TNG QUAN V TI

1. Mc ch
Trong cng nghip v iu khin t ng ngy nay, my tnh ngy cng tr thnh b phn khng th thiu trong qu trnh iu khin. tm hiu v qu trnh s dng my vi tnh iu khin mt i tng c th, chng ti chn v thc hin ti ng dng my tnh iu khin tc ng c DC

2. Ni dung
ti ny tm hiu phng php s dng my tnh iu khin tc ng c DC 24V.My tnh l b iu khin trung tm.PLC S7-200 lm b giao tip gia my tnh vi ng c. iu khin theo phng php vng kn. y l phng php iu khin tc ng c c s hi tip tc ngc tr v iu khin chnh xc. C nhiu phng php hiu chnh tc ng c. V d nh phng php hiu chnh ON OFF, P, PI, PD, PID Trong ti ny, chng ti chn phng php hiu chnh PID. iu chnh tc ng c DC cng c nhiu phng php khc nhau nh: thay i in p t vo phn ng ng c, thay i t thng, thay i rng xung (PWM) (in p t vo phn ng ca ng c khng thay i) Chng ti chn Phng php PWM.y l phng php thng dng v d thc hin. Ni dung c bn ca ti:
1) Gii thiu tng quan v tai 2) Tm hiu v PLC S7-200, c th l PLC loai CPU 224 DC/DC/DC ca hng

SIEMENS.
3) Tm hiu v i tng iu khin l ng c DC. 4) Tm hiu v ENCODER. y l mt loi cm bin xung dng o tc ca

ng c.
5) Tm hiu v nguyn l hot ng ca cu H dng thay i tc ca ng c. 6) Tm hiu v kiu giao tip ni tip gia PLC v my tnh 7) Tm hiu phng php hiu chnh P, PI, PID. 8) Tm hiu v phng php iu ch rng xung PWM. 9) Tm hiu v phn mn thit k giao din WinCC flexible 2008.

10) Tm hiu v ngn ng lp trnh cho PLC S7-200. 11) Vit chng trnh WinCC flexible 2008 cho my tnh:

+ Giao din ngi dng trn my tnh + Tc t cho ng c c th thay i v tc o trn thc t c hin th trn giao din ngi dng + B iu chnh PID c th iu chnh 3 thng s Kp, Ki, Kd. + V th p ng gia tc t, tc o thc t trn WinCC
12) Vit chng trnh S7-200:

+ iu khin rng xung vi tn s c nh iu khin tc ng c. rng xung nhn c t my tnh gi sang. + iu khin chiu quay ca ng c. + o tc ca ng c v gi gi tr o v my tinh
13) Thit k phn cng b iu khin ng c v giao tip gia PLC vi my tnh.

V./

ng dng PLC trong iu khin: 1) Gii thiu:

Thnh phn c bn ca S7-200 l khi x l trung tm CPU-12 hoc CPU-14. y xin ch cp n CPU-14. a) M t:

Mt CPU-14 c hnh dng bn ngoi ging nh hnh 3-14. C 14 ng vo: t I0.0 n I0.7 v t I1.0 n I1.5. C 10 ng ra : t Q0.0 n Q0.7 v t Q1.0 n Q1.1. C 14 led bo trng thi cc ng vo, 10 led bo trng thi cc ng ra. C 03 led bo trng thi ca CPU: _ Led SF : Bo trng thi CPU cn tt hay b hng. _ Led RUN: Bo trng thi CPU ang hot ng. _ Led STOP: Bo trng thi CPU ang ngng hot ng. Ngoi ra, khi c yu cu giao tip ln, S7-200 cho php ta kt ni thm cc modul m rng. S modul m rng ti a l 7, tng ng vi s ng vo cc i l 64, s ng ra cc i l: Cc ng vo, ra u c mc in p tc ng l 24VDC. Hih 3=14 Hnh 3-14 Khi x l CPU 214 Tnh nng ca CPU-14 DC/DC/DC:

Ngun nui: 24VDC. Mc logic ng vo : 24VDC = [1]. 0VDC = [0]. - Mc logic ng ra : 24VDC = [1]. 0VDC = [0]. Ti ng ra phi lm vic 24VDC v dng ti a l 50mA. - C 2048 t nh chng trnh cha trong ROM. - C 2048 t nh d liu, trong 512 t u tin thuc ROM. - C 128 timer, ty theo phn gii m chia lm 3 loi: + 04 timer 01ms. + 16 timer 10ms. + 108 timer 100ms. - C 128 b m Counter, ty vo cch m m chia lm 2 loi: + m ln : Count up. + m ln xung : Count up-down. - C 688 bit nh t bit dng thng bo trng thi v t ch lm vic. - Cc ch ngt v x l ngt gm: + Ngt truyn thng. + Ngt sn ln. + Ngt sn xung. + Ngt thi gian. + Ngt ca b m tc cao. + Ngt truyn xung. - C 03 b m tc cao vi tn s: 2KHz v 7KHz. - C 02 b pht xung kiu POT hoc kiu PWM. - C 02 b iu chnh tng t. - Ton b vng nh khng b mt d liu trong 190 gi khi PLC b mt ngun nui. b) Cu trc b nh:

B nh ca S7-200 c chia lm 4 vng: _ Vng chng trnh. _ Vng tham s. _ Vng d liu. Trong hai vng nh d liu v i tng c vai tr quan trng trong vic thc hin mt chng trnh. Vng d liu: . V - Variable memory : Vng nh bin. . I - Input image register : Vng m ng vo. . Q - Output image register : Vng m ng ra. . M Internal memory bits : Vng nh trong. . SM Special memory bits : Vng nh c bit. - Cc vng nh ny u c th truy cp c theo bit, byte, word hay double word: + Truy sut theo bit: Mt ln mt bit. C php: Tn vng nh (+) a ch byte (+) .(+) a ch bit. V d: I0.0 : ch bit 0 ca byte 0 ca vng I.

+Truy sut theo byte: mi ln 1 byte. C php: Tn vng nh (+) B (+) a ch byte. V d: VB1 : ch byte 1 ca vng V. +Truy sut theo word: C php: tn vng nh (+) W (+) a ch byte cao. V d: VW100: ch word 100 gm 2 byte 100 v 101 thuc vng V. +Truy sut theo Double word: C php: Tn vng nh (+) D (+) a ch byte cao. V d: VD150 : ch double word gm 4 byte: 150, 151, 152, 153. Vng i tng: c phn chia nh sau: -Timer: t T0 n T127. -B m: t C0 n C127. -B m cng vo tng t: t AW0 n AW30. -B m cng ra tng t: t AQW0 n AQW30. -Thanh ghi Acumulator: t AC0 n AC3, trong thanh ghi AC) khng c kh nng lm con tr. -B m tc : t HSC0 n HSC2 c) Cch thc hin mt chng trnh:

PLC lm vic theo nguyn tc thc hin cc vng lp. Mi vng lp c gi l mt vng qut. Mi vng qut hon chnh gm cc bc nh sau: 4. Chuyn d liu t b m o ra ngoi vi. 1. Nhp d liu t ngoi vi vo b m o.

2. Thc hin 3. Truyn thng v chng trnh. t kim tra li. Hnh 3-16 Vng qut trong S7-200 Bc 1: Nhp d liu t thit b ngoi vi vo b m. Bc 2: Thc hin chng trnh. Bc 3: Truyn thng v t kim tra li. Bc 4: Chuyn d liu t b m o ra ngoi. d) Cu trc mt chng trnh:

_ Mt chng trnh iu khin c th c vit trn phn mm STEP7-MICRO/Dos hay STEP7-MICRO/Win. _ C th np chng trnh vo cho CPU nh my tnh c nhn hoc thit b lp trnh bng tay PG702. _ Mt chng trnh ca S7200 gm cc phn sau:

 lnh MEND. lnh RET. bng lnh RETI.

