LUẬN văn tự ĐỘNG hóa NGHIÊN cứu và THIẾT kế các mô ĐUN CHUYÊN DỤNG điều KHIỂN ROBOT

75ѬӠ1*ĈҤ,+Ӑ&&Ҫ17+Ѫ
KHOA CÔNG NGHӊ
BӜ0Ð17ӴĈӜ1*+Ï$

LUҰ19Ă17Ӕ71*+,ӊ3ĈҤ,+Ӑ&

NGHIÊN CӬ89À THIӂ7.ӂ
CÁC MÔ-Ĉ81&+8<Ç1'Ө1*
Ĉ,ӄ8.+,ӆ152%27

Sinh viên thӵFKLӋQ
1*Ð9Ă1',ӈ1
ĈҺ1*+Ӳ8&+,ӂ1

Cán bӝKѭӟQJGүQ
1070993
1071076

Ths. NGUYӈ1.+Ҳ&1*8<ÊN
Ths. LÝ THANH PHѬѪ1*

CҫQ7Kѫ


75ѬӠ1*ĈҤ,+Ӑ&&Ҫ17+Ѫ
KHOA CÔNG NGHӊ
BӜ0Ð17ӴĈӜ1*+Ï$

LUҰ19Ă17Ӕ71*+,ӊ3ĈҤ,+Ӑ&

NGHIÊN CӬ89À THIӂ7.ӂ

CÁC MÔ-Ĉ81&+8<Ç1'Ө1*
Ĉ,ӄ8.+,ӆ152%27
Sinh viên thӵFKLӋQ

MSSV

Cán bӝKѭӟQJGүQ

1*Ð9Ă1',ӈ1
NGUYÊN
ĈҺ1*+Ӳ8&+,ӂ1

1070993

Ths. NGUYӈ1.+Ҳ&

1071076

Ths. LÝ THANH PHѬѪ1*

CÁN BӜ3+Ҧ1%,ӊ1
……………………………………………………………………………………
……………………………………………………………………………………

LuұQYăQÿѭӧFEҧRYӋWҥL+ӝLÿӗQJFKҩPOXұQYăQWӕWQJKLӋSWҥL
BӝP{Q7ӵÿӝQJKyD.KRD&{QJ1JKӋ7UѭӡQJĈҥLKӑF&ҫQ
7KѫYjRQJj\«WKiQJ«QăP««

Mã sӕÿӅWài:……………

Nghiên cͱXYà thi͇WN͇FiFP{ÿXQFKX\ên dͭQJÿL͉XNKL͋QURERW

LӠ,&Ҧ07Ҥ
KӃWWK~FEӕQQăPKӑFWұSYà rèn luyӋQGѭӟLPiLWUѭӡQJĈҥL+ӑF&ҫQ7Kѫ
FK~QJHPÿã nhұQÿѭӧFVӵGҥ\GӛYà chӍGүQWұQWình cӫDTXêWKҫ\F{WURQJ.KRD
Công NghӋÿһFELӋWOà các thҫ\WURQJ%ӝP{Q7ӵĈӝQJ+yD
Chúng em kính gӣLOӡLFҧPѫQÿӃQWҩWcҧTXêWKҫ\F{.KRD&{QJ1JKӋ
7UѭӡQJĈҥL+ӑF&ҫQ7KѫQKӳQJQJѭӡLÿã tұQWình giҧQJGҥ\WUDQJEӏNLӃQWKӭF
cho chúng em trong suӕWEӕQQăPKӑFĈһFELӋWFK~QJHP[LQFKkQWKành cám
ѫQÿӃQ7KS NguyӉQ.KҳF1JX\ên và ThS Lý Thanh PhѭѫQJ–QJѭӡLÿã giúp ÿӥ
chúng em rҩWQKLӅXWURQJVXӕWTXiWUình hӑFWұSYà khi thӵFKLӋQÿӅWài.
Chúng em xin chân thành biӃWѫQÿӃQYӟLFiF thҫ\WURQJ%ӝP{Q7ӵĈӝQJ
Hóa – Khoa Công NghӋ ÿã nhiӋW Wình giúp ÿӥ Yà tҥR ÿLӅX NLӋQ WKXұQ OӧL FKR
chúng em hoàn thành tӕWÿӅWài. Trên hӃWFK~QJHP[LQFKkQWKjQKFiPѫQÿӃQ
thҫ\761JX\ӉQ&Kt1J{Qÿã theo sát, hѭӟQJGүQFKӍÿҥRYà tұQWình giúp ÿӥ
chúng em trong suӕWTXiWUình hӑFWҥLWUѭӡQJ
ĈӕL YӟL FK~QJ HP /XұQ YăQ WӕW QJKLӋS Oà mӝW F{QJ WUình lӟQ NKy WKӵF
hiӋQ'RÿyPһFGÿã cӕJҳQJQKѭQJGRWKӡLJLDQKҥQKҽSQên chҳFFKҳQ/XұQ
YăQVӁNK{QJWUiQKNKӓLQKӳQJVDLVyW5ҩWPRQJÿѭӧFVӵÿyQJJySFӫDTXêWKҫ\
cô và các bҥQÿӇ/XұQYăQÿѭӧFWӕWKѫQ
C̯QTK˯WKiQJQăP
1J{9ăQ'LӉQ
ĈһQJ+ӳX&KLӃQ

