BG - HTDK Thuy Luc Khi Nen

IU KHIN T NG
THU LC - KH NN
GING VIN: ThS.UNG QUANG TUYN
H Ni - 2010
TRNG I HC M - A CHT
B MN T NG HO
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BI GING IU KHIN T NG THU LC - KH NN BM.T NG HO
2 ThS.Ung Quang Tuyn
CHNG 1. KHI QUT V H THNG IU KHIN THU LC - KH NN
1.1. Lch s pht trin v kh nng ng dng ca h thng truyn ng
thy lc
1920 h thng truyn ng thu lc ng dng trong lnh vc my cng
c.
1925 h thng truyn ng thu lc c ng dng trong nhiu lnh vc
cng nghip khc nh: nng nghip, my khai thc m, my ha cht, giao
thng vn ti, hng khng, ...
1960 n nay h thng truyn ng thu lc c ng dng trong t ng
ha thit b v dy chuyn thit b vi trnh cao, c kh nng iu khin
bng my tnh h thng truyn ng thy lc vi cng sut ln.

1.2. u im v nhc im ca h thng iu khin bng thu lc, kh
nn
1.2.1. u im
Truyn ng c cng sut cao v lc ln, (nh cc c cu tng i
n gin, hot ng vi tin cy cao nhng i hi t v chm sc, bo
dng).
iu chnh c vn tc lm vic tinh v v cp, (d thc hin t ng ho
theo iu kin lm vic hay theo chng trnh c sn).
Kt cu gn nh, v tr ca cc phn t dn v b dn khng l thuc nhau.
C kh nng gim khi lng v kch thc nh chn p sut thy lc cao.
Nh qun tnh nh ca bm v ng c thy lc, nh tnh chu nn ca
du nn c th s dng vn tc cao m khng s b va p mnh
(nhtrong c kh v in).
D bin i chuyn ng quay ca ng c thnh chuyn ng tnh tin
ca c cu chp hnh.
D phng qu ti nh van an ton.
D theo di v quan st bng p k, k c cc h phc tp, nhiu mch.
T ng ho n gin, k c cc thit b phc tp, bng cch dng cc
phn t tiu chun ho.
1.2.2. Nhc im
Mt mt trong ng ng dn v r r bn trong cc phn t, lm gim hiu
sut v hn ch phm vi s dng.
Kh gi c vn tc khng i khi ph ti thay i do tnh nn c ca
cht lng v tnh n hi ca ng ng dn.
Khi mi khi ng, nhit ca h thng cha n nh, vn tc lm vic
thay i do nht ca cht lng thay i.
1.3. n v o cc i lng c bn
1.3.1. p sut (p)
Theo n v o lng SI l Pascal (pa)
1pa= 1N/m
2
= 1m
-1
kgs
-2
= 1kg/ms
2
n v ny kh nh, nn ngi ta thng dng n v: N/mm
2
, N/cm
2
v so vi
n v p sut c l kg/cm
2
th n c mi lin h nh sau:
1kg/cm
2
= 9,8N/cm
2
; dng tnh ton, ta ly 1kg/cm
2
= 10N/cm
2

Ngoi ra ta cn dng:
1bar = 105N/m
2
= 1kg/cm
2
= 1bar.
1.3.2. Vn tc (v): n v vn tc l m/s (cm/s).
1.3.3. Th tch v lu lng
a. Th tch (V): m
3
hoc lt(l)
b. Lu lng(Q): m
3
/pht hoc l/pht.
Trong c cu bin i nng lng du p (bm du, ng c du)
cng c th dng n v l m
3
/vng hoc l/vng.
1.3.4. Lc (F): n v lc l Newton (N)
1N = 1kg.m/s
2
.
1.3.5. Cng sut (N): n v cng sut l Watt (W)
1.4. So snh cc loi truyn ng
CHNG 2. H THNG CUNG CP DU V X L
2.1. My bm v ng c du
2.1.1. Nguyn l chuyn i nng lng
Bm v ng c du l hai thit b c chc nng khc nhau. Bm l thit b
to ra nng lng, cn ng c du l thit b tiu th nng lng ny. Tuy
th kt cu v phng php tnh ton ca bm v ng c du cng loi
ging nhau.
a. Bm du: dng bin c nng thnh nng lng ca du (dng cht
lng). Bm c lu lng c nh, gi tt l bm c nh.
Bm c lu lng c th iu chnh, gi tt l bm iu chnh.
Nhng thng s c bn ca bm l lu lng v p sut.
b. ng c du: l thit b dng bin nng lng ca dng cht lng thnh
ng nng quay trn trc ng c.
Nhng thng s c bn ca ng c du l lu lng ca 1 vng quay v hiu
p sut ng vo v ng ra.
2.1.2. Cc i lng c trng
a. Th tch du ti i trong 1 vng (hnh trnh)
V = A.h 1 hnh trnh (2.1)
b. p sut lm vic
c. Hiu sut
Hiu sut th tch h
v
Hiu sut c v thy lc h
hm
Nhvy hiu sut ton phn:
h
t
= h
v
. h
hm

2.1.3. Cng thc tnh ton bm v ng c du
a, Lu lng Qv, s vng quay n v th tch du trong mt vng quay V
Ta c: Qv= n.V
i vi bm:

i vi ng c du:
3
10
v v
nV Q
3
10 .

v
v
nV
Q
Trong :
Q
v
- lu lng [lt/pht];
n - s vng quay [vng/pht];
V - th tch du/vng [cm3/vng];
v
- hiu sut [%].
b. p sut, mmen xon, th tch du trong mt vng quay V

Theo nh lut Pascal: (2.12)

i vi bm: (2.13)

i vi ng c: (2.14)

c. Cng sut: N= p.Qv (2.15)

i vi bm: (2.16)

i vi ng c du: (2.17)
V
M
p
x
3
10 .

