LuanVanTot Nghiep-Lap Trinh Giao Dien - Dieuu Khien Mo

AI HOC QUOC GIA THANH PHO HO CH MINH TRNG AI HOC BACH KHOA KHOA IEN IEN T BO MON IEU
U KHIEN T ONG ------------o0o------------
TP.HCM
BK
LUAN VAN TOT NGHIEP
IEU KHIEN M VA GIAO THC CAN TRONG ONG BO TOC O HE ONG C DC
GVHD : KS. LE NGOC NH SVTH : NGUYEN GIA MINH THAO LP : DD04KSTN MSSV : 40402363
TP. HO CH MINH , 1/ 2009

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http://www.ebook.edu.vn
BO GIAO DUC VA AO TAO TRNG AI HOC BACH KHOA Thanh pho Ho Ch Minh Khoa: IEN IEN T Bo mon: IEU KHIEN T ONG
CONG HOA XA HOI CHU NGHA VIET NAM oc Lap T Do Hanh Phuc ===================================
NHIEM VU LUAN VAN TOT NGHIEP

HO VA TEN:....................................................................................MSSV:. NGANH:........................................................................................LP:........ 1. au e luan an: ______________________________________________________________________ ______________________________________________________________________ 2. Nhiem vu (yeu cau ve noi dung va so lieu ban au): ______________________________________________________________________ ______________________________________________________________________ ______________________________________________________________________ ______________________________________________________________________ ______________________________________________________________________ ______________________________________________________________________ ______________________________________________________________________ 3. Ngay giao nhiem vu luan an:______________________________________________ 4. Ngay hoan thanh nhiem vu: ______________________________________________ 5. Ho ten ngi hng dan: Phan hng dan: 1) ___________________________________ _________________________ 2) ___________________________________ _________________________ 3) ___________________________________ _________________________ Noi dung va yeu cau LATN a c thong qua bo mon. Ngay_____ thang_____ nam________ CHU NHIEM BO MON NGI HNG DAN CHNH (Ky va ghi ro ho ten) (Ky va ghi ro ho ten)
PHAN DANH CHO KHOA BO MON Ngi duyet (cham s bo): ______________________ n v: ______________________________________ Ngay bao ve: _________________________________ iem tong ket: ________________________________ Ni lu tr luan an: ____________________________
TRNG AI HOC BACH KHOA KHOA IEN-IEN T
CONG HOA XA HOI CHU NGHA VIET NAM oc Lap T Do Hanh Phuc ----------Ngay thang nam
PHIEU CHAM BAO VE LVTN

(Danh cho ngi hng dan) 1. Ho va ten SV: ___________________________________________________________ Nganh (chuyen nganh): ______________________________ MSSV: 2. e tai : _________________________________________________________________ 3. Ho ten ngi hng dan : __________________________________________________ 4. Tong quat ve bang thuyet minh : ____________________________________________ So trang _________ So chng _____________ So bang so lieu _________ So hnh ve _____________ So tai lieu tham khao _________ Phan mem tnh toan _____________ Hien vat (san pham ) _________ 5. Tong quat ve cac ban ve : - So bang ve: ban A1 ban A2 kho khac - So ban ve tay so ban ve tren may tnh 6. Nhng u iem chnh cua LVTN : ________________________________________________________________________ ________________________________________________________________________ ________________________________________________________________________ ________________________________________________________________________ 7. Nhng thieu sot chnh cua LVTN: ________________________________________________________________________ ________________________________________________________________________ ________________________________________________________________________ ________________________________________________________________________ 8. e ngh: c bao ve Bo sung them e bao ve Khong c bao ve 9. 3 cau hoi SV phai tra li trc Hoi ong : a) ______________________________________________________________________ ______________________________________________________________________ b) ______________________________________________________________________ ______________________________________________________________________ c) ______________________________________________________________________ ______________________________________________________________________ 10. anh gia chung ( bang ch :gioi, kha, TB ) : iem __________ / 10 Ky ten (ghi ro ho ten )
TRNG AI HOC BACH KHOA KHOA IEN-IEN T
CONG HOA XA HOI CHU NGHA VIET NAM oc Lap T Do Hanh Phuc ----------Ngay thang nam
PHIEU CHAM BAO VE LVTN

(Danh cho ngi phan bien) 1. Ho va ten SV: ___________________________________________________________ Nganh(chuyen nganh) : ______________________________ MSSV: 2. e tai : _________________________________________________________________ 3. Ho ten ngi phan bien :___________________________________________________ 4. Tong quat ve bang thuyet minh : ____________________________________________ So trang _________ So chng _____________ So bang so lieu _________ So hnh ve _____________ So tai lieu tham khao _________ Phan mem tnh toan _____________ Hien vat (san pham ) _________ 5. Tong quat ve cac ban ve : - So bang ve: ban A1 ban A2 kho khac - So ban ve tay so ban ve tren may tnh 6. Nhng u iem chnh cua LVTN : ________________________________________________________________________ ________________________________________________________________________ ________________________________________________________________________ ________________________________________________________________________ 7. Nhng thieu sot chnh cua LVTN: ________________________________________________________________________ ________________________________________________________________________ ________________________________________________________________________ ________________________________________________________________________ 8. e ngh: c bao ve Bo sung them e bao ve Khong c bao ve 9. 3 cau hoi SV phai tra li trc Hoi ong : a) ______________________________________________________________________ ______________________________________________________________________ b) ______________________________________________________________________ ______________________________________________________________________ c) ______________________________________________________________________ ______________________________________________________________________ 10. anh gia chung ( bang ch :gioi, kha, TB ) : iem __________ / 10 Ky ten (ghi ro ho ten )
LI CAM N
Trc het xin cam n ba me , gia nh a la nguon ong vien rat ln va la cho da vng chac nhat cua con trong suot qua trnh hoc tap. Knh gi en thay LE NGOC NH li cam n chan thanh va sau sac, cam n thay a tan tnh hng dan, ch day em t cac o an mon hoc cho en khi hoan thanh luan van tot nghiep. Em xin cam n tat ca quy thay co cua trng ai hoc Bach Khoa TP.HCM noi chung, quy thay co cua khoa ien-ien t va bo mon ieu Khien T ong noi rieng a tan tnh giang day , trang b cho em nhng kien thc bo ch trong khoang thi gian hoc ai hoc. Toi xin cam n tat ca ban be a ong vien, gop y, giup toi rat nhieu trong qua trnh hoc tap va thc hien luan van . Toi xin cam n tat ca.
Thanh pho Ho Ch Minh ,thang 1 nam 2009
Nguyen Gia Minh Thao
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TOM TAT LUAN VAN
Nhiem vu cua e tai la s dung giai thuat ieu khien ket hp vi vi ieu khien e on nh va ong bo toc o he ong c ien mot chieu ( ong c DC ).
e tai c thc hien nh sau: S dung giai thuat ieu khien PI-M ket hp vi vi ieu khien 16-bit MC9S12DP512 e on nh va ong bo toc o he ong c DC . Mo hnh phan cng bao gom 3 mo-un mach : mo-un 0 ong vai tro lam trung tam ieu khien-giam sat toan he thong , mo-un 1 ieu khien ong c 1, mo-un 2 ieu khien ong c 2 . Vi ieu khien tren mo-un 1 se nhan toc o at t ngi dung ,s dung giai thuat ieu khien PI-M e ieu rong xung (PWM: Pulse Width Modulation) ieu khien ong c 1 chay ung theo toc o at , ong thi truyen gia tr toc o cua ong c 1 cho vi ieu khien tren moun 2 qua Port A cua 2 vi ieu khien. Vi ieu khien tren mo-un 2 se lay gia tr toc o cua ong c 1 t Port A e lam toc o at , va s dung giai thuat ieu khien PI-M e ieu rong xung ( PWM ) ieu khien ong c 2 chay ung theo toc o cua ong c 1. Ca 3 mo-un eu c ket noi vi nhau trong mang CAN ( Controller Area Network) e hai mo-un 1 va 2 co the truyen nhanh d lieu ve mo-un 0 (co vai tro la trung tam ieu khien-giam sat) cho ngi dung co the giam sat .Them vao o , ket hp vi may vi tnh at tai mo-un 0, ngi dung co the ieu khien toan bo hoat ong cua he thong.
Ket qua at c thoa man kha tot yeu cau e ra: ieu khien on nh c toc o ong c DC , ong bo c toc o cua 2 ong c DC . Thay oi toc o kha linh hoat . Xay dng thanh cong mang CAN dung e ket noi cac mo-un trong he thong , cho phep ieu khien va giam sat toan he thong t may vi tnh hay t mo-un ieu khien trung tam.
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MUC LUC
e muc Trang ba Nhiem vu luan van Li cam n Tom tat Muc luc Trang i ii iii iv
CHNG 1: TONG QUAN VE E TAI.......1
1.1 at van e .......................................................................................................................1 1.2 Cac phng phap a c s dung e ong bo toc o ong c va ng dung thc te ......2 1.3 Nhiem vu cua luan van ...................................................................................................5 1.4 Thc hien ........................................................................................................................5 1.5 S lc ve mo hnh he thong...........................................................................................7 1.5.1 S o khoi cua mo hnh he thong .............................................................................7 1.5.2 Mo ta hoat ong cua mo hnh he thong....................................................................7
CHNG 2: LY THUYET IEU KHIEN M , IEU KHIEN PID.......9
2.1 Ly thuyet ieu khien M..................................................................................................9 2.1.1 Gii thieu ve Logic M ...........................................................................................9 2.1.2 Mot so khai niem c ban ........................................................................................11 2.1.3 Menh e hp thanh m, luat hp thanh m............................................................14 2.1.4 Bo ieu khien m ...................................................................................................17 2.2 Ly thuyet ieu khien PID...............................................................................................20 2.2.1 Khau hieu chnh ty le P ..........................................................................................20 2.2.2 Khau hieu chnh vi phan ty le PD...........................................................................20 2.2.3 Khau hieu chnh tch phan ty le PI .........................................................................21 2.2.4 Khau hieu chnh vi tch phan ty le PID...................................................................21 2.2.5 Thiet ke bo ieu khien PID ....................................................................................22
CHNG 3: LY THUYET GIAO THC CAN...24
3.1. Gii thieu ( CAN: Controller Area Network ) ...............................................................24 3.2. Giao thc CAN ( CAN Protocol ) .................................................................................26 3.2.1 Noi dung giao thc..................................................................................................26
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3.2.2 3.2.3 3.2.4 3.2.5 3.2.6 3.2.7
Mo hnh CAN trong OSI .........................................................................................27 Lp vat ly ...............................................................................................................29 Cau truc bc ien ...................................................................................................32 Cau truc bit trong giao thc CAN ..........................................................................35 Truy cap va giai quyet tranh chap tren ng truyen.............................................37 S ong bo xung clock............................................................................................38
CHNG 4: ONG C IEN MOT CHIEU VA CAC PHNG PHAP IEU KHIEN.40
4.1 ac tnh c tnh cua ong c ien mot chieu ( ong c DC ) ........................................40 4.2 S lc ve cac phng phap ieu khien toc o ong c DC ..........................................44 4.2.1 ieu khien t thong................................................................................................45 4.2.2 ieu khien ien ap phan ng .................................................................................46 4.2.3 ieu khien hon hp ien ap phan ng va t thong kch t .....................................47 4.3 Phng phap ieu rong xung (PWM: Pulse Width Modulation)....................................48 4.4 Gii thieu ve Encoder c s dung trong luan van ......................................................50
CHNG 5: HO VI IEU KHIEN HCS12 VA VI IEU KHIEN MC9S12DP512.53
5.1 Gii thieu chung ve ho vi ieu khien HCS12................................................................53 5.1.1 Cac thanh phan c ban cua bo x ly........................................................................55 5.1.2 Cac che o hoat ong..............................................................................................56 5.2 Vi ieu khien c s dung trong Luan van - MC9S12DP512.......................................58 5.2.1 Cac Port xuat nhap a dung....................................................................................60 5.2.2 Khoi chc nang thi gian ( Timer ).........................................................................63 5.2.3 Bo ieu rong xung ( PWM )....................................................................................67 5.2.4 Giao tiep noi tiep bat ong bo ( SCI ) ....................................................................70 5.2.5 Khoi chc nang Key-WakeUp................................................................................72 5.2.6 Khoi Mo-un chc nang CAN ( Controller Area Network ) ..................................73
CHNG 6: THIET KE VA THI CONG MO HNH PHAN CNG..79
6.1 Cau truc phan cng cua cac mo-un trong mo hnh ......................................................79 6.2 Cac khoi mach chc nang tren mo-un ieu khien ong c va mo-un trung tam. .....80 6.2.1 Khoi mach vi ieu khien trung tam ........................................................................81 6.2.2 Khoi mach giao tiep may vi tnh qua cong noi tiep ................................................82 6.2.3 Khoi giao tiep CAN................................................................................................84 6.2.4 Khoi giao tiep song song gia 2 mo-un ieu khien 2 ong c ..............................85 6.2.5 Khoi ban phm ieu khien ong c ( 4 phm) ........................................................85 6.2.6 Khoi ban phm chon cac che o hoat ong cho mo hnh ........................................86
6.2.7 Khoi mach nguon 5 Vdc cho he thong ieu khien ..................................................87 6.2.8 Khoi thi gian thc .................................................................................................87 6.2.9 Khoi hien th LCD ..................................................................................................91 6.2.10 Khoi mach ong lc ieu khien ong c ...............................................................92
6.2 Khoi nguon 24/12/5 Vdc cung cap cho mach ong lc va ong c ...............................94 6.3 S o mach BDM-Pod :Mach dung e Nap ,Debug cho ho HCS12...............................95 Hnh anh that cua mo hnh phan cng luan van....96
CHNG 7: GIAI THUAT CHNG TRNH...97
7.1 Thiet ke bo ieu khien PI-M , on nh toc o ong c DC .......................................97 7.1.1 S lc s o khoi va he phng trnh toan ............................................................97 7.1.2 Thiet ke bo ieu khien PI-M ................................................................................98 7.1.3 Cach tnh toc o cua ong c DC c s dung trong luan van ...........................102 7.2 Cach thc ieu khien t may vi tnh ( PC ) ...............................................................103
7.3 Lu o giai thuat cho vi ieu khien tren cac mo-un................................................110 7.3.1 Lu o giai thuat oan chng trnh MAIN........................................................112 7.3.2 Trnh t chi tiet trong cac chng trnh con va 5 chng trnh phuc vu Ngat .......116
CHNG 8: KET QUA AT C , HNG PHAT TRIEN E TAI...123
8.1 Mot so hnh anh ve hoat ong cua he thong ................................................................123 8.1.1 Tai giao dien tren may tnh mo-un ieu khien ong c 1.................................123 8.1.2 Hnh anh tai giao dien tren may tnh va mo-un trung tam ieu khien ..125 8.2 Cac ket qua a at c..............................................................................................127 8.3 Mot so iem han che...................................................................................................128 8.4 Hng khac phuc cac iem han che va phat trien e tai ............................................128 8.4.1 Hng khac phuc cac iem han che......................................................................128 8.4.2 Hng phat trien e tai..........................................................................................129
TAI LIEU THAM KHAO130 PHU LUC: BAN VE TONG HP S O NGUYEN LY CAC MACH
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Chng 1: Tong quan ve e tai
GVHD: KS. Le Ngoc nh
CHNG 1
TONG QUAN VE E TAI
1.1 at van e
- Cung vi cong cuoc cong nghiep hoa-hien ai hoa cua at nc , lnh vc t ong hoa co nhng bc phat trien vt bac va tr thanh yeu to quan trong khong the thieu cua nen cong nghiep hien ai. Khi noi en t ong hoa la noi en s thay the dan dan en hoan toan cac hoat ong chan tay bang may moc trong cac day chuyen san xuat.
- Trong nen cong nghiep hien ai va phat trien , cac day chuyen san xuat hoat ong chu yeu da tren cac may moc , di s ieu khien va giam sat cua con ngi. Khi co cang nhieu may moc va nhieu cong oan s dung may moc th s phoi hp an khp hay con goi la s ong bo gia cac cong oan la ieu can phai quan tam. ieu nay cang c chu trong trong cac lnh vc can co o chnh xac toc o cua cac ong c cao nh: nganh cong nghiep vai , giay , det , .
Xet mot v du n gian ve ng dung cua s ong bo , nh mo hnh bang chuyen sau:
Hnh 1.1: Mo hnh bang chuyen co 2 truc quay

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SVTH: Nguyen Gia Minh Thao
+ Trong mo hnh bang chuyen nay ta co 2 ong c: ong c 1 dung e keo truc xa va ong c 2 dung keo truc cuon . + Yeu cau ieu khien la: ong c 1 va ong c 2 luon phai hoat ong on nh cung mot toc o at trc , ngay ca khi bang tai van chuyen cac hang hoa co khoi lng khac nhau. Khi ong c 1 thay oi toc o th ong c 2 cung phai thay oi toc o theo-phu hp vi s thay oi cua ong c 1 , e bang tai khong qua un hay qua cang.
- Qua cac dan chng tren , ta nhan thay van e c at ra ay la: S an khp , ong bo o t au ma co? S dung phng phap nao e co the on nh c toc o cac ong c va ieu khien chung hoat ong ong bo toc o vi nhau ? Ngoai ra, khi he thong co nhieu day chuyen xa nhau, lam sao e ieu khien ong bo va giam sat tat ca hoat ong cua cac day chuyen o? ay chnh la y tng cho e tai cua Luan Van nay.
- ong bo toc o ong c ien xoay chieu (ong c AC ) hay ong c ien mot chieu (ong c DC ) eu c s dung rong rai trong nhieu lnh vc . Pham vi cua Luan van la giai
quyet bai toan ong bo toc o ong c DC .
1.2 Cac phng phap a c s dung e ong bo toc o ong c va ng dung thc te
Phng phap ieu khien ong bo toc o ong c AC dung bien tan Bien tan 1 ong c AC 1 Encoder
ong c AC 2
Bien tan 2
Bo ty le Analog
Hnh 1.2: S o ong bo toc o ong c AC s dung bien tan
- Bien tan 1 co nhiem vu ieu khien ong c 1 chay ung toc o a at. Encoder se phan hoi toc o that cua ong c 1 va a vao bo t le analog . Sau o bien tan 2 se ieu khien ong c 2 chay theo ung toc o ma ong c 1 ang chay. - u iem : c dung cho cac ong c AC co cong suat ln va ieu khien toc o rat tot. - Nhc iem: can s dung nhieu bien tan ma gia thanh cua mot bo bien tan la kha cao .
Phng phap ieu khien ong bo toc o toc o ong c DC
Phan hoi: Vong trong-dong ien ; vong ngoai-toc o
Bo ieu khien 1
ong c DC 1
Bo cap nhat toc o ong c 1 ( Encoder hay Tacho generator )
Phan hoi: Vong trong-dong ien ; vong ngoai-toc o
ong c DC 2
Bo ieu khien 2
Hnh 1.3 : ieu khien toc o ong c DC dung phng phap chnh lu ieu khien pha
- Cac bo ieu khien 1 va 2: s dung phng phap chnh lu ieu khien pha e ieu khien on nh toc o ong c DC co hoi tiep , vi phan hoi vong trong la dong ien va phan hoi vong ngoai la van toc. - Bo ieu khien 1 se ieu khien ong c 1 chay ung theo toc o at . Toc o that cua ong c 1 se c truyen en cho bo ieu khien 2 e ieu khien ong c 2 chay ung theo toc o nay. - u iem: He thong ieu khien nhieu vong nen ieu khien on nh toc o ong c tot. - Nhc iem: Cach thiet ke bo ieu khien dung phng phap chnh lu ieu khien pha th phc tap , yeu cau co nhieu kien thc va kinh nghiem trong lnh vc ien t cong suat.
Mot so hnh anh ve ng dung thc te cua ong bo toc o ong c + Trong day chuyen san xuat banh kem:
Hnh 1.4: ng dung cua ong bo toc o ong c - day chuyen san xuat banh kem
+ Trong he thong nhuom vai:
Hnh 1.5: ng dung cua ong bo toc o ong c he thong nhuom vai
+ Trong may xeo giay:
Hnh 1.6: ng dung cua ong bo toc o ong c trong may xeo giay
1.3 Nhiem vu cua luan van

- Tm hieu ong c ien mot chieu ( ong c DC ) va cac phng phap ieu khien toc o ong c DC.
- S dung cac giai thuat ieu khien ( kinh ien , hien ai ,thong minh ) va ket hp vi vi ieu khien nham thiet ke bo ieu khien toc o ong c DC , thoa man cac yeu cau : ap ng qua o , sai so xac lap , am bao hoat ong tot nhieu mc van toc va on nh ngay ca khi tai thay oi.
- Thiet ke va thi cong cac mach ieu khien va mo hnh co t nhat 2 ong c e tng trng he thong nhieu ong c.
- Viet chng trnh ieu khien vi 2 muc ch chnh : Th nhat la on nh toc o cua mot ong c DC , sau o la ieu khien ong bo toc o cua tat ca cac ong c trong he thong ngha la: Khi ong c 1 thay oi toc o th ong c 2 , ong c 3 phai thay oi toc o va luon bam theo ong c 1.
ong thi phai ieu khien va giam sat c hoat ong cua tat ca cac ong c t mach ieu khien va t may vi tnh.
1.4 Thc hien Luan van c lay ten la:
IEU KHIEN M VA GIAO THC CAN TRONG ONG BO TOC O HE ONG C DC
ong c DC c s dung trong luan van la ong c DC 24V-20W , c gan ong truc encoder quang loai tng oi ( 100 xung/vong ) . Mo hnh cua luan van gom 2 ong c. ieu khien toc o bang phng phap ieu rong xung ( PWM: Pulse Width Modulation).
Nghien cu ly thuyet ieu khien PID , Logic M va a thiet ke bo ieu khien PI-M ( vi luat hp thanh m 5x5 cho tng tham so: K P , K D , ) e ieu khien on nh toc o ong c DC . ay la bo ieu khien tch hp gia bo ieu khien PI kinh ien va Logic M , tong hp c cac u iem cua ieu khien kinh ien va ieu khien thong minh.
Vi ieu khien c s dung trong luan van la MC9S12DP512 , thuoc ho vi ieu khien HCS12 cua hang Motorola ( HCS12 la ho ieu khien 16-bit c phat trien t cac ho vi ieu khien 68HC11 / 68HC12 ) . ay la vi ieu khien kha manh, toc o nhanh, hoat ong on nh , tch hp nhieu mo-un chc nang phu hp vi cac yeu cau cua e tai.
a tm hieu va thiet ke mot mang truyen thong e ieu khien va giam sat tat ca cac hoat ong 2 ong c trong mo hnh cua luan van ( khi m rong co the la nhieu ong c ) . Giao thc truyen thong c chon la giao thc CAN ( Controller Area Network ) v cac ac iem sau: + Co tnh on nh , toc o truyen kha cao ( 1 Mbit/s tren khoang cach 40m) , truyen c d lieu ln , ap ng thi gian thc , , phu hp vi yeu cau ieu khien va giam
sat he thong cua e tai - ac biet khi m rong ra he thong co nhieu ong c .
+ Vi ieu khien MC9S12DP512 co ho tr giao thc CAN va IC lai ( Transceiver ) cho mang CAN nh : MCP2551 cua hang MicroChip co gia re , rat de kiem tren th trng.
Thiet ke va thi cong 3 mo-un mach , gom: 2 mo-un trc tiep ieu khien 2 ong c (moun 1 , mo-un 2), mot mo-un co vai tro la trung tam ieukhien-giam sat he thong ( mo-un 0 ) .Bao gom cac khoi mach: mach nguon 24/12/5 VDC cung cap cho ong c va khoi mach ong lc , mach vi ieu khien (s dung nguon 5 VDC rieng) va cac khoi mach giao tiep : RS232 , CAN , ong ho thi gian thc , LCD dung e hien th , phm nhan. - Thiet ke giao dien ieu khien va giam sat tren may vi tnh, s dung ngon ng Visual Basic 6 . T o ngi s dung co the thiet lap cac thong so e ieu khien va giam sat he
thong ngay tren may tnh at tai mo-un ieu khien ong c so 1 ( con goi la ong c chu trong mo hnh ) hay tai trung tam ieu khien cua toan he thong.
Mo hnh he thong hoat ong kha tot , ap ng ay u cac yeu cau cua luan van e ra va con c m rong them mot so chc nang khac.
1.5 S lc ve mo hnh he thong 1.5.1 S o khoi cua mo hnh he thong
Hnh 1.7: Mo hnh cua he thong trong luan van
1.5.2 Mo ta hoat ong cua mo hnh he thong - Moi mo-un ( 1 va 2) se ieu khien on nh toc o mot ong c DC tng ng: + Cam bien Incremental encoder dung e phan hoi toc o ong c ve cho vi ieu khien 7
+ Vi ieu khien vi thuat toan ieu khien PI-M se tao ra tn hieu ieu khien cho mach ong lc ieu khien ong c chay theo ung toc o at bang phng phap ieu rong xung PWM .
Hai vi ieu khien MC9S12DP512 tren 2 mo-un ieu khien so 1 va so 2 c ket noi vi nhau qua 2 port giao tiep song song ( Port A, H ) nham trao oi nhanh thong tin ve toc o: + Vi ieu khien tren Mo-un 1 ieu khien toc o ong c 1 theo toc o at trc, va gi toc o that cua ong c 1 ra Port A ( Chu ky gi la 20ms va ch gi khi gia tr toc o that
cua ong c 1 co thay oi ) , va oc gia tr toc o that cua ong c 2 t Port H e hien th
len LCD va may vi tnh. + Vi ieu khien tren mo-un 2 se oc gia tr toc o t Port A , ieu khien ong c 2 chay theo ung toc o nay( luc o toc o ong c 2 se bam theo va phu thuoc vao ong c 1 ) , va gi toc o that cua ong c 2 ra Port H (Chu ky oc gi cung la 20ms )
- Ca ba mo-un gom: 2 mo-un ieu khien va mo-un giam sat (mo-un 0) c ket noi vi nhau qua mang CAN : + Tat ca d lieu cua 2 mo-un ieu khien nh : toc o cac ong c , che o hoat ong eu c gi en mo-un giam sat ( hay la mo-un trung tam) , t o c gi len may tnh c at tai mo-un nay (chuan RS232C ) e: Hien th, ve o th kiem chng,. + T mo-un 0 hay may tnh at tai trung tam , ta co the ieu khien va giam sat c tat ca cac ong c trong mang vi cac che o ieu khien a nh trc.
Ngoai ra , con co mot so chc nang c m rong nh:

+ T trung tam, ta co the ieu khien ca 2 ong c chay cung toc o , chay va dng lai cung luc ma khong phu thuoc vao nhau. Va cung co the ieu khien rieng le tng ong c. + Co 2 che o ieu khien : che o ieu khien bang tay ( Manual ) va che o ieu khien T ong (Auto). Trong che o t ong, he thong t hoat ong theo thi gian cai at t trc
Chng 2: Ly thuyet ieu khien M, ieu khien PID
CHNG 2
LY THUYET IEU KHIEN M , IEU KHIEN PID
2.1 Ly thuyet ieu khien M

2.1.1 Gii thieu ve Logic M ( Fuzzy Logic ) Khai niem ve logic m c giao s L.A Zadeh cong bo lan au tien tai My vao nam
1965, tai trng ai hoc Berkeley, bang California, My. T o, ly thuyet m a co nhieu phat trien va c ng dung rong rai trong lnh vc ieu khien-t ong hoa. Nam 1970 , tai trng ai hoc Mary Queen , thanh pho Lodon nc Anh , Ebrahim
Mamdani a s dung logic m e ieu khien mot may hi nc ma ong khong the ieu khien bang ky thuat co ien. Tai Nhat , logic m c ng dung vao nha may x ly nc cua hang Fuji Electronic vao
nam 1983, he thong xe ien ngam cua Hitachi vao nam 1987. Tuy Logic m ra i My , ng dung au tien Anh , nhng lai phat trien va ng dung nhieu nhat Nhat. u iem cua ieu khien m so vi cac phng phap ieu khien kinh ien la co the tong
hp c bo ieu khien ma khong can biet trc ac tnh cua oi tng mot cach chnh xac. ieu nay thc s rat hu dung cho cac oi tng phc tap ma ta cha biet ro ham truyen. ieu khien m ch can x ly nhng thong tin khong chnh xac hay khong ay u, nhng
thong tin ma s chnh xac cua no ch nhan thay c gia cac quan he cua chung vi nhau va cung ch co the mo ta bang ngon ng nhng van co the a ra nhng quyet nh chnh xac. ieu khien m hay con goi la ieu khien thong minh, mo phong tren phng thc x ly thong tin va ieu khien cua con ngi, khi au cho s ng dung cua tr tue nhan tao trong lnh vc ieu khien. Xet mot v du ve logic M:
Co mot ngi ang lai thuyen cano tren song, khi o ngi lai thuyen cano c xem nh la
thiet b ieu khien va chiec thuyen cano la oi tng ieu khien. Nhiem vu cua ngi lai
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thuyen cano la ieu khien thuyen cano ti ben an toan . Muon tm hieu phng thc thc hien nhiem vu o cua ngi lai thuyen cano th phai xem xet ngi o phai x ly nhng thong tin g va x ly chung nh the nao. +
ai lng ieu khien th nhat la hng di chuyen cua mui thuyen, phu thuoc vao dong
song pha trc cua thuyen . Ngi lai thuyen co nhiem vu ieu khien chiec thuyen i ung phan song quy nh, tc la phai luon gi cho thuyen nam trong phan ben phai cua dong song ( gan ve pha b ben phai cua dong song hn , nhng tranh khong qua gan b e thuyen khoi b mac can ), tr trng hp phai vt chiec thuyen khac. e lam cong viec nay , ngi lai thuyen khong can phai biet mot cach chnh xac rang chiec thuyen cua mnh hien ang cach b song ben phai bao nhieu bao nhieu met , ma ch can nhn vao dong nc trc mat : ngi o co the suy ra c rang chiec thuyen hien ang cach b song ben phai nhieu hay t, co con nam pha ben phai cua dong song khong va t o a ra quyet nh phai anh tay lai sang phai manh hay nhe. +
ai lng ieu khien th hai la toc o cua thuyen cano. Vi nguyen tac: e cam thay
chuyen i c thoai mai va tiet kiem xang, ngi lai thuyen co nhiem vu gi nguyen toc o cua thuyen, tranh khong giam toc hoac tang toc khi khong can thiet . Gia tr ve toc o thuyen ma ngi lai xe phai gi cung phu thuoc nhieu vao nhieu yeu to nh: Thi tiet ma hay nang, canh quan, mat o thuyen tren song, va cung con phu thuoc them la ngi lai thuyen co quen oan song o hay khong? Tuy nhien quy luat ieu khien nay cung khong phai co nh. Gia s trc mat co mot chiec thuyen khac , co kch c ln , i cham hn va choang v tr dong song pha trc. Vay th thay cho nhiem vu gi nguyen toc o, ngi lai thuyen phai tam thi thc hien mot nhiem vu khac: la giam toc o thuyen va t ieu khien thuyen theo mot toc o mi, phu hp vi s phan ng cua chiec thuyen pha trc cho ti khi ngi lai thuyen ieu khien thuyen cua mnh vt qua c chiec thuyen kia.
Ngoai 2 ai lng ieu khien tren, ngi lai thuyen cung phai quan tam en cac trang
thai cua thuyen nh: ong c cua thuyen hoat ong co qua nong khong , he thong chan quat
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nc ( chan vt ) con am bao khong , thuyen co b vao nc do b thung khong e co the kp thi sa cha ,tranh b am thuyen, hay gay tai nan tren song. +
oi tng ieu khien la chiec thuyen cung co nhng tham so thay oi can phai c thu
thap va giam sat thng xuyen cho cong viec ra cac quyet nh ve ai lng ieu khien. S thay oi cac tham so o, ngi lai thuyen co the nhan biet c trc tiep qua cac en bao hieu trong thuyen, song cung co the gian tiep qua phan ng cua thuyen vi cac ai lng ieu khien. + Ngi lai thuyen a thc hien tot chc nang cua mot bo ieu khien: T thu thap thong
tin, thc hien thuat toan ieu khien cho en khi a ra tn hieu ieu khien kp thi ma khong can biet mot cach chnh xac ve v tr, toc o, tnh trang. cua thuyen. Hoan toan ngc lai vi khai niem ieu khien chnh xac, ngi lai thuyen cung ch can a ra nhng ai lng ieu khien theo nguyen tac x ly m nh: - Neu thuyen hng nhe ve pha gia dong song va co xu hng qua pha ben trai dong song th anh tay lai nhe sang phai. Con neu thuyen hng ot ngot ra pha gia dong song va co the i lan sau qua pha ben trai dong song th anh manh tay lai sang phai. - Neu thuyen hng nhe ve pha b song ben phai th anh tay lai nhe sang trai. Con neu thuyen hng ot ngot ra pha b song ben phai va co the b mac can do qua gan b th anh manh tay lai sang trai. - Neu thuyen chay cung chieu vi dong nc chay, mat o thuyen tren song t, tam nhn khong b han che: toc o cua thuyen co the cao hn bnh thng mot chut . - Neu dong song co mat o thuyen ong , tam nhn b han che: toc o cua thuyen co the thap hn bnh thng mot chut.
2.1.2 Mot so khai niem c ban: Mot cach tong quat , he thong m la tap hp cac qui tac di dang : If Then ( Neu
Th ) e mo phong hanh vi cua con ngi va tch hp vao cau truc cua ieu khien cua he thong.
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Ky thuat thiet ke mot he thong m mang rat nhieu tnh chat chu quan, tuy thuoc rat nhieu
vao kinh nghiem va kien thc cua ngi thiet ke. Ngay nay , tuy ky thuat M a co nhieu phat trien vt bac ,nhng van cha co mot cach thc chuan va hieu qua cho viec thiet ke he thong m. Viec thiet ke van da tren ky thuat rat c ban la: Th Sai Sa , mat nhieu thi gian cho viec chnh sa e at c mot ket qua co the chap nhan c.
2.1.2.1 nh ngha tap m, va cac thuat ng lien quan nh ngha Tap m: - Tap m F xac nh tren tap kinh ien X la mot tap ma moi phan t cua no la mot cap cac gia tr ( x, F ( x) ) trong o x X va F la anh xa F : X [0,1] . + Anh xa F c goi la ham lien thuoc cua tap m F. + Tap kinh ien X c goi la tap nen cua tap m F.
- Ham lien thuoc: - Cho mot tap hp A, anh xa A: A R c nh ngha nh sau: 1, x A A = 0, x A , c goi la ham thuoc cua A.
- Mot tap luon co X ( x) = 1 vi moi x c goi la khong gian nen (tap nen) - Vay vi khai niem nh tren th ham thuoc A cua tap A co tap nen X se c hieu la anh xa A : X {0,1}.
Hnh 2.1: Ham lien thuoc
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- o cao: o cao cua tap m F (nh ngha tren tap nen X) la gia tr:
h = sup F ( x), x X
- Mien xac nh: Mien xac nh cua tap m F (nh ngha tren c s X) c ky hieu bi S la tap con cua M thoa man: T = {x X | F ( x) > 0} tap con cua M thoa man: T = {x X | F ( x) = 1} ; M: tap ro c s
- Mien tin cay : Mien tin cay cua tap m F (nh ngha tren c s X) c ky hieu bi T la
2.1.2.2 Bien ngon ng - Bien ngon ng la phan t chu ao trong cac he thong s dung logic m. ay , cac thanh phan ngon ng cua cung mot ng canh ket hp vi nhau. - Moi gia tr ngon ng cua bien c xac nh bang mot tap m nh ngha tren tap nen la tap cac so thc ch gia tr vat ly cua bien. V du: Khi o nhiet o cua mot phong , ta co cac khai niem nh: nhiet o rat lanh, hi lanh, trung bnh, hi nong va rat nong .Theo kinh nghiem ta co the chon di 15 0 C la rat lanh, 20 0 C la hi lanh, 25 0 C la trung bnh, 30 0 C la hi nong, tren 35 0 C la rat nong. ratlanh hoilanh + Vay vi mot nhiet o t ta co mot anh xa nh sau: t = vua hoinong ratnong
+ Anh xa nh tren con goi la qua trnh M hoa cua gia tr ro nhiet o t.
Hnh 2.2: V du ve logic m trong ng dung o nhiet o

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2.1.2.3 Cac phep toan tren tap m - Giao cua hai tap hp: A B = A ( x ). B ( x ) = min { A ( x), B ( x)} - Hp cua hai tap hp: A B = A ( x ) + B ( x) A ( x). B ( x) = max{ A ( x), B ( x)} - Bu cua mot tap hp: AC ( x) = 1 A ( x ) (2.1) (2.2) (2.3)
2.1.3 Menh e hp thanh m, luat hp thanh m 2.1.3.1. Menh e hp thanh: Khai niem: Menh e hp thanh tng ng vi mot luat ieu khien thng co dang: IF < menh e ieu kien > THEN < menh e ket luan >
Nguyen tac Mamdani : o phu thuoc cua ket luan khong c ln hn o phu thuoc cua ieu kien. (Nguyen
tac nay thng c s dung e mo ta menh e hp thanh m trong ieu khien) - Neu he thong co nhieu au vao va nhieu au ra th menh e tong quat co dang nh sau:
If N = n i and M = m i and Then R = r i and K = k i and

Quy tac hp thanh MIN : Xet menh e hp thanh A B , ta co gia tr cua menh e
hp thanh m la mot tap m Bnh ngha tren nen Y (khong gian nen cua B) va co ham lien thuoc la: B ' ( y ) = min { A , B ( y )}
-
Quy tac hp thanh PROD
Xet menh e hp thanh A B , ta co gia tr cua menh e hp thanh m la m la mot tap mB nh ngha tren nen Y (khong gian nen cua B) va co ham lien thuoc la: B ' ( y ) = A B ( y )
2.1.3.2. Luat hp thanh m : Khai niem Luat hp thanh m la mot tap hp R cua mot hay nhieu menh e hp thanh + Neu mot luat hp thanh ch co mot menh e hp thanh th goi la luat hp thanh n.
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+ Neu mot luat hp thanh co nhieu hn mot menh e hp thanh th goi la luat hp thanh kep. Phan ln cac he m trong thc te co mo hnh la luat hp thanh kep.
Cac luat hp thanh m c ban: + Luat hp thanh MAX - MIN + Luat hp thanh MAX - PROD + Luat hp thanh SUM MIN + Luat hp thanh MAX PROD
Luat hp thanh MAX-MIN Cac ham lien thuoc c xac nh theo quy tac hp thanh MIN va phep hp c thc hien theo quy luat MAX. Luat hp thanh MAX-PROD Cac ham lien thuoc c xac nh theo quy tac hp thanh PROD va phep hp c thc hien theo quy luat MAX. Luat hp thanh SUM-MIN - Cac ham lien thuoc c xac nh theo quy tac hp thanh MIN va phep hp c thc hien theo quy luat Lukasiewicz. - Phep hp Lukasiewicz: A B ( x) = min { 1, A ( x) + B ( x )} Luat hp thanh SUM-PROD Cac ham lien thuoc c xac nh theo quy tac hp thanh PROD va phep hp c thc hien theo quy luat Lukasiewicz. (2.4)
2.1.3.3 Giai m
Giai m la qua trnh xac nh ro au ra t ham phu thuoc cua tap m.
Co nhieu phng phap c dung trong bc nay :
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+ Nguyen ly cc ai : hay con goi la phng phap o cao, ch dung cho loai tap m ra co nh nhon, c bieu dien qua bieu thc (z*) (z), z Z
z*
Trong trng hp co nhieu nh nhon hay gia tr cc ai khong phai la mot iem duy nhat th ngi ta s dung : + Trung bnh cac cc ai (MoM): z* = z1 + z 2 2 z1 + Cc ai au tien (LoM): + Cc ai cuoi cung (RoM): z* = z1 z* = z2 z2 z z1 z2 z
+ Phng phap trong tam ( CoG Center of Gravity
hay CoA Center of Area) : thng dung trong cac

ng dung, c bieu dien qua bieu thc z* = z* z
( z ).zdz ( z )dz
+ Phng phap trung bnh theo trong so (CoM Center of Maximum) : la mot bien dang cua phng phap trong tam khi thay dau tch phan bang dau sigma, c dung nham n gian hoa s tnh toan, phu hp vi cac ieu khien nho. Cac tap m ra co dang singleton : z* = 2 3 1 z1 z2 z3 z
( z ).z ( z) ( z ).z ( z)
Cac tap m ra khong co dang nh, nhng oi xng : z* =
z1
z2
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+ Phng phap trong tam dien tch ln nhat : tnh theo phng phap trong tam nhng ap dung trong trng hp co t nhat vung tren tap nen ra, tnh tren vung co dien tch ln nhat. Co rat nhieu phng phap giai m , trong thc te thng ch dung: Phng phap trong
tam, trung bnh theo trong so hay trung bnh cac cc ai. Phng phap trong tam hay phng
phap trung bnh theo trong so cho ket qua mang tnh chat thoa hiep cac tap m ra, thng dung trong cac ng dung ieu khien. Trong khi phng phap trung bnh cac cc ai cho ket qua mang tnh dung hoa cac tap m ra, thng dung trong cac ng dung nhan dang va phan loai.
2.1.4 Bo ieu khien m 2.1.4.1 Cau truc cua mot bo ieu khien m
Hnh 2.3: Cau truc cua mot bo ieu khien m

Mot bo ieu khien M gom 3 khau c ban : + Khau m hoa + Thc hien luat hp thanh m + Giai m V du : Bo ieu khien m MISO ( nhieu au vao- mot au ra ) , vi vector au vao la:
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Hnh 2.4: V du ve bo ieu khien m MISO
2.1.4.2 Nguyen ly ieu khien m
Hnh 2.5: Nguyen ly ieu khien m

Cac nguyen ly thiet ke he thong ieu khien m : + Giao dien au vao gom cac khau: M hoa , cac khau hieu chnh nh ty le ,tch phan , vi phan + Thiet b hp thanh: S trien khai luat hp thanh m. + Giao dien au ra gom: Khau giai m va cac khau trc tiep vi oi tng 2.1.4.3 Trnh t thiet ke mot bo ieu khien m : - Bc 1: nh ngha tat ca cac bien ngon ng vao/ra - Bc 2: Xac nh cac tap m cho tng bien ngon ng vao/ra ( m hoa ) SVTH: Nguyen Gia Minh Thao
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+ Mien gia tr vat ly cua cac bien ngon ng + So lng tap m + Xac nh ham phu thuoc + Ri rac hoa tap m - Bc 3: Xay dng luat hp thanh - Bc 4: Chon thiet b hp thanh - Bc 5: Giai m va toi u hoa.
Mot so nhc iem cua ieu khien M: - Tuy ieu khien m co nhieu phat trien ,nhng cho en bay gi van cha co cac nguyen tac chuan mc cho viec thiet ke cung nh cha co the khao sat tnh on nh, tnh ben vng, chat lng, qua trnh qua o cung nh qua trnh anh hng cua nhieu cho cac bo ieu khien m va nguyen ly toi u cho cac bo ieu khien nay ve phng dien ly thuyet. iem yeu cua ly thuyet m la nhng van e ve o phi tuyen cua he, nhng ket luan tong quat cho cac he thong phi tuyen hau nh kho at c.
- Nham khac phuc nhc iem o , co mot hng giai quyet bai toan thiet ke he thong ieu khien t ong rat hieu qua la: Ket hp gia cac phng phap ieu khien kinh ien ( ieu khien P, PI, PD, PID ; ieu khien bien trang thai) vi logic m ,nham tan dung u iem cua ca hai phng phap ( kinh ien va m ). o la nguyen nhan ra i cac bo ieu khien tch hp nh: + PID M + PID M Thch Nghi
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2.2 Ly thuyet ieu khien PID

Cac khau hieu chnh P , PD , PI , PID va cach thiet ke bo ieu khien PID 2.2.1 Khau hieu chnh ty le P Ham truyen: G C (s) = K p He so t le cang ln sai so xac lap cang nho.
(2.5)
- Trong a so cac trng hp he so t le cang ln o vot lo cang cao, he thong cang kem on nh. 2.2.2 Khau hieu chnh vi phan ty le PD Ham truyen: G C (s) = K p + K D s = K p (1 + TD s )
(2.6)
- La trng hp rieng cua khau hieu chnh sm pha, trong o o lech pha cc ai gia tn hieu ra va tn hieu vao la: , tng ng vi tan so
Hnh 2.6: Khau hieu chnh vi phan ty le PD

Khau hieu chnh PD lam nhanh ap ng cua he thong, nhng cung lam cho he thong rat nhay vi nhieu tan so cao . Chu y: Thi hang vi phan cang ln ap ng cang nhanh
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2.2.3 Khau hieu chnh tch phan ty le PI
- Ham truyen: G C (s) = K p +

-
KI s
= K p (1 +
1 ) Ti s
(2.7)
Khau hieu chnh PI la mot trng hp rieng cua khau hieu chnh tre pha, trong o o tng ng vi tan so
lech pha cc tieu gia tn hieu ra va tn hieu vao la
- Khau hieu chnh PI lam tang bac vo sai cua he thong, tuy nhien cung lam cho he thong co vot lo, thi gian qua o tang len
Hnh 2.7: Khau hieu chnh tch phan ty le PI

- Chu y: Thi hang tch phan cang nho o vot lo cang cao 2.2.4 Khau hieu chnh vi tch phan ty le PID - Co the noi trong lnh vc ieu khien , bo ieu khien PID c xem nh mot giai phap a nang cho cac ng dung ieu khien Analog cung nh Digital . Theo mot nghien cu cho thay: Hn 90% cac bo ieu khien c s dung la bo ieu khien PID . Bo ieu khien PID neu c thiet ke tot co kha nang ieu khien he thong vi chat lng qua o tot ( ap ng nhanh , o vot lo thap ) va triet tieu sai so xac lap. Ham truyen: G C (s) = K p + KI 1 + K D s = K p (1 + + TD s ) s Ti s
(2.8)
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- Khau hieu chnh PID: Lam nhanh ap ng qua o , tang bac vo sai cua he thong.
Hnh 2.8: Khau hieu chnh vi tch phan ty le PID

2.2.5 Thiet ke bo ieu khien PID - Trng hp 1: Xac nh thong so bo ieu khien PID da vao ap ng nac co dang ch S cua he h ( s dung phng phap Ziegler Nichols )
Hnh 2.9: Thiet ke bo ieu khien PID bang phng phap Ziegler Nichols
+ Ham truyen: G C (s) = K p + KI 1 + K D s = K p (1 + + TD s ) s Ti s
+ Bang 2.1: Chon thong so cho bo ieu khien PID theo Ziegler Nichols
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- Trng hp 2: Xac nh thong so bo ieu khien PID da vao ap ng cua he kn bien gii on nh - Tang dan gia tr he so khuyech ai K cua he kn en gia tr gii han K gh ( Ngha la gia tr ln nhat e he thong van con on nh , neu tang them na th he thong se mat on nh) . Luc o ap ng ra cua he kn trang thai xac lap la dao ong on nh vi chu ky Tgh
Hnh 2.10:He thong bien gii co nh

+ Bang 2.2: Chon thong so cho bo ieu khien PID da vao ap ng he thong bien gii on nh
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Chng 3: Ly thuyet giao thc CAN
CHNG 3
LY THUYET GIAO THC CAN

3.1. Gii thieu
- CAN ( Controller Area Network : Mang ieu khien khu vc ) la giao thc giao tiep noi tiep co khung truyen d lieu ln vi o on nh, bao mat va ac biet chong nhieu cc ky tot.
- CAN c phat trien au tien bi nha cung cap phu tung xe oto cua c: Robert Bosch vao gia nhng nam 80. Nham thoa man yeu cau ngay cang nhieu cua khach hang trong van e an toan va tien nghi, va e tuan theo yeu cau viec giam bt o nhiem va tieu thu nang lng. Nganh cong nghiep oto a phat trien rat nhieu he thong ien t nh :he thong chong trt banh xe, bo ieu khien ong c, ieu hoa nhiet o, bo ong ca v.vVi muc ch chnh la lam cho nhng he thong cua xe o to tr nen an toan, on nh va tiet kiem nhien lieu ; ong thi phai giam thieu viec i day chang cht, n gian hoa he thong, tiet kiem chi ph san xuat, th CAN a c phat trien.
- Ngay nay, CAN a c chuan hoa thanh tieu chuan ISO11898 ; va t nam 1991 , CAN co chuan phat trien cuoi cung la Version 2.0 ( gom : Version 2.0A va Version 2.0B). Hau nh moi nha san xuat chip ln nh: Intel, NEC, siemens, Motorola, Maxim IC, Fairchild, Microchip, Philips, Texas Instrument, Mitsubishi, Hitachi, STmicro... eu co san xuat ra chip CAN, hoac co tch hp CAN vao thanh ngoai vi ( peripheral ) cua vi ieu khien. Do o viec thc hien chuan CAN tr nen cc ky n gian , rut gan thi gian thiet ke va chi ph thc hien re.
- iem noi troi nhat chuan CAN la tnh on nh va an toan ( Reliability and Safety ). Nh c che truy cap-chong xung ot ng truyen kha thong minh : CSMD/CD ( Carrier Sense
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Multiple Access / Collision Detecsion) va c che phat hien , x ly loi cc manh, nen tat ca Loi hau nh c phat hien. Theo thong ke, xac suat e mot khung truyen cua CAN b loi ma khong c phat hien la:
Hnh 3.1: Thong ke ve s phat hien loi khung truyen CAN

