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CHNG 1:
S LC V H THNG PHN LOI SN PHM
THEO KCH THC.
1.1. T VN :
Ngy nay cng vi s pht trin ca cc ngnh khoa hc k thut, k thut in
t m trong iu khin t ng ng vai tr ht sc quan trng trong mi lnh vc
khoa hc k thut, qun l, cng nghip t ng ha, cung cp thng tin. do chng
ta phi nm bt v vn dng n mt cch c hiu qu nhm gp phn vo s pht trin
nn khoa hc k thut th gii ni chung v trong s pht trin k thut iu khin t
ng ni ring. Xut phtt nhng t i thc tp tt nghip ti nh my, cc khu cng
nghip v tham quan cc doanh nghip sn xut, chng em c thy nhiu khu
c t ng ha trong qu trnh sn xut. Mt trong nhng khu t ng trong dy
chuyn sn xut t ng ha l s lng sn phm sn xut ra c cc bng ti vn
chuyn v s dng h thng nng gp phn loi sn phm. Tuy nhin i vi nhng
doanh nghip va v nh th vic t ng ha hon ton cha c p dng trong
nhng khu phn loi, ng bao b m vn cn s dng nhn cng, chnh v vy nhiu
khi cho ra nng sut thp cha t hiu qu. T nhng iu c nhn thy trong
thc t cuc sng v nhng kin thc m em hc c trng mun to ra hiu
sut lao ng ln gp nhiu ln, ng thi vn m bo c chnh xc cao v kch
thc. Nn em quyt nh thit k v thi cng mt m hnh s dng bng chuyn
phn loi sn phm v n rt gn gi vi thc t, v trong thc t c nhiu sn phm
c sn xut ra i hi phi c kch thc tng i chnh xc v n tht s rt c
ngha i vi chng em, gp phn lm cho x hi ngy cng pht trin mnh hn,
xng tm vi s pht trin ca th gii.
1.2. CC BNG CHUYN PHN LOI SN PHM HIN NAY :
1.2.1. Cc loi bng ti s dng hin nay :
1.2.1.1. Gii thiu chung :
Bng ti thng c dng di chuyn cc vt liu n gin v vt liu ri
theo phng ngang v phng nghing. Trong cc dy chuyn sn xut, cc thit b ny
c s dng rng ri nh nhng phng tin vn chuyn cc c cu nh, trong cc
xng luyn kim dng vn chuyn qung, than , cc loi x l trn cc trm thy
in th dng vn chuyn nhin liu.
Trn cc kho bi th dng vn chuyn cc loi hng bu kin, vt liu ht hoc
1 s sn phm khc. Trong 1 s ngnh cng nghip nh, cng nghip thc phm, ha
cht th dng vn chuyn cc sn phm hon thnh v cha hon thnh gia cc
cng on, cc phn xng, ng thi cng dung loi b cc sn phm khng dng
c.
1.2.1.2. u im ca bng ti :
- Cu to n gin, bn, c kh nng vn chuyn ri v n chic theo cc hng
nm ngang, nm nghing hoc kt hp gia nm ngang vi nm nghing.
- Vn u t khng ln lm, c th t ng c, vn hnh n gin, bo dng
d dng, lm vic tin cy, nng sut cao v tiu hao nng lng so vi my vn chuyn
khc khng ln lm.

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1.2.1.3. Cu to chung ca bng ti :

Hnh 1.1: Cu to chung bng chuyn.

1. B phn ko cng cc yu t lm vic trc tip mang vt.
2. Trm dn ng, truyn chuyn ng cho b phn ko.
3. B phn cng, to v gi lc cng cn thit cho b phn ko.
4. H thng (con ln, gi ...) lm phn trt cho b phn ko v cc yu t
lm vic.
1.2.1.4. Cc loi bng ti trn th trng hin nay :
Khi thit k h thng bng ti vn chuyn sn phm n v tr phn loi c th
la chn mt s loi bng ti sau:
Bng 1.1: Danh sch cc loi bng ti.

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Cc loi bng ti xch, bng ti con ln c u im l n nh cao khi vn
chuyn.Tuy nhin chng i hi kt cu c kh phc tp, i hi chnh xc cao, gi
thnh kh t.
- Bng ti dng co: s dng thu dn phoi vn. nng sut ca bng ti loi ny
c th t 1,5 tn/h v tc chuyn ng l 0,2m/s. Chiu di ca bng ti l khng
hn ch trong phm vi ko l 10kN.
- Bng ti xon vt : c 2 kiu cu to :
+ Bng ti 1 bung xon: Bng ti 1 bung xon c dng thu dn
phi vn. Nng sut bng ti loi ny t 4 tn/h vi chiu di 80cm.
+ Bng ti 2 bung xon: c 2 bung xon song song vi nhau, 1 c chiu
xon phi, 1 c chiu xon tri. Chuyn ng xoay vo nhau ca cc bung xon
c thc hin nh 1 tc phn phi chuyn ng. C 2 loi bng ti bung
xon u c t di mng bng thp hoc bng xi mng.

1.2.2 Cc loi bng chuyn phn loi sn phm hin nay :

Phn loi sn phm l mt bi ton v ang c ng dng rt nhiu trong
thc t hin nay. Dng sc ngi, cng vic ny i hi s tp trung cao v c tnh lp
li, nn cc cng nhn kh m bo c s chnh xc trong cng vic. Cha k n c
nhng phn loi da trn cc chi tit k thut rt nh m mt thng kh c th nhn ra.
iu s nh hng trc tip ti cht lng sn phm v uy tn ca nh sn xut. V
vy, h thng t ng nhn dng v phn loi sn phm ra i l mt s pht trin tt
yu nhm p ng nhu cu cp bch ny.
Ty vo mc phc tp trong yu cu phn loi, cc h thng phn loi t
ng c nhng quy m ln, nh khc nhau. Tuy nhin c mt c im chung l chi ph
cho cc h thng ny kh ln, c bit i vi iu kin ca Vit Nam. V vy hin nay
a s cc h thng phn loi t ng a phn mi ch c p dng trong cc h thng
c yu cu phn loi phc tp, cn mt lng rt ln cc doanh nghip Vit Nam vn s
dng trc tip sc lc con ngi lm vic. Bn cnh cc bng chuyn vn chuyn
sn phm th mt yu cu cao hn c t ra l phi c h thng phn loi sn
phm. Cn rt nhiu dng phn loi sn phm ty theo yu cu ca nh sn xut nh:
Phn loi sn phm theo kch thc, Phn loi sn phm theo mu sc, Phn loi sn
phm theo khi lng, Phn loi sn phm theo m vch.
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Phn loi sn phm theo hnh nh v.v V c nhiu phng php phn loi khc
nhau nn c nhiu thut ton, hng gii quyt khc nhau cho tng sn phm, ng thi
cc thut ton ny c th an xen, h tr ln nhau. V d nh mun phn loi vi th cn
phn loi v kch thc v mu sc, v nc ung (nh bia, nc ngt) cn phn loi
theo chiu cao, khi lng, phn loi xe theo chiu di, khi lng, phn loi gch
granite theo hnh nh v.v
Phn loi sn phm to nh s dng cm bin quang: sn phm chy trn bng
chuyn ngang qua cm bin quang th 1 nhng cha kch cm bin th 2 th c phn
loi vt thp nht, khi sn phm qua 2 cm bin ng thi th c phn loi vt cao
nht.
Phn loi sn phm da vo mu sc ca sn phm: s dng nhng cm bin
phn loi mu sc s c t trn bng chuyn, khi sn phm i ngang qua nu cm
bin no nhn bit c sn phm thuc mu no s c ca phn loi t ng m sn
phm c phn loi ng. Pht hin mu sc bng cch s dng cc yu t l t l
phn chiu ca mt mu chnh (v d nh , xanh l cy hoc xanh tri) c phn x
bi cc mu khc nhau theo cc thuc tnh mu ca i tng. Bng cch s dng cng
ngh lc phn cc a lp gi l FAO (gc quang t do), cm bin E3MC pht ra mu
, xanh l cy v mu xanh sng trn mt trc quang hc n. E3MC s thu nh sng
phn chiu ca cc i tng thng qua cc cm bin nhn v x l t l cc mu xanh
l cy, , xanh lam ca nh sng phn bit mu sc ca vt cn cm nhn.
Phn loi sn phm dng webcam: s dng 1 camera chp li sn phm khi chy
qua v a nh v so snh vi nh gc. Nu ging th cho sn phm i qua, cn nu
khng th loi sn phm .
Nhn thy thc tin , nay trong lun vn ny, em s lm mt m hnh rt nh
nhng c chc nng gn nh tng t ngoi thc t. l: to ra mt dy chuyn bng
ti vn chuyn sn phm, phn loi sn phm theo kch thc c t trc.
1.3 GII THIU SN PHM DNG TRONG M HNH :
Trong m hnh c 3 loi sn phm cn phn loi. l :
- Sn phm cao : chiu cao 10cm .
- Sn phm trung bnh : chiu cao 8cm.
-Sn phm thp : chiu cao 5cm.
1.4 GII THIU BNG TI DNG TRONG M HNH :
Do bng ti dng trong h thng lm nhim v vn chuyn sn phm nn trong
m hnh n la chn loi bng ti dy ai m phng cho h thng dy chuyn
trong nh my vi nhng l do sau y:
- Ti trng bng ti khng qu ln.
- Kt cu c kh khng qu phc tp.
- D dng thit k ch to.
- C th d dng hiu chnh bng ti.
Tuy nhin loi bng ti ny cng c 1 vi nhc im nh chnh xc khi vn
chuyn khng cao, i lc bng ti hot ng khng n nh do nhiu yu t: nhit
mi trng nh hng ti con ln, ma st ca dy ai gim qua thi gian...