V
M
p
hm x
3
10 .

hm
x
V
M
p
2
10 .
6

t
v
pQ
N
2
10 .
6

t v
pQ
N

Trong :
p [bar];
M
x
[N.m];
V [cm3/vng];
hm
[%].
N [W], [kW];
p [bar], [N/m2];
Qv [lt/pht],[m3/s];
t
[%].
2.1.4. Cc loi bm
a. Bm vi lu lng c nh
+ Bm bnh rng n khp ngoi;
+ Bm bnh rng n khp trong;
+ Bm pittng hng trc;
+ Bm trc vt;
+ Bm pittng dy;
+ Bm cnh gt kp;
+ Bm rto.
b. Bm vi lu lng thay i
+ Bm pittng hng tm;
+ Bm pittng hng trc (truyn bng a nghing);
+ Bm pittng hng trc (truyn bng khp cu);
+ Bm cnh gt n.
Bm bnh rng: (Hnh 2.7. Bm bnh rng)

Bm trc vt: (Hnh 2.9. Bm trc vt)
Bm cnh gt n

Bm cnh gt kp

Bm pittng: hng trc v hng knh

2.2. B du (Hnh 2.20. B du)
2.2.1. Nhim v
B du c nhim v chnh sau:
Cung cp du cho h thng lm vic theo chu trnh kn (cp v nhn du
chy v).
Gii ta nhit sinh ra trong qu trnh bm du lm vic.
Lng ng cc cht cn b trong qu trnh lm vic.
Tch nc.

1. ng c in
2. ng nn
3. B lc
4. Pha ht
5. Vch ngn
6. Pha x
7. Mt du
8. du
9. ng x.
K hiu
2.3. B lc du
2.3.1. Nhim v
Trong qu trnh lm vic, du khng trnh khi b nhim bn do cc cht
bn t bn ngoi vo, hoc do bn thn du to nn. Nhng cht bn y s
lm kt cc khe h, cc tit din chy c kch thc nh trong cc c cu
du p, gy nn nhng tr ngi, h hng trong cc hot ng ca h
thng. Do trong cc h thng du p u dng b lc du ngn nga
cht bn thm nhp vo bn trong cc c cu, phn t du p.
B lc du thng t ng ht ca bm. Trng hp du cn sch hn,
t thm mt b na ca ra ca bm v mt b ng x ca h thng
du p.
K hiu
2.3.2. Phn loi theo kch thc lc
Ty thuc vo kch thc cht bn c th lc c, b lc du c th
phn thnh cc loi sau:
a. B lc th:c th lc nhng cht bn n 0,1mm.
b. B lc trung bnh:c th lc nhng cht bn n 0,01mm
c. B lc tinh: c th lc nhng cht bn n 0,005mm
d. B lc c bit tinh:c th lc nhng cht bn n 0,001mm.
2.3.3. Phn loi theo kt cu
a, B lc li
b, B lc l, si thy tinh
2.3.4. Cch lp b lc trong h thng
Hnh 2.24. Cch lp b lc trong h thng
a. Lp b lc ng ht
b. Lp b lc ng nn
c. Lp b lc ng x
2.4. o p sut v lu lng
2.4.1. o p sut ( Hnh 2.25)
a. o p sut bng p k l xo
Nguyn l o p sut bng p k l
xo: di tc dng ca p lc, l xo b
bin dng, qua c cu thanh truyn
hay n by v bnh rng, bin
dng ca l xo s chuyn i thnh
gi tr c ghi trn mt hin s.
b. Nguyn l hot ng ca p k l
xo tm (Hnh 2.26)
Di tc dng ca p sut, l xo tm
(1) b bin dng, qua trc n by (2),
chi tit hnh y qut (3), chi tit
thanh rng (4), kim ch (5), gi tr p
sut c th hin trn mt s.
2.4.2. o lu lng
a. o lu lng bng bnh hnh van v
bnh rng (Hnh 2.27)
b. o lu lng bng tuabin v cnh gt (Hnh 2.28)
Cht lng chy qua ng lm quay cnh tuabin v cnh gt, ln lu
lng c xc nh bng tc quay ca cnh tuabin v cnh gt.
c. o lu lng theo nguyn l chnh p (Hnh 2.29)
Hai p k c t hai u ca mng ngn, ln lu lng c xc nh
bng chnh lch p sut (tn tht p sut) trn hai p k p1v p2.

d. o lu lng bng lc cng l xo (Hnh 2.30)
Cht lng chy qua ng tc ng vo u o, trn u o c gn l xo, lu
cht chy qua lu lng k t hay nhiu s c xc nh qua kim ch.
2.5. Bnh trch du
2.5.1. Nhim v
Bnh trch cha l c cu dng trong cc h truyn dn thy lc iu ha
nng lng thng qua p sut v lu lng ca cht lng lm vic. Bnh
trch cha lm vic theo hai qu trnh: tch nng lng vo v cp nng
lng ra.
2.5.2. Phn loi
Theo nguyn l to ra ti, bnh trch cha thy lc c chia thnh ba loi, th
hin hnh 2.31
Hnh 2.31. Cc loi bnh
trch cha thy lc
a. Bnh trch cha trng
vt;
b. Bnh trch cha l xo;
c. Bnh trch cha thy kh;
d. K hiu.
- Qu trnh np (Hnh 2.33)

- - Qu trnh x (Hnh 2.34)
CHNG 3. H THNG IU KHIN BNG THY LC
3.1. Khi nim
3.1.1. H thng iu khin
H thng iu khin bng thy lc c m t qua s hnh 3.1, gm cc
cm v phn t chnh, c chc nng sau:
a. C cu to nng
lng:bm du, b lc
(...)
b. Phn t nhn tn
hiu: cc loi nt n (...)
c. Phn t x l: van p
sut, van iu khin t
xa (...)
d. Phn t iu khin:
van o chiu (...)
e. C cu chp hnh:
xilanh, ng c du.

