Professional Documents
Culture Documents
He Thong Dieu Khien Phan Tan
He Thong Dieu Khien Phan Tan
IU KHN PHN TN
Lecture Notes
(Cha cp nht t 8/2003)
MC LC
1
NHP MN
1.1 Phm vi cp
1.2 Ni dung chng trnh
1.3 Yu cu kin thc c s
1.4 Tng quan cc gii php iu khin
1.4.1 c trng cc lnh vc ng dng iu khin
1.4.2 Cc h thng iu khin cng nghip
8
8
9
10
10
10
11
11
12
12
13
15
15
15
17
18
19
20
21
21
22
25
26
27
27
27
27
28
29
30
31
32
5
5
5
5
6
6
6
4.4.1
4.4.2
2
32
32
ng b ha cc tn hiu vo/ra
ng b ha thi gian
33
33
33
34
35
35
36
37
38
38
38
39
40
41
41
44
46
46
48
48
48
49
51
51
52
52
53
54
56
56
56
58
58
60
60
61
62
63
63
2005, Hong Minh Sn
3
65
66
67
67
68
70
70
71
71
75
77
78
78
79
81
83
84
85
85
87
87
88
89
91
92
92
92
92
93
94
94
94
95
95
95
95
97
97
97
97
97
13.1.4
13.1.5
13.1.6
13.2 So
4
97
98
98
98
100
100
100
100
100
100
105
NHP MN
1.1 Phm vi cp
Phm vi cp ca mn H thng iu khin phn tn l cc h thng t
ng ho hin i c cu trc phn tn trong cng nghip cng nh trong
nhiu lnh vc khc. Mn hc c xy dng trn c s ng dng cc tin b
mi nht ca k thut iu khin, k thut truyn thng cng nghip, cng
ngh phn mm vo trong cc h thng iu khin v gim st.
Mc ch ca mn hc cho sinh vin lm quen vi cu trc v cc thit b
phn cng cng nh cc thnh phn phn mm ca cc h thng iu khin
v gim st hin i, nm c cc nguyn tc v phng php c bn cho
hng gii quyt nhng bi ton thng c t ra trong thc t nh thit
k cu trc h thng, tch hp h thng, a vo vn hnh v chn on h
thng. Bn cnh , mn hc a ra cc hng nghin cu l thuyt v ng
dng mi, to c s cho cc sinh vin mun tip tc hc v nghin cu cc
bc sau i hc.
1.4.2
7
T NG HA QU TRNH
(Cng nghip ch bin, khai thc)
T NG HA X NGHIP
(Cng nghip ch to, lp rp)
Cc b iu chnh c
Cc thit b c kh
Rle in c,
(1920)
B iu chnh s gn
(CDC, 1980)
Thit b iu khin
kh trnh (PLC, 1970)
H KPT tch hp
(DCS, 1975)
PLC-based DCS
PLC mm
(Soft-PLC, 1996)
PC-based DCS
H iu khin lai
H iu khin trng (FCS, 2000)
Hnh 1-1:
Thit b iu khin t ng
NI
I/O
I/O
NI
NI
ni trc tip
ni qua mng
NI
NI
Cm bin v chp hnh
NI
I/O
network interface
(giao din mng)
input/output
(vo/ra)
Qu trnh k thut
Hnh 2-1: Cc thnh phn c bn ca mt h thng iu khin v
gim st
9
Thit b iu khin t ng: Cc thit b iu khin nh cc b iu
khin chuyn dng, b iu khin kh trnh PLC (programmable logic
controller), thit b iu chnh s n l (compact digital controller) v my
tnh c nhn cng vi cc phn mm iu khin tng ng.
H thng iu khin gim st: Cc thit b v phn mm giao din ngi
my, cc trm k thut, cc trm vn hnh, gim st v iu khin cao
cp.
H thng truyn thng: Ghp ni im-im, bus cm bin/chp hnh,
bus trng, bus h thng.
H thng bo v, c ch thc hin chc nng an ton.
QL
cng ty
iu hnh
sn xut
iu khin gim st
Cp iu
khin qu
trnh
iu khin
Cp trng
Chp hnh
Qu trnh k thut
Hnh 2-2: M hnh phn cp chc nng ca mt h thng iu khin
v gim st
10
2.2.1
Cp chp hnh
2.2.2
Cp iu khin
2.2.3
Cp iu khin gim st
11
2.3.1
iu khin tp trung
I/O
Hin trng
Phn on 1
Phn on n
Phn on 2
I/O: input/output
A: actuator
S: sensor
12
2.3.2
MTK
Phng K trung tm
bus trng
Hin trng
I/O
I/O
A
Hnh 2-4:
I/O
2.3.3
iu khin phn tn
13
phc s ph thuc vo mt my tnh trung tm trong cu trc tp trung v
tng tnh linh hot ca h thng, ta c th iu khin mi phn on bng
mt hoc mt s my tnh cc b, nh Hnh 2-5 minh ha.
MTGS
PHNG IU
KHIN TRUNG TM
MTGS
bus h
thng
MTK
1
MTK
2
MTK
n
PHNG IU
KHIN CC B
HIN
TRNG
Phn on 1
Phn on n
Phn on 2
2.3.4
14
phng iu khin trung tm hoc ti cc phng iu khin cc b, ty theo
qui m ca h thng v kh nng ko di ca bus trng.
Gii php s dng cc h iu khin phn tn vi cu trc vo/ra phn
tn v cc thit b trng thng minh chnh l xu hng trong xy dng cc
h thng iu khin v gim st hin i. Bn cnh tin cy cao, tnh nng
m v linh hot cao th yu t kinh t cng ng vai tr quan trng. Vic
phn tn chc nng x l thng tin, chc nng iu khin theo b rng cng
nh theo chiu su l tin cho kin trc tr tu phn tn (distributed
intelligence) trong tng lai.
MTGS
MTGS
bus h
thng
PHNG IU KHIN
TRUNG TM
MTK 1
bus trng
MTK 2
bus trng
I/O
PHNG IU
KHIN CC B
bus trng
I/O
I/O
Phn on 1
Hnh 2-6:
MTK n
HIN
TRNG
Phn on n
Phn on 2
15
3.1 Cu hnh c bn
Cu hnh c bn mt h iu khin phn tn c minh ha trn Hnh 3-1,
bao gm cc thnh phn sau:
Cc trm iu khin cc b (local control station, LCS), i khi cn c
gi l cc khi iu khin cc b (local control unit, LCU) hoc cc trm
qu trnh (process station, PS).
Cc trm vn hnh (operator station, OS)
Trm k thut (engineering station, ES) v cc cng c pht trin
H thng truyn thng (field bus, system bus).
My
PCtnh
phng th
Factory LAN
Operator
Station
Operator
Station
Engineering
Station
System bus
Local Control
Station
Local Control
Station
Remote
I/O Station
PROCESS
Hnh 3-1:
3.1.1
Trm iu khin cc b
16
Giao din vi bus h thng, thng thng cng c d phng
Giao din vi bus trng nu s dng cu trc vo/ra phn tn
Cc module vo/ra s cng nh tng t, c bit l cc module vo/ra
an ton chy n
Trong cu trc vo/ra tp trung, cc module vo/ra c ni vi CPU
thng qua bus ni b ng sau gi (backplane-bus). Chnh v vy, cc
module ny cng phi do nh sn xut cung cp km theo CPU.
Trong cc h thng iu khin qu trnh, mt trm iu khin cc b cng
thng c ci t giao din HART v cc module ghp ni ph kin khc.
Cc thit b ny c lp t trong t iu khin cng vi cc linh kin h tr
khc nh hng kp u dy, cc b chuyn i tn hiu (transducers), cc
khi u cui (terminal blocka),... Cc t iu khin thng c t trong
phng iu khin/phng in bn cnh phng iu khin trung tm hoc
ri rc gn khu vc hin trng.
Cc chc nng do trm iu khin cc b m nhim bao gm:
iu khin qu trnh (process control): iu khin cc mch vng kn
(nhit , p sut, lu lng, pH, m c,...). Hu ht cc mch
vng n c iu khin trn c s lut PID, gii quyt bi ton iu
khin iu chnh, iu khin t l, iu khin tng. Cc h thng hin i
cho php iu khin m, iu khin da m hnh (model-based control),
iu khin thch nghi, ...
iu khin trnh t (sequential control, sequence control)
iu khin logic
Thc hin cc cng thc (recipe control).
t cc tn hiu u ra v trng thi an ton trong trng hp c s c
h thng
Lu tr tm thi cc tn hiu qu trnh trong trng hp mt lin lc vi
trm vn hnh
Nhn bit cc trng hp vt ngng gi tr v to cc thng bo bo
ng.
Chnh v y l thnh phn quan trng nht trong h thng, i a s cc
trm iu khin cc b c tnh nng kim tra v sa li (error checking and
correcting, ECC), cng nh cho php la chn cu hnh d phng. Mt iu
quan trng l mt trm iu khin cc b phi c kh nng m bo tip tc
thc hin cc chc nng ni trn trong trng hp trm vn hnh hoc ng
truyn bus h thng c s c.
Cc my tnh iu khin c th l my tnh c chng ca nh cung cp
(vendor-specific controller), PLC hoc my tnh c nhn cng nghip. Da trn
c s ny c th phn loi cc h thng iu khin phn tn c mt hin nay
trn th trng thnh cc h cc h truyn thng (sau y gi l DCS truyn
thng), cc h trn nn PLC (PLC-based DCS) v cc h trn nn PC (PC-based
DCS).
2005, Hong Minh Sn
17
Bt k chng loi thit b no c s dng, cc yu cu quan trng
nht v mt k thut c t ra cho mt trm iu khin cc b l:
Tnh nng thi thc
tin cy v tnh sn sng
Lp trnh thun tin, cho php s dng/ci t cc thut ton cao cp
Kh nng iu khin lai (lin tc, trnh t v logic).
3.1.2
18
Hnh 3-2:
3.1.3
Trm vn hnh
19
thit b thao tc chun nh bn phm v chut. Mt trm vn hnh c th
b tr theo kiu mt ngi s dng (mt hoc nhiu mn hnh), hoc nhiu
ngi s dng vi vi nhiu Terminals (Hnh 3-3).
Cc phn mm trn trm vn hnh bao gi cng i km ng b vi h
thng, song thng h tr cc chun phn mm v chun giao tip cng
nghip nh TCP/IP, DDE (Dynamic Data Exchange), OLE (Object Linking and
Embedding), ODBC (Open Data Base Connection), OPC (OLE for Process
Control).
Operator Terminals
Engineering
Station
Operator
Station
Terminals bus
System bus
Controller
Hnh 3-3:
3.1.4
20
Cc ngn ng lp trnh thng dng l s khi hm (FBD-Function
Block Diagram, hoc CFC-Continuous Function Chart) v biu tin
trnh (SFC-Sequential Function Chart), tng t IEC61131-3 FBD () v
SFC
Mt d n c th do nhiu ngi cng phi hp pht trin song song
Giao din vi cc h thng cp trn (CAD/CAM, MES, PPS, ERP,...)
vic pht trin h thng phn mm c thun li, cc nh sn xut
cung cp cc th vin khi hm chuyn dng. Bn cnh , nhiu nh sn
xut cng cung cp phn mm m phng ngi pht trin h thng c th
to cc u vo/ra m phng, gip cho vic pht trin phn mm c chc
chn, an ton hn.
Trong mt s h thng, ngi ta khng phn bit gia trm vn hnh v
trm k thut, m s dng mt bn phm c kha chuyn qua li gia hai ch
vn hnh v pht trin.
