Điều khiển thủy lực và khí nén

BO GIAO DUC & AO TAO
TRNG AI HOC KY THUAT CONG NGHE TP.HCM

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IEU KHIEN KH NEN & THUY LC

TH.S LE VAN TIEN DUNG
IEU KHIEN KH NEN & THUY LC Muc luc

MUC LUC
Li m au 1
Muc luc 2
PHAN I : AI CNG VE IEU KHIEN KH NEN & THUY LC
CHNG 1 - C S LY THUYET
1.1. S lc ve he thong ieu khien kh nen va thuy lc 6
1.2. u va nhc iem cua he thong ieu khien bang kh nen & thuy lc 8
1.2.1. He thong kh nen
1.2.2. He thong thuy lc
1.3. Pham vi ng dung cua ieu khien kh nen & thuy lc trong cong nghiep 9
1.3.1. ng dung cua he thong kh nen
1.3.2. ng dung cua he thong thuy lc
1.4. n v o cua cac ai lng c ban 12
1.4.1. Ap suat
1.4.2. Lc
1.4.3. Cong
1.4.4. Cong suat
1.4.5. o nht ong
CHNG 2 - CUNG CAP VA X LY NGUON NANG LNG
2.1. Kh nen 16
2.1.1. San xuat kh nen
2.1.2. Phan phoi kh nen
2.1.3. X ly nguon kh nen
2.2. Thuy lc (dau ep) 23
2.2.1. Cung cap nang lng dau
2.2.2. X ly nguon dau
PHAN II: CAC THANH PHAN CUA HE THONG IEU KHIEN
KH NEN & THUY LC
CHNG 3 - PHAN T A TN HIEU VA X LY TN HIEU IEU KHIEN
3.1. Cac phan t a tn hieu 32
3.1.1. Tn hieu khong ien
3.1.2. Tn hieu ien
3.2. Cac phan t x ly tn hieu ieu khien 39
3.2.1. Phan t YES
3.2.2. Phan t NOT
3.2.3. Phan t AND
3.2.4. Phan t OR
3.2.5. Phan t NAND
3.2.6. Phan t NOR
3.2.7. Phan t Nh Flip-Flop
CHNG 4 - CAC PHAN T CHAP HANH
3

4.1. ong c (motor) 46
IEU KHIEN KH NEN & THUY LC Muc luc

4.1.1. ong c banh rang
4.1.2. ong c truc vt
4.1.3. ong c canh gat
4.1.4. ong c pt tong hng knh
4.1.5. ong c pt tong hng truc
4.2. Xy lanh (Cylinder) 49
4.2.1. Xy lanh tac ong n
4.2.2. Xy lanh tac ong kep
4.2.3. Xy lanh mang
4.2.4. Xy lanh quay
CHNG 5 - CAC PHAN T IEU CHNH VA IEU KHIEN
5.1. Khai niem 58
5.2. Cac phan t ieu chnh 59
5.2.1. Van an toan va van tran
5.2.2. Van can
5.2.3. Van giam ap
5.2.4. Van tiet lu
5.2.5. Van chan khong
5.2.6. Van ieu chnh thi gian
5.3. Cac phan t ieu khien 62
5.3.1. Van mot chieu
5.3.2. Van ao chieu
5.3.3. Cac van tuyen tnh 69
CHNG 6 - TNH TOAN TRUYEN ONG HE THONG KH NEN VA THUY LC
6.1. Ton that trong he thong ieu khien kh nen & thuy lc
6.1.1. Ton that trong he thong kh nen 78
6.1.2. Ton that trong he thong thuy lc 82
6.2. C s tnh toan truyen ong he thong
6.3. Tnh toan mot so mach ien hnh 90
PHAN III: PHAN TCH VA THIET KE
CHNG 7 - PHNG PHAP THIET KE MACH IEU KHIEN 94
7.1. Ly thuyet ai so boole 96
7.2. Phan loai phng phap ieu khien 100
7.3. Phng phap thiet ke mach ieu khien 103
7.3.1. Bieu dien chc nang cua qua trnh ieu khien 103
7.3.1.1. Bieu o trang thai
7.3.1.2. S o chc nang
7.3.1.3. Lu o tien trnh
7.3.2. Viet phng trnh ieu khien 108
7.3.3. Ve s o mach ieu khien 109
7.4. ieu khien banh lap trnh 111
4

Tai lieu tham khao 118
IEU KHIEN KH NEN & THUY LC Li noi au

LI NOI AU

Cung s phat trien khong ngng cua lnh vc t ong
hoa, ngay nay cac thiet b truyen dan, ieu khien kh nen
thuy lc s dung trong may moc tr nen rong rai hau het
cac lnh vc cong nghiep nh may cong cu CNC, phng tien
van chuyen, may dap, may xay dng, may ep phun, may bay,
tau thuy, may y khoa, day chuyen che bien thc pham, do
nhng thiet b nay lam viec linh hoat, ieu khien toi u, am
bao chnh xac , cong suat ln vi kch thc nho gon va lap
at de dang nhng khong gian chat hep so vi cac thiet b
truyen ong va ieu khien bang c kh hay ien.

Nham trang b cho ban oc nen kien thc tot nhat e tiep
can nhanh chong vi cac thiet b cua he thong ieu khien kh
nen thuy lc trong thc te. Bang nhng kinh nghiem tac gia
uc ket c cua nhieu nam lam viec thc tien tren cac may,
cong nghe ieu khien so hien ai gop phan vao ao tao
nguon nhan lc, tac gia a bien soan ra cuon sach nay.
Cuon sach ieu khien kh nen & thuy lc c tac gia
tong hp t nhng kien thc c ban cua cac lnh vc lien
quan. Hy vong qua noi dung cua cuon sach nay ban oc co
the tnh toan, thiet ke, lap at va ieu khien c mot he
thong truyen dan kh nen & thuy lc theo cac yeu cau khac
nhau.
Trong qua trnh bien soan cuon sach nay, khong the
tranh khoi nhng thieu sot. Rat mong s ong gop cua cac
oc gia gan xa.

Tp.HCM, ngay 17 thang 10 nam 2004
Tac gia

1
IEU KHIEN KH NEN & THUY LC Chng 1 ai cng ve ieu khien Kh nen & Thuy lc

PHAN I
AI CNG VE IEU KHIEN
KH NEN & THUY LC

CHNG 1
C S LY THUYET

S lc ve he thong ieu khien kh
nen & thuy lc
He thong ieu khien
Tn hieu ieu khien
ieu khien vong h
ieu khien vong kn

u va nhc iem cua he thong
ieu khien thuy lc & kh nen
Pham vi ng dung
Cong thc va n v o c ban
Bai tap

5

1.1. S LC VE HE THONG IEU KHIEN KH NEN VA THUY LC

1.1.1. He thong ieu khien
He thong ieu khien kh nen & thuy lc bao gom cac phan t ieu khien va c cau
chap hanh c noi ket vi nhau thanh he thong hoan chnh e thc hien nhng nhiem vu
theo yeu cau at ra. He thong c mo ta nh hnh 1-1.

Nang lng ieu khien
Phan hoi
C cau chap hanh ( bien
nang lng -> c nang)
X ly thong tin,
ieu khien
Tn hieu
au vao

Hnh 1.1 He thong ieu khien kh nen & thuy lc

- Tn hieu au vao: nut nhan, cong tac; cong tac hanh trnh; cam bien.
- Phan x ly thong tin: x ly tn hieu nhan vao theo mot quy tac logic xac nh, lam thay
oi trang thai cua phan t ieu khien: van logic And, Or, Not, Yes, Flip-Flop, rle
- Phan t ieu khien: ieu khien dong nang lng ( lu lng, ap suat) theo yeu cau, thay
oi trang thai cua c cau chap hanh: van chnh ap, van ao chieu, van tiet lu, ly hp
- C cau chap hanh: thay oi trang thai cua oi tng ieu khien, la ai lng ra cua mach
ieu khien: xy lanh kh-dau, ong c kh nen-dau.
- Nang lng ieu khien: bao gom phan thong tin va cong suat.
Phan thong tin:
-ien t
- ien c
- kh
- dau
- quang hoc
- sinh hoc
Phan cong suat:
- ien: cong suat nho, ieu khien hoat ong de, nhanh.
- Kh: cong suat va, quan tnh, toc o cao.
- Thuy: cong suat ln, quan tnh t - de on nh, toc o thap.
1.1.2. Cac loai tn hieu ieu khien
Trong ieu khien kh nen va thuy lc noi chung ta s dung hai loai tn hieu:

6
+ tng t (hnh 1.2.a)

+ ri rac (so) (hnh 1.2.b).

S(signal)
S(signal)

1

0
t (time)
t (time)
Hnh 1.2.b Hnh 1.2.a

1.1.3. ieu khien vong h
He thong ieu khien vong h la khong co s so sanh gia tn hieu au ra vi tn
hieu au vao, gia tr thc thu c va gia tr can at khong c ieu chnh, x ly. Hnh
1.3 mo ta he thong ieu khien toc o ong c thuy lc.

Toc o
- Thay oi tai trong
- Thay oi lu lng bm
- Thay oi ap suat he
- Thay oi t
0
dau
Lu lng
Lu lng
ong c
thuy lc
Gia tr at

Van ieu
khien t le

Hnh 1.3 He thong ieu khien h toc o ong c thuy lc

1.1.4. ieu khien vong kn (hoi tiep)
He thong ma tn hieu au ra c phan hoi e so sanh vi tn hieu au vao. o
chenh lech cua 2 tn hieu vao ra c thong bao cho thiet b ieu khien, e thiet b nay tao
ra tn hieu ieu khien tac dung len oi tng ieu khien sao cho gia tr thc luon at c
nh mong muon. Hnh 1.4 minh hoa he thong ieu khien v tr cua chuyen ong can pt
tong xy lanh thuy lc.

Bo ieu
khien t le
Khuech
ai t le
-
+
Phan t
so sanh
k
p
V tr
o lng vi tr
Tn hieu
ieu khien
(u)
Lu lng
Van ieu
khien t le
Gia tr at

Xy lanh
thuy lc

Hnh 1.4 He thong ieu khien kn vi tr pt tong thuy lc

7

1.2. U VA NHC IEM CUA HE THONG IEU KHIEN KH NEN & THUY
LC
1.2.1. Kh nen
a) u iem
Tnh ong nhat nang lng gia phan I va P ( ieu khien va chap hanh) nen bao
dng, sa cha, to chc ky thuat n gian, thuan tien.
Khong yeu cau cao ac tnh ky thuat cua nguon nang lng: 3 8 bar.
Kha nang qua tai ln cua ong c kh
o tin cay kha cao t truc trac ky thuat
Tuoi tho ln
Tnh ong nhat nang lng gia cac c cau chap hanh va cac phan t chc nang bao
hieu, kiem tra, ieu khien nen lam viec trong moi trng de no, va bao am moi
trng sach ve sinh.
Co kha nang truyen tai nang lng xa, bi v o nht ong hoc kh nen nho va ton that
ap suat tren ng dan t.
Do trong lng cua cac phan t trong he thong ieu khien bang kh nen nho, hn
nakha nang gian n cua ap suat kh ln, nen truyen ong co the at c van toc rat
cao.
b) Nhc iem
Thi gian ap ng cham so vi ien t
Kha nang lap trnh kem v cong kenh so vi ien t , ch ieu khien theo chng trnh
co san. Kha nang ieu khien phc tap kem.
Kha nang tch hp he ieu khien phc tap va cong kenh.
Lc truyen tai trong thap.
Dong kh nen thoat ra ng dan gay tieng on
Khong ieu khien c qua trnh trung gian gia 2 ngng.
1.2.2. Thuy lc
a) u iem
- Truyen ong c cong suat cao va lc ln nh cac c cau tng oi n gian, hoat ong
vi o tin cay cao, oi hoi t ve cham soc, bao dng.
- ieu chnh c van toc lam viec tinh va khong cap nh cac thiet b ieu khien ky thuat
so hoa, de thc hien t ong hoa theo ieu kien lam viec hoac chng trnh a cho san.
- Ket cau nho gon, noi ket gia cac thiet vi nhau de dang bang viec oi cho cac moi noi
ong.
- De bien oi chuyen ong quay cua ong c thanh chuyen ong tnh tien cua c cau chap
hanh.
- Co kha nang giam khoi lng va kch thc nh chon ap suat thuy lc cao.
- Nh quan tnh nho cua bm va ong c thuy lc, nh tnh chu nen cua dau nen co the s
dung van toc cao ma khong s b va ap manh nh trong trng hp c kh hay ien.
- De theo doi va quan sat bang ap ke, ngay ca nhng he mach phc tap.
- T ong hoa n gian dung cac phan t tieu chuan hoa.
- De e phong qua tai nh van an toan.

8

b) Nhc iem
- Mat mat trong ng ong dan va ro r ben trong cac phan t, lam giam hieu suat va
pham vi ng dung.
- Kho gi c van toc khong oi khi phu tai thay oi do tnh nen c cua dau va tnh
an hoi cua ng ong dan.
- Nhiet o va o nht thay oi lam anh hng en o chnh xac ieu khien.
- Kha nang lap trnh va tch hp he thong kem nen kho khan khi thay oi chng trnh lam
viec.
- Khi mi khi ong, nhiet o cua he thong cha on nh, van toc lam viec thay oi do o
nht cua chat long thay oi.

1.3. PHAM VI NG DUNG CUA IEU KHIEN KH NEN & THUY LC
1.3.1. Pham vi ng dung cua ieu khien kh nen
He thong ieu khien kh nen c s dung rong rai nhng lnh vc ma o van
e nguy hiem, hay xay ra cac chay no, nh: cac o ga kep cac chi tiet nha, chat deo;
hoac c s dung trong nganh c kh nh cap phoi gia cong; hoac trong moi trng ve
sinh sach nh cong nghe san xuat cac thiet b ien t. Ngoai ra he thong ieu khien bang
kh nen c s dung trong cac day chuyen san xuat thc pham, nh: ra bao b t ong,
chiet nc vo chai; trong cac thiet b van chuyen va kiem tra cua cac bang tai, thang may
cong nghiep, thiet b lo hi, ong goi, bao b, in an, phan loai san pham va trong cong
nghiep hoa chat, y khoa va sinh hoc.

1.3.2. Pham vi ng dung cua ieu khien thuy lc
He thong ieu khien thuy lc c s dung trong lnh vc cong nghiep, nh: may
ep ap lc, may nang chuyen, may cong cu gia cong kim loai, may dap, may xuc, ti keo,
Di ay la mot so hnh minh hoa ve ng dung cua he thong ieu khien kh nen va
thuy lc.
He thong nang bao dng xe

Tay may gap san pham bang kh nen

9

Khuon tao de xe may May cat thuy lc

Ghep cac c cau khuon

May ep thuy lc

May can thuy lc

10

May ep e giay

May chan thuy lc

May uon ong thuy lc

Phan loai san pham

ong goi san pham

11

1.4. CONG THC VA N V O CUA CAC AI LNG C BAN
1.4.1. Lc
- n v cua lc la Newton (N). 1 Newton la lc tac ong len oi trong co khoi lng 1kg
vi gia toc 1 m/s
2
.
1 N = 1 kg.m/s
2

1.4.2. Ap suat
- n v c ban cua ap suat theo he o lng SI la pascal.
- Pascal (Pa) la ap suat phan bo eu len be mat co dien tch 1m
2
vi lc tac ong vuong
goc len be mat o la 1 Newton (N).
1 Pascal = 1 N/m
2
= 1kg m/s
2
/m
2
= 1kg/ms
2

- Ngoai ra con dung n v bar:
1 bar = 10
5
Pa = 1Kg/cm
2
=1 at
- Mot so nc t ban con dung n v psi ( pound (0.45336 kg) per square inch (6.4521
cm
2
)
K hieu lbf/in
2
(psi); 1 bar = 14,5 psi
- Ap suat co the tnh theo cot ap lu chat
P = wh
Trong o: w trong lng rieng lu chat
h chieu cao cot ap
1.4.3. Lu lng
- Lu lng la van toc dong chay cua lu chat qua mot tiet dien dong chay. n v thng
dung la l/min.
Q = v.A
Trong o: Q lu lng cua dong chay
A Tiet dien cua dong chay
v Van toc trung bnh cua dong chay
1.4.3. Cong
- n v cua cong la Joule (J). 1 Joule la cong sinh ra di tac ong cua lc 1 N e vat dch
chuyen quang ng 1 m.
1 J =1Nm
1 J = 1 m
2
kg/s
2
- Cong c tnh theo cong thc:
Wk = F*L
Trong o: F lc tac dung vao vat
L quang ng vat i c.

1.4.4. Cong suat
-n v cong suat la Watt
-1 Watt la cong suat, trong thi gian 1 giay sinh ra nang lng 1 joule.
1 W = 1 Nm/s
1 W = 1 m
2
kg/s
3

- Cong suat c tnh theo cong thc:

12

(kW)
600
(bar) P * (l/min) Q
H=

1.4.5. o nht
- o nht ong cua mot chat la co o nht ong lc 1 Pa.s va khoi lng rieng 1 kg/cm
3
.

v =
Trong o:
: o nht ong lc [Pa.s]
: khoi lng rieng [kg/m
3
]
v: o nht ong [m
2
/s]
- Ngoai ra ta con s dung n v o nht ong la Stokes (St) hoac la centiStokes (cSt).
Chu y: o nht ong khong co vai tro quan trong trong he thong ieu khien kh nen ma no
rat quan trong trong ieu khien thuy lc.

13


BAI TAP CHNG 1
Bai 1:
Loi vao cua bm thuy lc la cach be mat cua be cha dau la 0.6m. Trong lng
rieng cua dau 0.86 g/cm
3
. Xac nh ap suat tnh tai loi vao cua bm.
Bai 2:
Tnh toan ng knh trong cua ong hut va ong ay cua bm co lu lng la 40
l/min lam viec vi van toc ln nhat ong hut la 1.2m/s va ong ay la 3.5m/s.
Bai 3:
Mot bm thuy lc co thong so lu lng 12l/min va ap suat lam viec la 200 bar.
1.Tnh cong suat thuy lc bm
2.Neu hieu suat lam viec cua bm la 60% th cong suat cua ong c ien can thiet truyen
ong bm la bao nhieu.

