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LUAN VAN TOT NGHIEP BUI THANH HUYEN Chng 1 1.1.

1 GII THIEU PLC S7_300 Cau truc chung cua mot PLC

GVHD :

1.1. Gii thieu chung ve PLC S7_300 PLC la thiet b ieu khien logic kha trnh (Program Logic Control), la loai thiet b cho phep thc hien linh hoat cac thuat toan ieu khien so thong qua 1 ngon ng lap trnh, thay cho viec phai the hien thuat toan o bang mach so. Cung nh cac thiet b lap trnh khac, he thong lap trnh c ban cua PLC bao gom 2 phan: khoi x ly trung tam (CPU:Central Processing Unit) va he thong giao tiep vao/ra (I/O) nh s o khoi:
OUTPUT INPUT OUTPUT

PROCESSING UNIT

OUTPUT

lap trnh

Hnh1.1: S o khoi cua he thong ieu khien

Khoi ieu khien trung tam (CPU) gom 3 phan: bo x ly, he thong bo nh va he thong nguon cung cap.
Processo r Memory

Power Supply

Hnh1.2: S o khoi tong quat cua CPU

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Cau truc, chc nang PLC S7_300

Cac khoi chc nang : Khoi tn hieu (SM:singnal module) Khoi ngo vao digital: 24VDC, 120/230VAC Khoi ngo ra digital: 24VDC Khoi ngo vao analog: Ap, dong, ien tr, thermocouple

Khoi giao tiep (IM): Khoi IM360/IM365 dung e noi nhieu cau hnh. Chung ieu khien nhieu thanh ghi cua he thong. Khoi gia lap (DM): Khoi gia lap DM370 d phong cac khoi tn hieu cha c ch nh. Khoi chc nang (FM): the hien nhng chc nang ac biet sau: 1.1.3 em nh v ieu khien hoi tiep Noi iem-iem Mang PROFIBUS Ethernet cong nghiep Module CPU

X ly lien lac ( CP):

Module CPU la loai module co cha bo vi x ly, he ieu hanh, bo nh, cac bo thi gian, bo em, cong truyen thong (RS485) va co the co 1 vai cong vao ra so. Cac cong vao ra so co tren module CPU c goi la cong vao/ra onboard. PLC S7_300 co nhieu loai module CPU khac nhau. Chung c at ten theo bo vi x ly co trong no nh module CPU312, module CPU314, module CPU315 Nhng module cung s dung 1 loai bo vi x ly, nhng khac nhau ve cong vao/ra onboard cung nh cac khoi ham ac biet c tch hp san trong th
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vien cua he ieu hanh phuc vu viec s dung cac cong vao/ra onboard nay se c phan biet vi nhau trong ten goi bang them cum ch IFM(Intergrated Function Module). V du nh Module CPU312 IFM, Module CPU314 IFM Ngoai ra con co cac loai module CPU vi 2 cong truyen thong, trong o cong truyen thong th hai co chc nang chnh la phuc vu viec noi mang phan tan. Cac loai module nay phan biet vi cac loai module khac bang cum t DP (Distributed Port) nh la module CPU315-DP. Trong luan van s dung loai module 314 IFM se c gii thieu k phan sau. 1.1.4 chnh: Module m rong Cac module m rong c chia thanh 5 loai

1.1.4.1- PS (Power supply): Module nguon nuoi. Co 3 loai:2A, 5A, 10A. 1.1.4.2- SM (Signal module): Module m rong cong tn hieu vao/ra, bao gom: a-DI (Digital input): Module m rong cac cong vao so. So cac cong vao so m rong co the la 8, 16, 32 tuy tng loai module. b-DO (Digital output): Module m rong cac cong ra so. . So cac cong ra so m rong co the la 8, 16, 32 tuy tng loai module. c-DI/DO (Digital input/ Digital output): Module m rong cac cong vao/ra so.. So cac cong vao/ra so m rong co the la 8 vao/8ra hoac 16 vao/ 16 ra tuy tng loai module. d-AI (Analog input): Module m rong cac cong vao tng t. So cac cong vao tng t co the la 2, 4, 8 tuy tng loai module. e-AO (Analog output): Module m rong cac cong ra tng t. So cac cong ra tng t co the la 2, 4 tuy tng loai module.
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f-AI/AO (Analog input/ Analog output): Module m rong cac cong vao/ra tng t. So cac cong vao/ra tng t co the la 4 vao/2 ra hay 4 vao/4 ra tuy tng loai module. 1.1.4.3- IM (Interface module): Module ghep noi, noi cac module m rong al vi nhau thanh 1 khoi va c quan ly chung bi 1 module CPU. Thong thng cac module m rong c ga lien vi nhau tren 1 thanh goi la rack. Tren moi rack co the gan nhieu nhat la 8 module m rong (khong ke module CPU, module nguon nuoi. Mot module CPU S7_300 co the lam viec trc tiep vi nhieu nhat 4 racks va cac racks nay phai c noi vi nhau bang module IM. 1.1.4.4- FM (Function module): Module co chuc nang ieu khien rieng. V du nh module PID, module ieu khien ong c bc 1.1.4.5- CP (Communication module): Module phuc vu truyen thong trong mang gia cac PLC vi nhau hoac gia PLC vi may tnh. 1.1.5 Ngon ng lap trnh PLC S7_300 co 3 ngon ng lap trnh c ban sau: Ngon ng liet ke lenh, ky hieu la STL (Statement List). ay la dang ngon ng lap trnh thong thng cua may tnh. Mot chng trnh c ghep bi nhieu cau lenh theo 1 thuat toan nhat nh, moi lenh chiem 1 hang va eu co cau truc chung la ten lenh+toan hang. V du:

Ngon ng hnh thang, ky hieu la LAD (Ladder Logic). ay la dang ngon ng o hoa thch
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GVHD :

hp vi nhng ngi quen thiet ke mach ieu khien logic. V du:

Ngon ng hnh khoi, ky hieu la FBD (Function Block Diagram). ay la dang ngon ng o hoa thch hp vi nhng ngi quen thiet ke mach ieu khien so. V du:

e thuan tien trong viec lap trnh, trong luan van nay chung em chon ngon ng LAD e lap trnh. 1.2. Gii thieu PLC S7_300 CPU314IFM 1.2.1 Cau truc bo nh Bo nh gom 48KB RAM, 48KB ROM, khong co kha nang m rong va toc o x ly gan 0.3ms tren 1000 lenh nh phan, bo nh c chia tren cac vung: + Vung cha chng trnh ng dung: OB (Organisation block):Mien cha chng trnh to chc, trong o:

Khoi OB1: Khoi to chc chnh, mac nh, thc thi lap vong. No c bat au khi qua trnh
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khi ong hoan thanh va bat au tr lai khi no ket thuc. Khoi OB10 (Time of day interrupt): c thc hien khi co tn hieu ngat thi gian. Khoi OB20 (Time delay interrupt): c thc hien sau 1 khoang thi gian at trc. Khoi OB35 (Cyclic Interrupt): khoi ngat theo chu k nh trc Khoi OB40 (Hardware Interrupt): c thc hien khi tn hieu ngat cng xuat hien ngo vao I124.0I124.3 FC (Function): Mien cha chng trnh con c to chc thanh ham co bien hnh thc e trao oi d lieu vi chng trnh a goi no, c phan biet bi cac so nguyen. V du: FC1, FC7, FC30ngoai ra con co cac ham SFC la cac ham a c tch hp san trong he ieu hanh. FB (Function Block): tng t nh FC, FB con phai xay dng 1khoi d lieu rieng goi la DB (Data Block) va cung co cac ham SFB la cac ham tch hp san trong he ieu hanh.

+ Vung cha cac tham so he ieu hanh va chng trnh ng dung: - I (Process image input): Mien bo em d lieu cac ngo vao so. Trc khi bat au thc hien chng trnh, PLC se oc tat ca gia tr logic cua cac cong vao roi cat gi chung trong vung I. khi thc hien chng trnh CPU se s dung cac gia tr trong vung I ma khong oc trc tiep t ngo vao so. - Q (Process image output): tng t vung I, mien Q la bo em d lieu cong ra so. Khi ket thuc chng trnh, PLC se chuyen gia tr logic cua bo em Q ti cac cong ra so. - M (Memory): Mien cac bien c. Do vung nh nay khong mat sau moi chu k quet nen chng
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trng ng dung se s dung vung nh nay e lu gi cac tham so can thiet. Co the truy nhap no theo bit (M), byte (MB), theo t (MW) hay t kep (MD). - T (Timer): Mien nh phuc vu bo thi gian bao gom viec lu tr cac gia tr at trc (PVPreset Value), cac gia tr tc thi (CV-Current Value) cung nh cac gia tr logic au ra cua Timer. - C (Counter): Mien nh phuc vu bo em bao gom viec lu gi cac gia tr at trc (PV-Preset Value), cac gia tr tc thi (CV-Current Value) cung nh cac gia tr logic au ra cua Counter. - PI: Mien a ch cong vao cua cac module tng t (I/O External input). Cac gia tr tng t tai cong vao cua module tng t se c module oc va chuyen t ong theo nhng a ch. Chng trnh ng dung co the truy cap mien nh PI theo tng byte (PIB), tng t (PIW) hoac theo tng t kep (PID). - PQ: Mien a ch cong ra cua cac module tng t (I/O External output). Cac gia tr tng t tai cong vao cua module tng t se c module oc va chuyen t ong theo nhng a ch. Chng trnh ng dung co the truy cap mien nh PI theo tng byte (PQB), tng t (PQW) hoac theo tng t kep (PQD). + Vung cha cac khoi d lieu, c chia thanh 2 loai: DB (Data block): Mien cha cac d lieu c to chuc thanh khoi. Kch thc hay so lng khoi do ngi s dung qui nh. Co the truy nhap mien nay theo tng bit (DBX), byte( DBB), tng t (DBW), t kep (DBD). L (Local data block): Mien d lieu a phng, c cac khoi chng trnh OB, FC, FB to chc va s dungcho cac bien nhap tc thi va
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trao oi d lieu cua bien hnh thc vi nhng khoi a goi no. Toan bo vung nh se b xoa sau khi khoi thc hien xong. Co the truy nhap theo tng bit (L), byte (LB), t (LW), hoac t kep (LD). 1.2.2 Cac ngo vao ra + 20 ngo vao so c nh a ch t I124.0 en I126.3 trong o: o Cac ngo vao t I124.0 en I124.3 la cac ngo vao ac biet co the c dung lam bo em toc o cao (high speed counter) en 10Khz hoac ngat ngoai. + Cac ngo ra so t Q124.0 en Q125.7 co mc ien ap la 24VDC va dong toi a la 0.5A (16 ngo ra so) + Co 4 ngo vao Analog co a ch t PIW128 en PIW134 va 1ngo ra tng t co a ch la PQW128 vi tn hieu dong 20mA hoac ap 10V co o phan giai 11 bit va 1 bit dau. Cac ngo vao tng t co ac iem la ch c truy cap bang t (PIW)

Hnh1.3 :Cau tao cua PLC S7_300 CPU314IFM 1.2.3


TRONG VAN LE ANH VAN

Tap lenh (s dung dang LAD)


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LUAN VAN TOT NGHIEP BUI THANH HUYEN 1.2.3.1 Cac lenh c ban a. Lenh GAN V du:

GVHD :

1.2.3.1.1 Nhom lenh logic tiep iem

Khi ngo vao I0.0 len mc 1 th ngo ra Q0.0 ON b. Lenh AND V du:

Khi I0.0 va I0.1 ong thi len mc 1 th ngo ra Q0.0 ON c. Lenh OR V du:

Khi 1 trong 2 ngo vao I0.0 hoac I0.1 len mc 1 th ngo ra Q0.0 ON d. Lenh AND NOT V du:

Khi I0.0 len mc 1 va I0.1 mc 0 th Q0.0 ON


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LUAN VAN TOT NGHIEP BUI THANH HUYEN e. Lenh OR NOT V du:

GVHD :

Khi I0.0 mc 1 hay I0.1 mc 0 th Q0.0 ON f. Lenh GAN co ieu kien Lenh gan gia tr 1 V du:

Lenh gan gia tr 0

V du:

1.2.3.2. Nhom lenh so sanh vi so nguyen va so thc * V du: Vi so nguyen a. So sanh bang

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LUAN VAN TOT NGHIEP BUI THANH HUYEN b. So sanh ln hn V du:

GVHD :

c. So sanh ln hn hoac bang V du:

d. So sanh be hn V du:

nguyen 32 bits V du:

So nguyen 16 bits

So

e. So sanh be hn hoac bang

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GVHD :

* aV du:

Vi so thc bSo sanh khac

So sanh bang

cSo sanh ln hn hn hoac bang V du:

d-

So sanh ln

eSo sanh ln hn hn hoac bang V du:

f-

So sanh be

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1.2.3.3. Cac lenh toan hoc * V du: Vi so nguyen a. Lenh cong so nguyen

nguyen 32 bits bV du:

So nguyen 16 bits

So

Lenh tr so nguyen

nguyen 32 bits cV du:

So nguyen 16 bits

So

Lenh nhan so nguyen

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nguyen 32 bits dV du:

So nguyen 16 bits

So

Lenh chia so nguyen

So nguyen 16 bits nguyen 32 bits * aso thc Vi so thc Lenh cong so thc b-

So

Lenh tr

V du:

cso thc

Lenh nhan so thc

d-

Lenh chia

V du:

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1.2.3.4

. Lenh oi kieu d lieu bSo BCD so

Cac lenh chuyen: a-So BCD so nguyen 16 bits nguyen 32 bits V du:

c-So nguyen 16 bits BCD bits BCD V du:

d- So nguyen32

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GVHD :

e-

So nguyen16 bits so nguyen32bits

V du:

f-

So nguyen 32bits so thc

V du:

bits)

g-

Lenh lam tron so (so thc so nguyen 32

V du:

1.2.3.5

. Bo thi gian (Timer)

Bo thi gian la bo tao thi gian tre t mong muon gia tn hieu logic au vao u(t) va tn hieu logic au ra y(t).
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S7_300 co 5 loai Timer khac nhau. Thi gian tre t mong muon c khai bao vi Timer bang 1 gia tr 16 bits trong o 2 bits cao nhat khong s dung, 2bits cao ke tiep la o phan giai cua Timer, 12 bits thap la 1 so nguyen BCD trong khoang 0 999 c goi la PV(Preset Value). Thi gian tre t chnh la tch: t=o phan giai*PV

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15 14 13 12 11 10 9 Khong s dung dang ma BCD

Gia tr PV di
0 PV 999

o phan giai

0 0 1 1 V du:

0 1 0 1

10m s 100 ms 1s 10s S5T#3s Thi gian co the c khai bao di dang bang kieu S5T

Trong luan van s dung loai Timer SD la loai Timer tre theo sn len khong co nh (On Delay Timer):Ngo ra len mc 1 khi ngo vao EN=1 va gia tr CV (Current Value)=0. V du:

Khi ngo vao I0.0 len mc 1 th sau 2s T1 se ON 1.2.3.6 Bo em (Counter)

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Counter la bo em co chc nang em sn xung cua tn hieu au vao. Co toi a 256 Counter c k hieu t C0 C255 V du: Loai Counter em len va em xuong

CU CD

: tn hieu em len (BOOL) : tn hieu em (BOOL)

S : tn hieu at (BOOL), khi co sn len th gia tr at c nap cho CV PV : gia tr at (WORD) R : tn hieu xoa (BOOL), khi co sn len th gia tr CV c xoa ve 0. Q : ngo ra CV : gia tr hien tai cua bo em dang Integer CV_BCD : gia tr hien tai cua bo em dang BCD

Loai Counter em len

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Giong loai Counter tren nhng khong co chan kch em xuong.

