Lp c in t 2-K47

Cm bin trong robot 1.nh ngha cm bin

Cm bin thng c nh ngha theo ngha rng l thit b cm nhn v p ng li vi nhng kch thch v cc tn hiu .y l thit b v cng quan trng robot c th nhn bit c chnh mnh v th gii bn ngoi .Chng ta phi cn nghin cu r hn v vn ny , gip cho robot tr ln cng ngy thng minh hn. Qua hai s sau ta c th hnh dng s lc v b cm bin :

x kch thch

B cm bin

y p ng

M hnh mch ca b cm bin

Qu trnh (cc bin trng thi) C cu chp hnh B cm bin

Chng trnh

B vi x l

H thng iu khin t ng qu trnh 2.Tm hiu mt s b cm bin thng s dng trong robot

Nhm : NNT-DR

Lp c in t 2-K47

Cm bin nhn to chuyn ng robot s dng cng ngh nhn dng nh.
Di Chuyn rt nh ca tay my c th c iu khin bng k thut mi vi hai mch phn hi d gim ln sai lch v tr. Sai lch c centimet l hiu s v tr thc hin trn mt tay v v tr o v tnh trn tay khc .Sai s ny tng t ngun ca b chp hnh v cm bin v m hnh ng hc s dng trong tnh ton iu khin.So vi phng php sn xut hin nay vic iu khin chuyn ng ca robot vi phn hi bng mt,phng php mi khng i hi chnh nh khng gian lm vic cng khng s dng to chun tuyt i tnh ton bin i gia khng gian lm vic v cc to khp ni robot. H thng nhn ca robot gm c 5 camera: 3 camera c nh cung cp gc nhn ca khng gian lm vic v 2 camera lp trn c tay nhn cn cnh .H thng nhn c kh nng nhn bit i tng cn nhn v thao tc,pht d liu to ca i tng cm nhn v tr tm nhn. Phng php nhn mi ny c th c thc hin theo hai bc: 1. Camera cn cnh trn c tay robot ban u c iu khin nhn i tng trong phm vi hp.B cm nhn cui c iu khin di chuyn ti v tr bnh thng gn i tng v trong th trng.Ni chung c cu chp hnh dng v tr gn , v tr ny do camera o,sau sai s v tr o c s dng tnh n sai s nh v v tr o c v chuyn ng tng i nh,c th iu chnh mt cch chnh xc. 2. nh x trc tip gn ng gia cc to nhn v to khp ni c cu chp hnh c th c thit k khng qua chuyn i trung gian v t cc to tuyt i. Thc ra iu ny c ngha l vic nh chun i h t im hn vic nh chun thng thng trong to tng i .Vic nh chun c tin hnh bng vic o v tr ca i tng (trong to th trng) khi i tng c gi cng bng c cu thao tc v tr iu khin (trong ta khp ni ca c cu thao tc) v khi cc camera c t ti cc v tr iu khin khc nhau .Tip theo sec ni suy v ngoi suy n cc v tr chun c thc hin bng cch s dng cc bin i ng hc phi tuyn

Cm bin cp si quang o v tr v di chuyn

y l loi cm bin r tin v c p dng vo nhng nm 60 o v tr ,khong cch v di chuyn . Cm bin gm khong 900 si quang ghp trong cng mt si cp km theo mt si kim loi gia m bo cng mong mun

Nhm : NNT-DR

Lp c in t 2-K47

Ngun Pht hin

Vt Cm bin v tr dng 2 si quang

nh sng ti

nh sng tr v

Mc tiu

Cm bin vn tc v gia tc
o tc ng c ta s dng nhng phng php sau y: -S dng my pht tc - S dng b cm bin quang tc vi a m ho -S dng my o gc tuyt i -Xc nh tc gin tip qua php o dng in v in p stato m khng cn dng b cm bin tc Hin nay ta thng chng ta thng s dng phng php dng b cm bin tc vi a m ho v xc nh gin tip

Cm bin lc
Cc phng php cm bin lc c th thc hin bng cch:

Nhm : NNT-DR

Lp c in t 2-K47

- Cn bng mt lc cha bit vi mt lc i khng sao cho lc tng cng v momen tng cng chng bng khng - o gia tc ca vt c khi lng bit xc nh lc - Cn bng lc cha bit vi mt lc in t - Bin i lc thp p sut cht lng v o p sut ny - o ng sut to nn khi vt b bin dng n hi v suy ra lc. Trong o c lc ta thng dng phng php gin tip. V d b cm bin lc c ch to bng cch phi hp b cm bin v tr v b cm bin i lc thnh di chuyn.Nh B cm bin lc s dng cun dy v sai,B cm bin lc thch anh,B cm bin lc thnh p in y em xin gii thiu cc bc thit k sensor cho robot c download t trn mng v vi nguyn bn ting anh . Em xin dch li nh sau:

1.Thit k Sensor:
Robot nu khng cm bin th n ch nh ch l ci my .Nhng robot cn phi c Sensor c th gii quyt nhng chuyn xy ra th gii bn ngoi v phn hi li nhng thay i trng thi .Trong chng ny chng ti gii thiu nhiu loi cm bin v gii thch nhng tnh in ca chng s dng v thc hnh ng dng chng.Nhng Sensor xut hin y khng din t ton b ,nhng n ch n thun nh hng cho chng ta .

2.Sensor nh my bin i vn nng

Chc nng c bn ca Sensor l o lng cc nt c trng ca th gii,nh nh sng ,m thanh,hoc p sut v chuyn i thnh cc tn hiu in ,thng l in p hoc dng in.Nhng kiu m Sensor p ng li nhng kch thch thch l thay i in tr ca chng (nh T bo quang in),thay i dng in (Cm bin quang),hoc thay i in p ra (Cm bin hng ngoi).Nhng ngun in ra ca nhng Sensor c th d dng chuyn thnh nhng in khc c trng .

3.Sensor lin tc v s :
C hai kiu Sensor c bn :lin tc v s .Hu ht hai loi ny khc nhau v chc nng,ng dng ,v cch s dng chng vi bo mch ca robot .Tn hiu ca Sensor lin tc l mt dy s o lin tc u ra.V d ,c th ca mt t bo quang in l c mt in tr 1k ohm mu sng ,v mt in tr 300k ohm mu en .Cn nhng gi tr nm gia hai khong th ph thuc mc nh sng chiu ln.Cm bin s ,theo mt hng khc,n ch c hai trng thi,tt v bt (0 v 1) .V d n gin nht v Sensor l mt ci cng tc in .c th ci cng tc in l mch h (in tr l v cng ln)khi cng tc khng bt v mch kn (in tr bng khng) khi cng tc bt.

Nhm : NNT-DR

Lp c in t 2-K47

Mt vi Sensor to ra nhng tn hiu s rt phc tp.Nhng Sensor to ra nhng dy xung chuyn tip gia hai trng thi in p 0V v 5V.Vi loi cm bin ny ,tn s ring v hnh th ca dy xung s mang thng tin t cm bin o lng.V d cho loi cm bin ny nh l my d u nhn dng iu bin hng ngoi.Vi nhng Sensor th trn thc t nhng thnh phn o c l nhng tn hiu lin tc nhng khi tn hiu a ra c x l thnh nhng tn hiu s .

4.Cm bin vo trn bo mch ch ca robot

Bo mch ch ca robot bao gm cc cng vo cho c cm bin s v lin tc .Cc cng ny rt nhy cm vi in p ,mi kiu s nhn c s khc nhau t in p vo v a thnh d liu b vi x l s l.Cng lin tc o in p v chuyn thnh s t 0 n 255 ,tng ng vi mc in p 0V v 5V .Chuyn thnh t l l vch thng,nh in p 2.5V c th to ra gi tr vo 127 hoc 128 .Vi cng s ,th bng cch no n chuyn i thnh in p thnh 2 gi tr ra l 0 v 1.Nu in p trn cng s c mc di 2.5V th lc ra s l 0,Cn nu ln 2.5V th s l 1.Nh vy s chuyn i ny khng ging nh mt ng thng.

