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LI NI U
Vi x l Vi iu khin c ng dng rt nhiu trong cuc sng. T
nhng bng n qung co led 7 on, led ma trn,theo kiu chy ch
khc nhau cho n cc h thng t ng khc nh my mc dy chuyn sn
xut trong cc x nghip, nh my. c bit, Vi iu khin Vi x l c
ng dng vo vic ch to Robot phc vu Sn xut hng ha, ch to my
mc phc v i sng con ngi.
Nhn thy s thit thc ca mn hc ny v di s gip ca thy
T MINH CNG, nhm chng em bt tay vo thc hin ti mn
hc ny vi vic ch to xe chy t ng d ng theo vch.
Sau mt thi gian di nghin cu v lm vic, chng em gp rt nhiu
kh khn, vng mc. Di s ch dn ca thy CNG th phn no
nhng kh khn c khc phc. Nhng do trnh v kh nng c hn
nn cn vi vn chng em gii quyt cha thu o.
Qua vic thc hin ti ny, nhm chng em hc hi c rt nhiu
iu b ch. Qua cng rt ra c khng t nhng kinh nghim thc t b
ch, l hnh trang phc v cng vic sau ny ca chng em.

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SVTH: Thanh Bn- Vit Khi- V C
-108C-5 CKT L T Trng

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NHN XT CA GIO VIN HNG DN

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Tp hcm . ngy thng nm 2010
Gio vin hng dn

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SVTH: Thanh Bn- Vit Khi- V C
-208C-5 CKT L T Trng

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NHN XT CA GIO VIN PHN BIN

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Tp hcm . ngy thng nm 2010
Gio vin phn bin .

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SVTH: Thanh Bn- Vit Khi- V C
-308C-5 CKT L T Trng

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Ni dung ti:
1. ti :
iu khin chuyn ng ca robot chy theo vch trng.
Chc nng ca h thng:
- Chuyn ng ca ng c theo ca ngi lp trnh
- Chuyn ng thng-tin li .
- Chuyn ng quay : tri- phi .
- iu khin ng c chy theo vach bt k .
II .Thit k :
1. Nhim v thit k :
- Mch iu khin .
- Mch ng c .
- Mch d vch trng.
2. S khi ca h thng :
I.

Khi iu khin

Khi c hc

Khi d ng

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SVTH: Thanh Bn- Vit Khi- V C
-408C-5 CKT L T Trng

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3. S mch in ca h thng :

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SVTH: Thanh Bn- Vit Khi- V C
-508C-5 CKT L T Trng

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SVTH: Thanh Bn- Vit Khi- V C
-608C-5 CKT L T Trng

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3.1. Mch iu khin :

a. Gii thiu s lc v IC 89C51:
- 4K Bytes Flash rom.
- 128 bytes ram.
- 4 port 8 bit.

Hai b nh thi 16 bit .

C port ni tip .
C th m rng b nh chng trnh ngoi 64k byte.
B x l bit
Cu trc bn trong ca 89C51

INT\*1
INT\*0
TIMER2
TIMER1
PORT

iu khin
ngt

Cc thanh
ghi khc

128 byte
Ram

Rom
4K-8051
OK-8031

T1*
Timer1
Timer2

T2*

CPU

To dao
ng

iu khin
bus

Port ni
tip

Cac port I\O

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P P1 P2 P3
SVTH: Thanh BnVit
Khi-7EA\ RST
PSEN
ALE V C 0
08C-5 CKT L T Trng

TXD* RXD*

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3.b. Mch d ng :
Nhm em xin gii thiu v sensor d ng ca robot thng dng
trong thc t .

Cm bin hng ngoi gm : n led pht v transitor thu.

Nguyn l chung : cng pht cng ln th dng din bn transitor cng
ln . Theo nh s trn th in p ri trn R ca mch thu cng ln th R
cng tng .
Ta thy rng mu sc khc nhau th phn x khc nhau dn n dng thu
cng khc nhau .