1.3. Giai phap mang Mang cong nghiep la he thong o lng va ieu khien hien ai bao gom may tnh, PLC, vi x ly ghep noi vi cam bien va chap hanh, thong thng cac thiet b nay khong tap trung ma phan tan, viec trao oi thong tin c thc hien di dang so va truyen noi tiep. Mang cong nghiep thng gom 7 lp: Lp vat ly, lp lien ket d lieu, lp mang, lp van chuyen, lp phien, lp trnh va lp ng dung. Tuy nhien co 1 so mang ngi ta ch thiet ke tren hai hoac ba lp c ban, tuy vao moi hang ma co cac mang khac nhau. Sau ay la 1 so mang cong nghiep a c s dung rong rai: TRONG VAN LE ANH VAN

Mang Ethernet Foundation FieldBus, MPI, Profibus Can DiviceNet ModBus SDS (Smart distributed System) InterBus-S
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LUAN VAN TOT NGHIEP BUI THANH HUYEN Combobus-S, Combobus-D

GVHD :

AS-Interface (Actuaator Sensor Interface)

Trong luan van nay ch gii thieu mot so mang cong nghiep ang c s dung va i sau vao tm hieu s ho tr cua PLC S7_300 vao ket noi mang va giao tiep vi may tnh. Hien nay, e giao tiep gia PLC vi may tnh, n gian nhat la s dung phan mem WinCC c cai at tren may tnh cung vi cap chuyen oi PPI hoac MPI (Neu muon ket noi nhieu PLC) chuyen oi tn hieu RS485 sang RS232 truyen sang may tnh vao cong Com RS232. WinCC la phan mem tng oi manh bao gom cac th vien c viet san tuy nhien WinCC cha phai la 1 ngon ng lap trnh hng oi tng hoan chnh nh C++, Delphi hay Visual Basic ma la phan mem ong goi cac thao tac, ng dung, hoat ong thong dung trong cong nghiep da tren ngon ng lap trnh C. V the se mat cong sc rat nhieu e lap trnh tren PLC va tren may tnh khi s dung phan mem WinCC va ngc lai, neu dung cac ngon ng lap trnh nh C++, Delphi hay Visual Basic, khi o ta phai lap trnh mang cho he thong va phai da vao cac ham lap san cho Module truyen thong cua PLC S7_300. Khong phai moi CPU eu co Module truyen thong CP (Communication Processor), CP co u iem la co s ho tr manhve ham th vien va tnh nang vt troi nh toc o, so Byte d lieu va s tng thch cao. Tuy nhien hau het cac CPU eu co t nhat 1 cong MPI la cong COM RS485 dung e o chng trnh vao ROM cua PLC, giao tiep va noi mang. Mot so ham c lap trnh san e phuc vu cho cong COM: - SFC60GD_SND (global data send): gi d lieu di dang goi GD, goi GD phai c tao trc bang phan mem STEP7 (se c trnh bay k trong chng truyen thong bang MPI). - SFC61GD_RCV (global data receive): nhan d lieu di dang goi GD.
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- SFC65X_SEND: gi d lieu en oi tac truyen thong khac. - SFC66X_RCV : nhan d lieu t oi tac truyen thong khac.

Chng 2 : DUNG

TH VIEN HAM S7 300 THONG

2.1. Bo em toc o cao 2.2. Ham chuyen oi SCALE FC105 e viec chuyen oi thuan tien, ta co the s dung cac ham th vien. Ham th vien FC105 (Th vien Standard, muc TI-S7 converting blocks) co cong dung chuyen oi d lieu au vao PIW cua module Analog dang INT sang dang ai lng can o. No la ham tuyen tnh: OUT=
TRONG VAN LE ANH VAN HI _ LIM LO _ LIM ( IN K 1 ) + LO _ LIM K 2 K1 SVTH : NGUYEN

LUAN VAN TOT NGHIEP BUI THANH HUYEN Trong o:

GVHD :

OUT: gia tr ai lng o, dang so thc. IN : so o t PIW (ngo vao Analog), dang so nguyen K2 : gia tr so nguyen gii han tren au vao PIW (27648) K1 : gia tr so nguyen gii han di au vao PIW vi au vao Bipolar : -27648 Vi au vao Unipolar: 0

HI_LIM : gii han tren ai lng o. LO_LIM: gii han di ai lng o. Bien oi nay co the minh hoa qua o th OUT HI_LIM K1 K2 IN LO_LIM Hnh :o th bien oi FC105 V du: Neu au vao PIW128 cua Module Analog co thang o 0 10V Ta goi ham FC105, va gan cac tham so tng ng e c au ra la so thc tnh theo n v Volt, a en MD0 Ham FC105 dang LAD:

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Neu gia tr au vao PIW128 la 9123, ta co au ra la 3,3(v) 2.3. Ham SFC40 (EN_INT) Ham co tac dung g bo mat na che: Cua 1 tn hieu ngat, Cua 1 nhom cac tn hieu ngat hoac Cua tat ca cac tn hieu ngat va tn hieu bao loi khong ong bo.

Khi 1 tn hieu ngat hay bao loi khong ong bo c g bo mat na che, he thong se goi khoi OB tng ng cha chng trnh x ly moi khi xuat hien tn hieu ngat, bao loi nay.

Ham SFC40 co cac tham bien hnh thc vao ra nh sau: Loai bien
TRONG VAN LE ANH VAN

Ten bien

Kieu

Y ngha
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LUAN VAN TOT NGHIEP BUI THANH HUYEN d lie u IN MODE Byte

GVHD :

Xac nh loai tn hieu ngat, bao loi c bo mat na che: B#16#0:Bo mat na che cho tat ca cac tn hieu ngat va tn hieu bao loi khong ong bo. B#16#1:Bo mat na che cho cac tn hieu ngat, bao loi thuoc 1 nhom nhat nh. Nhom cac tn hieu nay phai c ch th bi ten khoi OB au tien cua nhom cho bien OB_NR. B#16#2: Bo mat na che cho 1 tn hieu ngat. Tn hieu ngat c bo mat na phai c ch th bi ten khoi OB tng ng cho bien OB_NR.

IN

OB_NR

Int

Ten khoi OB cua tn hieu ngat, bao loi c bo mat na che. Gia tr tra ve cua ham W#16#0000:Ham viec bnh thng lam

OUT

RET_VAL

Int

W#16#8090:D kieu cho OB_NR b sai.

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LUAN VAN TOT NGHIEP BUI THANH HUYEN V du: dang LAD cua ham SFC40

GVHD :

2.4 Ham SFC0 : thiet lap ong ho . Vi ham nay ta co the thiet lap thi gian (ngay, gi, phut va giay cho ong ho cua CPU). Khi ta goi ham SFC0 la luc khi ong cho ong ho . ong ho sau o sechay theo ngay gi a thiet lap

Ngo vao PDT nhap ngay gi muon thiet lap (kieu d lieu DT , chang han neu ban muon thiet lap ngay gi la Ngay 15 thang 1 nam 1995 luc 10 gi 30 phut 30 giay th ta nhap DT#1995-01-1510:30:30 ). Chan RET_VAL tra ve ma cua loi neu co loi xay ra trong suot qua trnh thc hien lenh. 2.5. Ham SFC1 Read_clock Vi ham nay ta co the oc ngay hien tai trong ong ho cua CPU

2.6. Ham SFC20 BLKMOV


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GVHD :

Vi ham nay ta co the copy noi dung t vung nh nay en vung nh khac . Pham vi s dung :co the sao chep tat ca cac kieu d lieu ngoai tr Cac khoi loai : FB , SFB , FC , SFC , OB . Counters Timerd Cac vung nh I/O ngoai vi .

Cac tham so cua ham : SCR BLK : Vung nh nguon (khong cho phep d lieu kieu chuoi ). RET_VAL : Ma cua loi se c tra ve au ra nay .

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GVHD :

DST BLK : Vung nh ch ( khong cho phep d lieu kieu chuoi). Chu y :

Vung nh nguon va ch khong c trung lap . Neu vung d lieu nguon ln hn vung d lieu ch th ham ch sao chep nhng d lieu t vung nguon tng ng vi kha nanglu tr cua vung ch . Ngc lai neu vung d lieu ch ln hn vung d lieu nguon th ch vung d lieu ch tng ng vi vung d lieu nguon c sao chep d lieu .

2.7. Ham SFC 21 FILL Vi ham nay ta co the khi tao mot vung nh (vung nguon ) vi noi dung cua vung nh khac . Ham SFC21 se chep noi dung vao vung ch cho en khi hoan toan ay u

BVAL : Gia tr ban au muon ien vao vung ch . BLK : khoi d lieu ch muon ien vao .

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Chu y : Vung nguon va vung ch khong c trung lap .Neu vung ch khong phai la boi cua nguon vao ve chieu dai cua bo nh th d lieu van c ghi vao cho en byte cuoi cung cua vung nho ch . Ham nay se khong hoat ong neu con tro en vung nguon va vung ch la lieu Bool. 2.8.Ham SFC22 CREAT DB Vi ham SFC22 (create data block) ta co the khoi d lieu ma khong cha gia ban au nao. Khong ch the chieu dai cua khoi d lieu ta co the chu ong la chon va phai at so hieu cho khoi d lieu a tao trong tam an nh trc

at tham so cho ham SFC22 : LOW_LIMIT : Gia tr gii han di la so nho nhat trong tam so ma ban co the gan cho khoi . UP_LIMIT : Gia tr gii han tren la so cao nhat trong tam ma ban co the gan cho khoi . COUNT : Gia tr em xac nh so byte lu tr trong toan khoi .(kieu W : MW2) So khoi d lieu la so cua cac khoi d lieu c tao ra.
SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN 2.9. Ham SFC24 TEST DB

GVHD :

Vi ham SFC24 (test data block ) ta co c nhng thong tin ve khoi d lieu ton tai trong vung nh lam viec nao o cua CPU. Ham SFC24 truy ra so cac byte d lieu trong khoi DB ch oc c.

Cac tham so cua ham : DB_number : so cua DB c kiem tra. So byte d lieu ma DB c chon cha . Thong tin ve viec bao ve cua DB( 1 ngha la ch oc , khong the sa cha). 2.10. Ham SFC46 Vi ham SFC46 ta co the chuyen CPU sang che o stop. Ham STP khong co thong so .

2.11. Ham SFC47 Vi ham SFC47 WAIT , ta co the lap trnh thi gian tre hay thi gian ch trong chng trnh cua ngi s dung. Ban co the lap trnh tre en 32767 mili giay.Thi gian tre nho nhat co the phu thuoc vao tng loai CPU ac biet vi cung mot ham SFC47.
SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Chu y : oi vi S7-300 , ngoai tr CPU 318 , thi gian tre vi ham SFC47 la thi gian nho nhat .

Thong so cua ham : au vao WT cha thi gian tre s.(v du neu MW20=2000 th khi En t 0 len 1 th 2mili giay sau ENO se len 1. 2.12. Ham SFC60 GD_SND Vi ham SFC60(global data send) d lieu cua vong GD c tap hp va gi i tren con ng ac biet. Goi vong GD phai c nhan dien bi STEP 7. Ham SFC60 co the c goi bat ky iem nao trong chng trnh cua ngi s dung. D lieu sau o c tap hp va gi i trong lp u tien cao hn.Khi chng trnh tr ve th ham b ngat , ieu nay se cat ngay lap tc va d lieu cai ma a c tap hp xong b bo. Thu tuc nay co ngha la trong suot qua trnh x ly cua lp u tien cao hn, d lieu ung c truyen.

Goi vong GD ch ung vi cac loai d lieu sau : Loai d lieu n gian : Bit, byte, word va double word . Mot mang nhng byte, word va double word dai en chieu dai nhat nh c xac nh theo moi CPU.

Goi vong GD tren CPU gi i d lieu co cau truc khong c t ong xac nhan la d lieu tap hp la hoan toan ung. Cho v du, trng hp khi day cha nhng byte hay mang nhng byte ma co chieu da ln hn chieu dai toi a cho phep cua CPU.Tuy nhien neu ban oi hoi ung cho toan bo
SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

goi vong GD, ban phai thc hien nhng thu tuc di ay. Disable hoac lam tre nhng khoi ngat u tien cao va loi ong xay ra bang cach goi ham SFC39DIS_DIS hay SFC41DIS_AIRT. Goi ham SFC60GD_SND Enable cac khoi ngat u tien cao hn va loi ong bo tr lai bang cach goi ham SFC40EN_IRT hay SFC42EN_AIRT.

