Professional Documents
Culture Documents
Li cm n
Li cam oan
Knh gi: Hi ng bo v tt nghip khoa in t ng Trng Cao ng
Cng Ngh i hc Nng.
Em tn l: Trn Nguyn Quc Huy
Phan Hong Anh
Nguyn c Ba
Nguyn Tn Thch
ang l sinh vin lp 08LT Khoa in t ng Trng Cao ng
Cng Ngh i hc Nng.
Hin nay chng em lm n tt nghip vi ti iu khin tc ng
c in mt chiu .
Chng em xin cam oan ni dung n hon ton khng ging vi bt k
n hoc cng trnh no c trc .
Nng, ngy 10 thng 06 nm 2010
Sinh vin thc hin
Trn Nguyn Quc Huy
Phan Hong Anh
Nguyn c Ba
Nguyn Tn Thch
Mc lc
MC LC
Chng 1: ng c in mt chiu................................................................1
1.2. Ni dung..............................................................................................1
1.3. Kt chng..........................................................................................8
1.5. Ni dung..............................................................................................9
1.6. Kt chng........................................................................................20
1.7. M chng........................................................................................21
1.8. Ni dung............................................................................................21
1.9. Kt chng........................................................................................31
1.10. M chng......................................................................................32
1.11. Ni dung..........................................................................................32
......................................................................................................................48
Cc t vit tt
CC T VIT TT
PID ProportionalIntegralDerivative
DC Direct Current
PWM Pulse Width Modulation
EEPROM Electrically Erasable Programmable Read Only Memory
ADC Analog Digital Converter
USART Universal Synchronous Synchronous Asynchronous Receiver
Transmitter
MUX Multiplexer
MCU Microcontroller Unit
GPIO General Purpose Input Ourput
EUSART Enhanced Universal Synchronous Asynchronous Receiver
Transmitter
LCD Liquid Crystal Display
FET Field-Effect Transistor
BJT Bipolar Junction Transistor
MOSFET Metal Oxide Semiconductor Field-Effect Transistor
UART Universal Asynchronous Receiver Transmitter
M u
M u
Vi s pht trin rng ri ca thit b in, ngy nay, ngi ngi, nh nh
hu ht s dng cc cng ngh hin i. V khi mc sng ca ngi dn c
nng cao th vic qun l cc thit b in trong nh l ht sc cn thit. Chnh v
vy vic iu khin thit b v gim st hot ng ca n thng qua mt qu trnh t
ng l vic lm mang nhiu li ch.
ti thc hin vic iu khin thng qua vi iu khin PIC16F887A, chnh
v vy ti nghin cu su v vic n nh tc ng c in mt chiu. Trong
gii hn thi gian nghin cu cho php, ti ch pht trin mt h thng iu
khin n gin. Cc thit b c gim st v iu khin tiu tn rt t nng lng
s mang li li ch kinh t v hiu qu s dng cao.
Ni dung ca n gm:
Chng 1: ng c in 1 chiu
Chng 2: Gii thiu v vi iu khin PIC 16F887A
Chng 3:Thit k v thi cng phn cng
Chng 4: Thit k phn mm
Phng php nghin cu ca n l tnh ton thit k mch, xy dng cc
lu thut ton v thi cng lp rp kim chng tnh ng n ca thit k v
cc lu thut ton xy dng.
Vi phng php trn, n c thit k v thi cng thnh cng.
V thi gian chun b khng nhiu cng vi kin thc cn hn hp, n
khng trnh khi nhng sai st, chng em rt mong nhn c kin ng gp ca
cc thy c trong khoa, chng em xin chn thnh cm n.
Nng, ngy 10 thng 06 nm 2010
Sinh vin thc hin
Trn Nguyn Quc Huy
Phan Hong Anh
Nguyn c Ba
Nguyn Tn Thch
Chng 1: ng c in mt chiu
Chng 1: ng c in mt chiu
1.1. Gii thiu chng
Chng ny gii thiu c bn v ng c DC, cc phng php iu khin
tc ng c v phng php n nh tc ng c dng thut ton PID.
