B GIO DC V O TO

TRNG I HC VN HIN
KHOA IN T-VIN THNG
---------o0o--------

BO CO N MN HC
ti:

GVHD :Th.S NGUYN TH THANH H

SVTH

:TRN THANH LUYN

MSSV

:0891020027

LP

: 08E1

TP . H Ch Minh, thng 01 nm 2012

Li cm n
thc hin ti ny, tc gi nhn c rt nhiu s ch dn, gip v
ng vin qu bu ca nhiu ngi. Trc ht, em xin by t lng cm n chn thnh
i vi c Th.S Nguyn Th Thanh H, c l ngi hng dn trc tip cho em trong
qu trnh thc hin n mn hc, c cng l ngi tn tnh gp ch cho em phng
php nghin cu, trnh by hon chnh nht.
Em cng v cng cm n thy Th.S Nguyn Thnh Thi v cc thy c trong
khoa in t vin thng, Trng i Hc Vn Hin tham gia qu trnh o to v
hng dn em trong sut thi gian hc i hc, nh cc thy c m em c kin thc
v lng t tin thc hin ti nghin cu ny cng nh cc ti trong tng lai.
Xin cm n gia nh lun chm sc v quan tm n vic hc ca con, con
v cng cm n v lun t ho v gia nh lun ng vin con trong qu trnh hc tp.
V cui cng, ti xin gi li cm n ti nhng ngi tham gia gip ti trong
qu trnh thc hin lun vn m ti cha nu tn y, s gip ca h d t hay
nhiu cng ng gp mt phn vo kt qu thc hin ti mn hc ny.

Tp H Ch Minh, ngy 10 thng 01 nm 2012

Trn Thanh Luyn

LI CAM OAN
Em xin cam oan rng n mn hc ny do chnh em tm hiu, nghin cu,
thit k v thi cng ton b. Hon ton khng c s sao chp khun mu no, hay thu
mn ngi th ba trong ton b qu trnh thc hin n mn hc ny.
Cc ti liu s dng trong ti l ngun thng tin ng ti trn mng
Internet v tun theo nguyn tc trch xut thng tin bn quyn ca ti liu khi c
nhng ti liu thuc s ring ca mt c nhn, t chc hay website ng ti.
Ngi thc hin
Trn Thanh Luyn

NHIM V TI

Nhim v ca ti l tm hiu, thit k v thi cng hon thin mch iu khin

ng c DC bng xung PWM iu ch t chip AT89C2051 thng qua mt role v mt
FET.
S dng cc linh kin in t khc trong mch nh in tr, FET, Role,Opto
PC817, IC n p, LED hin th tn hiu,

TM TT N
Thc hin ti iu khin tc ng c DC.
Nghin cu tm hiu quy trnh iu khin mt ng c DC quay thun v quay
nghch thng qua rle o chiu, tng gim vn tc ca ng c DC bng xung PWM.
Vi iu khin AT89C2051 nhn tn hiu t nt nhn tng ng vi cc trng
thi: tng tc, gim tc, dng, v o chiu quay. Sau nh vo b nh c lp
trnh pht ra tn hiu xung PWM truyn ti n FET qua r le. Thng qua cc opto
c cch ly nn Vi iu khin s ko b sc in khi ng c b chp hay ngng quay
bt ng.
ng dng phn mm Keil C51 Version 9 s dng ngn ng C lp trnh, bin
dch cho AT89C2051
ng phn mm Proteus thit k mch m phng.
ng dng phn mm OrCad thit k mch, layout mch in.

NHN XT CA GIO VIN HNG DN

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Tp, H Ch Minh, ngy thng nm
GVHD

MC LC

LIT K HNH
Hnh 2.1 Hnh thc t chip AT89C2051......................................................................3
Hnh 2.2 S khi AT89C2051................................................................................4
Hnh 2.3 S chn AT89C2051................................................................................5
Hnh 2.4 Bng tnh nng port 3 ca AT89C2051.........................................................6
Hnh 2.5 B giao ng kt ni.....................................................................................7
Hnh 2.6 Nhn xung clock t ngoi vo.......................................................................8
Hnh 2.7 Bng AT89C2051 SFR v thit lp gi tr....................................................9
Hnh 2.8 Bng lit k tnh nng b xung......................................................................10
Hnh 2.9 Ch lp trnh fash.....................................................................................14
Hnh 2.10 Bng p lm vic.........................................................................................15
Hnh 2.11 Cu to ca ng c in mt chiu...........................................................16
Hnh 2.12 S lp ghp cc thnh phn ca ng c in 1 chiu...........................17
Hnh 2.13 Cu to ca Roto.........................................................................................18
Hnh 2.14 S nguyn l ng c nam chm vnh cu............................................20
Hnh 2.15 M t quay ngc chiu kim ng h........................................................21
Hnh 2.16 M t quay cng chiu kim ng h...........................................................21
Hnh 2.17 Mch cu H.................................................................................................22
Hnh 2.18 S nguyn l mch cu.........................................................................23
Hnh 2.19 S nguyn l ca R le.........................................................................24
Hnh 2.20 Role cha c dng in i qua....................................................................24
Hnh 2.21 Role c dng in i qua.............................................................................24
Hnh 2.22 Mch 1 FET v 1 Rle...............................................................................25
Hnh 2.23 Mch cng sut c opto cch ly hon chnh................................................26
Hnh 2.24 Biu xung vung....................................................................................27
Hnh 3.1 Chn th mc v t tn project...................................................................29
Hnh 3.2 Chn chip AT89C2051 lp trnh..............................................................30
Hnh 3.3 Thng bo hi copy chun khi ng 8051..................................................30
Hnh 3.4 Cu hnh to ra file HEX..........................................................................31
Hnh 3.5 Click chn Click Hex File.............................................................................31
Hnh 3.6 t tn cho file dng .C.................................................................................32
Hnh 3.7 Add Files to Group Source Group 1..........................................................32
Hnh 3.8 Ch ng dn n file .C.............................................................................33