SVTH: 1J{9ăQ'L͍Q
1070993
Ĉ̿QJ+ͷX&KL͇Q 1071076

Trang 1

Nghiên cͱXYà thi͇WN͇FiFP{ÿXQFKX\ên dͭQJÿL͉XNKL͋QURERW

NHҰ1;e7&Ӫ$&È1%Ӝ+ѬӞ1*'Ү1
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SVTH: 1J{9ăQ'L͍Q
1070993
Ĉ̿QJ+ͷX&KL͇Q 1071076

Trang 2


Nghiên cͱXYà thi͇WN͇FiFP{ÿXQFKX\ên dͭQJÿL͉XNKL͋QURERW

NHҰ1;e7&Ӫ$&È1%Ӝ3+Ҧ1%,ӊ1
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SVTH: 1J{9ăQ'L͍Q
1070993
Ĉ̿QJ+ͷX&KL͇Q 1071076

Trang 3


Nghiên cͱXYà thi͇WN͇FiFP{ÿXQFKX\ên dͭQJÿL͉XNKL͋QURERW

MӨ&/Ө&
Lͤ,&̪07̨...........................................................................................................1
NH̴1;e7&ͮ$&È1%͠+˰͢1*'̲1.............................................................2
Mͬ&/ͬ&...............................................................................................................4
Mͬ&/ͬ&+ÌNH....................................................................................................7
Mͬ&/ͬ&%̪1* ...................................................................................................9
TÓM T̶7 ..............................................................................................................11

ABSTRACT ...........................................................................................................11
Lͤ,0ͦĈ̮8 .......................................................................................................12
&+˰ˮ1**,͢,7+,͎8Ĉ͈7ÀI .....................................................................13
Ĉ̾79̬1Ĉ͈ ..............................................................................................13
1.2 Mͬ&7,Ç8Ĉ͈TÀI ....................................................................................13
1.3 GI͢,+̨1&ͮ$Ĉ͈7ÀI.............................................................................14
1.4 K͆748̪'͸.,͆1 ...................................................................................14
&+˰ˮ1*&ˮ6ͦ/é7+8<͆7 .......................................................................15
6ˮ/˰ͪ&9͈$70(*$ .......................................................................15
2.1.1 GiͣLWKL͏XFKXQJY͉$70(*$ .............................................................15
2.1.2 C̭XWU~FW͝QJTXiW$70(*$.........................................................15
2.1.3 T͝FKͱFE͡QKͣ.....................................................................................17
2.1.4 Các c͝QJ[X̭WQK̵SFͯD$WPHJD....................................................21
6ˮ/˰ͪ&9͈Ĉ͠1*&ˮ0͠7&+,͈8'&
...........................................23
Ĉ̿FWtQKFͯDÿ͡QJF˯P͡WFKL͉X...........................................................23
6˯O˱ͫFY͉FiFSK˱˯QJSKiSÿL͉XNKL͋Qÿ͡QJF˯FKL͉X....................28
6ˮ/˰ͪ&9͈Ĉ͠1*&ˮ6(592..............................................................31
2.3.1 GiͣLWKL͏Xÿ͡QJF˯VHUYR ......................................................................31
2.3.2 C̭u t̩Rÿ͡QJF˯VHUYR .........................................................................32
2.3.3 Cách thͱFKR̩Wÿ͡QJYjSK˱˯QJSKiSÿL͉XNKL͋Q ...............................32
2.4 TÌM HI͊89͈Ĉ,͈8&+͆Ĉ͠5͠1*;81*3:0.................................34
2.4.1 Tìm hi͋XY͉3:0 .................................................................................34
&iFSK˱˯QJSKiSÿL͉XFK͇ÿ͡U{QJ[XQJ3:0 ..................................35
2.5 DÃY FIBONACCI VÀ Ͱ1*'ͬ1*'ÃY FIBONACCI.............................37
2.5.1 Dãy Fibonacci ......................................................................................37
2.5.2 ͰQJGͭQJGãy Fibonacci....................................................................39
SVTH: 1J{9ăQ'L͍Q
1070993
Ĉ̿QJ+ͷX&KL͇Q 1071076

