. .

2000


1 .................................................................................................................................................................... 1
1.1 ........................................................................................................................ 1
1.2 .................................................................................................................... 2
1.3 .......................................................................................................... 4
2 ............................................................................................................................ 5
2.1 ............................................................................................................ 5
2.1.1 ........................................................................ 6
2.1.2 , ............................................................................ 7
2.1.3 , . .................................................................... 9
2.1.4 , , , ... ..................................... 10
3 ....................................................................................................................................... 12
3.1 ........................................................................................................................................ 12
3.2 ...................................................................................................................... 13
3.2.1 ........................................................................................................................................................... 13
3.2.2 ....................................................................................................................................................... 13
3.3 ....................................................................................................................... 14
3.3.2 ................................................................................................................................. 14
3.3.3 .......................................................................................................... 15
4 .................................................................................................... 19
4.1 (P) .................................................................................................................................... 19
4.2 - (P) .................................................................................................... 21
4.3 - - (PID) ........................................................................... 23
4.3.1 ..................................................................................................................... 25
5 ............................................................................................................................................... 26
5.1 ................................................................................................................................................................ 26
5.2 ........................................................................................................................................ 26
5.3 LAPLACE ............................................................................................................................ 27
5.3.1 LAPLACE ................................................................................................. 27
5.3.2 .................................................................................................................................................. 27
5.3.3 LAPLACE........................................................................................................ 28
5.3.4 - ........................................................................................... 28
6 (TRANSDUCERS) ........................................................................................................................ 30
6.1 ...................................................................................................................................................... 30
6.2 ......................................................................................................................................... 30
6.3 ........................................................................................................................................ 31
6.4 ..................................................................................................................................... 31
6.5 .......................................................................................................... 31
6.6 ............................................................................................... 31
6.7 ....................................................................................................................... 32
6.8 ................................................................................................................................ 32
6.9 ............................................................................................................................. 34
6.9.1 ...................................................................................................................................... 34
6.9.2 .................................................................................................................................. 35
6.9.3 .............................................................................................................................................. 39
6.9.4 ................................................................................................................................ 41
7 .................................................................................................................................. 53
7.1 ........................................................................................................................................ 53
7.2 ....................................................................................................................................................... 55
7.3 .......................................................................................................................................... 56
7.3.1 .............................................................................................................................. 56
7.3.2 ......................................................................................................... 56
2

8 - ........................................................... 57
8.1 ...................................................................................................................................... 57
8.2 ....................................................................................................................................................... 58
8.3 .......................................................................................................................................... 59
8.4 - ................................................................... 60
8.5 - (/) .......................... 61
8.6 . ................ 62
9 (P.L.C.)............................................................................. 64
9.1 ................................................................................................................................................................... 64
9.2 ................................................................................................................................................................ 64
9.3 ................................................................................................ 65
9.4 HARDWARE .................................................................................. 65
9.5 (SOFTWARE) ............................................................... 66
9.5.1 .................................................................................................................................... 66
9.5.2 ...................................................................................................................................................... 67
9.6 (LADDER) .............................................................................. 67
9.7 (STATEMENT LIST) ........................................................................ 68
9.8 CSF (CONTROL SYSTEM FLOWCHART) ....................................... 69
9.9 MATRIX ......................................................................................................................... 70
9.9.1 MATRIX ............................................................................................................... 70
9.10 ............................................................................................... 71
9.10.1 P.L.C. ................................................................................................ 71
9.11
LADDER STL...................................................................................................................................................... 79
9.11.1 ............................................................................................................................................................ 79
9.11.2 P.L.C. LADDER ............................................................................................. 79
9.11.3 P.L.C. STL (STATEMENT LIST) .................................................................. 81
9.12 LADDER STL ..... 82
9.12.1 L ( + + - -) ............................................................................. 82
9.12.2 A+B+C+ B- + ()B-D-C-A-.... ...................................... 86
............................................................................................................................................................ 91

1
1.1


. ,

, , .

.

.
.
.
:
.
:
,
.

:
,
,
.
:
() ,
(. )

() ,
(. )
() .

()

1.1

 .
/ .

.
,
1.1 .

. , ,
, .
.

, ,
,
.
.
: , ,
,
.
, .
,
( ) ,
.
1.2

, (BLOCK DIAGRAMS) .

, ,
.
. ,
, ,
,

.
1.2
. (BLOCK) .
BLOCK
.
() ()
0.1 .
(SIGMALS) . () , x1, x 2,..., x v ,
(INPUT SIGNAL) (INPUT) .
() , y1, y 2,..., y , (OUTPUT SIGNAL)
(OUTPUT) .
,

x , x ,..., x
1

y , y ,..., y
1

X 1

y1

X2

y2

1 , 2,...,
Y=F(X)

Xv

ym

1.2

=F(X) :

= ( y1, y 2,..., y )

= ( x1, x 2,..., x v )

F
(TRANSFER
FUNCTION) . , (.. ,
, ,
, () , , ,
...)
. F ,
1, 2,..., k .
,
INPUT X .
INPUT INPUTS ,
. ,

F .