Hnh 3.9 Ca s lp trnh file.C...................................................................................33

Hnh 3.10 Giao din son tho chng trnh trong Keil C51.......................................37
Hnh 3.11 Bin dch ra file HEX..................................................................................37
Hnh 3.12 Thng bo li t chng trnh Keil C.........................................................37
Hnh 4.1 S ton b mch iu khin ng c DC m phng trn protues............39
Hnh 4.2 S nguyn l mch ngun........................................................................40
Hnh 4.3 S nguyn l mch to xung....................................................................40
Hnh 4.4 S nguyn l mch cng sut...................................................................41
Hnh 4.6 Layout mch to xung...................................................................................43
Hnh 4.7 Layout mch cng sut..................................................................................43
Hnh 5.1 Mch hon tt................................................................................................44

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CHNG 1: M U

1.1 Gii thiu v tng v ti:

Bt u t nhng thc t lm vic nhng ni nguy him v kh khn. Lnh vc

robot v ang chim s quan tm ca cc nh nghin cu v x hi. T nhng iu
em cng mong mun s lm ra 1 robot n gin nhng hu ch hay thit thc hn l
lm phc v cho cc ngnh gii tr hin ang rt pht trin. Chng hn nh: xe iu
khin, my bay iu khin....th gi chng ta s c robot iu khin. V hon chnh
mt robot th iu c bn cn phi c l kin thc. Kin thc y khng ch n
thun l n t m cn c c C kh, v Lp trnh. Nh chng ta c bit th mi lnh
vc u c c th ring ca n, v ng c l phn trung tm ca robot. ng c
thng qua nhng bnh rng, cn y s gip robot c th di chuyn i li, gp vt... V
c th tip cn vi robot th vic u tin l hiu tht k v ng c.
Vi mong mun tm hiu su hn v ng c c th ng dng vo thc t, v
s hng dn nhit tnh ca c Nguyn Th Thanh H em chn ti iu khin
ng c DC .
1.2 Mc ch nghin cu:

Mc ch nghin cu ca em trong ti ny c chia lm ba mc ch chnh.

Th nht l nghin cu h vi iu khin c th l AT89C2051 v phng php lp trnh
cho chip bng ngn ng lp trnh C trn boar np Little Programmer Version Gold. Th
hai, em s c nghin cu nhng tnh nng, cch iu khin mt ng c DC hot
ng. Mc ch th ba l tm hiu phng php s dng Role v FET trong iu khin
xung PWM.
Trong qu trnh hc chng em c truyn t nhiu kin thc v Vi iu
Khin nhng thc hnh trn boar vn cn kh t. V y l c hi cho em tm hiu

Chng 1: M u

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nhiu hn v h 51, c th l qua chip AT89C2051. Tt c s gip rt nhiu cho

N TT NGHIP sp ti cng nh ngh nghip sau ny ca chng em.
1.3 i tng v phm vi nghin cu

i tng nghin cu ca em trong bi ny l vi iu khin h 8051 ca hng

ATMEL, v ng c DC.
Vi iu khin em s dng l AT89C2051, nm c cu trc phn cng, lp
trnh phn mm v ng dng vo mch thc t.
ng c DC l loi (m hnh) c s dng trong cc thit b iu khin m hnh
thu nh nh my bay iu khin t xa, xe chi, cc robot nh,

1.4 Hng nghin cu v phng php nghin cu

i t kinh nghim nghin cu v thc hnh vi h vi iu khin h 8051 trn lp,
chng em s bt u tm hiu v cu trc phn cng, s khi, b tr chn v n lp
trnh cho AT89C2051
Khi nm c nhng kin thc trn, chng em s nghin cu v ng c DC v
cch iu khin tc mt ng c DC theo yu cu.
Sau s tm hiu v Role gip o chiu ng c v FET gip ng c c th tng
gim vn tc. V ng c ny s cch ly phn iu khin qua opto quang PC817 gip
cho chip chy khi dng qua ng c qu ln.
Kt qu cui cng chng em s c c mch iu khin tc ng c DC qua tn
hiu nt nhn c kt ni vi chip. V chng ta c th m rng ra bng mt modum
hn ngoi hay RF bn ngoi iu khin ng c t xa.

Chng 1: M u

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CHNG 2: KHO ST VI IU KHIN AT89C2051

2.1 Cu trc phn cng
2.1.1 Gii thiu AT89C2051
y l mt vi iu khin ca hng atmel cung cp, y cc tnh nng khng
thua km g AT89C51 nhng li nh hn nhiu v kch thc.
- Chip ny ch c 20 chn. 15 ng xut nhp
- in p lm vic : 2,7 V 6V. (Thng dng mc 5V).
- Tn s lm vic: Tn s dao ng thch anh t 0 ti 24Mhz.
- ROM : 2Kbyte Flash ROM.
- RAM: 128 bytes.
- Hai b nh th 16-bit.
- Lp trnh tun t bng knh UART.
- C 6 ngun ngt.
- C 2 mc kha b nh chng trnh.
- C cng ni tip.
- Hai b so snh Analog tch hp sn trn chip.
-Trc tip tip iu khin LED ng ra.