Trang 4


Nghiên cͱXYà thi͇WN͇FiFP{ÿXQFKX\ên dͭQJÿL͉XNKL͋QURERW

6ˮ/˰ͪ&3+̮10͈0&2'(9,6,21.....................................................39
&+˰ˮ1*7+,͆7.͆3+̮1 CͰ1*...............................................................43
3.1 GI͢,7+,͎86ˮ/˰ͪ&9͈3+̮1&Ͱ1*&+Ë1+ ..................................43
3.2 BOARD M̨&+7581*7Æ00$,1
......................................................43
3.2.1 ChͱF1ăQJ............................................................................................43
6˯Ĉ͛.K͙L ...........................................................................................43
3.2.3 Nguyên T̷F+R̩WĈ͡QJ........................................................................43
6˯Ĉ͛1JX\ên Lý..................................................................................45
3.2.5 K͇W/X̵Q ...............................................................................................47
3.3 BOARD M̨&+&̪0%,͆16(1625
......................................................48
3.3.1 Board M̩FK&̫P%L͇Q'ò Ĉ˱ͥQJ.......................................................48
3.3.2 Board M̩FK&̫P%L͇Q1KL͏WĈ͡9à T͕DĈ͡.......................................50
3.4 BOARD M̨&+Ĉ,͈8.+,͊1027256(592 .......................................61
3.4.1 ChͱF1ăQJ............................................................................................61
6˯Ĉ͛.K͙L ...........................................................................................61
3.4.3 Nguyên T̷F+R̩WĈ͡QJ........................................................................62
3.4.3.1 GiͣLWKL͏XWKX̵WWRiQ3,'..................................................................62
3.4.3.2 ͰQJGͭQJ3,'WURQJÿL͉XNKL͋QPRWRr .............................................66
3.4.3.3 Ho̩Wÿ͡QJFͯDÿ͡QJF˯ .....................................................................67
6˯Ĉ͛1JX\ên Lý..................................................................................68
3.4.5 K͇W/X̵Q ...............................................................................................69
3.5 BOARD M̨&+Ĉ,͈8.+,͊1Ĉ͠1*&ˮ'Ô1*'5,9(5)(7 .............69