Thong so cua ham :

CIRCLE_ID :So cua nhng goi vong GD cai ma se c gi se c nhap vao chan nay. Ban phai nhan dang goi d lieu nay vi S7. Cho phep gia tr t 1 en 16. Gia tr ln nhat co the cua GD tuy vao tng loai CPU. BLOCK_ID :So cua nhng goi vong GD c gi i trong so vong GD c chon. So nay c set lien luc trong suot qua trnh nhan dang cua chu ky GD bi S 7.Gia tr cho phep la t 1 en 3 va gia tr ln nhat tuy thoc vao tng loai CPU.

2.13. Ham SFC61 "GD_RCV" Vi ham SFC61 "GD_RCV" (global data receive), d lieu t mot khung vong GD en va ch chnh xac mot goi tin c nhan va a vao goi nhan. ieu nay phai a c nhan ra bang phan mem S700 .
SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Ham SFC61 "GD_SND" co the c goi bat ky v tr nao trong chng trnh cua ngi s dung.

Cach s dung va thong so cua ham GD_RCV cung tng t nh ham GD_SND . Kieu d lieu cung hoan toan giong nhau 2.14. Ham SFC63(AB_CALL) Ham SFC63 goi mot khoi ma viet bang lap trnh hp ng. Khoi ma viet bang hp ng cai ma c viet bang lap trnh ngon ng C hoac Assembler va roi c dch ra. Ta ch co the s dung khoi ma Assembly vi CPU614. e oc c thong tin nay u hn ve thong so cua ham SFC63 ta co the oc tai lieu ve CPU 614. Co mot tai lieu hng dan rieng cho khoi ma hoa dung ngon ng Assembler . 2.15. Ham SFC64 TIME_TCK(time tick) Ta co the oc thi gian he thong cua CPU bang ham nay. Thi gian he thong la mot thi gian em em tuan hoan t 0 en mot gia tr ln nhat la 2147483647ms. Trong trng hp co mot s tran th thi gian he thong c em lai vi gia tr bat au la 0. o phan giai va thi gian chnh xac cua he thong la 1ms oi vi S7_400 va S7_318, 10ms vi tat ca cac CPU 300 khac.Thi gian he thong b anh hng ch bi chc nang ieu hanh cua CPU.

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LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Ta co the dung thi gian he thong e o lng qua trnh bang viec so sanh ket qua cua 2 lan goi ham SFC64.

au ra RET_VAL cha thong so cua thi gian he thong trong tam t 0 en 231-1ms.

Mode Start Run Hot restart(not with S7300 and S7-400 H) Warm restart

System time Lien tuc update

Tiep tuc vi gia tr c lu khi chuyen sang stop mode B xoa bo va khi ong lai vi so B stop va tra ve gia tr hien tai

Cold restart Stop

2.16. Ham SFC65 "X_SEND Vi ham SFC65X_SEND ta gi d lieu ti mot CPU lien ket ben ngoai pham vi tram S7. D lieu c nhan tren CPU nay bang viec s dung ham SFC65 "X_SEND. Ta co the xac nhan d lieu
SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

vi thong so vao REQ_ID. Danh inh nay se c gi kem theo cung vi d lieu. Bam co the at gia tr cho thong so nay tren CPU lien ket ben ngoai e tm ra d lieu nguon. D lieu c gi sau khi goi ham th ham SFC65 khai bao thong so REQ = 1. Phai chac rang vung d lieu gi phai c xac nh bi SD( tren CPU gi) nho hn hoac giong kch thc vi vung d lieu c xac nh la nhan bi thong so RD( tren CPU lien ket). Neu SD la d lieu kieu BOOL th RD cung co kieu d lieu la BOOL. Cac thong so cua ham :

DEST_ID :Thong so a ch ch ,cha ai ch MPI cua CPU lien ket (I, Q, M, D, L). REQ_ID : Thong so nay c dung e xac nhan d lieu d lieu tren CPU lien ket(I, Q, M, D, L) . SD : Tham chieu en vung gi (cho phep cac kieu d lieu sau: BOOL, BYTE, CHAR WORD, INT, DWORD DINT, REAL, DATE, TOD TIME, S5_TIME RET_VAL :Tra ve ma cua loi neu qua trnh s ly co loi.
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LUAN VAN TOT NGHIEP BUI THANH HUYEN BUSY o BUSY: kieu L BOOL,

GVHD :

I, Q, M, D,

o BUSY=1: Gi cha xong. o BUSY=0: Gi a xong nhng khong co them ham gi tiep. 2.17. Ham SFC66"X_RCV Vi ham SFC66 "X_RCV," ta co the nhan d kieu c gi bi 1 hoac nhieu tram khac. Va ong thi cung kiem tra c co hay khong d lieu ang ch e c sao chep, d lieu a c nhap trong hang ch bi he ieu hanh. Ta co the chep mot khoi d lieu sau cung cua hang ch sang 1 vung nhan a chon. Cac thong so cua ham : cung giong nh ham FSC65X_SEND

2.18 Ham FB41CONT_C S o cau truc

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LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

FB41CONT_C c s dung e ieu khien cac qua trnh ky thuat vi cac bien au vao va ra tng t nh tren c s thiet b kha trnh Simatic. Trong khi thiet lap tham so, co the tch cc hoac khong tch cc mot so thanh phan chc nang cua bo ieu khien PID cho phu hp vi oi tng. Module mem PID bao gom: Tn hieu au vao SP_INT: Lenh nhap mc tn hieu ieu khien, la so thc, tnh theo gia tr % cua tn hieu cc ai thang ieu khien.
SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Tn hieu phan hoi PV_PER: Tnhieu phan hoi lay t oi tng c ieu khien. No thng c oc t mot cam bien Analog qua au vao Analog nen ngi ta chon kieu d lieu au vao nay la so nguyen kieu Word. Chc nang CRP_IN bien oi kieu d lieu t so nguyen sang dang so thc tnh theo % cho phu hp vi lenh. Do Module Analog co gii han thang o tuyen tnh la 27648 nen ta coi gii han o la 100% va tn hieu ra CRP_IN c tnh:
100 CRP_IN=PV_PER 27648

e hieu chnh gia tr cam bien phan hoi, khoi chc nang PV_NORM se thc hien bien oi tuyen tnh, hieu chnh o nhay (PV_FAC) va o troi (PV_OFF): PV_NORM= CRP_IN PV_FAC +PV_OFF Khi thay the cam bien, ta can hieu chnh 2 gia tr tren e ket qua o lng khong oi. Trong trng hp tn hieu phan hoi khong thu c t cam bien co d lieu tng ng au vaoPV_PER, ta co the a qua tnh toan khac va a en au vao PV_IN dang so thc, tnh theo %, luc o lenh PVPER_ON phai at ve mc 0. Khoi se so sanh 2 gia tr vao, cho ra tn hieu sai lech. Tn hieu sai lech c a qua khoi chc nang DEADBAND e he thong khong hoat ong vi cac sai lech nho di mc can tac ong. ieu nay can thiet neu cac he lam viec trong moi trng nhieu nhieu. Trong moi trng t nhieu, ta giam DEAD_W ve 0 e tang o nhay, o chnh xac cua he thong. He so khuech ai tn hieu sai lech cua he chnh la thanh phan t le Kp, c at bang he so GAIN. GAIN la so thc, neu chon ln he se tac ong nhanh, chnh xac nhng de mat on nh.
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LUAN VAN TOT NGHIEP BUI THANH HUYEN Khau PID thc s gom 3 thanh phan: -

GVHD :

Thanh phan t le, c la chon nh lenh chuyen mach P_SEL Thanh phan tch phan c hnh thanh bi khoi chc nang INT va c chon nh lenh chuyen mach I_SEL. Tnh chat khoi tch phan xac nh nh gia tr hang so thi gian TI (D lieu kieu TIME), gia tr ban au I_ITLVAL (Dang so thc tnh theo %). Co s dung gia tr ban au hay khong tuy thuoc lenh I_ITL_ON, va co the dung qua trnh tch phan gi nguyen gia tr au ra bang lenh INT_HOLD. Thanh phan vi phan c hnh thanh bi khoi chc nang DIF, c la chon nh lenh chuyen mach D_SEL. Tnh chat khoi vi phan c xac lap bi hang so thi gian TD (D lieu kieu TIME) va thi gian gi cham TM_LAG (D lieu kieu TIME). Ba thanh phan nay c cong vi nhau. Nh cac lenh chuyen mach P_SEL, I_SEL, D_SEL ma ta co the thanh lap cac che o ieu khien P, PI, PD, PID khac nhau.

Tn hieu sai lech tonghp c cong them thanh phan DISV dung e bu tac ong hieu theo chieu thuan. Gia tr cua DISV co dang so thc, tnh theo %. Tn hieu sai lech c a qua bo han che mc tn hieu ieu khien LMNLIMIT. Mc han che tren LMN_HLM va han che di LMN_LLM c a vao dang so thc, tnh theo%. au vao cua khoi c la chon theo che o bang tay hay t ong nh lenh MAN_ON. au vao MAN, dang so thc, tnh theo %, dung e at mc tn hieu ra LMN trong che o ieu khien bang tay. Khoi LMN_NORM bien oi tuyen tnh, bu lech tnh va o nhay cua c cau chap hanh. Tn hieu ieu khien au ra LMN co dang so thc, tnh theo %.
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LUAN VAN TOT NGHIEP BUI THANH HUYEN LMN=LMNLIMIT LMN_FAC+LMN_OFF

GVHD :

Khoi CRP_OUT bien oi tn hieu ra dang so thc ra dang so nguyen LMN_PER thch ng vi dang ra cac Module ra Analog.
27648 LMN_PER=LMN 100

Cac au ra trung gian, kiem tra: PV_IN: Tn hieu phan hoi, dang so thc, tnh theo % au vao mach so sanh. ER: Tn hieu sai lech sau khi truyen qua DEADBAND. LMN_P, LMN_I, LMN_D: cac thanh phan t le, tch phan, vi phan cua tn hieu sai lech au vao bo tong hp. QLMN_HLM, QLMN_LLM: Tn hieu bao o sai lech vt mc han che tren va di.

Cac tn hieu au ra nay co the dung theo doi, bao hieu hoac cac x ly khac. 2.18.2 S dung khoi ham FB41 e s dung module mem FB41, ta xet s o khoi tn hieu:

Hnh: S o khoi noi FB41 vi oi tng ieu khien.


SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Lenh ieu khien c at vao dang so thc (%) qua au vao SP_INT. au ra LMN (so nguyen) hoac LMN_PER (so thc) c a en c cau chap hanh, ieu khien oi tng. Tn hieu phan hoi c a tr ve au vao PV_PER (so nguyen) hoac PV_IN (so thc). au vao DISV s dung khi co tac ong trc thuan co the o lng c, giam sai lech au ra, nang cao o chnh xac cho he. 2.21. Ham Phat xung SFB/FB43 "PULSEGEN" Ham phat xung tao ra xung ieu rong 2 hoac 3 bc co o rong ieu chnh c. Ham nay ket noi tiep sau ham x ly PID FB41 CONT_C tao thanh mot he thong ieu khien lien tuc.

Ham PULSEGEN chuyen bien au vao INV(gia tr lay ra t ham x ly tn hieu PID thanh mot mot dang xung ieu rong trong mot chu ky khong oi. (c khai bao trong cycle time ).o rong cua xung la s t le gia au vao

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

INV

REAL

0.0 100.0...100.0 (%) >=20*CYCLE T#1s

Bien au vao dang tng t lay ra t ham FC41 PERIOD TIME Gia tr hang so cua chu kyxung ieu rong .Chu ky xung ieu rong la khoang cach thi gian gia hai lan lay mau cua bo phat xung. Xung nho nhat hay thi gian nho nhat gan cho xung. Thong so au vao t le, co the dung e thay oi t le gia thi gian ON OF. Trong ieu khien nhiet o, ieu nay se cho phep nhng thi gian hang khac nhau cho viec gia nhiet hay lam lanh e
SVTH : NGUYEN LE

PER_TM

TIME

P_B_T

TIME

>=

CYCLE

T#0m s

RATIOFAC

REAL

0.1 ...10.0 1.0

TRONG VAN ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD : bu nhiet).