, .

.
.
, , ,

, ,...,
1

(DISTURBANCES)
, (NOISE),

.
3

 ,
. , . ,
,
.

,
. .
,
.
. .

( , ...).
1.3
( )
() ()
1.1 . .
.
, ,
. ,
, . ,
,
, .

. 1.3 .
A

X1

B
(u 1 ,u 2,u 3 ) =
= fB (X 1,X 2)

X2

u1
F

u2
u3

u2
u5

(y 1,y 2) = fA (X 1,X 2,X 3 )

C
(y 1 ,y 2,u 7) =
= fC (u 2,u 5 ,u 6)

y1
y2

u4

u2

u6

u7

D
X3

(u 4,u 6) =
= fD (X 3 ,u 2)

1.3

B , C , D .
, BLOCK
BLOCKS B , C , D . ,
.
. BLOCK

 , .
.

x ,x ,x

x ,x

y ,y
1

u ,u ,u . C u ,u ,u
y , y , y . D x ,u u ,u .
, u ,u . .. u

C , .
.
:

.
, , ..
,
BLOCK . ..
u2,u4 u5 .

F .
.
. ( ..

) (..
) .
.. u2
F C D .
( C D
F) .

.
,
.
,
.

2
, ,
.
2.1
:
. ,
(OPEN - LOOP CONTROL SYSTEMS)
(CLOSED - LOOP CONTROL SYSTEMS) .

... (FEEDBACK CONTROL SYSTEMS) .

 . ,
(ANALOG SYSTEMS) , (DIGITAL SYSTEMS)
(HYBRID SYSTEMS) .
. ,
(SIMPLE SYSTEMS) , (SYSTEMS WITH
MEMORY) (ARTIFICIALLY INTELLIGENT SYSTEMS) .
. ,
(HYDRAULIC SYSTEMS) , (PENEUMATIC
SYSTEMS) , (ELECTRIC SYSTEMS) , (ELECTRIC
SYSTEMS) .
,
.. . ( , ,
) .
. ..
.
, ....
, ..
....
2.1.1

... OUTPUT INPUT,
INPUT OUTPUT . , ,
2.1.1.
1

3
4

2.1.1 (1,3,5)
(2,4,6) .
,
,
(
6

 , )
( ) .
OUTPUT , ,
.
OUTPUT
INPUT
. INPUT OUTPUT
, , .
.

. ,
( ) ,
( ) .
OUTPUT INPUT .
(CLOSED LOOP)
. .
2.1.2 ,

,
.
.

2.1.2.1 X
t.

,
7

 (. . 2.1.2.1) .
. , 1 2
. . 3-4
5-6 .
.

2.1.2.2 X
t.

,
- .
(. . 2.1.2.2) .

,
4 5 2.1.2.2 . 1 2 2.1.2.2
. 3 2.1.2.2

.
(PULSE).

(.. INPUT - OUTPUT . 2.1.2.4) /
.
,
/ .
, 3 . 2.1.2.3 (
).
. 1 2 .
2.1.2.3
. .
8

 ,
....

2.1.2.3

2.1.2.4

2.1.3 , .

, .
, OUTPUT
INPUT , INPUT
. INPUT

INPUT . , INPUT
OUTPUT INPUT .
2.1.2.4 . 1
, .
9

 2 .
>0 ( 1 3 , 5 ...)
=0 ( 2 4 ...) .
( )
. , ,
.
.
INPUT
( INPUT
) .
.
,
,

.
, . ,
.
, ,
.
.
- ,
,
.
2.1.4 , , , ...

,

.

, (
KNOW - HOW) .
, .
,
,

.
.

. . (
, , , ...) .
, ,
. ,
,
( WATT) ,
, ,
, . ,
,

, .
10


19 BABBAGE ( ) .
,
.
: , ,
. ,
.

. ,
.
. ,
,
.

. ,
.
.

. ,
,
.

.
.

,
. ,
, .
.

.
.
, , ,
,
. .. (THYRISTORS)
. -
(FLUIDICS
FLUID & LOGICS) .
(.. ) .
: ,
, , , LASER
(OPTICAL FIBERS) .
,

.

.
.

11

3
3.1

( ) .
.
3.1
.

( )

3.1
,
.
, ,
, , .
3.2

( ) .

3.2

12


( ) .
3.2
:
3.2.1

.
.

