 2Timers 16bits. - C 64kbytes vng nh m ngoi (ROM ngoi). - C 64kbytes vng nh d liu ngoi (RAM ngoi). - X l Boolean (hot ng trn bit n). - C 210 v tr nh c th nh v bit. - C 5 ngt. - 4us cho hot ng nhn hoc chia. - Dng ngun dao ng ngoi. - Dng in p 5v chip hot ng.
Hnh5. 3
S khi ca VK 8051
Nh vy ta c th thy dng VK PIC16F876A c c tnh k thut hn hn so vi dng VK 8051 trong khi phc tp v khng gian chim li nh hn nhiu, c th nh sau: Bng so snh VK8051 v VK PIC16F876A S lng c tnh VK 8051 VK PIC16F876A Chn ca chip 32 28 ROM ni 4 kbytes 8 kbytes RAM ni 128 bytes 368 bytes B nh thi 2 3 Cng ni tip 1 2
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Ngun ngt
14
Ngoi nhng c im trn th VK PIC16F876A cn c mt s c im hn hn VK 8051 l: - C 10bits chuyn i A/D, iu ny s gip cho ngi thit k h thng khng phi mt mt b chuyn i A/D (vic phi mc thm mt b chuyn i s dn n h thng phc tp hn). - C b dao ng ch trn chp, iu ny s trnh c nhng sai s khng cn thit trong vic to xung dao ng. - C kh nng t Reset bng b WDT. - C thm 256bytes EEPROM. - V c kh nng chng nhiu tt hn trong ng dng iu khin t xa so vi 8051.
5.3.3 5.3.3.1
Gii thiu cc module c ng dng vo d n Gii thiu v cc cng vo/ra (I/O ports)
Vi iu khin PIC16F876A c 3 cng vo/ra l PortA, PortB v PortC. Tt c cc chn c thit k vi chc nng lm chn vo ra tuy nhin mt s chn c tch hp cc chc nng khc ph hp vi cc thit b ngoi vi. Ni chung khi cc thit b ngoi vi hot ng, cc chn c th khng c s dng vi mc ch lm chn vo/ra. a. Cng A v thanh ghi TRISA Cng A l cng hai chiu vi rng ng truyn l 6 bit v iu khin vic truy xut d liu trn cng ny ngi ta s dng thanh ghi TRISA. Nu set bit TRISA=1 th chn tng ng ca cng A s lm nhim v ca mt ng vo v ngc li nu xa bit TRISA=0 th chn tng ng s lm nhim v ca mt ng ra. Vic c cng A chnh l c trng thi ca cc chn, nhng ngc li vic ghi phi thng qua vic ghi ln cc cht ca cng. Cc chn ca cng A ch yu c s dng vi mc ch chnh l nhn tn hiu tng t hoc cc chn vo ra. Ring chn RA4 c th a hp vi chn vo b Timer 0 v khi n tr thnh chn RA4/T0CKI, chn ny nh mt u vo ca Schmitt Trigger v n m u ra. Cc chn khc ca cng A l chn vo vi b TTL. Vic iu khin cc chn ny thng qua vic t hay xa cc bit ca thanh ghi ADCON1. Thanh ghi TRISA iu khin trc tip cc chn ca cng A, v khi s dng cc chn ny nhn tn hiu tng t vo ta phi chc chn rng cc bit ca thanh ghi TRISA c t ri.
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Di y l s khi cc chn ca cng A:
Hnh 5. 4
S khi ca cc chn RA0:RA3
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Hnh 5. 5
S khi ca cc chn RA4/T0CKI
Hnh 5. 6
S khi ca cc chn RA5

