Khí Nén

BO GIAO DUC VA AO TAO
AI HOC QUOC GIA THANH PHO HO CH MINH

TRNG AI HOC S PHAM KY THUAT THANH
PHO HO CH MINH
KHOA : IEN
BO MON : IEN IEN T
LUAN VAN TOT NGHIEP
LUAN VAN TOT NGHIEP
e tai :
SOAN E CNG THC TAP IEN - KH
NEN
CHO SINH VIEN NGANH IEN
VA THI CONG MO HNH TAY MAY
Sinh vien thc hien : Pham
Van Tam
Lp : 95 K
Giao vien hng dan : Vu o
Cng
THANH PHO HO CH MINH . THANG 3 - 2000
LIET KE CAC HNH
Hnh 2-1 Ky hieu chuyen oi v tr cua nong van
Trang 5
Hnh 2-2 Ky hieu ca xa kh..............................Trang 6
Hnh 2-3 Ky hieu cac ca noi cua van ao chieu
Trang 6
Hnh 2-4 Cac loai van ao chieu........................Trang 6
Hnh 2-5 Tn hieu tac ong ................................Trang 7
Hnh 2-6 Van ao chieu 2/2..................................Trang 7
Hnh 2-7 Van trt ao chieu 3/2.........................Trang 8
Hnh 2-8 Ky hieu van mot chieu........................Trang 8
Hnh 2-9 Ky hieu van logic OR..............................Trang 8
Hnh 2-10 Ky hieu van logic AND............................Trang 9
Hnh 2-11 Ky hieu van xa kh nhanh.....................Trang 9
Hnh 2-12 Van tiet lu co tiet dien khong thay oi
Trang 9
Hnh 2-13 Van tiet lu co tiet dien thay oi......Trang 9
Hnh 2-14 Van tiet lu mot chieu ieu chnh bang tay
Trang 10
Hnh 2-15 Van tiet lu mot chieu ieu chnh bang c
chan Trang 10
Hnh 2-16 Van an toan..............................................Trang 10
Hnh 2-17 Van tran...................................................Trang 10
Hnh 2-18 Van ap suat ieu chnh t xa...........Trang 11
Hnh 2-19 Cam bien bang tia re nhanh.............Trang 12
Hnh 2-20 Cam bien bang tia phan hoi.............Trang 12
Hnh 2-21 Cam bien bang tia qua khe h...........Trang 12
Hnh 2-22 Ky hieu bieu dien bieu o trang thai
Trang 13
Hnh 2-23 Xilanh tac dung n................................Trang 14
Hnh 2-24 Xilanh tac dung kep..............................Trang 14
Hnh 2-25 Xilanh quay................................................Trang 15
Hnh 2-26 Xilanh trt...............................................Trang 15
Hnh 2-27 Ky hieu ong c kh nen.....................Trang 15
Hnh 2-28 Thiet b phan loai..................................Trang 18
Hnh 2-29 Thiet b kiem tra bu pham.................Trang 21
Hnh 2-30 Thiet b cat............................................Trang 24
Hnh 2-31 ieu khien bang tai............................Trang 27
Hnh 2-32 Thiet b dap tao dang.........................Trang 29
Hnh 2-33 May cong tac........................................Trang 32
Hnh 2-34 Thiet b han ong..................................Trang 36
Hnh 2-35 Thiet b phan chia.................................Trang 39
Hnh 2-36 Thiet b han nhiet................................Trang 42
Hnh 2-37 Tram chuyen tiep..................................Trang 46
Hnh 2-38 Tay may gap hang ..............................Trang 49
Hnh 2-39 Thiet b dap chi tiet.............................Trang 52
Hnh 3-1 Cac phan t cua mach ieu khien. Trang 59
Hnh 3-2 He thong ieu khien ien kh nen...Trang 59
Hnh 3-3 Ky hieu cac loai ieu khien..............Trang 60
Hnh 3-4 Cong tac.................................................Trang 60
Hnh 3-5 Nut nhan................................................Trang 61
Hnh 3-6 R le ong mach.....................................Trang 61
Hnh 3-7 R le thi gian tac ong muon ..........Trang 62
Hnh 3-8 R le thi gian nha muon.....................Trang 62
Hnh 3-9 Cong tac hanh trnh ien c...............Trang 62
Hnh 3-10 Cong tac hanh trnh nam cham..........Trang 62
Hnh 3-11 Cam bien cam ng t ......................Trang 63
Hnh 3-12 Cam bien ien dung.............................Trang 63
Hnh 3-13 Cam bien quang.....................................Trang 63
Hnh 3-14 Phan t chuyen oi tn hieu kh nen ien
Trang 64
Hnh 3-15 Khoi x ly CPU 214...............................Trang 68
Hnh 3-16 Vong quet trong S7 - 200.......................Trang 70
Hnh 3-17 Dung cu cat giay..................................Trang 79
Hnh 3-18 Thiet b sap xep...................................Trang 83
Hnh 3-19 Ban xoay..................................................Trang 87
Hnh 3-20 Dung cu cha bong................................Trang 92
Hnh 3-21 Dung cu kep chi tiet..............................Trang 95
Hnh 3-22 Dung cu ong dau................................Trang 98
Hnh 3-23 Tram chuyen hang................................Trang 103
Hnh 3-24 Thiet b khoan chi tiet...........................Trang 107
Hnh 3-25 Thiet b gia cong chi tiet......................Trang 112
Hnh 3-26 Mach khi ong Y/ ..............................Trang 117
Hnh 3-27 Quy trnh cong nghe thiet b dap chi tiet
Trang 122
Hnh 3-28 Tay may gap hang...............................Trang 127
Hnh 3-29 Mach KK cho ong c ien Roto day quan
Trang 133
Hnh 4-1 Mo hnh tay may....................................Trang 139
Hnh 4-2 Bieu o trang thai ( ieu khien bang kh
nen ) Trang 140
Hnh 4-3 S o Logic...............................................Trang 145
Hnh 4-4 Bieu o trang thai ( ieu khien bang ien
kn) Trang 146
CHNG I
DAN NHAP
I . AT VAN E
II . TAM QUAN TRONG VA KHA NANG NG DUNG
CUA KH NEN
III . U NHC IEM CUA KH NEN
IV . MUC CH YEU CAU GII HAN E TAI .
I. at van e:
Kh nen la mot khai niem a co t rat lau, trc
Cong nguyen, kh nen a c biet en vi mot vai ng
dung trong che tao vu kh. T nhng nam 140 TCN, con ngi
a biet che tao ra thiet b ban ten hay nem a ng dung
nguyen ly kh nen.
Tuy nhien do s phat trien khoa hoc ky thuat thi o
khong ong bo, khong co s phoi hp ve kien thc gia
cac nganh nh vat ly, c hoc, vat lieu nen pham vi ng
dung cua kh nen con rat han che, chu yeu la trong lnh
vc che tao vu kh.
en the ky 17, ky s che tao ngi c la Otto von
Guerike (1602 1686), nha toan hoc ngi Phap la Blaise Pascal
(1623 1662) cung vi nha vat ly hoc ngi Phap la Denis
Papin (1647 1712) a xay dng nen tang cho viec ng dung
cua kh nen.
Trong the ky 19 , hang loat cac phat minh ng dung kh
nen ra i. Tai Paris nhng nam 70 cua the ky 19 a xuat
hien mot trung tam s dung nang lng kh nen co cong
suat ln.
Thi gian gan ay, do s phat trien cua nang lng
ien, ng dung cua nang lng kh nen co giam. Tuy nhien
do tnh an toan cao hn s dung ien nen viec s dung nang
lng kh nen van ong mot vai tro kha quan trong trong cac
lnh vc ma neu s dung ien se gay nguy hiem.
II. Tam quan trong va kha nang ng dung cua
kh nen:
1./ Trong lnh vc ieu khien:
Nhng nam sau khi cuoc cach mang cong nghiep no
ra, do s tat yeu cua qua trnh t ong hoa trong san xuat,
ky thuat ieu khien bang kh nen c phat trien rong rai
va a dang hn.
He thong ieu khien bang kh nen thng c s
dung trong cac lnh vc co nguy c xay ra cac nguy hiem cao
do ieu kien ve sinh moi trng kha tot va tnh an toan cao.
He thong ieu khien bang kh nen thng c s
dung trong cac lnh vc nh: cac thiet b phun sn, cac loai o
ga kep chi tiet, lnh vc san xuat cac thiet b ien t hay
trong cac thiet b van chuyen va kiem tra.
2./ Trong lnh vc truyen ong:
_ Cac dung cu, thiet b, may va ap trong lnh vc khai
thac than, khai thac a hoac trong cac cong trnh xay dng.
_ Truyen ong quay vi cong suat ln bang kh nen
gia thanh rat cao, cao hn t 10 en 15 lan so vi ong c
ien. Nhng ngc lai, the tch va nang lng ch bang 2/3
nh nhng dung cu van vt, may khoan, may mai la nhng
dung cu co kha nang s dung truyen ong bang kh nen.
_ Truyen ong thang: cac o ga kep chi tiet, cac
thiet b ong goi cac thiet b may gia cong, cac thiet b
lam sach hay cac he thong phanh ham cua oto.
_ Trong cac he thong o ac va kiem tra chat lng
san pham.
III. u nhc iem cua kh nen:
1./ u iem :
_ Co kha nang trch cha e thanh lap tram trch
cha kh nen.
_ Co kha nang truyen tai nang lng i xa do o nht
ong hoc cua kh nen nho va ton that tren ng dan
thap.
_ Khong gay o nhiem moi trng.
_ He thong phong nga qua ap suat gii han c
am bao.
2./ Nhc iem :
_ Lc truyen tai trong thap.
_ Khi tai trong thay oi, van toc truyen cung thay oi.
_ Dong kh nen thoat ra gay tieng on ln.
IV. Muc ch yeu cau Gii han e tai:
Trong giai oan hien nay, Viet Nam ang tien hanh cong
cuoc cong nghiep hoa at nc, do o van e T ONG
HOA trong san xuat ang c at len hang au. T ong
hoa trong san xuat cong nghiep se gop phan tang nang
suat lao ong cua ngi cong nhan, giam bt sc lc bo ra
trong cac cong viec nang nhoc, ha gia thanh nhng lai nang
cao chat lng san pham. Mat khac ap ng oi hoi ngay
cang cao cua nganh cong nghiep nh: chnh xac, an toan,
tien li, de kiem tra, kiem soat
Muon co c ieu o, can phai co s ket hp chat
che gia hai lnh vc ma trc ay chung hoan toan oc
lap vi nhau: o la ien ien t va c kh. Do o, mot
thuat ng mi ra i trong nhng nam gan ay la C
IEN T (Mechatronic).
Tuy nhien , e co the lam viec tot trong mot moi
trng san xuat vi cac thiet b t ong, ngi lao ong
phai c ao tao c ban. Ngay nay, mot so trng ai hoc,
trung hoc nghe a a bo mon C ien t vao giang day
cho hoc sinh nham tao cho ho co c nhng kien thc c
ban ve t ong hoa phuc vu cho cong viec sau nay .
Chnh v nhng ly do va neu a thuc ay em thc
hien e tai nay. La mot e tai mang tnh chat mot tai
lieu hng dan thc tap cho sinh vien nganh ien nen c
chia lam 2 phan:
_ Ly thuyet va bai tap ieu khien bang Kh nen .
_ Ly thuyet va bai tap ieu khien bang ien Kh
nen ket hp vi PLC.
Vi cach trnh bay tren, giup cho sinh vien co c s
so sanh gia hai ky thuat ieu khien: ieu khien n thuan
bang kh nen va he thong kh nen c ieu khien bang
ien ket hp vi ieu khien lap trnh PLC, t o rut ra c
nhng u va nhc iem gia hai phng phap ieu khien
nay.
Song song vi viec xay dng he thong bai thc tap
nh tren, em cung vi sinh vien Phu Quoc Thai, ngi cung
lam chung mot e tai, a thiet ke mot mo hnh tay may
gap san pham ng dung kh nen va PLC e ieu khien.
ay la mot ng dung cu the trong san xuat cong nghiep.
Do ay la lan au tien em nghien cu ve lnh vc
kha mi me nay, ong thi vi kha nang va quy thi
gian han che nen chac chan se khong tranh khoi nhng
thieu sot, em rat mong c s gop y cua thay co va ban
be e o an c tot hn.
CHNG II
TONG QUAN VE
HE THONG IEU
KHIEN BANG KH NEN
A . MAY NEN KH THIET B PHAN PHOI KH
NEN
B . CAC PHAN T TRONG HE THONG IEU
KHIEN
C . C CAU CHAP HANH
D . THIET KE MACH KH NEN BANG BIEU O
KARNAUGH
E . CAC BAI TAP AP DUNG
A. May nen kh Thiet b phan phoi kh nen:
I. May nen kh:
1) Khai niem: May nen kh la thiet b tao ra ap
suat kh, o nang
lng c hoc cua ong c ien hoac ong c ot trong c
chuyen oi thanh nang lng kh nen va nhiet nang.
2) Phan loai:
a. Theo ap suat:
May nen kh ap suat thap: p 15 bar
May nen kh ap suat cao: p 15 bar
May nen kh ap suat rat cao: p 300bar
b. Theo nguyen ly hoat ong:
May nen kh theo nguyen ly thay oi the tch:
may nen kh kieu pittong, may nen kh kieu
cach gat, may nen kh kieu root, may nen kh
kieu truc vt.
May nen kh tuabin: may nen kh ly tam va
may nen kh theo chieu truc.
II. Bnh trch cha kh nen:
Kh nen sau khi ra khoi may nen kh va c x ly th
can phai co mot bo phan lu tr e s dung. Bnh trch
cha kh nen co nhiem vu can bang ap suat kh nen t
may nen kh chuyen en trch cha, ngng tu va tach nc.
Kch thc bnh trch cha phu thuoc vao cong suat
cua may nen kh va cong suat tieu thu cua cac thiet b
s dung, ngoai ra kch thc nay con phu thuoc vao phng
phap s dung: v du s dung lien tuc hay gian oan.
Ky hieu :
III. Mang ng ong dan kh nen:
Mang ng ong dan kh nen la thiet b truyen dan
kh nen t may nen kh en bnh trch cha roi en cac
phan t trong he thong ieu khien va c cau chap hanh.
Mang ng ong dan kh nen co the phan thanh 2
loai:
Mang ng ong c lap rap co nh
(mang ng ong trong nha may)
Mang ng ong c lap rap di ong
(mang ng ong trong day chuyen hoac trong
may moc thiet b)
Trong bo th nghiem, ng ong dan kh nen c trang
b cho phep thao lap de dang va nhanh chong. Noi he
thong en cac thiet b bang cach n gian la ay ong
vao cong vao (in-let) hay cong ra (out-let). Thao ong ra bang
cach mot tay e vao vanh ty, tay kia keo ong ra.
B. Cac phan t trong he thong ieu khien:
I ./ Khai niem: Mot he thong ieu khien bao gom
t nhat la mot mach ieu khien vong h (Open loop Control
System) vi cac phan t sau:
_ Phan t a tn hieu : nhan nhng gia tr cua ai
lng vat ly nh ai lng vao, la phan t au tien cua
mach ieu khien. V du: van ao chieu, rle ap suat.
_ Phan t x ly tn hieu: X ly tn hieu nhan vao
theo mot quy tac logic nhat nh, lam thay oi trang thai cua
phan t ieu khien. V du: van ao chieu, van tiet lu, van
logic OR hoac AND.
_ C cau chap hanh: thay oi trang thai cua oi
tng ieu khien, la ai lng ra cua mach ieu khien. V du:
xilanh, ong c kh nen.
II. Van ao chieu:
Van ao chieu co nhiem vu ieu khien dong nang
lng bang cach ong m hay thay oi v tr cac ca van e
thay oi hng cua dong kh nen.
1) Ky hieu cua van ao chieu:
V tr cua nong van c ky hieu bang cac o vuong
lien nhau vi cac ch cai o,a ,b ,c , hay cac ch so 0, 1, 2,
Hnh 2-1 Ky hieu chuyen oi v tr cua nong van