(V V )
r

= V V

=V V V
r

3.2.2

.
3.2.3

.

3.3 .

3.3
13

3.2.4

, ,
.
.
3.3

.
.

V1

V2

,
. V 2 = F V 1 .

:
3.3.1

V1

V = V +V

V3

+
V2

V1

V = V V

V3

_
V2

3.3.2

F1

X1

G=

F F
1

F2

14

=
E

X1
F 1

U = X 1 F 2 G =

G=

X F
X
F
1

G = F1 F 2

3.3.3

F1
X1
+

U
F2

X2 +

G = F1 + F 2

=
E

X1
F 1
E

X 2 = E F 2 G =

G=

(F + F ) G =
1

F +F
1

3.3.4

X1
+

F1
-

U
U

X2
F2

G=

F
1+ F F
1

15

X 1 F1

X 2 = U F 2 U =

G=

U=

X F = (E X ) F = (E U F ) F
1

U + U F 2 F1 = E F1

= E F1 U F 2 F1

U
F1
=G=
E
1+ F 1 F 2

:
W =

U
G I G II
=
E 1 + K G I G II

E
+

GI

GII

1. ,
.
2. ,

.

3.4 - 3.5 - 3.6 - 3.7

16

17

 3.6 - 3.7

18

4

.

, 0,2 - 1 At .
() mA .

.
() :
P: (PROPORTIONAL)
: (INTEGRAL)
D: (DERIVATE)
,
, ,
- .
:

K (x x ) .
p

:
t

K ( x x )dt .
i

dx
.
dt
( )
.

4.1 (P)
. 4.1

4.1

. 4.2 .
19


(proportional band) .

50% .
,
,
.
,
, (60-80-90%)
. 4.3
.

. 4.2

. 4.3
20

4.2 - (P)
.
.
PI . 4.4 .
PI .
(PB) Tr.
PI
. 4.5 .
t 0 , x 0 .

x
y y

( )

K ( x x ) .
y y y t .

PI

4.4

. 4.5
21


x 0 t 3 . y

. x x 0
PI ,
y 0 y 4 .
250 C
4.6 .

. 4.6
25 0 C ,
50% .
( ) .

() .
.
( 250 C ) .
PI :

y y0 = K p x x0 + Ki x x0 dt
ANAOIKO

OOKHPTIKO

22

y = K (x x ) + K (x x )t

x x

t
+
y =
BP T r

1
BP
1

:
r :

4.3 - - (PID)

.
PID 4.7 4.8 .

P ID

+
+

4.7 4.8
,
.
23

 PID :

y0 = K p x x0 + K i x x0 dt +
ANAOIKO ( P )

OOKHPTIKO ( I )

dx
dt

IAOPIKO( D )

PID
4.9 .

4.9

PID

t 1
.
dx
y 0 y1 K d V x.........V x =
.
dt
.
y1
(.)

24

K ( x x )dt
0

t 3
.
4.3.1

4.11.

0,2-1At

m/

PI

P/Amperes

4.11
() m
(Transducer) P . PI

,
.

25

5
5.1
:
,
.

.

.
5.1 .

V1

V2

5.1

. = V 1 V 2
(.. , ...) .

.

.
.. CNC
ROBOT , ,
, .

.
5.2
,
,
.
.
E

26


U
f = = K .
E
,
.
,
.

.
,
- . - ,
LAPLACE .
LAPLACE , E(t) , f(t)
S .

U (S)
. f ( S ) =
.
E( S)

5.3 LAPLACE
f(t)
t
S . f(S) .
S
S = + j .
LAPLACE :

f ( S ) = L[ f ( t ) ] = f ( t ) e dt L :
st

5.3.1 LAPLACE

1) L[ K f ( t ) ] = K L[ f ( t ) ] = K f ( S )

[f

2) L

(t) +

] [ f ( t )] + L[ f ( t )] = f

(t) = L

(S) +

(S)

df ( t )
3) L
= S L[ f ( t ) ] = S f ( S )
dt
1
1
4) L f ( t ) dt = L[ f ( t ) ] = f ( S )
S
S

5.3.2
:

27

f ( t ) = u( t ) =

1.....t 0
0.....t < 0
t =

L[ f ( t ) ] = 1 e
0

st

e st

dt = 1
= 0

t =0

1 1
=
S S

:
f ( t ) = Kt + K 0

st
L[ f ( t ) ] = L[ Kt ] + L[ K 0] = Kt e dt +
0

K
S

5.3.3 LAPLACE

LAPLACE ,
f(S) .
f(t) , , ,
f(S) f(S)
f(t) .
LAPLACE :
6 + j

1
st
f (t) =
f ( S ) e dS

2j 6 j
LAPLACE 5.2 .
2
f ( S ) =
S ( S +1)
LAPLACE f(t) , f(S)
2
2
2
2
2
: f ( S ) =
=
f 1 ( S ) =
f 2 ( S ) =
, 5.2
S
S +1
S ( S +1) S S +1
2
2
t

f 1 ( t ) =2
f 2 ( t ) =2 e , :
S
S +1
t
f ( t ) = f 1 ( t ) f 2 ( t ) =2 e
5.3.4 -
y
1) (P) : y = K p x G =
=
x K p
LAPLACE