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b. Cng B v thanh ghi TRISB Cng B l cng hai chiu vi rng ng truyn l 8 bit v iu khin vic truy xut d liu trn chn ny ta s dng thanh ghi TRISB. Nu set bit TRISB=1 th chn tng ng ca cng B s lm nhim v ca mt ng vo v ngc li nu xa bit TRISB=0 th chn tng ng s lm nhim v ca mt ng ra. C ba chn ca cng B c th tch hp vi cc chc nng vn hnh vi in p thp l cc chn: RB3/PGM, RB6/PGC, RB7/PGD. Mi chn ca cng B c mt kh nng ko ln bn trong yu. Mt bit iu khin n c th bt tt c kh nng ko ln , iu ny c miu t bi vic xa bit (OPTION_REG<7>). Kh nng dng ny s t ng c tt i khi cc chn ca cng c nh ngha l u ra v khi ta Reset. Bn chn ca cng B, t chn RB4:RB7 c c tnh l ngt khi thay i trng thi. Ch nhng chn c nh dng l u vo th ngt ny mi tn ti. Mt vi chn RB4:RB7 c nh dng nh chn ra, n thi hnh ngt trn s so snh thay i. Chn vo RB4:RB7 c so snh vi gi tr c ca cht ln c cui cng ca cng B. S ghp i khng khp chn ra ca RB4:RB7 bng lnh OR lm pht sinh ra ngt vi c bit RBIF ca thanh ghi INTCON. Ngt ny c th khi ng thit b t trng thi SLEEP. Di y l s khi cc chn ca cng B:
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Hnh 5. 7
S khi ca cc chn RB0:RB3
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Hnh 5. 8
S khi ca cc chn RB4:RB7
c. Cng C v thanh ghi TRISC Cng C l cng hai chiu vi rng ng truyn l 8 bit v tng ng vi vic iu khin n l thanh ghi TRISC. Nu t bit TRISC=1 th chn tng ng vi n lm nhim v ca mt u vo v ngc li nu xa bit TRISC=0 th chn tng ng lm nhim v ca mt u ra. Cng C a hp vi vic vn hnh thit b ngoi vi v chn ca cng C thng qua b m Schmitt Trigger u vo. Khi ch I2C hot ng, cc chn cng PORTC<4:3> c th c sp xp vi mc I2C thng hoc vi mc SMBUS bng cch s dng bit CKE (SSPSTAT<6>). Khi cc chc nng ngoi vi ang hot ng, iu quan tm l cn xc nh bit TRIS ca mi chn cng C. Mt s phn ph c th ghi ln bit TRIS lm cho chn ny tr thnh chn ra, trong khi th mt s phn ph khc li ghi ln bit TRIS lm cho chn ny tr thnh chn vo. T khi s ghi bit TRIS c hiu qu trong khi
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thit b ngoi vi c cho php, nhng lnh c- sa-ghi(BSF,BCF,XORWF) vi thanh ghi TRISC nh l ni gi ti s c trnh. Ngi s dng nn cp ti vic phn chia kt ni cc thit b ngoi vi set chnh xc cc bit TRIS. Di y l s khi cc chn ca cng C:
Hnh 5. 9
S khi ca cc chn RC0:RC2 v RC5:RC7
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Hnh 5. 10
S khi ca cc chn RC3:RC4
5.3.3.2
Truyn nhn d liu ng b v khng ng b
Khi s dng truyn thng ng b v khng ng b chng ta phi s dng bit SPEN ca thanh ghi RCSTA v hai bit s 6 v 7 ca thanh ghi TRISC nh dng cho cc chn RC6/TX/CK v RC7/RX/DT. B truyn thng ng b v d b c th c nh dng cc ch sau: - Song cng ton phn (khng ng b). - Bn song cng (ng b chnh v ng b ph). Tip theo chng ta s gii thiu qua cc c im ca hai ch . a. Tc truyn (baud rate)
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Tc truyn c cung cp cho c hai ch (truyn thng ng b v khng ng b) l thanh ghi SPBRG iu khin chu k chy 8 bit ca timer. Trong ch khng ng b, bit BRGH ca thanh ghi TXSTA c dng iu khin tc truyn cn trong ch ng b n khng c s dng. Cng thc tnh tc truyn nh sau: SYNC 0 1 BRGH=0 (Low Speed) Khng ng b Baud Rate = FOSC/(64*(X+1)) ng b Baud Rate = FOSC/(4*(X+1)) BRGH=1 (High Speed) ng b Baud Rate = FOSC/(16*(X+1)) Khng s dng
y X l gi tr np vo thanh ghi SPBRG, FOSC l tn s giao ng. V d: Khi mun truyn vi tc l 9600 s dng thch anh 20MHZ khi RBGH = 1 th cn np gi tr X vo thanh ghi SPRBG l: X = 20.000.000/(16*9600) 1 = 129. trng thi truyn v nhn c quyt nh bi thanh ghi iu khin v thanh ghi trng thi.
- Trng thi truyn v thanh ghi iu khin:
bit 7
CSR: bit la chn xung clock ch dng trong ch ng b 1 = Master mode clock t BRG 0 = Slave mode clock t bn ngoi
bit 6
TX9: cho php truyn 9 bit 1 = truyn 9 bit 0 = truyn 8 bit
bit 5
TXEN: bit cho php truyn 1 = cho php truyn 0 = khng cho php truyn
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bit 4
SYNC: la chn ch USART 1 = ch ng b 0 = ch khng ng b
bit 3 bit 2
khng s dng BRGH: bit la chn tc cao 1 = tc cao 0 = tc thp
bit 1
TRMT: cho trng thi thanh ghi dch TSR 1 = TSR rng 0 = TSR y
bit 0 Ch :
TX9D: d liu bit th 9 truyn i, c th l bit Parity
R = bit cho php c -n = gi tr POR
W = bit cho php ghi -1 = bit c set -0 = bit b xa
U = bit khng dng -x = bit cha r
- Trng thi nhn v thanh ghi iu khin:
bit 7 SPEN: bit cho php cng ni tip (nh hnh cc chn RC6/TX/CK v RC7/RX/DT nh chn cng ni tip) 1 = cho php hot ng 0 = khng cho php hot ng bit 6 RX9: cho php nhn 9 bit 1 = nhn 9 bit 0 = nhn 8 bit
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bit 5 SREN: bit cho php nhn ring r (ch c ch ng b ch bit nay mi c s dng) 1 = cho php nhn ring r 0 = khng cho php nhn ring r bit 4 CREN: cho php tip tc nhn - Ch khng ng b: 1 = cho php tip tc nhn 0 = khng cho php tip tc nhn - Ch ng b: 1 = cho php tip tc nhn n khi bit CREN b xa 0 = khng cho php tip tc nhn bit 3 ADDEN:cho php nh a ch trong ch khng ng b truyn 9 bit (RX9=1)
1 = cho php nh a ch, cho php ngt v ti vo b m nhn khi RSR<8> c set 0 = cho php nh a ch, tt c cc byte c tr v v bit th 9 c th c s dng nh bit chn l (parity bit) bit 2 FERR: bit li khung truyn 1 = c li 0 = khng c li bit 1 OERR: bit li trn 1 = c li tran 0 = khng c li trn bit 0 Ch : R = bit cho php c W = bit cho php ghi U = bit khng dng RX9D: bit th 9 ca d liu c nhn
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-n = gi tr POR b.
-1 = bit c set
-0 = bit b xa
-x = bit cha r
Ch truyn thng khng ng b
Ch truyn khng ng b c nh dng nh sau: bt u vi bit START, tip theo l 8 hay 9 bit d liu v kt thc bi bit STOP. Thng thng th d liu c nh dng vi 8 bit. Vic truyn v nhn d liu c tin hnh vi nhng bit thp trc ri n cc bit cao, vic truyn v nhn c th tin hnh c lp nhau. Khi s dng ch truyn khng ng b th chng ta cn thit lp tc truyn v s bit nh dng d liu. Truyn thng khng ng b dng khi ch SLEEP. - Truyn d liu: Vic truyn d liu th thang ghi TSR ng vai tr quan trng, d liu ca n c th c c hay ghi thng qua b m l thanh ghi TXREG. Thanh ghi TSR khng c np gi tr cho ti khi bit STOP ca ln truyn trc chuyn i. Khi bit STOP chuyn i n s np gi tr mi ti thanh ghi TSR t thanh ghi TXREG. Nu thanh ghi TXREG rng n s set c bit TXIF ca thanh ghi PIR1. Trong khi c bit TXIF cho bit trng thi ca thanh ghi TXREG th bit TRMT cho bit trng thi ca thanh ghi TSR. Bit trng thi TRMT ch dng c, n c set khi thanh ghi TSR rng. Vic truyn d liu hot ng khi ta set bit TXEN ca thanh ghi TXSTA. Vic truyn d liu ch hot ng khi d liu c np ti thanh ghi TXREG v tc truyn c sn sinh t xung ng h. Khi vic truyn d liu bt u ln u tin th thanh ghi TSR lc rng. Ngay lp tc d liu c truyn t thanh ghi TXREG ti thanh ghi TSR, sau thanh ghi TXREG rng v cng vic ny c lp li. truyn 9 bit d liu i th bit truyn TX9 ca thanh ghi TXSTA phi c set v bit d liu th 9 truyn i s c ghi ti bit TX9D. Bit th 9 ny phi c ghi trc trc khi chuyn 8 bit d liu ti thanh ghi TXREG bi v d liu ghi ln thanh ghi TXREG ngay lp tc c chuyn n thanh ghi TSR.
Hnh 5. 11
S khi ca ch truyn USART