Chng trnh chnh c kt thc bng lnh MEND. Cc chng trnh con v chng trnh x l ngt phi c vit sau Mt chng trnh con c bt u bng lnh SBR v kt thc bng Mt chng trnh x l ngt c bt u bng lnh INT v kt thc

e) Cc ch lm vic: STOP/TERN/RUN: Ta chn ch lm vic ca PLC bng cch tc ng vo cng tc ba v tr Stop/Tern/Run. Khi np chng trnh vo PLC phi cng tc v tr Stop. f) Son tho mt chng trnh trong S7-200: _ DngLADer _ DngSTatement List g) Qui trnh thit k h iu khin dng PLC:

thit k mt h iu khin dng PLC ta thc hin cc bc sau: Xc nh yu cu iu khin: Nm r cu to v nguyn tc hot ng ca thit b, yu cu iu khin l g. V lu : Bc v lu gip ta c th nhn mt cch tng quan v yu cu iu khin v kt ni gia h thng vi thit b. Xc nh I/O: Ng vo thng l cc tip im, rle, Ng ra thng l cc cun dy, motor, contactor Vit chng trnh: Khi xy dng lu ng,ta s chuyn c sang s LAD mt cch d dng. Np chng trnh vo PLC: m phng chng trnh, cn thit phi np vo PLC. Kim tra: Trong qu trnh m phng, nu pht hin sai st, li, ta s thot ra ngoi sa li chng trnh.Nu chng trnh chy tt, ta kt ni PLC vi cc thit b. Kt thc: Kt ni PLC vi cc thit b v chm dt. 2) Tp lnh S7-200:

Tp lnh trong S7-200 c biu din di hai dng: LAD v STL: _ LAD Ladder logic Gi l phng php hnh thang: l mt ngn ng vit di dng ha, d quan st, d kim tra. _ STL Statement list Phng php lit k: Ngn ng th hin di dng nhng cu lnh. Phn ln nhng cu lnh di dng LAD u c th chuyn sang STL v ngc li. a. Cc lnh xut/nhp:

Lnh nhp: Np gi tr logic ca tip im vo bit u tin trong ngn xp. DNG LAD n n n n DNG STL LD n LDN LDI LDNI n n M T Tip im thng m s c ng khi n=1 Tip im thng ng s c m khi n=1 Tip dim thng m s c ng tc thi khi n=1 Tip im thng ng s c m khi n=1. TON HNG n (bit): I, Q, M, SM, T, C, V. n(bit): I

M T TON HNG Np gi tr logic ca n vo bit u tin trong ngn xp. n(bit): I, Q, M, Np gi tr nghch o ca n vo bit u tin SM, T, C, V. trong ngn xp. Np tc thi gi tr logic ca n vo bit u tin trong ngn xp. n(bit): I. Np tc thi gi tr nghch o ca n vo bit du tin trong ngn xp.

Lnh xut: Sao chp ni dung ca bit tin trong ngn xp vo bit c ch nh trong lnh. Ni dung ca ngn xp khng b thay i. LAD n n M T TON HNG Cun dy u ra trng thi kch thch khi c n(bit): I, Q, M, dng iu khin i qua. SM, T, C, V,. Cun dy u ra c kch thch tc thi khi c n(bit): Q. dng iu khin i qua .

= =I

STL n n

M T TON HNG Lnh =sao chp gi tr ca nh ngn xp ti n(bit): I, Q, M, tip im n c ch dn trong lnh. SM, T, C, V. Lnh =I sao chp tc thi gi tr cu nh ngn n(bit): Q. xp ti tip im n c ch dn trong lnh. b. Cc lnh ghi xa gi tr cho tip im: Cc lnh ny dng ghi xa cc im gin on c thit k.

LAD S bit n S bit n S bit n S bit n STL S S_BIT

M T ng mt mng gm n cc tip im k t S-bit. Ngt mt mng gm n cc tip im k t S-bit. Nu S-bit li ch vo Timer hoc Counter th lnh s xa bit u ra ca timer hoc couter .

TON HNG S-bit: I, Q, M, SM, T, C, V. n(Byte): IB, QB, MB, SMB, VB, AC, Hng s, *VD, *AC.

ng tc thi mt mng gm n cc tip im k S-bit: Q (bit) t S-bit. n: IB, `QB, MB, SMB, VB, AC, Ngt tc thi mt mng gm cc tip im k t Hng s, *VD, *AC. a ch S-BIT.

R R_BIT SI S_BIT

M T n Ghi gi tr logic vo mt mng gm n bit k t i chi S_BIT. Xo mt mng gm n bit k t i ch S_BIT. Nu S_BIT li ch vo Timer hoc Counter th n lnh s xa bit u ra ca Timer hoc counter . n

RI S_BIT n

TON HNG S_BIT: I, Q, M, SM, T, C, V. (Bit). n: IB, QB, MB, SMB, VB, AC, Hng s, *VD, *AC. (Byte). Ghi tc thi g tr logic 1 vo mt mng gm n S_BIT: Q. (Bit) bit k t a ch S_BIT. n: IB, QB, MB, Xa tc thi mt mng gm n bit k t a ch SMB, VB, AC, Hng s, *vd, S_BIT *AC. (Byte).

c. Cc lnh logic: Cc lnh ny cho php to lp c cc mch logic. Dng LAD: Trong LAD, cc lnh ny c biu din thng qua cch mc mch ni tip (Logic AND) hay song song (Logic OR) cc tip im thng ng hay thng h.

 LNH O n A n ON AN OI n n n

Dng STL:

ONI ANI

n n

M T TON HNG Lnh thc hin ton t AND va OR gia cc gi tr logic ca tip im n v gi tr bit u tin trong ngn xp. Kt qu c ghi vo bit u trong ngn xp. n: I, Q, M, SM, Lnh thc hin ton t AND v OR gia cc gi tr T, C, V. (Bit). nghch o ca tip im n v gi tr bit u tin trong ngn xp. Kt qu c ghi vo bit u trong ngn xp. Lnh thc hin tc thi ton t AND va OR gia gi tr logic ca tip im n v gi tr bit u tin trong ngn xp. Kt qu c ghi li vo bit u trong ngn xp. n: I . (Bit). Lnh thc hin tc thi ton t AND v OR gia gi tr logic nghch o ca tip im n v gi tr bit u tin trong ngn xp. Kt qu c ghi li vo bit u ca ngn xp.

Ngoi ra cn c cc lnh c bit dng cho ngn xp: LNH ALD M T Lnh t hp gi tr ca bit u tin v th hai trong ngn xp bng php logic AND. Kt qu ghi li trong bit u ca ngn xp. Gi tr cn li ca ngn xp c ko ln 1 bit. Lnh t hp gi tr bit u tin vo bit th hai trong ngn xp bng php logic OR. Kt qu c ghi li vo bit u trong ngn xp. Gi tr cn li ca ngn xp c ko ln 1 bit. Lnh Push sao chp gi tr bit u tin vo bit th hai trong ngn xp. Gi tr cn li b y xung 1 bit. Bit cui cng b y ra ngoi. Lnh sao chp gi trca bit th hai vo bit u tin trong ngn xp . Cc gi tr cn li ca ngn xp gi nguyn v tr. Lnh ko ngn xp ln 1 bit. Gi tr ca bit sau c ko ln bit trc. TON HNG

OLD

LPS LRD LPP

Khng c.

d. Cc lnh tip im c bit: LAD STL M T

NOT EU EO e. Cc lnh so snh: LAD n 1 n 2 X M T Tip im ng khi n1= n2. X: B = byte I = integer D = double integer R = real Tip im ng khi n1 ln hn hoc bng n2. X: B = byte I = integer D = double integer R = real Tip im ng khi n1 nh hn hoc bng n2 X: B = byte I = integer D = double integer R = real

Ph nh Tc ng sn ln Tc ng sn xung

TON HNG n1, n2: VB, IB, QB, MB, SMB, AC, Const, *VD, AC.

n n 1 X 2

n1, n2: VW, T, C, IW, QW, MW, SMW, AC, const, AIW*VD,*AC.

n 1

n 2 X

n1,n2: VD, ID, QD, MD, SMD, AC, HC.const, *VD, *AC.

