M U

Thit b iu khin t ng cng nghip l mn hc chuyn ngnh quan trng i vi sinh vin ngnh in- T ng ha. Hc ph n cung cp kin thc c bn v chuyn su v h thng iu khin t ng cng nghip; nguyn l vn hnh cc h thng iu khin trong cng nghip; cch s dng thit b cng sut v chp hnh, cung cp kin thc v cc b iu khin kh trnh v phng php lp trnh n; cung cp phng php tm kim, tra cu ti liu, catalog ca thit b; cc v d v ng dng c th v thit b v h thng t ng trong cng nghip. Ngoi ra mn hc cn cung cp cc k nng c bn sinh vin c kh nng s dng cc thit b t ng cng nghip trong thc t thit k mt h thng sn xut t ng. Bi ging gm 5 chng : Chng 1 : Tng quan v h thng iu khin t ng cng nghip Chng 2 : Thit b iu khin theo lut PID Chng 3 : Thit b cng sut v chp hnh Chng 4 : B iu khin kh trnh trong cng nghip Chng 5 : K thut lp trnh S7 300

Chng 1 TNG QUAN V H THNG IU KHIN T NG CNG NGHIP 1.1. Nhu cu v hiu qu ca vic p dng h thng iu khin t ng cng nghip Xu th pht trin ca khoa hc k thut ngy nay l ng dng k thut in t, k thut tin hc, c kh chnh xc thc hin t ng ho. T ng ho c p dng cho tng my, t hp my n c dy chuyn cng ngh, c nh my v tin ti t ng ho c mt ngnh sn xut. Trong qu trnh pht trin ca t ng ho, lng thng tin trao i gia ngi vi my, gia my vi my khng ngng tng ln. Ngy nay sn xut mt sn phm c cht lng tt ngi ta phi khng ch iu chnh hng chc hng trm thng s, ch tiu kinh t k thut khc nhau. iu khin mt phn xng mt x nghip hot ng nhp nhng, ngi iu khin qun l hng ngy hng gi phi thu thp v x l mt lng thng tin rt ln v k thut, kinh t, nhu c u th trng, v.v iu khin mt ngnh sn xut, ra c cc quyt nh chnh xc kp thi thng thng ngi ta phi x l qua nhiu cp rt nhiu thng tin khc nhau. Nu vic x l cc thng tin khng chnh xc khng kp thi s dn n quyt nh sai l m gy tn hi ln cho sn xut. thu thp, gia cng, x l, truyn ti v tng tr thng tin thng thng chng ta phi s dng mt b my rt ng ngi ghi chp, thng k, bo co rt phc tp nng n v chm chp. T khi my tnh ra i, tnh hnh ni trn thay i c bn. My tnh c dng nh mt thit b iu khin vn nng c t trc tip trong dy chuyn cng ngh iu khin cc thng s k thut. Hn th na my tnh cn c dng trong h thng iu khin, qun l qu trnh cng ngh, qu trnh sn xut thu thp x l mt khi lng ln cc thng tin kinh t- k thut nhm tr gip con ngi iu khin ti u qu trnh sn xut. Nh vy nh c my tnh ngi ta xy dng cc h thng iu khin t ng qu trnh cng ngh. Nu nh c kh ho gim nh sc lao ng chn tay ca con ngi th t ng ho khng nhng gim nh sc lao ng chn tay m c lao ng tr c ca con ngi. iu ny lm cho t ng ho tr thnh c trng ca nn cng nghip hin i. Cc h thng iu khin t ng ha qu trnh sn xut a li hiu qu kinh t x hi r rt: nng cao cht lng sn phm, tng nng sut lao ng, h gi thnh sn phm, s dng hp l nguyn liu v nng lng, gim s ngi khng trc tip sn xut. v.v. Do tnh hiu qu ca n nn ngy nay h thng iu khin t ng ha qu trnh sn xut c ng dng vo h u ht cc lnh vc kinh t quc dn. Nh tha hng

c cc tin b k thut v in t, tin hc, t ng, my tnh.v.v. cc h thng iu khin t ng ha qu trnh sn xut ngy cng m nhim c nhiu chc nng nhng kch thc ngy cng gn nh v vn hnh thun tin. 1.2. Mt vi khi nim c bn v h thng iu khin t ng Mt vi khi nim c tnh cht chung nht ca k thut iu khin trong cc nghnh khoa hc khc nhau. Khng k n c im c th, nguyn l tc ng v cng dng ca cc h thng , cc khi nim l: - i tng iu khin: L cc thit b to ra i lng vt l theo yu c u ca cng ngh. - Thit b iu khin: L thit b gia cng tn hiu iu khin tc ng vo i tng iu khin (TK). - Tn hiu iu khin: L tn hiu ph hp tc ng vo TK. - iu khin: L tp hp tt c cc tc ng c thc hin ln i tng c n iu khin theo mt nguyn tc, mt quy lut no nhm tho mn cc yu c u t ra. - Mt h thng khng c s tham gia trc tip ca con ngi trong qu trnh iu khin c gi l h thng iu khin t ng. Mt cch tng qut h thng iu khin t ng c m t bi s khi sau: f(t) u(t)
TBK

x(t)

TK

y(t)

Trong : TBK: Thit b iu khin, c nhim v tc ng ln i tng iu khin t heo mt qui lut no tho mn yu c u cng ngh. TK: i tng c n iu khin (C cu chp hnh), l tp hp nhng phng tin k thut nh my mc, thit b, kh c...chu nhng tc ng no t c mc ch iu khin ra. u(t) : Tn hiu vo y(t) : Tn hiu ra. x(t) : Tn hiu iu khin tc ng ln i tng. f(t) : Tn hiu nhiu lon tc ng vo h thng. - Tn hiu: l mt hm s ph thuc thi gian mang thng tin v cc thng s k thut v c truyn ti bi cc i lng vt l. - H n iu: l h m i lng
dy khng o du. dt

dy c o du. dt - Phn hi: L mi lin h ngc trch mt ph n nng lng u ra quay li khng ch u vo. Bao gm cc loi phn hi sau: - Phn hi m: l mi lin h phn hi m tn hiu phn hi v tn hiu t lun ngc du nu l mt chiu v ngc pha nu l xoay chiu, c tc dng gi n nh cho h. - Phn hi dng: l mi lin h phn hi m tn hiu phn hi v tn hiu t lun cng du nu l mt chiu v cng pha nu l xoay chiu, c tc dng nng cao h s khuych i v to nn h t kch. - Phn hi cng: l mi lin h phn hi m n tham gia lm vic trong h c ch qu v ch xc lp nhng hiu qu c bn l ch xc lp cn ch qu t hiu qu (thng b qua), c tc dng nng cao cht lng xc lp. to phn hi cng phi dng cc thit b c tnh t l nh my pht tc, can nhit, mch in t... - Phn hi mm: l mi lin h phn hi m n tham gia lm vic trong h ch qu cn ch xc lp khng tham gia, c tc dng nng cao cht lng qu . to phn hi mm phi dng cc thit b c tnh vi, tch phn nh mch R-C; R-L, c u mm (c u ng), bin p vi phn... T hp ca bn loi phn hi trn to ra: Phn hi m cng, dng mm, m mm, dng cng tu theo tng trng hp thc t vi yu c u c th. 1.3. Nhng nguyn tc iu khin c bn 1.3.1.Nguyn tc iu khin theo sai lch: L nguyn tc m tn hiu iu khin x(t) c thnh lp da trn s sai lch ca lng ra thc t so vi yu c u (t u vo). x(t) = f[y(t) - u(t)] = f[e(t)] S cu trc nh sau:
- H n iu: l h m i lng u(t)
(-)

e(t)

TBK

x(t) TK

y(t)

TB o lng v chuyn i tn hiu

1.3.2.Nguyn tc iu khin theo nhiu lon (b nhiu): L nguyn tc m tn hiu iu khin x(t) c thnh lp da trn o tn hiu nhiu v to hm iu khin kh nhiu u ra. x(t) = f[f(t)]

Nhng h thng c xy dng theo nguyn tc ny l nhng h thng h (khng c phn hi ). S cu trc nh sau:
TBK

TB 1 f(t) TB 2 x(t) TK y(t)

Trong : TB 1 l thit b o nhiu. TB 2 l thit b to ra tn hiu iu khin x(t). 1.3.3.iu khin hn hp (theo sai lch v b nhiu): L nguyn tc m tn hiu iu khin x(t) c thnh lp da vo s tng hp ca hai phng php trn. x(t) = f[e(t),f(t)] S cu trc tng qut nh sau:
TB b

f(t) x(t)
TK

u(t)

(-)

y(t)

TBK
(-)

TB o lng v chuyn i tn hiu

1.4.Phn loi cc h thng t ng: H thng iu khin t ng rt a dng, tu thuc vo cc quan im khi phn loi m ta c cc cch phn loi khc nhau. Phn loi theo nhim v: - H iu khin gi n nh: l h khi lng vo l gi tr t trc (ch o) th lng ra bin i xung quanh gi tr yu c u vi sai lch no . V d h iu khin t ng gi n nh in p u ra my pht; h t ng gi n nh nhit l; h t

ng gi n nh tc trn trc ng c... to ra h iu khin ny ta phi dng phn hi m v gi n nh i lng vt l no ta dng phn hi i lng . - H iu khin theo chng trnh: l h thng khi lng vo bin i theo quy lut no th lng ra cng bin i theo qui lut y. Qui lut vo c gi l chng trnh iu khin, n c th l qui lut theo khng gian hoc thi gian, c th l lin tc hoc ri rc theo thi gian. Hin nay qui lut c to nn do ph n mm iu khin. - H iu khin tu ng: l lng ra bin i theo ng qui lut ca lng vo nhng lng vo l hm bt k ca khng gian v thi gian hon ton khng bit trc, to ra h ny phi gm hai ph n: + H iu khin theo chng trnh. + Thit b o cc i lng vt l thc t v gia cng to chng trnh iu khin u vo. V d: h iu khin theo hng ca raa, cc h iu khin xe t hnh... Phn loi theo phng php tc ng: - H iu khin trc tip: l h ch c thit b o lng v c cu iu khin, vi u im l n gin nhng nhc im l sai s iu khin ln nn n ph hp vi thit b gia nh nh bn l, ni cm in, t lnh... - H iu khin khng trc tip: l h ngoi thit b o lng v c cu iu khin cn c khu khuych i trung gian (khuych i sai lch) c u im l chnh xc cao nn thng l cc h iu khin dng trong cng nghip. Phn loi theo nguyn tc tc ng: - H iu khin lin tc: l h m tn hiu c x l trong h l tn hiu lin tc theo thi gian, thit b s dng trong h l thit b tng t v tnh ton theo h thp phn. - H iu khin ri rc ( h iu khin xung -s): l h ch c n c mt tn hiu trong h l hm ri rc theo thi gian. Thit b c s dng trong h c thit b s v tnh ton theo h nh phn. - H iu khin Rle: l h m trong n tn ti ph n t lm vic theo c tnh rle. Theo m t ton hc: - H tuyn tnh: l h trong qu trnh lm vic thng s ca cc ph n t khng thay i hay l h thng c cc ph n t c m t bi phng trnh vi phn tuyn tnh. c trng c bn ca h tuyn tnh l chu tc ng ca nguyn l xp chng. - H phi tuyn: l h trong qu trnh lm vic ch c n mt thng s no bin i hoc c t nht mt ph n t trong h l phi tuyn. H phi tuyn khng chu tc ng ca nguyn l xp chng.

 Phn loi theo mch vng: - H thng h ( khng c phn hi) - H thng c mt mch vng. - H thng c nhiu mch vng. Theo kh nng thch nghi: - H khng t ng thch nghi: khi mi trng thay i tc ng vo h thng th c tnh ca h khng thay i. - H t ng thch nghi: t chnh nh cc bin i ca bn ngoi nh hng n h thng v n t chn ch thch ng. Theo kh nng nhn tin tc: - H tin nh: l h thng m cc lng tc ng vo h bit trc. - H khng tin nh (h ngu nhin) : nhng thng tin v cc lng tc ng vo h thng hon ton ngu nhin. Theo sai lch: - H v sai tnh : l h khi kt thc qu trnh iu khin e(t) 0 . - H hu sai: l h khi kt thc qu trnh iu khin e(t) 0 Theo dng tiu th nng nng: h iu khin in, c, kh nn, thu lc .... 1.4.Cc v d v h thng iu khin t ng trong thc t 1.4.1 H thng iu khin ng c ng c (AC, DC) l thit b truyn ng c s dng rt ph bin trong cc nh my v dy chuyn sn xut. C ba bi ton iu khin ng c thng gp: iu khin tc , iu khin v tr v iu khin moment. Trong thc t ta gp ba bi ton iu khin ng c : - iu khin tc my git quay thun nghch v thay i tc . - iu khin thang my di chuyn tnh tin ln xung. - iu khin bng ti chy vng trn. -

Hnh 1.1. ng dng iu khin ng c

1.4.2 H thng iu khin nhit : Nhit l i lng tham gia vo nhiu qu trnh cng ngh nh: sn xut xi mng, gch men, nha, cao su, ha d u, ch bin thc phm, Mc tiu iu khin l gi cho nhit n nh (iu khin n nh ha) hay iu khin nhit thay i theo c tnh thi gian nh trc (iu khin theo chng trnh).

Hnh 1.2.S h thng n nh nhit

Hnh 1.3. Nh my xi mng v nh my giy H thng iu khin l nhit bao gm: i tng iu khin: nhit trong l nhit vi yu c u phi c gi cho n n nh theo gi tr yu c u. B iu khin l mt thit b t ng c ch to lm vic theo chc nng v yu c u thc t nh chuyn nhit t l nhit v hin th ln mn hnh hin th v gi tn hiu iu khin iu khin l nhit n nh nhit . Cm bin: c dng l loi cm bin nhit.

Hnh 1.4. H thng iu khin l nhit.

1.4.3 H thng iu khin mc cht lng S mch iu khin:

Hnh 1.5.B iu khin mc cht lng. i tng iu khin: H thng iu khin mc cht lng thng gp trong cc qu trnh cng nghip nh ch bin thc phm, nc gii khc, cc h thng x l

nc thi - B iu khin: iu khin mc cht lng, iu khin lu lng cht lng. - Cm bin c dng cc loi cm bin o mc cht lng: Cm bin o dch chuyn: bin tr, encoder.Cm bin p sut. Cm bin in dung. M hnh iu khin mc cht lng trong phng th nghim:

Hnh 1.6 M hnh b iu khin mc cht lng 1.4.4 ng dng trong iu khin robot cng nghip: S cu thnh mt mt robot cng nghip chuyn dng cng bao gm ba ph n chnh: b iu khin, i tng iu khin (cch tay robot), cm bin. Ngoi ra n cn c thm cc thnh ph n h tr nh hnh

Hnh 1.7 S cu thnh mt mt robot cng nghip chuyn dng.

Robot hn im. Robot phu thut. Hnh 1.8. Robot hn im v Robot phu thut Theo s tin b ca khoa hc k thut, cc Robot ngy cng c ch to nh gn hn, thc c nhiu chc nng hn, thng minh hn. Robot song song 6 bc t do Merlet.

Hnh 1.9.Robot song song 6 bc t do. Robot c s dng trong cng on cp liu v lp rp:

Hnh 1.10. Robot trong cng on cp liu v lp rp

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Cc ng dng Robot trong cc lnh vc thm him, qun s, v tinh:

Hnh 1.11. Robot trong lnh vc thm him v v tr 1.5. Kt lun Trong i sng hng ngy v trong sn xut hng ha chng ta c th thy xung quanh mnh c rt nhiu ng dng iu khin t ng, t nhng c cu iu khin qut bn t quay ti nhng dy chuyn sn xut t ng phc tp. ng dng iu khin t ng len li vo cuc sng con ngi v gip con ngi to c cho mnh cuc sng vn minh v gi u c hn. Cho n nay vi nhiu cng ngh khc nhau, nhiu h thng iu khin t ng phc tp c thit k v s dng phc v i sng con ngi. Chng ta hy th nhn khi qut s pht trin cc h thng t ng thy c con ngi t c nhng thnh qu nh th no. iu khin t ng c ng dng vo nhiu ngnh khc nhau v nhiu h thng iu khin chuyn nghip khc nhau c ra i. Chng ta c th lit k mt s nhng ng dng chnh nh: cc h thng iu khin ca cc nh my nhit in, thu in; h thng t ng trong cc nh my sn xut thc phm nh Coca cola, sa, sn xut ng, cc nh my lp rp t, robot; cc nh my sn xut vt liu xy dng nh xi mng, sn xut knh, gch men; cc h thng iu khin trong ngnh hng khng v v tr, h thng iu khin in t nhng dng trong cng nghip ch to v trong i sng hng ngy, h thng iu khin phng tin giao thng trn mt t, ng dng trong y hc, iu khin tn la, iu khin phng tin trn bin, iu khin cc qu trnh sn xut trong cng nghip, r bt v c in t, h thng sn xut trong lnh vc cng ngh cao nh sn xut, lp rp cc h thng vi mch v.v...

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Chng 2 THIT B IU KHIN THEO LUT PID 2.1. Gii thiu Mt b iu khin vi tch phn t l (b iu khin PID- Proportional Integral Derivative) l mt c ch phn hi vng iu khin (b iu khin) tng qut c s dng rng ri trong cc h thng iu khin cng nghip b iu khin PID c s dng ph bin nht trong s cc b iu khin phn hi. Mt b iu khin PID tnh ton mt gi tr "sai s" l hiu s gia gi tr o thng s bin i v gi tr t mong mun. B iu khin s thc hin gim ti a sai s bng cch iu chnh gi tr iu khin u vo. Trong trng hp khng c kin thc c bn v qu trnh, b iu khin PID l b iu khin tt nht. Tuy nhin, t c kt qu tt nht, cc thng s PID s dng trong tnh ton phi iu chnh theo tnh cht ca h thng-trong khi kiu iu khin l ging nhau, cc thng s phi ph thuc vo c th ca h thng. 2.2. Tng quan b iu khin PID B iu khin PID l mt b iu khin vng kn c s dng rng ri trong cng nghip. S dng b iu khin PID iu chnh sai lch gia gi tr o c ca h thng (process variable) vi gi tr t (setpoint) bng cch tnh ton v iu chnh gi tr iu khin ng ra. S mt h thng iu khin dng PID:

Hnh 2.1. S h thng iu khin dng PID Mt b iu khin PID gm 3 thnh ph n: P (proportional) to tn hiu iu khin t l vi sai lch (error e), I (integral) to tn hiu iu khin t l vi tch phn theo thi gian ca sai lch, v D (derivative) to tn hiu iu khin t l vi vi phn theo thi gian ca sai lch. 2.2.1. Khu P Khu P to ra tn hiu iu khin t l vi gi tr ca sai lch. Vic ny c thc hin bng cch nhn sai lch e vi hng s KP gi l hng s t l.

Khu P c tnh da trn cng thc:

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Pout: gi tr ng ra KP: hng s t l e: sai lch: e = SP PV S khi ca khu P:

Hm truyn:

Gp (s) = K p

Nu ch c khu P th trong mi trng hp sai s tnh lun xut hin, tr khi gi tr u vo ca h thng bng 0 hoc bng vi gi tr mong mun. Trong hnh sau th hin sai s tnh xut hin khi thay i gi tr t.

Hnh 2.2.p ng ca khu P Nu gi tr khu P qu ln s lm cho h thng mt n nh. 2.2.2. Khu I Khu I cng thm tng cc sai s trc vo gi tr iu khin. Vic tnh tng cc sai s c thc hin lin tc cho n khi gi tr t c bng vi gi tr t, v kt qu l khi h cn bng th sai s bng 0.

Khu I c tnh theo cng thc:

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Vi: Iout: gi tr ng ra khu I Ki: h s tch phn e: sai s: e = SP PV S khi khu I:

Hm truyn:

G(s) =

U(s) KI 1 = = E(s) s TI.s

Khu I thng i km vi khu P, hp thnh b iu khin PI. Nu ch s dng khu I th p ng ca h thng s chm v thng b dao ng. Hnh sau ch ra s khc bit gia khu I v PI:

Hnh 2.3. p ng ca khu I v PI Ta c th nhn thy l khu I lm cho p ng ca h thng b chm i rt nhiu, cn khu PI gip trit tiu sai s xc lp.

2.2.3. Khu D Khu D cng thm tc thay i sai s vo gi tr iu khin ng ra. Nu sai s thay i nhanh th s to ra thnh ph n cng thm vo gi tr iu khin. iu ny ci

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thin p ng ca h thng, gip trng thi ca h thng thay i nhanh chng v mau chng t c gi tr mong mun. Khu D c tnh theo cng thc:

Vi:

D_out: ng ra khu D KD: h s vi phn e: sai s: e = SP PV

S khi khu D:

Hm truyn:

G(s)

U ( s) Kd s E (s)

Khu D thng i km vi khu P thnh b PD, hoc vi PI thnh b PID.

Hnh 2.4. p ng ca khu D v PD Theo hnh trn, b PD to p ng c thi gian tng trng nh hn so vi b P. Nu gi tr D qu ln s lm cho h thng khng n nh. 2.2.4. Tng hp ba khu B iu khin PID B iu khin PID l cu trc ghp song song gia 3 khu P, I v D. Phng trnh vi phn ca b PID l tng:

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u(t) = KP e(t)+ K I e(t)dt + K D

S khi:

de(t) dt

p ng ca b PID:

Hnh 2.5.p ng ca khu P, PI v PID 2.2.5. Ri rc ha b iu khin PID B iu khin s khng th ly mu lin tc theo thi gian, n c n c ri rc mt vi mc. Khi cho h s ly mu ngn bn trong thi gian vi phn c th t c xp x mt sai phn c gii hn v tch phn qua vic ly tng. Chng ta s quan tm mi dng mt thi im, v sai s c tnh mi khong ly mu: e(n) = X(n) Y(n) B PID ri rc c sai s, tnh ton v xut ng ra iu khin theo mt khong thi gian xc nh (khng lin tc) thi gian ly mu T. Thi gian ly mu c n nh hn n v thi gian ca h thng. Khng ging cc thut ton iu khin n gin khc, b iu khin PID c kh nng xut tn hiu ng ra da trn gi tr trc ca sai s cng nh tc thay i sai s. iu ny gip cho qu trnh iu khin chnh xc v n nh hn.