14
IEU KHIEN KH NEN & THUY LC Chng 2 San xuat & phan phoi nguon nang lng

CHNG 2

SAN XUAT VA PHAN PHOI
NGUON NANG LNG

Kh nen
San xuat kh nen
Phan phoi kh nen
X ly kh nen

Thuy lc
Cung cap nang lng
X ly dau
Bai tap

15


2.1. KH NEN
2.1.1. San xuat kh nen
He thong ieu khien kh nen hoat ong da vao nguon cung cap kh nen, nguon kh
nay phai c san xuat thng xuyen vi lng the tch ay u vi mot ap suat nhat nh
thch hp cho nang lng he thong.
2.1.1.1. May nen kh
May nen kh la may co nhiem vu thu hut khong kh, hi am, kh ot mot ap suat
nhat nh va tao ra nguon lu chat co ap suat cao hn.
2.1.1.2 Cac loai may nen kh
May nen kh c phan loai theo ap suat hoac theo nguyen ly hoat ong. oi vi
nguyen ly hoat ong ta co:
-May nen theo nguyen ly the tch: may nen pt tong, may nen canh gat.
-May nen tuoc bin la c dung cho cong suat rat ln va khong kinh te khi s dung
lu lng di mc 600m
3
/phut. V the no khong mang lai ap suat can thiet cho ng dung
ieu khien kh nen va hiem khi s dung.
2.1.1.2.1. May nen kieu pt tong (Reciprocating compressors)
May nen pt tong (hnh 2.1) la may nen pho bien nhat va co the cung cap nang suat
en 500m
3
/phut. May nen 1 pt tong co the nen kh khoang 6 bar va ngoai le co the en 10
bar; may nen kieu pt tong hai cap co the nen en 15 bar; 3-4 cap len en 250 bar.
Kh nen
Chu k hut
Chu k nen va ay
Pt tong
K hieu
Hnh 2.1 May nen kieu pt tong
Khong kh

Lu lng cua may nen pt tong:

Q
v
= V.n.
v
.10
-3
[lt / phut] (2.1)
Trong o:
V - The tch cua kh nen tai i trong mot vong quay [cm
3
];
n So vong quay cua ong c may nen [vong / phut]

v
Hieu suat nen [%]
2.1.1.2.2. May nen kieu canh quat (Rotary compressors)

16


Nguyen ly hoat ong cua may nen kh kieu canh gat mo ta hnh 2.2: khong kh se
c vao buong hut. Nh roto va stato at lech tam, nen khi roto quay chieu sang phai, th
khong kh vao buong nen. Sau o kh nen se i ra buong ay.
Lu lng cua may nen canh gat tnh theo []:

Q
v
= (.D z.a).2.e.b.n. [m
3
/phut] (2.2)

Buong
hut
Buong
ay
2
e
a
D
K hieu
Hnh 2.2 May nen kieu canh gat
Trong o:
a - Chieu day canh gat [m];
e o lech tam [m];
z So canh gat;
D ng knh stato [m];
n So vong quay roto [vong/phut];
b Chieu rong canh gat [m].
- Hieu suat ( = 0,7 0,8);

2.1.2. Phan phoi kh nen
He thong phan phoi kh nen co nhiem vu chuyen khong kh nen t ni san xuat en
ni tieu thu, am bao ap suat p va lu lng Q va chat lng kh nen cho cac thiet b lam
viec, v du nh van, ong c kh, xy lanh kh
Truyen tai khong kh nen c thc hien bang he thong ong dan kh nen, chu y oi
vi he thong ong dan kh co the la mang ng ong c lap rap co nh (trong toan nha
may) va mang ng ong lap rap trong tng thiet b, trong tng may mo ta hnh 2.3.
oi vi he thong phan phoi kh nen ngoai tieu chuan chon may nen kh hp l, tieu
chuan chon ung cac thong so cua he thong ong dan ( ng knh ong, vat lieu ong); cach

17


lap at he thong ong dan, bao hanh he thong phan phoi cung ong vai tro quan trong ve
phng dien kinh te cung nh yeu cau ky thuat cho he thong ieu khien kh nen.

2.1.2.1. Bnh nhan va trch kh nen
Bnh trch cha kh nen co nhiem vu can bang ap suat kh nen cua may nen kh
chuyen en, trch cha, ngng tu va tach nc trc khi chuyen en ni tieu thu.
Kch thc cua bnh trch cha phu thuoc vao cong suat cua may nen kh, cong suat
tieu thu cua cac thiet b s dung vaphng phap s dung kh nen.
Bnh trch cha kh nen co the at nam ngang, nam ng. ng ong ra cua kh nen
bao gi cung nam v tr cao nhat cua bnh trch cha (hnh 2.4).

2.1.2.2. ng ong
ng ong dan kh nen co ng knh trong vai milimet tr len. Chung c lam
bang cac vat lieu cao su, nha hoac kim loai.
Thong so c ban kch thc ong (ng knh ben trong) phu thuoc vao: van toc dong
chay cho phep, ton that ap suat cho phep, ap suat lam viec, chieu dai ong, lu lng, he so
can tr dong chay va cac phu kien noi ong.

18

ressor
Air
receiver
Service unit
Air accumulator within
pneumatic system
Air consumer
Air accumulator for
several consumers
Condensate trap
Drain lock
s
l
o
p
e

1
-
2
%
ng kh nen vao
ng kh nen ra
a. b.
Hnh 2.4 Cac loai bnh trch cha
Hnh 2.3 He thong phan phoi kh nen
Comp

- Lu lng: phu thuoc vao van toc dong chay (Q=v.F). Van toc dong chay cang ln, ton
that ap suat trong ong cang ln.
- Van toc dong chay: van toc dong chay cua kh nen trong ong dan nen chon la t 6 10
m/s. Van toc cua dong chay khi qua cac cho ln cua cua ong hoac noi ong, van, nhng
ni co tiet dien nho lai se tang len, hay van toc dong chay se tang len nhat thi khi cac
thiet b hay may moc ang van hanh.
- Ton that ap suat: tot nhat khong vt qua 0.1 bar. Thc te sai so cho phep en 5% ap
suat lam viec. Nh vay ton that ap suat la 0.3 bar la chap nhan c vi ap suat lam
viec la 6 bar.
- He so can dong chay: khi lu lng kh i qua cac cho noi khp, van, khuc cong se gay
ra hien tng can dong chay. Bang 1, bieu th cac he so can tng ng chieu dai ong
dan l cua cac phu kien noi.

Chieu dai ong dan tng ng l (m)
ng knh trong cua ong dan (mm)

Phu kien noi
25 40 50 80 100 125 150
Van kieu mang
mong

1,2 2,0 3,0 4,5 6 8 10
Van khoa

6 10 15 25 30 50 60
Van m mot phan

3 5 7 10 15 20 25
Van chan

0,3 0,5 0,7 1 1,5 2 2,5
Noi vuong goc

1,5 2,5 3,5 5 7 10 15
o cong R = d
d

0,3 0,5 0,6 1 1,5 2 2,5
o cong R = 2d
R

0,15 0,25 0,3 0,5 0,8 1 1,5
Ong noi T

2 3 4 7 10 15 20
Noi ong thu nho
d
2
d
0,5 0,7 1 2 2,5 3,5 4
Bang 1 Gia tr he so can tng ng chieu dai ong dan l
Trong thc te e xac nh cac thong so c ban cua mang ng ong ngi ta da vao
bieu o c cho trong hnh 2.5 di ay.

19


1 2 3 4 5 6 10 50 60 100 200 500 600 1000 2000 20
10
0.1 0.05 0.02 0.01 001 0.002 0.005 0.2 0.5 1
15
20
25
30
35
40
100
50
5
4
3
2
1
Chieu dai cua ong (mm)
Ton that ap suat trong ong dan (bar)
L
u

l
n
g

k
h

n
e
n

(
l
t

/

s
)
Ap suat yeu cau (bar)
2 3 5 7 10 15

Hnh 2.5 Bieu o s phu thuoc cua cac thong so
n
g

k
n
h

t
r
o
n
g

c
u
a

o
n
g

(
m
m
)
0.
25
32
40
50
60
80
125
150
70
100
Theo bieu o hnh 2.5, cac thong so yeu cau nh ap suat p, lu lng q, chieu dai
ong, to that ap suat p va ng knh ong co moi lien he phu thuoc vi nhau.

V du: ap suat yeu cau p = 7 [bar]
Chieu dai ong l = 200 [m]
Lu lng q
v
= 10 [m
3
/phut]
Ton that ap suat p = 0,1 [bar]
T bieu o hnh 2.5 ta xac nh c moi quan he gia cac ai lng tren bang
ng net am va t o ta c ng knh trong cua ong dan can chon = 70 mm.
2.1.3. X ly kh nen

20


Kh nen c tao ra t may nen kh co cha nhieu chat ban, o ban co the cac mc
o khac nhau. Chat ban co the la bui, o am cua khong kh hut vao, nhng can ba cua dau
boi trn va truyen ong c kh. Hn na trong qua trnh nen nhiet o cua kh nen tang len,
co the gay ra oxy hoa mot so phan t cua he thong. Do o viec x ly kh nen can phai thc
hien bat buoc. Kh nen khong c x ly thch hp se gay h hong hoac gay tr ngai tnh
lam viec cua cac phan t kh nen. ac biet s dung kh nen trong he thong ieu khien oi
hoi chat lng kh nen rat cao. Mc o x ly kh nen tuy thuoc vao tng phng phap x
ly. Trong thc te ngi ta thng dung bo loc e x ly kh nen (hnh 2.6).

K hieu

Hnh 2.6 Bo loc kh

Bo loc kh co 3 phan t: van loc, van ieu chnh ap suat va van tra dau.
Van loc kh (hnh 2.7) la lam sach cac chat ban va ngng tu hi nc cha trong no.
Kh nen se tao chuyen ong xoan khi qua la xoan kim loai, sau o qua phan t loc, cac
chat ban c tach ra va bam vao mang loc, cung vi nhng phan t nc c e lai nam
ay cua bau loc. Tuy theo yeu cau chat lng cua kh nen ma chon phan t loc. o ln
cua phan t loc nen chon t 20m 50m.

21

Ca xa nuc
Tam ngan cach
Phan t loc
La kim loai xoan
Phan cha nc
Kh vao Kh ra
Hnh 2.7 Van loc kh nen
K hieu

Van ieu chnh ap suat: nhiem vu cua van ap suat la on nh ap suat ieu chnh, mac
du co s thay oi bat thng cua ap suat lam viec ng ra hoac s dao ong cua ap
suat au vao. Ap suat au vao luon luon la ln hn ap suat au ra (hnh 2.8).

Van ieu chnh ap c ieu chnh bang vt ieu chnh tac ong len mang kn. Pha
tren cua mang chu tac dung cua ap suat au ra, pha di chu tac dung cua lc lo xo sinh
ra do vt ieu chnh. Bat ky s tang ap au tieu thu gay cho mang kn dch chuyen chong
lai lc can cua lo xo v vay han che dong kh i qua mieng van cho ti luc co the ong sat.
Khi kh nen c tieu thu, ap suat au ra giam, ket qua la a van c m b lc can lo
xo lc. e ngan chan a van dao ong chap chn phai dung en lo xo can gan tren a
van.
Van tra dau: c s dung am bao cung cap boi trn cho cac thiet b trong he thong
ieu khien kh nen nham giam ma sat, s an mon va s g (hnh 2.9).

22

vao Kh ra
2
P
P
1
u chnh
c
n
van
an
Ca xa kh
Vt ieu chnh
Lo quan sat
Hnh 2.9 Van tra dau
Kh vao Kh + dau boi trn
K hieu
Van mot chieu
Ong dan dau
Ong venturi
Hnh 2.8 Van ieu chnh ap suat
K hieu
Kh
Vt ie
Lo xo l
Mang k
Mieng
a van
Lo xo c

2.2. THUY LC
2.2.1. Cung cap nang lng dau ep
Trong he thong ieu khien thuy lc nguon nang lng c dung e he hoat ong la
dau ep. e cung cap nang lng cho he thong ieu khien thng s dung thiet b bm dau.
Bm dau la mot phan t quan trong nhat cua he thong ieu khien thuy lc, dung e
bien c nang thanh nang lng cua dau. Nhng thong so c ban cua bm la lu lng va
ap suat.
Lu lng cua bm ve ly thuyet khong phu thuoc vao ap suat (tr bm ly tam), ma
ch phu thuoc vao kch thc hnh hoc va van toc quay cua no. Nhng trong thc te do s
ro r qua khe h gia khoang hut va khoang ay, gia khoang ay vi ben ngoai nen lu
lng thc te cua bm nho hn lu lng ly ly thuyet va giam dan khi ap suat tang.
2.2.1.1. Cac loai bm
2.2.1.1.1. Bm banh rang
Bm banh rang co ket cau nh hnh 2.10

Nguyen ly lam viec cua bm banh rang la s thay oi the tch: khi the tch cua buong
hut (A) tang, bm dau hut, thc hien chu ky hut; va khi the tch giam, bm ay dau ra
buong (B), thc hien chu ky nen. Neu tren ng i cua dau ta at mot vat can th dau se
b chan lai tao nen mot ap suat nhat nh phu thuoc vao o ln cua sc can va ket cau cua
bm.
Buong hut A
Buong ay B
K hieu
Hnh 2.10 Nguyen ly lam viec bm banh rang
Lu lng bm banh rang c tnh theo cong thc:

[l/ph] .
1000
Q
v
d.m.z.b.n 2
=
(2.3)

Trong o:
m mo un cua banh rang [cm];
d ng knh vong chia banh rang [cm];
b be rong banh rang [cm];
n so vong quay trong mot phut [cm];
z so rang;

23


v
hieu suat the tch.
2.2.1.1.2 Bm canh gat
Bm canh gat c dung rong rai hn bm banh rang do on nh ve lu lng, hieu
suat the tch cao hn.
Lu lng bm co the thay oi bang cach thay oi o lech tam.

Lu lng cua bm canh gat tac ong mot ky nhieu canh c tnh theo cong thc:

Trong o:
d ng knh stato [cm];
b Chieu rong canh gat [cm];
e o lech tam [cm];
ong
y B
ong
t A
Canh gat
Roto
Stato
(2.4)
[l/ph]
d.b.n.e
1000
2
Q=
Hnh 2.11 Bm canh gat tac ong n
Bu
a
Bu
hu
n So vong quay cua roto [vong/phut].
2.2.1.1.3. Bm pt tong
Bm pt tong co kha nang lam kn tot hn so vi bm canh gat va banh rang, bi vay
bm pt tong c s dung rong rai trong he thong thuy lc lam viec ap suat cao. Phu
thuoc vao v tr cua pt tong oi vi roto, co the phan biet chung thanh bm hng knh va
hng truc.
2.2.1.1.3.1. Bm hng knh
Bm dau pt tong hng knh co cac pt tong chuyen ong hng tam voi truc quay
cua roto. Tuy thuoc vao so pt tong ta co lu lng khac nhau (hnh 2.12).

24

Hnh 2.12 Bm piston hng knh
5
2
3
4
1

Lu lng bm hng knh c tnh theo cong thc:

] / [ 10 . . . .
4
ph l n i h Q
3
2
d

=
(2.5)

Trong o:
d ng knh pt tong [cm];
h Khoang chay pt tong, h = 2e = (1.3 1.4)d ; e : o lech tam [cm];
i So pt tong;
n So vong quay cua roto trong mot phut.
2.2.1.1.3.2. Bm hng truc
Bm pt tong hng truc la loai bm co cac pt tong at song song vi truc roto va
c truyen bang khp noi vi truc quay cua ong c ien (hnh 2.13 ). Bm pt tong
hng truc co u iem la kch thc nho gon va hau het eu chnh lu c nh ieu chnh
goc nghien cua ket cau a nghien trong bm.

Lu lng bm hng truc c tnh theo cong thc:

Trong o:
d ng knh pt tong [cm];
D ng knh tren o phan bo cac xy lanh [cm];
i So pt tong;
n so vong quay cua truc roto [vg/ph];
- goc nghien cua roto vi truc quay [o].
Hnh 2.13 Bm pt tong hng truc
d
D
h
(2.6)
3
2
ph l tg n i D
d
Q

=
] / [ 10 . . . . .
4

25


2.2.1.2. Be Dau
2.2.1.2.1. Nhiem vu
- Cung cap dau cho he thong lam viec theo chu trnh kn ( cap va nhan dau chay ve).
- Giai toa nhiet sinh ra trong qua trnh bm dau lam viec.
- Lang ong cac chat can ba, d ban trong qua trnh lam viec.
- Tach nc.
2.2.1.2.2. Chon kch thc be dau
oi vi be dau di ong, the tch c chon nh sau:
V = 1,5.q
v
(2.7)
oi vi loai be dau co nh, the tch be dau c chon nh sau:
V = (3,0 5,0).q
v
(2.8)
Trong o: V [lt] ; q
v
[lt/phut]

2.2.1.2.3. Ket cau cua be dau
Hnh 2.14 mo ta bo nguon cung cap nang lng dau. Khi ong c (1) co ien, bm
dau lam viec, dau c hut len qua qua ong hut (15) cap cho he thong ieu khien qua ca
ap (5), dau xa c cho ve lai thung (11) qua ca (8) qua bo loc (16).

Hnh 2.14 Ket cau bo nguon dau

26


Dau thng c o vao thung (11) qua mot ca (10) bo tr tren nap be loc va co the
kiem tra mc dau at yeu cau nh mat dau (9).
Quan sat ap suat cua bo nguon dau bang ong ho ap suat (7). Gia tr ap suat gii han
cua nguon c ieu chnh bang van an toan ap suat (6).

2.2.2. X LY DAU
Trong he thong ieu khien thuy lc, viec x ly dau thng dung en bo loc dau.
Hnh 2.15 la cac bo loc vi cac kch thc va chung loai khac nhau. Trong qua trnh
lam viec khong tranh khoi dau b ban do cac chat ban c tao ra t ben ngoai hay ban
than cua no. Nhng chat ban nay a gay ra hien tng ket cac khe h, cac tiet dien dong
chay lam anh hng rat ln en s on nh hoat ong cua he thong va h hong. Do o
trong he thong dau ep ta thng gan cac bo loc dau e ngan nga chat ban tham nhap vao
ben trong cac c cau, phan t dau ep.
Bo loc dau thng at ong hut cua bm dau. Trng hp can dau sach hn, at
them mot bo na ca ra cua bm, va mot ong xa cua he thong dau ep.
Lu lng chay qua bo loc dau, ta dung cong thc tnh lu lng qua li loc:

] / [
.
ph l
p A
Q

=
(2.9)
Trong o:
A dien tch toan bo be mat loc [cm
2
];
p - hieu ap cua bo loc (p = p
2
p
1)
[bar];
- o nht ong lc cua dau [P];
- he so loc, ac trng cho lng dau chay qua bo loc tren n v dien tch
va thi gian [l/cm
2
.ph].
Tuy thuoc vao ac iem cua bo loc, co the lay = 0,006 0,009.

Hnh 2.15 Bo loc

Mot so cach lap bo loc dau trong he thong
Tuy theo yeu cau chat lng cua dau trong he thong ieu khien, ma ta co the lap cac
bo loc dau cac v tr khac nhau (hnh 2.16).

27


M
a. Bo loc lap ng hut
M
T
b. Bo loc lap ng nen
M
c. Bo loc lap ng xa
T

Hnh 2.16 - Cach lap bo loc trong he thong

28


BAI TAP CHNG 2
Bai 1:
Mot bm chuyen di v tr co the tch la 14 cm
3
/rev c quay vi 1440 rev/min va
ap suat lam viec ln nhat la 150 bar. Hieu suat the tch la 0.9 va hieu suat tong cua bm la
0.8. Tnh:
1. Lu lng bm trong 1 phut
2. Cong suat vao can thiet tai truc bm.
3. Momen truyen ong tai truc bm.
Bai 2:
Mot bm chuyen di v tr vi lu lng 1l/min c bm vao mot ong co the tch
la 1 lt. Neu cuoi ong b khoa ot ngot, tnh tang ap sau 1 giay.
Bai 3:
Mot may nen can mot lu lng 200l/min e m va ong khuon ap suat ln nhat
la 30 bar. Hanh trnh lam viec (khi ep) can mot ap suat toi a la 400 bar, th lu lng
trong khoang 12 20 l/min thoa man hay khong? Cong suat cua bm dch chuyen v tr la
bao nhieu?

29

IEU KHIEN KH NEN & THUY LC Chng 3 Cac phan t a & x ly tn hieu

PHAN II

CAC THANH PHAN CUA HE THONG
IEU KHIEN KH NEN & THUY LC

Khai niem

Mot he thong ieu khien thuy lc - kh nen co the la mot he ieu khien kn hay mot
he h, ve c ban no cha cac thanh phan, phan t c mo ta nh hnh 3.1.
Tuy theo nhiem vu hoat ong cua oi tng ieu khien, mc o phc tap cua he ieu
khien ma ta co the phan tch, chon cac phan t thch hp cho viec thiet ke he ieu khien
va he thong ong hoc.