Hnh 2.1 Hnh thc t chip AT89C2051

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2.1.2 S khi
AT89C2051 l h vi iu khin c 20 chn, mi chn c mt chc nng khc
nhau. Trong c mt s chn a cng dng (a hp), mi chn c th hot ng nh
mt ng xut/nhp (I/O) c lp hoc l mt chc nng c bit dng giao tip
vi cc thit b ngoi vi.

Hnh 2.2 S khi AT89C2051

Chng 2: Kho st vi iu khin AT89C2051

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- Khi ALU Arithmetic Logic Unit.

- Khi b nh cha chng trnh Flash Program Memory.
- Khi b nh cha d liu EPROM Data EPROM.
- Khi b nh file thanh ghi RAM RAM file Register.
- Khi gii m lnh v iu khin Instruction Decode Control.
- Khi thanh ghi c bit.
- Khi ngoi vi timer.
- Khi giao tip ni tip.
- Khi chuyn i tn hiu tng t sang s - ADC.
- Khi cc port xut nhp.
2.1.3 S chn v chc nng cc chn

Hnh 2.3 S chn AT89C2051

Chng 2: Kho st vi iu khin AT89C2051

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- Port 1: T chn 12 19: Xut nhp d liu, t P1.2 P1.7 c dng ko ln

bn trong. P1.0 v P1.1 tng ng tch cc mc logic cao v thp cho hai u vo
AIN0 v AIN1 tng ng ca b so snh chnh xc trn chp.
- Port 1, b khhuych i m u ra c th h xung 20mA v c th iu khin
LED hin th trc tip. Ch cn 1s chuyn nhng chn ca Port 1 s dng nh nhng
u vo. Khi chn P1.2 P1.7 c s dng nh nhng u vo, chng s l nhng
ngun dng I v c ko ln bn trong.
- Port 1cng nhn c m d liu t chng trnh FLASH v thc hin.
- Port 3: Chn s 2, 3 ,6 , 7, 8, 9, 11, nhng chn ny c in tr ko ln. P3.6 c
ni c nh gia ng xut nhp trn b so snh ca chip v khng th truy cp. Ch
cn 1s chuyn nhng chn ca Port 3 ln mc cao bi s ko ln bn trong v c th
s dng nh nhng u vo, chng s l nhng ngun dng I v c ko ln bn trong
- Port 3 cng phc v cho cc chc nng ca nhiu tnh nng c bit ca 89C2051
nh sau

Hnh 2.4 Bng tnh nng port 3 ca AT89C2051

- Port 3 cng nhn c tn hiu iu khin t Flash v thc hin.
Chng 2: Kho st vi iu khin AT89C2051

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- Vcc : Chn s 20: in p vo khong 2,7V 6V( thng dng mc 5V)

- GND : Chn s 10: chn ni mass.
- RST : Xc lp li trng thi ban u .
RST=0: Chp hot ng bnh thng.
RST=1: Chp c thit lp li trng thi ban u.
- XTAL1: Ng vo mch to xung clock trong chip v ng vo b khuch i o
chiu.
- XTAL2: Ng ra t b khuch i o chiu.
XYAL1, XTAL2 l ng vo v ng ra tng ng ca b khuych i o chiu, n
c th nh hnh v c s dng nh mt b giao ng trn chip (hnh 2.5).
Tinh th thch anh hay cng hng gm c s dng. Hoc l nhn xung t bn ngoi
(hnh 2.6).

Hnh 2.5 B giao ng kt ni.

*NOTE: thch anh: C1, C2 = 30pF 10pF
Chng 2: Kho st vi iu khin AT89C2051

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Cng hng gm: C1, C2 = 40pF 10pF

Hnh 2.6 Nhn xung clock t ngoi vo

2.1.4 Thanh ghi c chc nng c bit :

Bn trong s ca chip c mt vng nh c bit c gi l thanh ghi c chc
nng c bit.
Cc vng a ch ca thanh ghi c a vo bng di y.
Lu rng: khng phi tt c cc a ch c s dng, v cc a ch trng c th
khng c thc hin trn chp. a ch c s truy xut tr v d liu ngu nhin, v
a ch ghi s truy xut v ch khng c hiu lc xc nh.

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Hnh 2.7 Bng AT89C2051 SFR v thit lp gi tr

2.1.5 B nh chng trnh kha bit:

Trn chp c hai b kha bit c th hot ng khng cn lp trnh (U), hoc c th
lp
trnh (P) b sung thm nhiu tnh nng c lit k trong bng di y.
Lu : Nhng mu bit Kha ch c xa b hon ton bi Chp Xa

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Hnh 2.8 Bng lit k tnh nng b xung

2.1.6 Ch ngh :
ch ngh, CPU c t ch ng trong khi tt c b phn ngoi vi vn hot
ng. Ch ny c gi ra bi phn mm. Ni dung ca cc thanh ghi trong RAM
v tt c cc gi tr trong thanh ghi c bit cng s khng i ch ny. Ch
ngh c th b dng li bt k khi no c s kch hot hay thay i no , hoc c
reset bng phn cng.
Cc P1.0 v P1.1 nn c thit lp mc "L" nu bn ngoi-up khng c s dng,
hoc thit lp mc "H" nu bn ngoi pull-up c s dng. Cn lu rng khi ngh
l kt thc bng mt phn cng. Ti liu thc hin chng trnh t u n li tt, ln
ti hai chu k my trc khi cc nguyn tc iu khin bn trong thit lp li. Trn chp
phn cng quyt nh quyn truy cp vo b nh trong RAM trong
trng hp ny, nhng truy cp vo cc port khng th quyt nh c. loi tr
kh nng ny xy ra mt cch bt ng vit cho mt port khi ch ngh c lp li, ta
khng nn vit ti mt Port hay b nh ngoi.
2.1.7 Ch power-down :
ch power-down, b dao ng ngng, v chng trnh s gi power-down v
lnh cui cng c thc hin. Trn chp ni dung RAM v tt c cc gi tr trong
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thanh ghic bit cng s khng i ch ny cho n khi ch ny kt thc. Ch