1.2. Ni dung
1.2.1 Gii thiu ng c DC
ng c in mt chiu l ng c in hot ng vi dng in mt chiu.
ng c in mt chiu ng dng rng ri trong cc ng dng dn dng cng nh
cng nghip.
Cu to ca ng c gm c 2 phn: stato ng yn v rto quay so vi
stato. Phn cm (phn kch t-thng t trn stato) to ra t trng i trong mch
t, xuyn qua cc vng dy qun ca phn ng (thng t trn rto). Khi c dng
in chy trong mch phn ng, cc thanh dn phn ng s chu tc ng bi cc
lc in t theo phng tip tuyn vi mt tr rto, lm cho rto quay.
Ty theo cch mc cun dy roto v stato m ngi ta c cc loi ng c
sau:
- ng c kch t c lp: Cun dy kch t (cun dy stato) v cun
dy phn ng (roto) mc ring r nhau, c th cp ngun ring bit.
- ng c kch t ni tip: Cun dy kch t mc ni tip vi cun dy
phn ng.
i vi loi ng c kch t c lp, ngi ta c th thay th cun dy kch
t bi nam chm vnh cu, khi ta c loi ng c in 1 chiu dng nam chm
vnh cu. y l loi ng c c s dng trong n ny.
1.2.2 M hnh ha ng c DC
M hnh tng ng ca phn ng ng c nh sau:
Trang 1
Chng 1: ng c in mt chiu
I a
R a
L a
U a
1
+
A E g
-
2
di a
u a = Ra i a + La +e g (1.1)
dt
e g = k v n (1.2)
Trong l t thng do nam chm vnh cu gy ra. n l tc ng c.
Momen in t:
Td = Kt ia (1.3)
Phng trnh ca ng c:
d
Td = J + B + TL (1.4)
dt
B: h s ma st
T: monen ti.
ch xc lp:
u a = Ra ia +e g (1.5)
Td = 2nB +TL = K t ia (1.6)
Ta c c tc ng c ch xc lp:
U a I a Ra
n= (1.7)
Kv
Trang 2
Chng 1: ng c in mt chiu
Trang 3
Chng 1: ng c in mt chiu
(1.14)
Trong : a =La/Ra Hng s thi gian ca mch phn ng
m =J/B Hng s thi gian c.
Trang 4
Chng 1: ng c in mt chiu
p ng xung ca ng c:
kU
n(p)= (Tp +1) p
Trang 5
Chng 1: ng c in mt chiu
Vy hm truyn gn ng:
k 150 / 24 37 .5
G= = =
Tp +1 0.03 p +1 0.03 p +1
Trang 6
Chng 1: ng c in mt chiu
vi phn xp x bi
de (t ) e( nT ) e(( n 1)T )
=
dt T
Vy ta c hm truyn khu PID ri rc:
U dk ( z ) 1
G= = K p + Ki + K d (1 z 1 )
E( z) 1 z 1
Trang 7
Chng 1: ng c in mt chiu
Trang 8
Chng 2: Gii thiu vi iu khin PIC16F887
Trang 9
Chng 2: Gii thiu vi iu khin PIC16F887
Trang 10
Chng 2: Gii thiu vi iu khin PIC16F887
Trang 11
Chng 2: Gii thiu vi iu khin PIC16F887
Trang 12
Chng 2: Gii thiu vi iu khin PIC16F887
Trang 13
Chng 2: Gii thiu vi iu khin PIC16F887
B phn chnh ca khi truyn l thanh ghi truyn TSR. Thanh ghi ny
khng th truy cp bng phn mm, m c truy cp gin tip qua thanh
ghi m truyn TXREG. B truyn c kch hot khi cu hnh cc bit
TXEN=1, SYNC=0, SPEN=1. TXEN=1 kch hot b truyn ca EUSART.