CHNG 2 :
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GII THIU V VI IU KHIN PIC 16F877A, CC THIT B

CM BIN V CHP HNH
2.1 R le trung gian :
2.1.1 Khi nim chung v r le :
R le l loi kh c in h p t ng m tn hiu u ra thay i nhy cp khi
tn hiu u vo t nhng gi tr xc nh. R le c s dng rt rng ri trong mi
lnh vc khoa hc cng ngh v i sng hng ngy.
R le c nhiu chng loi vi nguyn l lm vic, chc nng khc nhau nh r le
in t, r le phn cc, r le cm ng, r le nhit, r le in t tng t, r le in t
s, in t tng t
c tnh c bn ca rle: l c tnh vo ra. Khi i lng u vo X tng n 1
gi tr tc ng X2, i lng u ra Y thay i nhy cp t 0(Ymin) n 1(Ymax).
Theo chiu gim ca X, n gi tr s nh X1 th i lng u ra s nhy cp t 1
xung 0. y l qu trnh nh ca r le.
2.1.2 Phn loi r le :
C nhiu loi rle vi nguyn l v chc nng lm vic rt khc nhau. Do vy c
nhiu cch phn loi rle:
a, Phn loi nguyn l lm vic theo nhm :
+ Rle in c (rle in t, rle t in, rle in t phn cc, rle cm
ng,...).
+ Rle nhit.
+ Rle t.
+ Rle in t - bn dn, vi mch.
+ Rle s.
b, Phn loi theo nguyn l tc ng ca c cu chp hnh :
+ Rle c tip im: loi ny tc ng ln mch bng cch ng m cc tip
im.
+ Rle khng tip im (rle tnh): loi ny tc ng bng cch thay i t ngt
cc tham s ca c cu chp hnh mc trong mch iu khin nh: in cm, in dung,
in tr,...
c, Phn loi theo c tnh tham s vo :
+Rle dng in.
+Rle cng sut.
+Rle tng tr, ...
d, Phn loi theo cch mc c cu :
+ Rle s cp: loi ny c mc trc tip vo mch in cn bo v.
+ Rle th cp: loi ny mc vo mch thng qua bin p o lng hay bin
dng in.
e, Phn loi theo gi tr v chiu cc i lng i vo rle :
+Rle cc i.
+Rle cc tiu.
+Rle cc i cc tiu.
+Rle so lch.
+Rle nh hng.
2.1.3. c tnh vo ra ca rle :
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Quan h gia i lng vo v ra ca rle nh hnh minh ha.

Hnh 2.1: c tnh vo ra ca rle.

Khi bin X bin thin t 0 n X2 th Y = Y1 n khi X = X2 th Y tng t Y =

Y1 (nhy cp). Nu X tng tip th Y khng i Y = Y2. Khi X gim t X2 v li X1 th
Y = Y2 n X = X1 th gim t Y2 v Y = Y2. nu gi :
+ X = X2 =Xtd l gi tr tc ng rle
+ X = X1 = Xnh l gi tr ca rle
Th h s nh:
Knh =X1/X2 =Xnh/Xtd
- H s nh ca r le:
Knh = X1/X2
Trong :
X1- tr s nh ca i lng u vo.
X2- tr s tc ng ca i lng u vo.
T c tnh vo-ra ca rle thy Knh <1. H s nh ln thng dung cho rle
bo v, cn h s nh b thng dng cho rle iu khin.
- H s d tr:
Kdt = X1v/X2
Trong : X1v l tr s lm vic di hn ca i lng u vo. Nu Kdt cng
ln th thit b lm vic cng an ton.
- H s iu khin( h s khuch i) ca r le.
Kk = Pra/Pvo
Trong :
Pra l cng sut ln nht pha u ra ca r le.
Pvo l cng sut tc ng ca u vo. Pvo khong c mW n vi W,
cn Pra c vi chc W n hang ngn W, do m Kt ca r le c tr s kh
ln, t 106.
- Thi gian tc ng r le: l khong thi gian t khi c Xt n khi t c
Ymax hoc t khi X=Xnh n khi u ra t Ymin. y l 1 tham s quan trng ca
rle. Ty theo chc nng ca r le m c thi gian tc ng nhanh ( t < 10-3 s), tc ng
bnh thng ( khong 10-2 s), tc ng chm (10-1 s 1s) v r le thi gian ( t > 1s).
2.1.4. R le trung gian :
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R le trung gian c s dng rng ri trong cc s bo v h thng in v
cc s iu khin t ng. c im ca r le trung gian l s lng tip im
ln( thng ng v thng m) vi kh nng chuyn mch ln v cng sut nui cun
dy b nn n c dng truyn v khuch i tn hiu, hoc chia tn hiu ca r le
chnh n nhiu b phn khc nhau ca mch iu khin v bo v.
Nguyn l lm vic ca r le trung gian nh sau :

Hnh 2.2: Cu trc chung ca rle.

Nu cun dy ca r le c cp in p nh mc ( qua tip im ca r le

chnh) sc t ng do dng in trong cun dy sinh ra (iw) s to ra trong mch t t
thng, ht np lm cc tip im thng m ng li v cc tip im thng ng m
ra. Khi ct in ca cun dy, l xo nh s a np v cc tip im v v tr ban u.
Do dng in qua tip im c gi tr nh ( 5A) nn h quang khi chuyn mch khng
ng k nn khng cn bung dp h quang.
R le trung gian c kch thc nh gn, s lng tip im n 4 cp thng
ng v thng m lin ng, cng sut tip im c 5A, 250V AC, 28V DC, h s nh
ca r le nh hn 0,4 ; thi gian tc ng di 0,05s; tui th tip im t 106 107
ln ng ct, cho php tn s thao tc di 1200 ln/h.
Cc thng s k thut v la chn r le trung gian :
Dng in nh mc trn r le trung gian l dng in ln nht cho php
r le lm vic trong thi gian di m khng b h hng. Khi chn r le trung gian
th dng in nh mc ca n khng c nh hn dng tnh ton ca ph ti.
Dng in ny ch yu do tip im ca r le trung gian quyt nh. Im = (1,2
1,5)Itt = 23,4A.
- in p lm vic ca r le trung gian l mc in p m r le c kh nng ng
ct. Ulv > U1 = 380V.
-Dng lm vic ca r le trung gian phi ln hn dng in nh mc ca ng
c.
Ilv > 15,6 A.
- in p nh mc cp cho cun ht ca r le l mc in p m khi r le s
hot ng. Uh l 24V DC.
Trong m hnh h thng phn loi sn phm s dng r le trung gian MY2NJ
ca OMRON.
Cc thng s ca MY2NJ :
+ in p cun dy: 24 VDC c LED bo hin th.
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+ Thng s ca tip im: 5A - 24 VDC.

Hnh 2.3: R le MY2NJ ca OMRON

2.2. ng c s dng trong m hnh :

2.2.1 Gii thiu ng c 1 chiu :
Trong m hnh, v s dng truyn ng bng ti dy ai v khng yu cu ti
trng ln nn khng cn ng c c cng sut ln. Vi yu cu kh n gin ca bng
ti nh l :
- Bng ti chy lin tc, c th dng khi cn.
- Khng i hi chnh xc, ti trng bng ti nh.
- D iu khin, gi thnh r. V vy ch cn s dng loi ng c 1 chiu
c cng sut nh, khong 20 40 W, in p vo l 12 - 24 V. ng c in 1
chiu l ng c in hot ng vi dng in 1 chiu. ng c in 1 chiu
c dng rt ph bin trong cng nghip v nhng thit b cn iu chnh tc
quay lin tc trong 1 phm vi hot ng.
ng c in 1 chiu trong dn dng thng l cc dng ng c hot ng vi
in p thp, dng vi nhng ti nh. Trong cng nghip, ng c in 1 chiu c s
dng nhng ni yu cu momen m my ln hoc yu cu iu chnh tc bng
phng v trong phm vi rng.

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Hnh 2.4: Mt s loi ng c trn thc t.

2.2.2. Cu to ca ng c in 1 chiu :
- Stato (phn cm): gm li thp bng thp c, va l mch t va l v my.
Cc cc t chnh c dy qun kch t.
- Rotor (phn ng): gm li thp v dy qun phn ng. Li thp hnh tr, lm
bng cc l thp k thut in dy khong 0.5mm, ph sn cch in ghp li. Mi phn
t ca dy qun phn ng c nhiu vng dy, 2 u vi 2 phin gp, 2 cnh tc dng
ca phn t dy qun trong 2 rnh di 2 cc khc tn.
- C gp: gm cc phin gp bng ng c ghp cch in, c dng hnh tr,
gn u trc rotor
- Chi than: lm bng than graphit. Cc chi t cht ln c gp nh l xo v gi
chi in gn trn np my.

Hnh 2.5: Cu to ng c in mt chiu.

2.2.3. Nguyn l lm vic ca ng c in 1 chiu :

Khi cho in p 1 chiu U vo 2 chi than A v B, trong dy qun phn ng c
dng in I. Cc thanh dn ab, cd c dng in nm trong t trng s chu lc Ft tc
dng lm cho rotor quay. Chiu ca lc c xc nh theo quy tc bn tay tri. Khi
phn ng quay c na vng, v tr cc thanh dn ab, dc s i ch cho nhau do c
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phin gp i chiu dng in, gi cho chiu lc tc dng khng i. Khi ng c quay,
cc thanh dn ct t trng s cm ng sc in ng E. Chiu sc in ng xc nh
theo quy tc bn tay phi. ng c in 1 chiu th sc in ng E ngc chiu vi
dng in I nn E cn gi l sc phn in ng.

Hnh 2.6: Nguyn l hot ng ca ng c DC.