powerdown ch thot ra khi reset li phn cng. Thit lp li gi tr cc SFR ( thanh
ghi c chc nng c bit) nhng trn RAM vn gi nguyn.
Ch : Khng nn reset li trc khi VCC c phc hi li hot ng bnh thng
v phi c gi mc tch cc di, cho php b giao ng khi ng li v lm
vic n nh.
Lu : c hai ch ngh v ch power-donw, P1.0 v P1.1 nn set mc "0" nu
khng s dng in tr bn ngoi ko ln, hoc set mc "1" nu s dng in tr
bn ngoi ko ln.
2.1.8 Lp trnh Flash :
Chp 89C2051 l mt loi vi iu khin vi 2K bytes b nh PEROM c th xa hon
ton ( v d, ni dung = FFH) v c th lp trnh li. Cc m lp trnh b nh l mt
mng byte ti mt thi im. Sau khi cc mng c lp trnh, m bo bt k
chng trnh no khng trng byte, ton b mng nh cn phi c xo hon ton
bng in.
a) a ch b m bn trong: Vi iu khin 89C2051 c mt a ch truy cp ( bn trong
PEROM ) a ch m lun lun dt gi tr 000H trn mc cao ca RST v p dng
mc tch cc ca xung dng t chn XTAL1.
b) Thut ton: lp trnh cho chip 89C2051, sau y l cc chui c khuyn co
nn s dng:
1: Chui Power-up :
p dng ngun in gia chn VCC v GND
t RST v XTAL1 GND
2: t chn RST ln mc cao (mc 1)
t chn P3.2 ln mc cao (mc 1)

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3: p dng kt hp gi 2 mc logic H hoc L ; (1 hoc 0) ti cho cc chn

P3.3, P3.4, P3.5, P3.7 la chn mt trong nhng chng trnh hot ng hin th
trong PEROM bng ch lp trnh di y.
4: p dng cho d liu m byte t v tr 000H n P1.0 n P1.7.
5: Cho RST ln 12V kch hot chng trnh.
6: Xung t chn P3.2 ti chng trnh mt byte trong PEROM hoc bit kha. Cc
byteghi l chu k t hn gi v thng mt trong 1,2 ms.
7: kim tra d liu c lp trnh, thp hn RST t12V, ta mc logic "1" v set
chn P3.3 n P3.7 gi mc thch hp. D liu ra c th c Port 1.
8: lp trnh mt byte v tr k tip, xung kch t chn XTAL1 c kch mt ln

nng cao s b nh a ch bn trong. D liu mi c a vo Port 1.

9: Lp li cc bc 6 thng qua bc 8, thay i d liu v nng cao a ch truy cp
cho ton b 2K bytes mng hoc cho n khi kt thc i ca tp tin l c.
10: Chui Power-off: XTAL1v RST set mc "L".
Kim tra d liu: chip AT89C2051 s kim tra tun t d liu v cho bit thi im
kt thc ca mt chu k vit. Trong thi gian mt chu k my, n s c c ti byte
c ghi cui cng v s b sung cc byte d liu trn P1.7. Sau khi chy xong 1 chu k
my, thy d liu hp l tt c cc port, n s bt u chy chu k k tip. Vic kim
tra c th bt u bt c lc no khi chu k k tip c tin hnh READY / BUSY (sn
sng/bn): Byte tin trnh ca chng trnh cng c th c theo di bi tn hiu u
ra READY/BUSY. Chn P3.1 mc thp sau khi chn P3.2 mc
cao trong thi gian chng trnh thc hin bo BUSY (bn). chn P3.1 s tr li
mc cao khi chng trnh thc hin bo READY ( sn sng ).Chng trnh kim

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tra : Nu bit kha LB1 v LB2 cha c lp trnh m d liu th c th c li d liu

thng qua cc ng dy kim tra:
1: Thit lp li a ch truy cp bn trong l 000H v chn RST t mc L ln mc H.
2: p dng vic kim tra cc tn hiu iu khin cho php c m d liu v c cc
d liu xut ra t Port1.
3: Xung kch t chn XTAL1 c kch 1 ln nng cao s b nh a ch bn
trong.
4: c tip d liu m byte tip theo ti ng ra Port 1.
5: Lp li cc bc 3 v 4 cho n khi c ht ton b mng.
Bit kha khng th kim tra trc tip, m xc nht ca bit kha xc nh c bng
cch quan st nhng tnh nng ca chng..
Chip xa : ton b mng PEROM (2KB) v 2 b Look Bit cn c xa hon ton
bng tn hiu in bng cch kt hp chnh xc tn hiu iu khin v bng cch gi tn
hiu chn P3.1 mc thp trong 10ms. M mng phi vit tt c mc H trong lc
chip xa lm vic, v phi thc hin trc khi bt k byte trng no trong b nh c
lp trnh li.
c k hiu byte: K hiu byte c c bnh thng v kim tra a ch 000H, 001H,
v 002H, ngoi tr P3.5 v P3.7 phi c t mc logic thp.
Cc kt qu nh sau:
(000H) = 1EH ch sn xut bi Atmel
(001H) = 21H cho bit 89C2051
2.1.9 Giao din lp trnh:
Mi m byte trong mng Flash c ghi v ton b mng c th xa b bng cch s
dng kt hp thch hp ca cc tn hiu iu khin. Ghi chu k hot ng l t hn gi
v sau mi ln trin khai s t ng iu chnh ph hp thi gian
Chng 2: Kho st vi iu khin AT89C2051

