LI NI U

Trong cng cuc xy dng v pht trin t nc ang bc thi k cng nghip ho-hin i ho vi nhng c hi thun li v nhng kh khn thch thc ln. iu ny t ra cho th h tr, nhng ngi ch tng lai ca t nc nhng nhim v nng n. t nc ang cn sc lc v tr tu cng nh lng nhit huyt ca nhng tr thc tr, trong c nhng k s tng lai. Vi s pht trin nhanh chng ca cuc cch mng khoa hc k thut ni chung v trong lnh vc in - in t - t ng ha - tin hc ni ring lm cho b mt ca x hi thay i tng ngy. Trong iu khin chuyn ng l mt trong nhng lnh vc a dng v pht trin nhanh trong ngnh iu khin v t ng ho. Trong nhng h thng iu khin v tr, tc v moment yu cu s chnh xc cao rt cn n mt thit b p ng.y l thch thc v cc nh khoa hc, nh sn xut ch to ra mt loi ng c th lm c nhim v ny l ng c servo. Ngy nay h thng servo c ng dng rng ri trong cc h thng, cc my yu cu s chnh xc cao. i vi trng hc vic tm hiu v ng c servo l rt hn ch nn ti cng mun tm hiu v n c th hiu v ng c nyV thi gian nghin cu v iu kin thc hin hn ch nn chc chn khng trnh c cc sai st. Rt mong nhn c s ng gp kin t cc thy c v cc bn ti c hon thin hn.Em xin chn thnh cm n!

Ngi thc hin

Bin Quc Thoi

LI CM N

ti tt nghipiu khin vn tc v moment ng c AC-Servo bng PLC kt hp WinCC-Flexible Siemens t c mt s mc tiu t ra, hon thnh ng thi gian, Ti xin chn thnh cm n:TS. Nguyn Minh Tm-GVHD -trng B mn T ng ho cng nghip-ging vin Khoa in in t, Trng i hc S phm K thut Tp.H Ch Minh tn tnh ch bo, gip v chuyn mn, to iu kin thun li, h tr v ti liu v thit b hng dn trong thi gian thc hin ti ti hon thnh n ny.- Ti cng xin chn thnh cm n s gip v ng gp kin ca ton th Gio Vin B mn T ng ho Cng nghip, Khoa in in t, Trng i hc S phm K thut Tp. H Ch Minh ng gp nhiu kin v to mi iu kin tt nht em hon thnh ti ny mt cch tt nht.- Ti cng xin chn thnh cm n cc bn sinh vin lp 05118 gip v ng gp kin v ng vin trong thi gian thc hin n tt nghip.Mt ln na xin chn thnh cm n s gip qu bu ca qu thy c v cc bn.

Ngi thc hin

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TRNG I HC S PHM K THUT TP.HCMKHOA IN-IN TB MN T NG HO CNG NGHIP

NHIM V LUN VN TT NGHIPSINH VIN NGNH CNG NGH IN T NGH V TN SINH VIN: Bin Quc ThoiMSSV: 05118051TN TI TT NGHIP: IU KHIN TC V MOMENT NG C AC-SERVO BNG PLC KT HP WINCC-FLEXIBLENHIM V LUN VN:NGY GIAO NHIM V LUN VN:NGY HON THNH LUN VN:H V TN GING VIN HNG DN:PHN HNG DN1)1)2)2)3)3)

Ni dung v yu cu lun vn tt nghip c thng qua.Ngy thng nm 2010CH NHIM B MN GING VIN HNG DN ( K v ghi r h v tn) ( K v ghi r h v tn)

NHN XT CA GIO VIN HNG DN

NHN XT CA GIO VIN PHN BIN

MC LC mcTrangLi ni u1Li cm n2Nhim v lun vn 3Nhn xt ca GVHD4Nhn xt ca GVPB5Mc lc6PHN 1 . T VN 11 I. L do chn ti12 II. Mc tiu nghin cu12 III. Gii hn nghin cu13IV. Nhim v nghin cu13 V. i tng nghin cu13 VI. Phng php nghin cu14VII. Ni dung ca ti14PHN 2 : GII QUYT VN 15CHNG I : C S L LUN161.1 LCH S PHT TRIN CA NG C.161.2 TNH HNH SN XUT V NHU CU S DNG16CHNG II: C S L THUYT H IU KHIN SERVO172.1 TNG QUAN V CC H IU KHIN TRONG CNG NGHIP:172.1.1 iu khin vng h (open loop):172.1.2 iu khin na kn (semi-closed loop):182.1.3 iu khin vng kn(full-closed loop):182.2. H THNG IU KHIN DNG SERVO:192.2.1 Xu hng trong iu khin chuyn ng dng servo:192.2.2 H thng servo:202.2.2.1 H thng servo l g?:212.2.2.2 C cu nh v:212.2.2.3 C cu chuyn ng nh hng:212.2.2.4 Backlash v hiu chnh:222.2.3 S khi ca h thng servo:232.3 CU TO V C TNH CA NG C SERVO242.3.1 Cu to:242.3.2 c tnh ca ng c servo:252.3.2.1 Tng tc p ng:252.3.2.2 Tng kh nng p ng:262.3.2.3 M rng vng iu khin(control range):262.3.2.1 Kh nng n nh tc :272.3.2.1 Tng kh nng chu ng ca ng c:272.2.3 Nguyn l hot ng ca encoder:282.4 TM HIU V DNG SN PHM SIGMA AC-SEVO CA YASKAWA302.4.1 ng c Ac-Servo (SGM-******)302.4.1.1 S cu trc ng c Ac-Servo (SGM-******)302.4.1.2 Thng s ng c 312.4.1.3 Nguyn l hot ng ca ng c312.4.2 B iu khin driver ca ng c SERVOPACK (SGD*-***S)312.4.12.1 Thng s b iu khin driver SERVOPACK (SGD*-****)322.4.12.2 S chn ca driver SERVOPACK (SGD-02AS)332.4.12.3 Nguyn l iu khin ca driver trong mod iu khin tc v moment35 2.4.3 Mng hnh iu khin DIGITAL OPERATOR (JUSP-OP02A, JUSP-OP03A)392.4.3.1 Thng s ca mng hnh iu khin Digital Oprater (JUSP- OP02A, JUSP-OP03A)402.4.3.2 Chc nng v hng dn s dng Digital Oprater (JUSP-OP02A)402.4.3.3. Ci t thng s cho mod tc v moment vi mng hnh iu khin Digital Oprater (JUSP-OP02A, JUSP-OP03A) 462.4.4 Kt ni ng c Ac-Servo (SGM-******) v vi mng hnh iu khin Digital Oprater (JUSP-OP02A) vi driver SERVOPACK (SGD*-****) 50CHNG III: C S L THUYT V S7-200 V OPC523.1. TNG QUAN V PLC S7_2003.1.1 c im b iu khin loic kh trnh (PLC):523.1.2 Cu trc phn cng ca S7-200523.1.3 Cu trc b nh S7-200523.1.4 X l chng trnh533.1.5 Giao tip gia sensor v c cu chp hnh543.2. B M XUNG TC CAO ( HSC: HIGHT SPEED COUNTER).3.2.1 Gii thiu v HSC553.2.2 S lng b m HSC c trong PLC v tn s ti a cho php3.2.3 Vng nh c bit s dng lp trnh cho HSC553.2.4 Cc mode m ca b m553.2.5 ngha cc bit ca byte trng thi khi lp trnh cho HSC593.2.6 ngha cc bit ca byte iu khin khi lp trnh cho HSC603.2.7 Chn kiu Reset, Start v tn s m cho HSC 613.2.8 Byte trng thi v byte iu khin ca HSC3,HSC4,HSC5613.2.9 Gi tr tc thi, gi tr t613.2.10 Cc bc khi to b m HSC623.3. CHNG TRNH NGT633.3.1 Gii thiu v ngt trong S7 200633.3.2 Cc lnh s dng khi lp trnh iu khin ngt633.3.3 Cc s kin gy ngt643.3.4 Cc bc lp trnh khi s dng ngt643.4. MODUL ANALOG ( EM321, EM323)653.4.1 Modul EM231653.4.1.1 Gii thiu v Modul EM23165 3.4.1.2 c tn hiu analog qua modul EM232663.4.2 Modul EM232673.4.1.1 Gii thiu v Modul EM231673.4.2.2 Xut tn hiu analog qua modul EM232673.5. TNG QUAN V OPC673.5.1 OPC supermarket Analogy673.5.2 OPC Defined673.5.3 ng dng ca vic giao tip OPC683.5.4 OPC Server683.5.5 OPC Client 683.5.6 Cch thc m Server v Client lm vic vi nhau693.5.7 Tn cc cp bc trong h thng69