Ngha la: Gia s c 0.7s th moi trng tac ong len ng truyen CAN lam loi 1 bit, Toc o truyen la 500 kbits/s ; Hoat ong 8h/ngay va 365ngay/ nam. Th trong vong 1000 nam, trung bnh se co mot khung truyen b loi ma khong phat hien.
- Mang CAN thuoc loai he thong da vao bc ien (message base system), khac vi he thong
da vao a ch ( address base system)::

+ Nhng he thong da vao a ch th moi node c gan cho mot a ch co nh,nen khi co them hay bt i 1 hay mot nhom node trong he thong nay th bat buoc phai thiet ke lai qui trnh giam sat mang , dan en ton nhieu thi gian va chi ph.
+ Nhng he thong da vao bc ien se co tnh m hn v: Moi loai bc ien (message) se c gan mot so can cc . Khi them, bt mot node hay thay mot nhom node bang mot node phc tap hn cung khong lam anh hng en ca he thong. Co the co vai node cung nhan bc ien va cung thc hien mot cong viec ( task ), hay thc hien nhng cong viec khac nhau, cung co the la khong lam g ca.. Do o he thong ieu khien phan bo da tren mang CAN co tnh m va linh hoat, de dang thay oi ma khong can phai thiet ke lai toan bo he thong.
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- Ngoai ra , CAN thng c dung e truyen d lieu ln ( trong khung truyen : co the cha t 0 en 8 bytes d lieu ), co toc o truyen tng oi cao ( 1 Mbs khoang cach 40m) , on nh, ap ng thi gian thc va trong cac moi trng khac nhau . - Cac chuan Field bus: DeviceNet, CANopen, J1939 thng dung trong cong nghiep chnh la chuan CAN m rong. ( Lp vat ly va Lp lien ket d lieu cua cac chuan nay la CAN ).
o la cung la tat ca cac ly do tai sao CAN c s dung rong rai trong nhieu nganh cong nghiep khac ngoai oto nh : cac may nong nghiep, tau ngam, dung cu y khoa, day chuyen san xuat t ong ..v.v.. va tr thanh giao thc giao tiep rat pho bien.
3.2. Giao thc CAN ( CAN Protocol )

3.2.1 Noi dung giao thc - Mang CAN c tao thanh bi mot nhom cac node. Moi node co the giao tiep vi bat ky node khac trong mang. Viec giao tiep c thc hien bang viec truyen i va nhan cac bc ien - goi la message. Moi loai bc ien trong mang CAN c gan cho mot so can cc ID (identifier ) tuy theo mc o u tien cua bc ien o. Bc ien co so can cc cang nho th cang co mc u tien cang cao.
- Phng thc giao tiep cua bus CAN la s phat tan thong tin ( broadcast ): Moi iem ket noi vao mang thu nhan khung truyen t node phat. Sau o, noi node se quyet nh viec x ly bc ien : co tra li hay khong, co phan hoi hay khong Cach thc nay giong nh s phat thong tin ve ng i cua mot tram phat thanh: khi nhan c thong tin ve ng i, ngi lai xe co the thay oi lo trnh cua anh ta, dng xe hay thay oi tai xe hoac chang lam g ca
- Moi node co the nhan nhieu loai bc ien khac nhau, va ngc lai: mot bc ien co the c nhan bi nhieu node va cong viec c thc hien mot cach ong bo trong he thong phan bo.
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- So can cc cua bc ien phu thuoc vao mc o u tien cua bc ien. ieu nay cho phep phan tch thi gian ap ng cua tng bc ien ay la Y ngha quan trong trong viec thiet ke he thong nhung thi gian thc. Trc khi co mang CAN, la chon duy nhat cho mang giao tiep trong he thong thi gian thc la mang token-ring cham chap.
- Cong nghe day cap truyen cua mang CAN n gian : S truyen d lieu thc hien nh cap day truyen tn hieu vi sai, co ngha la chung ta o s khac nhau gia 2 ng ( CAN_H va CAN_L). ng day truyen thng c ket thuc bang ien tr 120 Ohm (thap nhat la 108 ohm va toi a la 132 ohm) .
Hnh 3.2: Mo hnh v du cho he thong s dung mang CAN
3.2.2 Mo hnh CAN trong OSI - CAN trong mo hnh OSI : bao gom phan tren lp vat ly ( Physical layer ) va lp lien ket d lieu ( Data link layer ) - Tieu chuan ISO11898 nh ngha Lp vat ly va Lp lien ket d lieu nh sau: + Lp vat ly nh ngha cach bieu dien/thu nhan bit 0- bit 1, cach nh thi va ong bo hoa.
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+ Lp lien ket d lieu c chia lam 2 lp nho la Logical link control ( LLC) va Medium Access Control (MAC) , co chc nang : - nh ngha khung truyen ( frame ) va nhng nguyen tac phan x (arbitration ) e tranh trng hp ca hai node trong mang cung truyen ong thi. - Ngoai ra, con co them nhieu c che khac e: kiem tra, x ly loi . C che kiem tra, x ly loi chia lam 5 loai loi: Bit error, Stuff error, CRC error, Form error, ACK error.
Hnh 3.3: Giao thc CAN trong mo hnh 7 lp OSI
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3.2.3 Lp vat ly Phng phap ma hoa None-return-to-zero: Moi bit trong mang CAN c ma hoa bang phng phap None-return-to-zero (NRZ method). Trong suot qua trnh cua mot bit, mc ien ap cua day c gi nguyen, co ngha trong suot qua trnh mot bit c tao, gia tr cua no gi khong oi.
Hnh 3.4: Phng phap ma hoa None-return-to-zero
Ky thuat Bit stuffing: Mot trong nhng u iem cua cach ma hoa NRZ la mc cua bit c gi trong suot qua trnh cua no. ieu nay tao ra van e ve o on nh neu mot lng ln bit giong nhau noi tiep. Ky thuat Bit Stuffing ap at t ong mot bit co gia tr ngc lai khi no phat hien 5 bit lien tiep trong khi truyen.
Hnh 3.5: Ky thuat Bit stuffing

Bit Timing : Ta nh ngha thi gian n v nho nhat, la Time Quantum. Thi gian c ban nay la mot phan so cua thi gian dao ong cua bus. Mot bit khoang 8 en 25 quantum.
Hnh 3.6: S o lien quan gia thi gian bit va Time Quantum
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o dai cua mot ng truyen (bus) o dai cua mot ng truyen phu thuoc vao nhng thong so sau: - o tre lan truyen tren ng day vat ly cua ng truyen - S khac nhau cua thi gian Time Quantum (nh ngha tren), v s khac nhau cua xung clock tai cac node. + Bien o tn hieu thay oi theo ien tr cua cap va tong tr vao cua cac node + Can chu y rang bat c mo-un nao ket noi vao mot bus CAN phai c ho tr vi toc o toi thieu la 20kbit/s. e s dung bus dai hn 1 km, phai can mot he thong ket noi trung gian nh repeater hoac bridge.
Trang thai troi va lan - lp vat ly, Bus CAN nh ngha hai trang thai la troi ( dominant ) va lan (reccessive), tng ng vi hai trang thai la 0 va 1. Trang thai troi chiem u the so vi trang thai lan .Bus ch trang thai lan khi khong co node nao phat i trang thai troi. ieu nay tao ra kha nang giai quyet chanh chap khi nhieu hn mot Node cung muon chiem quyen s dung ng truyen.
Hnh 3.7: Hai trang thai troi va lan trong giao thc CAN
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- Toc o truyen d lieu tren CAN-bus ty le nghch vi chieu dai cua Bus (ng truyen)
Hnh 3.8: Moi lien quan gia toc o truyen va chieu dai cua ng truyen
- Bi tnh chat vat ly cua bus, can thiet phai phan biet 2 dang truyen: + Truyen CAN toc o thap ( low speed ) + Truyen CAN toc o cao ( high speed ) Bang 3.1: Thong so cua CAN toc o thap va CAN toc o cao
Hnh 3.9: S o ien ap cua CAN toc o thap
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Hnh 3.10: S o ien ap cua CAN toc o cao

- V tnh chat vi sai tren ng truyen tn hieu cua bus CAN, s mien tr tac ong ien t c bao am v 2 day cua bus eu b tac ong nh nhau cung mot luc bi tn hieu nhieu. La ly do cho viec s dung 2 ien tr 120 Ohm 2 au cua day dan ng truyen.
Hnh 3.11: S khang nhieu cua CAN-Bus vi anh hng cua ien t
3.2.4 Cau truc bc ien Chuan CAN nh ngha bon loai khung truyen ( Frame): - Khung d lieu ( DATA FRAME ) : dung khi node muon truyen d lieu ti cac node khac. Khung yeu cau ( REMOTE FRAME ) : dung e yeu cau truyen d lieu. Khung loi ( ERROR FRAME )
- Khung qua tai ( OVERLOAD FRAME ) : Khung loi va Khung qua tai c dung trong viec phat hien va x ly loi. Khung d lieu: Co hai dang : Khung chuan (standard frame) va khung m rong
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( extended frame)
Hnh 3.12: Khung d lieu
- Hai loai khung nay ch khac nhau vung phan x (Arbitration Field ):
Hnh 3.13: S khac nhau gia 2 loai khung d lieu

ac iem chung cua 2 loai khung d lieu:
+ Bat au bang 1 bit khi au khung truyen ( SOF : Start of frame ) luon trang thai troi + Tiep theo la phan vao vung phan x : 11-bit ID vi khung chuan , 29-bit ID vi khung m rong . + 1 bit yeu cau truyen ( RTR: Remote Transmit Request ) e phan biet khung yeu cau va khung d lieu: Neu la mc troi ngha la khung d lieu, neu la mc lan ngha lakhung yeu cau. + 1 bit can cc m rong ( IDE: Identifier Extension) e phan biet gia khung chuan ( khi la mc troi ) va Khung m rong (khi la mc lan ) . + 1 bit r0 luon trang thai troi . 33
+ Vung ieu khien : gom 3 bit ieu khien chieu dai ( Data Length Control ) cho biet so lng byte d lieu cua khung truyen. + Tiep en la vung d lieu: Co t 0 en 8 bytes d lieu . + Vung kiem tra: 15 bit CRC va 1 bit CRC delimiter , 1 bit Acknoledge , 1 bit delimiter. + Cuoi cung la: 7 bits ket thuc chuoi ( End of frame ) luon trang thai lan va khoang cach toi thieu gia hai khung truyen ( IFS: inter-frame space).
Khung yeu cau: Dung e yeu cau truyen khung d lieu ti mot node khac. Gan giong khung d lieu nhng co DLC = 0 ( Data Length Control ) va khong co vung d lieu
Hnh 3.14: Khung yeu cau
Khung loi : c phat ra khi node phat hien loi
Hnh 3.15: Khung loi
- c gi t bat k tram nao trong mang khi phat hien loi tren ng truyen - Khung loi bao gom 2 phan: C loi ( Error flag) va phan cach loi ( Error demiliter ) - Loi phan biet thanh loi chu ong va loi b ong : Tng ng vi 2 dang c loi: dang c loi chu ong gom 6 bit troi lien tiep , c loi b ong gom 6 bit lan lien tiep
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- 1 tram loi chu ong khi phat hien loi se bao hieu bang c loi chu ong. C loi chu ong lam vi pham luat nhoi bit nen cac tram khac se phat hien loi va gi chong c loi. Khung qua tai: Dung khi b tran bo em
Hnh 3.16: Khung qua tai
1. Khung qua tai gom c qua tai ( overload flag ) va phan cach qua tai (overload delimiter ) 2. C qua tai bao gom 6 bit troi lien tuc ( tng t nh c loi chu ong ) Phan cach qua tai la 8 bit lan lien tuc
3.2.5 Cau truc bit trong giao thc CAN Thi gian bit ( Nominal Bit Time ) Moi node tren bus phai ieu chnh nhp cung vi Nominal Bit Time e co the phat va nhan chnh xac d lieu tren bus.
Hnh 3.17: Thi gian bit

- Thi gian bit c tnh theo cong thc: Thi gian bit = 1 / Toc o truyen Bus
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+ V du: gia s toc o truyen Bus la 1Mhz th: thi gian bit = 1/ 1Mhz = 1 us
Moi bit trong CAN gom 4 oan (segment ) khong chong lap: + oan ong bo hoa( Synchronization Segment) : Nhiem vu ong bo hoa cac node tren bus + oan lan truyen ( Propation Segment ): Nhiem vu bu thi gian truyen tn hieu trong toan mang + oan pha 1 ( Phase 1 Segment ) + oan pha 2 (Phase 2 Segment ) - Ca oan pha 1 va oan pha 2 eu co hiem vu la bu sai so pha canh , va chieu dai cua 2 oan nay thay oi dai ngan v hien tng ong bo lai ( resynchronisation)
Thi gian lng t ( Time Quantum ) va o dai cua 4 segment :
- Thi gian lng t : la mot n v thi gian tao thanh t chu k dao ong noi cua moi node. Thi gian lng t gom rat nhieu xung clock cua bo dao ong. Chu k xung clock c goi la thi gian lng t nho nhat (Minimum Time Quantum). Neu gia tr bo chia ( prescale ) la m th: Thi gian lng t = m * Thi gian lng t nho nhat ( m co gia tr t 1 en 32 )
Hnh 3.18: Thi gian lng t

o So Thi gian lng t trong moi Thi gian bit thay oi t 8 en 25
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o S la chon so lng Thi gian lng t cho moi oan (segment ) phu thuoc vao tan so cua bo dao ong. Mot so lng ln Thi gian lng t cho oan se tang tnh chnh xac cua s ong bo cua cac node trong ng truyen.
Hnh 3.19: So lng Thi gian lng t cho moi oan
3.2.6 Truy cap va giai quyet tranh chap tren ng truyen - CAN s dung phng phap truy cap CSMA/CD ( Carrier Sense Multiple Access with Collision Detection ), ieu khien phan kenh theo tng bit , co cac ac iem chnh sau: + Moi node tren mang phai luon kiem tra tren ng truyen ,e phat hien thi gian ng truyen ranh e co the truyen i 1 bc ien ( message ) + Khi ng truyen ranh , tat ca cac node eu co c hoi nh nhau e truyen i mot bc ien + Moi bc ien c bat au bang 1 bit khi iem va ma can cc (so ID ), nen khi co 2 node cung truyen bc ien len ng truyen , viec phan x ung o tren ng truyen da vao tng bit cua ma can cc . Moi bo thu phat phai so sanh mc tn hieu cua bit gi i so vi bit nhan ve, neu co s khac biet th phai ngng phat.Bc ien nay c phat khi ng truyen ranh tr lai + Thc te la bit 0 (mc troi ) lan at bit 1 (mc lan ) nen bc ien co the can cc cang nho th o u tien cang cao.
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Hnh 3.20: Phng thc giai quyet tranh chap tren ng truyen
Trong trng hp nay , khi so sanh tng bit cua ma can cc ( ID ) cua 3 node phat cung luc ,th node 3 co o u tien cao hn ( do co gia tr ma can cc nho nhat) nen c quyen phat bc ien len ng truyen ,con cac node con lai vao trang thai ch .
- CAN co 2 chuan : Version 2.0 A va Version 2.0B + Chuan Version 2.0A : Ma can cc ( ID ) cua moi bc ien , la mot t gom 11 bit xac nh mc u tien. Phan u tien nay nam au moi bc ien. Mc u tien c xac nh bi 7 bit , mc: 0000000 la co o u tien cao nhat. + Chuan Version 2.0B : Ma can cc cua moi bc ien , la mot t gom 29 bit xac nh mc u tien.
3.2.7 S ong bo xung clock Moi nut phai tao mot thi gian danh ngha Thi gian bit ( Bit Time ) e co the nhan va phat d lieu xuong bus vi s ong bo cac node khac. Thc te, neu Thi gian bit cua moi nut khong c ong bo vi nhau, gia tr oc t bus tai thi iem lay mau co the khong la gia tr ung vi thi iem mong muon. o tre nay co the lam anh hng trong node nhan khung truyen, khi ma co t thi gian tnh toan CRC va gi 1 bit troi trong ACK Slot e xac nhan rang khung truyen a ung.
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Hnh 3.21: S ong bo xung clock trong CAN
SJW ( Synchronization Jump Width ) : SJW ieu chnh mot bit clock i t 1 en 4 Thi gian lng t (c khi tao trc trong thanh ghi va khong oi trong qua trnh hoat ong) e thc hien viec ong bo vi bc ien truyen.
Loi pha ( Phase Error ) : Loi pha c phat hien khi s thay oi 1 bit troi thanh lan hay 1 bit lan thanhtroi Segment ) . khong xay ra ben trong oan ong bo( Synchronization
C che ong bo - ong bo cng ( Hard Synchronization ): ch xay ra khi chuyen canh bit au tien t lan thanh troi ( logic 1 thanh 0) khi bus ranh, bao hieu khi au khung truyen ( SOF). ong bo cng lam cho bo em Thi gian bit khi ong lai, gay nen mot chuyen canh trong oan ong bo ( Sync_Seg) . Tai thi iem nay, moi node nhan se ong bo vi node phat. ong bo cng ch xay ra mot lan trong suot mot bc ien. Va ong bo lai co the khong xay ra trong cung mot bit ( SOF ) khi ma ong bo cng ang xay ra.
- ong bo lai ( Resynchronization ): c thc hien e bao toan s ong bo a thc hien bi ong bo cng. Thieu ong bo lai, node nhan khong the co c s ong bo v s lech pha cua cac bo dao ong tai moi node. 39
Chng 4: ong c DC va cac phng phap ieu khien toc o
CHNG 4
ONG C IEN MOT CHIEU VA CAC PHNG PHAP IEU KHIEN TOC O
4.1 ac tnh c tnh cua ong c ien mot chieu ( ong c DC )
- Co 4 loai ong c DC thong dung, bao gom : ong c DC kch t oc lap, kch t song song, kch t noi tiep, kch t tong hp. + ong c DC kch t oc lap : dong phan ng va dong kch t co the ieu khien oc lap vi nhau. + ong c DC kch t song song: phan ng va cuon kch t c au vi nguon cung cap. V vay, vi loai ong c nay, dong phan ng hoac dong kch t ch co the ieu khien oc lap bang cach thay oi ien tr phu trong mach phan ng hoac mach kch t. Tuy nhien, ay la cach ieu khien co hieu suat thap. + ong c DC kch t noi tiep: dong phan ng cung la dong kch t, va do o, t thong ong c la mot ham cua dong phan ng. + ong c DC kch t hon hp: Bao gom ca kch t noi tiep va kch t song song . Yeu cau can au noi sao cho sc t ong cua cuon noi tiep cung chieu vi sc t ong cua cuon song song.
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Hnh 4.1: Cac loai ong c ien mot chieu (ong c DC)
Mach tng ng che o tnh cua ong c mot chieu c trnh bay hnh 3.2, ien tr R bieu th ien tr phan ng. oi vi ong c mot chieu kch t oc lap hoac song song, ien tr nay la ien tr phan ng. oi vi ong c kch t noi tiep hoac ong c kch t hon hp, R la tong ien tr cua cuon phan ng va cuon kch t noi tiep.
Hnh 4.2: Mach tng ng che o tnh cua ong c DC

He Phng trnh c ban cua ong c mot chieu la: E = Kn U = E + RI M = KI (4.1) (4.2) (4.3)
Trong o: R: ien tr phan ng () 41
I : Dong phan ng (A) U: ien ap phan ng (V) : Toc o ong c (rad/s) : T thong tren moi cc (Wb) M : moment do ong c sinh ra (Nm) K : hang so, phu thuoc cau truc ong c T cong thc (4.1) - (4.3), ta co: = Hoac: = R V I K K R V M K (K )2 (4.4) (4.5)
Lu y: Cac cong thc t (4.1) en (4.5) co the ap dung cho tat ca cac loai ong c mot
chieu a ke tren.
- Vi ong c mot chieu kch t oc lap, neu ien ap kch t c duy tr khong oi, co the gia thiet rang t thong ong c khong oi khi moment ong c thay oi. Khi o ta co: K = constant (4.6)
- Nh vay theo (4.5), ac tnh c cua ong c mot chieu kch t oc lap la mot ng thang, nh ve tren hnh 4.3. Toc o khong tai cua ong c xac nh bi ien ap cung cap U va t thong kch t K. Toc o ong c suy giam khi moment tai tang va o on nh toc o phu thuoc vao ien tr phan ng R. Vi moment ln, t thong co the suy giam en mc o doc ac tnh c tr nen dng dan en hoat ong khong on nh. V vay, cuon bu thng hay c s dung e lam giam hieu ng kh t cua phan ng phan ng. Vi ong c cong suat trung bnh, o sut toc khi tai nh mc so vi khi khong tai khoang 50%.
- Vi ong c mot chieu kch t noi tiep, t thong la mot ham cua dong phan ng. Neu gia thiet ong c hoat ong trong vung tuyen tnh cua ac tnh t hoa, co the xem la t thong ty le bac nhat vi dong phan ng, ngha la : SVTH: Nguyen Gia Minh Thao
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= Kkt I Thay (4.7) vao (4.1), (4.4) va (4.5), ta c : M = KKktI2 = = R V KK kt I KK kt V KK kt 1 M R KK kt
(4.7)
(4.8) (4.9)
(4.10)
Lu y la R luc nay la tong cua ien tr mach phan ng va ien tr cuon kch t.
(% m) (c) 100
(b) ong c DC kch t oc lap ong c DC kch t noi tiep ong c DC kch t hon hp
(a)
100
M(%Mm)
Hnh 4.3 ac tnh c cac loai ong c DC

ac tnh c ong c mot chieu kch t noi tiep c ve tren hnh 3.3. Co the thay rang toc
o ong c suy giam nhieu theo moment tai. Tuy nhien trong thc te, cac ong c tieu chuan thng c thiet ke lam viec tai cac canh cho ( knee-point ) cua ac tnh t hoa khi mang tai nh mc. Vi tai tren nh mc, mach t ong c bao hoa, khi o t thong khong thay oi nhieu theo dong tai I dan en ac tnh c tiem can vi ng thang. -
ong c mot chieu kch t noi tiep thch hp cho cac ng dung oi hoi moment khi ong
cao va co the qua tai nang. Vi moment tai tang, t thong ong c cung tang theo. Nh vay vi cung mot lng gia tangcua moment nh nhau, dong phan ng I cua ong c mot chieu
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kch t noi tiep se tang t hn so vi ong c kch t oc lap. Do o, trong ieu kien qua tai nang, s qua tai cua nguon cung cap va s qua nhiet cua ong c cung t hn so vi ong c kch t oc lap.
Theo cong thc (4.10) , toc o ong c kch t noi tiep ty le nghch vi can bac hai cua
moment. V vay toc ong c khi khong tai co the tang len rat cao, ch b han che bi t d cua ong c va co the gap hang chuc lan toc o nh mc. ieu nay la khong cho phep vi may ienthng ch cho phep hoat ong gap 2 lan toc o nh mc. Do o, ong c kch t noi tiep khong c dung vi cac ng dung trong o moment tai co the nho en mc lam toc o ong c vt qua mc gii han cho phep.
ac tnh cua ong c mot chieu kch t hon hp co dang nh bieu dien tren hnh 3.3. Toc
o khong tai cua ong c phu thuoc vao dong kch t qua cuon song song, trong khi o doc ac tnh c phu thuoc vao s phoi hp gia cuon song song va cuon noi tiep. ong c kch t hon hp c s dung trong nhng ng dung can co ac tnh c tng t ong c kch t noi tiep ong thi can han che toc o khong tai mot gia tr gii han thch hp. Cung can lu y cac ac tnh c e cap tren hnh 4.3 la ac tnh c t nhien cua ong c, ngha la cac ac tnh nay nhan c khi ong c hoat ong vi ien ap cung cap va t thong nh mc, va khong co ien tr phu nao trong mach phan ng hoac kch t.
4.2 S lc ve cac phng phap ieu khien toc o ong c DC