STL LDB= n1 AB= n1 OB= n1 LDB>= n1 AB>= n1 OB>= n1 LDB<= n1 AB<= n1 OB<= n1 LDW= n1 AW= n1 OW= n1 LDW>= n1 AW>= n1 OW>= n1

n2 n2 n2 n2 n2 n2 n2 n2 n2 n2 n2 n2 n2 n2 n2

M T Lnh thc hin php tnh logic Load, AND hoc OR gia gi tr 1 vi ni dung ca nh ngn xp khi n1 = n2 Lnh thc hin php tnh logic Load, AND, Or gia gi tr logic 1 vi ni dung ca nh ngn xp khi n1 = n2 Lnh thc hin php tnh logic Load, AND, OR gia gi tr logic 1 vi ni dung ca nh ngn xp khi n1 nh hn hoc bng n2. Lnh thc hin php tnh logic Load, AND, OR gi gi tr logic 1 vi ni dung ca nh ngn xp khi n1 = n2 Lnh thc hin php tnh logic Load, ANDm OR gia gi tr logic 1 v ni dung ca nh ngn xp khi n1 ln hn hoc bng n2.

TON HNG n1, n2: VB, IB, QB, MB, SMB, AC, CONST, *VD, *AC. (byte)

n1, n2 :VW, T, C, TW, QW, MW, SMW, AC, CONST, *VD

LDW<= n1 n2 AW<= n1 n2 OW<= n1 n2 LDD= AD= OD= LDD>= AD>= OD>= LDD<= AD<= OD<= n1 n1 n1 n1 n1 n1 n2 n2 n2 n2 n2 n2

n1 n2 n1 n2 n1 n2

Lnh thc hin php tnh logic LOAD , AND, OR gia gi tr Logic 1 v ni dung ca nh ngn xp khi n1 nh hn hoc bng n2. Lnh thc hin php tnh logic LOAD, AND, OR gia gi tr logic 1 v ni dung c nh ngn xp khi n1 = n2 Lnh thc hin php tnh logic LOAD, AND, OR gia gi tr logic 1 v ni dung ca nh ngn xp khi n1 ln hn hoc bng n2 Lnh thc hin php tnh logic Load, And, OR gia gi tr logic 1 v ni dung ca nh ngn xp khi n1 nh hn hoc bng n2.

n1, n2: VD, ID, QD, MD, SMD, AC, HC, CONST, *VD, *AC. (T kp).

f. Lnh nhy v gi chng trnh con: LAD n n n n JMP LBL CALL SBR RET STL Kn Kn Kn Kn M T Lnh nhy thc hin vic chuyn iu khin n nhn n trong mt chng trnh. Lnh khai bo nhn n trong mt chng trnh. Lnh gi chng trnh con, thc hin vic chuyn iu khin n chng trnh con c nhn l n. Lnh gn nhn cho mt chung trnh con. Lnh tr v chng trnh chnh khng iu kin. TON HNG

n: t 0 n 255

Khng c

g. Cc lnh can thip vo thi gian vng qut: LAD STL END STOP n NOP n M T Lnh kt thc chng trnh chnh hin hnh c iu kin. Kt thc chng trnh hin hnh v chuyn sang ch Stop. Lnh rng, khng c hiu lc trong chng trnh hin hnh. TON HNG Khng c n: t 0 n 255

h. LAD

Cc lnh iu khin Timer: TON HNG Txx: CPU 212 32 63 CPU 214 32 63 96 27 PT: VW, T, C, IW, QW, MW, SMW, AC, IAW, VD, *AC, CONST. Txx: 0 31 64 - 95. PT: VW. T, C, IW, QW, MW, SMW, AC, AIW, VD, *AC, CONST.

Tx x

Tx x

M T Khai bo timer xx kiu TON d to thi gian tr tnh t khi bit u trong ngn xp c gi tr logic 1. Nu gi tr m tc thi ln hn hoc bng gi tr t trc n th T-bit c gi tr logic =1. C th reset timer bng lnh Reset hoc bng gi tr ogic 0 u vo. CPU 212 214 CPU 214 1ms T32 T96 10ms T33 n T36 T97 n T100 100ms T37 n T63 T101 n T127 Khai bo Timer xx kiu TONR. Ch c th reset timer kiu TONR bng lnh R. CPU 212-214 CPU 214 1ms T0 T64 10ms T1 n T4 T65 n T68 100ms T5 n T31 T69 n T95

i. LAD Cxx STL CTU Cxx n

Cc lnh iu khin Counter: Dng m sn xung : M T Khai bo b m ln theo sn ln. Khi gi tr tc thi C-word >= gi tr t trc n, C-bit c gi tr logic =1. B m s ngng khi : C-word = 32767. TON HNG Cxx: T 0 47 v 80 127 n:VW, T, C, IW, QW, MW, SMW, AC, AIW, CONST, *VD, *AC. (Word). Cxx: 48 79 (word) n: VW, T, C, IW, MW, SMW,

Cxx CTUD Cxx n Khai bo b m ln xung, khi gi tr C-word >= n th Cbit c gi tr bng 1. Cwordmax = 32767

C-wordmin = - 32768 CTUD reset khi bit u ca ngn xp c gi tr logic =1.

QW, AC, AIW, CONST, *VD, *AC.

2.6.2. MT S LNH TIP IM C BIT 2.6.2.1. Tip im SM0.0 Tip im lun lun ng.

2.6.2.2. Tip im SM0.1 Tip im pht ra 1 xung khi PLC chuyn t ch STOP sang RUN.

Netword 2

2.6.2.3. Tip im SM0.4 Tip im to xung lin tc, vi chu k l 60 giy. 30 giy u mc thp, 30 giy sau mc cao.

2.6.2.4. Tip im SM0.5 Tip im to xung lin tc, vi chu k l 1 giy. 0.5 giy u mc thp, 0.5 giy sau mc cao.

Phn2: cc tp lnh nngcao trong s7-200

1. B M TC CAO: 1.1GII THIU V HSC:

B m tc thng: B m thng trong PLC nh m ln (CTU), m xung (CTD), m ln xung (CTUD), ch mc cc s kin xy ra vi tn s thp (chu k xut hin ca s kin nh hn chu k qut ca PLC) HSC l b m tc cao, c s dng m nhng s kin xy ra vi tn s ln m cc b m thng thng trong PLC khng mc. VD: tn hiu xung t encoder
2. S lng b m HSC c trong PLC v tn s ti a cho php:

tu thuc vo loi CPU m s lng b m HSC v tc ti a cho php khc nhau b m HSC0 HSC1 HSC2 HSC3 HSC4 HSC5 Ng vo I0.0 I0.1 I0.2 I0.3 I0.4 I0.5 Tn s cho php 30KHZ 30KHZ 30KHZ 30KHZ 200KHZ 200KHZ Loi CPUs 221,222,224,224XP,226 221,222,224,224XP,226 221,222,224,224XP,226 221,222,224,224XP,226 224XP 24XP