CHNG IV: WINCC FLEXIBLE V HMI704.1 Gii thiu v SIMATIC HMI704.2 Gii thiu v WinCC Flexible714.3 Mt s thuc tnh ni bt trong WinCC Flexible724.3.1 Thit lp giao thc kt ni724.3.2 Tags v Tags Group744.3.3 Thit k giao din cho HMI744.3.4 Mt s hm s dng75CHNG V: U IM V HN CH775.1 u im ca ti775.2 u im ca ti77PHN 3 : KT LUN V KIN NGH 78 I. Kt lun79II. Kin ngh80 PHN 4 : TI LIU THAM KHO V TH MC NH KM 81

PHN IT VN

I. L DO CHN TINgy nay, vi s pht trin nhanh chng ca khoa hc v cng ngh trn tt c cc lnh vc th cc sn phm ngy cng phi c yu cu cao hn v cht lng sn phm, mc t ng ho sn xut v c bit l chnh xc gia cng v hnh dng hnh hc. S pht trin ca nn cng nghip robot hin i cng gn lin vi vic iu khin chuyn ng v l tin cho pht trin nn cng nghip.Vi h thng SCADA, kh nng qun l t xa ton b h thng v cc thit b t ng trong h thng tr nn rt hiu qu. Khi c s c bt k phn on no h thng s t ng phn tch v gi v, ngi vn hnh s nhn tn hiu thng bo qua giao din ngi my( Human Machine Interface, HIM) ca cc phn mm iu khin chuyn dng nh Wincc hay Wincc-Flexible. Ngi vn hnh ch cn ngi ti bn iu khin trung tm, theo di v gim st ton b h thng thay v phi chy xung tn ch kim tra khi c s c xy ra trong h thng. Nhn thy c s tin li v hiu qu ca h thng iu khin servo trong qu trnh sn xut cng nh nhu cu ca x hi v lnh vc ny,ti thc hin ti: iu khin vn tc v moment ng c AC-Servo bng PLC kt hp WinCC-Flexible Siemens hiu r hn v bn cht ca iu khin tc v moment, hiu c quy trnh iu khin mt h thng iu khin, gim st v thu thp d liu.

II. MC TIU NGHIN CUMc tiu t ra vi ti iu khin vn tc v moment ng c AC-Servo bng PLC kt hp WinCC-Flexible Siemens l cn nm vng, hiu r cch thc hot ng iu khin ca AC-Servo, hiu r c driver iu khin ng c, cch thc iu khin t PLC qua winCC. T m hnh thc t ny to giao din, xy dng cc thut ton iu khin v lp trnh cho b ng c.

III. GII HN NGHIN CU V l do kinh t v iu kin khch quan, ti ch dng li vic lm m hnh iu khin n gin m t hot ng c bn ca h thng servo. iu khin tc v moment trn mt m hnh nh gm: PLC Siemens S7-200 ca SIEMEN, motor servo ca YASKAWA. iu khin bng phn mm Step 7 MicroWin V4.0. Giao tip gia PLC Siemens S7-200 v phn WinCC Flexible bng phn PC Access. To giao din trn WinCC iu khin v gim st bng phn mm WinCC Flexible.

IV. NHIM V NGHIN CU hon thnh c mc tiu ra, nhng nhim v c t ra nh sau: Tham kho ti liu, tm hiu v nhng lnh vc c lin quan n iu khin tc v moment ca ng c AC-Servo Tm hiu v PLC-S7200 u ni phn cng v cch thc lp trnh, WinCC Flexible cch thc s dng v cch to giao din cho mt chng trnh ng dng. Tm hiu cch kt ni gia PLC-S7200 v b ng c AC-Servo, cch thc iu khin tc v moment ca b ng c AC-Servo bng WinCC Flexible qua PLC-S7200. Nghin cu v phn tch cc cng trnh lin h.

V. I TNG NGHIN CU PLC Siemens S7-200 ca SIEMEN, motor servo ca YASKAWA. Chng trnh iu khin bng phn mm Step 7 MicroWin V4.0. Thit lp giao tip gia PLC Siemens S7-200 v phn WinCC Flexible bng phn PC Access. To giao din iu khin v gim st bng phn mm WinCC Flexible.

VI. PHNG PHP NGHIN CU Tham kho, tra cu thng tin t cc ti liu khoa hc. Tm hiu h thng iu khin trong cc my gia cng c kh. S dng cc thit b iu khin t ng ca hng Siemens PLC S7-200,servo ca YASKAWA. Lm m hnh. Lp trnh v m phng trn my tnh. Kim tra v chy th ti cc phng thit b ca nh trng.

VII. NI DUNG CA TICHNG1: C S L LUNCHNG 2: C S L THUYT V H IU KHIN SERVOCHNG 3: C S L THUYT V S7-200 V OPCCHNG 4:WINCC FLEXIBLE V HMI

PHN IIGII QUYT VN

CHNG 1 : C S L LUN1.1 LCH S PHT TRIN CA NG CT xa khi cha c pht minh ra ng c, lc ch yu s dng cc my mc chay bng xng du cu to phc tp nng n, cng knh m li hiu sut khng, gy ting n. T khi ng c c pht minh v a vo s dng thay th cho cc my mc chy bng xng du em li hiu qu kinh t cao.ng c cng khng ngng pht trin a dng v nhiu chc nng khc nhau, v d nh ng c mt chiu, ng c xoay chiu, ng c khng ng b, ng c ng b, ng c mt pha, ng c ba pha, v trong tt c cc lnh vc.Ngy nay v tng lai ng c c pht theo hng iu khin c d dng, chnh xc, iu khin vng kn (hi tip): ng c c bit, ng c bc, ng c servo 1.2 TNH HNH SN XUT V NHU CU S DNGHin nay, tt c cc lnh vc iu c s dng ng c Servo, do sn phm ng c Ac-Servo c sn xut nhiu, nhiu hng sn xut nh YASKAWA, PANASONIC, OMRON, FANUC.vi rt nhiu loi Ac-servo dung vao nhiu mc ch s dng khc nhau.Cc sn phm lm ra t cc my trong c s dng ng c servo thng chnh xc cao v mu ma p do ng c servo uc s dng nhiu c bit trong nghnh t ng ho ni chung v nghnh sn xut khun mu, sn xut cc my gia cng chinh xc ni ring.

CHNG 2: C S L THUYT V H IU KHIN SERVO

2.1 TNG QUAN V H THNG IU KHIN TRONG CNG NGHIP: S pht trin ca nn cng nghip gn lin vi cc h thng iu khin.Cng ngh ngy cng hin i i hi cc h thng iu khin phi p ng c cc yu cu kht khe m bo qu trnh sn xut. S pht trin cc h thng iu khin c tm tt nh sau: iu khin vng h (open loop) iu khin na kn (semi-closed loop) iu khin vng kn(full-closed loop) Sau y gii thiu s lc v cc nguyn tc iu khin Gi s nh chng ta ang c nhu cu iu khin mt thng s X ca i tng A. Trong trng hp iu khin vng h th i tng A s c iu khin m khng cn quan tm n thng s X v thc t th thng s X s c ngi iu khin quan st v thao tc iu khin i tng A.Trong trng hp semi-closed loop th h thng iu khin s nhn dng mt thng s Y khng phi l thng s X nhng qua n c th c lng hoc i din cho X. Nh vy tnh "quan st = mt" c loi b mt phn. Tuy nhin sai s ca m hnh kh cao do cc sai s v c v in. M hnh ny c p dng ch yu l l do v mc gi thnh hoc i khi thng s X khng th o c c. chnh xc ca n d nhin l cao hn opened loop.V ci cui cng l closed loop, d nhin trong trng hp ny i tng X c trc tip feedback v h thng iu khin x l.

2.1.1 iu khin vng h (open loop):

B iu khin v tr ch th lnh cho ng c quay, nhng ch quay m thi, quay ti quay li m khng cn bit quay bao nhiu vng cho bn chy n v tr no, n ch dng khi c tc ng t con ngi hay t mt h thng ra lnh no bn ngoi n.

2.1.2 iu khin na kn (semi-closed loop):

Hnh ny c im khc so vi hnh trn. l s vng quay ca motor c m ha v hi tip v b iu khin v tr. Ngha l n y th ng c ch quay mt s vng nht nh ty thuc vo lnh ca b iu khin, ni cch khc b iu khin c th ra lnh cho chy hoc dng ng c theo mt lp trnh sn c ty thuc vo ca ngi thit k. Tuy nhin ci m chng ta cn iu khin chnh l v tr ca bn chy ch khng phi l vic ng c quay bao nhiu vng th dng .... i tng l ci bn 2.1.3 iu khin vng kn (full-closed loop):

Hnh ny r rng l khc hn so vi 2 hnh kia. Vng hi tip lc ny khng phi hi tip t trc ng c v m vng hi tip lc ny l hi tip v tr ca bn chy thng qua mt tht tuyn tnh. Lc ny b iu khin v tr khng iu khin s vng quay ca motor na m n iu khin trc tip v tr ca bn chy. Ngha l cc sai s tnh do sai khc trong cc bnh rng hay h thng truyn ng c loi b. Vng iu khin lnh v hi tip khp mt vng kn qut ln ton b thit b lin quan cho nn n c gi l vng kn.