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Hnh 5. 12
Truyn khng ng b mt t
Hnh 5. 13
Truyn khng ng b hai t ni tip
Hnh 5. 14 - Nhn d liu:
Thanh ghi cho php truyn trong ch khng ng b
Trong ch khng ng b, vic nhn d liu c kch hot bng cch set bit CREN (RCSTA<4>).
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ng vai tr quan trng trong vic nhn d liu l thanh ghi RSR. Sau khi nhn xong bit STOP, d liu t thanh ghi RSR c chuyn ti thanh ghi RCREG nu thanh ghi ny trng. Nu vic truyn nhn c hon thnh th c bit RCIF (PIR1<5>) s c set v c th ngt hot ng ca n bng vic set bit RCIE (PIE1<5>). C bit RCIF ch c dng c, n c xa bi phn cng, n c xa khi thanh ghi RCREG c c l trng. Thanh ghi RCREG l mt thanh ghi c b m i, n c kh nng nhn hai byte d liu v truyn ti thanh ghi RCREG FIFO v khi byte th 3 s truyn ti thanh ghi RSR. Nu pht hin bit STOP ca byte th 3 m thanh ghi RCREG vn y th bit bo li OERR (RCSTA<1>) s c set. Bit bo li ch c xa bng phn mm. Nu bit OERR c set th vic truyn d liu t thanh ghi RSR ti thanh ghi RCREG b ngn cm v d liu khng c nhn. Bit bo li to khung FERR (RCSTA<2>) s c set khi bit STOP c pht hin b xa. Bit FERR v bit RX9D (RCSTA<0>) c lu trong b m ging nh d liu nhn. Khi ang c thanh ghi RCREG th s np gi tr mi cho cc bit RX9D v FERR, thnh ra, l iu thit yu ngi dng c thanh ghi RCSTA trc khi s c thanh ghi RCREG khng mt thng tin FERR v RX9D trc .
Hnh 5. 15
S khi ca ch nhn USART
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Hnh 5. 16
Nhn khng ng b
Hnh 5. 17 c.
Thanh ghi cho php nhn trong ch khng ng b
Ch truyn thng ng b chnh
Trong ch truyn ny, d liu c truyn nhn di dng bn song cng (vic truyn v nhn d liu khng th tin hnh ng thi cng mt lc c). Khi ang truyn d liu th vic nhn d liu b ngn cm. Vic chn ch truyn thng ng b c thit lp bng cch set bit SYNC (TXSTA<4>), ngoi ra bit SPEN cn c set nh dng cc chn vo ra RC6/TX/CK v RC7/RX/DT lm ng truyn xung clock (CK) v ng truyn d liu (DT). Ch ch cn c xc nh bng cch set bit CSRC (TXSTA<7>). - Truyn d liu: Tng t truyn thng khng ng b, truyn thng ng b cng cn c thanh ghi TSR, thanh ghi ny c v ghi d liu thng qua b m l thanh ghi TCREG. Thanh ghi TSR c np gi tr bng phn mm, n s khng c np gi tr cho ti khi truyn i bit cui cng ca ln truyn trc . Khi truyn ht bt cui cng th thanh ghi TSR s c np gi tr mi t thanh ghi TXREG. Nu thanh ghi
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TXREG rng th bit c ngt TXIF s c set. C ngt ny hot ng hay khng hot ng c quy nh bi vic set hay xa bit TXIE (PIE1<4>). Trong khi bit c ngt cho bit trng thi hot ng ca thanh ghi TXREG th bit TRMT cho bit trng thi ca thanh ghi TSR, bit trng thi TRMT ch dng c v n c set khi thanh ghi TSR rng. Vic truyn d liu hot ng khi ta set bit TXEN (TXSTA<5>), bit d liu u tin s c truyn i trn sn ln ca xung clock trn chn CLK. Vic truyn d liu c bt du t thanh ghi TXREG v set bit TXEN. u im y l tc thp c th c la chn. Tc truyn c d nguyn trong khi RESET khi cc bit TXEN, CREN, SREN c xa. Vic truyn d liu c bt u ln u tin khi thnh ghi TSR rng, d liu truyn ti thanh ghi TXREG ngay lp tc c chuyn ti thanh ghi TSR v kt qu l thanh ghi TXREG rng. Xa bit TXEN trong khi truyn d liu l l do vic truyn d liu b gin on v n phi dng li, nu bit CREN hoc bit SREN c set trong khi ang truyn cng l nguyn nhn gy ra vic truyn d liu b gin on. truyn 9 bit d liu th bit TX9 (TXSTA<6>) phi c set v bit d liu th 9 ny s c ghi ti bit TX9D (TXSTA<0>). Bit ny phi c ghi trc khi ghi 8 bit d liu cn li ti thanh ghi TXREG bi v d liu c ghi ln thanh ghi TXREG ngay lp tc c chuyn n thanh ghi TSR nu thanh ghi ny rng. Nu thanh ghi TSR rng v thanh ghi TXREG c ghi trc khi ghi gi tr bit TX9D th hin ti n s np gi tr c trong bit TX9D.
Hnh 5. 18
Thanh ghi cho php truyn trong ch ng b ch
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n Tt Nghip
Hnh 5. 19
S truyn ng b ch
Hnh 5. 20
- Nhn d liu:
S truyn ng b ch (qua TXEN)
Vic nhn d liu ch ng b ch c chn bng vic set bit CREN (RCSTA<4>) hoc bit SREN (RCSTA<5>). D liu c ly chn RC7/RX/DT trn sn xung ca xung clock. Nu bit SREN c set th ch nhn c mt t, v nu bit CREN c set th vic nhn c tip din cho ti khi bit ny b xa mi. Nu c hai bit ny c set th bit CREN c u tin trc ri theo th t . Sau khi d liu c nhn vo trong thanh ghi RSR n s c chuyn ti thanh ghi RCREG. Khi vic chuyn dch ny c hon thnh th c bit RCIF (PIR1<5>) s c set, c ny hot ng hay khng ph thuc vo vic set hay xa bit RCIE (PIE1<5>). RCREG l thanh ghi c b m i, n c kh nng nhn hai byte d liu v chuyn ti thanh ghi RCREG INFO v byte th 3 bt u chuyn ti thanh ghi RSR. Khi ri
83
n Tt Nghip
bit STOP ca byte th 3 m thanh ghi RCREG vn y th bit bo li OERR s c set v t trong thanh ghi RSR s b li. Bit OERR c xa bng phn mm v nu bit ny c set th vic truyn d liu t thanh ghi RSR ti thanh ghi RCREG s b cm. Vic nhn bit th 9 cng tng t nh vic nhn bit d liu, trong khi thanh ghi RCREG ang c n s np gi tr mi cho bit RX9D, l iu thit yu khi ngi s dng dng truyn thng 9 bit.
Hnh 5. 21
Thanh ghi cho php nhn trong ch ng b ch
Hnh 5. 22 d.
S nhn ng b ch
Ch truyn thng ng b ph
Truyn thng ng b ch ph khc vi truyn thng ng b ch chnh trong trng hp xung ng h bn ngoi cung cp ti chn RC6/TX/CK. N c th cho php thit b nhn hoc truyn d liu ch SLEEP. Ch ph c hot ng bng cch xa bit CSRC (TXSTA<7>).
- Truyn d liu:
84
n Tt Nghip
Hot ng truyn ca truyn thng ng b chnh v truyn thng ng b ph hon ton ging nhau, ch khc l ch truyn ca truyn thng ng b ph c th hot ng ch SLEEP. Nu hai t c ghi ti thanh ghi v lnh SLEEP c tin hnh th n s tn ti nhng im sau: + T u tin truyn n thanh ghi TSR v n s c chuyn i ngay. + T th hai c cha trong thanh ghi TXREG. + C bit TXIF s khng c set. + Khi t u tin c chuyn ra khi thanh ghi TSR th thanh ghi TXREG se chuyn t th hai vo thanh ghi TSR v by gi th c bit TXIF se c set. + Nu bit TXIE c set th ngt s nh thc chip t ch SLEEP v nu ngt ton phn c cho php th chng trnh s r nhnh ti vc t ngt (0004h). Cc bc thit lp ch truyn thng ng bph: + thit lp ch truyn thng ng b ph th ta phi set bit SYNC v bit PSEN, xa bit CSRC. + Xa bit CREN v SREN. + Mun ngt hot ng th phi set bit TXIE. + Nu mun truyn thng 9 bit th phi set bit TX9. + Cho php truyn bng vic set bit TXEN. + Nu chn truyn thng 9 bit th bit th 9 cn c ti vo bit TX9D. + Bt u truyn thng bng vic ti d liu ti thanh ghi TXREG. + Nu s dng cc ngt th phi chc chn rng bit GIE (INTCON<7>)v bit PEIE (INTCON<6>) c set.
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n Tt Nghip
Hnh 5. 23
- Nhn d liu:
Thanh ghi cho php truyn trong ch ng b ph
Hot ng nhn ca truyn thng ng b chnh v truyn thng ng b ph hon ton ging nhau, ch khc l ch nhn ca truyn thng ng b ph c th hot ng ch SLEEP. Bit SREN khng c s dng ch ny. Nu vic nhn d liu c hot ng bng vic set bit CREN trc khi lnh SLEEP c thc hin, khi mt t c th c nhn trong khi sleep. Khi vic nhn d liu c hon thnh th thanh ghi RSR s chuyn d liu ti thanh ghi RCREG v nu bit RCIE c set th ngt c th c gi t lnh SLEEP.
Hnh 5. 24
Thanh ghi cho php nhn trong ch ng b ph
5.3.3.3
Chun giao tip ni tip hai dy (I2C Mode)
Ngy nay trong cc h thng in t hin i, rt nhiu IC hay cc thit b ngoi vi cn giao tip vi cc IC hay thit b khc. Vi mc tiu t c hiu qu tt nht cho phn cng vi mch in n gin, Philips pht trin mt chun giao tip ni tip hai dy c gi l I2C. I2C l ch vit tt ca cum t Inter Intergrated Circuit Bus giao tip gia cc IC vi nhau.
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n Tt Nghip
I2C mc d c pht trin bi Philips nhng n c rt nhiu nh sn xut IC trn th gii s dng. I2C tr thnh mt chun cng nghip cho cc giao tip iu khin, c th k ra y mt s vi tn tui ngoi Philips nh: Texas Intrument (TI), Maxim-Dallas, Analog Device, National Semiconductor... Bus I2C c s dng lm bus giao tip ngoi vi cho rt nhiu loi IC khc nhau nh cc loi vi iu khin 8051, AVR, PIC, ARM, chp nh nh RAM tnh (Static RAM), EPPROM, b chuyn i tng t/s (ADC) hay b chuyn i s/tng t (DAC), IC iu khin LCD, LED...
Hnh 5. 25 a.
Bus I2C v cc thit b ngoi vi
c im giao tip I2C
Mt giao tip I2C gm c 2 dy: Serial Data (SDA) v Serial Clock (SCL). SDA l ng truyn d liu hai hng, cn SCL l ng truyn xung ng h ch theo mt hng. Nh hnh v trn, khi mt thit b ngoi vi kt ni vo bus I2C th chn SDA c ni vo dy SDA v chn SCL c ni vo dy SCL ca bus.
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n Tt Nghip
Hnh 5. 26
Kt ni thit b vo bus I2C ch chun
Mi dy SDA hay SCL ca bus I2C u c ni vi in p dng ca ngun cp thng qua mt in tr ko ln (pull-up resistor). S cn thit phi c cc in tr ko ln ny l v chn giao tip I2C ca cc thit b ngoi vi thng l dng cuc mng h (open-drain hay open-collector). Gi tr ca cc in tr ny khc nhau ph thuc vo tng thit b v chun giao tip, v thng dao ng trong khong 1k n 4.7k. Tr li vi hnh 5.25 ta thy c rt nhiu thit b cng c kt ni vo I2C, tuy nhin s khng xy ra chuyn nhm ln gia cc thit b, bi v mi thit b c nhn ra bng mt a ch duy nht vi mt quan h ch/t tn ti trong sut thi gian kt ni. Mi thit b c th hot ng nh l thit b nhn hay l va truyn va nhn d liu. Hot ng truyn hay nhn cn ph thuc vo thit b l ch (Master) hay t (Slave). Mt thit b hay mt IC khi kt ni vi bus I2C, ngoi mt a ch duy nht phn bit, n cn c thit lp l thit b ch hay t. Ti sao li c s phn bit nay? l v trn mt bus I2C th quyn iu khin thuc vo thit b ch. Thit b ch nm vai tr to xung ng h cho ton h thng, khi gia hai thit b ch/t giao tip th thit b ch c nhim v to xung ng h v qun l a ch ca thit b t trong sut thi gian kt ni. Thit b ch gi vai tr ch ng cn thit b t gi vai tr b ng trong giao tip.