3. Vng nh c bit s dng lp trnh HSC

mi HSC c vng nh c bit ring, vng nh ny c s dng khai bo chn mode m, t gi tr, lu gi tr m cho HSC tng ng STT 1 2 3 4 5 6 B M HSC0 HSC1 HSC2 HSC3 HSC4 HSC5 VNG KHAI BO SMB36 n SMB45 SMB46 n SMB55 SMB56 n SMB65 SMB136 n SMB145 SMB146 n SMB155 SMB156 n SMB165 CH THCH M i HSC s d ng 10 byte

4.C c mode m ca b m: mi b m u c nh ng Mode khc nhau. Tu thc vo tng ng dng c th m ngi lp

trnh la chn Mode m cho ph hp. Di y trnh by Mode m ca b m tiu biu

HSC0 MODE 0 CIM b m 1 pha, thay i hng

bn trong SM37.3=1: M LN SM37.3=1: M XUNG

I0.0 NG VO NHN XUNG

HSC1 (c tt c 12 Mode m khc nhau) MODE c im 0 1 2 3 4 5 6 7 8 9 10 11 m lch pha. Pha A,B lch nhau 90 m xung Clock A Clock B reset start B m ln/xung SMB47.3=0 : m xung SMB47.3=1: m ln Thay i hng m I0.7=0:m xung I0.7=1:m ln m 2 pha vi ng vo xung CK m ln v m xung Ck up Ck down reset start clock dir reset start I0.6 clock I0.7 I1.0 reset I1.1 start

HSC2 (c tt c 12 Mode m khc nhau) MODE c im 0 1 2 3 4 5 6 7 8 9 10 11 m lch pha. Pha A,B lch nhau 90 m xung Clock A Clock B reset start B m ln/xung SMB57.3=0 : m xung SMB57.3=1: m ln Thay i hng m I1.3=0:m xung I1.3=1:m ln m 2 pha vi ng vo xung CK m ln v m xung Ck up Ck down reset start clock dir reset start I1.2 clock I1.3 I1.4 reset I1.5 start

4. ngha ca byte trng thi khi lp trnh cho HSC:

4.1. Byte trng thi ca HSC0 SM36.0 SM36.1 SM36.2 SM36.3 SM36.4 SM36.5 SM36.6 SM36.7 Khng s dng Khng s dng Khng s dng Khng s dng Khng s dng Chiu ang m,1:m ln, 0: m xung Kt qu so snh tc thi, 1: nu CV=PV Kt qu so snh tc thi, 1: nu CV>PV

4.2 Byte trng thi ca HSC1. SM46.0 SM46.1 SM46.2 SM46.3 SM46.4 SM46.5 SM46.6 SM46.7 Khng s dng Khng s dng Khng s dng Khng s dng Khng s dng Chiu ang m,1:m ln, 0: m xung Kt qu so snh tc thi, 1: nu CV=PV Kt qu so snh tc thi, 1: nu CV>PV

5.3 Byte trng thi ca HSC2 SM56.0 SM56.1 SM56.2 SM56.3 SM56.4 SM56.5 SM56.6 SM56.7 Khng s dng Khng s dng Khng s dng Khng s dng Khng s dng Chiu ang m,1:m ln, 0: m xung Kt qu so snh tc thi, 1: nu CV=PV Kt qu so snh tc thi, 1: nu CV>PV

5. ngha cc bt ca byte iu khin trng thi khi lp trnh cho HSC.

5.1. Byte iu khin ca HSC0 SM37.0 SM37.1 SM37.2 SM37.3 SM37.4 Khng s dng Khng s dng Khng s dng Chiu m:0 m li,1:m ln Cho php i chiu m, 0: khng cho php,1:cho php

SM37.5 SM37.6 SM37.7

Cho php sa i gi tr t trc,0:khng cho php,1:cho php Cho php sa i gi tr m tc thi,0:khng cho php,1:cho php 1:cho php kch HSC0,0:khng cho php HSC0

5.2 Byte iu khin ca HSC1 SM47.0 SM47.1 SM47.2 SM47.3 SM47.4 SM47.5 SM37.6 SM47.7 Kiu reset cho tn hiu xa ti cng I1.0 Kiu start cho tn hiu kch ti cng I1.1 Tn s m ca HSC1 Chiu m:0 m li,1:m ln Cho php i chiu m, 0: khng cho php,1:cho php Cho php sa i gi tr t trc,0:khng cho php,1:cho php Cho php sa i gi tr m tc thi,0:khng cho php,1:cho php 1:cho php kch HSC1,0:khng cho php HSC1

6.3Byte iu khin ca HSC2 SM57.0 SM57.1 SM57.2 SM57.3 SM57.4 SM57.5 SM57.6 SM57.7 Kiu reset cho tn hiu xa ti cng I1.0 Kiu start cho tn hiu kch ti cng I1.1 Tn s m ca HSC1 Chiu m:0 m li,1:m ln Cho php i chiu m, 0: khng cho php,1:cho php Cho php sa i gi tr t trc,0:khng cho php,1:cho php Cho php sa i gi tr m tc thi,0:khng cho php,1:cho php 1:cho php kch HSC2,0:khng cho php HSC2

7.Chn kiu reset,start v tn s m cho HSC HSC1 HSC2 GHI CH

SM47.0 SM47.1 SM47.2

SM57.0 SM57.1 SM57.2

0:reset mc cao 0:start mc cao 0:4X gi tr m

1:reset mc thp 1:start mc thp 1:1X gi tr m

8.Byte trng thi v byte iu khin ca HSC3,HSC4,HSC5: B m HSC3 HSC4 HSC5 Byte trng thi SMD136 SMD146 SMD156 Byte iu khin SMD137 SMD147 SMD157 Ghi ch

9.Ga tr tc thi, gi tr t: B m HSC0 HSC1 HSC2 HSC3 HSC4 HSC5 gi tr tc thi SMD38 SMD48 SMD58 SMD1488 SMD158 SMD168 gi tr t Ghi ch

10.Cc bc khi to b m HSC Dng chu k qut u tin (SM0.1) gi chng trnh con khi to. trong chng trnh con khi to thc hin cc cng vic sau y: _np gi tr cho byte iu khin. Gn b m vi mode m tng ng dung lnh HDEF Np gi tr tc thi Np gi tr t trc Gn chng trnh ngt vi s kin ngt dung lnh ATCH nu s dng ngt Cho php ngt dung lnh ENI