2.2 H THNG IU KHIN DNG NG C SERVO:

2.2.1 Xu hng trong iu khin chuyn ng dng servo: iu khin chuyn ng (KC) c l l mt trong nhng lnh vc a dng v pht trin nhanh nht trong ngnh iu khin v t ng ho. Cc khi nim v cng ngh KC t lu khng ch gi gn trong nhng h thng servo chuyn dng iu khin bi cc h truyn ng v thit b to sn thng c gi kh cao. Thay vo , ngy nay ta cn thy cc tnh nng ca KC ng dng c cho tc v v tr trong truyn ng thay i tn s xoay chiu, cc ng c bc v truyn ng vng kn cng nh cc h truyn ng v ng c servo AC v DC thng dng khc. Hin nay c mt s xu hng trong iu khin ng c. Trong mt s trng hp, vn cn quan tm ch n gin l iu khin tc , gia tc, mmen hoc cc thuc tnh khc ca ng c trn c s tn hiu iu khin u vo l t pha con ngi, chng hn nh qua bng iu khin. Vic iu khin bng tay nh vy thuc v phm tr iu khin vng h. Trong mt s trng hp khc, ng c phi t ng a ra cc p ng vi cc tc ng thi gian thc. Cc p ng i vi cc tc ng ny c quan st v cc iu chnh cn thit c t ng to ra. V vy, n to ra mt mi trng iu khin kn. Cc iu khin vng lp kn nh vy c gi l h ty ng servo, hay ch n gin l servo. iu khin servo l mt qu trnh x l tn hiu lin quan n iu khin ng c trn c s ng hc ca cc tn hiu vo nh v tr, tc hay mmen. Trong qu kh ngi ta s dng cc mch tng t thc hin iu khin servo, nhng kh nng thch nghi ca cc b vi x l tn hiu s to ra mt cng ngh mi cho s la chn trong nhiu ng dng.

2.2.2 H thng servo:

2.2.2.1 H thng servo l g?

Servo bt ngun t ting Hy Lp l Servus (servant), ngha l n l, y t. Mt h thng c gi l servo khi h thng chp hnh mt cch chnh xc mnh lnh ca ch nhn (tc l ngi iu khin.H thng servo l h thng iu khin cc thit b c hc vi cc bin l bin v tr v tc (gi tr t v gi tr thc). Sau y l mt v d minh ha.

2.2.2.2 C cu nh v:

H thng servo khng n gin ch l mt phng php thay th iu khin v tr v tc ca cc c cu c hc, ngoi nhng thit b c kh n gin, h thng servo by gi tr thnh mt h thng iu khin chnh trong phng php iu khin v tr v tc . C cu nh v iu khin bi servo motor

u im ca c cu ny l chnh xc v p ng tc cao, c th d dng thay i v tr ch v tc ca c cu chp hnh.

2.2.2.3 C cu chuyn ng nh hng:

C cu ny chuyn ng theo hng nht nh c ch nh t b iu khin. Chuyn ng c th l chuyn ng tnh tin hay quay.

u im l c cu chp hnh n gin v nng cao tui th hp s truyn ng (do truyn ng kh m).

2.2.2.4 Backlash v hiu chnh:

Backlash hiu nm na l gii hn chuyn ng ca mt h thng servo.Tt c cc thit b c kh u c mt im trung tnh gia chuyn ng hoc quay theo chiu dng v m (cng ging nh ng c trc khi o chiu th vn tc phi gim v 0). Xt mt chuyn ng tnh tin li v ti nh trong hnh sau:

Chuyn ng tnh tin ny c iu khin bi mt ng c servo. Chuyn ng ti v li c gii hn bi mt khon trng nh trong hnh. Nh vy ng c s quay theo chiu dng hoc chiu m theo mt s vng nht nh chuyn ng ca thanh qut ln ton b khon trng nhng khng c vt qu khon trng (y l mt trong nhng iu kin ct li ca vic iu khin ng c servo). Gii hn ny c gi l backlash, t nay h gp t backlash th chc cc bn hiu n l ci g ri ng khng. Tuy nhin trong thc t ng c quay nhng vng chnh xc con trt trt chnh xc v qut ln ton b khon trng trn l rt kh thc hin nu khng c mt s b tr cho n. V trong h thng servo nht thit c nhng hm lnh thc hin vic b tr, hiu chnh ny. Nh trong hnh v trn, h thng servo gi xung lnh hiu chnh cng/tr s lng xung lnh iu khin v cc xung lnh hiu chnh ny s khng c tnh n trong b m xung.

2.2.3 S khi ca h thng servo:

Sau y l mt s khi h truyn ng servo vi 2 vng hi tip v tr v tc

Trong phn A, B, C l phn so snh x l tn hiu hi tip v hiu chnh lnh. Phn D, E l c cu thc thi v hi tip. Cc phn A, B, C th kh ph dng trong cc s khi iu khin, phn D, E th ty cc thit b s dng m chng c khc nhau i cht nhng v bn cht chng hon ton ging nhau. Sau y l mt s v d v phn D, E thng gp:

2.3 CU TO V C TNH CA NG C SERVO:

2.3.1 Cu to:

ng c servo v nguyn l, cu to phn in - t th ging nh cc loi ng c bnh thng (ngha l cng c phn cm phn ng, khe h t thng, cch u dy, .v.v.) nhng c s khc bit v cu trc c hc, l ng c servo c hnh dng di, ng knh trc v rotor nh hn ng c thng cng cng sut, moment.im ni bt ca 1 servo motor l tch hp sn c cu feedback vo bn trong ng c. ng c servo l thit b c iu khin bng chu trnh kn. T tn hiu hi tip vn tc/v tr, h thng iu khin s s iu khin hat ng ca mt ng c servo. Vi l do nu trn nn sensor o v tr hoc tc (encoder hoc my pht tc) l cc b phn cn thit phi tch hp cho mt ng c servo

C 3 loi ng c servo c s dng hin nay l ng c servo AC da trn nn tng ng c AC lng sc; ng c servo DC da trn nn tng ng c DC; v ng c servo AC khng chi than da trn nn tng ng c khng ng b, v ng c ng b.Khng phi bt k ng c no cng c th dng lm ng c servo. ng c servo l ng c hot ng da theo cc lnh iu khin v tr v tc . Chnh v th n phi c thit k sao cho cc p ng l ph hp vi nhu cu iu khin. ). Tuy nhin tu theo nhu cu iu khin m n c mt s im ci tin hn (dnh cho nhng mc ch c bit) so vi ng c thng phc v cho cc mc ch iu khin c th.

2.3.2 c tnh ca ng c servo:

ng c servo c thit k cho nhng h thng hi tip vng kn. Tn hiu ra ca ng c c ni vi mt mch iu khin. Khi ng c quay, vn tc v v tr s c hi tip v mch iu khin ny. Nu c bt k l do no ngn cn chuyn ng quay ca ng c, c cu hi tip s nhn thy tn hiu ra cha t c v tr mong mun. Mch iu khin tip tc chnh sai lch cho ng c t c im chnh

c tnh vn hnh ca mt ng c servo ph thuc rt nhiu vo c tnh t v phng php iu khin ng c servo2.3.2.1 Tng tc p ng:Cc ng c bnh thng, mun chuyn t tc ny sang tc khc th cn c mt khon thi gian qu . Trong mt s nhu cu iu khin, i hi ng c phi tng/gim tc nhanh chng t c mt tc mong mun trong thi gian ngn nht, hot t c mt v tr mong mun nhanh nht. V d bn mun iu khin mt c cu t v tr X n v tr X, ban u khi xa v tr X th ng c quay vi vn tc ln tng tc, tuy nhin khi n gn X i hi ng c cn gim tc tc th c th t c v tr mong mun mt cch chnh xc v loi tr s vt l v tr. Cc ng c thng khng th p ng c iu ny. ng c p ng c nhng yu cu trn th n phi c thit k sao cho rt ngn p ng tc ca ng c.

Mun nh vy ta cn gim moment qun tnh v tng dng gii hn cho ng c. gim moment qun tnh th ng c servo c gim ng knh rotor v loi b cc c cu st khng cn thit. tng dng gii hn, ng c servo c th s dng st Ferrit lm mch t v thit k hnh dng li st cho ph hp. i vi ng c nam chm vnh cu th n cn c thit k sao cho ngn cn c s kh t (hnh dng mch t) v tng kh nng t tnh ca nam chm (s dng nam chm t him rare earth magnet).