V tr khong la v tr ma khi van cha co tac ong cua
tn hieu ben ngoai vao. oi vi van co 3 v tr, th v tr
a o b b a
gia, ky hieu o la v tr khong. oi vi van co 2 v tr th v
tr khong co the la a hoac b, thong thng v tr ben
phai b la v tr khong.
Ca noi van c ky hieu nh sau: ISO 5599
ISO 1219
Ca noi vi nguon(t bo loc kh) 1 P
Ca noi lam viec 2 , 4, 6, A , B , C,
Ca xa kh 3 , 5 , 7 R , S , T
Ca noi tn hieu ieu khien 12 , 14 X , Y
Trng hp a la ca xa kh khong co moi noi cho
ong dan, con ca xa kh co moi noi cho ong dan kh la
trng hp b.
Ben trong o vuong cua moi v tr la cac ng mui
ten bieu dien hng chuyen ong cua dong kh nen qua
van. Khi dong b chan th c bieu dien bang dau gach
ngang.
Ky hieu va ten goi cua van ao chieu:
Hnh tren la ky hieu cua van ao chieu 5/2 trong o:
5 : ch so ca
2 : ch so v tr
Cach goi ten va ky hieu cua mot so van ao chieu:
a b
Hnh 2-2 K hieu ca xa
kh
Van ao chieu 2/2
Van ao chieu
4/2
Van ao chieu
5/2
Hnh 2-4 Cac loai van ao
chieu
1 0
Ca xa kh khong co moi noi
cho ong dan
2(A
)
4(B
)
5(S
)
1(P
)
3(R
)
Noi vi nguon
kh nen
Ca xa kh co
moi noi cho
ong dan
14(Z
)
Ca noi ieu
khien
12(Y
)
Ca noi ieu
khien
Ca 1noi vi
ca 2
Ca 1noi vi
ca 4
Hnh 2-3 K hieu cac ca noi cua
van ao chieu
2) Tn hieu tac ong:
Tn hieu tac ong vao van ao chieu co 4 loai la: tac
ong bang tay, tac ong bang c hoc, tac ong bang kh
nen va tac ong bang nam cham ien.
Tn hieu tac ong t 2 pha ( oi vi van ao chieu
khong co v tr khong) hay ch t 1 pha (oi vi van ao
chieu co v tr khong).
a. Tac ong bang tay:
b. Tac ong bang c:
c. Tac ong bang kh nen:
Trc tiep bang dong kh nen
vao
ra
vao vi ng knh 2 au
nong van khac nhau
Gian tiep bang dong kh nen ra qua
van phu tr
K hieu nut nhan
tong quat
Nut bam
Tay gat
Ban ap
au do
C chan bang con lan , tac
ong 2 chieu
C chan bang con lan , tac
ong 1 chieu
Lo xo
Nut nhan co ranh nh v
d. Tac ong bang nam cham ien:
Hnh 2-5 Tn hieu tac ong
3) Van ao chieu co v tr khong:
Van ao chieu co v tr khong la loai van tac ong
bang c lo xo va ky hieu lo xo nam ngay v tr ben canh o
vuong pha ben phai cua ky hieu van. Tac ong len pha
oi dien nong van la tn hieu tac ong bang c, kh nen hay
bang ien. Khi cha co tn hieu tac ong, v tr cua cac ca
noi c bieu dien trong o vuong pha ben phai oi vi van
ao chieu 2 v tr. Con oi vi van ao chieu 3 v tr th v tr
khong nam gia.
V du : Van ao chieu 2/2 tac ong bang nam cham
ien:
Hnh 2-6 Van ao chieu 2/2
Van co 2 ca P va R, 2 v tr 0 va 1. Tai v tr 0, ca P
va R b chan. Khi cuon Y co ien, t v tr 0 van chuyen sang
v tr 1, ca P noi vi ca R. Khi cuon Y mat ien, do tac
ong cua lo xo pha oi dien, van se quay tr ve v tr ban
au.
4) Van ao chieu khong co v tr khong:
Khi khong co tn hieu tac ong len au nong van na,
th v tr cua van van c gi nguyen i tn hieu tac ong
t pha nong van oi dien. V tr tac ong k hieu a , b, c,
Tn hieu tac ong co the la:
_ tac ong bang tay hay ban ap.
*
Trc tiep
Bang nam cham ien va van phu
tr
Tac ong theo cach hng dan cu
the
R
1 0
P
Y
_ tac ong bang dong kh nen ieu khien i vao hay
ra t 2 pha nong van
_ tac ong trc tiep bang ien t hay gian tiep bang
dong kh nen i qua van phu tr.
V du: Van trt ao chieu 3/2 tac ong bang nam
cham ien.
Hnh 2-7 Van trt ao chieu 3/2
Khi cuon Y1 co ien th ca P noi vi ca A, ca R b
chan. Khi cuon Y2 co ien th ca A noi vi ca R con ca P
b chan.
III. Van chan:
Van chan la loai van ch cho dong kh nen i qua mot
chieu, chieu con lai b chan. Van chan gom co cac loai sau:
_ Van 1 chieu
_ Van Logic (OR , AND )
_ Van xa kh nhanh
1) Van mot chieu: Van mot chieu co tac dung ch
cho dong kh nen i qua mot chieu( t A qua B) ,
chieu ngc lai b chan.
Ky hieu :
Hnh 2-8 Ky hieu van mot chieu
2) Van logic OR: Khi co dong kh nen vao t P1 th ca
P2 b chan va ca P1 noi vi ca A. Ngc lai khi
dong kh nen vao P2 th ca P1 b chan, ca P2 noi
vi ca A.
Ky hieu :
Hnh 2-9 Ky hieu van logic OR
A
A B
A
P
2
P
1

R
a b
P
Y1 Y2
3) Van logic AND: Khi co dong kh nen vao P1 th P1 b
chan, va ngc lai khi co dong kh nen vao P2 th P2
b chan. Ch khi nao ca P1 va P2 co dong kh nen
vao th mi co kh nen qua ca A.
Ky hieu:
Hnh 2-10 Ky hieu van logic AND
4) Van xa kh nhanh: Khi dong kh nen vao ca P,
chan ca R, ca P noi vi ca A. Khi dong kh nen
vao t A, ca P b chan, ca A noi vi ca R, kh
c xa nhanh ra ngoai.
Ky hieu:
Hnh 2-11 Ky hieu van xa kh nhanh
IV. Van tiet lu:
Van tiet lu co nhiem vu thay oi lu lng dong kh
nen, co ngha la thay oi van toc cua c cau chap hanh.
1) Van tiet lu co tiet dien khong oi: Khe h
cua van co tiet dien khong thay oi, do o lu
lng dong chay khong thay oi.
Ky hieu:
Hnh 2-12 Van tiet lu co tiet dien khong thay oi
2) Van tiet lu co tiet dien thay oi: Lu lng
dong chay qua van thay oi c nh vao mot vt
ieu chnh lam thay oi tiet dien cua khe h.
Ky hieu:

Ky hieu chung Co moi noi ren
Khong co moi noi ren
A
P
2
P
1
P
A
R
A B
Hnh 2-13 Van tiet lu co tiet dien thay oi
3) Van tiet lu mot chieu ieu chnh bang tay:
Nguyen ly hoat ong tng t nh van tiet lu mot
chieu ieu chnh bang tay, tuy nhien dong kh nen
ch co the i mot chieu t A qua B , chieu ngc lai
b chan.
Ky hieu :
Hnh 2-14 Van tiet lu mot chieu ieu chnh bang tay
4) Van tiet lu mot chieu ieu chnh bang c
chan: Dong kh nen ch co the i mot chieu t A
sang B, tuy vao v tr cua c chan ma tiet dien
cua khe h cua van thay oi, lam cho lu lng dong
chay thay oi.
Ky hieu :
Hnh 2-15 Van tiet lu mot chieu ieu chnh bang c
chan
V. Van ap suat:
1) Van an toan: Bnh thng khi ap suat nho hn hoac
bang ap suat cho phep, ca R b chan, nhng khi ap
suat ln hn ap suat cho phep, ca R m ra, kh
nen t ca P theo ca R thoat ra ngoai.
Ky hieu :

Hnh 2-16 Van an toan
2) Van tran: Nguyen tac hoat ong tng t nh van
tran, nhng khi ap suat bang hoac ln hn ap suat
cho phep th ca P noi vi ca A.

A B
A
B
P(1)
R(3)
Ky hieu :
Hnh 2-17 Van tran
3) Van ap suat ieu chnh t xa : Nguyen ly hoat
ong cua van ap suat ieu chnh t xa: khi co tn
hieu ap suat Z tac ong gian tiep qua van tran,
ca P noi vi ca A.
Hnh 2-18 Van ap suat ieu chnh t xa
VI. Van chan khong:
Van chan khong la bo phan co nhiem vu hut va gi
chi tiet bang lc hut chan khong. Chan khong c tao ra
bang bm chan khong hay bang nguyen ly ong Ventury. Kh
nen vi ap suat p trong khoang t 1,5bar 10bar se theo ong
Ventury theo ca R thoat ra ngoai. Tai phan cuoi ong Ventury,
chan khong se c tao thanh (ca noi U).
Ky hieu :

Ca noi U se noi vi mot a hut lam bang nha
tong hp hoac bang cao su.
Lc hut chan khong:
A P(1)
P R
U
D
p
D
F =
4
. 14 , 3
2
u a
P P p =
A
Z P
R
Trong o : F : lc hut chan khong (N)
D : ng knh a hut (m)
P
a
: ap suat khong kh ktc (N/m
2
)
P
u
: ap suat khong kh tai ca U (N/m
2
)
VII. Cam bien bang tia:
Cam bien bang tia thuoc loai cam bien khong tiep
xuc, nguyen tac hoat ong da vao dong kh nen. Co 3 loai:
1) Cam bien bang tia re nhanh: Dong kh nen
vao ca P, neu khong co vat can th ap suat se
i thang, neu co vat can th dong kh nen se re
nhanh qua ca X.
Ky hieu:
Hnh 2-19 Cam bien bang tia re nhanh
2) Cam bien bang tia phan hoi: Dong kh nen i
vao ca P, neu khong co vat can, tn hieu phan
hoi X=0, neu co vat can, X=1 .
Ky hieu:
Hnh 2-20 Cam bien bang tia phan hoi
3) Cam bien bang tia qua khe h: Cam bien bang
tia qua khe h gom 2 bo phan: bo phan phat va
bo phan nhan. Bo phan phat va bo phan nhan
co cung ap suat p khoang 150 mbar. Nhng trong
mot so ng dung, ap suat cua bo phan phat co
the la 4 bar va ap suat cua bo phan nhan la 0,5
bar. Truc cua c cau phat va c cau nhan phai lap
rap that ong tam.
Ky hieu:
Hnh 2-21 Cam bien bang tia qua khe h
X
P
P
X
P
X P
VIII. Thiet ke Bieu dien bieu o trang thai:
e bieu dien chi tiet chu trnh hoat ong cua cac nhom
trong he thong ieu khien ien kh nen ngi ta
thng s dung bieu o trang thai. Thong qua bieu o
trang thai, chung ta hnh dung ro rang va hnh tng hn
chuyen ong cua tng nhom va moi quan he gia
chung vi nhau qua tng bc hoat ong.
Bieu o trang thai bieu dien cac phan t trong mach,
moi lien he gia cac phan t va trnh t chuyen mach
cua cac phan t.
Truc toa o thang ng bieu dien trang thai. Truc toa
o nam ngang bieu dien cac bc thc hien hoac thi
gian hanh trnh. Hanh trnh lam viec c chia thanh cac
bc. S thay oi trang thai trong cac bc thc hien
bieu dien bang net am. S lien ket cac tn hieu c
bieu dien bang cac ng net nho.
Ky hieu bieu dien trong bieu o trang thai:
Hnh 2-22 Ky hieu bieu dien bieu o trang thai
A
T
T T
S
3
Nut ngat
Cong tac chon che
o lam viec (bang
tay hoac t ong)
Nut t ong
Nut an
en bao hieu
Nut an tac ong
ong thi
Lien ket OR
co mot
nhanh phu
nh
Phan t tn
hieu tac
ong bang c
Lien ket AND
Lien ket OR
Tn hieu re
nhanh
p
t
Cong tac ngat khi
nguy hiem
Nut ong
Nut ong & ngat
Phan t thi
gian
Phan t ap
suat
C. C cau chap hanh:
I. Yeu cau:
C cau chap hanh co nhiem vu bien oi nang lng
kh nen thanh nang lng c hoc. C cau chap hanh co the
thc hien chuyen ong thang (xilanh) hoac chuyen ong quay
(ong c kh nen).
II. Xilanh:
1) Xilanh tac dung n (xilanh tac dung mot chieu)
: Ap lc kh nen ch tac dung vao mot pha cua
xilanh, pha con lai la do ngoai lc hay lo xo tac dung.
Ky hieu:
Hnh 2-23 Xilanh tac dung n
a. chieu tac dung ngc lai do ngoai lc
b. chieu tac dung ngc lai do lo xo
2) Xilanh tac dung 2 chieu (xilanh tac dung kep):
Ap suat kh nen c dan vao 2 pha cua xilanh, do
yeu cau ieu khien ma xilanh se i vao hay i ra
tuy thuoc vao ap lc kh nen vao pha nao.
Ky hieu:
Hnh 2-24 Xilanh tac dung kep
3) Xilanh quay :
Hnh bieu dien bieu tng cua xilanh quay. Hai ngo vao
ieu khien e ieu khien piston co rang di chuyen qua lai.
Khi can piston di chuyen se an khp vi mot banh rang
lam banh rang quay. Truc banh rang se c dung e gan
c cau chuyen ong.
Ky hieu :
b
a
K hieu
chung
K hieu theo
yeu cau
ac biet
Hnh 2-25 Xilanh quay