Chn b m thc thi dng lnh HSC CHNG: IU CH RNG XUNG PWM (PULSE WIDE MODULATION). 1.Gii thiu v PWM Trong S7 200 h tr 2 ng ra Q0.0 v Q0.1 pht xung PWM vi tn s ln (c th ln n 30Khz).Vi tn s ny th cc ng ra bnh thng, hot ng ph thuc vo chu k qut ca PLC khng th pht ra c. PWM pht xung vi chu k v rng xung c th thay i c : Chu k : T 50uS n 65535uS hay t 2mS n 65536mS. rng xung : T 0 n 65535uS hay t 0 n 65535mS. 2. Vng nh c bit c s dng khi lp trnh iu khin PWM 2.1Byte iu khin: Q0.0 Q0.1 Control Bits SM67.0 SM77.0 PTO/PWM update the cycle time 0=no update 1=update cycle time SM67.1 SM77.1 PWM update the pulse width time 0=no update 1=update pulse SM67.2 SM77.2 PTO update the pulse count value time 0=no update 1=update cycle time SM67.3 SM77.3 PTO/PWM time base 0 =no update 1=update cycle time SM67.4 SM77.4 PWM update method 0=no update 1=update cycle time SM67.5 SM77.5 PTO single/multiple segment operation 0 =no update 1=update cycle time SM67.6 SM77.6 PTO/PWM mode select 0=no update 1=update cycle time SM67.7 SM77.7 PTO/PWM enable 0=no update 1=update cycle time Tu thuc vo vic s dng ng ra Q0.0 hay Q0.1 ch PTO/PWM v tn s mong mun m ngi lp trnh np cc gi tr thch hp vo byte iu khin SMB67 hay SMB77. 2.2.Cc vng nh c bit khc: Q0.0 Q0.1 Other PTO/PWM register SMW68 SMW78 PTO/PWM cycle time value range:2 to 65535 SMW70 SMW80 PWM pulse width value range:2 to 65535 SMW72 SMW82 PTO pulse count value range:2 to 4294967295 SMW166 SMW176 Number of the segment in progress Multiple-segment PTO operation only SMW168 SMW178 Starting location of the profile table Multiple-segment PTO operation only (byte offset from V0) 2.3 Cc gi tr np cho byte iu khin v kt qu thc hin.
Control register (hex value) 16#81 16#84 16#85 16#89 16#8C 16#8D Result of Executing the PLS Instruction enable Select PTO PWM mode segment update operation method YES PTO Single YES PTO Single YES PTO Single YES PTO Single YES YES PTO PTO Single Single Time base 1us/cycle 1us/cycle 1us/cycle 1ms/cycl e 1ms/cycl e 1ms/cycl Pulse count Load Load Load Load Load Pulse Width Cycle time Load Load Load

16#A0 16#A8 16#D1 16#D2 16#D3 16#D9 16#DA 16#DB

YES YES YES YES YES YES YES YES

PTO PTO PWM PWM PWM PWM PWM PWM

Multiple Multiple Synchronou s Synchronou s Synchronou s Synchronou s Synchronou s Synchronou s

e 1ms/cycl e 1ms/cycl e 1us/cycle 1us/cycle 1us/cycle 1ms/cycl e 1ms/cycl e 1ms/cycl e Load Load Load Load Load Load Load Load

2.4 cc bc khi to b pht xung: S dng chu k qut u tin gi chng trnh con khi to PLS. Trong chng trnh con khi to thc hin cc cng vic sau.
1. 2. 3. 4. 5. 6. Np gi tr cho byte iu khin chn ch pht theo yu cu Np gi tr thi gian chn chu k Np gi tr chn s lng xung pht Gn chng trnh ngt vi s kin ngt tng ng Cho php ngt Thc hin lnh PLS pht xung 2.4.1 Khi to PTO pht 10 xung vung , tn s 1hz ( chu k 1s) Chng trnh chnh.

Chng trnh con khi to

2.5 Cc bc khi ng b PWM S dng chu k qut u tin gi chng trnh con khi to b PWM.Trong chng trnh con khi to thc hin cc cng vic sau
1. 2. 3. 4. Np gi tr cho byte iu khin chn ch pht theo yu cu Np gi tr thi gian chn chu k Np gi tr thi gian chn rng xung Thc hin lnh PLS pht xung

Chng trnh chnh

Chng trnh con khi to:

BI 4: HOT NG NGT CA PLC

1. GII THIU V NGT TRONG S7 200: Ngt l qu trnh m s7 200 dng chng trnh ang thc thi thc hin chng trnh ngt khi c yu cu (c s kin gy ra ngt xy ra). Sau khi thc hin xong chng trnh ngt th s7-200s quay v chng trnh ang thc hin trc khi xy ra ngt thc hin tip. Khi c nhiu yu cu ngt xy ra ng thi th cc ngt s thc hin theo th t u tin t ngt c mc u tin cao nht n ngt c u tin thp nht. Tu thuc vo loi CPU m s lng ngt cng nh s kin ngt c khc nhau. Inputs/Ouput Data Operands s Types INT BYTE Constant (0 to 127) EVNT BYTE Constant CPU221 and CPU222 0to 12, 19 to 23, and 27 to 33 CPU224: 0 to 23 and 27 to 33 CPU 226 and CPU 226XM: 0 to 33 Cc lnh s dng khi lp trnh iu khin ngt: Lnh cho php ngt ton cc:

Lnh cho php ngt ton cc Lnh cm ngt ton cc

Lnh thot khi chng trnh ngt Lnh gn chng trnh ngt vi s kin ngt tng ng

Lnh loi b chng trnh ngt vi s kin ngt tng ng

2.

Lu : mt chng trnh ngt c th c gi bi nhiu s kin ngt. Tuy nhin mt s kin ngt th khng th gn cho nhiu chng trnh ngt .
3. cc bc lp trnh khi s dng ngt tt c cc ngt phi c khi to trc khi lm vic. Vic khi to cc ngt nn thc thi mt ln (SM0.1) trong chng trnh , ch khi no cn thay i cc thng s trong qu trnh khi to th mi khi to li. mi ngt u c cch khi to ring, tip theo s trnh by vic khi to mt s ngt c bn khi to ngt cnh ln ti I0.0( s kin 0) chng trnh chnh ( gi chng trnh con khi to ngt)

Chng trnh con KHOITAO0 ngt)

( Gn chng trnh ngt vi s kin ngt tng ng, cho php

Trong chng trnh ngat : mi ln c cnh ln I0.0 th chng trnh ngt c gi. Trong v d ny, chng trnh ngt c nhim v tng gi tr QB0 thm 1 4.2 khi to ngt nh thi 0: timed interrupt0 chng trnh chnh ( Gi chng trnh con khi to ngt)

Chng trnh con khoitaotimer0: (Np thi gian gy ra ngt, gn chng trnh ngt vi s kin ngt tng ng, cho php ngt)

Chng trnh ngt timer : sau khong thi gian 200ms th chng trnh ngt c gi. trong v d ny , chng trnh ngt c nhim v gim gi tr QB0 thm 1.

2. ng c DC
ng c DC l ng c in hot ng vi dng in mt chiu.ng c in mt chiu ng dng rng ri trong cc ng dng dn dng cng nh cng nghip.Thng thng ng c in mt chiu ch chy mt tc duy nht khi ni vi ngun in, tuy nhin vn c th iu khin tc v chiu quay ca ng c vi s h tr ca cc mch in t cng phng php PWM. ng c in mt chiu trong dn dng thng l cc dng ng c hot ng vi in p thp, dng vi nhng ti nh. Trong cng nghip, ng c in mt chiu c s dng nhng ni yu cu moment m my ln hoc yu cu thay i tc trong phm vi rng. y ta ch nghin cu ng c DC trong dn dng ch hot ng vi in p 24V tr xung .

Hnh 2.24 ng c DC 2.1 Cu To Mt ng cDC c 6 phn c bn: Phn ng hay Rotor (Armature). C gp (Commutat). Chi than (Brushes). Trc motor (Axle). Nam chm to t trng hay Stator (field magnet). B phn cung cp dng in DC.