2.3.2.2 Tng kh nng p ng:p ng y cn c hiu l s tng/gim tc cn phi mm ngha l gia tc l mt hng s hay gn nh l mt hng s.

Mt s ng c nh thang my hay trong mt s bng chuyn i hi p ng tc ca c cu phi mm, tc l qu trnh qu vn tc phi xy ra mt cch tuyn tnh. lm c iu ny th cun dy trong ng c phi c in cm nh nhm loi b kh nng chng li s bin i dng in do mch iu khin yu cu. Cc ng c servo thuc loi ny thng c thit k gim thiu s cun dy trong mch v c kh nng thu hp cc vng t trong mch t khe h khng kh.

2.3.2.3 M rng vng iu khin (control range):

Mt s yu cu trong iu khin cn iu khin ng c mt di tc ln hn nh mc rt nhiu. ng c bnh thng ch cho php in p t ln n phi bng in p chu ng ca ng c v thng thng khng qu ln so vi in p nh mc.

ng c servo thuc loi ny c thit k t bit nhm gia tng in p chu ng hoc tng kh nng bo ho mch t trong ng c (ngha l ng c lm vic on pha di cch xa on nh mc. Nh vy ng c servo thuc loi ny phi c tng cng cch in v s dng st Ferrit hoc nam chm t him (rare earth).

2.3.2.4 Kh nng n nh tc :

ng c servo loi ny thng c thit k sao cho vn tc quay ca n rt n nh.

Khng c mch in hon ho, khng c t trng hon ho trong thc t. Chnh v th mt ng c quay 1750 rpm khng c ngha l n lun lun quay 1750 rmp m n ch dao ng quanh gi tr ny. ng c servo khc bit vi ng c thng l ch n nh tc kh cao. Cc ng c servo loi ny thng c s dng trong cc ng dng i hi tc chnh xc (nh robot). N c thit k sao cho c th gia tng c dng t trong mch t ln kh cao v gia tng t tnh ca cc t. Cc rnh rotor c thit k vi hnh dng c bit v cc cun dy rotor cng c b tr khc c bit c th p ng c yu cu ny. Mt hnh nh minh ho

2.3.2.5 Tng kh nng chu ng ca ng c:

Mt s ng c servo c thit k sao cho c th chu ng c cc tn hiu iu khin tn s rt v c kh nng chu c c nhng yu cu tng tc bt ng t b iu khin (c th to ra cc xung in hi bc cao). Nhng ng c nh th ny thng c ci tin v phn c c tui th cao v c th chng li c s hao mn do ma st trn bi bc n cng nh trn chi than (i vi DC).Mt ng c servo c th mt s c im trn ph hp vi nhu cu iu khin ca ngi iu khin.

2.3.3 Nguyn l hot ng ca encoder:

Encoder mc ch dng qun l v tr gc ca mt a quay, a quay c th l bnh xe, trc ng c, hoc bt k thit b quay no cn xc nh v tr gc. Encoder c chia lm 2 loi, absolute encoder (tuyt i) v incremental encoer (tng i). Encoder tuyt i ch r rng v tr ca encoder, chng ta khng cn x l g thm, cng bit chnh xc v tr ca encoder ,encoder tng i ch c 1, 2, hoc ti a l 3 vng l. C mi ln i qua mt l, chng ta phi lp trnh thit b o m ln 1. Do vy, encoder loi ny c tn incremental encoder (encoder tng ln 1 n v) do khng th cho ta bit chnh xc v tr.Vic thit k encoder tuyt i cn qu nhiu vng l, v dn ti gii hn v kch thc ca encoder, bi v vic gia cng chnh xc cc l qu nh l khng th thc hin c. Cha k rng vic thit k mt dy n led v con mt thu cng nh hng rt ln n kch thc gii hn ny nn trong a s cc Motor, incremental optical encoder c dng v m hnh ng c servo trong bi ny cng khng ngoi l.

S khc bit gia absolute encoder v incremental encoder:

Absolute encoder s theo di v tr trc ng c ngay c khi h thngb mt in v mt s chuyn ng xy ra trong thi gian . Incremental encoder l khng c kh nng trn. Nguyn l c bn ca encoder, 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.

Hnh 2. Optical Encoder

Encoder thng c 3 knh (3 ng ra) bao gm knh A, knh B v knh I. Trong hnh 2 bn thy hy ch mt l nh bn pha trong ca a quay v mt cp pht-thu dnh ring cho l nh ny. l knh I ca encoder. C mi ln motor quay c mt vng, l nh xut hin ti v tr ca cp pht-thu, hng ngoi t ngun pht s xuyn qua l nh n cm bin quang, mt tn hiu xut hin trn cm bin. Nh th knh I xut hin mt xung mi vng quay ca motor. Bn ngoi a quay c chia thnh cc rnh nh v mt cp thu-pht khc dnh cho cc rnh ny. y l knh A ca encoder, hot ng ca knh A cng tng t knh I, im khc nhau l trong 1 vng quay ca motor, c N xung xut hin trn knh A. N l s rnh trn a v c gi l phn gii (resolution) ca encoder. Mi loi encoder c phn gii khc nhau, c khi trn mi a ch c vi rnh nhng cng c trng hp n hng nghn rnh c chia. iu khin ng c, bn phi bit phn gii ca encoder ang dng. phn gii nh hng n chnh xc iu khin v c phng php iu khin. Khng c v trong hnh 2, tuy nhin trn cc encoder cn c mt cp thu pht khc c t trn cng ng trn vi knh A nhng lch mt cht (lch M+0,5 rnh), y l knh B ca encoder. Tn hiu xung t knh B c cng tn s vi knh A nhng lch pha 90 . Bng cch phi hp knh A v B ngi c s bit chiu quay ca ng c. Hy quan st hnh 3.

Hnh 3. Hai knh A v B lch pha trong encoder

Hnh trn cng trong hnh 3 th hin s b tr ca 2 cm bin knh A v B lch pha nhau. Khi cm bin A bt u b che th cm bin B hon ton nhn c hng ngoi xuyn qua, v ngc li. Hnh thp l dng xung ng ra trn 2 knh. Xt trng hp motor quay cng chiu kim ng h, tn hiu i t tri sang phi. Bn hy quan st lc tn hiu A chuyn t mc cao xung thp (cnh xung) th knh B ang mc thp. Ngc li, nu ng c quay ngc chiu kim ng h, tn hiu i t phi qua tri. Lc ny, ti cnh xung ca knh A th knh B ang mc cao. Nh vy, bng cch phi hp 2 knh A v B chng ta khng nhng xc nh c gc quay (thng qua s xung) m cn bit c chiu quay ca ng c (thng qua mc ca knh B cnh xung ca knh A).

2.4 TM HIU V DNG SN PHM SIGMA AC-SERVO CA YASKAWA (SGD*-***s):

2.4.1 ng c Ac-Servo (SGM-******):

2.4.1.1 S cu trc ng c Ac-Servo (SGM-******):

AC-Servo motor c chia thnh hai loi: ng c ng b v ng c cm ng. Loi ng b thng c s dng nhiu hn. i vi ng c loi ng b tc ca motor c iu khin bi s thay i tn s ca dng in xoay chiu. ng c loi ng b c mt moment gi mnh khi ng c dng v hn na loi ny c th s dng khi i hi iu khin v tr chnh xc, loi ny thng s dng cho servo iu khin v tr. Hnh minh ha theo sau l cu trc bn trong ca mt ng AC-Servo loi ng b.

2.4.1.2 Thng s ng c:Nhn ca ng c cho ta cc thng s k thut ca ng c

2.4.1.3 Nguyn tc hot ng ca ng c: c iu khin t b driver ca ng c servopackTnh hiu hi tip ca ng c nh encoder a v driver. Driver x l tn hiu hi tip v a ra tn hiu iu khin cho ng c. 2.4.2 B iu khin driver ca ng c SERVOPACK (SGD*-****):

2.4.2.1 Thng s b iu khin driver SERVOPACK (SGD*-****):

Nhn ca DRIVER cho ta cc thng s k thut ca DRIVER:

iu khin vn tc v moment ng c AC-Servo GVHD : TS.NGUYN MINH TMbng PLC kt hp WinCC-Flexible Siemens

SVTH : BIN QUC THOI1

2.4.2.2 S chn ca driver SERVOPACK(SGD-02AS):

S chn c chia lm 3 nhm chnh:Nhm 1 : chn tn hiu iu khin

COM+,COM_:chn ngunSV-ON: cho php ng c lm vicP-CON: chn mod iu khinP-NL: mod iu khinN-NL: mod iu khinCL:xa b mSV-RST:chn reset li P-OT,N-OT:chn cng tc hnh trnh thun v nghch

Nhm 2: chn tn hiu n boSV-ALM:n bo trng thi liV-CMP: n bo vn tcTGON:n bo mod vn tc ALM1: mod trng thi liALM2: mod trng thi liALM2: mod trng thi li

Nhm 3: chn tn hiu encoder : OA+, OA_: Tn hiu ng ra knh A OB+ ,OB_: Tn hiu ng ra knh B OC+, OC_:Tn hiu ng ra knh C Cc tn hiu phn hi t encoder gi v driver qua mt cng m v c driver x l v c a v b iu khin trung tm(PLC).