3.1.5
Bus h thng
21
Factory
Server
LAB
OS
ES
OS
SS
SYSTEM BUS
Control
Station 1
Control
Station n
Control
Station 2
FIELDBUS
I/O
Controller
A
S
A
I/O
Controller
I/O
Controller
I/O
Motor
Control
Center
Phn on 1
Hnh 3-4:
Phn on 2
Phn on n
22
h tr cc bi ton iu khin qu trnh din ra ng thi, khi x l
trung tm c ci t mt h iu hnh thi gian thc, a nhim - hoc ca
ring nh sn xut pht trin hoc mt sn phm thng dng nh pSOS,
TSOS, VRTX,... Chu k thi gian nh nht thc hin cc mch vng iu
khin thng nm trong khong 10-100ms, trong trng hp c bit (v d
cho nh my in) c th ti 1ms.
Mt s sn phm tiu biu cng vi tn trm iu khin cc b c lit k
di y:
AdvantOCS (ABB): Advant Controller, h iu hnh ring
Freelance 2000 (ABB): D-PS hc D-FC, h iu hnh pSOS
Symphonie (ABB): Melody, h iu hnh pSOS
DeltaV (Fisher-Rosermount): Visual Controller, h iu hnh TSOS
I/A Series (Foxboro): CP60, h iu hnh VRTX
PlantScape (Honeywell): PlantScape Controller, h iu hnh ring
Centum CS1000/CS3000 (Yokogawa): PFCx-E, AFS10x/AFS20x, h iu
hnh ORKID
3.2.2
23
phng php lp trnh v kh nng ni mng. Tr mt s loi nh dng
trong cc ng dng n gin, hu ht cc PLC hin i u khng dng li
vic thc hin cc php tnh logic n gin, m cn c kh nng lm vic vi
cc tn hiu tng t v thc hin cc php ton s hc, thm ch c cc
thut ton iu khin phn hi nh iu khin nhiu im, PID v iu khin
m. Cc b m, b nh thi v mt s hm ton hc thng dng thuc
phm vi chc nng chun ca mt PLC. Vic s dng PLC v vy khng ch
dng li cc qu trnh gin on, m nay rt ph bin i vi iu khin
cc qu trnh lin tc nh trong cng nghip ch bin, khai thc, cng ngh
mi trng v.v...
Mt s h DCS trn nn PLC tiu biu l SattLine (ABB), Process Logix
(Rockwell), Modicon TSX (Schneider Electric), PCS7 (Siemens), Thc cht,
ngy nay a s cc PLC va c th s dng cho bi ton iu khin logic v
iu khin qu trnh. Tuy nhin, cc PLC c s dng trong cc h iu
khin phn tn thng c cu hnh mnh, h tr iu khin trnh t cng vi
cc phng php lp trnh hin i (v d SFC).
Cu trc phn cng
Hnh 3-5 minh ha cc thnh phn chc nng chnh ca mt h thng
thit b iu khin kh trnh v quan h tng tc gia chng. V c bn, mt
PLC cng c cc thnh phn ging nh mt my vi tnh thng thng, l vi
x l, cc b nh lm vic v b nh chng trnh, giao din vo/ra v cung
cp ngun. Tuy nhin, mt im khc c bn l cc thnh phn giao din
ngi-my nh mn hnh, bn phm v chut khng c trang b y. Vic
lp trnh v vy phi c thc hin gin tip bng mt my tnh ring bit,
ghp ni vi CPU thng qua giao din thit b lp trnh (thng l mt cng
ni tip theo chun RS-232 hoc RS-485).
B x l trung tm (Central Processing Unit, CPU) bao gm mt hoc nhiu
vi x l, b nh chng trnh, b nh lm vic, ng h nhp v giao din vi
thit b lp trnh, c lin kt vi nhau thng qua mt h bus ni b. Nhim
v chnh ca CPU l qun l cc cng vo/ra, x l thng tin, thc hin cc
thut ton iu khin. B nh chng trnh thng c dng EPROM (Erasable
and Programmable Read Only Memory) hoc EEPROM (Electrically Erasable
and Programmable Read Only Memory), cha h iu hnh v m chng
trnh ng dng. D liu vo/ra cng nh cc d liu tnh ton khc c lu
trong b nh lm vic RAM (Random Access Memory). ng h nhp c vai tr
to ngt cng iu khin chng trnh theo chu k, thng thng trong
khong t 0,01giy ti 1000 pht.
Cc thnh phn vo/ra (input/ouput, I/O) ng vai tr l giao din gia
CPU v qu trnh k thut. Nhim v ca chng l chuyn i, thch ng tn
hiu v cch ly galvanic gia cc thit b ngoi vi (cm bin, c cu chp
hnh) v CPU. Cc thnh phn vo/ra c lin kt vi CPU thng qua mt
h bus ni b hoc qua mt h bus trng (xem chng 3).
2005, Hong Minh Sn
24
B cung cp ngun (power supply, PS) c vai tr bin i v n nh
ngun nui (thng thng 5V) cho CPU v cc thnh phn chc nng khc t
mt ngun xoay chiu (110V, 220V,...) hoc mt chiu (12V, 24V,...).
Bn cnh cc thnh phn chnh nu trn, mt h thng PLC c th c cc
thnh phn chc nng khc nh ghp ni m rng, iu khin chuyn dng
v x l truyn thng.
ng h
nhp
B nh
chng trnh
Giao din
lp trnh
B nh
lm vic
Tn hiu iu khin
Vo tng t v vp s
(AI, DI)
Tn hiu o
Vi x l
Ra tng t v ra s
(AO, DO)
CPU
Ngun nui
(PS)
Hnh 3-5:
25
Cc module ghp ni (interface module, IM) c s dng trong vic m
rng h thng khi s lng cc module ln, khng ch trn mt gi .
Thng thng, mi gi cn c mt module ngun ring bn cnh module
ghp ni. Thng qua cc module ghp ni, mt CPU c th qun l tt c cc
module trn cc gi . S lng v chng loi cc module cho php trn mt
gi cng nh s lng tng cng ph thuc vo kh nng qun l ca loi
CPU c th.
Cc module truyn thng (communication module, CM) c vai tr l giao
din mng, c s dng ghp ni nhiu PLC vi nhau, vi cc thit b
trng v vi my tnh gim st. Cc module truyn thng m nhim x l
giao thc mt cch c lp vi CPU. Tuy nhin trong mt s trng hp, b x
l trung tm cng c tch hp sn giao din mng cho mt h bus trng
thng dng.
3.2.3
Cc h DCS trn nn PC
Gii php s dng my tnh c nhn (PC) trc tip lm thit b iu khin
khng nhng c bn ti rng ri, m tr thnh thc t ph bin trong
nhng nm gn y. Nu so snh vi cc b iu khin kh trnh (PLC) v cc
b iu khin DCS c chng th th mnh ca PC khng nhng nm tnh
nng m, kh nng lp trnh t do, hiu nng tnh ton cao v a chc nng,
m cn kha cnh kinh t. Cc bc tin ln trong k thut my tnh, cng
nghip phn mm v cng ngh bus trng chnh l cc yu t thc y kh
nng cnh tranh ca PC trong iu khin cng nghip.
DCS trn nn PC l mt hng gii php tng i mi, mi c mt s sn
phm trn th trng nh PCS7 (Siemens, gii php Slot-PLC), 4Control
(Softing), Stardom (Yokogawa), Ovation (Westinghouse-Emerson Process
Management) Hng gii php ny th hin nhiu u im v mt gi
thnh, hiu nng tnh ton v tnh nng m. Mt trm iu khin cc b
chnh l mt my tnh c nhn cng nghip c ci t mt h iu hnh
thi gian thc v cc card giao din bus trng v card giao din bus h
thng.
Trong gii php iu khin dng my tnh c nhn th mt vn thng
rt c quan tm l tin cy ca my tnh. Mt phn ta c th yn tm bi
vi cu trc vo/ra phn tn, my tnh iu khin c t trong phng iu
khin trung tm vi iu kin mi trng lm vic tt. Mt khc, trn th
trng cng c rt nhiu loi my tnh c nhn cng nghip, m bo
tin cy cao khng km mt PLC. Mt khi my tnh ch c ci t h iu
hnh v phn mm iu khin th kh nng gy li do phn mm cng s
c gim thiu.
Tuy nhin, i vi cc ng dng c yu cu cao v tnh sn sng, tin cy
ca h thng, ta cn c mt gii php d phng thch hp. Gii php n gin
v tit kim nht l d phng lnh, c ngha l trong trng hp c s c ti
2005, Hong Minh Sn
26
my tnh iu khin xy ra ta ch cn thay th mt my mi vi cu hnh v
cc phn mm c ci t ging ht my chnh. Song gii php tt hn l
s dng mt cu hnh d phng nng.
3.3 Cc vn k thut
Cc vn k thut di y ng vai tr c bit quan trng khi nghin
cu v cc h iu khin phn tn, s c cp chi tit trong cc phn
sau.
Kin trc x l phn tn (distributed processing): Cu trc phn tn v
mt vt l (a l) dn n phn tn v mt x l thng tin. X l phn
tn l mt khi nim vay mn t lnh vc tin hc. X l phn tn khc
vi x l cc b v khc vi x l ni mng tnh thng nht, xuyn sut
trong vic xy dng ng dng v trao i d liu gia cc trm.
Tnh nng thi gian thc (real-time): Tnh nng ca mt h thng lun
sn sng phn ng vi cc s kin bn ngoi v a ra p ng mt
cch ng n v kp thi. Vi kin trc x l phn tn, vic p ng
tnh nng thi gian thc c ci thin bi kh nng x l thng tin ti
ch. Song cng nhiu vn c t ra trong vic giao tip gia cc
thnh phn (real-time interprocess communication), trong vn giao
thc mng ng mt vai tr quan trng.
Tnh sn sng (availability) v tin cy (reliability): Mt c im ni
bt so vi cc hng gii php khc l tnh sn sng cao thng qua kh
nng d phng tch hp, c th la chn d phng cho tng thnh phn.
Tnh sn sng, phng php giao tip s, kin trc x l phn tn, phn
mm ng gi, phn cng chun ha cng nghip, tch hp cao gia
cc thnh phn phn cng v phn mm l cc yu t gip cho cc h
thng iu khin phn tn c tin cy cao.
H tr chun (standard support): Thc ra, y khng phi l c im
tiu biu ca cc h DCS truyn thng. Nhng y l mt yu cu khng
th thiu c trong cc h DCS mi. c bit, s tng thch vi cc
chun cng nghip l tin cho tnh nng m, cho kh nng tng tc
vi cc thit b ca cc hng th ba.
Cng c phn mm (software tools): Vic xy dng cc ng dng iu
khin c h tr bi cc cng c lp trnh hoc cu hnh rt mnh
v cc th vin phn mm ng gi chun, da theo cc chun quc t.
Cc cng c phn mm iu khin gim st cng c tch hp v s
dng chung mt c s d liu trong h thng. Khc vi cc gii php
iu khin n l nh PLC hoc PC, ta khng phi s dng mt cng c
ring, xy dng ring giao din ngi-my (HMI) v cc chc nng
SCADA khc. Qu trnh to giao din ngi- my, to h thng cnh
bo, to cng thc iu khin, nm trong vic pht trin ng dng, i
i vi vic xy dng chng trnh iu khin cp thp.
27
4.1.2
28
Qu trnh nng cn (process): l qu trnh tnh ton c khng gian a
ch ring.
Qu trnh nh cn (thread): l qu trnh khng c khng gian a ch
ring.
Cc hnh thc t chc cc qu trnh tnh ton ng thi:
X l cnh tranh: Nhiu qu trnh tnh ton chia s thi gian x l thng
tin ca mt b x l.
X l song song: Cc qu trnh tnh ton c phn chia thc hin song
song trn nhiu b x l ca mt my tnh.
X l phn tn: Mi qu trnh tnh ton c thc hin ring trn mt
my tnh.
Trong cc h thng iu khin, khi nim task cng hay c s dng bn
cnh qu trnh tnh ton. C th ni, task l mt nhim v x l thng tin
trong h thng, c th thc hin theo c ch tun hon (periodic task) hoc
theo s kin (event task). V d, mt task thc hin nhim v iu khin cho
mt hoc nhiu mch vng kn c chu k trch mu ging nhau. Hoc, mt
task c th thc hin nhim v iu khin logic, iu khin trnh t theo cc
s kin xy ra. Task c th thc hin di dng mt qu trnh tnh ton duy
nht, hoc mt dy cc qu trnh tnh ton khc nhau.
