M HNH IU KHIN CNG ON T NG CHO

CN TRC CONTAINER
THE AUTOMATIC PHASE CONTROL MOCK- UP FOR QUAYSIDE
CONTAINER CRANE
NGUYN XUN HNG
Trng Cao ng Cng ngh, i hc Nng
L B V
Hc vin cao hc kho 2004-2007
TM TT
Bi bo gii thiu kt qu nghin cu thit k mt m hnh iu khin cng on t ng cho
cn trc container cc Cng bin.
ABSTRACT
This article presents the results of research on designing an automatic phase control mock-up
for Quayside Container Crane.
1. T VN
Trong cng cuc hi nhp kinh t quc t nc ta hin nay, vic u t v a vo s
dng cc cn trc container ln phc v cho h thng Cng bin nc su ngy cng nhiu.
Tuy nhin, do c th cng vic, khng th t ng ha qu trnh khai thc xp d cho cc
cn trc ny. Chnh v khng th iu khin t ng c nn qu trnh tng tc cng nh qu
trnh hm xe ln trong qu trnh khai thc khng theo mt quy lut no dn n khi hng dao
ng l iu kh trnh khi. V vy nng sut bc xp ph thuc vo rt nhiu tay ngh ngi
cng nhn vn hnh.
Do vy vic tip cn, ch to h thng iu khin t ng cho cn trc l vn cp thit
v mt l lun cng nh thc tin.
2. GII QUYT VN
Trc khi vo vn chnh, xin trnh by m hnh tnh ton ng lc c cu di chuyn xe
ln kho st dao ng ca khi hng.
2.1. Dao ng ngang ca khi hng khi xe ln tng tc hay dng li
S tng qut ca kt cu cn trc th hin di dng 2 khi lng, khi lng m
0
chuyn ng thng u, cn khi lng m
2
dao ng v gn lin vi khi lng m
0
bng khp
ni cng (khng n hi). F(t) - Lc tng tc hoc lc hm. (xem Hnh 2.1)
Hnh 2.1. S chuyn ng
ca xe ln v khi hng
Phng trnh chuyn ng ca khi hng, xe ln c dng
0
2
2
0
2
2
2
2
+

,
_

q
l
g m
dt
q d
dt
q d
m
(2.1)
( ) t F q
l
g m
dt
q d
m +
2
2
0
2
0
(2.2)
T phng trnh (2.1) ta thu c: q
l
g
dt
q d
dt
q d
+
2
2
2
0
2
Thay
2
0
2
dt
q d
vo phng trnh (2.2) ta c phng trnh vi phn chuyn ng khi hng:
( ) ( ) t F q m m
l
g
dt
q d
m + +
2 0
2
2
0

( )
0 0
2
2
2
1
m
t F
q
m
m
l
g
dt
q d

,
_

+ +
(2.3)
Nghim tng qut ca phng trnh (2.3) c dng:
( ) t t
m
m
l
g
B t
m
m
l
g
A q +

,
_

+ +

,
_

+
0
2
0
2
1 cos 1 sin (2.4)
(t) - Nghim ring ca phng trnh (2.3). Ly gn ng F(t) P v thay F(t) vo
phng trnh (2.3) ta s c nghim ring
( )
( ) g m m
Pl
t
2 0
+

Lc (2.4) c dng
( ) g m m
Pl
t
m
m
l
g
B t
m
m
l
g
A q
2 0 0
2
0
2
1 cos 1 sin
+
+

,
_

+ +

,
_

+ (2.5)
iu kin ban u khi t = 0 th 0 ; 0
dt
dq
q
Khi :
( ) g m m
Pl
B A
2 0
; 0
+


( )
1
1
]
1

,
_

+
+
t
m
m
l
g
g m m
Pl
q
0
2
2 0
1 cos 1
(2.6)
Dao ng ngang ca hng ha khng phi l iu chng ta mong mun. Chng ta xt mt
vi bin php gim dao ng sau khi tng tc hoc hm my.Ly o hm phng trnh (2.6)
theo t ta c phng trnh vn tc ca khi hng
( )
t
m
m
l
g
m
m
g
l
m m
P
dt
dq

,
_

,
_

+
+

0
2
0
2
2 0
1 sin 1
Khi 0 ; 0
dt
dq
q th n t
m
m
l
g
2 1
0
2

,
_

+ Vi n - s nguyn dng
R rng vo thi im 0 , 0
dt
dq
q m khng c P (tc P = 0) th dao ng khi hng
khng c. Lc P c ly bng khng (= 0) khi qu trnh tng tc hoc hm kt thc. Thnh ra
thi gian tng tc v dng li phi ly bng
( ) g m m
l m
n t
2 0
0
2
+