SYNC=0 cu hnh EUSART hot ng ch khng ng b. SPEN=1
cho php b EUSART hot ng v cu hnh chn TX/CK l chn xut.
- Qu trnh truyn c khi to bng cch ghi d liu truyn vo thanh
ghi TXREG. Nu y l d liu truyn u tin hoc d liu truyn trc
truyn hon tt th d liu trong TXREG ngay lp tc s c truyn
vo thanh ghi TSR. Nu thanh ghi TSR vn cn cha d liu ca k t
truyn trc th d liu mi trong TXREG s c gi cho n khi bit
Stop ca k t ang truyn hon tt. Sau d liu ch trong TXREG s
c truyn vo TSR.
- Cc bc thit lp qu trnh truyn:
o Khi to cp thanh ghi SPBRGH, SPBRG v cc bit BRGH,
BRG16 cu hnh tc Baud.
o Thit lp bit SYNC=0, v bit SPEN=1.
o Gi d liu cn truyn vo TXREG, qu trnh truyn s bt u.
Hot ng nhn:
S khi b nhn c th hin trong hnh 2.6.
D liu c nhn trn chn RX/DT v y vo khi Data Recovery. Khi tt
c 8 hoc 9 bit ca k t nhn c dch vo, chng s ngay lp tc c
chuyn vo b m 2 k t FIFO. B m FIFO v thanh ghi RSR khng th
truy cp trc tip bng phn mm m c truy cp gin tip thng qua
thanh ghi RCREG. D liu trong b m nhn c c bng cch c
thanh ghi RCREG. B nhn c kch hot khi cu hnh cc bit CREN=1,
SYNC=0, SPEN=1. CREN=1 kch hot b nhn ca EUSART. SYNC=0
cu hnh EUSART hot ng ch khng ng b. SPEN=1 cho php b
EUSART hot ng v cu hnh chn RX/DT l chn nhp.
Trang 14
Chng 2: Gii thiu vi iu khin PIC16F887
Trang 15
Chng 2: Gii thiu vi iu khin PIC16F887
Trang 16
Chng 2: Gii thiu vi iu khin PIC16F887
Trang 17
Chng 2: Gii thiu vi iu khin PIC16F887
Trang 18
Chng 2: Gii thiu vi iu khin PIC16F887
Trang 19
Chng 2: Gii thiu vi iu khin PIC16F887
Trang 20
Chng 3: Thit k v thi cng phn cng
Cc phm
iu khin
Encoder
ng c
o chiu Khi iu
Khi iu khin trung khin cng
tm PIC16F887 sut
PWM
UART
th LCD 16x2 mc in p
Trang 21
Chng 3: Thit k v thi cng phn cng
Trang 22
Chng 3: Thit k v thi cng phn cng
K H O I D I E U K H
V C RC 1 C 1 1 R E L A YJ 8 D A O C H I E U
1 2 K 0 4 1
3 K 1 x t a l 1 1 2 V 3 2
4 K 2 3 3 p x F t a l 2 U 3 5
5 K 3 g n d Y 1 s 1 t r 4 0 D I O DC O 1 N D 8 E
G C O
6 K 4 02 M k C R L R / VB 3 P7 9 / P I C S P D A T 6 0 D. 1 o u n F g C o
7 K 5 C 11 02 M 13 R h zk A 0 / A R N B 3 0 6 8 / / U I C L SP P W C U L / K C 1 2 I N 7 0 -
8 24 R k A 1 / A R N B 3 1 5 7 /d / C A i r N1 2 1 I 3 N / T1 1- 1 G N 4 1 0N
1
0 47 0 0 7
9 35 R k A 2 / A R N B 3 2 46 / V / A R N E 1 F 1 - D / C I O V DR EE 2 F C / C H 2 O I NN G+ C O N D U C
46 R k A 3 R / A B N 3 3 3 / A5 / V N V R C9 E / C P F G + M/ C / C1 I 1 N 2 +I N 2 -