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Hnh 2.6. S khi PID Hm truyn ca h thng:

Hm chuyn i:

Tnh g n ng theo cng thc:

Vi n l bc ri rc ti t. Kt qu thu c:

Vi:

2.3.Thit b iu chnh nhit TCU 2.3.1. Khi qut v thit b iu chnh nhit TCU

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B iu khin TCU nhn tn hiu t cc sensor o nhit , hin th nhit qu trnh v to ra mt tn hiu ra (t l thi gian, tuyn tnh hay iu khin van ) chnh xc iu khin qu trnh. Vi tp cc thao tc d dng cho mt b iu khin gii quyt nhiu yu c u ng dng phc tp nht.

Hnh 2.7. B TCU ca Omron B iu khin c th hot ng trong ch iu khin PID cho c hai kiu ng dng nung nng, lm mt. Khi yu c u, chc nng t chnh s t la chn v thit lp cc hng s cho b iu khin PID. Sau cc hng s ny c th c tinh chnh v sau c kho li bi ngi dng bt k thi im no. Vi cc thng s c chnh nh, b iu khin to ra mt p ng ph hp, nhanh m khng tn ti qu iu chnh. Khi chuyn sang ch iu chnh tay, ngi dng c th trc tip thay i cc thng s trn bng iu khin cho ti khi c p ng mong mun. Ngoi ra , b iu khin TCU cn c th hot ng trong ch iu khin ON/OFF vi khong tr cho php iu chnh, thay i. Hai dy hin th (mi dy c 4 digit khng k du chm ) hin ng thi c nhit qu trnh v im t. Su n bo ch thng bo y trng thi ca h thng bao gm: dng im t ( a phng hay t xa ), ch iu khin (t ng hay iu khin tay ), trng thi u ra cnh bo...Cc modul u ra (Relay, SSR Drive, Triac) d dng tho lp v chuyn i c th c cu hnh l mt trong cc u ra sau: u ra chnh, u ra cnh bo, u ra lm mt, u ra iu chnh van: - u ra tuyn tnh mt chiu cung cp dng 4 20 mA hoc p 0 10 VDC cho cc c cu chp hnh, my ghi th , hin th ngoi hay cc b iu khin khc. Tn hiu u ra c s ho v la chn truyn i mt trong cc thng s: % u ra, gi tr nhit qu trnh, gi tr im t. u vo gim st dng nhit c dng nh mt ng h s o v gim st dng cp nhit cho si t, ly u vo trc tip t b bin dng ( v d loi CT 005001 ca hng Red Lion ). Mt u ra cnh bo theo s kin c lp trnh pht tn hiu cnh bo dy t hay thit b no b hng, trc khi s c xy ra gy thit hi vt cht cho qu trnh.

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- u ra iu khin van : trc tip iu khin v tr ca van bng cp u ra ( ng, m van ) iu khin hng m van. V tr ca ng c xc nh v tr m van. C hai ch cho van: iu khin v tr van (c s dng vng phn hi ) v iu khin tc .

Hnh 2.8. Cu trc bn trong TCU - Mt u ra cnh bo s kin c dng khi mt tn hiu phn hi hay pht hin hng van. u vo tng t th hai (0 20 mA DC ) dng lm im t t xa hoc tn hiu vo cho qu trnh ca vng trong ( trong m hnh Internal Cascade ). Nu l kiu gi tr t t xa: cho php thit lp h thng m ch c mt TCU Master cung cp gi tr t cho nhiu TCU Slave hoc dng cho h thng External Cascade. Khi l tn hiu vo ca qu trnh trong s to ra mt h Cascade trong mt thit b TCU ( Internal Cascade ). Giao din kt ni truyn thng RS485 cung cp mt kt ni gia TCU vi cc thit b khc ( v d: my in , PC, b iu khin kh trnh ...). Vi khong a ch kh rng t 0 99 cho php kt ni ti 32 thit b trn mt cp dy truyn. Cc thng s ca b iu khin nh gi tr im t, % u ra.... c thay i gin tip t thit b ngoi thng qua kt ni truyn thng RS485 ti TCU.

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Hnh 2.9. Bng iu khin ca b TCU OMRON E5CZ 2.3.2.Ch iu khin ON/OFF C th d dng nhn thy y l ch iu khin n gin nht, c s dng t kh lu v hin nay vn cn c ng dng kh nhiu trong cc ngnh khc nhau. u im ca ch ny l iu khin n gin, d hiu.Tuy nhin n li c nhc im l chnh xc ko cao, qu nhit ln gy tn tht nng lng. V nguyn l hot ng ca ch ON/OFF th kh n gin: b iu khin s tc ng u ra nu nhit mi trng o vt qua gi tr t (C th tc ng khi nm trong phm vi di tr m cha c n ti gi tr t-nu nh ngi dng c ci t di tr). V thng thng th ch ON/OFF s tng ng vi loi u ra iu khin l dng Role.

Hnh 2.10. S nguyn l iu khin ON/OFF Vi nhng c im nh trn th ch iu khin ON/OFF thng c ng dng trong nhng h thng iu khin nhit quy m ln, cho php qu nhit cao v t c s thay i nhit ; v d nh: h iu khin l nhit, t lnh, qut 2.3.3. Ch iu khin PID

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- u im: iu khin vi chnh xc cao, tit kim nng lng ti a, m bo s n nh ca h thng. - Nhc im: thut ton iu khin phc tp, i hi ngi s dng c trnh v kinh nghim. Khi s dng ch iu khin PID th loi u ra iu khin ti u l Role bn dn SSR. Khng nn s dng role thng v n d xy ra cc s c ngoi mun nh: nh tia la in, kt tip im, tui th cc thit b gim - Phm vi ng dng: c th ni ngy nay PID xm nhp vo h u ht cc ng dng iu khin (ko ch nhit m cn nhiu lnh vc khc). Tuy nhin n vn c u tin hn c khi h thng yu c u chnh xc cao, khong thay i nhit cho php nh. Thng thng khi s dng b iu khin nhit c ch iu khin PID th lun c km theo chc nng T ng iu chnh (Auto Tuning). Chc nng ny s t ng iu chnh cc tham s P, I v D sao cho h thng t hiu nng cao nht. Tuy nhin, trong 1 s trng hp th ngi s dng vn phi iu khin bng tay (Manual) cc tham s ny. + Tham s P (h s t l): nu t gi tr ny cng cao th tc p ng (t ti gi tr nhit mong mun) cng nhanh. Tuy nhin n cng lm cho qu nhit nhiu hn (ng ngha vi vic chnh xc gim i v tn hao nng lng tng ln). Nu gi tr ny qu ln th h qu l h thng s mt n nh.

Hnh 2.11. Thin hin cc h s Kp khc nhau + Tham s I (Tch phn): Nu t gi tr ny cng cao th qu trnh loi tr sai s do tham s P gy ra (tc l a v gi tr nhit yu c u) cng nhanh. Tuy vy n cng gy ra hin tng qu cng ln.

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Hnh 2.12. Thc hin cc h s Kp khc nhau + Tham s D (Vi phn): gi tr ny cng cao th cng lm gim s qu do tham s I gy ra. ng thi n cng lm cho qu trnh p ng b chm i. Nu qu ln s gy ra s mt n nh h thng.

Hnh 2.13. Thc hin cc h s Kp khc nhau Nu iu khin PID bng tay th c 1 phng php nh sau c th gip cho ngi dng nhanh chng ci t c cc tham s 1 cch ti u nht: ( y ch l phng php mang tnh cht tham kho) + Bc 1: t cc h s I v D bng 0. + Bc 2: Tng d n h s P cho n khi u ra vng iu khin dao ng. Sau c th t gi tr P bng 1 na gi tr . + Bc 3: tng d n h s Tch phn I cho n khi thi gian kh sai s. Ch ko nn tng I qu ln. + Bc 4: Tng d n gi tr D n khi thi gian p ng nhanh theo yu c u. Di y l 1 s trng hp m ngi dng nn iu khin PID th cng thay v t ng iu chnh: - Qu trnh iu khin i hi tc hi p cao nh: iu khin lu lng hay p sut

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- Qu trnh iu khin m gi tr t SV thng xuyn phi thay i, qu trnh vn hnh vi ti qu ln. 2.4.Van iu khin (Control Valves) L loi van t ng iu chnh v tr ca van thng qua thit b iu khin. Nhiu loi van iu khin bng tay c th lp t thm c cu dn ng vo thn van tr thnh van iu khin.

Hnh 2.14. Cu to chung van iu khin -C cu dn ng: l mt thit b dng trong van iu khin dn ng c n van ng vi tn hiu pht ra t thit b iu khin. -Thit b iu khin: l thit b t ng iu chnh v tr ca van iu khin. Thit b iu khin s dng nng lng khng kh nn, p sut thy lc hay nng lng in truyn tn hiu ti c cu dn ng. -C cu nh v: l thit b tr gip cho c cu dn ng di chuyn c n van vo ng v tr. Van iu khin c s dng ti nhng v tr i hi phi c s iu khin t ng. -Ph n thn van ca loi van iu khin ny tng t nh van bm, nhng c n van chuyn ng nh c cu dn ng thay cho tay quay v thang ch v tr. C cu dn ng nhn cc tn hiu iu khin t thit b iu khin. Nhng tn hiu ny s t ng lm thay i v tr ca van. Thn ca van iu khin c th c thit k theo kiu c mt hoc hai ca dn vt cht i qua.

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Hnh 2.15. Cc kiu thn van Hnh v trn m t loi thn c mt ca. Loi ny thng c s dng nhiu v chng r tin, t phi bo dng v mc r r thp hn. Nhng loi ny cng c nh c im l p sut ca dng ch tc ng vo mt mt ca van gy kh khn cho nh v. Van hai ca c u im l lu lng dng chy qua van ln hn loi mt ca nu nh c cng kch c. Loi van hai ca cn bng c p sut tc dng ln hai hng do vic nh v n d dng hn loi mt ca. V c tnh ny nn van hai ca rt ph hp cho vic iu tit dng chy. C cu dn ng bng kh ( Hnh v di y m t mt van iu khin c c cu dn ng bng kh ):

Hnh 2.16. M t mt van iu khin c c cu dn ng bng kh Trong c cu dn ng c mt mng ngn kn kh v mt l xo. C cu dn ng nhn kh nn hay tn hiu t thit b iu khin. Trong loi van ny c c cu dn ng s dng kh nn di chuyn c n van iu khin. Khng kh nn c a vo pha trn mng ngn, v th p lc ca kh nn s y mng ngn xung v ngc li l xo lun c xu h ng y mng ngn ln. Khi p sut ca khng kh thng lc y ln ca l xo th c n van s b y xung v van ng li. Loi van ny cn c gi l van m bng khng kh nn (Air-to-close) v khi tng p sut khng kh nn trn mng ngn s lm cho van ng li.

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Hnh 2.17. Loi van iu khin dng kh nn m van (Airto- open) Khi tng p sut khng kh trn mng ngn tch c u dn ng s di chuyn c n van xung v tr m.

Hnh 2.18. Dng thit k khc ca van iu khin. ng dn khng kh vo c b tr pha di mng ngn. Kiu thit k ny s dng kh nn ng van. iu quan trng i vi cng nhn vn hnh l phi bit c khi tng p sut ca khng kh trn mng ngn s lm cho van di chuyn v v tr m hay v tr ng v iu cng c ngha l phi bit c khi hng van s v tr ng hay m. Nu van s dng kh nn di chuyn v v tr m th khi tng p su t khng kh trong c cu dn ng s lm cho van dch chuyn v v tr m, cn nu nh mt ngun cung cp kh nn vo c cu dn ng th van s v tr ng. i vi van dng p sut ca kh nn ng th khi mt ngun kh nn n s v tr m. C cu nh v ca van (Valve Positioner):

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Hnh 2.19. C cu nh v ca van i khi tn hiu khng kh nn t thit b iu khin khng vn hnh van mt cch nhanh chng hoc gi van v tr mong mun. Trong nhng trng hp ny, van c ni vi c cu nh v tr gip cho c cu dn ng di chuyn hay gi c n van ng v tr. C cu nh v gi vai tr nh mt b khuch i trung gian tr gip cho c cu dn ng khi nhn c tn hiu kh t thit b iu khin. C cu dn ng bng in (Electrical Actuator): Hnh v di y m t mt van c iu khin bng dng in.

Hnh 2.20. Van iu khin bng dng in Mt vi c cu dn ng s dng nng lng in nh v cho van iu khin. C cu dn ng ca loi van ny hot ng nh mt van in. Van in bao gm mt li st trt trong qun dy hnh ng. Khi c dng in i qua qun dy th mt t trng in c thit lp nn pha trong qun dy. T trng in ny s ko li st vo pha trong qun dy hnh ng. Khi ngt dng in th t trng in s bin mt v li st b y li v tr c bng lc ca l xo. Li st ca van in c ni vi c n van. Tn hiu in t thit b iu khin s thit lp nn t trng in trong qun dy ko li st ln v van c ng li. Khi khng c dng i n i qua th li st b y v v tr c bng lc ca l xo v van m ra. V vy thit k ca van theo loi ny ch s dng ng hoc m dng chy ch khng dng c vo mc ch iu tit.

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Nu nh mun iu tit dng chy th c th dng c cu dn ng c vn hnh bng motor. Motor c ni vi c n van qua h thng gim tc bng bnh rng. Motor ny l loi c th chuyn ng ngc c, do n c th di chuyn van theo mi v tr mong mun. Nu nh van b hng v bt k l do no n cng u c th c nh v li bng tay quay.

Hnh 2.21. Dn ng bng m t in C cu dn ng bng thy lc (Hydraulic Actuator): p sut ca cht lng i khi cng c dng vn hnh van. V cht lng khng gim th tch khi b nn nn n khng th di chuyn v tr ca van nhanh bng kh nn. Hy xem hnh v ca mt c cu dn ng bng thy lc n gin di y. Dng cht lng c th c dn vo mt trong hai khoang. Gi s nh n c dn vo khoang th nht. Khi p sut thy lc s di chuyn v tr ca ca van sang v tr bn phi c ngha l vo v tr ng. Cn khi cht lng c dn vo khoang th hai th s c chuyn ng ngc li c ngha l ca van di chuyn v pha tri v van v tr m. Van c iu khin bng h thng thy lc c th c thit k vo mc ch iu tit nhng thng thng i vi cc van ln ch dng vo mc ch ng m dng chy v n i hi mt lc ln ng v m van.

Hnh 2.22. Dn ng bng thy lc

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i vi cc van iu khin th thng kh khn hn trong vic xc nh cc nguyn nhn h hng. Nu nh van iu khin b h hng th vic u tin l phi kim tra tn hiu t thit b iu khin truyn ti c cu dn ng, nu nh tn hiu vn ng th nguyn nhn gy ra h hng c th thit b iu khin. i khi cc tn hiu t thit b iu khin ti c cu dn ng b ri lan do r r, tc gia ng ni gia hai thnh ph n ny. V vy ta ni rng van iu khin c th b h hng trong h thng truyn tn hiu. H u ht cc van iu khin c gn b phn xc nh v tr ca van.

Hnh 2.23. H thng truyn tnh hiu ca van Khi nhn vo b phn xc nh v tr van ta c th bit c v tr ca van. Gi s nh thit b iu khin ang truyn tn hiu ng van nhng ta vn nghe thy ting ca dng chy i qua van, nu b phn xc nh v tr ch van v tr ng th ta c th bit c l h hng xy ra pha trong thn van. iu ny cng c th xc nh c l van b tc hay vng lm kn b mi mi qa nhiu. Nhng nu b phn xc nh v tr ch van v tr m th h hng c th nhng b phn khc nhau v d nh c n van c th b kt np khoang bt kn nn van khng th ng li c. Mt kh nng na l c cu dn ng khng l vic mt cch hon ho, nu nh mng ngn trong c cu dn ng bng kh b rch hay b thng th n s khng hot ng khi c s thay i p sut kh nn. Trong c cu dn ng bng in v bng motor th vic qun dy b chy cng l mt nguyn nhn gy h hng c cu dn ng. Cc trc trc i vi c cu dn ng bng thy lc thng l cht lng b r r, piston b kt trong xilanh hay piston b thng. Nu nh van c c cu nh v tr gip cho s di chuyn ca c n van th ta phi kim tra c thit b ny. iu ny c thc hin bng cch kim tra cc tn hiu u vo v u ra ca c cu nh v. i vi van iu khin khi b h hng ta thng bt u kim tra thit b iu khin ri sau xung nhng ph n pha di ca van. Tm li: - Tt c cc van iu khin u c c cu dn ng ni vi thn van.

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- C cu dn ng s di chuyn c n van ph hp vi cc tn hiu pht ra t thit b iu khin. - Thit b tr gip cho c cu dn ng di chuyn hay gi van ng v tr c gi l c cu nh v. - Cc c cu dn ng bng kh s dng kh nn iu khin van. - C cu dn ng bng dng in c hai lai l van in v motor. - Cc c cu dn ng bng thy lc thng c s dng i vi cc van ln. 2.5. B iu khin van tuyn tnh in- kh nn B iu khin van tuyn tnh in kh nn hay cn gi l Electro Pneumatic Positioner theo ting Anh. y l b iu khin chuyn dng cho tt c cc loi van tuyn tnh vi u vo iu khin l 4-20mA, thit b ny l mt ph n rt quan trng to nn sn phm van tuyn tnh. Vic s dng b iu khin van tuyn tnh(positioner) cng vi van iu khin ON/OFF thng thng to thnh mt b van tuyn tnh. Vi gii php ny chi ph c th gim t 30% n 50% chi ph cho mt b van tuyn tnh nguyn b. hiu r v b iu khin van tuyn tnh in- kh nn ny ta s kho st van b iu khin YT-3400 ca hng Young Tech Hn Quc

Hnh 2.24. B iu khin Van YT-3400 YT-3400 c 2 dng sn phm cho c cu truyn ng(actuator) dng thng ln xung v dng xoay. YT-3400 l b iu khin thng minh(smart postitoner) loi chng chy n, t ng tnh ton v iu khin hnh trnh van(linear valve), theo tn hiu u vo 420mA, vi tn hiu setpoint t b iu khin. B iu khin tch hp h iu khin vi x l ti u ho trong qu trnh iu khin, thay i, ci t thng s cho h thng. c im k thut: - T ng hiu chnh - Tch hp b iu khin PID - a ra trng thi cnh bo, li s c. - Tch hp giao thc truyn thng chun HART. Thng s k thut:

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2.6. Kt lun H u ht cc ng dng cng nghip hin i khng cn iu chnh vng iu khin s dng cc phng php tnh ton th cng na, thay vo ph n mm iu chnh PID v ti u ha vng lp c dng m bo kt qu chc chn. Nhng gi ph n mm ny s tp hp d liu, pht trin cc m hnh x l, v xut phng php iu chnh ti u. Vi gi ph n mm thm ch cn c th pht trin vic iu chnh bng cch thu thp d liu t cc thay i tham kho. iu chnh PID bng ton hc to ra mt xung trong h thng, v sau s dng p ng t n s ca h thng iu khin thit k cc gi tr ca vng iu khin PID. Trong nhng vng lp c thi gian p ng ko di nhiu pht, nn chn iu chnh bng ton hc, bi v vic th sai thc t c th ko di nhiu ngy tm im n nh cho vng lp. Gi tr ti u th kh tm hn. Vi b iu khin s cn c chc nng t iu chnh, trong nhng thay i rt nh ca im t cng c gi ti qu trnh, cho php b iu khin t mnh tnh ton gi tr iu chnh ti u. Cc dng

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iu chnh khc cng c dng ty theo tiu chun nh gi kt qu khc nhau. Nhiu pht minh hin nay c nhng sn vo trong cc module ph n mm v ph n cng iu chnh PID.

Chng 3 THIT B CNG SUT & CHP HNH 3.1 Gii thiu Thit b cng sut v cc c cu chp hnh c th xem nh cc ngun truyn ng bao gm: + Ngun truyn ng in-c: Cc loi ng c, cc loi ly hp + Ngun truyn ng kh nn - Cc loi pittng-xy lanh kh nn. - ng c kh nn. + Ngun truyn ng thy lc tc ng trc tip ln c cu chp hnh. 3.2 Cc thit b ng ngt thng dng trong t ng 3.2.1 Cng tc: (Basic Switches) - Hnh dng cng tc

Hnh 3.1 Cc loi cng tc thng -Cc loi cng tc Loi khng c bo v chn cui (Without Terminal Protective Cover):

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Hnh 3.2 Cu to cng tc khng c bo v chn cui.

Loi c bo v chn cui (With Terminal Protective Cover):

Hnh 3.3 Cu to cng tc c bo v chn cui. Cng tc thuc loi cng tc thng, tip im c ng ngt di dng c c th cho dng qua rt cao, tc lm vic tng i nhanh. 3.2.2 Cng tc hnh trnh:(Limit Switches) Hnh dng mt s loi cng tc hnh trnh thng dng

Hnh 3.4 Cc loi cng tc hnh trnh Cc thnh ph n ca mt cng tc hnh trnh:

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Hnh 3.5 Cu to cng tc hnh trnh. +Cng tc hot ng gii hn 450 v 900 Loi 450: cng tc quay c hai chiu quay sang tri 450 v quay sang phi 450.

Hnh 3.6 Cng tc hnh trnh loi quay 450 Loi 900: cng tc quay c hai chiu quay sang tri 90o v quay sang phi 900.

