LVTN281

I HC QUC GIA THNH PH H CH MINH
TRNG I HC BCH KHOA

KHOA IN - IN T
LUN VN TT NGHIP
PHN TCH CC THNH PHN

IN V IU KHIN
TRONG M HNH SCOOTER T CN BNG
SVTH :
NGUYN ANH CHNG

NGUYN NAM DNG
INH L DUY NGHA
GVHD : Th.S MAI TUN T
TP.H Ch Minh, Thng 1/2010
Li cm n!
ti lun vn tt nghip l ti ln v hon thin cui cng trc khi chng ti

ri ging ng i hc tr thnh mt k s. Tt c kin thc t bn nm hc tp, trau
di c tp trung ni ny vi mc tiu t c kt qu tt nht. Nhng chng ti
khng th t c kt qu tt p nh th ny nu khng c s gip ca ngi thn,
thy c v bn b. Vi lng tn knh v bit n v hn, chng ti xin gi li cm n chn
thnh ti ng b, cha me, anh ch v tt c ngi thn, nhng ngi lun bn cnh chng
ti, ht lng chm sc, du dt v lun ng vin khch l chng ti trong sut qu trnh
hc tp v lm ti. Chng ti xin t lng bit n chn thnh n Th.S Mai Tun t,
gio vin hng dn v l ngi thy ht mc quan tm dn dt chng ti. Thy cho
php chng ti thc hin ti, gip chng ti nhiu mt v k thut cng nh tinh
thn, cho chng ti nhng li khuyn b ch v kp thi trong nhng lc kh khn nht.
Chng ti cng xin cm n tt c bn b cng chng ti chia s nhng bun vui cng
nh thnh cng trong cng vic v gip chng ti nhng lc kh khn .
Cui cng chng ti xin by t lng bit n n tt c thy c, ging vin trng i
hc Bch Khoa- i Hc Quc Gia TP. H Ch Minh truyn t tt c nhng kin thc
b ch cho chng ti, gip chng ti c c s hon thnh ti ny!
Chng ti xin chn thnh cm n!
Nhm lm ti!
Nhn xt ca gio vin

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Thnh ph H Ch Minh, ngy 11 thng 1 nm 2010
Tm tt ti
ti xut pht t mc tiu phn tch cc thnh phn cu to cng nh iu khin

ca xe hai bnh t cn bng. Trn c s thit k thnh cng m hnh xe dng ng c
BLDC vi tng cng sut 600W, b vi iu khin trung tm c n nh cao.
ti thc hin so snh cc phng n MOSFET Driver khc nhau v so snh cc
phng php iu khin BLDC, t rt ra kt lun, p dng phng php ti u vo
iu khin ng c BLDC cho xe hai bnh t cn bng. ti cng tch hp cho ton b
phn ngun ca h thng vi iu khin v phn mch cng sut t b ngun FlyBack
converter. iu ny cho php chng ta tit kim nng lng cho ton h thng, tng an
ton cho h thng v cc ngun c cch ly hon ton.
Vi iu khin 16bit MC9S12DP512 ca hng Freescale c chn lm b vi iu
khin trung tm cho h thng xe hai bnh t cn bng. y l dng vi iu khin chuyn
dng cho h thng cng nghip v t c tin cy cao, c kh nng iu khin cc h
thng ln mt cch n nh, c bit h tr iu khin ng c.
Mc lc:
CHNG 1: TNG QUAN ......................................................................................................... 1
1.1 Gii thiu chung .................................................................................................................... 1
1.2 Xe hai bnh t cn bng hot ng nh th no? .................................................................. 2
1.3 Cc thnh phn ca xe hai bnh t cn bng ......................................................................... 3
CHNG 2: NHIM V LUN VN ....................................................................................... 6
CHNG 3: GII THIU V NG C BLDC.................................................................... 7
3.1 Gii thiu chung v ng c BLDC ...................................................................................... 7
3.1.1 u im .............................................................................................................................. 7
3.1.2 Nhc im ........................................................................................................................ 8
3.2 Cu trc ng c BLDC ........................................................................................................ 8
3.2.1 ng c nam chm dn ngoi b mt rotor .................................................................. 10
3.2.2 ng c c nam chm vnh cu t bn trong rotor .................................................... 11
3.3 Phng trnh m hnh ton ca ng c BLDC ................................................................. 13
3.3.1 Phng trnh in p tc thi ....................................................................................... 13
3.3.2 Sc in ng cm ng ................................................................................................ 14
3.3.3 Mmen in t.............................................................................................................. 15
3.3.4 Vn tc di ca rotor .................................................................................................... 15
3.3.5. Sc in ng v mmen ng c BLDC ................................................................... 16
3.3.6 c tnh mmen- vn tc ............................................................................................. 17
3.3.7 Tn hao dy qun ......................................................................................................... 18
3.3.8 Gn sng mmen .......................................................................................................... 19
3.4 Cc phng php iu khin ng c BLDC...................................................................... 22
3.4.1 c im b iu khin- B kha bn dn ba pha ....................................................... 22
3.4.2 Cm bin v tr rotor Cm bin Hall ........................................................................... 24
3.4.3 Cc phng php iu khin ng c BLDC............................................................... 27
CHNG 4: THIT K C KH ............................................................................................ 33
CHNG 5: TM HIU MT S VI IU KHIN CA FREESCALE .......................... 34
5.1 Gii thiu chung v h vi iu khin HCS12 ...................................................................... 34
5.2 Vi iu khin MC9S12DP512 ............................................................................................. 35
5.2.1 Gii thiu chung ........................................................................................................... 35
5.2.2 Cc ch hot ng.................................................................................................... 38
5.2.3 Khi to dao ng ......................................................................................................... 39
5.2.4 Khi chc nng Key-WakeUp (Chc nng nh thc bng phm nhn) .................... 41
5.2.5 Cc Port xut nhp a dng .......................................................................................... 42
5.2.6 Khi ATD (Analog To Digital) .................................................................................... 43
5.2.7 Khi chc nng thi gian (Timer) ................................................................................ 44
5.2.8 B m xung (Pulse Accumulator)............................................................................... 46
5.2.9 Khi iu rng xung (PWM: Pulse Width Modulation) .............................................. 47
5.3 Vi iu khin HCS08 ........................................................................................................... 49
5.3.1 Gii thiu chung ........................................................................................................... 49
5.3.2 Cc ch hot ng.................................................................................................... 51
5.3.3 Khi MCG (Multi-purpose Clock Generaror) .............................................................. 51
5.3.4 Khi ADC (Analog to Digital Converter) .................................................................... 53

5.3.5 Khi TPWM (Timer/Pulse Width Modulator) ............................................................. 54
5.3.6 Khi KBI (Keyboard Interrupt) .................................................................................... 54
5.3.7 Khi RTC (Real Time Counter) ................................................................................... 55
5.4 Gii thiu v chng trnh bin dch, mch np, debug ...................................................... 56
CHNG 6: XY DNG LU GII THUT ................................................................ 61
6.1 Mch iu khin trung tm .................................................................................................. 61
6.2 Lu gii thut.................................................................................................................. 62
CHNG 7: THIT K MCH IN ................................................................................... 65
7.1 Tng qut. ............................................................................................................................ 65
7.2 Ngun flyback ..................................................................................................................... 66
7.2.1 Gii thiu ...................................................................................................................... 66
7.2.2 Nguyn l lm vic. ...................................................................................................... 68
7.2.3 Kt qu thc nghim..................................................................................................... 73
7.3 Mch vi iu khin .............................................................................................................. 75
7.4 Mch iu Khin BLDC ..................................................................................................... 78
7.5 iu khin MOSFET ........................................................................................................... 82
7.5.1 Qu trnh kch ng MOSFET ..................................................................................... 82
7.5.2 Phn tch qu trnh kch ng. ...................................................................................... 85
7.5.3 Qu trnh kch ngt ca MOSFET ................................................................................ 87
7.6 Mch MOSFET Driver ........................................................................................................ 87
7.6.1 in tr ti hn ............................................................................................................. 87
7.6.2 in tr kch ng ........................................................................................................ 89
7.6.3 in tr kch ngt. ........................................................................................................ 91
7.6.4 Mch driver IR2136 v MOSFET 60N06 .................................................................... 93
7.6.5 Mch driver HCPL 3120 v MOSFET 75N75 ............................................................. 99
7.7 Nhn xt: ........................................................................................................................... 103
CHNG 8: KT QU V NH GI ............................................................................... 104
8.1 Cc im t c ............................................................................................................. 104
8.2 Cc im cha t c .................................................................................................... 105
8.3 Hng pht trin ca ti .............................................................................................. 105
Ti liu tham kho: ................................................................................................................... 106
CHNG 1: TNG QUAN
Lun vn tt nghip 2010
CHNG 1: TNG QUAN
1.1 Gii thiu chung

Xe hai bnh t cn bng c nghin cu v pht trin t lu trn th gii. Phin
bn thng mi ca hng Segway c lu hnh nhiu trn th trng th gii, tuy
nhin ti Vit Nam vn cha pht trin mnh v cng ngh ny. nc ta tng c
nhiu ti nghin cu v pht trin cng ngh xe hai bnh t cn bng nhng ch dng
li nghin cu vi cng sut va v nh v n nh khng cao. Vi ti ny, chng
ti mun xy dng mt phin bn c cng sut ln hn khong 600W vi n nh v
cng sut in c ci thin.
ti s dng hai ng c BLDC ca xe p in vi cng sut 300W/1 bnh.
ng c c mmen xon, mmen khi ng ln, iu khin bng mt b iu khin
chuyn dng do d dng iu khin vi chnh xc cao. Vi cng sut ln ca ng
c gip cho xe c th di chuyn trn on ng di hay a hnh phc tp vi gi
thng bng tt hn so vi loi ng c DC c chi than. Vi iu khin MC9S08DP512
ca hng FreeScale chuyn dng cho cng nghip c n nh cao, b nh ln c
dng lm b x l trung tm cho ti. y l vi iu khin c kh nng iu khin n
nh cc h thng ln, c nhiu u im v iu khin ng c. Vi iu khin c nhim
v nhn tn hiu gc nghing t cm bin, lc nhiu v a ra tn hiu iu khin ti cho
IC iu khin ng c khng chi than chuyn dng. Ngoi ra vi iu khin cng lm
nhim v giao tip vi ngi s dng thng qua cc tn hiu cng tc ng vo v mn
hnh LCD. H thng cm bin qun tnh a tn hiu o gc nghing dng analog c
khuch i m cho vi iu khin. Mch iu khin ng c dng IC chuyn dng 33035
cp xung kch cho h thng kha cng sut dng MOSFET c th hot ng tt trong
di cng sut di 1000W vi in p thp dng in c th ln n 100A. h thng
SVTH: NGUYN ANH CHNG

NGUYN NAM DNG
INH L DUY NGHA
Trang 1
CHNG 1: TNG QUAN
hot ng an ton, tin cy v tit kim nng lng ti mc ti a, tt c cc ngun ca cc

mch iu khin v mch cng sut u l ngun xung c cch ly.
H c kh ca xe c ch to ch yu bng Inox v nhm gip thit k tr nn nh
v chng r st, tng tnh thm m cho xe. c bit c cu li ca xe c cu to c bit:
ton b cn li ca xe c th nghing qua tri hay qua phi sau c th t ng tr v v
tr ban u. Vi thit k ny, ngi dng s nghing cn li xe r theo hng mong
mun.
1.2 Xe hai bnh t cn bng hot ng nh th no?

Cn bng ca mt vt th t trn mt t t c khi trng tm vt th nm trong
mt phng chn ca vt th. i vi xe 3 bnh hay 4 bnh thng thng th s cn
bng d dng t c v trng tm ca xe lun nm trong mt phng chn c to ra
t cc bnh xe. i vi cc loi xe 2 bnh, mt phng chn rt nh nn xe khng n
nh v t cn bng. Xe p 2 bnh cn bng theo nguyn l con quay hi chuyn. Khi xe
hot ng, do chuyn ng quay trn ca bnh xe to ra mt con quay hi chuyn, do
xe tng i cn bng, cng vi s t gi cn bng ca ngi nn xe di chuyn c. i
vi xe ti ca chng ta, hai bnh xe c t ng trc vi nhau, do khi hai bnh
quay th hin tng con quay hi chuyn bi trit tiu ln nhau do ngi trn xe khng
th gi cn bng cho xe. Vy xe hai bnh t cn bng hot ng nh th no?
Xt s t cn bng ngi ta thy: khi c th ta b ng v pha trc, lp tc ta c
phn x bc mt chn ln ly li trng tm v s cn bng. Khi thay v ta ng, ta
di chuyn v pha trc. Vy, i vi xe hai bnh t cn bng ta cng c nguyn l
lm vic tng t. Khi thn xe, trng tm xe, b nghing v pha trc, hai bnh xe di
chuyn v pha trc ly li cn bng cho xe. Thc t ta khng th xc nh chnh xc
trng tm ca xe v iu khin trng tm nm trong mt phng chn . Tuy nhin ta
c th xc nh gc gia hng trng tm v mt sn ca xe, khi ta iu khin xe
cn bng v gi gc ny khng i. Xe c sn nm ngang do ta ch cn iu khin
NGUYN NAM DNG
INH L DUY NGHA
Trang 2
CHNG 1: TNG QUAN
sn xe lun nm ngang, vung gc vi hng trng tm. Vic iu khin ny d dng

thc hin c bng cch dng cm bin xc nh gc v iu khin cc bnh xe di
chuyn thch hp.
Khi , trng thi bnh thng, cm bin a tn hiu gc nghing v b iu
khin trung tm iu khin cc bnh xe di chuyn gi cn bng cho xe. Khi ta mun di
chuyn v trc ta ch cn nghing ngi v pha trc, khi theo thut ton cn bng
xe s t ng chy v pha trc, c nh vy ta v xe di chuyn v pha trc. i vi
hng di chuyn v pha sau cng nh vy. Khi mun dng li ta ch cn ko cn li
ngc li theo hng chuyn ng, khi xe s chm dn v khi ngi v tr thng
ng th xe cng s dng li v t cn bng ti ch.
Hnh 2.1: Nguyn l cn bng ca xe hai bnh t cn bng
1.3 Cc thnh phn ca xe hai bnh t cn bng

Ta phn tch cc thnh phn ca xe hai bnh t cn bng Segway:
Xe c dn ng bng hai ng c BLDC c giu bn trong thn xe. Mt
hp s nhm gim tc v tng mmen cho ng c . Bnh xe c lp vo
trc bn ngoi ca hp s ng c.
NGUYN NAM DNG
INH L DUY NGHA
Trang 3
CHNG 1: TNG QUAN
Xe c gn 100 board mch bao gm mch iu khin v mch cng sut. C

5 con quay hi chuyn v mt cm bin gia tc quay lm nhim v thu thp
d liu cm bin cho thut ton cn bng ca xe. Tt cc mch in u c
gn song song hai thnh phn ging nhau khi c bt k s c no th xe
vn hot ng an ton.
Tay li ca xe c c nh vo khung xe. Pha trn tay li c tay cm vi c
cu b li c kh c cm bin v tr. Trn tay cm c kha thng minh gip
chn tc vn hnh v LCD dng hot hnh biu th trng thi hot ng
ca xe.
Hnh 2.2: Xe hai bnh t cn bng Segway

NGUYN NAM DNG
INH L DUY NGHA
Trang 4
CHNG 1: TNG QUAN
Thnh phn xe hai bnh t cn bng trong ti bao gm:

Cu trc c khung c kh l nhim v nng tt c cc b phn khc v chu
lc tc dng ca ngi s dng.
ng c truyn ng. Dng ng c c t bn trong bnh xe thnh mt
khi, trc tip mang ti.
Tay li ngi s dng lm im ta ng vng v l cn iu khin cho
chuyn ng ca xe.
Ngun in dng chui acquy vi in p cp 36-48V v dung lng
12Ah/acquy.
Mch iu khin trung tm l ni vi iu khin nhn cc tn hiu u vo v
ra lnh iu khin u ra.
Thit b cm bin gia tc gc v vn tc gc xc nh gc lch l c s xe
cn bng.
Mch driver v b kha cng sut ng ct iu khin ng c. Mi ng c
c iu khin bng mt module iu khin ring bit.
Giao din giao tip vi ngi s dng bng LCD 16x2 v cc cng tc iu
khin.