2.2.4. Phn loi ng c in 1 chiu :

Ty theo cch mc mch kch t so vi mch phn ng m ng c in 1 chiu
c chia thnh:
-ng c in 1 chiu kch t c lp : c dng in kch t v t thng
ng c khng ph thuc vo dng in phn ng. s ni dy ca n nh
hnh v vi ngun in mch kch t Ukt ring bit so vi ngun in mch phn
ng U .
- ng c in 1 chiu kch t song song : Khi ngun in 1 chiu c
cng sut v cng ln, in tr trong ca ngun coi nh =0 th in p ngun s l
khng i, khng ph thuc vo dng in trong phn ng ng c.Loi ng c 1
chiu kch t song song cng c coi nh kch t c lp.
- ng c 1 chiu kch t ni tip : dy qun kch t mc ni tip vi
mch phn ng.
- ng c 1 chiu kch t hn hp : gm 2 dy qun kch t, dy qun
kch t song song v dy qun kch t ni tip, trong dy qun kch t song
song l ch yu.
2.2.5. Phng trnh c tnh c ca ng c in 1 chiu :
Phng trnh cn bng in p nh sau :
Um = Em + (Rm + Rf).I
Trong :
+ U m l in p nh mc t vo phn ng (V).
+ Em l sc phn in ng nh mc ca phn ng ng c (V), n t
l vi t thng nh mc m v tc quay nh mc ca ng c m theo
biu thc : Em = K.m.m
+ K l h s t l ph thuc vo cu to ca ng c : K = p.N/2..a
+ p l s i cc t chnh.
+ N l s thanh dn tc dng ca cun dy phn ng.
+ a l s mch nhnh song song ca cun dy phn ng.
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+ Rm = r + rcf + rcb + rct l in tr nh mc mch phn ng ng
c, bao gm in tr cun dy phn ng r , in tr cc t ph rcf, in tr
cun b rcb, in tr tip xc ca chi than trn c gp rct.
+ Rf l in tr ph trong mch phn ng.
+ I l dng in trong mch phn ng.
Ta c phng trnh c tnh c in ca ng c nh sau:
= {Um- (Rm + Rf).I }/K.m
Phng trnh trn biu th mi quan h gia i lng c hc v i lng I
ca ng c.
Mt khc momen in t ca ng c t l vi t thng m v dng in phn
ng I :
M = K.m.I
T ta c phng trnh c tnh c ca ng c nh sau :
= (Um /K.m) - (R m+ Rf).M/(K.m).2
Biu thc trn biu th mi quan h gia 2 i lng c hc M v ca ng c.
Nu b qua nh hng ca phn ng, t thng ng c s khng i: m = const. Khi
cc phng trnh c tnh c v phng trnh c tnh c in u l tuyn tnh, biu
th l ng thng.

Hnh 2.7: ng c tnh c in ca ng c 1 chiu.

Trong cc th trn, khi M = 0 hc I = 0 th c ngha l ng c hon ton

khng ti
= Um/K.m = 0
+ 0 c gi l tc khng ti l tng
Khi = 0 th I = Um/(Rm + Rf) = Inm
V M = Um.K./(Rm + Rf) = Inm.K.m = Mnm
+ Inm v Mnm c gi l dng in ngn mch v moomen ngn mch.
T phng trnh c tnh c ta xc nh c cng ca c tnh c:
= dM/d = -(K.m)2 / (Rm + Rf)
= (Rm + Rf).M/(K.m).2 : st tc ng vi momen M so vi khi
ng c khng ti l tng.
Cc c tnh nhn to :
T phng trnh c tnh c in v phng trnh c tnh c ta thy c th to
ra cc c tnh nhn to bng cch thay i 1 trong 3 thng s.
+ in tr mch phn ng Rt = Rm+ Rf
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+ in p phn ng U
+ T thng
c tnh c nhn to khi thay i in tr mch phn ng:Khi gi khng i
in p U = Um = const v t thng = m = const bng cch ni thm 1 bin tr
Rf vo mch phn ng th ta s lm thay i c in tr tng ca mch ny. Khi
ng vi mi gi tr ca Rf ta c 1 ng c tnh nhn to vi cc phng trnh sau:
= {Um - (R m+ Rf).I }/K.m
= (Um /K.m) - (Rm + Rf).M/(K.m).2
Trong tc khng ti l tng c gi khng i ( bng tc khng ti
l tng ca c tnh c t nhin).
st tc ng vi 1 gi tr Mc s ln hn s st tc ca c tnh c t nhin v
t l vi in tr tng trong mch phn ng.
c = (R + Rf).Mc/(K.m).2
cng c tnh nhn to bin tr t l nghch vi in tr tng Rt.
= (K.m).2 / (R + Rf)

Hnh 2.8: c tnh nhn to khi thay i in p phn ng.

- c tnh nhn to khi thay i in p phn ng: khi gi t thng khng i

= m = const v khng ni thm in tr ph trong mch phn ng (Rf = 0, Rt =
Rm = const), nu lm thay i in p t vo phn ng ta s thu c h c tnh
nhn to l nhng ng song song vi c tnh c t nhin.
-Tc khng ti l tng t l thun vi in p U :
0 = U/K.m = var v u nh hn tc khng ti ca c
tnh t nhin
- cng ca c tnh c nhn to khng ph thuc vo in p U :
= (K.m).2/R
2.3 Cm bin quang :
2.3.1 Khi nim :
Cm bin l thit b dng cm nhn, bin i cc i lng vt l v cc i
lng khng c tnh cht in cn o thnh cc i lng in c th o v x l c.
Cc i lng cn o (m) thng khng c tnh cht in (nh nhit , p
sut ...) tc ng ln cm bin cho ta mt c trng (s) mang tnh cht in (nh in
tch, in p, dng in hoc tr khng) cha ng thng tin cho php xc nh gi tr
ca i lng cn o. c trng (s) l hm ca i lng cn o (m):
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 n tt nghip.
S=F(m)
Ngi ta gi (s) l i lng u ra hoc l phn ng ca cm bin, (m) l i
lng u vo hay kch thch (c ngun gc l i lng cn o). Thng qua o c (s)
cho php nhn bit g tr ca (m).
Phng trnh ca cm bin c vit nh sau : Y = f(X)
Trong :
X- i lng khng in cn o.
Y- i lng in sau chuyn i.
2.3.2 Phn loi cm bin :
Theo nguyn l ca cm bin:
- Cm bin in tr.
- Cm bin in t
- Cm bin tnh in.
- Cm bin ha in.
- Cm bin nhit in.
- Cm bin in t v ion.
Theo tnh cht ngun in:
- Cm bin pht in.
- Cm bin thng s.
Theo phng php o:
- Cm bin bin i trc tip.
- Cm bin b.
2.3.3. Cm bin dng trong h thng :
Ti mi khu chng ta dng cm bin v tr xc nh v tr ca sn phm. Khi
gp sn phm cm bin s c tn hiu bo v b iu khin ra lnh iu khin.
Nguyn l o v tr:
Vic xc nh v tr v dch chuyn ng vai tr rt quan trng trong k thut.
Hin nay c hai phng php c bn xc nh v tr :
- Trong phng php th nht, b cm bin cung cp tn hiu l hm
ph thuc vo v tr ca mt trong cc phn t ca cm bin, ng thi
phn t ny c lin quan n vt cn xc nh dch chuyn.
- Trong phng php th hai, ng vi mt dch chuyn c bn, cm
bin pht ra mt xung. Vic xc nh v tr c tin hnh bng cch
m s xung pht ra.
Mt s cm bin khng i hi lin kt c hc gia cm bin v vt cn o v tr.
Mi lin h gia vt dch chuyn v cm bin c thc hin thng qua vai tr trung
gian ca in trng, t trng hoc in t trng, nh sng.
Cc loi cm bin thng dng dng xc nh v tr v dch chuyn ca vt nh
in th k in tr, cm bin in cm, cm bin in dung, cm bin quang, cm bin
dng sng n hi.
xc nh v tr v dch chuyn ca sn phm, ng thi kim tra sn phm nn
trong m hnh s dng loi cm bin quang in.
Cm bin quang in :
Cm bin quang in bao gm 1 ngun pht quang v 1 b thu quang.
Ngun quang s dng LED hoc LASER pht ra nh sng thy hoc khng thy
ty theo bc sng. 1 b thu quang s dng diode hoc transitor quang.
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 n tt nghip.
Ta t b thu v pht sao cho vt cn nhn bit c th che chn hoc phn
x nh sng khi vt xut hin.
nh sng do LED pht ra c hi t qua thu knh. phn thu nh sng
t thu knh tc ng n transitor thu quang. Nu c vt che chn th chm tia
s khng tc ng n b thu c. Sng dao ng dng b thu loi b nh
hng ca nh sng trong phng. nh sng ca mch pht s tt v sng theo tn
s mch dao ng. Phng php s dng mch dao ng lm cho cm bin thu
pht xa hn v tiu th t cng sut hn.
Cm bin c chn dng trong m hnh l sensor E3F-DS10C4 :

Hnh 2.9: cm bin E3Z Omron

c tnh k thut ca sensor : E3Z IP67

- Cm bin quang in hnh tr chng nhiu tt vi cng ngh PhotoIC.
- Khong cch pht hin khong 10cm vi b iu khin nhy cho
b
khuch tn.
- Khong cch pht hin l 100 mm.
- c tnh tr : ti a 20% khong cch pht hin.
- u ra: DC 3 - dy NPN NO.
- Vt cm bin nh nht: 10x10mm.
- Ch s LED: Red LED.
- Ngun sng (bc sng) : LED hng ngoi (880nm).
- Kch thc: 22 X 70mm / 0,86 x 2,8 (D * L).
- Chiu di cp: ~ 115cm.
- Cung cp in p: 10 30 VDC.
- in p lm vic : 10 30 VDC.
- Dng hin ti: 300 mA.
- Tn s: 500 Hz.
- Mu : Mu en, vng, xm.
- Thi gian p ng: ti a 2,5 ms.
- Nhit mi trng t - 25oC ti 55oC.
- m mi trng t 35% ti 85%.
- Trng lng (c v) : 60 g.
- Ch ng ra: Chn la Light-ON / Dark-ON.
2.4 VI IU KHIN PIC 16F877A :
2.4.1 M t khi qut chung v tnh nng ca vi iu khin PIC 16F877A :
+ B x l trung tm CPU RISC :
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 n tt nghip.
o

Tp lnh ch gm 35 lnh RISC.

Cc tp lnh thc hin trong 1 chu k my , tr cc lnh r nhnh chim

2 chu k .
o

Tc hot ng : tn s xung nhp t 0 Hz n 20 MHz nh thit k

hon ton tnh.

o

B nh chng trnh 8k x 14 bit.

B nh d liu RAM 368 x b bt.

B nh d liu EEPROM 256 x 8 bit.

+ Cc thit b ngoi vi giao tip s :

o

Timer0: b m / timer 8 bit , c b chia trc 8 bit.

Timer1: b m 16 bit, c b chia trc h s 1,4,16. m xung c

trong trng thi SLEEP vi xung ng nhp a t bn ngoi .

o

Timer2 : b m 8 bit chia trc ,chia sau.

Hai khi compare/capture/PWM thc hin chc nng so snh/bt gi s

xung v iu ch rng xung.

o

Cng ni tip ng b theo chun giao thc SPI v I2C.

B thu/pht ng b vn nng URAT c phn cng phn bit a ch.

Cng song song PSP 8bit c chan iu khin RD,WR,CS.

C mch pht hin s suy gim in p ngun, chc nng BOR.