4 k 7 3 3 p F 57 R k A 4 / T R0 C B3 K4 2 / I A/ C N 1 8 O U T
V C C s 8 R r A 5 / R A BN 13 4 e / 3 / A n S Nc S o 1/ d C 0 e /2 r C O 1 U 2 T I N 3 R- E L A Y D P D T
w 9 R r E 0 / A R N B 3 5 0 v2 / Ac c N 1 2 / I N T
1 n CR 0 V Ce E 1 / A N V 3 6 D g1 D n d
S W 2S W 3 S W 4 R 3 1cR 1c v E 2 / A N V 3 7S 0 d S 7 R b K E O R E L A Y
1 n V 2d g D D R D 2 9 d7 6/ P 1 d D i r C 1 8 1 5 K E O R E L A Y
K 0 K 1 K 2 1 8 k 17 t V a 3 R x lS1 S R D 2 8 d6 5/ P 1 C 2 K 2 7 S C
K H O I C
1 8 1 5
R l A2 7 / O R S D2 C 7 d5 1 4/ / P C 1 L B K I N
S W 1 k 1 t 7Ra 4 4 x A 6 / O SR 2 C D r6 x 2 4 / C L K O U T
1 5
I N C D E C C H A N G E p w m1 R6 C 0 / T R 1 C O 2 t57 S x / O R / X T / 12 D CK T 2 K I
1 R7 C 1 / T R 1 CO 2 46 S / I T / CX / C C P K 2
S W 1 R8 C 2 / P R 1 C2A 3 /5 C / S C D P OR 1 H A N D O N G L E D D A O C H
C 6R 2 d 10 R 9 C 3 / S R C C 2 K 4 d2 / / 3 S S C D LI / S D A R H A N D O N G D R I V E R
S W 6S W 7 S W 8 r s t d 21 R 0 D 0 R 2 D d1 3 2 1 K 8
R D 1 R D 2
K 3 K 4 K 5 L E D B A O D A O C H I E U
2 . 26 u8 F0 P I C 1 6 F 8 8 7 A
L E D 2 S D 4 1 4
O K C A N O C N E / LO F
R h aF n E dT o n g F E T t r e n
K H O I P H 1 2 V
I M N 2 H S
1
B
0 0 I R
4 8
F
5 A 5
N 4 0 / T O
R h a n d o n g F E T
4 k 7
U 9 A
J 2 R 4 R b D R I V E R V D K
4
3 3 + R 5 p w m C 1 8 1 5 D R I V E R
b 1 3 1 2 r x 2 1 e n c o d e r 2 S C 1 8 1 5
a 1 R 4 R 1 1I 1 N 1O t xU T 1 1 8 2k -
T 1 T O1 UI N T 8 2 0D 2 4 K 7
9 8 v c c R b D R I V E R
U 12 R 0 R2 7O 2 I U N T o u t E n c o d e rL M 3 2B 4Z X 8 4 C 1 6 1 / KS O T
11
T 2T I 2 N O C U 1 T2 1 R0 k6
1
6 C 1 +
V - 3 1 0 u
1 5 C 1 - g n d
G N 4 D C 3 g n d
C 1 4 C 5 2 +
1 0 u C 2 -
VC C
V+
g n d M A 1X 0 2 u3 2
K H O I E N C O D E
2
16
V C C
C 4
1 0 u
a
b
v c c L C LD C D
gnd
V C C
U 4
C 9 D 1
2
0 . 1 u
16
27
38
945
J 1
VV DS SD
U 6
VR ES E
ERD W0
DD 21
DDD 345
DD 67
KA
g n d 2
+
1 4 - 1 1 2 V 1 3 v c c
213
546
78
1011 9
1213
1415
16
V VI N O U T
P 1 v r e f
GND
K H O I H
C O N 2
C O N N E C T O R D B 9 C 2L M 7 8 C0 5 5 C / T 7 O
2
5 4 D7 0 0 u F 3 30 0. 1 0 u u F F
K H O I G IA O T IE P M A Y T IN H
B R 8 0
rw rsen
d3 d2d4
d5d6
d7
d0 d1
3
v c c
J 5
K H O g
I n d
N g n
R 1 1 k R5 1 1 0 6 k
d
G U O N
2 v c c v r e f
1 g n d
C O N 2
Trang 23
Chng 3: Thit k v thi cng phn cng
Trang 24
Chng 3: Thit k v thi cng phn cng
Chn dng qua R13 khong 0.7mA, => R13 = 0.7V/0.7mA = 1k.