4) Xilanh trt:
Xilanh trt la loai xilanh khong co can piston, co chieu
dai ch bang mot na so vi xilanh co can piston.
Ky hieu :
Hnh 2-26 Xilanh trt
III. ong c kh nen:
ong c kh nen co nhiem vu bien oi nang lng
cua kh nen thanh nang lng c hoc (chuyen ong quay).
ong c kh nen co nhng u iem sau:
_ ieu chnh c momen quay va so vong quay
_ So vong quay cao va ieu chnh vo cap
_ Khong h hong khi qua tai
_ Gia thanh bao dng thap
Nhc iem:
_ Gia thanh nang lng cao
_ So vong quay thay oi theo tai trong
_ Gay tieng on ln khi xa kh
Ky hieu:
Hnh 2-27 Ky hieu ong c kh nen
a.ong c quay mot chieu
b.ong c quay hai chieu
ong c kh nen trong thc te co cac loai sau ay:
_ ong c banh rang
_ ong c truc vt
_ ong c canh gat
_ ong c piston hng knh
_ ong c doc truc
a
.
b
.
_ ong c tuabin
_ ong c mang
D. Thiet ke mach kh nen bang bieu o Karnaugh:
oi vi sinh vien nganh ien, trong mon hoc ky thuat
so, phng phap ba Karnaugh la mot phng phap rat quen
thuoc.
Trong lnh vc ieu khien bang kh nen, phng phap ba
Karnaugh cung c s dung e thiet ke mach ieu khien.
Nhn chung, cach thc s dung ba Karnaugh e n gian ham
hoan toan tng t nh trong ky thuat so. Tuy nhien e thiet
ke c mot mach kh nen bang phng phap ba Karnaugh
can phai tuan thu nhng bc sau ay:
1) Xac nh bien:
T yeu cau ieu khien cu the, ta liet ke tat ca cac
c cau chap hanh se c s dung. Vi moi c cau chap
hanh, ta gan cho chung nhng bien, o chnh la cac cong
tac cuoi hanh trnh cua c cau chap hanh o. Cac cong
tac hanh trnh nay se tac ong cho c cau chap hanh hoat
ong.
V du: Trong mot he thong ieu khien co 2 c cau
chap hanh A va B nh hnh ve:
Nh vay ta co 4 bien nh sau : a
1
, a
2
, b
1
, b
2
la cac tiep
iem hanh trnh.
2) Thiet lap bieu o trang thai:
Phng phap thiet lap bieu o trang thai a c neu
phan B muc VIII. Da vao bieu o trang thai ta se liet ke
cac bc thc hien va ng vi tng bc la cac bien tac
ong. T o ta xay dng cac ham chuyen ong cua c cau
chap hanh.
V du :
A
a
2
a
1
B
b
2
b
1
1 2 3
A
a
1
5 1
B
a
2
b
1
b
2
a
1
b
1
a
2
b
1
a
2
b
2
a
2
b
1
+A -A -B +B
3) Thiet lap phng trnh logic va cac ieu
kien thc hien:
Sau khi a liet ke cac bien, ta viet ham chuyen ong
cho cac c cau chap hanh bang cach lay tch cac bien gay
nen chuyen ong o.
V du:
Xilanh A i ra c ieu khien bi ham:
+A = a
1
.b
1
Xilanh A lui ve c ieu khien bi ham:
-A = a
2
.b
1
Xilanh B i ra c ieu khien bi ham:
+B = a
2
.b
1
Xilanh B lui ve c ieu khien bi ham:
-B = a
2
.b
2
4) Thiet lap bieu o Karnaugh va n gian
ham:
Phng phap thiet lap bieu o Karnaugh va n gian
ham hoan toan tng t nh trong ky thuat so.
Sau khi a co ham ieu khien, ta s dung cac van
chc nang cung nh van logic e thanh lap mach ieu khien
cho c cap chap hanh.
Nhng van e neu tren se c sang to hn khi thc
hien viec thiet ke nhng mach kh nen trong phan bai tap.
E. Cac bai tap ap dung : (trang sau)
BAI TAP 1
THIET B PHAN LOAI
I. Muc ch yeu cau:
S phat ong trc tiep cua mot xilanh tac dung n.
S dung van 3/2 tac dung bang tay (nut nhan).
Ket noi va ieu chnh van tiet lu mot chieu.
Ket noi ong ho ap suat e o ap suat.
II. Mo ta yeu cau ieu khien:
Khi phat hien mot san pham b loi tren bang tai ,
ngi cong nhan se tac ong len mot nut nhan, khi o,
xilanh 1.0 i ra ay san pham nay sang mot bang tai khac.
S chuyen ong ve pha trc cua xilanh tac dung n mat
0,4s. Khi tha nut nhan ra, piston lap tc tr lai v tr ban au.
Hai ap ke c gan pha trc va pha sau van ieu chnh ap
suat e kiem tra ap suat trong qua trnh xilanh chuyen ong.
Hnh 2-28 Thiet b phan loai
III. Tien trnh th nghiem:
T yeu cau ieu khien, ve bieu o trang thai tien trnh
hoat ong cua xilanh dang n gian nhat (khong co
ng tn hieu).
T bieu o trang thai, hay thiet ke mach kh nen.
Liet ke cac thiet b s dung trong bai th nghiem.
Lap rap cac thiet b len ban th nghiem theo mach a
thiet ke.
e van nguon v tr tat, ket noi cac ng ong dan
kh.
Kiem tra lai mach trc khi cho hoat ong.
Bat nguon cung cap kh va cho mach hoat ong.
Kiem tra hoat ong cua mach va giai thch nguyen ly hoat
ong.
ieu chnh van tiet lu mot chieu va nhan xet ve cach
thc hoat ong cua xilanh.
Ghi nhan cac gia tr ap suat tai cac ap ke, co nhan
xet g ve moi quan he gia ap suat va van toc cua
xilanh. ao chieu van tiet lu, neu nhan xet.
Tat nguon kh, thao cac thiet b tra ve v tr cu.
IV. Ket luan:
_ Qua bai th nghiem nay, ta khao sat c mot thiet
b mi: van tiet lu mot chieu.
_ Thong qua bai th nghiem, rut ra c moi quan he
gia ap suat va van toc cua c cau chap hanh va cach
thay oi van toc cua c cau chap hanh.
V. Bai giai:
1. Bieu o trang thai:
2. Mach kh nen:
t=0.4 s