Hnh 2.25 Cu to ca ng c DC Phng trnh c bn ca ng c 1 chiu: E = K . W V = E + Ru.Iu (1) (2)

M = K Iu Vi:

(3)

E: sc in ng cm ng (V). : T thng trn mi cc( Wb). Iu: dng in phn ng (A). V : in p phn ng (V). Ru: in tr phn ng (Ohm). w : tc ng c (rad/s). M : moment ng c (Nm). K: hng s, ph thuc cu trc ng c. 2.2 Nguyn L Hot ng Khi c mt dng in chy qua cun dy qun xung quanh mt li st non, cnh pha bn cc dng s b tc ng bi mt lc hng ln, trong khi cnh i din li b tc ng bng mt lc hng xung theo nguyn l bn tay tri ca Fleming. Cc lc ny gy tc ng quay ln cun dy, v lm cho rotor quay. lm cho r to quay lin tc v ng chiu, mt b c gp in s lm chuyn mch dng in sau mi v tr ng vi 1/2 chu k. Ch c vn l khi mt ca cun dy song song vi cc ng sc t trng. Ngha l lc quay ca ng c bng 0 khi cun dy lch 90o so vi phng ban u ca n, khi R to s quay theo qun tnh. Trong cc my in mt chiu ln, ngi ta c nhiu cun dy ni ra nhiu phin gp khc nhau trn c gp. Nh vy dng in v lc quay c lin tc v hu nh khng b thay i theo cc v tr khc nhau ca R to. 2.3 iu Khin Tc Thng thng, tc quay ca mt ng c in mt chiu t l vi in p t vo n, v ngu lc quay t l vi dng in. y ta s dng phng php iu khin kiu iu bin rng xung (PWM). T (1),(2). (3) suy ra: w = V/(K.) Ru.Iu/(K.) (4) Theo (4) : khi Iu khng i (tc Moment khng i) v khng i th w thay i "tuyntnh" theo V (thc t th khng hon ton tuyn tnh theo ng thng c).

Hnh 2.26 iu khin ng c bng PWM Khi t l thi gian "on" trn thi gian "off" thay i s lm thay i in p trung bnh (VAK). T l phn trm thi gian "on" trong mt chu k chuyn mch nhn vi in p cp ngun s cho in p trung bnh t vo ng c. Nh vy vi in p ngun cung cp l 100V, v t l thi gian ON l 25% th in p trung bnh l 25V. VAV thay i t VL n VH ty theo cc rng Ton v Toff Nh vy, tc ng c s thay i "tuyn tnh" theo % rng xung.

3. Encoder

Hnh 2.27 Encoder 3.1 Cu to chnh ca Encoder Gm 1 b pht nh sng (LED pht), mt b thu nh sng nhy vi nh sng t b pht (b thu thng l photodiotde hoc phototransistor), 1 a quang c khot l gn trn trc quay t gia b pht v thu, thng thng trc quay ny s c gn vi trc quay ca i tng cn o tc .

Hnh 2.28 Cu trc a v mt c Mt encoder thng c cc dy sau: Dy cp ngun (+5V) cho encoder. Dy ni t (GND). Dy pha A tn hiu ra theo phn gii (1 vng/N xung (N t vi chc ln n vi nghn xung tu theo phn gii)). Dy pha B tn hiu ra theo phn gii (1 vng/N xung (N t vi chc ln n vi nghn xung tu theo phn gii)), pha B chm pha hn pha A. Thng tu theo trng thi pha nhanh hay chm ca 2 pha ny ta xc nh chiu quay ca i tng, t y b m tin hoc m li

Hnh 2.29 Dng song ng ra ca LED thu 3.2 Nguyn l c bn Encoder thc cht l mt a trn xoay, quay quanh trc.Trn a c cc l (rnh). Ngi ta dng mt n led chiu ln mt a. Khi a quay, ch khng c l (rnh), n led khng chiu xuyn qua c, ch c l (rnh), n led s chiu xuyn qua. Khi , pha mt bn kia ca a, ngi ta t mt con mt thu. Vi cc tn hiu c, hoc khng c nh sng chiu qua, ngi ta ghi nhn c n led c chiu qua l hay khng. C mi ln i qua mt l, chng ta phi lp trnh thit b o m ln 1. S l trn a s quyt nh chnh xc ca thit b o. V d a ca bn c 1 l tc l khi bn quay c 1 vng th b thu s thu c 1 xung, nu a ca bn khot N l c ngha 1 vng bn thu c N xung. Nh vy khi o tc bn m s xung trong 1 n v thi

gian, t bn tnh c s vng trn 1 n v thi gian (hoc bn c th o chu k xung). Nu o tc cao th s l khot cng nhiu cng chnh xc

Hnh 2.30 Qu trnh c Encoder

CHNG 2 TNG QUAN V CC THIT B S DNG TRONG N 1.1PC Vic s dng mt s phn mm nh: WinCC Flexible 2008, Step 7 Microwin i hi phi s dng Windows XP. 1.2PLC [2] S dng PLC Simatic S7-200 CPU224XP DC/DC/DC

Hnh 2.1 PLC Simatic S7-200 CPU224XP Thng s k thut ca PLC ny l: -Ngun cp: 24VDC ( 20.4 28.8 VDC)

-Ng vo s: -Ng ra s: -Ng vo tng t: -Ng ra tng t: -B nh chng trnh: -B nh d liu: -S cng: -Chun giao tip d liu: -Truyn thng: -S module m rng: -B nh bit: -Counter: -Timer: -Network: -ng h thi gian thc:

DI 14 x 24 VDC DO 10 x 24 VDC AI 2 AO 1 x 12 bit 16KB 10KB 2 (PORT 0, PORT 1) RS485 2 PPI 7 256 256 256 AS, Profibus DP, Ethernet, Internet, Modem c

Bng 2.1 ngha cc chn Port 0 v Port 1 trong S7-200

CHNG 3 GIAO TIP PC PLC 1.1Mc ch Nhm download chng trnh t PC xung PLC hoc upload chng trnh c sn trong PLC ln PC. 1.2Phn cng [1] - Dng cp chun PC/PPI cable ca Siemens - Kt ni nh hnh di y:

Hnh 3.1 S kt ni PC - PLC - Chn tc Baud:

Bng 3.1 Bng chn tc Baud Set tc Baud bng nt gt 1, 2, 3 trn PC/PPI cable 1.3Phn mm [1] 1.3.1Thit lp a ch v tc Baud cho PLC - M Step 7 MicroWin. - Click vo biu tng Communication View> Component > Communications. trn thanh Navigation Barhoc

- Click vo nt Set PG/PC Interface, ri chn nh hnh bn di:

Hnh 3.2 Set PG/PC Interface - Chn tc Baud OK - Double click vo biu tng Refresh s hin ra danh sch a ch cc PLC ang c kt ni. - Click chn PLC m mun thay i a ch, tc baud OK - Click vo biu tng System Block trn thanh Navigation Bar nh vo a ch mi (PLC address) v tc baud mi (Baud Rate) OK - Download System Block. - Vo Communication double click vo nt Refresh - Chn PLC mun kt ni tng ng vi a ch ca n. Lu :iu chnh tc Baud tng ng bng nt gt trn PC/PPI cable. 1.3.2Download chng trnh t PC PLC, upload chng trnh t PLC PC D l Download hay Upload chng trnh, cng cn chn a ch PLC tng ng a. Download chng trnh t PC PLC - Click vo biu tng trn thanh Standard hoc File Download. - Click vo nt Download. b. Upload chng trnh t PLC PC - Click vo biu tng - Click vo nt Upload. trn thanh Standard hoc File Upload.

CHNG 6 O TC NG C BNG HIGH SPEED COUNTER (HSC) 1.1Gii thiu [1] - B m tc cao c s dng theo di v iu khin cc qu trnh c tc cao m PLC khng th khng ch c do b hn ch v thi gian ca vng qut.