NGUYN NAM DNG
INH L DUY NGHA
Trang 5
CHNG 2: NHIM V LUN VN
CHNG 2: NHIM V LUN VN
Vi mc tiu ti l phn tch cc thnh phn, nghin cu v pht trin cng ngh
xe hai bnh t cn bng da trn c s l thuyt v thc t c nghin cu v ch to
trong v ngoi nc. ti pht trin cng ngh xe hai bnh t cn bng vi cng sut
ln hn, tnh n nh cao hn v c kh nng p dng vo thc t nc ta tt hn. Do
cc vn m ti cn gii quyt l:
Tm hiu v scooter hai bnh t cn bng, nguyn l hot ng.
Tm hiu v ng c BLDC, kh nng ng dng ca ng c BLDC vo
scooter hai bnh t cn bng.
Nghin cu cc phng php iu khin ng c BLDC.
Lp rp mt h c kh n nh cho xe.
Nghin cu cc driver cng sut in p thp dng ln iu khin ng c
BLDC trong xe scooter hai bnh t cn bng.
Nghin cu, ch to b iu khin ng c bao gm driver, cc kha cng sut,
h thng bo v BLDC cng sut ln vi tin cy cao.
Thit k h thng ngun DC Flyback converter cho ton b h thng xe.
Thit k mch x l trung tm cho vi iu khin Freescale MC9S08DP512.
Lp trnh iu khin.

NGUYN NAM DNG
INH L DUY NGHA
Trang 6
CHNG 3: GII THIU V NG C BLDC
3.1 Gii thiu chung v ng c BLDC

ng c DC khng chi than- BLDC ( Brushles DC motor) l mt dng ng c
ng b tuy nhin ng c BLDC kch t bng nam chm vnh cu dn trn rotor v dng
dng in DC ba pha cho dy qun phn ng stator. Cng ging nh ng c ng b
thng thng, cc cun dy ng c BLDC cng c t lch nhau 1200 in trong
khng gian ca stator. Cc thanh nam chm c dn chc chn vo thn rotor lm nhim
v kch t cho ng c. c bit im khc bit v hot ng ca ng c BLDC so vi
cc ng c ng b nam chm vnh cu khc l ng c BLDC bt buc phi c cm
bin v tr rotor cho ng c hot ng. Nguyn tc iu khin ca ng c BLDC l
xc nh v tr rotor iu khin dng in vo cun dy stator tng ng, nu khng
ng c khng th t khi ng hay thay i chiu quay. Chnh v nguyn tc iu khin
da vo v tr rotor nh vy nn ng c BLDC i hi phi c mt b iu khin chuyn
dng phi hp vi cm bin Hall iu khin ng c.
3.1.1 u im
ng c DC khng chi than BLDC( Brushless DC) c cc u im ca ng c
ng b nam chm vnh cu nh: t l mmen /qun tnh ln, t l cng sut/ khi lng
cao.
Do my c kch t bng nam chm vnh cu nn gim tn hao ng v st trn
rotor hiu sut ng c cao hn.
ng c kch t nam chm vnh cu khng cn chi than v vnh trt nn khng
tn chi ph bo tr chi than. Ta cng c th thay i c tnh ng c bng cch thay i
c tnh ca nam chm kch t v cch b tr nam chm trn rotor.
Mt s c tnh ni bt ca ng c BLDC khi hot ng:
NGUYN NAM DNG
INH L DUY NGHA
Trang 7
Mt t thng khe h khng kh ln.

T l cng sut/ khi lng my in cao.
T l mmen/ qun tnh ln (c th tng tc nhanh).
Vn hnh nh nhng (dao ng ca mmen nh) thm ch tc thp ( t
c iu khin v tr mt cch chnh xc).
Mmen iu khin c v tr bng khng.
Vn hnh tc cao.
C th tng tc v gim tc trong thi gian ngn.
Hiu sut cao.
Kt cu gn.
3.1.2 Nhc im
Do ng c c kch t bng nam chm vnh cu nn khi ch to gi thnh cao do
gi nam chm vnh cu kh cao nhng vi s pht trin cng ngh hin nay th gi thnh
nam chm c th gim.
ng c BLDC c iu khin bng mt b iu khin vi in ng ra dng xung
vung v cm bin Hall c t bn trong ng c xc nh v tr rotor. iu ny lm
tng gi thnh u t khi s dng ng c BLDC. Tuy nhin iu ny cho php iu
khin tc v mment ng c d dng v chnh xc hn.
Nu dng cc loi nam chm st t chng d t ha nhng kh nng tch t khng
cao, d b kh t v c tnh t ca nam chm b gim khi tng nhit . Nhng vi loi
nam chm him nh hin nay th nhc im ny c ci thin ng k.
3.2 Cu trc ng c BLDC

NGUYN NAM DNG
INH L DUY NGHA
Trang 8
Nam chm vnh cu dng kch t c th l loi nam chm in t hoc nam chm
him nh AlNiCo, NdFeB,SmCO Tuy nhin hin nay ngi ta thng s dng cc loi
nam chm him v chng c t d ln, t tnh t thay i khi nhit tng, kh b kh
t Vi cng ngh ch to nam chm ngy cng pht trin mnh, cc c tnh t ca
nam chm vnh cu ngy cng c ci thin cht lng nam chm ngy cng tt hn.
iu ny cho php ng c BLDC c ch to v ng dng nhiu hn.
Theo cch dn nam chm vo rotor ng c ta phn thnh hai kiu rotor: rotor c
nam chm dn trn b mt bn ngoi ( rotor-surface-mounted magnet) v dng rotor nam
chm nm bn trong ( interior magnets).
Hnh 3.1: Nam chm c t trn rotor ca ng c BLDC: (a,b,c) nam chm dn
b mt ngoi, (d,e,f,g) nam chm t bn trong rotor.

NGUYN NAM DNG
INH L DUY NGHA
Trang 9
Theo v tr tng i ca rotor i vi sator ta c hai kiu ng c : ng c rotor

nm bn trong (interior rotor) v ng c rotor nm ngoi (exterior rotor).
3.2.1 ng c nam chm dn ngoi b mt rotor
My in c nam chm vnh cu dn trn b mt rotor c xem nh mt ng c
cc t n. Thit k v cu trc stator v cc cun dy tng t nh trong cc my in
ng b truyn thng. Nam chm vnh cu c t trn b mt c rotor v c gn cht
vo rotor. Do nam chm c thm t rt nh so vi st cho nn nh hng ca khe h
khng kh ln my l ln. Thng thng gi thit khi phn tch my in ng b nam
chm vnh cu th khe h khng kh l ng dng.
Hnh 3.2: Kiu rotor nam chm dn ngoi b mt

Trong trng hp cc thanh nam chm c gn trn b mt ca rotor, s gia tng
thm t do mi trng bn ngoi l 1.02- 1.2. Chng c cng t trng ln, cho
nn c th xem my in c khe h khng kh ln, do c th b qua hin tng cc li
(iu ny dn n in cm t ha trn trc d bng vi in cm t ha trn trc q , Lmd=
Lmq=Lm). Hn na, do khe h khng kh ln, in cm ng b (Ls=Lsl+Lm) nh v v vy
c th b qua hin tng phn ng phn ng. Mt h qu ca khe h khng kh ln l
hng s in ca cun stator nh. Nam chm dn ln rotor c th c nhiu hnh dng,
NGUYN NAM DNG
INH L DUY NGHA
Trang 10
dng cung trong hay dng phng c dy vi milimet. Nam chm dng cung to mt t
thng trong khe h khng kh bng phng v mmen t dao ng. Cng c th gim dao
ng ca mmen bng cch thit k stator thch hp.
3.2.2 ng c c nam chm vnh cu t bn trong rotor
ng c loi ny, nam chm c t bn trong ca thn rotor, nam chm c th
c t vung gc nhau hay cho nhau My in c nam chm bn trong rotor cng
nh ng c ng b cc li ( LqLd). Do cc thanh nam chm c t bn trong rotor,
nh hng ca khe h khng kh nh hn nhiu so vi my in c cc thanh nam chm
t bn ngoi rotor. t tnh ny cho php c th d dng vn hnh trong vng t trng
yu m rt kh trong trng hp nam chm dn mt ngoi rotor. Do khe h khng kh l
khng ng dng nn iu khin phc tp hn nhiu so vi my in c nam chm dn
mt ngoi rotor, do mmen to ra gm c hai thnh phn: thnh phn c bn v thnh
phn cng bc.
Hnh 3.3: Kiu rotor nam chm nm bn trong

Trong ti ny chng ta dng ng c dng rotor nm ngoi, nam chm dn mt
ngoi rotor c cu to nh mt bnh xe. Vnh ngoi ca ng c c dn cc thanh nam
chm vnh cu xen k nhau to ra cc cp cc t kch t cho ng c. Vnh ngoi ca
ng c cng l phn quay ca ng c nn y l ng c kiu rotor nm ngoi. Dy
NGUYN NAM DNG
INH L DUY NGHA
Trang 11
qun phn ng c qun trn cc rnh stator nm pha trong v y l phn c nh ca

ng c. Cc ng dy cp ngun cho cc cun dy c a vo trong stator bng cch
i trong lng ca trc stator. Cu to nh th ny gip ng c khng c chi than. Ngoi
ra trn b mt cc t stator cn c gn 3 cm bin Hall a tn hiu v tr rotor cho
b iu khin bn ngoi.
Hnh 3.4: Stator v rotor ca ng c trong ti
Hnh 3.5: Hai ng c trong ti

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3.3 Phng trnh m hnh ton ca ng c BLDC

3.3.1 Phng trnh in p tc thi
Phng trnh Kirchhoff cho in p trong ng c ng b:
v1 e f
trong :
R1ia Ls dia
dt
(3.1)
ef l sc in ng cm ng tc thi ca cun dy mt pha.

R1 l in tr ca dy qun ca mt pha.
Ia l dng in tc thi ca mt pha dy qun stator.
Ls l cm khng ca dy qun trn mt pha.
y l phng trnh in p mt pha tnh ti im trung tnh ca h thng. i vi

ng c 3 pha ni sao Y, dng sng in p vo l ton chu k th trong mt thi im
lun c hai cun dy cng c dng in chy qua. Do phng trnh in p c dng:
v1
trong :
e fA e fB
2R1ia 2Ls dia

dt
(3.2)
efA-efB l in p cm ng dy efAB, c th vit la efL-L
v1
e fA e fB
2R1ia 2Ls dia

dt
(3.3)
Do ng c BLDC dng dng in mt chiu cho cun dy phn ng chng ta b

qua cm khng cun dy Ls
0 , v1= Vdc l in p mt chiu a vo b bin i in
p.
Phng trnh c vit li cho ng c BLDC:
i vi in p dng bn sng
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Vdc e f
R1
ia (t)
(3.4)
i vi dng in p ton sng
Vdc e fL
ia (t )
2R1
(3.5)
Nu xt n cm khng Ls v gi thit efL-L= EfL-L gn bng hng s th phng trnh

c vit li nh sau:
Vdc E fL L
ia (t )
(1 e( R1/ Ls )t ) I a0e( R1/ Ls )t
2R1
trong :
(3.6)
Ia0 l dng in ti thi im t=0.
3.3.2 Sc in ng cm ng
Sc in ng cm ng EMF ca cun dy c tnh theo cng thc ca tc
rotor n:
i vi in p bn sng
Ef
CEdc
fn
K Edcn
(3.7)
i vi in p ton sng.
E fL
Trong
CEdc
CEdc
fn
K Edcn
(3.8)
KEdc gi l hng s sc in ng cm ng hay gi tt l
hng s cm ng. Kch t ca nam chm vnh cu ta xem nh khng i
=const.
CEdc c xc nh theo cng thc:

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CEdc
vi:
8 pN1k w1
(3.9)
kw1 h s dy qun.
N1 s vng dy qun ca mt pha.
p s cp ca ng c.
3.3.3 Mmen in t
Mmen in t ca ng c BLDC c xc nh ging nh ca ng c DC c
chi than:
Td
trong :
CTdc
CTdc
f a
KTdc I a
(3.10)
KTdc gi l hng s mmen.
Hng s mmen c xc nh theo cng thc:
CEdc
2
CTdc
(3.11)
3.3.4 Vn tc di ca rotor
Vn tc di m/s c tnh theo cng thc:
v
trong :
2
T
2 pn
(3.12)
bc cc.
p s cp cc.
n s vng quay ca rotor .