(2.7)
Vi t c chn nh vy, th chuyn ng ca khi hng sau khi xe ln tng tc hay hm
chc chn l khng dao ng
2.2. ng dng vo thit k h thng iu khin cn trc
M hnh nghin cu c m t trn hnh 2.2.
Cn trc c 3 hot ng chnh: Di chuyn qua tri/phi ca cn trc, di chuyn vo/ra xe
ln v di chuyn ln/xung ca ngng lm hng. Trong qu trnh khai thc, tt c di chuyn
ny u c iu khin bi ngi vn hnh ngi trong xe ln. Sau khi bc d m hng th
nht, n m hng th hai th khong cch ra/vo xe ln hoc khong cch ln/xung ca
ngng lm hng thay i. V vy vi mt cn trc QCC quy m ln, hin i v c s
dng rng ri cc Cng bin ln trn th gii nhng qu trnh khai thc bc d hng khng
th t ng c
Mc d khng th t ng hon ton cc hot ng ca cn trc, chng ta vn c th t
ng mt phn trong cc hot ng .
Bi ton c t ra nh sau:
- Quy nh v tr xe c nh pha di theo ng cc ln ng 1,2 v trn ray xe ln di
chuyn ta t cc cng tc hnh trnh tng ng vi cc v tr ln ng 1, 2 pha di.
- S dng mt chng loi xe Container ly hng hay tp kt hng.
Ta s t ng ha qu trnh sau:
Sau khi ngng container ng cht cp c m hng di tu hoc sau khi ngng
container m cht th hng xung tu M t c cu nng h hot ng iu khin ngng i
ln n im gii hn trn M t c cu nng h dng, m t c cu di chuyn hot ng
iu khin xe ln i vo n ng v tr u ca xe M t c cu di chuyn dng, m t c
1 2
Xe lan
Vo / Ra
Trai / Phai
Buong may
L

n

/

X
u
o
n
g
Hnh 2.2. M hnh cn trc
cu nng h hot ng iu khin ngng i xung n gii hn di M t c cu nng h
dng Kt thc qu trnh.
Qua phn tch nguyn l vn hnh, chng ti thit k s iu khin nh hnh 2.3
T phn m t hot ng ca cn trc, ta lp s thut ton iu khin cho cc hot
ng ca cn trc nh sau:
Trn Cabin vn hnh s dng cng tc xoay 2 ch : Auto v Manual.
V cng tc xoay chn cc line 1, line 2.
- Khi vn hnh cn trc bng tay, ta gt cng tc sang ch Manual v thc hin thao tc
vn hnh nh vo/ra xe ln, ln/xung ngng container v di chuyn cn trc qua tri/phi.
- Khi chuyn qua cng on t ng, ta gt cng tc sang ch Auto. Lc ny cng tc
xoay chn line 1 v line 2 mi c tc dng. Khi bt u vn hnh cng on t ng, ta nhn
nt Start.
Thut ton iu khin cng on t ng (Auto)
a) Gin trng thi
PLC
I
N
V
E
R
T
E
R
I
N
V
E
R
T
E
R
I
N
V
E
R
T
E
R
Hnh 2.3. S iu khin h thng
Hnh 2.4. Bn iu khin
H
P
h

i
T
r

i
Vo
Ra
Nng
Dng khn cp
Di chuyn
xe ln
M

K
h
o

Nng
h hng
D
i

c
h
u
y

n

c

n

t
r

c

L
i
n
e

2

L
i
n
e

1
Manual
START
Auto
Ch lm vic
C
h

t

c
o
n
t
a
i
n
e
r
Gh ngi
t
c0
c1
1 b
0 b
XE LAN
NGANG LAM
HANG CONT.
t
0
1
0
1
0
n
0
n
CONG TAC GIOI
HAN DUOI
CONG TAC GIOI
HAN TREN
MOTO CO CAU DI
CHUYEN
MOTO CO CAU
NANG HA
CONG TAC GIOI
HAN LINE i
1
0
1
2
t
t
s
s
s
DELAY
t + t
DELAY
t + t
t
DELAY
t
Hnh 2.5. Gin trng thi
T cng thc (2.7):
( ) g m m
l m
n t
2 0
0
2
+