Hnh 3.1. H thng iu khin bng thy lc
3.1.2. S cu trc h thng iu bng thy lc
Cu trc h thng iu khin bng thy lc c th hin s hnh 3.2
Hnh 3.2. Cu trc thng iu khin bng thy lc
3.2. Van p sut
3.2.1. Nhim v:
Van p sut dng iu chnh p sut, tc l c nh hoc tng, gim tr
s p trong h thng iu khin bng thy lc.
3.2.2. Phn loi: Van p sut gm c cc loi sau:
+ Van trn v van an ton
+ Van gim p
+ Van cn
+ Van ng, m cho bnh trch cha thy lc.
3.2.2.1. Van trn v an ton
Van trn v van an ton dng hn ch vic
tng p sut cht lng trong h thng thy lc
vt qu tr s quy nh. Van trn lm vic
thng xuyn, cn van an ton lm vic khi
qu ti. C cc loi van sau:
K hiu ca van trn v van an ton
(a)
(b)
(c)
+ Kiu van bi (tr, cu) (hnh 3.3)
+ Kiu con trt (pittng) (hnh 3.4)
+ Van iu chnh hai cp p sut
(phi hp) (hnh 3.5)
3.2.2.2. Van gim p
Trong nhiu trng hp h thng thy lc mt bm du phi cung cp
nng lng cho nhiu c cu chp hnh c p sut khc nhau. Lc ny ta
phi cho bm lm vic vi p sut ln nht v dng van gim p t trc
c cu chp hnh nhm gim p sut n mt gi tr cn thit.
Hnh 3.6 Kt cu v k hiu Hnh 3.7 Mch thu lc c lp van gim p
3.2.2.3. Van cn
Van cn c nhim v to nn mt sc cn trong h thng h thng lun
c du bi trn, bo qun thit b, thit b lm vic m, gim va p.
Hnh 3.8. Mch thy lc c lp van cn
K hiu
3.3. Van o chiu
3.3.1. Nhim v
Van o chiu dng ng, m cc ng dn khi ng cc c cu bin i
nng lng, dng o chiu cc chuyn ng ca c cu chp hnh.
3.3.2. Cc khi nim
+ S ca: l s l dn du vo hay ra. S ca ca van o chiu
thng 2, 3 v 4, 5. Trong nhng trng hp c bit s ca c th
nhiu hn.
+ S v tr: l s nh v con trt ca van. Thng thng van o chiu
c 2 hoc 3 v tr. Trong nhng trng hp c bit s v tr c th
nhiu hn.
3.3.3. Nguyn l lm vic
a. Van o chiu 2 ca, 2 v tr (2/2)
Hnh 3.9. Van o chiu 2/2
P - Ca ni bm;
T - Ca ni ng x v
thng du;
A, B - Ca ni vi c
cu iu khin hay c
cu chp hnh;
L - Ca ni ng du
tha v thng.
b. Van o chiu 3 ca, 2 v tr (3/2)
P - Ca ni bm;
T - Ca ni ng x v
thng du;
A, B - Ca ni vi c
cu iu khin hay c
cu chp hnh;
L - Ca ni ng du
tha v thng.
c. Van o chiu 4 ca, 2 v tr (4/2)
P - Ca ni bm;
T - Ca ni ng x v
thng du;
A, B - Ca ni vi c
cu iu khin hay c
cu chp hnh;
L - Ca ni ng du
tha v thng.
3.3.4. Cc loi tn hiu tc ng
Loi tn hiu tc ng ln van o chiu c biu din hai pha, bn tri
v bn phi ca k hiu. C nhiu loi tn hiu khc nhau c th tc ng
lm van o chiu thay i v tr lm vic ca nng van o chiu.
Hnh 3.12. Cc k hiu cho tn
hiu tc ng bng tay
Hnh 3.13. Cc k hiu cho tn hiu tc ng bng c
3.3.5. Cc loi mp iu khin ca van o chiu
Khi nng van dch chuyn theo chiu trc, cc mp ca n s ng hoc
m cc ca trn thn van ni vi knh dn du.
Van o chiu c mp iu khin dng (hnh 3.14a), c s dng trong
nhng kt cu m bo s r du rt nh, khi nng van v tr trung gian
hoc v tr lm vic no , ng thi cng vng ca kt cu ( nhy
i vi ph ti) cao.
Van o chiu c mp iu khin m (hnh 3.14b), i vi loi van ny c
mt mt cht lng chy qua khe thng v thng cha, khi nng van v tr
trung gian. Loi van ny c s dng khi khng c yu cu cao v s r
cht lng, cng nh cng vng ca h.
Van o chiu c mp iu khin bng khng (hnh 3.14c), c s dng
phn ln trong cc h thng iu khin thy lc c chnh xc cao (v d
nh van thy lc tuyn tnh hay c cu servo. Cng ngh ch to loi van
ny tng i kh khn.
Hnh 3.14. Cc loi mp
iu khin ca van o
chiu
a. Mp iu khin dng;
b. Mp iu khin m;
c. Mp iu khin bng
khng.
3.4. Van tit lu
Van tit lu dng iu chnh lu lng du, v do iu chnh vn tc ca
c cu chp hnh trong h thng thy lc.
Van tit lu c th t ng du vo hoc ng ra ca c cu chp hnh.
Van tit lu c hai loi:
Van tit lu c nh Van tit lu thay i c lu lng
3.5. B n tc
B n tc l cu m bo hiu p khng i khi gim p (Dp = const), v do
m bo mt lu lng khng i chy qua van, tc l lm cho vn tc
ca c cu chp hnh c gi tr gn nhkhng i.
Nhvy n nh vn tc ta s dng b n tc.
B n tc l mt van ghp gm c: mt van gim p v mt van tit lu. B
n tc c th lp trn ng vo hoc ng ra ca c cu chp hnh nh
van tit lu, nhng ph bin nht l lp ng ra ca c cu chp
hnh.
Hnh 3.29. K hiu v kt cu b n tc
3.6. Van Chn
Van chn gm cc loi van sau:
Van mt chiu.
Van mt chiu iu iu khin c hng chn.
Van tc ng kho ln.
3.6.1. Van mt chiu
Van mt chiu dng iu khin dng cht lng i theo mt hng, v
hng kia du b ngn li.
Trong h thng thy lc, thng t nhiu v tr khc nhau ty thuc vo
nhng mc ch khc nhau.
van bi, van kiu con trt
Hnh 3.31. K hiu v kt cu van bi
mt chiu
ng dng ca van mt chiu:
t ng ra ca bm ( chn du chy v b).
t ca ht ca bm (chn du trong bm).
Khi s dng hai bm du dng chung cho mt h thng.
Hnh 3.32. S mch thy
lc s dng hai bm du
nhm gim tiu hao cng
sut
3.6.2. Van mt chiu iu khin c hng chn
a. Nguyn l hot ng
Khi du chy t A qua B, van thc hin theo nguyn l ca van mt chiu.
Nhng khi du chy t B qua A, th phi c tn hiu iu khin bn ngoi
tc ng vo ca X.
Hnh 3.33. Van mt chiu iu khin c hng chn
a. Chiu A qua B, tc dng nhvan mt chiu;
b. Chiu B qua A c dng chy, khi c tc dng tn ngoi X;
c. K hiu.
3.6.3. Van tc ng kho ln
a. Nguyn l hot ng
Kt cu ca van tc ng kho ln, thc ra l lp hai van mt chiu iu
khin c hng chn. Khi dng chy t A
1
qua B
1
hoc t A
2
qua B
2
theo nguyn l ca van mt chiu. Nhng khi du chy t B
2
v A
2
th phi
c tn hiu iu khin A
1
hoc khi du chy t B
1
v A
1
th phi c tn hiu
iu khin A
2
.
Hnh 3.34. Van tc ng kha ln
a. Dng chy t A1 qua B1 hoc t A2 qua B2
(nh van mt chiu);
b. T B2v A2th phi c tn hiu iu khin A1;
c. K hiu.
3.7. iu khin, iu chnh p sut v lu lng
3.7.1. Cc phng php iu chnh vn tc
iu chnh vn tc chuyn ng thng hoc chuyn ng vng ca c cu chp
hnh trong h thng du p, bng cch thay i lu lng du chy qua n vi hai
phng php sau y:
Thay i sc cn trn ng ng dn du bng van tit lu. Phng php iu
chnh ny gi l iu chnh bng tit lu, trnh by trong mc van tit lu.
Thay i ch lm vic ca bm du, tc l iu chnh lu lng ca bm cung
cp cho h thng du p. Phng php iu chnh ny gi l iu chnh bng th
tch.
La chn phng php iu chnh vn tc ph thuc v nhiu yu t nh cng sut
truyn ng, p sut cn thit, c im thay i ti trng, kiu v c tnh ca bm
du...
gim nhit ca du, ng thi tng hiu sut ca h thng du p, ngi ta
s dng phng php iu chnh vn tc bng th tch. Loi iu chnh ny c
thc hin bng cch ch a vo h thng du p lu lng du cn thit m
bo mt vn tc nht nh. Do , nu nh khng tnh n tn tht th tch v c kh
th ton b nng lng do bm du to nn u bin thnh cng c ch.