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3.3.5. Sc in ng v mmen ng c BLDC

i vi dy qun ni Y, ti mt thi im dng in ch chy qua hai trong ba cun
ca dy qun stator. Dng in DC kch t c
0 nn cng thc sc in ng ging
nh ng c DC:
Vdc E fL
2R1I a
(3.13)
Sc in ng cm ng EfL-L l tng sc in ng cm ng ca hai cun dy ni

tip nhau, in p Vdc l in p DC a vo b iu khin.
Xt iu kin l tng vi t thng dng hnh ch nht khng i Bmb=const trong
giai on 0
ta c t thng cm ng t:
Li Bmg dx
Li Bmg
(3.14)
Trong thc t t thng ny nh hn v bp
bp Li Bmg
, cng thc tr thnh
L1Bmg
(3.15)
Vi kch t dng xung vung, sc in ng cm ng trn mt vng dy nh sau:
ef 0 2Bmg Lv
4 pnBmg Li
i
Nu tnh ti chiu rng cc bp
(3.16)
v cun dy c N1 vng vi h s qun dy kw1
ta c sc in ng cm ng c tnh:
ef 4 pnN1kw1 i Bmg Li
4 pnN1kw1
(3.17)
vi mch ni Y, trong mt thi im dng in qua hai cun dy th
E fL
2e f

NGUYN NAM DNG
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8 pN1kw1
Li Bmg n cEdc
n kEdc n
(3.18)
Trang 16
trong ta thay cEdc
8 pN1kw1 ,
Li Bmg v kEdc
cEdc
Mmen in t sinh ra c gi tr:
Td
Td
Pg
E fL L I a
2 n
2 n
pN1kw1
Ia
pN1kw1
cTdc
Ia
Li Bmg I a
(3.19)
kTdc I a
(3.20)
3.3.6 c tnh mmen- vn tc

c tnh mmen- vn tc ca ng c theo cng thc ta c:
Vi vn tc khng ti n0
Mmen khi ng Tdst
Vdc
kE
kTdc I ash v dng in khi ng I ash
Vdc
R
Ta c :
n
n0
Ia
I ash
Td
Tdst
(3.21)
Cc cng thc trn l cng thc gn ng do khng c th s dng tnh cc

c tnh kinh t cho ng c BLDC.
c tnh mmen- tc ca ng c BLDC t l thuyt n thc t c s khc bit:

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Hnh 3.4: c tnh mmen- tc l thuyt v thc t: (a) l thuyt, (b) thc t
3.3.7 Tn hao dy qun
Gi tr hiu dng dng phn ng ca ng c BLDC tnh theo cng thc:
i vi ngun DC 120 in:
Ia
Ia
2
T
T /2 2
a
5
6
Ia
5 /(6 )
i (t )dt
/(6 )
1
6
[Ia ]2dt
(3.22)
2
3
Ia
(3.23)
i vi ngun DC 180 in:
Ia
trong :
/
0
[Ia ]2dt
Ia
Ia
(3.24)
Ia l dng in DC c lm phng, xem nh phng
Khi tn hao trn dy qun ca dy qun ba pha:

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Mch ni Y:
Mch ni
trong :
Pa
2R1dc I a2
(3.25)
Pa
2
R1dc I a2
3
(3.26)
R1dc l in tr dy qun mt pha i vi dng in DC.
Theo phn tch hi ta c:
Pa
m1
R1dc k1Rn
n 1,5,7
trong :
I amn
2
1
m1 R1dc
2
n
2
k1Rn I amn
(3.27)
1,5,7
k1Rn l h s hiu ng b mt ca hi bc n.
Iamn bin dng hi ca pha.
B qua hiu ng b mt ta c:
Pa
1
2
m1 R1dc
I amn
2
n 1,5,7
m1R1dc I a2
(3.28)
3.3.8 Gn sng mmen

Phng trnh mmen tc thi ca my in:
T ( ) T0
trong d:
Tr ( )
(3.29)
T0 l thnh phn khng i hay trung bnh.
Tr ( ) l thnh phn chu k, l hm theo thi gian hoc theo

gc

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Thnh phn mmen theo chu k to ra s dao ng ca mmen gi l gn sng

mmen.
C nhiu cch nh ngha v gn sng mmen, chng ta c th s dng mt trong
nhng cng thc sau nh ngha:
Tr
Tmax Tmin
Tmax Tmin
(3.30)
Tr
Tmax Tmin
Tav
(3.31)
Tr
Tmax Tmin
Trms
(3.32)
Tr
torque _ ripper
Tav
rms
Trrms
Tav
(3.33)
trong mmen trung bnh c tnh theo cng thc:
Tav
1
Tp
Tp
T ( )d
1
Tp
Tp
0
T ( )d
(3.34)
Hnh 3.5: Gn sng mmen

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Gi tr hiu dng ca mmen:
Trms
1
Tp
Tp
0
T 2 ( )d
(3.35)
Tr hiu dng ca mmen gn sng cng c tnh nh cng thc tnh tr hiu dng
mmen tuy nhin thay T ( ) bng Tr ( ) .
Vi Tp l chu k ca dng sng mmen.
Nu hi mmen nhiu bc th tr hiu dng mmen gn sng:
Trrm
2
2
2
Trrms
Trrms
... Trrmsn
1
2
(3.36)
C 3 ngun to ra mmen dao ng:

Hiu ng cn (cogging effect), hiu ng ny c sinh ra do tng tc gia t
thng kch t v s bin i t trng trong stator thng qua khe h khng kh.
bin dng ca sng sin hoc do t thng khe h khng kh dng hnh thang.
S khc nhau ca t thng trc d v trc q
Hiu ng cn sinh ra mmen cn thng ln hn mmen in t do hi t
thng khe h khng kh sinh ra nhng khng bng mmen do lch t thng trc
d v trc q gy ra.
Mmen cn sinh ra do 2 nguyn nhn:
Gn sng ca dng iu khin, v d t b iu khin PWM.
Qu trnh i chiu ca dng in.

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3.4 Cc phng php iu khin ng c BLDC

3.4.1 c im b iu khin- B kha bn dn ba pha
Ging vi cc loi ng c ng b nam chm vnh cu thng thng, ng c
BLDC cng s dng ngun in ba pha to t trng quay. Tuy nhin ng c BLDC
dng dng in mt chiu c c iu khin bng cc kha cng sut to in p
DC ba pha lch pha nhau 1200 hot ng, do n c tn gi l ng c DC khng
chi than. Gin dng in mt chiu 3 pha v xoay chiu 3 pha nh sau:
Hnh 3.6: Gin so snh dng sng sin ba pha v DC ba pha: (a) sng sin, (b) sng
DC
ng c BLDC hot ng trn nguyn tc xc nh v tr rotor v iu khin dng
in phn ng cho ph hp vi v tr . Do ng c BLDC hot ng phi c thit b
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xc nh v tr rotor nh Encoder hoc cm bin t trng Hall. Cm bin ny s gi tn

hiu v tr rotor v b iu khin ng ngt dng in DC chy qua cc cun dy ca
cc pha tng ng vi v tr ca rotor lc . y l mt trong nhng nhc im v hot
ng v iu khin ca ng c BLDC. Tuy nhin vi nguyn tc hot ng nh vy ta
c th d dng iu khin vn tc v v tr ca ng c.
ng c BLDC c iu khin bng mt b iu khin tng ng. B iu khin
ny cu to ging nh mt b nghch lu ba pha thng thng tuy nhin dng in ra l
loi dng in khng i DC. Ti mt thi im hot ng, b iu khin ch cho dng
in DC chy qua hai cun dy ca hai pha tng ng vi v tr rotor lc . y l khc
bit gia ng c BLDC vi cc loi ng c ng b tng ng.
Hnh 3.7: S kha v qu trnh ng ct iiu khin ng c BLDC

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Hnh 3.8: Gin dng in tng ng ba pha ca dy qun stator

3.4.2 Cm bin v tr rotor Cm bin Hall
xc nh v tr rotor c th dng cm bin Hall hoc Encoder. C th t cc phn
t cm bin bn trong ng c, trn u trc ng c hoc dng cm bin bn ngoi lp
vo trc ng c. Trong ti ny ta dng ng c c cm bin Hall t bn trong stator
ca ng c.
Cm bin hiu ng Hall (gi tt l cm bin Hall) c dng trong ng c BLDC
xc nh v tr cc nam chm ca rotor. Tn hiu v tr ny l c s b iu khin
ng ct cc kha cng sut cp dng DC cho cc cun dy stator tng ng. Khi t
cm bin Hall trong vng t trng v c mt dng in DC chy qua th s c mt in
p sinh ra ti ng ra ca cm bin c gi tr tnh theo cng thc:
VH
trong :
kH
I C B sin
(V)
(3.37)
KH l hng s Hall (m3/C).

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l dy ca cht bn dn.
IC dng in cp vo.
B mt t thng.
gc lch gia mt t thng v b mt cm bin.
S phn cc xut hin khi cm bin qut qua cc nam chm ca ng c. Theo
cng thc trn th in p VH sinh ra c dng tuyn tnh thay i theo gc lch gia cm
bin v t trng. Chng ta cn tn hiu k thut s iu khin c dng nh phn 1/0 do
c cm bin u c ch to tch hp trong mt IC dng in p ra l dng xung
vung. Cc cm bin Hall t trong ng c lch nhau mt gc 120 in hay 60
in xc nh chnh xc v tr rotor iu khin tng ng cc pha ca dng in
phn ng stator.
Hnh 3.9: Tch hp cm bin Hall vo mt IC

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Hnh 3.10: t cm bin Hall trong ng c
Hnh 3.11: Tn hiu cm bin Hall v dng in tng ng cc pha.

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3.4.3 Cc phng php iu khin ng c BLDC

iu khin ng c BLDC c hai phng php chnh: phng php dng cm
bin v tr Hall (hoc Encoder) v phng php iu khin khng cm bin (sensorless
control). Trong ta c hai phng php iu ch in p ra t b iu khin l in
p dng sng hnh thang v dng hnh sin. C hai phng php in p hnh thang v hnh
sin u c th s dng cho iu khin c cm bin Hall v khng cm bin, trong khi
phng php khng cm bin ch dng phng php in p dng sng hnh thang.
3.4.3.1 Phng php iu khin bng tn hiu cm bin Hall- phng php 6 bc
Phng php ny da trn nguyn l hot ng c bn ca ng c BLDC,dng tn
hiu a v t cm bin v tr rotor lm tn hiu ng ngt dng in vo cc cun dy
tng ng. Gin xung kch v dng in ng ngt tng ng th hin trong Hnh
3.11.
Hnh 3.12: S b kha v qu trnh ng ct iu khin ng c BLDC

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Bng 3.1 Bng m iu khin ng c BLDC sp xp theo th t cc pha nh trong

hnh 3.12.
pha
SENSOR SENSOR SENSOR T5

A
T6
T3
T4
T1
T2
high low high low high low

1
3.3.4.2 iu khin ng c BLDC in p bng cch iu chnh in p ng vo

y l phng php iu khin ging vi iu khin ng c DC thng thng. Tc
ng c c iu khin bng cch iu chnh in p DC cung cp cho b kha cng
sut. in p ng vo c iu chnh sao cho tc ng ra bm st theo tc t cho
h thng. thay i chiu quay ta thay i cc kha cng sut sao cho dng in chy
qua cc cun dy cc pha c chiu ngc li. Trong phng php ny cc kha bn dn
ch c nhim v ng hoc ct dng in qua n.
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3.3.4.3 iu khin bng phng php PWM

Trn c s iu khin tc ng c BLDC bng phng php iu chnh in p
vo ta c th p dng k thut PWM iu khin tc ng c. y cng l phng
php c s dng rng r trong iu khin in p hin nay. Vi phng php ny, in
p cung cp cho b kha cng sut khng i, tuy nhin in p ra khi b kha n ng
c thay i theo thut ton iu khin. Phng php PWM c th dng cho kha trn,
kha di hay ng thi c hai kha trn v di cng lc.
Hnh 3.13: Gin xung iu khin PWM knh trn

Trong khi iu ch PWM ta c th iu khin in p ra kiu sng hnh thang hay
kiu sng sin. Do phng php ny c chia thnh hai k thut: k thut in p hnh
thang v k thut in p hnh sin.
i. K thut in p hnh thang
y l k thut c bn trong iu khin ng c BLDC v cc IC chuyn dng cng
p dng k thut ny iu khin. K thut ny ch i hi cc kha ng ngt ng b
vi cm bin Hall theo tn s PWM nht nh.

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Hnh 3.14: Gin in p hnh thang tng ng vi tn hiu Hall

ii. K thut in p hnh sin
K thut ny cn c gi l iu khin AC khng chi than (brushless AC) . K
thut ny lm gim ting n c th nghe thy c, gim gn sng mmen do dng sng
in p v dng in ra t b gn sng.
Hnh 3.15: Gin iu ch in p hnh sin

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3.3.4.4 iu khin ng c BLDC khng s dng cm bin (sensorless control)

y l phng php s dng cch c lng t thng rotor iu khin cc kha
ng ct thay cho tn hiu cm bin Hall truyn thng. Do phng php ny gi l
phng php iu khin khng cm bin (sensorless control). C s chnh ca iu khin
khng cm bin i vi ng c BLDC l da vo thi im qua zero ca sc in ng
cm ng trn cc pha ca ng c. Tuy nhin phng php ny ch p dng c phng
php in p hnh thang.
V c bn c hai k thut iu khin khng cm bin:
Mt l xc nh v tr rotor da vo sc in ng ca ng c, phng php
ny n gin, d dng thc hin v gi thnh r. Trong ti ch ni cp n
phng php ny.
Hai l c lng v tr dng cc thng s ca ng c, cc gi tr in p v
dng in trn ng c. Phng php ny i hi phi tnh ton phc tp
tnh ton cc thng s. Phng php ny tnh ton phc tp, kh iu khin v
gi thnh cao.
Phng php c lng v tr rotor da v thi im qua zero ca sc in ng i
hi chng ta to ra mt im trung tnh c th o v bt im qua zero ca sc in
ng. im trung tnh c th l trung tnh tht hoc trung tnh o.
im trung tnh o trn l thuyt c cng in th vi trung tnh tht ca cc cun
dy u hnh Y. Tuy nhin im trung tnh khng phi l im c nh. in p ca im
trung tnh c th thay i t 0 n gn in p DC ca ngun. Trong khi iu ch PWM,
tn hiu PWM chng cht ln in p trung tnh, gy ra nhiu rt ln trn tn hiu cm
bin. ly tn hiu chun ta cn mch lc nhiu cho cm bin, iu ny gy tr hon
khng cn thit cho tn hiu cm bin. c bit l lc ng c khi ng tn hiu nhn

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c rt nh dn n iu khin khng chnh xc. Do vy phng php ny ch p dung

trong phm vi tc hn ch v c c tnh khi ng nh.
Hnh 3.16: o in p cm ng bng im trung tnh:(a) im trung tnh tht, (b)

im trung tnh o

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CHNG 4: THIT K C KH
CHNG 4: THIT K C KH
Phn c kh ca xe bao gm 4 phn: sn xe, phn tay li, c cu b li v hai bnh

xe.
Khung sn xe lm bng Inox vung 25x25mm. Khung sn xe c kch thc ngang
450mm, di 400mm (theo chiu trc sau). B phn gi trc bnh xe c hn ti im
chnh gia ca mi thanh Inox dc ca khung sn xe. B phn gi trc c lm bng
thp tm dy 10mm, c khoan l 15mm bt cc trc bnh xe. Khung sn xe cn c
thng xe c lm bng Inox tm, c un theo ng kch thc khung xe. Thng xe l
ni cha Acquy v cc board mch ca xe.
Phn tay li ca xe c lm bng nhm vung 50x50mm. Thit k bng nhm gip
tay li nh, thm m. Tay li c c nh vo khung sn xe bng mt gi c bi
chn vi trc ni c ng knh 15mm. Gi v trc ni gip tay li c th nghing sang
tri v phi nhng khng nghing theo phng ti lui. Pha trn cng tay li c tay cm
bng nha trn ng knh 34mm. Trn tay cm c LCD thng bo cc trng thi hot
ng ca xe n ngi iu khin v cc cng tc chn ch hot ng cho xe.
C cu b li c giu pha di mt sn xe, trong thng xe. C cu b li gip tay
li c th nghing qua tri hay qua phi iu khin xe r tri hay r phi. C cu ny c
th t tr v v tr cn bng ban u khi ta bung tay ra. Tay li lin kt vi c cu b li
thng qua cc bi. trng thi bnh thng c cu b li lun gi tay li v tr thng
ng vung gc vi mt sn ca xe. Trn c cu b li c gn mt bin tr cng
nghip a tn hiu gc r v vi iu khin trung tm.
Hai bnh ca xe c ng knh 400mm. y l loi bnh xe c ng c bn trong
ca xe p in. Trc bnh xe c ng knh 15mm c ren c hai u c th trc
tip bt vo gi bng cc buloong.
NGUYN NAM DNG
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CHNG 5: TM HIU MT S VI IU KHIN CA FREESCALE