4.1.3
29
Preemptive: cn gi l chen hng, tc l chn mt tin trnh thc
hin trc cc tin trnh khc.
Non - Preemptive: khng chen hng. Cc tin trnh c thc hin bnh
thng da trn mc u tin ca chng.
Vic tnh mc u tin ca mi tin trnh c thc hin theo mt trong s
cc thut ton lp lch sau:
Rate monotonic: cng thng xuyn cng c u tin.
Deadline monotonic: cng gp cng c u tin.
Least laxity: t l thi gian tnh ton/thi hn cui cng(deadline) cng
ln cng c u tin.
ng b ho qu trnh
Khi cc qu trnh tnh ton cng s dng mt ti nguyn loi tr ln nhau
nh mt vng nh, cng vo/ra, hoc chng ph thuc ln vo nhau v d
qu trnh 1 ch kt qu ca qu trnh 2... s rt d dn n tnh trng tc
nghn (Deadlock), hay to ra mt tnh hung chy ua (Race Condition). Do
vy vic ng b ho cc qu trnh l iu cn thit.
C th thc hin vic ny theo cc phng php sau:
Mutex (Mutual exclusion)
Critical Section
Semaphone
Monitor
Giao tip lin qu trnh
Giao tip lin qu trnh l giao tip gia cc qu trnh tnh ton thuc cng
mt h iu hnh trn mt my. C hai loi:
Gia cc Thread thuc cng mt Process: s dng cc bin ton cc.
Gia cc Process khc nhau hoc gia cc Thread thuc cc Process
khc nhau: s dng cc phng php nh shared memory, slot, pipes,
mailbox, files...
4.1.4
X l phn tn
30
Cn phn bit r gia ng dng mng v ng dng phn tn. Trong mt
ng dng mng, cc chng trnh trn mi trm tn ti hon ton c lp vi
nhau v vic giao tip gia chng c thc hin qua c ch hin (explicit
communication). Web l mt ng dng mng tiu biu. Trong mt ng dng
phn tn, cc chng trnh trn cc trm hp tc cht ch vi nhau thng
qua c ch giao tip ngm (implicit communication) cng thc hin mt
nhim v tng th ca h thng. Chc nng iu khin trong mt h iu
khin phn tn c thc hin di dng mt ng dng phn tn.
Cc vn ca x l phn tn
Phn chia v phi hp nhim v
ng b ha cc qu trnh x l phn tn
trc Master/Slave
Cc chc nng x l thng tin c phn chia trn nhiu trm t
Mt trm ch phi hp hot ng ca nhiu trm t
Cc trm t c vai tr, nhim v tng t nh nhau (tuy vi cc i
tng khc nhau)
Cc trm t c th giao tip trc tip, hoc khng
V d tiu biu: ng dng iu khin s dng bus trng, trm iu
khin l trm ch, cc vo/ra t xa hoc thit b trng l cc trm t.
31
p dng cho trao i d liu tun hon hoc khng tun hon, thch
hp cho tt c cc kin trc khc nhau.
p dng cho trao i d liu tun hon hoc khng tun hon, thch
hp cho kin trc Client/Server hoc kin trc bnh ng.
Hp th (Mailbox)
Cc trm s dng mt mi trng trung gian nh files, mt c s d
liu hoc mt chng trnh server khc ghi v c d liu
Linh hot nhng km hiu qu, kh m bo tnh nng thi gian thc
p dng cho trao i d liu c tnh cht t quan trng, thch hp cho
kin trc Client/Server hoc kin trc t tr.
2005, Hong Minh Sn
32
ng b ha cc tn hiu vo/ra
4.4.2
ng b ha thi gian
33
34
n cng nhc, kh thay i khi yu cu t ra thay i, kh m rng khi
h thng pht trin.
Phng php phn tch, thit k phn mm tin tin hin nay l hng i
tng (object-oriented), trong khi c bn xy dng nn phn mm l i
tng hay lp. Ni mt cch n gin, i tng l s phn nh th gii t
nhin xung quanh. V d nu trong h thng iu khin c cc thit b vo/ra
s/tng t nh AI, AO, DI, DO th trong phn mm cng c cc lp AI, AO,
DI, DO ; trong h thng iu khin c khu iu khin PID th trong phn
mm cng c lp PID,...
Trong cc h thng iu khin, cc i tng c th i din cc thnh
phn h thng nh:
Cc thut ton iu khin
X l s kin v bo ng
X l mnh lnh
Quan st v chn on
Cu hnh vo/ra
M phng
Thng tin thit k
Vic tru tng ho th gii t nhin thnh cc lp i tng nh vy c
gi l m hnh ho hng i tng. Da trn m hnh i tng thu c,
phng php phn tch, thit k phn mm hng i tng s b sung thm
cc lin kt v lp i tng mi, tinh chnh li,... to ra mt m hnh i
tng chi tit ca phn mm. Cui cng, ngi lp trnh s dng mt ngn
ng lp trnh no (khng nht thit phi l ngn ng hng i tng) th
hin m hnh i tng chi tit thnh m ngun. u im ln nht ca phn
tch, thit k phn mm hng i tng khng phi nm ch to ra chng
trnh nhanh tn t cng sc, m nm ch n gn vi thc t v do thc
y vic ti s dng li nhng thnh qu xy dng c nh m lnh hay
bn thit k.
5.2.1
35
thut ni chung v cc h thng iu khin ni ring. Trn Hnh 5-1 l mt
biu lp UML, minh ha n gin cc lp i tng v quan h ca chng
trong mt h thng iu khin.
<<active>>
Controller
sensor
actuator
Sensor
Actuator
1
Thermometer
sensors
controller
ControlSystem
Valve
1..*
*
1
<<friend>>
valves
plant
Plant
<<friend>>
PT2
Hnh 5-1:
5.2.2
Mu thit k
5.2.3
Phn mm khung
36
Mt th vin ch l mt tp hp ca cc lp hay hm hon chnh phc
v mt mc ch ng dng no . M ca mt th vin lp hay hm
c chng trnh ng dng ch ng gi.
Mt phn mm khung cha mt s lp cha hon chnh, tc cha s
dng to th nghim c ngay (lp tru tng), m bt buc phi dn
xut v b sung m ng dng c th. Vic xy dng mt chng trnh
ng dng phi tun theo cc mu thit k c sn. Khng nhng chng
trnh ng dng gi m trong phn mm khung, m m trong phn mm
khung cng ch ng gi m ng dng.
C th so snh mt phn mm khung nh mt khung nh b tng c
c sn theo mt thit k, ngi thi cng cn b sung cc phn tng bao,
tng ngn, ca s... theo thit k , s dng cc th vin l cc vin gch,
cnh ca, tm vch ngn lm sn.
Mt s v d phn mm khung tiu biu l MFC (Microsoft Foundation
Class), Microsofts COM (Component Object Model), Borlands VCL (Vitual
Component Library).
JavaBeans
ActiveX-Controls
37
mm thnh phn. T tng s dng khi hm, cc khi ha, cc khi
chng trnh trong nhiu h thng l nhng v d tiu biu.
38
6.1 Yu cu chung
Mt kin trc i tng phn tn to iu kin cho vic lp trnh mt
mc tru tng cao hn so vi phng php hng i tng c in. C th,
im khc bit so vi lp trnh hng i tng c in nm tnh trong sut
phn tn (distribution transparency), th hin qua cc c tnh sau:
Trong sut v tr: Mt client khng cn bit rng i tng server nm
trong cng mt qu trnh tnh ton, thuc mt qu trnh tnh ton khc
trn cng mt trm hoc trn mt trm khc, cch s dng i tng
server l thng nht. Ngc li cng vy.
Trong sut th hin: Client khng cn quan tm ti vic i tng server
c th hin bng ngn ng lp trnh no v bng phng php no,
m ch cn quan tm ti giao din c th s dng.
Trong sut nn: Mt client khng cn bit rng i tng server nm
trn h iu hnh no, trn nn my tnh kin trc ra sao.
Trong sut truyn thng: M thc hin client v cc i tng server
khng lin quan ti mng truyn thng v giao thc truyn thng c th
6.2 Cc mu thit k
p ng cc yu cu trn, ngi ta thng p dng cc mu thit k
sau y:
Proxy: Mt i tng i din cho server bn pha client, client c th
s dng i tng server n gin nh vi mt i tng ni trnh (v d
thng qua con tr).
Broker: B phn che du chi tit v c ch truyn thng c th, to iu
kin cho client/proxy v server giao tip vi nhau m khng ph thuc
vo nn v h thng truyn thng bn di. Broker c mt c bn client
v server.
Adapter: i tng trung gian, c vai tr thch ng giao din gia broker
v server, to iu kin cho vic pht trin server mt cch c lp, cng
nh s dng cc server c sn (cha tun theo kin trc i tng phn
tn).
Marshaling/Unmarshaling: C ch thc hin m ha v ng gi cc li
gi hm bn client thnh cc bc in tng ng vi c ch truyn thng
cp thp, cng m gi v gii m cc bc in thnh li gi hm chi tit
bn i tng server. Cc phng thc tng t cng c thc hin
39
chuyn kt qu t server tr li client. Cc nhim v ny do proxy,
server hoc/v adapter m nhim.
Interface Mapping: Gii quyt vn trong sut th hin bng cch m
t cc giao din bng mt ngn ng c lp IDL (Interface Description
Language) v cho php nh x sang thc hin bng mt ngn ng c
th.
Process A
Process B
1: op ( )
client
4: upcall( )
proxy
adapter
2: marshal ( )
broker_A
Hnh 6-1:
5: op( )
server
3: dispatch( )
IPC
broker_B
40
Client
Dynamic
Invocation
Object Implementation
IDL
Stubs
ORB
Interface
Static IDL
Skeleton
Dynamic
Skeleton
Object
Adapter
Hnh 6-2:
41
6.4.1
Giao din
6.4.2
i tng COM
42
cc i tng COM u c mt giao din c bn l IUnknown. y l giao
din c s cho tt c cc giao din khc trong COM m mi i tng phi h
tr. Bn cnh , i tng cng c kh nng thc thi nhiu giao din khc.
Cc i tng vi nhiu giao din c th cung cp cc con tr truy nhp vo
nhiu bng cha cc hm. Cc con tr ny c th gi c con tr giao din.
Trong COM, giao din l mt bng cc con tr ( ging nh vtable trong C++)
vo cc hm c thc hin bi i tng.
IUnknown
Cc giao din
khc
Hnh 6-3:
i tng
43
Interface Pointer
Interface Function Table
pointer
Pointer to Function1
Pointer to Function2
Pointer to Function3
...
Function1(...)
{
...
}
Function2(...)
{
...
}
Function3(...)
{
...
}
...
Hnh 6-4:
44
//nu h tr ta tng s m tham chiu, a vo bin u ra cung cp
// mt con tr n giao din, v bo rng thnh cng
if (riid == IDD_IUnknow)
{
AddRef();
*ppv = (LPVOID) this;
return S_OK;
}
//nu khng h tr giao din ta t bin u ra cung cp l NULL v
// tr v mt m thng bo li
else
{
*ppv = NULL;
return E_NOINTERFACE;
}
}
6.4.3
Client
Application
Hnh 6-5:
Object
Interface
Pointer
45
Application
Object
Object
Application
Hnh 6-6:
server
object
Hnh 6-7:
server
Proxy server
Stub
proxy
object
COM
Engine
Hnh 6-8: Giao tip gia i tng v khch hng trn hai qu trnh
khc nhau
46
6.4.4
6.4.5
DCOM (Distributed COM) m rng COM cho vic giao tip gia cc i
tng phn tn, thuc cc chng trnh chy trn nhiu my tnh khc nhau
trn mng LAN, WAN hay Internet. Vi DCOM, cc ng dng c th phn tn
trn nhiu v tr em li s thun li cho chnh ng dng. Ngy nay khi ngi
ta ni ti COM l cng thng bao hm DCOM trong .