+ Kh nng giao tip vi tn hiu tng t :

+ B bin i tng t /s 10 bit, 8 knh v c 2 b so snh tng t.
+ Khi to in p chun bn trong lp trnh c.
+ Li ra ca so snh c th truy nhp t bn ngoi.
+ Cc c tnh ring :
- m bo 100.000 ln ghi/xa vo b nh chng trnh flash.
- m bo 1.000.000 ln ghi/xa vo b nh d liu EEPROM.
- B nh d liu kiu EEPROM lu c d liu trn 40 nm.
- T np trnh di s iu khin ca phn mm bootstrap qua giao din
ni tip.
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 n tt nghip.
- Np trnh ni tip ICSP.
- in p np trnh 5 V ch LVP.
- B m gim st Watchdog c mch to nhp RC bn trong , lp.
- C c ch xa chng sao chp chng trnh.
- Ch SLEEP tit kim nng lng.
- Nhiu la chn v b giao ng to nhp RC, LP, XT, HS.
- Chc nng g ri chng trnh ICD qua 2 chn.
- Ch to bng cng ngh CMOS, tiu th t nng lng, tc cao.
2.4.2 S khi chc nng v cc chn vo ra :
Vi iu khin PIC c kin trc Harvard, trong CPU truy cp chng trnh v d
liu c trn hai bus ring bit, nn lm tng ng k bng thng so vi kin trc Von
Neumann trong CPU truy cp chng trnh v d liu trn cng mt bus.
Vic tch ring b nh chng trnh v b nh d liu cho php s bit ca t lnh
c th khc vi s bit ca d liu. PIC 16F877A, t lnh di 14 bit , t d liu 8 bit.
PIC 16F877A cha mt b ALU 8 bit v thanh ghi lm vic WR (working
register). ALU l n v tnh ton s hc v logic, n thc hin cc php tnh s v i
s Boole trn thanh ghi lm vic WR v cc thanh ghi d liu. ALU c th thc hin cc
php cng, tr, dch bit v cc php ton logic.
Vi iu khin PIC 16F877A c ng trong v nha hai hng 40 chn DIP, vic
b tr cc li ra m t trong hnh 2.1 :

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 n tt nghip.

Hinh 2.10: B tr chn PIC 16F877A.

Trang: 17

 n tt nghip.

Hnh 2.11 : S khi chc nng ca PIC 16F877A.

Trang: 18

 n tt nghip.
Hnh 2.2 l s khi chc nng ca cc chn vo ra ca vi iu khin . PIC
16F877A a s cc chn vo ra c s dng cho nhiu chc nng .
Cc khi chc nng c th cho tng chn vo ra c xc lp khi lp trnh qua cc
thanh ghi chc nng thuc cc khi lin quan chn ny.
Bng 2.1 : Chc nng cc chn trong PIC 16f877A
Tn

Chn Loi

M t chc nng.

OSC1/CLKI

13

Dao ng tinh th li vo dao ng ngoi.

OSC2/CLKO

14

Dao ng tinh th hoc li ra xung nhp.

MCLR/Vpp

I/P

Li vo reset. Li vo in p np trnh
Vpp.

RA0/AN0

I/O

Vo/ ra s. Li vo analog 0.

RA1/AN1

I/O

Vo/ ra s. Li vo analog 1.
Vo ra s. li vo analog 2. Li vo in
p chun V-ref ca ADC. Li ra Vref so
snh.

RA2/AN2/V-reff/CVRef

I/O

RA3/AN3/V+Ref

I/O

Vo/ ra s. Li vo analog 3. Li vo in
p chun V-ref ca ADC.

RA4/TOCKI/C1OUT

I/O

Vo/ra s cc mng ng. Li vo xung

ngoi cho timer. Li ra b so snh 1.

RA5/SS/AN4/C2OUT

I/O

Vo/ra s. li vo chn SOI. Li vo

analog 4. li ra b so snh 2.

RB0/INT

33

I/O

Vo/ra s. Li vo ngt ngoi.

RB1

34

I/O

Vo/ra s.

RB2

35

I/O

Vo/ra s.

RB3/PGM

36

I/O

Vo/ra s. Np trnh LVP.

RB4

37

I/O

Vo/ra s.

RB5

38

I/O

Vo/ra s.

RB6

39

I/O

Vo/ra s. Xung nhp np trnh ICSP.

RB7

40

I/O

Vo/ra s. D np trnh ICSP.

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 n tt nghip.

RC0/T1OSO/T1CKI

15

I/O

Vo/ra s. To dao ng timer. Xung nhp

ngoi cho timer 1.

RC1/T1OSI/CCP2

16

I/O

Vo/ra s. To timer1. Li vo Capture.

Li ra Compare2. Li ra PWM2.

RC2/CCP1

17

I/O

Vo/ra s. Li vo Vo/ra s Capture1.

Li ra PWM1.

RC3/SCK/SCL

18

I/O

Vo/ra s. Nhp ng b choSPI v I2C.

RC4/SDI/SDA

23

I/O

Vo/ra s. Vo d liu SPI. Vo/ra d

liu I2C.

RC5/SDO

24

I/O

Vo/ra s. Ra d liu SPI.

RC6/TX/CK

25

I/O

Vo/ra s. Cng truyn thng khng ng

b. Xung nhp truyn ng b.

RC7/RX/DT

26

I/O

Vo/ra s. Cng nhn khng ng b. D

liu ng b.

RD0

19

I/O

Vo/ra s. Cng song song t.

RD1

20

I/O

Vo/ra s. Cng song song t.

RD2

21

I/O

Vo/ra s. Cng song song t.

RD3

22

I/O

Vo/ra s. Cng song song t.

RD4

27

I/O

Vo/ra s. Cng song song t.

RD5

28

I/O

Vo/ra s. Cng song song t.

RD6

29

I/O

Vo/ra s. Cng song song t.

RD7

30

I/O

Vo/ra s. Cng song song t.

RE0/RD/AN5

I/O

Vo/ra s. iu khin RD cng song

song.

RE1/WR/AN6

I/O

Vo/ra s. iu khin WR cng song

song.

RE2/CS/AN7

I/O

Vo/ra s. iu khin CS cng song song.

12,31

I/O

t chung cho li vp/ra v analog.

Vss

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 n tt nghip.
Vdd

11,32

I/O

Cp ngun dng.

2.4.3 T chc b nh v cc thanh ghi chc nng c bit :

T chc b nh ca vi iu khin PIC 16F877A c trnh by hnh 2.3.

Hnh 2.12: T chc b nh.

C 3 loi b nh trong vi iu khin 16F877A: b nh chng trnh, b nh d

liu RAM, b nh d liu EEPROM. B nh d liu v b nh chng trnh v b nh
d liu c hai bus ring ln c th truy nhp ng thi.
2.4.3.1 B nh chng trnh Flash :
Vi iu khin 16F877A c b nh chng trnh flash vi dung lng 8k x 14 bit,
chia thanh 4 bank. Thanh ghi ca b m chng trinh PC (Program Counter ) 13 bit ,
nh ngha a ch cho 8 k khng gian b nh.
Khi khi ng, b m chng trnh bt u t a ch 0000h, vector ngt c a
ch 0004h.

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 n tt nghip.
B nh d liu c ghi vo trong khi lp trnh cho vi iu khin qua b np trnh.
Do kh nng t ghi vo b nh chng trnh nn vi iu khin 16F877A cn c th np
chng trnh qua cng UART di s iu khin ca chng trnh Bootstrap.
2.4.3.2 B nh d liu RAM :
B nh d liu c chia thanh 4 bank trong c cc thanh ghi a nng GPR
(General Purpose Register ) v cc thanh ghi chc nng c bit SER(Specail Function
Register). Vic la chon cc bank c xc nh bng cc bit RP1, RP0 ca thanh ghi
STATUS.
Tng dung lng ca cc GPR RAM l 368 byte, ln hn nhiu so vi vi iu
khin khc nh h 8051 ch c 128 byte. Cc thanh ghi GPR c s dng lu gi
tr cc bin trong chng trnh. Cc thanh ghi c bit SFR dng qun l, iu khin
chc nng ca tt c cc khi thnh phn bn trong vi iu khin.
T chc ca cc thanh ghi chc nng SFR c trnh by trn hnh 2.4.

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 n tt nghip.

Hnh 2.13: T chc thanh ghi chc nng SFR.

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 n tt nghip.
2.4.3.3 B nh d liu EEPROM :
Mt b nh d liu c bit kiu EEPROM dung lng 256 byte c tch hp
trong PIC 16F877A v c xem nh thit b ngoi vi c ni vo bus d liu, b nh
ny c th ghi c trong qu trnh hot ng di s iu khin ca chng trnh. B
nh EEPROM thng dng cc lu tr cc chng trnh khng b thay i nh cc
hng chun, cc d liu ca ngi s dng. v khng b mt i khi ngt ngun nui. Cc
thanh ghi chc nng c bit EECON, EECON2, EEADR, EEADRH c s dng
truy cp n b nh ny.
2.4.4 Cc cng vo/ra :
2.4.4.1 Cng A :
Cng A l cng vo/ ra 6 bit, 2 hng xem hnh 2.5. Thanh ghi nh hng cng l
TRISA. Bt 1 trong thanh ghi TRISA t b iu khin li ra tng ng v trng thi
tr khng cao. Bt 0 trong thanh ghi TRISA t ni dung ca thanh ghi cht ra ln
chn tng ng. Vic c cng A l c mc logic ca cc chn vo bus. Vic ghi ra
cng l ghi vo thanh ghi cht li ra PORTA.RA4 l li vo trigger Schmitt v li ra
cc mng ng.

Hnh 2.14 :Cng A

Chn RA4 dng chung vi li vo xung nhp cho timer0 khi dng b m xung t
bn ngoi.
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 n tt nghip.
Cc chn khc ca cng A c ghp li vo ca cc b so snh tng t v b
bin i ADC 8 knh. Vic la chn vo cho ADC c chn bi bit iu khin trn hai
thanh ghi ADCON1 v ADCON2.
2.4.4.2 Cng B :
Cng B l cng 8 bit vo/ra hai hng xem hnh 2.6. Thanh ghi nh hng cng
l TRISB. Thanh ghi cht li ra cng B l PORTB.
Chn RB0 c th la chn l li vo ca ngt ngoi Extint, li vo ny lp c ngt
INTF khi c sn ln hoc sn xung ca xung ty thuc vo gi tr bt INTEDG
trong thanh ghi OPTION.

