M hnh ng c DC:

Mt ng c DC c 6 phn c bn:
Phn ng hay Rotor (Armature)
C gp (Commutat)
Chi than (Brushes)
Trc motor (Axle)
Nam chm to t trng
B phn cung cp dng in DC

Phng trnh c bn ca ng c 1 chiu:

E= K .omega
V= E+R.I
M= K I

(1)
(2)
(3)

Vi:
-

: T thng trn mi cc( Wb)

I: dng in phn ng (A)
V : in p phn ng (V)
R: in tr phn ng (Ohm)
omega : tc ng c(rad/s)
M : moment ng c (Nm)

- K: hng s, ph thuc cu trc ng c

T (1),(2). (3) suy ra:
omega = V/(K.) - R.I/(K.)

(4)

----> Cc phng php iu khin tc ng c:

- iu chnh t thng
- iu chnh in tr phn ng
- iu chnh in p phn ng
Thng thng trong cc n, iu khin bng in p phn ng.
Theo (4) : khi I khng i (tc Moment khng i) v khng i th
omega thay i "tuyn tnh" theo V (thc t khng hon ton tuyn
tnh nh ng thng c u!!!) .
Dng PWM iu chnh in p V:

V_AV thay i t V_L n V_H ty theo cc rng T_on v T_off .

Nh vy, tc ng c s thay i "tuyn tnh" theo % rng xung.
Trn y, mnh ch gii thiu s qua v PWM, gip cho cc bn mi bt
u lm n 1 v iu khin ng c nm c phn c bn nht.
Cn v phn iu khin, nn dng PID nh anh Hu Tn v Minh Tho
gii thiu
Cc bn cng nn tm hiu v encoder, cu to cng nh nguyn l
lm vic ca n c th ly c tc v, phc v cho vng hi
tip. y l phn cng kh quan trng, nu tc c v sai th phn
iu khin s khng chnh xc.
Phn hin th, c th dng LCD, hoc hin th trn my tnh. Phn t

tc t, c th dng phm nhn trn mch ca bn, hoc t t

my tnh. Nu bn quan tm n giao tip gia my tnh v vi iu
khin th nn c cun " o lng v iu khin bng my tnh"
ca thy Nguyn c Thnh. y l mn cc bn ngnh iu khin t
ng s hc vo nm 4.

Trong bi vit ny biendt vit v cu to, t chc thanh ghi, m ha s

liu ca DS1307. Tt c nhng g di y gip cc pc hiu r hn
phn no v con thi gian thc DS1307 giao tip qua chun truyn
thng I2C
I ) Gii thiu v thi gian thc DS13307
DS1307 l chip thi gian thc hay RTC (Read time clock). y l mt IC
tch hp cho thi gian bi v tnh chnh xc v thi gian tuyt i cho
thi gian : Th, ngy,thng, nm, gi, pht, giy. DS1307 l ch to bi
Dallas. Chip ny c 7 thanh ghi 8 bit mi thanh ghi ny cha : Th ,
ngy, thng, nm, gi , pht, giy. Ngoi ra DS1307 cn cha 1 thanh
ghi iu khin ng ra ph v 56 thanh ghi trng cc thanh ghi ny c
th dng nh l RAM. DS1307 c c thng qua chun truyn thng
I2C nn do c c v ghi t DS1307 thng qua chun truyn
thng ny. Do n c giao tip chun I2C nn cu to bn ngoi n
rt n gin. V d 1 dng ng v ca DS1307 nh sau :

Trn l hai dng cu to ca DS1307. Chip ny c 8 chn v chng ta

hay dng l dng Dip v cc chn n c m t nh sau :
+ X1 v X2 l u vo dao ng cho DS1307. Cn dao ng thch anh
32.768Khz.
+ Vbat l ngun nui cho chip. Ngun ny t ( 2V- 3.5V) ta ly pin c
ngun 3V. y l ngun cho chip hot ng lin tc khi khng c
ngun Vcc m DS1307 vn hot ng theo thi gian
+ Vcc l ngun cho giao tip I2C. in p cung cp l 5V chun v
c dng chung vi vi x l. Nu m Vcc khng c m Vbat c th
DS1307 vn hot ng bnh thng nhng m khng ghi v c c
d liu.
+ GND l ngun Mass chung cho c Vcc v Vbat
+ SQW/OUT l mt ng ra ph to xung dao ng (xung vung). Chn
ny ti ngh khng nh hng n thi gian thc nn chng ta khng
s dng chn ny trong thi gian thc v b trng chn ny!
+ SCL v SDA l hai bus d liu ca DS1307. Thng tin truyn v ghi
u c truyn qua 2 ng truyn ny theo chun I2C
II) Ghp ni DS1307 vi vi iu khin
Do DS1307 giao tip chun I2C nn vic ghp ni n vi vi iu khin
kh l n gin v theo datasheet th ti a ra s sau :