DCOM l mt cng ngh l tng cho nhng ng dng nhiu tng lp bi v
n cho php nhng thnh phn ActiveX lm vic ngang qua mng. Nhiu
ngi c th pht trin thm cng mt thnh phn m khng cn phi lo lng
v lp trnh mng, tnh tng thch h thng hoc s hp nht ca nhng
thnh phn xy dng t nhng ngn ng khc nhau. N dn ti h thp gi
thnh v lm gim s phc tp ca vic phn tn cc ng dng thnh phn.
Client
Stub
Proxy
CoCreateInstance()
COM
Runtime
Security
Provider
DCE RPC
Security
Provider
Protocol Stack
Component
DCE RPC
Protocol Stack
CoCreateInstance()
(Remote)
Activation
SCM
SCM
DCOM networkprotocol
Hnh 6-9: Giao tip gia i tng v khch hng trn hai my khc
nhau vi DCOM
47
Khi cc i tng trn cc my tnh khc nhau, DCOM n gin thc
hin s thay th truyn thng lin qu trnh cc b bi giao thc mng. Hnh
di y minh ha r nt cch thc giao tip gia cc i tng nm trn hai
my tnh khc nhau.
Th vin COM Run-Time cung cp nhng dch v hng i tng ti
khch hng v thnh phn mun giao tip vi nhau ng thi s dng RPC v
nh cung cp an ton to chun ni mng ng gi tun theo giao thc
truyn thng cho DCOM.
Mt ng dng client c th to mt i tng trn mt my tnh khc qua
hm API CoCreateInstance(). Ta xt mt v d n gin sau:
HRESUL hr = CoCreateInstance(
CLSID_CData,
// nh danh lp ca i tng yu cu
NULL,
CLSCTX_REMOTE_SERVER, // dch v t xa c yu cu
&si);
// tham s u ra cha con tr giao din
48
7.1 IEC-61131
IEC (International Electrotechnical Commission) l mt t chc ton cu bao
gm cc hi ng cc quc gia. Mc tiu ca t chc ny l thc y cng
vic chun ho trong lnh vc in v in t.
IEC 61131 l tiu chun v b iu khin kh trnh PLC v cc thit b
ngoi vi i km vi n. Chun IEC 61131 bao gm 9 phn, trong cc phn
1 n 5 l quan trng nht:
Phn 1 (General Information): a ra cc nh ngha chung v cc c
tnh chc nng tiu biu cho mi h thng iu khin s dng PLC, v
d c ch thc hin tun hon, nh qu trnh, thit b lp trnh v giao
din ngi-my.
Phn 2 (Equipment requirements): t ra cc yu cu in hc, c hc v
chc nng cho cc thit b; nh ngha phng php kim tra v th
nghim cc kiu thit b tng ng. Cc yu cu c nh ngha l
nhit , m, cung cp ngun, khng nhiu, phm vi tn hiu logic
v sc bn c hc ca cc thit b.
Phn 3 (Programming languages): nh ngha cc ngn ng lp trnh cho
cc thit b iu khin kh trnh. Ngoi ba ngn ng kinh in l biu
hnh thang (Ladder Diagram, LD), biu khi chc nng (Function Block
Diagram, FBD) v lit k lnh (Instruction List, IL), v mt ngn ng bc
cao kiu vn bn c cu trc (Structured Text, ST) th mt phng php
lp trnh ha phc v biu din cc thut ton iu khin trnh t l
SFC (Sequential Function Chart) cng c chun ha.
Phn 4 (Guidelines for users): a ra cc nguyn tc ch o cho ngi
s dng trong cc qu trnh ca mt d n, t phn tch h thng cho
ti la chn thit b, vn hnh v bo tr h thng.
Phn 5 (Communication): cp ti phng php truyn thng gia cc
PLC cng nh gia PLC v mt thit b khc trn c s cc khi hm
chun. Cc dch v truyn thng ny m rng chun ISO/IEC 9506-1/2,
thc cht l mt tp con trong cc dch v c qui nh trong MMS.
7.1.1
M hnh phn mm
49
trong phn ny). Cc bin ton cc (global variable) v li truy cp (access
path) l nhng c ch giao tip trong chng trnh v gia cc ti nguyn vi
nhau.
C O N FIG U R ATIO N
R ESO UR C E
R ESO UR C E
TAS K
TAS K
TAS K
TAS K
PR O G RA M
PR O G RA M
PR O G RA M
PR O G RA M
FB
FB
FB
G LO BA L and D IR EC TLY
and IN STAN C E-SPEC IFIC
FB
AC C ES S P ATH S
C om m unication function
(See IE C 1131-5)
Execution control path
or
Function block
Variable
Hnh 7-1:
7.1.2
Hnh 7-2:
FB2
b
50
CONFIGURATION C
PROGRAM A
VAR_EXTERNAL
x: BOOL;
END_VAR
PROGRAM B
VAR_EXTERNAL
x: BOOL;
END_VAR
FB1
FB2
FB_X
FB_Y
VAR_GLOBAL
x: BOOL;
END_VAR
Hnh 7-3: Giao tip gia cc chng trnh trong cng mt cu hnh
bng bin ton cc
Hnh 7-4 biu din cch giao tip a nng nht thng qua khi chc nng
giao tip. Chi tit v loi khi chc nng ny c m t trong IEC 61131-5,
y ch lu rng, s dng khi chc nng truyn thng, gi tr ca bin c
th c truyn gia cc b phn ca chng trnh, gia cc chng trnh
trong cng mt cu hnh hay trong cc cu hnh khc nhau, thm ch gia
chng trnh chy trong PLC vi cc h thng khc khng phi PLC.
CONFIGURATION C
PROGRAM
FB1
FB_
send
SEND
SD1
Hnh 7-4:
CONFIGURATION D
rcv1 PROGRAM
RCV
RD1
FB2
FB_
b
51
CONFIGURATION C
CONFIGURATION D
P1
PROGRAM B
PROGRAM A
FB1
FB_X
a
Z
'CSX'
TO_FB2
FB2
READ
RD1
VAR_1
FB_Y
b
VAR_ACCESS
CSX: P1.Z : REAL READ_ONLY;
Hnh 7-5:
7.2 IEC-61499
IEC 61499 l tiu chun lin quan n vic s dng cc khi chc nng vi
t cch l cc module phn mm trong h thng o lng - iu khin phn
tn. ng t quan im hng i tng, mi khi chc nng c coi l
mt i tng phn tn vi mt chc nng trong h thng. Chun IEC 61499
bao gm 3 phn trong phn 1 l quan trng nht. IEC 61499-1 nh ngha
kin trc chung ca h thng o lng - iu khin, khi chc nng
ng vai tr ct li, di dng cc m hnh tham kho. C tt c 8 m hnh
c nh ngha nh trnh by di y.
7.2.1
M hnh h thng
Thit b 1
Thit b 2
Thit b 3
Thit b 4
ng dng A
ng dng B
ng dng C
Qu trnh k thut
Hnh 7-6:
52
Mi chc nng c thc hin bi h thng o lng - iu khin c
m hnh ha bng mt ng dng nh trong hnh v trn. Mt ng dng c th
nm trong mt thit b duy nht, nh ng dng C trong hnh v, hoc phn
tn trn mt s thit b, nh cc ng dng A v B. V d, mt ng dng c th
cha mt hay nhiu vng iu khin trong vic ly mu u vo c thc
hin bi mt thit b, tnh ton iu khin c thc hin bi thit b khc
cn vic chuyn i u ra li c tin hnh bi thit b th ba.
7.2.2
M hnh thit b
Nh biu din trong Hnh 7-7, mi thit b cha trong n t nht mt giao
din, ngoi ra c th c hoc khng cha cc ti nguyn v mng khi chc
nng.
Lin kt truyn thng
Lung d liu v s kin
Ti nguyn X
Ti nguyn Y
Ti nguyn Z
ng dng A
ng dng C
ng dng C
Qu trnh k thut
Hnh 7-7: M hnh thit b theo IEC 61499 (v d thit b 2 trong Hnh
7-6.
7.2.3
M hnh ti nguyn
53
to ra, t cu hnh, th hin bng tham s, khi ng, xa, ... m khng
nh hng n cc ti nguyn khc bn trong thit b.
Chc nng ca ti nguyn l nhn d liu v/hoc s kin t giao din
truyn thng hoc giao din qu trnh, x l d liu/s kin ri gi tr li
d liu/s kin ti giao din truyn thng/qu trnh theo yu cu ca ng
dng s dng ti nguyn.
nh x truyn thng
S kin
D liu
Khi chc
nng giao
din dch v
Thut
ton
Khi chc
nng giao
din dch v
nh x qu trnh
Giao din qu trnh
Cc hm dch v
Hnh 7-8:
M hnh ti nguyn
7.2.4
M hnh ng dng
54
khi chc nng v lin kt gia cc nt mng l lin kt d liu (data
connections) v lin kt s kin (event connections).
Mt ng dng c th c phn tn trn nhiu ti nguyn thuc mt hay
nhiu thit b. Mi ti nguyn s dng cc mi lin h nhn qu ch ra bi
ng dng quyt nh phn ng thch hp i vi cc s kin pht sinh t
giao din truyn thng, giao din qu trnh, t trong bn thn chnh ti
nguyn hoc t ti nguyn khc. Cc phn ng ny bao gm :
S lp lch v thc thi thut ton (bn trong ti nguyn)
Vic thay i cc bin
Sn sinh cc tn hiu
Tng tc vi giao din truyn thng v giao din qu trnh
ng dng c nh ngha bng cch ch ra mi lin h gia cc khi chc
nng cha bn trong n nh minh ha trong hnh v, c th l ch ra lung s
kin (event flow) v lung d liu (data flow). Chnh lung s kin l ci quyt
nh vic lp lch v thc thi ca mi ti nguyn bn trong ng dng.
Lung s kin
Lung d liu
Hnh 7-9:
7.2.5
M hnh ng dng
55
Mt tp cc u ra d liu, chng c nh x ti cc bin u ra
tng ng
D liu ni b, chng c nh x ti tp cc bin ni b
Cc c trng v chc nng, c xc nh bng cch kt hp gia d
liu ni b vi thut ton ca khi chc
u vo s kin
u ra s kin
Tn khi
Lung s kin
Lung s kin
iu khin
thc hin
(che giu)
Tn kiu
Thut ton
(che giu)
Lung d liu
Lung d liu
D liu ni b
(che giu)
u vo d liu
u ra d liu
Nng lc ti nguyn
(Lp lch, nh x truyn thng, nh x qu trnh)
Hnh 7-10:
Thut ton bn trong khi hm, v nguyn tc, khng nhn thy c t
bn ngoi, tr phi c ngi cung cp khi hm m t theo mt cch no .
Thm na, khi hm c th cha bn trong n cc bin ni b hay cc thng
tin v trng thi tn ti khng i gia nhng ln gi thut ton ca khi
hm nhng chng cng khng truy cp c t bn ngoi.