3.7.2. Mt s phng php iu chnh
a, iu chnh p sut bng c kh
b, iu chnh p sut bng van trn
c, iu chnh bng tit lu u vo
d, iu chnh bng tit lu u ra
e, iu chnh lu lng kt hp vi iu chnh p sut ca bm
3.7. Xi lanh truyn ng
3.7.1. Nhim v
Xilanh thy lc l c cu chp hnh dng bin i th nng ca du
thnh c nng, thc hin chuyn ng thng.
3.7.2. Phn loi
Xilanh thy lc c chia lm hai loi: xilanh lc v xilanh quay (hay cn
gi l xilanh mmen).
Trong xilanh lc, chuyn ng tng i gia pittng vi xilanh l chuyn
ng tnh tin.
Trong xilanh quay, chuyn ng tng i gia pittng vi xilanh l chuyn
ng quay (vi gc quay thng nh hn 3600).
Pittng bt u chuyn ng khi lc tc ng ln mt trong hai pha ca n
(lc th l lc p sut, lc l xo hoc c kh) ln hn tng cc lc cn
c hng ngc li chiu chuyn ng (lc ma st, thy ng, ph ti, l
xo,...).
Phn loi theo cu to
Xilanh n

Xilanh kp
Xilanh n li v nh ngoi lc
Xilanh n li v nh l xo
Li v bng thu lc Li v bng thu lc c gim chn

Xilanh vi sai
Tc dng c hai pha
Tc dng quay
Tc dng n Tc dng kp
Theo kiu lp rp
Lp cht thn
Lp cht mt bch
Lp xoay c
Lp g 1 u xilanh
3.7.3. Cu to xilanh