5.1 Gii thiu chung v h vi iu khin HCS12
H vi iu khin 68HC12 c hng Motorola cho ra i vo nm 1996 da trn h
vi iu khin 68HC11. Nm 2001, hng Motorola tip tc pht trin h vi iu khin
68HC12 ln thnh h vi iu khin mi, l HCS12 vi: tc x l nhanh, dung
lng b nh c m rng v tch hp thm nhiu chc nng chuyn dng Nm
2004, b phn thit k-sn xut linh kin bn dn ca hng Motorola tch ra thnh mt
cng ty c lp, ly tn l FreeScale Semiconductor v tr thnh nh sn xut cho tt c
cc h vi iu khin ca Motorola.
H vi iu khin HCS12 c cc c im chnh nh sau:
y l h vi iu khin 16-bit c tc x l nhanh, tn s xung nhp bus ni
c th ln n 25 Mhz; c tch hp b PLL (Phase-Lock-Loop).
Ch to theo cng nh HCMOS nn c n nh v bn cao.
c nng cp t h vi iu khin 68HC11/68HC12 v khng c s thay i
no v t chc cc thanh ghi x l so vi 68HC11/68HC12 nn cc on
chng trnh vit bng hp ng s dng cho 68HC11/68HC12 u c th s
dng li c vi HCS12.
Cc loi b nh bn trong gm c: RAM, EEPROM, FLASH. Dung lng b
nh ln, c bit l b nh Flash v c kh nng m rng b nh ngoi.
Tch hp nhiu chc nng thi gian nh: Bt gi ng vo, so snh ng ra, b
m xung v s kin cng, b iu rng xung PWM, ngt thi gian thc,
Watchdog

NGUYN NAM DNG
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Trang 34

Tch hp khi Background Debug Module (BDM) ch cn s dng 1 dy tn
hiu duy nht. y l mt khi n tuyn, hiu chnh li cn bn c ci t
trong vi iu khin can thip hot ng CPU.
C cc ch hot ng tit kim nng lng.
C cc module truyn thng ni tip nh: Giao tip bt ng b (SCI), giao
tip ng b (SPI), IIC.
C 1 n 2 b chuyn i tn hiu tng t sang tn hiu s, phn gii 10bit, c 8 n 16 knh (channel).
H tr tp lnh fuzzy logic khi vit chng trnh bng hp ng.
Nhiu Port xut nhp a dng: Port A, Port B, Port K, Port J, Port H, Port M,
Port S
Ngoi ra ty theo ng dng, mi dng trong h HCS12 s tch hp thm cc
khi chc nng chuyn dng nh: SPI, USB, CAN, BDLC, Ethernet, iu
khin LCD, iu khin motor, giao tip th nh
5.2 Vi iu khin MC9S12DP512

5.2.1 Gii thiu chung
Vi iu khin MC9S12DP512 thuc dng D ca h HCS12, l dng c pht
trin cho cc ng dng trong lnh vc thuc cng ngh t v trong cng nghip.
VK c y cc chc nng c bn chung ca h vi iu khin 16-bit HCS12 ( c
trnh by chng 5 phn 5.1: Gii thiu chung h vi iu khin HCS12).
ng gi theo kiu chn LQFP: c 112 chn, tm nhit : -40C 150C.

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Tn s xung nhp bus ni ti a 25 Mhz, c tch hp b PLL.
B nh: 14 KB RAM; 4 KB EEPROM; 512 KB FLASH.
2 b giao tip ni tip bt ng b (SCI), 3 b giao tip ni tip ng b (SPI).
1 b IIC.
5 b CAN, h tr c 2 chun V2.0A v V2.0B.
1 b giao tip BDLC (theo chun J1850).
8 knh chc nng thi gian m rng nh: bt gi ng vo, so snh ng ra, m
xung-s kin cng, ngt thi gian thc, Watchdog
2 b ADC 16 knh, phn gii10-bit; 8 knh trong module iu rng xung.
4 Port xut nhp s ( tng cng 29 chn): Port A, Port B, Port K, Port E.
20 chn c chc nng to ngt nhn bit phm nhn (Key-WakeUp).

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Hnh 5.1: S khi ca MC9S12DP512

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5.2.2 Cc ch hot ng
C 8 ch hot ng chnh c iu khin bi trng thi ca 3 chn: MODA
(chn PE5), MODB (chn PE6) v MODC (chn BKGD).
Bng 5.1: Cc ch hot ng ca MC9S12DP512
MODC
MODB
MODA
Ch hot ng
n chip c bit
M phng ch m rng mc nh
Ch kim tra (ca FreeScale)
M phng ch m rng mc ln
n chip bnh thng
M rng mc nh
Ch ngoi vi (ca FreeScale)
M rng, mc ln
Ch BDM (Bachground Debug Mode):

y l ch c bit, cho php phn cng bn ngoi (thng gi l BDMPod) truy cp vo bn trong chip HCS12 thng qua chn BKGD. T ngi
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dng c th np chng trnh vo vi iu khin hay debug chng trnh ngay
c khi vi iu khin ang hot ng.
Trong c 8 ch hot ng chnh c nu trn, th ch debug chy nn
ny u c th s dng c.
H vi iu khin HCS12 c 3 ch hot ng tit kim nng lng:
Stop mode: Ch ngh - dng tt c cc xung nhp v b dao ng do ci
t vi iu khin hon ton khng hot ng. nh thc vi iu khin khi ch
ny thng qua reset hoc ngt ngoi.
Pseudo Stop mode: Ch gi ngh- b dao ng vn hot ng, ngt thi gian
thc hoc khi ph watdog(COP) c th vn hot ng. Cc module khc
khng hot ng. Ch ny tiu th nng lng nhiu hn ch ngh nhng
thc dy nhanh hn.
Wait mode: Ch ch - CPU khng thc hin cc cu lnh. Cc tn hiu ca
CPU (a ch v d liu) khng thay i, tt c ngoi vi u hot ng bnh
thng, tiu th nng lng nhiu hn v cc module ngoi vi khc c th tt
dao ng ca chnh n.
Ngoi ra, cn c ch Self Clock s hot ng nu bit gim st xung nhp CME v
bit cho php hay cm ch Self Clock hot ng SCME c cho php; v khi b gim
st xung nhp bo c s mt xung nhp xy ra. Ch Seft Clock ch nhm mc ch an
ton cho xung nhp hot ng. N gim chc nng ca MCU trong cc trng hp mt
xung l nguyn nhn gy ra li nghim trng ca h thng.
5.2.3 Khi to dao ng
Khi CRG (Clock and Reset Generation): to xung nhp hot ng v xung nhp bus
t dao ng ca thch anh gn 2 chn XTAL v EXTAL.
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Xung nhp hot ng ca h thng, ngoi vi, COP, RTI, cc ch ngh c th chn
gia dao ng thch anh hoc dao ng sau khi qua b PLL qua bit PLLSEL trong thanh
ghi CLKSEL v bit SCM trong thanh ghi PLLCTL.
PLLSEL or SCM
Phase
lock
loop
PLLCLK
1
0
wait (CWAI,SYSWAI)
stop
SYSCLK
Core
clock
WAIT,
STOP
2
SCM
wait(RTIWAI),
stop(PSTP,PRE)
RTI enable
clock
phase
generator
Bus
clock
extal
Oscillator
RTI
OSCCLK
0
xtal
wait (COPWAI),
stop(PSTP, PCE)
COP enable
Clock
monitor
COP
wait (SYSWAI),
stop
oscillator
clock
gating
condition
stop (PSTP)
= clock gate
oscillator
clock (
pseudo stop
mode)
Hnh 5.2: S chi tit ca khi CRG

B PLL (Phase Locked Loop):
Cc thanh ghi iu khin ci t dao ng t b PLL nh sau:
Thanh ghi SYNR: cha gi tr ca b nhn tn s thch anh.
Thanh ghi REFDV: cha gi tr ca b chia tn s thch anh.
Thanh ghi CLKSEL: chn xung nhp hot ng.
Thanh ghi CRGFLG: c bo.
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Thanh ghi PLLCTL: iu khin vic chn b PLL.
Tham kho chi tit cc thanh ghi ti phn Khi to dao ng, ph lc A.
Tnh ton tn s dao ng ca b PLL t tn s dao ng thch anh (OSCCLK)
theo cng thc:
PLLCLK = 2 * OSCCLK * (SYNR + 1) / (REFDV + 1)
V d: Chng trnh ci t tn s h thng l 48MHz vi tn s dao ng ca thch

anh l 16MHz. Khng s dng RTI, COP.
PLLCLK = 2 * OSCCLK * (SYNR + 1) / (REFDV + 1)
= 2 * 16 * (2 + 1) / (1+1) = 48 MHZ
void PLL_Init(void){
SYNR = 0x02;
REFDV = 0x01;
CLKSEL = 0x00;
// dng OSCCLK trc khi chuyn qua PLLCLK
PLLCTL = 0xD1;
//
while((CRGFLG&0x08) == 0){}
// i cho PLLCLK ci t xong
CLKSEL_PLLSEL = 1;
// i qua xung nhp t b PLL
}
5.2.4
Khi chc nng Key-WakeUp (Chc nng nh thc bng phm nhn)
Vic tit kim nng lng l rt quan trng, nn khi trng thi vi iu khin khng
x l vic g c hay ch s kin g xy ra, vi iu khin s hot ng cc ch tit

kim nng lng ty trng hp: Wait, Pseudo-Stop, Stop. Khi c s vic yu cu x l
xy ra, s to ra 1 ngt tc th nh thc vi iu khin thc hin vic yu cu.

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Tt c cc vi iu khin thuc h HCS12 c chc nng ny, gi l Key-WakeUp .
Mc ch: khi nhn 1 phm c kt ni trc tip vi 1 chn ca vi iu khin, s to
ra 1 ngt v vi iu khin HCS12 s c gi tr t Port c chn I/O kt ni vi phm
nhn . Da vo gi tr ny, vi iu khin s bit c ngay lp tc phm no c nhn.
Module Key-WakeUp ca MC9SDP512 c tng cng l 20 knh, kt ni vi 3 port:
8 chn Port H, 4 chn Port P, 8 chn Port J .Cc thanh ghi iu khin tng ng l: PIEx
(cho php ngt), PIFx (c ngt) vi x l H hoc P hoc J.
5.2.5 Cc Port xut nhp a dng
MC9S12DP512 c tt c 12 port xut nhp: Port A, Port B, Port D, Port E, Port H,
Port J, Port K, Port M, Port S, Port P, Port T.
Tt c cc Port ngoi chc nng xut nhp bnh thng, cn tch hp thm cc chc
nng khc ca vi iu khin nh:
Port A, Port B: kt hp vi nhau lm bus a ch v truyn d liu song
song 16-bit trong ch m rng.
Port H: giao tip ca cc module khc nh SPI, khi to ngt t phm nhn.
Port P: iu rng xung, to ngt t phm nhn.
Port J: giao tip IIC, to ngt t phm nhn.
Port M: giao tip CAN, BDLC.
Port S: giao tip SCI v SPI.
Port T: cc chn trong khi chc nng thi gian.
Port K: dng chn cc trang b nh trong vng b nh Flash.
Port D0, D1: ng vo tng t ca 2 b bin i ADC.
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Port E: iu khin h thng.
Mi Port s c nhiu thanh ghi iu khin, quyt nh chc nng hot ng ca
Port: l xut nhp song song hay thc hin chc nng ring. Khi chn hot ng
chc nng ring th khng phi l cc port xut nhp song song na.
Tn ca cc thanh ghi iu khin chc nng xut nhp ca cc Port thng bt u
bng DDR, ch ci cui cng l tn ca port.
V d: DDRA = 0x0F;
// Port A vi PT
Cc thanh ghi cha d liu cho cc port khi c chc nng xut nhp s c tn l:
PT vi tn vit tt ca port .
V d nh: PTA (PortA), PTH (Port H), PTK (Port K), PTP (Port P)
5.2.6 Khi ATD (Analog To Digital)
Khi ATD gm 2 b 8 knh, 10 bit kt qu, tn s hot ng khi ATD t 500KHz
n 2MHz. Xung nhp hot ng ca khi c ly t xung nhp bus qua b chia t l.
in p tham kho ca khi ly t 2 chn VRH v VRL. Mi b ATD c cc thanh ghi
iu khin (vi x l 0 hoc 1):
Su thanh ghi iu khin: ATDxCTL0 ATDxCTL5. (ATDxCTL0 v
ATDxCTL1 ch s dng cho vic kim tra ca nh sn xut).
Hai thanh ghi trng thi: ATDxSTAT0 v ATDxSTAT1
Hai thanh ghi kim tra: ATDxTEST0 and ATDxTEST1
Thanh ghi cho php: ATDxDIEN
Thanh ghi d liu port: PTADx
Tm thanh ghi kt qu chuyn i: ATDxDR0ATDxDR7
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Cng thc tnh tn s b ATD:
ATD clock = [bus clock]/(PRS + 1)/2
Vi PRS l gi tr b chia t l nm trong thanh ghi ATDCTL4.

Tham kho chi tit cc thanh ghi ti phn ATD ca ph lc.
V d: Chng trnh ly mu analog t knh 0, phn gii 10 bit, d liu lu vo
bin data, tn s b ATD 2MHz.
void ATD_Channel0(void){
ATD0CTL2 = 0x80; // enable ADC
ATD0CTL3 = 0x08;
ATD0CTL4 = 0x85; // ADC 10 bit, gi tr b chia t l l 5
ATD0CTL5 = 0x80; // chn knh 0, kt qu canh phi, khng du
while((ATD0STAT1&0x01)==0){};
data = ATD0DR0;
// i c bo hon thnh CCF0
// lu kt qu
}
5.2.7 Khi chc nng thi gian (Timer)
H thng chc nng thi gian ca vi iu khin MC9S12DP512 l s tng hp y
cc chc nng v thi gian ca h vi iu khin HCS12, gm cc chc nng chnh nh
sau:
Kt ni vi 8 chn ca Port T, mi chn ca Port T l 1 knh trong b Timer.
8 knh chung cho 2 chc nng: bt gi ng vo (Input Capture), so snh ng ra
(Output Compare). Gia cc knh chc nng bt gi ng vo vi nhau s c 1
thanh ghi m 16-bit.
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2 b m xung 16-bit: Pulse Accumulator A, B; c th tch ra thnh 4 b m
xung 8-bit.
Mt b m 16-bit h tr b chia t l 4-bit (prescale).
4 b to tr (delay), c th chn bi ngi dng: tng trit nhiu cho cc ng
vo.
B m 16-bit:
Thanh ghi m thi gian 16 bit: TCNT (Timer Counter Register)
C 3 thanh ghi iu khin v trng thi lin quan n TCNT:
Thanh ghi TSCR1 (Timer System Control Register 1): tt bt b timer, thit lp
timer cc ch ch.
Thanh ghi TSCR2 (Timer System Control Register 2): cho php ngt khi timer
trn, b chia t l chn xung nhp hot ng cho b timer t xung nhp bus.
Thanh ghi TFLG2 (Timer Interrupt Flag 2 Register): c bo ngt ca timer.
Ch : Bit c bo trn TOF (bit 7) s ln gi tr 1 mi khi b m thi gian trn (gi
tr ca thanh ghi TCNT chuyn t $FFFF sang $0000).
Tham kho chi tit cc thanh ghi ti phn Khi chc nng thi gian, ph lc A.
V d: H thng c tn s xung nhp ni l 8 Mhz, b chia t l ( Prescale) l 1:1, th
khong thi gian cho mi ln timer trn s l: 64K x (1: 8 Mhz ) = 8.192 ms
on chng trnh khi ng b m timer v cho php ngt khi timer trn:
void Timer_Init(void){
TSCR1 = 0x80;
// Cho php b m TCNT hot ng