Nguon nang lng
C cau chap hanh
Phan t ieu khien
Phan t x ly tn hieu
(1V2)
Phan t a tn hieu
(1S1, 1S2, 1S3)
Bo phan loc
ai lng vao (vat l)
Lu lng, Ap suat
Hnh 3.1 Cau truc mach ieu khien va cac phan t

30

CHNG 3

PHAN T A TN HIEU VA X LY
TN HIEU IEU KHIEN

Cac phan x ly tn hieu
Phan t YES
Phan t NOT
Phan t AND
Phan t OR
Phan t NAND
Phan t NOR
Phan t Flip-Flop
Phan t thi gian

Cac phan t a tn hieu
Nut nhan
Cong tac
Gii han hanh trnh
Cam bien

31

3.1. CAC PHAN T A TN HIEU
Tn hieu tac ong va a vao x ly co the la ien, kh nen, thuy lc. Cac phan t a tn
hieu co the: nut nhan, gii han hanh trnh, cong tac, rle, bo nh thi, bo em, cac cam
bien.

3.1.1. Nut nhan
Nut nhan tac ong th tiep iem (1,2) m ra va tiep iem (1,4) noi lai.

3.1.2. Cong tac

Cong tac thc hien chuyen oi trang thai khi tac ong

32
4
2
1
ien
1
1
2
4
Hnh 3.2 Tn hieu ien (NO va NC)
P
A
A
P
Hnh 3.3 Tn hieu kh- thuy lc (NC)
A
P
A
P
Hnh 3.4 Tn hieu kh- thuy lc (NO)
P A
P
A
Hnh 3.5 Cong tac
K hieu thuy - kh
K hieu ien

Normally
closed
Normally
open
Free
flow
Restricted
flow
Pilot control
3.1.3. Gii han hanh trnh

V du: ng dung cong tac hanh trnh e khi ap thang xe th en bao hieu sang (hnh
3.8).

1
2 4
Hnh 3.6 Gii han hanh trnh ien
1
4
2
Hnh 3.7 Gii han hanh trnh kh - thuy

Hnh 3.8 ap thang en oto chay sang

3.1.4. Cam bien
3.1.4.1 Cam bien t trng
Cam bien t trng ch s dung e phat hien nhng vat co t trng. Cam bien nay
c lap at tren cac than xy lanh kh nen co pt tong t trng e gii han hanh trnh cua
no (hnh 3.9).

b) a cam ng
a) Cha cam ng
1. Nam cham vnh cu
1
1

Hnh 3.9 Cam ng t trng tren piston

33

V du: Xac nh v tr au va cuoi hanh trnh piston bang 2 cam bien t trng gan
tren than xy lanh (hnh 3.10).

Hnh 3.10 Xac nh hanh trnh
bang cam bien t trng

3.1.4.2. Cam bien bang tia
Cam bien bang tia la loai cam bien khong tiep xuc. Nguyen tac lam viec ch oi vi
tn hieu vao la dong tia kh nen. Cam bien bang tia c ng dung cac lnh vc ma cam
bien khong tiep xuc bang ien khong am nhan c trong ieu kien moi trng lam viec
khac khe: nong, co an mon hoa hoc, am t, anh hng ien trng, an toan cao,
Vi cam bien bang tia kh nen th tn hieu ra (sau khi cam nhan c vat the) co ap
suat rat nho. Do o ta phai khuech ai tn hieu trc khi a vao x ly ieu khien, thng
ta dung en bo khuech ai bang kh nen e khuech ai.
Chu y: cam bien nay ch co oi vi kh nen, khong s dung trong thuy lc.
3.1.4.2.1. Cam bien bang tia re nhanh
Khi khong co vat can th dong kh nen c phat ra t nguon P se i thang, neu co
vat can th dong kh se b re nhanh qua ca X (hnh 3.11).
Ap suat cua ca tn hieu ra X phu thuoc vao khoang cach s gia be mat au cam
bien vi mat vat can, s cang nho th ap suat cang ln.

3.1.4.2.2 Cam bien bang tia phan hoi
Khi dong kh nen P i qua khong co vat can th au ra tn hieu phan hoi X= 0; co vat
can th tn hieu X= 1. ac biet cam bien nay cho tn hieu X=1 cho ca vat ca dch chuyen
theo hng doc truc cua cam bien khoang cach a va ca hng vuong goc vi truc
khoang cach s (hnh 3.12).
V du : ng dung cam bien bang tia phan hoi e xac nh o lech cua 2 mep giay cua
cuon giay ang chay tren 2 ru lo (hnh 3.13).
P
s
X
P
X
P
Hnh 3.11 Cam bien tia re nhanh

34

4.1.4.2.3. Cam bien thu phat bang tia
P
X
P
X
P
Hnh 3.12 Cam bien tia phan hoi
Nguyen ly hoat ong c mo ta hnh 3.14

V du: dung cam bien thu phat bang tia e phat hien tnh trang gay mui khoan cua
qua trnh gia cong khoan chi tiet (hnh 3.15).
1
1
2
1
1
1. Cung cap ap
2. Ngo ra ap (tn hieu ap)
a)
a. au thu (ap suat)
b. au phat (ap suat)
b)
Hnh 3.14 Cam bien thu phat bang

Hnh 3.13 Xac nh o lech mep giay
Hnh 3.15 Phat hien gay mui khoan

35

4.1.4.3.Cam bien cam ng t
Nguyen tac hoat ong cua cam bien cam ng t c mo ta hnh 3.16. Bo tao dao
ong phat tan so cao. Khi co vat can kim loai nam trong vung ng sc cua t trng,
trong kim loai o se hnh thanh ien trng xoay. Vat can cang gan cuon cam ng th
dong ien xoay trong vat can cang tang, nang lng bo dao ong giam dan en bien o
cua bo dao ong se giam. Qua bo so, tn hieu ra c khuech ai. Trong trng hp tn
hieu ra la tn hieu nh phan, mach Schmitt trig se am nhan nhiem vu nay.

9
4 5
3
2
1
8
7
6
K hieu
Hnh 3.16 S o mach cam bien t

1. Bo dao ong 2. Bo chnh tn hieu 3. Bo so Schmitt trig
4. Bo hien th trang thai 5. Bo khuech ai 6. ien ap ngoai
7. On nguon ben trong 8. Cuon cam ng 9. Tn hieu ra

V du: ng dung cam bien cam ng t e xac nh v tr hanh trnh cua piston kh nen
thuy lc (hnh 3.17); hay phat hien am kim loai c mang i nh bang tai dch chuyen
(hnh 3.18).

Hnh 3.18 Phat hien tam kim loai tren bang tai
Tam kim loai
Bang tai
Cam bien t

Hnh 3.17 Xac nh v tr au truc

4.1.4.4. Cam bien ien dung
Nguyen tac hoat ong cua cam bien ien dung c mo ta hnh 3.19. Bo tao dao ong se
phat tan so cao. Khi co vat can kim loai hoac phi kim loai nam trong vung ng sc cua
ien trng, ien dung cua tu ien thay oi. Nh vay tan so rieng cua bo dao ong thay

36

oi. Qua bo so va chnh tn hieu, tn hieu ra c khuech ai. Trng hp tn hieu ra la tn
hieu nh phan, mach Schmitt trig se am nhan cong viec nay.

8
6
7
9
5 4
3
1 2

K hieu
Hnh 3.19 Mach cam bien ien dung

1. Bo dao ong 2. Bo chnh tn hieu 3. Bo so Schmitt trig
4. Bo hien th trang thai 5. Bo khuech ai 6. ien ap ngoai
7. On nguon ben trong 8. ien cc tu ien 9. Tn hieu ra

V du: ng dung cam bien ien dung e phat hien e giay cao su mau en nam tren
bang tai di chuyen (hnh 3.20); hay kiem tra so lng san pham c ong goi vao thung
giay cat tong bang cach phat hien vat the qua lp vat lieu giay (hnh 3.21).

Hnh 3.20 Phat hien e giay cao su mau en Hnh 3.21 Kiem tra ong goi san pham
4.1.4.5. Cam bien quang hoc
Nguyen tac hoat ong cua cam bien quang c mo ta hnh 3.22, gom 2 bo phan:
Bo phan phat tia hong ngoai;
Bo phan thu tia hong ngoai.

37
Bo phan phat se phat ra tia hong ngoai bang iot phat quang va khi gap vat can th
tia hong ngoai c phan xa lai vao au thu. tai bo phan au thu, tia hong ngoai c
phan hoi se c x ly, khuech ai trc khi cho tn hieu ra.

9
10 11

12

K hieu
8
5
3 4 6 7
2
1

Hnh 3.22 Mach cam bien quang

1. Bo dao ong 2. Bo phan phat 3. Bo phan thu
4. Khuech ai s bo 5. X ly logic 6. Chuyen oi xung.
7.Hien thi trang thai 8. Bao ve ngo ra 9. ien ap ngoai
10. On nguon ben trong 11. Khoang cach phat hien 12. Tn hieu ra

V du: ng dung cam bien quang e em so lng tam plastic tren bang tai di chuyen
(hnh 3.23); hay phan loai cac chai co hay khong co nap bt kn mieng chai (hnh 3.24).

Hnh 3.23 em san pham tam Plastic

Hnh 3.24 Phan loai chai co hay khong co nap

38

4.2. CAC PHAN T X LY TN HIEU
4.2.1. Phan t YES
S o mach, bang chan ly, k hieu cua phan t YES c trnh bay hnh 3.25

4.2.2. Phan t NOT
S o mach, bang chan ly, k hieu cua phan t NOT c trnh bay hnh 3.26.

Hnh 3.25 Phan t logic YES
K hieu thuy-kh
s=a P a
p
S=a
a
S=a
p
a
a
P
s=a
K hieu thuy-kh
S
a
0
L
0
L
S o trang thai
Tn hieu vao
Tn hieu ra
Bang chan ly
a S
0 L
L 0
Hnh 3.26 Phan t logic NOT
Ket cau thuy-kh K hieu logic K hieu ien
a
S
1.
Bang chan ly
a S
0 0
L L
Tn hieu ra
Tn hieu vao
S o trang thai
0
L
S
0
a
L
a
S
1.
Ket cau thuy - kh
K hieu logic K hieu ien

39

4.2.3. Phan t OR
S o mach, bang chan ly, k hieu cua phan t OR c trnh bay hnh 3.27.
4.2.4. Phan t AND
S o mach, bang chan ly, k hieu cua phan t AND c trnh bay hnh 3.28.
P
a b
s=a+b
s=a+b
b a
0
L
0
a
b
S
S o trang thai
Bang chan ly
a b S
0
0
L
L
0
L
0
L
0
L
L
L
Hnh 3.27 Phan t OR
Tn hieu vao
Tn hieu ra
Tn hieu vao
S=a.b
Bang chan ly
a b S
0
0
L
L
0
L
0
L
0
0
0
L
Tn hieu ra
Tn hieu vao
Tn hieu vao
L
S o trang thai
0
L
0
L
0
S
b
a
K hieu thuy-kh
Ket cau thuy-kh
K hieu logic
K hieu ien
a b s=a.b
b
a
P
S=a.b
a b S
&
b
a
L
L
0
K hieu thuy - kh K hieu ien K hieu logic
K hieu ket cau
b
a
S
1
Hnh 3.28 Phan t AND

40

4.2.5. Phan t NAND
S o mach, bang chan ly, k hieu cua phan t NAND c trnh bay hnh 3.29.

4.2.6. Phan t NOR
S o mach, bang chan ly, k hieu cua phan t NOR c trnh bay hnh 3.30.
a
P
S
b
S o tn hieu
0
L
0
0
L
L
S
b

a
S
P
b
a
K hieu ien
Bang chan ly
a b S
0
0
L
L
0
L
0
L
L
0
0
0
K hieu thuy - kh
K hieu logic
Tn hieu vao
Tn hieu vao
S
b
a
1
Hnh 3.29 Phan t NAND
Bang chan ly
a

b S
0
0
L
L
0
L
0
L
L
L
L
0
&
a
b
S
Tn hieu ra
Tn hieu vao
Tn hieu vao Tn hieu vao
S o tn hieu
S
0
L
b
0
L
a
0
L
K hieu thuy kh
K hieu logic
K hieu ien
Tn hieu ra
Hnh 3.30 Phan t NOR

41


4.2.7. Phan t nh Flip-Flop
Nh chung a biet cac phan t trc, khi tn hieu vao di dang xung b mat th tn
hieu ra cung mat luon. Phan t nay co nhiem vu nh, co ngha la tn hieu ra van c duy
tr cho du tn hieu vao khong con na.
Hnh 3.31 trnh bay s o mach, bang chan ly, k hieu cua phan t nh 2 cong vao va
mot cong ra.

Hnh 3.33 trnh bay s o mach, bang chan ly, k hieu cua phan t nh 2 cong vao va
hai cong ra.

42
1
1
X

Y

S

R
a

b

b
a
S
S
1
&
a
b
S
a
S
b
a
S
b
RC
0
L
0
0
L
L
Hnh 3.32 Phan t nh 2 in / 1 out
Tn hieu ra
Tn hieu vao
Tn hieu vao
K hieu thuy - kh
K hieu logic
K hieu ien
Bang chan ly
a b S
0 0 Khong oi
0 L L
L 0 0
L L 0
S o trang thai
S
b
a
K hieu thuy - kh
K hieu logic
K hieu ien
a
X
b
Y

S o trang thai
L
Tn hieu ra
Tn hieu ra
Tn hieu vao
Tn hieu vao Bang chan ly
a b X Y
0 0 Khong oi
0 L L 0
L 0 0 L
L L Khong oi
a
0
L
b
0
L
X
0
L
0
Y
Hnh 3.33 Phan t nh 2 in / 2 out
4.2.8. Phan t thi gian
- Phan t thi gian m tre theo chieu dng : bieu o thi gian va k hieu mo ta
hnh 3.34.

- Phan t thi gian ngat tre theo chieu dng : bieu o thi gian va k hieu mo ta
hnh 3.35.

43
R
A
P
X
X
R
P
A
Hnh 3.35 Phan t thi gian ngat tre theo chieu dng
K hieu thuy kh
Bieu o thi gian
X
A
t
1
Hnh 3.34 Phan t thi gian m tre theo chieu dng
Bieu o thi gian K hieu thuy - kh
A
X
t
1

- Phan t thi gian ngat tre theo chieu am : bieu o thi gian va k hieu mo ta hnh
3.36.

A
R
P
X
A
t
1
Bieu o thi gian
Hnh 3.36 Phan t thi gian ngat tre theo chieu am
K hieu thuy kh
X

44
IEU KHIEN KH NEN & THUY LC Chng 4 Cac phan t chap hanh

CHNG 4

CAC PHAN T CHAP HANH

ong c
ong c banh rang
ong c canh gat
ong c pt tong
Xy lanh
Xy lanh lc
Xy lanh quay
Mot so xy lanh ac biet
Bai tap

45

4.1. ONG C

ong c co nhiem vu bien oi nang lng the nang hay ong nang cua lu chat
thanh nang lng c hoc chuyen ong quay.
ai lng ac trng cua ong c la o ln cua mo men xoan oi vi hieu ap suat
ng vao va ng ra xac nh vi lng lu chat can tieu thu trong mot vong quay q,
l/ph.
Neu ong c c cap mot lu lng Q, l/ph th van toc quay cua no c tnh theo
cong thc:

ph vg
q
Q
n
v
/ , =
(4.1)

Cong suat ma ap suat lu chat cung cap cho ong c c tnh theo cong thc:

( ) p p
2 1

kW
Q
N ,
612
0
=
(4.2)

Cong suat tren truc ong c:

( ) p p Q
2 1

kW N N ,
612
.
0
= =
(4.3)

Momen xoan tren truc quay:

( )
kGm p p q
q p p Q N
, ) ( 59 , 1
975
2 1
=
=
Q n
M
tl c c
v
612
975
2 1
=

(4.4)

He so co ch cua bm:
=
v
tl
(4.5)

,
v
,
tl
,
c
- he so co ch cua bm, he so co ch the tch, he so co ch thuy lc, he so
co ch c kh.
p
1
, p
2
ap suat ng vao va ng ra ong.

Q
Q
T
v
=
(4.6)

Q
T
- lu lng thc te;
Q lu lng ly thuyet.

4.1.1. ong c banh rang (gear motor)
ong c banh rang c phan thanh 3 loai: ong c banh rang thang, ong c banh
rang nghien, ong c banh rang ch V (hnh 4.1).

46

4.1.2. ong c canh gat (rotate motor)
Nguyen ly hoat ong cua ong c canh gat (hnh 4.2): lu chat c dan vao ca 1,
qua ranh vong 2 vao lo dan lu chat 3. Di tac dung ap suat len canh gat, roto quay. Lu
chat c thai ra ngoai bang lo 8 (neu la dau th lo 8 c noi ve be dau, con kh nen th
thai ra moi trng khong kh).

4.1.3. ong c pt tong ( Piston motor)
ong c pt tong co kha nang lam kn tot hn so vi bm canh gat va banh rang, bi
vay ong c pt tong c s dung rong rai trong cac he thong thuy kh lam viec ap
suat cao.
Phu thuoc vao v tr cua pt tong oi vi roto, co the phan biet ong c hng knh va
hng truc.

1
Hnh 4.2 ong c canh gat
8. Lo dan lu chat thoat ra
7. Lo dan lu chat
6. Stato
5. Roto
4. Canh gat
3. Lo dan lu chat vao
8 7
6
5
4
3
2
1. Cu noi lu chat vao
2. Ranh vong
Ca ra
Ca vao
Hnh 4.1 ong c banh rang
K hieu
a.
b.
a. ong c quay 1 chieu
b. ong c quay 2 chieu.

47

4.1.3.1. ong c pt tong hng knh
Nguyen ly lam viec cua ong c pt tong hng knh c mo ta hnh 4.3: lu chat
vao khoang 4 tac ong ap suat len pt tong 3. Do roto 5 lech tam vi stato 2, nen lam cho
roto 5 quay tron va lu chat c thai ra qua khoang 1.

4.1.3.2. ong c pt tong hng truc
Nguyen ly lam viec cua ong c pt tong hng truc c mo ta hnh 4.4: Cac pt
tong (1) dch chuyen song song vi truc cua roto va c dch chuyen di ap suat cua lu
chat ca vao tac ong len ay pt tong. Khi pt tong dch chuyen tao cho roto (2) quay
xung quanh stato (5) va do roto c noi a truc quay (4) tao ra chuyen ong quay truc
(3).

V du:
Mot ong c dau co the tch trong mot vong quay la 300cm
3
va toc o quay 200
rev/min vi ton that ap suat la 200 bar. Hieu suat the tch la 90% va hieu suat c kh la
95%. Tnh cong suat cua ong c.