2) PID
dx

L K d =
dt

S L x = T d S L( x ) : G =

K +T
p

dx
:
dt

1
+
S,
S Td
r

3) 1
28

dy
+ y = f ( t ) :
dt
f(t)
y
G

:
y :
f(t) :
t :

LAPLACE :
dy
1 L dt + Ly = L[ f ( t ) ] 1 SLy + Ly = L[ f ( t ) ]
1
Ly
=
G=
L[ f ( t ) ] 1 S +1

F (s)
1
s
1
sn
1
sa
1
( s a) n
1
2
s a2
s
2
s a2
1
...(a b)
( s a )( s + a )
s
...(a b)
( s a )( s + a )
1
2
s + a2
s
2
s + a2
1
( s a) 2 + b2
sa
( s a) 2 + b2
s

F (t)
1
1
t n 1 ....(n =1,2,3,...)
( n 1)!

e at
1
t n 1e at
( n 1)!
1
sinh at
a

cosh at
1
[e at ebt ]
a b
1
[ae at bebt ]
ab
1
sin at
a
cosat
1 at
e sin bt
b
e at cos bt
1
t sin at
2a

( s2 + a )

2 2

5.2

29

6 (TRANSDUCERS)
6.1
(Transducer)
.
, Transducer .
( )
() .
Transducer .
6.1
.
6.1

Strain - gauge

Hall

Strain - gauge

Strain - gauge

Hall

RTD

Doppler

6.2
.
.
30

 ( ) (..
, )
.

.

6.3

.
(.. ) .
(
) .

6.4
.

, ,
....
.
.

.
( , ,
...)
, .
.

6.5
:
) : 63%
.
) :
(.. 2% ) .
) : 10% 90%
.
(
)
.

6.6
(
) .

.

31

6.7


. ,
, , ....
:
) :
, .
) : , ,
. .
) :
.
) : .
) : ,

.
) :
.
) : .
) : 63%
.
) :
.
/
.

6.8
,
.
( 6.2) .
(.. , , )
.
) :
.
,
( 6.2 )

32

 6.2
) :

, ( 6.2 )
) :

( 6.2 )

33

) : ,
,
( 6.2 ) .
) :
( 6.2 ) .
) :
( )
( 6.2 ) .
) :
.
.
( 6.2 ) .
) Strain - Gauge :
(Strain) .
l
R
l
R =

=K

A
R
l
( 6.2 ) .
) Hall : -
,
.
,
, ( 6.2 ) .

6.9
6.9.1
6.9.1.1

.

.
6.9.1.2

,
.
:

) : ,
,
,
, , .
A.C.
.
. 6.3
6.3 .
34

) :

( 6.3 ) .
) :
,
.
, .
(.. ) .


( 6.3 ) .
) Hall : ,
Hall , ,
( 6.3 ) .

6.3
6.9.2
6.9.2.1

,
.
.
6.9.2.2

35

 : ,
(RTD) , .
I.C. , .
) :
, .
, .
.

( Seebeck) ,
( 0,00 0 C ) .
,
.
.
.

.
.
) : RTD ,
, () .
:
R = [1+ a t ] . ,
,
. 270 0 C
6600 C , , .
,
100 , .
RTD 100
.
RTD
. RTD
Wheatstone .
RTD ,
.
, .
) :
.
( -2% -6% )
0,010 C .
- ( 6.6) .
5 6 , . ,
, , ,
,
.

36

(ANSI)

J
K

( 0 C)

-200 +300

0 +760
/
-180 +1350
/

0 +1700
/ - 10%

0 +1700
/ - 13%

( V / C)
0

( 0 C)

-28
39
53
50
60
-30
40

-100
0
200
0
500
-100
0

6
10
12
6
10
13

0
500
1000
0
500
1000

6.4

-200
-100
0
+100
+200
+300
+400
+500
+600
+700
+800

( 0 C)

18,53
60,20
100,00
138,50
175,84
212,03
247,06
280.93
313.65
345.61
375.67

6.5 RTD

37

 ,
, . ,
,
. ,
(
) .
, ,
,
10000 C + 3000 C .