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hon thnh.
2.2 Ch lp trnh flash :

Hnh 2.9 Ch lp trnh fash

Lu rng:
- a ch Ram ni PEROM c thit lp vi gi tr 000H trn mc cnh tch cc ca
RST, v c nng cao do mc tch cc ca xung ti XTAL1.
- Chip xa i hi phi c 10ms xung chng trnh.
- P3.1 phi mc thp trong thi gian lp trnh cho bit l READY / BUSY.(sn
sng/bn)

2.3 c tnh lm vic vi ngun DC:

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Hnh 2.10 Bng p lm vic

Ghi ch:
- iu kin trng thi n nh l I phi gii hn ngoi nhng hn ch sau :
I max = 20mA.
Tng dng cc i ca I v cc chn ng ra l 80mA.
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Nu I vt qu iu kin cho php, V c th vt qua cc tiu chun k thut

lin quan ca chp. Cc chn chp khng c m bo khi dng ln hn iu kin cho
php.
- Vcc nh nht ca ch power-down l 2V.

2.4 Tng quan v ng c DC

- ng c in mt chiu ( hay cn gi l ng c DC ) l thit b u tin c
con ngi s dng chuyn i nng lng in thnh c nng. ng c DC cng
vi b vn hnh cho s iu khin rt chnh xc v c s dng rng ri trong cc
ng dng cng nghip trong nhiu nm qua.
Mc d by gi ng c xoay chiu ( ng c AC) v b vn hnh iu khin
vecto c th c dng thay cho DC, nhng vn c nhiu ng dng khi s dng B
vn hnh DC s c nhiu li th hn v s thn thit trong vn hnh, tin cy, chi ph
phi chng v hiu sut cao.
ng c in mt chiu c dng nhng ni yu cu mmen m my ln
hoc yu cu iu khin tc bng phng v phm vi rng. VD: bng ti, thang my,
my p, nhng ng dng trong cng nghip cn vt liu, giy, nha, cao su, thp

Hnh 2.11 Cu to ca ng c in mt chiu

Chng 2: Kho st vi iu khin AT89C2051

iu khin tc ng c

Trang 17

- Nhng phn chnh ca ng c in mt chiu gm : v, trc, bi, phn cm

(stato), phn ng (roto), c gp v chi in.
- Stator ca ng c in 1 chiu thng l 1 hay nhiu cp nam chm vnh cu,
hay nam chm in, rotor c cc cun dy qun v c ni vi ngun in mt chiu,
1 phn quan trng khc ca ng c in 1 chiu l b phn chnh lu, n c nhim v
l i chiu dng in trong khi chuyn ng quay ca rotor l lin tc. Thng thng
b phn ny gm c mt b c gp v mt b chi than tip xc vi c gp.
- c th thit k c mch vn hnh cho ng c th iu quan trng nht l
phi hiu r c cc c tnh v in ca phn cm (stato) v phn ng (roto).
+ Phn cm ( stato):
Stato gm c li thp v cun dy kch t. Cun dy kch t c t vo trong
li thp to thnh mt nam chm in. Trong cc ng c cng sut nh th stato
thng l mt nam chn vnh cu. Cun dy kch t v li thp c gn cht vo v
ng c.

Hnh 2.12 S lp ghp cc thnh phn ca ng c in 1 chiu

+ Phn ng (roto):

Chng 2: Kho st vi iu khin AT89C2051

iu khin tc ng c

Trang 18

Roto gm c li thp v dy qun phn ng. Li thp hnh tr, lm bng cc l

thp k thut in dy 0,5mm, ph sn cch in ghp li. Cc l thp c dp c l
thng gi v rnh t dy qun phn ng. Dy qun phn ng lun lun dng cun
( c gi l phn t) v c t vo trong cc rnh ca li thp. Mi phn t ca dy
qun phn ng c nhiu vng dy, hai u ni vi hai phin gp. Hai cnh tc dng ca
phn t dy qun t trong hai rnh di hai cc khc tn. Mi phn t ch c mt
vng, cc phn t c ni thnh mch vng khp kn. Roto c lng vo gia cc
cun dy kch t, c bi cc bi v np v. V quay gia cc cc ca cc cun
dy kch t.

Hnh 2.13 Cu to ca Roto

+ C gp:
Chng 2: Kho st vi iu khin AT89C2051

iu khin tc ng c

Trang 19

C gp gm cc phin gp bng ng c ghp cch in, c dng hnh tr,

gn u trc roto. Cc u dy ca phn t ni vi phin gp.
+ Chi in:
Cn c gi l chi than v c lm bng than graphip. Cc chi in t cht
ln mt c gp nh l xo v gi chi in gn trn np my cung cp in p mt
chiu cho ng c. ng c in mt chiu c mt kt cu c kh phc tp, n s ny
sinh ra mt s vn khi lm vic trong mi trng cng nghip. V d bn trn c gp
lm gim in p cp cho phn ng. S n mn c th ph hy c gp. Ngoi ra, vic
chi in t ln b mt ca c gp s gy ra tia la in. Tia la in ln c th gy nn
vnh la xung quanh c gp, ph hng chi in v c gp, gy tn hao nng lng,
nh hng xu n mi trng v gy nhiu n s lm vic ca thit b in t. V
vy, trong cc ng dng cng nghip i hi phi bo v v bo dng nh k ng
c.