Hnh 3.7 Cng tc hnh trnh loi quay 900 + K hiu Loi Standard/microload: loi tip im i.

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Hnh 3.8 K hiu cng tc hnh trnh tip im i Loi SPST-NO: loi tip im n.

Hnh 3.9 K hiu cng tc hnh trnh tip im n. V d thng s k thut ca cng tc WL hng Omron: Tip im: 10A, 500 VAC C 40 men cho mi ng dng: nhy cao, chu nc,...

Mch loi 2 tip im Model thng dng: WLCA12 +Kt ni ti KK VDC

VAC

Hnh 3.10 S kt ni ti.

Hnh 3.11 Minh ha cch lp ca cng tc hnh trnh. 3.2.3 R le trung gian: (Relays) Rle trung gian l mt kh c in dng trong lnh vc iu khin t ng, c cu kiu in t. Rle trung gian ng vai tr iu khin trung gian gi cc thit b iu khin (Contactor, Rle thi gian...). Rle trung gian gm: Mch t ca nam chm in, h

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thng tip im chu dng in nh (5A), v bo v v cc chn ra tip im

Hnh 3.12 Cu to ca Relay trung gian 1- Cun dy ht. 2- Mch t tnh. 3- Mch t ng (ph n ng). 4- Tip im thng ng, thng m v cc l so l. 5- u ct bt dy a in vo cun ht. 6- u ct bt dy vo cc tip im.

Hnh 3.13 Hot ng ca relay trung gian Cho dng vo cun ht 1 c in, lc t ht np t 3, n by y l xo l lm ng tip im 4b, m tip im 4a 3.2.4 Relay bn dn v b iu khin cng sut: (Solid State Relay and Power Controller) + Khi nim cu to Trong ng iu khin thit b gia nhit v ng ngt, c th tm thy rt nhiu SSR (Solid State Relay) v b iu khin cng sut (Power Controller). Power control c s dng trong rt nhiu ngnh cng nghip khc nhau: - Cng nghip thy tinh, gm s, khun mu. - Kim tra vt liu: Ngnh nha, sn. - t, cng ngh v tr, sn xut cp quang... iu khin cng sut Power Controller da trn nn tng l Thysistor. c phn chia lm 3 loi c bn : Solid state Relays, Power controller, true power controller.

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-Solid State Relay l loi iu khin cng sut ON/OFF c bn, dng cho thay th cc thit b ng ngt ngt truyn thng nh Relay, contactors vi nhng tnh nng vt tri hn. - Loi Solid State Relay mt pha: Ngun iu khin c hai dng loi s dng in AC hay DC v c mt tip im ng ngt.

Hnh 3.14Solid State Relay mt pha -Loi Solid State Relay ba pha: Ngun iu khin thng s dng in AC nh contactor v c ba tip im ng ngt.

Hnh 3.15 Solid State Relay ba pha Power controller: cung cp 1 gii php iu khin cng sut mng m hn SSR's, im mnh nht ca loi thit b ny l tn dng tnh nng ng ngt tc cao ca Thysistor. Thng c s dng lin kt vi b iu khin (PLC) t ti 1 tham s setpoint c th no bng cch thay i mc cng sut phn phi cho ti.

Hnh 3.16.B iu khin cng sut. True Power controller: iu khin mc cng sut tuyt i phn phi cho ti. Khi kt hp vi 1 controller n s cung cp 1 cng sut xc nh ty theo yu c u ca True Power controller.

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Hnh 3.17.B iu khin cng sut theo yu cu. + Tnh ton la chn cng sut cho ng dng c th Trc ht phi xc nh loi Power controller no thch hp vi ng dng hin thi da trn nhng thng s sau: Kch c ti : kW/A. Kiu ti: n gin hay phc tp. Cu hnh ti. Ngun cp. S phase yu c u/ hin thi ang c. Cp iu khin. Kiu tn hiu iu khin c (ng ra Controller, VK..) Kiu tn hiu hi tip c. Giao tip s yu c u. Tham s chuyn tip. Kiu ti: sao(Y) hay tam gic .

Hnh 3.18 Kt ni b iu khin cng sut ti. Kt ni ti cho r le bn dn:

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Hnh 3.19Kt ni ti vi Solid State Relay. -Dng sng ra ti:

Hnh 3.20 Dng sng ra ti sau b Solid State Relay + V d thng s k thut ca cng tc G3NA hng Omron: Cho php ng ngt vi t n sut ln, thch hp cho iu khin nhit chnh xc, c n ch th. u ra: p 24-240/200-480VAC/5-200VDC: dng 5,10,20,40A. u vo (tu chn): 5 - 24 VDC hoc 100-240 VAC. Cc model vi mc dng khc nhau: G3NA210B: 10A, G3NA-220B: 20A, G3NA-240B: 40A. C n dng ming tn nhit Y92B t dng nh mc. 3.2.5 R le thi gian:(Times Relay) + Khi nim Rle thi gian l mt kh c in dng trong lnh vc iu khin t ng, vi vai tr iu khin trung gian gia cc thit b iu khin theo thi gian nh trc. Rle thi gian gm: Mch t ca nam chm in, b nh thi gian lm bng linh kin in t, h thng tip im chu dng in nh ( 5A), v bo v cc chn ra tip im. Tu theo yu c u s dng khi lp rp h thng mch iu khin truyn ng, ta c hai loi Rle thi gian: Rle thi gian ON DELAY, Rle thi gian OFF DELAY.

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Hnh 3.21 Cc loi r le thi gian. 3.2.6 Relay nhit (Thermal Relay) +Hnh dng

Hnh 3.22 Hnh dng relay nhit. +Chc nng Dng bo v qu ti di hn cho ng c

Hnh 3.23 Cc thnh phn ca relay nhit. +Hot ng

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Hnh 3.24Hot ng ca relay nhit. - Khi I c n bo v nh hn Im: n 3 t vo u bng kp 2, tip im 6, 7 ng, cun dy cng tc t c in - Khi I c n bo v ln hn Im: Lng kim 2 gin n, cong v pha trn, bt khi im t, l xo 5 ko n 3 quay quanh trc 4, tip im 6 tch ri khi tip im tnh 7, cun dy cng tc t mt in. 3.2.7 Contactor + Khi nim - Contactor l mt kh c in nhng cng c s dng rt nhiu trong t ng, n dng ng ngt cc tip im, to lin lc trong mch in bng nt nhn. Nh vy khi s dng Contactor ta c th iu khin mch in t xa c ph ti vi in p n 500V v dng l 600A (v tr iu khin, trng thi hot ng ca Contactor rt xa v tr cc tip im ng ngt mch in). +Cu to v nguyn l hot ng Cu to:

Hnh 3.25Trng thi lm vic ca contactor. Contactor c cu to gm cc thnh ph n: C cu in t (nam chm in), h thng dp h quang, h thng tip im (tip im chnh v ph). -Nam chm in: Nam chm in gm c cc thnh ph n

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Cun dy dng to ra lc ht nam chm. Li st (hay mch t) ca nam chm gm hai ph n: Ph n c nh v ph n np di ng. Li thp nam chm c th c dng EE, EI hay dng CI. L xo phn lc c tc dng y ph n np di ng tr v v tr ban y khi ngng cung cp in vo cun dy. - H thng dp h quang in: Khi Contactor chuyn mch, h quang in s xut hin lm cc tip im b chy, mn d n. V vy c n c h thng dp h quang gm nhiu vch ngn lm bng kim loi t cnh bn hai tip im tip xc nhau, nht l cc tip im chnh ca Contactor. - H thng tip im ca Contactor: H thng tip im lin h vi ph n li t di ng qua b phn lin ng v c. Tu theo kh nng ti dn qua cc tip im, ta c th chia cc tip im chun Contactor thnh hai loi: - Tip im chnh: C kh nng cho dng in ln i qua (t 10A n vi nghn A, th d khong 1600A hay 2250A). Tip im chnh l tip i thng h ng li khi cp ngun vo mch t ca Contactor lm mch t Contactor ht li. - Tip im ph: C kh nng cho dng in i qua cc tip im nh hn 5A. Tip im ph c hai trng thi: Thng ng v thng h. - Tip im thng ng l loi tip im trng thi ng (c lin lc vi nhau gia hai tip im) khi cun dy nam chm trong Contactor trng thi ngh (khng c cung cp in). Tip im ny h ra khi Contactor trng thi hot ng. Ngc li l tip im thng h. Nh vy, h thng tip im chnh thng c lp trong mch in ng lc, cn cc tip im ph s lp trong h thng mch iu khin (dng iu khin vic cung cp in n cc cun dy nam chm ca cc Contactor theo quy trnh nh trc). Theo mt s kt cu thng thng ca Contactor, cc tip e ph c th c lin kt c nh v s lng trong mi b Contactor, tuy nhin cng c mt vi nh sn xut ch b tr c nh s tip im chnh trn mi Contactor, cn cc tip im ph c ch to thnh nhng khi ri n l. Khi c n s dng ta ch ghp thm vo trn Contactor, s lng tip im ph trong trng hp ny c th b tr tu . Nguyn l hot ng ca Contactor

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Hnh 3.26 Hot ng ca contactor. Khi cp ngun in bng gi tr in p nh mc ca Contactor vo hai u ca cun dy qun trn ph n li t c nh th lc t to ra ht ph n li t di ng hnh thnh mch t kn (lc t ln hn phn lc ca l xo), Contactor trng thi hot ng. Lc ny nh vo b phn lin ng v c gia li t di ng v h thng tip im lm cho tip im chnh ng li, tip im ph chuyn i trng thi (thng ng s m ra, thng h s ng li) v duy tr trng thi ny. Khi ngng cp ngun cho cun dy th Contactor trng thi ngh, cc tip im tr v trng thi ban u. 3.3.Thit b kh nn 3.3.1 H thng iu khin kh nn c chc nng: - Bin i nng lng kh sang c. - L ph n t a tn hiu v x l tn hiu ra. - Cc c cu iu khin v iu chnh lm nhin v khc nhau. Ty thuc vo nhin v ca h thng m cc c cu ny chia ra lm ba loi: c cu chnh p, c cu chnh lu lng v c cu chnh hng. 3.3.2.Ngun cung cp kh nn - Ngun cung cp kh nn l mt thit b dng cung cp kh nn cho cc c cu iu khin lm vic. - Ngun cung cp kh nn bao gm: Ngun kh nn, bc lc kh, van iu p, b bi trn.

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Hnh 3.27 Ngun cp kh nn. 3.3.3 C cu chp hnh dng kh nn Thng c cu chp hnh ca h thng kh nn rt a dng, tuy nhin y ta ch kho st cc loi xi lanh l loi thng dng trong iu khin.Xy lanh c nhim v bin i nng lng th nng hay ng nng ca lu cht thnh nng lng c hc chuyn ng thng hoc chuyn ng quay (gc quay <3600). Thng thng xy lanh c lp c nh, pt tng chuyn ng. Mt s trng hp c th pt tng c nh, xy lanh chuyn ng. Pt tng bt u chuyn ng khi lc tc ng mt trong hai pha ca n (lc p sut, l xo hoc c kh) ln hn tng cc lc cn c hng ngc li chiu chuyn ng (lc ma st, ph ti, l xo, thy ng, lc ). Xy lanh lc c chia lm hai loi: xy lanh lc v xy lanh quay. Trong xy lanh lc, chuyn ng tng i gia pt tng vi xy lanh l chuyn ng tnh tin. Trong xy lanh quay chuyn ng gia pt tng vi xy lanh l chuyn ng quay. Gc quay thng nh hn 360o. - Hnh dng ca mt s xi lanh thc t:

Hnh 3.28 Hnh dng xi lanh thy lc. 3.3.3.1 Xi lanh tc dng n p lc tc ng vo xy lanh n ch mt pha, pha ngc li l do l xo tc ng hoc l ngoi lc tc ng

Hnh 3.29 Cu to v k hiu xi lanh tc dng n 3.3.3.2 Xi lanh mng Xy lanh mng hot ng nh xy lanh tc dng n hnh 3.124. Xy lanh mng c hnh trnh dch chuyn ln nht (hmax = 80) nn c dng trong iu khin, v d trong cng

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nghip t (iu khin thng, li hp), trong cng nghip ha cht (ng m van).Ch : xy lanh mng ch c s dng trong iu khin kh nn.

Hnh 3.30 Cu to v k hiu xi lanh mng. 3.3.3.3Xi lanh tc dng kp p lc tc ng vo xi lanh theo hai pha nh hnh 3.125

Hnh 3.28 Cu to xi lanh tc dng kp. 3.3.3.4 Xi lanh quay Xy lanh quay c kh nng to mmen quay rt ln. Gc quay ph thuc vo s cnh gt ca trc. i vi xy lanh c mt cnh gt, gc quay c th t 270o 280o

Hnh 3.31Cu to xi lanh quay. 3.3.3.5 Xi lanh lng Xy lanh lng l mt loi xy lanh lc gm nhiu xy lanh v pt tng lng ng tm vi nhau. Khong chy ca xy lanh lng l bng tng khong chy ca cc pt tng. Xy lanh c s dng trong cc trng hp c n khong chy ln nhng khng gian khng cho php lp t mt xy lanh di. Hnh 3.127 s kt cu xy lanh lng hai xy lanh. Khoang trong ca c n 2 pt tng ln 5 l xy lanh ca pt tng 4. C n 1 ca pt tng 4 ni vi ph ti. Khi cp cht kh c p sut vo khoang phi e xy lanh 3, cht kh s ng thi i qu a l 6 vo khoang c ca xy lanh b 2. Do tc ng ca cht kh c p sut, c hai pt tng 4 v 5 s chuyn ng sang tri.

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Hnh 3.32 Cu to xi lanh lng 3.3.3.6 Xi lanh c gim chn giai on cui khong chy, khi pt tng chm ln b mt u ca xy lanh c th gy ra va p nu vn tc dch chuyn ca pt tng ln, c bit i vi nhng pt tng xy lanh c khi lng ln. trnh hin tng ny, cui hnh trnh pt tng mt s xy lanh c lp t thm ph n t gim chn cui hnh trnh.

Hnh 3.33 Cu to xi lanh gim chn. 3.3.3.7 Xi lanh c v tr pit tng trung gian Hnh 3.129 s kt cu xy lanh c v tr trung gian ca pt tng. Xy lanh c hai p tng, pt tng th nht c ng knh D1, ni vi c n 4, cn pt tng th hai c ng knh D2 trt t do trong xy lanh 1 v trn c n 5. Khi cp cht lng vo khoang a; giai on u ca chuyn ng, din tch lm vic ca pt tng l F2 ; sau khi pt tng 2 dch chuyn n c ca xy lanh, din tch lm vic s cn l f2. Khi cp cht lng vo khoang b, din tch lm vic L F1.

Hnh 3.34 Cu to xi lanh c v tr pit tng trung gian

3.4 ng c bc
3.4.1 Gii thiu ng c bc c th c m t nh l mt ng c in khng dng b chuyn mch. C th, cc u trong ng c l stator v rotor l nam chm vnh cu hoc trong trng hp ca ng c bin t tr, n l nhng khi rng lm bng vt liu nh c t tnh. Tt

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c cc mch o phi c iu khin bn ngoi bi b iu khin, v c bit, cc ng c v b iu khin c thit k ng c c th gi nguyn bt k v tr c nh no cng nh l quay n bt k v tr no. H u ht cc ng c bc c th chuyn ng t n s m thanh, cho php chng quay kh nhanh, v vi mt b iu khin thch hp, chng c th khi ng v dng li d dng cc v tr bt k. Trong mt vi ng dng, c n la chn gia ng c servo v ng c bc. C hai loi ng c ny u nh nhau v c th xc nh c v tr chnh xc, nhng chng cng khc nhau mt s im. Servo motor i hi tn hiu hi tip analog. c bit, iu ny i hi mt b tc-c cung cp tn hiu hi tip v v tr ca rotor, v mt s mch phc tp iu khin s sai lch gia v tr mong mun v v tr tc thi v lc dng qua ng c s dao ng tt d n. la chn gia ng c bc v ng c servo, phi xem xt mt s vn , v n ph thuc vo cc ng dng thc t. V d, kh nng tr v mt v tr vt qua ph thuc vo hnh dng rotor ng c bc, trong khi , kh nng lp li v tr ca ng c servo ni chung ph thuc vo n nh ca b tc c v cc linh kin analog khc trong mch hi tip. ng c bc c th c dng trong h thng iu khin vng h n gin; nhng h thng ny m bo cho h thng iu khin gia tc vi ti trng tnh, nhng khi ti trng thay i hoc iu khin gia tc ln, ngi ta vn dng h iu khin vng kn vi ng c bc. Nu mt ng c bc trong h iu khin vng m qu ti, tt c cc gi tr v v tr ca ng c u b mt v h thng phi nhn din li; servo motor th khng xy ra vn ny. 3.4.2 Nguyn tc hot ng ng c bc c chia lm hai loi, nam chm vnh cu v bin t tr (cng c loi ng c hn hp na, nhng n khng khc bit g vi ng c nam chm vnh cu). Nu mt i nhn trn ng c, cc bn vn c th phn bit hai loi ng c ny bng cm gic m khng c n cp in cho chng. ng c nam chm vnh cu dng nh c cc nc khi bn dng tay xoay nh rotor ca chng, trong khi ng c bin t tr th dng nh xoay t do (mc d cm thy chng cng c nhng nc nh bi s gim t tnh trong rotor). Ta cng c th phn bit hai loi ng c ny bng ohm k. ng c bin t tr thng c 3 u, vi mt dy v chung, trong khi , ng c nam chm vnh cu thng c hai u phn bit, c hoc khng c nt trung tm. Nt trung tm c dng trong ng c nam chm vnh cu n cc. ng c bc phong ph v gc quay. Cc ng c km nht quay 90o mi bc, trong khi cc ng c nam chm vnh cu x l cao thng quay 1.8 o n 0.72o mi bc. Vi mt b iu khin, h u ht cc loi ng c nam chm vnh cu v hn hp u c th chy ch na bc, v mt vi b iu khin c th iu khin cc phn bc nh hn hay cn gi l vi bc. 3.4.2.1.ng c bin t tr

46

i vi c ng c nam chm vnh cu hoc ng c bin t tr, nu ch mt u ca ng c c kch, rotor ( khng ti) s nhy n mt gc c nh v sau gi nguyn gc cho n khi moment xon vt qua gi tr moment xon gi (hold torque) ca ng c.

Hnh 3.35 ng c bc loi bin t tr. Nu motor c 3 cun dy, c ni nh trong biu hnh 3.54, vi mt u ni chung cho tt c cc cun, th n chc hn l mt ng c bin t tr. Khi s dng, dy ni chung (C) thng c ni vo cc dng ca ngun v cc cun c kch theo th t lin tc. -Du thp trong hnh 3.79 l rotor ca ng c bin t tr quay 30 o mi bc. Rotor trong ng c ny c 4 rng v stator c 6 cc, mi cun qun quanh hai cc i din. Khi cun 1 c kch in, rng X ca rotor b ht vo cc 1. Nu dng qua cun 1 b ngt v ng dng qua cun 2, rotor s quay 30 o theo chiu kim ng h v rng Y s ht vo cc 2. - quay ng c ny mt cch lin tc, chng ta ch c n cp in lin tc lun phin cho 3 cun. Theo logic t ra, trong bng di y 1 c ngha l c dng in i qua cc cun, v chui iu khin sau s quay ng c theo chiu kim ng h 24 bc hoc 2 vng: u 1: 1001001001001001001001001 u 0100100100100100100100100 u 0010010010010010010010010 Lp li nh trn 2: 3:

-Ph n iu khin mc trung bnh cung cp chi tit v phng php to ra cc dy tn hiu iu khin nh vy, v ph n Cc mch iu khin bn v vic ng ngt dng in qua cc cun iu khin ng c t cc chui nh th. -Hnh dng ng c c m t trong hnh 3.79, quay 30o mi bc, dng s rng rotor v s cc stator ti thiu. S dng nhiu cc v nhiu rng hn cho php ng c quay vi gc nh hn. To mt rng trn b mt cc cc v cc rng trn rotor mt cch ph

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hp cho php cc bc nh n vi . 3.4.2.2.ng c bc n cc - ng c bc n cc, c nam chm vnh cu v ng c hn hp, vi 5, 6 hoc 8 dy ra thng c qun nh s hnh 3.80, vi mt u ni trung tm trn cc cun. Khi dng, cc u ni trung tm thng c ni vo cc dng ngun cp, v hai u cn li ca mi u l n lt ni t o chiu t trng to bi cun .