6.6

) :
(I.C.)
.
p-n 2,2V 0
C
. ,
.
.
) AD590 : 4 30V ,
( =
[273+ 0 C] , = 550 C 1500 C ).
AD590
(remote
control) .
) LM135 : LM135/LM235/LM335 National Semiconductor
.
zener .
LM335 10mV 0
00 C 1000 C .
K
LM235 LM135 .
, ( 6.7 ).
10 C .
1 ,
38

 400 5 .
,
.
.
10mV 0

C
2,73V . 6.7
(offset) 10 ,
5 10mV 0 .
C

6.7

6.9.3
6.9.3.1

.
, .
() , .
. .
6.9.3.2

. :
) Strain - gauge : ()
, , ,
, (. 6.8 ) .
39

 6.8
) :
.
. 6.8 .
) : ,
(. 6.8 ).
) Hall :
(. 6.8 ).
Hall .
) :
Wheatstone .
.
.
LX0503 , LX0607 , LX14XX , LX16XX
LX17XX National Semiconductor chip MPX Motorola .

40

6.9.4
6.9.4.1

() .
,
. ,
, .
, .
6.9.4.2

(
) , (
) .
:
) :

.
( 6.9 ).
) :
() ,
. 6.9 .
, 2,2
. ,
.
.

( 6.9 ) .
, .

, .

.
) : ,
.
: P = P0 + g h P0 () ,
, g h .
6.9 .

41

 6.9

) :
,
( 6.9 ) .

- ( )
.

42

43

44

45

46

47

48

49

50

51

52

7
(OPERATIONAL AMPLIFER) ,

.
10 3 108 , ,
. 9.1() .
a
V
:
A=
= 0
1 a V I

9.1
.
a I A .
.
, .
(..)
. 9.1() .

7.1
,
R f .
Ri (.
9.2).
I in , E in
V out .
KIRCHOFF :

V +V
R R
in
i

out
f

in

= 0

V
V in

out

R
R

f
i

53

 9.2 (OPERATIONAL AMPLIFER)

( ) .
. 9.3 1
(1 , 1 , 100) .

9.3
M
V I 10
V 2 V 3 - .
100 K
,
, (
) , . .. -7,5 , . 9.4
.

54

 9.4 7,5

7.2
.. ,
R f .

9.5

KIRCHOFF :
t

V Cd V 0
1
+
= 0 V 0 =
Vdt
R
dt
CR 0

(. 9.5)

1
.
CR
. V
(IC) . . 9.6
R1, R2, R3 , 1 , 1 , 1 C=1F .

..

55

 9.6 -
7.3
7.3.1
(Ud) (Um) . ,
K p (. 9.7).

9.7 ( )
7.3.2

, -
, .. . ..
.. ,
Ki .
(. 9.8)

9.8 - ( )

56

8 -
8.1
,
. .. ()
.
- , i x
.
,
.
,
.
8.1 .

8.1
8.2 - ( Q L V x ) .
.
4 2 +
.

57

8.2 -

8.2
: ,
.

.

.

.
8.3 Q L X U ,
( X U ) .

.
.
.

.
,
() .

58

 8.3 -

8.3

, ,

V x . , . 8.4 .
G=

Q
V

= ..... .... P S

= .

G
.
QS
1 / 2 3
.
/ .

59

 8.4

2 , QS 2
/ 1 4
. / .
X V i x V x / .

V x. .... P S

= .

8.4 -
:
. :
ix :
Qf :
Kf : Qf / ix S
AS :
XS :
S : Q / XS
KSf : Qf / S ix

Q =i K
f

X K
S

Sf

, Qf :

XS=

Q
....................Q
A
f

A X
S

(Qf / AS : )

1 :
60

X A + X K =i K
X ( A S + K ) = i K ( LAPLACE )
K
K
K .......... = Q
X =

=
K X
A S +1
i
A S + K
K
K K
Q( ) K X
K ............ = A
=
=
T
1+ S T
K
i()
i
S

Sf

Sf

Sf

Sf

Sf

Sf

x S

Sf

Qf , KSf

K K
f

Sf

Q( ) K
=
i ( ) 1+ S T
S

x S

.
S

ix

K
1+ S T
X

Q(S)
X

Vx

PS = 70bar TX = 2,3 msec

(ix VX )

Q / VX = KX

8.5 - (/)

8.5
/ . 10.5 Q = Q1 +
Q2 + Q3 Q1 : , Q2 : Q3 : .
, :

d
Q = V m + K2 PL + K3 P L
= dt :

Q1

Q2

Q3

P L :
Vm : - /
61

 / , :

d
T =V P = J
d
m

d
J : :
dt

.
LAPLACE :

PL = S J + S

P =V S
L

S
m

2
2

Q =V m + K2
+
S + K 3 S
S +
S
S
V m

V m

Vm
Vm

Q =V m +

K J S + K + K
V
V
V
2

S +
2

K S

V
V

=
Q

1
K3 J 2 K2 J

S +
+
Vm
Vm

K S +
V V

K V
+
V
2

J K3

V 2 + K
K2
2
+
+ S + m
J
J
K3

K 3

=
Q

+ AS + B

J
, .
B
+ J S+KJ

( )

8.6 .