48
Hnh 4.4 ong c pt tong hng truc
Hnh 4.5 Hnh dang
ong c canh gat
Hnh 4.6 ong c pt tong hng knh
Hnh 4.3 ong c pt tong hng knh
5
2
3
4
4
3
1
2
5
1

- Hieu suat chung cua ong c :
0
= 0.9*0.95 = 0.855
- Lu lng ly thuyet cung cap cho ong c la:

min / 60 200 *
1000
300
l Q
t
= =

- Lu lng that cua lu chat vao ong c:

Q
m
= 60/
v
= 60/0.9 = 66.7 l/min

- Momen ly thuyet la: T
t
= D
m
P
m
/2

Nm
P D
T
m m
t
955
2
10 * 200 * 10 * 300
2
5 6
= = =

- Mo men thc te:
T
m
= T
t
*
t
= 955*0.95 = 907 Nm
- Cong suat thc te au ra:
H
m
= 2* n
m
* T

kW s Nm 19 / 18996 907 * )
60
200
( 2 = = =

Ta co the tnh toan bang cach khac:
- Cong suat au ra ly thuyet cua ong c:

kW
P Q
H
t
23 . 22
600
200 * 7 . 66
600
*
= = =

- Cong suat au ra thc cua ong c:
H
m
= H
t
*
0
= 22.23*0.855 = 19 kW

4.2. XY LANH
Xy lanh co nhiem vu bien oi nang lng the nang hay ong nang cua lu chat thanh
nang lng c hoc chuyen ong thang hoac chuyen ong quay( goc quay <360
o
).
Thong thng xy lanh c lap co nh, pt tong chuyen ong. Mot so trng hp co
the pt tong co nh, xy lanh chuyen ong.
Pt tong bat au chuyen ong khi lc tac ong mot trong hai pha cua no( lc ap suat,
lo xo hoac c kh) ln hn tong cac lc can co hng ngc lai chieu chuyen ong ( lc ma
sat, phu tai, lo xo, thuy ong, lc ).
Xy lanh lc c chia lam hai loai: xy lanh lc va xy lanh quay. Trong xy lanh lc,
chuyen ong tng oi gia pt tong vi xy lanh la chuyen ong tnh tien. Trong xy lanh
quay chuyen ong gia pt tong vi xy lanh la chuyen ong quay. Goc quay thng nho
hn 360
0
.

49

4.2.1. Xy lanh lc
4.2.1.1. Xy lanh tac dung n
Ap lc tac ong vao xy lanh n ch mot pha, pha ngc lai la do lo xo tac ong
hoac la ngoai lc tac ong (hnh 4.7).

4.2.1.2. Xy lanh mang
Xy lanh mang hoat ong nh xy lanh tac dung n (hnh 4.8).
Xy lanh mang co hanh trnh dch chuyen ln nhat (h
max
= 80) nen c dung trong
ieu khien, v du trong cong nghiep o to (ieu khien thang, li hp), trong cong nghiep
hoa chat (ong m van).
Chu y: xy lanh mang ch c s dung trong ieu khien kh nen.

Tnh toan lc ay cua pt tong:

F = A.p
g
F
f
- F
s
(4.7)
Hnh 4.8 Xy lanh mang
mang
p
pt tong
ap suat
3
D
d
1 2 5 4 6
1: ca vao lu chat
3: Vong chan dau
2: Than xy lanh
5: Lo xo
4: Pt tong
Hnh 4.7 Xy lanh tac ong n
K hieu
Trong o:
F [N} lc tac dung len pt tong

A
D [cm} ng knh pt tong
2
] [cm
4
. D
2
=
Dien tch pt tong
P
g
[bar] Ap suat kh nen trong xy lanh
F
f
[N] Lc ma sat, phu thuoc vao chat lng be mat gia
pt tong va xy lanh, van toc chuyen ong pt tong,

50

loai vong em.
F
s
[N] Lc can lo xo.
4.2.1.3. Xy lanh tac dung kep
Ap lc tac ong vao xy lanh kep theo hai pha (hnh 4.9).

1. Piston 7. Nap xy lanh

8, 13. Ca lu chat
2. em kn piston

9. Than xy lanh 3. Truc piston

10. Buong truc
4. Dan hng truc
11. Buong piston
5.em kn truc

12. e xy lanh
6. vong chan bui

Hnh 4.9 Xy lanh tac ong kep
Hnh 4.11 Xy lanh kh nen
Co truc dan hng
Hnh 4.10 Hnh cat khong
gian cua xy lanh kh nen
Neu khong tnh en lc ma sat, lc chuyen ong tren can pt tong c tnh theo
cong thc:
F = p.A (4.8)
P ap suat chat long;
A dien tch lam viec cua pt tong.
Dien tch lam viec cua pt tong pha khoang pt tong c tnh theo:

4
D
A
2
=
(4.9)

D ng knh cua pt tong ong thi cung la ng knh trong cua xy lanh.
oi vi khoang can, dien tch lam viec cua pt tong c tnh theo cong thc:

4
) d D (
A
2 2
=
(4.10)

51

d ng knh can pt tong.
The tch lam viec cua xy lanh c tnh theo cong thc:

H
p
A.H V = =
F
(4.11)

H la khoang chay cua pt tong.
Van toc chuyen ong cua pt tong phu thuoc vao lu lng Q va dien tch lam viec F
cua pt tong. Neu khong ke en ro r:

A
Q
v =
(4.12)

V du:
Cho c cau ep thuy lc nh hnh 4.12. Hay tnh Lc tac dung (F) va thi gian (t) cua hanh
trnh ep.
Hnh 4.12 C cau ep
d = 25 mm
H = 250 mm
D = 50 mm
q = 8 l/ph
p
1
= 15 bar
p
2
= 10 bar

Giai:
1. Goi F la lc tac dung len piston.
Phng trnh can bang lc:

0
2 1
= + + F F F

Suy ra: F = F
1
F
2

2
2 2
1
2
4 4 4
p
d D
p
D
=

) ( 1470
4
) 025 . 0 ( 10
4
) 05 . 0 ( 5
4
10
4
5
2 2 2 2
N
d D
= + = + =

2. Thi gian t cua hanh trnh ep.
Goi v la van toc cua piston ep
Ta co:
1 1
. A
t
L
A v Q = =
Suy ra: ) ( 68 . 3
4 * 8
60 * ) 5 . 0 ( * * 5 . 2 *
2
1
s
Q
A L
= = =

t

52

4.2.1.4. Xy lanh quay
Xy lanh quay co kha nang tao momen quay rat ln. Goc quay phu thuoc vao so canh
gat cua truc. oi vi xy lanh co mot canh gat, goc quay co the at 270 280
0
(hnh 4.12).

d
D
Hnh 4.13 Xy lanh quay kh
Kh vao
Kh vao
Hnh 4.12 xy lanh quay thuy

Hnh 4.14 Ket cau xy lanh quay kh nen

Gia tr ly thuyet momen quay M va van toc goc tren truc xy lanh co the tnh theo
cong thc:

( )
( )
2 2
d D .
p.b d D
.
b d D p
=
+
8 4 2
p.F.R P.R M = = =
( )
2 2
d D b
8Q
=

(4.13)

(4.14)

Trong o:
P lc ap suat tac ong len canh gat;
R khoang cach t trong tam dien tch lam viec cua canh gat en tam quay;
p chenh lech ap suat gia hai pha canh gat;

53

F dien tch lam viec cua canh gat;
D ng knh trong cua xy lanh;
d ng knh cua truc lap canh gat;
b chieu rong canh gat ( theo chieu dai xy lanh).
Neu s dung nhieu canh gat th mo men quay se tang vi so lan bang so canh gat,
nhng goc quay se giam vi so lan nh the.
( )
2 2
d D Z.b
8Q
=
( )
2 2
d D .
8
p.b Z.
M
=
Z so canh gat.

V du:
Mot tay may mot khau dung e gap san pham co khoi lng m = 100 kG t mot bang
tai nay sang mot bang tai khac vi
goc quay la 180
0
. Chieu dai cua canh
tay L = 750mm, trong lng cua
canh tay m
r
= 25kG. Cho biet s
dung xy lanh quay thuy lc vi cac
thong so:D = 100mm; d = 35mm; b =
80mm. o chenh ap suat dau gia
cac canh gat la bao nhieu?
m Than tay may (khau)
Khp xoay tay may noi vi truc ong c
Giai:
- Trong lng cua khoi lng m:
P
m
= mg = 100

* 9.81 = 981 N
- Trong lng cua than tay may :
P
t
= m
t
g = 25* 9.81 = 245.25 N
- Momen truc quay
M = L*m + m
t
*L/2
= 0.75*981 + 0.375*245.25
= 827.72 Nm
- o chenh ap c xac nh:

bar
d D b Z
M
p 2 . 47
] ) 035 . 0 ( ) 1 . 0 [( * 08 . 0 * 2
72 . 827 * 8
) ( * *
8
2 2 2 2
=
=

4.3. MOT SO XY LANH AC BIET.
4.3.1. Xy lanh long
Xy lanh long la mot loai xy lanh lc gom nhieu xy lanh va pt tong long ong tam vi
nhau. Khoang chay cua xy lanh long la bang tong khoang chay cua cac pt tong.
Xy lanh c s dung trong cac trng hp can khoang chay ln nhng khong gian
khong cho phep lap at mot xy lanh dai.

54

Hnh 4.15 s o ket cau xy lanh
long hai xy lanh. Khoang trong cua can
2 pt tong ln 5 la xy lanh cua pt tong 4.
Can 1 cua pt tong 4 noi vi phu tai. Khi
cap chat long co ap suat vao khoang
phai e xy lanh 3, chat long se ong thi
i qua lo 6 vao khoang c cua xy lanh be
2. Do tac ong cua chat long co ap suat,
ca hai p tong 4 va 5 se chuyen ong
sang trai.
4.3.2 Xy lanh co ham cuoi khoang
chay
giai oan cuoi khoang chay, khi
pt tong cham len be mat au cua xy
lanh co the gay ra va ap neu van toc dch chuyen cua pt tong ln, ac biet oi vi nhng
pt tong xy lanh co khoi lng ln. e tranh hien tng nay, cuoi hanh trnh pt tong mot
so xy lanh c lap at them phan t giam chan cuoi hanh trnh (hnh 4.16).

4.3.3. Xy lanh co v tr pt tong trung gian.
Hnh 4.17 s o ket cau xy lanh co v tr
trung gian cua pt tong. Xy lanh co hai p tong, pt
tong th nhat co ng knh D
1
, noi vi can 4,
con pt tong th hai co ng knh D
2
trt t do
trong xy lanh 1 va tren can 5. Khi cap chat long
vao khoang a; giai oan au cua chuyen ong,
dien tch lam viec cua pt tong la F
2
; sau
khi pt tong 2 dch chuyen en c cua xy
lanh, dien tch lam viec se con la f
2
. Khi
cap chat long vao khoang b, dien tch lam
viec la F
1
.

55
Hnh 4.15 Xy lanh long
c e
b
a
D
1 D
2
D
4
1 2 3 4 5
D
d
Giam chan
Hnh 4.16 Xy lanh co giam chan
( )
;
4
;
4
;
4
2
1
2
1
1
2
2
2
2
2
2
d D
F
d
f
D
F

= = =

a b
d
1
D
2
1 2 3 4
d
2
D
1
Hnh 4.18 Hnh dang xy lanh
thuy lc
Hnh 4.17 Xy lanh co v tr
trung gian cua pt tong.

BAI TAP CHNG 4
Bai 1:
Cho c cau xy lanh truyen lc nh hnh BT4.1
F
Vi: Q = 16l/min
D = 120mm
d = 40mm
p = 25 bar
1. Xac nh lc tac dung len piston.
2. Xac nh van toc cua can piston.
Hnh BT4.1

Bai 2:
Cho xy lanh truyen lc co piston bac nh hnh BT4.2
Vi: Q = 25l/min
3 2
D
D
1 d
D = 160mm
d = 80mm
D
1
= 100mm 1
p = 35 bar
1. Xac nh van toc va lc ay cua piston trong cac
trng hp sau:
Hnh BT4.2
- Khi cap chat long vao ca so 1
- Khi cap chat long vao ca so 1 va 2
2. a ra nhan xet.
D
O to
Bai 3:
Ngi ta dung mot xy lanh thuy lc e nang mot chiec o to (hnh
BT4.3) co trong lng 1000 kG len khoi mat at e bao dng vi van
toc nang la 800mm/min. Cho ng knh cua piston D = 0.25m. Xac
nh ap suat va lu lng cua dau tac dung.

Bai 4: Hnh BT4.3
Mot xy lanh thuy lc co ng knh xy lanh 200mm va ng knh
piston 140mm. Van toc piston duoi ra la 5m/min, tnh:
1. Gia tr lu lng cung cap (Q
E
)
2. Gia tr lu lng cua buong xa khi duoi (q
E
)
3. Van toc giat lui cua piston vi lu lng Q
E

4. Gia tr lu lng buong xa giat lui (Q
R
)

56
IEU KHIEN KH NEN & THUY LC Chng 5 Cac phan t ieu khien ieu chnh

CHNG V

CAC PHAN T
IEU KHIEN - IEU CHNH

C cau chnh lu
Van tiet lu
Bo on toc
C cau chnh hng
Van mot chieu
Van ao chieu
Van tuyen tnh
C cau chnh ap
Van an toan
Van tran
Van ieu chnh ap suat
Rle ap suat

57

Trong he thong ieu khien kh nen thuy lc, ngoai c cau bien oi nang lng,
phan t a tn hieu va x ly tn hieu ra, con co nhieu c cau ieu khien va ieu chnh lam
cac nhiem vu khac nhau. Tuy thuoc vao nhiem vu cua he thong ma cac c cau nay chia ra
lam 3 loai chu yeu:
C cau chnh ap
C cau chnh lu lng
C cau chnh hng

5.1. C CAU CHNH AP
C cau chnh ap dung e ieu chnh ap suat, co the co nh hoac tang hoac giam tr
so ap suat trong he thong truyen ong kh nen thuy lc. C cau chnh ap co cac loai phan
t sau:

5.1.1. Van an toan
Van an toan co nhiem vu gi ap suat ln nhat ma he thong co the tai. Khi ap suat
ln hn ap suat cho phep cua he thong th dong ap suat lu chat se thang lc lo xo, va lu
chat se theo ca T ra ngoai khong kh neu la kh nen, con la dau th se chay ve lai thung
cha dau (hnh 5.1).

5.1.2. Van tran
Nguyen tac hoat ong cua van tran tng t nh van an toan. Ch khac cho khi ap
suat ca P at en gia tr xac nh, th ca P noi vi ca A, noi vi he thong ieu khien
(hnh 5.2).

5.1.3. Van ieu chnh ap suat ( van giam ap)
Trong mot he thong ieu khien kh nen & thuy lc mot bm tao nang lng phai
cung cap nang lng cho nhieu c cau chap hanh co ap suat khac nhau. Trong trng hp

58
A
P
Hnh 5.2 K hieu van tran
P
T
Hnh 5.1 Van an toan
K hieu

nay ta phai cho bm lam viec vi ap suat ln nhat va dung van giam ap at trc c cau
chap hanh e giam ap suat en mot tr so can thiet.

P
2
1
P
K hieu
Hnh 5.3 Van giam ap
5.1.4. Rle ap suat.
Rle ap suat thng dung trong he thong kh nen thuy lc cua cac may t ong
va ban t ong. Phan t nay c dung nh la mot c cau phong qua tai, tc la co nhiem
vu ong hoac m cac cong tac ien, khi ap suat trong he thong vt qua gii han nhat nh
va do o lam ngng hoat ong cua he thong. V ac iem o nen pham vi s dung cua rle
ap suat c dung rat rong rai, nhat la trong pham vi ieu khien.
Nguyen ly hoat ong, cau tao va k hieu cua rle ap suat mo ta hnh 5.4.
Trong he thong ieu khien ien - kh nen, rle ap suat co the coi la phan t chuyen
oi tn hieu kh nen ien. Trong thuy lc no la pahn t chuyen oi tn hieu dau ien.

5.2. C CAU CHNH LU
C cau chnh lu lng e xac nh lng lu chat chay qua no trong mot n v
thi gian va nh vay se lam thay oi van toc dch chuyen cua c cau chap hanh trong he
thong lu chat lam viec vi bm tao nang lng vi lu lng co nh.

5.2.1. Van tiet lu

59
1
2
3
4
5
K hieu
Hnh 5.4 Rle ap suat

Van tiet lu ieu chnh lu lng lu chat. Van tiet lu co the at ng vao hoac
ng ra cua c cau chap hanh . Hnh 5.5 mo ta van tiet lu c lap ng ra cua xy
lanh dau.
Lu lng chay qua mot khe h co tiet dien chay
la A
x
va hieu ap: p = p
2
p
3
c tnh theo cong thc:
Hnh 5.5

oi vi dau:
. 2 p
1
.
A Q
x
= (5.1)
oi vi kh nen:
1
. 2
. .

p
A Q
x
=
(5.2)

Trong o:
- He so lu lng;
1
Khoi lng rieng cua kh, dau [Kg/m
3
]
- He so gian n cua kh
A
x
Tiet dien khe h cua van [m
2
]
p Ap suat trc va sau khe h [N/m
2
]
5.2.1.1. Van tiet lu co tiet dien thay oi
Lu lng dong chay qua khe h cua van co tiet dien khong thay oi, c k hieu
nh tren hnh 5.6

Hnh 5.6 K hieu van tiet lu
co tiet dien khong thay oi

Van tiet lu co tiet dien thay oi ieu chnh dong lu lng qua van. Hnh 5.7 mo ta
nguyen ly hoat ong va k hieu van tiet lu co tiet dien thay oi, tiet lu c ca hai chieu,
dong lu chat i t A qua B va ngc lai.

B

60
K hieu
Hnh 5.7 Van tiet lu 2 chieu
A B
A
x
A

Q

P
2
P
1

5.2.1.2. Van tiet lu mot chieu ieu chnh bang tay.
Hnh 5.8 trnh bay nguyen ly va k hieu cua van tiet lu mot chieu. Dong lu chat
se i t A qua B con chieu ngc lai th van mot chieu b m ra di tac dung cua ap suat
dong lu chat, do o chieu nay khong am bao c tiet lu.

5.2.2. Bo on toc
Bo on toc la c cau am bao hieu ap khong oi khi giam ap, do o am bao mot
lu lng khong oi khi chay qua van, tc la lam cho van toc dch chuyen cua pttong
xilanh gan nh khong oi.
K hieu
Hnh 5.8 Van tiet lu 1 chieu
B A
B
A
Ket cau cua bo on toc gom mot van giam ap va mot van tiet lu (hnh 5.9).

ieu kien e bo on toc co the lam viec la:
p
0
> p
1
> p
2
> p
3

va phng trnh can bang lc tren nong van 2 c viet nh sau:
p
2
.A
k
= p
3
.A
k
+ F
F

do o:
p
1
2
p p
3
p
p
B
A
3
2
1
R
k
A
A F
p
1
2
F
p
0
K hieu
Hnh 5.9 Bo on toc

61

K
F
A
F
p p p = =
3 2
Lu lng chay qua van tiet lu, theo cong thc (5.1) cua van tiet lu co the viet:

k
F
x
gA
F
A Q
2
. =

Neu nh ta khong oi tiet dien chay A
x
cua van tiet lu, th cac hang so co the rut
gon thanh tr so k, cong thc tren co the viet:
F
F k Q=

T cong thc tren cho thay rang lu lng chay qua bo on toc la ham so cua lc lo xo F
F
.
Cho nen, viec lc chon thch hp lc lo xo se anh hng rat nhieu en tnh nang lam viec
cua bo on toc.

5.3. C CAU IEU KHIEN
C cau ieu khien la loai c cau ieu khien dung e ong, m, noi lien hoac ngan
cach cac ng dan dau ve nhng bo phan tng ng cua he thong kh nen thuy lc. C
cau chnh hng thng dung cac loai sau ay:

5.3.1. Van mot chieu
Van mot chieu dung e ieu khien dong nang lng i theo mot hng, hng con
lai dong nang lng b chan lai. Trong he thong ieu khien kh nen thuy lc van mot
chieu thng at nhieu v tr khac nhau tuy thuoc vao nhng muc ch khac nhau (hnh
5.10).