Hnh 2.15. Cu to
xilanh tc dung kp
c cn pittng mt
pha
1. Thn;
2. Mt bch hng;
3.Mt bch hng;
4. Cn pittng;
5. Pittng;
6. trt;
7. Vng chn du;
8. Vng m;
9. Tm ni;
10. Vng chn hnh O;
11. Vng chn pittng;
12. ng ni;
13. Tm dn hng;
14. Vng chn hnh O;
15. ai c;
16. Vt vn;
17. ng ni.
CHNG 4. NG DNG TRUYN NG THY LC
4.1. Mc ch
Trong h thng iu khin bng thu lc, phn ln cc phn t do nh ch
to sn xut ra v c nhng yu cu v thong s k thut c xc nh,
c tiu chun ho.
Mc ch ca chng 4 l vn dng nhng kin thc ca cc chng
trc ng dng vo h thng iu khin bng thu lc. Hc vin cn nm
vng nguyn l lm vic, tnh ton cch chn cc phn t thu lc, c
hiu s lp t ca h thng thu lc, c th lm tt cng vic lp
rp, vn hnh, theo di, bo dng v thay th cc phn t thu lc.
Di y gii thiu mt s h thng iu khin bng thu lc in hnh
trong cc my v thit b cng nghip. Cc h thng iu khin bng thu
lc in hnh c trnh by t n gin n phc tp.
Hnh 4.1. Gii hn p sut lm vic trong h thng
A, Qua van trn cho chuyn ng thng
B, Qua van trn cho chuyn ng quay
C, Ti trng thay i
4.2. Cc s in hnh
gii hn p sut lm vic trong h thng iu khin bng thu lc, c
th thc hin theo cc s lp t hnh 4.1
Trong khi h thng iu khin bng thu lc lm vic khng lin tc, nhng
bm hot ng lin tc; trnh qu trnh nhit sinh ra ln khi qua van
trn, ngi ta lp van o chiu 4/3, v tr trung gian du s tr v b du
m khng cn qua van trn, hnh 4.2a; hoc lp v h thng van o chiu
2/2, hnh 4.2b; hoc van o chiu 6/3, hnh 4.2c
Hnh 4.2. Gii hn nhit sinh ra trong h thng
A, Qua v tr trung gian ca van o chiu
B, Qua van o chiu 2/2
C, Qua van o chiu 6/3
p sut hay lu lng trong h thng iu khin lun c n nh, mc d
khi bm mt in, ngi ta lp vo h thng bnh trch cha, hnh 4.3a. Khi
c cu chp hnh chy khng vi vn tc ln, nhng khi chy lm vic ch
cn p sut ln, lu lng nh, ngi ta lp theo hnh 4.3b.
Trong cng nghip ngi ta cng hay s dng hp truyn ng bng thu
lc: gm ng c du v bm du lp chung vo thnh mt khi. Nh vy
tn tht th tch v tn tht p sut ca h thng s gim i, hnh 4.4.
Hnh 4.3. Duy tr p sut v thay i lu lng trong h thng
A, Lp thm bnh trch cha
B, Lp 2 bm: 1 bm c lu lng ln, 1 bm c p sut ln
Hnh 4.4. Hp truyn ng bng thu lc
1, Bm ph; 2, Van mt chiu; 3,5,6, Van trn; 4, Van o chiu
4.3. V d minh ha: My dp thy lc, h thng cu ti trng nh, my
xc thy lc, my khoan thy lc
4.3.1. My dp thu lc iu khin bng tay
Nguyn l lm vic (hnh 4.5): Khi c tn hiu tc ng bng tay, xi lanh A
mang u p i xung. Xilanh A li v, khi th tay ra.
Hnh 4.5. My dp iu khin bng tay
0.1, Bm; 0.2, Van trn; 0.3, p k; 1.1, Van
mt chiu; 1.2, Van o chiu 3/2, iu
khin tay gt; 1.0, Xilanh
4.3.2. C cu rt t ng cho quy trnh cng ngh c
A, Nguyn l lm vic (hnh 4.6)
Gu mc s i xung, khi tc ng bng tay. Gu mc s i ln, khi th tay ra
Hnh 4.6. C cu rt t ng trong cng ngh c
B, S mch thu lc (hnh 4.7): cho chuyn ng ca xi lanh, gu mc
i xung c m, ta lp thm mt van cn 1.2 vo ng x du v, hnh
4.7b
Hnh 4.7. S mch thu lc c cu rt t ng
0.1- Cm bm; 0.2- Van trn; 0.3- p k; 1.1- Van o chiu 4/2,
iu khin bng tay gt; 1.2- Van cn; 1.0- Xi lanh.
4.3.3. Nng h chi tit c sn trong l sy
Khi tc ng bng tay, pittong nng chi tit ln gn ngun nhit hn. Khi chi
tit c sy kh, ta tc ng bng tay sang v tr lm vic khc, chi tit
c h xung.
Hnh 4.8. Nng h chi tit c sn trong l sy
B, S mch thu lc (hnh 4.9)
cho chuyn ng ca xilanh i xung c m v c th dng li v tr
bt k, ta lp thm van mt chiu iu khin c hng chn 1.2 v
ng nn, hnh 4.9b
Hnh 4.9. S mch
thu lc nng h chi
tit c sn trong l
sy
0.1- Cm bm; 0.2-
Van trn; 1.1- Van o
chiu 4/3, iu khin
bng tay gt; 1.2- Van
mt chiu iu khin
c hng chn;
1.0- Xilanh
4.3.4. C cu kp cht chi tit gia cng
Khi tc ng bng tay, pittong mang hm di ng i ra, kp cht chi tit.
Khi gia cng xong, th tay ra pittong li v, chi tit c m ra.
Hnh 4.10. C cu kp cht chi tit gia cng
1. Chi tit; 2. Hm kp; 3. Xilanh
cho xilanh chuyn ng i ti kp chi tit vi tc chm, khng va p
vi chi tit kp, ta s dng van tit lu mt chiu. hnh 4.11a van tit lu
mt chiu t ng ra v hnh 4.11b van tit lu mt chiu t
ng vo.
Hnh 4.11. S
mch thu lc c
cu kp cht chi tit
gia cng
0.1- Cm bm; 0.2-
Van trn; 0.3- p
k; 1.1- Van o
chiu 4/2, iu
khin bng tay gt;
1.2- Van tit lu
mt chiu; 1.0-
Xilanh
4.3.5. H thng cu ti trng nh
Dy cp ni mc cu v u pittong c mc qua cc rng rc c nh.
Pittong i ra, mc cu ti trng h xung chm, khi pittong li v, ti trng
c nng ln.
Hnh 4.12. H thng cu ti trng nh
Khi mc cu ti trng h xung chm, ta s dng van tit lu mt chiu 1.2.
cho qu trnh h cu c gim chn, c i trng, ta s dng van cn 1.4
Hnh 4.13. S mch thu lc
h thng cu ti trng nh
0.1- Cm bm; 0.2- Van trn;
0.3- p k; 1.1- Van o chiu
4/2, iu khin bng tay gt; 1.2-
Van tit lu mt chiu; 1.3- Van
mt chiu; 1.4- Van cn; 1.0-
Xilanh
4.3.6. My khoan bn
H thng thu lc iu khin hai xilanh. Xilanh A lm nhim v kp chi tit
trong qu trnh khoan, xilanh B mang u khoan i xung vi vn tc u
c iu chnh trong qu trnh khoan. Khi khoan xong, xilanh B mang u
khoan li v. Sau xilanh A li v m hm kp v chi tit c tho ra.
Hnh 4.14. My khoan bn
cho vn tc trong qu trnh khoan khng i, mc du c th ti trng
thay i, ta dng b n tc 2.2. p sut cho kp chi tit nh, ta s dng van
gim p 1.2.
Hnh 4.15. S mch thu
lc my khoan hn
0.1- Cm bm; 0.2- Van trn;
0.3- p k; 1.1- Van o chiu
4/2, iu khin bng tay gt;
1.2- Van gim p; 1.3- Van
mt chiu; 1.0- Xilanh A; 2.1-
Van o chiu 4/3, iu khin
bng tay gt; 2.2- B n tc;
2.3- Van mt chiu; 2.4- Van
cn; 2.5- Van mt chiu; 2.6-
Van tit lu 2 chiu; 2.0-
Xilanh B
4.3.7. My xc (hnh 4.16)
Trong mch iu khin bng thu
lc ca my xc, ta s dng
b iu khin kho ln, van
cn, van mt chiu v cm
van (BLOCK)
Hnh 4.16. Mch thu lc my xc
4.3.8. My cu (hnh 4.17)
Trong mch iu khin
bng thu lc ca my
xc, ta s dng b iu
khin kho ln, van cn,
van mt chiu v cm
van (BLOCK)
Hnh 4.17. Mch thu lc my cu
CHNG 5. CC PHN T IN, IN - THY LC, IN - KH NN
5.1. Cc phn t in
1. Cng tc
Trong k thut iu khin, cng tc v nt n thuc cc phn t a tn
hiu. Hnh 6-1 biu din mt s loi cng tc thng dng. C 2 loi cng
tc: cng tc ng-m (on/off switch) v cng tc chuyn mch.
Hnh 6.1. Cng tc
a, Cng tc ng-m; b, Cng tc chuyn mch
2. Nt n
Nt n ng-m biu din hnh 6-2a. Khi cha tc ng th cha c dng
in chy qua, mch h; khi c tc ng, dng in i qua 3-4
Nt n chuyn mch c biu din v k hiu trnh by hnh 6-2b
Hnh 6-2 Nt n
a, Nt n ng-m; b, Nt n chuyn mch
3. Rle
Trong k thut iu khin, rle nh l phn t x l tn hiu. C nhiu loi
rle khc nhau, tu theo cng dng. Phn trnh by tip theo s gii thiu
mt s loi rle thng dng, v d nh rle cng sut (cng tc t), rle
ng-m, rle iu khin, rle thi gian.
a, Cng tc t
Nguyn l hot ng ca cng tc t c biu din hnh 6-3. Khi dng
in vo cun dy cm ng, xut hin lc in t s ht li st, trn c
lp cc tip im. Cc tip im c th l cc tip im chnh ng, m
mch chnh v cc tip im ph ng m mch iu khin. Cng tc t
ng dng cho mch in c cng sut 1kW-500kW.
Hnh 6-3- Cng tc t
b, Rle iu khin
Nguyn l hot ng ca rle iu khin cng tng t nh cng tc t
(xem biu din v k hiu hnh 6.4); khc vi cng tc t ch l rle iu
khin ng, m cho nhng mch c cng sut nh v thi gian ng, m
ca cc tip im rt nh (1ms n 10ms)
Hnh 6.4. Rle iu khin
a, Nguyn l hot ng; b, K hiu
K hiu rle theo DIN 40 713 biu din hnh 6.5
Hnh 6.5 K hiu rle iu khin
- K Rle
- A1 Ca ni vi cc dng +
- A2 Ca ni vi cc m -
- Tip im thng m k hiu 3-4
- Tip in thng ng k hiu 1-2
c, Rle thi gian ng mun
Nguyn l hot ng ca rle thi gian ng mun, xem hnh 6.6. Tng t
nh rle thi gian ng mun ca phn t kh nn, xem [TK-28], it tng
t nh van mt chiu, t in nh bnh trch cha, bin tr R1 nh v tit
lu. ng thi R2 c nhim v gim in p trn t, khi rle b ngt.
Hnh 6.6. Rle thi
gian ng mun
a, S nguyn l
lm vic
b, S thi gian
ng mun ca
phn t kh nn
c, K hiu; d, Biu
thi gian
d, Rle thi gian nh mun
Nguyn l hot ng ca rle thi gian nh mun, xem hnh 6.7. Tng t
nh rle thi gian nh mun ca phn t kh nn, xem [TK-28], it tng
t nh van mt chiu, t in nh bnh trch cha, bin tr R1 nh v tit
lu. ng thi R2 c nhim v gim in p trn t, khi rle b ngt.
Hnh 6.7. Rle thi
gian nh mun
a, S nguyn l
lm vic
b, S thi gian
nh mun ca
phn t kh nn
c, K hiu; d, Biu
thi gian
4. Cng tc hnh trnh in - c
Nguyn l hot ng ca cng tc hnh trnh in - c c biu din
hnh 6.8. Khi con ln chm c hnh trnh, th tip im (1) ni vi (4).