3.5.1 ChͱF1ăQJ............................................................................................69
6˯Ĉ͛.K͙L ...........................................................................................69
3.5.3 Nguyên T̷F+R̩WĈ͡QJ........................................................................70
6˯Ĉ͛1JX\ên Lý..................................................................................70
3.5.5 K͇W/X̵Q ...............................................................................................71
3.6 BOARD M̨&+Ĉ,͈8.+,͊1Ĉ͠1*&ˮ212)) .................................71
3.6.1 ChͱF1ăQJ............................................................................................71
6˯Ĉ͛.K͙L ...........................................................................................72
3.6.3 Nguyên T̷F+R̩WĈ͡QJ........................................................................72
6˯Ĉ͛1JX\ên Lý..................................................................................72
3.6.5 K͇W/X̵Q ...............................................................................................74
&+˰ˮ1*Ͱ1*'ͬ1*7+,͆7.͆52%27'Ò Ĉ˰ͤ1*.............................75
4.1 Mͬ&7,ÊU..................................................................................................75
4.2 MÔ HÌNH PḪ1&Ͱ1*............................................................................75
5.2.1 Ph̯QF˯NKt...........................................................................................75
4.&iFPRGXOHÿL͉XNKL͋QYà robot...........................................................75
4.3 PḪ10͈0Ĉ,͈8.+,͊1 ........................................................................76
&+˰ˮ1*.͆7/8̴1 .....................................................................................77
SVTH: 1J{9ăQ'L͍Q
1070993
Ĉ̿QJ+ͷX&KL͇Q 1071076

Trang 5


Nghiên cͱXYà thi͇WN͇FiFP{ÿXQFKX\ên dͭQJÿL͉XNKL͋QURERW

5.1 K͆748̪7+͸&+,͎19À Ͱ1*'ͬ1* ..................................................77
5.2 NHͶ1*0̾7+̨1&+͆&ͮ$+͎7+͘1* .............................................77
5.3 KI͆11*+͒.................................................................................................77

PHͬ/ͬ& .............................................................................................................78
PHͬ/ͬ&$ ......................................................................................................78
PHͬ/ͬ&% ......................................................................................................86
PHͬ/ͬ&& ......................................................................................................91
TÀI LI͎87+$0.+̪2.......................................................................................97

SVTH: 1J{9ăQ'L͍Q
1070993
Ĉ̿QJ+ͷX&KL͇Q 1071076

Trang 6


Nghiên cͱXYà thi͇WN͇FiFP{ÿXQFKX\ên dͭQJÿL͉XNKL͋QURERW

MӨ&/Ө&+ÌNH
Hình 2.1 S˯ÿ͛FKkQFͯD$VR 128 ............................................................................... 15
Hình 2.2 C̭XWU~FYLÿL͉XNKL͋Q$WPHJD ............................................................... 17
Hình 2.3 B͡QKͣFK˱˯QJWUình có và không có s͵GͭQJERRWORDGHU.......................... 18
Hình 2.4 B͡QKͣGͷOL͏X................................................................................................ 20
Hình 2.5 Ĉ͡QJF˯'&ÿL͋QKình .................................................................................. 23
Hình 2.6 Các lo̩Lÿ͡QJF˯P͡WFKL͉XWK{QJGͭQJ ....................................................... 24
Hình 2.7 M̩FKW˱˯QJÿ˱˯QJFK͇ÿ͡WƭQKFͯDÿ͡QJF˯'& ......................................... 25
Hình 2.8 Ĉ̿FWtQKF˯FiFOR̩Lÿ͡QJF˯'&................................................................... 27
Hình 2.9 Các ÿ̿FWtQKF˯NKLÿL͉XNKL͋QÿL͏QiSSK̯QͱQJFͯDÿ͡QJF˯'& ............ 29
Hình 2.10 Ĉ̿FWtQKÿ͡QJF˯'&NKLWKrPÿL͏QWUͧSKͭYào ph̯Q .............................. 31
Hình 2.11 Ĉ͡QJF˯YHUYRÿL͋n hình.............................................................................. 31
Hình 2.12 Gi̫Qÿ͛[XQJNtFKÿ͡QJF˯VHUYR ................................................................ 33
Hình 2.13 S˯ÿ͛[XQJOtW˱ͧQJ...................................................................................... 34
Hình 2.14 S˯ÿ͛ÿL͉XFK͇3:0Gùng ph̯QFͱQJ ....................................................... 35

Hình 2.15 M̩FKÿL͉XFK͇3:0V͵GͭQJ,&......................................................... 36
Hình 2.16 Bi͋XGL͍QWͽO͏Yàng ij................................................................................... 39
Hình 2.17 Giao di͏QFK˱˯QJWUình codevision ............................................................. 40
Hình 2.18 Giao di͏QQHZ3URMHFW .................................................................................. 41
Hình 2.19 Giao di͏QFK͕QWK{QJV͙O̵SWUình............................................................... 41
Hình 2.20 Giao di͏QO̵SWUình ....................................................................................... 42