STEP3_ON

BOOL

TRUE

ieu khien 3 bc. Bit nay on se cho phep che o nay. ieu khien hai bc cho gia tr lng cc lay ra t ham FB41. Co the chon ieu khien n cc hay lng cc bang bt nay. Buoc phai gan STEP3_ON = FALSE. Reset hoan toan hoat ong cua ham. Thi gian lay mau(gia hai lan goi khoi

ST2BI_ON

BOOL

FALSE

COM_RST CYCLE

BOOL TIME >= 1ms

FALSE T#10 ms

2.20. Ham SFB29 "HS_COUNT" Vi ham SFB29 "HS_COUNT" (counter), ta co the dung chc nang bo em cua CPU vi au vao va ra : Thiet lap va nhap mot gia tr bat au. Chon va thiet lap mot gia tr so sanh. Kch hoat cho bo em. Kch hoat mot ngo ra dang so

oc gia tr hien tai va gia tr so sanh hien tai

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Sap xep s quan he gia gia tr em va gia tr so sanh Thong so Kieu d lieu DINT Bo nh Chu thch

PRES_COUNT

I, Q, M, D, L, constant I, Q, M, D, L, constant I, Q, M, D, L, constant I, Q, M, D, L I, Q, M, D, L, constant I, Q, M, D, L, constant I, Q, M, D, L, constant I, Q, M, D, L, constant

Gia tr khi au cua bo em Gia tr so sanh mi

PRES_COMP_ A COMP_A PRES_COMP_ B EN_COUNT EN_DO

DINT

DINT

Gia tr so sanh mi

BOOL BOOL

Kch hoat bo em Kch hoat au ra dang so. Thiet lap au vao cho gia tr khi au Thiet lap au vao cho gia tr so sanh A. Thiet lap au vao cho gia tr so sanh B

SET_COUNT

BOOL

SET_COMP_A

BOOL

SET_COMP_B

BOOL

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN COUNT COMP_A COMP_B STATUS_A DINT DINT DINT BOOL I, Q, M, D, L I, Q, M, D, L I, Q, M, D, L I, Q, M, D, L

GVHD : Gia tr thc cua bo em Gia tr so sanh hien tai A Gia tr so sanh hien tai B Bt trang thai A 1: COUNT > COMP_A 0: COUNT < COMP_A

STATUS_B

BOOL

I, Q, M, D, L

Bt trang thai B 1: COUNT > COMP_B 0: COUNT < COMP_B

2.21Ham SFB38 (HSC_A_B) Vi ham SFB38 (HSC_A_B) ban co the dung lam bo em vi ngo vao ra cua CPU nh sau : Xac nh Xac nh mot gia tr so sanh. Kch hoat bo em Kch hoat mot au ra dang so. oc gia tr hien thi va gia tr so sanh. at moi quan he gia gia tr em va gia tr so sanh. Ham SFB38 (HSC_A_B) oc hoac viet d lieu t chng trnh ngi s dung reads or writes data from the user program trong pham vi DB cua ham.bo em xung A/B bao gom 2 bo em xung A va xung B cai ma co

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

the oc lap hoac phu thuoc vao nhau.(em len hoac em xuong). Thong so Kieu d lieu DINT Bo nh Chu thch

PRES_COMP

I, Q, M, D, L, constant I, Q, M, D, L constant I, Q, M, D, L, constant I, Q, M, D, L, constant I, Q, M, D, L I, Q, M, D, L I, Q, M, D, L

Gia tr so sanh mi COMP Kch hoat mo em Kch hoat au ra so Thiet lap au vao cho bien COMP Gia tr thc cua counter Gia tr so sanh hien tai Error handling: 1 : no error in execution 0 : error in execution

EN_COUNT EN

BOOL BOOL

SET_COMP

BOOL

COUNT COMP ENO

DINT DINT BOOL

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Chng 3: PHAN MEM SOAN THAO CHNG TRNH IEU KHIEN 3.1 Phan mem STEP7 : STEP7 la mot phan mem ho tr : Khai bao cau hnh phan cng cho mot tram PLC thuoc ho Simatic S7_300/400. Xay dng cau hnh mang gom nhieu tram PLC cung nh thu tuc truyen thong gia chung. Soan thao va cai at chng trnh ieu khien cho mot hoac nhieu tram. Quan sat viec thc hien chng trnh ieu khien trong mot tram PLC va g roi chng trnh.

Chu y : ieu kien e cai at thanh cong phan mem STEP7 vao may tnh la oi hoi cau hnh may toi thieu : CPU 80586, 8MRAM , o cng trong 90MB va co card VGA. 3.2. Phan mem ieu khien m FCPA : 3.2.1. Chuan b mot Project cho viec khai bao bo ieu khien m bang FCPA

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LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Chng trnh FCPA (Fuzzy Control Parameter Assignment) la phan mem ho tr viec tao lap bo ieu khien m cho PLC Simatic S7_300. Muon s dung FCPA trc het ta phai cai at FCPA tren may tnh ca nhan. Viec cai at thanh cong FCPA oi hoi: Co t nhat 1Mbytes con trong trong o cng. Chay di he ieu hanh Window 95/98 hay NT.

Toan bo chng trnh goc cua FCPA gom 2 phan Fuzzy/Tool va Fuzzy/FB vi dung lng tong cong la 2.27 MB. e cai at, ta goi tep Setup.exe cua Fuzzy/Tool va cua Fuzzy/FB t Window va thc hien nhng ch dan tren man hnh. Sau khi a c cai at, phan chnh cua FCPA se c tch hp trong Step 7 di th muc S7WRFUZ, cac cong cu ho tr khac c a vao th vien cua phan mem Step 7, cung nh Project FuzConEx

Bo ieu khien m c tong hp vi FCPA co dang 1 khoi d lieu (DB) cho Project ng dung. Khoi DB tao bi FCPA se c goi la khoi DB m va
SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

c s dung cung vi FB Fuzzy Control co trong Project FuzConEx khi cai at chng trnh Fuzzy/FB vi ten mac nh la FB30. Bi vay trc khi s dung chng trnh FCPA e tao lap DB m cho Project ng dung, bat buoc Project ng dung a phai co FB Fuzzy Control. V du, Project ng dung cua ta co ten la Fuzcon. Trc khi s dung FCPA e tao lap khoi DB m cho Project ng dung Fuzcon, ta phai sao chep FB Fuzzy Control co ten mac nh FB30 t Project FuzConEx sang Project Fuzcon . Co the thay oi ten FB30 neu nh trong Project ng dung cua ta a co 1 FB trung ten.

3.2.2 Tao DB m Sau khi chuan b 1 Project ng dung cho bo ieu khien m (Project ng dung co cha FB Fuzzy Control), ta co the bat au s dung FCPA e tao
SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

lap DB m cho bo ieu khien m va khoi DB m nay phai nam trong cung 1 th muc vi FB Fuzzy Control cua Project ng dung. e vao FCPA ta thc hien lenh goi t Window theo th t: Start -> Simatic -> Step 7 -> Fuzzy Control Parameter Assignment Khi o tren man hnh se xuat hien ca so

M 1 khoi a co

Tao 1 khoi DB m mi DB m

M 1 khoi DB m a co

Do khoi DB m phai nam trong 1 Project nao o nen khi kch vao 1 trong 2 bieu tng tren, FCPA se yeu cau ta cho biet ten cua Project cha khoi DB m o. Chang han khi kch vao bieu tng tao DB m mi va khoi DB m c tao ra nay se phai nam trong Project co ten Fuzcon th ta phai cho FCPA biet ten se c at cho khoi DB m va ten cua Project la Fuzcon. Ca so man hnh khai bao cac d lieu o co dang sau:

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Ten Project Ten khoi DB m

Sau khi a cho ay u ten Project, ten khoi DB m, ta an OK. Chng trnh FCPA se kiem tra lai trong Project cua ta thc s a co khoi ham Fuzzy Control hay chabang thong bao liet ke tat ca cac khoi ham a co trong Project ng dung. Ta phai chon trong bang danh muc c liet ke ra o khoi ham Fuzzy Control a c lay t Project Van sang. Ta an OK e xac nhan va bat au vao cong viec tong hp bo ieu khien m vi phan mem FCPA.

3.2.3 Khai bao so cac bien ngon ng vao ra Neu tao 1 DB m mi th sau khi an phm OK xac nhan khoi FB Fuzzy Control, chng trnh FCPA se hoi so cac bien ngon ng vao/ra cua bo ieu khien m bang hop thoai:
Ten bo ieu khien SVTH : NGUYEN m

TRONG VAN ANH VAN

LE

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

So bien ngon ng au vao

So bien ngon ng au ra

Viet ten bo ieu khien m (neu muon) va so cac bien ngon ng vao ra vao nhng o nh tng ng. Han che cua FCPA la: Ch tao lap c nhng bo ieu khien m vi toi a 8 bien vao. Ch tao lap c nhng bo ieu khien m vi toi a 4 bien ra.

An phm OK e xac nhan cac gia tr va cho. Nhng bien ngon ng au vao se co ten mac nh Input01, Input02, va Output01, Output02 lan lt la ten mac nh cua cac bien ngon ng au ra. Sau khi an OK, tren man hnh se xuat hien ca so soan thao tiep gia tr ngon ng cua tng bien ngon ng vao/ra cung nh luat hp thanh cua bo ieu khien m, nh sau:

Bien ngon ng au ra Bien ngon ng au vao Luat hp thanh

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GVHD :

3.2.4 Soan thao gia tr ngon ng cho tng bien (ngon ng) au vao Cac gia tr cua moi mot bien ngon ng au vao c goi la bien ngon ng. V ban chat cua gia tr ngon ng la tap m, nen e soan thao gia tr ngon ng cho 1 bien ngon ng ta can phai: 1) Khai bao so cac gia tr ngon ng tap m cua bien. 2) Soan thao tap nen, cung nh ham thuoc cho tng gia tr ngon ng. e vao che o soan thao gia tr ngon ng (tap m) cho 1 bien au vao nao o, ta kch oi phm chuot trai tai bieu tng cua bien o. V du e soan thao gia tr cho bien vao Input01, ta nhay kep vao bieu tng cua no (a c anh dau tren man hnh). Khi o ca so soan thao hien ra:

Sa lai ten bien ngon ng au vao

Phm khai bao hoac chen them gia tr ngon ng mi (tap m)

Phm xoa gia tr ngon ng (tap m) a co

Khai bao so cac gia tr ngon ng (tap m) : e khai bao so cac tap m cho bien Input01,
SVTH : NGUYEN TRONG VAN LE ANH VAN

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GVHD :

ta ch can kch chuot vao phm Insert roi viet so cac tap m can co vao o tng ng trong ca so hien ra dang (toi a la 7) :
Ni ghi so cac gia tr ngon ng (tap m) can co cho bien (toi a la 7)

Ta an phm OK. So cac tap m toi a ma FCPA cho phep khai bao la 7. Cac tap m khai bao se mac nh: co ten lan lt la n-big, n-small, zero, p-small, pbig. co ham thuoc hnh tam giac c chia eu tren tap nen.

Sau khi an OK, FCPA se in ra man hnh ca so soan thao ham thuoc cho moi tap m nh sau:

Ham thuoc cua tap m c chon

O cha ten tap m c chon

Bang danh muc ten cac tap m cua bien vao Input01

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LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Sa oi ham thuoc: Muon sa oi ham thuoc mac nh cho tap m nao, ta kch hoat tap m o bang cach ghi trc tiep ten tap m vao o cha ten tap m hoac an phm va chon ten tap m trong bang danh muc hien ra. Ham thuoc cua tap m c chon se chuyen sang mau o bao trang thai tch cc cua no. Viec sa oi ham thuoc ong ngha vi viec oi dang (Singleton, tam giac hay hnh thang) va mien xac nh. Co 2 cach sa nh sau: 1) Cach th nhat: Chon nh cua ham thuoc can sa bang cach a chuot vao nh o va an phm chuot trai FCPA se bao nh a c tch cc bang 1 vanh khuyen nho quanh nh o. Gi nguyen phm chuot roi keo nh o sang phai hoac trai e thay oi toa o cua nh. 2) Cach th hai : Sa trc tiep bang cach ghi toa o mi vao cac o trong ca so Point

Ham thuoc cua tap m ang c sa oi

Ten tap m ang c sa oi Toa o cac nh A,B,C,D t tren xuong

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GVHD :

Nh vay muon co ham thuoc hnh tam giac, ta cho nh B trung vi nh C (hai nh co cung toa o). e co dang singleton ta cho A trung vi D, B trung vi C. Sau khi soan thao hay sa oi xong tat ca cac gia tr cua 1 bien vao, ta an phm OK e ket thuc. FCPA se quay lai man hnh ban au. 3.2.5 Soan thao gia tr cho tng bien (ngon ng) au ra Tng t nh a khai bao hay sa oi gia tr cho bien vao, viec khai bao cac gia tr (tap m) cho bien ra cung c bat au bang cach kch oi chuot trai tai bieu tng cua bien au ra. Muon soan thao hay sa oi gia tr ngon ng tap m cho 1 bien au ra nao o, ta kch oi chuot trai tai bieu tng cua bien o. V du e soan thao gia tr cho bien ra Output01, ta nhay kep vao bieu tng cua no. Khi o ca so soan thao se hien ra. Tiep tuc ta kch chuot vao phm Insert e khai bao so cac tap m cho bien Output01. Chu y la FCPA ch cho phep khai bao toi a 9 gia tr cho moi bien ra. Sau khi khai bao xong so cac gia tr (tap m) cho bien ra Output01 ta an phm OK e vao man hnh soan thao. Khac vi bien ngon ng au vao, gia tr (tap m) cua cac bien ra ch co duy nhat 1 dang singleton. Muon sa oi gia tr ngon ng nao, ta tch cc no bang cach chon ten tap m cua gia tr o trong bang danh muc hien ra khi an phm . FCPA se bao trang thai tch cc cua ham thuoc tap m c chon bang cach chuyen no sang mau o va them 1 hnh khuyen chnh gia

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GVHD :

Ham thuoc (dang singleton) cua tap m ang c tch cc

Bang danh muc ten cac tap m

Toao ham thuoc (singleton) cua tap m ang c tch cc

e sa oi ham thuoc dang singleton, n gian ta ch can sa oi tao o cua no bang cach a con tro vao hnh khuyen, gi phm chuot trai roi keo sang phai/trai, hoac trc tiep ghi toa o mi vao o Point cua ca so man hnh soan thao. 3.2.6 Soan thao luat hp thanh Sau khi khai bao xong bien ngon ng vao/ra va cac gia tr (tap m) cho chung, chang han nh ta a khai bao m bien vao Input1,, Inputm vi cac gia tr Ai1,, Aim va s bien ra Output1=Bn1,, Outputs vi cac gia tr Bi1, Bis, bc tiep theo la ta xay dng luat hp thanh. e vao che o xay doing luat hp thanh co cau truc: R1: Neu Input1=A11 va va Inputm=A1m th Output1=B11 va va Outputs=B1s R2: Neu Input1=A21 va va Inputm=A2m th Output1=B21 va va Outputs=B2s

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LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Rn: Neu Input1=An1 va va Inputm=Anm th Output1=Bn1 va va Outputs=Bns Ta nhay kep phm trai chuot tai o ifthen

Nhay chuot vao ay e vao che o soan thao luat hp thanh

Khi o se xuat hien ca so man hnh soan thao dang:

Khi nhay chuot tai o nay bang danh muc cac gia trcho bien ngon ng Output01 se hien ra. Chon 1 gia tr trong bang o.