2.4.1 Phn loi ng c

T trng cc t ca ng c in mt chiu c th c to ra bi mt nam
chm vnh cu hoc nam chm in mc ni tip, song song hay kt hp vi dy qun
phn ng. Da vo phng php cp dng in kch t, ngi ta chia ng c in mt
chiu ra thnh cc loi:

ng c nam chm vnh cu.

ng c kch t ni tip.

ng c kch t song song

V ng c kch t hn hp

y chng ta dng ng c cng sut nh cho mch nn ch yu ch cp

n ng c nam chm vnh cu.
Chng 2: Kho st vi iu khin AT89C2051

iu khin tc ng c

Trang 20

ng c nam chm vnh cu:

ng c nam chm vnh cu l loi ng c mt chiu c t thng cc t c
to ra bi nam chm vnh cu. ng c loi ny c mmen khi ng cng vi kh
nng n nh tc tt do t thng u. Tuy nhin, n c hn ch l gii hn v kh
nng ti, nn ch thch hp vi nhng ng dng i hi cng sut thp. Mt hn ch
na ca ng c loi ny l ta khng th tng mo6men ng c qu 150% mmen danh
nh v nh th s gy ra kh t ca nam chm vnh cu.

Hnh 2.14 S nguyn l ng c nam chm vnh cu

2.4.2

Nguyn l iu khin ng c

+ Nguyn l hot ng ca ng c DC:

Chng 2: Kho st vi iu khin AT89C2051

iu khin tc ng c

Trang 21

cho motor 1 chiu hot ng, chng ta cn t 1 in p 1 chiu vo motor

v 1 dng in 1 chiu s chy qua motor, motor s quay theo 1 chiu no .

Hnh 2.15 M t quay ngc chiu kim ng h

Nu chng ta i chiu ca in p 1 chiu ny, motor s quay ngc li

Hnh 2.16 M t quay cng chiu kim ng h

Ch : in p V v dng I khng nn vt qu gi tr c ghi trn motor, nu
khng motor s b hng. Tuy nhin nu ta t 1 in p thp hn V hoc 1 dng in
thp hn I, th tc v chu ti ca motor s gim theo.
Chng 2: Kho st vi iu khin AT89C2051

iu khin tc ng c

Trang 22

+ iu khin hng chuyn ng dng mch cu H:

iu khin hng quay ca motor 1 chiu, chng ta cn t in p ln
motor. C 1 mch ph bin dng iu khin motor gi l cu H. N c gi nh
vy bi v mch ny trng ging hnh ch H. Mt trong nhng kh nng cc hay ca
mch ny l n cho php iu khin motor tin ln hoc li li bt k tc no,
ngoi ra n cn c th dng 1 ngun in c lp

Hnh 2.17 Mch cu H

Chng 2: Kho st vi iu khin AT89C2051

iu khin tc ng c

Trang 23

Hnh 2.18 S nguyn l mch cu

Khi u vo Direction trng thi cao th motor s chuyn sang ch hng

bnh thng. Nu u vo Direction trng thi thp th motor s quay ngc chiu.
C rt nhiu loi IC dng cho mch cu H. Loi ph thng dng cho motor dng
thp l L293B v motor dng cao l L298.

+ iu khin hng chuyn ng dng 1 FET v 1 rle:

Role (Relay) l mt IC c cu to bi 1 mch in c 1 on mch ni vi 1
ci bn l c ng v m nh 1 mt cun dy nam chm. (theo nguyn tc nam chm
in
-

S nguyn l ca Role:

Chng 2: Kho st vi iu khin AT89C2051

iu khin tc ng c

Trang 24

Hnh 2.19 S nguyn l ca R le

-

Nguyn l hot ng ca Rle nh sau:

Cun dy khi c dng in i qua s tr thnh mt nam chm in, lc ny n s

ht cc thanh kim loi v pha n. Lm cho 2 thanh kim loi ny s ri b 2 u dy a, c

v tip xc vi b, d.

Hnh 2.20 Role cha c dng in i qua

Hnh 2.21 Role c dng in i qua

Qua iu chng ta kt lun rng: nguyn l hot ng ca rle l bin i
dng in thnh t trng thng qua cun dy, t trng li to thnh lc c hc thng
qua lc ht thc hin mt ng tc v c kh nh ng m cng tc, ng m cc
hnh trnh ca mt thit b t ng.

Chng 2: Kho st vi iu khin AT89C2051

iu khin tc ng c

Trang 25

Hnh 2.22 Mch 1 FET v 1 Rle

y l 1 phng php rt hay v ph bin gn gng hn cu H nhng nhc

im ca n l ng ngt lin tc to m thanh (tch tch) trong qu trnh hot ng.
Nguyn l hot ng mch nh sau:
Quan st hnh 2.22 ta thy c 2 ng vo l: PWM2 v DIR2.
- PWM2 s thng qua FET l IRF540 iu khin vn tc ca ng c, phn ny
s trnh by k hn bn di. FET y c tc dng nh mt cng tc.
- DIR2 l ng vo iu khin ng c xoay tri, phi. Khi DIR2 mc 1
tng ng vi cun dy c dng in i qua lm role hot ng ko 2 thanh kim loi
ri v tr ban u mt quay ngc chiu. DIR2 mc 0 role khng hot ng mt
quay theo ban u ca chng ta quay thun. Kt hp vi PWM2 nu khng c tn
hiu th ng c s dng.
- Dng phng php ny iu khin 1 ng c DC tit kim t port ca VDK
hn ch tn 2 port trong khi dng cu H tn t nht l 3 port.