Hnh 3.36.ng c bc n cc. - S khc nhau gia hai loi ng c nam chm vnh cu n cc v ng c hn hp n cc khng th ni r trong ni dung tm tt ca ti liu ny. T y, khi kho st ng c n cc, chng ta ch kho st ng c nam chm vnh cu, vic iu khin ng c hn hp n cc hon ton tng t. - u 1 nm cc trn v di ca stator, cn u 2 nm hai cc bn phi v bn tri ng c. Rotor l mt nam chm vnh cu vi 6 cc, 3 Nam v 3 Bc, xp xen k trn vng trn. - x l gc bc mc cao hn, rotor phi c nhiu cc i xng hn. ng c 30o mi bc trong hnh l mt trong nhng thit k ng c nam chm vnh cu thng dng nht, mc d ng c c bc 15o v 7.5o l kh ln. Ngi ta cng to ra c ng c nam chm vnh cu vi mi bc l 1.8o v vi ng c hn hp mi bc nh nht c th t c l 3.6o n 1.8o, cn tt hn na, c th t n 0.72o. -Nh trong hnh 3.55, dng in i qua t u trung tm ca u 1 n u a to ra cc Bc trong stator trong khi cc cn li ca stator l cc Nam. Nu in u 1 b ngt v kch u 2, rotor s quay 30o, hay 1 bc. quay ng c mt cch lin tc, chng ta ch c n p in vo hai u ca ng c theo d y. u 1a 1000100010001000100010001 u 1b 0010001000100010001000100 u 2a 0100010001000100010001000 u 2b 0001000100010001000100010 Lp li nh trn u 1a 1100110011001100110011001 u 1b 0011001100110011001100110 u 2a 0110011001100110011001100 u 2b 1001100110011001100110011

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Lp li nh trn -Nh rng hai na ca mt u khng bao gi c kch cng mt lc. C hai dy nu trn s quay mt ng c nam chm vnh cu mt bc mi thi im. Dy bn tri ch cp in cho mt u ti mt thi im, nh m t trong hnh trn; v vy, n dng t nng lng hn. Dy bn phi i hi cp in cho c hai u mt lc v ni chung s to ra mt moment xoy ln hn dy bn tri 1.4 l n trong khi phi cp in gp 2 l n. -Ph n iu khin mc trung bnh trong ti liu n y s cung cp chi tit v phng php to ra nhng dy tn hiu iu khin nh vy, cn ph n cc mch iu khin ni v mch ng ngt cc mch in c n thit iu khin cc u ng c t cc d y iu khin trn. V tr bc c to ra bi hai chui trn khng ging nhau nn kt qu kt hp 2 chui trn cho php iu khin na bc, vi vic dng ng c mt cch l n lt ti nhng v tr nu mt trong hai dy trn. Chui kt hp nh sau:

u 1a 11000001110000011100000111 u 1b 00011100000111000001110000 u 2a 01110000011100000111000001 u 2b 00000111000001110000011100 Lp li nh trn 3.4.2.3.ng c bc lng cc -ng c nam chm vnh cu hoc hn hp hai cc c cu trc c kh ging y nh ng c n cc, nhng hai u ca ng c c ni n gin hn, khng c u trung tm. V v y, bn thn ng c th n gin hn, nhng mch iu khin o cc mi cp cc trong ng c th phc tp hn. Minh ho hnh 3.81 ch ra cch ni ng c, trong khi ph n rotor y ging y nh hnh 3.80.

Hnh 3.37 ng c bc hai cc. -Mch iu khin cho ng c i hi mt mch iu khin c u H cho mi u; iu ny s c bn chi tit trong ph n cc mch iu khin. Tm li, mt c u H cho php

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cc ca ngun p n mi u ca u c iu khin mt cch c lp. Cc dy iu khin cho mi bc n ca loi ng c ny c nu bn di, dng + v - i din cho cc cc ca ngun p c p vo mi u ca ng c:

Lp li nh trn -Ch rng nhng d y ny ging nh trong ng c nam chm vnh cu n cc, mc l thuyt, v rng mc mch ng ngt c u H, h thng iu khin cho hai loi ng c n y l ging nhau. -Ch khc l c rt nhiu chip iu khin c u H c mt u vo iu khin u ra v mt u khc iu khin hng. C loi chip c u H k trn, dy iu khin di y s quay ng c ging nh dy iu khin nu pha trn: Enable 1: 1010101010101010 1111111111111111 Hng 1: 1x0x1x0x1x0x1x0x 1100110011001100 Enable 2: 0101010101010101 1111111111111111 Hng 2: x1x0x1x0x1x0x1x0 0110011001100110 Lp li nh trn - phn bit mt ng c nam chm vnh cu hai cc vi nhng ng c 4 dy bin t tr, o in tr gia cc cp d y. Ch l mt vi ng c nam chm vnh cu c 4 u c lp, c xp thnh 2 b. Trong mi b, nu hai u c ni tip vi nhau, th l ng c hai cc in th cao. Nu chng c ni song song, th l ng c hai cc dng in th thp. Nu chng c ni tip vi mt u trung tm, th dng nh vi ng c n cc in th thp. 3.4.2.4.ng c nhiu pha -Mt b phn cc ng c khng c ph bin nh nhng loi trn l ng c nam chm vnh cu m cc cun dy c qun ni tip thnh mt vng kn nh hnh 3.81.

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Hnh 3.38. ng c bc nhiu cc. -Thit k ph bin nht i vi loi ny s dng dy ni 3 pha v 5 pha. B iu khin c n c u H cho mi mt u ra ca ng c, nhng nhng ng c ny c th cung cp moment xon ln hn so vi cc loi ng c bc khc cng kch thc. Mt vi ng c 5 pha c th x l cp cao c c bc 0.720 (500 bc mi vng).Vi mt ng c 5 pha nh trn s quay mi bc mi vng bc, nh trnh by di y:

- y, ging nh trong trng hp ng c hai cc, mi u hoc c ni vo cc dng hoc cc m ca h thng cp in ng c. Ch rng, ti mi bc, ch c mt u thay i cc. S thay i ny lm ngt in mt u ni vo u (bi v c hai u ca u c cng in cc) v p in vo mt u ang trong trng thi ngh trc . Hnh dng ca ng c c ngh nh hnh 3.82, dy iu khin s iu khin ng c quay 2 vng. - phn bit ng c 5 pha vi cc loi ng c c 5 dy dn chnh, c n nh rng, nu in tr gia 2 u lin tip ca mt ng c 5 pha l R, th in tr gia hai u khng lin tip s l 1.5R. -V cng c n ghi nhn rng mt vi ng c 5 pha c 5 u chia, vi 10 u dy dn chnh. Nhng dy ny c th ni thnh hnh sao nh hnh minh ho trn, s dng mch iu khin gm 5 na c u H, ni cch khc mi u c th c iu khin bi mt

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vng c u H y ca n. trnh vic tnh ton l thuyt vi cc linh kin in t, c th dng chip mch c u tch hp y tnh ton g n ng. 3.4.3.c tnh c ng c bc v cc phng php iu khin -iu khin v tr theo vng h: Mt li th rt ln ca ng c bc l ta c th iu chnh v tr quay ca rotor theo mun m khng c n n phn hi v tr nh cc ng c khc, khng phi dng n encoder hay my pht tc. -c lp vi ti: Vi cc loi ng c khc, c tnh ca ti rt nh hng ti cht lng iu khin. Vi ng c bc, tc qua y ca rotor khng ph thuc vo ti (khi vn nm trong vng momen c th ko c). Khi momen ti qu ln g y ra hin tng trt, do khng th kim sot c gc quay. -Nhn bit : Khi mt nhn mc, khi quay trc ng c bc c rotor l nam chm vnh cu ta s th y vng theo chu k rng ca. Trong khi , nu l ng c t tr s th y trn. Cng c th phn bit bng ng h vn nng. ng c t tr thng c 3-4 cun dy c u chung GND trong khi ng c nam chm vnh cu th khng. 3.4.3.1.ng c buc vi rotor l nam chm vnh cu +c tnh: -Momen ph thuc vo gc bc -Khi rotor cng g n cc t stator th lc ht mnh d n nhng momen yu i

Hnh 3.39 Moment quay ng c bc. - ng c vnh cu hai pha lng cc - Ch gm hai cun dy nhng c 4 cc t.

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Hnh 3.40.B dy qun ng c bc. + ng c bc c ba cch iu khin: Wave drive: loi n y iu khin theo tng cc ring Full drive: loi iu khin ton bc Half step drive: iu khin na bc

3.4.3.2.ng c bc kiu t tr:

Hnh 3.41 iu khin ng c bc bin t tr. Vn bo v kha iu khin: Do cun dy ng c c tnh cht cm nn khng th ng ct dng qua cun dy ngay lp tc. Khi ng, dng trong cun dy tng t t, tr so vi p. Khi m kho, dng ny c th gy ln mt in p ln nh thng tip im ca kho.

Hnh 3.42 Mch bo v iu khin ng c bc. 3.4.3.3.ng c buc vi rotor l nam chm vnh cu Ch Wave drive

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Hnh 3.43.S dy ra ng c bc n cc. Trnh t cp in: Quay thun: A D B C Quay nghch: A C B D

Xung kch 1 2 3 4 ng c i chiu 1 2 3 4 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 Th t kch cho cc ng c A 1 0 0 0 D 0 1 0 0 B 0 0 1 0 C 0 0 0 1

Ch full drive

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Hnh 3.44. S dy ra ng c bc n cc. Trnh t cp in: Quay thun AD DB BC CA Quay nghch AC CB BD DA

Th t kch cho cc ng c A 1 2 3 4 1 0 0 1 D 1 1 0 0 B 0 1 1 0 C 0 0 1 1

Xung kch

ng c i chiu
1 2 3 4 1 0 0 1 0 0 1 1 0 1 1 0 1 1 0 0

Ch half step drive

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Hnh 3.45 iu khin ng c bc theo kiu na bc.

Xung kch 1 2 3 4 5 6 7 8 i chiu quay 1 2 3 4 5 6 7 8 1 0 0 0 0 0 1 1 0 0 0 0 1 1 1 0 0 0 1 1 1 0 0 0 1 1 1 0 0 0 0 0 Th t kch cho cc ng c A 1 0 0 0 0 0 1 1 D 1 1 1 0 0 0 0 0 B 0 0 1 1 1 0 0 0 C 0 0 0 0 1 1 1 0

Trnh t cp in: Quay thun: AAD D DB B BC C CA Quay nghch: AAC C CB B BD D DA

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3.4.3.4.ng c buc n cc bn pha

Hnh 3.46 ng c bc 4 pha ra 5 dy dng 1. i vi ng c bc bn pha hay loi ng c pha chn n nh nhau v ta c th u ni li thnh ng c c s pha chn nhng nh hn s pha ban u ty theo s pha ca n. Ta c th u li thnh ng c hai pha 4 hoc 5 d y ra nh hnh v.

Hnh 3.47 ng c bc 4 pha ra 5 dy dng hai . 3.4.3.5.ng c buc n c t tr bin thin

Hnh 3.48. ng c bc c ba pha ra 5 dy. +Cu to: ng c c ba pha. (loi pha l) Rotor khng s dng nam chm vnh cu. Khng i hi rotor phi t ha nn c hnh dng phong ph hn Hnh stator gm 12 cc t, mi mch t gm 4 cun d y. Rotor ch c 8 rng.

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 Cc rng rotor s khng bao gi thng hng vi rng stator. +Hot ng: Gc bc trong ng c l s khc bit v gc gia rotor v stotor. Khi 1 cp in, rng A thng hng, khi 2 cp in, rng B g n nht

Hnh 3.49 Bc quay ca ng c 3 pha. Hnh bn th gc cc t l 30o v gc gia cc cc rotor l 45o. Vi vy gc bc l: 45o -30o = 15o. -Vi cch thit k nh vy nn ng c loi ny c gc bc rt nh c th nh hn 1 . y l u im ca n v cho chnh xc cao hn. 3.4.3.6. Kt ni dy cho ng c bc n cc ng c bc c th cp ngun vo d y chung hay ni mass t y theo xung iu khin m hay dng.

Hnh 3.50. Ni dy cho ng c bc n cc. gim bt hin tng chuyn mch t ngt ngi ta thng mc t song song cun d y ca ng c trnh hin tng p mch.

Hnh 3.51.Dng xung ra trn cun ng c bc Cch mc dng c u H nh hnh 3.96 dung cho ng c lng cc v IC cng sut UL

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N2003.

Hnh 3.52 Cu H iu khin cng sut cho ng c. 3.4.3.7.u nhc im N c t momen hn so vi loi nam chm vnh cu v nam chm khng c t ha. Khng c momen hm khi mt ngun. Gc bc nh v momen hm gim nn d b thiu bc. Nn dng cc b iu khin vng kn khi iu khin ng c loi ny. Rotor bng st t, mi rng rotor s ht cc t stator nhng khng bng ng c t tr bin thin c momen nh hn. Chng thng c loi 3 hoc 4 pha.

nh lc ht loi nam chm vnh cu.

3.4.4.ng dng ng c bc + ng c bc ng dng trong cnh tay robot

Hnh 3.53 ng c bc ng dng trong cnh tay robot +ng c bc ng dng trong cc thit b t ng

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Hnh 3.54 ng c bc ng dng trong cc my cng c 3.5 ng c servo 3.5.1 Gii thiu v ng c servo ng c DC v ng c bc vn l nhng h hi tip vng h - ta cp in ng c quay nhng chng quay bao nhiu th ta khng bit, k c i vi ng c bc l ng c qua y mt gc xc nh t y vo s xung nhn c. Vic thit lp mt h thng iu khin xc nh nhng g ngn cn chuyn ng quay ca ng c hoc lm ng c khng quay cng khng d dng.

Hnh 3.55 ng c servo. Mt khc, ng c servo c thit k cho nhng h thng hi tip vng kn. Tn hiu ra ca ng c c ni vi mt mch iu khin. Khi ng c quay, vn tc v v tr s c hi tip v mch iu khin n y. Nu c b t k l do no ngn cn chuyn ng quay ca ng c, c cu hi tip s nhn th y tn hiu ra cha t c v tr mong mun. Mch iu khin tip tc chnh sai lch cho ng c t c im chnh xc. ng c servo c nhiu kiu dng v kch thc, c s dng trong nhiu m y khc nhau, t my tin iu khin bng my tnh cho n cc m hnh m y bay v xe hi. ng dng mi nht ca ng c servo l trong cc robot, cng loi vi cc ng c dng trong m hnh my bay v xe hi. Cc ng c servo iu khinbnglin lc v tuyn c gi l ng c servo R/C (radiocontrolled). Trong thc t, bn thn ng c servo khng phi c iu khin bng v tuyn, n ch ni vi my thu v tuyn trn my bay hay xe hi. ng c servo nhn tn hiu t my thu ny. Nh vy c ngha l ta khng c n phi iu khin robot bng tn hiu v tuyn bng cch s dng mt ng c servo, tr khi ta mun th. Ta c th iu khin ng c servo bng my tnh, mt b vi x l hay thm ch mt mch in t n gin dng IC 555.

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Trong mt vi ng dng, c n la chn gia ng c servo v ng c bc. C hai loi ng c ny u nh nhau v c th xc nh c v tr chnh xc, nhng chng cng khc nhau mt s im. Servo motor i hi tn hiu hi tip analog. c bit, iu ny i hi mt b tc-c cung cp tn hiu hi tip v v tr ca rotor, v mt s mch phc tp iu khin s sai lch gia v tr mong mun v v tr tc thi v lc dng qua ng c s dao ng tt d n la chn gia ng c bc v ng c servo, phi xem xt mt s vn , v n ph thuc vo cc ng dng thc t. V d, kh nng tr v mt v tr vt qua ph thuc vo hnh dng rotor ng c bc, trong khi , kh nng lp li v tr ca ng c servo ni chung ph thuc vo n nh ca b tc c v cc linh kin analog khc trong mch hi tip. ng c servo c thit k cho nhng h thng hi tip vng kn. Tn hiu ra ca ng c c ni vi mt mch iu khin. K hi ng c quay, vn tc v v tr s c hi tip v mch iu khin ny. Nu c b t k l do no ngn cn chuyn ng quay ca ng c, c cu hi tip s nhn thy tn hiu ra cha t c v tr mong mun. Mch iu khin tip tc chnh sai lch cho ng c t c im chnh xc. Cc ng c servo iu khin bng lin lc v tuyn c gi l ng c servo RC (radio-controlled). Trong thc t, bn thn ng c servo khng phi c iu khin bng v tuyn, n ch ni vi my thu v tuyn trn my bay hay xe hi. ng c servo nhn tn hiu t my thu ny. ng c servo l thit b c iu khin bng chu trnh kn. T tn hiu hi tip vn tc/v tr, h thng iu khin s s iu khin hat ng ca mt ng c servo. Vi l do nu trn nn sensor o v tr hoc tc l cc b phn c n thit phi tch hp cho mt ng c servo. c tnh vn hnh ca mt ng c servo ph thuc rt nhiu vo c tnh t v phng php iu khin ng c servo. C 3 loi ng c servo c s dng hin nay l ng c servo AC da trn nn tng ng c AC lng sc; ng c servo DC da trn nn tng ng c DC; v ng c servo AC khng chi than da trn nn tng ng c khng ng b. C 3 loi ng c servo c s dng hin nay: ng c servo AC da trn nn tng ng c AC lng sc. ng c servo DC da trn nn tng ng c DC. ng c servo AC khng chi than da trn nn tng ng c khng ng b. 3.5.2 Hot ng ca ng c servo

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1. Motor 2. Electronics Board 3. Positive Power Wire (Red) 4. Signal Wire (Yellow or White) 5. Negative or Ground Wire (Black) 6. Potentiometer 7. Output Shaft/Gear 8. Servo Attachment Horn/Wheel/Arm 9. Servo Case Hnh 3.56. ng c servo R/C kch thc chun in hnh dng trong m hnh my bay v xe ua.

Hnh 3.57 Bn trong ca mt ng c servo R/C. Bn trong ca mt ng c servo R/C. Servo bao gm mt ng c, mt chui cc bnh rng gim tc, mt mch iu khin v mt vn k. ng c v vn k ni vi mch iu khin to thnh mch hi tip vng kn. C mch iu khin v ng c u c cp ngun DC (thng t 4.8 7.2 V). quay ng c, tn hiu s c gi ti mch iu khin. Tn hiu ny khi ng ng c, thng qua chui bnh rng, ni vi vn k. V tr ca trc vn k cho bit v tr trc ra ca servo. Khi vn k t c v tr mong mun, mch iu khin s tt ng c. ng c servo c thit k quay c gii hn ch khng phi quay lin tc nh ng c DC hay ng c bc. Mc d ta c th chnh ng c servo R/C quay lin tc (s trnh b y sau) nhng cng dng chnh ca ng c servo l t c gc quay chnh xc trong khong t 90o 180o. Vic iu khin n y c th ng dng li robot, di chuyn cc tay my ln xung, quay mt cm bin qut khp phng

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3.5.3 Servo v iu bin rng xung Trc ca ng c servo R/C c nh v nh vo k thut gi l iu bin rng xung (PWM). Trong h thng ny, servo l p ng ca mt dy cc xung s n nh. C th hn, mch iu khin l p ng ca mt tn hiu s c cc xung bin i t 1 2 ms. Cc xung ny c gi i 50 l n/giy. Ch rng khng phi s xung trong mt giy iu khin servo m l chiu di ca cc xung. Servo i hi khong 30 60 xung/giy. Nu s ny qua thp, chnh xc v cng sut duy tr servo s gim. Vi di xung 1 ms, servo c iu khin quay theo mt chiu( gi s l chiu kim ng h nh hnh 3.02

Hnh 3.58 iu khin v tr trc ra ca ng c bng cch iu ch rng xung Vi di xung xung 2 ms, servo quay theo chiu ngc li. K thut ny cn c gi l t l s - chuyn ng ca servo t l vi tn hiu s iu khin. Cng sut cung cp cho ng c bn trong servo cng t l vi lch gia v tr hin ti ca trc ra vi v tr n c n n. Nu servo g n v tr ch, ng c c truyn ng vi tc thp. iu ny m bo rng ng c khng vt qu im nh n. Nhng nu servo xa v tr ch n s c truyn ng vi vn tc ti a n ch cng nhanh cng tt. Khi trc ra n v tr mong mun, ng c gim tc. Qu trnh tng chng nh phc tp n y din ra trong khong thi gian rt ngn - mt servo trung bnh c th quay 60o trong vng - gi y.V di xung c th thay i t y theo hng ch to nn ta phi chn servo v m y thu v tuyn thuc cng mt hng m bo s tng thch. i vi robot, ta phi lm mt vi th nghim xc nh di xung ti u. 3.5.4 Vai tr ca Vn k Vn k trong servo gi vai tr chnh trong vic cho php nh v tr ca trc ra. Vn k c gn vo trc ra (trong mt vi servo, Vn k chnh l trc ra). Bng cch n y, v tr ca Vn k phn nh chnh xc v tr trc ra ca servo. Ta bit Vn k hot ng nh cung cp mt in p bin thin cho mch iu khin. Khi c n ch y bn trong Vn k chuyn ng, in th s thay i. Mch iu khin trong servo so snh in th n y vi di cc xung s a vo v pht tn hiu sai s nu in th khng ng.

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Tn hiu sai s ny t l vi lch gia v tr ca Vn k v di ca tn hiu vo. Mch iu khin s kt hp tn hiu sai s ny quay ng c. Khi in th ca Vn k v di cc xung s bng nhau, tn hiu sai s c loi b v ng c ngng. 3.5.5.Cc gii hn quay Cc servo khc nhau gc quay c vi cng tn hiu 12 ms (hoc bt k) c cung cp. Cc servo chun c thit k quay ti v lui t 90o 180o khi c cung cp ton b chiu di xung. Ph n ln servo c th qua y c 180o hay g n 180o. Nu ta c iu khin servo vt qu nhng gii hn c hc ca n , trc ra ca ng c s ng vt cn bn trong, dn n cc bnh rng b mi mn hay b r. Hin tng ny ko di hn vi giy s lm bnh rng ca ng c b ph h y.