1 2 3 1
1.
0
1
0
1.
0
3. Thiet b s dung :
_ 1 van 3/2 tac ong bang tay (nut nhan).
_ 1 van tiet lu mot chieu.
_ 1 xilanh tac dung n.
4. Nguyen ly hoat ong cua mach:
O Khi nhan nut nhan 1.1, van ao chieu 3/2 b tac
ong lam cho ca 1 noi vi ca 2, cung cap kh cho xilanh
tac dung n 1.0 lam xilanh i ra thong qua van tiet lu mot
chieu. Trong qua trnh chuyen ong i ra, van toc cua xilanh
phu thuoc vao ap suat trong long xilanh. Ap suat nay
c ieu chnh bang van tiet lu va c hien th bang
ap ke .
O Neu ap suat cang cao, xilanh chuyen ong cang
nhanh.
O Neu ap suat cang thap, xilanh chuyen ong cang
cham.
O Khi tha nut an 1.1, ca 1 b chan, ca 2 noi vi
ca 3. Lc cua lo xo lam xilanh 1.0 lap tc lui ve xa kh
qua ca 3 ma khong phu thuoc vao v tr cua nut ieu
chnh tren van tiet lu.
T ay ta co nhan xet la van tiet lu mot chieu ch co
tac dung ieu chnh lu lng mot chieu, chieu ngc lai
khong b tac dung.
BAI TAP 2
KIEM TRA BU PHAM
I. Muc ch yeu cau:
Khao sat xilanh tac dung n.
S dung van 3/2 tac dung bang tay (nut nhan) vi ng
kh nen tac ong v tr bnh thng (khong tac ong
vao van).
Tm hieu chc nang cua van xa kh nhanh.
Co mot thiet b kiem tra bu pham bang tia X.
Khi nhan mot nut nhan, xilanh 1.0 co gan mot khay
tren au piston se nhanh chong lui ve, nhan bu pham t
bang tai. Sau khi tha nut nhan ra, xilanh nang bu pham len
e kiem tra trong khoang thi gian t=0.9s. Sau khi kiem tra
xong, bu pham c lay i.
Hnh 2-29 Thiet b kiem tra bu pham
hoat ong cua xilanh dang n gian nhat (khong co
ng tn hieu).
T bieu o trang thai, hay thiet ke mach kh nen.
Giai thch nguyen ly hoat ong cua mach trc khi tien
hanh lap rap mach.
Lap rap cac thiet b len ban th nghiem theo mach a
thiet ke.
kh.
Kiem tra lai mach trc khi cho hoat ong.
ieu chnh van tiet lu mot chieu e thi gain i ra cua
xilanh la 0,9s.
Neu thay van 3/2 ieu khien bang tay trong bai tap nay
bang van 3/2 trong bai tap 2 th xilanh A se hoat ong nh
the nao. V sao ?
IV. Ket luan:
_ Bai th nghiem nay co mot cach thc haot ong
cua c cau chap hanh hoan toan mi. V tr ban au cua
xilanh la i ra, khac vi thong thng la lui ve.
V. Bai giai:
2. Mach kh nen:
t=0.9 s
1 2 3 1
1.
0
1
0
1.0
3. Thiet b s dung:
_ 1 van 3/2 tac ong bang tay (nut nhan) co dong kh
tac ong v tr bnh thng.
_ 1 van xa kh nhanh.
O Khi nhan nut nhan 1.1, van ao chieu 3/2 b tac
ong lam mat nguon cung cap kh nen cho xilanh 1.0. Lap
tc xilanh 1.0 lui ve rat nhanh thong qua van xa kh nhanh.
O Khi tha nut an 1.1, ca 1 thong vi ca 2 va qua
van tiet lu mot chieu, xilanh 1.0 t t i ra. Van toc cua
xilanh 1.0 tuy thuoc vao v tr ieu chnh cua van tiet lu
mot chieu.
Gia s thay van 3/2 trong bai tap nay bang van 3/2 trong
bai tap 2 th qua trnh hoat ong cua xilanh 1.0 se ngc
lai.
Khi nhan nut nhan th xilanh 1.0 se i ra thong qua van tiet
lu mot chieu, khi tha nut nhan, do mat nguon kh cung
cap cho xilanh, xilanh 1.0 se lui ve nhanh thong qua van xa
kh nhanh.
3.
0
BAI TAP 3
THIET B CAT
I. Muc ch yeu cau:
Khao sat xilanh tac dung n, xilanh tac dung kep.
ieu khien gian tiep thong qua van ieu khien cuoi cung.
ieu khien gian tiep bang ham AND cua tn hieu ngo
vao.
ng dung cua cong tac hanh trnh van 3/2.
Thiet b cat dung e cat nhng t giay ln thanh
nhng t nho.
Bang cach nhan cung luc 2 nut nhan, khong can gi
tay, li dao cat lap tc i xuong va cat giay. Sau khi cat
xong, li dao t ong lui ve v tr ban au.
Hnh 2-30 Thiet b cat
T yeu cau ieu khien, ve bieu o trang thai
tien trnh hoat ong cua xilanh.
T bieu o trang thai va yeu cau ieu khien,
hay thiet ke mach kh nen.
T s o nguyen ly, hay giai thch nguyen ly
hoat ong cua mach.
Lap rap cac thiet b len ban th nghiem theo
mach a thiet ke.
e van nguon v tr tat, ket noi cac ng ong
dan kh.
So sanh hoat ong cua mach thc te va nguyen
ly hoat ong va neu .
Neu thay oi v tr cua cong tac hanh trnh, th
hoat ong co thay oi khong ? Neu tac dung cua
cong tac hanh trnh.
IV. Ket luan:
_ Qua bai th nghiem nay, ta khao sat c mot thiet
b na o la congtac hanh trnh va ng dung cua no trong
ieu khien hoat ong cua c cau chap hanh.
_ ieu khien gian tiep c cau chap hanh thong qua
van ieu khien cuoi.
V. Bai giai:
2. Thiet b s dung:
_ 2 van 3/2 tac ong bang tay (nut nhan).
_ 1 van AND.
_ 1 van 5/2 tac dung 2 chieu bang kh nen.
_ 1 cong tac hanh trnh.
_ 1 xilanh tac dung kep.
1 2 3
3.
0
4 5 1

Start
2
S
Start
1
1
1
1
1
0
0
0
0
3. Mach kh nen:
O Khi ong thi nhan 2 nut nhan 1.0 va 1.1, thong qua
van AND 2.0 tac ong vao van ieu khien 2.1 lam xilanh 3.0
i ra.
O Sau o xilanh 3.0 cham vao cong tac hanh trnh 1.3
lam ao chieu van 2.1 va xilanh 3.0 lui ve v tr ban au
ch tn hieu tac ong ke.
Khi ta thay oi v tr cua cong tac hanh trnh trong pham vi
gii han cua piston xilanh, th xilanh se quay tr ve tai v tr
at cong tac hanh trnh.
Nh vay cong tac hanh trnh co nhiem vu kiem soat
hanh trnh cua c cau chap hanh.
BAI TAP 4
IEU KHIEN BANG TAI
I. Muc ch yeu cau:
Khao sat xilanh tac dung n, xilanh tac dung kep.
ng dung cua cong tac hanh trnh van 3/2 trong ieu
khien bang tai bang s dao ong cua can piston.
S dung bang tai e van chuyen cac thung hang, s
di chuyen cua bang tai do can piston ieu khien.
Bang cach nhan mot nut nhan, banh xe se truyen
ong cho bang tai bang s dao ong cua can piston thong
qua mot chot chan.
Hnh 2-31 ieu khien bang tai
Lap rap cac thiet b len ban th nghiem theo hnh
ve.
dan kh.
Quan sat hoat ong cua mach, kiem tra lai bieu
o trang thai va ve.
Giai thch nguyen ly hoat ong cua mach.
IV. Ket luan:
_ Qua bai th nghiem nay, ta khao sat c mot ng
dung mi cua cong tac hanh trnh.
_ Nam c cach tao dao ong cho c cau chap hanh
bang cong tac hanh trnh van 3/2.
+ MACH KH NEN:
V. Bai giai:
O Tai v tr ban au, khi nut nhan 1.4 cha tac ong,
cong tac hanh trnh S1 b chan. Khi nhan nut 1.4, cung vi
S1, qua van AND 1.2 lam cho van 1.1 ao chieu, xilanh 1.0 i ra.
O Xilanh 1.0 i ra cham vao cong tac hanh trnh S2 tac
ong len van ao chieu 1.1 lam xilanh lui ve. Khi lui ve,
piston lai tiep tuc cham vao cong tac hanh trnh S1 va
xilanh lai i ra. Qua trnh c tiep tuc nh vay, xilanh 1.0 lien
tuc dao ong ieu khien bang tai chuyen ong cho en khi
tac ong vao nut nhan 1.4 th piston mi ngng dao ong.