5.3.2. Van ao chieu
Van ao chieu la c cau chnh hng co nhiem vu ieu khien dong nang lng i
qua van chu yeu bang cach ong, m hay chuyen oi v tr e thay oi hng cua dong
nang lng. Cac thanh phan c mo ta hnh 5.11.
Hnh 5.10 Van mot chieu
No flow Flow in
K hieu

62

Ca nang lng vao
c cau chap hanh

Van chnh
hng
Ca xa
Tn hieu
tac ong

Nguon nang
lng

Hnh 5.11 Cac thanh phan van chnh hng

5.3.2.1. Tn hieu tac ong
Neu k hieu lo xo nam ngay pha ben phai cua k hieu van ao chieu, th van ao
chieu o co v tr khong, v tr o la o vuong nam ben phai cua k hieu van ao chieu va
c k hieu la 0. ieu o co ngha la chng nao cha co lc tac ong vao pt tong trt
trong nong van, th lo xo tac ong van gi vi tr o. Tac ong vao lam thay oi trc tiep
hay gian tiep pt tong trt la cac tn hieu sau (hnh 5.12):
Tac ong bang tay

Tac ong bang c

63
Tay gat
Nut bam
Nut nhan tong quat
Ban ap
Nut nhan co ranh nh v
Lo xo
C chan bang con lan tac ong 1 chieu
C chan bang con lan tac ong 2 chieu
au do

Tac ong bang kh va dau

Tac ong bang ien

5.3.2.2. K hieu van ao chieu
Van ao chieu co rat nhieu dang khac nhau, nhng da vao ac iem chung la so
ca, so v tr va so tn hieu tac ong e phan biet chung vi nhau (hnh 5.13):
- So v tr: la so cho nh v con trt cua van. Thong thng van ao chieu co hai hoac
ba v tr; nhng trng hp ac biet th co the nhieu hn.
Thng k hieu: bang cac ch cai o, a, b, hoac cac con so 0,1, 2,
- So ca ( ng): la so lo e dan kh hoac dau vao hay ra. So ca cua van ao chieu
thng dung la 2, 3, 4, 5. oi khi co the nhieu hn.
Thng k hieu: Ca noi vi nguon : P
Ca noi lam viec: A, B, C
Ca xa lu chat: R, S, T
- So tn hieu: la tn hieu kch thch con trt chuyen t v tr nay sang v tr khac. Co the
la 1 hoac 2. Thng dung cac k hieu: X, Y,
Gian tiep bang dong kh dau ra qua van phu
Hnh 5.12 Tn hieu tac ong
Bang nam cham ien va van phu tr
Trc tiep
Gian tiep bang dong kh dau vao qua van phu
Trc tiep bang dong kh dau ra
Trc tiep bang dong kh dau vao

A B
b
a
X
T
P R
Hnh 5.13 K hieu van ao chieu

64

5.3.2.3. Mot so van ao chieu thong dung
Van co tac ong bang c lo xo len nong van va k hieu lo xo nam ngay v tr ben phai
cua k hieu van ta goi o la v tr khong. Tac ong tn hieu len pha oi dien nong van ( o
vuong pha ben trai k hieu van) co the la tn hieu bang c, kh nen, dau hay ien. Khi
cha co tn hieu tac ong len pha ben trai nong van th luc nay tat ca cac ca noi cua van
ang v tr o vuong nam ben phai, trng hp co gia tr oi vi van ao chieu hai v tr.
oi vi van ao chieu 3 v tr th v tr khong d nhien la nam o vuong gia.
Van ao chieu 2/2
Hnh 5.14 la van co 2 ca noi P va A, 2 v tr 0 va 1. V tr 0 ca P va ca A b chan.
Neu co tn hieu tac ong vao, th v tr 0 se chuyen sang v tr 1, nh vay ca P va ca A
noi thong vi nhau. Neu tn hieu khong con tac ong na, th van se chuyen t v tr 1 ve v
tr 0 ban au, v tr khong bang lc nen lo xo.
A
P
A
A
P
K hieu
P
Hnh 5.14 Van 2/2
Van ao chieu 3/2
Hnh 5.15 la co 3 ca va 2 v tr. Ca P noi vi nguon nang lng, ca A noi vi
buong xilanh c cau chap hanh, ca T ca xa. Khi con trt di chuyen sang trai ca P
thong vi ca A. khi con trt di chuyen sang phai th ca A thong vi ca T xa dau ve
thung hoac la xa kh ra moi trng. Van nay thng dung e lam Rle dau ep hoac kh
nen.
A A
K hieu
T
P
Hnh 5.15 Van 3/2
T
P

Van ao chieu 4/2
Hnh 5.16 la van co 4 ca va 2 v tr. Ca P noi vi nguon nang lng; ca A va ca
B lap vao buong trai va buong phai cua xilanh c cau chap hanh; ca T lap ca ra a
nang lng ve thung oi vi dau, con thai ra moi trng xung quanh oi vi kh nen.

65

Khi con trt cua van di chuyen qua phai ca P thong vi ca A nang lng vao
xilanh c cau chap hanh, nang lng buong ra xilanh qua ca B noi thong vi ca T ra
ngoai. Ngc lai khi con trt cua van di chuyen qua trai, ca P thong vi ca B va ca A
thong vi ca xa T.
A B B
A
A B
K hieu
P T
T P
T
P
Hnh 5.16 Van 4/2

Hnh 5.17 mo ta van 4/2 tac ong mac nh la lc ay lo xo va tn hieu tac ong
pha con lai la cuon coil ien va co ca nut nhan phu.

Van ao chieu 5/2
Hnh 5.18 la van co 5 ca 2 v tr. Ca P la cung cap nguon nang lng, ca A lap
vi buong ben trai xilanh c cau chap hanh, ca B lap vi buong ben phai cua xi lanh c
cau chap hanh, ca T va ca R la ca xa nang lng. Khi con trt van di chuyen qua
phai, ca P thong vi ca A, ca B thong vi ca T. Khi con trt cua van di chuyen qua
trai, ca P thong vi ca B, ca A thong vi ca R.

1. Pttong
2. Lo xo
3. Vo van
4. Cuon solenoid
5. Loi
Hnh 5.17 Van 4/2, 1 side (coil)
K hieu

66

Van ao chieu 4/3
Van 4/3 la van co 4 ca 3 v tr. Ca A, B lap vao buong lam viec cua xilanh c cau chap
hanh, ca P noi vi nguon nang lng, ca T xa ve thung oi vi dau hoac ra moi trng
oi vi kh.
Hnh 5.19 mo ta van 4/3
co v tr trung gian nam gia
do s can bang lc can lo xo
hai v tr trai va v tr phai cua
van. S di chuyen v tr con trt
(pttong) sang trai hoac sang
phai bang tn hieu tac ong bang
ien vao hai cuon solenoid hoac
co the la nut nhan phu hai au.
v tr trung gian nang lng
vao ca P b chan lai, ca A, ca
B b ong nen xilanh c cau
chap hanh khong di chuyen. Khi
tac ong tn hieu ien vao
solenoid phai, pttong(1) di
chuyen sang trai, ca P thong vi ca A, ca P thong vi ca T. Ngc lai tac ong tn
hieu ien vao solenoid trai, pttong(1) di chuyen sang phai, ca P thong vi ca B, ca A
thong vi ca T.
1. Pttong 5. Solenoid phai
2. Vo van 6. Solenoid trai
3. Lo xo phai 7. Loi phai
4. Lo xo trai 8. Loi trai K hieu
Hnh 5.18 Van 5/2
K hieu
T R P
B A
P R T
A B
Hnh 5.19 - Van ao chieu 4/3 tac ong ien 2 au
Hnh
5.20 mo ta
van 4/3 co v
tr trung gian
an toan. V
tr trung gian
ca P b
ong, ca
lam viec A,
B thong vi
ca T.
K hieu
Hnh 5.20 Van 4/3 v tr trung gian an toan

67

Hnh 5.21 mo ta van 4/3 v tr trung gian co ca P noi vi T.
Hnh 5.21 Van 4/3 v tr trung
gian co ca P noi vi T
K hieu

Van ao chieu 5/3
Van 5/3 co 5 ca va 3 v tr. Ca A, B lap vao buong
lam viec cua xilanh c cau chap hanh, ca P noi vi nguon
nang lng, ca T xa ve thung oi vi dau hoac ra moi
trng oi vi kh.
Hnh 5.22 la k hieu cua van 5/3. Van 5/3 thng
c s dung trong he thong kh nen.
Hnh 5.22 K hieu van 5/3
P
V du:
He thong sau mo ta van an toan. Khi ap suat trong buong
xylanh ay tang len en gii han cua ap suat nguon P cua bm
th van an toan se hoat ong a dau tr ve thung, nham tranh
hien tng pha hong ket cau cua cac phan t he thong.

V du: He thong co gan van giam ap.
Hnh (a) van giam ap ca vao buong lam viec trai cua xilanh.
Ap suat nguon la p = 60 bar va ap suat van giam ap c ieu
chnh la 50 bar th pttong
se dch chuyen.
Hnh (b) Trong he thong
lu chat c cau tao nang
lng phai cung cap nang
lng cho nhieu c cau
chap hanh khac nhau.
Trong trng hp nay
ngi ta phai cho c cau
tao nang lng lam viec
vi ap suat ln nhat va
a)
b)

68

dung van giam ap gan trc cac c cau chap hanh e giam ap en mot gia tr can thiet.
V du: ieu chnh toc o
dch chuyen cua mot
pittong ep thc an gia suc
thanh khoi banh.
Trng hp (a) s dung
van tiet lu chnh c
mot chieu th van toc
pittong bang khi khong co
van tiet lu, trng hp (b)
th lu chat ch i qua mot
nhanh con nhanh kia b
chan nen lu lng be hn
va van toc pittong nho hn
so vi trng hp (a).
b)
a)
V du 4: Van mot chieu

5.4. VAN TUYEN TNH
5.4.1. Khai niem
Trong cac phan kien thc trc, chung ta
a nghien cu va tm hieu ve
cac phan t, he thong kh nen
thuy lc dang cac ai
lng c at trc. Trong
mot so he thong oi hoi tnh
thch nghi cua he thong oi
vi tnh chat lam viec cua cac
c cau chap hanh nh: thay
oi toc o cua pttong hay
ong c theo thi gian, ac
tnh lam viec cua tai; hay
thay oi tai cua c cau chap
hanh vao bat ky luc nao, van
e nay se khong the thc
hien c vi nhng phan t
ieu chnh, ieu khien On/Off
c, va cung khong the s
dung cac van tiet lu thay oi
lu lng bang c c v nh
a)
Hnh 5.21 - Mach ong lc cua xilanh ep san pham nha

69

the se ton rat nhieu thiet b cho he thong ong lc cung nh he ieu khien, ma phai s
dung en cac phan t co kha nang ieu chnh vo cap o la cac phan t van tuyen tnh.

Trong s o mach hnh 5.21 mo ta qua trnh cua
xilanh ay khuon ep san pham nha vi 3 cap toc o
khac nhau v
1
v
3
(v
1
> v
2
> v
3
) tng ng vi 3 tr so ap
suat khac nhau la p
1
p
3
(p
1
> p
2
> p
3
).

Nh vay e ap ng cac yeu cau ve thay oi toc
o, ap suat, th mach nay ta phai s dung en 14 phan
t thuy lc.
Neu s dung en cac phan t van tuyen tnh th so
phan t s dung en rat t. Hnh 5.22 ch dung mot van
tuyen tnh 4/3 th ieu chnh vo cap c toc o cua
xilanh ep va dung mot van ap suat tuyen tnh e ieu
chnh ap suat vo cap. Tong cong cac phan t s dung la 4.

Tom lai: oi vi nhng he thong kh nen thuy
lc khi yeu cau en s thay oi ve ap suat va toc o cua
cac c cau chap hanh chnh xac va vo cap ngi ta se s
dung en cac van servo tuyen tnh. Ngoai ra vi viec ket hp cac bo ieu khien tch hp
cao nh: bo ieu khien PID, Thiet b PLC th he thong ieu khien tr nen n gian, tnh
on nh va linh hoat cao.
Hnh 5.22 S o mach lap
van tuyen tnh

5.4.2. Ban chat cua van tuyen tnh.
S khac nhau c ban cua van tuyen tnh so vi van ong m (On / Off) cho la qua
trnh lam viec cua nam cham ien va lu lng lu chat chay qua van.
cac van ong m th tn hieu tac ong vao cuon day ien t dang bac thang,
con van tuyen tnh th tn hieu vao la dong hay ien ap dang tuyen tnh, nh vay o
dch chuyen cua nong van va lng lu chat chay qua van thay oi tuyen tnh.
S khac nhau c ban ve tn hieu gia van tuyen tnh va van ong m c the hien
hnh 5.23.

70

A
5
v
A
3
4
A
4
v
5
v
3
A
2
v
2
A
1
v
1
c
b
a
Q[l/min]
s[mm]
I[A]
t[s]
t[s]
t[s]
Q[l/min]
s[mm]
I[A]
t[s]
t[s]
t[s]
Hnh 5.23 Ban chat cua van tuyen tnh
a. Thi gian ong m cua cuon day ien t
b. Thi gian ngat cua cuon day ien t
c. Mep ieu khien dng.

5.4.3. ng ac tnh nam cham ien t cua van tuyen tnh

Hnh 5.24 cho thay, ng vi moi gia tr dong ien I t bien tr qua bo khuech ai
vao nam cham ien t, ta co mot gia tr oc dch chuyen cua nong van S tng ng, khi lc
ien t F can bang vi lc lo xo. ieu nay ta rut ra rang, o dch chuyen s cua nong van t
le vi gia tr dong ien I vao nam cham ien t. Neu dong cang ln th S cang ln.
Khi thay oi o ln dong ien I van tuyen tnh, nhiet sinh ra trong cuon day ien
t khong anh hng en lc ien t F. Nhng khi ta thay oi hieu ien the U, th nhiet sinh
ra trong cuon day se anh hng en lc F.
Trong van tuyen tnh, tuy thuoc o ln dch chuyen cua nong van s, ngi ta phan biet
thanh 2 nhom:
- Nam cham ien t ieu khien o dch chuyen: co o dch chuyen co gia tr trong
khoang t 1 5 mm.
- Nam cham ien t ieu khien lc: co o dch chuyen cua nong van co gia tr khoang t
0 1 mm.

71

S
3
2
I
I
3
4
I
I
5
1
I
o dch chuyen S Hanh trnh
Lo xo
3
F
F
I
3
X
F
Lo xo

a.
b.
Hnh 5.34 Nam cham ien t
a. Nguyen ly lam viec;
b. ng ac tnh.

5.4.4. Van ap suat tuyen tnh
5.4.4.1. Cong dung
ieu chnh ap suat vo cap khi dong ien tac ong c thay oi t t.
5.4.4.2. Phan loai
Van ap suat tuyen tnh gom 2 loai:
Van tran tuyen tnh;
Van giam ap tuyen tnh.

5.4.5. Van ao chieu tuyen tnh
5.4.5.1. Cong dung
Van ao chieu tuyen tnh thc hien hai nhiem vu:
Thay oi chieu chuyen ong cua c cau chap hanh;
Thay oi vo cap van toc cua c cau chap hanh, thay oi gia toc trong qua trnh khi ong
va dng lai.
5.4.5.2. Phan loai
Van ao chieu c phan ra:
Van ao chieu khong co phan hoi
Van ao chieu co phan hoi.

72

BAI TAP CHNG 5
Bai 1:
Thiet b uon thc hien bi xylanh tac dung kep c s dung e tao ra cac san
pham t cac tam kim loai cha nh hnh. Khi co tn hieu tac ong vao cuon day ien t th
pittong xylanh hoat ong. Sau khi phoi tam kim loai c tao hnh th pttong se tr ve v
tr khi ong ban au. Tuy theo loai vat lieu tam, o day cua tam ma ta co the ieu chnh
c toc o dch chuyen cua pttong.
Hoan thanh s o mach thuy lc sau.
Bai 2:
Cac kien hang c van chuyen tren bang tai con lan X di trong lng ban than
va no c nang len bang xylanh kep 1A. Xylanh kep 2A ay kien hang vao bang tai lan
Y e van chuyen en ni khac. Sau khi thc hien cac xylanh nay tr ve v tr khi ong
ban au cua chung.

73

Bai 3:

He thong phan phoi cung cap cac khoi
phoi nhom cho mot tram gia cong khac. Nguyen
ly hoat ong nh sau:
Tac ong nut nhan, can pittong cua
xylanh (1A) c dch chuyen. Nha nut nhan can
pittong se tr ve v tr ban au.
Hay thiet ke s o mach ong lc.

Bai 4:
Ca lo nau c m va ong bang
mot xylanh. Khi cang tac ong van c nhan
th ca m. Khi nha cang ra th ca ong.
Hay thiet ke s o mach ong lc.

Bai 5:
Hoan thanh s o mach ong lc cua may lap
rap san pham di.

74

Bai 6:
Cac canh cua phoi kim loai c vat mep. Co the s dung dao cat cai tien e giam
thi gian gia cong. So phoi kep mot lan la 5. e giam thi gian cua hanh trnh chay xylanh
khi so phoi kep nho hn 5, ta s dung gii han
hanh trnh v tr khi ong cua hanh trnh ve.

Bai 7:
He thong dap car cabin, bat au qua
trnh dap ap suat la 15 bar, khi hanh trnh
pittong sap x gan 100 mm th cong tac hanh
trnh 1S tac ong va ap suat dap tang len
40bar e chuan b tao hnh. Ap suat at ti 50 bar th cong tac ap suat se chuyen mach lam
cho pittong se tr ve v tr khi tao ban au.
Hoan thanh s o mach thuy lc
sau.

75

Bai 8:
Thiet b lap rap thc hien ghep mot ong lot nha vao chi tiet kim loai va lien ket
chat bang mot con vt c.
Khi nut khi ong c nhan, xylanh 1A ep ong lot nha vao chi tiet kim loai. Khi
ap suat trong buong nen at en 45 bar th mot 2M se quay va van vt vao theo bc vt.

Bai 9:

He thong dap nh hnh au thanh thep tron trong
cong nghe san xuat tru ien be tong tien ap hoat ong
theo nguyen ly sau:
Khi nut khi ong c nhan th pitong cua
xylanh kep 1A chuyen ong vi thi gian t
1
, ap suat 60
bar, thc hien kep chat phoi thep. Sau o, xylanh dap 2A
dch chuyen vi ap suat 35 bar ti thi gian t
2
th tang ap
len en 50 bar, en gap c hanh trnh LS3 th se tr ve v
tr ban au. Tai v tr nay LS2 tac ong khien xylanh kep
1A tr ve v tr ban au LS1.