Hnh 3.59 Vn k thng c dng nh mt cu chia p. Vn k thng c dng nh mt c u chia p. Khi Vn k quay, c n chy di chuyn dc theo chiu di thanh in tr. Tn hiu ra ca Vn k l mt in th bin thin t 0 n gi tr ngun cung cp. 3.5.6. Cc loi v kch thc servo c bit Ngoi servo kch thc chun dng trong robot v m hnh iu khin v tuyn cn c cc loi servo R/C khc: Servo t l / t l ln (quarter-scale / large-scale servo): kch thc gp khong 2 l n servo chun, cng sut ln hn r, c dng trong cc m hnh my bay ln nhng cng c th lm ng c cng sut tt cho robot. Servo nh (mini-micro servo): kch thc nh hn khong 2 l n so vi servo chun, khng mnh bng servo chun, dng nhng khng gian hp trong m hnh m y bay hay xe hi. Servo ti bum (sail minch servo): mnh nht, dng iu khin cc d y thng ca bum nh v bum chnh trong m hnh thuyn bum. Servo thu b phn h cnh (landing-gear retraction servo): dng thu b phn h cnh trong m hnh my bay va v ln. Thit k b phn h cnh thng i hi servo phi m bo gc quay t nht l 170o. Cc servo ny thng nh hn kch thc chun v khng gian gii hn trong m hnh m y bay. 3.5.7 H thng truyn ng bnh rng v truyn cng sut ng c bn trong servo R/C quay khong vi ngn vng / pht. Tc ny qu nhanh c th dng trc tip ln m hnh m y bay, xe hi hay robot. Tt c cc servo u c

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mt h thng bnh rng gim vn tc ra ca ng c cn khong 50 100 v/ph. Cc bnh rng ca servo c th lm plastic, nylon hay kim loi (thng l ng thau hay nhm). Bnh rng kim loi c tui th cao nhng gi thnh cng cao. Cc bnh rng thay th lun c sn. Khi mt hay vi bnh rng b h, servo khng khp v ta phi thay bnh rng. Trong mt vi trng hp ta c th nng cp bnh rng plastic thnh bnh rng kim loi. Bn cnh cc bnh rng dn ng, trc ra ca ng c cng thng b mn v xc. Trong cc servo r nht, trc n y c bng ming m plastic, ming m n y rt d mt tc dng nu ng c ch y nhiu. Thc s th y cng khng phi l ming m m ch l mt ng lt gip gim ma st gi trc v v ca servo. Cc ng lt bng kim loi, c th l ng lt bng ng thau c thm cht bi trn, bn hn nhng cng t hn. Servo s dng vng bi c tui th cao nht v t nht. Ta cng c th nng cp servo bng vng bi c sn. 3.5.8 Mch iu khin ng c servo Mch iu khin ng c servo dng IC 555:

Hnh 3.60 Mch iu khin ng c servo bng IC 555.

Hnh 3.61 Mch iu khin ng c tng hp. 3.6. Kt lun Thit b chp hnh v cng sut trong dy chuyn sn xut t ng thc hin chc nng sn xut c bn ca quy trnh cng ngh. chnh xc v tin cy ca thit b chp hnh ng vai tr quan trng trong vic thc hin qu trnh cng ngh. Hiu v nm vng cc thit b chp

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hnh gip chng ta c th trin khai nhng gii php iu khin trong nhng quy trnh cng nghi khc nhau. Chng 4 B IU KHIN KH TRNH TRONG CNG NGHIP 4.1 Gii thiu Trong mt h thng iu khin b iu khin l thnh ph n rt quan trng, n quyt nh n kt qu ca qu trnh iu khin. Cc b iu khin c th l nhng mch in t n gin (dng linh kin in t, IC s, vi iu khin) n cc b lp trnh tch hp sn (Logo!, PLC) cc b iu khin ny cng thng c thit k c th kt ni vi my tnh hai mn hnh HMI giao tip trong vic iu khin v gim st. Hnh 4.1 cho ta mt h thng iu khin sn phm vi b iu khin PLC.

Hnh 4. 1 M hnh h thng iu khin bng ti dng PLC. 4.2.Cc phng thc iu khin: iu khin vng h: (h khng phn hi) Nhng h thng iu khin m tn hiu ra khng c phn hi v khng c tc ng ln tn hiu iu khin th c gi l h iu khin m (open loop control system). Ni mt cch khc, trong h thng iu khin h th tn hiu ra khng c o hoc khng c phn hi so snh vi tn hiu vo. Mt v d trong thc t v h thng iu khin h l chic my git. Trong chic my git, nhng hot ng nh nhng nc (soaking), git (washing) v gi bn (rinsing) chy theo thi gian. My git khng o tn hiu ra, l sch ca qu n o.

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Trong h thng iu khin h, tn hiu ra khng c so snh vi tn hiu vo d nh (reference input). V th mi tn hiu vo d nh s tng ng vi mt iu kin hot ng c nh, kt qu l chnh xc ca h thng ph thuc vo s xc nh trc (calibration). Khi c nhiu lon (disturbances) th h thng iu khin m s khng thc hin c cng vic theo mun. Trong thc t h thng iu khin h ch c s dng khi bit mi quan h gia tn hiu vo v tn hiu ra v khi khng c nhiu lon bn trong ln bn ngoi. Hin nhin rng nhng h thng iu khin nh vy khng th gi l h thng iu khin phn hi (feedback control systems). C n lu rng bt k mt h thng iu khin no hot ng trn c s thi gian u c gi l h thng h. V d iu khin n tn hiu giao thng da trn c s thi gian l mt v d khc v h thng iu khin h. Chng ta hy xt mt v d rt c bn v h thng h n gin iu khin tc dng mt ng c mt chiu kch hot ring bit (separately excited DC motor). Tc ca trc ng c c iu khin bng cc iu chnh bng tay field rhestat. V vy, theo l thuyt chng ta thy s c mt tc c nht nh cho i vi mt v tr ca thanh trt rheostat (rheostat slider), m c xc nh trc bng s vng quay (rpm) tng ng ca trc. Hnh 4.4 biu din s khi n gin ca h thng h ny.

Hnh 4.2 S khi h thng iu khin motor.

Hnh 4.3 H thng iu khin tc ng c. chnh xc m chng ta duy tr mt tc mong mun nh s km i khi c nhng nh hng ca nhng yu t sau: in p ngun cung cp thay i. in tr ca bin tr thay i, cun dy trng, cun dy amature, v nhng bit i ny s gy nn s thay i nhiu do t nng ln hoc do s thay i ca

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nhit mi trng xung quanh. Bin i c tnh ti. t tr trong ng c, s lm cho gi tr vn tc c n duy tr ph thuc vo nhng bin i vn tc t trong qu kh. Ni chung th nhng c tnh ca mt h iu khin m c tm tt nh sau: u im: Kh n gin v d vn hnh, gi r, tin cy c, d bo qun v duy tr. n nh c hu Nhc im : Kh chm chp phn ng i vi nhng thay i theo lnh. Khng chnh xc, thiu hnh ng chnh xc v c sai s (ngha l im xut pht ca gi tr thc khc so vi gi tr mong mun). iu khin vng kn (h khp kn- phn hi) Mt h thng duy tr s so snh gia tn hiu ra v tn hiu vo v dng s khc bit (sai s) gia hai tn hiu lm phng tin iu khin th c gi l h thng iu khin phn hi (feedback control system). Mt v d v h thng iu khin kn l h thng iu khin nhit trong phng. Trong h thng ny nhit thc trong phng c duy tr v so snh vi nhit nh (nhit mong mun), b iu khin nhit (thermostat) s t ng bt my si hoc my lnh duy tr nhit khng i m khng ph thuc vo iu kin bn ngoi. H thng iu khin phn hi khng gii hn trong cng ngh, m cn c trong nhiu ngnh ngh v lnh vc khc nha. V d, c th con ngi l mt v d v h thng iu khin kn. Trong c th nhit v huyt p c duy tr khng i bng phn hi sinh l hc. Thc t th s phn hi l mt chc nng sng (vital function): s phn hi lm cho c th nhy cm vi nhiu lon bn ngoi v vy lm cho c th c kh nng thc hin nhim v chnh xc vi mi trng thay i.

Hnh 4.4 S h thng iu khin ng c.

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Hnh 4.5 H thng iu khin ng c. H thng iu khin phn hi thng c gi l h thng iu khin kn (closedloop control systems). Trong thc t, cc thut ng iu khin phn hi v iu khin kn c th dng thay th cho nhau. Trong mt h thng kn, tn hiu sai s kch hot (actuating error signal) l sai lch gia tn hiu vo v tn hiu phn hi (thc cht chnh l tn hiu ra hoc mt hm s ca tn hiu ra v o hm hoc tch phn ca tn hiu ra), c phn hi li cho b iu khin lm gim sai s v lm cho tn hiu ra ca h thng gi nguyn gi tr mong mun.

Hnh 4.6 Lu iu khin ng c. Thut ng iu khin kn thng din t ngha s dng hnh ng iu khin phn hi nhm lm gim sai s h thng. chnh xc m tc ca m t c duy tr s tng ln ng k bng cch kim tra tc trc ng c bng thit b o lng thch hp (v d tc k) v c ngi duy tr hot ng c nhng thao tc iu chnh thch hp cho vic t bin tr nhm hiu chnh bt k s sai lch no ca gi tr vn tc o c so vi gi tr mong mun. S sp xp ny biu din hnh thc c bn ca iu khin kn c thao tc c a mt (operator thao tc vin/iu hnh vin) thc hin cng vic iu chnh sai s ca h thng lm cho cht lng iu khin ph thuc ln vo s kho tay cng nh tp trung u c ca ngi iu hnh vin. H thng ny c t ng ha, v vy cht lng iu khin khng thay i . Hnh

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4.9 minh ha s sp xp kn in hnh da trn h thng iu khin m trong Hnh 4.2 trn. Nhn chung, c tnh ca mt h thng iu khin kn nh sau: u im Phn ng kh nhanh vi nhng thay i theo mnh lnh. Kh chnh xc lm ph hp gi tr thc vi gi tr mong mun. Nhc im Tng i phc tp (gi thnh cao hn) C tim nng khng n nh trong nhng iu kin h hng 4.3.Cc b iu khin trung tm: Cc b iu khin thng gp: Thit k theo phng thc iu khin tip im c in. S dng cc b iu khin kh trnh trong cng nghip. Thit k iu khin s dng cc b vi x l, vi iu khin(Cc h thng nhng). iu khin da vo my tnh. 4.3.1. B iu khin kt ni cng iu khin kt ni cng l loi iu khin m cc chc nng ca n c t c nh (ni dy). Nu mun thay i chc nng iu khin th phi thay i kt ni dy. iu khin ni cng c th c thc hin vi cc tip im (Relay, khi ng t) hay mch in t 4.3.2. B iu khin dng Vi x l Hin nay h u ht cc b vi x l c tch hp thnh nhng b iu khin theo tng ng dng c th vi nhiu hng sn xut, v d nh hng Omron c cc b iu khin: b m v t thi gian, b iu khin nhit m n tr thnh mt trong nhng thit b t ng rt ph bin.

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Hnh 4.7 S khi b iu khin dng vi x l. 4.3.2.1. iu khin ng c my git

Hnh 4.8. H thng iu khin ng c my git.

4.3.2.1. iu khin nh lng dng my tnh

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Hnh 4.9 S nh lng sn phm dng ht. 4.3.3.B iu khin dng PLC - My tnh

Hnh 4.10. M hnh mt b iu khin lp trnh PLC 4.3.3.1.n v x l trung tm CPU (Central Processing Unit): n v x l trung tm c xem nh l no ca b iu khin PLC. Thng thng, n v x l trung tm l mt loi vi iu khin, nh vi iu khin 8051 c 8 bit v ngy nay chng ln n 16 bit hay 32 bit. n v x l trung tm ch trng ph n truyn thng gia cc b phn ca b iu khin PLC vi nhau nh vic lp trnh, qun l b nh, quan st trng thi ng vo v ng ra. n v x l trung tm thng thc hin vic kim tra vng nh ca b iu khin PLC bo m rng b nh khng b li, khng

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b hng, nh m cc li nu c s sm c pht hin.

Hnh 4.11. CPU ca PLC Nguyn l vn hnh ca mt n v x l trung tm CPU c m t nh sau: Cc thng tin c lu tr trong b nh chng trnh c gi ln tu n t v c iu khin v kim sot bng b m chng trnh do n v x l trung tm khng ch. B x l lin kt cc tn hiu ring l li vi nhau v t cho ra kt qu iu khin ti ng ra. S thao tc tu n t ca chng trnh to nn mt khong thi gian tr gi l thi gian qut, v tnh tu n t ca n nn ta c th gi l chu k qut, chu k qut ny ph thuc vo ca chng trnh (s lng ng vo, ng ra, v nhng thng tin yu c u khc). Chnh n v x l trung tm quyt nh thi gian qut, chc nng v kh nng ca mt b PLC.

Hnh 4.12. Vng qut PLC 4.3.3.2.Vng nh Vng nh c PLC s dng cho mt qu trnh iu khin cng nghip. Ngi ta thng s dng b nh EPROM vi vic lp trnh c n c thc hin trn my lp trnh cn khi mun xa b d liu c n chiu tia t ngoi vo, hoc d liu cng c th c xa bng nng lng in. Nu mun pht trin thm cc ng dng khc ca chng

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trnh iu khin ta ch c n thc hin lp trnh li cho b iu khin thng qua si cp kt ni. B nh thng c chia thnh cc khi vi nhng chc nng c bit khc nhau. Mt s vng ca b nh dng cho vic lu tr trng thi ng vo v ng ra. Trng thi ca mt ng vo c lu tr di dng bit nh c bit, thng l 1 hoc 0. Bit nh ca mi trng thi vo hoc ra cng s c trng thi tng t. Nhng ph n khc ca b nh c dng cho vic lu tr cc ni dung c gi tr c n thit cho vic lp trnh, v d nh gi tr rle thi gian, gi tr counter c lu tr.trong ph n ny. Th mnh ca b iu khin lp trnh PLC l c b nh c th thay i mt cch nhanh chng.

Hnh 4.13. S cu trc b nh PLC T in c bit: c gi l t in c bit do n c kh nng tch tr nng lng trong mt thi gian di, gip lu tr d liu trong RAM khi khng c in. Loi RAM thng thng c thi gian lu d liu n 50 gi, cng c th ln n 72 gi. RAM (Random Access Memory): RAM c s dng nh 1 vng nh tm thi. Vng nh ca RAM khng n nh, cc d liu lu trn n s b mt i khi b mt in. Do , thng c 1 ngun d tr phng trng hp RAM b mt in trong 1 thi gian di. EPROM (Erasable Programmable Read Only Memory): N c thit k sao cho d liu c th c c d dng, nhng kh c th thay i. thay i d liu ca EPROM c n c phng php c bit. i vi UVEPROM, d liu c th c thay i bng cch chiu tia cc tm (Ultraviolet Light) vo. Nhng i vi EPROM thng dng th c th dng in xa d liu. Firmware: L mt ph m mm c bit a d liu vo EPROM. Do EPROM c th c xem nh mt b phn ca ph n cng ca PLC, n cho php PLC s dng cc chc nng c bn ca n.

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Hnh 4.14. Hnh dng tiu biu ca EPROM v RAM 4.3.3.3. Ngun in cung cp in cp vo c dng cho n v x l trung tm CPU, a s cc b iu khin PLC s dng ngun in 24 VDC hoc 220 VAC. Ngi s dng c n nm r s lng u vo v u ra bo m thit b c cp in mt cch chnh xc. Mi modul khc nhau th kh nng s dng in khc nhau. Ngun in cung cp ny khng c dng khi ng cho cc thit b kt ni pha bn ngoi ti ng vo, hoc ng ra. Ngi s dng phi cp in cho cc thit b ti u vo hoc u ra phi c tin hnh mt cch ring bit. C nh vy mi bo m c rng nhng nh hng ca cc thit b my mc dng trong cng nghip khng gy h hi cho b iu khin PLC. i vi mt s b iu khin PLC loi nh, chng cp ngun cho cc thit b kt ni ti ng vo bng in p c ly t mt ngun nh c tch hp vo b iu khin PLC.

Hnh 4.15.Kt ni ngun cho PLC Siemes 4.3.3.4. Module ng vo Lm nhim v khi ghp, chuyn i tn hiu u vo thnh tn hiu s (digital) bn trong PLC. Kt qu ca vic x l c lu tr trong vng nh ca ng vo. Mch u vo c cch ly v in vi cc mch bn trong PLC nh cc diode quang v photo diode (thng gp l diode 4N28) do mi h hng mch u vo u khng nh hng n hot ng ca PLC.

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Hnh 4.16.Dao din ti ng vo PLC Cc thit b u vo c th l nt nhn, cng tc, cng tc hnh trnh, tip im (thng m, thng ng), cc b cm binK hiu: I0.0 l ng vo th 1, I0.1 l ng vo th 2..Mt b PLC c th c nhiu ng vo.

Hnh 4.17.S kt ni ng vo PLC Ng vo cng c th c iu khin bng trng thi ca cc yu c u c th ca mt chng trnh iu khin. Nh cc h thng bn di y:

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Hnh 4.18. Cc h thng dng PLC Trong cc s trn, tn hiu ca cc thit b (thit b o mc nc, cm bin xung, bn cn khi lng) u c kt ni vi tn hiu ng vo ca b PLC. 4.3.3.5.Module ng ra Lm nhim v bin i cc mc logic bn trong PLC thnh cc tn hiu iu khin a ra bn ngoi. Tng t nh ti ng vo, ng ra ca PLC cng c cch ly v in i vi cc thit b bn ngoi bng diode quang v photo transitor.

Hnh 4.19. Dao din ng ra PLC Ng ra ca PLC c gi l ng ra k thut s, n kt ni vi cc thit b c n iu khin nh van in t, cun dy cngtct (b khi ng t), bng n K hiu ti mi ng ra ca PLC la Q0.0, Q0.1, Q0.2

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Hnh 4.20. S kt ni ng ra PLC S lng ng vo v ng ra ca mi b PLC l c gii hn, nhng ta c th tng s lng ca chng ln nh b PLC c module m rng, tc l ta c th ghp ni gia cc b PLC vi nhau. 4.3.3.6. Lp trnh cho b iu khin PLC Cch thng dng nht lp trnh cho b iu khin PLC l thng qua my tnh c ci t ph n mm lp trnh, tuy nhin cng c th tin hnh lp trnh bng tay. Ngy nay, vic s dng my tnh cho vic lp trnh v ti lp trnh cho nhng b PLC dng trong cc nh my rt ph bin, n gi vai tr rt quan trng trong cng nghip. 4.3.3.7.Cc b phn ph khc Ngoi nhng b phn chnh ni trn, b iu khin lp trnh PLC cng c thm mt s b phn ph sau: - Cp ni (PC/PPI): Dng kt ni giao din my tnh vi giao din b PLC. Trn cp, c cng tc DIP cho php chn la tc truyn thng tin thch hp gia my tnh v b PLC

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Hnh 4.21. S cp ni my tnh vi b PLC Vic kim tra trng thi ca chng trnh lp trnh PLC khng c n thit phi lp cc thit b iu khin ti u vo, ta c th tin hnh kim tra bng b cng tc thay th cho cc tip im trn thc t. B cng tc ny s cung cp mc logic 0/1 cho b PLC.

Hnh 4.22. B cng tc kim tra chng trnh lp trnh -Ngoi vic dng my tnh lp trnh cho b PLC, ta cng c th tin hnh lp trnh hoc thay i chng trnh ca b PLC bng mt s thit b c m tay.

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Hnh 4.23. B lp trnh cm tay TD 200 cho PLC S7 200 -Lp t: lp t PLC ln bng in, ta c th dng thanh ray DIN hoc bt vt trc tip ln bng in.

Hnh 4.24. Lp t PLC 4.3.3.8. Phng php thit k mt h thng iu khin bng PLC trong cng nghip Trc ht, c n phi la chn nhng thit b hay h thng c n iu khin. H thng t ng ha c th ch c 1 my hoc cng c th l c mt dy chuyn gm nhiu my, nhng chng c gi chung l h thng iu khin quy trnh cng nghip. Hm ca mt h thng iu khin quy trnh cng nghip l quan st cc tn hiu ng vo cung cp tn hiu cho b iu khin PLC. p li, b iu khin PLC s xut tn hiu iu khin ra ngoi vn hnh cc thit b. K tip, c n phi bit r s ng vo v ng ra ca thit b s kt ni vi b iu khin PLC. Ng vo c th l cc tn hiu khc nhau, cng tc, cm bin Ng ra s iu khin cc thit b nh cun dy, van in t, ng c, rle, cc thit b to m thanh v nh sng. Tip theo vic xc nh cc thit b ti ng vo v ng ra l gn cho b PLC nhng thit b no thuc ng vo, ng ra. S phn chia trng thi ng vo v ng ra cho b iu khin PLC phi tng ng vi h thng c thit k. Sau cng, to s hnh thang (dng Ladder) cho chng trnh theo bc u nu. Cui cng chng trnh s c ti vo b iu khin PLC. Khi vic np chng trnh kt thc, n s kim tra v pht hin cc li c trong chng trnh (bng cch s dng chc nng d li). Nu c th, ton b chng trnh s c chy m phng. Trc khi

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chng trnh bt u, ta c n phi kim tra li cc ng vo v ng ra bo m chng c kt ni ng. K tip, cp ngun v cho h thng hot ng. Vic thng xuyn kim tra d liu trong b iu khin bo m chng trnh trong khng b thay i l ht sc c n thit, n gip trnh c cc tnh trng nguy him xy ra trong sn xut. Do , mt s thit b t ng c thit lp trong mng li thng tin ca nh my nhm thc hin vic kim tra cc chng trnh PLC bo m rng chng trnh ca chng khng mc li. Ngi lp trnh c th nh du, t tn cho cc thit b ng vo v ng ra. iu ny s to c thun li khi xc nh li, hoc khi bo tr cho h thng. Vic t tn v hng dn khi lp trnh phi bo m sao cho mi nhn vin k thut u c th hiu, vn hnh v sa cha c h thng (i vi s hnh thang), ch khng ch i vi ngi vit chng trnh cho h thng.Trnh tnh trng ngi lp trnh gi b mt chng trnh ca mnh khin cho nhng nhn vin k thut khc khng th hiu c th vn hnh v sa cha. 4.3.4. iu khin giao tip vi my tnh H thng iu khin giao tip my tnh c trnh bay nh s hnh 4.18

Hnh 4.25 S khi b iu khin giao tip my tnh. H thng iu khin nhit l bng my tnh. Hnh 4.18 minh ho s h thng iu khin nhit ca l in. Nhit trong l in c o bng nhit k in (thermocouple hoc RTD), mt thit b lin tc (analogue device). Nhit c thng qua b chuyn tn hiu (transducer hoc transmitter) thnh dng tn hiu chun (c th l 4-20mA, hoc 0-5V). Tn hiu nhit lin tc c chuyn thnh tn hiu s (digital signal) thng qua b i tng t s (A/D) c a vo my tnh.