Hình 3.1 S˯ÿ͛NK͙LPRGXOHÿL͉XNKL͋QWUXQJWkP...................................................... 43
Hình 3.2 Kh͙LQJX͛QFXQJF̭Scho m̩FKÿL͉XNKL͋Q ................................................. 45
Hình 3.3 Kh͙LJLDRWL͇SPàn hình LCD ....................................................................... 45
Hình 3.4 Kh͙LJLDRWL͇SPi\WtQK.................................................................................. 45
Hình 3.5 S˯ÿ͛QJX\ên lý m̩FKÿL͉XNKL͋QWUXQJWkP ................................................ 46
Hình 3.6 Board m̩FKFK˱DFyOLQKNL͏Q ...................................................................... 47
Hình 3.7 Board m̩FKWKành s̫QSḴP ........................................................................ 47
SVTH: 1J{9ăQ'L͍Q
1070993
Ĉ̿QJ+ͷX&KL͇Q 1071076

Trang 7


Nghiên cͱXYà thi͇WN͇FiFP{ÿXQFKX\ên dͭQJÿL͉XNKL͋QURERW
Hình 3.8 S˯ÿ͛NK͙LP̩FKF̫PEL͇QGò ÿ˱ͥQJ ........................................................... 48
Hình 3.9 S˯ÿ͛P̩FKF̫PEL͇QGò ÿ˱ͥQJ .................................................................... 49
Hình 3.10 Board m̩FKFK˱DFyOLQKNL͏Q .................................................................... 50
Hình 3.11 Board m̩FKWKành s̫QSḴP ...................................................................... 50
Hình 3.12 S˯ÿ͛NK͙L,&ÿL͉XNKL͋QQKL͏Wÿ͡'6% .............................................. 52
Hình 3.13 S˯ÿ͛NK͙LFͯD00$47...................................................................... 52
Hình 3.14 S˯ÿ͛F̫m bi͇QQKL͏Wÿ͡Yà c̫PEL͇QW͕Dÿ͡............................................... 59
Hình 3.15 S˯ÿ͛ERDUGF̫PEL͇QW͕Dÿ͡........................................................................ 60

Hình 3.16 Board m̩FKFK˱DFyOLQKNL͏Q .................................................................... 60
Hình 3.17 Board m̩FKWKành s̫QSḴP ...................................................................... 61
Hình 3.18 S˯ÿ͛NK͙LERDUGÿL͉XNKL͋Qÿ͡QJF˯VHUYR ................................................ 62
Hình 3.19 Tr̩QJWKiLFiFFKkQ,QYà En cͯD,&/.................................................. 67
Hình 3.20 S˯ÿ͛QJX\ên lý m̩FKÿL͉XNKL͋Qÿ͡QJF˯ ................................................. 68
Hình 3.21 Board m̩FKFK˱DFyOLQKNL͏Q .................................................................... 69
Hình 3.22 Board m̩FKWKành s̫QSḴP ...................................................................... 69
Hình 3.23 S˯ÿ͛NK͙LP̩FKÿL͉XNKL͋Qÿ͡QJF˯driver fet .......................................... 70
Hình 3.24 S˯ÿ͛QJX\ên lý m̩FKÿL͉XNKL͋QPRWRUGùng driver fet ........................... 70
Hình 3.25 Board m̩FKFK˱DFyOLQKNL͏Q .................................................................... 71
Hình 3.26 Board m̩FKWKành s̫QSḴP ...................................................................... 71
Hình 3.27 S˯ÿ͛NK͙LERDUGÿL͉XNKL͋Qÿ͡QJF˯RQRII............................................... 72
Hình 3.28 S˯ÿ͛QJX\ên lý m̩FKÿL͉XNKL͋QPRWRU212))..................................... 73
Hình 3.29 Board m̩FKFK˱DFyOLQKNL͏Q .................................................................... 73
Hình 3.30 Board m̩FKWKành s̫QSḴP ...................................................................... 74
Hình 4.1 Mô hình m̳XFKRURERW ................................................................................. 75
Hình 4.2 Robot th͵QJKL͏PKRàn ch͑nh....................................................................... 76