Hnh 6.1 High Speed Counter - Trong CPU 224XP c 6 b m tc cao c nh s ln lt l: HSC0, HSC1, HSC2, HSC3, HSC4v HSC5. Nguyn tc hot ng ca b m tc cao cng tng t nh cc b m thng thng khc, tc l m theo sn ln ca tn hiu u vo. S m c s c h thng ghi nh vo mt nh c bit kiu t kp v c gi l gi tr m tc thi k hiu l CV. Khi gi tr m tc thi bng gi tr t trc th b m pht ra mt tn hiu bo ngt. Gi tr t trc l mt s nguyn 32 bit c lu trong mt nh kiu t kp, k hiu l PV. - Cc ng vo c s dng cho cc b m HSC: High-Speed Counter HSC0 HSC1 HSC2 HSC3 HSC4 HSC5 Ng vo c s dng I0.0, I0.1, 0.2 I0.6, I0.7, I1.0, I1.1 I1.2, I1.3, I1.4, I1.5 I0.1 I0.3, I0.4, I0.5 I0.4

- Tn s m ca HSC B m HC0 HC1 HC2 HC3 HC4 HC5 Tn s 30kHz 30kHz 30kHz 30kHz 200kHz 200kHz Bng 6.1 Tn s m ca HSC - Mi b m u c nhng ch m khc nhau. Ty vo tng ng dng c th m ngi lp trnh la chn ch m cho ph hp. HSC0 ch c mt ch m duy nht l mode 0 vi ng vo nhn xung l I0.0, s dng SM37.3 thay i hng m vi 1 l m ln v 0 l m xung. - Byte iu khin HSC0 SM37 SM37.0 SM37.2 SM37.3 SM37.4 SM37.5 SM37.6 SM37.7 SM36.0 SM36.5 SM36.5 SM36.6 SM36.7 1.2Phn cng c kt ni theo s sau: Khng dng Bit thay i hng m: 0 m xung, 1m ln Cho php i chiu m: 0 khng cho php,1 cho php Cho php sa i gi tr t trc:0 khng cho php, 1 cho php Cho php sa i gi tr tc thi:0 khng cho php, 1 cho php 0 khng cho php kch HSC, 1 cho php HSC Khng dng Chiu ang m: 0 m xung, 1 m ln. So snh gi tr tc thi v gi tr t trc: 0 CVPV; 1 CV=PV So snh gi tr tc thi v gi tr t trc: 0 CVPV; 1 CV>PV Loi CPU 221, 222, 224, 224Xp, 226 221, 222, 224, 224Xp, 226 221, 222, 224, 224Xp, 226 221, 222, 224, 224Xp, 226 224Xp 224Xp

- Byte trng thi ca HSC0 SM36

Hnh 6.2 S kt ni phn cng 1.3Phn mm [1] - Vo cy th mc pha bn tri, chn biu tng Wizards sau nhp p vo High Speed Counter.

Hnh 6.3 Wizard - Sau s hin ra ca s chn HSC v ch Mode, y ta chn HSC0 v Mode 9. Click Next.

Hnh 6.4 Ca s chn HSC v Mode - Click next, ca s tip theo check vo CV=CP to ra ngt sau mi ln cp nht gi tr mi ca tc ng c, t tn chng trnh ngt (ngat). Chn s bc l 1.

Hnh 6.5 Chn ngt - Check vo cp nht gi tr ca CV, cp nht li gi tr ca CV sau mi ln ngt. y ta cho gi tr CV=0. Sau Click Next.

Hnh 6.6 Cp nht gi tr cho CV - Cui cng Click Finish kt thc qu trnh khi to b HSC. Tip theo vo chng trnh con Ngat_Event21, ta sa s kin ngt 12 thnh 21 s dng ngt bng Timer (da vo bng th t u tin cc s kin ngt).

Bng 6.2 Th t u tin cc s kin ngt

CHNG 8 IU KHIN CHNH XC TC NG C NH VO H HI TIP VNG KN PID 1.4Gii thiu v PID Nhiu nm trc y, b iu khin PID c xem l b iu khin l tng i vi cc i tng c m hnh lin tc .B PID thc s l b iu khin ng m vic thay i cc tham s ca b iu khin c kh nng lm thay i c tnh ng v tnh ca h thng iu khin t ng. B iu khin PID thc cht l thit b iu khin thc hin lut iu khin c m t bng phng trnh sau :

1 u (t)=kpe(t)+ TI
.

e( )d +T
0

e.(t)

u (t ) = K pe(t ) + K i e(t )dt + K d

0

de(t ) dt

GPID(s) = K P + Vi

Ti = K p / K i : Thi hng tch phn

Td = K d / K p : Thi hng vi phn

KI + K D s : Hm truyn s

B iu khin PID gm 3 qu trnh hiu chnh: Hiu chnh t l (Proportional) : Kp Hiu chnh tch phn (Intergral) : Ki Hiu chnh vi phn ( Derivative) : Kd

Hay:

Hnh 8.1 Lu b iu khin PID Ta c th hiu chnh t l (hiu chnh P) ,hiu chnh tch phn t l (hiu chnh PI), hiu chnh vi phn-t l (hiu chnh PD). Tuy nhin nhng cch hiu chnh ny l khng hon chnh bng hiu chnh PID v c nhng mt hn ch khi ch thc hin c lp, chng s c phn tch di y : * H s t l Kp lm tng kh nng p ng,lm cho thi gian qu nh hn (tc l lm cho h thng nhanh chng t gi tr bn vng yu cu).H s t l ln s lm gim gi tr sai lch trng thi bn vng (steady state error),nu h s t l Kp qu ln s c th dn n s mt n nh, tc l lm cho p ng ng ra ca h thng tng ln v tn hay to ra s dao ng lin tc .Qa trnh hiu chnh t l (P) bn thn n khng th lm trit tiu gi tr sai lch trng thi bn vng .Do phi s dng qu trnh hiu chnh tch phn ( I) thm vo lm trit tiu gi tr sai lch trng thi bn vng bng cch chn h s thch hp.

* Qu trnh tch phn c thc hin bng cch tch ly nhng sai lch trong sut thi gian hiu chnh , v vy lm tng tc ng hiu chnh theo chiu hng lm gim sai lch, qu trnh ny c th lm h thng mt n nh bi v n cn thi gian tch ly nhng sai lch dn n sai lch thi gian v lm cho h thng dao ng. * Qu trnh vi phn (Kd) xem nh l phn gim chn thm vo h thng, n lm gim vt l ( Ovetshoot) , v lm chm p ng ban u ca h thng .Qa trnh vi phn lm gim nh hng ca qu trnh tch phn ln vt l v dao ng v dao ng v vy n c xem nh l qu trnh lm n nh h thng .Tuy nhin n khng lm thay i sai lch trng thi bn vng. p ng ca h thng Kp Ki Kd Rise time Gim Gim t thay i Overshoot Tng Tng Tng Setting time t thay i Tng Tng Steady-state error Gim Trit tiu t thay i

Bng 8.1 Bng tng hp nh hng ca 3 h s PID Lnh PID s dng iu khin vng kn cho cc u vo/ra tng t, ra PWM v cc d liu khc. S7-200 h tr ti8 khuPIDdung iukhin vong kincach thng iukhin. Chng ta s dng PID nhm mc ch iu khin ng ra bm st theo gi tr t m ta mong mun. 1.5Phn cng c kt ni theo s sau:

Hnh 8.2 S kt ni phn cng

1.6Phn mm [1] Vic s dng Wizard khi to b PID gip n gin ha qu trnh thit lp PID. Wizard s cho cc ty chn khi to, sau to ra cc on program code v data block code cho tng ty chnh c th. Vo cy th mc pha bn tri, chn biu tng Wizards sau nhp p vo PID.

Hnh 8.3 Wizard Bc 1: Xc nhvng lpPIDno muncu hnh.