Chn dng Ib ~ 1.5Ibmin => chn Ib = 1mA
Dng qua R11 = Ib + IR13 = 1.7mA
R11 = (5V-0.7V)/1.7 = 2.53k =>chn R11 = 2k2.
3.2.3.2 Tnh ton cho FET
Tnh dng ti a qua ng c:
Ta c phng trnh ca ng c trng thi xc lp:
Te = TL + B = K mI a
TL + B
Ia =
K m
ng vi ti c th ta c th xc nh c TL t ta c th xc nh c
dng Ia cc i qua ng c.
Gi s ta tnh vi dng ti a qua ng c l 5 A
Ta phi chn MOSFET c VDS >2Vng c, dng >1.5 -> 2ln Imax,
khong10A, cng sut tiu tn trn MOSFET ty thuc vo tng loi FET, y ta
chn cc thng s ca IRF540 tham kho sau kim tra li cng sut c m
bo hay khng..
Cng sut tiu tn trn MOSFET bao gm 2 thnh phn: cng sut tiu tn
khi FET dn v cng sut chuyn mch:
Ptt = Pd + Psw
Cng sut tiu tn khi FET dn c tnh theo cng thc:
Ton
Pd = I 2 .RDSon .
T
Theo datasheet ca IRF540, RDsonMax = 2.5 (Tj=150oC), Imax = 2.5 A,
Ton
max = 1
T
Pdmax = 52x2.5 = 62.5W
Cng sut tiu tn khi MOSFET hot ng chuyn mch:
Trang 25
Chng 3: Thit k v thi cng phn cng
Hnh 3.4 Dng sng VDS v VGS khi FET chuyn mch.
Tn hao trong qu trnh chuyn t off sang on
VDS 1
E1 = v
tr
ds (t ).ids (t ).dt = I DS .(VDS
tr
tr
t ). dt = Vcc .I DS .t r
2
1
Psw = Vcc .I DS .( t r +t f ). f sw
2
Trang 26
Chng 3: Thit k v thi cng phn cng
Trang 27
Chng 3: Thit k v thi cng phn cng
Trang 28
Chng 3: Thit k v thi cng phn cng
Ic = Kt
Icsat-Icoff
Vi K=
Tsw
Icsat
Icoff c th b qua => K=
Tsw
Icsat
=> ic= t
Tsw
Trong qu trnh ca mi ln chuyn i trng thi lm vic, nng lng tiu
hao ca BJT c th tnh theo cng thc :
Tsw Tsw
Icsat Tsw.Icsat.Vcc
E= 0
icVccdt =
0
Tsw
tVccdt =
2
Trang 29
Chng 3: Thit k v thi cng phn cng
Trang 30
Chng 3: Thit k v thi cng phn cng
Trang 31
Chng 4: Thit k phn mm
Trang 32
Chng 4: Thit k phn mm
Trang 33
Chng 4: Thit k phn mm
Bt u
Ci t Timer2 ch PWM
Ci t UART tc Baud 9600kbits/s
Chn chn RB1 hot ng ch PWM
Thit lp thanh ghi TRISA l 0xFF.(porta l port nhp, kt ni vi phm)
Thit lp thanh ghi TRISD l 0 (portd l port xut, kt ni vi chn d liu LCD)
Thit lp thanh ghi TRISE l 0(porte l port xut, kt ni vi chn iu khin LCD)
Cho php ngt nhn UART
Cho php ngt timer1. Timer1 c dng o tc .