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LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

e soan thao luat hp thanh ta soan thao tng menh e hp thanh. An phm Insert e chen them 1 menh e hp thanh trong luat. Menh e hp thanh c chen themse la 1 cot gom cac o trong. So cac o trong nay c qui nh bi so cac bien ngon ng vao/ra ma ta a khai bao t trc. Moi o trong ng vi 1 bien ngon ng. Tiep theo, neu ta nhay chuot tai o trong cua bien ngon ng nao, tren man hnh se hien ra bang cac gia tr (tap m) cua bien ngon ng o e ta chon. V du man hnh soan thao pha tren, menh e hp thanh th nhat ma ta va soan thao bang cach chon gia tr cho no t bang cac gia tr chnh la: Neu Input01=n_small va Input02=p_small th Output01=n_small. 3.2.7. Chon ong c suy dien FCPA ch cung cap 1 ong c suy dien la MAX_MIN nen ta khong co kha nang chon 1 ong c suy dien khac. 3.2.8. Chon phng phap giai m FCPA ch cung cap 1 phng phap giai m duy nhat la phng phap iem trong tam. Bi vay tren man hnh soan thao bo ieu khien cua FCPA khong co phm la chon phng phap giai m. 3.2.9. Quan sat he vao ra cua bo ieu khien m Sau khi soan thao xong luat hp thanh, ta an phm OK e quay ve ca so man hnh chnh cua FCPA. e quan sat 1 cach trc quan quan he vao/ra cua bo ieu khien m va soan thao ta chon Debug 3D Graphic Display, khi o tren man hnh xuat hien o th mo ta quan he vao/ra cua bo ieu khien m nh sau:

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

3.3. S dung DB m vi FB30 (Fuzzy Control) 3.3.1 Cac tham bien hnh thc cua FB30 Bo ieu khien m c soan thao xong can phai c cat gi vao Project bang lenh File Save. No se c lu tr vao Project di dang 1 khoi DB ma ta a at ten. Khoi du lieu m nay c s dung cung vi khoi ham FB30 a c lay t Project FuzConEx trong th vien cua Simatic Manager khi cai at chng trnh Fuzzy/FB. Bi vay khi s dung khoi d lieu m ta phai ket thuc FCPA bang lenh FileExit va quay tr lai Simatic Manager e viet lenh s dung theo cau truc: Cu phap CALL FB30,DBx Trong o DBx la ten khoi d lieu m. Khoi FB30 (Fuzzy Control) co 8 bien au vao INPUT1 -:INPUT8 kieu so thc, 5 bien ra gom OUTPUT1 -:OUTPUT4 cung kieu so thc va INFO kieu byte. Khi thc hien lenh goi khoi FB30 nh tren, toan bo 8
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LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

bien hnh thc au vao va 5 bien au ra se hien tren man hnh ch ta tham tr: CALL INPUT1 INPUT2 := := FB30, DBx

INPUT3 := Ch gan tham tr cho nhng bien ngon ng au INPUT4 := vao nao a c khai bao trong DBx nh phan INPUT5 INPUT6 INPUT7 INPUT8 := := := := mem FCPA

OUTPUT1 := OUTPUT2 :=Ch gan tham tr cho nhng bien ngon ng au ra OUTPUT3 := nao a c khai bao trong DBx nh phan mem OUTPUT4 := INFO viec cua FB30 := FCPA //Thanh ghi bao trang thai lam

3.3.2. Thanh ghi bao trang thai lam viec cua FB30 Gia tr tra ve co ten INFO vi kch thc 1 byte la ma bao trang thai thc hien cong viec cua khoi ham FB30. no c qui nh nh sau: B#16#00 Khoi ham FB30 a c thc hien bnh thng B#16#01 Khoi ham FB30 khong c thc hien. Gia tr tra ve au ra van la nhng gia tr cu. B#16#11 Khong tm thay khoi DB m a ch th. Co the khoi DB m nay a khong c o vao CPU.
SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

B#16#21 Khoi d lieu DB m c goi theo ham FB30 khong cung kch thc ve bien vao/ra. V du nh khoi DB m a c soan thao cho 4 bien vao va 2 bien ra, nhng khi goi cung vi FB30 lai khai bao cho 5 bien vao va 2 bien ra. Lien quan ti ma B#16#01 bao FB30 khong lam viec la nou dung t kep co ten START_STOP trong DB m a c soan thao bang FCPA. T kep nay co tac dung nh 1 bien ieu kien e thc hien e thc hien lenh CALL FB30, DBx
- Neu START_STOP=W#16#0000 lenh se c

thc hien.

- Neu START_STOPW#16#0000 lenh khong

c thc hien.

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Chng 4: WinCC

GII THIEU PHAN MEM GIAM SAT

Hien nay WinCC co rat nhieu phien ban nh WinCC 4.02, WinCC 5.0, WinCC 6.0. Trong luan van s dung WinCC 4.02 chay ch chay c vi he ieu hanh Window98. 4.1. Cac bc e tao mot Project mi vi WinCC e tao 1 Project mi trong WinCC, ta tien hanh theo cac bc sau: +Tao ra 1 Project. +Chon va thiet lap Driver ket noi vi PLC. +Tao ra cac Tag lien ket vi cac a ch cua PLC ma ta can s dung. +Tao ra man hnh giao dien. +Xac lap cac thong so trong WinCC Runtime. +Kch hoat giao dien cua Project. 4.2. Gii thieu s lc cac bc B1: Tao ra 1 Project Khi vao man hnh cua WinCC. Dung phm chuot trai kch vao File New th tren man hnh se xuat hien cac muc chon sau:

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Dung chuot chon muc Single-User System sau o an phm OK e xac nhan. Sau khi at ten va ng dan cho Project ng dung th ta bat au vao bc 2. B2: Cai at Driver ket noi vi PLC. Trong ca so Project ta mi tao:

Kch chuot phai vao Tag Management Add New Driver sau o chon loai Driver phu hp vi loai PLC ma ta s dung (Trong luan van la loai SIMATIC S7 Protocol Suite.CHN) sau o kch chuot vao nut Open. Khi o ta a chon xong loai Driver mong muon. Khi o tren man hnh xuat hien:

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Kch chuot phai vao MPI New Driver Connection. Hop thoai Connection properties xuat hien:

anh vao ten lien ket vi PLC ma ta muon.

anh ten xong, an phm OK xac nhan, roi tien hanh bc 3. Chu y: e lien ket c gia PLC vi WinCC th trong muc Connection cua hop thoai Connection properties ta can xac lap cac thong so nh sau:

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

B3: Tao ra cac Tag Gia s trong hop thoai Connection properties ta at ten la PLC th khi kch chuot phai vao PLC:

ra:

Chon muc New Tag, hop thoai Tag Properties se hien


SVTH : NGUYEN

TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

at ten Tag

Chon xong an nut Select e m hop thoai Address properties :

Chon kieu d lieu cua Tag

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Ta chon, xac nh loai d lieu va a ch trong PLC cho Tag ma ta va tao ra. An phm OK e xac nhan. B4: Tao ra man hnh giao dien. Trong ca so chnh cua WinCC, kch chuot phai vao bieu tng Graphic Designer chon New Picture. Sau o kch oi vao bieu tng NewPdl0.pdl.

Kch oi chuot vao ay

Sau khi kch chuot xong, ta se vao man hnh Graphics Designer.

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Th vien cha cac cong cu can s dung

Ta tien hanh tao giao dien theo y muon. Sau khi tao xong ta can lien ket nhng bieu tng va tao vi cac Tag tng ng a tao ra B3. WinCC B5 :Xac lap cac ac tnh thi gian chay trong Trong ca so chnh cua man hnh, kch chuot phai vao bieu tng Computer trong Project, sau o chon Properties, xac lap cac thong so nh sau:

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Kch hoat giao dien va tao

B6: Kch hoat giao dien trong WinCC e chay Project va tao, ta kch vao bieu tng tren thanh cong cu cua WinCC. Chng 5 : NHIET LY THUYET IEU KHIEN LO

5.1. Cac phng phap ieu khien nhiet o 5.1.1 ieu khien ON_OFF ieu khien ON_OFF la lap lai trang thai ong ngat nguon cung cap cho he thong ieu khien theo iem at, khi nhiet o trong lo di nhiet o at
SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

th ngo ra rle ong ngat nguon la ON va OFF khi nhiet o trong lo cao hn nhiet o at. T1

Set point T

T2

ON OFF

Hnh 5.1: ac tnh cua ieu khien ON_OFF ieu khien ON_OFF tot nhat cho he thong ieu khien khi nhiet o tang len cham va sai phan G gia can bang nhiet khi ngo ra la ON va khi ngo ra la OFF nho

5.1.2 ieu khien m 5.1.2.1. Nhng khai niem c ban 5.1.2.1.1. Tap m Tap m A la 1 tap hp ma moi phan t c gan them 1 so thc (x) trong khoang [0,1]
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GVHD :

e ch o phu thuoc cua phan t o vao tap a cho. Khi (x)=0, phan t x se hoan toan khong phu thuoc A (xac suat phu thuoc bang 0). Khi (x)=1, phan t c ban se thuoc A vi xac suat 100%. Phan t x c goi la phan t c ban va tap kinh ien ch cha rieng x (khong co o phu thuoc (x) co ten la tap nen cua tap m A. Nh vay, tap m la tap hp cac cap (x, (x)). Khi x chay tren khap tap nen th (x) se la 1 ham thc va c goi la ham thuoc. Cac dang ham thuoc thng dung la: - Ham Singleton - Ham hnh tam giac - Ham hnh thang

(x) (x)

(x)

m1 m2 m3 m4

m1 x

m1 m2

m3

Singleton Hnh thang

Tam giac

Hnh5.2 : Nhng dang ham thuoc thng dung


SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN 5.1.2.1.2 Phep tnh tren tap m a- Phep hp hai tap m

GVHD :

Hp A B cua 2 tap m A va B c hieu la 1 tap m gom cac phan t cua 2 tap A, B a cho, trong o ham thuoc A B cua phan t A B khong c mau thuan vi phep hp cua 2 tap kinh ien. V du: A B (x) = max (0a) A B (x) = min (0b)

A(x) , B(x) 1, A(x)+ B(x)

Luat max Luat tong

A B

b- Phep giao hai tap m Giao A B cua 2 tap m A va B c hieu la 1 tap m gom cac phan t cua 2 tap A, B a cho, trong o ham thuoc A B cua phan t A B khong c mau thuan vi phep giao cua 2 tap kinh ien. V du: A B(x) = min Luat min
SVTH : NGUYEN TRONG VAN LE ANH VAN

A(x) , B(x)

LUAN VAN TOT NGHIEP BUI THANH HUYEN A B(x) = A(x)B(x) Luat tch

GVHD :

A B

5.1.2.1.3. Menh e hp thanh Menh e hp thanh R: Neu a=A th b=B la phep suy dien m t A suy ra B, trong o tap m A vi ham thuoc A(x) la 1 gia tr cua bien ngon ng au vao a va tap m b vi ham thuoc B(y) cung la 1 gia tr cua bien ngon ng au ra b. do menh e hp thanh nay co 1 bien au vao a va 1bien au ra b nen no c goi la menh e SISO hay phep suy dien SISO (single input-single output). Khi cho trc 1 gia tr ro cu the xo , tnh ung an cua phep suy dien tren se c anh gia bi 1 tap m B cung nen vi B. Noi cach khac ket qua cua phep suy dien ng vi xo tai au vao la 1 tap m B. Ham thuoc cua B c ky hieu bang B(y). Hai cong thc thng c dung trong ieu khien la : B(y)= min Luat min
SVTH : NGUYEN TRONG VAN LE ANH VAN

A(xo) , B(y)

LUAN VAN TOT NGHIEP BUI THANH HUYEN B(y)= A(xo). B(y)

GVHD : Luat tch

Trong o gia tr H=A(xo) c goi la o thoa man au vao. e ngan gon ta se viet phep suy dienNeu a=A th b=B vi gia tr ro xo la H B(y). 5.1.2.1.4. Luat hp thanh Luat hp thanh la tap hp cua nhieu menh e hp thanh cung cau truc R 1: hoac R 2: hoac Neu a1=A21 va a2=A22 th b=B2 Neu a1=A11 va a2=A12 th b=B1

(*)

Rn:

Neu a1=An1 va a2=An2 th b=Bn

Trong o Aij la cac gia tr ngon ng ( tap m) cua bien ngon ng aj va Bi la nhng gia tr ngon ng cua b, i=1,2,,m; j=1,2,,n. nay co nhieu menh e hp thanh dang Rk , k=1,2,..,n co nhieu bien ngon ng au vao aj, j=1,2,,n nen no con c goi la menh e hp thanh SISO (multi inputs, single output). Tuy nhien gia tr cua no cung la 1 tap m Bk va cung c xac nh theo (1), trong o tai menh e Rk gia tr Hk c xac nh bi: Hk = min Akj (xj) (2)

Hay la Bk= Hk Bk(y)


SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Trong o vecto x vi cac phan t xj ,j=1,,m la nhng gia tr ro cua m tn hie au vao. Qua trnh bien oi xj ,j=1,,m thanh Hk theo (2) c goi la qua trnh m hoa. Do ket qua cua moi menh e hp thanh Rk la 1 tap m Bk nen ket qua B cua luat hp thanh (*) la hp cua cac tap m o: B=
B
k =1 n k'

(3)

Nh vay, e xac nh B cua luat hp thanh (*) 1 cach cu the ta can phai co:
Mot trong 2 cong thc (1a),(1b) e thc

hien phep suy dien m e co Bk . Mot trong 2 cong thc (1a),(1b) e thc hien phep hp cac tap m theo (3) Vi nhng cach qui nh khac nhau ta co cac thuat toan xac nh B khac nhau. Moi 1 thuat toan nh vay co ten la ong c suy dien. Co 4 ong c suy dien thng dung la: 1) ong c suy dien max-MIN, neu (0a) c s dung cho phep hp m, (1a) cho phep suy dien m. 2) ong c suy dien max-PROD, neu (0a) c s dung cho phep hp m, (1b) cho phep suy dien m. 3) ong c suy dien sum-MIN, neu (0b) c s dung cho phep hp m, (1a) cho phep suy dien m. 4) ong c suy dien sum-PROD, neu (0b) c s dung cho phep hp m, (1b) cho phep suy dien m.
Cong suat

SVTH : NGUYEN LE

TRONG VAN ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

tha p

cao

gia m

ta ng

Tap m ket qua xo Nhiet o Cong suat

tha p

cao

gia m

ta ng

Neu o xnhiet o= thap th cong suat= tang Neu nhiet o= cao th cong suat= giam tren la v du ve cach xac nh gia tr m cua luat hp thanh SISO, mo phong kinh nghiem gi on nh nhiet o cua lo nhiet, gom 2 menh e hp thanh SISO (1 bien vao va 1 bien ra) ng vi gia tr ro xo tai au vao khi ong c suy dien c ap dung la max-MIN. 5.1.2.1.5. Giai m Giai m co nhiem vu chuyen oi 1 tap m B vi ham thuoc B(y) thanh 1 ga tr ro yo bang cach lay 1 phan t c ban cua tap nen lam ai dien. Co nhieu phng phap lay 1 phan t ai dien nh: TRONG VAN LE ANH VAN