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Hnh 4.26 H thng iu khin nhit l bng my tnh Trong my tnh, mt chng trnh iu khin chy s tnh ton sai s gia nhit c lp trnh(programmed input) vi tn hiu nhit thc t. Nu c sai s, chng trnh iu khin s pht tn hiu iu khin thng qua b i s tng t (D/A), ri tn hiu qua b khuch i (amplifier), tn hiu iu khin ny thng qua r le iu khin my sy (heater) nhit nh. 4.3.5. iu khin dng bin tn iu khin ng c khng ng b ba pha dng bin t n l mt phng php thng dng nht hin nay, v cc ng c AC rt kh iu khin vi dng sng phi sin do cc sng hi bc cao to ra nht l ng c ba pha.

Hnh 4.27 Bin tn iu khin ng c AC. 4.3.5.1. Vai tr ca ng c khng ng b 3 pha trong h thng sn xut: Chuyn in nng thnh ng nng. S dng trong cc h thng truyn ng in. Chn kiu u dy cho ng c: Chn kiu u dy, lp t dy cp ngun Ni Y 3 pha 3 dy Ni L2 L3

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N C B
M3

Hnh 4.28 u dy cp ngun cho ng c. Nguyn l hot ng ca ng c khng ng b 3 pha: Khi cp ngun 3 pha vo 3 cun dy Stator: Ni Y hay ni th ng c s chy vi tc g n bng 60*f/p.

Hnh 4.29 Nguyn l hot ng ca ng c ba pha 4.3.5.2. Chc nng ca b bin tn: Bin t n dng iu khin tc ng c khng ng b 3 pha trong cc h thng truyn ng in.

Hnh 4.30 Bin tn Dng iu khin tc ng c KB 3 pha iu khin thay i tc ng c KB 3 pha n nh tc ng c KB 3 pha Khi ng mm v dng mm ng c Hn dng khi ng Bo v qu ti, kt ti Nng cao cht lng sn phm Gim h thng c (hp s, rulo,) Tit kim nng lng.

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Hnh 4.31 Bin tn dng iu khin ng c. Dng khi ng mm v dng mm ng c:

Hnh 4.32 Khi ng mm ng c. iu khin n nh tc ng c khng ng b 3 pha:

Hnh 4.33 n nh tc ng c. 4.3.5.3. Cu trc ca b bin tn: Mch ng lc Mch iu khin Mch giao tip, hin th, iu khin, ci t

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 V, u ni dy, tn nhit,

Hnh 4.34 Cu trc b bin tn. 4.3.5.4. Nguyn l hot ng ca b bin tn B nghch lu 3 pha (dng SCR, BJT, MosFET, IGBT)

Hnh 4.35 B nghch lu trong b bin tn. Thay i t n s v bin in p ng ra

Hnh 4.36. Thay i tn s trong bin tn iu khin ng c.

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 iu khin ng c dng b bin t n

Hnh 4.37. S iu khin ng c ba pha dng bin t n. Cc ch khi ng mm v dng mm

Hnh 4.38 Dng sng khi ng ng c o chiu khng c n o pha

Hnh 4.39. Chc nng o chiu khng cn o pha.

Bin t n c hi tip tc :

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Hnh 4.40.Bin tn c hi tip tc . Bin t n c ch Sensorless:

Hnh 4.41 Bin tn c ch Sensorless. 4.3.5.5. Tnh ton thng s ci t: Ta tnh ton cc thng s ci t: in p, dng in, cos , t n s, cng sut, tc . Tnh cc thng s ng c khc nh: Gii hn t n s, gii hn dng in, gii hn in p, thi gian tng, thi gian gim tc, ch c hi tip tc , tc c n iu khin, iu khin theo cp tc , iu khin thay i tc lin tc, iu khin, gim st t xa Ni mng iu khin: Cp ngun cho b bin t n:

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Hnh 4.42. Bin tn ni mng iu khin.

Hnh 4.43. Cp ngun cho bin tn. 4.3.5.6. Phn loi bin tn: iu khin vng kn Ni mng iu khin t xa Ch bo v Mc gy nhiu chnh xc v n nh ca tc Tc p ng

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 Thut ton iu khin

Hnh 4.44. Bin tn c chc nng chn thut ton iu khin. Kh nng iu khin h thng

Hnh 4.45. Bin tn c kh nng iu khin h thng Kim tra vic lp bin t n vo ngun in

Hnh 4.45 Kim tra vic lp bin tn vo ngun in. Lp thit b giao tip, ci t

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Hnh 4.46.Lp thit b giao tip vo bin tn V tr, khong cch lp t - Cch ly v in - Chng m - Chy n

Hnh 4.47. Kim tra vic v tr khong cch lp bin tn. Ci t ti u ch iu khin Thng s ng c Ch iu khin Thng s iu khin

Hnh 4.43 Ci t thng s cho bin tn. Lp ti, khi ng v vn hnh c ti

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- Kim tra p ng tc h thng - Kim tra t n s, dng in, kim tra kt ni - Kim tra qu nhit, qut lm mt, trc, rung ng - Kim tra tc h thng - Kim tra qu dng in

Hnh 4.44 Vn hnh h thng. Kim tra qu nhit, qut lm mt, trc, rung ng

Hnh 4.45 Kim tra ton b h thng. Phng nga v sa cha cc h hng thng gp Ci t sai lch thng s ng c qu ti, qu dng, qu p ng c khng khi ng c ng c qu nhit Gim st tnh trng, pht hin sm s c, bo v khi xy ra h hng.

4.4.H thng iu khin CNC 4.4.1. Kin trc ca my cng c CNC v lu vn hnh gia cng

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Hnh 4.46. Kin trc ca my cng c CNC v lu vn hnh gia cng 4.4.2. Cc thnh phn trong h thng truyn ng my CNC Cc h thng bin i cc lnh t NC thnh cc chuyn ng my c ch ra trong hnh 4.47. Hnh 4.47..a m t c cu iu khin ng c servo v b truyn ng. ng c servo, bt ngun t servue ca ting Latin, l thit b thc hin chnh xc yu c u cho. Cc lnh t NC lm quay ng c servo, ng c servo quay c truyn n vt me bi thng qua khp ni, vt me bi quay to thnh chuyn ng tnh tin ca ai c, v cui cng bn my v phi cng chuyn ng tnh tin. Ni tm li, c cu iu khin ng c servo iu khin vn tc v moment xon ca bn my thng qua thit b iu khin ng c servo ca mi trc da trn cc lnh iu khin t NC.

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Hnh 4.47.C cu iu khin ca my cng c Hnh 4.47b miu t n v trc chnh bao gm trc ng c v b ph n truyn ng. ng c quay truyn qua trc chnh n trc chnh thng qua dy ai v t s vn tc ph thuc vo t l kch c ca 2 puly. G n y, cc ng c cm ng c s dng nh ng c trc chnh ca cc my cng c bi v ng c cm ng tt hn ng c DC v mt kch c, khi lng, qun tnh, hiu sut, tc , v vic bo tr. 4.4.3. Cc vng iu khin CNC V tr v vn tc c d t 1 cm bin c phn hi v 1 mch in iu khin, ng c servo s dng trong my CNC iu khin lin tc cc tiu ha sai s vn tc v sai s v tr (hnh 3). H thng iu khin phn hi bao gm 3 vng iu khin c lp cho mi trc ca my cng c, vng iu khin pha ngoi cng l vng iu khin v tr, vng iu khin gia l iu khin tc , vng iu khin trong cng l vng iu khin hin hnh. Ni chung, vng iu khin v tr c t trong NC v cc vng iu khin khc th c trong thit b iu khin ng c servo. Tuy nhin, khng c tiu chun tuyt i v v tr cc vng iu khin v cc v tr c th khc nhau da trn nh ca ngi thit k.

Hnh 4.48. Loi vng iu khin trong my CNC Trong h thng trc quay ca my cng c, iu khin phn hi ca tc c p dng duy tr tc quay n nh.

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B d c gn trn trc ca ng c servo hoc ph n chuyn ng v h thng iu khin c phn thnh 4 loi theo v tr m b d c gn. 4.4.3.1. Vng iu khin na kn Vng iu khin na kn l c cu iu khin ph bin v c cu trc nh trong hnh 4.a. Trong loi ny, v tr b d c gn trn trc ca ng c servo v d theo gc quay. chnh xc v tr ca trc b nh hng ln n s chnh xc ca trc v me bi. V l do ny, cc vt me bi vi chnh xc cao c pht trin v c s dng rng ri. Da vo chnh xc ca vt me bi, vn vi chnh xc c khc phc thng qua thc tin sn xut. Nu c n thit, b v sai s n khp v b v sai s khe h c th c s dng trong NC m tng chnh xc v tr. Phng php b sai s n khp hiu chnh h thng iu khin ng c servo m loi b s tch ly v sai s v tr. Phng php b khe h, bt c khi no hng di chuyn b thay i, cc xung thm vo tng ng lng khe h c gi ti h thng iu khin ng c servo.

Hnh 4.49. Phn loi c cu iu khin theo phng php d d liu v tr 4.4.3.2.Vng iu khin kn Vic thc thi vng na kn ph thuc vo chnh xc ca vt me bi v c th tng chnh xc v tr thng qua b n khp v b khe h. Tuy nhin, ni chung, lng khe h

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c th b thay i theo khi lng ca phi v v tr v sai s n khp tch ly ca vt me bi thay i theo nhit . Ngoi ra, bi v chiu di ca vt me b gii hn cho nhiu l do thc t, 1 ci gi v 1 h thng iu khin bnh rng c s dng my cng c dng ln. Tuy nhin, chnh xc ca gi th b gii hn. Trong trng hp ny, vng iu khin kn c ch ra trong hnh 4.b th c p dng. Trong vng iu khin kn, v tr my d c gn trn bn my v sai s v tr tht s c phn hi v h thng iu khin. Vng iu khin kn v na kn th ging nhau ngoi tr v tr ca u d, v chnh xc v tr ca vng kn th rt cao. Tuy nhin, t n s cng hng ca thn my, s tin gin on, s mt chuyn ng c nh hng n c tnh ng c servo bi v thn my bao gm vng iu khin v tr. S khc bit gia v tr iu khin v v tr d tm xut hin v ng c servo quay vi vn tc tng ng gim sai s xung. Vic gim tc lin quan n li ca vng iu khin v tr. li l yu t quan trng xc nh c tnh ca h thng ng c servo. Ni chung, khi li tng, tc p ng v chnh xc ng tng. Tuy nhin, li cao lm cho h thng servo mt n nh. Trong vng iu khin kn, nu t n s cng hng ca h thng iu khin my khng ln hn li, h thng vng iu khin tr nn mt n nh. V vy, c n thit tng t n s cng hng ca h thng iu khin my, v v iu ny, c n thit tng cng vng ca my, gim h s ma st b mt, v loi b nguyn nhn lm mt chuyn ng. 4.4.3.3. Vng iu khin hn hp Trong vng iu khin kn, c n thit gim li xung thp khi gp kh khn tng cng vng cn xng n trng lng ca i tng chuyn ng hoc gim s mt chuyn ng trong trng hp my nng. Nu li qu thp, mc d s thc thi tr nn km i c bit i vi thi gian t v tr v chnh xc. Trong trng hp ny, vng iu khin hn hp c ch ra trong hnh 4.c c s dng. Trong iu khin hn hp, c hai loi vng iu khin: vng iu khin na kn v vng iu khin kn. iu khin na kn khi v tr c d t trc ca ng c, v iu khin vng kn, da trn t l tuyn tnh. Trong vng iu khin na kn, c th iu khin li cao bi v my khng bao gm trong h thng iu khin. Vng iu khin kn tng chnh xc bi s b sai s m vng iu khin na kn khng iu khin. Bi v vng iu khin kn c s dng cho b sai s v tr, n thch ng tt trong trng hp li thp. Bi s kt hp vng iu khin kn v iu khin na kn, c th t c chnh xc cao vi li cao trong trng hp iu kin my km. 4.4.3.4. Vng iu h

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Khng ging nh cc vng iu khin cp bn trn, vng iu khin h khng c phn hi (hnh 5). Vng iu khin h c p dng trong trng hp chnh xc ca iu khin khng cao v s dng ng c bc. Bi v iu khin h khng c n mt my d v mch in phn hi, nn cu trc rt n gin. V vy, chnh xc ca h thng th nh hng trc tip bi chnh xc ca ng c bc, vt me bi, v b phn truyn ng.

Hnh 4.50. Vng iu khin h 4.4.4. Cc thnh phn ca h thng iu khin s CNC

Hnh 4.51. Cu trc ca CNC

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Hnh 4.52. Hot ng bn trong ca h thng CNC Theo quan im v chc nng, h thng CNC bao gm n v MMI, n v NCK, n v PLC, c trnh by trong hnh 6. MMI (n giao tip ngi my), cung cp giao din gia NC v ngi s dng, thc hin iu khin hot ng ca my, hin th tnh trng my, cung cp cc chc nng cho hiu chnh chng trnh v truyn thng. NCK (n v iu khin trung tm), c xem nh l ci li ca h thng CNC, bin dch ph n chng trnh v thc thi vic ni suy, iu khin v tr, v b sai s da trn ph n chng trnh c bin dch. Cui cng, NCK iu khin h thng servo v gia cng phi. PLC (b iu khin logic lp trnh c) iu khin s thay i dao c, tc trc chnh, thay i phi, tn hiu x l vo/ra v ng vai tr iu khin hnh vi ca my ngoi tr iu khin ng c servo. Th t hot ng bn trong ca h thng CNC c th hin trn hnh 7. Hnh 8 ch ra khi nim cu trc ca my CNC theo quan im ph n cng v ph n mm.

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Hnh 4.53.Cc thnh phn ca h thng CNC Theo quan im ph n cng, my cng c CNC bao gm h thng iu khin s, h thng iu khin ng c v my cng c. Tn hiu ra ca v tr iu khin c gi n h thng iu khin ng c, h thng iu khin ng c vn hnh ng c servo bi iu khin vn tc v iu khin moment, v cui cng, ng c servo lm di chuyn ph n chuyn ng thng qua b phn truyn ng. Trong h thng CNC, cc modun x l cc chc nng ca n v MMI, n v NCK, n v PLC bao gm b x l chnh, h thng ROM v h thng RAM, lu tr tng ng cc trnh ng dng, ph n chng trnh gia cng v chng trnh PLC. Modun x l th c kt ni vi mt giao din c gn cc phm tn hiu vo, hin th iu khin, tn hiu u vo bn ngoi v h thng bus truyn d liu. V vy, kin trc ca h thng CNC th tng t my tnh a x l. H thng CNC c mt thit b tng t/s tn hiu vo/tn hiu ra cho vic truyn thng trc tip vi cc my bn ngoi v giao din truyn thng c kt ni thit b iu khin ng c. 4.5. Kt lun khc phc nhng nhc im ca b iu khin dng dy ni ( b iu khin bng Relay) ngi ta ch to ra b PLC nhm tha mn cc yu c u sau : Lp trnh d dng , ngn ng lp trnh d hc .

Gn nh, d dng bo qun , sa cha. Dung lng b nh ln c th cha c nhng chng trnh phc tp . Hon ton tin cy trong mi trng cng nghip .

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Giao tip c vi cc thit b thng minh khc nh : my tnh , ni mng , cc mi Modul m rng.

Gi c c th cnh tranh c.

Cc thit k u tin l nhm thay th cho cc ph n cng Relay dy ni v cc Logic thi gian .Tuy nhin ,bn cnh vic i hi tng cng dung lng nh v tnh d dng cho PLC m vn bo m tc x l cng nh gi c Chnh iu ny gy ra s quan tm su sc n vic s dng PLC trong cng nghip . Cc tp lnh nhanh chng i t cc lnh logic n gin n cc lnh m , nh thi , thanh ghi dch sau l cc chc nng lm ton trn cc my ln S pht trin cc my tnh dn n cc b PLC c dung lng ln , s lng I / O nhiu hn. Trong PLC, ph n cng CPU v chng trnh l n v c bn cho qu trnh iu khin hoc x l h thng. Chc nng m b iu khin c n thc hin s c xc nh bi mt chng trnh . Chng trnh ny c np sn vo b nh ca PLC, PLC s thc hin vic iu khin da vo chng trnh ny. Nh vy nu mun thay i hay m rng chc nng ca qui trnh cng ngh , ta ch c n thay i chng trnh bn trong b nh ca PLC . Vic thay i hay m rng chc nng s c thc hin mt cch d dng m khng c n mt s can thip vt l no so vi s dng cc b dy ni hay Relay . Chng 5 K THUT LP TRNH PLC S7 300 5.1. Cu trc PLC S7-300 5.1.1.Tng quan PLC S7-300 l PLC c trung ca Siemens, pht trin t PLC S7 200 tch hp thm nhng chc nng mi, c cu trc dng module gm cc thnh ph n sau: - CPU cc loi khc nhau: 312IFM, 312C, 313, 313C, 314, 314IFM, 314C, 315, 315-2 DP, 316-2 DP - Module tn hiu SM xut nhp tn hiu tng ng /s: SM321, SM322, SM323, SM331, SM332, SM334, SM338, SM374 - Module chc nng FM - Module truyn thng CP - Module ngun PS307 cp ngun 24VDC cho cc module khc, dng 2A, 5A, 10A - Module ghp ni IM: IM360, IM361, IM365 Cc module c gn trn thanh ry nh hnh di, ti a 8 module SM/FM/CP bn phi CPU, to thnh mt rack, kt ni vi nhau qua bus connector gn mt sau ca module . Mi module c gn mt s slot tnh t tri sang phi, module ngun l slot 1, module CPU slot 2, module k mang s 4

99

Hnh 5.1. B tr cc module trn thanh ry Nu c nhiu module th b tr thnh nhiu rack (tr CPU312IFM v CPU313 ch c mt rack), CPU rack 0, slot 2, k l module pht IM360, slot 3, c nhim v kt ni rack 0 vi cc rack 1, 2, 3, trn mi rack ny c module kt ni thu IM361, bn phi mi module IM l cc module SM/FM/CP. Cp ni hai module IM di ti a 10m. Cc module c nh s theo slot v dng lm c s t a ch u cho cc module ng vo ra tn hiu. i vi CPU 315-2DP, 316-2DP, 318-2 c th gn a ch ty cho cc module.

Hnh 5.2 Bng phn b cc module Mi a ch tng ng vi mt byte, vi cc module s a ch mt ng vo hay ra l x.y, x l a ch byte, y c gi tr t 0 n 7. V d module SM321 DI 32 c 32 ng vo gn k CPU slot 4 c a ch l I0.y, I1.y, I2.y, I3.y, I l k hiu ch ng vo s. Module analog c a ch theo word, v d module SM332 AO4 c 4 ng ra analog gn slot 5 rack 1 c a ch PQW400, PQW402, PQW404, PQW406, ng ra s c k hiu l Q cn ng vo analog k hiu l PIW. Cc CPU 312IFM, 314 IFM, 31xC c tch hp sn mt s module m rng 5.1.2. Module CPU Cc module CPU c phn loi khc nhau theo hnh dng chc nng, vn tc x l lnh. Loi 312IFM, 314IFM khng c th nh. Loi 312IFM, 313 khng c pin nui. Loi 315-2DP, 316-2DP, 318-2 c cng truyn thng DP. Cc n bo c ngha sau:

100

Hnh 5.3.Giao din iu khin PLC S7 300 SF ... () ... li ph n cng hay mm, BATF ... () ... li pin nui, DC5V ... (l cy) ... ngun 5V bnh thng, FRCE ... (vng ) ... force request tch cc RUN ... (l cy) ... CPU mode RUN ; LED chp lc start-up w. 1 Hz; mode HALT w. 0.5 Hz STOP mode ... (vng) ... CPU mode STOP hay HALT hay start-up; LED chp khi memory reset request BUSF ... () ... li ph n cng hay ph n mm giao din PROFIBUS Kha mode c 4 v tr: o RUN-P ch lp trnh v chy o RUN ch chy chng trnh o STOP ngng chy chng trnh o MRES reset b nh Th nh c th c dung lng t 16KB n 4MB, cha chng trnh t PLC chuyn qua v chuyn chng trnh ngc tr li cho CPU. Pin nui gip nui chng trnh v d liu khi b mt ngun (ti a 1 nm), ngoi ra cn nui ng h thi gian thc. Vi loi CPU khng c pin nui thi cng c mt ph n vng nh c duy tr. Thng qua cng truyn thng MPI (MultiPoint Interface) c th ni : my tnh lp trnh, mn hnh OP (Operator panel), cc PLC c cng MPI (S7-300, M7-300, S7-400, M7-400, C7-6xx, S7200) vn tc truyn n 187.5kbps (12Mbps vi CPU 318-2, 10.2 kbps vi S7-200). Cng Profibus DP ni cc thit b trn theo mng Profibus vi vn tc truyn ln n 12Mbps. Cc vng nh ca PLC Vng nh chng trnh (load memory) cha chng trnh ngi dng (khng cha a ch k hiu v ch thch) c th l RAM hay EEPROM trong CPU hay trn trn th nh.