Cho php ngt ngoi trn chn RB0
Gi hm qut phm
ng
Gi hm x l phm nhn
Trang 34
Chng 4: Thit k phn mm
Trang 35
Chng 4: Thit k phn mm
Trang 36
Chng 4: Thit k phn mm
Bt u
ng
Phm OK?
Sai
Gn gi tr va nhp cho bin
tng ng vi thng s ang
ci t..
ng Phm Hin th ra LCD dng ch
Cancel? setup v tr 0x80 v thng
s va ci t v tr 0xC8.
Hin th ra LCD dng ch
setup v tr 0x80 v Sai
cancel v tr 0xC8
ng
Phm INC?
Phm ng
DEC?
Sai
Sai
ng c Phm ng
ang m? Shift?
Sai
Sai
ng Dch chuyn thng s ci
Phm Sai
tt PWM dng ng c INV? t theo vng sau: Kp,
Ki, Kd, Sp.
ng
o chn RB3.
M PWM bt ng c Hin th ra LCD dng Gn thng s mun thay
ch INV_DIR v tr i cho bin nhap_value
0xC8.
Kt thc
Trang 37
Chng 4: Thit k phn mm
Trang 38
Chng 4: Thit k phn mm
Bt u
Dng timer1
Khng cho php ngt ngoi trn chn RB0
Kt thc
Trang 39
Chng 4: Thit k phn mm
Trang 40
Chng 4: Thit k phn mm
Bt u
ng
Byte th nht?
ng Byte_lenh=
=0?
M PWM bt ng c
Kt thc
Hnh 4.3 Lu thut ton chng trnh phc v ngt nhn UART.
Trang 41
Chng 4: Thit k phn mm
3 2 4
Hnh 4.4 Giao din phn mm iu khin trn my tnh.
Trong hnh 4.4, giao din gm 4 phn:
- 1: Phn iu khin gm cc thanh trt KP, KI, KD, Speed bn cnh l
cc box cha gi tr iu khin tng ng vi v tr thanh trt. Nt
Direction iu khin chiu ng c. Nt On, Off iu khin m v tt
ng c
- 2: Phn hin th tc ca ng c, d liu tc nhn t mch iu
khin.
- 3: phn ci t cho cng COM, cho th. Nt Exit ng cng COM v
thot chng trnh.
- 4: phn th vn tc ca ng c. phn gii theo trc thi gian l
2.5ms.
Trang 42
Chng 4: Thit k phn mm
Cc thut ton khi thay i cc thanh trt hoc kch cc nt nhn trong khi
iu khin tng t nhau. Chng trnh s gi 2 byte xung mch iu khin. Byte
th nht cha m lnh mch iu khin bit c thng s no ang c ci
t. Byte th hai cha gi tr ci t. Cc hnh 4.5, 4.6, 4.7, 4.8, 4.9, 4.10 l cc lu
thut ton ca phn iu khin.
Bt u
Out put.Com1 = 0
Kt thc
Bt u
Out put.Com1 = 1
Kt thc
Trang 43
Chng 4: Thit k phn mm
Bt u
Out put.Com1 = 2
Kt thc
Bt u
Out put.Com1 = 3
Kt thc
Trang 44
Chng 4: Thit k phn mm
Bt u
Out put.Com1 = 4
Kt thc
Bt u
Out put.Com1 = 5
Kt thc
Trang 45
Chng 4: Thit k phn mm
Hnh 4.11 l lu thut ton chng trnh nhn d liu t MCU v hin th
trn giao din. Nu c d liu nhn c t cng COM, d liu ny l tc ca
ng c, th chng trnh s hin th gi tr vn tc nhn c ln th vn tc.
Sau tng bin m thi gian v th cho ln nhn k tip.
Bt u
Sai
C nhn c byte d liu t
cng COM1?
ng
Kt thc
Trang 46
Chng 4: Thit k phn mm
Trang 47
Ti liu tham kho
Trang 48