Mi kiu khi chc nng l mt yu t phn mm ch r c tnh ca tt c
cc bin th hin thuc kiu , bao gm :
Tn kiu
S lng, tn, tn kiu v trt t ca cc u vo s kin v u ra s
kin
S lng, tn, kiu d liu v trt t ca cc bin u vo, bin u ra
v bin ni b
c t kiu khi chc nng ngoi phn chung k trn cn c thm phn
nh ngha chc nng c trng ca khi ph thuc vo loi khi c th. C
c thy 3 loi khi chc nng :
Khi chc nng c bn l n v chc nng nh nht, khng th phn
chia hn c na
Khi chc nng kt hp (Siu khi) l loi khi chc nng hp thnh t
nhiu khi chc nng khc nh hn
Khi chc nng dch v giao tip l loi khi chc nng cung cp cc
dch v giao din gia cc khi chc nng khc vi nhau hoc gia ti
2005, Hong Minh Sn
56
nguyn v mng truyn thng v gia ti nguyn v qu trnh cng
ngh c iu khin.
i vi kiu khi chc nng c bn, chc nng c trng ca n c din
t bng cch m t thut ton bn trong khi hot ng da trn gi tr
ca cc bin u vo, bin u ra, bin ni b to ra gi tr mi cho cc
bin u ra v bin ni b nh th no, cng nh mi lin h gia s khi
ng, thc thi v kt thc ca thut ton vi s xut hin ca cc s kin ti
u vo v s kin u ra ca khi.
i vi kiu khi chc nng kt hp, c t kiu cn bao gm cc lin kt
d liu v lin kt s kin gia nhng khi chc nng thnh phn bn trong
khi chc nng kt hp.
i vi kiu khi chc nng phc v giao tip, chc nng c trng c
m t bng cch nh x cc dch v c bn m n cung cp thnh cc u
vo s kin, u ra s kin, u vo d liu, u ra d liu ca n.
7.2.6
M hnh phn tn
7.2.7
M hnh qun l
7.2.8
57
n lt mnh, cc n v chc nng cu thnh nn h thng nh thit b,
ti nguyn, ng dng mi ci cng c vng i ring ca mnh.
h tr cho n v chc nng ti mi thi im trong vng i ca n, cc
hnh ng khc nhau phi c thc hin. phn bit xem hnh ng no
c th thc hin v duy tr tnh ton vn ca n v chc nng, cc trng
thi hot ng phi c nh ngha, v d ang hot ng, C th cu
hnh, np, dng, ...
Mi trng thi hot ng ca mt n v chc nng ch r hnh ng no
c chp nhn v hnh vi mong mun tng ng.
H thng c th c t chc theo cch mt khi chc nng no c th
s hu hoc nhn c quyn thay i trng thi ca khi chc nng khc.
Mt c im ni bt ca IEC 61499 l n yu cu cc cng c phn mm
tun theo chun phi c kh nng trao i thng tin vi nhau. C th l IEC
61499-2 yu cu nh sn xut thit b phn cng hay th vin phn mm
phi cung cp thng tin cn thit cho vic s dng sn phm ca h mt
cch hiu qu trong khi vn m bo quyn s hu tr tu. iu ny c
thc hin bng cch s dng ngn ng XML. IEC 61499-2 nh ngha mt tp
cc th (tag) v cu trc ti liu XML chun, da vo nh sn xut m t
sn phm ca mnh. Tun theo mt tp th chung, cc sn phm c th lm
vic trc tip vi nhau (interoperability).
58
8.1 MMS
MMS (Manufactoring Message Specification) l mt chun quc t cho vic
xy dng lp ng dng theo m hnh qui chiu OSI. Chun ny c ngha c
bit trong cc h thng truyn thng cng nghip. V c bn, MMS qui nh
mt tp hp cc dch v chun cho vic trao i d liu thi gian thc cng
nh thng tin iu khin gim st. Cc dch v ny cng nh cc giao thc
tng ng c chun ha trong ISO/IEC 9506.
MMS c xut x t MAP (Manufactoring Automation Protocol), mt giao thc
do hng General Motors khi xng pht trin vo u nhng nm 80. Mc
d MAP khng tr thnh giao thc truyn thng thng nht cho cng nghip
t ng ha, n tc ng c tnh cht nh hng ti cc pht trin sau
ny. Trn c s ca MAP, cc dch v truyn thng c nh ngha trong
MMS to c s quan trng trong vic xy dng lp ng dng trong nhiu h
thng bus trng. Mt s v d nh FMS (Fieldbus Message Specification) ca
PROFIBUS, PMS (Peripheral Message Specification) ca Interbus, MPS
(Manufactoring Periodic/aperiodic Services) ca WorldFIP v RAC (Remote
Access Control) ca Bitbus u l cc tp con cc dch v MMS.
Cc dch v c nh ngha trong MMS c tnh cht thng dng v a
dng, c th thch hp vi rt nhiu loi thit b, nhiu ng dng v ngnh
cng nghip khc nhau. V d, dch v Read cho php mt chng trnh ng
dng hoc mt thit b c mt hoc nhiu bin mt lc t mt chng trnh
ng dng hoc mt thit b khc. Bt k mt thit b l PLC hay robot, mt
chng trnh iu khin t ng hay chng trnh iu khin gim st, cc
dch v v thng bo MMS u nh nhau.
V c bn, MMS nh ngha:
Hn 80 dch v truyn thng thng dng cho cc h thng bus, trong
c kim sot ng ni, truy nhp bin, iu khin s kin, ci t v
can thip chng trnh
Mt giao thc qui nh cu trc d liu cho vic chuyn giao tham s
ca cc dch v
59
trong mng, cu trc v kiu m ha cc thng bo, tng tc gia
MMS vi cc lp khc trong m hnh OSI. MMS s dng chun lp biu
din d liu ASN.1 (Abstract Notation Number One - ISO 8824) c t
cu trc cc thng bo.
Ngoi ra, bn phn ph tip theo - c gi l cc chun i km
(Companion Standard) - m rng phn ct li nhm thch ng cho cc lnh vc
ng dng iu khin khc nhau nh Robot Control (phn 3), Numeric Control
(phn 4), Programmable Controller (phn 5) v Process Control (phn 6).
Mt trong nhng im c trng ca MMS l m hnh i tng VMD. Trn
quan im hng i tng, m hnh VMD cho php cc thit b ng vai tr
mt server, cung cp cc dch v cho cc client thng qua cc i tng o.
Cc i tng o ny i din cho nhng i tng khc nhau trong mt h
thng k thut, trong c c cc bin, chng trnh, s kin, v.v... Mi
chng trnh ng dng c th ng thi ng vai tr server v client. M hnh
VMD nh ngha cc i tng sau:
VMD: Bn thn VMD c coi l mt i tng hp thnh t cc i
tng khc, i din cho ton b mt thit b.
Semaphore: Mt i tng dng kim sot vic truy nhp cnh tranh
mt ti nguyn chung (v d b nh, CPU, cng vo/ra)
60
Cc loi dch v tng ng vi cc i tng c bn c gii thiu tm
tt trong bng 8.1.
Bng 8.1:
Nhm dch v
M t tm tt cc dch v
V d
Environment and
General Management
Services
- Initiate
- Abort
- Status
- UnsolicitedStatus
- Identity
Domain Management
Services
- InitiateDownloadSequence
- DownloadSegment
- InitiateUploadSequence
- UploadSegment
- RequestDomainDownload
- RequestDomainUpload
Program Invocation
Management Services
- CreateProgramInvocation
- Start
- Stop
- Resume
- Reset
Variable Access
Services
- Read
- Write
Semaphore
Management Services
- DefineSemaphore
- DelelteSemaphore
- ReportSemaphoreStatus
Operator
Communication
Services
- Input
- Output
Event Management
Services
X l s kin, s c
- AlterEventCondition
Monitoring
- EventNofification
- AcknowledgeEvent
Notification
Journal Management
Services
- InitiateJournal
- ReportJournalStatus
8.2 IEC-61131-5
8.2.1
61
My tnh
KGS
Client
Client
Server
Cc thit b khc c
giao tip vi PLC
Client
PLC2
PLC1
8.2.2
Vo/ra
B x l trung tm
Cung cp ngun
B nh
STT
PLC
yu cu
PLC p Khi hm
ng
c sn
iu khin
Bo ng
Qun l ni
62
8.2.3
Cc dch v giao tip c thc hin qua cc khi chc nng giao tip
(communication function block, CFB), nh c lit k trong bng di y.
Bng 8.3:
STT
Chc nng
nh a ch cc bin t xa
REMOTE_VAR
2
3
STATUS,
USTATUS
READ,
5
6
USEND,
URCV
iu khin tham s
WRITE,
8
9
iu khin lin ng
SEND,
RCV
10
11
Bo ng c lp trnh
NOTIFY,
ALARM
12
Qun l ni
CONNECT
iu khin
Hai phng php iu khin cn c PLC h tr: iu khin tham s
(parametric) v iu khin kha lin ng (interlocked)
iu khin tham s: Hot ng ca cc thit b c iu khin bng
cch thay i cc tham s ca chng. PLC s dng khi WRITE thc
hin hat ng ny t mt chng trnh ng dng.
63
Bo ng
Mt PLC c th gi cc bo ng ti cc client khi mt s kin xy ra.
Client c th thng bo li xc nhn ti b iu khin. PLC s dng cc
khi ALARM v NOTIFY trong cc chng trnh ng dng gi cc thng bo
cn xc nhn v khng cn xc nhn.
Qun l cc mi lin kt
Cc chng trnh ng dng trong PLC s dng khi CONNECT qun l
cc mi lin kt.
8.3 OPC
Tin b ca cc h thng bus trng cng vi s ph bin ca cc thit b
cn trng thng minh l hai yu t quyt nh ti s chuyn hng sang cu
trc phn tn trong cc gii php t ng ha. S phn tn ha ny mt mt
mang li nhiu u th so vi cu trc x l thng tin tp trung c in, nh
tin cy v tnh linh hot ca h thng, nhng mt khc cng to ra hng
lot thch thc mi cho gii sn xut cng nh cho ngi s dng. Mt trong
nhng vn thng gp phi l vic tch hp h thng. Tch hp theo chiu
ngang i hi kh nng tng tc gia cc thit b t ng ha ca nhiu nh
sn xut khc nhau. Bn cnh , tch hp theo chiu dc i hi kh nng
kt ni gia cc ng dng c s nh o lng, iu khin vi cc ng dng
cao cp hn nh iu khin gim st v thu thp d liu (supervisory control
and data acquisition, SCADA), giao din ngi-my (human-machine interface,
HMI) v h thng iu hnh sn xut (manufactoring execution system, MES).
Vic s dng mt chun giao din v vy tr thnh mt iu kin tin quyt.
Tiu biu cho hng i ny l chun OPC, c chp nhn rng ri trong cc
ng dng t ng ha qu trnh cng nghip.
8.3.1
OPC (OLE for Process Control) l mt chun giao din c hip hi OPC
Foundation xy dng v pht trin. Da trn m hnh i tng thnh phn
(D)COM ca hng Microsoft, OPC nh ngha thm mt s giao din cho khai
thc d liu t cc qu trnh k thut, to c s cho vic xy dng cc ng
dng iu khin phn tn m khng b ph thuc vo mng cng nghip c
th. Trong thi im hin nay, OPC cng nh COM tuy mi c thc hin
trn nn Windows, song c nhiu c gng ph bin sang cc h iu
hnh thng dng khc.
Vi mc ch ban u l thay th cho cc dng phn mm kt ni nh I/ODrivers v DDE, OPC qui nh mt s giao din chun cho cc chc nng
nh:
Khai thc, truy nhp d liu qu trnh (Data Access) t nhiu ngun
khc nhau (PLC, cc thit b trng, bus trng, c s d liu,..)
X l s kin v s c (Event and Alarm)
2005, Hong Minh Sn
64
Truy nhp d liu qu kh (Historical Access)
Trong tng lai OPC s h tr cc chc nng khc nh an hon h thng
(Security) v iu khin m (Batch). OPC s dng c ch COM/COM cung
cp cc dch v truyn thng cho tt c cc ng dng h tr COM. C th k
ra hng lot cc u im ca vic s dng OPC nh:
Cho php cc ng dng khai thc, truy nhp d liu theo mt cch n
gin, thng nht
H tr truy nhp d liu theo c ch hi tun t (polling) hoc theo s
kin (event-driven)
c ti u cho vic s dng trong mng cng nghip
Kin trc khng ph thuc vo nh cung cp thit b
Linh hot v hiu sut cao
S dng c t hu ht cc cng c phn mm SCADA thng dng,
hoc bng mt ngn ng bc cao (C++, Visual Basic, Delphi,..).