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TSCR2 = 0x85;
// Cho php ngt khi Timer trn, b chia t l 1:32
TFLG2 = 0x80; // Xa c bo ngt

}
5.2.8 B m xung (Pulse Accumulator)
Vi iu khin MC9S12DP512 c 2 b m xung 16-bit l: PACA (Pulse
Accumulator A) kt ni vi chn PT7 v PACB (Pulse Accumulator B) kt ni vi chn
PT0.
B m xung c 2 chc nng chnh: m s kin v ch cng
Hai b m xung 16-bit ny, c th tch ra thnh 4 b m xung 8-bit ring bit
B m 16-bit PACA gm: PAC3 PAC2 (8-bit)
B m 16-bit PACB gm: PAC1 PAC0 (8-bit)
a. B m xung PACA ( Pulse Accumulator A)
C 3 thanh ghi lin quan: PACTL (iu khin), PAFLG(c), PACN32 (d liu)
Thanh ghi PACTL (Pulse accumulator control register): cho php hay cm b m
xung, m s kin hay m thi gian cng, cnh ln hay xung, mc cao hay thp, ngt
hay khng ngt.
Thanh ghi cha d liu ca b m xung PACA l thanh ghi 16-bit PAC32: Cha
gi tr s xung m c (trong ch m s kin) hay thi gian ca mc (trong ch
m thi gian cng).
Thanh ghi 16-bit PACN32 l do 2 thanh ghi 8-bit ghp li: PACN3 v PACN2.
b. B m xung PACB ( Pulse Accumulator B):

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Ch c chc nng m s kin, m khng c chc nng m thi gian cng
C cc thanh ghi lin quan: PBCTL (iu khin), PBFLG (c), PACN10 (d liu)
Cch khai bo v s dng tng t nh b m xung PACA.
Tham kho chi tit cc thanh ghi ti mc B m xung, ph lc A.
5.2.9 Khi iu rng xung (PWM: Pulse Width Modulation)
Vi iu khin MC9S12DP512 c 8 knh 8-bit PWM, c kt ni vi Port P. Hai
knh 8-bit PWM k nhau c th kt hp to thnh mt knh 16-bit nn s c ti a 4
knh 16-bit PWM. y ta ch trnh by v ch iu rng xung 8-bit.
C tng cng 32 thanh ghi dng thit lp thng s cho 8 knh PWM:
Thanh ghi PWMPRCLK: chn tn s dao ng cho b PWM t tn s dao
ng ni.
Thanh ghi PWMCLK: chn tn s dao ng cho cc knh t tn s vo b
PWM. C cc ngun dao ng l: Clock A, Clock SA, Clock B, Clock SB.
Thanh ghi PWME: cho php hoc cm cc knh ca b PWM hot ng.
Thanh ghi PWMPERn: chu k ca xung, so snh vi gi tr trong b m
PWMCNTn (n [0:7]: th t ca knh PWM).
Thanh ghi PWMDTYn: ci t duty cycle ca xung, c chn bi gi tr ca
khi so snh vi gi tr trong b m PWMCNTn (n [0:7]: th t ca knh
PWM).
Thanh ghi PWMPOL dng chn kiu u tin mc ra ban u ca xung (mc
cao hay thp).

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Thanh ghi PWMCAE: dng chn Chn chun canh (Alignment) khi xut
xung, c 2 chun: canh theo bn tri (left-aligned), canh theo chnh gia
(center-aligned).
- Canh theo bn tri (left-aligned): ta c cc cng thc lin quan:
+ PWMn frequency = Clock(A, B, SA, SB) / PWMPERn
+ Polarity = 0: PWMn duty = [(PWMPERn PWMDTYn) / PWMPERn] x
100%
+ Polarity = 1: PWMn duty = [PWMDTYn / PWMPERn] x 100%
- Canh theo chnh gia (center-aligned): ta c cc cng thc lin quan:
+ PWMn frequency = Clock (A, B, SA, SB) / (2*PWMPERn)
+ Polarity = 0: PWMn duty = [(PWMPERn PWMDTYn) / PWMPERn] x
100%
+ Polarity = 1: PWMn duty = [PWMDTYn / PWMPERn] x 100%
V d: Chng trnh s dng knh PWM0 to xung vung 10 Khz, canh tri,
duty_cycle = 50%. S dng b PLL vi bus clock l 24Mhz.
period = PWMPER0 * 2^(PCKA+1) * PWMSCLA (Khi: PWMCLK = 1)
void PWM0(void){
PWMCTL = PWMCTL & ~0xF0;
PWMPRCLK = PWMPRCLK & ~0x07; // PCKA = 0
PWMCLK = PWMCLK | 0x01;
// s dng PWMSCLA
PWMPOL = PWMPOL | 0x01;
// bt u ca xung l mc cao

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PWMSCLA = 6;
// 10KHz of Square_Wave
PWMCAE = PWMCAE & ~0x01;
// chun canh theo bn tri
PWMPER0 = 200;
// period =200
PWME = PWME | 0x01;
// cho php knh PWM0 hot ng
PWMDTY0 = 100;
// duty cycle = 100: 200 = 50%
5.3
Vi iu khin HCS08
5.3.1 Gii thiu chung

Vi iu khin MC9S08JM60 thuc dng JM ca h HCS08, l dng 8 bit c pht
trin cho cc ng dng a dng trong iu khin cng nghip v trong dn dng nh:
thit b ngoi vi ca my tnh, kt ni mng thit b, thit b chn on, gim st kim tra
hot ng thit b khc, b qut m vch...
Hnh 5.3: S khi ca MC9S08JM60

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Mt s c im ca vi iu khin MC9S08JM60:
Vi iu khin ny c tch hp giao tip USB 2.0 full speed vi 60 KB b nh
flash c cha cc lp HID v CDC vi m ngun chng trnh c h tr trc
tip trn trang web cng ty.
ng gi theo kiu chn QFP: c 64 chn, tm nhit : -40C 85C
Tn s xung nhp bus ni ti a 24 Mhz, c tch hp b PLL, FLL.
B nh: 4 KB RAM; 4 KB EEPROM; 60 KB FLASH, 256 USB RAM.
2 b giao tip ni tip bt ng b (SCI).
1 b giao tip ni tip ng b (SPI).
1 b IIC
1 b so snh analog so snh in p bn ngoi v in p tham kho bn trong
khi so snh (in p tham kho thay i c).
2 b timer 8 knh 16 bit vi cc chc nng m rng: bt gi ng vo, so snh
ng ra, iu rng xung, ngt.
1 b giao tip BDLC (theo chun J1850).
1 b KBI 8 chn ngt bng nt nhn
1 b ADC 12 knh, phn gii12-bit.
4 Port xut nhp s ( tng cng 29 chn): Port A, Port B, Port K, Port E.
51 chn xut nhp bnh thng.

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5.3.2 Cc ch hot ng
Vi iu khin MC9S08JM60 c cc ch hot ng nh sau:
Ch vi iu khin hot ng bnh thng.
Ch BDM: dng np v debug chnh sa chng trnh.
Ch ch: CPU treo tit kim nng lng.
Ch dng: CPU v xung nhp ngng hot ng. C hai ch dng:
+ Stop3: CPU thc hin cc lnh ca ch dng, trng thi tt c cc thanh
ghi ni b nh RAM, cc chn xut nhp vn c duy tr. Thot khi ch
dng ny bng xc nhn reset t cc ngt ca khi RTC, USB LVD, ADC,
IRQ, KBI, SCI, ACMP.
+ Stop2: hu nh cc mch trong vi iu khin u tt, cc chn xut nhp
c cht li. Thot khi ch ny bng tc ng reset vo chn reset hoc
chn IQR/TPMCLK c vi iu khin.
5.3.3 Khi MCG (Multi-purpose Clock Generaror)
Xung nhp dao ng ca vi iu khin c ly t khi MCG t 2 b PLL, FLL;
hoc gia dao ng ni hay dao ng bn ngoi khi vi iu khin trng thi tit kim
nng lng.
B FLL (Frequence Locked Loop): s dng tn s 32 KHz bn trong hoc bn
ngoi vi iu khin to dao ng.
B PLL (Phase Locked Loop): b nhn xung dao ng.
Khi MCG c 9 trng thi hot ng:
FLL Engaged Internal (FEI)
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FLL Engaged External (FEE)
FLL Bypassed Internal (FBI)
FLL Bypassed External (FBE)
PLL Engaged External (PEE)
PLL Bypassed External (PBE)
Bypassed Low Power Internal (BLPI)
Bypassed Low Power External (BLPE)
Stop
Hnh 5.4: S chuyn i gia cc ch xung nhp

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Gia cc trng thi ny c th chuyn i qua li to dao ng cho vi iu khin.
S chuyn i ny phi tha mn mt s iu kin nh ci t cc bit trong cc thanh ghi
iu khin (nh s trn), tn s dao ng tham chiu phi nm trong khong 31.25
kHz 39.0625 kHz (i vi dao ng t b FLL) v nm trong khong 1MHz 2MHz
(i vi dao ng t b PLL).
Ch hot ng mc nh ca vi iu khin l FEI.
Cc thanh ghi iu khin v thanh ghi trng thi: MCGC1, MCGC2, MCGC3,
MCGSC, MCGTRM. Tham kho ph lc mc MCG, ph lc B (phn Vi iu khin
MC9S08JM60).
5.3.4 Khi ADC (Analog to Digital Converter)
Module ATD gm 12 knh, phn gii c th thay i 8 bit, 10 bit hoc 12 bit.
Xung nhp hot ng ca khi c th chn la qua 4 ngun. in p tham kho ca
mudule ly t 2 chn VREFH v VREFL. Ngoi ra khi cn tch hp cm bin o nhit .
Cc thanh ghi trng thi v iu khin ca khi ADC:
Thanh ghi ADCSC1: chn knh ADC, bo hiu v ty chn ngt khi hon tt
chuyn i.
Thanh ghi ADCSC2: trng thi chuyn i, khi ng chuyn i bng phn
cng hay phn mm, cho php hay cm so snh gi tr analog ln hn hay nh
hn.
Thanh ghi kt qu ADCRH v ADCRL.
Thanh ghi ADCCVH v ADCCVL cha gi tr p quy i dng trong ch so
snh in p.
Thanh ghi ADCCFG: chn la phn gii chuyn i, ngun dao ng ca
khi, b chia t l.
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Thanh ghi APCTL1, APCTL2, APCTL3: ngt cc chn khi ch xut nhp
bnh thng chuyn sang ch ng vo analog.
Tham kho chi tit cc thanh ghi ti ph lc mc ADC, ph lc B (phn Vi iu
khin MC9S08JM60).
5.3.5 Khi TPWM (Timer/Pulse Width Modulator)
MC9S08JM60 c 2 b timer 16 bit c lp gm 8 knh, c h tr cc ch chc
nng m rng nh bt gi ng vo, so snh ng ra, b iu rng xung.
Cc thanh ghi trng thi v iu khin lin quan n khi TPWM:
Thanh ghi TPMxSC: gm c trn timer, cho php ngt trn, chn canh tri hay
canh gia, chn ngun dao ng, b chia t l.
Thanh ghi TPMxCNTH v TPMxCNTL: hai b m 8 bit hp thnh b m 16
bit.
Thanh ghi TPMxMODH v TPMxMODL: hp thnh b thanh ghi 16 bit cha
gi tr so snh vi b thanh ghi b m trn.
Thanh ghi TPMxCnSC: gm c ngt s kin, cho php ngt, chn chc nng
m rng v cnh tc ng ti cc knh.
Tham kho chi tit cc thanh ghi ti ph lc mc khi TPWM, ph lc B (phn Vi
iu khin MC9S08JM60).
5.3.6 Khi KBI (Keyboard Interrupt)
Khi KBI gm 8 chn vi 8 ngt c lp nhn bit nt nhn. Mi chn ngt nt nhn
c ci t pht hin trng thi xung cnh ln, xung cnh xung, xung cnh ln v mc
trn, xung cnh xung v mc thp.
Cc thanh ghi trng thi v iu khin ca khi KBI gm:
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KBISC: cho php ngt, c ngt, xa c ngt, ty chn ngt cnh hoc c ngt
cnh v mc.
KBIPE: cho php hoc cm cc ngt ti cc chn ca b KBI hot ng.
KBIES: chn cnh tc ng.
Tham kho chi tit cc thanh ghi ti ph lc mc KBI, ph lc B (phn Vi iu
khin MC9S08JM60).
5.3.7 Khi RTC (Real Time Counter)
Khi RTC b m thi gian thc bao gm thanh ghi 8 bit m, thanh ghi 8 bit so
snh, b chia t l c s 2 v c s thp phn, la chn gia ba ngun dao ng (32 kHz
xung ni, xung nhp bn ngoi hoc 1 kHz xung nhp ni trng thi nng lng thp) v
c chng trnh d on ngt. Khi ny c s dng cho chc nng thi gian ca ngy,
lch v thi gian biu. y cng dng cho vic nh thc vi iu khin t cc ch tit
kim nng lng m khng dng cc yu t bn ngoi.
Cc thanh ghi trng thi v iu khin lin quan n b RTC:
Thanh ghi RTCSC (RTC Status and Control Register): c ngt, chn ngun dao
ng, b chia t l, cho php hay cm ngt.
Thanh ghi RTCCNT (RTC Counter Register): b m 8 bit
Thanh ghi RTCMOD (RTC Modulo Register): ci t gi tr so snh vi gi
tr trong thanh ghi RTCCNT.
C th dng cc chn ca khi KBI nh thc vi iu khin trong cc ch tit
kim nng lng nh ch ch, ch stop3.
Tham kho chi tit cc thanh ghi ti ph lc mc RTC, ph lc B (phn Vi iu
khin MC9S08JM60).
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5.4 Nhn xt
Vi iu khin MC9S08JM60 c th c s dng thu thp d liu thng qua
giao tip vi mch iu khin trung tm m rng o lng iu khin trn my vi
tnh qua cc giao tip SCI, SPI, IIC, USB; iu khin vic bo hiu ht pin, xc pin,
h thng n bo hiu. Vi iu khin ny cn dng lm mch trung tm i vi xe
t hnh i vi m hnh nh chi ph thp.
Ngoi ra vi iu khin cn c ch bootloader thng qua giao tip USB. iu
ny gip thun tin cho qu trnh pht trin sn phm.
Trong ti lun vn, vi yu cu s n nh, chnh xc cao ca h thng,
mch iu khin trung tm s dng vi iu khin MC9S12DP512. y l dng c
thit k cho cc ng dng cn s n nh cao, chng nhiu tt. iu ny ph hp vi
vic iu khin xe trn cc mt ng v c tn hiu cm bin lc xe chy c n
nh, chnh xc khng nh hng n qu trnh x l tn hiu, iu khin. Vi kh
nng tnh ton 16 bit gip tnh ton nhanh v chnh xc cc gi tr tn hiu iu
khin.
Ngoi ra, vi iu khin cn c dung lng b nh Flash ln (512 KB), c nhiu
module vi cc chc nng cn thit cho vic iu khin xe nh b m xung m
encoder, cc chn ngt nt nht c trit nhiu dng ngt bo qu dng, b iu
rng xung 16 bit, giao tip CAN dng kt ni m rng iu khin nhiu ng c.