101

Vng nh lm vic (working memory) l RAM, cha chng trnh do vng nh chng trnh chuyn qua; ch cc ph n chng trnh c n thit mi c chuyn qua, ph n no khng c n li vng nh chng trnh , v d block header, data block Vng nh h thng (system memory) phc v cho chng trnh ngi dng, bao gm timer , counter, vng nh d liu M, b nh m xut nhp Trn CPU 312IFM v 314 IFM vng nh chng trnh l RAM v EEPROM; cc CPU khc c pin nui, vng nh chng trnh l RAM v th nh. Khi mt ngun hay ch MRES ( reset b nh) RAM s b xa. Mt s vng nh ca RAM ( timer, counter, vng nh M, khi d liu..) c th khai bo l lu gi (retentive) bng ph n mm S7 chuyn cc vng ny sang b nh lu gi (NVRAM non volative ) d khng c pin nui, kch thc c th ty loi CPU. Bng sau cho mt s thng s chnh ca cc CPU

Thng s Working memory Load memory Vn tc Data Memory

CPU 312IFM 6KB 20KBRAM 20KBEEPROM 0.7ms/1000 lnh nh phn 1KB Retentivity adjustable MB0..MB71 Preset MB0..MB15 adjustable Retentivity C0..C31 Preset C0..C7 T0..T63 no retentivity

CPU 313 12KB 20KBRAM up to 4MB FEPROM (memory card) 0.7ms/1000 lnh nh phn 2KB Retentivity adjustable MB0..MB71 Preset MB0..MB15 adjustable Retentivity C0..C63 Preset C0..C7 T0..T127 Adjustable Retentivity T0..T31 Preset: no 128 128

CPU 314 24KB 40KB up to 4MB FEPROM (memory card) 0.3ms/1000 lnh nh phn 2KB Retentivity adjustable MB0..MB255 Preset MB0..MB15 adjustable Retentivity C0..C63 Preset C0..C7 T0..T127 Adjustable Retentivity T0..T127 Preset: no 512 512

CPU 314IFM 32KB 48KB RAM 48KBEEPROM 0.3ms/1000 lnh nh phn 2KB Retentivity adjustable MB0..MB143 Preset MB0..MB15 Adjustable Retentivity C0..C63 Preset C0..C7 T0..T127 Adjustable Retentivity T0..T71 Preset: no 496 + 20 integrated 496 +16 integrated

Counter

Timer

Digital inputs

10 integrated + 128 6 integrated + 128

Digital outputs Analog inputs Analog outputs Process input Process output image image 32 32 I0.0.. I127.7 Q0.0 ..Q127.7 32 32 I0.0.. I127.7 Q0.0 ..Q127.7 64 64 I0.0.. I127.7 Q0.0 ..Q127.7 64 + 4 integrated 64 + 1 integrated

5.1.3.Module IM

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Hnh 5.4.Module IM 360 v IM 361 Module IM360 gn rack 0 k CPU dng ghp ni vi module IM361 t cc rack 1, 2, 3 gip kt ni cc module m rng vi CPU khi s module ln hn 8. Cp ni gia hai rack l loi 368. Trong trng hp ch c hai rack, ta dng loi IM365. 5.1.4. Module tn hiu Module vo s c cc loi sau: - SM 321; DI 32 _ 24 VDC - SM 321; DI 16 _ 24 VDC SM 321; DI 16 _ 120 VAC, 4*4 nhm SM 321; DI 8 _ 120/230 VAC, 2*4 nhm SM 321; DI 32 _ 120 VAC 8*4 nhm

Module ra s: - SM 322; DO 32 _ 24 VDC/0.5 A, 8*4 nhm SM 322; DO 16 _ 24 VDC/0.5 A, 8*2 nhm SM 322; DO 8 _ 24 VDC/2 A, 4*2 nhm SM 322; DO 16 _ 120 VAC/1 A, 8*2 nhm SM 322; DO 8 _ 120/230 VAC/2 A, 4*2 nhm SM 322; DO 32_ 120 VAC/1.0 A, 8*4 nhm SM 322; DO 16 _ 120 VAC ReLay, 8*2 nhm SM 322; DO 8 _ 230 VAC Relay, 4*2 nhm SM 322; DO 8 _ 230 VAC/5A Relay,1*8 nhm

Module vo/ ra - SM 323; DI 16/DO 16 _ 24 VDC/0.5 A SM 323; DI 8/DO 8 _ 24 VDC/0.5 A Module Analog in Module analog in c nhiu ng vo, dng o in p, dng in, in tr ba dy, bn dy, nhit , c nhiu t m o, phn gii, thi gian chuyn i khc nhau. Ci t thng s hot ng cho module bng ph n mm S7- Simatic 300 Station Hardware hoc chng trnh ngi dng s dng hm SFC 55, 56, 57 ph hp hoc ci t nh

103

module t m o (measuring range module) gn trn module SM. Kt qu chuyn i l s nh phn ph hai vi bit MSB l bit du. - SM331 AI 2*12 : module chuyn i hai knh vi sai p hoc dng, hoc mt knh in tr 2/3/4 dy, dng phng php tch phn, thi gian chuyn i t 5ms n 100ms, phn gii 9, 12, 14 bit + du, cc t m o nh sau: 80 mV; 250 mV; 500 mV; 1000 mV; 2.5 V; 5 V;1 .. 5 V; 10 V; 3.2 mA; 10 mA; 20 mA; 0 .. 20 mA; 4 ..20 mA. in tr 150 ; 300 ; 600 ; o nhit dng cp nhit E, N, J, K, L, nhit k in tr Pt 100, Ni 100. Cc thng s mc nh c ci sn trn module, kt hp vi t v tr ca module t m o (bn v tr A, B, C, D) nu khng c n thay i th c th s dng ngay. - SM331, AI 8*12 bit , 8 knh vi sai chia lm hai nhm, phn gii 9 (12, 14 ) bit + du - SM331, AI 8*16 bit , 8 knh vi sai chia lm 2 nhm , phn gii 15 bit + du Module Analog Out: Cung cp p hay dng ph thuc s nh phn ph hai SM332 AO 4*12 bit: 4 ng ra dng hay p phn gii 12 bit, thi gian chuyn i 0.8 ms . SM332 AO 2*12 bit SM332 AO 4*16 bit Module Analog In/Out - SM 334; AI 4/AO 2 * 8 Bit - SM334; AI 4/AO 2* 12 Bit Module chc nng FM - FM350-1 : m xung mt knh - FM350-2 : m xung tm knh - FM351, 353, 354, 357-2 : iu khin nh v - FM352: b iu khin cam in t - FM355: b iu khin h kn 5.1.5. Kiu d liu Trong PLC S7-300 + Kiu BOOL: dung lng mt bit, c gi tr 0 hoc 1 + Kiu BYTE: gm 8 bits, c dng biu din s nguyn dng trong khong t 0 n 255. + Kiu WORD: gm 2 bytes, biu din mt s nguyn dng t 0 n 65535. + Kiu INT: 2 bytes, biu din s nguyn trong khong t -32768 n 32767. + Kiu DINT: 4 bytes, biu din s nguyn t -2147483648 n 2147483647. + Kiu S5T (hay S5TIME): khong thi gian tnh theo gi/pht/giy/mili giy. + Kiu TOD: biu din gi tr thi gian tnh theo gi/pht/giy.

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+ Kiu DATE: biu din gi tr thi gian tnh theo nm /thng/ngy. + Kiu CHAR: biu din mt hoc nhiu k t (nhiu nht l 4 k t). 5.2. Ngn ng lp trnh i vi PLC ni chung thng c nhiu ngn ng lp trnh nhm phc v cc i tng s dng khc nhau v PLC S7-300 cng vy c 5 ngn ng lp trnh trong thng dng l ngn ng STL, LAD, FBD. Thng thng ngi lp trnh c th chn phng php thch hp vi kh nng ca mnh cng vic lp trnh ti u v hiu qu nht. Nhn chung, h u ht cc chng trnh c vit di dng ny c th c my tnh t ng chuyn sang dng khc nu ngi lp trnh c yu c u. iu ny khng nh tnh u vit ca k thut iu khin kh trnh so vi k thut iu khin rle. 5.2.1. Ngn ng L D (Ladder logic) : y l ngn ng lp trnh hnh thang dng ngn ng ha thch hp vi ngi quen thit k mch logic. Phng php LAD biu th cc chc nng iu khin bng cc loi k hiu s mch nh tip im, timer, counter phng php ny c tnh trc quan cao v n biu din mch in tng t mch iu khin role.

Hnh 5.5. Lp trnh ngn ng LAD 5.2.2. Ngn ng lit k STL (Statement list) : l ngn ng bnh thng ca my tnh. Mt chng trnh c ghp bi nhiu cu lnh theo thut ton nht nh v u c cu trc tn lnh + ton hng. Phng php STL biu din chng trnh iu khin bng cc dng lnh lin tip, mt dng lnh thng thng bao gm: + Lnh l ni dung thao tc m PLC phi tc ng ln i tng. + i tng lnh. Ngn ng lp trnh STL thun tin cho nhng ngi quen lp trnh trn my tnh bng dng lnh.

Hnh 5.6. lp trnh ngn ng STL

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5.2.3. Ngn ng hnh khi FBD (Function Block Diagram): Ngn ng hnh khi, ngn ng ha cho nhng ngi quen thit k mch iu khin s, thch hp vi nhng ngi lp trnh nm vng kin thc iu khin lin quan n i s Boole, trong : - K hiu ha ( hnh ch nht) biu th ni dung lnh di php ton logic. - Pha bn tri l cc i tng lnh c lin quan n cc tn hiu vo v cc tham s. - Pha bn phi l cc i tng lnh c lin quan n cc tn hiu u ra cng vi cc tham s v y cng l kt qu ca php tnh.

Hnh 5.7. Lp trnh ngn ng FBD 5.2.4. Ngn ng lp trnh ha GR PH: y l ngn ng lp trnh ha cp cao, cu trc chng trnh r rng, ngn gn. Thch hp vi nhng ngi trong ngnh c kh vn quen vi gin Grafcet ca khi nn.

Hnh 5.8. S khi lp trnh S7 GRAPH 5.2.5. Ngn ng HIGH GR PH: l ngn Ng pht trin cao ca ngn ng GRAPH.

Hnh 5.9. S khi lp trnh S7 HI-GRAPH

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5.3. Tp lnh trong S7 300 PLC l mt b vi x l c th x l cc lnh nh my tnh. Do n c tp lnh rt a dng, tuy vo ng dng thc t m ngi s dng la chn cc lnh c th sao cho hp l nht. Di y l mt s lnh c bn bng ngn ng LAD: 5.3.1. Nhm lnh vi bit Tip im thng m (NO): I0.0 l tip im thng m, Q4.0 = 1 khi I0.0 = 1.

Tip im thng ng (NC): I0.0 l tip im thng ng,Q4.0 = 1 khi I0.0 = 0.

Lnh reset bit: Q4.0 = 0 khi I0.0 =1.

Lnh set bit: Q4.0 = 1 khi I0.0 = 1.

Lnh AND tip im : Q4.0 = 1 khi I0.0 = 1 v I0.1 = 1.

Lnh OR tip im: Q4.0 = 1 khi I0.0 = 1 hoc I0.1 = 1.

5.3.2. Nhm lnh v timer

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Timer c dng rt nhiu trong cc PLC to khong thi gian tr, s lng timer ph thuc vo loi CPU v c k hiu l Tx, trong x l s hiu ca timer ( 0 x 255 ). CPU 312 c 128 timer, CPU 313 tr ln c 256 timer Lnh timer on ( TON):

C hai cch ci t thi gian cho timer trong PLC S7 300: - t thng s trc tip: t thng s trc tip cho timer c n phi thm k hiu S5T# t trc gi tr c n t. Cc gi tr tip theo l gi tr thng s thi gian c n t cho timer. Tng quan nh sau: S5T#aH_bM_cS_dMS. Trong : H: gi M: pht S: giy MS: mili giy a,b,c,d: l cc thng s c n ci t. Nh v d trn timer T5 c t l 2 giy. - t thng s gin tip qua bin nh: gi tr c t cho timer thng qua mt bin nh kiu word 16 bit.

Gi tr thi gian c t cho timer cha trong 12 bit ( time value in BCD ), n v ca thi gian c quy nh bi hai bit (time base) nh sau:

Lnh timer off ( TOFF):

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Khi I0.0 ON, bit T5 s ON ngay khi I0.0 ON. Khi I0.0 chuyn trng thi t ON sang OFF, T5 s c kch hot. thi gian ci t l 2 giy th timer T5 tc ng , bt T5 OFF lm cho u ra Q0.0 OFF. Khi ng vo I0.1 tc ng th timer s c reset v 0. Cch t thng s thi gian cho timer OFF cng ging nh cho timer ON. Gin thi gian nh sau:

5.3.3. Nhm lnh v counter Lnh m ln xung S CUD: Ng vo I0.2 = 1 a gi tr m vo PV Khi I0.0 chuyn trng thi t 0 ln 1 th C0 m tng ln 1. Khi I0.1 chuyn trng thi t 0 ln 1 th C0 m gim i 1. Khi c I0.0 v I0.1 u chuyn trng thi thi C0 ko thay i. Khi I0.3 = 1 th C0 b reset v 0. Gi tr b m hin thi bm trong hai nh MW100 v MW102 di dng integer v dng BCD. Ng ra Q0.0 = 1 khi gi tr m ln hn 0.

Lnh m ln S CU: Ng vo I0.1 = 1 a gi tr m vo PV Khi I0.0 chuyn trng thi t 0 sang 1 th C0 m tng ln 1.

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Khi I0.2 = 1 khi counter bi reset. Ng ra Q0.0 = 1 khi gi tr m ln hn 0. Gi tr b m hin thi bm trong hai nh MW100 v MW102 di dng integer v dng BCD, gi tr ny c t m t 0 999.

Lnh m xung S CU: Ng vo I0.1 = 1 a gi tr m vo PV Khi I0.0 chuyn trng thi t 0 sang 1 th C0 m gim i 1. Khi I0.2 = 1 khi counter bi reset. Ng ra Q0.0 = 1 khi gi tr m ln hn 0. Gi tr b m hin thi bm trong hai nh MW100 v MW102 di dng integer v dng BCD, gi tr ny c t m t 0 999

Lnh set counter:

Khi I0.0 ON, gi tr 100 s c np vo cho C5. Khi I0.0 OFF, gi tr ca counter s ph thuc vo cc tn hiu kch n 5.4. K thut lp trnh trn phn mm STEP 7 Manager Khi lp trnh cho PLC cc chng trnh iu khin ca PLC S7-300 thng c vit theo hai dng sau : + Lp trnh tuyn tnh ( chng trnh n khi ). + Lp trnh c cu trc ( chng trnh nhy khi ). Lp trnh tuyn tnh (linear programming) : y l phng php lp trnh m ton b chng trnh ng dng s ch nm trong mt khi OB1 nn OB1 g n nh thng trc trong vng nh Work memory, tr trng hp h thng dng x l ngt. Ngoi OB1 trong vng Work memory cn min a phng

110

(local block) cp pht cho OB1 v nhng khi DB khc c OB1 s dng.K thut ny c u im l gn, ph hp vi nhng bi ton n gin, t nhim v

Lnh 1 Vng qut Lnh 2 OB1

Lnh n

Hnh 1.3. S khi lp trnh tuyn tnh

Hnh 5.10. Thc hin mt chng trnh tuyn tnh Lp trnh c cu trc (structure programming) : Chng trnh c chia thnh nhng ph n nh vi tng nhim v ring v cc ph n ny nm trong nhng khi chng trnh khc nhau. Loi hnh cu trc ny ph hp vi nhng bi ton iu khin nhiu nhim v v phc tp. PLC S7-300 c 4 loi khi c bn : + Khi t chc OB : Khi t chc v qun l cc chng trnh iu khin. Khi OB1 lun c PLC qut v thc hin cc lnh t lnh u tin n lnh cui cng v quay li lnh u tin. + Khi hm chc nng FB : l loi khi FC c bit c kh nng trao i mt lng d liu vi cc khi chng trnh khc. Cc d liu ny phi c t chc thnh tng khi ring c tn gi l Data block. + Khi hm FC: khi chng trnh vi nhng chc nng ring bit ging nh mt chng trnh con hoc mt hm con. + Khi d liu DB: l khi cha cc d liu c n thit thc hin chng trnh. Cc tham s khi do ta t t. ngoi ra cn c cc khi h thng nh : SFB, SFC, SDB. Chng trnh trong cc khi lin kt vi nhau bng cc lnh gi khi, chuyn khi. xem nhng ph n chng trnh trong cc khi nh l chng trnh con th S7-300 cho php gi chng trnh con lng nhau, tc l chng trnh con ny gi t mt con khc v t chng trnh con c gi li gi n chng trnh con th 3 s cc lnh gi nhau ph

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thuc vo tng chng loi module CPU khc nhau m ta ang s dng. Nu s l n goi lng nhau m vt qua con s gii hn cho php th CPU s chuyn sang ch Stop v t c bo li.

Hnh 5.11. S khi lp trnh cu trc Chng trnh ngi dng thng c chia nh thnh tng khi logic theo kiu chng trnh cu trc, gip cho vic lp trnh v sa li thun tin. C nhiu loi khi logic: Khi t chc OB (Organization blocks) Khi hm h thng SFB (System function blocks) v hm h thng SFC (system functions) tch hp trong PLC Khi hm FB (Function blocks) trong th vin hay ngi dng t vit Hm FC (Functions) trong th vin hay ngi dng t vit Khi d liu Instance (Instance Data Blocks ) lin kt vi FB/SFB Khi d liu chia x (Shared Data Blocks ) Khi t chc OB l giao din gia chng trnh ngi dng v h iu hmh ca PLC. OB c gi bi h iu hnh theo chu k hay khi c ngt, c s c hay khi khi ng PLC. C nhiu khi OB v c u tin khc nhau, khi OB c s u tin cao hn c th ngt khi OB s u tin thp hn. Tu theo loi CPU, s lng khi OB s dng c s khc nhau, bng sau lit k cc loi OB

Loi OB OB1 OB10, OB13 OB14, OB17 OB20 OB21 OB22 OB23 OB11, OB15,

ngha

u tin

c gi khi kt thc khi ng hay kt 1 thc OB1, thc hin theo chu k OB12, Ngt theo thi gian trong ngy, thng, 2 nm OB16, Ngt tr hon 3 4 5 6

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OB30 OB31 OB32 OB33 OB34 OB35 OB36 OB37 OB38 OB40 OB41 OB42 OB43 OB44 OB45 OB46 OB47 OB60 OB70 OB72 OB 73 OB80 OB81 OB82 OB83 OB84 OB85 OB86 OB87 OB90

Ngt chu k (mc nh 5s) Ngt chu k (mc nh 2s) Ngt chu k (mc nh 1s) Ngt chu k (mc nh 500ms) Ngt chu k (mc nh 200ms) Ngt chu k (mc nh 100ms) Ngt chu k (mc nh 50ms) Ngt chu k (mc nh 20ms) Ngt chu k (mc nh 10ms) Ngt cng

7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23

Gi bi SFC35 "MP_ALM" Li I/O redundancy ( H CPU) Li CPU redundancy (H CPU) Li Communication redundancy (H CPU) S c chu k qut Li ngun Ngt chn on Ngt do thm bt module Li ph n cng CPU Li chng trnh Li module m rng Li truyn thng Warm or cold restart or delete a block being executed in OB90 or load an OB90 on the CPU or terminate OB90 Khi ng m Khi ng nng Khi ng lnh

25 25 28 25 26, 28

29, 0

OB100 OB101 OB102

27

113

OB121 OB122

Sai lp trnh Sai I/O

u tin ca tc nhn gy ra s c

5.4.1. Khi OB1 OB1 c gi sau khi kt thc qu trnh khi ng v sau khi kt thc chnh n, mi OB tr OB90 c th ngt OB1. Khi OB1 c thc hin, h iu hnh gi i d liu ton cc. Trc khi gi li OB1, h iu hnh chuyn b nh m ra module xut , cp nht b m nhp v nhn d liu ton cc. Khi thc hin OB1, chng trnh tro ng khi c thc hin, d liu xut ra module xut c cp tm trong b nh. Chng trnh trong OB1 c th gi cc hm hay khi hm. Thi gian thc hin OB1 gi l thi gian qut, h iu hnh n nh thi gian qut ti a (150ms) v ti thiu, c th ci t bng Step 7. Nu chu k qut ko di th gi OB80 hay chuyn sang STOP, nu chu k qut ngn qu th thm tr hon hay gi OB90. OB1 gm ph n m chng trnh, do ngi dng vit; bng bin cc b (local block) cn gi l bng khai bo bin (variable declaration table) gm 20 byte

Ct th nht l a ch trong vng bin cc b, ct th hai khai bo loi bin, temp ngha l tm thi, gi tr ca bin thay i sau mi vng qut ca OB, ct th ba l cc tn ca d liu, c ngha nh sau (gii thch trong ct ch thch 6): OB1_EV_CLASS: gi tr B#16#11 c ngha OB1 tch cc OB1_SCAN_1: B#16#01: hon tt warm restart B#16#02: hon tt hot restart B#16#03: hon tt chu k B#16#04: hon tt cold restart OB1_PRIORITY: gi tr 1 OB1_OB_NUMBR: s OB l 1 OB1_RESERVED_1: OB1_RESERVED_2: OB1_PREV_CYCLE: OB1_MIN_CYCLE: OB1_MAX_CYCLE: OB1_DATE_TIME: d tr d tr thi gian vng qut trc (ms) thi gian vng qut ngn nht thi gian vng qut di nht ngy gi OB1 bt u thc hin (8 byte)

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Cc gi tr trn ngi dng khng thay i c, ngi dng c th thm cc bin vo t a ch 20.0 tr i, cc bin ny l bin tm, thay i sau mi vng qut. Cc bin thm vo s dng cho vic gi cc chng trnh con FC, SFC, FB, SFB. Chng trnh STEP 7 dng lp trnh cho PLC S7-300, S7-400. Chng trnh ny c Version 5.1 v 5.3 dng cho Win XP v Version 5.4 dng cho Win 7. Khi kch chut vo biu tng Simatic Manager s xut hin ca s Hnh , bm Next chn loi CPU

Bm tip Next chn cc khi OB, bt buc l OB1, cc OB khc c th thm vo sau.