( )
, ,
. 8.6 .
:

( ) = G
R( ) 1 G H
S

H
1
G H

1
S

G( ) H ( ) = 1 .
S

62

 8.6
K
K
J
[ ]
B
K )
1+ S T V ( S +

+
S
J
J
H ( ) = K K [ ]

G( S ) =

rv

V V + K K .

1)

rV

2) V 1 , ,

K 1 K rV , V X , V X ,
,
.

63

9 (P.L.C.)
9.1

(Programmable .Logic Controller). O P.L.C.
, .
, ,
, .
P.L.C. ,
(HARDWARE)
(LADDER) (STATEMENT LIST - STL) .


.
CSF
(CONTROL SYSTEM FLOWCHART) MATRIX .
,
, LADDER STL
P.L.C. .

9.2
(WIRED LOGIC)
, , ...
AND , OR ....
.

( ) .
..
.
.
, ROM - RAM /
CHIPS ( Data Acquisition). ,
.
.

(Assembly) .
( , ,
...).

(P.L.C.)
.

.
.
, :





, , ...


64


( , , MODEMS) - .

P.L.C.
.

9.3

.
.
.

9.4 hardware
.
HARDWARE :

- (/ )

(CPU)

RAM (Random Access Memory - )

ROM (Read Only Memory - )

EPROM (Electrical Programmable Read Only Memory -
ROM)

EEPROM (Erasable Electrical Programmable Read Only Memory -
ROM )


65






(PROGRAMMER) .

.
- , CPU ,
.

/
.
, .

.
, ... ,
( , ...) .
/ P.L.C.
, .
, ,
QX,Y . ,
(module) (
module) .

9.5 (software)

4 :

(LADDER DIAGRAM) LAD

(STATEMENT LIST) STL

(CONTROL SYSTEM FLOWCHART)
CSF

MATRIX (
FESTO , ,
)
(LADDER)

.
.

(LADDER) (STL) ,
.
9.5.1

,
.
(Jumps) . JUMP
.

66

9.5.2
() .
,
.

9.6 (LADDER)
LADDER ,
, .
, ,
. :

:

: NC

(

)

(
)


.

()

(
)

SET (

RESET (

(

)

Ti

67


UP - DOWN (

)

Ci

Drum controller
.
DRUM CONTROLLER ,
, ,
. .

P.L.C. .

9.7 (STATEMENT LIST)

LADDER ,
STL , .
STL .
( - ) ,
.
STL .

STL :

:

AND
OR
NOT
Exclusive - OR
Assignment
Set
Reset
Count (forwards)
Count (backwards)
Add
Subtract
Multiply
Divide
Greater than
Greater than or equal to
Equal to
Smaller than
Smaller than or equal to
Convert code (decimal / binary)
Convert code (binary / decimal)

DIN
A
O
N
XO
=
S
R
ZV
ZR
ADD
SUB
MUL
DIV
GR
GRG
GL
SL
SLG
DEB
BID

STL DIN 19239

68

DIN

Non operation
Load
Brackets open
Brackets closed
Jump (unconditional)
Jump (unconditional)
JUMP Module call (unconditional)
Module call (conditional)
Call module end
Program end
Comment (start/end)

NOP
L
(
)
SP
SPB
B
BAB
BE
PE
PE

Constants
Input
Output
Flag
Timer
Counter
Program module
Function module
Byte (8 bit)
Word (2 byte)
Double word
Analogue
Pulse

DIN
K
I
O
F
T
C
P
F
B
W
D
A
P

STL DIN 19239

9.8 CSF (CONTROL SYSTEM FLOWCHART)

/ .
:

69

 ( )

CSF
,
.
.
, , ....
CSF .

9.9 MATRIX
P.L.C. MATRIX ,
.
L 0
. .

(Counter) . (Timer)
.

.
9.9.1 MATRIX

P.L.C. :
1) .
2) (inputs) .
3) (outputs) .
4) .
5) .
6) emergency stop.
70

 ,
.
-
.

9.10

:
)
) / '
.
) ( ).
) /
( - ).
)
(LADDER).
) .
) .
STL , CSF & MATRIX
() . ,
,
.
9.10.1 P.L.C.

LADDER STL
. , P.L.C.

)
1 S1 .

) -
.
S1 H1 .

71

) - .