Ds1307 n ch giao tip vi vi iu khin vi 2 ng truyn SCL v

SDA nn do trn vi x l cn phi xc nh chn no trn vi x l n
c SCL v SDA ni vi DS1307 ci ny i vi dng PIC, AVR cn vi
dng Psoc n c s khc ty theo kiu Fimware hay harware m cc
chn SDA v SCL n s nm chn no ci c thit lp trong phn
mn.
III : T chc thanh ghi trong DS1307
Cu to bn trong ca DS1307 bao gm mch ngun, dao ng, logic
v con tr ,thanh ghi thc hin vic ghi c. Do trong cc bi ton
chng ta thng s dng DS1307 cho ng h thi gian thc nn do
chng ta ch quan tm n vic ghi c cc thanh ghi cn thit (sec,
min, hour) thng qua chun truyn thng I2C cn cc thanh ghi khc
th chng ta c th tm hiu k trong datasheet! V cc thanh ghi
c coi nh l RAM lu tr. Nn do ti ch gii thiu cc thanh ghi
c chc nng thi gian thc phc v cho bi ton thi gian.
Trong b nh ca DS1307 c tt c 64 thanh ghi a ch t 0 n 63 v
c bt u t 0x00 n 0x3F nhng trong ch c 8 thanh ghi u
l thanh ghi thi gian thc nn chng ta s i su vo 8 thanh ghi
( chc nng v a ch thanh ghi thi gian thc ny). Nhn vo bng
thanh ghi trong datasheet ta s thy nh sau :

Nhn vo bng trn chng ta thy cc thanh ghi thi gian thc n c
sp sp theo th t : giy, pht, gi, th, ngy , thng, nm v bt u
t thanh ghi Giy (0x00) v kt thc bng thanh ghi nm (0x06). Ring
thanh ghi Control dng iu khin ng ra ca chn SQW/OUT nn
trong thc t nn khng my ai s dng thanh ghi ny trong thi gian
thc nn chng ta b qua thanh ghi ny!
Do 7 thanh ghi u tin l kh quan trng cho thi gian thc v l
thanh ghi quan trng nht trong con DS1307 nn chng ta phi hiu
c cch t chc thanh ghi ny trong DS1307. Ti tham kho
datasheet v a ra t chc thanh ghi trong datasheet thi gian thc
nh sau :