Hnh 6.8. Cng tc hnh trnh in - c
Cn phn bit cc trng hp: cng tc hnh trnh in - c trong mch ng,
khi cha c tc ng hnh 6.9a v cng tc hnh trnh in - c trong mch
ng, khi c tc ng hnh 6.9b

Hnh 6.9. Cng tc hnh trnh in - c
a, Trng thi ng khi khng c tc ng
b, Trng thi ng khi c tc ng
5. Cng tc hnh trnh nam chm
Cng tc hnh trnh nam chm thuc loi cng tc hnh trnh khng tip
xc. Nguyn l hot ng v k hiu c biu din hnh 6.10
Hnh 6.10. Cng
tc hnh trnh
nam chm
a, V tr cha
ng; b, V tr
ng; c, K hiu
6. Cm bin
a, Cm bin cm ng t
Nguyn l hot ng ca cm bin cm ng t biu din hnh 6.11. B
to dao ng s pht ra tn s cao. Khi c vt cn bng kim loi nm trong
vng ng sc ca t trng, trong kim loi s hnh thnh dng in
xoy. Nh vy nng lng ca b dao ng s gim, dng in xoy s
tng, khi vt cn cng gn cun cm ng. Qua bin dao ng ca b
dao ng s gim. Qua b so, tn hiu ra c khuch i. Trong trng
hp tn hiu ra v tn hiu nh phn, mch Schmitt trig s m nhn nhim
v ny.
Hnh 6.11. Nguyn l hot ng ca cm bin cm ng t
S n gin ca mch dao ng LC c biu din hnh 6-12a. Nguyn
l ca b dao ng bng tranzitor biu din hnh 6-12b
Hnh 6.12. S n gin
a, mch dao ng; b, B dao ng bng tranzitor
Mch Schmitt trig c nhim v l chuyn tn hiu c dng hnh sin thnh tn
hiu c dng xung, s mch v nguyn l c trnh by hnh 6.13
Hnh 6.13. Nguyn l hot ng mch Schmitt trig
a, S mch vi tranzitor lng cc T1, T2
b, ng c tnh chuyn tip
c, V d chuyn i hiu in th dng hnh sin thnh hiu in th dng xung
Cch lp trong mch v k hiu cm bin cm ng t biu din hnh 6.14
Hnh 6.14. Cch lp v k hiu cm bin cm ng t
b, Cm bin in dung
Nguyn tc hot ng ca cm bin in dng biu din hnh 6.15. B
to dao ng s pht ra tn s cao. Khi c vt cm bng kim loi hoc phi
kim loi nm trong vng ng sc ca in trng, in dung t in thay
i. Nh vy tn s ring ca b dao ng thay i. Qua b so v b nn
dng, tn hiu ra c khuych i.
Trong trng hp tn hiu ra l tn hiu nhi phn, mch Schmitt trig s
m nhn nhim v ny
Hnh 6.15. Nguyn l hot ng ca cm bin in dung
Cch lp trong mch v k hiu cm bin in dung biu din hnh 6.16
Hnh 6.16. Cm bin in dung
A, Hnh dng; b, Cu to; c, K hiu v cch lp
c, Cm bin quang
Cu to cm bin quang gm 2 b phn pht v b phn nhn (thu).
Nguyn tc hot ng ca cm bin quang biu din hnh 6.17. B phn
pht s pht ra i tia hng ngoi bng it pht quang, khi gp vt chn, tia
hng ngoi s phn hi li vo b phn nhn. Nh vy b phn nhn, tia
hng ngoi phn hi c x l v cho tn hiu ra sau khi qua b khuych
i
Hnh 6.17. Cm bin quang
Tu theo v tr sp xp ca b phn
pht v b phn nhn, ngi ta
chia cm bin quang thnh hai
loi chnh
- Cm bin quang mt chiu, xem
hnh 6.18a
- Cm bin quang phn hi, xem hnh
6.18b
Hnh 6.18. Cm bin quang
a, Cm bin quang mt chiu
b, Cm bin quang phn hi
c, K hiu v cch lp trong mch
5.2. Van o chiu iu khin bng nam chm in
1. Cc loi tn hiu iu khin
Van o chiu iu khin bng nam chm in kt hp vi thu lc hoc
kh nn iu khin trc tip hai u nng van hoc gin tip qua van ph
tr. Hnh 6.19 biu din mt s loi v k hiu
2. K hiu van o chiu
K hiu van o chiu c tiu chun ho theo DIN 24340, CETOP R 35
H v ISO 4401:
Hnh 6.19. K hiu cc loi tn hiu iu khin
Van o chiu iu khin trc tip bng tay
Van o chiu iu khin trc tip bng tay c gt nh v
Van o chiu iu khin trc tip bng c hnh trnh
Van o chiu iu khin trc tip bng chn
Van o chiu iu khin trc tip bng thu lc
Van o chiu iu khin trc tip bng kh nn
Van o chiu iu khin trc tip bng nam chm in
Van o chiu iu khin trc tip bng nam chm in v l xo
Van o chiu iu khin trc tip bng nam chm in c 2 pha
Van o chiu iu khin gin tip (2 cp) bng nam chm in v thu
lc
CHNG 6. PHNG PHP THIT K MCH THU LC
6.1. Gii thiu v h thng iu khin
Trong k thut iu khin, cc hot ng ca cc c cu trong h
thng iu khin t ng u xut pht t cc phng trnh chuyn ng c
xy dng trn nguyn l lm vic ca h thng. Cc phng trnh ny l hm
tch hp nhng gi tr ca tn hiu vo v tn hiu ra v c vit di dng cc
bin s ca i s Bool.
Qu trnh nh ngha tn hiu vo ra y , tun th nguyn l hot
ng ca h thng xy dng c cc hm ti u, tc gim thiu c ti
a cc phn t logic trong thit k l mt nhim v quan trng trong k thut
iu khin.
Ty theo mc n gin hay phc tp ca hot ng h thng ta c
th c t hay nhiu phng trnh iu khin.
V d: C cu mt u khoan t ng thy lc m t hnh 6.1, vi yu cu k
thut nh sau:
a chi tit cn khoan vo v tr cn khoan, khi ta n nt Start PB, u
khoan tnh tin n v khoan chi tit. t n chiu su cn thit (S2) u
khoan t ng quay v. Trong qu trnh khoan nu xy ra s c ta n nt Stop
PB u khoan t ng li v.
Hnh 6.1- C cu khoan
Hnh 6.2- Mch thu lc c cu khoan
Phng trnh iu khin c vit nh sau:

Phng trnh ti:
1Y = K
Da vo phng trnh iu khin v phng trnh ti, mch in iu khin
c thit k nh hnh 6.3 v mch iu khin bng thy lc hnh 6.4.
Hnh 6.3- Mch iu khin bng thu lc Hnh 6.4- Mch iu khin in
6.2. Phn loi phng php iu khin
1. iu khin ty thuc
iu khin ty thuc l iu khin thng cc tc ng c thc hin bng
tay hay bng chn. Trong iu khin kh nn thy lc ty thuc tn hiu u
vo l cc van tc ng bng tay, chng kch hot cc pt tng dch chuyn v
pha trc hoc tr v v tr ban u theo mong mun.
Tt c nhng iu khin ty thuc i hi
vn hnh ca con ngi mi tr nn hiu
lc. iu khin ty thuc thch hp bt c
ni u m ta khng quan tm n chu
trnh lm vic t ng ca h thng.
Hnh 6.5 m t mch dp n gin iu
khin ty chn. Gm mt van 4/2 c nh
2.6, mt phn t OR v 3 van tc ng tn
hiu bng tay.
Hnh 6.5- iu khin tu thuc
2. iu khin theo hnh trnh
Trong mt h thng iu khin theo hnh trnh, hot ng ca cc phn t a
tn hiu khi ng cc c cu chuyn hng hay vn hnh cc vng lp iu
khin khc c thc hin bi chnh cc phn t chp hnh.
Cc tn hiu hnh trnh c kch trc tip t cn pit tng cui ca mi hnh
trnh.
Tuy nhin thc hin nhng nhim v hoc
nhng yu cu no , ta c b tr cc tn hiu
hnh trnh nhng v tr bt k trn khong
chy ca pt tng. Hnh 6.6 m t mt mch
lm vic c lp i lp li. Ngay khi ngun
kh cung cp c m bi van 0.1, pt tng
c khi ng qua li trong xy lanh cho ti
khi ngun kh cung cp c ng li. Van tc
ng con ln 1.1 v 1.2 c b tr nh cc
hnh trnh a tn hiu ti van nh trng
thi 4/2 1.3 khi cn pit tng chm vo con ln.