T cong thc (4.5) bieu dien quan he gia toc omoment ong c, co the thay rang toc o ong c co the c ieu khien bang cac phng phap sau: + ieu khien t thong + ieu khien ien ap phan ng + ieu khien hon hp ien ap phan ng va t thong + ieu khien ien tr phan ng
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4.2.1 ieu khien t thong - ieu khien t thong c s dung khi can tang toc o lam viec cua ong c cao hn toc o nh mc. Co the thay ieu o qua cong thc (4.5): = R U M K ( K )2
- ac tnh tnh cua ong c kch t oc lap va kch t noi tiep khi ieu khien t thong c bieu dien lan lt tren hnh 4.4 (a) va (b) bang cac ng net t. Lu y la o cng ac tnh c giam nhanh khi giam t thong.
- Toc o cao cua ong c at c khi giam t thong b han che bi: + S khong on nh cua ong c gay ra bi anh hng cua phan ng phan ng + Gii han ve mat c kh cua ong c: cac ong c thong thng cho phep toc o at en 1,5 - 2 lan toc o nh mc. Mot so ong c che tao ac biet cho phep toc o cao nhat at ti 6 lan nh mc. oi vi ong c DC kch t oc lap va song song, cong suat cc ai cho phep cua ong c gan nh khong oi vi moi toc o khi ieu khien t thong (xem hnh 4.5). Co the thay ieu nay neu gia thiet la dong cc ai cho phep, I cua ong c khong thay oi khi ieu chnh t thong va ien ap cung cap cho phan ng, U la nh mc, khong oi. Khi o , ta co: E = U - RI = const P = EI = const ( v I = const )
Vay cong suat ong c khong thay oi khi ieu chnh toc o bang phng phap thay oi t thong . Do o moment cc ai cho phep cua ong c se bien thien t le nghch vi toc o ,v M= P
Lu y: Trong thc te, gia thiet dong phan ng cc ai cho phep I khong thay oi khi giam t thong ch la gan ung. Tac ong cua phan ng phan ng cang ln khi t thong cang giam, do o, dong phan ng cc ai cho phep can giam xuong e khong sinh ra tia la ien qua mc tren co gop. ieu nay dan en viec gia tr thc te cua I se giam xuong khi toc o tang cao. SVTH: Nguyen Gia Minh Thao
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Vi ong c DC kch t oc lap , viec ieu khien kch t c thc hien bang cach thay
oi ien ap kch t vi bo chnh lu co ieu khien hoac bo chopper, tuy theo nguon cung cap c s dung la AC hoac DC. Vi ong c cong suat nho, cung co the noi tiep bien tr vao mach kch t e ieu khien t thong. Vi ong c DC kch t noi tiep, viec ieu khien t thong c thc hien bang cach thay
oi ien tr song song vi cuon kch t. Mot so ong c kch t noi tiep co cuon kch t nhieu au ra, va do o co the thay oi t thong bang cach thay oi so vong day cuon kch t 4.2.2 ieu khien ien ap phan ng - Vi ong c mot chieu kch t oc lap, neu ien ap kch t c duy tr khong oi, hoac ong c kch t dung nam cham vnh cu co the gia thiet rang t thong ong c khong oi khi momen ong c thay oi. Khi o: K = const
Vay e thay oi toc o ong c ta thay oi ien ap phan ng. Bang cach thay oi ien ap phan ng, ong c co the lam viec tai bat k toc o, moment nao.
Tnh chat quan trong cua phng phap nay la o cng ac tnh c khong thay oi khi toc o ong c c ieu chnh. ieu nay khien he co kha nang ap ng vi tai co moment hang so v dong phan ng cc ai cho phep Imax- tng ng vi no la moment tai cc ai cho phep cua ong c khong oi vi moi toc o.
ien ap phan ng ong c co the c ieu khien bang cach s dung:
+ May phat DC (He May phat- ong c) + Bo chnh lu co ieu khien ( bien oi AC DC ) + Bo Chopper (Bo bien oi xung ap) : DC DC .
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Hnh 4.4: ieu khien bang thay oi ien ap phan ng , t thong.

4.2.3 ieu khien hon hp ien ap phan ng va t thong kch t Phng phap nay c s dung khi can thiet ieu chnh toc o ong c trong mot dai rong
tren va di toc o nh mc. Toc o di toc o nh mc c ieu khien bang cach thay oi ien ap phan ng trong khi gi kch t gia tr nh mc. Toc o tren nh mc c ieu khien bang cach thay oi ien ap kch t.
Hnh 4.5: Moment va cong suat ra khi ieu khien hon hp: ien ap phan ng va t thong
4.2.4. ieu khien ien tr phan ng 47
- Hnh 4.6 bieu dien ac tnh c cua ong c DC kch t oc lap va noi tiep khi ieu khien toc o bang cach them ien tr phu vao phan ng. - Khuyet iem chnh cua phng phap nay la co hieu suat cua he thong rat kem va o cng ac tnh c thap, nhat la khi hoat ong toc o thap. Do o, phng phap nay hien nay t c s dung e ieu khien toc o ong c, tr cac trng hp: + Khi ong ong c + Thay oi toc o ong c trong mot thi gian ngan trong che o ngan han hoac che o ngan han lap lai.
Hnh 4.6 : ac tnh ong c DC khi them ien tr phu vao phan ng
4.3 Phng phap ieu rong xung

Phng phap ieu rong xung ( PWM: Pulse Width Modulation) la phng phap thay oi ien ap phan ng cua ong c DC bang cach thay oi thi gian ong ngat cong tac nguon. ay la phng phap s dung rat pho bien v nhng u iem cua no nh : + Mach thiet ke kha n gian + Toc o ong c thay oi em va nh mong muon + Ton hao cong suat nho Xet mach ien nh hnh ve :
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Hnh 4.7 Mach nguyen ly ieu rong xung
Bang cach thay oi thi gian ong ngat cong tac S, ta co the thu c ien ap trung bnh at tren ong c thay oi theo y muon, khoang thay oi t 0 V en U. Dang ap ra nh sau :
Hnh 4.8: Dang ap ra sau khi ieu che

Tr trung bnh ien ap tren tai tnh theo cong thc :
Ut = U
t on = U T
(4.11)
Vi T = ton + toff la chu ky khong oi cua xung kch S. T cong thc (4.11) ta thay 0 Ut U , va Ut phu thuoc t so , vay co the ieu chnh ien ap tren tai theo y muon bang cach thay oi t so .
o Trong ieu khien ong c DC bang phng phap PWM vi tan so cua xung ieu khien cao ,ngi ta co the s dung cac vi ieu khien e tao xung (tan so t 5 Khz en 20 Khz) e ieu khien cac khoi mach ong lc ( trong cac khoi mach ong lc ,thng dung IGBT hay MosFet lam khoa ong ngat ). SVTH: Nguyen Gia Minh Thao
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4.4 Gii thieu ve Encoder s dung trong luan van

- Trong thc te co nhieu loai encoder khac nhau nh: Encoder tiep xuc , Encoder t trng, Encoder quang ( gom : Encoder quang tng oi, Encoder quang tuyet oi ) . Moi loai lai co mot nguyen ly hoat ong khac nhau, trong luan van nay , toi ch s dung loai Encoder quang
tng oi ( incremental encoder ) nen ch trnh bay ky ve loai encoder nay

- Loai incremental encoder dung trong Luan van c gan ong truc vi ong c DC 24V20W , va co o phan giai la 100 xung/vong.
Mo hnh th 1
- Incremental encoder ve c ban la mot a tron quay quanh mot truc c uc lo nh hnh tren. Tren vanh a se khac cac khe h eu nhau . V du: Encoder co 100 , 200 , 500 hay 1000 vach khe h tren vanh a
Hnh 4.13 : Encoder quang loai tng oi-mo hnh 1
2 ben mat cua cai vanh a, se co mot bo thu phat quang. Trong qua trnh encoder quay quanh truc, neu gap lo rong th anh sang chieu qua c, neu gap manh chan th tia sang khong chieu qua c. Do o tn hieu nhan c t encoder quang la mot chuoi xung. Moi encoder c che tao vi so khe h tren vanh a , se cho biet san so xung khi quay het mot vong. Do o ta co the dung vi ieu khien em so xung o trong mot n v thi gian va tnh ra toc o ong c.( co encoder c gan ong truc ) , khi
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o encoder nao co so khe h ( lo ) tren vanh a cang nhieu se cho o chnh xac cang ln.
Hnh 4.14: Cach thc hoat ong cua encoder quang loai tng oi
- Encoder ma toi s dung trong Luan van,hoan toan giong vi mo hnh tren. Tuy nhien, mo hnh tren co nhc iem ln la : ta khong the xac nh c ong c ang quay trai hay quay phai, v co quay theo chieu nao i na th ch co mot dang xung a ra. Ngoai ra thi iem bat au hoat ong cua ong c, ta cung khong the nao biet c.
Mo hnh th 2 ( Cai tien t mo hnh 1 , nham khac phuc cac nhc iem )
Hnh 4.15: Mo hnh 2 cua encoder quang loai tng oi
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Trong mo hnh nay, ngi ta uc tat ca la 2 vong lo . Vong ngoai cung giong nh mo hnh 1 ( thng c goi la vong A ) , vong gia pha so vi vong ngoai la 90 o (goi la vong B). Khi o, dang xung ra t 2 vong tren nh sau :
Hnh 4.16: S o xung ra cua encoder quang tng oi mo hnh 2
Hai xung a ra t 2 vong lech nhau 90 o, neu vong ngoai ( chuoi xung A ) nhanh pha hn vong trong ( chuoi xung B ) th chac chan ong c quay t trai sang phai va ngc lai.
Mot lo vong trong cung dung e phat hien iem bat au cua ong c. Co the viet chng trnh cho vi ieu khien nhan biet : neu co mot xung phat ra t vong trong cung nay, tc la ong c a quay ung mot vong. Tn hieu cua chuoi xung do 1 lo nay tao ra thng goi la xung Z.
Vi nhng ac tnh tren, encoder loai nay ( mo hnh 2) c dung rat pho bien trong viec xac nh v tr goc cua ong c..
Tuy nhien: Van e quan trong trong viec tm mua nhng loai ong c co gan encoder nh the nay e lam o an hay Luan Van oi vi sinh vien la kha kho , va cap mat quang 2 ben encoder e tao xung thng b h va khong co o thay the.
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Chng 5: Ho vi ieu khien HCS12 va MC9S12DP512
CHNG 5
HO VI IEU KHIEN HCS12 VA VI IEU KHIEN MC9S12DP512

5.1 Gii thieu chung ve ho vi ieu khien HCS12
Ho vi ieu khien 68HC12 c hang Motorola cho ra i vao nam 1996 da tren ho vi ieu khien 68HC11. Nam 2001 , hang Motorola tiep tuc phat trien ho vi ieu khien 68HC12 len thanh ho vi ieu khien mi ,o la HCS12 vi : toc o x ly nhanh hn , dung lng bo nh c m rong va tch hp them nhieu chc nang chuyen dung . Nam 2004 , bo phan thiet ke-san xuat linh kien ban dan cua hang Motorola tach ra thanh mot cong ty oc lap , lay ten la FreeScale Semiconductor va tr thanh nha san xuat cho tat ca cac ho vi ieu khien cua Motorola.
Hnh 5.1: S o phat trien cua vi ieu khien hang Motorola-FreeScale
Ho vi ieu khien HCS12 co cac ac iem chnh nh sau : La ho vi ieu khien 16-bit co toc o x ly nhanh, tan so xung nhp bus noi co the len en 32 Mhz ; va co tch hp Vong-khoa-pha , thng hay goi la bo PLL ( Phase-Lock-Loop) Che tao theo cong nhe HCMOS nen co o on nh va o ben cao .
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c nang cap t ho vi ieu khien 68HC11/68HC12 va khong co s thay oi nao ve to chc cac thanh ghi x ly so vi 68HC11/68HC12 nen cac oan chng trnh viet bang hp ng s dung cho 68HC11/68HC12 eu co the s dung lai c vi HCS12 .
Cac loai bo nh ben trong gom co: RAM , EEPROM , Flash . Dung lng bo nh ln,ac biet la bo nh Flash va co kha nang m rong bo nh ngoai.
Tch hp nhieu chc nang thi gian nh: Bat gi ngo vao , so sanh ngo ra, bo em xung va s kien cong, bo ieu rong xung PWM, ngat thi gian thc, Watchdog
Co cac mo-un truyen thong noi tiep nh : Giao tiep bat ong bo (SCI ), giao tiep ong bo ( SPI ) , IIC.
Tch hp che o Debug chay nen ,ch can s dung 1 day tn hieu duy nhat (goi tat la BDM) Co cac che o hoat ong e tiet kiem nang lng Co 1 en 2 bo chuyen oi tn hieu tng t sang tn hieu so,o phan giai 10-bit, co 8 en 16 kenh ( channel )
Ho tr tap lenh logic M khi viet chng trnh bang hp ng. Nhieu Port xuat nhap a dung : Port A, Port B , Port K, Port J, Port H, Port M, Port S Ngoai ra, tuy theo ng dung ,moi dong chuyen dung trong ho HCS12 se tch hp them cac mo-un chc nang chuyen dung nh: USB, CAN , BDLC , Ethernet , ieu khien LCD , ieu khien Motor:
+ Dong HCS12A : Danh cho nhng ng dung thong thng + Dong HCS12B hay C : Co tch hp them 1 bo giao tiep CAN , nhng lai khong co giao tiep IIC , gia thap + Dong HCS12D : Tch hp ay u cac chc nang thong dung ,va co them giao tiep CAN , BDLC . Co nhieu chan Xuat/Nhap va chc nang ve thi gian ve thi gian nhat. + Dong HCS12NE : Tch hp bo bien oi tn hieu so sang tn hieu tng t ben trong ( DAC) va co them giao tiep Ethernet + Dong HCS12H : Tch hp mo-un ieu khien LCD , ieu khien cau H theo phng phap PWM vi dong cao, phu hp cho ieu khien ong c. Co giao tiep CAN
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+ Dong HCS12L : Tch hp mo-un ieu khien LCD c ln (LCD 4x60) , giao tiep USB , tch hp them khoi chc nang DMA + Dong HCS12UF: Giao tiep USB , co mo-un giao tiep vi cac loai the nh ngoai .Tch hp chuan giao tiep ATA ,phu hp cho cac ng dung ve giai tr.
5.1.1 Cac thanh phan c ban cua bo x ly Cac thanh ghi x ly: Cac thanh ghi x ly cua HCS12 hoan toan giong vi cac thanh ghi x ly cua ho vi ieu khien 68HC11/68HC12.
Hnh 5.2: Cac thanh ghi x ly cua ho vi ieu khien HCS12
Thanh ghi tch luy A: La thanh ghi tch luy 8 bit ,tat ca cac phep toan cua ALU eu co the
thc hien tren d lieu trong thanh ghi nay. Mot so thao tac ac biet ch co the thc hien tren thanh ghi nay, no c s dung vi ten la A hay AccA
Thanh ghi tch luy B: La thanh ghi tch luy 8 bit ,chc nang giong thanh ghi A. Nhng co
mot so thao tac ac biet ch co the thc hien tren thanh ghi A, ma khong the thc hien tren thanh ghi B. No c s dung vi ten la B hay AccB.
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Thanh ghi tch luy D (A:B): Thanh ghi tch luy 16 bit ,la s ket hp cua thanh ghi A va B ,
khong phai la thanh ghi rieng biet . c s dung vi ten D hay AccD.
Thanh ghi con tro X: La thanh ghi a ch 16-bit , s dung trong che o nh a ch so. No
cung co the s dung nh thanh ghi d lieu 16-bit, c s dung vi ten la X hay IX.
Thanh ghi con tro Y: Chc nang giong nh thanh ghi X , c s dungvi ten la Y hay IY. Thanh ghi ngan xep con tro SP (Stack Pointer) : La thanh ghi 16-bit, cha a ch cua o
nh kha dung tiep theo trong ngan xep .c s dung vi ten la SP.
Thanh ghi Bo em chng trnh PC (Program Counter): La thanh ghi 16-bit, cha a ch
cua lenh ke tiep. c s dung vi ten la PC.
Thanh ghi ieu kien CCR (Condition Code Register) : La thanh ghi 8-bit trang thai va
ieu khien. c s dung vi ten la CCR.
5.1.2 Cac che o hoat ong : Co 8 che o hoat ong chnh c ieu khien bi trang thai cua 3 chan: MODA , MODB va MODC (BKGD)
Hnh 5.3: Cac che o hoat ong cua ho vi ieu khien HCS12
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Che o debug chay nen- BDM :
+ La che o ac biet , cho phep phan cng ben ngoai ( thng goi la BDM- Pod ) truy cap vao ben trong chip HCS12 thong qua chan BKGD . T o ngi dung co the nap chng trnh vao vi ieu khien hay debug chng trnh ngay ca khi vi ieu khien ang hoat ong. + Trong ca 8 che o hoat ong chnh c neu tren ,th che o debug chay nen nay eu co the s dung c.
( a) : Ket noi gia vi ieu khien vi PC qua mach BDM-Pod

+ Chuan jack cam cap cho che o debug-chay nen:
(b) Cap noi chuan
(c) Cap noi chuan m rong
Hnh 5.4: Che o debug chay nen ( BDM: Background Debug Mode)
Ngoai ra, ho vi ieu khien HCS12 co 3 che o hoat ong tiet kiem nang lng: + Che o NGH ( Stop mode) + Che o GIA-NGH ( Pseudo Stop mode ) + Che o CH ( Wait mode)
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5.2 Vi ieu khien c s dung trong Luan van - MC9S12DP512

Trong luan van nay ,toi s dung vi ieu khien co ten la MC9S12DP512 , thuoc dong D cua ho
HCS12 la dong c phat trien cho cac ng dung trong lnh vc thuoc cong nghe oto va
trong cong nghiep. Co ay u cac chc nang c ban chung cua ho vi ieu khien 16-bit HCS12 ( a c trnh bay chng 2 phan I : Gii thieu chung ho vi ieu khien HCS12 ) c ong goi theo kieu chan LQFP co 112 chan , tam nhiet o la: -40 -:-150 o C Tan so xung nhp bus noi toi a la 32 Mhz , co tch hp bo PLL Bo nh: 14 KB bo nh RAM ; 4 KB bo nh EEPROM ; 512 KB bo nh FLASH 2 bo giao tiep noi tiep bat ong bo ( SCI), 3 bo giao tiep noi tiep ong bo ( SPI ),1 bo IIC 5 bo CAN , ho tr ca 2 chuan V2.0A va V2.0B; 1 bo giao tiep BDLC ( theo chuan J1850 ) 8 kenh chc nang thi gian nh: Bat gi ngo vao , so sanh ngo ra , em xung-s kien cong , ngat thi gian thc , WatchDog 2 bo ADC -16 kenh , o phan giai10-bit ; 8 kenh trong mo-un ieu rong xung (PWM) 4 Port xuat nhap so ( tong cong 29 chan) : Port A, Port B , Port K , Port E 20 chan co chc nang tao ngat e nhan biet phm nhan ( Key-WakeUp)
Hnh 5.5: S o chan 112 chan kieu LQFP
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Hnh 5.6 : S o khoi cua MC9S12DP512

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5.2.1 Cac Port xuat nhap a dung MC9S12DP512 co tat ca la 12 port xuat nhap : Port A , Port B , Port D , Port E, Port H ,
Port J , Port K , Port M , Port S, Port P , Port T Tat ca cac Port ngoai chc nang xuat nhap bnh thng, con co them cac chc nang khac
cua vi ieu khien nh: + Port A , Port B : con co chc nang ket hp vi nhau e lam bus a ch , va truyen d lieu song song 16-bit trong che o m rong. + Port H : con la chan giao tiep cua cac mo-un khac nh SPI , tao ngat t phm nhan + Port P: Con la cac chan ieu rong xung , tao ngat t phm nhan + Port J : cac chan giao tiep IIC ,va tao ngat t phm nhan + Port M : la cac chan giao tiep CAN , BDLC + Port S: La cac chan giao tiep SCI va SPI + Port T: La cac chan trong khoi chc nang thi gian + Port K: La cac chan dung e chon cac trang bo nh trong vung bo nh Flash + Port D0 , D1: La cac chan ngo vao tng t cua 2 bo bien oi ADC + Port E: con la cac chan ieu khien cho he thong Moi Port se co nhieu thanh ghi ieu khien , e quyet nh chc nang hoat ong cua Port: la
xuat nhap song song hay thc hien chc nang rieng. Va khi a chon hoat ong chc nang rieng th khong phai la cac port xuat nhap song song na. Ten cua cac thanh ghi ieu khien chc nang xuat nhap cua cac Port thng bat au bang
t DDR , t cuoi cung la viet tat ten cua port.
V du : Thanh ghi ieu khien chc nang xuat nhap cua Port A, Port B , Port H lan lt co ten
la: DDRA , DDRB , DDRH + Ghi gia tr 1 vao cac bit cua thanh ghi ieu khien : Qui nh port tng ng la Port xuat + Ghi gia tr 0 vao cac bit cua thanh ghi ieu khien : Qui nh port tng ng la Port nhap Cac thanh ghi cha d lieu cho cac port khi co chc nang xuat nhap se co ten la: PT vi ten viet tat cua port o.
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V du nh: PTA ( PortA ) , PTH ( Port H) , PTK ( Port K ) , PTP ( Port P ) . Ngoai ra: Cung co the dung tien to PORT cho cac port A, B, E , K e goi ten cac thanh ghi d lieu cua cac port nay.
Port A ,Port B :
- Trong che o m rong ( expanded mode ) , Port A ong vai tro la byte cao cua a ch / data 16-bit : A15/D15A8/D - Trong che o m rong ( expanded mode ) , Port A ong vai tro la byte cao cua a ch / data 16-bit : A7/D7A0/D0 - Trong che o n chip ( Single chip mode ) , Port A va Port B ch la cac port xuat nhap 8-bit bnh thng
Port E - Port E thng c dung e ieu khien bus , chon bo dao ong thac anh , phuc vu ngat ngoai , chon che o hoat ong cho vi ieu khien. - Khi khong dung Port E cho cac chc nang ieu khien , ta cung co the s dung nh mot port xuat nhap bnh thng . Hai hai thanh ghi cho chc nang xuat nhap la DDRE ( thanh ghi ieu khien ) va PTE ( thanh ghi d lieu )
Hnh 5.7: Port E

+ Chan PE0 : Bnh thng ch la chan nhap, ngoai ra con la chan ngo vao yeu cau ngat SVTH: Nguyen Gia Minh Thao
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khong che c ( /XIRQ ) . + Chan PE1: Bnh thng ch la chan nhap, ngoai ra con la chan ngo vao yeu cau ngat che c ( /IRQ ) . + Chan PE2: Bnh thng ch la chan nhap, ngoai ra khi vi ieu khien che o m rong , con la chan tao tn hieu oc/Viet ( Read/Write ). + Chan PE3: Bnh thng la chan xuat nhap, ngoai ra khi vi ieu khien che o m rong th tr thanh chan tao tn hieu byte-thap cua kieu truy cap bus (/LSTRB ) + Chan PE4: Bnh thng la chan xuat nhap, ngoai ra con la chan ieu khien xung nhp bus noi ELCK + Chan PE5: Bnh thng la chan xuat nhap, ngoai ra con la chan dung e chon che o hoat ong cho vi ieu khien moi khi co tn hieu Reset. + Chan PE5: Bnh thng la chan xuat nhap, ngoai ra con la chan dung e chon che o hoat ong ( MODA ) cho vi ieu khien moi khi co tn hieu Reset. + Chan PE6: Bnh thng la chan xuat nhap, ngoai ra con la chan dung e chon che o hoat ong ( MODB ) cho vi ieu khien moi khi co tn hieu Reset. + Chan PE7: - Bnh thng la chan xuat nhap - Trong che o m rong , tn hieu NOACC neu tch cc (enable) th vi ieu khien se dung bus , con neu khong tch cc ( disable) th vi ieu khien se khong dung bus nay. - Con chc nang /XCLKS : khi o la chan nhap , dung e thiet lap bo dao ong thach anh cho he thong t 2 kieu dao ong : Dao ong noi kieu Colpitts hay kieu Pierce/ dao ong ngoai. - Khi PE7 = 1 : Se chon bo dao ong kieu Colpitts
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(a) Kieu dao ong Colpitts