Ct li ca OPC l mt chng trnh phn mm phc v gi l OPC-Server,
trong cha cc mc d liu (OPC-Item) c t chc thnh cc nhm (OPCGroup). Thng thng, mt OPC-Server i din mt thit b thu thp d liu
nh PLC, RTU, I/O hoc mt cu hnh mng truyn thng. Cc OPC-Items s
i din cho cc bin qu trnh, cc tham s iu khin, v.v...
Visual Basic,
VB Scripts,...
Automation
Interface
OPC Server
OPC Group
-Item
-Item
C++, Java,
Delphi,...
Hnh 8.2:
Custom
Interfaces
Cc thit b t ng ha
Nh c minh ha trn Hnh 8.2, hai kiu i tng thnh phn quan
trng nht trong kin trc OPC l OPC-Server v OPC-Group. Trong khi OPCServer c nhim v qun l ton b vic s dng v khai thc cc d liu, th
cc i tng OPC-Group c chc nng t chc cc phn t d liu (items)
thnh tng nhm tin cho vic truy nhp. Thng thng, mi item ng vi
mt bin trong mt qu trnh k thut hay trong mt thit b iu khin.
2005, Hong Minh Sn
65
OPC Server
OPC Server l mt i tng phn tn, cung cp giao din OPC chun cho
cc ng dng. Vic giao tip qua cc mng cng nghip c thc hin bng
cc li gi n gin, thng nht khng ph thuc vo mng truyn thng v
giao thc c s dng.
OPC Server h tr hai phng php truy cp d liu :
Polling: Client ch ng yu cu Server cung cp d liu mi khi cn
Publisher/Subscriber: Client ch cn mt ln yu cu Server, sau ty
theo cch t (Theo chu k, theo s thay i ca gi liu hoc theo mt
s kin no ). Phng php ny cn c gi l truy cp khng ng
b.
OPC-Client
OPC-Client
OPC-Interface
OPC-Interface
OPC-Server
Hnh 8.3:
OPC-Server
OPC-Server
Chun OPC hin nay qui nh hai kiu giao din l Custom Interfaces (OPC
Taskforce, 1998b) v Automation Interface (OPC Taskforce, 1998c)2. Kiu th
nht bao gm mt s giao din theo m hnh COM thun ty, cn kiu th hai
da trn cng ngh m rng OLE-Automation. S khc nhau gia hai kiu giao
din ny khng nhng nm m hnh i tng, cc ngn ng lp trnh h
tr m cng cn tnh nng, hiu sut s dng. Custom Interface dng cc
ngn ng nh C/C++phc tp hn nhng hiu sut cao, da trc tip trn
cc i tng COM. Automation Interface dng cc ngn ng n gin, phong
php lp trnh n gin, hiu qu thp, da trn cng ngh COM automation.
8.3.2
Ging nh cc i tng COM khc, hai loi i tng thnh phn quan
trng nht ca OPC l OPC-Server v OPC-Group cung cp cc dch v qua
cc giao din ca chng, c gi l OPC Custom Interfaces, nh c minh
ha trn Hnh 3. Tham kho (OPC Taskforce, 1988b) tm hiu ngha c
th ca tng giao din. Chnh v nhng giao din ny ch l cc giao din theo
m hnh COM thun ty, vic lp trnh vi chng i hi mt ngn ng bin
2
Lu khi nim Automation c dng y hon ton khng c lin quan ti k thut t ng ha
66
dch. Trong thc t, C++ l ngn ng chim u th tuyt i phc v mc
ch ny. Bn cnh , cc cng c khc nhau cng cung cp mt s phn
mm khung (frameworks) thch hp h tr ngi lp trnh.
IUnknown
IOPCCommon
IUnknown
OPC Server
IOPCItemMgt
IOPCServer
IOPCGroupStateMgt
IOPCItemProperties
[IOPCServerPublicGroups]
[IOPCPublicGroupStateMgt]
IOPCSyncIO
[IOPCBrowseServerAddressSpace]
IOPCAsyncIO2
[IPersistFile]
IConnectionPointContainer
Hnh 8.4:
OPC Group
IConnectionPointContainer
truy nhp d liu dng OPC Custom Interfaces, ta cn thc hin hang
lot cc bc sau:
To mt (bn sao) i tng OPC-Server
8.3.3
67
trao i d liu. Nht l trong mt gii php t ng ha phn tn, c s
tham gia ca cc mng truyn thng cng nghip, th hai im yu ni sau tr
nn rt ng quan tm. L do nm chnh trong m hnh giao tip ca OLEAutomation v cc cng c h tr, l:
Dng kiu d liu a nng (VARIANT) mt mt s lng ph khi trao i
d liu nh, mt mt hn ch kiu d liu s dng c
C ch tp trung ha vic n nhn v chuyn giao thng tin dng giao
din IDispatch lm gim thi gian phn ng ca mt ng dng i vi
mt s kin mt cch ng k.
OPC nhm cc giao din v cc methods ca chng theo th t 3 lp:
OPC Server class
OPC Group class
OPC Item class
68
cho ring mnh vi ngha xc nh. V vy ta c th s dng XML vo
nhiu mc ch khc nhau nh:
Ngn ng m t mt h thng iu khin hoc mt ng dng iu khin
Ngn ng m t tnh nng cc thit b (Device Description Language)
Xy dng cc trang Web nhng trong cc thit b
Lu tr thng tin di dng XML cho php ti liu va d c vi con
ngi, va d dng x l bi chng trnh my tnh v cho php cc phn
mm khc nhau c th trao i thng tin c vi nhau min l chng cng
thng nht mt b th nh du. S linh hot, a nng v kh chuyn ca
XML c ngha c bit i vi cc h thng phn tn.
8.4.2
XML EDITOR
VISUAL APPLICATION
EDITOR
HMI/SCADA
APPLICATION
Hnh 8.5:
OPC
*.xml
APPLICATION
ENGINE
framework
iPC
C++ CONTROL
APPLICATION
69
engine) s c tp tin XML vn hnh h thng. V d, vic khai bo mt
b iu khin m dng Mamdani vi cc s liu thit k trong tp tin
LC103.mam c th hin nh sau:
<dll filename="FuzzyFB.dll">
<FB_list>
<FB type="MAMDANI" id="LC103"> <init> filename=LC103.mam; </init> </FB>
</FB_list>
</dll>
Tng t nh vy, cc khi chc nng vo/ra tng t qua mng ProfibusDP (a ch slave=3, module 3) s dng trong mch vng iu khin c khai
bo nh sau:
<dll filename="DPIO.dll">
<FB_list>
<FB type="AI" id="AI103"> <init> slave=3; module=3; </init> </FB>
<FB type="AO" id="AO103"> <init> slave=3; module=3; </init> </FB>
</FB_list>
</dll>
70
Biu trnh t chc nng (sequential function chart, SFC) biu din cc
bc thc hin chc nng ca qui trnh cng ngh. Ti liu hnh thnh
phc v bi ton iu khin trnh t v iu khin logic. Chnh v s
gn gi vi vic m t thut ton iu khin, SFC cng c coi l mt
ngn ng lp trnh. SFC c gii thiu chi tit trong bi 10.
71
9.2 Lu P&ID
Cc biu tng lu P&ID c s dng tng i thng nht trn ton
th gii. Hai chun do ISA (Instrument Society of America) pht hnh c
chp nhn rng ri trn ton th gii l:
ANSI/ISA S5.1: Instrumentation Symbols and Identification.
ANSI/ISA S5.3: Graphic Symbols for Distributed Control/Shared Display
Instrumentation, Logic and Computer Systems.
9.2.1
V tr m rng
Hin trng
(Auxilary
Location)
(Local)
72
Thit b cho hai bin hoc
mt bin vi hai hoc
nhiu chc nng
Bng 9.2:
73
Bng 9.3 lit k ngha ca cc ch ci phn bit chc nng. Phn biu
din chc nng bt u bng mt ch ci k hiu bin o c hoc mt bin
khi to, sau n cc ch ci k hiu chc nng ch th hoc chc nng b
ng. Tip na l cc ch ci th hin chc nng u ra theo mt th t ty
, tr trng hp ch C (control) phi ng trc V (valve). Cc ch ci ph
nu c th s dng ngay ng sau mt ch ci chnh thay i ngha chc
nng, v d PD biu din chnh lch (D) p sut (P).
Lu rng, cc k hiu s dng tun theo chc nng ch khng theo
nguyn tc kt cu hay nguyn tc lm vic ca thit b. V d, mt thit b o
lu lng theo nguyn tc chnh lch p sut c k hiu l FT ch khng
phi PDT. Ch ci u tin k hiu bin c o (u ra ca qu trnh) hoc
bin khi to ch khng phi bin iu khin (u ra iu khin). V d, mt
van iu chnh lu lng c iu khin bi mt b iu khin p sut c
k hiu l PV ch khng phi FV.
74
Bng 9.3:
Thay i
Cc ch ci ng sau
Chc nng hin th hoc
Chc nng u ra
b ng
Bo ng (Alarm)
t nng (Burner,
combustion)
Ty s dng
Ty s dng
Ty s dng
in p
Lu tc (Flow rate)
Chnh lch
(Differential)
Phn t sensor
T l (Fraction)
Knh (Glass), thit b
nhn
Dng in
Cng sut
Qut
Tn sut thay i
Mc (Level)
Cao (High)
Hin th (Indication)
Trm iu khin
nh sng (Light)
O Ty s dng
Hn ch (Orifice)
im th (Point)
p sut (Pressure)
Bc x, phng x
(Radiation)
Tc , tn s (Speed)
Nhit (Temperature)
Nhiu bin
Thp (Low)
Nht thi
(Momentary)
Ty s dng
Q S lng(Quantity)
Ty s dng
iu khin (Control)
G Ty s dng
M Ty s dng
Ty s dng
Thay i
Ty s dng
Ty s dng
An ton (Safety)
Truyn, pht
(Transmit)
a chc nng
a chc nng
a chc nng
Khng xp loi
Trc X
Trc Z
Khng xp loi
Khng xp loi
Khng xp loi
75
V d minh ha
Hnh 9.1 minh ha mt v d mch vng iu khin p sut. Lu chi tit
bn tri l c s cho thit k h thng v pht trin phn mm, trong khi lu
n gin ha bn phi c th xut hin trn cc lu cng ngh.
Mch vng iu khin p sut c iu khin bi trm iu khin DCS.
Gi tr t c a t mt my tnh thng qua ng truyn d liu. Mch
vng iu khin c s nhn 211, k hiu vng iu khin s 11 trn lu s
2. Thit b o p sut PT-211 c ni vi ng dn qua mt van kha v phm
vi lm vic 0-300 PSIG. Tn hiu ra l dng in 4-20mA, c k hiu u
vo AI-17 trong h DCS. B iu khin PIC-211 c thc hin thut ton PI
trn trm s 2 (C-2). u ra ca b iu khin c k hiu AO-21 c a
vo mt b chuyn i dng-p sut (PY-211) gn trn van iu chnh PCV211. Van iu chnh l loi tuyn tnh, ng an ton, c trang b b nh v
(P). C b nh v v b bin i c cp kh nn.
C-#2
(PI)
PAH
dP/dt PIC
211
S.P.
AI-17
AO-21
PIC
211
0-300#
PT
211
PY
211
AS
P
AS
LIN. FC
Chi tit
PCV
211
n gin
9.2.2
Chun m rng ISA S5.1 cho cc chc nng trong mt h iu khin phn
tn. Thc ra, S5.1 vn gi nguyn tp hp cc biu tng, nhng m rng v
chi tit ha ngha ca mt s biu tng.