Chng 2: Kho st vi iu khin AT89C2051

iu khin tc ng c

Trang 26

Hnh 2.23 Mch cng sut c opto cch ly hon chnh

2.4.3 iu chnh rng xung PWM:

iu xung PWM ( Pulse With Moduration) l mt khu quan trng trong iu
khin tc ng c. Nh m ng c c th tng gim vn tc 1 cch linh hot v
mm mi.

Chng 2: Kho st vi iu khin AT89C2051

iu khin tc ng c

Trang 27

iu xung ni chung l cch bt tt ngun in ca motor lin tc lm motor lc

nhn c in lc mt in. Khi tn s cao motor s quay n nh 1 tc nh
mmen quay ca trc ng c.

Hnh 2.24 Biu xung vung

Xung vung l mt th biu trng thi ca ngun in. Ngun c m th

motor hot ng, lc ny xung vung trng thi cao. V ngun tt th mt dng lc
ny xung vung trng thi thp. Tc ca mt ph thuc vo di ca xung
vung.
Nh hnh 2.24 ta thy :
Mi xung d l 20%, 50% hay 80% u c 2 trng thi l 12V v 0V. Trng thi
12V c gi l trng thi mc cao, lc ny moto s quay. Cn trng thi 0V l trng
thi thp lc ny moto s c in p dng. Trong mt biu xung, tng % ca trng
thi cao v trng thi thp l 100%. V cc con s xung 20%, 50%, 80% l xung cao.

Chng 2: Kho st vi iu khin AT89C2051

iu khin tc ng c

Trang 28

Cho nn % xung thp = 100% - xung cao. Nu xung cng di th tc motor cng cao.
Do ta c moto t c tc cao nht khi moto c gi n xung 100% v moto
dng khi xung 0% c gi ti.

Chng 2: Kho st vi iu khin AT89C2051

iu khin tc ng c

Trang 29

CHNG 3: LP TRNH CHO CHIP AT89C2051

3.1 Gii thiu v phn mm lp trnh Keil C51
Keil C l chng trnh bin dch lp trnh ngn ng C cho vi iu khin h
8051 ph bin nht th gii hin nay. Keil C ngoi vic h tr bin dch bng ngn ng
C cn c th bin dch di dng ngng ng ASM.
Cc bc to Project
- Vic u tin l khi ng chng trnh Keil C51.
-

Chn Project v chn New uVision Project.

Chn ng dn v g tn project vo khung File name, chn Save.

Hnh 3.1 Chn th mc v t tn project

Chng 3: Lp trnh cho chip AT89C2051

iu khin tc ng c

Trang 30

- Hp thoi tip theo s hin ra, bao gm nhiu mc ty chnh cu hnh cho Chip.

Hnh 3.2 Chn chip AT89C2051 lp trnh

- Sau khi nhn OK, mn hnh sau s xut hin thng bo hi c copy chun khi
ng 8051 bt u vit code ko. V lp trnh li t u nn chn No.

Hnh 3.3 Thng bo hi copy chun khi ng 8051

Chng 3: Lp trnh cho chip AT89C2051

iu khin tc ng c

Trang 31

- Cu hnh to ra file Hex, bn chn menu Project , chn Option for Target.

Hnh 3.4 Cu hnh to ra file HEX

- Mt ca s Options for Target Target 1 xut hin. Chn tab Output, v click chn
Click Hex File.

Hnh 3.5 Click chn Click Hex File

Chng 3: Lp trnh cho chip AT89C2051

iu khin tc ng c

Trang 32

- To mi 1 file bng cch chn menu File ri chn New. Chn tip menu File ri
chn Save As, khung ca s sau s hin ln, bn nhp tn file ( *.C) vo v nhn Save.

Hnh 3.6 t tn cho file dng .C

- Click phi vo group Main, v chn Add Files to Group Source Group 1

Hnh 3.7 Add Files to Group Source Group 1

Chng 3: Lp trnh cho chip AT89C2051

iu khin tc ng c
-

Trang 33

Ch ng dn n file .c m bn va to, nhn Add ri nhn tip Close.

Hnh 3.8 Ch ng dn n file .C

-

Click vo du + ca Source Group 1, bn s thy file .C c thm vo

project. p chut vo lp trnh.

Hnh 3.9 Ca s lp trnh file.C

Chng 3: Lp trnh cho chip AT89C2051

iu khin tc ng c
3.2 Vit chng trnh v bin dch
Sau y l on code to xung PWM, o chiu quay ca ng c.
//Thach Anh 12Mhz
//Date: 2/1/2012
#include<reg2051.h>
#include<stdio.h>
#include<math.h>
unsigned int i=10;
unsigned int j;
unsigned int run=0;
unsigned int l;
unsigned int k;
sbit pwm=P1^5;
sbit role=P1^4;
sbit dao=P3^4;
sbit stop=P3^5;
//===============delay======================
void delay (unsigned int time)
{
for(l = time;l>0;l--)
for(k=0;k<128;k++);
}
//================Ngat=======================
void ngat0(void) interrupt 0

Chng 3: Lp trnh cho chip AT89C2051

Trang 34

iu khin tc ng c
{
if(i<10000)
i=i+100;
}
void ngat2(void) interrupt 2
{
if(i>=300)
i=i-100;
}
//==========Tao xung PWM======================
void xung (int i)
{
pwm=1;
TR0=0;
TH0=-i/256;
TL0=-i%256;
TR0=1;
while (!TF0);
TF0=0;
pwm=0;
TR0=0;
TH0=-(10000-i)/256;
TL0=-(10000-i)%256;
TR0=1;
while (!TF0);
TF0=0;
}
//======================Main=====================
Chng 3: Lp trnh cho chip AT89C2051