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 n tt nghip.

Hnh 2.14: Cng RB<0:3> v RB<4:7> .

C 3 chn ca cng B c ghp li vi chc nng ICSP l RB6, RB7, RB3 tng
ng vi li vo PGC, PGD, LVP khi np trnh. Mi chn trong cng B c ni ti mt
in tr ko ln (pull- up) c tr s 20k bn trong. Vic la chn dng/khng dng cc
in tr ny bng cch xa/t bt RBPU trong thanh ghi OPTION.
Li vo RB4 v RB7 lm pht sinh ngt RBIF khi thay i trng thi khi cc chn
ny nh ngha l cc li vo. Trng thi hin ti ca li vo ny c so snh vi trng
thi c cht li ti ln c trc . Khi c s khc nhau th c ngt RBIF c lp.
2.4.4.3 Cng C :

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 n tt nghip.

Hnh 2.15 : Cng C.

Cng C l cng 8 bit vo/ra hai hng xem hnh 16. Thanh ghi nh hng cng l
TRISC. Cc chn ca cng C c ghp vi cc chc nng ngoi vi. Cc li vo ca
cng C c b m kiu trigger Schmitt. Bng di y lit k cc chc nng ghp ca
cng C.

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 n tt nghip.
Bng 2.2 : Chc nng ghp ca cng C.

Tn chn

Bt

Chc nng, ngha

RC0/T1OSO/T1CK1

Bit 0

Cng vo/ra . li to Timer 1.Li vo xung nhp

Timer1

RV1/T1OSI/CCP2

Bt 1

Cng vo/ra. Li vo dao ng Timer 1.

Li vo Capture2/li ra compe2. Li ra PWM2

RC2/CPP1

Bit 2

Cng vo/ra. Li vo capture1/li ra

compare1. Li ra PWM1

RC3/SCK/SCL

Bit 3

Li ra xung nhp ca ch truyn ng

b tun t SPI hoc I2C

RC4/SDI/SDA

Bit 4

Li vo DATA ca ch SPI, DATA I/O

ca I2C

RC5/SD0

Bit 5

Cng vo/ra. Li ra ca cng truyn ng

b tun t

RC6/TX/CK

Bit 6

Cng vo/ra. Li ra Tx ca USART. Xung

nhp ch truyn ng b

RC7/RX/DT

Bit 7

Cng vo/ra. Li vo Rx ca USART. D

liu ch truyn ng b

2.4.4.4 Cng D :

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 n tt nghip.

Hnh 2.16: Cng D.

Cng D l cng 8 bit vo/ra hai hng (xem hnh 2.8). Thanh ghi nh hng cng
l TRISD. Cc li vo ca cng D c b m trigger schmitt. Cng D c th nh dang
l cng song song 8 bit kiu Slave, vic iu khin cc chc nng c/ghi/chn cng s
dng cc chn RE0/RE1/RE2 ca cng E.
2.4.4.5 Cng E :
Cng E l cng vo ra hai hng gm cc chn RE0/RD/AN5, RE1/WR/AN6,
RE2/CS/AN7 (xem hnh 2.9). Thanh ghi TRISE nh hng cng l vo/ra. Thanh ghi
PORTE ghi cc gi tr cn a ra cng. Cng E cn l cc li vo/ra iu khin cng
vo/ra song song khi cng D c thit lp l cng vo/ra song song. Cc chn
RE0/RE1/RE2 cn knh vo in p tng t th 6,7,8 ca b bin i ADC.

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 n tt nghip.

Hnh 2.16: Cng E.

2.4.5 Cc khi TIMER :

2.4.5.1 Khi timer0 :
Khi timer0 (xem hnh 2.9) l b m thi gian cc c tnh sau:
o

B m 8 bit.

Ghi/c c.

C b chia 8 bit lp trnh c.

Chn xung nhp bn ngoi hoc bn trong.

Sinh ngt TOIF khi trn chuyn t FFh 00h.

Chn sn xung khi ly xung nhp t bn ngoi.

Timer0 dng lm b m xung nhp ca vi iu khin v to ra mt b m thi

gian. Ch m thi gian c chn bng cch t bit T0CS = 0 (bit OPTION<5>).
Trong cc ch m thi gian, thanh ghi TMR0 tng mt n v sau mi chu k my.
Thanh gh TMR0 c th c ghi c trong chng trnh xc lp hoc ly gi tr hin
thi ca timer0.

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 n tt nghip.

Hnh 2.17: S khi Timer0.

Timer0 dng m cc xung t bn ngoi cp vo chn RA4. Ch m xung

c chn bng cch t T0CS = 1. Trong ch ny thanh ghi Timer0 tng mt n v
sau mi sn ln hoc sn xung ty thuc vo trng thi ca bit T0SE.
B chia trc c dng chung cho hai khi watchdog v Timer0. Vic gn b
chia trc cho khi no c chn bng bt PSA(OPTION<3>). H s chia ph thuc
gi tr ca bit PS2:PS1:PS0 ca thanh ghi OPTION.
Ngt timer0 xy ra khi thanh ghi TMR0 trn, chuyn t FFh00h. S trn ny s
t bt T0IF = 1. Ngt T0IF c th che bng bit T0IE. C T0IF phi c xa bng phn
mm.
2.4.5.2 Khi Timer1 :

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Hnh 2.18: S khi Timer1.

Timer1 (xem hinh 2.11) l b m 16 bit c cu to t hai thanh ghi 8 bit

TRM1H v TMR1L. L hai cp thanh ghi TRM1Hv TMR1L tng t 0000h n FFFFh
ri tr v 0000h. Ngt TMR1IF nu c cho php s to ra khi b m chuyn t
FFFFh v 0000h v lp bit TRM1IF. Ngt ny c th cho php /khng cho php bng
cch lp/xa bit TMR1IE Thanh ghi T1CON t cc ch cho timer1.
-

T1CKPS1 T1CKPS0 T1OSCE T1SYNC TMR1CS TMR1ON

Timer1 c th lm vic trong hai ch : l b nh thi gian hoc l b m xung.

ngha cc bt ca thanh ghi T1CON :
Bt 7-6 : khng dng .
Bt 5-4 : T1CKPS1 chn h s b chia trc .
11 = chia 8

01 = chia 2

10 = chia 4

00 = chia 1

Bit 3: T1OSCEn cho php dng b dao ng.

1 = bt b dao ng .
0 = c ng b vi xung nhp.
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Bit 1 TMR1CS chn ngun xung nhp.
1 = xung nhp ngoi a vo t chn RC1.
0 = xung nh bn trong, bng 1/ 4 tn s bn ngoi ca dao ng thch anh .
Bit 0 : TMR1ON bt/ tt timer1.
1 = bt timer1 cho php m .
0 = tt timer 1 dng m.
2.4.5.3 Khi Timer2 :
Timer2 l b m 8 bt chia trc v chia sau. N c th s dng c s dng
nh l b iu khin ch xung PWM (Pulse Width Modulation ) trong khi CCP.

Hnh 2.19 : S khi Timer2.

Xung nhp vo ( XTAN/4 ) qua b chia trc c cc t s 1:1 , 1:2 , 1:4 , 1:16
c chn bng hai bit T2CKPS1:T2CKPS0.
Timer2 c thanh ghi 8 bit PR2. Timer2 tng t 00h n khi bng gi tr lu trong
PR2 c gn l FFh khi khi ng li.
Li ra bng nhau EQ ca TMR2 a vo b chia sau 4 bit 1:1 , 1:2 , 1:16 to
ra ngt TMR2 (lp trnh TMR2IF = 1).
Timer2 c th c tt khi s dng n bng cch t li bit TMR2CON = 0 nhm
gim cng sut tiu th.

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2.4.6 Cng ni tip ng b I2C :

Hnh 2.20: Khi MSSP.

MSSP l kh iu khin bus I2C hot ng ch ch (Master Mode ) hoc ch

t (Slave Mode ) (xem hinh 2.13). Khi ny cn to ra cc ngt ti cc bit START v
STOP xc nh trng thi bus trong ch a ch (Multi Master Mode ) (nhiu thit
b I2C truy nhp ti thit b I2C t trong bus ).
Khi MSSP thc hin cc ch lm vic chun 7 bit hoc 10 bit a ch.
Hai chn dng trao i d liu l :
o

Xung nhp SCL-RC3/SCK/SCL.

D liu ni tip SDA-RC4/SDI/SDA.

Cc thanh ghi c s dng cho hot ng cc bus ca I2C l:

o

Thanh ghi iu khin MSSP(SSPCON).

Thanh ghi iu khin 2 (SSPCON2).

Thanh ghi trng thi (SSPSTAT).

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o

Thanh ghi dch (SSPSR).

Thanh ghi a ch MSSP(SSPADD).

SSPCON , SSPCON2, SSPSTAT l thanh ghi iu khin v t trng thi ca khi

giao tip chun I2C.
SSPSR l thanh ghi dch dch d liu ra/vo, khng truy nhp trc tip.
SSPBUF l thanh ghi m d liu c ghi vo/c ra.
SSPADD dng lu a ch ca thit b t khi khi SSP c cu hnh l thit b
t. Khi c cu hnh l thit b ch, 7 bt thp ca SSPADD dng lu gi tr mch
to tc baud.
Trong ch nhn SSPSR v SSPBUF to thnh cp thanh ghi m kp. Khi
SSPSR nhn mt byte, n chuyn byte d liu sang SSPBUF v lp c ngt SSPIF.
Trong khi truyn vic vit mt byte d liu vo SSPBUF s ghi vo c hai thanh
ghi SSPBUF v SSPSR.
2.4.7 B thu pht khng ng b vn nng UART :
B thu pht khng ng b UART truyn d liu theo kiu NRZ: bit START-8 bit
d liu bit STOP. Mt khi BRG (Baud Rate Generator) bn trong c vai tr to cc
tc baud theo tiu chun bng cch chia tn s xung nhp ly t mch dao ng.
Chc nng to bt kim tra chn l khng c h tr trn phn cng nhng iu ny c
th thc hin bng phn mm.
2.4.7.1 Khi truyn thng ng b :
Phn chnh ca kh l thanh ghi dch TSR, n nhn d liu cn gi t thanh ghi
TXREG trc c khi x l ghi vo (xem hnh 2.14). TSR c np khi bt STOP
ca khung d liu trc c truyn i. Ngay sau khi bit STOP kt thc TSR c
np bng ni dung ca TXREG. TXREG rng v c ngt TXIF c lp bo trng thi
TXREG ang rng. Vic truyn c th c cho php/cm bng cch lp/xa bit TXEN.