SVTH: 1J{9ăQ'L͍Q
1070993
Ĉ̿QJ+ͷX&KL͇Q 1071076

Trang 8


Nghiên cͱXYà thi͇WN͇FiFP{ÿXQFKX\ên dͭQJÿL͉XNKL͋QURERW

MӨ&/Ө&%Ҧ1*
B̫QJ&iFSK̯QW͵ÿ̯XWLên trong dãy Fibonacci ................................................... 38
B̫QJĈ͓QKG̩QJJLiWU͓QKL͏Wÿ͡O˱XNKLÿ͡SKkn gi̫LOà 12bits........................... 53

B̫QJ4XDQK͏JLͷDQKL͏Wÿ͡Yà giá tr͓O˱XWURQJE͡QKͣͧÿ͡SKkQJL̫LELWV... 54
B̫QJ&iFJLiWU͓WKL͇WO̵Sÿ͡QK̩\F̫PFKRF̫PEL͇Q ........................................... 56

SVTH: 1J{9ăQ'L͍Q
1070993
Ĉ̿QJ+ͷX&KL͇Q 1071076

Trang 9


Nghiên cͱXYà thi͇WN͇FiFP{ÿXQFKX\ên dͭQJÿL͉XNKL͋QURERW
M͠76͘7Ͳ9,͆77̶7Ĉ˰ͪ&'ÙNG

1

AC

Alternating Current

2

ADC

Analog to Digital Converter

3

ASCII

American Standard Code for Information Interchange

4

ASIC

Application Speciic Integrated Circuit

5

CPU

Central Processing Unit

6

DC

Direct Current

7

EEPROM

Electrically Erasable Programmable ROM

8

HVAC

Heating,Ventilating,and Air Conditioning

9

I/O

Input/Output

10 IC

Integrated Circuit

11 IDE

Integrated Development Environment

12 LCD

Liquid Crystal Display.

13 MCU

Microprocessor Control Unit

14 PWM

Pulse Witchh (Wide)Modulation

15 RAM

Random Access Memory

16 ROM

Read Only Memory

17 TTL

Transistor Transistor Logic

18 TXD

Transmitting Diagnosis line

19 UART

Universal Asynchronous Receiver Transmitter

SVTH: 1J{9ăQ'L͍Q
1070993
Ĉ̿QJ+ͷX&KL͇Q 1071076

Trang 10


Nghiên cͱXYà thi͇WN͇FiFP{ÿXQFKX\ên dͭQJÿL͉XNKL͋QURERW

TÓM TҲ7
ĈӅWài: Nghiên cӭXYà thiӃWNӃFiFmodule chuyên dөQJÿLӅXNKLӇQ5RERW
ÿѭӧFWKӵFKLӋQYӟL PөFWLêu thiӃWNӃÿѭӧFFiF moduleÿӇӭQJGөQJÿLӅX khiӇQ
các hoҥWÿӝQJFӫDURERW/XұQYăQQj\ÿѭӧFWKӵFKLӋQGӵDWUên viӋFWìm hiӇXYӅ

cҩXWU~FYà hoҥWÿӝQJFӫD các linh kiӋQFKX\ên dөQJYà chíp Atmega 128.
VӟL ÿӅ Wài này, chúng tôi nghiên cӭX FiF module OLrQ TXDQ  QKѭ VDX
Module mҥFKÿLӅXNKLӇQWUXQJWkPVӱGөQJFKtS$WPHJDmodule các mҥFK
ÿLӅXNKLӇQÿӝQJFѫQKѭGULYHUdùng fetÿӇOiLÿӝQJFѫÿӝQJFѫVHUvo và mҥFK
ÿLӅXNKLӇQ on/off, module mҥFKFҧPELӃQGò ÿѭӡQJmodule mҥFKFҧPELӃQÿR
nhiӋWÿӝYà cҧPELӃQWӑDÿӝ
Do thӡLJLDQWKӵFKLӋQOXұQYăQFyKҥQQên chúng tôi thiӃWNӃFiF module
mҥFKFKѭDәQÿӏQKQKѭPRQJPXӕQ. Tuy nhiên, hy vӑQJQJKLên cӭXQày sӁJyS
phҫQFҧLWLӃQYà mӣUDKѭӟQJÿLPӟLFKRSKRQJWUjRURERFRQĈҥLKӑF&ҫQ7Kѫ
trong nhӳQJQăPVҳSWӟL