Nhn bng trn chng ta thy cc thanh ghi c m ha theo bit. Mi

bit trong thanh ghi u c chc nng ring v ti s trnh by chi tit
nh sau :
+ Thanh ghi giy (0x00) : y l thanh ghi giy ca DS1307. Nhn
trn bng trn ta thy c t bit 0 n bit 3 l dng m ha s
BCD hng n v ca giy. Tip theo t bit 4 n bit 6 dng m ha
BCD hng chc ca giy. Ti sao n ch s dng c 3 bit ny l do giy
ca chng ta ln nht ch n 59 nn hng chc ln nht l 5 nn ch
cn 3 thanh ghi ny l cng m ha ri! Cn bit th 7 c tn l CH
theo ti n c ngha l Clock Halt Treo ng h Do nu m bit 7
ny m c a ln 1 tc l kha ng h nn do n v hiu ha
chip v chip khng hot ng. Nn do vy lc no cng phi cho bit 7
ny lun xung 0 t lc u( ci ny s dng lnh end vi 0x7F)
+ Thanh ghi pht (0x01) : y l thanh ghi pht ca DS1307. Cng
nhn trn bng thanh ghi ny c t chc nh thanh ghi giy. Cng l
3 bit thp dng m ha BCD ch s hng n v v s hng trc ch
ln nht l 5 nn do ch cn dng t bit 4 n bit 6 m ha BCD
tip ch s hng chc. Nhng thanh ghi ny c s khc bit vi thanh
ghi giy l bit 7 n mc nh bng 0 ri nn do chng ta khng
phi lm g vi bit 7 m k n!
+ Thanh ghi gi (0x02) : y l thanh ghi gi ca DS1307 v ti
thy thanh ghi ny c coi l phc tp nht v n lng nh lng nhng
nhng m nhn bng th thy cc t chc ca n cng hp l. Trc tin
chng ta thy c rng t bit 0 n bit 3 n dng m ha BCD ca
ch s hng n v ca gi. Nhng m gi n cn c ch 24h v 12h
nn do n phc tp cc bit cao (bit 4 n bit 7) v s chn ch
12h v 24h n li nm bit 6. Nu bit 6=0 th ch 24h th do ch
s hng trc ln nht l 2 nn do n ch dng 2 bit ( bit 4 v bit 5 )
m ha BCD ch s hng trc ca gi. Nu bit 6 =1 th ch 12h
c chn nhng do ch s ca hng trc ca gi trong ch ny ch
ln nht l 1 nn do bit th 4 l m ha BCD ch s hng trc
ca gi ri nhng m bit th 5 n li dng ch bui sng hay chiu,
nu m bit 5 = 0 l AM v bit 5 =1 l PM. Trong c 2 ch 12h v 24h
th bit 7 =0 nn ta ko cn ch n thanh ghi ny.
+ Thanh ghi th (0x03): y l thanh ghi th trong tun ca DS1307
v thanh ghi ny kh l n gin trong DS1307. N dng s ch th
trong tun nn do n ch ly t 1 n 7 tng ng t th hai n
ch nht. Nn do n dng 3 bit thp (bit 0 n bit 2) m ha BCD
ra th trong ngy. Cn cc bit t 3 n 7 th n mc nh bng 0 v ta
khng lm g vi cc bit ny!
+ Thanh ghi ngy (0x04) : y l thanh ghi ngy trong thng ca
DS1307. Do trong cc thng c s ngy khc nhau nhng m nm
trong khong t 1n 31 ngy. Do thanh ghi ny cc bit c t
chc kh l n gin. N dng 4 bit thp (bit0 n bit 3) dng m
ha BCD ra ch s hng n v ca ngy trong thng. Nhng do ch s
hng trc ca ngy trong thng ch ln nht l 3 nn ch dng bit 4 v

bit 5 l m ha BCD ri. Cn bit 6 v bit 7 chng ta khng lm g v

n mc nh bng 0.
+ Thanh ghi thng (0x05) : y l thanh ghi thng trong nm ca
DS1307. Thng trong nm ch c t 1 n 12 thng nn vic t chc
trong bit cng tng t nh ngy trong thng nn do cng 4 bit thp
(t bit 0 n bit 3) m ha BCD hng n v ca thng. Nhng do hng
chc ch ln nht l 1 nn ch dng 1 bit th 4 m ha BCD ra ch
s hng trc v cc bit cn li t bit 5 n bit 7 th b trng v n mc
nh cho xung mc 0.
+ Thanh ghi nm (0x06): y l thanh ghi nm trong DS1307.
DS1307 ch c 100 nm thi tng ng vi 00 n 99 nn n dng
tt c cc bit thp v bit cao m ha BCD ra nm!
+ Thanh ghi iu khin (0x07): y l thanh ghi iu khin qu
trnh ghi ca DS1307 v Qu trnh ghi phi c kt thc bng a ch
0x93.
IV: Tng kt
Nh chng ta bit th DS1307 n m ha ra s BCD nh ti ni
trn do khi ghi vo cc thanh ghi ny cng phi l s BCD. V vy
vic c v ghi th u l gi tr BCD trong lp trnh th vic a cc gi
tr BCD ny vo kh khn nn chng ta thng dng bin i qua li
gia BCD v thp lc phn d dng kim sot ca cc gi tr ca
thanh ghi.
Ti ly v d nh th ny : Thanh ghi gi cho gi tr l 0x10 y l m
BCD nhng m khi chuyn sang m thp lc phn th gi tr n l 16
Ci ny cc pc tm hiu cc chuyn i v cu to ca hai m ny.
y ti khng ni v n! Ni chung trong LED 7 vch th cc m BCD
ny rt tin dng v LED 7 c m ha theo BCD khi dng thm con
m ha 7447 ch hn!
Trong qu trnh ghi d liu cho cc thanh ghi thi gian thc chng ta
cng phi chuyn i thnh m BCD tng ng sau mi ghi vo cho
DS1307.
Vic c v ghi d liu cho DS1307 ph thuc vo chng trnh iu
khin. Ti s vit bi hng dn c v ghi d liu dng PSoc!