S tng qut ca mt b AC-Servo:

2.4.2.3 Nguyn l iu khin ca driver trong Mod iu khin tc v moment: Driver iu khin iu khin tc v moment nguyn tc nhn tn hiu analog di dng in p t bn ngoi, c th t ng ra ca modul analog.

Tn hiu in p analog t PLCKhi ng c lm vic,encoder gn trn ng c s gi tn hiu phn hi v tr vn tc v moment v b iu khin driver.Driver s thc hin vic so snh tn hiu nhn t PLC v tn hiu phn hi t a ra hng x l.Tn hiu iu khin vn tc va moment l tn hiu in p analog c a trc tip n cc chn V-ref v T-ref .Ty thuc vo gi tr ngun m ci t thng s li cho thch hp. Ph thuc vo vic ci t thng s trong Mod iu khin tc v moment m cc chn tn hiu V-ref v T-ref c cc ngng iu khin khc nhau, tng ch iu khin khc nhau.Mt s ci t cho mode iu khin tc v moment:

Mode iu khin 3 cp tc :

Ch yu s dng 3 chn P-CON, P-NL, N-NL.

Qu trnh set cc thng s c th hin bng:

Thng s hng s Cn-02 bit 2 th hin bn sau:

Kt hp vi ci t cc cp tc cho cc hng s Cn-19, Cn-20, Cn-21:

2.4.3 Mn hnh iu khin Digital Operator (JUSP-OP02A,JUSP-OP03A):

2.4.3.1 Thng s ca mng hnh iu khin Digital Operator (JUSP-OP02A,JUSP-OP03A):

2.4.3.2 Chc nng v hng dn s dng Digital Oprater (JUSP-OP02A):Mn hnh hin th ca mn hnh in khin Digital Operator cho ta cc thng tin v Mod iu khin, cc tn hiu u vo v tr,tc ,moment,s c li v cho php ci t cc thng s.Gng cp t mng hnh iu khin vo cng CN3 ca driver servopack.Trn mng hnh iu khin c cc nt nhn vi chc nng nh sau:RESET: xo n cnh bo, reset cnh boJOG-SVON: tt/m servoDSPL/SET: mod chnh ch hin thDATA/ENTER: nut chn ( chp nhn) khi ci t, , , : iu chnh v tr s cn chnh hoc tng/gim s : mng hnh hin th thng s. ngha hin th ca cc bit trn mng hnh hin th thng s:

Khi nhn nt :

Khi nm Setting Mode:y l mode ch ci t cc thng s cn thit cho driver Servopack trong chia ra lm ba nhm nh sau: i vi Cn-00: dng iu khin ng c trc tip t mng hnh iu khin Digital Operator gm cc mode nh sau:

V d cch s dng mode ny c chi dn nh hnh sau:

Lu chn gi tr 00 cn ci t bng cc nt , , , . Nhn nt chp nhn d liu s m mnh chn. Lu chn gi tr 00 cn ci t bng cc nt , , , . Nhn nt chuyn mode. Nhn nt chp nhn ci t v tr v ban u.

i vi nhm mode Cn-01, Cn-02:

Khi bm nt , la chn bit cn ci t, ang bit bao nhiu hin th led cui cng, nt , set hoc khng set bit. i vi nhm mode Cn-03 tr i s dng nh hng dn bn di:

Cc trng thi n cnh bo trn mn hnh iu khin:

2.4.3.3 Ci t thng s cho mode tc v moment vi mn hnh in khin Digital Operator (JUSP-OP02A,JUSP-OP03A):

Thc hin vic set thng s thng qua mn hnh.C rt nhiu thng s.cc thng s ny a phn c gi nguyn theo tiu chun ci t ban u ca nh sn xut. cc thng s ci t cho mode tc v moment ch yu chng ta can thip vo mt s thng s c lin quan n tc vo moment cho ph hp vi yu cu v mc ch s dng ca chng ta.

Cc thng s ci t cho hai mode iu khin bit (Cn-01, Cn-02):

2.4.4 Kt ni ng c Ac-Servo (SGM-******) v mng hnh in khin Digital Operator (JUSP-OP02A) vi driver SERVOPACK (SGD*-****)

Encoder gn trn ng c c kt ni vi driver servopack thng qua cng 2CNTn hiu iu khin t PLC c kt ni vi driver servopack thng qua cng 1CN.Mng hnh in khin Digital Operator (cng 3CN) (JUSP-OP02A) c kt ni vi driver servopack thng qua cng 3CN.Cc chn U,V,W t ng c c ni vo cc U,V,W ca b driver servopack.

Tnh ton trong mode iu khin vn tc v moment:Vn tc c tnh ton t tn hiu phn hi ca encoder:

N: s xung m c trong thi gian ly mu (xung/vng).No: phn gii ca encoder (xung/vng) .To: thi gian ly mu (s).

Cc trng thi li xy ra trong qu trnh hot dng:

CHNG 3: C S L THUYT V S7-200 V OPC

3.1 TNG QUAN V PLC S7-200:

3.1.1 c im b iu khin loic kh trnh (PLC):

S pht trin ca PLC em li nhiu thun li v lm cho cc thao tc my tr nn nhanh, nhy, d dng v tin cy hn. N c kh nng thay th hon ton cho cc phng php iu khin truyn thng dng rle (loi thit b phc tp v cng knh); kh nng iu khin thit b d dng v linh hot da trn vic lp trnh trn cc lnh logic c bn; kh nng nh thi, m; gii quyt cc vn ton hc v cng ngh; kh nng to lp, gi i, tip nhn nhng tn hiu nhm mc ch kim sot s kch hot hoc nh ch nhng chc nng ca my hoc mt dy chuyn cng ngh.Nh vy nhng c im lm cho PLC c tinh nng u vit v thch hp trong mi trng cng nghip:

Kh nng khng nhiu rt tt. Cu trc dng module rt thun tin cho vic thit k, m rng, ci to nng cp. C nhng module chuyn dng thc hin nhng chc nng c bit hay nhng module truyn thng kt ni PLC vi mng cng nghip hoc mng Internet Kh nng lp trnh c, lp trnh d dng cng l c im quan trng xp hng mt h thng iu khin t ng Thuc vo h sn xut linh hot do tnh thay i c chng trnh hoc thay i trc tip cc thng s m khng cn thay i li chng trnh.

3.1.2 Cu trc phn cng ca S7-200:

Cc thnh phn c bn ca mt PLC thng c cc modul phn cng sau:1. Modul ngun2. module n v x l trung tm3. Modul b nh chng trnh v d liu.4. Modul u vo5. Modul u ra.6. Modul gi php( h tr cho vn truyn thng ni b)7. : Modul chc nng( h tr cho vn truyn thng mng).

3.1.3 Cu trc b nh S7-200

Phn chia b nh: B nh c chia lm 4 vng c bn, hu ht cc vng nh u c kh nng c/ghi ch tr vng nh c bit SM (Special Memory) l vng nh c ch s c, s cn li c th c/ghi c

Vng nh chng trnh: L min b nh c dng lu gi cc lnh, chng trnh. Vng ny thuc kiu non-valatie c/ghi c.

Vng nh tham s: L min lu gi cc tham s nh t kha, a ch trm cng ging nh vng chng trnh, vng ny thuc kiu non-valatie c/ghi cVng d liu: c s dng ct cc d liu ca chng trnh bao gm kt qu ca cc php tnh, hng s c nh ngha trong chng trnh, b m truyn thng

Vng i tng: Timer, b m, b m tc cao v cc cng vo/ra tng t c t trong vng nh cui cng. Vng ny khng thuc kiu non-valatie nhng c/ghi c.

3.1.4 X l chng trnh.

PLC thc hin chng trnh theo chu k lp. Mi vng lp c gi l mt vng qut (Scan). Mi vng qut c bt u bng vic c d liu t cc cng vo vng b m o, tip theo l giai on thc hin chng trnh. Trong tng vng qut chng trnh thc hin bng lnh u tin v kt thc bng lnh kt thc. Sau giai on thc hin chng trnh l giai an truyn thng v kim tra li. Vng qut c kt thc bng giai on chuyn cc ni dung ca b m o n cng ra

3.1.5 Giao tip gia sensor v c cu chp hnh:

S7-200 c hai loi c bn:AC/DC/RELAY

Hnh 2.2: s mch giao tip gia CPU 224 AC/DC/RLY vi sensor v c cu chp hnh

DC/DC/DC

Hnh 2.3: S mch giao tip gia CPU 224 DC/DC/DC vi sensor v c cu chp hnh

3.2 B M XUNG TC CAO ( HSC: HIGHT SPEED COUNTER).3.2.1 Gii thiu v HSC:

B m thng: B m thng trong PLC nh m ln ( CTU), m xung (CTD), m ln xung (CTUD), ch m c 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 m c. VD: Tn hiu xung t encoder

3.2.2 S lng b m HSC c trong PLC v tn s ti a cho php:

Ty thuc vo loi CPU m s lng b m HSC v tc ti a cho php khc nhau.