ABSTRACT
“Nghien cuu va thiet ke cac mo dun chuyen dung dieu khien Robot” has
been done with modules controlling applications of robot operations. This thesis
is based on understanding the structure and operation of specialized components
and Atmega 128 chip.
With this thesis, we studied and designed modules related to: Module
central controller using Atmega 128 chip; motor control circuit modules such as
FET-based motor driver, servo motor driver and on/off control circuit; line
detection sensors; temperature measuring circuit and 3 dimension coordinate
positioning circuit.
Because of the time for thesis is limited, we faced some problems in
circuit design and modules are not work well as we wish. However, we hope this
research will support robocon teams of Can Tho University in the future.

SVTH: 1J{9ăQ'L͍Q
1070993
Ĉ̿QJ+ͷX&KL͇Q 1071076

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Nghiên cͱXYà thi͇WN͇FiFP{ÿXQFKX\ên dͭQJÿL͉XNKL͋QURERW

LӠ,0ӢĈҪ8
ThiӃW NӃ URERW Oà lƭQK YӵF KҩS GүQ WKX K~W QKLӅX ÿӕL WѭӧQJ WKDP JLD
Robocon là viӃWWҳWFӫD5RERW&ontest, chӍQKӳQJORҥLURERWcon chuyên làm mӝW
sӕF{QJYLӋF nhҩWÿӏQKQKѭÿiEyQJOHRWUqRJҳSÿӗYұW«0ӛLQăPÿӅXcó mӝW
cuӝFWKLWKLӃWNӃURERFRQGành cho sinh viên khӕL QJành kӻWKXұWÿLӋQWӱ
FӫD
FiF WUѭӡQJ ÿҥL KӑF WURQJ QѭӟF YӟL chӫ ÿӅ mӛL QăP khác nhau, vì vұ\ URERW ӣ
tӯQJQăPFNJQJNKiFQKDXFyWKLӃWNӃYà chӭFQăQJNKiFQKDXWùy theo chӫÿӅ
ĈӇWKLӃWNӃÿѭӧFPӝWFRQURERFRQKRàn thiӋQKRҥWÿӝQJWӕWQJRài viӋFWD
TXDQ WkP ÿӃQ YҩQ ÿӅ WKLӃW NӃ Fѫ NKt VDR FKR URERFRQ Fy WKӇ KRҥW ÿӝQJ WӕW ÿiS
ӭQJ YӟL yêu cҫX ÿӅ UD PRGXOH ÿLӅX NKLӇQ URERFRQ FNJQJ UҩW TXDQ WUӑQJ &iF
URERFRQWK{QJWKѭӡQJÿӅXFyFiFPRGXOHÿLӅXNKLӇQWѭѫQJWӵQKDXFiFPRGXOH
giao tiӃSF{QJVXҩWFҧPELӃQ«

ĈӇWKXұQOӧLFKRYLӋFWKDPJLDFXӝFWKLWKLӃWNӃURERFRQKàQJQăPYjÿѭD
robocoQFjQJQJj\ÿѭӧFӭQJGөQJÿiSӭQJQKXFҫXWKӵFWLӇQÿӡLVӕQJYӟLVӵ
ÿDPPrQJKLrQFӭXURERFRQYà là sinh viên theo hӑFQJành kӻWKXұWÿLӅXNKLӇQ
Nên viӋFWKLӃWNӃFiFPRGXOHFKX\ên dөQJFyWKӇiSGөQJWUên nhiӅXORҥLURERFRQ
là mӝWFѫKӝLWӕWSKiWKX\NhҧQăQJViQJWҥRYà vұQGөQJQKӳQJNLӃQWKӭFÿã hӑF
vào viӋFQJKLên cӭX