Thanh phoi thep
2A
1A
LS1
LS2
LS3
t
2
Khuon kep
nh hnh

76
IEU KHIEN KH NEN & THUY LC Chng 6 Tnh toan truyen ong kh nen thuy lc

CHNG VI

TNH TOAN TRUYEN ONG
HE THONG KH NEN VA THUY LC

Khai niem
Ton that trong he thong ieu
khien kh nen thuy lc
Ton that kh nen
Ton that thuy lc
C s tnh toan he thong
Tnh toan bm va ong c
ng knh ong dan
Tnh toan mot so mach ien hnh

77

6.1. KHAI NIEM
He thong truyen ong kh nen & thuy lc hoat ong tot tren c s am bao ve viec
phan bo , tnh toan va lc chon cac phan t thch hp. Chung ta eu biet rang, toan bo cac
phan t trong he thong truyen ong kh nen & thuy lc eu co nhng yeu cau ky thuat
nhat nh. Nhng yeu cau nay ch co the c thoa man, neu nh cac thong so c ban cua
cac phan t ay c tnh toan, la chon va bo tr phu hp. Cac c cau chap hanh, c cau
bien oi nang lng, c cau ieu khien va ieu chnh, cung nh phan ln cac thiet b phu
khac trong he thong eu c tieu chuan hoa. Do o viec thiet ke he thong truyen ong
ch la viec tnh toan, la chon va bo tr thch hp cac c cau tren.
6.2. TON THAT TRONG HE THONG IEU KHIEN KH NEN & THUY LC
6.2.1. Ton that trong he thong kh nen
Thiet ke nen mot he thong kh nen am bao theo nhng tieu ch hoat ong th van e tnh
toan ton that la mot van e rat quan trong va lam phc tap. Do he he thong s dung l u
chat la kh nen ta ch can quan tam en cac ton that sau:
- Ton that ap suat trong ong dan thang (p
R
)
- Ton that ap suat trong tiet dien thay oi (p
E
)
- Ton that ap suat trong cac loai van (p
v
)
6.2.1.1. Ton that ap suat trong ong dan thang (p
R
)
Ton that ap suat trong ong dan thang (p
R
) c tnh theo cong thc:
] / [
. 2
. .
.
2
2
m N
d
w l
p
R

= (6.1)

Trong o:
l [m] Chieu dai ong dan
n
= 1,293 [kg/m
3
] Khoi lng rieng khong kh trang thai chuan
n
abs
n
p
p
. = [kg/m
3
] Khoi lng rieng cua khong kh
p
n
= 1,013 [bar] Ap suat trang thai tieu chuan
w [m/s] Van toc cua dong chay (w=q
0
/ A)
d [m] ng knh ong dan
Re
64
= He so ma sat ong co gia tr cho ong trn va chay tang
(Re<2230).
n
v
d w.
Re = So Reynold
v
n
= 13,28.10
-6
[m
2
/ s] o nht ong hoc trang thai tieu chuan.
6.2.1.2. Ton that ap suat trong tiet dien thay oi (p
E
)
Trong cac he thong truyen dan kh nen, ngoai nhng ong thang con co ong re
nhanh, tiet dien thay oi, tap hp nhanhTon that ap suat trong ong co tiet dien thay oi
c tnh theo cong thc:

78

2
.
2
. w p
E

= (6.2)
Trong o:
He so can phu thuoc vao loai tiet ien ong dan, so Re.
Khi tiet dien thay oi ot ngot (hnh 6.1). Ton that ap suat:

2
.
. 1
2
1
2
2
1
w
A
A
p
E

|
|
.
|
\
|
= [N/m
2
] (6-3)
A
1

A
2

2
. 1
2
2
2
1
2
1
w
A
A
p
E

|
|
.
|
\
|
= [N/m
2
] (6-4)
Hnh 6.1 Tiet dien
thay oi ot ngot
Trong o: w
1
, w
2
van toc chay trung bnh cua tiet dien A
1
, A
2
.
Khi ong dan gay khuc (hnh 6.2). Ton that ap suat:
p
E2
= 0,5. ..w
2
[N/m
2
] (6-5)
Trong o he so phu thuoc vao o nhan va o nham cua be mat cua ong va tra theo bang
6-1.

15
0
22,5
0
30
0
45
0
60
0
90
0

nhan
0,042 0,07 0,13 0,24 0,47 1,13
nham
0,062 0,15 0,17 0,32 0,68 1,27

a/D 0,71 0,943 0,150 3,72 6,28
nhan
0,51 0,35 0,28 0,36 0,40 0,48
nham
0,51 0,415 0,38 0,46 0,44 0,64
Hnh 6.2 Tiet dien
gay khuc
D

a

45
0
45
0

Bang 6-1
Khi ong dan b cong (hnh 6.3). Ton that ap suat:

2
3
2
. w p
g E

= (6-6)
Trong o he so can
g
bao gom:
g
=
u
+
Re

u
He so can do o cong
Re
He so can do anh hng so Raynold (ma sat ong)
- S thay oi t so R/d se thay oi t le do he so can
u
va
Re
.
- He so can
u
phu thuoc vao goc uon cong , t so R/d va chat lng
be mat cua ong.
Hnh 6.3 Tiet
dien uon cong
6.2.1.3.Ton that ap suat trong ong dan kh phan dong (hnh 6.4)
Ton that ap suat trong ong phan nhanh:

79

Ton that ap suat trong ong phan thang:
2
2
z a Ea
w p =
2
2
z d Ed
w
=
(6-7)

(6-8)

d
id d
iz
d
ia q
ma

q
md
= q
mz
- q
ma
q
mz
Trong o w
2
la van toc trung bnh trong
ong dan chnh.
- He so can
a
va
d
cua ong dan khi
phan dong phu thuoc vao t le d
ia
/d
iz
va
t le lu lng q
ma
/q
mz
(bang 6-2)

Hnh 6.4 Ong phan nhanh

Ton that ap suat trong ong dan khi
hp dong (hnh 6.5)
- Ton that ap suat trong ong dan hp
dong q
ma
:

2
2
z a Ea
w p

=
Goc re nhanh
90
0
120
0
135
0
Ong re nhanh, he so can
a

T so d
ia
/d
iz

T le lu
lng
q
ma
/q
mz

1.0 0.8 0.6 1.0 0.8 0.6 1.0 0.8 0.6
0.2 0.79 0.84 1.00 0.71 0.75 0.88 0.68 0.72 0.83
0.4 0.74 0.88 1.31 0.57 0.69 1.07 0.51 0.61 0.98
0.6 0.81 1.05 1.89 0.53 0.75 1.53 0.43 0.64 1.40
0.8 1.00 1.37 2.72 0.97 0.96 2.26 0.44 0.78 2.09
1.0 1.30 1.82 3.81 0.75 1.27 3.26 0.54 1.06 3.05
Ong dan thang, he so can
d

T so d
ia
/d
iz

T le lu
lng
q
ma
/q
mz

1.0 0.8 0.6 1.0 0.8 0.6 1.0 0.8 0.6
0.2 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
0.4 0.02 0.02 0.02 0.02 0.02 0.02 0.02 0.02 0.02
0.6 0.08 0.08 0.08 0.08 0.08 0.08 0.08 0.08 0.08
0.8 0.19 0.19 0.19 0.19 0.19 0.19 0.19 0.19 0.19
1.0 0.35 0.35 0.35 0.35 0.35 0.35 0.35 0.35 0.35
Hnh 6.5 Ong hp dong
d
id d
iz
Bang 6-2
q
md
= q
mz
- q
ma
q
ma

d
ia
q
mz
(6-9)

80

- Ton that ap suat trong ong dan hp dong q
md
:

2
2
z d Ed
w =
(6-10)

Trong o w
z
la van toc trung bnh trong ong dan chnh.
He so can
a
va
d
cua ong dan khi hp dong phu thuoc vao t le d
ia
/d
iz
va t le lu lng
q
ma
/q
mz
(bang 6-3)

Goc re nhanh
45
0
60
0
90
0

Dong hp q
ma
, he so can
a

T so d
ia
/d
iz

T le lu
lng
q
ma
/q
mz
1.0 0.8 0.6 1.0 0.8 0.6 1.0 0.8 0.6
0.2 -0.41 -0.31 -0.11 -0.40 -0.30 -0.09 -0.38 -0.28 -0.06
0.4 -0.03 0.22 0.94 0.00 0.27 0.99 0.10 0.37 1.11
0.6 0.22 0.69 2.22 0.31 0.79 2.33 0.52 1.03 2.61
0.8 0.35 1.09 3.73 0.51 1.27 3.93 0.89 1.69 4.43
1.0 0.35 1.43 5.47 0.60 1.70 5.80 1.20 2.35 6.57
Dong hp q
md
, he so can
d

T so d
ia
/d
iz

T le lu
lng
q
ma
/q
mz

1.0 0.8 0.6 1.0 0.8 0.6 1.0 0.8 0.6
0.2 0.16 0.20 0.19 0.17 0.22 0.23 0.20 0.27 0.32
0.4 0.17 0.17 0.03 0.22 0.26 0.18 0.35 0.46 0.54
0.6 0.06 -0.04 -0.44 0.18 0.15 -0.10 0.47 0.60 0.71
0.8 -0.18 -0.44 -1.22 0.04 -0.11 -0.62 0.56 0.70 0.82
1.0 -0.53 -1.03 -2.32 -0.19 -0.51 -1.39 0.62 0.76 0.86

Bang 6-3

6.2.1.4. Ton that ap suat trong cac loai van (p
v
)
Ton that ap suat trong cac loai van p
v
(trong cac loai van ao chieu, van ap suat,
van tiet lu) tnh theo:

2
2
w
v v

= [N/m
2
] (6-11)
Trong cong nghiep san xuat cac phan t kh nen, he so can
v
la ai lng at trng
cho cac van. Thay v he so , mot so hang che tao cac phan t ieu khien bang kh nen s
dung mot ai lng, goi la he so lu lng k
v
,
,
la ai lng c xac nh bang thc
nghiem. He so lu lng k
v
la lu lng chay cua nc [m
3
/h] qua van nhiet o T = 278
303 [K], vi ap suat ban au la p
1
= 6 [bar], ton that ap suat p
o
= 0.981 [bar] va co gia
tr, tnh theo

81

=

6 . 31
v
v
q
[m
3
/h] (6-12)
Trong o:
q
v
[m
3
/h] Lu lng kh nen
[kg/m
3
] Khoi lng rieng khong kh
p [bar] Ton that ap suat qua van
Theo tai lieu, he so
v
tnh c:

2
2
18 , 10 . . 2
|
|
.
|
\
|
=
v
v
v
k
q
w
g
(6-13)
Van toc dong chay w:

A
q
w
v
= (6-14)
Thay w vao phng trnh ta co:

2
2
2
6
2
3600
.
10
. . 18 , 10 . . 2
|
.
|
\
|
|
.
|
\
|
=
v
v
v
v
k
q
A
q g
(6-15)
Trong o:

4
.
2
d
A = [mm
2
], tiet dien dong chay.
Thay tiet dien dong chay A vao phng trnh, ta co he so can cua van:

|
|
.
|
\
|
=
v
v
k
d
2
3 , 626
1
(6-16)
Nh vay, neu van co thong so ac trng k
v
, ng knh ong noi dai, th ta xac nh c he
so can qua van
v.

6.2.1.5. Ton that ap suat tnh theo chieu dai ong dan tng ng
Bi v ton that ap suat trong ong dan thang hay la ton that ap suat cua ong dan co tiet dien
thay oi hoac la ton that ap suat trong cac loai van eu phu thuoc vao he so
2
2
w
, cho nen
co the tnh ton that ap suat thanh chieu dai ong dan tng ng (hnh 6.6).

2
'
2
2 2
v
d
l
w

l
Hnh 6.6 Chieu dai tng ng l
d
d
T o, chieu dai ong dan tng ng:
d l
=
'
(6-17)
Nh vay ton that ap suat cua he thong ong dan la:

2
'
2
w
d
l l
ges

+
= (6-18)

82

6.2.2. Ton that trong he thong thuy lc
Trong he thong thuy lc co cac ton that sau:
6.2.2.1. Ton that the tch
Ton that the tch la do dau thuy lc chay qua cac khe h trong cac phan t cua he
thong. Ap suat cang ln, van toc cang nho vao nht cang nho th ton that the tch cang
ln. Ton that the tch ang ke nhat la cac c cau bien oi nang lng.
6.2.2.2. Ton that c kh
Ton that c kh la do ma sat gia cac chi tiet co chuyen ong tng oi vi nhau.
6.2.2.3. Ton that ap suat
Ton that ap suat la s giam ap suat do lc can tren ng chuyen ong cua dau t
bm en c cau chap hanh. Ton that o phu thuoc vao nhng yeu to khac nhau:
- Chieu dai ong dan
- o nhan thanh ong
- o ln tiet dien ong dan
- Toc o dong chay
- S thay oi tiet dien
- Trong lng rieng, o nht.
Neu ap suat vao he thong la p
0
va p
1
la ap suat ra, th ton that ap suat c bieu th
bang:
Trong o:
- khoi lng rieng cua dau [ 914 kg/m
3
]
g - gia toc trong trng [ 9,18 m/s
2
]
v - van toc trung bnh cua dau [ m/s }
- he so ton that cuc bo.
- trong lng rieng cua dau (850 kG/m
3
).
6.2.2.4. Anh hng cac thong so hnh hoc en ton that ap suat
6.2.2.4.1. Tiet dien dang tron (hnh 6.7)
Neu ta goi:
p ton that ap suat
l chieu dai ong dan
- khoi lng rieng cua chat
long
Q lu lng
D ng knh
- o nht ong hoc
- he so ma sat cua ong

LAM
he so ma sat oi vi
chay tang

TURB
he so ma sat oi vi chay roi.

83
( ) ( ) bar
d
l
v
g
m N
d
l
v
g
p p p
2 4 2 2
1 0
2
. . 10 /
2
. . 10

= = =
l
D
Q
Hnh 6.7 Dang tiet dien tron

Ton that:

So Reynold:

6.2.2.4.2. Tiet dien thay oi ln ot ngot (hnh 6.8)

D
1
ng knh ong dan vao
D
2
ng knh ong dan ra

6.2.2.4.3. tiet dien thay oi ln t t (hnh 6.9)

6.2.2.4.4. Tiet dien nho ot ngot (hnh 6.10)

6.2.2.4.5. Tiet dien nho t t (hnh 6.11)

84
2
2
2
. . 8
D
Q l
p

=
Q
LAM
.
=
v D. 256
4
TURB
D.v
Q
4
0,316
=
3000 .
4
D
Q
4
1
2
2
2
2
2
2
1
.
8
. 1
D
Q
D
D
p

|
|
.
|
\
|
=
| |
(
=
4
1
2
4
4
1
.
8
. 1 20 , 0 12 , 0
D
Q
D
D
p

4
1
2
2 2
1
2
2
.
.
8
. 1 . 5 , 0
D
Q
D
D
p

=
0 p
Hnh 6.8 Tiet dien thay oi ln
ot ngot
Q
<8
0

D
1
D
2
Hnh 6.9 Tiet dien thay oi ln t t
D
1
D
2
Q
Hnh 6.10 Tiet dien nho ot ngot
Q
Hnh 6.11 Tiet dien nho t t
<8
0
D
2
Q
D
1

6.2.2.4.6. Vao ong dan (hnh 6.12)
Ton that ap suat c tnh theo cong thc sau:

Trong o he so that thoat
U
c chia thanh 2 trng hp a va b, xem bang sau:

Canh
He so that thoat
U

a

b
Sac
Gay khuc
Tron
Co trc
0,5
0,25
0,06
< 3

6.2.2.4.7. Ra ong dan (hnh 6.13)
Ton that ap suat c tnh theo cong thc sau:

6.2.2.4.8. Ong dan gay khuc (hnh 6.14)

85
He so that thoat
U

3000
.
.
4
D
Q

2
3000
.
.
4
D
Q

1
4
2
2
.
8
.
D
Q
p
E

=
4
2
2
.
.
8
.
D
Q
p
U

=
4
D
R
4
2
2
.
.
8
.
D
Q
p
U

=
Hnh 6.12 au vao ong dan
Q
D
Hnh 6.13 au ra ong dan
D
D
Q
Q
Hnh 6.14 Ong dan gay khuc
Q
Q
D D
a b

Goc | |
0

He so that thoat
U

= 20
40
60
0,06
0,2
0,47
= 20
40
60
80
90
0,04
0,07
0,1
0,11
0,11

6.2.2.4.9. Ton that ap suat van

oi vi tng loai van cu the, do tng hang san xuat, th se co ng ac tnh ton
that ap suat cho tng loai van. Ton that ap suat van theo o th hnh 6.15

Hnh 6.15 Ton that ap suat van ao chieu
a. V tr trung gian A,B va T thong nhau
b. V tr trung gian P va T thong nhau
c. V tr trung gian P noi A hoac B noi T

86

6.2.2.4.10. Ton that trong he thong thuy lc (hnh 6.16)

Cong suat bm
Cong suat ien
75% cong suat
hu ch
5% Bm
10% Ong dan, van
5% xilanh

5% ong c ien

Hnh 6.16 Ton that he thong thuy lc

6.3. C S TNH TOAN TRUYEN ONG HE THONG
6.3.1. Cong thc tnh toan bm va ong c dau
6.3.1.1. Lu lng q
v
, so vong quay n va the tch dau trong mot vong quayV
1

Ta co: q
v
= n . V
1

Lu lng bm:
q
v
= n . V
1
.
v
. 10
-3

ong c dau:

3 1
10
.

=
v
v
V n
q
Trong o:
q
v
lu lng [ lt / phut ]; n so vong quay [vg / phut ]
V
1
the tch dau / vong [cm
3
/ vong ];
v
hieu suat [ % ]
6.3.1.3. Cong suat va momen xoan

- Cong suat do bm cung cap c tnh bang tch cua lu lng thc te Q
T
(l/ph) va ap suat
p (kG/cm
2
).
kW
p Q
N
T
,
612
=
- Neu ong c c cung cap mot lu lng Q, l/ph th van toc quay cua no c tnh theo
cong thc:
. / , ph vg
q
Q
n
v
=
Trong o:

87

- Cong suat ma ap suat dau cung cap cho ong c c tnh theo cong thc:
kW
p p Q
N ,
612
) (
2 1
0

=
- Cong suat tren truc cua ong c:
kW
p p Q
N N ,
612
) (
.
2 1
0

= =
- Momen xoan tren truc ong c:
kW p p q
p p q
n
N
M
tl c
v
, ) ( 59 , 1
612
) ( 975
975
2 1
2 1

= =

,
v
,
c
,
tl
- he so co ch cua bm, the tch, c kh, thuy lc.
p
1,
p
2
ap suat ng vao va ng ra; q lng dau tieu thu trong mot vong quay
, l/vg.

6.3.2. Chon kch thc ng knh ong dan
Trong cac he truyen dan thuy lc co ong ngan (l/d <100, l va d la o dai va ng
knh ong), van toc ln nhat cua dong chay thng chon theo cac gia tr gii han sau:
- ong hut: 0,5 1,5 m/s
- ong nen: p<25 kG/cm
2
3 m/s
p< 50 kG/cm
2
4 m/s
p<100 kG/cm
2
5 m/s
p>150 kG/cm
2
8 10 m/s
- ong xa: 2 m/s
Trong cac he thuy lc co ong dai (l/d>100) cac gia tr nay c giam khoang 30
50 %.
Noi chung nen chon van toc sao cho mat mat ap suat trong ong dan khong vt qua 5 6%
ap suat lam viec.
e la chon kch thc ng knh ong dan, ta xuat phat t phng trnh lu lng
chay qua ong dan.
q
r
= A.v
Nh vay kch thc ng knh ong dan la:

] [
. . 3
. 2
. 10 mm
v
q
d
v
=
6.3.3. Ton that ap suat trong ong dan, ong noi
Tra hnh 6.17

88

Hnh 6.17 Ton that ap suat ng ong

Moi lien he gia lu lng ng ong va ton that ap suat cua van tiet lu the hien
hnh 6.18.