- Khi PE7 = 0 : Se chon bo dao ong kieu Pierce (Trong luan van ,toi chon bo dao ong kieu nay cho vi ieu khien )
(b) Kieu Pierce
(c) Kieu lay dao ong clock ngoai
Hnh 5.8: Cac kieu dao ong trong HCS12

- Khi PE7 = 0 , con co the dung e chon xung clock ben ngoai
5.2.2 Khoi chc nang thi gian ( Timer ) He thong chc nang thi gian cua vi ieu khien MC9S12DP512 la s tong hp ay u cac chc nang ve thi gian cua ho vi ieu khien HCS12 , gom cac chc nang chnh nh sau: - Ket noi vi 8 chan cua Port T , moi chan cua Port T la 1 kenh trong bo Timer - 8 kenh chung cho 2 chc nang :Bat gi ngo vao ( Input Capture ) , So sanh ngo ra( Output Compare). Va gia cac kenh chc nang bat gi ngo vao vi nhau se co 1 thanh ghi em 16-bit. - Mot bo em 16-bit ,va ho tr bo chia ty le 4-bit ( prescaler ) - 2 bo em xung 16-bit: Pulse Accumulator A , B ; co the tach ra thanh 4 bo em xung 8-bit - 4 bo tao tre (delay) , co the chon bi ngi dung : e tang o triet nhieu cho cac ngo vao 5.2.2.1 Bo em 16-bit: - Thanh ghi em thi gian 16 bit : TCNT ( Timer Counter Register )
Hnh 5.9: Thanh ghi em thi gian 16-bit TCNT ( Timer Counter Register )
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- Co 3 thanh ghi ieu khien va trang thai lien quan en TCNT : + Thanh ghi ieu khien he thong thi gian 1: TSCR1 ( Timer System Control Register 1 )
Hnh 5.10: Thanh ghi ieu khien he thong thi gian 1- TSCR1
TEN (Timer enable) : Bit khi ong chc nang thi gian 0 - Tat mo-un chc nang thi gian ; 1 Khi ong mo-un chc nang thi gian
TSWAI (Timer stop while in wait mode) : Bit thiet lap cho Timer khi vi ieu khien che o ch ( Wait mode ) 0 Cho phep Timer c tiep tuc chay ngay ca khi vi ieu khien che o Ch 1 - Tat Timer khi vi ieu khien che o Ch ( Wait mode) TSFRZ ( Timer stop while in freeze mode ): Bit thiet lap cho Timer khi vi ieu khien che o ong bang ( GIA NGH: Pseudo Stop ) 0 - Cho phep Timer c tiep tuc chay khi vi ieu khien che o ong bang 1 - Tat Timer khi vi ieu khien che o ong bang (freeze mode) TFFCA ( Timer fast flag clear all ) : Bit thiet lap che o xoa cac c trang thai cua he thong thi gian (Timer) 0 Xoa cac c trang thai bang che o bnh thng 1 Xoa cac c trang thai cua cac thanh ghi trang thai bang cach so sanh cac gia tr kenh chc nang lien quan
+ Thanh ghi ieu khien he thong thi gian 2: TSCR2 (Timer System Control Register 2)
Hnh 5.11: Thanh ghi ieu khien he thong thi gian 2- TSCR2
TOI ( Timer Over Flow Interrupt enable ): Bit cho phep ngat khi Timer b tran 0 - Khong cho phep ngat khi Timer tran SVTH: Nguyen Gia Minh Thao
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1 Cho phep ngat khi bit c bao tran TOF ( Timer Overflow Flag) co gia tr 1 TCRE: ( Timer counter reset enable ) : Bit cho phep khi ong lai bo em 0 Bo em khong t ong reset va Timer chay t do ,khong kiem soat c 1 Timer se reset khi moi lan chc nang so sanh ngo ra th 7 thanh cong PR[2:0] ( PreScale ) : Bo chia ty le tan so xung nhp 3-bit , tao ra xung nhp cho bo em thi gian t tan so xung nhp bus noi. + Thanh ghi c bao ngat Timer 2: TFLG2 ( Timer Interrupt Flag 2 Register )
Hnh 5.12: Thanh ghi c bao ngat Timer 2- TFLG2

Chu y: Bit c bao tran TOF (bit 7) se len gia tr 1 moi khi bo em thi gian tran ( gia tr cua thanh ghi TCNT a em u t $FFFF $0000 )
V du: He thong co tan so xung nhp noi la 8 Mhz , bo chia ty le ( Prescale) la 1:1 , th khoang thi gian cho moi lan Timer tran se la : 64K x (1 : 8 Mhz ) = 8.192 ms oan chng trnh khi ong bo em Timer ,va cho phep Ngat khi Timer tran.
void Timer_Init(void){ TSCR1 = 0x80; // Cho phep bo em TCNT hoat ong TSCR2 = 0x80; // Cho phep ngat khi Timer tran , bo chia ty le 1:1 PACTL = 0;
//
TFLG2 = 0x80; // Xoa c bao ngat }
5.2.2.2 Bo em xung ( Pulse Accumulator ) Vi ieu khien MC9S12DP512 co 2 bo em xung 16-bit la : PACA (Pulse Accumulator A) -ket noi vi chan PT7 va PACB (Pulse Accumulator B) ket noi vi chan PT0 Bo em xung co 2 chc nang chnh: em s kien va che o Cong
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Hai bo em xung 16-bit nay , co the tach ra thanh 2 bo em xung 8-bit rieng biet + Bo em 16-bit PACA gom: PAC3 PAC2 (8-bit) + Bo em 16-bit PACB gom: PAC1 PAC0 ( 8-bit)
Bo em xung PACA ( Pulse Accumulator A)
+ Co 3 thanh ghi lien quan : PACTL( ieu khien ) , PAFLG( c ) ; PACN32 ( d lieu)
Hnh 5.13: Cac thanh ghi lien quan en bo em xung

bit PAEN 0 / 1 : Bo em xung PACA khong c s dung / c s dung bit PAMOD 0 / 1 : Che o em s kien / Che o em thi gian Cong bit PEGDE 0 : em khi Xung xuong ( che o em xung) - Chon Mc cao ( che o CONG) 1 : em khi Xung len ( che o em xung) - Chon Mc thap ( che o CONG) bit PAOVI 0 / 1 : Ngat khi bo em xung PACA tran b cam / Cho phep Bit PAI 0 / 1 : Ngat khi co xung chan PT7 b cam / Cho phep
+ Thanh ghi cha d lieu cua bo em xung PACA la thanh ghi 16-bit PAC32 : Cha gia tr so xung em c ( trong che o em s kien ) hay thi gian cua mc (trong che o CONG) + Thanh ghi 16-bit PACN32 la do 2 thanh ghi 8-bit ghep lai : PACN3 va PACN2 V du: Khai bao cho bo em xung PACA ,che o em s kien void Pulse_Acc_Init(void){ TIOS = TIOS & ~0x80 ; // Khi ong chc nang Input Capture cho chan PT7 SVTH: Nguyen Gia Minh Thao
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TCTL1 = TCTL1 & ~0xC0 ; PACTL = 0x50 ; // Dung bo PACA ,che o em s kien , phat hien xung len PACN32 = 0 ; // Xoa gia tr trong bo em } Bo em xung PACB ( Pulse Accumulator B) : + Ch co chc nang em s kien ,ma khong co chc nang em thi gian cong + Co cac thanh ghi lien quan: PBCTL (ieu khien) , PBFLG (c) , PACN10 (d lieu) + Cach khai bao va s dung tng t nh bo em xung PACA
5.2.3 Bo ieu rong xung ( PWM : Pulse Width Modulation ) Vi ieu khien MC9S12DP512 co 8 kenh 8-bit PWM , c ket noi vi Port P Hai kenh 8-bit PWM ke nhau co the ket hp tao thanh mot kenh 16-bit . Nen se co toi a 4 kenh 16-bit PWM. ay ta ch trnh bay ve che o ieu rong xung 8-bit . Co tong cong 32 thanh ghi dung e thiet lap thong so cho 8 kenh PWM.
Trnh t thiet lap cho bo PWM:
Tao tan so dao ong cho bo PWM:

- Viec chon nguon dao ong cho bo PWM la phu thuoc vao gia tr thanh ghi PWMCLK : Co cac nguon dao ong la: Clock A , Clock SA , Clock B , Clock SB + Gia tr cua nguon dao ong Clock SA se c tao ra bang cach : Lay gia tr Clock A
chia cho gia tr trong thanh ghi PWMSCLA , sau o lay ket qua chia tiep cho 2
+ Gia tr cua nguon dao ong Clock SB se c tao ra bang cach : Lay gia tr Clock B
chia cho gia tr trong thanh ghi PWMSCLB , sau o lay ket qua chia tiep cho 2
Hnh 5.14: Thanh ghi PWMCLK

+ PCLKx : Dung cho cac kenh PWMx ( x = 7 , 6 , 3 , 2) 67
0 / 1 : Nguon dao ong la Clock B / Clock SB + PCLKy : Dung cho cac kenh PWMy ( y = 5 , 4 , 1 , 0) 0 / 1 : Nguon dao ong la Clock A / Clock SA - Gia tr Ty le chia ty le ( Prescaler ) se theo gia tr trong thanh ghi PWMPRCLK
Chon cac thuoc tnh cua xung vuong can tao , cho phep cac kenh PWM hoat ong: - Chu ky cua xung , c chon bi gia tr cua thanh ghi : PWMPERn khi so sanh vi gia tr trong bo em PWMCNTn - Duty_Cycle cua xung , c chon bi gia tr cua thanh ghi : PWMDTYn khi so sanh vi gia tr trong bo em PWMCNTn ( n : la th t cua kenh PWM , gia tr t [ 0:7 ] ) - Thanh ghi PWMPOL dung e chon kieu u tien Mc cua xung ra ( mc Cao hay Thap)
Hnh 5.15 : Thanh ghi PWMPOL

Bit PPOLn ( n = [ 0:7 ] ) co tr : 0 / 1 : Xung ra se bat au bang mc Thap (mc 0) / bat au bang mc Cao(mc 1)
- Thanh ghi cho phep bo PWM hoat ong: PWME
Hnh 5.16: Thanh ghi PWME

Gia tr cua bit PWMEn ( n = [ 0:7 ] ) : 0 / 1 : Kenh PWMn b cam hoat ong / Kenh PWMn hoat ong Chon chuan canh (Alignment ) cho xung ra , co 2 chuan: Canh theo ben trai (left-
aligned) , va Canh theo chnh gia(center-aligned ). Va thanh ghi dung e chon la:
PWMCAE 68
Hnh 5.17: Thanh ghi PWMCAE

Gia tr cua bit CAEn ( n = [ 0:7 ] ) : 0 / 1 : Kenh PWMn co xung theo chuan left-aligned / center-aligned
- Canh theo ben trai (left-aligned) :
Hnh 5.18: Kieu xung canh ben trai ( left-aligned)

Luc o ,ta co cac cong thc lien quan: + PWMn frequency = Clock(A, B, SA, SB frequency) PWMPERn + Polarity = 0 : PWMn duty cycle = [(PWMPERn PWMDTYn) PWMPERn] 100% + Polarity = 1 : PWMn duty cycle = [PWMDTYn PWMPERn] 100% - Canh theo chnh gia (center-aligned ) :
Hnh 5.19: Kieu xung canh theo chnh gia ( center -aligned)
Luc o ,ta co cac cong thc lien quan: + PWMn frequency = Clock (A, B, SA, or SB) frequency (2 PWMPERn) + polarity = 0: PWMn duty cycle = [(PWMPERn PWMDTYn) PWMPERn] 100% + polarity = 1: PWMn duty cycle = [PWMDTYn PWMPERn] 100% 69
V du : Chng trnh s dung kenh PWM0 , tao xung vuong 10 Khz , duty_cycle = 40%
/* period (chu_ky) = PWMPER0 * 2^(PCKA+1) * PWMSCLA (Khi : PWMCLK = 1) S dung bo PLL --> Bus-Clock la 24Mhz
void PWM_Init(void){ PWMCTL = PWMCTL & ~0xF0 ; PWMPRCLK = PWMPRCLK & ~0x07 ; // PCKA = 0 PWMCLK = PWMCLK | 0x01 ; PWMPOL = PWMPOL | 0x01 ; PWMSCLA = 6 ;
*/
// s dung PWMSCLA // Chon bat au xua xung la mc cao
// 10KHz of Square_Wave
PWMCAE = PWMCAE & ~0x01 ; // Chuan canh theo ben trai ( Left-aligned) PWMPER0 = 200 ;
// Period = 200 : la mc so sanh vi PWMCNT0
PWME = PWME | 0x01 ; // Cho phep kenh PWM0 hoat ong PWMDTY0 = 50 ; }
// Hi_duty = 50: 200 = 40%
5.2.4 Giao tiep noi tiep bat ong bo ( SCI : Asynchronous Serial Comunication Interface) Vi ieu khien MC9S12DP512 co 2 bo SCI : SCI0 va SCI1 Bo SCI0 co : TxD ket noi vi chan 1 cua Port S , RxD ket noi vi chan 0 cua Port S Bo SCI1 co : TxD ket noi vi chan 3 cua Port S , RxD ket noi vi chan 2 cua Port S Ho tr cac toc o Baude nh sau: 1200 ,2400 ,9600 , 19200 , 38400 ,115200 (hai toc o: 38400 va 115200 ch s dung c khi co dung bo PLL ,luc o tan so xung nhp Bus noi la 24 Mhz ) Moi bo SCIn ( n = [0:1] , la th t cua 2 bo SCI ) se co 8 thanh ghi ieu khien-trang thai-d lieu lien quan: ( Cach thiet lap c trnh bay V du ve SCI ) + Hai thanh ghi dung e tao toc o truyen-nhan (Baud rate) : SCInBDH , SCInBDL + Thanh ghi ieu khien che o hoat ong bnh thng: SCInCR1 ,dung e khai bao co
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s dung cac loai ngat thuoc bo SCI khong ( nh: Ngat truyen , ngat nhan ) + Thanh ghi ieu khien che o ac biet : SCInCR0 + Thanh ghi ieu khien dung tach ri 2 mo-un Truyen va Nhan vi nhau: SCInCR2 + Thanh ghi trang thai che o hoat ong: SCInSR1 (bnh thng) , SCInSR0(ac biet) + Thanh ghi bo em truyen/nhan : SCInDRL Bo tao toc o truyen-nhan noi tiep ( Baud Rate Generation ):
- Bo phat va nhan hoat ong oc lap vi nhau , cho du s dung chung mot bo tao toc o
Hnh 5.20: Bo tao toc o truyen nhan SCI
V du : Cach khi tao ,co dung ngat cho bo bo SCI0 . Bus-Clock la 8 Mhz . Ham con khi tao bo SCI0 : Khi can ta ch can goi ham nay vi thong so baudRate
void SCI0_Init(unsigned long baudRate){
// baud = MCLK/(16*baudRate) SCI0BDH = 0; switch(baudRate){ case 2400: SCI0BDL=208; break; case 4800: SCI0BDL=104; break; case 9600: SCI0BDL=52; break; case 19200: SCI0BDL=26; break; case 38400: SCI0BDL=13; break; // 250000 kps default: SCI0BDL = 1 ;
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} SCI0CR1 = 0; // Che o truyen nhan bnh thng : 1 start, 8 data, 1 stop ,No Parity SCI0CR2 = 0x2C ; // Ch cho phep ngat nhan bi bit RDRF , bo thu phat c hoat ong } Bay gi neu muon khi tao bo SCI0 vi toc o baudrate la 38400 Bit/s : SCI0_Init (38400 ) ; // Khi tao bo SCI0 theo ung yeu cau baudRate = 38400 bit/s
5.2.5 Khoi chc nang Key-WakeUp ( la: Chc nang anh thc bang Phm nhan ) - Viec tiet kiem nang lng la rat quan trong , nen khi trang thai vi ieu khien khong x ly viec g ca hay ch s kien g xay ra, vi ieu khien se hoat ong cac che o tiet kiem nang lng nh : Ch ( Wait ) , Gia Ngh ( Pseudo-Stop ) , Ngh (Stop) . Khi co s viec yeu cau x ly xay ra ,se tao ra 1 ngat tc th anh thc vi ieu khien thc hien viec yeu cau.
Hnh 5.21 :Lu o tham khao s dung chc nang Key-WakeUp cua trang chu
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- Tat ca cac vi ieu khien thuoc ho HCS12 co chc nang nay ,goi la Key-WakeUp . Co cong dung chnh la: Khi nhan 1 phm c ket noi trc tiep vi 1 chan cua vi ieu khien ,se
tao ra 1 ngat va vi ieu khien HCS12 se oc gia tr t Port co chan I/O ket noi vi phm nhan o . Da vao gia tr nay , vi ieu khien se biet c ngay lap tc phm nao c nhan
- Mo-un Key-WakeUp cua MC9SDP512 co tong cong la20 kenh , ket noi vi 3 port: Port H , Port P , Port J .Cac thanh ghi ieu khien tng ng la: PIEX, PIFX ( X: la H hoac P hoac J)
5.2.6 Khoi Mo-un chc nang CAN ( Controller Area Network ) o Gii thieu ve khoi chc nang CAN cua vi ieu khien MC9S12DP512 : Co 5 mo-un MSCAN (Motorola Scalable CAN ), ho tr 2 chuan CAN: V2.0A ,V2.0B Moi mo-un MSCAN co 5 bo em nhan d lieu theo kieu Vao-trc-Ra-trc ( FIFO: first-in-first-out memory ) va 3 bo em truyen d lieu .Moi bo em truyen se c truy cap s dung da vao so th t hoac da vao tnh trang ay hay trong. Bo loc so can cc ( ID: Identifier ) cua khung d lieu trong moi bo CAN la: 1 bo loc 32-bit ( ho tr cho chuan ID m rong ) , hay 2 bo loc 16-bit , hay 4 bo loc 8-bit Mo-un MSCAN co tch hp che o quay vong ( Loopback mode ), nham co the t kiem tra hoat ong cua khoi chc nang trong mo-un va cac bo em truyen nhan ma khong can dung them ngoai vi. Va co them che o lang nghe ( Listen-only mode ) ,nham ch giam sat hoat ong tren ng truyen- khong gi c d lieu i. Co tat ca la 4 ngat cho moi mo-un MSCAN : Ngat Nhan , Ngat khi truyen b canh bao , Ngat truyen khi co loi b ong , ngat khi t day ng truyen (bus off ) . Xung dao ong cho mo-un MSCAN co the chon la dao ong cua bo Thach anh hay la dao ong noi cua bus he thong . Co 1 timer rieng e s dung . Mo-un MSCAN yeu cau phai co mot bo giao tiep (Transceiver , co the la MCP2551 cua Microchip,PCA82C250 cua Phillip ) lam trung gian e co the ket noi vi CAN-Bus.
5.2.6.1 Cac thanh ghi ieu khien quan trong cua mo-un MSCAN
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Thanh ghi ieu khien CANnCTL0 ( n = 0 -:- 4 ) : Dung e thiet lap au tien cac che o hoat ong cua mo-un MSCAN
Hnh 5.22: Thanh ghi ieu khien - CANnCTL0

RXFRM ( Received frame flag ) : C bao nhan d lieu vao 0 / 1: Khong co / Co bc ien c nhan vao SYNCH ( Synchronization status ): Trang thai ong bo 0 / 1 : Mo-un MSCAN khong ong bo vi CAN-Bus / ong bo vi CAN-Bus SLPRQ ( Sleep mode request) : yeu cau vao che o Ngu 0 : Mo-un MSCAN hoat ong bnh thng 1: Mo-un MSCAN se vao che o Ngu khi khong co hoat ong tren ng truyen INITRQ ( Initialization mode request ): Yeu cau vao trang thai khi ong 0 / 1 : Hoat ong bnh thng / Mo-un MSCAN vao che o khi ong
Thanh ghi ieu khien CANnCTL1 ( n = 0 -:- 4 ): Cho phep mo-un CAN hoat ong ,va chon che o hoat ong sau khi a khi ong xong
Hnh 5.23: Thanh ghi ieu khien - CANnCTL1

CANE ( MSCAN Enable ) : Cho phep mo-un MSCAN hoat ong 0 / 1 : Mo-un MSCAN b cam hoat ong / c phep hoat ong CLKSRC ( MSCAN Clock Source) : 0 / 1 : Xung clock dao ong cua mo-un MSCAN lay t dao ong thach anh / Bus-Clock LOOPB ( Loop back seft test mode) : 0 / 1: Che o quay vong t kiem tra b cam / c s dung
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LISTEN ( Listen Only mode ) 0 / 1 : Che o lang nghe b cam / c s dung INITAK ( Initialization mode acknowledge ) : 0 / 1 : Mo-un MSCAN ang che o hoat ong bnh thng / che o khi ong. Cac thanh ghi thiet lap cac gia tr SJW (synchronization jump width) va toc o truyen d lieu : CANnBTR0, CANnBTR1 ( n = 0 -:- 4 ) Cac thanh ghi dung e loc cac bc ien co ch so can cc (ID) phu hp: + Thiet lap bo loc ( 32-bit , 16-bit hay 8-bit) : CANnIDAC + Cac thanh ghi tao mat na cho bo loc: CANxIDMR0~7 ,CANxIDAR0~7 + Cac thanh ghi cha gia tr so can cc la : IDR0 , IDR1 , IDR2 , IDR3 Cac thanh ghi dung cho viec nhan d lieu ( receiver ): + Thanh ghi trang thai : CANnRFLG + Thanh ghi thiet lap ,cho phep viec s dung Ngat nhan: CANnRIER Cac thanh ghi dung cho viec Truyen d lieu ( Transmitter ): + Thanh ghi trang thai : CANnTFLG + Thanh ghi thiet lap ,cho phep viec s dung Ngat nhan: CANnTIER
V du: Tnh toan e thiet lap cac thong so cho mo-un MSCAN ,theo cac yeu cau sau: + Toc o truyen: 1 Mbps , Chieu dai ng day truyen : 25 m + Thi gian delay tren ng truyen: 5 10-9 sec/m + Thi gian nhan xong 1 bc ien la : 150 ns + Tan so dao ong cua thach anh: 24 MHz Cach giai quyet Bc1: Thi gian delay cua CAN bus = 25 5 ns = 125 ns tPROP_SEG = 2 (125 + 150) = 550 ns Bc 2: Dao ong la 24 MHz Thi gian lng t (time quantum) = 41.67 ns.
Thi gian 1 bit ( One bit time) : 1/1 Mbps = 1 ms.
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Time quanta = 1000 ns 41.67 ns = 24 Bc 3: Prop_seg = Lam tron len cua (550 ns 41.67 ns ) = 14 > 8. prescale) phai la 2. ty le chia (
Gia tr Thi gian 1 bit mi ( One bit time) la: 83.33 ns va Thi
gian 1 bit se co 12 Time quanta. Gia tr mi cua : prop_seg = 7. Bc 4 : NBT prop_seg1 sync_seg = 12 7 1 = 4 ; phase_seg1 = 4/2 = 2 ; phase_seg2 = 4 phase_seg1 = 2 Bc 5: RJW = min (4, phase_seg1) = 2 Tong lai cac thong so se la: Prescaler = 2 ; Nominal bit time = 12 ; prop_seg = 7 ; sync_seg = 1 ; phase_seg1 = 2 ; phase_seg2= 2 ; RJW = 2 .
5.2.6.2 Cach thc truyen nhan d lieu trong mo-un MSCAN o Truyen d lieu ( Transmit ) - Co 3 bo em truyen oc lap vi nhau , ngi dung co the la chon bo em nao theo th t u tien bang cach can thiep vao thanh ghi CANnTBSEL .
Hnh 5.24: 3 Bo em phat cua mo-un MSCAN