Cc biu tng cho hin th/iu khin chia s
Thng thng ngi vn hnh c th can thip:
1) Hin th chia s
2) Hin th chia s v iu khin chia s
3) Truy nhp ch qua ng truyn thng
4) Giao din vn hnh trn ng truyn thng
Thit b lp ti v tr m rng:
2005, Hong Minh Sn
76
1) Lp trn panel ti v tr m rng, thng thng c giao din s
dng tng t, khng lp ti trm vn hnh trung tm
2) C th l mt b iu khin d phng hoc mt trm thao
tc bng tay
3) Truy nhp c th ch qua ng truyn thng
4) Giao din vn hnh qua ng truyn thng.
Thng thng ngi vn hnh khng th can thip:
1) B iu khin chia s cm (khng c giao din)
2) Hin th chia s lp ti hin trng
3) Tnh ton, iu ha tn hiu trong b iu khin chia s
4) C th c ni mng truyn thng
5) Thng thng vn hnh khng cn giao din
6) C th thay i khi cu hnh
Cc biu tng my tnh
Cc biu tng di y c s dng ch cc my tnh v chc nng
my tnh tch bit vi cc thnh phn c bn tch hp trong h DCS. Cc my
tnh ny c th c ni mng vi cc thnh phn cn li, hoc ng c lp.
Thng thng ngi vn hnh c th can thip:
1) Mn hnh ch th
2) My tnh iu khin
3) My tnh ghi chp
Bnh thng ngi vn hnh khng th can thip:
1) Giao din vo/ra
2) Tnh ton, iu ha tn hiu trong my tnh
3) C th s dng nh mt b iu khin cm hoc mt
module phn mm tnh ton.
Cc biu tng iu khin trnh t v logic
Biu tng cho iu khin logic hoc iu khin trnh t phc tp khng nh
ngha:
77
Tnh ton v iu ha tn hiu
Ngoi cc biu tng nh ngha trong S5.1, chun S5.3 cn b sung
biu tng ring cho tnh ton v iu ha tn hiu:
78
ANDN B
ST
Ladder Diagram(LD)
A B
-| |--|/|----------------( )
79
10.1.1
Kiu d liu
Cc kiu d liu c s
Cc kiu d liu c s chun ha trong IEC 61131-3 c lit k trong
bng 10.1, km theo qui nh v chiu di nh v gi tr khi to mc nh.
Phm vi biu din ca cc s c th suy ra t chiu di nh. Cch biu din
cc s thc tun theo chun IEC 559.
Bng 10-1:
STT
T kha
Kiu d liu
Chiu di
(bit)
Gi tr khi to
mc nh
BOOL
Kiu Bool
0/FALSE
SINT
INT
Kiu nguyn
16
DINT
Kiu nguyn p
32
LINT
Kiu nguyn di
64
USINT
UINT
16
UDINT
32
ULINT
64
10
REAL
S thc
32
0.0
11
LREAL
S thc di
64
0.0
12
TIME
--
T#0S
13
DATE
Ngy thng
--
D#0001-01-01
14
TIME_OF_DAY
TOD
--
TOD#00:00:00
15
--
DT#0001-01-0100:00:00
16
STRING
Chui k t 8bit
8xN
''
17
BYTE
Chui 8 bit
18
WORD
Chui 16 bit
16
19
DWORD
Chui 32 bit
32
20
LWORD
Chui 64 bit
64
21
WSTRING
Chui k t 16bit
16 x N
""
80
khng c ngha no khc trong mt chng trnh, do ngi s dng
khng th khai bo mt bin thuc kiu tng qut. Qui nh v cc kiu d
liu tng qut c minh ha trong bng 10-2.
Bng 10-2:
3
4
81
STT
M t/v d
Cc kiu cu trc, v d:
10.1.2
TYPE
ANALOG_CHANNEL_CONFIGURATION:
STRUCT
RANGE : ANALOG_SIGNAL_RANGE ;
MIN_SCALE : ANALOG_DATA ;
MAX_SCALE : ANALOG_DATA ;
END_STRUCT ;
ANALOG_16_INPUT_CONFIGURATION :
STRUCT
SIGNAL_TYPE : ANALOG_SIGNAL_TYPE ;
FILTER_PARAMETER : SINT (0..99) ;
CHANNEL: ARRAY [1..16] OF ANALOG_CHANNEL_CONFIGURATION;
END_STRUCT ;
END_TYPE
Data Type
Data Type
Data Type
KHAI BO HM
S DNG HM
Name
Name
P1
P2
P3
Data Type
X
0.25
P1
P2
P3
Cc tham s thc ti
82
END_FUNCTION
(* Gi hm *)
...
y := fct1(a:= x, b:= 2.0);
...
Cn lu :
Khai bo VAR_INPUT .. END_VAR cho cc bin u vo
Khai bo VAR .. EBD_VAR cho cc bin cc b
Kt qu tr v c gn cho tn hm
Cc hm cng c th c np chng c th p dng vi nhiu kiu
d liu khc nhau (Hnh 10-3).
HM THNG THNG
HM NP CHNG
ADD_REAL
ADD
ANY_NUM
ANY_NUM
ANY_NUM
REAK
REAL
REAL
ANY_NUM
REAL
FUNCTION_BLOCK
Hm v khi chc nng l cc khi t chc chng trnh c gi tr s dng
li. Mt khi chc nng ging nh mt i tng, c trng thi v c th c
nhiu u ra, v d cc b iu khin ng, cc khu Flip-Flop, Timer,
Counter. Nu so snh vi mt i tng th mt khi chc nng ch c mt
hm thnh vin duy nht, v th cch gi mt khi chc nng tng t nh
cch gi mt hm. Mi khi chc nng c mt trng thi ring nn ta phi
phn bit gia kiu khi chc nng (ging nh lp) v th nghim khi chc
nng (ging nh i tng). Ty theo ng cnh m khi nim khi chc nng
c th hiu theo mt trong hai ngha trn. Vic gi mt khi chc nng cng
c thng qua tn ca bin th nghim, ch khng thng qua tn kiu khi
chc nng, nh minh ha trn Hnh 10-4.
S DNG KHI CHC NNG
Tn bin th nghim
fb1
FB_NAME
Data Type
Data Type
Data Type
P1
P2
P3
O1
O2
FB_NAME
Data Type
Data Type
X
0.25
P1
P2
P3
O1
O2
Cc tham s thc ti
83
Di y l v d m mt khi chc nng, vit bng ST.
FUNCTION_BLOCK Example
VAR_INPUT
X :
BOOL;
Y :
BOOL;
END_VAR
VAR_OUTPUT
Z :
BOOL;
END_VAR
VAR
INTERNAL_STATE: BOOL;
END_VAR
(* statements of functionblock body *)
END_FUNCTION_BLOCK
Cn lu :
Khai bo
Khai bo
Khai bo
Khai bo
PROGRAM
Mt chng trnh c th coi nh mt mng cc hm v khi chc nng ni
vi nhau. Khc vi hm v khi chc nng, mt chng trnh c th s dng
cc bin ton cc, cc bin vo/ra qu trnh hoc cc bin nh a ch trc
tip. Mt bin c th thuc cc kiu d liu c bn hoc dn xut nu,
nhng cng c th l mt khi chc nng. Nh vy, cc khi chc nng c gi
tr s dng li, trong khi chng trnh th khng. Mt chng trnh hoc mt
khi chc nng c th c thc hin tun hon, theo s kin hay lin tc
nh cc tc v (TASK) tng ng. Nhiu chng trnh v khi chc nng c
th chia s cng mt tc v.
10.1.3
Ngn ng FBD
84
10.1.4
Ngn ng ST
Lnh trong ST
No.
Kiu lnh
Gn
S dng hm
Quay v RETURN
iu kin r nhnh if
Vng lp FOR
10
Lnh rng
V d
A := B;
CV := CV+1; C := SIN(X);
CMD_TMR(IN:=%IX5, PT:=T#300ms) ;
A := CMD_TMR.Q ;
RETURN ;
D := B*B - 4*A*C ;
IF D < 0.0 THEN NROOTS := 0 ;
ELSIF D = 0.0 THEN
NROOTS := 1 ;
X1 := - B/(2.0*A) ;
ELSE
NROOTS := 2 ;
X1 := (- B + SQRT(D))/(2.0*A) ;
X2 := (- B - SQRT(D))/(2.0*A) ;
END_IF ;
TW := BCD_TO_INT(THUMBWHEEL);
TW_ERROR := 0;
CASE TW OF
1,5: DISPLAY := OVEN_TEMP;
2: DISPLAY := MOTOR_SPEED;
3: DISPLAY := GROSS - TARE;
4,6..10: DISPLAY := STATUS(TW - 4);
ELSE DISPLAY := 0 ;
TW_ERROR := 1;
END_CASE;
QW100 := INT_TO_BCD(DISPLAY);
J := 101 ;
FOR I := 1 TO 100 BY 2 DO
IF WORDS[I] = 'KEY' THEN
J := I ;
EXIT ;
END_IF ;
END_FOR ;
J := 1;
WHILE J <= 100 & WORDS[J] <> 'KEY' DO
J := J+2 ;
END_WHILE ;
J := -1 ;
REPEAT
J := J+2 ;
UNTIL J = 101 OR WORDS[J] = 'KEY'
END_REPEAT ;
EXIT ;
;
85
10.1.5
Ngn ng SFC
Step 1
FILL
Transition 1
Step 2
Empty
Transition 2
Step 3
Hnh 10-5:
Mt v d SFC n gin
86
hin cc thut ton iu khin cao cp cng hon ton khng b gii hn
bi ngn ng lp trnh. Cc lut iu khin ny c th c s dng li nhiu
ln, v vy c th xy dng thnh mt th vin lp. Bn cnh cc yu t nh
tham s b iu khin v chu k ly mu, cn lu gii quyt hp l cc vn
thc t nh gii hn u vo, chuyn i ch iu khin bng tay/t
ng, hiu ng reset windup ( b iu khin PID).
a cc m vit bng C/C++ b sung vo th vin khi chc nng trong
mt h DCS, ngi lp trnh cn tun th theo mt qui nh nht nh. Thng
thng, vic ny khng d dng v i hi tnh nng m ca h thng.
87
88
biu. Hn na, kh nng tch hp h iu khin gim st vi cc ng dng
khc nh cc phn mm qun l, ti u ha h thng,... ca ton cng ty
cng tr nn d dng hn.
Trong gii php iu khin phn tn, h thng truyn thng cc cp di
(bus trng, bus chp hnh-cm bin) c sn. Nu nh mng my tnh
ca mt cng ty cng c trang b (ch yu dng Ethernet), th c s h
tng cho vic truyn thng khng cn l vn ln phi gii quyt. Chnh v
vy, trng tm ca vic xy dng cc gii php SCADA trong thi im hin
nay l vn la chn cng c phn mm thit k giao din v tch hp h
thng.
Trong mt h iu khin phn tn, chc nng SCADA l mt thnh phn
khng th thiu c. Nh vy c th ni, mt h DCS bao gi cng c chc
nng SCADA, trong khi mt h SCADA theo ng ngha ca n khng th l
mt h DCS.
11.1.1
Phn mm:
Giao din vo/ra (phn mm giao din qu trnh), di dng cc I/ODrivers, I/O-Servers (DDE,OPC,...).
Giao din ngi-my
89
H
THNG
CNH
GIAO
DIN
NGI
LP BO
CO T
NG
I/OI/ODRIVE
DRIVE
IU KHIN
CAO CP
C S D
LIU QU
I/OSERVER
I/
C s d liu qu trnh
H thng cnh bo, bo ng
Lp bo co t ng
iu khin cao cp: iu khin m, iu khin trnh t, iu khin cng
thc, iu khin chuyn gia...
11.1.2
90
Nng cao kh nng tng tc v kh nng m rng, hay ni cch khc
l tnh nng m ca h thng
Thun li trong vic s dng mt chun giao din qu trnh nh OPC
kt ni vi cc thit b cung cp d liu.