3.2.3 Vng nh c bit s dng lp trnh cho HSC:

Mi vng nh HSC c mt vng nh ring c bit, vng nh ny c s dng khai bo chn mode m, t gi tr, lu gi tr cho HSC tng ng.

3.2.4 Cc mode m ca b m:

Mi b m u c nhng Mode m khc nhau. Ty vo tng ng dng c th m ngi lp trnh la chn Mode m cho ph hp. Di y trnh by Mode m ca cc b m tiu biu: HSC0 c 1 mod m(Mod 0).Cc b m cn li u c 12 Mod m

Bng m t ch m ca cc b HSC

Mode 0,1,2 : dng m 1 pha vi hng m c xc nh bi bit ni Mode 0:ch m tng hoc gim khng c bit START v RESETMode 1: m tng hoc gim c bit RESET nhng khng c bit STARTMode 2: : m tng hoc gim c bit RESET v bit START cho php bt u m cng nh bt u reset.Cc bit reset cng nh start l cc tn hiu INPUT c chn t bn ngoi.Mode 3,4,5 dng m 1 pha vi hng m c xc nh bi bit ngoi tc l c th chn t ng vo input

Mode 3:ch m tng hoc gim khng c bit START v RESETMode 4: m tng hoc gim c bit RESET nhng khng c bit STARTMode 5: : m tng hoc gim c bit RESET v bit START cho php bt u m cng nh bt u reset.Cc bit reset cng nh start l cc tn hiu INPUT c chn t bn ngoi

Mode 6,7,8: dng m 2 pha vi 2 xung vo,1 xung dng m tng v 1 xung dng m gim

Mode 6:ch m tng hoc gim khng c bit START v RESETMode 7: m tng hoc gim c bit RESET nhng khng c bit STARTMode 8: : m tng hoc gim c bit RESET v bit START cho php bt u m cng nh bt u reset.Cc bit reset cng nh start l cc tn hiu INPUT c chn t bn ngoiMode 9,10,11 : dng m xung A/B ca ENCODER c 2 dng

Dng 1:m tng 1 khi c xung A/B quay theo chiu thun, gim1 khi c xung A/B quay theo chiu nghch

Dng 2:m tng 4 khi c xung A/B quay theo chiu thun, gim4 khi c xung A/B quay theo chiu nghch

Mode 9:ch m tng hoc gim khng c bit START v RESETMode 10: m tng hoc gim c bit RESET nhng khng c bit START

Mode 11: : m tng hoc gim c bit RESET v bit START cho php bt u m cng nh bt u reset.Cc bit reset cng nh start l cc tn hiu INPUT c chn t bn ngoi

Mode 12: Ch p dng vi HSC0 v HSC3.HSC0 dng m xung pht ra t Q0.0 . HSC3 dng m xung pht ra t Q0.1 .m khng cn phi u ni phn cng c ngha l PLC t kim tra t bn trong.

3.2.5 ngha cc bit ca byte trng thi khi lp trnh cho HSC:

Cc bit khng s dng c b quaByte iu khin ca HSC0 :SMB36

Byte iu khin ca HSC1: SMB46

Byte iu khin ca HSC2: SMB56

3.2.6 ngha cc bit ca byte iu khin khi lp trnh cho HSC: Cc bit khng s dng c b qua

Byte iu khin ca HSC0

Byte iu khin ca HSC1

Byte iu khin ca HSC2

3.2.7 Chn kiu Reset, Start v tn s m cho HSC

3.2.8 Byte trng thi v byte iu khin ca HSC3, HSC4, HSC5

3.2.9 Gi tr tc thi, gi tr t

3.2.10 Cc bc khi to b m HSC:

c xung tc cao ,ta thc hin cc bc sau cho vic nh dng Wizard:Chn Wizard c xung tc cao High Speed Counter

Chn Mode c xung tc cao v loi Counter no (HC0,HC1)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 dng lnh HDEF. Np gi tr tc thi. Np gi tr t trc. Gn chng trnh ngt vi s kin ngt dng lnh ATCH nu s dng ngt. Cho php ngt dng lnh ENI. Chn b m thc thi dng lnh HSC.

Lu : Ton b cc bc trn u c thc hin trong mt chng trnh con khi to HSC. Vic khi to ny ch thc hin mt ln, khi no cn thay i gi tr, ch lm vic th mi khi to li.

3.3 CHNG TRNH NGT:

3.3.1 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 200 s 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 cao nht n ngt c mc u tin thp nht. Th t u tin ngt nh sau: Ngt truyn thng Ngt vo ra Ngt timer Cc iu kin ngt xy ra s c lu li v sp xp theo th t 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 Ty thuc vo loi CPU m s lng ngt cng nh s kin ngt c khc nhau

3.3.2 Cc lnh s dng khi lp trnh iu khin ngt.

3.3.3 Cc s kin gy ra ngt

3.3.4 Cc bc lp trnh khi s dng ngt.Tt c cc ngt phi c khi to trc khi lm vic. Vic khi to ccngt 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. Xc nh ng dng v chng trnh ngt Ph thuc vo tng loi ngt m khi to chng trnh ngt Kch hot ch ngt

3.4 S DNG MODUL ANALOG:

Tn hiu Analog l cc tn hiu tng t ( 0 10VDC,hoc 4-20mA),Hu ht cc ng dng ca chng trnh PLC Siemens ni ring hay cc ng dng khc u cn phi c cc tn hiu analog.Tn hiu analog c th l tn hiu t cc cm bin o khong cch,cm bin p sut,cm bin o trng lng

3.4.1 Modul EM321:

1.1.1. Gii thiu v modul EM321: S lng ng vo.S lng ng vo 4AIW (AIW0,AIW2,AIW4,AIW6). Ng vo c th l in phay dng in.Cch kt ni ng vo.

Dy in p ng vo v phn gii. in p vo: +10V, +5V, +2,5V,-5V,-2,5V. Dng in ng vo: 0 n 20mA. phn gii: 5uA hay t 1,25mV n 2,5mV. Gi tr s ng vo: -32000 n 32000 hay t 0 n 32000.Switch chn gi tr ng vo v phn gii.

1.1.2. c tn hiu analog t Modul EM231:

Cc tn hiu c th c c t Modul EM231(tu thuc vic chn cc Switch trn modul): Tn hiu n cc ( Tn hiu in p): 0-10VDC, 0-5VDC Tn hiu lng cc (tn hiu in p): -5VDC 5VDC, -2.5VDC 2.5VDC Tn hiu dng in :0 20mA ( c th c c 4-20mA) Tn hiu Analog s c c vo AIW0,AIW2 tng ng,tu thuc vo v tr ca tn hiu a vo modul. Modul EM231 c 4 ng vo Analog,do vy v tr cc ng vo tng ng l: AIW0, AIW2, AIW4, AIW6 Tn hiu analog l tn hiu in p ,tuy nhin gi tr m AIW c vo khng phi l gi tr in p ,m l gi tr c quy i tng ng 16bit. Trng hp n cc : Gi tr t 0 64000 tng ng vi ( 0-10V,0-5V hay 0-20mA) Trng hp lng cc : Gi tr t -32000 32000 tng ng vi (-5VDC 5VDC hay - 2.5VDC 2.5VDC).Vd : Trng hp n cc: gi tr c vo ca AIW0 = 32000,khi gi tr in p tng ng l : (32000x10VDC/ 64000) = 5VDC ( Tm chn 0 10VDC) Trng hp lng cc : Gi tr c vo ca AIW0 = 16000,khi gi tr in p. Tng ng l : ( 16000x5VDC/32000) =2.5VDC ( Tm o -2.5VDC 2.5VDC) Do vy cn c vo gi tr c vo ca AIW ta c th dng quy tc tam sut,t c th tnh c gi tr in p tng ng.T gi tr in p ta c th suy ra gi tr mong mun. Thng thng cc tn hiu Analog c vo bao gi ngi s dng cng mong mun c c chnh gi tr mong mun ( V d: gi tr khi lng trong c u cn Loadcell, gi tr p sut trong c tn hiu t cm bin p sut..) Phng php c Analog trong trng hp ny ta s khng cn quan tm nhiu n ch n cc hay lng cc,m ch cn xc nh c 2 im,t lp c phng trnh ng thng ( Gi tr mong mun c theo AIW) V d: c khi lng t u cn :Ta xy dng hm Khi lng theo AIW( l tn hiu c vo)Bc 1: Ta cn xc nh 2 im: im 1: Ta online trn my tnh,c gi tr AIW0 l x1,trong trng hp im 1 (im 1 l im ta t qu cn chun 1:c khi lng m1 ln bn cn) ,Tng t ta c th xc nh c im 2 ( tng ng x2 v m2).T ta c 2 im : im 1 ( x1,m1) , im 2 (x2,m2).Phng trnh ng thng i qua 2 im 1,2 c dng:

(X-X1/X2-X1) = (Y-Y1/Y2-Y1),T rt Y theo X chnh l phng trnh khi lng theo AIW.