89

6.4. Tnh toan mot so
mach ien hnh

V du:
Thc hien lng chay dao
cua mot may gia cong
kim loai to hp, trong
trng hp tai trong
khong oi, ta dung he
thong dau ep nh sau
(hnh 6.13).
- Lc chay dao ln nhat:
P
max
= 12000N.
-Lng chay dao nho
nhat:
s
min
= v
min
= 20 mm/min
-Lng chay dao ln
nhat:
s
max
= v
max
= 500 mm/min
Hnh 6.12 Ton that ap suat van tiet lu
-Trong lng ban may:
G = 4000N.
-He so ma sat song trt: = 0,2.
ay la he thong dau ep ieu chnh bang van tiet lu. Lng dau chay qua he thong
c ieu chnh bang van tiet lu at ng ra, va lng dau toi thieu qua van tiet lu ta
chon la: 0,1 l/min.
Q
min
la chon phu thuoc vao kha nang da dau toi thieu cua van tiet lu c tnh toan theo
cong thc hay theo ac tnh ky thuat cua van.
Vi tr so tren ta xac nh c cac tiet dien lam viec cua pittong:
2
min
min
2
50
2
100
cm
v
Q
F = = =
Ta thng dung t so tiet dien gia pitong va can:

90
2
2
1
= =
F
F
i

Suy ra: F
1
= 2F
2
= 100cm
2

T o ta co ng knh cua xylanh:
cm
F
D 12 3 , 11
100
2 2
1
= = =

Va ng knh can ay:

cm
F F
d 8 9 , 7
50
2 2
2 1
= =
=

- Lu lng ra khoi he thong khi lam viec vi van toc ln nhat:
Q
max
= F
2
.v
max
= 50.50 = 2,5.10
3
cm
3
/min = 2,5 l/min
Tren c s Q
max
va Q
min
ta la chon van tiet lu. Nen chon van tiet lu co Q
max
= 46 l/min.
- e am bao thc hien lc chay dao ln nhat khi gia cong vi lng chay dao ln nhat,
khi tnh toan ap suat can chu y en van
e ton that trong cac c cau, thiet b
dau ep.
- Tnh toan ton that ap suat da theo
cac cong thc ton that ap suat hoac
theo o th ton that. - - oi vi cac
thiet b cua cac nha san xuat bao gi
cung i kem vi cac ng ac tnh ton
that ve ap suat, lu lng.
- oi vi van ao chieu 4 ca 2 v tr
(4/2), ton that ap suat ca vao cung
nh ca ra co the lay p
1
= 0,15 bar.
- Ta chon chieu dai ong dan ng
vao co chieu dai l
1
= 1m va ng ra
l
2
= 1 m vi ng knh trong (lam
viec) cua ong = 6mm.
-Lu lng can thiet khi thc hien
lng chay dao ln nhat:
Q
1
= F
1
.v
max
= 100.50 = 5.10
3
cm
3
/min =
5l/min.
-Vi lu lng Q
1
= 5l/min, o dai l
1
=
1m, ta xac nh c ton that ap suat cua ong dan ng dau vao t o th (hnh 6.11).
F
G
P
0
A
1
, P
1
A
2
, P
2

P
3

P
4
0
P
0
p
2
= p
3
= 1,25 bar.
- Ton that ap suat tren cac ong noi ng vao cung nh ng ra co the lay:
p
4
= 0,3 bar.
- Neu nh khongke ton that ap suat tren ng ra lap sau van tiet lu co the lay: p
4
0 va
van tiet lu can am bao ap suat ng ra la 2 bar, do o: p
5
= 2 bar.
- Vi cac tr so tren ta tnh ap suat trong buong co tiet dien F
2
la:
p
2
= p
5
+ p
1
+ p
3
+ p
4
= 2 + 0,15 + 1,25 + 0,3 = 3,7 4 bar

91

- Lc ma sat gia song trt sinh ra do tai ban may:
P
ms
= G = 0,2.4000=800N.
- Hieu ap gia hai buong xilanh can phai thang lc chay dao va lc ma sat, do o phng
trnh can bang tnh hoc cua lc tac dung len pittong:
p
1
F
1
P
max
P
ms
p
2
F
2
= 0
Suy ra : p
1
= 14,8 bar.
- Neu tnh en cac ton that tren cac ng vao , th ap suat can thiet ca ra cua bm dau
la:
p
0
= p
1
+ p
1
+ p
2
+ p
4
16,5 bar.
- Neu tnh en ton that do bo loc gay nen va am bao ap suat ng ra ta lay p
0
= 20 bar.
- Neu lay van toc lui dao nhanh la v
0
= 5000 mm/min th lu lng can thiet e chay dao
nhanh la:
Q
0
= F
2
.v
0
= 50.500 =25.10
3
cm
3
/min = 25l/min.
-ay la lu lng can thiet ln nhat nhat ma bm dau phai am bao, do o no cung la lu
lng danh ngha cua bm, tc la:
Q = 25l/min.
- Van tran can phai la chon loai co lu lng ln hn Q = 25l/min. Do o chon loai co Q=
30-40l/min.
- e xac nh ton that dau ep, ta can biet lu lng can thiet khi thc hien lng chay dao
nho nhat, tc la:
Q
min
= F
1
.v
min
= 100.2 = 200 cm
3
/min = 0,2 l/min.
Khi thc hien lng chay dao nho nhat, lng dau qua van tran se la:
Q
t
= Q Q
min
= 25 0,2 = 24,8 l/min.
- Toan bo nang lng cua lu lng nay bien thanh nhiet, gay nen ton that cong suat:

kW
p Q
N
T
81 , 0
612
20 . 8 , 24
612
0
= = =
- Neu lay tong hieu suat cua bm dau la = 0,7 th cong suat can thiet cua ong c ien
la:

. 16 , 1
7 , 0 . 612
25 . 20
612
.
0
kW
p Q
N
= = =

92

BAI TAP CHNG 6
Bai 1:
Tnh toan he thong dau ep cua may mai. S o nguyen ly c mo ta hnh BT6.1.
Cac thong so cua he thong c cho biet:
- Van toc dch chuyen ln nhat cua ban may
mai: v
max
= 2.10
4
mm/min
- Van toc dch chuyen nho nhat cua ban may
mai: v
min
= 100 mm/min
- Khoi lng ban may: G = 300 kG
- Lc cat ln nhat: P
max
= 1000 N
- He so ma sat: = 0.1
- Chieu dai ong dan t van ao chieu en xy
lanh la l
1
= 2 m, t bm dau en van ao
chieu l
2
= 1 m, t van ao chieu en van tiet
lu l
3
= 1 m.
Bai 2:
Tnh toan he thong nang xe o to cac
tram bao hanh, ra xe. S o nguyen ly c
mo ta hnh BT6.2.
Cac thong so cua he thong c cho biet:
- Khoi lng cua xe: G=1000kG
- Van toc nang nho nhat: v
min
= 100
mm/min
- Van toc nang ln nhat: v
max
= 1200
mm/min
p
4
0
p
0
p
3
F,p
1
D
P
max
G
d
F,p
2
Hnh BT6.1
- Hanh trnh nang xe: L=1000mm
- ng knh trong cua xy lanh: D = 250 mm
- T so F
1
/F
2
= 2
- Be day cua piston : H = 100 mm, chieu dai
cua can piston : L = 1200 mm.
- Ban nang xe co khoi lng G
t
= 160 kG.
- He so ma sat: = 0.1

93
p
2
, F
2
p
1
, F
1
Hnh BT6.2
IEU KHIEN KH NEN & THUY LC Chng 7 Thiet ke mach ieu khien

PHAN III

PHAN TCH VA THIET KE

CHNG 7

THIET KE MACH IEU KHIEN HE
THONG KH NEN THUY LC

Bieu dien chc nang cua qua trnh
ieu khien
Bieu o trang thai
S o chc nang
Lu o tien trnh
Thiet ke mach ieu khien ien thuy
kh
Nguyen tac thiet ke
Phan tch va thiet ke

Thiet ke mach ieu khien bang lap
trnh
Cong cu thiet ke
Viet chng trnh ieu khien

Cac phng phap ieu khien
ieu khien tuy chon
ieu khien theo hanh trnh
ieu khien theo thi gian
ieu khien phoi hp

94

Trong ky thuat ieu khien, cac hoat ong cua cac c cau trong he thong ieu khien
t ong eu xuat phat t cac phng trnh chuyen ong c xay dng tren nguyen ly lam
viec cua he thong. Cac phng trnh nay la ham tch hp nhng gia tr cua tn hieu vao va
tn hieu ra va c viet di dang cac bien so cua ai so Bool.
Qua trnh nh ngha tn hieu vao ra ay u, tuan thu nguyen ly hoat ong cua he
thong e xay dng c cac ham toi u, tc giam thieu c toi a cac phan t logic trong
thiet ke la mot nhiem vu quan trong trong ky thuat ieu khien.
Tuy theo mc o n gian hay phc tap cua hoat ong he thong ta co the co t hay
nhieu phng trnh ieu khien.
V du: C cau mot au khoan t ong thuy lc mo ta hnh 7.1, vi yeu cau ky thuat nh
sau:
a chi tiet can khoan vao v tr can khoan, khi o ta an nut Start PB, au khoan tnh tien
en va khoan chi tiet. at en chieu sau can thiet (S2) au khoan t ong quay ve. Trong
qua trnh khoan neu xay ra s co ta an nut Stop PB au khoan t ong lui ve.

Qua phan tch nguyen ly lam viec cua c cau khoan ta thiet ke c mach ong lc
nh hnh 7.2.
Phng trnh ieu khien c viet nh sau:

StopPB } S2 K] S1) [(StartPB { K =
Hnh 7.2 Mach thuy lc c cau khoan
1 2
Than ban may
au dao khoan Chi tiet khoan
Hnh 7.1 C cau khoan
StopPB StartPB
S2 S1
Phng trnh tai:
1Y = K
Trong o: - ham K c xem la cuon day cua relay mach ien.
- 1Y la cuon day cua van ien t thuy lc.
Da vao phng trnh ieu khien va phng trnh tai, mach ien ieu khien c thiet
ke nh hnh 7.3 va mach ieu khien bang thuy lc hnh 7.4.

95

Hnh 7.3 Mach ien ieu khien
Hnh 7.4 - Mach ieu khien bang thuy lc
Mach ieu khien
7.1. LY THUYET AI SO BOOLE
7.1.1. cac phep bien oi ham mot bien

PHNG TRNH MACH IEN MACH LOGIC

A
A
1 A A A = A
A
1
1 1
A 1 = A
A
0
1 A
A
1
A
A 0 = 0
A = A A
1 1
A
A
A A = 1 1 1
A
A
A
A A = 0
A A
& 0
A
A
A
A
& A A A A A = A
A
1
A
& 1 A A 1 = A
0
0
A
&
A A 0 = 0

96

7.1.2. Cac luat c ban cua ai so Boole
7.1.2.1. Luat hoan v


B
A
1
A
B
1
A
B
B
A
B
A
&
A
B
&
AA B
B AA
A B = B A
A B = B A

7.1.2.2. Luat ket hp

A

1
1
B
C
C
A
1
B
1
C
A
B
B
C
A
(A B) C = A (B C)
&
A
B
C
&
&
B
A
C
&
A C B
A C B

(A B) C = A(B C)

7.1.2.3. Luat phan phoi


1 C
&
B
A 1
1
&
A
B
C
& C
1
B
A &
&
1
A
B
C
B
A
C
A
B
C
A
A
A
B
C
B
C
A

(AB)(AC) = A (BC)

(AB)(AC) = A(BC)

97

7.1.2.3. Luat hap thu

A

A
1
&
B
A
&
1
B
A
1
A
A
1
A
A
B
A
B
A
A
A (A B) = A

A (A B) = A

7.1.2.4. Luat bu


A (A B) = A B
B
A
&
A
A
B
B
A
1
1
&
B
1
&
1
B
A
1
B
A
B
A
B A
A

A (A B) = A B

A

7.1.2.5. Luat De Morgan

98

1 A
1
B
&
B
A
1
1
B
A
1
1
B
A
&
A B = A B

A B = A B

V du: n gian phng trnh sau:
) ( ) (

= D B A D B A y
Giai:
Phng trnh tren co chung tham so
B A . Theo luat phan phoi ta viet lai phng trnh

tren nh sau:
) ( ) (

= D D B A y
Theo phep bien oi ham 1 bien th:
1 ) ( =

D D
Do o:
) ( 1 ) (

= = B A B A y

) ( ) ( B A B A y =

Giai:
Theo luat phan phoi ta viet lai phng trnh tren nh sau:
) ( ) ( ) ( ) ( B B A B B A A A y =

0 =
A A va B B B =
Suy ra:
B A B B A y =

) ( ) ( 0
B A B B A y =

) ( ) (

) ( ) (

= D B C A y
Giai:
Theo luat De Morgan ta co the viet lai nh sau:
) ( ) (

= D B C A y
Cung theo luat De Morgan ta viet lai:
) ( ) ( D B C A y =
A A = va D D=
Do o:
) ( ) ( D B C A y =

99

II. PHAN LOAI PHNG PHAP IEU KHIEN
1. ieu khien tuy chon
ieu khien tuy thuoc la ieu khien
thng cac tac ong c thc hien bang
tay hay bang chan. Trong ieu khien kh
nen thuy lc tuy thuoc tn hieu au vao
la cac van tac ong bang tay, chung kch
hoat cac pt tong dch chuyen ve pha trc
hoac tr ve v tr ban au theo mong muon.
Hnh 7.5 mo ta mach dap n gian
ieu khien tuy chon. Gom mot van 4/3 co
nh 2.6, mot phan t OR va 3 van tac ong
tn hieu bang tay.
Tat ca nhng ieu khien tuy thuoc
oi hoi van hanh cua con ngi mi tr
nen hieu lc. ieu khien tuy thuoc thch
hp bat c ni au ma ta khong quan tam
en chu trnh lam viec t ong cua he
thong. Noi mot cach khac, ay la mot loai ieu khien phu hp oi vi nhng he thong hoat
ong n gian, th du nh kep chat, nang chuyen, nh vong thi no cung la coi nguon
cua he thong phc tap na o la chi tiet can thiet cho s khi ong hay ngng khan cap tac
ong trong cac may t ong.
Hnh 7.5 ieu khien
tuy thuoc

2. ieu khien theo hanh trnh
Trong mot he thong ieu khien theo hanh
trnh, hoat ong cua cac phan t a tn hieu khi
ong cac c cau chuyeu hng hay van hanh cac
vong lap ieu khien khac c thc hien bi chnh
cac phan t chap hanh.
Cac tn hieu hanh trnh c kch trc tiep
t can pit tong cuoi cua moi hanh trnh. Tuy
nhien e thc hien nhng nhiem vu hoac nhng
yeu cau nao o, ta co bo tr cac tn hieu hanh trnh
nhng v tr bat ky tren khoang chay cua pt
tong. Hnh 7.6 mo ta mot mach lam viec c lap
i lap lai. Ngay khi nguon kh cung cap c m
bi van 0.1, pt tong c khi ong qua lai trong
xy lanh cho ti khi nguon kh cung cap c ong
lai. Van tac ong con lan 1.1 va 1.2 c bo tr
nh cac hanh trnh e a tn hieu ti van nh trang thai 4/2 1.3 khi can pit tong cham vao
con lan.
Hnh 7.6 ieu khien theo hanh trnh

100

3. ieu khien theo thi gian
ieu khien theo thi gian la trang thai ieu khien cua he thong tac ong ch phu
thuoc vao ai lng thi gian cua cac phan t nh thi. Cac phan t nh thi co the la
kh nen, dau ep hoac ien.
Hnh 7.7 ieu khien theo thi gian
Hnh 7.7 mo ta he thong ep
ui hi ket non. Khi nhan nut an S1
van ao chieu 1Y oi v tr, pittong
1A i len e ep ket non, ong thi
dong ien vao phan t relay thi
gian T1. Sau thi gian t th pittong
se i xuong tr ve v tr ban au.
Hnh 7.8 la c cau ieu khien dch
chuyen pittong kh nen e ay cac
san pham theo nguyen ly thi gian.
Vi cac phan t thi
gian s dung nguon nang
lng lu chat th ch
hoat ong hai v tr
cuoi cua xylanh kh nen.
Thi gian tr hoan phu
thuoc vao o hieu chnh
cua van tiet lu.

4. ieu khien phoi hp
ieu khien phoi
hp la ieu khien phoi
cac ieu khien tren.
Hnh 7.9 la mo ta
mach ieu khien cua c
cau ep phoi hp 3 thanh phan ieu khien:
tuy chon (2.3), hanh trnh (2.2) va thi gian
(2.5). Bnh thng khi cap nguon nang
lng th phan t 2.5 xac lap thi gian va
sau thi gian nay th co dong nang lng
tao ra nhng no i qua ca xa cua 2.3
khong u ap e kch van 2.4. Ngc lai
neu tac ong 2.3 ma 2.5 cha xac lap th
dong nang lng c tao ra cung khong
kch cho van 2.4 hoat ong. Tn hieu kch
van 2.4 dch chuyen vi ieu kien ong
thi nut nhan 2.3 c tac ong va sau thi
gian xac lap cua phan t 2.5. Khi pittong
Hnh 7.9 ieu khien ep phoi hp
Hnh 7.8 ieu khien theo thi gian bang lu chat kh nen

101

ep i ra va cham vao cong tac hanh trnh 1.2 th van 2.4 b kch ngc lai va pittong lai tr
ve v tr ban au.
5. ieu khien theo chng trnh cng
Cac ieu khien may moc hoan toan t ong c phan theo y muon va c ch
nh theo cac ieu khien chng trnh hoac cac ieu khien lien tuc. Ca hai he thong co
nhng ch li va nhng bat li. Vi ieu khien chng trnh, cac tac ong c thi hanh
theo s thoa thuan vi mot chng trnh nh ngha trc. Thong thng bo chng trnh
bao gom mot cai truc c van hanh bang ien lap vi mot so cam (chi tiet cam c kh)
ieu khien mot so van
tng ng. Chng
trnh c bien dch
bi cac cam c lap
at chnh xac va toc o
quay cua truc cam.
Hnh khai trien 7.10
mo ta mot ieu khien
theo chng trnh cng
ieu khien may nong
au cat ong nha theo
kch thc. Toc o cua
ong c van hanh ong
bo thch ng vi
khoang thi gian cua
mot chu ky lam viec
ay u hoan tat trong
Hnh 7.11 ieu khien tuan t ban t ong
p
p
p
p
p
Pt tong kep
Pt tong cat
Pt tong dap
Pt tong ay
thep a cat
Phoi thep cuon
Pt tong
tai phoi
ong c ieu
khien ong bo
Truc cam
Banh cam
Thep cay
Con lan
Hnh 7.10 ieu khien theo chng trnh cng

102

mot vong quay. Moi xy lanh tac ong kep c ieu khien bi van tac ong con lan 4/2
vi lo xo tra ve v tr ban au.

6. ieu khien tuan t
C ban nh phng phap ieu khien phu thuoc hanh trnh, ieu khien tuan t bao gom cac
phan t chc nang nh thi. Nguyen tac cua ieu khien tuan t la hoat ong cua phan t
trc se khi tao hoat ong
phan t ke tiep. Neu mot
hoat ong cua mot phan t
nao o b loi du bat ky ly do
g gay nen cac phan t tiep
theo sau khong c khi tao
va toan bo he thong se b
dng.
ieu khien tuan t c thiet
ke cho cac van hanh t ong
hoac ban t ong. Ban t
ong khi tn hieu khi ong
phai c tac ong bang tay
cho moi lan chay.
Hnh 7.11 mo ta mach ieu
khien tuan t ban t ong.
Hnh 7.12 Mach ieu khien tuan t t ong Hnh 7.12 mo ta mach ieu
khien tuan t hoan toan t
ong.

7.3. PHNG PHAP THIET KE MACH IEU KHIEN
Mach ieu khien c xem nh la mot qua tim cua cua mot he thong lam viec kh nen
va thuy lc. Do o nhiem vu thiet ke hoan chnh mot mach ieu khien am bao c s
ung an ve nguyen ly hoat ong, n gian, tin cay, on nh va linh hoat la he sc c
quan tam. Muon nh vay, c ban ta phai thc hien trnh t nhng bc sau:
Bieu dien s o chc nang cua qua trnh ieu khien.
Viet chng trnh ieu khien cua cac bc lam viec trong qua trnh.
Xay dng mach ieu khien tren c s cua phng trnh ieu khien.
7.3.1. Bieu dien chc nang cua qua trnh ieu khien
Tuy thuoc vao tnh nang lam viec cua he thong ma trong mot he thong ieu khien
co the co mot hay nhieu mach ieu khien thc hien cac nhiem vu rieng biet. Mat khac,
hau het trong cac he thong, cong nghe t ong hien ai co s ket hp rat nhieu cac c cau
chap hanh khac nhau rat a dang: C kh, kh nen, thuy lc, ien do o trong qua trnh
ieu khien, tat yeu la nhieu he thong ieu khien c ket hp vi nhau, v du: ieu khien
kh nen ket hp vi ien, thuy lc, ieu khien theo chng trnh PLC, may tnhe n

103

gian qua trnh ieu khien cung nh toi u va n gian thiet ke ta phai thc hien nhiem vu
bieu dien chc nang cua qua trnh ieu khien ay u va hoan chnh nhat.
7.3.1.1. Bieu o trang thai
7.3.1.1.1. K hieu
Cac k hieu bieu dien bieu o trang thai cua qua trnh ieu khien c mo ta hnh 7.13.