SVTH: 1J{9ăQ'L͍Q
1070993
Ĉ̿QJ+ͷX&KL͇Q 1071076

Trang 12

Nghiên cͱXYà thi͇WN͇FiFP{ÿXQFKX\ên dͭQJÿL͉XNKL͋QURERW

&+ѬѪ1**,Ӟ,7+,ӊ8Ĉӄ7ÀI
ĈҺ79Ҩ1Ĉӄ
Trong thӡLÿҥLF{QJQJKLӋSQJj\QD\URERWQJj\FjQJÿѭӧFVӱGөQJSKә
biӃQ WURQJ OƭQK YӵF VҧQ [XҩW JLҧL WUt FNJQJ QKѭ WURQJ FuӝF Vӕng nhҵP WKD\ WKӃ
công viӋFFӫDFRQQJѭӡLWӯÿѫQJLҧQÿӃSKӭFWҥS1JRjLUD5RERWÿã có mӝWYӏWUt
khá quan trӑQJNKyWKD\WKӃÿѭӧFJL~SFRQ QJѭӡLWURQJQKLӅXOƭQKYӵFNK{QJ
gian, quân sө \WӃJLҧLWUt«OƭQKYӵF5RERFRQÿDQJQJày càng chiӃPÿѭӧFVӵ
quan tâm cӫDÿ{QJÿҧRVLQKYLên, chҷQJULêng sinh viên khӕLNӻWKXұWPà nó còn
cuӕQK~WFҧJLӟLVLQKYLên thuӝFNKӕLFKX\ên ngành khác. Bên cҥQKYLӋFWKLӃWNӃ
FѫNKtVDRFKRURERWFyWKӇKRҥWÿӝQJPӅPGҿRYà phù hӧSYӟLWӯQJ\êu cҫXWKì
vҩQÿӅWKLӃWNӃFiFPRGXOHÿLӅXNKLӇQFNJQJÿѭӧFTXDQWkP
1.2 MӨ&7,Ç8Ĉӄ7ÀI
VӟLQKӳQJ\êu cҫXWUrQÿӅWjLÿһWUD\êu cҫXOà nghiên cӭXYà thiӃWNӃFiF
PRGXOHÿLӅXNKLӇQFKRURERWVDRFKRFyWKӇiSGөQJWUên nhiӅXORҥLURERWNKiF
QKDX 0j ÿLӅX Qày sӁ OjP WăQJ WtQK WLQ Fұ\ PӭF ÿӝ FKX\ên nghiӋS FӫD FiF
module khi thiӃWNӃURERWÿһFELӋWWURQJYҩQÿӅQJKLên cӭXYà hӑFWKXұWFӫDVLQK
viên.
Nhóm em sӁQJKLên cӭXYà thiӃWNӃFiFORҥLPRGXOHÿLӅXNKLӇQFѫEҧQPà
tҩWFҧFiFORҥLURERWFҫQSKҧLFyPRGXOHJLDRWLӃSPRGXOHÿLӅXNKLӇQÿӝQJFѫ
module cҧPELӃQ«

Module giao tiӃSJӗPFiFFKӭFQăQJ
NҥSWUình trӵFWLӃSEҵQJFKXҭQ,63KRһFGùng mҥFKQҥS67.

Giao tiӃSÿѭӧFYӟL3&WK{QJTXDFKXҭQ56
Bàn phím 4x4.

Màn hình LCD(giao tiӃSELW

CәQJÿLӅXNKLӇQPRWRU'&QJõ PWM, 4 ngõ ON/OFF), cách ly
vӅÿLӋQEҵQJRSWR
CәQJQKұQFҧPELӃQSRUWSLQGLJLWDO
QJõ vào có bҧRYӋEҵQJ
opto, 4 pin (analog)).
CәQJQKұQHQFRGHUFәQJPӛLFӛQJSLQ

Có cәQJNӃWQӕLNK{QJGk\YӟL
SVTH: 1J{9ăQ'L͍Q
1070993
Ĉ̿QJ+ͷX&KL͇Q 1071076

Trang 13