-
S1 10.0 H1 0.0 .
)
0.0 (1) . S1
(L) Load 1 (=) Equal

STL 10.0 (S1)

STL program
L

S1

H1

LADDER . S1
, 1
.
LAD program
S1

H1
S

normally open contact

storing output

72

2 ,
S2
) -
.
S2 o H2 .
)

-
S2 10.1 2 0.1

)
STL 10.1(S2) 0.1(2) .
S2 (L N) Load Not, 2
(=) Equal . 0.1 2
, 10.1S2 0.1 2 .
73

STL program

L N

S2

H2

LADDER
. 10.1 (S2) ,
0.1 (2) . 0.1 (2)
10.1 (S2) .
LAD program
S2

H2

normally closed contact

(0 1)
. (AND) (OR)
.

AND/OR .
(AND)
)
1 S1
S2 .

) -
74

 .
S1 S2 o H2 .

) -

-
S1 10.0 S2 10.0
S2 10.2 . 1 0.01 .
)

STL program
L

S1
S2
H1

STL AND
() . (1)
S1 S2 .
LAD program
S1
S2

.. contact

H1

.. contact on storing output

LADDER
LADDER
. AND (S1 S2)
75

 1 . 1
S1 S2 .

OR
)
(S1 S2) , 1
. ,
.

) -
.
S1 S2 o H1 .
) -

-
S1 10.0 S2 10.0
S2 10.3 . 1 0.01 .

76

STL program

S1
S2
H1

STL OR
(O) . 10.3 (1)
S1 S2 . 1
. O0.1 SET
( ) .

LAD program
S1

H1
S

S2

LADDER
LADDER
. OR
S1 S2 H1 . 1
S1 S2 .
1 . O0.1
SET ( ) .
AND & OR
)

1 S1
(S2 S3) .
77

) -
.
S1 S2 S3 o H1 .
) -

-
S1 10.0 S2 10.0
S2 10.2 S3 10.5 . 1
0.01 .

STL program
(1)
L
A
O
=
(2)
L
A
O
A
=

S1
( S2
S3)
H1
S1
S2
S1
S3
H1

BOOLE
STL. :S1^(S2vS3)=H1 (S1^S2)v(S1^S3)=H1.
78


STL :
LADDER
S2 S3 .
BOOLE , LADDER .

LADDER

9.11
LADDER STL
9.11.1

, P.L.C , .
, P.L.C.
, , ....
,
(
FLAG ) .
, , .

. P.L.C.
9.11.2 P.L.C. LADDER
LADDER
:
79


( - Flags)

( )
LADDER,
:
) (Flag) - .
) . .
) .
) .
) .

LADDER .
n r ( n r
.. ) .
n+1 (
) , r .
( ) 1,2... ,
...) .

.
1 1
. 1 Start
.

Ladder

Ladder
80


( step 1 Start ) .
1 step 1 1
. 2 2
(.. step 1) ( 1) 1 ...
(..
) 1 ( ) .
.


.
,
( ) ,
.
,

(. ) .
9.11.3 P.L.C. STL (STATEMENT LIST)
LADDER
STL .

STL
L

N
A

S
S
L
A N
A
S
S
L
A N
A
S
S
.
.
.
L
A N
A
S
S
L
A
R
R
R
R
R
.
.
.
R
R

F 1
I
F 1
O
F 1
F 2
I
F 2
O
F 2
F 3
I
F 3
O
.
.
.
F n - 2
F n - 1
I
F n - 1
O
F n - 1
I
O
F 1
F 2
F 3
F 4
.
.
.
F n - 2
F n - 1

s t e p

s t e p

s t e p

s t e p

s t e p

- 1

STL
81

 n
.
SET (S) &
RESET R .
.

. :
( ) Load (L)
( ) (AND) ,
() ( ) .
.

(F1,F2...) .
1 Start .
STL .
(
) .

9.12
LADDER STL
9.12.1 L ( + + - -)
ladder L
LADDER
.
:

Y1

S1

S2

Y2 Y3

0.1=START
0.1=S1()
0.2=S2()
0.3=S3()
0.4=S4(

S3

S4

Y4

O 0.1=Y1()
O 0.2=Y2()
O 0.3=Y3()
O 0.4=Y4()

82

1 :
(4)
, start -
step 1 . step 1
+ 6 .
2 :
+ S2
0,2 . 1 (.. step 1)
0,2 step 2 .
step 2
+ 7.
3 :
+ S4
0,4 . 2 (.. step 2)
( 0,4 step 3) .
step 3
- 8 .

Step1

0.0

step 5step 1

1
step 1
0.2

step 1step 2

step 2
0.4

step 2step 3

step 3
0.3

step 3step 4

step 4
0.1

step 4 step 5

Ladder L -

83

 4 :
- S3
0,3 . 3 (.. step 3)
0,3 step 4 .
step 4
- 9.
5 :
- S1
0,1 . 4 (.. step 4)
( 0,1) , step 5 .
step 5 -
step 1...4 .