Phng phap gia tr cc ai ben phai Phng phap gia tr cc ai ben phai
SVTH : NGUYEN

LUAN VAN TOT NGHIEP BUI THANH HUYEN -

GVHD :

Phng phap gia tr trung bnh

Song, trong thc te ieu khien, phng phap thng c s dung la phng phap iem trong tam nh hnh ve : B(y)

yo

yo=

yB' ydy

B' ( y)dy

Gia tr ro yo chnh la hoanh o cua iem trong tam cua tap m B. 5.1.2.1.6. Cac bc tong hp bo ieu khien m nh ngha tat ca cac bien ngon ng vao/ra, nh ngha tap m (gia tr ngon ng) cho cac bien vao/ra, xay dng cac luat hp thanh m, chon ong c suy dien, chon phng phap giai m 5.1.2.1.7. Nhng u iem cua bo ieu khien m
SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Viec tong hp bo ieu khien m n gian. Nhng bo ieu khien phi tuyen phc tap cung co the c tong hp de dang bang bo ieu khien m. Khong can xac nh mo hnh toan hoc cua oi tng nen khoi lng cong viec thiet ke giam i rat nhieu Bo ieu khien m de hieu, lam viec on nh, chat lng cao hn cac bo ieu khien khac trong nhieu trng hp. 5.2. oi tng lo nhiet va cam bien 5.2.1. oi tng lo nhiet

Trong thc te, trong cong nghiep cac lo nhiet thng co cong suat rat ln, quan tnh ln, tam nhiet hoat ong rong va co nhieu cach ot nong khac nhau nh dung lo xo, kh ot, song cao tanKhi ieu khien nhiet o, ac tnh can chu y la o quan tnh, nang suat toa nhiet ra moi trng. Tnh chat cua lo nhiet phu thuoc vao the tch, vat lieu cach nhiet va nguon nhiet. Lo nhiet c s dung trong luan van la 1 loai lo nng dan dung, ien ap xoay chieu, co o quan tnh tng oi ln, co cong suat tieu thu ln nhat la 800W. 5.2.2. Cac loai cam bien Khi ieu khien nhiet o, chung ta phai co thiet b e oc nhiet o hien tai cua lo ve, t o mi co the ieu khien nhiet o 1 cach chnh xac. Thiet b o la cam bien. Trong thc te ngi

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

ta thng s dung nhng loai cam bien sau: Thermocouple, RTD, thermistor, va cac IC ban dan 5.2.2.1. RTD u iem On nh nhat Chnh xac o tuyen tnh cao

Khuyet iem Gia thanh cao Can phai cung cap nguon dong T gia tang nhiet

5.2.2.2. Thermistor u iem Ngo ra co gia tr ln ap ng nhanh

Khuyet iem 5.2.2.3 Phi tuyen Gii han tam o nhiet De v Can phai cung cap nguon dong T gia tang nhiet

. IC cam bien u iem Tuyen tnh nhat


SVTH : NGUYEN

TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN Re tien

GVHD :

Ngo ra co gia tr cao nhat

Khuyet iem bien 5.2.2.4 Nhiet o o di 2000 C Can cung cap nguon cho cam

.Thermocouple (Cap nhiet ien)

Gom 2 day kim loai khac nhau c han lai 1 au c goi la au noi nong, hai au con lai goi la au noi lanh hay au noi chuan
Kim loai A

+ To au nong
Kim loai B

Hnh: S o nguyen ly thermocouple Theo hieu ng Seebeck, khi co chenh lech nhiet o gia au nong hay au lanh th phat sinh suat ien ong gia 2au lanh,hai au lanh at cung nhiet o To. V = a + b. T + c. T2
T = T-To

(2.4)

Trong o T:nhiet o o, To:nhiet o au lanh T (2.4) ta thay quan he gia V va T la phi tuyen . Nhng khi s dung tam o hep co the tuyen tnh hoa ac tnh cap nhiet ien theo
SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN bieu thc: V/oC. V=k. T

GVHD : k:he so nhiet, n v

Mot so loai cap nhiet thong dung

Cap nhiet

Vat lieu cau tao

He so nhiet k (V/oC)

Loai J Loai K Loai S Loai T

SatConstantan Chromel-Alumel PlatinumRhodium ongConstantan

52.3 40.0 6.4 42.8

Neu day cap nhiet khong c dai va ta phai s dung day ong e noi en dung cu o th so ch cua dung cu o la hieu so gia nhiet o o T va nhiet o cho noi To, nhiet o To thng la khong on nh

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

e khac phuc ta nen dung day noi dai cung loai vi vat lieu cap nhiet e bu tr nhiet o To , luc nay ta co: V=k(T-T1) Nhiet o T1 on nh va o c ien ap t cap nhiet ien la kha nho v the ta phai khuech ai len nhieu lan e o c ien ap o ngoai ra can co thiet b o nhiet o au lanh e bu tr. u iem cua thermocouple La thanh phan tch cc, t cung cap cong suat n gian, de s dung, gia thanh ha Tam o nhiet rong

Khuyet iem o tuyen tnh kem Kem nhay. oi hoi ien ap tham chieu

5.3. Bu nhiet cua moi trng Khi dung thermocouple th gia tr hieu ien the thu c b anh hng bi 2 loai nhiet o: nhiet o can o va nhiet o tham chieu. Cach gan 0oC cho nhiet o tham chieu thng ch lam trong phong th nghiem e rut ra cac gia tr cua thermocouple. Trong thc te th nhiet o tham chieu thng la nhiet o cua moi trng ni mach hoat ong nen khong the biet c chnh xac nhiet o nay la bao nhieu v the van e bu tr nhiet o c at ra e lam sao ta thu c hieu ien the 1
SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

cach chnh xac(ch phu thuoc vao nhiet o can o) Bu nhiet moi trng la ta phai co thanh phan cho phep xac nh nhiet o moi trng roi t o tao ra 1 gia tr e bu lai gia tr tao ra bi thermocouple ch khong the bu nhiet bang cach c lng nhiet o moi trng roi khi oc gia tr hieu ien the th tr i gia tr ma ta a c lng bi v: - Nhiet o moi trng thay oi 1 cach thng xuyen, khong xac nh trc. - nhng ni khac nhau th nhiet o moi trng khac nhau. 5.4 Mot so nhiet o chuan e o c nhiet o chnh xac th ta can 1 so nhiet o chuan e can chnh mach chnh xac

Loai iem ong a iem tan cua nc iem soi cua nc

Nhiet o 0 oC 0.01oC 100oC

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Chng 6 : LY THUYET ONG C DC VA LY THUYETIEU KHIEN 6.1.Tm hieu ac tnh cua ong c 6.1.1 Cac thong so ieu kien cua ong c : ong c mot chieu hay ong c DC c s dung rong rai trong he thong truyen ong nh ac tnh co the thay oi van toc va chieu quay de dang. Thng dung trong he thong truyen ong cua cac xe ien, may cong cu van chuyen, may can, may nghien( trong cong nghiep giay) Nguyen ly lam viec cua ong c DC :
R L

B , J

Hnh 6.1 : s o tng ng ong c DC Khi ta at ien ap 1 chieu U hai au choi ien th trong cuong day phan ng se xuat hien dong ien I. Khung quay se b tac dung bi t trng cua nam cham vnh cu va quay quanh truc. Khi ro
SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

to quay no se cam ng tren cuon day mot sc ien ong E co chieu ngc vi chieu cua dong ien, con goi la sc phan ien. Do o phng trnh ien ap se la : U = E + RI (6.1) Cac phng trnh c ban cua ong ien c 1 chieu E = K U = E + RI M = K I Trong o : : T thong tren moi cc t (Wb) I : dong ien phan ng (A). U : ien ap phan ng(V) : Toc o cua ong c (rad/s) M : Momen do ong c sinh ra(N/m). K : hang so phu thuoc cau truc ong c. T cac phng trnh tren ta co s phu thuoc cua toc o ong c DC theo cac ai lng nh sau : = 6.1.2Sai so tnh toc o: Sai so tnh toc o la ai lng ac trng cho o chnh xac duy tr toc o at. No la gia tr tng oi cua o sut toc ng vi toc o at khi khong ly tng. = Mc/ (6.5) (6.6)
SVTH : NGUYEN TRONG VAN LE ANH VAN U RuIu K K

(6.2) (6.3) (6.4)

S% = Mc/(.od)

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Nh vay sai so toc o phu thuoc va ocng cua ac tnh c , toc o at khi khong tai ly tng od va phu tai tren truc ong c. 6.1.3 Pham vi ieu khien : Pham vi ieu khien (ky hieu la D) la t so gia toc o lam viec ln nhat va nho nhat ng vi phu tai a cho. D = MAX/MIN (6.7)

Toc o ln nhat MAX thng b gii han bi o ben c cua phan quay cua ong c. Mot so may ien mot chieu MAX bi ieu kien chuyen mach v toc o ln lam tia la ien phat sinh tren co gop. V vay thong thng ch cho phep ieu khien MAX (2 3).m. Toc o nho nhat MIN trong day ieu khien b chan bi yeu cau khac phuc moment qua tai cho phep, bao am o chnh xac ieu chnh(s%). MAX = 0 Mm/ MIN = (Kqt.Mm Mm ).tg (6.8) (6.9)

6.1.4 Hieu suat cua ong c : Neu bo qua cac ton hao bat bien trong he th phan ton hao chu yeu se nam trong mach phan ng, nen hieu suat cua he la :
P2 EIu = = = + MR P1 EIu + R.I 2 u ( K ) 2

(6.10)

6.2.Cac phng phap ieu khien toc o ong c dc Trong thc te ieu khien ong c , ngi ta can ieu khien nhieu cap toc o khac nhau, tuy yeu cau
SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

va muc ch ieu khien. e ieu khien toc o ngi ta co the dung cac bo truyen ong va thay oi t so truyen nhng phng phap nay co nhieu khuyet iem. Ngay nay e ieu khien toc o ngi ta dung cac phng phap ien. T phng trnh phu thuoc cua toc o vao cac ai lng khac ( =
U RuIu ) ta co cac phng phap ieu K K

khien ong c sau :


1

ieu khien khien ien ap phan ng ( thay oi ai lng U) bang cach tao ra ien ap 1 chieu thay oi c va cap cho ong c.

2 ieu chnh ien tr mach phan ng e lam thay oi dong ien phan ng I. Thng s dung cho ong c co cong suat nho.
3

ieu chnh t thong bang cach thay oi dong kch t.

Phng phap 2 va 3 lam giam ac tnh c cua ong c nen o chnh xac khong cao, pham vi ieu chnh hep, o tinh chnh kem. Khi ieu chnh cang sau th sai so toc o tang va moment ngan mach giam, ngha la o chnh xac duy tr toc o va kha nang qua tai kem. Thay oi toc o bang cach thay oi ien ap (phng phap 1) cung cap cho ong c hien nay c s dung rong rai nhat, no c coi la phng phap triet e.Ta co the ieu chnh toc o trong bat kyvung tai nao, ke ca khi khong tai ly tng.ac tnh c ieu chnh sai so toc o nho, kha nang qua tai ln. Dai ieu chnh rong va ton hao nang lng thap. Tuy mem hn so vi ac tnh c t nhien nhng cng hn phng phap ieu
SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

chnh thong so ( , I). Mac khac v phan t ieu chnh at trong mach ieu khien cua bo bien oi la mach co cong suat nho nen tinh chnh cao, nhe nhang va co kha nang cai thien thanh he t ong vong kn. Khuyet iem : la phai dung bo bien oi ien ap DC nen chi ph van hanh va thiet ke cao. u iem : phng phap nay cho ta nang suat cao, ton hao thap.

6.3.Phng phap ieu khien ien ap 1 chieu : e thay oi ien ap 1 chieu ngi ta thng dung bo bien oi ien ap DC. Bo bien oi ien ap tao ra ien ap 1 chieu co gia tr trung bnh thay oi c nh thay oi tan so ong ngat cua switch ien t. 63.1Bo giam ap :

S L U + R + E _

Hnh 6.2 s o nguyen ly mach giam ap 6.3.2Bo tang ap :

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN


V o

GVHD :

L U + R + E _

Hnh 6.3 : S o nguyen ly mach tang ap 6.3.3 Bo bien oi ao chieu kep :

S 1 + U S 4

S 3 L R E S 2 +

M
D 3

N
D 4

Hnh 6.4 : s o nguyen ly mach ao chieu kep .

Khi kch cho S1 vaS2 dan dong ien chay qua oan mach RLE theo chieu t M en N. Neu ta tao mot chuoi xung kch co t le thi gian on va thi gian off thay oi ta co the tao ien ap DC trung binh thay oi c.

Khi kch S3 va S4 dan th dong qua RLE co chieu t N en M. Nh vay dung bo bien oi mot chieu kep ngoai viec co the
SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

ieu khien c ien ap trung bnh ngo ra ta con co the ao chieu dong ien hay ao chieu quay cua ong c. Ut=U.(
2T1 - 1) T

(6.5).

hnh 6.5 : gian o xung kch .

Hnh 6.6 : o th ien ap ra tng ng vi gian o xung kch. 6.4.Tm hieu he thong ieu khien ong c DC 6.4.1 ieu khien vong h : He thong ieu khien vong h hay con goi la he thong ban t ong, no thc hien nguyen tac khong che cng. Tc la tn hieu ra khong can o lng e hoi tiep chuyen tr ve au vao.

Hnh 6.7 : S o ieu khien vong h.


SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN 6.4.2 ieu khien vong kn :

GVHD :

He thong ieu khien vong kn hay con goi la he thong t ong, no thc hien nh nguyen tac ieu khien co phan hoi, tc la tn hieu ra c o lng va phan hoi en au vao bo ieu khien va thong qua bo ieu khien e tao tn hieu ieu khien mi cho ong c.