1 2 7
1.
0
1
0

3 4 5 6
n
1

n-1

1
0

1.
4
S
2
S
1
BAI TAP 5
THIET B DAP TAO DANG
I. Muc ch yeu cau:
Khao sat s phat ong gian tiep cua xilanh tac dung
kep thong qua mot van ieu khien.
S hoat ong cua van 5/2 co v tr khong (hoi phuc bang
lo xo).
ng dung cua van logic AND.
Tm hieu s tac ong cua cong AND len phan t ieu
khien.
Bang cach nhan cung luc 2 nut nhan, xilanh 1.0 i
xuong cung vi ham tao dang va dap len mieng kim loai.
Khi tha mot trong hai nut nhan ( hoac ca 2 ), xilanh tac
dung kep lui ve cham hn toc o luc i ra.
Hnh 2-32 Thiet b dap tao dang
tien trnh hoat ong cua xilanh .
ve.
+ MACH KH NEN:
dan kh.
o trang thai va ve.
Tai sao phai gan mot van xa kh nhanh (1.04) tai v
tr o, giai thch ?
Bay gi ta ao chieu cua van tiet lu mot chieu
c khong ? Nh vay co con ung vi yeu cau
ieu khien khong ? V sao ?
Tai sao phai s dung van logic AND tai v tr o ?
IV. Bai giai:

1 2 3 1
1.
0
1
0
O Khi ong thi nhan 2 nut nhan 1.2 va 1.4, thong qua
van AND 2.0 tac ong vao van ieu khien 1.1 lam van ao
chieu lam cho nguon kh qua van tiet lu 1 chieu tac ong
len ngo vao cua xilanh lam xilanh 1.0 i ra.
O V van tiet lu mot chieu gan theo chieu ngc cua
dong kh nen nen khong co tac dung tiet lu va van xa
kh nhanh gan nh vay nen kh t xilanh i ra se qua van xa
kh nhanh thoat ra ngoai khong kh.
O Khi tha mot trong hai nut nhan 1.2 hoac 1.4 hoac ca
hai, van AND mat nguon tac ong ngo vao va nh vay
ngo ra khong co kh. Van ao chieu b lo xo hoi phuc tr
ve v tr ban au. Nh vay xilanh 1.0 lui ve nhng do van
tiet lu lam cho van toc cua xilanh cham lai.
+ Neu ta ao chieu van tiet lu 1.03 th xilanh khi i ra se i t
t va nh vay van xa kh nhanh mat tac dung. Khi lui ve,
xilanh se lui ve nhanh do ng i cua kh ngc chieu vi
van tiet lu 1.03. Va nh vay hoan toan trai ngc vi yeu
cau ieu khien.
+ Ta s dung van logic AND ket hp vi 2 nut nhan 1.2 va 1.4
v muc ch an toan lao ong.
Gia s ngi ieu khien dung mot tay nhan nut ma
tay kia cha kp lay ra th he thong khong the hoat ong c.
Ch khi nao ngi ieu khien dung ca 2 tay nhan nut th he
thong mi hoat ong c.
BAI TAP 6
MAY CONG TAC
I. Muc ch yeu cau:
kep thong qua mot van ieu khien la van 5/2 tac dung 2
chieu.
ng dung cua van logic OR.
Nhan xet s khac nhau gia lien ket OR va lien ket AND.
ng dung cua cong tac hanh trnh van ao chieu 3/2.
Mot thiet b chia khoang tren thc, moi khoang cach
la 200mm va o chia c anh bang mot dau o.
Bang cach nhan mot trong hai nut nhan, xilanh 1.0 i ra.
Tren ban ieu khien co mot nut nhan dng nhng ch khi
nao xilanh i het hanh trnh cua no th nut dng mi co tac
dung, v khi o may ong vach mi ong c vach tren
thc c.
Hnh 2-33 May cong tac
tien trnh hoat ong cua xilanh vi ay u tn hieu
tac ong.
ve.
dan kh.
So sanh hoat ong cua mach va bieu o trang
thai va ve.
o trang thai va ve.
Giai thch s khac nhau gia van 5/2 khong co v tr
khong va van 5/2 co v tr khong ? Neu ta thay the
van 5/2 co v tr khong vao mach nay c khong ?
Nh vay co ung vi yeu cau ieu khien na
khong ?
+ MACH KH NEN:
IV. Bai giai:

1 2 3 1
1.
0
1
0
T T
1.4 1.2
T
1.3
O Khi t nhat mot trong 2 nut nhan 1.2 hoac 1.4 c
nhan, thong qua van logic OR tac ong vao van ieu khien
1.1 lam van ao chieu lam cho nguon kh tac ong len
ngo vao cua xilanh qua van tiet lu 1 chieu 1.02 ngo ra
lam xilanh 1.0 t t i ra.
O Khi xilanh i ra cham cong tac hanh trnh 1.5 lam van
3/2 cua cong tac hanh trnh ao chieu, ca 1 noi vi ca
2 tac ong vao mot au cua van logic AND.
O Khi nhan nut 1.3, van ao chieu 3/2 ao chieu lam
ca 1 noi vi ca 2, qua van logic AND lam nga ra van AND
co tn hieu, tac ong vao van 1.1 lam cho ca 1 noi vi
ca 4, ca 2 noi vi ca 5 va tac ong vao xilanh 1.0
lam xilanh lui ve.
+ Van 5/2 co v tr khong ch co mot ngo vao tac ong kh
, ngo con lai do lo xo hoi phuc, nh vay khi mat nguon kh
nen, van lap tc tr ve v tr ban au.
Con van 5/2 khong co v tr khong se khong hoi phuc
tr ve ma se gi nguyen v tr ch s tac ong kh t pha
oi dien.
+ Trong bai nay ta khong the s dung van ao chieu 5/2 co
v tr khong v hoat ong cua no se ieu khien c cau
chap hanh hoat ong khong ung vi yeu cau ieu
khien.
BAI TAP 7
IEU KHIEN VAN TOC VA CHIEU QUAY CUA
ONG C
I. Muc ch yeu cau:
Khao sat s hoat ong cua ong c kh nen .
ng dung cua van 5/2 trong viec thay oi chieu quay cua
ong c.
ng dung cua van tiet lu mot chieu trong viec thay oi
toc o cua ong c.
II. Tien trnh th nghiem:
ve.
+ MACH KH NEN:
dan kh.
Nhan cac nut nhan e quan sat ong c ao
chieu.
ieu chnh cac van tiet lu mot chie e xem s
thay oi toc o cua ong c.
Ta thay van ao chieu 5/2 bang van ao chieu 4/2
c khong ? Tai sao ?
III. Bai giai:
+ Ta cung co the thay van ao chieu 5/2 bang van ao
chieu 4/2 v van 4/2 cung co mot ca xa va mot ca vao
kh nen. Mach van hoat ong theo ung nguyen ly cua
ong c kh nen.
BAI TAP 8
MAY HAN ONG
I. Muc ch yeu cau:
kep thong qua mot van ieu khien la van 5/2 tac dung 2
chieu.
S hoat ong cua thiet b ieu chnh ap suat e gii
han lc cua piston.
Khao sat s hoat ong cua Relay thi gian tac ong
cham.
Khao sat hoat ong cua van ap suat ieu khien xa.
Mot thiet b han chi tiet dang hnh tru nh hnh ve.
Khi nhan mot nut nhan, xilanh 1.0 i xuong nhanh. Ap
lc toi a cua xilanh at 4bar (=400kPa) thong qua thiet b
ieu chnh ap suat va ap ke.
Khi piston i ra, ap suat toi thieu ma piston phai at
c la 3bar (=300kPa) va xilanh phai i het hanh trnh cua
no th xilanh mi quay ve.
Thi gian i xuong cua xilanh la t
1
=3s c ieu chng
bang van tiet lu. Sau khi lui ve, thi gian cho phep khi
ong lai cua xilanh la 2s t khi lui ve.
Hnh 2-34 Thiet b han ong
tien trnh hoat ong cua xilanh 1.0 vi ay u tn
hieu tac ong.
T s o mach kh nen cho di ay, hay giai
thch nguyen ly hoat ong cua mach. So sanh
nguyen ly hoat ong cua mach va bieu o trang
thai.
ve.
+ MACH KH NEN:
dan kh.
So sanh hoat ong cua mach va nguyen ly hoat
ong va phat bieu.
Giai thch s khac nhau ve hoat ong cua mach khi
tac ong vao van 1.2 va van 1.4.
Co nhan xet g ve cach mac noi tiep gia cong
tac hanh trnh 1.3 va van ap suat ieu khien xa ?
Co the thay oi cach mac tren bang phng phap
xay dng mach nao ?
IV. Bai giai:
O V tr ban au:
Tai v tr ban au, xilanh 1.0 lui ve va e len tiep
iem hanh trnh 1.10. Van ieu khien 1.1 ang v tr nh hnh
ve. Relay thi gian tac ong cham 1.12 ang b tac ong.
O Bc 1-2:
Tac ong vao nut nhan 1.2, qua van OR 1.6 tac ong
vao mot ngo vao cua van AND 1.8. Ngo vao con lai cua 1.8
a b tac ong do Relay 1.12, nh vay van 1.1 b tac ong.
Xilanh 1.0 di chuyen i ra t t qua van tiet lu 1.02 trong
thi gian 3s. Van ieu chnh ap suat 0.3 at ap suat 4 bar
(=400kPa). Sau khi au han i xuong cham vao vat can han
va ap lc e len ng vi ap suat khoang 3 bar( =300kPa)
lam cho van ap suat ieu khien xa b tac ong.
S ket hp gia tiep iem hanh trnh 1.3 va van ap
suat ieu khien xa lam cho van ieu khien 1.1 b tac ong.
O Bc 2-3:
Khi van ieu khien 1.1 b tac ong, xilanh 1.0 lap tc
lui ve va cham vao cong tac hanh trnh 1.10. Ngo ra cua
tiep iem hanh trnh 1.10 tac ong vao Relay thi gian tac
ong cham va phai mat 2s sau th ngo ra cua 1.12 mi co
tn hieu tac ong vao van AND.
1.2
t