5.c tn hiu vo t cm bin. Trong th vin hm ca C c hm analog(-#) s dng tr li gi tr

ring ca cng cm bin lin tc.Cho v d,v IC Val=analog(27) y l b gi tr ca bin val u ra ca cng #27 Ti u vo s ca bo mch robot c mt in tr bin i ko mc in p u vo lc no cng bng 5V khi khng kt ni .Khi ng hoc n cng tc kt ni vi mt cng s c th lm thay i in p v 0V do lm ni ngn mch v t.Kt qu nhn c u ra l : m =5V v ng =0V,l logic ngc m chng thng xuyn mun.iu l ta thng a thch s dng cng s mang gi tr 0 hoc thng l sai v chuyn i v 1 hoc ng khi ci cng tc bt ci g (ging nh tng hoc con robot khc ) v khi n cng tc.Th vin hm IC digital(port -#) s dng c gi tr True-False kt hp vi cng s ni vi sensor bin i ngc li tn hiu o lng nhn c trn mt cng s .Ngha l t y khi ta n cng tc (tc l 0V trn phn cng )th hm digital() s tr li gi tr 1 hoc gi tr True V d: If(digital(2)) do _it(); tr li gi tr True (hoc 1 ) v gi hm do_it() nu ti cng 2 c gi tr 0V (biu th ang n kho)

Nhm : NNT-DR

Lp c in t 2-K47

6.Kt ni cht chun

c im chung ca cm bin dy
Hnh trn l hnh dng ci gic cm kt ni vi cm bin vi bo mch ch ca robot .Ta thy ci gic ny l khng i xng (do mt cht tho ri t 4 cht ca phn u c) V l bi v n phn cc.Ci gic ny ch c trong bo mch robot v theo mt hng ,v vy dy ni phi ni ng ,n khng th ni ng sau cng ni sensor .Ci gic cm rt d s dng ng ,nhng tt nhin nu ni sai dy th bn phi ni li dy k t khi gic khng th xoay vng . Trn thc t sensor c ni vi 3 dy vi gic cm .Hai dy c ni vi ngun 5V vi bo mch ch robot ,k hiu+5vGnd.Dy th 3 k hiu l signal l in p ra ca cm bin.N l phn cng vic ca cm bin c s dng in p ca bo mch ch (nu cn thit ) v n tr li answer, bng in p trn dy tn hiu .

7.Mch cm bin .

Hnh v trn gii thiu mch kt ni vi cm bin .

Nhm : NNT-DR

Lp c in t 2-K47

Hnh trn m t mch kt hp vi sensor .N thuc v bo mch ch ca robot v y l m hnh chung cho cc knh ni vi sensor . y ta cn ch ti ci in tr ko ni t sensor t dy tn hiu vo vi ngun 5V C hai l do ta s dng in tr .Th nht ,n to ra gi tr mc nh cho u vo ca sensor --- gi tr khi u vo khng c sensor .Mt s ICs ,lp trn bo mch ch ca robot n c v dch t in p vo ca sensor ,n khng thc hin tt khi u vo pha bn tri khng kt ni .Vi mch trn th khi khng c kt ni th in tr ko lun ni vi ngun 5V nn u vo ca sensor l ng thng .Nh vy ,gi tr mc nh cng lin tc l 255 ,Trong khi gi tr mc nh cng s l 0 hoc mc logic sai.(nh rng 5V u vo )

Nhm : NNT-DR

Lp c in t 2-K47

Em xin gii thiu mt loi sensor bt ng ca robot ,thng dng trong

thc t Cm bin hng ngoi gm :n led (pht )v transistor thu Nguyn l chung : cng pht cng ln th dng in trn transistor cng ln. Theo s trn th in ri trn in R trn mch thu cng ln khi R tng.

Ta thy rng nu mu sc khc nhau th phn x khc nhau dn n dng thu cng khc nhau.