Hnh 5. 27
Truyn nhn d liu gia ch/t
88
n Tt Nghip
Da vo hnh trn chng ta c th thy, xung ng h ch c mt hng duy nht t ch ti t, cn d liu c th i theo hai hng: t ch ti t hay ngc li. V d liu truyn trn bus I2C, mt bus I2C chun truyn 8 bit d liu c hng trn ng truyn vi tc 100Kbits/s ch chun (standard mode), tc truyn c th ln ti 400Kbits/s ch nhanh (fast mode) v cao nht 3.4Mbits/s ch cao tc (high-speed mode). Mt bus I2C c th hot ng nhiu ch khc nhau: - Mt ch - mt t (one Master one Slave). - Mt ch - nhiu t (one Master multi Slave). - Nhiu ch - nhiu t (multi Master multi Slave). V d ch no, mt giao tip I2C u da theo quan h ch/t. V d mt thit b M mun gi d liu ti thit b S, qu trnh thc hin nh sau: - Thit b M (ch) xc nh ng a ch ca thit b S (t), song song vi vic xc nh a ch, thit b M s quyt nh vic c hay ghi vo thit b S. - Thit b M gi d liu ti thit b S. - Thit b M kt thc qu trnh truyn d liu. Khi thit b M mun nhn d liu t S, qu trnh din ra nh trn ch khc M s nhn d liu t S. Trong giao tip ny M l ch cn S vn l t. b. iu kin START v STOP
iu kin START v STOP l hai iu kin bt buc phi c khi mt thit b ch mun thit lp giao tip vi mt thit b no trong mng I2C. START l iu kin khi u, bo hiu bt u ca giao tip, cn STOP l iu kin kt thc, bo hiu kt thc ca giao tip. Hnh sau s m t iu kin START v STOP.
Hnh 5. 28
iu kin START v STOP ca bus I2C
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n Tt Nghip
Ban u khi cha thc hin qu trnh giao tip, c hai ng SDA v SCL u mc cao (SDA=SCL=HIGH). Lc ny bus I2C c coi l ri, sn sng cho mt giao tip. Hai iu kin START v STOP l khng th thiu trong giao tip I2C gia cc thit b.
- iu kin START:Mt s chuyn i trng thi t mc cao xung mc thp trn ng SDA trong khi ng SCL ang mc cao bo hiu mt iu kin START. - iu kin STOP: Mt s chuyn i trng thi t mc thp ln mc cao trn
ng SDA trong khi ng SCL ang mc cao bo hiu mt iu kin STOP. C hai iu kin START v STOP u c to ra bi thit b ch. Sau iu kin START th bus I2C c coi l ang trong trng thi lm vic (busy). Bus I2C s ri, sn sng cho mt giao tip mi sau iu kin STOP t thit b ch. Sau mt iu kin START, trong qu trnh giao tip, khi c mt tn hiu START c lp li thay v mt tn hiu STOP th bus I2C vn trong trng thi bn. Tn hiu START v tn hiu lp li u c mt chc nng l khi to mt giao tip I2C. c. nh dng d liu truyn
D liu c truyn trn bus I2C theo tng bit, bit d liu c truyn i trn mi sn dng ca xung clock trn dy SCL. Qu trnh thay i bit d liu khi xung SCL ang mc thp.
Hnh 5. 29
Qu trnh truyn mt bit d liu
Mi byte d liu c truyn c di 8bits v s lng byte co th truyn trong mt ln l khng hn ch. Mi byte c truyn i theo sau l mt bit ACK bo hiu nhn d liu. Bit c trng s cao nht (MSB) s c truyn i u tin, cc bit s c truyn i ln lt. Sau 8 xung clock trn dy SCL th 8bits d liu c truyn xong, lc ny thit b nhn sau khi nhn 8bits d liu s ko SDA xung mc thp to mt xung ACK ng vi xung th 9 trn dy SCL bo hiu nhn 8bits d liu. Thit b truyn khi nhn c xung ACK s tip tc truyn byte d liu tip theo hay kt thc qu trnh truyn ti y.
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n Tt Nghip
Mt byte truyn i c km theo bit ACK l iu kin bt buc, nhm m bo cho qu trnh truyn nhn d liu din ra chnh xc. Khi khng nhn c ng a ch hay khi mun kt thc giao tip, thit b nhn s gi mt xung Not-ACK (SDA mc cao) bo cho thit b ch bit, thit b ch s to xung STOP kt thc hay lp li mt xung START bt u mt qu trnh mi.
Hnh 5. 30
D liu truyn trn bus I2C
Hnh 5. 31 d.
Bit ACK trn bus I2C
nh dng a ch thit b
Mi thit b ngoi vi tham gia vo bus I2C u c mt a ch duy nht nhm phn bit gi cc thit b vi nhau. di a ch l 7bits, iu c ngha l trn mt bus I2C chng ta c th ni c 128 thit b. Khi thit b ch mun giao tip vi thit b ngoi vi no trn bus I2C th n s gi 7 bits a ch ca thit b ra bus ngay sau xung START. Byte u tin c gi s bao gm 7bits a ch v mt bit th 8 iu khin hng truyn.
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n Tt Nghip
Hnh 5. 32
Cu trc byte d liu u tin
Mi mt thit b ngoi vi s c mt a ch ring do nh sn xut ra n quy nh. a ch c th c nh hay thay i. Ring bit iu khin hng s quy nh chiu truyn d liu. Nu bit ny bng 0 c ngha l byte d liu tip theo sau s c truyn t ch n t, v ngc li nu bit ny bng 1 th byte d liu tip theo sau s l ca con t gi cho con ch. e. Truyn d liu trn bus I2C
Trong khun kh n ny, ta ch bn n ch Master Slave v n c ng dng trong d n.
Hnh 5. 33
Qu trnh truyn d liu
Vic truyn d liu gia con ch v con t c th theo hai hng, t ch n t hay ngc li v hng truyn c quy nh trong bit th 8 (R/ ) trong byte c truyn i u tin.
- Truyn d liu t ch n t - ghi d liu: Thit b ch khi mun ghi d liu ln con t , qu trnh c thc hin nh sau:
+ Thit b ch to xung START bo hiu qu trnh giao tip bt u. + Thit b ch gi a ch ca thit b t cn giao tip cng vi bit R/ bus v i xung ACK t thit b t.
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= 0 ra
n Tt Nghip
+ Khi nhn c xung ACK bo nhn din ng thit b t, con ch bt u gi d liu n con t theo tng byte mt v theo sau mi byte ny l mt xung ACK. S lng byte truyn l khng hn ch. + Sau khi truyn byte cui cng, con ch to xung STOP bo hiu qu trnh truyn kt thc.
Hnh 5. 34
Ghi d liu t ch ln t
- Truyn d liu t t n ch - c d liu: Thit b ch mun c d liu t
thit b t, qu trnh thc hin nh sau: + Thit b ch to xung START bo hiu bt u giao tip. + Thit b ch gi a ch ca thit b t cn giao tip cng vi bit R/ bus v i xung ACK t thit b t. = 1 ra
+ Sau xung ACK u tin, thit b t s gi tng byte d liu ra bus, thit b ch s nhn d liu v tr v xung ACK. S lng byte truyn khng hn ch. + Khi mun kt thc qu trnh giao tip, thit b ch s gi xung Not-ACK v to xung STOP kt thc.
Hnh 5. 35
c d liu t thit b t
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n Tt Nghip
- Qu trnh kt hp ghi v c d liu: Gia hai xung START v STOP, thit b
ch c th thc hin vic c hay ghi d liu nhiu ln vi mt hay nhiu thit b. thc hin vic , sau mt qu trnh ghi hay c thit b ch lp li mt xung START v li gi li a ch ca thit b t v bt u mt qu trnh mi.
Hnh 5. 36 Qu trnh phi hp c/ghi d liu Ch giao tip Master Slave l ch giao tip c bn trong bus I2C, ton b bus c qun l bi mt Master duy nht.Trong ch ny s khng xy ra tnh trng xung t bus hay mt ng b xung clock v ch c mt Master duy nht c th to xung clock. f. Module I2C trong VK PIC Vi nhng tin ch em li, khi I2C c tch hp cng trong kh nhiu loi VK khc nhau. Trong cc loi VK PIC dng Mid-range ph bin Vit Nam, ch t 16F88 tr ln mi c tch hp phn cng giao tip I2C, cn cc loi 16F84 v 16F628 th khng c. Vi nhng loi VK khng c tch hp phn cng giao tip I2C, s dng ta c th lp trnh bng phn mm, khi ta s vit mt chng trnh iu khin hai chn bt k ca VK n thc hin giao tip I2C. Trong d n, chng ta ang dung VK PIC16F876A c tch hp sn hai chn lm nhim v giao tip I2C. Hnh bn di ch ra cu phn cng ca khi iu khin giao tip ni tip ng b (MSSP) hot ng ch I2C. Khi I2C c y chc nng, hot ng c hai ch Master v Slave, c ngt xy ra khi c iu kin START v STOP nhm nh r ng I2C c ri hay khng (ch Multi Master). Ch a ch c th l 7bits hay 10bits. Khi I2C c 6 thanh ghi iu khin hot ng, la: - SSPCON: Thanh ghi iu khin. - SSPCON2: Thanh ghi iu khin th hai. - SSPSTAT: Thanh ghi rng thi. - SSPBUF: Thanh ghi b m truyn nhn. - SSPSR: Thanh ghi dch. - SSPADD: Thanh ghi a ch.
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n Tt Nghip
Cc thanh ghi SSPCON, SSPCON2, SSPBUF, SSPADD c th truy cp c/ghi c. Thanh ghi SSPRS khng th truy cp trc tip c, l thanh ghi dch d liu ra hay vo. Cc thanh ghi SSPCON, SSPCON2, SSPSTAT c a ch bit, mi bt c chc nng ring.
Hnh 5. 37 g.
Cu trc khi I2C trong PIC.
Cch thc s dng I2C trong CCS
d dng trong khu lp trnh v nhanh chng tip cn c vi VK PIC th li khuyn l s dng ngn ng lp trnh CCS, CCS l ngn ng ta ngn ng C nn ngi lp trnh d tip cn hn. So vi ngn ng ASM th CCS c cu trc lnh n gin hn, d nh. Sau y chng ta s s dng ngn ng CCS cho vic lp trnh giao tip I2C v cng dng n lp trnh chip cho c d n. Vic khi to, chn ch hot ng v thc hin giao tip ca I2C c cc hm dng sn ca CCS thc hin, chng ta ch vic khai bo th vin v ng dng cc hm ny. #use i2c(ch_, tc_, sda=PIN_C4, scl=PIN_C3) + ch_: Master hay Slave. + tc_: Slow(100khez), fast(400khez). + sda v scl l cc chn i2c tng ng ca PIC. Sau khi khai bo nh trn ta c th s dng cc hm sau thc hin, x l giao tip i2c vi cc thit b ngoi vi:
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n Tt Nghip
- i2c_isr_state();//thng bo trng thi giao tip i2c - i2c_start();//to iu kin START - i2c_stop();//to iu kin STOP - i2c_read();//c gi th t thit b i2c v tr v gi tr 8bits - i2c_write()//ghi gi tr 8bits n thit b i2c V d sau l hm ghi mt gi tr 8bits value ln mt thit b ngoi vi c a ch slave_addr: void Write_I2C(int8 value,int8 slave_addr) { i2c_start(); i2c_write(slave_addr); i2c_write(value); i2c_stop(); }
5.3.3.4
Module iu xung (PWM Module)
Hin nay iu khin tc ng c DC ta c nhiu cch v mt trong s nhng cch l thay i in p u vo cp cho ng c. Vi cch lm ny th in p mt chiu a vo cp cho ng c s c thay i, c th l to mt xung vung in p vi chu k T v thi gian mc cao (thi gian tch cc) t in p mt chiu. Vi cch lm ny th in p cp cho ng c c tnh trung bnh gia thi gian tch cc v chu k. Trong ch iu ch rng xung (PWM) ca PIC16F876A, chn CCPx cung cp kt qu u ra PWM 10 bit. T chn CCP1 c dn knh vi cht d liu PORTC, bit TRISC<2> phi c xa to mt u ra chn CCP1. Ch l vic xa thanh ghi CCP1CON s a cht u ra CCP1PWM v mc thp mc nh. khng phi l cht d liu vo ra. Hnh sau y cho thy s khi c n gin ha ca module CCP trong ch PWM.
