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Đếm xung đo tốc độ động cơ DC dùng Psoc

Phương pháp đo tốc độ động cơ thông dụng nhất hiện nay dùng cảm biến quang hay còn gọi là encoder. Tín hiệu từ encoder tạo ra các dạng xung vuông có tần số thay đôi vào tốc độ động cơ. Do đó các xung vuông này được đưa vào bộ vi xử lý để đếm số xung trong khoảng thời gian cho phép từ đó ta có thể tính được giá trị vận tốc của động cơ. Đây cũng là phương pháp mà người ta sử dụng để ổn định tốc độ động cơ hay điều khiển nhanh chậm....



Yêu cầu:


+ Động cơ DC 12V có bộ Encoder (Mua thì khoảng 140k có luôn encoder)
+ LCD để hiện thị giá trị mà đo được (65K)
+ 1 Chíp Psoc (Con này mua 1 làn dùng cho các bài toán vi điều khiển)

1 ) Tìm hiểu qua về cấu tạo của Encoder:

* Cấu tạo của encoder

encoder-dong-co-4

Nhìn trên hình ta thấy encoder gồm: 1 tấm tròn có khắc lỗ, 1 Hệ thông LED phát và thu.



* Nguyên tắc hoạt động cơ bản:



Nguyên lý cơ bản của encoder, đó là một đĩa tròn xoay, quay quanh trục. Trên đĩa có các lỗ (rãnh). Người ta dùng một đèn led để chiếu lên mặt đĩa. Khi đĩa quay, chỗ không có lỗ (rãnh), đèn led không chiếu xuyên qua được, chỗ có lỗ (rãnh), đèn led sẽ chiếu xuyên qua. Khi đó, phía mặt bên kia của đĩa, người ta đặt một con mắt thu. Với các tín hiệu có, hoặc không có ánh sáng chiếu qua, người ta ghi nhận được đèn led có chiếu qua lỗ hay không.Số xung đếm được và tăng lên nó tính bằng số lần ánh sáng bị cắt!


Như vậy là encoder sẽ tạo ra các tín hiệu xung vuông và các tín hiệu xung vuông này được cắt từ ánh sáng xuyên qua lỗ. Nên tần số của xung đầu ra sẽ phụ thuộc vào tốc độ quay của tấm tròn đó. Đối với encoder mình đang dùng thì nó có 2 tín hiệu ra lệch pha nhau 90. Hai tín hiệu này có thể xác định được chiều quay của động cơ.

Đây là sơ đồ cấu tạo cơ bản bên trong của nó để tạo được xung vuông!

encoder-dong-co-1

2) Sơ đồ nguyên lý của mạch đo

encoder-dong-co-3

Sơ đồ mạch nguyên lý đo tốc độ động cơ khá là đơn giản. Chỉ cần ta lấy tín hiệu từ encoder của động cơ vào là được!


Nên nhớ trên mạch nguyên lý encoder được tích hợp sẵn và được gắn trực tiếp vào động cơ nên ta chỉ cần cấp điện vào cho bộ encoder và lấy 1 dấy tín hiệu ra khi động cơ quay là có xung ra tại chân của encoder và điện áp cấp cho encoder là 5V


+ Chú ý: encoder gắn trực tiếp trên động cơ gồm 4 dây (Không kể hai dây nguồn cho điện áp 12V vào động cơ quay). Trong đó dây đỏ là dây 5V, dây xanh là dây GND, Dây vàng và dây trắng là hai dây tín hiệu lệch pha nhau 90.



3 ) Thuật toán đo tốc độ động cơ.



DO Psoc có đủ các module : Timer 16, couter 8, LCD nên ta chỉ cần lấy các modul đó ra Sử dụng.



Thuật toán đơn giản mà được dùng rất phổ biến là ngắt thời gian để đếm xung từ encoder cụ thể như sau:


+ Tạo một module thời gian ở đây là timer 16 có thời gian là 0.01s, module Cou ter 8 đếm xung từ 0 đến 255 (Nó đếm lần lượt từ 0 đến 255 và đến 255 thì lại trở về chu kì mới)


+ Sử dụng ngắt timer 16. (Có nghĩa là cứ 0.01s là chương trình lại xẩy ra ngắt 1 lần). Trong hàm ngắt chúng ta xử lý số liệu mà số xung từ encoder được đưa về vi điều khiển. Vì Couter nó chỉ đếm được từ 0 đến 255 để bao gồm cả trường hợp trong 0.01s mà số xung nó lớn hơn 255 (Hay 0.01s nó được được trên 255 xung). Do đó chúng ta cần phải có 2 giá trị đếm của couter : Giá trị đếm mới (newcount), giá trị đếm cũ (oldcount).


* Giá trị đếm cũ = Giá trị đếm mới:
* Khởi tạo cho newcount = 255 - giá trị xung đếm
* Nếu mà giá trị oldcount > newcount thì giá trị xung cuối cùng là : count = 255 + newcount - oldcount.
* Nếu mà giá trị oldcount < newcount thì giá trị đếm cuối cùng là :count = newcount - oldcount

Từ giá trị đếm được số xung đó ta tính được vận tốc của động cơ. NHớ là encoder có 100xung/vòng.