Hnh 6.8 : S o ieu khien vong kn. e ieu khien he thong vong kn ngi ta dung rat nhieu phng phap : ieu khien PID , ieu khien m , m thch nghi, m lai. 6.5. Ly thuyet PID ve ieu khien he thong vong kn : Bo ieu khien PID ( gom cac khau I (integrative:tch phan), P(proportional: t le), D(derivative: vi phan) thng dung trong cac he thong ieu khien vong kn nham giam vot lo, thi gian xac lap hoac sai so tuy theo yeu cau cau cua tng oi tng. 6.5.1 Chc nang cu the cua cac thanh phan trong PID: 6.5.1.1 Khau hieu chnh khuech ai t le(P): c a vao he thong nham giam sai so xac lap, vi au vao thay oi theo ham nac
SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

se gay vot lo cao do o v tr se khong ung theo yeu cau. ay la bo ieu khien ma bien at t le vi o lech t iem at ben trong day t le cho pham vi v tr at. Khi v tr hien tai thap hn mc gii han thap nhat cua day t le, bien at vao la 100%. Khi v tr ben trong day t le, bien at giam dan t le vi o lech va giam 50%. Khi v tr hien tai bang vi iem at va khong co o lech th khau P cho phep ieu khien v tr phang vi nhap nho nho hn ieu khien ON OFF ( ieu khien ong ngat).

Hnh 6.9 S o hieu chnh khau P

ieu khien chia t le thi gian : oi vi cac ngo ra dang xung trang thai ON OFF co the dung thiet b ngo ra cua bo ieu khien v tr. Nhng ngo ra nay gom : relay output, SSR output (Solid state relay output ) va voltage output. Neu nh thiet b nay dung e lap trang thai ON OFF trong dai t le chu ky nh hnh 6.10 th thi gian Ton ngo ra t le vi o lech.

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Hnh 6.10 : Chu ky t le

T so t luc on en luc Off la 1: va bien la 50% khi chu ky relay ngo ra la t On en Off vi v tr ieu khien bang iem at. Mot cho ky ngo ra t luc On en luc Off goi la chu ky t le(proportional period) va hoat ong ieu khien theo chu ky t le c goi la hoat ong chia t le thi gian . 6.5.1.2 Khau ieu khien tch phan I : Khau I hay khau tch phan giup gi cho he thong sau khi a xac lap a trang thai ben. S sai lech hay sa so gia v tr at va v tr hien tai c giam xuong va co the loai bo hoan toan vi khau ieu khien tch phan.

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Hnh 6.11 : Hoat ong cua khau I Nhc iem cua khau I la khi a no vao mach se lam tang vot lo cua he thong. 6.5.1.3 Khau ieu khien vi phan : Tac dung cua khau D la khi a vao he thong no se lam giam o vot lo nhng ong thi keo dai thi gian xac lap. Khau nay c oi hoi phai bu ung vi bien at t le, mc nghieng cua o lech c ch ra hnh sau

Hnh 6.12 : Hoat ong cua khau D T so thi gian( rate time) : T so thi gian la so bieu dien o dai cua qua trnh hoat ong. ay la thi gian oi hoi bien at cua t so hoat ong at c giong nh bien at trong hoat ong hieu chnh khi xay ra thay oi o doc trong o lech nh hnh 2-13. Tuy theo t so thi gian dai hn, vi phan linh hoat hn.

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Hnh 6.13 : T so thi gian hieu chnh PD

6.5.1.4 Khau ieu khien tch phan t le (PI) : Khien he tr thanh he vo sai.Muon tang o chnh xac cua he thong ta phai tang he so khuech ai. Song oi vi he thong thc b han che th khau PI la bat buoc. 6.5.2 Hieu chnh PID : Cac bo hieu chnh PID c ng dung nhieu doi dang thiet ke ieu khien hay thuat tnh hieu chnh bang phan mem. Neu tn hieu vao la sai so e(t), tn hieu ra la ien ap ieu khien u(t) th : u(t) = Kp [e(t) + (6.6) Ta co ham truyen at khau PID :
1 de(t ) e(t )dt +Td dt ] Ti

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN Gc(s)=

GVHD :

U (s) 1 Ki = K(1 + + TdS) = Kp + +KdS (6.7) E (s) TiS S

Theo nguyen tac hnh thang : Ki e(t )dt =


0 jT

KiT 2

{e[(k 1)T ] e(kT )}


k =1

(6.8) Con phan ao ham th : 1)T]} (6.9) Nh vay : u(kT)=Kpe(kT)+


KiT 2

Kd

de(t ) Kd = dt T

{e[(kT) e[(k-

{e[(k 1)T ] e(kT )} +


k =1 j

Kd T

{e[(kT) e[(k1)T]} (6.10)

KiT u[(k-1)T] = Kpe[(k-1)T]+ 2

{e[(k 2)T ] e[(k 1)T ]}


k =1

+ (6.11)

Kd T

{e[(k-1)T] e[(k-2)T]}

T 6.10 va 6.11 ta co : u(kT) - u[(k-1)T] = Kp[e(k)-e(k-1)]+ + u(kT) - u[(k-1)T]= (Kp + +


Kd e(k-2) T KiT [e(k)-e(k-1)] 2

Kd [e(k) - e[(k-1)] e[(k-2)] (2.12) T

KiT Kd KiT 2 Kd + )e(k) + ( - Kp + )e[(k-1)] 2 T 2 T

Neu at cac he so : (6.13)


SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN a 0 = Kp + a 1 = - Kp + a2 = Th :


Kd T KiT Kd + 2 T

GVHD :

(6.14)

KiT 2 Kd (6.15) 2 T

(6.16)

u(kT) - u[(k-1)T] = a 0 e(k) + a 1 e(k-1) + a 2 e(k-2)

(6.17)

He so Ki tang Kp tang Kd tang

Thi gian xac lap giam

Vot lo tang tang

Sai so xac lap kh giam

tang

giam

6.5.3 Cach xac nh thong so cua bo PID. 6.5.3.1 Phng phap Ziegler Nichol(cho PID) Kp = 1.2 Ti = 2T1
T2 T1

(6.18) (6.19) (6.20)

Td = 0.5T2

Vi T1 va T2 c xac nh t ham truyen h cua ong c.

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

Hnh 6-14 :ac tuyen toc o ham truyen h cua ong c. 6.5.3.2 Phng phap Jassen va Offerein : Thc nghiem c tien hanh theo cac bc sau : 1. Cho he thong lam viec bien gii on nh :

ieu khien oi tng theo luat P(T0 va Ti) . Xac nh he so k pth

2. cho he so lam viec vi luat PI :

Cho he lam viec vi luat PI va vi he so k p =0.45k pth , Ti tuy chon. Giam ham so thi gian tch phan Ti cho en khi he thong lam viec bien gii han on nh. Xac nh hang so thi gian tch phan T ith che o nay.

Chon Ti = T ith 3.Chon luat ieu khien PID :


SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

o Cho he thong lam viec theo luat PID vi k p = k pth - ( u nho), Td va Ti tuy chon. o Tang hang so thi gian vi phan cho en

khi he thong at c qua ieu chnh cc ai ln nhat max = max. Xac nh TDMAX . Chon TD =
1 TDMAX va Ti = 4,5TD 3

o Giam k P cho en khi he thong at c

ac tnh ong hoc mong muon .

6.5.4 Ham truyen cua ong c :

Hnh 6.15 : S o truyen ong cua ong c Phng trnh can bang ien ap : U = E + RI + L. E = K
dI dt

(6.21)

(6.22)
SVTH : NGUYEN

TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN Phng trnh can bang noment : M = Mt + B. + J M = K
d dt

GVHD :

(6.23) (6.24)

T cac phng trnh (2.21) en (2.24) ta viet di dang toan t : U u (s) = E u (s) + R u I u (s) + sI u (s) E(s) = K .(s) M(s) = Mt(s) +B(s) +s.J.(s) M(s) = K (s) (6.25) (6.26) (6.27) (6.28)

T phng trnh (2.25) co quan he gia toc o vi ien ap phan ng va moment tai : (s) = Vi : G 1 (s) =
1 1 K K = (6.30) Ru (1 + sTu ) (1 + sTm ) B BRu (1 + sT )(1 + sTm ) G1 ( s) G 2 ( s) .U ( s ) + .Mt ( s) (6.29) 1 + G1 ( s ).H 1 ( s ) 1 + G 2 ( s).H 2 ( s )

Ta thay rang : do Tu Tm nen : (1 + sTu)(1 + sTm) (1+ Tm) Vay 2.30 c viet :
(s) K K = = 2 Iu ( s ) ( K ) + RuB (1 + sTm) ( K ) 2 + RuB 1 + s
1 Ru Tm 2 ( K ) + RuB

(6.31) at : Tm1 = Km =
RuB Tm ( K ) 2 + RuB
2

(6.32)

k (6.33) (k ) + RuB

Vay phng trnh (2.30) c viet lai nh sau :


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(s) Km = U (s) (1 + sTm) (s) K Km2 K = = Vi K m 2 = Iu ( s ) B(1 + sTu ) 1 + sTu B

GVHD :

Mt(s)

Hnh 6.16 : S o khoi he thong ieu khien vong kn cua ong c .

Khi phan tch ong c kch t DC th co the phan tch thanh 2 khoi sau :
1 + sTm 1 + sTm1

U(s)
Km2 1 + sTm

K m1 .

I(s)

Hnh : 6.17 : S o cau truc n gian hoa

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GVHD :

Chng 7:

GII THIEU MANG PLC S7 300

7.1. Truyen thong tren MPI 7.1.1CONG DUNG aKet noi MPI (Multi-point Interface): ay la mot ket noi trc tiep a iem, tao thanh 1 mang con nham trao oi d lieu gia cac PLC (CPU, FM, CP) va thiet b lap trnh PC/PG. Cac thiet b tham gia ket noi va cac d lieu can truyen i va nhan ve c xac lap khi tao mang. Cac tram (NODE) co 1 nh danh rieng (so MPI) xac lap a ch cua tram. bCach qui nh a ch MPI cho module CPU

V may tnh co the lam viec cung luc c vi nhieu tram PLC, nen sau khi ghep noi may tnh vi cac module CPU ta can xac nh a ch truyen thong cho tram PLC. Mac nh cac module CPU eu co a ch la 2 (a ch MPI). Muon thay oi a ch module CPU ta nhay kep phm chuot trai tai ten cua module trong bang khai bao cau hnh cng e vao che o at lai tham so lam viec nh sau:
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GVHD :

Nhay kep chuot vao ay

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LUAN VAN TOT NGHIEP BUI THANH HUYEN Sau khi nhay

GVHD :

kep chuot vao se xuat hien bang sau:

MPI va sa lai a ch MPI nh mong muon:

Kch chuot vao ay, sau o chon tiep General

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GVHD :

Thay oi a ch MPI tai ay

Sau khi a nh ngha lai a ch MPI cho tram PLC, ta phai ghi lai a ch o len module CPU va ch khi o module CPU mi thc s lam viec theo a ch mi nay. Sau o ta Download xuong PLC bang cach kch vao bieu tng Download tren thanh cong cu

Bieu tng Downloa d

7.1.2-

Tnh nang
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GVHD :

Cac tram c ket noi qua cong MPI va cap MPI.

Gia tr MPI cua cac tram c chon trong khoang 0 126. So tram tham gia co the en 32. theo chuan RS232 ta phai dung bo noi chuyen oi RS232 RS485.

Chuan ket noi la RS485. T may tnh co au ra

Toc o truyen co the la 19.2Kbps, 187.5Kbps, 1.5Mp. Thng chon toc o truyen la 187.5Kbps. Khoang cach gia cac PLC b gii han en 50m. 7.2- Phng thc ket noi 7.2.1Vong GD Vong GD (Global Data) la phng thc giao tiep cua cac tram trong mang MPI. Trong moi vong GD xac nh ro so CPU tham gia. So lng cc ai la 15. Trong vong co nhieu hn 2 CPU, ch co 1 CPU gi tin, cac CPU khac ch nhan tin. Trong vong ch co 2CPU, moi CPU co the gi 1 goi tin va nhan 1 goi tin. Trong moi vong co nhieu goi tin. Moi goi tin do 1 CPU gi va co the co nhieu CPU nhan. Trong 1 vong moi CPU ch co 1 goi tin gi va co 1 goi tin nhan. Trong moi goi tin GD xac nh ro a ch tin gi va a ch tin nhan cua tng tram. Cac a ch nay co the la: o Vung nh bit M o Vung nh anh ngo vao I, anh ngo ra Q o Vung nh khoi d lieu DB o Vung nh T, C khong nen s dung v thi gian gi khong thch hp vi thi gian ton tai d lieu, va ch c cau hnh trong phan gi.
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GVHD :

o Vung nh PI, PQ va L khong s dung trong truyen thong MPI 7.2.2Tnh nang Moi CPU co the tham gia en 4 vong GD. Moi goi GD ch cha toi a 22 byte (neu cung vung a ch). Neu s dung nhieu vung a ch th phai giam 2 byte cho moi vung a ch them vao Moi d lieu Bit chiem 1 byte trong goi GD. 7.3- Tao d lieu toan cuc GD 7.3.1

Soan thao bang GD M bang GD t mang MPI (trong Project a chon), chon trong Menu Option Define Global Data ien noi dung vao bang: o o o +Xac nh cac CPU tham gia lien ket trong mang MPI. +Ghi a ch gi va nhan cho moi goi GD. +o rong (so byte) cha trong vung phat va thu phai hoan toan giong nhau.