Qu tht, hu ht (nu khng ni l tt c) cc phn mm SCADA tin tin
nht hin nay u h tr COM, c th l u c ba c im nu trn. Nu
trc y to c mt mn hnh giao din ha, mt k s c kinh
nghim cn trung bnh mt vi ngy, th nay thi gian c th gim xung ti
mt vi gi. S dng mt cng c thch hp, ta c th hon ton tp trung vo
cng vic chnh m khng cn kin thc chuyn su v lp trnh. Cng ngh
i tng thnh phn v cc phng php khng lp trnh m ra kh nng
ny.
Kin trc Web
Ch trong vng my nm gn y, Web pht trin thnh mt trong
nhng cng ngh tin hc quan trng bc nht. Khng ch l mt phng tin
truyn b v truy nhp thng tin i chng nh trong thi gian u mi hnh
thnh, bn thn Web hin tr thnh mt mi trng a nng cho cc ng
dng phn tn.
Mt ng dng Web cu thnh bi s tng tc gia Web server, Web
browser, trang HTML (Hypertext Markup Language) vi cc ng dng v ph
kin khc. Nhng ng dng cng hay c gi l cc ng dng nhiu lp
(multi-tier applications).
S dng Web lm nn cho cc ng dng SCADA khng ch mang li hiu
qu v thi gian ci t phn mm, m trc tin l m ra kh nng mi cho
vic tch hp h thng t ng ha trong mt h thng thng tin thng nht
ca cng ty. iu khin gim st khng cn l chc nng c quyn ca cc
chuyn vin k thut. Mt gim c iu hnh sn xut, hay mt tng gim
c cng ty u c th quan st v tham gia iu hnh qu trnh sn xut t
phng lm vic ring, ch qua mn hnh, bn phm v chut. Tng t, cc
bo co v tnh hnh sn xut cng nh cc ch th khng nht thit phi i
theo con ng giy t hay truyn ming, m trc tip din ra "on-line".
a SCADA ln Web cng to iu kin thun li cho cc dch v bo tr h
thng t xa. Cc nh cung cp gii php t ng ha khng cn phi n trc
tip c s sn xut, m c th theo di ton b din bin qu trnh k thut
qua mt trnh duyt nh Internet Explorer hay Netscape Navigator, trn c s
c th chn on, xc nh li v a ra phng hng gii quyt thch
hp.
C th ni, mt trong nhng yu t mang li thnh cng cho cng ngh
Web l m hnh n gin, khng ph thuc vo nn trin khai v s dng.
Hu ht cc loi my tnh, hu ht cc h iu hnh thng dng u cho
2005, Hong Minh Sn
91
php ci t Web server v Web browser. Tuy nhin, m hnh Web nguyn
s th hin r nhng yu im sau:
Giao thc HTTP c tnh nng km, khng thch hp cho cc ng dng
mang tnh tng tc v thi gian thc.
S ngho nn ca HTML.
Cu trc x l nhiu lp mc d linh hot nhng hiu sut km.
an ton v tin cy ca Web cn rt thp.
khc phc nhng yu im trn, ngi ta a ra nhiu gii php
khc nhau. Trong phm vi hp ca bo co tc gi khng th a ra y ,
cng nh khng th i su vo chi tit tng gii php, nht l khi cc tin b
cng ngh Web hin nay c cp nht khng ngng. Nhn mt cch tng
qut, ta c th tm tt li nhng k thut chnh c p dng hin nay nh
sau:
Dng ActiveX-Controls hoc JavaApplets kt hp vi cc bin ng
(scripting language) nh VBScript, JavaScript,... hoc dng DynamicHTML nng cao tnh tng tc v kh nng lp trnh cho trang Web.
S dng giao thc ring bit kt hp vi ActiveX-Controls hoc
JavaApplets v b qua HTTP nhm tng hiu sut ca ng dng. K
thut ny thng c cc nh sn xut ActiveX-Controls hoc
JavaApplets p dng trong cc sn phm ca mnh.
Dng plug-ins trong Web server v Web browser m rng, ci tin
chc nng cho cc ng dng. K thut ny c dng chng hn trong
cc sn phm ca cng ty Netscape Communications.
Hu ht cc Web server v Web browser u dnh sn cc giao din lp
trnh (APIs) to iu kin cho ngi dng m rng, ci tin chc nng
cho cc ng dng.
Dng sn phm Web server v Web browser ring ti u tnh nng
vn hnh ca ng dng. K thut ny c dng chng hn trong Scout
- mt b chng trnh quan st tin trnh da Web ca cng ty
Wonderware.
92
Cu trc nhiu ngi s dng (multi-user)
Mt mn hnh/mt trm
Nhiu mn hnh/mt trm
Kin trc Client/Server: Cu trc mng phng v cu trc mng phn
cp
Cu trc h thng qui m ln:
S lng ln cc thit b thu thp d liu: Vai tr ca cc b tp trung
d liu
H thng din rng: Vai tr cc b dn knh/phn kn, cc b thu/pht,
modem, mng vin thng, Internet.
11.3.1
Yu cu chung
11.3.2
11.3.3
Yu cu cu trc cc mn hnh
Gn vi cc my mc, thit b, cng ngh thc
Khoa hc, kt hp hp l phng php s dng chuyn cp hoc la
chn nhanh
Phn cp mn hnh
Tng quan h thng (system overview), h thng con (subsystem
overview)
Tng quan nhm (group overview)
Hin th nhm (group display)
2005, Hong Minh Sn
93
Hin th chi tit (details display)
Hnh nh h thng, hnh nh phm vi/cng on/my mc di dng
lu cng ngh (process diagram) hoc hnh nh dy chuyn sn xut
th (trends): th thi gian thc, th qu kh
Ca s bo ng (alarm windows)
11.3.4
Cc nguyn tc thit k
Mu sc
Ch dng mu sc khi tht cn thit
Nn: mu ti, v d xm sm hoc xanh lam m
My mc, thit b: S dng hnh phng, mu v sng khc t so vi
nn, c gng trnh 3D, trnh cc mu hoa vn
Hnh tnh (ng ng, my mc): trnh cc mu ti, chi
Tn hiu trng thi, hnh ng: Chn cc mu ti, chi
Ch vit
Hn ch s font ch, kiu ch, chnh lch ln
Chn phng, trnh cc hiu ng c bit (3D, ln sng, ng vin,...)
Cc
hnh nh ng
H tr phn bit trng thi, v d nhp nhy
Nht qun trong tt c cc mn hnh
Cc s nn chnh cn phi, cc bin lin quan trc tip gn nhau v
cng cch biu din
Biu din cc n v vt l vi gi tr s v n v, khng dng %
94
12.2 C ch d phng
Yu cu:
Cc thnh phn quan trng cn c d phng hon ton trng hp
li mt thnh phn n (phn cng & phn mm) khng lm mt i tnh
nng do n cung cp
Li mi module hoc card c php khng gy ra t lit hn mt trm
vn hnh hoc mt vng iu khin.
Phn bit
D phng lnh
D phng nng: D phng cnh tranh v d phng d tr
Cc bin php d phng nng
D phng CPU: Mi trm iu khin cn c CPU d phng cnh tranh,
thc hin song song v ng b vi CPU chnh v so snh kt qu
D phng trm iu khin: D phng d tr 1:1, chuyn mch kp thi,
trn tru
D phng d tr h thng mng: D phng cp truyn, d phng
module truyn thng v cc thit b mng khc, chuyn mch kp thi,
trn tru, thi gian chuyn mch < 1ms
D phng vo/ra
D phng trm vn hnh 1:n
D phng trm server 1:1
D phng lnh:
Cho php thay th trc tuyn cc module vo/ra v cc card khc
Cho php thay th cc trm iu khin trong mt thi gian nhanh nht
95
12.3 C ch an ton
C c ch dng an ton, dng khn cp (mch cng hoc qua bus an
ton) khi h thng c cc c cu chuyn ng
Tn hiu ra tng t h tr ch an ton khi mt lin lc vi trm iu
khin hoc khi pht hin trm iu khin c li (gi gi tr cui hoc a
v gi tr mc nh)
12.5 Bo mt
t ch bo mt theo trm hoc theo ngi s dng hn ch, kim
sot quyn truy nhp d liu v iu khin
t ch bo mt da trn tng tag ring r hoc tng ca s ring r
Ngi vn hnh cn s dng m ID v mt khu
Cho php thc hin bo mt theo nhm
12.6 Bo tr
Ch bo tr: H thng cn cho php ngi vn hnh a trc tip gi
tr bin qu trnh trong trng hp thit b trng hng, cn sa cha
hoc ang c hiu chnh
Ch th li: mi module, mi card hoc b ngun cn c trang b n
LED hoc n khc ch th trng thi vn hnh
Chn on: H thng phi h tr chn on trc tuyn vi cc yu cu
ti thiu nh:
- CPU ca trm iu khin cn c bin php pht hin v sa li trong b
nh
-
Mng truyn thng thi gian thc cn s dng bin php bo ton d
liu pht hin li
96
trnh ng dng v cc gi phn mm chun cng nh tu chn phi
c cung cp cng a cng hoc a CD.
Cc cng c c bit do nh sn xut cung cp, phc v chn on v
thay th thit b
97
13.1.2
13.1.3
Tnh nng m
13.1.4
Cu hnh h thng
n gin, hng i tng
Kh nng pht trin h thng mt cch xuyn sut
2005, Hong Minh Sn
98
Cu hnh v tham s ha cc thit b v mng truyn thng d dng
qua phn mm t trm k thut
Lp
trnh iu khin
n gin, hng i tng
Cc ngn ng lp trnh chuyn dng (FBD, SFC, ST,...)
Cc ngn ng lp trnh bc cao (C/C++, BASIC)
Lp trnh giao tip ngm hay hin
Kh nng t m rng th vin chc nng (thng qua mt ngn ng lp
trnh bc cao)
13.1.5
C ch d phng
Kh nng bo mt
...
13.1.6
Gi thnh, chi ph
Chi ph ban u
Chi ph thit k h thng
Chi ph phn cng
Chi ph phn mm cng c
Chi ph pht trin phn mm ng dng
Chi ph trin khai, a vo vn hnh
Chi ph o to, chuyn giao cng ngh
...
Chi ph vn hnh
Chi ph bo tr, bo dng thit b v phn mm
Chi ph thit b thay th
Chi ph dch v h tr k thut
Chi ph dng h thng khi xy ra s c
...
99
So snh vi gii php PC + SCADA/HMI
Tham kho [10]
100
101
Hp tc
1
Agent hp tc
Hc
2
4
T hot
ng
102
nh v hnh vi ca mnh, t hot ng m khng cn i nhng tc
ng t ngoi vo.
C kh nng hc (Learning): tn ti trong mt mi trng ng, cc agent
phi c kh nng hc c th thch nghi v gii quyt nhng vn
ny sinh.
C kh nng giao tip (Communication): giao tip gia cc agent, v gia
agent vi con ngi.
C kh nng phi hp hot ng (Co-operation): vi cc agent khc v vi
con ngi nhm gii quyt nhng vn phc tp m mt agent khng
th thc hin.
C kh nng di chuyn (Mobility): mt agent c th di chuyn qua h
thng, t khu vc ny n khu vc khc nhm thu thp d liu.
t vn
103
A1.0
A1.4
A1.2
A1.6
A1.8
1
0
A3.0
2
A3.2
A3.4
A3.6
A3.8
A5.4
A5.6
A5.8
A5.1
A5.2
104
iu khin phn tn ni chung v cc h thng giao thng ni ring l mt
hng nghin cu c nhiu trin vng.
Martin Fowler, Kendall Scott: UML Distilled: A Brief Guide to the Standard
Object Modeling Language (2nd Edition). Addison-Wesley, 1999.
[2]
[3]
Erich Gamma et. al.: Design Patterns Elements of Reuseable ObjectOriented Software. Addision- Wesley, 1995.
[4]
[5]
[6]
[7]
[8]
[9]
ng Anh Vit, Bi Quang Vit: Xy dng phn mm khung cho gii php
iu khin trn nn PC. n tt nghip, BM iu khin T ng, i
hc Bch khoa H Ni, 5/2002.