Nhm : NNT-DR

Lp c in t 2-K47

y l mch c bn nhng trong thc t khng dng v nhy cm vi nhiu (nh sng t nhin ,nh sng n). Thc t dng :mch pht
+5v
R41 R42 1k POT A

8 R6 5.6k 2 4 5 6 7

U10

D1
2

C4 0.1uf

VCC R12 TRIGGER 3 Q1 RESET OUTPUT 10k CONTROL THRESHOLD 677.8mV 1.661V DISCHARGE D613 GND R7 3.332V 1.661V 5.6k 1 555B C3 10n

it pht hng ngoi

Nhm : NNT-DR

Lp c in t 2-K47

Mch thu tn hiu:

+5v +5v
4

+5v
4

+5v R31 1k R29 14 1k 1k R30 D4 LED

R23 1k

C10 1uf R24 1k 2

OUT LM324

+ U13D

V-

11

V11

13

V+

U13A

V+

12

OUT LM324

0 R25 0 0
R26 1k +5v 10k R27

C11 4.7uf

Q4 Q2SC829

0
10k R28 10k

V d v mch thu tn hiu dng bng thu chuyn dng:

Nhm : NNT-DR

10

Lp c in t 2-K47

V d v cm bin phn x:

Mt s lu khi chnh mch :

Nhm : NNT-DR

11

Lp c in t 2-K47

-gi tr in tr R phi ph hp thng in tr pht 1K,in tr thu 100K - Kim tra th i vt liu m cn do tm in p lm vic - Kim tra vi nhng nh sng khc nhau th nhy -Bc kn cc sensor trnh nhiu Phng php b tr cm bin trong robot d ng :

B tr cm bin t nht hai cm bin hai bn mp robot i theo ng thng . V d mt s cm bin mu nh E3S-VS color mark sensor ca hng omron

ng c trong robot
I.ng c bc :
Nhm : NNT-DR 12

Lp c in t 2-K47

1.M u
Li ch ca ng c bc : Khng chi than: Khng xy ra hin tng nh la chi than lm tn hao nng lng, ti mt s mi trng c bit (hm l...) c th gy nguy him To c mmen gi: Mt vn kh trong iu khin l iu khin ng c tc thp m vn gi c mmen ti ln. ng c bc l thit b lm vic tt trong vng tc nh. N c th gi c mmen thm ch c v tr nh vo tc dng hm li ca t trng rotor. iu khin v tr theo vng h: Mt li th rt ln ca ng c bc l ta c th iu chnh v tr quay ca roto theo mun m khng cn n phn hi v tr nh cc ng c khc, khng phi dng n encoder hay my pht tc (khc vi servo). c lp vi ti: Vi cc loi ng c khc, c tnh ca ti rt nh hng ti cht lng iu khin. Vi ng c bc, tc quay ca rotor khng ph thuc vo ti (khi vn nm trong vng momen c th ko c). Khi momen ti qu ln gy ra hin tng trt, do khng th kim sot c gc quay.

Phn loi ng c :
ng c buc vi roto l nam chm vnh cu
- nhn bit : + Khi mt nhn mc, khi quay trc ng c bc c rotor l nam chm vnh cu ta s thy vng theo chu k rng ca.Trong khi , nu l ng c t tr s thy trn. + Cng c th phn bit bng ng h vn nng. ng c t tr thng c 3-4 cun dy c u chung GND trong khi ng c nam chm vnh cu th khng.

- phn loi ng c :

Nhm : NNT-DR

13

Lp c in t 2-K47

+)ng c loi n cc (Unipolar), thng c 6 u ra. u 1,2 thng

c ni vi cc dng, hai u a v b c th c ni xung t hoc khng s quyt nh chiu quay ca ng c. +)ng c loi lng cc (Bipolar), thng c 4 u ra. V cu to n gin hn nhng kh cho iu khin v phi o chiu dng in qua cun dy a,b.

ng c bc kiu t tr

Nhm : NNT-DR

14

Lp c in t 2-K47

Nguyn l :
Thng thng c ba hoc bn cun dy u chung mt u. u chung c ni vi ngun dng, cc u cn li ln lt cho thng vi t quay rotor. Trn hnh v, rotor c 4 rng v stator c 6 cc. Mi cun dy s c qun trn hai cc i nhau. V vy, gi s, khi cp in cho cc 1 (stator), rotor s quay cc gn nht (X) rng thng vi cc 1. Ct in cun s 1, tip tc cp in cho cun 2, rotor s quay rng tip sau (Y) cho thng vi cc 2. C nh vy iu khin quay rotor.