Trang 35

iu khin tc ng c

Trang 36

void main(){
TMOD=0x01;
IE=0x85;
IT0=IT1=1;
while(1){
if(stop==0){
run = ~run;
while(!stop);
}
if(dao==0){
role = ~role;
while(!dao);
}
if(run==0){
xung(i);
}
}
}
-

Lc ny giao din son tho nh sau:

Hnh 3.10 Giao din son tho chng trnh trong Keil C51
Chng 3: Lp trnh cho chip AT89C2051

iu khin tc ng c

Trang 37

- Chn Build target bin dch ra file HEX.

Hnh 3.11 Bin dch ra file HEX

-

Nu khng c thng bo li th xem nh hon tt.

Hnh 3.12 Thng bo li t chng trnh Keil C

Chng 3: Lp trnh cho chip AT89C2051

iu khin tc ng c

Trang 38

CHNG 4: THIT K - M PHNG - THI CNG

4.1 S khi
VI IU
KHIN
CH

NT NHN

NG
C DC

OPTO CCH LY

TRANSISTOR
FET

R LE

4.2 Lu gii thut

Bt u
Khi ng xoay ng c

Kim tra nt
nhn STOP

Yes

Dng pht
xung

No

Nt nhn o

Yes

No
Nt nhn
Up/Down
Yes
Tng/Gim xung PWM

Kt thc

Chng 4: Thit k - M phng - Thi cng

No

o R le

iu khin tc ng c

Trang 39

4.3 M phng trn Protues

Hnh 4.1 S ton b mch iu khin ng c DC m phng trn protues

-

Mch gm c chip trung tm AT89C2051

Khi thch anh cung cp xung clock

Khi Reset Vi iu khin

Transistor FET IRF540 ng ngt xung PWM

R le o chiu ng c

Cc nt nhn tn hiu vo vi iu khin

Ngoi ra cn c 2 led hin th 2 chiu quay ca ng c

Chng 4: Thit k - M phng - Thi cng

iu khin tc ng c
4.4 S nguyn l v layout mch trn Orcad

Hnh 4.2 S nguyn l mch ngun

Hnh 4.3 S nguyn l mch to xung

Chng 4: Thit k - M phng - Thi cng

Trang 40

iu khin tc ng c

Hnh 4.2 S nguyn l mch cng sut

Chng 4: Thit k - M phng - Thi cng

Trang 41

iu khin tc ng c

Trang 42

4.5 Thit k layout

Hnh 4.3 Layout mch ngun

Hnh 4.4 Layout mch to xung

Chng 4: Thit k - M phng - Thi cng

iu khin tc ng c

Trang 43

Hnh 4.4 Layout mch cng sut

Chng 4: Thit k - M phng - Thi cng

iu khin tc ng c

Trang 44

CHNG 5: KT LUN V HNG PHT TRIN

5.1 Kt qu thi cng mch

Hnh 5.1 Mch hon tt

Chng 5: Kt lun v hng pht trin

iu khin tc ng c

Trang 45

5.2 Kt lun
Sau khi hon thnh ti iu khin ng c DC t khu tm hiu, nghin
cu, thit k, lp trnh v thi cng em nm thm c nhng kin thc mi v hu
ch v vi iu khin, nguyn l iu khin ng c. Mc d rt c gng tham kho cc
ti liu, song do thi gian thc hin ti khng nhiu cng vi nhng kinh nghim v
vn kin thc cn hn ch nn ti chc chn s c nhiu thiu st.
Ch khi lm thc t th mi cm nhn c ht ci hay ca in t
Mt ln na em xin chn thnh cm n s dy d nhit tnh ca qu thy c
trong thi gian qua.
5.3 Hng pht trin ti
Nh ban u em trnh by, em s tip tc m rng quy m nghin cu trong
lnh vc iu khin h thng vi dng vi iu khin cao hn, v cc m un h tr
thit k mt robot vi cc c ng di chuyn, phc v cho gii tr v sn xut.

Chng 5: Kt lun v hng pht trin

iu khin tc ng c

Trang 46

TI LIU THAM KHO

Ti liu t Internet

[1] Tm hiu ng c in mt chiu:

http://vi.wikipedia.org/wiki/ng_c_in_mt_chiu
[2] www.picvietnam.com V lp trnh cc loi Vi X L.
[3] www.dientuvietnam.net Trang tng hp v in t.
[4] http://tailieu.vn Mc lp trnh C cho Vi iu Khin
Ti liu t sch

[5] in t cng sut - Nguyn Bnh, NXB Khoa Hc v K Thut.

[6] Vi iu Khin Cu trc Lp trnh v ng dng
Kiu Xun Thc (ch bin) - V Th Thu Hng V Trung Kin.
[7] iu khin tc quay ca ng c DC - Quang Khnh-Hong Nhc.
Trng i hc Cng nghip Tp.HCM
[8] Cu trc v lp trnh h vi iu khin 8051.
Tc gi: Nguyn Tng Cng, Phan Quc Thng
[9] Vi iu khin. Tc gi: Nguyn Quc Cng.
i hc Bch khoa H Ni, 2008.

TP.H Ch Minh, ngythngnm 2012

Sinh vin thc hin
(K v ghi h tn)

Gio vin hng dn

(K v ghi h tn)