- Trnh t cua viec truyen d lieu: + Bc 1: Kiem tra bo em truyen nao ang trong ( khong co d lieu) , bang cach kiem
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tra c bao TXEn. + Bc 2: Thiet lap tr vao cac thanh ghi CANxTFLG va CANnTBSEL e co the s dung bo em trong c chon bc 1 + Bc 3: a cac gia tr: Ma can cc bc ien ( ID ), o u tien , chieu dai cua d lieu, d lieu (data) vao cac thanh ghi cua bo em trong a c thiet lap bc 1 va 2. + Bc 4: Xoa c TXE ,nham bao hieu bat au viec truyen tn hieu + Bc 5 ( Khong bat buoc phai dung) : Cho chng trnh lap-ch, e am bao viec truyen d lieu hoan thanh .
V du: Chng trnh Truyen d lieu trong mo-un MSCAN0 cua MC9S12DP512 unsigned char CAN0SendFrame(unsigned long id, unsigned char priority, unsigned char length, unsigned char *txdata ){ unsigned char index; unsigned char txbuffer = {0}; if (!CAN0TFLG) return ERR_BUFFER_FULL; CAN0TBSEL = CAN0TFLG; txbuffer = CAN0TBSEL;
/* Kiem tra cac bo em co trong khong*/ /* Neu khong co bo em trong , se bao loi */ /* Chon bo em trong co so th t nho nhat */ /* Lu so th t scua bo em o lai */
/* Ghi gia tr Ma can cc bc ien ( ID )vao */ *((unsigned long *) ((unsigned long)(&CAN0TXIDR0)))= id;
for (index=0;index<length;index++) { *(&CAN0TXDSR0 + index) = txdata[index]; /* Load d lieu can truyen vao */ } /* Ghi gia tr chieu dai cua chuoi d lieu*/ CAN0TXDLR = length; CAN0TXTBPR = priority; /* at gia tr u tien cho chuoi d lieu*/ CAN0TFLG = txbuffer; /* Bat au viec truyen d lieu*/ while ( (CAN0TFLG & txbuffer) != txbuffer); /* Ch cho viec truyen hoan thanh */ return NO_ERR; }
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Nhan d lieu ( Receive )
- Co 5 bo em nhan , cach thc nhan theo kieu bo nh Vao-
trc-ra-trc ( FIFO: First-in-First-out )
Hnh 5.25: 5 Bo em nhan d lieu cua mo-un MSCAN

Khi co d lieu c nhan vao bo em nhan nen ( Background Receive Buffer ) , d lieu se c chuyen vao bo em nhan tien canh ( Foreground Receive Buffer ) .Luc o c RXF se len mc 1 e bao co d lieu c nhan ,va thng s dung ngat nhan. Chng trnh se oc d lieu trong cac bo em nhan tien canh , xoa c RXF , va thoat ra khoi chng trnh Ngat nhan . Khi tat ca cac bo em nhan cua FIFO eu ay d lieu ,se bao loi tran.
V du: Chng trnh Nhan d lieu trong mo-un MSCAN0 cua MC9S12DP512 S dung Ngat e nhan d lieu. interrupt 38 void CAN0hndlr(void){ /* Chng trnh Phuc vu ngat nhan CAN0,so hieu 38 */ unsigned char length, index; length = (CAN0RXDLR & 0x0F); /* oc chieu dai cua chuoi d lieu nhan*/ for (index=0; index<length; index++) rxdata[index] = *(&CAN0RXDSR0 + index); /* Lay d lieu ra khoi bo em, lu toan bo vao bien mang rxdata-a c khai bao san */ [...]
/* oan chng trnh theo muc ch rieng cua ngi dung */
CAN0RFLG = 0x01; /* Xoa c RXF , chuan b cho lan nhan d lieu ke tiep */ }
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Chng 6: Thiet ke va thi cong mo hnh phan cng
CHNG 6
THIET KE VA THI CONG MO HNH PHAN CNG

6.1. Cau truc phan cng cua cac mo-un trong mo hnh
- Gii thieu s lc lai mo hnh he thong: ( a c trnh bay ay u Chng 1 )
Hnh 6.1: Tong quan mo hnh he thong cua luan van
- Mo hnh cua luan van gom: + 2 mo-un ieu khien cac ong c : mo-un 1, mo-un 2 + 1 mo-un ong vai tro lam trung tam ieu khien-giam sat toan he thong: mo-un 0 + 1 khoi nguon 24-12-5 VDC,co dong ra ln , dung cung cap rieng cho ong c va khoi mach ong lc . + Mo hnh cac ong c va Khoi tai: 2 ong c ( kem theo 2 ong c ham) + Mach dung e Nap va Debug cho vi ieu khien MC9S12DP512 , ten la BDM-Pod SVTH: Nguyen Gia Minh Thao
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Hai mo-un ieu khien 2 ong c (mo-un 1 va mo-un 2) co cau truc phan cng hoan toan giong nhau Khoi hien th: LCD ky t 2x16 Khoi ban phm: 4 phm (Chay, Dng , Tang, Giam) Khoi giao tiep Giao thc CAN
Khoi mach ong lc ieu khien ong c ( Dung nguon rieng )
Vi ieu khien trung tam ( MC9S12DP512 )
Giao tiep song song ( Port A, H)
oc tn hieu Encoder
Khoi nguon 5 VDC , cung cap cho toan mo-un
Khoi giao tiep PC ( chuan RS232C )
Hnh 6.2: Cau truc phan cng cua mo-un ieu khien ong c
Trong cau truc phan cng cua mo-un ong vai tro la trung tam ieu khien-giam sat ( mo-un 0 ) : Khoi Thi gian thc , 8 phm chon Che o ieu khien ; lc bo khoi Mach
ong lc, va khoi giao tiep 2 Port song song

Khoi hien th: LCD ky t 4x20 Khoi ban phm ieu khien (Chay, Dng , Tang, Giam)
Khoi ong ho Thi gian thc
Khoi ban phm chon cac che o ieu khien ( Co 8 phm nhan )
Vi ieu khien trung tam ( MC9S12DP512 )
Khoi giao tiep giao thc CAN
Khoi nguon 5 VDC , cung cap cho toan mo-un
Khoi giao tiep PC ( chuan RS232C )
Hnh 6.3: Cau truc phan cng cua mo-un ieu khien-giam sat he thong
6.2 Cac khoi mach chc nang tren mo-un ieu khien ong c va mo-un trung tam.
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6.2.1 Khoi mach vi ieu khien trung tam
(b)
(c)
Hnh 6.4: Khoi mach vi ieu khien trung tam

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Khoi mach vi ieu khien trung tam chu trach nhiem x ly tat ca cac hoat ong cua toan mo-un . Bo dao ong la kieu Pierce vi thach anh 16 Mhz.
Kem vi khoi ieu khien trung tam la cac khoi chc nang ho tr kem theo nh : + Hnh 6.4 b : Jump cam BDM-Connector cho che o debug-chay nen ( BDM: Background Debug Mode ) , se c ket noi vi mach BDM-Pod e Nap chng trnh vao vi ieu khien va debug chng trnh. + Hnh 6.4 c : La cong tac dung e chon cac che o hoat ong cho vi ieu khien ( cong tac SW2 ) ; chan tn hieu XCLKS noi vi GND ( mc 0 ) la e chon dao ong thach anh kieu Pierce. ( dao ong thach anh kieu Pierce c gii thieu trong Chng 5: Ho
vi ieu khien HCS12 )
6.2.2 Khoi mach giao tiep may vi tnh qua cong noi tiep - Cong noi tiep trong may vi tnh thng goi la cong COM , thng c s dung e truyen d lieu hai chieu gia may vi tnh va ngoai vi v cac ly do sau: + Cong noi tiep truyen mc 1 (High) :t -3V en -12V va mc 0 (Low) :t +3V en +12V nen tnh chong nhieu tng oi tot, cho phep khoang cach truyen xa hn cong song song. + So day ket noi t, toi thieu 3 day: TxD (day truyen) ,RxD (day nhan) , GND (mass) + Ghep noi de dang vi vi ieu khien hay PLC. + Cho phep noi mang. - Viec truyen d lieu xay ra tren 2 ng dan tn hieu:TXD (day truyen) va RXD (day nhan), cac chan khac ong vai tro nh tn hieu ho tr khi trao oi thong tin va v the khong phai trong moi ng dung eu can en.
- Cac mach logic thng dung ien ap 5V do o can bo chuyen mc TTL <==> CMOS e co ien ap phu hp cong COM tren may tnh. Cac IC chuyen mc thng dung la : MAX232 cua hang Maxim , Hin232
82
Hnh 6.5: Khoi mach giao tiep may tnh ,chuan RS232C
Trong s o cuakhoi mach nay, ta dung 3 day e truyen nhan d lieu: TXD, RXD, va GND, tc la khong dung che o bat tay bang phan cng (cap DSR/DTR hay CTS/RTS). Hnh thc nay dien ra kha pho bien bi v toc o x ly cua may vi tnh hien nay rat cao. Khong phai nh luc trc : co luc may vi tnh ang lam viec g o th phai kiem tra xem may vi tnh lam xong cha, neu xong roi th thc hien viec truyen thong. Neu v ly do g o ma can phai bat tay th ta co the dung che o bat tay bang phan mem.
- Vi ieu khien MC9S12DP512 co 2 bo giao tiep noi tiep bat ong bo hoat ong oc lap vi nhau : SCI0 va SCI1 . S o nay ang s dung bo SCI0 . - Thong so thiet lap cho bo SCI0 la : toc o baud 115200 Bit/s , 1-bit Start, 8-bit d lieu , 1-bit Stop , khong co Parity. 83
6.2..3 Khoi giao tiep CAN
Hnh 6.6: Khoi mach giao tiep CAN

S dung mo-un MSCAN0 cua vi ieu khien MC9S12DP512 , gom 2 day tn hieu:
CAN0_Tx ( day truyen ) va CAN0_Rx ( day nhan ) .

IC dung e lai cho mang CAN ( Transceiver ) la MCP2551 cua hang Microchip ,vi cac chc nang chnh: + Toc o thu phat toi a la 1Mbit/s khoang cach 40m ( khi o: Chan RS c noi vi GND ) + Ho tr ket noi 32 node trong mang CAN ma khong can dung them bo Rpeater hay
Bridge
Khi la node cuoi ng truyen , ta se s dung Jump co ten la End_NODE e ket noi ien tr 120 Ohm vao 2 day tn hieu vi sai : CAN_H va CAN_L e chong nhieu.
Led D11 ( mau sang o ) dung e bao khi ang phat d lieu , con Led 10 ( mau sang xanh ) dung e bao khi ang nhan d lieu.
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6.2.4 Khoi giao tiep song song gia 2 mo-un ieu khien 2 ong c
Hnh 6.7 a: Khoi giao tiep song song gia 2 mo-un ieu khien
- Vi ieu khien tren mo-un 1 ( ieu khien toc o ong c 1 ) gi toc o that cua ong c 1 ra Port A ( Chu ky gi la 20ms va ch gi khi gia tr toc o that cua ong c 1 co thay oi ) , va oc gia tr toc o that cua ong c 2 t Port H e hien th len LCD va may vi tnh. - Vi ieu khien tren mo-un 2 se oc gia tr toc o t Port A , ieu khien ong c 2 chay theo ung toc o nay, va gi toc o that cua ong c 2 ra Port H (Chu ky oc gi cung la
20ms )
6.2.5 Khoi ban phm ieu khien ong c ( 4 phm)
Hnh 6.7 b: Khoi ban phm ieu khien ong c

- Ban phm ieu khien se gom 4 phm ieu khien trc tiep ong c: Start ( Chay) , Stop ( Dng ) , Increase ( Tang ) , Decrease ( Giam ) - 4 phm nhan nay c noi trc tiep vi cac chan: Port P [4:7] cua vi ieu khien.
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6.2.6 Khoi ban phm chon cac che o hoat ong cho mo hnh ( Ch co trong mo-un lam vai tro ieu khien-giam sat he thong )
Hnh 6.8: Khoi ban phm chon cac che o hoat ong cho mo hnh
- Khoi ban phm nay co 8 phm nhan,c noi trc tiep vao Port H cua vi ieu khien, gom co: + Phm MODE : Bat au cai at + Phm OK : S dung che chay o ong bo ch ong c 1 va 2 + Phm CANCEL: Huy bo che o chay ong bo , 2 ong c se hoat ong oc lap vi nhau. + Cac phm 0/1 , 2/3 , 4/5 , 6/7 , 8/9 : Dung e nhap so lieu + Rieng phm 0/1 con c dung e cai lai cac gia tr toc o at mac nh cho 2 ong c.
Nguyen ly hoat ong cho 2 khoi ban phm: Ca 2 khoi ban phm ( ieu khien trc tiep ong c va chon che o hoat ong ) eu s dung chc nang Key-WakeUp cua MC9S12DP512: (Chc nang Key-WakeUp c trnh bay ay u trong Chng 5: Ho vi ieu khien HCS12 ) + Luc bnh thng , khong co phm nao nhan , do co ien tr 4.7 K keo len nguon 5Vdc, gia tr cac chan chc nang Key-WakeUp khong thay oi mc logic (eu mc 1) . + Khi co phm c nhan , mc logic cua chan chc nang Key-WakeUp tng ng vi phm o se thay oi t mc 1 mc 0 va se tao ra 1 ngat , luc o vi ieu khien se lap tc nhan
ra phm nao c nhan va thc thi chng trnh tng ng .
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6.2.7 Khoi mach nguon 5 Vdc cho he thong ieu khien
Hnh 6.9: Khoi nguon 5 VDC cho vi ieu khien va cac IC tren moi mo-un
Ngo vao la ien xoay chieu ( gia tr hieu dung 12 V tr xuong ) , qua chnh lu cau diod. Tu ien C99 ( 2200uF ) lam phang hn ien ap sau chnh lu. Ngo ra sau IC on ap 7805 la 5V , en Led D3 co nhiem vu bao khi a co nguon Cac tu C66 ,C76 ,C87 ( 100nF ) dung e loc nhieu hai bac cao cho ien ap 5Vdc , trc khi cung cap cho cac IC tren mo-un.
6.2.8 Khoi thi gian thc ( Ch co trong mo-un lam vai tro ieu khien-giam sat he thong )
Hnh 6.10: Khoi ong ho thi gian thc

IC thi gian thc c s dung ay la DS1307 cua hang Dallas , giao tiep vi vi ieu khien MC9S12DP512 qua chuan giao tiep noi tiep IIC ( Inter - integrated Circuit ): + Luc nay vi ieu khien MC9S12DP512 ong vai tro la chu ( Master ) + Con IC thi gian thc DS1307 ong vai tro la t ( Slave ), co a ch la 0xD0
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Chan SQW cua DS1307 c tao xung vuong 1 Hz, va ket noi vi chan ngat ngoai PE1 ( /IRQ) cua vi ieu khien MC9S12DP512 : C chu k 1s , khi co xung canh len cua xung vuong 1Hz ,se xay ra ngat ngoai va luc o se cap nhat gia tr thi gian cho he thong qua giao tiep IIC.
Pin Lithium 3V ( BT1 ) la nguon cung cap d phong cho IC DS1307 , e am bao ong ho van chay ung khi mat nguon. Vai net ve hoat ong cua IC DS1307
Tan so dao ong thach anh s dung 32.768kHz, khong can co ien tr, cung nh cac tu gan them.
IC thi gian thc ( real-time) DS1307 la mot IC hoat ong vi che o thi gian thc, cong suat thap, s dung ma BCD ay u, co 56 byte ram noi. a ch, cung nh d lieu c ghi va oc theo chuan giao tiep IIC. IC thi gian thc DS1307 cung cap thong tin ve giay, phut, gi, ngay, thang, nam, thong tin ve nam. IC nay cung t ieu chnh cho nhng thang co t hn 31 ngay va bao gom luon ca nam nhuan. ong ho trong IC hoat ong vi hai che o: 24 gi, hay 12 gi (bao gom ca ch th cho biet ang la AM hay PM) . IC thi gian thc DS1307 cung c tch hp san mot mach nhan biet s co ien ap va se t ong chuyen sang dung nguon PIN nuoi d phong khi co s co mat ien ap xay ra e ngan nga tnh trang mat d lieu.
Tom tat chc nang cac chan cua IC real-time DS1307 :

Bang 6.1 : Cac chan cua IC Real-Time DS1307
Chan
1 2
Ten chan
X1 X2
Chc nang
Noi vi thach anh 32.768 kHZ e tao xung nhp cho IC real-time DS1307 . Co the s dung ch X1 e cap xung nhp cho IC. Khi o, X2 trang thai float
Vbat
Dung e cap nguon cho PIN 3V d phong e sao lu d lieu cho IC real-time DS1307. e mach hoat ong ung, Vbat phai nam trong khoang t 2.0V en 3.5V. Khi khong s dung
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PIN d phong, chan nay phai c noi mass. 4 5 GND SDA Mass Chan thu/phat d lieu noi tiep theo chuan IIC. Chan nay la mot chan cc thu h. Do o, no can co ien tr keo len. 6 SCL Chan truyen xung nhp noi tiep theo chuan IIC va s dung e ong bo d lieu trong chuan giao tiep noi tiep nay. Chan nay cung can co ien tr keo len. 7 SWQ/OUT Chan lai song vuong ngo ra. Khi bit SQWE trong IC realtime DS1307 c set len 1, chan nay tao ra mot song vuong co mot trong bon tan so (1 Hz, 4kHz, 8kHz, 32kHz). 8 VCC Chan cung cap nguon 5 Vdc cho IC real-time DS1307.
Chc nang thanh ghi ieu khien: ( nam a ch 07H trong vun Ram cua DS1307 )
Hnh 6.11: Khoi ong ho thi gian thc

+ Bit OUT: Xac nh trang thai cua chan SWQ/OUT khi bit SQWE bang 0. Chan nay se bang 1 khi OUT = 1 va se bang 0 khi OUT =0 + Bit SQWE : khi bit nay bang 1, chan SWQ/OUT co song vuong ngo ra, tan so song vuong xac nh bi cac bit RS1 va RS0. + Cac bit RS1 va RS0: xac nh tan so song vuong ngo ra: Bang 6.2 : Cac tan so xung vuong chan SWE cua DS1307 RS1 0 0 1 1 RS0 0 1 0 1 Tan so song vuong ngo ra 1 Hz 4 kHz 8 kHz 32 kHz
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Trnh t thc hien viec oc/ ghi gi:

oc gi: thong tin ve gi va ngay thang nam c oc t IC bang cac oc cac thanh ghi thch hp. Trnh t thc hien nh sau: o Master tao ieu kien START. o Master gi a ch cua DS1307 (7 bit) va bit R/W=1 nen d lieu gi en DS1307 la 0xD1. Khi nhan c a ch nay, DS1307 se tao acknowledge tren ng SDA. o DS1307 tiep theo se chuyen data len ng SDA vi data la noi dung thanh ghi c xac nh bi Thanh ghi a ch con tro ( Register Pointer ) . Thanh ghi a ch con tro t ong c tang len sau moi byte c oc. o DS1307 phai nhan c ieu kien not acknowledge e ket thuc viec oc.
Hnh 6.12: Trnh t thc hien viec oc d lieu t DS1307.
at gi: Viec at gi c thc hien bang cach ghi vao cac thanh ghi thch hp. Trnh t thc hien nh sau: o Master tao ieu kien START. o Master gi a ch cua DS1307 ( 7 bit ) va bit R/W=0 nen d lieu gi en DS1307 la 0xD0 . Khi nhan c a ch nay, DS1307 se tao acknowledge tren ng SDA. o Master gi a ch en DS1307 xac nh v tr cua Thanh ghi a ch con tro. IC realtime DS1307 se tao acknowledge. o Master tiep theo se chuyen mot hoac nhieu byte d lieu en DS1307 va DS1307 tao acknowledge moi byte nhan c. Thanh ghi a ch con tro t ong c tang len sau moi byte nhan c. 90
o Master se tao ieu kien STOP e dng viec ghi d lieu.
Hnh 6.13: Trnh t thc hien viec ghi d lieu len DS1307
6.2.9 Khoi hien th LCD Tren 2 mo-un ieu khien ong c, s dung LCD ky t 2x16 ( 2 dong ,16 cot ) Tren mo-un co vai tro ieu khien-giam sat he thong ,s dung LCD ky t 4x20.
Hnh 6.14: Khoi mach hien th LCD

S dung LCD che o na byte (Nibble) nen ch can dung 4 bit cao d lieu la D4 -:- D7 Cac chan cua LCD ket noi vi Port K cua vi ieu khien MC9S12DP512. Trnh t ket noi cac chan: RS - PK0 ; Enable - PK1 ; D[4:7] - PK[2:5]
Bang 6.2 : S o chan cua LCD ky t Chan K hieu Chc nang
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
VSS VDD V_Cons /RS R/W Enable D0 D1 D2 D3 D4 D5 D6 D7 LED_A LED_K
Mass Nguon cung cap cho LCD Chnh o tng phan cho LCD Chon thanh ghi trong LCD oc (1) / Ghi d lieu (0) Cho phep chon LCD Bit 0 cua byte d lieu Bit 1 cua byte d lieu Bit 2 cua byte d lieu Bit 3 cua byte d lieu Bit 4 cua byte d lieu Bit 5 cua byte d lieu Bit 6 cua byte d lieu Bit 7 cua byte d lieu Nguon cho en LED nen cua LCD Mass cho en LED nen cua LCD
V trong chng trnh , ch s dung che o: ghi ra tr len LCD ( Write) ma khong co oc gia tr t LCD ve ( Read) nen chan R/W cua LCD c noi vi Mass .
Bien tr 20K ( R14 ) dung e chnh o tng phan cho LCD , khi V_Cons = 0V th LCD co mau am nhat.
Nut nhan SW4 dung e bat en Led nen ben trong LCD , khi o co the s dung LCD vao ban em.
6.2.10 Khoi mach ong lc ieu khien ong c ( Ch co tren 2 mo-un ieu khien ong c)
92
Hnh 6.15: Khoi mach ong lc ieu khien ong c
Mach s dung MosFet - IRF540 e ieu khien ong c. Mach ong lc dung nguon 24V-12V rieng , khong chung Mass vi mo-un ieu khien. S dung OPTO e : cach ly mach ong lc vi mach vi ieu khien va chuyen mc logic.
Cap BJT bo phu Q1 ( D468 ) va Q3 ( B562 ) cai thien qua trnh ong ngat cua MosFet IRF540. Diod D6 dung e xa nang lng tch luy trong ong c .
Nguyen tac hoat ong nh sau:

+ Khi tn hieu cua chan ieu rong xung PWM0 cua vi ieu khien MC9S12DP512 mc cao , se lam cho OPTO khong hoat ong . Ap tai iem 4 (trc Diod D5) se la 12Volt lam Q1 dan ,Q3 tat , noi tat cc C va cc E cua Q1 mc logic cao (12V) , MosFet dan ong c se chay. Cc G cua MosFet IRF540 se
+ Ngc lai: Khi tn hieu cua chan ieu rong xung PWM0 cua vi ieu khien MC9S12DP512 mc thap, se lam cho OPTO hoat ong . Ap tai iem 4 (trc Diod D5 ) se la 0 Volt do noi tat xuong mass Q3 Lam Q1 tat , Q3 dan, noi tat cc C va cc E cua
Cc G cua MosFet IRF540 se mc logic thap ( 0 Volt do noi tat vi Mass ) , ong c se dng lai.
MosFet b tat
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Chu y: Trong trng hp s dung OPTO e cach ly se b mot han che la- Khi ieu rong
xung tan so cao ( t 10 Khz tr len ), cac OPTO co chat lng ong ngat kem se khong ap ng tot dan en chat lng ong ngat cua MosFet IRF540 giam . T o ong c hoat ong se khong nh y muon. V the ,khi muon ieu rong xung tan so cao ; tren s o mach ong lc, ta co the chon kieu ieu khien trc tiep ( khong dung OPTO ) nh sau: + cong tac gat SW9 , ta keo len ON v tr th 2 ( ky hieu Direct_0 ) va keo ve OFF v tr th 3 ( v tr dung OPTO ). + Ket noi Mass chung gia mach vi ieu khien va mach ong lc.
Day tn hieu Encoder a ve se c gan vao Jump ( J18 hay J19 )- ket noi trc tiep vi chan PortT.7 , la chan chc nang cho bo em xung A cua vi ieu khien MC9S12DP512.
6.2 Khoi nguon 24/12/5 Vdc cung cap cho mach ong lc va ong c
Hnh 6.16: Khoi mach nguon 24/12/5 VDC dung cho mach ong lc va ong c
94
Ngo vao la ien ap xoay chieu, bien o 24VAC/ 5A . Sau o qua cau chnh lu diod ,thanh iep ap mot chieu . Tu ien C10 ( 4700 uF/50V) dung e lam phang ien ap sau chnh lu. ien ap sau chnh lu se qua IC on ap LM7824 thanh ap 24VDC, tiep tuc qua tu C9 (2200uF ) va IC on ap LM7812 thanh ap 12VDC , cuoi cung qua IC on ap LM7805 thanh ap 5VDC.
Cac BJT cong suat loai PNP la: Q2 va Q3 ( BJT 2SA1302 ) dung e khuyech ai dong ien ngo ra sau cac IC on ap (LM7824:24V , LM7812:12V ). Cac ien tr cong suat R7, R6 ( 3 Ohm/2W ) c s dung co cac chc nang sau: + ien ap mc dan tren cc E-B cua Q2 va Q3: V EB = 0.7 V ( theo datasheet) , nen cac BJT Q2 va Q3 ch hoat ong khi dong ien vao cac IC on ap (LM7824 va LM7812) vt qua ngng : I nguong = VEB 0.7 = = 0.233( A) = 233(mA) . Co ngha la ch khi cac R7 3
ngo ra 24V ( hay 12V) can s dung dong ln ( t 233mA tr len ) th cac BJT cong suat mi hoat ong e khuyech ai dong ngo ra. + Ngoai ra ,cac ien tr R6, R7 con co chc nang cai thien tot viec ong/ngat cua cac BJT: Q2,Q3. Cac diod D9 , D10 , D13 co nhiem vu bao ve cac IC on ap khi ngo vao mat ien ot ngot Cac Led D14, D15 , D16 co nhiem vu bao hieu khi co cac mc ien ap 24V , 12 V , 5V Khoi nguon nay c s dung theo cac muc ch sau: + ien ap 24V c ket noi vao 2 khoi mach ong lc : cung cap cho 2 ong c DC (24V/20W) trong mo hnh. + ien ap 12V c ket noi vao 2 khoi mach ong lc : thc hien phan cc cho cac BJT ( D468 va B562) lai MosFet IRF540.
6.3 S o mach BDM-Pod : dung e Nap hay Debug cho ho vi ieu khien HCS12
S o mach nay s dung vi ieu khien 8-bit AT90S2313 , thuoc ho AVR cua hang Atmel. Vi ieu khien AT90S2313 se c nap vao 1 chng trnh -goi la FirmWare . S o mach va FirmWare c thc hien da theo tai lieu hng dan cua hang FreeScale .
95
Hnh 6.17: Mach BDM-Pod
Hnh 6.18: Hnh anh thc te cua mo hnh phan cng trong luan van
96
Chng 7: Giai thuat chng trnh
CHNG 7
GIAI THUAT CHNG TRNH
7.1
Thiet ke bo ieu khien PI-M , on nh toc o ong c DC
7.1.1 S lc s o khoi va he phng trnh toan
Hnh 7.1 : S o khoi tong quat cua bo ieu khien PI-M
+ ay, bo ieu khien M ong vai tro la Bo chnh nh cac thong so cho bo ieu khien PI , da vao cac bien au vao la : Sai so e(t) va ao ham sai so ( de/dt ). + Bo ieu khien PI mi tao ra tn hieu ieu khien trc tiep oi tng
Mo hnh toan cho bo ieu khien PI :

u (t ) = K P e(t ) + K I e( x )dx
0 t
(7.1)
u (t ) = K P (e(t ) +
1 e( x)dx ) TI 0
t
(7.2)
du de = KP + K I e(t ) dt dt
(7.3)
97
G PI ( s ) = K p + KI =
2 KP K D
KI 1 = K P (1 + ) s Ti s
(7.4)
TI TD
(7.5)
7.1.2 Thiet ke bo ieu khien PI-M
Cac nguyen tac tao luat hp thanh cho cac thong so cua bo ieu khien PI-M :
- ay, ta se xay dng cac luat hp thanh cho cac thong so K P , K D , roi t o tnh ra gia tr cua he so K I ( theo cong thc (7.5) : K I =
2 KP ). K D
Hnh 7.2 : S o chi tiet cua bo ieu khien PI-M c dung trong luan van
- Trong ieu khien M , khong co trnh t thiet ke (cac luat hp thanh cho cac thong so K P , K D , ) mot cach chnh quy ,nhng ta cung co mot vai nguyen tac c ban e chnh nh nh sau : - Nguyen tac chung la la bat au cac tr K P , K D , theo Zeigler-Nichols , sau o da vao ap ng cua he thong va thay oi dan e tm ra hng chnh nh thch hp.
98
Hnh 7.3: ng cong ap ng Zeigler-Nichols

+ Lan can 1a ta can luat ieu khien manh e rut ngan thi gian len, do vay chon : K P ln , K D nho va nho. + Lan can 1b ta tranh vot lo ln nen chon : K P nho, K D ln , ln + Lan can 1c va 1d giong nh lan can 1a va 1b. + Khi gia tr tuyet oi cua sai lech ln ta can co tn hieu ieu khien manh e a nhanh sai lech ve 0. Da theo nguyen tac nay ta co ma tran quan he chnh nh ( Bang luat hp thanh M ) cac thong so K P , K D , thng se co dang gan oi xng qua ng cheo chnh hoac truc phu. - Nguyen tac th 2 : Suy oan co logic da vao gia tr cac bien ngon ng au vao.V du nh : + Khi gia tr sai so e(t) la am nhieu ( ngha la toc o that cua ong c ang nho hn rat nhieu so vi toc o at ) va gia tr ao ham cua sai so de(t ) cung am nhieu ( ngha la dt
ong c ang co xu hng tiep tuc giam nhanh toc o ) th gia tr cua he so K P phai la Ln Nhat e tang toc manh cho ong c , con K D va co gia tr nho nhat. + Khi gia tr sai so e(t) la am t ( ngha la toc o that cua ong c ang nho hn khong bao nhieu so vi toc o at ) va gia tr ao ham cua sai so de(t ) cung am t ( ngha la dt
ong c ang co xu hng giam toc o mc cham ) th gia tr cua he so K P se la Ln e tang toc (nhng khong qua manh) cho ong c , con K D va co gia tr nho. 99
Cac bien ngon ng : - au vao : 2 bien + Sai lech: ET = toc o o toc o at ; (cach tnh toc o ong c: Chng 7-Phan 7.1.3 ) + Toc o tang DET = - au ra: 3 bien + K P : he so ty le + K D : he so vi phan + K I : he so tch phan ( tnh ra t gia tr trung gian : K I = - So lng bien ngon ng : 5 bac + ET = { am nhieu , am t , zero , dng t , dng nhieu } = {N2 , N1 , Z , P1 , P2 } + DET = { am nhieu , am t , zero , dng t , dng nhieu } = {N2 , N1 , Z , P1 , P2 } + K P / K D = { zero , nho, trung bnh , ln , rat ln } = { Z , S , M , L , U } + = { mc 1, mc 2 , mc 3 , mc 4 , mc 5 } = { L1 , L2 , L3 , L4 , L5 } Tam gia tr: ET = [20;20]; DET = [20;20]
2 KP ) K D
ET (i + 1) E (i) ; vi T la chu k lay mau ( ay, T = 20ms ) T
100
Hnh 7.4: Cac bien ngon ng vao/ra
Luat hp thanh: Co tong cong 5x5x3 = 75 luat IFThen Bang 7.1, 7.2 , 7.3: Luat hp thanh m cho cac thong so K P , K D va
KP
N2 N1
DET
N2
U L M Z Z
N1
L M S Z Z
Z
M S Z S M
P1
Z Z S M L
P2
Z Z M L U
ET
Z P1 P2
101
KD
N2 N1
DET
N2 Z S M L U N1 S M L U L Z M L U L M P1 L U L M S P2 U L M S Z
ET
Z P1 P2
N2 N1
DET
N2
L1 L2 L3 L4 L5
N1
L2 L3 L4 L5 L4
Z
L3 L4 L5 L4 L3
P1
L4 L5 L4 L3 L2
P2
L5 L4 L3 L2 L1
ET
Z P1 P2
Luat hp thanh m : Chon luat MAX MIN Giai m : Theo phng phap o cao
7.1.3 Cach tnh toc o cua ong c DC c s dung trong luan van - Moi ong c c gan ong truc vi 1 encoder quang loai tng oi 100 xung/vong. SVTH: Nguyen Gia Minh Thao
102
- Goi: + Toc o tnh theo vong/phut (R.P.M : Round Per Minute) la: Speed_RPM + So xung cua encoder trong 20ms ( xung/20ms) la: Pulse_20MS - Ta co: + So xung cua encoder trong 1 giay la: Speed _ RPMx100 ( xung/s) 60 Speed _ RPMx100 1 x 60 50 Speed _ RPM 30 (7.6) Vay so xung cua encoder trong 20ms se bang toc o cua ong c ( n v vong/phut: R.P.M ) chia cho 30 . Do o ,khi tnh c so xung cua encoder trong 20ms , ta ch can nhan gia tr nay cho 30 la se c toc o cua ong c ( tnh theo n v vong/phut: R.P.M )
+ So xung cua encoder trong 20ms se la: ( 1 s = 1000 ms = 50 x 20ms )
Pulse_20MS ( xung/ 20ms) =

<=>
Pulse_20MS ( xung/ 20ms) =
Speed_RPM ( vong/phut) = Pulse_20MS ( xung/ 20ms) x 30
(7.7)
7.2
Cach thc ieu khien t may vi tnh ( PC )
Trong luan van , toi a thiet ke 2 giao dien tren PC e ieu khien va giam sat he thong: + Mot giao dien tren may vi tnh c at tai mo-un ieu khien 1 : Dung e ieu khiengiam sat 2 mo-un ieu khien 1 va 2 ( tng ng vi node 1 va node 2 trong mang CAN quan ly he thong ) + Mot giao dien tren may vi tnh c at tai mo-un 0 ,ieu khien-giam sat trung tam ( La node 0 cua mang ) : Dung e ieu khien-giam sat va thu thap d lieu cua toan he thong.
7.2.1 Cac loai khung truyen-nhan gia may tnh va mo-un ieu khien ong c 1
Giao dien tren may tnh at tai mo-un ieu khien ong c 1 ( Node 1):
103
Hnh 7.5: Giao dien ieu khien-giam sat tren may tnh cua node
Cach s dung giao dien nay Nhap toc o at vao o Toc o Bang thong so ; neu s dung che o ong bo Check vao gom Motor 2 , neu khong check th ch ieu khien rieng ong c 1. Sau khi nhap xong thong so, Click vao nut NHAP e lu , tiep en la Click vao nut TRUYEN e truyen khung tn hieu ieu khien xuong vi ieu khien. S dung cac nut e ieu khien ong c: CHAY , DNG , TANG , GIAM
Khung truyen e thiet lap Toc o at t PC xuong mo-un: Gom 3 byte

Bang 7.4: Khung thiet lap toc o at t PC tai node 1 xuong node 1 Byte 0: Ma cai at thong so Byte 1: Toc o at Byte 2: Checksum-ky t F
+ Byte Ma cai at thong so : la byte ky t 1 Dung cho viec at toc o + Byte toc o at ( la so xung encoder/ 20ms): Gia tr lam tron cua Toc o can at
104
(vong/phut) chia cho 30 ( xem cach tnh toc o ong c Chng 7 - Phan 7.1.3 ) + Byte Checksum : La ky t F ( F: Finish )
Khung truyen cac lenh ieu khien t PC xuong mo-un: Gom 2 byte
Bang 7.5: Khung truyen lenh ieu khien t PC tai node 1 xuong node 1 Byte 0: Lenh ieu khien - Byte 0 - Lenh ieu khien, la mot ky t : + S : ong c chay ( Tng ng khi nhan nut CHAY tren giao dien) + P : ong c dng (Tng ng khi nhan nut DNG tren giao dien) + I : Tang toc o cua ong c (Tng ng khi nhan nut TANG tren giao dien) + D : Giam toc o cua ong c (Tng ng khi nhan nut GIAM tren giao dien) + Y : Hai ong c 1 va 2 hoat ong ong bo ( Khi check vao gom Motor 2 ) + N : Hai ong c 1 va 2 hoat ong oc lap vi nhau.(Khong check vaogom Motor 2 ) Byte 1: Checksum ( ky t F )
Chuoi d lieu t mo-un 1 len PC: La mot chuoi byte nh hnh sau
Hnh 7.6: Cac chuoi byte truyen len PC khi ong c dng va khi ong c chay
Giao dien tren may tnh at tai mo-un trung tam ( Node 0): - Mo-un trung tam co nhiem vu trong viec ieu phoi tn hieu ieu khien t may tnh tai trung tam(co quyen ieu khien cao nhat) en tng mo-un ieu khien ong c trong mang 105
May tnh(PC) tai trung tam
Gi khung ieu khien xuong mo-un trung tam
Node 1
Kiem tra can ieu khien node nao ? Ca 2 node: 1&2
Node 2
Ch truyen khung ieu khien cho node 1 ( Loai bo byte a ch trong khung truyen )
Truyen khung ieu khien ca 2 node: 1&2 ( Loai bo byte-a ch trong khung truyen )
Ch truyen khung ieu khien cho node 2 ( Loai bo byte-a ch trong khung truyen )
Ket thuc
Hnh 7.7: Lu o cach thc vi ieu khien mo-un trung tam phan loai a ch can gi cua cac khung truyen ieu khien nhan c t PC trung tam.
- Khung truyen t may tnh xuong mo-un trung tam se luon bat au bang byte a ch cua
node can ieu khien. Da vao byte a ch nay, vi ieu khien mo-un trung tam se quyet
nh gi bc ien (message) en ung a ch thong qua CAN-bus Cac ma can cc ID cua bc ien ma node 0 dung e gi: + Ma ID 0x500 : Dung e gi rieng khung truyen en cho node 1 + Ma ID 0x600 : Dung e gi rieng khung truyen en cho node 2 + Ma ID 0x100 : Dung e gi chung khung truyen en cho ca 2 node 1 va 2 SVTH: Nguyen Gia Minh Thao
106
Hnh 7.8: Giao dien at tren may tnh tai trung tam ieu khien-giam sat he thong
Cach thc s dung giao dien tai trung tam - Thong so mac nh: He thong chay ong bo ,ieu khien bang tay, toc o at la 2100 R.P.M - Cai at thong so ( theo trnh t ) : Click vao nut CAI AT THONG SO e vao Form cai at ( xem hnh 7.9 trang ben ) + Bc 1 : Chon che o ieu khien ( bang tay T ong) , cac ong c hoat ong ong bo hay oc lap Co 4 phng phap ieu khien ( xem hnh 7.9 va bang 7.6 trang ben )
+ Bc 2 : Nhap toc o at va node can ieu khien + Bc 3 : Click vao NHAP e lu cac thong so cai at + Bc 4:Click vao TRUYEN e truyen d lieu ieu khien xuong vi ieu khien node0 - Nut Thi gian tren Form chnh dung e ong bo ong ho cua may tnh va cua node 0
107
Hnh 7.9: Giao dien thiet lap thong so va truyen d lieu ieu khien.
T khung Chon che o ieu khien giao dien tren , ta se co 4 phng phap ieu khien he thong t Trung Tam ieu khien nh sau:
Bang 7.6: Cac phng phap ieu khien c cai at cho he thong
Cac phng phap ieu khien

KIEU ong bo KIEU oc lap
CHE O BANG TAY Phng phap 1 Phng phap 2
CHE O T ONG Phng phap 3 Phng phap 4
+ Phng phap 1 : Cac ong c hoat ong ong bo ( ong c 2 phu thuoc vao ong c 1) , ngi dung ieu khien ong c ( cho chay, dng, tang, giam ) bang cac nut nhan tren giao dien . + Phng phap 2 : Cac ong c hoat ong oc lap vi nhau ( bao gom ieu khien rieng tng ong c hay ieu khien ong thi nhieu ong c) , ngi dung ieu khien ong c ( cho 108
chay , dng , tang, giam ) bang cac nut nhan tren giao dien + Phng phap 3 : Cac ong c hoat ong ong bo ( ong c 2 phu thuoc vao ong c 1), ngi dung ch can cai at thi iem chay va dng lai , sau o da vao He thong thi gian thc ( DS1307 ) vi ieu khien mo-un ieu khien trung tam se ieu khien he ong c chay hay dng ung thi gian. + Phng phap 4 : Cac ong c hoat ong oc lap vi nhau ( bao gom ieu khien rieng tng ong c hay ieu khien ong thi nhieu ong c) , ngi dung ch can cai at thi iem chay va dng lai , sau o da vao He thong thi gian thc ( DS1307 ) vi ieu khien mo-un ieu khien trung tam se ieu khien he ong c chay hay dng ung thi gian.
Cac loai khung truyen-nhan gia may tnh va mo-un trung tam (node 0 ) : Cac khung truyen luon co byte bat au la: Byte 0-a ch node (mo-un ong c) can ieu khien
Khung truyen e thiet lap Toc o at t PC xuong mo-un trung tam (node 0): Co 4 byte
Bang 7.7: Khung truyen e thiet lap Toc o at t PC xuong mo-un trung tam (node 0): Byte0: a ch Node can ieu khien Byte 1: Che o ieu khien Byte 2: Toc o at Byte 3: Checksum ( ky t F )
+ Byte 0 a ch node can ieu khien: 1 : ieu khien mo-un ong c 1 ( Khi check vao NODE 1 tren giao dien ) 2 : ieu khien mo-un ong c 2 ( Khi check vao NODE 2 tren giao dien ) A : ieu khien ca 2 mo-un ong c 1 va 2 (Khi check vao TAT CA tren giao dien) + Byte 1 Che o ieu khien : 1 : Che o ieu khien bang tay ( Ch dung cho che o Manual) + Byte 2 Toc o at (so xung encoder/ 20ms) : Gia tr lam tron cua Toc o can at (vong/phut) chia cho 30 ( xem cach tnh toc o ong c Chng 7 Phan 7.1.3 )
+ Byte 3 checksum : trong chng trnh cua luan van , la ky t F ( F: Finish )
109
Khung truyen trong che o t ong ( t PC tai trung tam xuong node 0): Co 10 byte
Bang 7.8: Khung truyen t PC tai node 0 xuong node 0 s dung trong che o T ong Byte 0 a ch Node Byte 1 2 ( Auto) Byte 2 Toc o at Byte 3 Gi chay Byte 4 Phut chay Byte 5 Giay chay Byte 6 Gi dng Byte 7 Phut dng Byte 8 Giay dng Byte 9 Checksum ( F)
Khung truyen cac lenh ieu khien t PC xuong mo-un trung tam (node 0): Co2 byte
Bang 7.9: Khung truyen cac lenh ieu khien t PC tai node 0 xuong node 0 Byte 0: a ch Node can ieu khien Byte 1: Lenh ieu khien Byte 2: Checksum ( ky t F )
Byte 0 a ch node can ieu khien: , ma hoa thanh ky t: + 1 : ieu khien mo-un ong c 1 + 2 : ieu khien mo-un ong c 2 + A : ieu khien ca 2 mo-un ong c 1 va 2
Byte 1 Lenh ieu khien, la mot ky t : + S : ong c chay ( Tng ng khi nhan nut CHAY tren giao dien) + P : ong c dng (Tng ng khi nhan nut DNG tren giao dien) + I : Tang toc o cua ong c (Tng ng khi nhan nut TANG tren giao dien) + D : Giam toc o cua ong c (Tng ng khi nhan nut GIAM tren giao dien) + Y : Hai ong c 1 va 2 hoat ong trong che o ong bo ( Khi chon KIEU ONG BO ) + N : Hai ong c 1 va 2 hoat ong oc lap vi nhau ( khi check vao KIEU OC LAP )
7.3 Lu o giai thuat cho vi ieu khien tren cac mo-un
Ghi chu: Trong luan van s dung mang CAN e quan ly he thong , mo-un ieu khien
trung tam(mo-un 0) tng ng la Node 0 , mo-un ieu khien ong c 1 (mo-un 1) tng ng la Node 1 , mo-un ieu khien ong c 2 (mo-un 2) tng ng la Node 2 . 110
Giai thuat chung cua chng trnh cac vi ieu khien tren cac mo-un la : oan chng trnh MAIN (chnh) co nhiem vu: i. ii. Khi ong cac khoi chc nang can s dung ( 1 lan duy nhat luc mi Reset ) Kiem tra cac c bao hoan thanh viec nhan d lieu e thc hien cac cong viec c yeu cau tng ng , khi thc hien xong cong viec tng ng se cho gia tr cua c
bao hoan thanh viec nhan d lieu o ve 0. Cac c bao hoan thanh viec nhan d lieu ch c Set ( cho len 1) trong cac chng trnh phuc vu NGAT tng ng
iii. Tat ca cac ieu kien trong lu o giai thuat cua oan chng trnh MAIN eu la kiem tra cac c bao hoan thanh viec nhan d lieu.
V du nh: Khi Node 1 nhan mot bc ien ( message) t Node 0 qua CAN-bus : + Vi ieu khien se tao mot NGAT e nhan d lieu , trong chng trnh Ngat nhan d lieu : D lieu trong bc ien se lu tr vao bien chuoi rxdata a c khai bao san va se cho c bao hoan thanh viec nhan d lieu t CAN-Bus la: CAN_receive_flag = 1
+ Trong chng trnh MAIN , trong vong lap se kiem tra c bao hoan thanh viec nhan d
lieu t CAN-Bus : neu CAN_receive_flag = 1 th se kiem tra gia tr byte ieu khien
trong bien chuoi rxdata e thc hien cong viec yeu cau tng ng. Thc hien xong cong viec c yeu cau th se cho CAN_receive_flag = 0 (chuan b cho lan kiem tra ke tiep)
5 chng trnh phuc vu Ngat gom co:

Ngat Timer 20ms ( thi gian lay mau toc o ong c , ch co tren node 1 va 2) , Ngat nhan bc ien CAN , Ngat nhan d lieu t SCI0 , Ngat phm nhan ( KeyWake-UP ) , Ngat ngoai (theo chu ky cua thi gian thc: 1s , ch co tren Node 0 ) . Trong moi chng trnh Ngat , sau khi nhan va lu thanh cong d lieu se cho gia tr cua c bao hoan thanh tng ng vi Ngat ang thc thi len 1.
111
7.3.1 Lu o giai thuat oan chng trnh MAIN Node 1 va Node 2 co lu o giai thuat cua chng trnh MAIN hau nh giong nhau , ch khac nhau trong chi tiet cua cac chng trnh con phuc vu NGAT, va cau truc bc ien CAN ma moi node nay gi ve cho node 0 (Xem cau truc cua bc ien nay Phan 7.3.2.1) Bat au
Khi ong cac khoi chc nang
Cho phep NGAT toan cuc (Global Interrupt )
a nhan chnh xac bc ien t CAN-Bus ? Sai
ung X ly bc ien nhan t CAN-Bus
a nhan chnh xac d lieu t PC qua RS232? Sai
ung X ly d lieu nhan t SCI0
Co phm .Khien nao c nhan ? Sai
ung X ly phm c nhan
112
Sai
ong c c phep chay? ung Sai so: ET <> 0 ? ung Bo ieu khien PI-M
Cac viec thc thi khi ong c dng
Sai
Cac viec thc thi khi ong c chay
2
Sai a u chu ky 200ms ? ung Gi d lieu toc o that cua ong c ve cho Node 0 qua CAN-Bus ( Cau truc bc ien phan 7.3.2.1 )
Cap nhat toc o at va toc o that cua ong c len LCD 2x16
Reset c bao u 200 ms
Hnh 7.10: Lu o giai thuat chng trnh Main cua node 1 va 2
113
Lu o giai thuat chng trnh MAIN cua Node 0 (mo-un ieu khien-giam sat he thong) Bat au
Khi ong cac khoi chc nang
Cho phep NGAT toan cuc (Global Interrupt )
a nhan chnh xac bc ien t CAN-Bus ? Sai
ung Gi d lieu t bc ien len PC ( RS232)
Nhan d lieu ieu khien t PC ( RS232 )? Sai
ung Kiem tra va gi en a ch node can .K ( xem hnh 7.7 )
ung Co phm c nhan ? (.Khien, chon MODE) Sai Gi gia tr phm c nhan en cac node e cac node thc hien yeu cau tng ng.
114
oc gia tr thi gian thc? ( chu ky 1s ) Sai
ung Cap nhan cac gia tr : Gi-Phut-Giay So sanh vi thi gian cai at ( chay-dng: neu che do Auto) e ieu khien ongc Hien th gia tr thi gian len LCD , PC
Co yeu cau ong bo ve thi gian PC va MCU ? Sai
ung Ghi ra gia tr thi gian cua PC len ong ho thi gian thc DS1307
ung Co yeu cau hoat ong che o Auto t PC ? Sai Cai at gia tr thi gian dng va chay cua ong c
Hnh 7.11: Lu o giai thuat chng trnh Main cua Node 0 (mo-un trung tam)
Chu y: Khi co ieu kien ung xay ra ( co mot c bao hoan thanh nao o = 1 ) , sau khi thc hien xong cong viec yeu cau tng ng se Reset c bao hoan thanh o. 115
7.3.2 Trnh t chi tiet trong cac chng trnh con va 5 chng trnh phuc vu Ngat 7.3.1.1 Trnh t chi tiet trong cac chng trnh con (dung trong cac lu o giai thuat chng
trnh MAIN )
Chng trnh con Khi ong cac khoi chc nang : Khi ong theo trnh t sau + Bo PLL : Bus-Clock se la 24 Mhz + Timer OC2 :dung e lay mau toc o ong c thi gian 20ms, co s dung Ngat ( Ch co tren Node 1& 2 ; Khong co tren node 0 ) + Bo SCI0 : Toc o la 115200 Bit/s , co s dung Ngat khi nhan d lieu + Bo ieu xung PWM : Tan so xung ieu khien la 10 Khz ( Ch co tren Node 1& 2 ; Khong co tren node 0 ) + Bo em xung A : e em xung t Encoder , em khi canh len cua xung ( Ch co tren Node 1& 2 ; Khong co tren node 0 ) + Bo giao tiep CAN0: toc o 1Mbit/s, s dung ma can cc chuan ( Standard ID) + Chc nang Key-WakeUp ,dung Ngat e oc gia tr phm c nhan + Khi ong bo giao tiep IIC vi he thong thi gian thc DS1307 va s dung Ngat ngoai e oc gia tr thi gian t DS1307 ( Ch co tren node 0 ) + Khoi hien th: LCD 2x16 ( oi vi Node 0 la LCD 4x20 )
Chng trnh con X ly bc ien nhan t CAN-Bus: ( dung cho node 1 va 2 ) + D lieu c cha trong bien chuoi rxdata ( a c lu gia tr trong ham Ngat nhan bc ien CAN, bc ien nhan t Node 0 gi en ) + Cau truc d lieu trong bien chuoi rxdata: rxdata = khung truyen goc (cua PC trung tam truyen xuong node 0) sau khi loai bo Byte a ch node can ieu khien ( la byte 0) + Da vao cau truc tng bc ien se thc hien cong viec tng ng
( Xem cau truc khung truyen cua PC trung tam truyen xuong node 0 Chng 7 phan 7.2.2)
116
+ Xoa c bao hoan thanh viec nhan d lieu t CAN-Bus.
Chng trnh X ly d lieu nhan t SCI0 ( dung cho node 1 va 2 ) + Da vao cau truc khung truyen cua PC tai node truyen xuong node ( Chng 7 phan 7.2.1 ) e kiem tra gia tr cac byte ieu khien e thc hien cong viec tng ng + Xoa c bao hoan thanh viec nhan d lieu t cong noi tiep COM
Chng trnh con X ly phm c nhan Gia tr nut c nhan, a c lu lai trong bien key ( viec lu la trong ham ngat ). ay , ta ch can kiem tra gia tr bien key e thc hien: + Neu gia tr la 0xE0: Phm c nhan la phm CHAY + Neu gia tr la 0xD0: Phm c nhan la phm DNG + Neu gia tr la 0xB0: La phm TANG + Neu gia tr la 0x70 : La phm GIAM Cho ong c chay Cho ong c dng
Cho ong c tang toc them 90 R.P.M Cho ong c giam toc bt 90 R.P.M
- Xoa c bao hoan thanh viec phat hien Phm nhan ( cho gia tr c bang 0 )
Chng trnh con Bo ieu khien PI-M - M hoa cac bien au vao ET va DET - Giai m e tnh cac gia tr K P , K D , - Suy ra gia tr K I theo cong thc K I =
2 KP K D
- ieu rong xung cho mach ong lc e ieu khien ong c.
oan chng trnh con Cac viec thc thi khi ong c dng - ieu rong xung vi Hiduty = 2% e dng ong c - Khi tao lai (Reset) gia tr cac tham so cua bo ieu khien PI-M - Gi len PC khung truyen nh sau: Gom 6 byte
117
Bang 7.10: Khung d lieu t node 1 truyen len PC tai o khi ong c dng Byte 0 1hoac 0 Byte 1 Ky t - Byte 2 S Byte 3 T Byte 4 O Byte 5 P
Byte 0 : + Co gia tr la ky t 1 khi ong c hoat ong che o ong bo

+ Co gia tr la ky t 0 khi ong c hoat ong che o oc lap
Hnh 7.12: Hnh minh hoa d lieu truyen len PC node 1 khi ong c dng
oan chng trnh con Cac viec thc thi khi ong c chay: - Gi len PC mot chuoi byte vi ay u cac thong tin: + Gia tr xung oc t encoder trong 20ms ( Pulse: ) + Che o ma ong c ang hoat ong + Gia tr van toc cua ong c 1 va ong c 2
Hnh 7.13: Hnh minh hoa d lieu truyen len PC node 1 khi ong c chay
Cau truc bc ien CAN ma moi node ( node 1 va node 2 ) gi ve cho node 0
- Cau truc bc ien nay se bao gom cac phan: Ma can cc ID , o u tien , chieu dai cua khung d lieu trong bc ien va khung d lieu: + Bc ien cua node 1 truyen ve se co ma can cc ID la 0x200 + Bc ien cua node 2 truyen ve se co ma can cc ID la 0x300 - Cau truc khung d lieu cua bc ien nay co 8 bytes d lieu 118
Bang 7.11: Khung truyen cua bc ien CAN t node 1 va node 2 truyen ve node 0 Byte 0 Ma bat au cua d lieu Trong o: Byte 0 : La ma bat au cua d lieu + La ky t A : Khung truyen cua Node 1 ; La ky t B : Khung truyen cua Node 2 Byte [1:4] : la gia tr hang ngan , tram, chuc ,n v cua toc o that ong c ( ma hoa di dang tng ky t ) Byte 6 : Phan hoi cho trung tam biet che o hoat ong hien gi cua ong c + La ky t 1 : ong c ang hoat ong che o ong bo + La ky t 0 : ong c ang hoat ong che o oc lap Byte 7: La byte checksum rieng cua chuoi khung truyen nay la ky t E ( E: End ) Byte 1 So hang ngan Byte 2 So hang tram Byte 3 So hang chuc Byte 4 So hang n v Byte 5 Ky t - Byte 6 Che o hoat ong Byte 7 Checksum (ky t E)
Hnh 7.14: Khung truyen cua bc ien CAN t node 1 va node 2 truyen ve node 0
7.3.1.2 5 chng trnh phuc vu Ngat Chng trnh ngat Timer OC2 dung e lay mau: ( ch dung cho Node1 va Node 2)
- oi vi node 1: + oc gia tr trong bo em xung A ( tai thanh ghi PACN32) , lu vao bien toc_do_do + oc gia tr toc o that cua ong c 2 t Port H + Tnh cac gia tr : Sai so toc o ET = toc_do_do toc_do_dat ; va ao ham sai so (toc o tang ): DET = ET_mi ET_cu + Gi toc o that cua ong c 1 ( gia tr toc_do_do) ra Port A ( neu gia tr toc_do_do co thay oi )
119
+ Reset bo em xung A (thanh ghi PACN32 = 0 ) ; khi tao lai gia tr cho Timer OC2 va xoa c ngat ( thanh ghi TFLG1 ) e cho phep timer ngat lan 20ms ke tiep. + Thoat khoi chng trnh phuc ngat. - oi vi node 2: + oc gia tr trong bo em xung A ( tai thanh ghi PACN32) , lu vao bien toc_do_do + oc cac gia tr cua ong c 1 t Port A , lu vao gia tr toc_do_dat + Tnh cac gia tr : Sai so toc o ET = toc_do_do toc_do_dat ; va ao ham sai so (toc o tang ): DET = ET_mi ET_cu + Gi toc o that cua ong c 2 ( gia tr toc_do_do) ra Port H + Reset bo em xung A (thanh ghi PACN32 = 0) ; khi tao lai gia tr cho Timer OC2 va xoa c ngat ( thanh ghi TFLG1 ) e cho phep timer ngat lan 20ms ke tiep + Thoat khoi chng trnh phuc ngat. Chng trnh ngat nhan d lieu t cong COM qua RS232 ay , cac vi ieu khien tren ca 3 mo-un (node) eu s dung bo SCI0. Ch trnh bay chng trnh danh cho node 1&2 ( con chng trnh danh cho node 0 a c trnh bay ay u tren lu o giai thuat cua node 0 ) + a khai bao trc 1 bien kieu mang ,goi la SCI0_In[ index ] . Moi khi vao thc thi chng trnh ngat , gia tr t bo em se c lu vao mang , gia tr ch so cua mang :
index se c tang them 1.

+ Da vao byte au tien cua d lieu nhan c ( khi o a lu vao SCI0_In[0] ) , ta se nh biet khung truyen ang nhan nay se co bao nhieu byte . T o xac nh chnh xac chieu dai cua khung truyen , va lu vao bien frame_len ( e xac nh c chieu dai hay xem cau truc Khung truyen t PC xuong node 1 tai Chng 7 - phan 7.2.1 ) + Khi ch so index cua mang SCI0_In[ index ] bang gia tr chieu dai frame_len , se reset gia tr cua bien index ( index = 0 ) va kiem tra byte cuoi cung cua chuoi - Neu byte o ung la byte CheckSum ( la ky t F ) th viec nhan d lieu thanh cong Se cho c
bao hoan thanh nhan d lieu t SCI0 len 1.
120
+ Xoa c ngat ( trong thanh ghi SCI0SR1 ) e chuan b cho lan ngat nhan ke tiep va thoat khoi chng trnh phuc ngat.
Chng trnh ngat nhan bc ien CAN : + oc gia tr chieu dai cua bc ien trong thanh ghi CAN0RXDLR cua bo MSCAN0 + Lap vong e lu tat ca d lieu trong bc ien vao bien mang rxdata[index] ( vi index la ch so cua mang ) + Kiem tra byte CheckSum , neu ung la ky t F th cho c bao hoan thanh viec nhan d lieu t CAN-Bus len 1. + Xoa c bao ngat ( trong thanh ghi CAN0RFLG) e chuan b cho lan ngat nhan ke tiep . + Thoat khoi chng trnh phuc ngat.
Chng trnh ngat cua Phm nhan ( chc nang Key-WakeUp) + Cam tat ca cac chan thuoc 4 bit cao cua Port P khong c ngat Key-WakeUp + oc gia tr 4 bit cao cua Port P ( ni ket noi vi 4 phm nhan) , roi lu vao bien key a khai bao san. Sau o cho c bao hoan thanh viec oc gia tr phm nhan len 1. + Xoa c ngat va cho phep lai cac chan thuoc 4 bit cao cua Port P c thc hien chc nang Key-WakeUp , sau cung la thoat khoi chng trnh phuc vu ngat
Chng trnh ngat ngoai e cap nhat thi gian t DS1307 : ( Ngat nay ch co node 0 ) + S dung giao tiep IIC , oc lan lt cac gia tr: giay , phut , gi cac a ch RAM cua DS1307 tng ng la: 0x00 , 0x01 , 0x02. Cac gia tr di dang BCD . + Chuyen cac gia tr nhan c tren ( ma BCD) sang so dang thap phan va lu vao cac bien: sec , minute , hour ( cac bien nay la bien toan cuc ,c khai bao t trc ) + Cho c bao hoan thanh viec oc gia tr thi gian len 1. + Thoat khoi chng trnh phuc vu ngat.
121
Chng 8: Ket qua at c , hng phat trien e tai
CHNG 8
KET QUA AT C , HNG PHAT TRIEN E TAI

8.1 Mot so hnh anh ve hoat ong cua he thong
8.1.1 Tai giao dien tren may tnh mo-un ieu khien ong c 1 (node 1) - Chu thch: ng o th mau o la toc o at , ng o th mau xanh am la toc o cua ong c 1 , ng o th mau xanh la cay la toc o cua ong c 2.
Hnh 8.1: Hnh anh hoat ong 2 ong c hoat ong ong bo khi co gan tai e th
+ Toc o cua o c 1 th bam theo toc o at rat tot , thi gian len va xac lap eu nhanh ( t len 0.8 giay , t xl 1.5 giay) , vot lo thap va sai so xac lap hau nh rat nho. + ong c 2 bam theo ong c 1 kha tot . Bo ieu khien van am bao chat lng ieu khien ngay ca khi co tai. SVTH: Nguyen Gia Minh Thao
123
Hnh 8.2: Hnh anh 2 ong c hoat ong ong bo khi thay oi cac mc toc o at khac nhau
Hnh 8.3: Toc o 2 ong c tren cac LCD , toc o at la 750 R.P.M hoat ong ong bo
124
8.1.2 Hnh anh tai giao dien tren may tnh va mo-un trung tam ieu khien (node 0)
Hnh 8.4: Tren giao dien tai trung tam toc o at 2100 R.P.M, hoat ong ong bo
Hnh 8.5: Hnh anh tren LCD cua mo-un trung tam (node 0) toc o at 2100 R.P.M .
125
Hnh 8.6: Tren giao dien tai trung tam toc o at 3000 R.P.M, hoat ong ong bo
Hnh 8.7: Tren giao dien tai trung tam, toc o at 1200 R.P.M ieu khien rieng ong c 1
126
Hnh 8.8: Tren giao dien tai trung tam, Che o ieu khien t ong cai at thi gian
8.2 Cac ket qua a at c

a thiet ke va hoan thien mo hnh phan cng gom: 2 mo-un ieu khien 2 ong c va mot mo-un ieu khien-giam sat toan he thong . Mo hnh phan cng hoat ong on nh Bo ieu khien PI-M trong vi ieu khien MC9S12DP512 tren 2 mo-un ieu khien a on nh c toc o ong c vi : ap ng qua o kha tot , thi gian len va xac lap eu nhanh ( t len 0.8 giay , t xl 1.5 giay) , vot lo thap va sai so xac lap hau nh rat nho , ngay ca khi ong c hoat ong co tai hay nhieu gia tr toc o khac nhau. a ong bo c toc o 2 ong c vi nhau va thay oi toc o kha linh hoat. Xay dng thanh cong mang ieu khien-giam sat he thong theo giao thc CAN . Viec ieu khien va trao oi d lieu gia cac mo-un co toc o nhanh (1Mbps) va on nh, t o viec ieu khien va giam sat he thong tr nen de dang va at hieu qua cao.
127
Ket noi c vi ieu khien vi may tnh theo chuan RS232C ( vi toc o trao oi d lieu toi a: baurate = 115200 Bit/s) va a thiet ke hoan chnh cac giao dien tren may tnh e ieu khien giam sat he thong ( S dung ngon ng Visual Basic 6 ) + Mot giao dien c at tren may tnh tai mo-un ieu khien ong c 1: Co the ieu khien ong bo toc o 2 ong c : 1 va 2 hay co the ieu khien rieng ong c 1. + Mot giao dien khac c at tren may tnh tai mo-un trung tam (node 0) : Co the ieu khien cac ong c hoat ong ong bo hay oc lap vi nhau. Tren giao dien nay , ngoai cach thc ieu khien bang tay (Manual) , ngi dung co the s dung cach thc ieu khien t ong he thong ( Auto) . + Ngoai chc nang ieu khien, ca 2 giao dien eu co the thu thap c gia tr toc o cua cac ong c , hien th , tnh sai so va ve o th kiem chng.
8.3 Mot so iem han che

ong c c s dung co toc o toi a la 3800 vong/phut , bo ieu khien PI-M cua luan van ieu khien tot ong c trong khoang toc o t :120 vong/phut en 3600 vong/phut. Ly do la s dung encoder 100 xung/vong nen khong the ieu khien c ong c cac toc o di 120 vong/phut. Viec trao oi gia tr toc o gia 2 vi ieu khien tren 2 mo-un ieu khien ong c la bang giao tiep song song ( qua PortA ) , u iem la viec trao oi gia tr toc o cua cac ong c rat nhanh va de dang , kha phu hp vi yeu cau ong bo toc o theo thi gian thc ( chu ky cho moi lan trao oi toc o s dung trong luan van la 20ms) , nhng lai co nhc iem:B han che ve khoang cach, ch co the giao tiep trong khoang cach gan
8.4 Hng khac phuc cac iem han che va phat trien e tai
8.4.1 Hng khac phuc cac iem han che Co the s dung cac loai encoder co o phan giai cao nh : 500 xung/vong hay 1000 xung/vong e co the ieu khien c ong c cac toc o di 120 vong/phut.
128
S dung cac bo phat toc (encoder , tacho generator) gan len truc quay c kh co ket noi vi ong c chu ( trong luan van la ong c 1) e phan hoi toc o that cua ong c chu cho cac bo ieu khien cua cac ong c t ( trong luan van la ong c 2) . Cach thc nay se giai quyet c van e ve khoang cach trao oi d lieu cua
giao tiep song song.
8.4.2 Hng phat trien e tai Thiet ke cac khoi mach ong lc co cong suat ln hn e co the ieu khien toc o cac ong c DC cong suat cao dung trong cong nghiep. Nghien cu va cai tien bo ieu khien PI-M trong luan van len thanh bo ieu khien PI-M Thch nghi e co chat lng ieu khien tot hn. Ngoai viec ong bo toc o ong c , co the ket hp them ieu khien moment e co the s dung trong cac bang chuyen can toc o quay thay oi theo ng knh cuon . V du nh: day chuyen cuon xa giay trong cong nghiep Mo hnh he thong trong luan van s dung mang CAN e quan ly, nen co the m rong e ap dung nh mot he thong SCADA thc thu nham ieu khien va giam sat tat ca cac day chuyen san xuat trong xng hay nha may. T viec xay dng mang CAN e quan ly xng-nha may,co the ket hp them vi cac he thong ien thoai , vo tuyen hay Internet e co the lien ket nhieu xngnha may vi nhau, tao thanh mot he thong ln. T o, tai cac trung tam ieu khien rat xa co the ieu khien va giam sat t xa moi hoat ong san xuat cac xng-nha may nay. ieu nay cung se rat co ch cho mot ngi ky s co the ieu khien-giam sat mot hay nhieu day chuyen do mnh co trach nhiem quan ly ngay tren may vi tnh tai nha.
129
Tai lieu tham khao
TAI LIEU THAM KHAO

Tai lieu trong nc
[1] Nguyen Th Phng Ha, Huynh Thai Hoang, Ly thuyet ieu khien t ong , Nha xuat ban ai hoc quoc gia TP Ho Ch Minh ,2003. [2] Nguyen Th Phng Ha, Ly thuyet ieu khien hien ai , Nha xuat ban ai hoc quoc gia TP Ho Ch Minh, 2007. [3] Nguyen Van Nh, Giao trnh ien t cong suat, Nha xuat ban ai hoc quoc gia TP Ho Ch Minh. [4] Ngo Dien Tap, Lap trnh ghep noi may tnh trong Windows, Nha xuat ban khoa hoc va ky thuat Ha Noi, 2000. [5] Nguyen c Thanh, o lng ieu khien bang may tnh, Nha xuat ban ai hoc quoc gia TP Ho Ch Minh, 2005. [6] Phan Quoc Pho, Nguyen c Chien, Giao trnh cam bien , Nha xuat ban khoa hoc va ky thuat. [7] Nguyen Hu Quoc, Giao thc CAN-ieu khien va thu thap d lieu trong xe bus, Luan van tot nghiep ai hoc, ai hoc Bach khoa Tp. HCM, 2006.
Tai lieu nc ngoai

[8] Farzan Rashidi ,Mehran Rasgidi, Arash Hashemi-Hosseini ,Applying Intelligent Controllers
for Speed Regulation of DC Motors, Engineering Research Institute of Jercen Iran.

[9] J.C.Basilio , S.R.Matos , Design of PI and PID Controllers with Transient Performance
Specification , IEEE Transactions on Education -VOL45 , 4/12/2002

[10] Jan Jantzen , Design of Fuzzy Controllers , Tuning of Fuzzy PID Controllers , Technical University of Denmark Department of Automation , 30/9/1998 [11] Steve Mackay, Edwin Wright , etal, Practical Industrial Data Networks: Design ,
Installation and Troubleshooting

130
Tai lieu tham khao
[12] E-Clock CAN bus board datasheet , Matrix Multimedia Website , 2005 [13] Jonathan W.Valvano , Embedded Microcomputer Systems - First , Second Editon ( for
68HC05 , 68HC11 , HC(S)12 ) , Thomson-Engineering Publishers , 2008

[14] Han-Way Huang , The HCS12/ 9S12 : An Introduction , Thomson Delmar Learning , 2006 [15] MC9S12DP512 Device Guide V1.25 , Motorola Inc , 5/7/2005 [16] Bosch Controler Area Network (CAN) V2.0 , FreeScale Semiconductor. [17] Rebeca Delgado, etal ,Application Note: Using MSCAN on the HCS12 Family, FreeScale Semiconductor, Mexico 2005. [18] Martyn Gallop , etal , Designing Hardware for the HCS12 D-Family , FreeScale Semiconductor, 2004.
Cac Website
[19] www.freescale.com [20] http://hc12web.de/ [21] www.dientuvietnam.net [22] www.bkpro.info
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AI HOC QUOC GIA THANH PHO HO CH MINH TRNG AI HOC BACH KHOA KHOA IEN IEN T BO MON IEU

U KHIEN T ONG ------------o0o------------

LUAN VAN TOT NGHIEP

IEU KHIEN M VA GIAO THC CAN TRONG ONG BO TOC O HE ONG C DC

TP. HO CH MINH , 1/ 2009

NHIEM VU LUAN VAN TOT NGHIEP

TRNG AI HOC BACH KHOA KHOA IEN-IEN T

PHIEU CHAM BAO VE LVTN

TRNG AI HOC BACH KHOA KHOA IEN-IEN T

PHIEU CHAM BAO VE LVTN

Thanh pho Ho Ch Minh ,thang 1 nam 2009

Nguyen Gia Minh Thao

TOM TAT LUAN VAN

CHNG 1: TONG QUAN VE E TAI.......1

3.2.2 3.2.3 3.2.4 3.2.5 3.2.6 3.2.7

Chng 1: Tong quan ve e tai

GVHD: KS. Le Ngoc nh

TONG QUAN VE E TAI

Hnh 1.1: Mo hnh bang chuyen co 2 truc quay

SVTH: Nguyen Gia Minh Thao

Chng 1: Tong quan ve e tai

GVHD: KS. Le Ngoc nh

quyet bai toan ong bo toc o ong c DC .

Hnh 1.2: S o ong bo toc o ong c AC s dung bien tan

SVTH: Nguyen Gia Minh Thao

Chng 1: Tong quan ve e tai

GVHD: KS. Le Ngoc nh

Phng phap ieu khien ong bo toc o toc o ong c DC

Phan hoi: Vong trong-dong ien ; vong ngoai-toc o

Bo cap nhat toc o ong c 1 ( Encoder hay Tacho generator )

Phan hoi: Vong trong-dong ien ; vong ngoai-toc o

SVTH: Nguyen Gia Minh Thao

Chng 1: Tong quan ve e tai

GVHD: KS. Le Ngoc nh

+ Trong he thong nhuom vai:

+ Trong may xeo giay:

SVTH: Nguyen Gia Minh Thao

Chng 1: Tong quan ve e tai

GVHD: KS. Le Ngoc nh

1.3 Nhiem vu cua luan van

1.4 Thc hien Luan van c lay ten la:

IEU KHIEN M VA GIAO THC CAN TRONG ONG BO TOC O HE ONG C DC

SVTH: Nguyen Gia Minh Thao

Chng 1: Tong quan ve e tai

GVHD: KS. Le Ngoc nh

SVTH: Nguyen Gia Minh Thao

Chng 1: Tong quan ve e tai

GVHD: KS. Le Ngoc nh

1.5 S lc ve mo hnh he thong 1.5.1 S o khoi cua mo hnh he thong

Hnh 1.7: Mo hnh cua he thong trong luan van

SVTH: Nguyen Gia Minh Thao

Chng 1: Tong quan ve e tai

GVHD: KS. Le Ngoc nh

Ngoai ra , con co mot so chc nang c m rong nh:

SVTH: Nguyen Gia Minh Thao

Chng 2: Ly thuyet ieu khien M, ieu khien PID

GVHD: KS. Le Ngoc nh

LY THUYET IEU KHIEN M , IEU KHIEN PID

2.1 Ly thuyet ieu khien M

SVTH: Nguyen Gia Minh Thao

Chng 2: Ly thuyet ieu khien M, ieu khien PID

GVHD: KS. Le Ngoc nh

SVTH: Nguyen Gia Minh Thao