V du: GD Identifier GD 1.1.1 GD 2.1.1 CPU 300(1) >MW0 >MW100:4 CPU 300(2) IW0 IW30:4

Y ngha cua GD Identifier: GD 1.1.1 So hieu d lieu trong goi So hieu goi GD So hieu vong GD
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GVHD :

Ta xac nh CPU gi va thu cho moi dong d lieu. Dau > ch CPU gi (phat). nh danh GD do chng trnh dch tao thanh, ta khong phai ien. 7.3.2Bien dch lan au Sau khi ien cac noi dung va xac nh cac CPU phat, thu cho bang GD, ta tien hanh bien dch lan au theo lenh Menu: GD Table Compile. Luc nay so hieu nh danh GD hien len trong coat tng ng cua bang GD. La chon toc o truyen thong (Scan rate): o Toc o truyen thong la so chu k quet cua OB1 cua CPU ma ng truyen thc hien 1 lan phat, thu tn hieu GD. o Gia tr mac nh la 8, ta co the viet e len gia tr ta mong muon. Chu ky truyen thong T khong the qua nho: o T= scan rate x Scan cycle time >= 60ms. o Viec la chon toc o va o nh trang thai co the khong thc hien (option). 7.3.3Bien dch lan 2 Sau khi la chon toc o truyen va o nh trang thai, ta tien hanh bien dch lan 2. Sau khi bien dch lan 2, ta co c bang Bie GD hoan chnh, co the nap cho cac CPU. 7.3.4Trao oi d lieu GD tn
g Dow nloa PII d OB1 TRONG VAN ANH VAN PIQ u

iem kiem tra chu k quet Nhan GD


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GVHD :

oc anh au vao X ly chng trnh chu k oc anh au ra Gi GD CPU phat GD moi cuoi chu ky, sau khi a ghi ket qua ra anh PIQ. CPU nhan GD vao au moi chu ky, trc khi ghi vao anh PII. 7.4- Ket noi 7.4.1 Tao lien ket mang : Trong Simatic Manager ta Insert cac tram cua mang va chon cau hnh phan cng cho cac mang. Nen chon ung cau hnh phan cng cua tram e khi Download khoi b loi. Gan a ch MPI cho tng tram, cac a ch nay can phai khac nhau. Viec gan a ch nay can c tien hanh rieng le cho tng PLC. 7.4.2 Nap chng trnh cho cac tram Ta dung lenh Download e nap chng trnh va d lieu he thong cho tng tram. 7.43Noi mang MPI vat ly Dung cap MPI noi cac CPU tromg mang, sau o cho cac PLC trong mang hoat ong.

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GVHD :

CHNG 8 : THIET KE VA THI CONG HE THONG IEU KHIEN VA GIAM SAT OI LO NHIET VA MAY XEP HANG T ONG 8.1.Tong quat ve he thong ieu khien

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GVHD :

8.2 Giai thuat ieu khien : 8.2.1 Lu o chng trnh chnh :

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GVHD :

8.2.2 Lu o giai thuat khoi ham gap vat :

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GVHD :

8.2.3 Lu o giai thuat chng trnh ieu khien v tr motor1:

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GVHD :

8.2.3 Lu o giai thuat chng trnh at vat :

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GVHD :

8.2.4 Lu o giai thuat chng trnh reset

8.2.5 Lu o giai thuat chng trnh khoi ham rut ve v tr 0 :


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GVHD :

8.2.6 Lu o giai thuat ham CHAY1, CHAY2, CHAY3 :

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GVHD :

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN .2.7 Lu o giai thuat cua bang truyen :

GVHD :

2.8 Lu o giai thuat ieu khien v tr :

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GVHD : BUI THANH HUYEN

8.3. Mach nguyen ly ieu khien may xep hang :


V 1 R P L C 1 1 R P L C 2 1 R P L C 3 1 R P L C 4 1 R P L C 5 1 R P L C 6 1 R P L C 7 1 R P L C 8 8 D 8 2 7 D 7 2 6 D 6 2 I S O R 6 1 4 V O R 6 1 5 V R V C I S C O R 8 1 6 B 1 2 2 2 3 Q D D M 4 I R F 5 4 0 C C C B R U 4 N O N N O N C M O C M O 1 1 1 2 2 2 D 1 C M O T O R 2 4 1 5 D 5 2 I S O R 5 3 1 3 R 2 1 2 V Q D D 4 D 4 2 I S O R 4 1 2 M 3 I R F 5 4 0 V C C U 3 C N O N N O N C M O C M O 1 1 1 2 2 2 D 1 C M O T O 2 R 3 B 1 3 D 3 2 2 R 1 0 M O R 3 R V C C 2 0 2 3 1 1 V Q D D 2 I R I S F 5 4 0 C D 2 2 I S O 2 V C C B 1 R 9 R 1 9 2 V C C 1 D 1 V 2 I S O 1 3 C C M 1 I R V Q D F D 5 4 0 U 1 C N O N N O N C M O C M O 1 1 1 2 2 2 C C

1 A

0
C A

0
V C C

2 N O N N O N C M O C M O 1 1 1 2 2 2 D 1 C M O T O R 2 2

2 A

C A

0
V C C

0
V C C

0
C A

3 A

0
V C I S C

e la y

_ D

T _ b

0
C A

4 A

0 0

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8.4 Mach nguyen ly tao nguon xung kch va oc ve t Encoder cua bang chuyen :

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LUAN VAN TOT NGHIEP

GVHD : BUI THANH HUYEN

U 3 L M 7 8 0 5 C I N G N D

T O U T

V 3

1 1

U 4 L M 7 8 0 5 C I N G N D

T O U T

R 3 4 7 0

C C

1 A

I T O

0
R P L C R 1 1 K 1 4 4 7 0 V C C 2 R D 1 I S O 1 I G H T _ D I R

0
R 2 1 K 2

0
R 5 4 7 0V C C 2 L E F T _ D I R

L C

I S

0
V C C

0
R 6 E R I S O 3 V C C K C I S C O 1 D 4 9 4 M 1 I R F 3 5 4 0 1 4 5 8 7 N C O D E R

L C

0
R P L C 4 R 8 D L E 3 D

0
6 1 2

0
R

L A

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LUAN VAN TOT NGHIEP

GVHD : BUI THANH HUYEN

8.5 Mach nguyen ly ieu khien ong c ieu khien bang chuyen :

V V C U P 1 P 12 C

D V C 1 1 2 E N 3 E R P 2 C

1 S 2

5 0 4

R 1 R 1 3 k 3 D D 1 I O g s d D E Z E 9 5 M 1 N 4 0 G 2 E

1 W D 2 D I O D R 3 4

U P

3 S 2

5 0

_ 5

R I R M F 2

M 1 I R F

s 9 5g 4 0 d

E 1 kZ

3 R 1 9 1 k T H A N 1 2 R 3 N J 1 1 2 3 4 C O N 4 T H U A N N G H I C T H A N G T H A N G H 1 2 C J k 3 5 3 D D 3 G U 2 1 P S 2 5 0 4 1 R 1 6 k

2 R

2 k

R 4 1 k 2

1 R 1 0 N G 2

M d g I O s M 3 I R F D E Z

T O

M I R

S F

R d 5 4 s 0

1 k T H A R 8 1 k 4 D D 4 I O D R 1 k E 7 Z E N 3 E R 2 U 4 P S 2 5 1 0 1

5 4 E

0 N E R

T H

3 1 2 3 4 O N 4 V V 0 C D C D

I C

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GVHD :

8.6 Giao dien WINCC cua he thong ieu khien :

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GVHD :

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN

GVHD :

SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN 8.7 Giai thuat truyen nhan mang :

GVHD :

8.7.1. Thiet ke phan cng he thong ket noi 2 PLC S7_314IFM : Dung phng phap MPI sau khi qua RS485 ta noi song song 2 chan 3 va chan 8 ra ngoai va noi mot au vao CPU tram may lo nhiet au con lai cam vao tram may xep hang t ong.

Hnh : S o thc ket noi hai PLC

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GVHD :

Hnh : Hnh anh thc te cua cap ket noi 2 PLC S7_314IFM 8.7.2 Bang a ch va d lieu truyen nhan bang goi vong GD: 1. Khai bao a ch cho tng tram PLC nh phan ly thuyet MPI a gii thieu.

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GVHD :

Man hnh ket noi MPI xuat hien nh sau :

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GVHD :

2. Tao goi vong GD cha cac goi tin truyen nhan cho hai tram :

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GVHD :

8.8 Thiet ke ieu khien va giam sat he thong lo nhiet : 8.8.1Mach gia cong tn hieu S o nguyen l mach gia cong

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GVHD :

Trong mach gia cong tren, ta s dung thermocouple loai K (Chromel-Alumel) co o nhay la 40 V/oC, rat tuyen tnh. Mach nay thc hien 3 chc nang sau: bu nhiet cho au t do, khuech ai va tao ien ap ra la 0V khi o 0oC. Xet hoat ong cua mach: U7, U8, U9 ( s dung OP07 cho offset thap ) lam bo em ien ap. ien ap ra tren thermocouple: V3=S(Td-Ta)=STd-STa
SVTH : NGUYEN TRONG VAN LE ANH VAN

LUAN VAN TOT NGHIEP BUI THANH HUYEN Vi: Td la nhiet o can o Ta la nhiet o moi trng

GVHD :

S la o nhay cua thermocouple loai K (29,5 V/oC) e loai tr anh hng nhiet o cua moi trng, ta dung khoi tao ra ien ap theo nhiet o moi trng nhng co dau ngc lai s dung IC LM335A. IC LM335A la loai cam bien nhiet o ban dan, co o nhay la 10mV/oK. Ap tao ra do LM335A cam bien c la: V2=K.Ta [oK]=K(273+ Ta) [oC] (3.1) =K.273 + K.Ta =C+ K.Ta (C=K.273)

vi K=10mV/ oK; C=2,73V T (3.1) ta thay co the triet tieu anh hng cua Ta, nhng lai tao ra 1 mc ien ap la 2,73V 0oC nen can phai co 1 khoi tr e tr i 2,73V nham tao ien ap au ra la oV 0oC. Bien tr R12 dung e bu tr ien ap 2,73V tren U4 (dung OP07) ong vai tro bo cong co khuech ai, tao ap ra cuoi cung la:
R 22 + R 23 R15 Vout=(1+ )[(R17+R24)//R16](

V2 V3 R 22 + R 23 + V1 )R17 + R 24 R16 R15

R 22 + R 23 R15 Vout =(1+ )[(R17+R24)//R16]( K .Ta S .Td S .Ta C + + )R17 + R 24 R17 + R 24 R16 R16

R 22 + R 23 V1 R15

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GVHD :

e khong b anh hng nhiet o moi trng:


K .Ta S .Ta R17 + R 24 K 10mV =0 = = = 338,893 R17 + R 24 R16 R16 S 29,5V

Chon R16=100 R17+R24=25K Chon R17=27K va R24 la bien tr 10K . Ta chnh bien tr e triet tieu Ta. e triet tieu ien ap tnh (2,73V):
R 22 + R 23 R15 (1+ )[(R17+R24)//R16]( C R 22 + R 23 V 1 =0 )R17 + R 24 R15

vi (R17+R24)//R16=(338.893K )//(100 )=99,97


R 22 + R 23 2,73 R 22 + R 23 R15 (1+ V1 )*99,97* = 338893 R15

hay

R 22 + R 23 2,73 2,73 (V 1 )= R15 3389,947 3389,947

(3.2)

khi o, ien ap ra la: Vout=(1+


S .T R 22 + R 23 )[( R17 + R 24) // R16] d R15 R16

Thay cac gia tr linh kien va tnh toan, ta suy ra: Vout=260.Td Cac tu C14,C15,C16 eu co gia tr la 10F e chong nhieu Chu y: Cac bien tr nen dung loai tinh chnh, khong nen dung bien tr thong thng rat kho chnh va khong on nh (khi va cham nhe de b thay oi gia tr). Cac OPAMP nen dung loai OP07 co mc OFFSET thap e phu hp vi cac ai lng o co gia tr nho,
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GVHD :

cac chan 1 va 8 dung e chnh OFFSET khong s dung trong thiet ke nay. 8.8.2 Mach cong suat
V 2

S o nguyen l
+ 2 4 V
6 R 2 0

4 7 1 2 M O C 3 0 2 0

0 2 2 0 A C

r a

1 9

L
K

CQ

1 8

1 5

Q 1 T R

I A

6 7

R 4

7 0

Linh kien c s dung: BTA16 la loai triac co dong nh mc la 16A MOC3020 la loai OPTO TRIAC thng dung e kch nguon cong suat va cach ly mach cong suat vi mach ieu khien mach kch tren ta dung MOC3020 (OPTO TRIAC) e am bao 2 yeu cau: Cach ly ve ien ong ngat tin cay

Tuy nhien do dong qua OPTO TRIAC rat nho, khong u lai lo nng nen phai kch qua 1 triac khac (BTA16) OPTO TRIAC c lai qua transistor Q2SC1815 gan vao ngo ra cua PLC, khi ngo ra len PLC len mc1 th ong lo nng va khi ngo ra xuong mc 0 th lo nng se tat. 8.8.3 Mach nguon cung cap
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GVHD :

e OPAMP OP07 hoat ong th can nguon + 5V nen can tao ra nguon cung cap 2 mc ien ap nay. Ta s dung 2 IC on ap la LM7805 va LM7905 e thiet ke mach sau:

T 1

+ A C - 6
S F

6 V
O

V
D 1 1 R M0 E R C T D U I N G N D 2 L O M U 7 8 3 T 0 5 D C 1 9 1 0 0 0 L U R 3 3 3 3 0 5 E D

0
T R

V
A N

C 1 7 2 2 0 0

0 0

3 2

U I N

3 G N D

L O

M U

9 3 T

5 D C 2 1 0 0 0 0 U R 3 3 3 L 6 E

- 5
D

C 2

1 2

8 0 0 U 1

0 0

4 0

8.8.4

Lu o giai thuat

8.8.4.1 S o khoi cua he thong ieu khien lo nhiet

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GVHD :

8.8.4.2 Lu o giai thuat

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GVHD :

8.8.Thiet ke bo ieu khien m lo nhiet bang phan mem FCPA 8.8.5.1Bien vao ra :

8.8.5.2Ham thuoc a. Ham thuoc cho bien ET:

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GVHD :

b.

Ham thuoc cho bien DET

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LUAN VAN TOT NGHIEP BUI THANH HUYEN c. Ham thuoc cho bien DP

GVHD :

8.8..5.3 Luat hp thanh m lo nhiet :

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GVHD :

8.8.6 Luat hp thanh m ong c : 8.8.7 Thong so PID cua ong c :

SVTH : NGUYEN TRONG VAN LE ANH VAN

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