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Hnh 2.21 : Khi truyn thng khng ng b.

2.4.7.2 Khi nhn khng ng b :

Phn chnh ca b nhn ni tip l thanh ghi dch ni tip RSR (xem hnh 2.15).
Sau khi ly mu bit STOP, d liu nhn RSR chuyn sang thanh ghi RCREG nu thanh
ghi ny ang rng. Nu vic chuyn thanh cng, c ngt RCIF c lp.

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Hnh 2.22 : Khi nhn khng ng b.

RCREG l thanh ghi m kiu FIFO cho php lu hai byte trong RCEG trong khi
byte th 3 ang c dch trong RSR. Nu bit STOP ca byte th 3 c nhn m thanh
ghi RCREG vn ang y th bit bo li trn OERR(Oveflow Error) c lp bo c
s trn ca b phn v byte nhn s b loi b. Mt bit bo li khung truyn FERR
(Frame Error) c lp khi khng nhn c bit STOP.
2.4.8 Khi chuyn i tng t/s ADC :
Khi chuyn i tng t/s c 8 li vo c tch hp trong vi iu khin
PIC16F877A c phn gii 10 bit (xem hnh 25). Khi ADC c li vo cho mc in
p chun V-ref v V+ref. in p chun cho khi ADC c th la chn bng phn mm
vi cc in p ngun Vdd/Vss hoc in p chun t bn ngoi qua chn RA3/RA2.
o Khi ADC c 4 thanh ghi .
o ADRESH lu phn byte cao ca kt qu bin i ADC.
o ADRESL lu phn byte thp ca kt qu bin i ADC.
o ADCON0 thanh ghi iu khin 0.
ADCS1

ADCS0

CHS2

CHS1

CHS0

GO/DONE

ADON

o ADCS1: ADCS0 Chn ngun xung nhp v tc cho khi bin i ADC.
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o CHS2: CHS0

Chn knh a vo bin i.

o GO/DONE

Trng thi chuyn i.

o ADON

Bt/tt khi chuyn i ADC.

Hnh 2.23: Khi ADC.

ADCON1 Thanh ghi iu khin 1

ADFM

ADCS2

- ADFM
- ADCS2
- PCFG3: PCFG0

PCFG3

PCGF2

PCGF1

PCGF0

nh dng kt qu bin i ADC

La chn tn s, ngun xung nhp cho khi ADC
Chn cu cc li vo khi ADC

2.4.9 Cc c im ring v thit lp cu hnh PIC :

2.4.9.1 Cc im mi trong vi iu khin PIC 16F877A:

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Vi iu khin PIC 16F877A c nhiu b phn, c tnh c tch hp thm lm
tng ti a tin cy, gim gi thnh h thng do t cn dng thm linh kin cn thit
bn ngoi, c ch tch kim nng lng v kh nng chng sao chp ni dung ca
chng trnh.
La chn ngun xung nhp:
Ty theo tn s v linh kin to dao ng chn mt trong 4 cu hnh :
o

LP b dao ng thch anh cng sut thp, tn s < 200kHz.

XT b dao ng thch anh chun, tn s 1MHz n 4 MHz.

HS b dao ng thch anh tn s cao, tn s 4MHz n 20 MHz.

RC b dao ng n gin dng in v t in.

Cc mch to trng thi khi ng li RESET :

Hnh 2.24: Cc khi to tn hiu RESET

Khi to ra tn hiu RESET (xem hnh 2.17) to ra cc tn hiu RESET khc nhau
cho vi iu khin ty theo cc iu kin sau:
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Reset khi vi iu khin mi c cp ngun POR (Power on Reset)
Li vo MCRL Master Clear trong ch hot ng bnh thng.
Li vo MCRL Master Clear trong ch ngh SLEEP.
B m WDT trn to ra tn hiu Reset khi hot ng bnh thng.
B m WDT trn to ra tn hiu Wake-up trong ch SLEEP.
Khi gim st in p ngun to tn hiu Reset khi ngun cp st qu ngng.
Cc ngt Interrupt :
Trong vi iu khin PIC 16F877A c 15 ngun sinh ra ngt (xem hinh 2.18).
Thanh ghi iu khin ngt INTCON ghi cc c ngt v cc bit cho php ngt ton cc
GIE, T0IF, RBIF. Cc ngt t cc thit b ngoi vi c ghi trong thanh ghi PIR1 v
PIR2, cc bit cho php ngt ngoi vi trong thanh ghi PIE1, PIE2.

Hnh 2.25: T hp logic cc ngun ngt.

Khi c ngt c lp, c cho php ngt GIE c xa cm cc ngt khc. a

ch s quay li ct vo ngn xp v thanh ghi m chng trnh PC c np gi tr
0004h l a ch ca chng trnh x l ngt.
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Ngun sinh ngt c xc nh bng cch hi vng cc c ngt. Sau khi x l
xong ngt, c ngt tng ng phi c xa thot vng lp ngt.
B m watchdog :
B m watchdog l mt n m xung t mt khi dao ng ring c lp vi
xung nhp ca vi iu khin, n c chc nng gim st hot ng ca chng trnh (xem
hnh 2.19). Nu vi iu khin do b treo do li phn mm th vi iu khin c th t khi
ng li.
Khi s dng b gim st watchdog, chng trnh phi c thit k sao cho b
m watchdog phi c xa v 0 sau mt chu k nht nh b m ny khng b
trn. Nu v mt l do no chng trnh xa b m watchdog b m b trn :
chuyn t FFh v 00h s sinh ra tn hiu WDT time out Reset.
Khi watchdog dng chung b chia trc vi Timer0. Chu k trn ca b m
watchdog c th xc lp trong di 18.2ms n 2,5s.

Hnh 2.26: Khi chc nng mch watchdog.

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2.4.9.2 nh cu hnh T cu hnh (Config Word) :
Vic xc nh cc ch lm vic hay thit lp cc la chn ring cho vi iu
khin PIC 16F877A c thc hin bng vic thit lp/xa cc bit chc nng trong mt
t m iu khin c bit gi l T cu hnh (Config Word ) ti a ch 2007h. T cu
hnh ny ch c truy nhp thay i trong qu trnh np trnh.
T cu hnh gm 14bit, trong c 3 bit khng dng.
ngha cc bit trong cu hnh :
CP Bo v b nh chng trnh.
1 = cho php c chng trnh trong b nh ra.
0 = cm c chng trnh.
DEBUG Cho php debug trn h thng :
1 = khng s dng debug trn h thng : RB6 , RB7 l chn vo/ra.
0 = S dng debug trn h thng: RB6, RB7 l chn ni n mch debug.
WRT1:WRT0 cho php ghi vo b nh chng trnh :
11 = Khng chng ghi tt c mi a ch.
10 = 0000h 00FFh b cm ghi .
01 = 0000h 03FFh b cm ghi .
00 = 0000h 0FFFh b cm ghi .
CPD Bo v b nh d liu :
1 = cho php c b nh d liu ra.
0 = cm c ra.
LVP Cho php ch np trnh in p thp :
1 = RB3/PGM c chc nng np trnh.
0 = RB3 l chn vao/ra.
BOREN Cho php khi ng li ngun cung cp st qu ngng :
1 = cho php BOREN.
0 = cm BOREN.
PWRTEN Cho php b m timer khi bt ngun :
1 = cm PWRT.
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0 = cho php PWRT.
WDTEN Cho php b gim st watchdog :
1 = cho php WDT.
0 = cm WDT.
FOSC1: FOSC0 la chon ngun dao ng :
11 = dao ng RC.

01 = dao ng XT

10 = dao ng HS.

00 = dao ng LP

2.4.10 Ngn ng lp trnh cho PIC 16F877A :

Ngn ng lp trnh cho PIC rt a dng. Ngn ng lp trnh
c p t h p c MPLAB (c cung cp min ph bi nh sn xut Microchip),
cc ngn ng lp trnh cp cao hn bao gm C, Basic, Pascal Ngoi ra cn
c mt s ngn ng lp trnh c pht trin dnh ring cho PIC nh PICBasic,
MikroBasic

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CHNG 3 :
THIT K H THNG BNG CHUYN PHN LOI SN PHM.
3.1 YU CU :
- S iu khin m bo cc qu trnh cng ngh.
- n gin, tin cy
- m bo th t iu khin
- Khng mt nhiu thi gian lp t.
- D dng thay i chng trnh iu khin.
- tin cy cao.
- D dng trong bo dng, sa cha.
3.2 CC KHI TRONG H THNG :

Hnh 3.1 S khi h thng

Cc khi trong h thng :

- Cng tc t
- Cm bin
- Khu x l
- Khu hin th
- Khu chp hnh
a. Cng tc t :
Khi ny thu thp tn hiu t cng tc t a vo vi iu khin. Cng
tc t dng ng m ng c in 1 chiu.

b. Cm bin :
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Khi cm bin dng pht hin cc vt phm xut hin trn bng ti.
Ty thuc vo cao ca vt phm m tng cm bin tc ng, gi tn hiu v vi iu
khin x l.
c. Khu x l :
L vi iu khin PIC 16F877A ca hng Microchip. C vai tr quan trng
nht trong ton b h thng, c nhim v iu khin, gim st mi hot ng ca dy
chuyn.
Vi iu khin nhn tn hiu t cc cm bin v cng tc t, sau phn
tch, x l theo chng trnh c lp trnh sn v xut d liu iu khin cc thit b
chp hnh , khu hin th.

Hnh 3.2 s mch iu khin.

- Chn 1 : l chn RESET , ni vi 1 cng tc reset li h thng khi cn thit.