S iu khin c bn ca ng c t tr :

in p c cp qua cc kho chuyn nui cc cun dy, to ra t trng lm quay rotor. Cc kho y khng c th, c th l bt c thit b ng ct no iu khin c nh rle, transitor cng sut... Tn hiu iu khin c th c a ra t b iu khin nh vi mch chuyn dng, my tnh. Vn bo v kha iu khin : Do cun dy ng c c tnh cht cm nn khng th ng ct dng qua cun dy ngay lp tc. Khi ng, dng trong cun dy tng t t, tr so vi p. Khi m kho, dng ny c th gy ln mt in p ln nh thng tip im ca kho.

trnh vn ny c hai phng cch gii quyt:

+ Mc vo hai u cun dy mt diode ngc + Mc vo hai u cun dy mt t in

Nh hnh v:

Nhm : NNT-DR

15

Lp c in t 2-K47

C1: Diode m bo dn dng qua trong mt thi gian ngn. Nu dng diode thng, loi 1N400x cn mc song song thm mt t nh. C2: Khi m kho, nng lng trong cun dy s c np vo t. in p trn bn cc t cao hn in p ngun v phi m bo nh hn in p chu ng ca kho chuyn. T c cng thc tnh t bo v nh trn. Khi kho ng, p t t x qua kho v kho cng cn chu c in p ny.

P CU 2 / 2 LI 2 / 2 LI 2 C (U van _ max U ng ) 2 iu khin ng c bc n cc :

Nhm : NNT-DR

16

Lp c in t 2-K47

Mch thc t :

Kho chuyn mch dng l transitor SK3180 vi h s khuch i khong 1000 ln. Vi in tr baz l 470 Ohm, dng baz khong 10 mili Ampe, ngha l c th cho dng qua cun dy t vi Ampe. C th thay 74LS04 bng mt phn t logic khc c cu to collector h, chu c dng qua khong 10 mili Ampe. Khi kho chuyn c s c, dng t ti khng chy quay li mch iu khin.

+ MOSFET ( Metal Oxit Semiconductor Field Effect Transitor):

iu khin bng in p,Ron nh, t ngt in p source-drain qu cao, c th bt tt vi tc cao, hon ton tuyn tnh. MOSFET IRC IRL 540 c th dn dng ln ti 20 Ampe v t ngt ti in p 100V. iu ny dn n vic khng cn phi c diode bo v khi gn switch vi mt phin tn nhit ph hp. Trn mch cn mt diode n p 5.1 V, mt in tr 100 Ohm. Trong trng hp transitor b hng, p ngc khng th vt qu cao lm hng cc linh kin TTL ca mch iu khin. Vi iu khin ng c ch cn dng qua cun dy c 500 mili Ampe, c th dng IC loi dy darlington collector h:

+ ULN2003, ULN2803 ( Allegro Microsystem) + DS2003 (National Semiconductor), MC1413 ( Motorola)

Nhm : NNT-DR

17

Lp c in t 2-K47

iu khin ng c lng cc vi cu H:
Motor bc lng cc trn cun dy khng c im gia nn khi o chiu quay ng c gp kh khn. o c chiu t trng sinh ra trong cun dy ( cng c ngha o chiu dng in) phi dng mt cu trc gi l cu H Vi 4 kho A,B,C,D c th thit lp c 16 ch trong 7 ch ngn mch ngun Thng thng s dng A,D ng trong ch thun v B,C ng trong ch ngc

Ch hm
Cp kho A,D ng, cp kho B,C m, dng chy qua cun dy theo chiu mi tn

Nu m nhanh hai kho A,D dng tip tc duy tr dng c v i qua hai diode. Vi tc dng ca p ngun vi t, dng s tt rt nhanh, khi rotor vn quay.

Nu ch kho kho A cn vn D nh c, dng in vn khp kn qua cun dy nh hnh v. Do in tr

Nhm : NNT-DR 18

Lp c in t 2-K47

nh ca cun dy, dng s duy tr trong mt thi gian gim dn v c tc dng to nn mt phanh hm ng, ko rotor dng li.