Ladder L -

6 :
1 + . 1
(.. step 2).
7 :
3 + . 3
(.. step 3).
8 :
4 - . 4
(.. step 4).
84

 9 :
2 - . 2
(.. step 5)
step 1 step
.
STL L
STL
.
LADDER :

N
A

S
S
L
AN
A
S
S
R
L
AN
A
S
R
S
L
AN
A
S
R
S
L
A
R
R
R
R
R
PE

F1
10.0
F1
O0.1
F1
F2
10.2
F2
O0.3
O0.1
F2
F3
I0.4
F3
O0.3
O0.4
F3
F4
I0.3
F4
O0.4
O0.2
F4
I0.1
O0.2
F1
F2
F3
F4

STEP 1

STEP 2

STEP 3

STEP 4

STEP 5

(Program end)

STL L

85


1 (STEP 1) :
1 (F1)
start ( 0,0) F1
0,1 1 + .
2 (STEP 2):
1 (F1) ( 0,2)
2 (F2) F2
0,3 3 + .
0,1 ( 1) (1) .
3 (STEP 3) :
2 (F2) ( 0,4)
3 (F3) F3
0,4 4 - .
0,3 ( 3) (2) .
4 (STEP 4) :
3 (F3) ( 0,3)
4 (F4) F4
0,2 2 - .
0,4 ( 4) (3) .
5 (STEP 5) :
4 (F4) ( 0,1)
0,2 ( 2) .
(F1,F2,F3,F4)
. (program end)
.
9.12.2 A+B+C+ B- + ()B-D-C-A-....
D+
( - D+ -)
A

B
S1
I

Y1

Y2

S2
I

C
S4
I

S3
I

Y3

Y4

D
S5
I

Y5

S6
I

Y6

S7
I

Y7

S8
I

Y8

86


0.0=START
0.1=S1 ()
0.2=S2 ()
0.3=S3 ()
0.4=S4 ()
0.5=S5 ()
0.6=S6 ()
0.7=S7 ()
0.8=S8 ()

O 0.1=Y1 ()
O 0.2=Y2 ()
O 0.3=Y3 ()
O 0.4=Y4 ()
O 0.5=Y5 ()
O 0.6=Y6 ()
O 0.7=Y7 ()
O 0.8=Y8 ()

Ladder
LADDER,
. ,
+ -,
, - 6.

LADDER + + C+ - + ()- D- C- - .
D+
+ -
step 100, 110, 120, 130 20 22
87

 3 4. - 6
(timer) 1, 16.

LADDER + + C+ - + ()- D- C- - .
D+
STL
STL.
STL,
,
. n
( LADDER)
. , - 6
(V), V
.
LADDER.
88

N
A

S
S
L
AN
A
S
S
R
L
AN
A
S
R
S
L
AN
A
S
R
S
S
L
AN
A
A
S
S
R
R
L

T
S
S
R

AN
A
V

F1
I0.0
F1
O0.1
F1
F2
I0.2
F2
O0.3
O0.1
F2
F3
I0.4
F3
O0.3
O0.5
F3
F4
I0.6
F4
O0.5
O0.4
O0.7
F4
F5
I0.3
I0.8
F5
O0.3
O0.4
O0.7
F5
F6
I0.4
()
F6
O0.4
O0.3

STEP 1

STEP 2

STEP 3

STEP 4

STEP 5

STEP 6

89

L
AN
A
S
R
S
L
AN
A
S
R
S
L
AN
A
S
R
S
L
A
R
R
R
R
R
R
R
R
R
R
PE

F6
F7
I0.3
F7
O0.4
O0.8
F7
F8
I0.7
F8
O0.8
O0.6
F8
F9
I0.5
F9
O0.6
O0.2
F9
I0.1
O0.2
F1
F2
F3
F4
F5
F6
F7
F8
F9

STEP 7

STEP 8

STEP 9

STEP 10

(Program
end)

STL + + C+ - + ()- D- C- - .
D+

90


1. . . . - .
(1999) .
2. D. Scholz , A. Zimmermann . Servopneumatic Positioning Festo Didactic KG, Esslingen
(1996) Germany.
3. Colombo,G. Automazione Industriale. Vol.4. Dott. Giorgio Torino.1986.
4. F.S.G. Van Dijen. Pneumatic Mechanization. Kemperman Technical Publishers. Culemborg, 1975.
5. J.P. Hasebrink, R. Kobler. Fundamentals of Pneumatic Control Engineering. Festo Didactic,
Esslingen,1978

91