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- Chn 11 v 32 : l 2 chn ngun Vcc ca vi iu khin.
- Chn 12 v 31 : l 2 chn ni t GND ca vi iu khin.
- Chn 13 v 14 : l 2 chn ni vi thch anh to dao ng cho vi iu khin.
- Chn 37 , 38 v 39 : ni vi 3 cm bin, nhn bit s xut hin ca vt phm
( cao , trung bnh, thp ) trn bng ti.
- Chn 2=>7 : ni vi cc BJT dng kch m ng c quay thun v quay
ngc.
-Tt c PORTC ( chn 15 => 18 & chn 23=>25 ) : ni vi 7 chn xut d liu
ca led 7 on.
- Chn 19,20,21,22,27,28 : ni vi 6 chn cp ngun ca 6 led 7 on.
d. Khu hin th :
Khu hin th th hin s vt phm c phn loi. m hnh ny ta s dng
led 7 on hin th. S vt phm ca tng loi c hin th bng 2 led 7 on(t 00
n 99 ). Nh vy tng cng dng ht 6 led 7 on.

Hnh 3.3 Khu hin th.

Hnh 3.4 mch iu khin cho 2 led.

e. Khu chp hnh :

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 n tt nghip.
- Gm 1 ng c iu khin hot ng ca bng ti v 3 ng c iu khin c
cu tay gt dng phn loi khi c sn phm i qua cc cm bin.
- ng c truyn ng cho bng ti chy s c khi ng trc tip khi khi
ng m hnh.
- ng c iu khin c cu tay gt s c 2 ch :
+ Quay thun : ng vi a tay gt ra chn vt phm, do bng ti
chuyn ng nn vt phm s c i theo hng khc n ni m ta cn t vt phm
sau phn loi.
+ Quay ngc : sau khi vt phm c phn loi i n ni cn n,
ng c s quay ngc a tay gt tr v v tr c, chun b cho vic phn loi vt
phm tip theo.
y ta nghim cu v khi chp hnh, c th l iu khin ng c truyn
ng cho c cu tay gt. Trong m hnh c 3 ng c truyn ng cho 3 c cu tay gt,
vi cch iu khin v hot ng nh nhau nn ta nghin cu phn iu khin cho 1
ng c .

Hnh 3.5 Mch iu khin cho ng c 1

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Hnh 3.6 Mch iu khin cho ng c 2

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Hnh 3.7 Mch iu khin cho ng c 3

Mch iu khin ng c gm :
V 3 ng c c iu khin ging nhau nn y ta trnh by cho ng c 1
- 2 OPTO : ISO 10 v 13 c nhim v cch ly gia mch iu khin dng
ngun 5V v mch ng lc dng ngun 24V.
- 1 MOSFET D401 : khi MOSFET m s ni ngun cp cho ng c
xung max v khi ng c bt u hot ng.
- 1 R le DPDT : cp ngun 24 V cho ng c. Khi cun dy ht ca r le
c in s ht cc tip im 3 & 4 v khi ngun in cp cho ng c s o
cc.
- 1 BJT C1815 : khi BJT m s ni ngun cp cho cun dy ht ca r le
DPDT xung t v khi cun dy ht s c in.
- 2 led D15 ( mu ) & D18 ( mu xanh ) : bo khi 2 OPTO dn.
- DIOD D17 : dng hn ch dng ngc. trch trng hp cun ht
ca r le b ngn mch dn n ht cc tip im 3 & 4 v lm o chiu ng
c ngoi mong mun .
- 1 ng c 1 chiu.
- Mt s in tr.
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Hot ng :
2 Cng DC1 v RLDC1 l 2 cng nhn tn hiu t vi iu khin, bnh thng
in p 2 cng ny l 5V. Ban u cha c tn hiu iu khin th in p c 2 cng
u ang mc 5V.
Khi c tn hiu iu khin => ip p ca cng DC1 xung 0V, OPTO ISO 10 s
dn. Ngun 12V s c cp ti cc E ca MOSFET nn MOSFET s dn. ng thi
led D15 sng bo hiu OPTO 10 dn. ng c c cp ngun 24V qua r le DPDT
theo ng 24V => 8 => 6 => ng c (1=>2) => 3 => 4 => FET. Khi MOSFET dn th
im 4 s c ni xung max, lc ny ng c s quay a cn gt ra chn ng i
ca vt phm.
Khi c tn hiu iu khin => in p ca cng RLDC1 xung 0V , OPTO ISO
13 dn. Ngun 12V s c cp ti cc E ca BJT v BJT dn. ng thi led D11 sng
bo hiu OPTO 13 dn. Cun dy ht ca r le DPDT c cp ngun, ht cc tip
im ( 3 & 6 ). im tip xc c chuyn t ( 8 & 4 ) => ( 5 & 7 ). Lc n ng c
c cp ngun 24v qua r le DPDT theo ng 24V => 5 => 3 => ng c ( 2 => 1 )
=> 6 => 7 => max ( v lc ny MOSFET vn ang dn ). ng c s quay nhng theo
hng ngc li.
3.3 KHI NGUN :
Khi ngun cung cp ngun in cho c h thng : s ny s dng ngun 1
chiu 5V cung cp cho mch vi iu khin v 12V cung cp cho ng c 1 chiu, r
le,cm bin y gii thiu mch ngun 5VDC ly t 12VDC.

Hnh 3.8 Mch ngun 5VDC

Trong s s dng LM7805 c tc dng to 1 ngun in 5v n nh u ra

cung cp cho cc linh kin trong mch iu khin.
Nh chng ta bit th cc t C1 v C4 l cc t ha dng lc in p. V
y l in p 1 chiu nhng cha c phng vn cn cc gn nhp nh nn cc t ny
c tc dng lc ngun cho thnh in p mt chiu phng
+ T C4 l lc ngun u vo cho 7805. T ny l t ha phi c in dung
ln lc phng in p u vo v in p t chu ng phi ln hn in p u vo
+ T C5 l lc ngun u ra cho 7805. T ny cng l t ha dng lc ngun
u ra cho bng phng
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Trong thnh phn mt chiu cn c cc sng iu ha bc 2, 3..., sng nhp nh
c tn s cao, nhiu bn ngoi. Cc sng ny nh hng n hot ng ca 7805. Nu
trong mch tn ti nhng thnh phn sng ny s lm sai st kh pht hin trong mch
lm cho mch hot ng khng n nh
Hai t lc nhiu tn s cao C17 v C21. T ny phi l t khng phn cc, t
Ceramic. Hai t ny lc cc thnh phn trn cho u vo v u ra m bo cho mch
hot ng bnh thng

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CHNG 4 :
LP RP M HNH H THNG IU KHIN BNG CHUYN
PHN LOI SN PHM
4.1 YU CU CNG NGH :
Trong qu trnh sn xut v gia cng trong cc h thng thc t, h thng c giai
on kim tra sn phm sau gia cng, ch to. M hnh trong n m phng theo phn
loi sn phm . S lng sn phm cn phn loi ph thuc vo phn cng v cch
lp trnh, cho nn trong n ny em s phn loi khong 3 sn phm (chiu di 3 sn
phm chnh l 5cm, 8cm v 10cm).
Khi cp ngun cho h thng th khi ng ng c truyn ng cho bng ti ,
lm cho nng ti hot ng mang vt phm i
Khi gp cm bin pht hin vt phm cao,ng c truyn ng cho tay gt quay
thun a tay gt ra chn ng i ca vt phm cao. Khi tay gt chm vo cng tc
hnh trnh phi th ng c dng li. Nh vo chuyn ng ca bng ti v tay gt nn
vt phm cao s c a n thng cha. Sau mt khong thi gian ng c truyn
ng cho tay gt quay ngc tr tay gt v li v tr ban u, khi tay gt chm vo cng
tc hnh trnh tri th ng c ngng quay, h thng tr v nh ban u chun b cho ln
phn loi tip theo . Lc ny gi tr ca 2 led hin th s vt phm cao tng thm 1 n
v.
C cu hot ng cho c cu tay gt phn loi vt phm trung bnh v thp tng t
nh phn loi vt phm cao.
4.2 THUT TON :
4.2.1. Thut ton chng trnh chnh :

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4.2.1. Thut ton chng trnh ngt TIMER_1 (Hin th cho 6 LED 7 on) :

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4.2.3. Thut ton chng trnh ngt RB :

Hnh 4.3 Thut ton chng trnh ngt RB

4.3 CHNG TRNH :

4.3.1 Phn mm lp trnh :
Chng trnh iu khin c vit bng phn mm PIC C COMPILER
Gii thiu v PICC COMPILER :
PIC C compiler l ngn ng lp trnh cp cao cho PIC c vit trn nn C.
Chng trnh vit trn PIC C tun th theo cu trc ca ngn ng lp trnh C. Trnh bin
dch ca PIC C compiler s chuyn chng trnh theo chun ca C thnh dng
chng trnh theo m Hexa (file.hex) np vo b nh ca PIC. Qu trnh chuyn
i c minh ho theo hnh 5.4

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Hnh 4.4 qu trnh lp trnh bin dch v np cho PIC

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Hnh 4.5 phn mm PIC C COMPIlER

4.3.2 Phn mm np chng trnh :

Sau khi lp trnh xong v kim tra sa cha ht cc li, phn mm PIC C
COMPILEX s xut ra 1 file .hex. File ny s c np vo PIC bng mch np BURNE v s dng phn mm BURN-E np.