Ta tnh c thi gian tng tc cng nh thi gian hm chuyn ng xe ln khi hng
khng dao ng t Tng ng tnh c on ng s
an ton h thng, sau khi khi hng i ln dng li khong thi gian t, lc ta mi
khi ng m t c cu di chuyn iu khin xe ln i vo. Tng t khi xe ln dng li
khong thi gian t, lc mi khi ng m t c cu nng h iu khin khi hng i xung.
Theo s iu khin h thng, PLC xut tn hiu n Inverter, sau Inverter iu khin
hot ng cc m t in. Nn t gi tr t+t vo Inverter cho qu trnh tng tc hoc hm
ca motor v vy c thi gian delay t trn s thut ton.
b) S chc nng
c) Thit k h thng iu khin
- S mch ng lc
- S mch iu khin thy lc
0
1
Timer
2
Timer
3
Timer
4
Ban u
Delay
t+t
1
M t vo
Delay
t+t
1
M t h
Delay t
M t nng
Kt thc
Auto, satrt
g/h trn:off,g/h line i:off
g/h trn
t= t+t
1
g/h line i
t= t+t
1
g/h di
t= t
- C Auto, start
- g/h trn:off, g/h linei:off
- Xut M1
- C M1, g/h trn:on
- Tt M1, Delay = t+t
1
- Sau t+t
1
- Xut M2
- C M2, g/h line i
- Tt M2, Delay = t+t
1
- Sau t+t
1

- Xut M1,
- Sau t
Gii thch:
- C M1, g/h di
- Tt M1, Delay = t
I1.5
a0 1
I1.4
a
A
CH1
A
CH2
Xy lanh A
+
-
Q1.0 Q1.1 Q1.3 Q1.2
-
+
Xy lanh B
CH4
B
CH3
B
I1.6
b1 0
I1.7
b
M1
INVERTER
L2 L1
K1
K2
24 24
K4
K3
L1 L2
INVERTER
M2 M3
INVERTER
L2 L1
K5
K6
24
KM1
R
S
T
Automat
Ro le
nhiet
M M
Ro le
nhiet
KM2
M t iu khin
c cu nng h
M t iu khin
c cu di chuyn
M t iu khin
di chuyn cn trc
M t bm iu
khin kp ray
M t bm iu
khin cht cont.
Xy lanh A: Xy lanh B:
A
+:
ng kp ray B
+
:ng cht Cont.
A
-
: M kp ray B
-:
M cht Cont.
- S kt ni PLC vi cc thit b ngoi
3. KT QU V BNH LUN
T cng thc nghin cu ng lc hc cc c cu cng tc ca cn trc. Xy dng c
m hnh iu khin mt cng on t ng cho cn trc. Trong , gii quyt tt cc vn :
- Thit k s mch ng lc h thng
- Thit k h thng iu khin ni kt vi PLC
- Thit lp c chng trnh iu khin t ng PLC
4. KT LUN
Vic tip cn v t thit k mt cng on iu khin t ng cho cn trc Quayside
Container Crane dn n gim chi ph u t, tng nng sut bc xp.
Gop phn vao s phat trin lanh vc thit k ch to h thng t ng iu khin ap ng
c yu cu cua chin lc phat trin Khoa hoc va cng ngh n 2010 cua ngnh T ng
ho v C in t.
TI LIU THAM KHO
[1] L Hoi Quc, Chung Tn Lm (2006), B iu khin lp trnh PLC. NXB i hc
quc gia, TP H Ch Minh.
[2] Trn Xun Tu (2002), H thng iu khin t ng thu lc, NXB Khoa hc v K
thut.
K1
K6
K5
K4
K3
K2
CH1
CH2
CH3
CH4
KM1
C
KM2
N
P
L
C

S
7
-
2
0
0
Q0.0
Q0.1
Q0.2
Q0.3
Q0.4
Q0.5
Q1.0
Q1.1
Q1.2
Q1.3
Q0.6
Q1.4
Q1.5
I0.0
I0.1
I0.2
I0.3
I0.4
I0.5
I0.6
I0.7
I1.0
I1.1
I1.2
I1.3
I1.4
I1.5
I1.6
I1.7
I2.0
I2.1
I2.2
I2.3
I2.4
I2.5
K2
K1
K4
K3
K6
K5
I3.2
I3.1
I2.6
I2.7
I3.0
Q0.7
iu khin qu trnh nng hng
iu khin qu trnh h hng
Cun ht van du iu khin ng kp ray
Cun ht van du iu khin m kp ray
Khi ng t m t bm K kp ray
Khi ng t m t bm K cht container
Cun ht van du iu khin ng cht container
Cun ht van du iu khin m cht container
Ci bo hiu cn trc di chuyn
iu khin cn trc qua phi
iu khin cn trc qua tri
iu khin xe ln ra
iu khin xe ln vo
[3] Nguyn Don Phc, Phan Xun Minh, V Vn H (2000), T ng ha vi S7200,
NXB Khoa hc v K thut, H Ni.
[4] Yaskawa Siemens, Ti liu hng dn vn hnh PLC trn cn trc QCC, Japan.
[5] . . (1968), ,