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5.5 Gii thiu v chng trnh bin dch, mch np, debug
Chng trnh bin dch lp trnh cho vi iu khin MC9S12DP512 l Code
Warrior v5.0 bn Special, l phn mm c hng Freescale pht trin dnh cho cc h vi
iu khin 16 bit nh HCS12, HCS12X
Chng trnh bin dch lp trnh cho vi iu khin MC9S08JM60 l Code
Warrior v6.2 bn Special, l phn mm c hng Freescale pht trin dnh cho cc h 8
bit nh HCS08, RS08, ColdFire V1.
C hai phn mm u c tch hp thm phn lp trnh bng giao din (Processor
Expert), chng trnh debug; ngn ng lp trnh c phn mm h tr bao gm C, C++,
Compact C++, EC++, lp trnh hp ng.
Hnh 5.4: Giao din chng trnh Code Warrior 5.0

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Chng trnh debug: tch hp sn bn trong chng trnh Code Warrior, giao tip
vi my tnh thng qua BDM-pod.
Hnh 5.5: Giao din chng trnh debug

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Mch np: vi iu khin MC9S08JM cn c th dng lm mch np chng trnh
cho vi iu khin, s mch np nh sau:
Hnh 5.6: S mch np

y l mch np c pht trin trn din n ca hng Freescale c th np
chng trnh cho cc vi iu khin h HC(S)08, RS08, ColdFire V1, HCS12(X). C th
debug thi gian thc t phn mm Code Warrior.
Ngoi ra vi iu khin MC9S08JM60 cn c h tr phn mm c ng dng
bootloader np, xa b nh Flash thng qua cng USB. ng dng ny cho php ngi
dng c th thay i chng trnh iu khin trong sut qu trnh pht trin sn phm.
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Hnh 5.6: Giao din chng trnh Bootloader V1.0

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CHNG 6: XY DNG LU GII THUT

6.1 Mch iu khin trung tm
Trong m hnh ti lun vn, nh trnh by trn, mch iu khin trung tm s
dng vi iu khin MC9S12DP512 iu khin. Mch iu khin trung tm kt ni vi
cc ngoi vi nh sau:
Giao tip vi hai b Mosfet driver iu khin ng c m c th l vi IC
MC33035 gm cc chn xut nhp: cho php b driver hot ng, iu khin ng c
quay thun, quay nghch, chn iu xung iu khin tc , thng ng c, chn bo qu
nhit, thiu p, qu dng.
Thu thp d liu t hai cm bin Hall m xung encoder qua hai chn ca b m
xung bit tc hin ti ca ng c.
Cc chn b ATD thu thp gi tr analog a v t cm bin gyro, accelerometer,
bin tr tri phi, cc gi tr analog t cm bin gyro, accelerometer, cm bin quo tri
phi.
Giao tip vi mn hnh LCD hin th cc gi tr iu khin cng nh tn hiu hi tip.

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LCD
MC33035
1
MC33035
2
MCU
HALL
SENSOR
1
HALL
SENSOR
2
GYRO
ACCELEROMETER
LEFT-RIGHT
Hnh 6.1: S khi mch iu khin trung tm giao tip ngoi vi
6.2 Lu gii thut

Chng trnh iu khin xe hai bnh t cn bng gm hai phn chnh:
Chng trnh chnh: khi to cc module, port xut nhp, hin th LCD...
Chng trnh ngt timer: cp nht cc gi tr cm bin, tnh ton mment, tnh
ton v xut duty cycle 2 bnh.

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START
THIT LP PORT
NGT TIMER1
KHI NG CC MODULE:
PLL, ADC, LCD, TIMER, PWM...
CP NHT CC GI TR
CM BIN
T VN TC
U BNG 0
C ENCODER
TO TR 2s
TNH GI TR
DUTY 2 BNH XE
BT RELAY
O CHIU
C?
K NGT TIMER1
O CHIU
GII HN DUTY
TO TR 1s
PJ1 BT?
PJ1 BT?
XUT DUTY=0
XUT DUTY
Y
ENABLE 2 DRIVER
RETURN
HIN TH LCD

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TNH GI TR
DUTY 2 BNH XE
X L KALMAN
TNH GC QUO
TNH MOMENT NGU LC
O CHIU C
TT MCH
DRIVER
TO TR 1MS
THNG 1MS
= K1*angle + K2*rate + K3*vel

ENABLE DRIVER
TNH DUTY 2 BNH
RETURN
= DUTY C + MOMENT NGU LC
RETURN
Bng 6.1: Lu gii thut tm tt chng trnh

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CHNG 7: THIT K MCH IN

7.1 Tng qut.
Thit k mch in cho ton b h thng c nhn mt cch tng qut nh hnh
7.1. Trung tm l vi iu khin HCS12 ca Freescale. N nhn tn hiu Analog t cc
cm bin Accelometer, Gyro v gc nghing phi/tri; iu khin 2 ng c trn 2 bnh
xe bng cch gi tn hiu iu khin ti BLDC Controller-MC33035. Tn hiu iu khin
ng c ti BLDC Controller c cch ly v m bi Opto Driver HCPL-3120. Cc
MOSFET c kch bi Opto Driver v cp in cho ng c. Cc cm bin Hall trong
BLDC c hi tip v BLDC Controller v Vi iu khin.
Driver
MOSFET
Hall sensors
BLDC
Controller
Accelometer
Gyro
Left/Right
MCU
HCS12
Human Interface
Hall sensors
BLDC
Controller
Driver
BLDC
MOSFET
BLDC
Hnh 7.1: S kt ni phn cng ca h thng

Hnh 7.1 trn cha c v khi ngun cung cp. tit kim in v to ngun
cch ly cho nhiu khi khc nhau, M hnh s dng ngun Flyback.
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7.2 Ngun flyback

7.2.1 Gii thiu
B bin i in p DC/DC c s dng rt ph bin trong cc thit b in hin
nay. Chng thng c chia thnh 2 loi. Th nht l kiu bin i tuyn tnh, c
thc hin bng cc Transistor hoc cc IC chuyn dng nh 78xx, 79xx; Th 2 l kiu
chuyn mch, c th dng t chuyn mch hoc in cm chuyn mch. Gii php dng
in cm chuyn mch c u th hn cc mch cng sut ln.
Cc b bin i DC-DC c in dng in cm chuyn mch bao gm: Buck (gim
p), boost (tng p), v buck-boost/inverting (o du in p). Hnh 7.2 th hin s
nguyn l ca cc b bin i ny. Vi nhng cch b tr in cm, kha chuyn mch,
v diode khc nhau, cc b bin i ny thc hin nhng mc tiu khc nhau, nhng
nguyn tc hot ng th u da trn hin tng duy tr dng in i qua in cm. [13]
Hnh 7.2: Cc b bin i DC-DC chuyn mch c in
Flyback l mt b bin i DC-DC da trn b bin i Buck-Boost. S pht trin

ca n c s lc qua hnh 7.3. [14]

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Hnh 7.3: S pht trin ca b bin i Flyback

Hnh 7.3(a) chnh l b bin i Buck-Boost, thng gm mt MOSFET v diode.
Trong hnh 7.3(b), cun cm gm 2 vng dy vi t s vng l 1:1. Chc nng c bn ca
cun cm khng i v 2 cun dy song song ny tng ng vi dy kp xon. Trong
hnh 7.3(c), 2 cun dy c tch ri. Mt cun dy c dng khi transistor Q1 dn,
trong khi cun cn li c dng khi diode D1 dn. Dng in tng trong 2 cun dy vn
khng i so vi hnh 7.3(b). Nhng dng in lc ny c tch ra ring bit 2 cun
dy. Cn t trng trong cun cm th ging nhau trong 2 trng hp (b) v (c). Cun
cm gm 2 vng dy ny cn c gi l flyback transformer. Hnh 7.3(d) l s mch
bin i flyback thng dng. Cc S ca MOSFET c ni vi im ground ca pha s
cp, lm n gin ha mch kch cho MOSFET. 2 cc cng pha ca cun cm c t
ngc nhau thu c in p ngc ng ra. T s vng dy lc ny cng c thay
i thnh 1: n ph hp vi yu cu thit k.

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7.2.2 Nguyn l lm vic.[14]

c tnh ca hu ht bin th cch ly c th c m hnh ha gm mt bin th l
tng v mt cun cm mc song song vi n, c v nh hnh 7.4(a).
Hnh 7.4: M hnh b bin i flyback

Cun cm LM c c tnh ging nh in cm ban u trong mch hnh 7.3(a). Khi
transistor Q1 dn, nng lng t ngun Vg c tch tr trong LM. Khi Q1 tt, in cm
c khuynh hng duy tr dng in qua n s to in p cm ng diode phn cc
thun diode D1 dn. chnh nng lng c tch tr trong LM c truyn qua ti. Dng
v p ca in cm truyn qua ti theo t s truyn 1: n ca bin th l tng.
Trong giai on Q1 dn, mch bin i c rt gn nh hnh 7.4(b). Gi tr in p
trn cun cm vL, dng in trn t iC v dng in ig qua ngun DC nh sau:

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(7.1)
Gi s trng thi xc lp, b bin i hot ng vi dng gn trn cun dy l nh

v in p gn trn t cng nh. Th dng in qua cun dy v in p trn t tng
ng vi thnh phn DC ca chng, tng ng l I v V. Biu thc 7.1 tr thnh.
(7.2)
Trong giai on Q1 ngt, Diode dn. Mch tng ng nh hnh 7.4(c). Gi tr

in p trn cun cm pha s cp vL, dng in trn t iC v dng in ig ca ngun DC
nh sau:
(7.3)
Tng t, khi gn sng nh, th biu thc 7.3 trn tr thnh.
(7.4)
Dng sng ca vL(t), iC(t) v ig(t) c v trong hnh 7.5. Trong D l thi gian Q1
dn, v D l thi gian D1 dn trong mt chu k ng ngt.

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Hnh 7.5: Dng sng ca vL(t), iC(t) v ig(t).

trng thi xc lp, dng in i qua in cm s thay i tun hon, vi gi tr ca
dng in cui chu k trc bng vi gi tr ca dng in u chu k sau. Xt trng
hp dng in ti c gi tr ln dng in qua in cm l lin tc. V in cm
khng tiu th nng lng (in cm l tng), hay cng sut trung bnh trn in cm l
bng 0, v dng in trung bnh ca in cm l khc 0 nn in p ri trung bnh trn
in cm phi l 0.
vL = D (Vg) + D' ( V/n) = 0
(7.5)
Hay
(7.6)
Vi V l in p ti.

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Tng t, v t in khng tiu th nng lng (t in l tng), hay cng sut

trung bnh trn t l bng 0, v in p trung bnh ca t l khc 0 nn dng in trung
bnh qua t phi l 0.
iC = D ( V/R) + D' (I/n V/R) = 0
(7.7)
Hay I = nV/D'R=nV/(1-D)R
(7.8)
Vi I l thnh phn dng DC qua cun dy pha s cp. Cn dng in qua ngun
nh sau:
Ig = D (I) + D' (0)
(7.9)
Nh vy, dng in qua ngun Ig v in p trn ti V t l vi thi gian ng Q1.

Dng in qua in cm gim khi thi gian ng Q1 tng. Ngoi ra, in p trn
MOSFET lc n ngt l vL+ Vg , gi tr ny c th ln v lm hng MOSFET nn khi thit
k thng c mch snubber hn ch in p ny.
in p ng ra c n nh bng cch hi tip, in p hi tip ny tc ng lm
thay i gi tr D t c s n nh ng ra.
Hnh 7.6 di y l s b bin i flyback tng qut. Mch snubber bao gm
mt diode nhanh, mt t in v mt in tr. IC iu khin rng xung D v kch
MOSFET, rng xung c iu khin da vo tn hiu p hi tip t ti. in tr Rs
dng cp in cho IC iu khin trong lc khi ng. Sau khi khi ng th in p
trn cun dy N3 s cp in li cho IC hot ng.

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Hnh 7.6: S khi b bin i flyback.

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7.2.3 Kt qu thc nghim

Hnh 7.7 l s nguyn l mt mch ngun Flyback hon chnh. S dng h IC
iu khin UC3845 ca hng Fairchild nhn tn hiu hi tip v iu khin gi tr D.
Ngun DC c thm t lc CDC gim cc xung t mch flyback tr v do ng ngt.
Phn hi tip s dng opto cch ly hon ton. Ngun c nhiu ng ra khc nhau. Mi
ng ra c qun dy v lc ring bit.[15]
Hnh 7.7: Mch flyback thc nghim vi nhiu ng ra

Hnh dng mch sau khi thi cng nh hnh 7.8. in p cp cho vi iu khin cn s
n nh cao nn ly trn ng ra 6V v qua IC n p tuyn tnh. in p ng ra 6V ca
bin th nh trong hnh 7.9. Trc chnh lu in p c dng xung v nhiu dao ng
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(channel 1). Sau khi chnh lu v lc, in p ny tr thnh mt ng phng nm ngang

(channel 2).
Hnh 7.8: Mch ngun flyback sau khi thi cng
Hnh 7.9: in p ng ra trn u ra 6V.

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7.3 Mch vi iu khin

Hnh 7.10 bn di v s nguyn l mch vi iu khin. M hnh s dng vi iu
khin 16bit ca Freescale. Mch s dng thch anh 16MHz kt hp vi b nhn xung
PLL ca vi iu khin to tn s 24MHz cho cc ngoi vi.
Hnh 7.10: S khi mch vi iu khin

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Hnh 7.11 cho ta thy s kt ni gia vi iu khin vi cc phn khc. Vi iu khin

nhn gi tr t cc cm bin thng qua cc chn ADC; Hin th thng tin ln LCD qua cc
chn IO; iu khin mi ng c bng mt t hp bao gm.
PH0_Enable: Cho php BLDC Controller hot ng (high) hoc ngng (low)
PH1_Rwd/Rev: iu khin ng c quay tri (high) hoc phi (low).
PWM0_Speed: iu khin tc quay ca ng c bng PWM.
PWM1_Break: iu khin thng ng c bng PWM.
PACA_Speed feedback: Nhn xung encoder bit tc quay ca ng c.
PH2: Bo Vi iu khin khi c qu nhit hoc thiu p trn BLDC Controller.
PH3: Bo khi dng qua MOSFET vt mt ngng thit lp trc.
Hnh 7.11: Giao tip gia vi x l v cc khi khc

Bn cnh , mch vi iu khin cn c dy cm giao tip I/O hoc PWM; Giao tip
I2C truyn thng; Giao tip Serial kt ni my tnh; Led n Mc nh nhm h
tr trong lc vit chng trnh v pht trin v sau. Thc nghim lm mch in 2 lp nh
trong hnh 7.12

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Hnh 7.12: Mch vi iu khin sau khi thi cng

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7.4 Mch iu Khin BLDC

Hnh 7.13 l s nguyn l phn iu khin BLDC. V tr Rotor ca BLDC c
c thng qua 3 cm bin Hall. Tn hiu ny c lc nhiu v m, sau a vo
BLDC controller v mch Hall Pulses. Phn BLDC Controller da vo tn hiu t vi iu
khin v tn hiu t cm bin Hall ri a ra tn hiu ph hp n MOSFET Driver
iu khin ng c. Mch Hall Pulses gm 2 cng X-OR, c chc nng ging nh mt
encoder, to xung tng ng khi ng c quay.
Hnh 7.13: S nguyn l mch iu khin BLDC

S khi bn trong MC33035 c trnh by trong hnh 7.14. Tn hiu iu khin
v tn hiu hi tip t cc cm bin Hall c a vo khi Rotor position decoder. Khi
ny gii m tn hiu t 3 cm bin Hall v a ra xung iu khin tng ng nh trong
hnh 7.15. MC33035 iu khin tc ng c bng cch iu rng xung 3 kha tng
di.
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Hnh 7.14: S bn trong vi mch iu khin BLDC
Hnh 7.15: gi tr ng ra theo ng vo ca MC33035

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Hnh 7.16: iu rng xung ca MC33035

rng xung c c do b so snh in p gia chn s 10-Chn dao ng dng
tam gic do dao ng trn RT v CT- v chn s 13- PWM input. Hnh 7.16 cho thy
MC33035 so snh 2 tn hiu analog. Trong khi giao tip t vi x l ti MC33035 l
PWM. Do m hnh iu khin tc ng c bng cch nng tn hiu PWM ln in
p cao, v a vo chn s 13. Nh trong hnh 7.17 vi VA l nhn tn hiu PWM t vi x
l, VB = 0V.
Hnh 7.17: iu khin PWM theo 2 ng vo

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Trong mch iu khin ng c ny cn c phn bo qu dng in, nhm bo v

FET trong trng hp qu dng. S nguyn l trong hnh 7.18.
Hnh 7.18: Mch bo v qu dng cho MOSFET

Mch n gin ch gm op amp khuch i in p trn in tr Rs- in tr o
dng qua MOSFET nh trong hnh 7.31. in p ti im ITRIP (sau khi c khuch
i) ny mang thng tin dng in qua MOSFET, c so snh vi in p tham chiu
bi op amp LM358. Gi tr tham chiu ny c thit lp sao cho khi ng c lm vic
bnh thng, th n ln hn gi tr p trn im ITRIP. Mt khi qu dng xy ra, im
ITRIP ny tc ng lm BLDC controller ngt tn hiu ng ra. Tn hiu qu dng ny
cng c bo v cho vi x l bit qua opto cch ly PC917.