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Hnh 4.6 mch np BURN-E

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Hnh 4.7 phn mm BURN-E

4.3.3 Chng trnh :

#include <16f877a.h>
#include <def_877a.h>
#device *=16 ADC=10
int8 dv=0,chuc=0,dem=1,cb = 0xff;
int8 sp1=0,sp2=0,sp3=0;
int8 ma_led[11]=0xc0,0xF9,0xA4,0xB0,0x99,0x92,0x82,0xF8,0x80,0x90,0xff;
#FUSES NOWDT, HS, NOPUT, NOPROTECT, NODEBUG, NOBROWNOUT,
NOLVP, NOCPD,NOWRT
#use delay(clock=4000000)
#define _reset 0x80
#define cam_bien1 0x40
#define cam_bien2 0x20
#define cam_bien3 0x10
#define dc1
0x01
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#define dc2
0x02
#define dc3
0x04
#define role1
0x08
#define role2
0x10
#define role3
0x20
#define led
portc
#define chon_led portd
#define cbp
portb
#define dc
porta
//========================================================
void chuyen_doi(int8 gt);
//================== chng trnh ngt timer1======================
#int_TIMER1
void TIMER1_isr(void)
{
set_timer1(1);
switch (dem) {
case 1: {dem++; led=ma_led[10]; chon_led=0xfe; chuyen_doi(sp1);
led=ma_led[chuc]; break;}
case 2: {dem++; led=ma_led[10]; chon_led=0xfd; chuyen_doi(sp1);
led=ma_led[dv]; break;}
case 3: {dem++; led=ma_led[10]; chon_led=0xfb; chuyen_doi(sp2);
led=ma_led[chuc]; break;}
case 4: {dem++; led=ma_led[10]; chon_led=0xf7; chuyen_doi(sp2);
led=ma_led[dv]; break;}
case 5: {dem++; led=ma_led[10]; chon_led=0xef; chuyen_doi(sp3);
led=ma_led[chuc]; break;}
case 6: {dem=1; led=ma_led[10]; chon_led=0xdf; chuyen_doi(sp3);
led=ma_led[dv]; break;}
}
}
//===================== chng trnh ngt RB
=========================
#INT_RB
Void RB_LED ( )
{
cb = cbp;
}
//===================chng trnh con chuyn i======================
void chuyen_doi(int8 gt)
{
dv = gt%10;
chuc = gt/10;
}
===================chng trnh chnh=========================
void main()
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 n tt nghip.
{
// trisb = 0x0;
// trisc = 0x0;
// trisa = 0xff;
set_tris_a ( 0x00 ) ;
set_tris_b ( 0xff ) ;
set_tris_c ( 0x00 ) ;
set_tris_d ( 0x00 ) ;
cb = 0xff;
dc = 0xff;
setup_timer_1(T1_INTERNAL|T1_DIV_BY_1);
set_timer1(5) ;
enable_interrupts(INT_TIMER1);
enable_interrupts ( INT_RB ) ;
enable_interrupts(GLOBAL);
while (1)
{
if ((cb&_reset)==0) { dc = 0xff;sp1=0; sp2=0; sp3=0;}
else if ((cb&cam_bien1)==0) { dc = ~(dc1|dc2|dc3|role2|role3); sp1++; if (sp1==100)
sp1=0; delay_ms(2000); dc = ~(dc1|role1);delay_ms(2000); dc = 0xff;
while((cb&cam_bien1)==0){} }
else if ((cb&cam_bien2)==0) { dc = ~(dc1|dc2|dc3|role1|role3); sp2++; if (sp2==100)
sp2=0; delay_ms(2000); dc = ~(dc2|role2);delay_ms(2000); dc = 0xff;
while((cb&cam_bien2)==0){} }
else if ((cb&cam_bien3)==0) { dc = ~(dc1|dc2|dc3|role1|role2); sp3++; if (sp3==100)
sp3=0; delay_ms(2000); dc = ~(dc3|role3);delay_ms(2000); dc = 0xff;
while((cb&cam_bien3)==0){}}
chuyen_doi(gia_tri);
}
}
4.4 MCH IN M PHNG V M HNH :
4.4.1 Mch in :
Mch in ca mch iu khin c v bng phn mm Orcad.

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 n tt nghip.

Hnh 4.8 Mch in mch iu khin.

4.4.2 M phng :
n dng phn mm Proteus m phng iu khin cho bng chuyn.

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 n tt nghip.

Hnh 4.9 M phng h thng bng chuyn.

4.4.3 M hnh :

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 n tt nghip.

Hnh 4.10 M hnh hon thnh

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 n tt nghip.

CHNG 5 :
CHY TH V KT LUN.
Sau thi gian 5 thng lm n tt nghip di s hng dn nhit tnh v tn ty ca
thy Khng Cng Minh, n nay em hon thnh n c mnh. Ni dung cu n
bao gm :
Phn kin thc :
- Tm hiu v h thng bng chuyn phn loi sn phm.
- Tm hiu v vi iu khin PIC16F877A.
- Tm hiu v cm bin v cc thit b chp hnh khc.
Phn thit k :
- M t quy trnh cng ngh.
- Xy dng s khi.
- Xy dng thut ton v vit chng trnh iu khin.
- Lp rp v chy th m hnh.
Qua qu trnh chy th cho thy :
M hnh chy kh n nh, tuy nhin i khi xy ra li phi reset li m hnh v
cc cng tc hnh trnh c nhy khng n nh, qu trnh o chiu ca ng c vn
cha c nh mun. C cu tay gt hot ng vn cha chnh xc hon ton do b
tr cha thc s hp l.
khc phc vn ny, trong thc t ngi ta thay cc cng tc hnh trnh
bng cc cm bin, cc c cu tay gt bng cc xilanh kh nn tng chnh xc v
gim s c.
Hng pht trin ti :
Do iu kin khng cho php nn ti ca em ch dng li vic phn loi cc
sn phm n gin da vo chiu cao, tuy nhin ti c th pht trin thm vic
phn loi thm cc sn phm da vo mu sc , kch thc c th kt ni vi mc tnh
iu khin bng ti t xa v qua nhiu ch

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 n tt nghip.

Ti liu tham kho

1. L Thnh Bc (2001) , gio trnh thit b in, Nh xut bn khoa hc v k thut.
2. Phm Quc Ph & Nguyn c Chin (2008), gio trnh cm bin. Nh xut bn
khoa hc v k thut.
3. GS TSKH Thn Ngc Hong (1999), my in. Nh xut bn giao thng vn ti.
4. Microchip, vi iu khin PIC16F877A.
5. http://www.google.com.vn .

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 n tt nghip.

MC LC
CHNG 1:..........................................................................................1
S LC V H THNG PHN LOI SN PHM..................................1
THEO KCH THC..............................................................................1
1.1. T VN :............................................................................1
1.2. CC BNG CHUYN PHN LOI SN PHM HIN NAY :.............1
1.2.1. Cc loi bng ti s dng hin nay :......................................1
1.2.1.1. Gii thiu chung :................................................................1
1.2.1.2. u im ca bng ti :........................................................1
1.2.1.3. Cu to chung ca bng ti :..............................................2
1.2.1.4. Cc loi bng ti trn th trng hin nay :........................2
1.2.2 Cc loi bng chuyn phn loi sn phm hin nay :.............3
1.3 GII THIU SN PHM DNG TRONG M HNH :.......................4
1.4 GII THIU BNG TI DNG TRONG M HNH :.........................4
CHNG 2 : .......................................................................................4
GII THIU V VI IU KHIN PIC 16F877A, CC THIT B CM BIN
V CHP HNH....................................................................................5
2.1 R le trung gian :.......................................................................5
2.1.1 Khi nim chung v r le :......................................................5
2.1.2 Phn loi r le :.......................................................................5
2.1.3. c tnh vo ra ca rle :.......................................................5
2.1.4. R le trung gian :...................................................................6
2.2. ng c s dng trong m hnh :.............................................8
2.2.1 Gii thiu ng c 1 chiu :....................................................8
2.2.2. Cu to ca ng c in 1 chiu :........................................9
2.2.3. Nguyn l lm vic ca ng c in 1 chiu :......................9
2.2.4. Phn loi ng c in 1 chiu :..........................................10
2.2.5. Phng trnh c tnh c ca ng c in 1 chiu :...........10
2.3 Cm bin quang :.....................................................................12
2.3.1 Khi nim :............................................................................12
2.3.2 Phn loi cm bin :..............................................................13
2.3.3. Cm bin dng trong h thng :..........................................13
2.4 VI IU KHIN PIC 16F877A :...................................................14
2.4.1 M t khi qut chung v tnh nng ca vi iu khin PIC
16F877A :.......................................................................................14
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 n tt nghip.
2.4.2 S khi chc nng v cc chn vo ra :...........................16
2.4.3 T chc b nh v cc thanh ghi chc nng c bit :.........21
2.4.3.1 B nh chng trnh Flash :...............................................21
2.4.3.2 B nh d liu RAM :..........................................................22
2.4.3.3 B nh d liu EEPROM :....................................................24
2.4.4 Cc cng vo/ra :..................................................................24
2.4.4.1 Cng A :.............................................................................24
2.4.4.2 Cng B :.............................................................................25
2.4.4.3 Cng C :.............................................................................26
2.4.4.4 Cng D :.............................................................................28
2.4.4.5 Cng E :..............................................................................29
2.4.5 Cc khi TIMER :...................................................................30
2.4.5.1 Khi timer0 :......................................................................30
2.4.5.2 Khi Timer1 :......................................................................31
2.4.5.3 Khi Timer2 :......................................................................33
2.4.6 Cng ni tip ng b I2C :...................................................34
2.4.7 B thu pht khng ng b vn nng UART :.......................35
2.4.7.1 Khi truyn thng ng b :..............................................35
2.4.7.2 Khi nhn khng ng b :................................................36
2.4.8 Khi chuyn i tng t/s ADC :.......................................37
2.4.9 Cc c im ring v thit lp cu hnh PIC :......................38
2.4.9.1 Cc im mi trong vi iu khin PIC 16F877A:................38
2.4.9.2 nh cu hnh T cu hnh (Config Word) :......................42
2.4.10 Ngn ng lp trnh cho PIC 16F877A :...............................43
CHNG 3 : .....................................................................................44
THIT K H THNG BNG CHUYN PHN LOI SN PHM............44
3.1 YU CU :.................................................................................44
3.2 CC KHI TRONG H THNG :.................................................44
3.3 KHI NGUN :..........................................................................50
CHNG 4 : .....................................................................................52
LP RP M HNH H THNG IU KHIN BNG CHUYN PHN LOI
SN PHM.........................................................................................52
4.1 YU CU CNG NGH :............................................................52
4.2 THUT TON :.........................................................................52
4.2.1. Thut ton chng trnh chnh : ..........................................52

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4.2.1. Thut ton chng trnh ngt TIMER_1 (Hin th cho 6 LED 7
on) :............................................................................................53
4.2.3. Thut ton chng trnh ngt RB :.......................................54
4.3 CHNG TRNH :......................................................................54
4.3.1 Phn mm lp trnh :.............................................................54
4.3.2 Phn mm np chng trnh :...............................................56
4.3.3 Chng trnh :.......................................................................58
4.4 MCH IN M PHNG V M HNH :.........................................60
4.4.1 Mch in :...............................................................................60
4.4.2 M phng :............................................................................61
4.4.3 M hnh :...............................................................................62
CHNG 5 : ......................................................................................64
CHY TH V KT LUN....................................................................64
Ti liu tham kho.............................................................................65

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

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