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n Tt Nghip
Hnh 5. 38
S khi c n gin ha ca module CCP trong ch PWM
Di y l hnh miu t u ra mt xung p ng in p ca PWM vi chu k l Period v thi gian tch cc ca n l Duty Cycle , v tn s ca PWM l 1/Period.
Hnh 5. 39 u ra PWM Ta s ni r hn v cc thng s trn: a. Chu k ca PWM (PWM Period) Chu k ca PWM c ch r bng vic ghi ln thanh ghi PR2, n c th c tnh theo cng thc sau:
PWM Period = [(PR2)+1]*4*Tosc*(TMR2 Prescale Value) (6.1)
Tn s PWM c tnh bng cch ly nghch o ca PWM Period. Khi TMR2 = PR2, ba s kin xy ra trn chu k tng tip theo nh di y: - TMR2 c xa. - Chn CCP1 c set (tr phi nu thi gian tch cc ca PWM = 0%, chn CCP1 s khng c set).
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n Tt Nghip
- Thi gian tch cc ca PWM c cht t CCPR1L n CCPR1H. b. Thi gian lm vic ca PWM (PWM duty cycle) Chu k lm vic ca PWM (PWM duty cycle) c ch r bng vic ghi ln thanh ghi CCPR1L v ti bit CCP1CON<5:4> v n c th ln n 10 bit. Thanh ghi CCPR1L cha 8 bit c trng s cao MSB v CCP1CON<5:4> cha 2 bit c trng s thp LSB. Gi tr 10 bit ny c miu t bi CCPR1L:CCP1CON<5:4>. Phng trnh sau c th dung tnh ton thi gian duty cycle ca PWM:
PWM Duty Cycle = (CCPR1L:CCP1CON<5:4>)*4*Tosc*( TMR2 Prescale Value) (6.2)
Thanh ghi CCP1L v CCP1CON<5:4> c th c ghi vo bt k thi gian no, nhng gi tr duty cycle khng c cht ln CCP1H cho n sau khi mt s kt hp gia PR2 v TMR2 xut hin (chu k hon thnh). Trong ch PWM th thanh ghi CCP1H l thanh ghi ch c. Thanh ghi CCPR1H v 2 bit cht trong c s dng lm b m i cho chu k lm vic ca PWM. B m i ny l cn thit cho thut ton PWM vi s tng vt t do. Khi CCPR1H v 2 bit cht phi hp TMR2, c lin kt vi 2 bit xung ng h ni Q hoc 2 bit ca b m gp trc TMR2, chn CCP1 c xa. phn gii cc i ca PWM (tnh bng bit) i vi tn s PWM cho trc c tnh theo cng thc sau:
(6.3)
c. Thit lp cho PWM Cc bc thc hin khi cu hnh cho module CCP trong ch PWM: - Thit lp chu k PWM bng cch ghi vo thanh ghi PR2. - Thit lp thi gian hot ng PWM bng cch ghi vo thanh ghi CCPR1L v cc bit CCP1CON<5:4>. - To mt u ra chn CCP1 bng vic xa bit TRISC<2>. - Thit lp gi tr ca b m gp trc v cho php TIMER2 bng cch ghi vo thanh ghi T2CON. - Cu hnh module CCP1 cho ch PWM. Sau y l mt s v d: Tn s PWM v cc kt qu tn s dao ng 20MHz
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n Tt Nghip
5.4 5.4.1
ng dng IC iu khin ng c L298 Gii thiu
IC L298 l mch tch hp n chip c kiu v cng sut 15 chn (multiwat15) v linh kin dn cng sut (PowerOS20). L IC mch cu i (dual full-bridge), c kh nng hot ng vi in th cao v dng ln. N c thit k tng thch chun TTL v li ti cm khng nh relay, cun solenoid, ng c DC v ng c bc. N c hai chn enable cho php hay khng cho php IC hot ng v c lp vi cc chn tn hiu vo. Cc pht (emitter) ca transistor di ca mi mch cu c ni vi nhau v ni ra chn ngoi ni vi in tr cm ng dng khi cn.
Hnh 5. 40
Cc kiu ng v
Hnh 5. 41
S khi ca L298
99
n Tt Nghip
Hnh 5. 42 Cc gi tr chu ng ti a
S chn ca L298
Thng s v nhit
100
n Tt Nghip
Chc nng cc chn (tham kho thm s khi)
5.4.2
ng dng IC L298 vo d n
Mi IC L298 c tch hp hai mch cu H c th chu ng ti a in p 40V v dng 2A. Khi ch dung mt mch cu H iu khin cho mt ng co th cn ch l dng khi ng c qu ti khng c vt qu gii hn cho php. Tuy nhin c rt nhiu trng hp c th lm cho dng chy qua ng c vt qu gii hn 2A l: ngn mch do ng c b ngt do vng phi chng ngi vt, chp dy. Lc dng c th rt ln v vt xa dng gii hn 2A, v vy ta phi c phng n lm tng dng chu ng ca IC L298. V mt cch truyn thng l dung hai cu H trong mt IC L298 iu khin mt ng c v khi dng chu ng c th ln ti 4A.
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Mc d dng chu ng c th ln ti 4A nhng trong nhng trng hp khng may xy ra th dng chy qua ng c vn vt qu 4A, do vic s dng tnh nng tt nhanh ca IC l rt cn thit. Sau y l hai s ni dy iu khin ng c cng sut b v ng c cng sut ln:
Hnh 5. 43
Dng mt cu H iu khin mt ng c
Hnh 5. 44
Dng hai cu H iu khin mt ng c
5.5 5.5.1
Thit k mch iu khin Robot Nhim v thit k
Robot hot ng ng yu cu th nhim v t ra l thit k mt mch c th giao tip t xa vi my tnh nhn hnh nh t robot gi v cng nh truyn tn hiu iu khin ti robot n hot ng. Cc nhim v thit k: - Thit k module truyn/nhn hnh nh t robot. - Thit k module truyn/nhn tn hiu iu khin ti robot.
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- Thit k module iu khin v cng sut cho cc ng c DC.
Hnh 5. 45
S khi ca h thng iu khin robot
5.5.2 5.5.2.1
Cc module c bn Module truyn/nhn hnh nh t robot
thu hnh nh th chng ta dng camera, v v robot hot ng theo kiu thc ti xa nn y phi dng camera khng dy. Sau khi thu c hnh nh th camera s truyn hnh nh v b thu video, t b thu ny nu dng dc cm vo dc video ca tivi th chng ta c th nhn thy c hnh nh truyn v. Mc d nh vy l chng ta c th quan st c ni robot lm vic nhng v iu khin c robot thng qua phn mm iu khin th yu cu m thu video phi kt ni c vi my vi tnh. gii quyt c vic a hnh nh thu c vo my tnh chng ta dng USB chuyn dng l EasyCAP.
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Hnh 5. 46
Camera khng dy Cam208C
Hnh 5. 47
B thu RADIO AV RECEIVER v USB EasyCAP
5.5.2.2
Module truyn/nhn tn hiu iu khin ti robot
Module truyn v nhn tn hiu iu khin t xa iu khin robot c dng dy l module hin c sn trn th trng do cng ty
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QueDuongElectronics sn xut. V module ny c bn trn th trng v gi c hp l nn chng em t mua. Sau y l mt s thng tin v module nay: - S nguyn l ca mch thu/pht: Tn hiu pht ra t ng ten ca module pht c module thu thu v v x l.
Hnh 5. 48 S nguyn l ca mch thu/pht - Module pht: Module pht c cu thnh t hai phn c bn l phn m ha v phn pht. Phn m ha l trnh nhiu ca mi trng trong qu trnh truyn ti thng tin. Thnh phn pht c nhim v pht i tng bit mt, khi u vo c mc logic 1 mch pht s bc x sng in t ra khng gian, cn khi u vo c mc logic 0 th mch pht s khng bc x sng in t. Ngun cung cp cho mch hat ng trong khong 9v12v.
Hnh 5. 49
Module pht RF_RS232
- Module thu: Module thu cng c cu to t thnh phn gii m v phn thu. Thnh phn gii m l gii m tn hiu thu c, v tn hiu thu c ch l mt chui
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bit theo thi gian nn module thu phi gii m thu c d liu m ngi dng mun truyn. mch thu, bnh thng khi mch pht khng hot ng, do tc ng ca mi trng c sng in t nn ti u ra c mc logic 0 hay 1 bt k (nhiu). Khi mch pht c mc logic 1 th mch thu c mc bo ha (trng thi 0) v khi mch pht tr v 0 th mch thu bt ln mt sn dng, nh vy mch pht v thu lch pha nhau 1/2 chu k (mch pht pht mc/mch thu bt sn). Ngun cung cp cho mch hot ng l 9v12v.
Hnh 5. 50
Module thu RF_RS232
5.5.2.3
Module iu khin v cng sut cho ng c
Module ny c thit k trn mt bo mch mch n nh hn trong qu trnh s dng. Trong bo mch chnh ny bao gm cc khi sau: - Khi to ngun 5v cung cp cho chip v IC. - Khi Master. - Khi Slave. - Khi cng sut. a. Khi to ngun 5v cung cp cho chip v IC y l khi cung cp ngun cho ton b 3 vi iu khin Pic16f876a v 4 IC L298. Trong khi ny gm 3 mch ly ngun 5v nh nhau. Mch th nht cung cp cho 3 chip Pic16f876a, mch th hai cung cp cho 2 IC L298 v mch th ba cung cp cho 2 IC L298 cn li. Trong mch dng IC n p LM7805 ly ngun 5v u ra t u vo l ngun 12v ca Acquy.
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Hnh 5. 51
Cng tc ng/m ngun vo t Acquy
Hnh 5. 52 b. Khi Master
Mch cung cp ngun 5v cho Chip v IC
Khi Master c nhim v nhn tn hiu t module thu ca b RF_RS232 x l v truyn n hai khi Slave qua chun I2C. Ngoi ra khi ny cn c th giao tip vi khi Max232 nhn tn hiu t my tnh thng qua mt ng truyn c dy thun li cho vic test mch. Ngoi mch c bn chip c th hot ng c (chn ngun, cc chn ni vo b dao ng ) th khi Master cn dng thm cc chn khc thc hin cc chc nng nh: th hin (RB4RB7), giao tip I2C (RC3RC4), truyn nhn ng b/khng ng b - USART (RC6RC7), hai cng m rng (RA0RA5 v RC0RC2_RB0RB3). C th l: - RB4RB7: lm nhim v iu khin cc led. - RC3_RC4 tng ng l SCL_SDA: l hai chn thc hin giao tip I2C l truyn tn hiu n cc chip Slave. - RC6_RC7 tng ng l TX_RX: thc hin giao tip USART l nhn tn hiu t module thu RF_RS232 x l.
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Hnh 5. 53 c. Khi Slave
Khi Master
Khi Slave c nhim v nhn tn hiu t khi Master qua chun giao tip I2C x l v truyn tn hiu iu khin n cc chn ca IC iu khin ng c L298. Ngoi mch c bn chip c th hot ng c (chn ngun, cc chn ni vo b dao ng ) th khi Slave cn dng thm cc chn khc thc hin cc chc nng th hin (RB4RB7), giao tip I2C (RC3RC4) v iu khin (RA0_RA1_RA3_RC0RC2_RB0RB2). C th, i vi chip Slave I: - RB4RB7: lm nhim v iu khin cc led. - RC3_RC4 tng ng l SCL_SDA: l hai chn thc hin giao tip I2C l nhn tn hiu t chip Master x l v iu khin cc chn RB4RB7_RC0RC2_RB0RB2.
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- RA0_RA1_RA3 tng ng l SEN1_SEN2_VRFF1: thc hin nhim v nhn tn hiu so snh Analog phn hi v t IC L298 chng s c do ngn mch ng c gy ra hin tng tng dng t ngt. - RC0RC2_RB0RB2 tng ng l EN1IND12_EN2IND22 thc hin nhim v ng ngt v o chiu ng c th nht v th hai. i vi chip Slave II th c thit k tng t iu khin cho hai ng c th ba v th t.
Hnh 5. 54
Khi Slave I
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Hnh 5. 55 d. Khi Slave
Khi Slave II
Khi cng sut thc hin nhim v nhn tn hiu iu khin t chip Slave thc hin nhim v iu khin ng c (ng/m, quay thun,quay ngch v phanh nhanh ng c) thng qua vic iu khin cc cu H ca IC L298. Khi cng sut gm c 4 module nh, mi module dng iu khin mt ng c DC.
Hnh 5. 56
Mch cng sut cho ng c th nht