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7.5 iu khin MOSFET

7.5.1 Qu trnh kch ng MOSFET
MOSFET c u im l iu khin bng p v in tr DS khi dn rt thp. Tuy
nhin, khi hot ng tn s cao, th cc t k sinh c nh hng ln. v vic kch
ng/ngt MOSFET tr nn kh khn hn. Hnh 7.19 sau gip ta d hnh dung s nh
hng ca cc t k sinh trong qu trnh kch.
Hnh 7.19: Cc t k sinh trong MOSFET

Qu trnh kch MOSFET c chia lm 3 phn chnh nh hnh 7.20
Qu trnh np t CGS
Qu trnh np t CGD do hiu ng Miller
Qu trnh np ti gi tr nh ca p kch

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Hnh 7.20: Dng in p VGS khi kch ng

Ta s phn tch qu trnh t khi c in p kch n khi MOSFET ng hon ton
mt cch chi tit qua 4 thi k, l mt th in p VGS theo thi gian, c v trong
hnh 7.21.
Hnh 7.21: 4 giai on ca kch ng

im cui ca 4 thi k tng ng l:
VT (t=t1): in p ngng (threshold)
VPL (t=t2): in p u dc do hiu ng Miller
VPR (t=t3): in p cui dc
VDR (t=t4): in p nh ca ngun kch.

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Song song vi s thay i ca in p VGS trn, gi tr dng in np IGS, in p

mng ngun VDS v dng in IDS cng c s thay i tng ng, c trnh by trong
hnh 7.22 sau: [17]
Hnh 7.22: S lin quan gia cc thng s trong qu trnh kch ng.

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7.5.2 Phn tch qu trnh kch ng.

T zero n VTH
VGS tng t 0 n VTH
iGS gim t gi tr max
iD =0
vDS khng i
in p Vgs trong tm 0 n VTH. Ti thi im t=0, cc G c cp ngun v in
p vgs bt u tng, lc ny hu ht dng qua cc G u np cho t CGS.
Tht ra, cng c mt lng nh dng np qua t CGD v t ny c gi tr nht nh,
nhng do t CGS>>CGD nn c th xem y l thi k np cho t CGS
Giai on ny cn c gi l ON_delay, bi v c dng in v in p qua mng
ngun vn cha thay i. lc ny MOSFET vn ang trng thi ngt (OFF)
T VT n VPL
VGS tng t VT ti vPL
igs gim
iD tng nhanh
vDS bt u gim
Giai on 2 ny l giai on u ca MOSFET khi chuyn t trng thi ngt sang
ng. in p ngng VT c nh ngha l in p VGS lc dng iD bt u chy t cc
mng D n cc ngun S. Lc ny VDS bt u gim nn VGD tng (VGD=VGS-VDS).
Ta c:
i
dq
dy
d (C.v)
dt

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(7.10)
Trang 85
Kt qu l dng np bt u chy qua t CGD nhiu hn so vi giai on 1, trong khi

dng np t CGS vn khng i. Theo hnh 7.21 hoc hnh 7.22 ta thy, dng in qua cc
G vn tuyn tnh vi in p vGS trong 2 giai on u.
T VPL n VPR
vGS tng t VPL n VPR
iD t gi tr max
vDS gim nhanh n VDS(ON)
y l giai on sau ca vic kch ng v MOSFET gn nh dn hon ton. Trong
giai on ny, p vDS gim nhanh khin VGD tng nhanh. Dn n dng t np qua CGS m
ch yu l qua CGD theo biu thc i=d(C.v)/dt. iu ny gii thch ti sao p VGS tng rt
chm, hoc thm ch l mt ng nm ngang nu tch s (C.v) tng nhanh. Dng
mng ngun tng n gi tr ti a v dng li . Gi tr max ny ph thuc vo thng
s ti.
n cui giai on, in p vDS t gi tr ID*RDS(ON) v ngng gim, lm CGD ngng
tng.
T VPR n VDR
VGS tng t vPR n vDR
iD l hng s gi tr max
vDS l hng s gi tr min
Giai on hon thin mt chu k kch ng MOSFET v khng c g thay i ln.
ln VGS tng ti gi tr cui cng l p kch VDR ca IC Driver.
Trong khi dng np chia cho c 2 t CGS v CGD th iD khng i, vgs gim nh do
in tr RDS(ON) gim nh.
Nh vy, vic kch ng ca MOSFET trong chuyn mch cng th nh hng ca
hiu ng Miller rt ln. V do , vic kch MOSFET khng n thun l kch bng p
na, m dng kch cng nh hng nhiu n tc kch ng ca kha.
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7.5.3 Qu trnh kch ngt ca MOSFET

Hot ng kch ngt din ra ngc li vi qu trnh kch ng, ch lu l qu trnh
ny cng bao gm 4 giai on, Bt u vi:
VGS bng p kch (VDR)
IG bng 0
VDS bng VDS(ON)= ID*RDS(ON)
ID ph thuc ti
Tm li, c th chia qu trnh kch ng v kch ngt MOSFET thnh 4 giai on
m di ca mi gian on ny ph thuc vo cc gi tr t in lin quan.
7.6 Mch MOSFET Driver

Phn trc ta tm hiu qua vic a nng lng vo MOSFET nh th no
MOSFET ng ngt. Phn ny gii thiu mt phng php tnh gi tr in tr kch ng
v kch ngt.
7.6.1 in tr ti hn
Vic cp nng lng hay chnh xc hn l cp dng in cho MOSFET c gii hn,
v gii hn ny c quyt nh bi in tr kch Rg (Gon v Goff). Nh trong hnh 7.23
v hnh 7.24. [17]
Hnh 7.23: Qu trnh kch ng

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Hnh 7.24: Qu trnh kch ngt

Trn hnh 7.23 v hnh 7.24 c t in Ceff, l gi tr t in quy i ca tt c cc
t lin quan n qu trnh kch ng v kch ngt.
Ta c th s dng s thay th nh hnh 7.25 sau phn tch :
Hnh 7.25: S thay th mch kch

s ta thy c thm phn t in cm LS, bi v t mch kch n cc kha ta
phi c ng dy dn, v in cm sinh ra bi ng dy ny. Theo EMC th ta c th
c lng cho ng i trong mch in l khong 2nH/1cm.[19]
Theo l thuyt mch, in p trn t CISS khng b dao ng th gi tr in tr RG
phi ln hn hoc bng in tr ti hn.
RTH
LS
CISS
(7.11)
Trong , RG l in tr tng, bao gm in tr ng ra RDR ca Driver v in tr

kch mnh cn tnh Rg.
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RG = RDR + Rg
(7.12)
CISS l t in ng vo, c tnh:

CISS = CGS + CGD
(7.13)
Do , kch ng v kch ngt c n nh, ta cn c:

RG
RTH
(7.14)
Tuy nhin, thc t in cm ng dy LS thng nh, dn n RTH cng nh

(khong vi Ohm), nn khi chn in tr kch RG cn phi quan tm n dng in cho
php ca mch Driver. Phn sau s gii thiu cch tnh in tr kch c xt n kh nng
chu dng ca IC Driver.
7.6.2 in tr kch ng[16]
Nh thy phn trn, dng in qua cc G v in p VGS khng c phng
trnh nn khng th tnh in tr kch mt cch chnh xc. Thc t c nhiu cch tnh theo
nhiu hng. y xin trnh by mt phng php n gin nhng hiu qu c hng
IR Rectifier gii thiu nh sau:
Gi IAV l dng kch trung bnh, tsw l thi gian chuyn mch t lc bt u a p
kch n khi MOSFET ng, tc t thi im t=0 n t=t3 trong phn phn tch dng
p kch (Hnh 5) ni trn.
Ta c:
Qg = IAV*tsw
(7.15)
Ta dng Qg ch khng phi (Qgs+Qgd) nh trn hnh 4 v hnh 5 v thc t cc linh

kin cng tn thng chnh lch nhau cht t. V nng lng cn np m bo y
cho vic kch c khuyn co l Qg.
Vi:

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I AV
VCC VP
RG
(7.16)
VP l in p ngng do hiu ng Miller, bng gi tr trung bnh ca vgs trong

khong (t=t2t3). l mt thng s quan trng ca MOSFET v c cung cp trong
datasheet di dng th nh hnh 7.26 sau:
Hnh 7.26: VGS theo nng lng np.

Lu l tsw ln hay nh ph thuc vo dng kch, tsw cng nh th thi gian chuyn
mch cng nhanh v tn hao trn linh kin cng gim. bi vy tsw thng c chn theo
tiu ch thit k v ph hp tn s sng mang.
Mt gi tr tsw c nh gi l rt tt khi s dng IC driver kch kha:
tsw = (34) (td(on) + tr)
(7.17)
Vi td(on) v tr l nhng thng s ca MOSFET c cho trong datasheet.

T cc biu thc trn, ta c:
Qg
VCC VP
RG
t sw
(7.18)
Suy ra:

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RG
(VCC VP )t sw
Qg
(7.19)
Nhc li:
RG = Rg + RDR
RDR
(7.20)
VCC
I OUT ,DR
(7.21)
IOUT,DR l dng in ti a m IC Driver c th kch c, c cho trong datasheet

ca IC Driver. Vy, gi tr in tr kch c xc nh:
Rg = RG RDR
(7.22)
7.6.3 in tr kch ngt.

Thng thng IC Driver c cung cp chn kch ng v kch ngt ring bit. Khi
in tr kch ng vn c tnh nh trn, cn in tr kch ngt nn c chn vi
gi tr nh hn bi 2 nguyn nhn:
Th nht: vic kch ngt xy ra nhanh hn, gip gim DeadTime. n gin,
ta c th s dng gi tr in tr kch ngt bng vi gi tr in tr ti hn.
Th hai: khi kha di ngt, kha trn ng, th in p ng ra (ti im gn vi
ti) s chuyn t mc thp ln mc cao ca ngun cng sut trong thi gian ngn. Tc l
dV/dt c gi tr ln, xem hnh 7.27.
Hnh 7.27: Dng in khi kha di ngt v kha trn ng.

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Khi s c dng in chy qua CRESoff, Rgoff v RDR.

Do:
i C RESoff
dV
dt
(7.23)
Nu dng in ny ln v st p trn cc G cao hn in p ngng ng (V T)

ca kha, th kha c th t ng mc d c iu khin kch ngt. Trng hp ny
nguy him cho linh kin v cho ngun cng sut v n ging nh hin tng ng dn.
Nh vy: Vic gim in tr kch ng s gii lm gim st p trn cc G ca kha
di.
Ta c:
V ge
( R goff
R DR ) C RESoff
dV
dt
(7.24)
Ta cn tnh sao cho Vge < VT ca kha.

Vy:
R goff
VT
dV
C RESoff .
dt
RDR
(7.25)
Ni chung, thc hin mt mch kch th vic chn gi tr in tr kch ph hp l rt

quan trng, n nh hng n hiu sut ca mch v trnh c nhiu h hng khc.

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7.6.4 Mch driver IR2136 v MOSFET 60N06

Hnh 7.28 cho thy s nguyn l mch kch MOSFET dng IR2136 ca hng
International Rectifier. Dng k thut bootstrap cp ngun cho cc driver tng trn.
Mch s dng opto TLP2630 cch ly tn hiu iu khin v phn cng sut. Do opto
c thi gian lan truyn thp (o c l 120ns) nn cho php tn PWM cao. Do b iu
khin BLDC o tn hiu tng trn nn sau Opto c transistor o tn hiu li cho
ph hp vi IR2136.
Hnh 7.28: S MOSFET Driver kt hp vi opto TLP2630

S khi bn trong ca IR2136 cho trong hnh 7.29. Mi knh iu khin qua khi
Deadtime & Shoot-through prevention nhm mc ch bo v chng trng dn cho 2
kha. Mi driver u c khi bo v chng thp p, nhm m bo an ton khi kch
MOSFET. Dng in trn MOSFET c chuyn thnh p v hi tip qua chn ITRIP
sau c so snh vi in p 0.46V. khi qu dng xy ra, tt c ng ra ca IR2136 u
b kha. Thi gian kha ng ra ny ph thuc vo hng s thi gian ca mch RC ni vo
chn RCIN.

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Hnh 7.29: S khi ca IR2136

Cc Driver tng di c cp ngun chung vi Vcc. Trong khi cc ngun cho
Driver tng trn phi c cp ngun ring do c tnh ng ni cc S ca MOSET. Nh
ni trn, mch dng k thut bootstrap cp in cho cc driver tng trn ny.
Mch bootstrap c s nguyn l nh trong hnh 7.30 [16]. Trong lc kha tng
di dn, t in bootstrap c np bi Vcc qua in tr v diode bootstrap. Khi kha
pha di ngt, kha trn dn, t bootstrap s cp in cho driver tng trn kch ng
kha.