_______________________________________________________________________
SVTH: Thanh Bn- Vit Khi- V C
-808C-5 CKT L T Trng

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SVTH: Thanh Bn- Vit Khi- V C
-908C-5 CKT L T Trng

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3.c. Mch ng c :
Cu trc bn trong ca ng c :
i vi m hnh xe t d ng , nhm em dng IC chuyn dng c
th o chiu quay ca ng c .
A
B
A',B',C',D
'
C
D

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SVTH: Thanh Bn- Vit Khi- V C
- 10 08C-5 CKT L T Trng

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i vi IC L293 th ta phi mc thm diot cn i vi IC L293D th c

diot sn bn trong .
tn nhit cho IC th ta thit k chn GND rng hay gn thm phin tn
nhit .
Dng chu c c th ln n 3A .
Cc thnh phn c hc khc :
- Hai bnh xe iu khin chuyn ng , c to trc thch hp
gn lin vi 2 ng c trc quay ca ng c .
- Mt bnh xe con c gn pha trc thn robot c th
quay mi hng khi 2 bnh xe iu khin r tri hay phi .
Lp trnh vi iu khin :
1 .Lu gii thut :
II.

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SVTH: Thanh Bn- Vit Khi- V C
- 11 08C-5 CKT L T Trng

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BAD
A=11110000B
WELL
A=11110110B
BEGIN

STOP
P1=0FFH

ON LELF 1BIT
A=11111110B

ON RIGHT 1BIT
A=11110111B

ON LELF 2BIT
A=11111100B

ON RIGHT 2BIT
A=11110011B

READ LINE
AP3
CJNE A=?

DIFF =900
A=11110101B

DIFF=3BIT
A=11110001B

WELL
LCALL DITHANG

ON LEFT1BIT
LCALL REPHAI
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SVTH: Thanh Bn- Vit Khi- V C
- 12 08C-5 CKT L T Trng

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ON LEFT2BIT
LCALL REPHAI

ON RIGHT1BIT
LCALL RETRAI

ON RIGHT2BIT
LCALL REPHAI

ON LEFT3BIT
LCALL REPHAI

DIFF=900
LCALL RETRAI

BAD
LCALL STOP

END
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SVTH: Thanh Bn- Vit Khi- V C
- 13 08C-5 CKT L T Trng

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2) Chng trnh ASM:

org 0000h
ljmp main
dung:
mov p1,#0ffh
ret
dithang:
clr p1.1
clr p1.4
ret
lechtrai:
clr p1.1
setb p1.4
ret
lechphai:
clr p1.4
setb p1.1
ret
main:
mov p1,#0ffh
start:
read_line:
step0:
mov a,p3
cjne a,#11110110b,step1
lcall dithang
step1:
_______________________________________________________________________
SVTH: Thanh Bn- Vit Khi- V C
- 14 08C-5 CKT L T Trng

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mov a,p3
cjne a,#11111110b,step2
lcall lechtrai
step2:
mov a,p3
cjne a,#11110111b,step3
lcall lechphai
step3:
mov a,p3
cjne a,#11111100b,step4
lcall lechtrai
step4:
mov a,p3
cjne a,#11110101b,step5
lcall lechphai
step5:
mov a,p3
cjne a,#11111010b,step6
lcall lechtrai
step6:
mov a,p3
cjne a,#11110011b,step7
lcall lechphai
step7:
mov a,p3
cjne a,#11111000b,step8
lcall lechtrai
step8:
mov a,p3
cjne a,#11110001b,step9
lcall lechphai
step9:
mov a,p3
cjne a,#11111001b,step10
lcall lechphai
step10:
mov a,p3
cjne a,#11110010b,step11
lcall lechphai
_______________________________________________________________________
SVTH: Thanh Bn- Vit Khi- V C
- 15 08C-5 CKT L T Trng

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step11:
mov a,p3
cjne a,#11110100b,step12
lcall dithang
step12:
mov a,p3
cjne a,#11111111b,step13
lcall dung
step13:
mov a,p3
cjne a,#11110000b,step14
lcall dithang
step14:
ljmp step0
END
IV.Cac bc thc hien:
a. Linh kien vadung cu:
- Dung cu : ch , mo han , tam mica , 3 banh xe, oc
van.
- Linh kien: ien tr , tu ien, IC LM243, IC L293D,
phototransitor CTRT5000, diode 1N4001, thach anh, bien
tr ,en led , nguon 12V

b. S mch in :
Mch in kt hp IC L293D v LM 234

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SVTH: Thanh Bn- Vit Khi- V C
- 16 08C-5 CKT L T Trng

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Mch in cm bin sensor :

c. Lp rp linh kin :
-Mt trc ca xe :

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SVTH: Thanh Bn- Vit Khi- V C
- 17 08C-5 CKT L T Trng

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-Mt sau ca xe :

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SVTH: Thanh Bn- Vit Khi- V C
- 18 08C-5 CKT L T Trng
LED(DNG BO R TRI , PHI)

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SVTH: Thanh Bn- Vit Khi- V C
- 19 08C-5 CKT L T Trng