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Hnh 5. 57
Mch cng sut cho ng c th hai
Hnh 5. 58
Mch cng sut cho ng c th ba
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Hnh 5. 59
Mch cng sut cho ng c th t
e.
Mch hon chnh
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Hnh 5. 60
Mch hon chnh
5.6
Thit k phn mm iu khin Robot
Phn mm iu khin robot c thit k n gin, gn nh v cc tnh nng iu khin robot hot ng. Phn mm gm hai giao din chnh l hp thoi iu khin v hp thoi thu hnh nh t camera gi v. Hp thoi iu khin l mt giao din c cc nt bm iu khin robot thc hin c cc thao tc n gin nh: tin, li, r tri, r phi, phanh, dng li, nng cn trc, h cn trc, dng cn li Trn hp thoi iu khin ny c nt bt ch thu hnh nh camera v cho php hay khng cho php iu khin t xa. Ngoi ra cc nt iu khin cn c m ha bng cc phm trn bn phm cng vic iu khin c d dng hn. S m ha bn phm c th hin trong trong hnh 6.58 .
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Hnh 5. 61
Hp thoi iu khin
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Connect Tin
Disconnect Tri
Quay trn Phi
Nng
Dng
Li
Phanh
Dng
Phanh
Hnh 5. 62
M ha bn phm
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Hnh 5. 63
Hp thoi th hin hnh nh thu c t Camera
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CHNG VI
KT LUN
Kt qu sau qu trnh nghin cu thit k ch to tracked mobile robot: V mt l thuyt: Phn tch v la chn c kt cu hp l thit k. Xy dng m hnh ng hc, ng lc hc n gin. Xy dng phn mm iu khin robot t xa bng my tnh. V mt thc nghim: Ch to thnh cng m hnh mobile robot dng xch. Ch to thnh cng h thng iu khin t xa cho robot. iu khin robot i thnh cng trn nhng a hnh ra. Robot c kh nng truyn hnh nh v my tnh thun li cho vic iu khin. Vn cn tn ti: Kt cu robot a ra vn cha c kim nhim v tnh cng vng, kh nng cn bng v n nh trng tm, kim tra sai s iu khin. Cha xy dng c thc nghim kim chng l thuyt m hnh ng hc v ng lc hc cho robot. Hng pht trin cho tng lai: ti c tnh m, cn rt nhiu vn cn tip tc c trin khai nghin cu. Hon thin phn iu khin. mch iu khin robot hot ng thc s c hiu qu v c tnh ng dng cao. Trang b cho robot cc sensor o nhit , m gi tn hiu v my tnh iu khin phc v cho vic v bn . Trang b thm tay my gn trn robot thc hin thao tc mong mun. Xy dng, hon thin kh nng lm vic theo nhm ca robot, to ra th mnh ni bt so vi cc loi robot khc. Vn tn ti l kh nhiu, tuy nhin trong gii hn phm vi n, kh nng trnh v thi gian c hn nn chng em cha th hon thin nhng vn trn. y l mt ti mi m v c rt nhiu hng pht trin, v c tnh thc t cao, nu c iu kin chng em rt mong c tip tc nghin cu v pht trin n. Rt mong s nhn c s gip ch bo ca cc thy hon thnh ti mt cch c cht lng.
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TI LIU THAM KHO