V d c th: im 1 (0,0), im 2 ( 32000,1000)Phng trnh lp:(X-0/32000-0) = ( Y-0/1000-0) T suy ra:Y= 1xX/ 32Vy : Khi lng = AIW / 32.

3.4.2 Modul EM232:1.1.1. Gii thiu v modul EM232: in p ngun: +24V.S lng ng ra 4 analog Output. Dy in p ng ra -10V,+10V. Dng in ng ra: 0 n 20mA.Gi tr s ng ra: -32000 n 32000 hay t 0 n 32000. phn gii: 2,5mV.

1.1.2. Xut tn hiu analog qua modul EM232:Cc tn hiu c th xut ra Modul EM232(tu thuc vic chn cc Switch trn modul):Tn hiu n cc ( Tn hiu dng in): 0-20mATn hiu lng cc (tn hiu in p): -10VDC 10VDCTn hiu 0 -20mA tng ng vi gi tr 0 32000Tn hiu -10VDC 10VDC tng ng -32000 32000Gi tr xut ra Modul EM232 c a vo nh AQW tng ng.

3.5 TNG QUAN V OPC

PC Access l phn mm ca Simens a ra h tr kt ni PLC S7 200 vi PC thun tin hn. Nhim v ca PC Access trong ti ny l to th vin ng h tr cho vc kt ni PLC vi PC, trong PC Access ng vai tr l OPC Server.3.5.1 OPC supermarket Analogy (tm dch: OPC nh mt siu th)Khi nim v OPC server v OPC client c lin kt vi nhau ging nh mt siu th. Tt c nhng thnh phn c th s dng u c th hin trn OPC Server, vic la chn ny bao gm tt c cc vng x l d liu c v ghi bi OPC Server.OPC Client s la chn nhng Items m c yu cu. OPC Client s c v ghi gi tr mi n nhng Items yu cu thng qua OPC Server3.5.2 OPC Defined (tm dch: Xc nh cu trc OPC)Vi cu trc OPC th i tng OLE c s dng nh l mt i tng ca Microsoft. nh dng OLE ban u c th hin nh l mt i tng nhng. Ngy nay OPC c gi l COM for Proccess Control t khi OPC da trn COM. COM l mt i tng chung ca h thng hot ng Windows v c iu khin bn trong bi mt vi i tng phn mm.(COM (Component Object Model: m hnh cc i tng thnh phn) l mt giao thc chun giao tip gia cc i tng cc b trn mt my tnh nhng chng l thnh phn ca nhng chng trnh khc nhau)

Bng vic s dng COM, OPC Server s tr thnh mt phn ca h thng Windows v do , OPC Server khng c lp v tn file, v tr lu tr v phin bn. pht trin hn na COM, DCOM thm tr h tr nhng ng dng phn tn v cho php ng hot ng gia cc i tng phn mm trn cc my tnh khc nhau trong phm vi mt mng.OPC cung cp mt c cu cung cp d liu t ngun d liu v chia s d liu n bt k ng dng khc theo nhng cch thc tiu chun. Mt nh cung cp ngy nay c th pht trin mt Server s dng v ti u ho kh nng ny chia s d liu ti ngun d liu, v bao gm c c cu truy cp d liu t d liu ngun vi hiu sut cao. Vic cung cp Server cng vi vic giao din OPC cho php bt k Client no cng c th truy cp cc thit b ca OPC. Mc d OPC c thit k ban u l truy cp d liu t mng Server, nhng giao din OPC c th c s dng nhiu ni trong phm v mt ng dng. Mc truy cp thp nht, chng c th thu thp d liu t cc thit b vt l trong mng SCADA hoc DCS hoc l h thng SCADA,DCS trong phm vi ng dng.K thut v thit k ny to nn kh nng c th cu trc mt OPC Server cho php cc ng dng khc c th truy cp t nhiu OPC Server khc nhau c cung cp bi nhiu nh cung cp OPC khc nhau chy trn nhng nt mng khc nhau thng qua mt i tng .3.5.3 ng dng ca vic giao tip OPC ng dng ca giao din OPC c da trn m hnh Server-Client. Mt i tng ca Server th cung cp dch v cho nhng i tng giao tip khc thng qua giao din. Mt i tng khc s s dng cc dch v ny. Vi OPC, mt ng dng c th c th nhn ra mt OPC Server ang tn ti trn h thng. C th a ch ha mt hoc nhiu Server v yu cu dch v m chng s cung cp. T vi OPC Client khc nhau c th truy cp mt OPC Server ti cng mt thi im, cng ngun d liu s dng cho bt k lnh ng dng OPC.3.5.4 OPC ServerThnh phn OPC phn phi d liu gi l OPC Server. Cc thnh phn ny thc hin vic thm nhp tn ti trn h thng (my tnh). Mt phn dch v, chng cung cp thng tin cho cc OPC Client t bt k ngun d liu no; c th l ngun d liu v phn cng hay thnh phn ca mt phn mm. D liu c thu thp t giao din, card bus trng, thit b o hay thit b iu khin.Mi OPC server c gn mt tn duy nht bi nh cung cp nh dng n. Theo tiu chun COM th ci tn ny c nh ngha nh l ProgIDs. Bng vic xc nh ProgIDs, chng ta c th nh a ch cho OPC Server xc nh.3.5.5 OPC Client i tng OPC m s dng OPC Server nh l ngun d liu c gi l OPC Client. OPC Client c th c tn ti nh l mt phn mm chun. Nhng Module phn mm cn c th kt hp vi nhau to nn cc hm cho chnh cc Client. gp nhng yu cu c lp trn h thng v t c nhng hnh thc trnh by tt nht c th, chng ta c th vit OPC Client bng nhng ngn ng lp trnh khc nhau.

3.5.6 Cch thc m Server v Client lm vic vi nhau:

Server v Client truyn thng da trn DCOM. Client khng truy cp trc tip Server nhng s dng th vin COM. Bng vic xc nh ProgIDs, OPC client c th nh a ch m mi OPC m n yu cu.

Hnh 2.4: Truyn thng gia Server v Clientc tnh v cch thc:Chc nng ca OPC Server c xc nh bi giao tip ca chng, OPC Client bit c chc nng ca OPC Server yu cu v c th s dng nhng dch v c gi tr. T gc nhn hng i tng, cc dch v ca OPC Server c th hin bi c tnh v cch thc. Tt c OPC Server c c tnh v cch thc ci t c bn ging nhau. Nu mt Server khng cung cp nhiu chc nng m rng no th mt Client c th nhn ra iu v phn ng ph hp vi iu . Kt qu l cc thnh phn ca nh cung cp khc c th lm vic vi nhau m khng c vn g xy ra.Mt Client c th c to hoc xa i tng trn OPC Server thng qua giao din OPC. OPC Client tham chiu tt c cc hm ca Server, v s dng cch thc ca Server c v ghi d liu. Mi hm ca Server tng ng vi mt lnh trn Client.3.5.7 Tn cc cp bc trong h thng:Khi mt i tng OPC Server c to th chng xc nh mt ng dn cp bc. OPC Client s s dng ng dn ny xc nh Item, l mt phn ca Group kt ni ti mt Server c th.

Hnh 2.5: Cc cp bc trong OPC Server

CHNG 4:WINCC FLEXIBLE V HMI

4.1 GII THIU V SIMATIC HMIS thng sut ti a l iu thit yu ngi vn hnh iu khin v gim st qu trnh hot ng trong nh my mt cch hiu qu vi cc thit b, my mc ngy cng hin i. Giao din ngi my (Human Machine Interface- HMI) cung cp mt s tch hp ton din v a dng cho ngi vn hnh iu khin v gim st cc nhim v. V d ca nhng h thng SIMATIC HMI l cc mn hnh iu khin nh s dng cho thit b cp cao. H thng HMI miu t giao din gia ngi (ngi vn hnh) v qu trnh (my mc/ thit b). PLC l n v hin thi iu khin qu trnh. V nhng l do , c mt giao din gia ngi vn hnh v WinCC flexible (ti thit b HMI) v mt giao din gia WinCC flexible v PLC. Mt h thng HMI m ng nhng nhim v sau: Miu t qu trnh:Quy trnh c m t bi thit b HMI. Mn hnh trn HMI c cp nht ng. y l iu c bn trong mt qu trnh chuyn ng. Ngi vn hnh iu khin qu trnh:Ngi vn hnh c th iu khin qu trnh bi cng c GUI. V d, ngi vn hnh c th t trc gi tr chun ca qu trnh iu khin hoc ci t thong s lm vic ca ng c. Hin th cnh bo:Trng thi gii hn qu trnh c t ng khi pht bo ng. V d, khi gi tr t trc b vt qu. Lu tr cnh bo v gi tr qu trnh:H thng HMI c th c bn ghi gi tr cnh bo v qu trnh. Trong tng lai, cho php bn truy cp d liu qu trnh v ly ra nhng d liu sn xut trc . Ghi chp cnh bo v gi tr qu trnh:H thng HMI c th c bn thng bo cc cnh bo v gi tr qu trnh. iu ny cho php bn in ra d liu sn xut. Qun l thng s my v qu trnh:

H thng HMI c th lu tr thng s qu trnh v my mc trong cng thc. V d, bn c th ti nhng thng s ny trong mt ng dn ca thit b HMI ti PLC thay i phin bn sn xut.4.2 GII THIU V WINCC FLEXIBLE

WinCC Flexible l phn mm SCADA c thit k bi hng Microsoft theo yu cu Siemens nhm phc v cho vic gim st v thu thp d liu trong h thng SCADA s dng thit b ca SIEMENS nh cc PLC S7-200, S7-300, S7-400.