Hnh 8.4 Chn vng lp PID B PID c tt c 8 vng lp c nh s t 0 n 8. Bc 2: Ci t cc thng s cho vng lp

Hnh 8.5 Ci t cc thng s cho vng lp Cc thng s i hi: Tm hot ng ca vng lp (Low Range v High Range). li (Gain). Thi gian ly mu(Sample Time). Thi gian tch phn (Integral Time). Thi gian vi phn (Derivative Time). Bc 3: Ci t cc thng s ty chn cho ng vo v ng ra

Hnh 8.6 Ty chn ng vo ra vng lp PID ng vo ta chn High Range l 100 v cc gi tr ng vo ta scale ra t l %.

Ng ra cho php chn Analog hay Digital.Chn Analog. Bc 4: Thit t cc ty chnh cnh bo

Hnh 8.7 Ty chn cnh bo Bc 5: Tnh ton cc vng nh c bit cho vng lp. Ta suggest address cng cao khi b ng b nh khi lp trnh.

Hnh 8.8 Chn vng nh Bc 6: Ch nh tn chng trnh con v chng trnh ngt. Click vo Add manual control of the PID s dng ch Auto v Manual ca PID.

Hnh 8.9 Chn tn chng trnh con v chng trnh ngt Sau khi khi to xong mn hnh nycho thymtdanh sch ccPOUsto rabiWizard PID,va ra mtm tngn gnvcch thcny nn ctch hpvochng trnh. 1.7 La chn cc thng s 1.7.1 li t l, Kp Gi tr cng ln th p ng cng nhanh do sai s cng ln, b khu t l cng ln. Mt gi tr li t l qu ln s dn n qu trnh mt n nh v dao ng. 1.7.2 li tch phn, Ki Gi tr cng ln ko theo sai s n nh b kh cng nhanh. i li l vt l cng ln: bt k sai s m no c tch phn trong sut p ng qu phi c trit tiu tch phn bng sai s dng trc khi tin ti trng thi n nh. 1.7.3 li vi phn, Kd Gi tr cng ln cng gim vt l, nhng li lm chm p ng qu v c th dn n mt n nh do khuch i nhiu tn hiu trong php vi phn sai s. C nhiu phng php khc nhau iu chnh vng lp PID.Nhng phng php hu hiu nht thng bao gm nhng trin khai ca vi dng m hnh x l, sau chn P, I, v D da trn cc thng s ca m hnh ng hc.Cc phng php iu chnh th cng tng i khng hiu qu lm, c bit nu vng lp c thi gian p ng c tnh bng pht hoc lu hn. La chn phng php thch hp s ph thuc phn ln vo vic c hay khng vng lp c th iu chnh "offline", v p ng thi gian ca h thng. Nu h thng c th thc hin offline, phng php iu chnh tt nht thng bao gm bt h thng thay i

u vo tng bc, tn hiu o lng u ra l mt hm thi gian, s dng p ng ny xc nh cc thng s iu khin. La chn phng php iu chnh Phng php iu chnh th cng Ziegler Nichols Cc cng c phn mm u im Khng cn hiu bit v ton. Phng php online. Phng php chng minh. Phng php online. iu chnh chc chn. Phng php online hoc offline. Cho php m phng trc khi ti xung thc thi. x l cc m hnh tt Khuyt im Yu cu nhn vin c kinh nghim. lm ri lon qu trnh, mt s th nghim v li, phi iu chnh nhiu ln Gi c cao, v phi hun luyn Yu cu kin thc ton hc. Phng php offline. Ch tt i vi cc qu trnh bc mt

Cohen-Coon

y nhm s dng cng c tch hp sn trong Step7 la chn cc thng s cho ph hp. Sau khi kt ni v cho h thng hot ng click vo icon Tool cy th mc bn tri chn PID Tune Control Panel

Hnh 8.10 Chn PID Tune Control Panel Sau

8. iu khin bng PWM

Phng php iu ch rng xung Pulse Width Modulation (PWM) l phng php iu ch da trn s thay i ca rng xung ca chui vung dn n thay i gi tr trung bnh ca in p ra.

Hnh 2.45 Gin xung Ta gi : rng xung ca chui xung l D = Ton/Toff Bin in p ca chui xung l Umax Th: Gi tr hiu dng ca chui xung vung l u = Umax.D Nh vy, vi in p Umax khng thay i, khi rng xung thay i lm cho in p ng ra trung bnh thay i. Ta p dng phng php ny iu khin tc ca ng c DC

BAI 3:KT NI PLC VI MAN HINH GIAO DIN NGIMAY HMI DUNG WINCC FLEXIBLE
I/Cc bc khi to 1 Project mi: Chy WinCC Flexible 2008ProjectNew

Bc 1:Chn loi mn hnh HMI:

Sau khi chn ng loi mn hnh click OK vo mn hnh giao din thit k

Bc 2:Chn kiu kt ni(Connection)

Bc 3:Khai bo nhng Tag s s dng trong giao din iu khin

Bc 4:Sau khi khai bo xong quay tr li mn hnh thit k.Bt u thit k giao din iu khin cho WinCC

1 s Object c bn dng thit k giao din WinCC c bn: +Button +I/O Fields +Text Field +Cc graphic m t hot ng

Thit lp chi tit tng Object:Nhp dupe vo i tngMenu gm

V d thit lp 1 nt nhn(START):Khi nhn nt set Bit V0.0 trong PLC: Nhp dupe vo nt nhn START trong mn hnh giao din thit k. -Chn EventsPress -Trong Function List chn Function:Edits bitsSetBitWhenKeyPressTag(InOut) chn Tag V0.0

Bc 5:Sau khi thit k hon thnh giao din.Ta transfer xung thit b hoc xut file t chy(i vi loi mn hnh c ln PC)

II/Kt ni HMI-PLC dng mng PPI:

+c im: 1 mn hnh ch giao tip vi 1 PLC +Cp kt ni: s dng cp chun 485 vi 1 chn truyn v 1 chn nhn +Tc truyn: mc nh tc truyn ca PLC s7 200 l 9600 baud +Khai bo connection trong WinCC:

III/Kt ni HMI-PLC dng mng MPI: +c im: mt mn hnh c th giao tip cng lc nhiu PLC +Cp kt ni: dng cp chun 485 vi 1 chn truyn 1 chn nhn

+Tc truyn: tc truyn nh nht dng trong mng MPI l 19200 baud( S7 200 tc mc nh l 9600 baud) +Khai bo connection trong WinCC:

Thi cng mo hnh

+ 1 V C C I S 1 M o t o r L _ F o r w a R 7 7 2 r d 1 0 0 O L _ F o 3 4 P 5 2 1 D 4 4 N + 1 5 V D 4 4 N 5 0 0 8 0 0 R 4 4 N 2 1 4 3 4 R 1 M o t o r L _ R e v V C e C I S 1 P W M _ M o t o r L R 1 0 4 0 6 2 P 5 2 1 O L _ P W 3 4 R 7 4 4 7 0 Q 4 I R F M r s R e 6 0 4 2 P 5 2 1 3 4 + 1 5 V e l a y 5 L _ R e v e r s V C C I S O L _ R e v e r s e 0 0 4 e l a y L _ F Do r3w 6 a r w a r d 3 4 1 2 5

5 V

r d

1 + M

A
2

t o

r L

1 0

5 4

MCH CU H FET (Field Effect Transistor) l transistor hiu ng trng, mt loi trans hiu nng cao, tn s ng ct ln... Bn nn c sch bit v n (cc gio trnh in t u c). Thc t ta dng ph bin cc trans trng cng sut (thng l bn IRF). TLP521 l b ghp cch ly quang (optocoupler), n l mt cp thu pht hng ngoi gp chung v. Bn down datasheet ca bn n v m xem th, nu cha quen xem th ch cn n cc tham s in. IRF540N, IRF9540, TLP521 www.datasheetcatalog.com, www.alldatasheet.com, www.datasheet4u.com,... B sung them