[1] Paul e. Sandin -Robot mechanisms and mechanical devices illustrated [2] Kristof Goris -Autonomous Mobile Robot Mechanical Design [3] J. L.Martnez,A. Mandow ,J. Morales,S. Pedraza,A. Garca-Cerezo Approximating Kinematics for Tracked Mobile Robots [4] Trnh Cht, L Vn Uyn - Tnh ton thit k h dn ng c kh, tp I,II NXB Gio dc, 2003 [5] GS-TSKH.Nguyn Vn Khang -C s c hc k thut tp I, II NXB H Quc Gia H Ni, 2003 [6] Ti liu ng hc mobile robot di chuyn trn mt phng. [7] Microchip Technology Inc, PIC16F87XA DataSheet, 2003. [8] Custom Computer Services Inc, CCS C Compiler Help, 2007. [9] Phm Cng Ng Phm Ngc Nam Phm Tun Lng, T hc lp trnh VISUALC++6.0 t c bn n nng cao, NXB Thng k, 2002. [10] Cc din n trn mng: PIC Vit nam ( http://picvietnam.com/forum/ ), in t Vit nam ( http://dientuvietnam.net/forums/ ) [11]Nguyn Hu Cn, D Quc Thnh, phm Minh Thi, nguyn Vn Ti, L Th Vng L thuyt t, my ko, NXBKHKTHN, 2005
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PH LC BN V CC CHI TIT
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n Tt Nghip