Hnh 3.1 WinCC Flexible gim st PLC

WinCC Flexible rt linh hot trong vic gim st c th chuyn i d dng gia cc kt ni. Giao din rt thn thin vi ngi s dng, ngoi ra cn h tr ngn ng lp trnh hng i tng VisualBasic.c im ni bt nht ca WinCC Flexible so vi WinCC SCADA chnh l h tr nhng tnh nng rt mnh cho vic thit k giao din, thit lp giao din cng nh lp trnh cho cc loi mn hnh HMI.

Hnh 3.2: Mt s mn hnh HMI c tch hp trong WinCC Flexible

4.3 MT S THUC TNH NI BT CA WINCC FLEXIBLE:4.3.1 Thit lp giao thc kt ni:

WinCC Flexible cung cp cc giao thc kt ni gia HMI v s7-200, s7-300, s7-400. Cc kt ni c th qua PMI, DP, Probifus, Ethernet..

Kt ni gia HMI vi s7-200

Hnh 3.3. Thit lp giao tip gia HMI vi s7 200.

Kt ni gia HMI vi s7-300/s7-400.

Hnh 3.4: Thit lp giao tip gia HMI vi s7 300 qua MPI

Kt ni gia HMI vi s7-300 qua Ethernet

Hnh 3.5 Thit lp thng s kt ni qua Ethernet

Giao thc kt ni Ethernet theo chun IP. Ta ch cn khai bo a ch IP cho cc phn t kt ni mng.

4.3.2 Tags v Tags Group

WinCC Flexible giao tip cc thit b thng qua cc Tags. WinCC Flexible thc hin tnh ton v truyn d liu thng qua tag xung thit b, d liu thu nhn t thit b cng c thng qua tag v PLC.C 2 loi tag: tag ni v tag ngoiTag ni: c s dng tnh ton, lu tr trong ni ti ca WinCC, tag ni khng giao tip vi cc b iu khin lp trnh bn ngoi.WinCC qun l tag ni thng qua tn ca tag v kiu d liu tng ng. Chnh v vy trong mt chng trnh th tn ca tag l c nht.Tag ngoi: L nhng vng nh bn trong b iu khin lp trnh hoc thit b m phng. Tag ngoi lun gn vi mt a ch v mt kiu d liu nht nh. WinCC qun l cc tag ngoi thng qua tn ca tag v a ch ca n.

Hnh 3.6 Thit lp Tag kt ni

hnh trn ta c: Tag_1 l tag ni c kiu d liu l Int Tag_2 l tag ngoi c kiud liu l Bool v i ch giao tip vi thit b bn ngoi l M0.0.

4.3.3 Thit k giao din (Screen) cho HMI.

Giao tip ca ngi v my u thng qua mn hnh. V vy vic thit k giao din cho ph hp vi mc ch s dng l iu ht sc quan trng.WinCC Flexible cung cp hu ht cc cng c thit k phc v cho vic thit k giao din iu khin v gim st.

Hnh 3.7 Giao din thit k ca WinCC Flexible

Menubar: L ni dng iu khin hot ng chnh ca vic thit k. N cung cp cc cng c cng nh thit lp cc thng s cho giao din ca chng ta.

Standar Toolbar: L ni cha cc nt cho php chng ta thc hin nhng lnh mt cch nhanh chng.

Tool: Cung cp cho chng ta nhng i tng chun nh ( Polygon, Ellipse, Rectangle,) cc i tng thng minh ( OLE control, OLE Eleemnt, I/O Field,) v cc i tng Window ( Button, Check Box,.)

Project: L ni cung cp cc dch v v iu khin hot ng ca giao din nh to ngt, to ra cc report

Kch bn (Scrip):Scipt l ni m ta to ra cc hot ng khi c s kch hot. Scipt c h tr vit bng ngn ng Visual Basic. Trong script h tr mt c php chun ca cc lnh

Hnh 3.8: Khi to Scrip

4.3.4 Mt s hm s dng trong chng trnh:

Inverbit C php: Inverbit ngha: o ngc gi tr ca mt tag kiu d liu BinarySetbit C php: Setbit (Tag) ngha: t gi tr ca Tag = True vi kiu d liu l BinaryResetbit C php: Resetbit ( Tag) ngha: t gi tr ca Tag = False vi kiu d liu l BinarySetbitlnTag C php: SetbitlnTag( Tag,bit) ngha: t gi tr l true cho v tr bit c xc nh trong TagResetbitlnTag C php: ResetbitlnTag( Tag,bit) ngha: t gi tr l false cho v tr bit c xc nh trong TagStopRuntime C php: StopRuntime (Mode) ngha: Thot khi Runtime ca Wincc Flexible

CHNG 5: U IM V HN CHI. U IM CA TI:1) Tnh khoa hc ca ti: ti nghin cu v cch thc iu khin tc v moment ca ng c Ac-Servo. Tuy ng c Servo c s dng nhiu trng cng nghip nhng ti ny l mt ti tng i l mi.Nghin cu thc t chng minh cc sn phm Ac-Servo sau ny c th cng lc iu khin c c v tr tc v moment. Qua ti em c thm mt kin thc thc t qu bu c th h tr cho ti sau khi ra ra trng v bc chn vo xa hi.2) Tnh thc tin v kh nng ng dng:Qua nghin cu rt ra qui trnh, ti thy rng iu khin ng c Ac-Servo khng qu phc tp. y l m hnh iu khin nh nu c thm thi gian nguyn cu ti ngh c th to ra mt sn phm c th c ng dng vo sn xut vi qui m.II. HN CH CA TI:V thi gian nghin cu c hn, my mc thit b khng y nn cn c nhng vn cn tn ti. Cha lm c ht tt c cc cch iu khin tc . Cha lm c ht tt c cc cch iu khin moment. Vic nghin cu ch mi dng li v tr, tc v moment ca b ng c nh.

PHN 3KT LUNV KIN NGHI. KT LUN

n hon thnh ng tin v c bn t c cc yu cu ra nh sau:

Tm hiu cu to, c im k thut ca cc thit b: PLC Hiu c nguyn l hot ng v nm c phng php iu khin h thng servo S dng c phn mm Wincc Flexible v phn mm Step 7 MicroWin V4.0 Chy thnh cng h thng trn m hnh tht Tuy nhin vn cn mt s hn ch cha c x l.

Trong qu trnh thc hin n T.S NGUYN MINH TM tn tnh hng dn tc gi c th hon thnh n mt cch tt nht. Tc gi cng c gng nhiu nhng do hn ch v ti liu tham kho v nng lc nn s khng trnh khi nhng thiu st. Rt mong nhn c nhng kin b sung, gp ca qu thy c ti ca tc gi ngy cng hon thin hn.Em xin chn thnh cm n!

II. KIN NGH

- Nu c thi gian, ti s nghin cu khc phc nhng li nh, pht trin ti iu khin tc v moment thnh mt ti ln hn l lm mt my CNC c nh iu khin 3 trc trong va iu khin c v tr,tc tc v c moment.

PH LC

TI LIU THAM KHOTi liu sch tham kho:[1] Nguyn Don Phc. Phan Xun Minh. T ng Ho vi SIMATIC S7-200. Nh Xut Bn Nng Nghip, 1997[2] Lm Tng c. Nguyn Kim nh Gio trnh iu khin Logic Trng i Hc Bch Khoa Nng[3] WinCCflexible GettingStarted PowerUser. [4] T Vn Phng .Ti liu PLC cng nghip. Trng i Hc SPKT TPHCM Lu hnh ni b[5]H Vn Tr.Giao trnh PLC. NXB Khoa hc k thut[6] Lm Qunh Trang L Trng Hin Nguyn Minh Trung on Hip i hc Bch Khoa Thnh ph H Ch Minh - Chng trnh PFIEV.ng c servo.Web tham kho:[7] http://support.automation.siemens.com/[8] http://www.yaskawa.com[9]http://google.com.vn

SVTH : BIN QUC THOI37