4 ) Chương trình
:



Thiết lập các module sử dụng cho bài này : Các pác phải thiết lập được drrive của Timer 16, counter 8, LCD (Có thể download chương trình về tham khảo cấu hình phần cứng)



* Chương trình hiện thị :



#include // part specific constants and macros
#include "PSoCAPI.h" // PSoC API definitions for all User Modules
#include "lcd.h"

void LCD_1_Clear(unsigned char x,unsigned char y)
{
char trong[]=" ";
LCD_1_Position(x,y);
LCD_1_PrString(trong);
}
void lcd1digit(int data,unsigned char x,unsigned char y)
{
LCD_1_Position(x,y);
LCD_1_WriteData('0'+data);
LCD_1_Clear(x,y+1);
}
void lcd2digit(int data,unsigned char x,unsigned char y)
{
LCD_1_Position(x,y);
LCD_1_WriteData('0'+data/10);
data=data%10;
LCD_1_Position(x,y+1);
LCD_1_WriteData('0'+data);
LCD_1_Clear(x,y+2);
}
void lcd3digit(int data,unsigned char x,unsigned char y)
{
LCD_1_Position(x,y);
LCD_1_WriteData('0'+data/100);
data=data%100;
LCD_1_Position(x,y+1);
LCD_1_WriteData('0'+data/10);
data=data%10;
LCD_1_Position(x,y+2);
LCD_1_WriteData('0'+data);
LCD_1_Clear(x,y+3);
}
void lcd4digit(int data,unsigned char x,unsigned char y)
{
LCD_1_Position(x,y);
LCD_1_WriteData('0'+data/1000);
data=data%1000;
LCD_1_Position(x,y+1);
LCD_1_WriteData('0'+data/100);
data=data%100;
LCD_1_Position(x,y+2);
LCD_1_WriteData('0'+data/10);
data=data%10;
LCD_1_Position(x,y+3);
LCD_1_WriteData('0'+data);
LCD_1_Clear(x,y+4);
}
void lcd5digit(int data,unsigned char x,unsigned char y)
{
LCD_1_Position(x,y);
LCD_1_WriteData('0'+data/10000);
data=data%10000;
LCD_1_Position(x,y+1);
LCD_1_WriteData('0'+data/1000);
data=data%1000;
LCD_1_Position(x,y+2);
LCD_1_WriteData('0'+data/100);
data=data%100;
LCD_1_Position(x,y+3);
LCD_1_WriteData('0'+data/10);
data=data%10;
LCD_1_Position(x,y+4);
LCD_1_WriteData('0'+data);
LCD_1_Clear(x,y+5);
}
void lcd_hienthi(int data,unsigned char x,unsigned char y)
{
if(data<10) lcd1digit(data,x,y);
else if(data<100) lcd2digit(data,x,y);
else if(data<1000) lcd3digit(data,x,y);
else if(data<10000) lcd4digit(data,x,y);
else lcd5digit(data,x,y);
}

* Chương trình chính :

/----------------------------------------------------------------------------
// C main line
// Do toc do dong co v/s-- Cap cho dong co DC12V
// Viet boi : biendt - Địa chỉ email này đã được bảo vệ từ spam bots, bạn cần kích hoạt Javascript để xem nó. Địa chỉ email này đã được bảo vệ từ spam bots, bạn cần kích hoạt Javascript để xem nó.
//website : http://biendt.biz
// Encoder : P0_2
// Timer : 0.01s
//
//----------------------------------------------------------------------------

#include // part specific constants and macros
#include "PSoCAPI.h" // PSoC API definitions for all User Modules
#include "LCD.h"
#define max 255
unsigned char count,oldcount,newcount=0;
unsigned char dem=0;
unsigned char vt=0;

void khoitaoht()
{
LCD_1_Start();
Timer16_1_WritePeriod(9); //dat thoi gian la 0.01s
Timer16_1_WriteCompareValue(0);
Timer16_1_EnableInt();
Timer16_1_Start();
Counter8_1_WritePeriod(max); // thiet lap dem!
Counter8_1_WriteCompareValue(0);
Counter8_1_EnableInt();
Counter8_1_Start();
}

#pragma interrupt_handler Timer16_1_ISR
void Timer16_1_ISR(void)
{
dem++; // kiem tra xem nao ngat co hoat dong khong
oldcount=newcount;
newcount=max-Counter8_1_bReadCounter();
if(newcount
count=max-(oldcount-newcount);
else count=newcount-oldcount;

vt=count; // vong/s


}
void main()
{
M8C_EnableGInt;
khoitaoht();
LCD_1_Position(0,0);
LCD_1_PrCString("s/x:");
LCD_1_Position(1,0);
LCD_1_PrCString("v/t:");
LCD_1_Position(1,8);
LCD_1_PrCString("v/s");
while(1)
{
lcd_hienthi(count,0,5); // hien thi xung dem
lcd_hienthi(dem,0,9); // hien thi gia trri vao ngat
lcd_hienthi(vt,1,5); // hien thi toc do cua dong co
}
}

Chương trình trên đã được test!

Download chương trình tham khảo (324.59KB):  dem_xung_do_toc_do_dong_co.zip

 

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