Tracked Mobile Robot

Tracked Mobile Robot

Tracked Mobile Robot

Tracked Mobile Robot

TNG QUAN V N TT NGHIP

Tracked Mobile Robot

TNG QUAN V MOBILE ROBOT

1.2.Lch s pht trin ca mobile robot

Tracked Mobile Robot

Nm 1989: Mark Tinden pht minh ra BEAM robotics.

Tracked Mobile Robot

1.3. Phn loi mobile robot

Tracked Mobile Robot

1.4. Mt s dng iu khin mobile robot

1.4.1. iu khin t xa bng tay

1.4.2. Rbt iu khin t xa t bo v

1.4.3. Rbt theo l trnh

1.4.4. Rbt ngu nhin hot ng c lp

Tracked Mobile Robot

1.5. ng dng ca mobile robot

Robot Sojourner ca NASA

Tracked Mobile Robot

Robot chuyn g Plustech.

Tracked Mobile Robot

Robot lau nh RC 3000

Tracked Mobile Robot

Robot TALON small dung trong qun s

1.6.Cc loi chuyn ng ca Mobile robot

1.6.1. Chuyn ng bng chn(legged mobile robot)

Tracked Mobile Robot

Robot hai chn BRAT

Robot MANOI AT01 v MANOI PF01

1.6.2.Chuyn ng bng xch (tracked mobile robot)

Tracked Mobile Robot

Robot irobot chuyn ng bng xch

Robot gin di chuyn bng xch

1.6.3. Di chuyn bng bnh xe. (wheeled mobile robot)

Tracked Mobile Robot

Robot ca NASA chuyn ng bnh xe

Tracked Mobile Robot

Tracked Mobile Robot

VN CU H V MOBLE ROBOT DNG XCH

u nhc im ca Mobile robot dng xch

Tracked Mobile Robot

2.2.3. V kh nng linh ng

2.3. Yu cu,nhim v nghin cu 2.3.1. Yu cu

Tracked Mobile Robot

2.3.2. Phm vi nghin cu

Tracked Mobile Robot

Nguyn l iu khin c s trt

Tracked Mobile Robot

ICRv trn mt phng Robot nh mt vt rn quay quanh tm quay tc thi ICRv

Tracked Mobile Robot

(4.1.4) (4.1.5) (4.1.6)

y ICRv = y ICRl = y ICRr =

Vr Vl yICRv xICRr x ICRl

Vr + Vl V V x + x ICRl vx = r l ( ICRr ) 2 xICRr x ICRl 2

vx v = A.Vr V y r z A= x ICRr y ICRv . l 1 x . ICRv l xICRl l y ICRv . r x ICRv . r r

Tracked Mobile Robot

ICRv trn mt phng Robot nh mt vt rn

Tracked Mobile Robot

Tracked Mobile Robot