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Chn cch lp trnh STL, LAD hay FBD, trong lc lp trnh c th tu thay i. Bm tip Next t tn cho Project, sau bm Finish, xut hin ca s lp trnh

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Na ca s bn tri sp xp dng th mc, kch chut vo m ra cc mc con. Bm vo dng SIMATIC 300 STATION bn tri ri bm tip vo Hardware bn phi t cu hnh ph n cng ca PLC (cng vic ny cng c th thc hin sau)

Ga s cu hnh n gin gm cc moduke DI/DO, AI/AO, ta kch chut vo dng SIMATIC 300, SM- 300 , chn cc module ph hp, dng chut ko vo cc slot ca Station t s 4 tr i, (slot 3 dng cho module IM), sau vo menu Station Save ri Close. Ta s tr li vn cu hnh mc

Tr li Project, bm vo mc Blocks, ta thy xut hin OB1, bm vo OB1 nu lp trnh tuyn tnh, ngha l khng dng cc khi logic FC, FB t to

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Bm vo menu View, chn STL, LAD, FBD chn cch lp trnh. Khi lp trnh ta c th dng a ch tuyt i ( I0.0, MW2, T5) hay a ch k hiu (Start, Speed, Delay). a ch k hiu gip chng trnh d hiu hn. C hai loi l k hiu cc b v k hiu ton cc (hay chia x) , k hiu cc b khai bo trong bng khai bo bin ca khi v ch c ngha trong phm vi khi , k hiu ton cc khai bo trong bng k hiu Symbols, c ngha trong ton b cc khi ca project. Vic khai bo k hiu ton cc thc hin trc hay sau khi vit m. Khi logc c th c ti a 999 network, mi network c ti a 2000 hng , mi hng gm nhn , lnh, a ch v ch thch (sau //) Th tc lp k hiu ton cc nh sau: bm chut vo i tng Symbols (Xem hnh ).

Cc bin k hiu c a vo tng dng mt, di ti a 24 k t ch s, k t c bit, tr du nhy , khng phn bit ch hoa v ch thng. Bng k hiu cha ti a 16380 k hiu. Sau khi bin tp xong, vo menu Symbol Table- Save lu bng. Vo ca s bin tp ca khi chn View- Display with - Symbolic Representation nhn thy a ch k hiu trong chng trnh, k hiu tuyt i c ng khung bng du , cn k hiu cc b c du # ng trc. V d lp trnh cho n b hnh, bnh thng khi khng c yu c u qua ng (I0.0, I0.1), n xanh xe (Q0.7) v n b hnh (Q0.0) sng. Khi c yu c u n vng xe (Q0.6) sng trong 3s , sau n xe (Q0.5) sng v n xanh b hnh (Q0.1) sng trong 10s, ht thi gian ny n b hnh v xe cng sng, sau 6s n vng xe v xe cng sng v sau 3 s n xanh xe sng , xa yu c u qua ng

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Phn cng vo ra

Sau khi bin son chng trnh ta c th chy m phng khng c n PLC nh ph n mm S7 PLC Sim theo cc bc sau: - Vo menu Simatic Manager- Options- chn Simulate Modules. Ca s sau xut hin

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Vo menu PLC- Download np khi chng trnh xung PLC m phng Vo ca s S7-PLCSIM menu Insert chn cc vng nh mun quan st

Vo menu PLC- chn Power On, vo menu Execute chn Scan Mode Continuous Scan. Chn RUN hay RUN P Tc ng vo cc bit I 0.0, I0.1 xem hot ng ca chng trnh.

Tr li Simatic Manager, chn View- Online, m khi logic mun quan st (OB1), bm Debug- Monitor Trong trng hp mun tp trung cc bin vo mt ch d quan st, ta dng bng khai bo bin VAT (Variable Table). Trong ca s Manager vo menu Insert- S7 BlockVariable Table (hay bm chut phi Insert New Object- Variable Table) ta c khi VAT1, m khi ny ra v thm vo cc a ch vng nh mun quan st.

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Trng hp c sn PLC, u tin ta phi kt ni my tnh vi PLC thng qua cp ni thch hp, vo menu PLC- Display Accessible Nodes, sau PLC- Operating mode chn ch PLC l Stop, PLC- Download np chng trnh xung PLC. 5.4.2. Cc khi ngt Khi OB1 c thc hin theo chu k, v c th b ngt bi cc s kin khi ta ci t thm cc khi OB khc vo Project hoc khi xy ra cc s c. Cc khi OB ph hp c gi x l ngt nh cc chng trnh con c ci t. Khi OB u tin cao c th ngt khi c u tin thp hn. Ta c th thay i u tin ca OB trong S7-400 v S7300-CPU318. Thm OB bng cch bm chut phi trong ca s Project- Insert New Object- Organization block, chn s OB, sau m khi OB v lp trnh

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5.4.3. To cc khi logic Cc chng trnh ln thng c vit dng cu trc, gm khi OB1, cc khi chng trnh FC, FB, cc khi chng trnh h thng SFC, SFB. S dng lp trnh cu trc gip chng trnh d qun l v sa li, thun tin cho vic lp trnh theo nhm. Khi OB1 v cc khi FC, FB c th gi FC, FB, SFC, SFB

Ly v d lp trnh cho h thng trn hai cht lng A v B (H ), ta chia qu trnh thnh nhiu khi nh (H ) : bm cht A, bm cht B, bn trn v van x. Ta nhn thy hai khi bm lp trnh ging nhau, ch khc cc ng vo/ra. Trc khi lp trnh ta phi c m t k thut cho hot ng ca cc khi. Khi A/B gm c bm v van vo, van ra Bm c cng sut 100KW, vng quay 1200 rpm, lu lng 400l/pht. Bm c iu khin bi nt Start/Stop trn bng iu khin, s l n start c hin th tin bo tr. Bm c php hot ng khi:

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o bn khng y, o van x ng, o nt emergency khng tc ng. Bm tt khi cm bin lu lng bo khng c dng chy sau 7 s k t khi khi ng bm hay khi cm bin lu lng bo ngng chy. Van c iu khin bi solenoid, m khi c in vo van. Van phi m t nht 1s sau khi bm chy. Khi bn trn c ng c trn, cc cm bin mc. c cng sut 100KW, vng quay 1200 rpm, lu lng 400l/pht. ng c c iu khin bi nt Start/Stop trn bng iu khin, s l n start c hin th tin bo tr. ng c c php chy khi: o Mc cht lng trn mc ti thiu , -

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Van x ng

o Nt Emergency khng tc ng ng c c tt khi vn tc khng t nh mc sau khi khi ng 10s. C ba cm bin mc dng contact . Cm bin y thng ng, khi bn y th h ra. Cm bin mc ti thiu thng h , khi mc cht lng thp th ng li. Cm bin cn, h nu bn cn Van x c iu khin t bng iu khin. Van x c hot ng nu ng c trn ngng, cm bin mc bo bn cha cn, nt emergency khng tc ng. Van x ng nu cm bin mc bo bn cn. Bng iu khin dng iu khin v bo trng thi cc ng c, van x, bo mc bn, bo bo tr v dng khn cp.

C ba ng c c th lp trnh bng khi logic chung (Hnh) . Su ng vo l hai nt nhn Sart/Stop, nt nhn Reset_Maint xa n bo tr, tn hiu bo ng c chy, ngng (Response) s hiu Timer (Timer No) v thi gian timer (Response_Time). Bn ng ra l bo li (Fault), n bo ng c chy, ngng (Start_Dsp, Stop_Dsp), bo bo tr (Maint), Tn hiu vo/ra l iu khin Motor. Khi logic ny lp trnh di dng khi hm FB v c n lu tr gi tr bin. Cc van cng c iu khin bng khi logic FC (Hnh) . Hai tn hiu vo l nt nhn m /ng van (Open/ Close) Tn hiu ra l n bo trng thi van ( Dsp_Open, Dsp_Closed). Tn hiu vo/ ra iu khin van (Valve). Khi ny khng c lu bin v thc hin bng FC. Cu trc chng trnh nh Hnh . Chng trnh chnh OB1 gi hm FB1 iu khin ng c, c ba ng c ng vi ba khi d liu DB1, DB2, DB3. Hm FC1 c OB1 gi khi iu khin van. Cc khi FB v FC phi c lp trnh trc khi OB. Vo ca s Project Symbols lp bng k hiu cho cc bin (Bng )

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Symbolic Name

Address Data Type BOOL BOOL BOOL BOOL BOOL BOOL

Description Starts the feed pump for ingredient A Stops the feed pump for ingredient A Ingredient A flowing Activates the inlet valve for ingredient A Activates the feed valve for ingredient A Lamp for feed pump ingredient A running"

Feed_pump_A_start I0.0 Feed_pump_A_stop I0.1 Flow_A Inlet_valve_A Feed_valve_A Feed_pump_A_on I0.2 Q4.0 Q4.1 Q4.2

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Feed_pump_A_off Feed_pump_A

Q4.3 Q4.4

BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL

Lamp for feed pump ingredient A not running" Activates the feed pump for ingredient A Lamp for feed pump A fault" Lamp for feed pump A maintenance" Starts the feed pump for ingredient B Stops the feed pump for ingredient B Ingredient B flowing Activates the inlet valve for ingredient A Activates the feed valve for ingredient B Lamp for feed pump ingredient B running" Lamp for feed pump ingredient B not running" Activates the feed pump for ingredient B Lamp for feed pump B fault" Lamp for feed pump B maintenance" Response signal of the agitator motor Agitator start button Agitator stop button Activates the agitator Lamp for "agitator running" Lamp for "agitator not running" Lamp for agitator motor fault" Lamp for agitator motor maintenance" Sensor mixing tank not full" Sensor mixing tank above minimum level" Sensor mixing tank not empty" Lamp for "mixing tank full" Lamp for "mixing tank below minimum level" Lamp for "mixing tank empty" Button for opening the drain valve Button for closing the drain valve Activates the drain valve

Feed_pump_A_fault Q4.5 Feed_pump_A_maint Q4.6 Feed_pump_B_start I0.3 Feed_pump_B_stop I0.4 Flow_B Inlet_valve_B Feed_valve_B Feed_pump_B_on Feed_pump_B_off Feed_pump_B I0.5 Q5.0 Q5.1 Q5.2 Q5.3 Q5.4

Feed_pump_B_fault Q5.5 Feed_pump_B_maint Q5.6 Agitator_running Agitator_start Agitator_stop Agitator Agitator_on Agitator_off Agitator_fault Agitator_maint Tank_below_max Tank_above_min Tank_not_empty Tank_max_disp Tank_min_disp Tank_empty_disp Drain_open Drain_closed Drain I1.0 I1.1 I1.2 Q8.0 Q8.1 Q8.2 Q8.3 Q8.4 I1.3 I1.4 I1.5 Q9.0 Q9.1 Q9.2 I0.6 I0.7 Q9.5

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Drain_open_disp Drain_closed_disp EMER_STOP_off Reset_maint Motor_block Valve_block DB_feed_pump_A DB_feed_pump_B DB_agitator

Q9.6 Q9.7 I1.6 I1.7 FB1 FC1 DB1 DB2 DB3

BOOL BOOL BOOL BOOL FB1 FC1 FB1 FB1 FB1

Lamp for "drain valve open" Lamp for "drain valve closed" EMERGENCY STOP switch Reset switch for the maintenance lamps on all motors FB for controlling pumps and motor FC for controlling the valves Instance DB for controlling feed pump A Instance DB for controlling feed pump B Instance DB for controlling the agitator motor

5.4.4 Lp trnh khi FB FB l khi logic vi cc bin in, out, in_out, static v temp, c to ra trong bng bin a phng i km. Cc bin in, out, in- out l cc tham s hmh thc c a ch c th do chng trnh gi truyn n, bin static l bin trong chng trnh FB c lu li khi ra khi khi FB, bin temp mt gi tr khi ra khi khi FB. Km vi FB l khi d liu data block cha cc bin in, out, in- out v static. C th c nhiu data block cho mt FB khi mt FB dng cho cc nhim v khc nhau, gi l instance data block. Khi chng trnh gi FB c n phi km theo instance data block tng ng. Ta vo ca s Project bm chut phi - Insert New Object Function block thm vo khi FB1. Bm chut vo khi FB1 son chng trnh cho khi. Ta vo bng khai bo bin khai bo cc bin hnh thc cho khi theo th t in, out, in_out, static v temp. Vi v d trn, bng bin ca FB1 Motor_Block nh sau: Address Declaration Name 0.0 0.1 0.2 0.3 2.0 4.0 6.0 6.1 6.2 6.3 8.0 IN IN IN IN IN IN OUT OUT OUT OUT IN_OUT Start Stop Response Reset_Maint Timer_No Type BOOL BOOL BOOL BOOL TIMER Initial Value FALSE FALSE FALSE FALSE

Response_Time S5TIME S5T#0MS Fault Start_Dsp Stop_Dsp Maint Motor BOOL BOOL BOOL BOOL BOOL FALSE FALSE FALSE FALSE FALSE

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10.0 12.0 14.0 16.0

STAT STAT STAT STAT

Time_bin Time_BCD Starts Start_Edge

WORD W#16#0 WORD W#16#0 INT BOOL 0 FALSE

Cc bin STAT Time_ bin v Time_BCD l u thi gian timer, Starts lu s l n khi ng motor, Start_ Edge phc v cho lnh ly cnh ln Thm khi DB project vi cc tn DB1, DB2, DB3 loi Instance DB v thuc FB1

Cc bin trong DB1 s t to ra theo bng khai bo bin ca khi FB1, tng t cho cc DB2 v DB3.

5.4.5.Lp trnh khi FC Khi FC c cc bin hnh thc in, out v in_ out do chng trnh gi cung cp cc a ch c th, ngoi ra cn c bin temp s dng ni b. Khi FC khng c b nh nn d liu mt i khi ra khi khi. Ta thm vo project khi FC1 v khai bo cc bin trong bng khai bo bin km theo. Sau lp trnh cho FC1 Address Declaration 0.0 0.1 2.0 2.1 IN IN OUT OUT Name Open Close Type Initial Value BOOL BOOL FALSE FALSE FALSE FALSE

Dsp_Open BOOL Dsp_Closed BOOL

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4.0

IN_OUT

Valve

BOOL

FALSE

Bc tip theo l lp trnh cho OB1, ta khai bo cc bin cho OB1 Address Declaration Name 0.0 1.0 2.0 3.0 4.0 5.0 6.0 8.0 10.0 12.0 20.0 20.1 20.2 20.3 20.4 20.5 TEMP TEMP TEMP TEMP TEMP TEMP TEMP TEMP TEMP TEMP TEMP TEMP TEMP TEMP TEMP TEMP OB1_EV_CLASS OB1_SCAN1 OB1_PRIORITY OB1_OB_NUMBR Type BYTE BYTE BYTE BYTE

OB1_RESERVED_1 BYTE OB1_RESERVED_2 BYTE OB1_PREV_CYCLE INT OB1_MIN_CYCLE INT OB1_MAX_CYCLE INT OB1_DATE_TIME Enable_motor Enable_valve Start_fulfilled Stop_fulfilled Inlet_valve_A_open DATE_AND_TIME BOOL BOOL BOOL BOOL BOOL

Inlet_valve_A_closed BOOL

5.4.6. S dng hm th vin Cc hm th vin do Siemens vit sn thuc cc loi FC, FB, SFC,SFB gip ngi dng thun tin trong lp trnh. Mun dng cc hm th vin trong khi logic no th ta m khi logic ra, kch chut vo ch lnh CALL gi hm th vin, vo menu Insert Program Elements- Libraries chn cc hm th vin ph hp ri bm chut kp vo , hoc g CALL tn hm th vin. Cc hm th vin c n chuyn gi tr cho cc bin hnh thc v ta phi cung cp cho hm gi theo qui nh ca hm th vin.

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5.5. Cc hm th vin Th vin chun ca ph n mm Step 7 gm cc hm h thng SFC, khi hm h thng SFB, cc hm FC v khi hm FB, gip cho vic lp trnh thun tin bi cc hm vit sn. Ngoi ra cn c cc hm t chc OB hot ng khi khi ng PLC, lm vic theo chu k. Chng ta c th b sung cc hm khc vo th vin ca Step 7 mt cch d dng. Cc hm th vin c thm vo mt im trong khi chng trnh bng cch vo menu Insert- Program Elements Libraries, sau l n lt vo cc mc con trong , chn hm ph hp ri bm chut phi chn paste

Ph n sau gii thiu chi tit mt s hm trong th vin TI-S7 Converting blocks 5.5.1.Cc hm x l bit a/ t mt lot bit: FC83

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Khi I0.0 = 1, 10 bit t M0.0 n M1.1 ln 1. Nu hm thc hin ng ENO v Q4.0 bng 1. a ch bit u tin S_bit dng con tr P#, tr n vng nh bit (I, Q, M, D), s bit N l hng s hay I, Q, M, D, L, P b/ t mt lot byte lp tc : FC101

Khi I0.0 = 1, hai byte t PB2 s ln 1 (P#P2.0 tr n bit P2.0), s N l s byte c n t ln 1 nhn 8. c/ Xo mt lot bit: FC82

d) Xo mt lot bit lp tc : FC100

5.5.2.Hm di chuyn khi gin tip : FC81 Di chuyn mt khi d liu byte, word hay word kp t khi ngun c a ch u gin tip S_DATA chiu di LENGTH n khi ch c a ch u gin tip D_DATA, ba thng s ny dng bin con tr P#. Thng s E_TYPE cho bit loi d liu theo qui nh sau: B#16#02 = BYTE, B#16#04 = WORD, B#16#05 = INT, B#16#06 = DWORD, B#16#07 = DINT, B#16#08 = REAL

5.5.3.Hm chuyn i a/ Gii m 7 on: FC93 i mt word hexa 4 digit IN (I,M,D,P, hng s) ra 4 byte m 7 on ca tng digit, xut ra a ch OUT t kp (Q, M, D, L, P)

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b/ i ASCII sang HEX i chui ASCII di N k t (I, Q, M, L, P) gm cc k t A..F, s 0..9 , mi k t chim 2 byte a ch con tr IN ( I, Q, M,D,L) ra s Hex tng ng, mt byte ng vi hai k t a ch con tr OUT (Q, M, D, L) . RET_VAL l word tr v kt qu thc hin (I, Q, M, D, L, P) W#16#0000 nu ng.

c/ i HEX sang ASCII: FC95

d/ Hm i tm SCALE : FC105 Chuyn i s nguyn IN (I, Q, M, D, L, P, Hng s) ra s thc OUT (I, Q, M, D, L, P) trong khong LO_LIM v HI_LIM theo cng thc OUT = [ ((FLOAT (IN) K1)/(K2K1)) * (HI_LIM LO_LIM) ] + LO_LIM HI_LIM, LO_LIM l cc gi tr thc (I, Q, M, D, L, P, Hng s) K1, K2 tu thuc trng thi ng iu khin BIPOLAR BIPOLAR=1: s IN l lng cc, K1 = 27648.0, K2 = +27648.0 BIPOLAR=0: s IN l n cc, K1 = 0.0, K2 = +27648.0

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e/ Hm i tm ngc UNSCALE : FC106 Chuyn i s thc IN gia hai gi tr LO_LIM v HI_LIM thnh s nguyn n cc hay lng cc OUT theo cng thc OUT = [ ((INLO_LIM)/(HI_LIMLO_LIM)) * (K2K1) ] + K1

f/ B chnh sm- tr pha: FB90 Thc hin php hiu chnh sm tr pha trn tn hiu vo IN, li GAIN, thi gian sm pha LG_TIME, thi gian tr pha LG_TIME, chu k ly mu SAMPLE_T v cho ra tn hiu OUT

5.6. Bi tp ng dng:

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Yu c u: Thit k chng trnh iu khin bng S7-300 cho mt cng on sn xut nc tng nh hnh sau:

Yu c u cng ngh: Nhn nt chy loadcell cn nguyn liu trn bn cn. Nhn nt chy ng c 1 cho ng c 1 chy bm nc t bn nc vo b xay trn nc vi nguyn liu. Nhn nt ng c 2 ng c 2 chy bm nguyn liu xay vo b thu phn tin hnh cng on thu phn nguyn liu bng cch nhn nt chy ng c 4 bm axit HCl vo b thu phn. Sau khi thu phn s c bm qua b trung ho trung ho axit d trong nguyn liu v cui cng a qua b lng lc cn b v a i ng chai.

Thc hin yu c u bi vit chng trnh iu khin dng plc s7-300

T thanh tiu chn All Programs > SIMATIC > SIMATIC Manager:

Xut hin ca s SIMATIC Manager nh sau

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 to mt d n mi, chn File > New Project Wizard

Ca s STEP 7 Wizard: New Project xut hin, chn mc Display Wizard on starting the SIMATIC Manager sau nhp Next tip tc.

Ca s STEP 7 Wizard: New Project xut hin, yu c u chn loi CPU khi thc hin d n mi. y chn CPU 314 ri chn Next.

Ca s STEP 7 Wizard: New Project li xut hin yu c u chn Blocks, chn khi OB1, ngn ng lp trnh LAD sau chn Next tip tc.

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Xut hin ca s yu c u t tn cho d n. Trong mc Project name nhp KHT SN XUT NC TNG, sau nhp Make hon tt.

Giao din lm vic ca chng trnh xut hin nhp p chut vo khi OB1 m ca s lp trnh ladder tin hnh lp trnh.

Mn hnh son tho LAD/STL/FBD ca SIMAC Manager xut hin nh hnh di

Chng trnh hon chnh c vit trn S7-300 nh sau:

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5.7. Kt lun: Chng 5 cung cp cho sinh vin nhng kin thc c bn v PLC S7 300 v tp lnh ca n, t chc b nh ca PLC, iu khin vo/ra v ng dng sinh vin bit cch s dng PLC S7 300 iu khin cc h thng sn xut t ng trong sn xut v i sng. Ngoi ra sinh vin c s dng ph n mm Step 7 Manager v PLC Sim lp trnh v m phng cc h thng thc trong i sng nh: n giao thng, trm trn b tng h thng sn xut nc tng,

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