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Hnh 7.30: Mch bootstrap c bn

Mch kch tng cao c cp ngun VBS bi t bootstrap - CBS. Theo s trn,
c 5 phn t nh hng n hot ng ca t CBS. Trong mi phn t , ta ch n
cc thng s chnh sau:
in tr Rboot: hn ch dng np cho t bootstrap nhng thng b qua.
Diode Dboot: in p thun VF , dng r Ilk-d v nng lng hi phc Qrr.
T bootstrap CBS: gi tr CBS cn tnh v dng r qua t Ilk-c
Mch kch trong IC: dng tnh Iqbs v nng lng cn np chuyn t mc p
thp ln mc p cao Qls
Kha tng cao: gm nng lng np cng Qg v dng r qua G-S: Ilk-GS
Kha tng thp: st p VCE-on
Nng lng ti thiu ca t CBS cung cp cho mch.
QBSmin = (Qrr + Ilk-d.tHon) + (Ilk-c.tHon) + (Qls + Iqbs.tHon)+(Qg + Ilk-gs.tHon)
(7.26)
Trong : tHon l thi gian ti a kha trn ng.

t Hon
Tsw
1
f sw

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(7.27)
Trang 95
Tuy nhin, ta c th tnh gn ng bng cch b qua cc i lng t nh hng n

kt qu tnh. V gp i Qg m bo nng lng cho bt k kha no. Khi , cng
thc tnh c rt gn l:
QBSmin = (Qls + Iqbs.tHon) + 2Qg
(7.28)
Khi t cp nng lng cho cc phn t ni trn, th in p trn t s st dn. ta gi

Vmin l in p trn t (VBS) ti thiu mch hot ng. khi , thay i in p trn
t trong lc kha tng cao ng l:
VBS = VCC VF Vmin VCE-on
(7.29)
Nh vy, m bo t hot ng n nh, gi tr np cho t phi c gp i gi

tr trn. in dung ti thiu ca t bootstrap c tnh:
C BS min
2QBS min
VBS
2[Qls
VCC
I qbs .t Hon
VF
2Q g ]
Vmin VCE
(7.30)
on
Dng qua diode c tnh:

IF =QBSmin*fsw
(7.31)
Ngun cp cho driver tng trn theo phng php bootstrap c u im l d thit
k v s dng rt t linh kin. Ton b mch iu khin ng c bao gm BLDC Driver,
Opto cch ly v MOSFET Driver c thit k trong mt board nh gn nh trong hnh
7.31 bn di.

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Trang 96
Hnh 7.31: Mch iu khin BLDC, Opto cch ly v MOSFET driver.

M hnh s dng MOSFET 60NF06 lm kha ng ngt nh trong hnh 7.31 vi
dng ti a qua MOSFET l 60 ampere. Ngun cng sut cp cho ng c l acquy 36V.
in tr R1 o dng qua MOSFET v tc ng bo v nu dng qua MOSFET vt
ngng gii hn. Mch thc nghim nh hnh 7.32
Hnh 7.31: Kha iu khin ng c BLDC

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Hnh 7.32: Kha ng ngt dng MOSFET 60N06

Kt qu thc nghim cho thy, khi lm vic khng ti. Mch hot ng c nhng
tn ti mt s vn nh sau:
Th nht. ng c khng khi ng c, ta phi tc ng nh vo ng c th
ng c hot ng bnh thng. iu ny c gii thch l khi ng c ang dng, ch
c nhiu nht 2 cun dy ca ng c c cp in, tc nhiu nht l 1 kha pha di
ng. 2 kha cn li khng ng nn t in bootstrap tng ng khng c np in.
Khi iu khin ng c quay, v 2 driver tng trn khng c cp in bi 2 t bootstrap
(khng c np in) nn khng th kch MOSFET tng ng. Kt qu l ng c
khng khi ng c.
Th hai. Khi ng c ang quay vi tc nh mc, ta iu khin o chiu ng
c th thnh thong mt s MOSFET b hng lm ngn mch ngun. L do l khi iu
khin o chiu ng c t ngt, cc gai p t ln kha v gai dng chy qua kha tng
cao nn lm hng kha.
khc phc nhng vn trn. M hnh thay i MOSFET Driver, cng nh thay
c MOSFET cng sut.

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7.6.5 Mch driver HCPL 3120 v MOSFET 75N75

Mch cng sut c ci tin bng cch dng MOSFET Driver HCPL3120 thay cho
IR2136; dng MOSFET 75N75 thay cho 60N06. Hnh 7.33 cho ta thy s nguyn l
mch, vi thi gian p ng nhanh v chu c dng kch ln, HCPL 3120 lm vic hiu
qu. Cc driver tng trn c cp ngun c lp vi 3 driver tng di. Cc S ca
MOSFET khng ni trc tip vi GND ca Driver, m mc ni tip vi cp t song song
vi diode zener. Vi cch ni dy ci tin ny, qu trnh kch ngt din ra nhanh v tt
hn v t ny t in p m vo cc G v S ca MOSFET.
Hnh 7.33: Mch MOSFET driver dng HCPL 3120 ci tin.
nng cao cng sut. Ta ghp song song 2 MOSFET thnh 1 kha, cho php dng
ti a qua kha ln n 150A. Vi in p cc D v cc S chu c 75V nn c th dng
acquy 48V cho ng c. Hnh nh thc t ging nh trong hnh 7.34

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Hnh 7.34: MOSFET c gn ln tn nhit.
Kt qu thc nghim cho thy mch cng sut mi lm vic rt tt. ng c khi
ng bnh thng, ch o chiu t ngt cng hot ng tt. Tuy nhin vic ghp ni
song song cc MOSFET i hi mt s phi hp tng tr Rgs uc tnh tan k lng
trnh hin tng dng in tp trung dn trn mt MOSFET
Opto driver HCPL 3120 c thi gian lan truyn thp, khong 425ns nh hnh 7.35.
Trong , Channel 1 l xung kch u vo opto driver, channel 2 l dng tn hiu ng ra
ca opto driver.

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Hnh 7.35: thi gian lan truyn ca HCPL 3120.

Dng sng kch MOSFET thc nghim ging nh l thuyt phn tch trong mc
7.5 trn. Khi cha c ti, hiu ng Miller cha c nn thi gian kch cn thp. c th
hin hnh 7.36
Hnh 7.36: Dng sng kch ng MOSFET

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Khi gn ti thun tr vi dng ti 6 ampere. nh hng ca hiu ng Miller lm

cho thi gian kch lu hn. Nh trong hnh 7.37, channel 1 l dng in p kch ngt
MOSFET, channel 2 l in p trn cc D ca MOSFET.
Hnh 7.37: Dng sng kch v dng qua MOSFET khi c ti

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7.7 Nhn xt:

Vi 2 ln thit k mch cng sut cho thy mi mch u c u im ring.
Mch dng driver IR2136 cho ta thit k nh gn vi nhiu tnh nng. Vic bo v
qu dng cho kha tt v can thip ngay trn Driver. Bn thn IR2136 c sn deadtime
chng trng dn, trnh nhng sai lm trong tn hiu iu khin. Tuy nhin, s dng ngun
bootstrap mc d n gin nhng khng ph hp khi iu khin ng c BLDC phi hp
vi IC iu khin ng c khng chi than MC33035. S dng n MOSFET 60N06
khng iu khin ng c trong trng hp o chiu t ngt v gai dng ln hn
kh nng chu ng ca n.
Mch s dng HCPL3120 cho ta dng kch kha cao hn hn nn d dng kch
MOSFET c t k sinh ln. Kt qu l n kch 2 MOSFET 75N75 mc song song nh
trong m hnh mt cch d dng vi thi gian kch nhanh (khong 1s). Vic dng ngun
c lp cho cc driver tng trn lm vic hiu qu v n nh hn. Nhng gnh nng t
ln vic thit k b ngun switching n nh v mt in p v vic trnh nhiu k sinh
trn ton b phn iu khin cng sut.

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CHNG 8: KT QU V NH GI
ti c nh du hon thnh bng vic lp rp v hon thin xe hai bnh t cn
bng. Xe hot ng kh n nh, d dng iu khin vi c nhng ngi ln u tin s
dng.
Hnh nh thc t:
Hnh 8.1: Hnh chp kt qu thc t
8.1 Cc im t c
Ch to c kh hon thin, c cu b li hot ng n nh.
Mch MOSFET Driver v b kha bn dn MOSFET t c cng sut
mong mun, iu khin n nh khng s c.

NGUYN NAM DNG
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Trang 104
Mch ngun Flyback Converter hot ng chnh xc, t nhiu, in p ra

t cht lng cao.
Mch iu khin hot ng n nh, thut ton iu khin hot ng chnh
xc, xe vn hnh n nh.
Giao din tng tc LCD r rng, hin th tt tt c cc thng s hot
ng ca xe.
8.2 Cc im cha t c
C cu b li hot ng cha m, cn ci tin thm v kt cu v k thut
ch to.
Cha c c ch bo v an ton khi xe b s c.
Tnh thm m ca ti cha cao v s dng cc cht liu hin c n
gin ch to.
Cc mch cng sut chy cha ht cng sut v s dng linh kin t cht
lng khng cao, n nh km.
8.3 Hng pht trin ca ti

Mc tiu quan trng ca ti l chng ta phn tch cc thnh phn v in v iu
khin lm ch c nguyn l hot ng v iu khin. Khi gii quyt c bi
ton cng sut, ch to thnh cng b iu khin ng c BLDC cng sut ln; l ch
c nguyn tc cn bng v iu khin ng c ta c th pht trin ti trn din rng.
Da trn nguyn l hot ng ca xe hai bnh t cn bng chng ta c th pht trin
ch to cc loi robot hai bnh di chuyn linh hot lm cc robot dn ng, robot
chuyn hng hay cc ng dng robot nh gn v linh hot khc. V y cng l bc kt
ni kinh nghim ta tip cn cc nguyn l cn bng ngi nghin cu v ch to
cc loi humanoid robot.
NGUYN NAM DNG
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Trang 105
Ti liu tham kho:
[1] Juha Pyrho nen, Tapani Jokinen and Valeria Hrabovcova (2008). DESIGN OF
ROTATING ELECTRICAL MACHINES. John Wiley & Sons, Ltd. ISBN: 978-0470-69516-6.
[2] Jacek F. Gieras, Mitchell Wing. Permanent Magnet Motor Technology.
[3] (2004).Electrical Motor Handbook . The McGraw-Hill Companies.
[4] SENSORLESS BLDC MOTOR CONTROL AND BEMF SAMPLING METHODS
WITH ST7MC. STMicroelectronics group of companies.
[5] (2006). 301 MCW dsPIC Motor Control Workshop. Microchip Technology
Incorporated.
[6] Nguyn Trng Duy (2006). M phng v iu khin ng c mt chiu khng chi
than. Lun vn thc s, i Hc Bch Khoa Tp. HCM.
[7] Trn Khnh H. Thit k my in.
[8] Phan V Thng (2009). iu khin vector ng c ng b ba phnm chm vnh cu
vi ng dng Fuzzy logic trong iu khin vn tc. Lun vn i hc. i hc Bch
Khoa Tp.HCM.
[9] Mai Tun t (2005). Xe hai bnh t cn bng di chuyn trn a hnh phng. Lun
vn i hc, i Hc Bch Khoa Tp.HCM.
[10] Nguyn Gia Minh Tho (2009). iu khin m v giao thc CAN trong ng b tc
ng c DC. Lun vn i hc, i Hc Bch Khoa Tp.HCM.

NGUYN NAM DNG
INH L DUY NGHA
Trang 106
[11] Han-Way Huang (2006). The HCS12/ 9S12 : An Introduction. Thomson Delmar
Learning.
[12 ] Martyn Gallop, etal (2004). Designing Hardware for the HCS12 D-Family.
FreeScale Semiconductor.
[13] Website ca thy Nguyn Quang Nam.
http://www4.hcmut.edu.vn/~nqnam/PE.php#dcdc
[14] ECEN4517, The Flyback Converte, Lecturer note.
[15] Application note AN4137. Design Guidelines for Off-line Flyback Converters Using
Fairchild Power Switch (FPS)
[16] DT 04-4. Using monolithic high voltage gate drivers. By A.Merello, A. Rugginenti,
M. Grasso
[17] Slup 169. Design And Application Guide For High Speed MOSFET Gate Drive
Circuits. By Laszlo Balogh
Cc website tham kho:

[18] http://www.wikipedia.com
[19] http://www.picvietnam.com
[20] http://www.dientuvietnam.net
[21] http://www.st.com
[22] http://www.freescale.com

NGUYN NAM DNG
INH L DUY NGHA
Trang 107

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I HC QUC GIA THNH PH H CH MINH

TRNG I HC BCH KHOA

PHN TCH CC THNH PHN

NGUYN ANH CHNG

GVHD : Th.S MAI TUN T

TP.H Ch Minh, Thng 1/2010

ti lun vn tt nghip l ti ln v hon thin cui cng trc khi chng ti

Nhn xt ca gio vin

Thnh ph H Ch Minh, ngy 11 thng 1 nm 2010

ti xut pht t mc tiu phn tch cc thnh phn cu to cng nh iu khin

5.3.4 Khi ADC (Analog to Digital Converter) .................................................................... 53

CHNG 1: TNG QUAN

Lun vn tt nghip 2010

CHNG 1: TNG QUAN

1.1 Gii thiu chung

SVTH: NGUYN ANH CHNG

CHNG 1: TNG QUAN

Lun vn tt nghip 2010

hot ng an ton, tin cy v tit kim nng lng ti mc ti a, tt c cc ngun ca cc

1.2 Xe hai bnh t cn bng hot ng nh th no?

CHNG 1: TNG QUAN

Lun vn tt nghip 2010

sn xe lun nm ngang, vung gc vi hng trng tm. Vic iu khin ny d dng

Hnh 2.1: Nguyn l cn bng ca xe hai bnh t cn bng

1.3 Cc thnh phn ca xe hai bnh t cn bng

CHNG 1: TNG QUAN

Lun vn tt nghip 2010

Xe c gn 100 board mch bao gm mch iu khin v mch cng sut. C

Hnh 2.2: Xe hai bnh t cn bng Segway

CHNG 1: TNG QUAN

Lun vn tt nghip 2010

Thnh phn xe hai bnh t cn bng trong ti bao gm:

SVTH: NGUYN ANH CHNG

CHNG 2: NHIM V LUN VN

Lun vn tt nghip 2010

CHNG 2: NHIM V LUN VN

SVTH: NGUYN ANH CHNG

CHNG 3: GII THIU V NG C BLDC

Lun vn tt nghip 2010

CHNG 3: GII THIU V NG C BLDC

3.1 Gii thiu chung v ng c BLDC

CHNG 3: GII THIU V NG C BLDC

Lun vn tt nghip 2010

Mt t thng khe h khng kh ln.

3.2 Cu trc ng c BLDC

CHNG 3: GII THIU V NG C BLDC

Lun vn tt nghip 2010

SVTH: NGUYN ANH CHNG

CHNG 3: GII THIU V NG C BLDC

Lun vn tt nghip 2010

Theo v tr tng i ca rotor i vi sator ta c hai kiu ng c : ng c rotor

Hnh 3.2: Kiu rotor nam chm dn ngoi b mt

CHNG 3: GII THIU V NG C BLDC

Lun vn tt nghip 2010

Hnh 3.3: Kiu rotor nam chm nm bn trong

CHNG 3: GII THIU V NG C BLDC

Lun vn tt nghip 2010

qun phn ng c qun trn cc rnh stator nm pha trong v y l phn c nh ca

Hnh 3.4: Stator v rotor ca ng c trong ti

Hnh 3.5: Hai ng c trong ti

SVTH: NGUYN ANH CHNG

CHNG 3: GII THIU V NG C BLDC

Lun vn tt nghip 2010

3.3 Phng trnh m hnh ton ca ng c BLDC