A

T

T

en bao hieu
Nut an
Nut t ong
Cong tac chuyen mach
Nut ngat
Nut ong va ngat
Nut ong
Cong tac ngat luc nguy hiem
p
t
T
Nut an tac ong ong thi
Lien ket OR co 1 nhanh phu
Hnh 7.13 K hieu bieu dien bieu o trang thai
s
Phan t ap suat
Phan t thi gian
Tn hieu re nhanh
Lien ket OR
Lien ket AND
Tn hieu tac ong bang c
7.3.1.1.2. Thiet ke bieu o trang thai
Bieu o trang thai bieu dien cac trang thai hoat ong cua cac phan t trong he
thong, moi lien he gia cac phan t va trnh t chuyen mach cua cac phan t. Do o no
c xem nh la c s the hien nguyen ly hoat ong cua mot he thong.
Truc tung cua bieu o trang thai la bieu dien trang thai ( hanh trnh chuyen ong,
ap suat, goc quay,). Truc hoanh bieu dien cac bc thc hien hoac la thi gian hanh trnh.
Hanh trnh lam viec c chia thanh nhieu bc. S thay oi trang thai cac bc c bieu
dien bang cac ng net am. S lien ket cac tn hieu c the hien bang cac net nho va
chieu tac ong c bieu dien bang mui ten.
V du: thiet ke bieu o trang thai cua quy trnh ieu khien sau:
Xy lanh tac dung kep 1A dan hng cac phoi cuc tron en mot khau lam viec ke
tiep. hai pha au va cuoi hanh trnh co gan 2 c hanh trnh 1S2 va 1S3. Pittong dch
chuyen ay phoi(hanh trnh i) khi ong thi 1S2 va nut nhan 1S1 c tac ong. Thi

104

gian cua hanh trnh i la t
1
= 0.6 s, thi gian hanh trnh ve la t
2
= 0.4 s, thi gian pittong lu
tru tai v tr 1S3 la t
3
=1 s.

7.3.1.2. S o chc nang
7.3.1.2.1. K hieu
S o chc nang bao gom cac lenh va cac bc thc hien. Cac bc thc hien c k hieu
theo so th t va cac lenh gom ten loai, loai lenh va v tr ngat cua lenh (hnh 7.5).

n
n+1
A
B
Bc thc hien
Ten bc thc
n-1
Tn hieu vao th
Ten lenh
Loai lenh V tr ngat lenh
Tn hieu vao th hai
Hnh 7.14 - K hieu cac bc va lenh thc hien

7.3.1.2.2. Thiet ke s o chc nang
Hnh 7.15 mo ta nguyen ly lam viec cua may khoan nh sau:
Hnh 7.16 S o mach ieu khien kh nen.

105

7.3.1.3. Lu o tien trnh
7.3.1.3.1. K hieu
Lu o tien trnh la giai thuat (thuat toan) cua mot qua trnh ieu khien. The hien
cac trnh t hoat ong, nhng tn hieu tac ong anh hng en he thong ieu khien.
Cac k hieu va th t vi tr c mo ta hnh 7.9

a. S o nguyen ly
S
3

S
4

o ga kep
2.0
1.0
S
1

S
2

Hnh 7.16 - S o mach kh nen
Bat au & ket thuc qua trnh
Lenh thao tac
Re nhanh
Chng trnh con
Lenh thao tac bang tay
Hnh 7.15 Nguyen ly lam
viec
0
1
1
0
1 2
3 4
b. Bieu o trang thai
Piston 2.0
Piston 1.0
5
Bc thc hien
Chieu tac dung
Hp nhanh
Re nhanh
V tr chuyen tiep
Ghi chu
Nhap, xuat d lieu
Hnh 7.17 - K hieu bieu dien lu o tien trnh

106

7.3.1.3.2. Thiet ke lu o tien trnh
Nguyen tac hoat ong cua mach ieu khien hnh 7.10 c thc hien nh sau:
1S3
Hnh 7.18 - Nguyen l hoat ong cua mach ieu khien
- Bc thc hien th nhat:
Khi pittong v tr ban au (1S2 =1, 1S3=0) nut nhan khi ong 1S1 tac ong pittong i ra
(1A+).
- Bc thc hien th hai:
Khi pittong i en cuoi hanh trnh cham cong tac 1S2, pittong se lui ve (1A-).
- Bc thc hien th ba:
Tai v tr ban au pittong cham cong tac 1S2, qua trnh ieu khien ket thuc.
Qua trnh ieu khien c viet nh sau:
- Bc thc hien th nhat:
1S11S21S3= 1A+ 1S3
- Bc thc hien th hai:
1S3=1A- 1S2
- Bc thc hien th ba:
1S2 = ket thuc qua trnh

Khi ong
1S1 =1
1S2 =1
1S3 =1
1
co
co
khong
khong
1A-
co
Ket thuc
khong
1
1S1 =1
1S3 =1
1A+
co
co
khong
khong

Hnh 7.19 - Lu o tien trnh ieu khien

107

7.3.2. Viet phng trnh ieu khien cua hoat ong he thong
- Da vao bieu o trang thai hoat ong theo thi gian cua qua trnh lam viec he thong, da
vao ly thuyet ai so Boole va cac phan t co chc nang nh trang thai ta co the viet ra
c cac phng trnh cac bc ieu khien cua qua trnh.
- Ta co the toi u cac phng trnh ieu khien o ti mc cha t tham so bien vao ra cang
t e n gian mach ieu ieu khien va giam ton kem ve s dung cac phan t khong can
thiet.
V du:
Hnh 7.20 He thong ep ba au
S
0
S
0
S
0
S
1
S
1
S
2

v
3

v
1
S
1

v
2

S
2
S
0
Quy trnh ieu khien piston e nen
chat cac ba au thanh cac khoi banh
c mo ta hnh 7.20. Tai cac v tr
S
0
, S
1
va S
2
co cac cong tac hanh
trnh tng ng x
0
, x
1
va x
2
. Nut nhan
thc hien hanh trnh ep la S
p
. au
tien piston chay vi toc o v
1
trong
oan hanh trnh khong ep S
0
S
1
, va se
chay cham vi v
2
trong hanh trnh ep
S
1
S
2.
Gap S
2
piston se giat lui ve vi
van toc ln nhat v
3
va ket thuc chu
ky ep tai S
0.
(chu y: v
3
> v
1
> v
2
).
Vi nguyen ly hoat ong cua quy
trnh ep ta xay dng c s o mach
ong lc nh sau:

Bc 0-1
Tai v tr khi au cua bc 0 1,
khi ong thi S
0
b tac ong va nut
S
p
c nhan th thc hien bc 0
1, tc la A+ thc hien. Va no van
thc hien sau khi ta tha nut nhan
ieu nay phai nh trang thai cua
A+.
Phng trnh viet nh sau:
1 0 0
] ) [( S K S S K
p
=
Bc 1-2
- Tai v tr 1, tn hieu S
1
tac ong ket thuc
bc 0-1 va thc hien bc 1-2, cung la
A+ nhng van toc v
1
. Khi thc hien 1-2
th S
1
se thoi tac ong, van thc hien A+
tc la phai nh trang thai nay.
0
1
0
1 2
3 = ket thuc
Bc thc hien
Piston 1A
S
0
S
2
S
0
S
1
S
p
Xy lanh A+ A+ A- KT
Cong tac hanh trnh S
0
S
1
S
2
S
0

Nam cham ien 1Y1 2Y1 1Y2 2Y2
- Phng trnh viet nh sau:

108

2 2 1 1 1
] ) [( K S K S K =
Bc 2-3
- Khi piston gap S
2
th ket thuc bc 1-2 va thc hien bc giat lui 2-3 (A-) va ket thuc tai
S
0
. Khi thc hien bc 2-3 th S
2
thoi tac ong nhng A- van hoat ong, tc phai co nh
trang thai cua no.
- Phng trnh c viet nh sau:
0 2 2 2
) ( S K S K =
7.3.3. Ve s o mach ieu khien
- Mach ieu khien la to hp cac tang. Tang la to hp cua cac phan t logic ien theo cac
phng trnh ieu khien a viet c tren.
- Moi phng trnh ieu khien co the xem nh la mot tang. Trong o K
n
la ham cua cac
tang va c gan cho cac au ra cong suat cua cac van ieu khien.
Tang 2
Tang 3
Tang 1
7.3.4. V du
Mot thanh han nhiet ien c ep vao
mot trong tron xoay c lam mat bang
xy lanh kh nen tac ong kep (1A) va han
tam plastic thanh cac ong, hnh 7.21.
Hanh trnh duoi ra c kch bang mot nut
nhan 1S1. Hanh trnh duoi vi ap suat la 4
bar va khi 1S4 c tac ong th bat au
ep cho ti ap suat ep tang en 8 bar th
piston giat ve. Gap 1S3 th piston dng
lai, sau 2 giay th chu ky ep mi lai bat
eu. Trong mach s dung van 5/2/2 coil.
Xay dng mach ieu khien cua c cau
han nhiet ien.
Giai:
Bieu o trang thai c mo ta hnh 7.22.

109


Xy lanh A+ A+ A- 0 A+
Cong tac hanh trnh 1S3 1S4 p

1S3 t
Nam cham ien 1Y1,
2Y1
1Y1 1Y2 0 1Y1,
2Y1
Viet phng trnh ieu khien
V hoat ong cua he thong c thc hien lien tuc, do vay trang thai nhan cua 1S1 tai (1)
c duy tr trong suot qua trnh.
) 1 1 (
0 0
K S K =
Bc 1-2
P K S S K = ] ) 3 1 1 1 [
1 1

4 1
1 2
S K K =
1Y1 = K
1

2Y1 = K
2

Bc 2-3
3 1 )
3 3
S K p K =
1Y2 = K
3
Bc 3-1 Thc hien chu ky mi ke tiep sau khoang thi gian tr hoan t.
0 4
3 1 K t S K =
) (
1 4 1
K K K =
Ta co the s dung luat ket hp e toi u cac tang bc 1-2 va 3-1.
Xay dng mach ien ieu khien
Can c vao so phng trnh tren ta co so tang tng ng. Mach c the hien di ay:

110

7.4. IEU KHIEN BANG LAP TRNH
- Tren ay, chung ta a s dung ly thuyet ai so Boole, cac phan t nh e to hp thanh
cac phng trnh ieu khien va s dung cac luat logic e toi u chung. Bc ke tiep mi
tien hanh xay dng mach ieu khien tren to hp a toi u c.
- Vi phng thc nay se gap nhieu kho khan oi vi nhng he thong co qua trnh hoat
ong phc tap, he thong oi hoi phai thay oi cac thong so lam viec thng xuyen, kho
khan khi bao tr, sa cha hoac cai tien, nang cap e phu hp vi nhu cau. Mac khac
phng thc nay ton kem chi ph, khong gian va tnh an toan, on nh lam viec rat thap
anh hng rat ln en hieu qua san xuat.
- e giai quyet nhng han che cua phng thc nay ngi ta a s dung cac bo ieu khien
co kha nang lap trnh thay the hoan toan cho cac mach ieu khien tren tao ra mot s linh
hoat mem deo t y tng en hoan thien mach.
- S dung bo ieu khien lap trnh, chung ta khong can quan tam en ban chat cua s noi
mach do ieu nay c giai quyet bang chng trnh.
- Chng trnh co the viet di dang ngon ng STL, LADDER, FBD. Trong phan nay tac
gia s dung ngon ng n gian LADDER e mo ta va lap trnh cac hoat ong cua he
thong.
7.4.1. Mot so lenh c ban viet chng trnh

STT Lenh K hieu Toan hang Loai d lieu
1 Tiep iem thng
h thng ong
I, Q, M, SM, T, C, V,
S, L
Bool
2 Tiep iem canh
dng canh am
I, Q, M, SM, T, C, V,
S, L
Bool

111

112
3 Nh bit xoa bit

I, Q, M, SM, T, C, V, S,
L
Bool
4 Gan ngo ra

I, Q, M, SM, T, C, V, S,
L
Bool
5 Phu nh bit

I, Q, M, SM, T, C, V, S,
L
Bool
6 M tre theo thi
gian

Txxx: Constant
IN: I, Q, M, SM, T, C,
V, S, L
Word
Bool
7 Tat tre theo thi
gian

Txxx: Constant
IN: I, Q, M, SM, T, C,
V, S, L
Word
Bool
8 So sanh = =, < >,
=>, <=, >, < 2 so
nguyen

IW, QW, MW, SW,
SMW, T, C, VW, LW,
AIW, AC, Constant,
*VD, *LD,*AC
int
9 Cong va tr 2 so
nguyen

IW, QW, MW, SW,
SMW, T, C, VW, LW,
AIW, AC, Constant,
*VD, *LD,*AC
Int
10 Nhan va chia 2 so
nguyen

IW, QW, MW, SW,
SMW, T, C, VW, LW,
AIW, AC, Constant,
*VD, *LD,*AC
Int
11 em len

PV:VW, IW, QW, MW,
SMW, LW, AIW, AC,
T, C, Constant, *VD,
*AC, *LD, SW
CU,R: power flow
Int

Bool

12 em xuong PV:VW, IW, QW,
MW, SMW, LW,
AIW, AC, T, C,
Constant, *VD, *AC,
*LD, SW
CD,LD: power flow
int

Bool

7.4.2. Viet chng trnh cho mach ieu khien
V du: May dap au phoi thep t ong trong day chuyen san xuat tru ien be tong tien ap.
Tac ong tn hieu khi ong ( nut nhan PB start) pt tong kep chat dch chuyen t v tr
A en B thc hien kep chat phoi, luc nay LS2 c tac ong va pt tong dap dch
chuyen t v tr C en D e dap nh hnh phoi ( theo hnh dang khuon) luc nay LS4 tac
ong lam cho pt tong dap lui ve C va LS3 tac ong. LS3 tac ong lam cho pt tong kep
dch chuyen t B ve A va LS1 tac ong dng qua trnh dap (Hnh 5).
Chu y: PLC ch nhan tn hieu t PB Start khi ong thi LS1 va LS3 b tac ong.

PB start
(D)
(C)
LS1
(A)
LS2
(B)
LS4
LS3

113

114

BAI TAP CHNG 7

Bai 1:
Thiet ke mach ep gia nhiet t ong vi yeu cau ky thuat nh sau:
Khi nut nhan S1 c tac ong th pittong ep i xuong va cham vao cong tac hanh
trnh S2 th bat au gia nhiet vi thi gian t. Sau o tr ve v tr ban au va cham vao cong
tac hanh trnh S3 th qua trnh tiep tuc lai t au. Trong qua trnh thc hien neu nhan nut
S4 th pttong se quay ve v tr ban au.

Bai 2:
Thiet ke mach thuy lc ieu khien may dap khuon kim loai (hnh
BT7.1), vi yeu cau ky thuat sau: Luc au, au dap v tr ch (S1),
khi a chi tiet can dap vao ta an nut S3, au dap tnh tien i xuong va
dap chi tiet, khi S2 b tac ong th au dap quay ve. Trong qua trnh gia
cong neu xay ra s co, an nut S4 au dap se lai v tr o.

Bai 3: Thiet b lap rap co o doi
Thiet ke mach ieu khien thuy lc cua c cau dung e lap rap co o
doi, vi yeu cau ky thuat nh sau:
a chi tiet can lap vao v tr lap, an nut S1 c cau tnh tien xuong lap va ep chat
chi tiet en khi u ap suat 20 bar, en H sang, th c cau t quay ve. Neu trong qua trnh
gia cong xay ra s co th an nut S2 c cau quay ve v tr ban au.
S1
S2
Hnh BT7.1

Bai 4: C cau cap phoi theo kien
Thiet ke mach ieu khien thuy lc cap phoi theo khoi kien nhieu san pham, vi yeu cau
ky thuat sau:
Nhan nut 1S c cau ay phoi hoat ong t v tr gii han S1 en gii han S2 e ay
san pham. Khi cong tac S2 tac ong th pittong ay tr ve v tr ban au va thc hien tiep
lan ay mi. ay ung 12 phoi th ngng v tr ban au. Trong qua trnh ay phoi co van
e th nhan nut 2S va tr ve v tr ban au.

Bai 5:.
He thong van chuyen cac san pham bang cac bang tai con lan c mo ta nh hnh BT7.2.
Hai bang tai chuyen ong vuong goc vi nhau theo truc X va Y. Nguyen ly lam viec c
mo ta nh bieu o trang thai. Hay thiet ke mach ong lc thuy lc va mach ieu khien.
Trong o: 1S1, 1S2, 2S1, 2S2 la cac cong tac gii hanh trnh; S1 la nut nhan khi ong he
thong.

115

BT7.2b
2A
1
0
1
0
1A
Bieu o trang thai
1S2
1S1
2S2
1S2
S1
BT7.2a
BT7.2c

Bai 6:
C cau ep thuy lc mo ta nh hnh BT7.3 va bieu o trang thai BT7.4. Trong qua trnh
chay neu tac ong S2 th dng c cau. Neu S1 c tac ong th c cau lai hoat ong tiep
tuc.
Hay thiet ke mach ong lc thuy lc, viet phng trnh ieu khien va thiet ke mach
ien ieu khien.
Trong o: 1S1, 1S2 la cac cong tac gii hanh trnh; p la cong tac ap suat; T la cong tac thi
gian.
1S1
BT7.4 - Bieu o trang thai
S1
1A
1S2
1S1
0
1
Ket thuc
p = 40 bar t = 4 s
BT7.3 C cau thuy lc

Bai 7:
He thong ep thuy lc c dung e lap rap cac chi tiet thanh san pham c mo ta nh
hnh BT7.5. Khi nhan nut khi ong S1 th pittong ep thc hien lap rap chi tiet cho en ap

116

suat at en 3Mpa th pittong tr ve v tr ban au gap 1S1 th dng. Trong qua trnh ep
hoac tr ve neu nut Stop (S2) c nhan th pit tong dng lai. Neu S1 lai c nhan th pit
tong se tiep tuc hanh trnh con lai. Hay thiet ke mach ong lc, viet phng trnh ieu
khien va ve s o mach ien.

S1
1A
Ket thuc
1S1
0
1
1S1
p = 3 Mpa
b) Bieu o trang thai
a) C cau ep thuy lc
BT7.5

117
IEU KHIEN KH NEN & THUY LC Tai lieu tham khao

TAI LIEU THAM KHAO

[1]. Pham Cong Ngo, Ly thuyet ieu khien t ong
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lc
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trong che tao may
[6]. Nguyen Ngoc Can, Truyen dan dau ep trong may cat kim loai
[7]. Ron Tocci, Digiatal System
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[15]. Hydraulics Applications
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[16]. Le Van Tien Dung, ieu khien lap trnh PLC va mang PLC
ai Hoc Ky Thuat Cong Nghe Tp.HCM, 2004.

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BO GIAO DUC & AO TAO

TRNG AI HOC KY THUAT CONG NGHE TP.HCM

B A . Theo luat phan phoi ta viet lai phng trnh

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