Ch chng ngn mch

Mt vn rt ng lu tm khi iu khin ng c loi lng cc l vn chng ngn mch. Gia AB ( cng nh CD) phi c mt lin ng v in. Di y l mt minh ho

XY

ABCD

Mode

gim dng 00 0000 nhan thun

01

1001

10

0110

Chy nghch

11

0101

Hm

Xt mch cu H thc t :

Nhm : NNT-DR

19

Lp c in t 2-K47

S c u vo TTL, c th iu khin bi mt u collector h nh trnh by. Khi mt trong hai tn hiu X hoc Y mc cao, u cn li mc thp, hai transitor cho nhau s ng dn dng qua cun dy. Khi c hai mc thp, hai transitor pha trn s h, khi c hai mc cao, hai transitor pha di s m v nh vy c hai trng hp 00, 11 u t mch vo ch phanh ng.

Hoc vi mt mch n gin (nh hnh v)

Cng c th iu khin ng c bc lng cc loi nh bng IC TTL ba trng thi ( vn dng iu khin ng bus) nh 74LS125 hay 74LS244 Mch hot ng tt vi cun dy c in tr khong 50 Ohm vi in p st khong 4.5V ( ngun nui 5V). Cch mc nh trn cho php dng tng ln gp i (qua cun dy) so vi dng m IC c th dn.

Nhm : NNT-DR

20

XYE

Mode

Lp c in t 2-K47

--1

Gim nhanh dng Phanh ng Chy thun Chy nghch Phanh ng

000

010

100

110

Hoc dng IC chuyn dng :

L293: Phi mc thm cu diode bn ngoi. L293D: c sn cu diode bn trong. - tn nhit cho IC c th thit k chn GND rng hay gn thm mt phin tn nhit - Dng chu c ln ti 3A

Nhm : NNT-DR

21

Lp c in t 2-K47

Chip L298 cng c th dng iu khin ng c c dng qua cun dy chng 2A. nng dng ln khong 4A, ging nh trong trng hp dng 74LS244 ta mc song song hai u ra nh s bn phi. Mt iu ng lu vi chip ny l tc switch rt nhanh, n mc diode loi thng nh 1N4007 khng kp dn. V vy, phi dng diode nhanh hn. Tng ng vi L298 c LMD18200 ca National Semiconductor. Cch dng IC to ra mch H: Khi khng c c nhng IC chuyn bit cho vic cu H, c th ghp t cc IC na cu H trong danh mc sau: IR2001, IR2002, IR 2003, IR2004, IR2111.

Nhm : NNT-DR

22

Lp c in t 2-K47

C th s dng chip chuyn dng cho iu khin ba pha nhng b bt nhnh to cu iu khin. TA7288P, GL7438, TA 8400, TA8405

II) ng c mt chiu (DC)

Trong robot mt loi ng c hay dng l ng c mt chiu.Ta xt vic iu khin ng c mt chiu thng qua vic thay i in p ,bng phng php PWM(Pulse Width Modulation) + Tn s iu ch l khng thay i + B rng xung l thay i.

V MicroControl ler

Analo g Filter

V*

S vi mch 555/556: To ra xung c u nhau ,tn s :f=1.49/(RA+RB)C

Nhm : NNT-DR

23

Lp c in t 2-K47

To ra xung c b rng T khi c xung vo chn trigger T=1.1RC Hoc ta c th s dng IC555 : Mch dng iu khin ng c 6V, 0.5 A vi u vo Vin=9V U1: to nhp, chnh l tn s lm vic U2: Chu k lm vic

Nhm : NNT-DR

24

Lp c in t 2-K47

Hoc s dng vi iu khin : VD1: S dng hai timer T0,T2 ca AT89C52 T0: chu k ca xung PWM T2: thi gian xung lm vic VD2: To pattern 16 bit (0 tt, 1 ng), dng timer gi nhp y cc bit ra cng. VD3: S dng thanh ghi CC 80C537, c th t 5kHz.

Nhm : NNT-DR

25

Lp c in t 2-K47

Nhm : NNT-DR

26