Hnh 6.6- iu khin theo hnh trnh
3. iu khin theo thi gian
iu khin theo thi gian l trng thi iu khin ca h thng tc ng ch ph
thuc vo i lng thi gian ca cc phn t nh thi. Cc phn t nh thi
c th l kh nn, du p hoc in.
Hnh 6.7 m t h thng p i
hi kt nn. Khi nhn nt n
S1 van o chiu 1Y i v tr,
pittng 1A i ln p kt nn,
ng thi dng in vo phn
t relay thi gian T1. Sau thi
gian t th pittng s i xung
tr v v tr ban u.
Hnh 6.7- iu khin theo thi gian
Hnh 6.8 l c cu iu khin dch chuyn pittng kh nn y cc sn phm
theo nguyn l thi gian. Vi cc phn t thi gian s dng ngun nng lng
lu cht th ch hot ng hai v tr cui ca xylanh kh nn. Thi gian tr hon
ph thuc vo hiu chnh ca van tit lu.
Hnh 6.8- iu khin theo thi gian bng lu cht kh nn
4. iu khin phi hp
iu khin phi hp l iu khin phi cc iu khin trn.
Hnh 6.9 l m t mch iu khin ca c cu p phi hp 3 thnh phn iu
khin: ty chn (2.3), hnh trnh (2.2) v thi gian (2.5). Bnh thng khi cp
ngun nng lng th phn t 2.5 xc lp thi gian v sau thi gian ny th c
dng nng lng to ra nhng n i qua ca x ca 2.3 khng p kch
van 2.4.
Ngc li nu tc ng 2.3 m 2.5
cha xc lp th dng nng lng
c to ra cng khng kch cho van
2.4 hot ng. Tn hiu kch van 2.4
dch chuyn vi iu kin ng thi
nt nhn 2.3 c tc ng v sau
thi gian xc lp ca phn t 2.5. Khi
pittng p i ra v chm vo cng tc
hnh trnh 1.2 th van 2.4 b kch
ngc li v pittng li tr v v tr ban
u.
Hnh 6.9- iu khin p phi hp
5. iu khin theo chng trnh cng
Cc iu khin my mc hon ton t ng c phn theo mun v c
ch nh theo cc iu khin chng trnh hoc cc iu khin lin tc. C hai
h thng c nhng ch li v nhng bt li. Vi iu khin chng trnh, cc
tc ng c thi hnh theo s tha thun vi mt chng trnh nh ngha
trc. Thng thng b chng trnh bao gm mt ci trc c vn hnh
bng in lp vi mt s cam (chi tit cam c kh) iu khin mt s van tng
ng. Chng trnh c bin dch bi cc cam c lp t chnh xc v tc
quay ca trc cam.
Hnh khai trin 6.10 m t mt iu khin theo chng trnh cng iu khin
my nong u ct ng nha theo kch thc. Tc ca ng c vn hnh
ng b thch ng vi khong thi gian ca mt chu k lm vic y hon
tt trong mt vng quay. Mi xy lanh tc ng kp c iu khin bi van tc
ng con ln 4/2 vi l xo tr v v tr ban u.
Hnh 6.10- iu khin theo chng trnh cng
6. iu khin tun t
Nguyn tc ca iu khin tun t l hot ng ca phn t trc s khi to
hot ng phn t k tip. Nu mt hot ng ca mt phn t no b li d
bt k l do g gy nn cc phn t tip theo sau khng c khi to v ton
b h thng s b dng. iu khin tun t c thit k cho cc vn hnh t
ng hoc bn t ng. Bn t ng khi tn hiu khi ng phi c tc ng
bng tay cho mi ln chy.
Hnh 6.11- m t mch iu khin
tun t bn t ng
Hnh 6.12- m t mch iu khin
tun t hon ton t ng.
6.3. Phng php thit k mch iu khin
Mch iu khin c xem nh l mt qu tim ca ca mt h thng lm vic
kh nn v thy lc. Do nhim v thit k hon chnh mt mch iu khin
m bo c s ng n v nguyn l hot ng, n gin, tin cy, n nh
v linh hot l ht sc c quan tm. Mun nh vy, c bn ta phi thc hin
trnh t nhng bc sau:
Biu din s chc nng ca qu trnh iu khin.
Vit chng trnh iu khin ca cc bc lm vic trong qu trnh.
Xy dng mch iu khin trn c s ca phng trnh iu khin.
6.3.1. Biu din chc nng ca qu trnh iu khin
Ty thuc vo tnh nng lm vic ca h thng m trong mt h thng iu
khin c th c mt hay nhiu mch iu khin thc hin cc nhim v ring
bit. Mt khc, hu ht trong cc h thng, cng ngh t ng hin i c s
kt hp rt nhiu cc c cu chp hnh khc nhau rt a dng: C kh, kh nn,
thy lc, in do trong qu trnh iu khin, tt yu l nhiu h thng iu
khin c kt hp vi nhau, v d: iu khin kh nn kt hp vi in, thy
lc, iu khin theo chng trnh PLC, my tnh
6.3.1.1. Biu trng thi
1. K hiu
Hnh 6.13- K hiu biu din biu trng thi
2. Thit k biu trng thi
Biu trng thi biu din cc trng thi hot ng ca cc phn t trong h
thng, mi lin h gia cc phn t v trnh t chuyn mch ca cc phn t.
Do n c xem nh l c s th hin nguyn l hot ng ca mt h
thng.
Trc tung ca biu trng thi l biu din trng thi (hnh trnh chuyn ng,
p sut, gc quay,). Trc honh biu din cc bc thc hin hoc l thi
gian hnh trnh. Hnh trnh lm vic c chia thnh nhiu bc. S thay i
trng thi cc bc c biu din bng cc ng nt m. S lin kt cc
tn hiu c th hin bng cc nt nh v chiu tc ng c biu din bng
mi tn
V d: thit k biu trng thi ca quy trnh iu khin sau:
Xy lanh tc dng kp 1A dn hng cc phi cc trn n mt khu lm vic k
tip. hai pha u v cui hnh trnh c gn 2 c hnh trnh 1S2 v 1S3.
Pittng dch chuyn y phi(hnh trnh i) khi ng thi 1S2 v nt nhn 1S1
c tc ng. Thi gian ca hnh trnh i l t1 = 0.6 s, thi gian hnh trnh v
l t2 = 0.4 s, thi gian pittng lu tr ti v tr 1S3 l t3 =1 s.
6.3.1.2. S chc nng
S chc nng bao gm cc lnh v cc bc thc hin. Cc bc thc
hin c k hiu theo s th t v cc lnh gm tn loi, loi lnh v v tr ngt
ca lnh
6.3.1.3. Lu tin trnh
1. K hiu
Lu tin trnh l gii thut (thut ton) ca mt qu trnh iu khin. Th hin
cc trnh t hot ng, nhng tn hiu tc ng nh hng n h thng iu
khin.
Hnh 6.17- K hiu biu din lu tin trnh
1S2=1
1S3=1
1S1=1
1S2=1
1A+
1A-
BEGIN
END
S
D
S
D
S
D
S
D
2. Thit k lu tin trnh
Nguyn tc hot ng ca mch iu khin hnh 6.18 c thc hin nh
sau:
- Bc thc hin th nht:
Khi pittng v tr ban u (1S2 =1, 1S3=0) nt nhn khi ng 1S3
tc ng pittng i ra (1A+).
- Bc thc hin th hai:
Khi pittng i n cui hnh trnh chm cng tc 1S1, pittng s li
v (1A-).
- Bc thc hin th ba:
Ti v tr ban u pittng chm cng tc 1S2, qu trnh iu khin kt
thc.
Qu trnh iu khin c vit nh sau:
- Bc thc hin th nht:

- Bc thc hin th hai:
1S1=1A- 1S2
- Bc thc hin th ba:
1S2 = 1 kt thc qu trnh
1 1 1 3 1 2 1 1 1 S A S S S

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