1 3 1
1.
0
1
0
p
+ T ay ta co nhan xet, khi xilanh 1.0 va mi lui ve, ta
cha the nhan 1.2 hoac 1.4 e he thong hoat ong ngay
ma phai i 2s sau ta mi co the khi ong lai he
thong.
+ Neu ta tac ong vao nut nhan co ranh nh v 1.4 lam
van 3/2 b chot tai v tr o va ca 1 luon noi vi ca 2,
co ngha la mot ngo vao cua van logic AND luon co tn
hieu san sang ch b tac ong e tiep tuc mot chu ky.
Nh vay, he thong se hoat ong theo chu ky: +A --> 2s --> -A
--> 2s --> +A
BAI TAP 9
THIET B PHAN CHIA HANG
I. Muc ch yeu cau:
Tm hieu he thong chuyen ong song song .
ieu khien gian tiep 2 xilanh tac dung kep bang 1 van
ieu khien cuoi cung.
Thiet ke va lap rap mot mach chot.
Nhan biet mot van e nay sinh khi nhieu xilanh c ket
noi song song.
Thiet b phan chia co nhiem vu phan chia moi lan 2
bu-gi cho mot tram x ly tiep theo.
He thong hoat ong nh sau:
Nhan mot nut nhan lam xilanh A i ra, xilanh B lui ve
lam cho 2 bu-gi lan xuong. Sau mot khoang thi gian t1 = 1s,
xilanh A lui ve va xilanh B i ra. Chu ky tiep theo ch co the
thc hien sau khoang thi gian t2 = 2s.
Trong mach s dung 2 nut nhan, mot nut nhan cho
mach hoat ong mot chu ky, mot nut nhan cho mach hoat
ong t ong.
Hnh 2-35 Thiet b phan chia
tac ong.
So sanh bieu o trang thai va ve vi mach kh
nen cho di ay ve s chuyen ong cua 2 xilanh.
ve.
+ MACH KH NEN:
dan kh.
o trang thai va ve.
Chu y : Ap suat c ieu chnh 3bar
(=300kPa).
Giam ap suat ve 1 bar (=100kPa) , mach con hoat
ong khong ? Giai thch nguyen nhan.
Tat nguon kh , thao cac thiet b tra ve v tr cu.
IV. Ket luan:
_ Khao sat viec dung mot van ieu khien cho nhieu c
cau chap hanh.
_ Thiet ke c mach chot.
_ Quan he ap suat en so lng c cau chap hanh
trong ieu khien song song.
V. Bai giai :
O Mach chot:
Cum van 1.2, 1.4, 1.6, va 1.8 la mach chot. Neu tac
ong vao van 1.4, s hoat ong cua van 1.2 cap mot tn hieu
hang so tai ngo ra cua 1.8. Nhan 1.4 mot lan na se ngat
mach chot.
V tr ban au cua he thong nh hnh ve.
O Bc 1-2:
Tac ong vao 1 trong 2 nut nhan 1.2 hoac 1.4 th ngo
ra cua van 1.8 co nguon kh tac ong vao ngo vao con lai
cua van AND 1.14 . Nh vay van 5/2 (1.1) ao chieu lam cho
xilanh A i ra va xilanh B lui ve .
O Bc 2-3:
Xilanh A i ra cham vao tiep iem hanh trnh 1.3 lam cho
ngo vao cua Relay thi gian tac ong cham 1.5 co kh. Sau
khoang thi gian t
1
= 1s, ngo ra cua 1.5 co kh tac ong vao
van 1.1 ao chieu lam cho xilanh A lui ve va xilanh B i ra.
Xilanh A lui ve tac ong vao tiep iem hanh trnh 1.10
lam Relay thi gian 1.12 bat au hoat ong, sau mot khoang
thi gian t
2
= 2s, mach mi tr lai trang thai ban au ch s
khi ong chu ky tiep theo.

B
1
0
1.2
t

1 3 1
A
1
0
t
O Neu ta tac ong vao nut nhan 1.4 th qua trnh lai
lap lai lien tuc theo chu ky : +A(-B) 1s -A(+B) 2s
+A(-B)
+ Neu ap suat chnh xuong con 1 bar = 100 kPa th 2 xilanh
khong the hoat ong c v ap suat thc te tac ong
len moi xilanh ch bang ngha la 100/2 = 50 kPa nen
khong the lam xilanh chuyen ong c.
BAI TAP 10
THIET B HAN NHIET
I. Muc ch yeu cau:
ieu khien gian tiep 2 xilanh tac dung kep bang 2 van
ieu khien.
Thiet lap mot chc nang AND thong qua cac tiep iem
hanh trnh mac noi tiep nhau.
Mot thiet b han bang nhiet o cua au han c
mo ta bang hnh ve di ay.
Hai xilanh A va B di chuyen xuong cung luc mang theo
mot thanh kim loai nong e len phan tiep giap cua 2 mieng
nha (dang thermoplastic). o day cua nhng mieng nha
nam trong khoang t 1,5 mm en 4 mm. Lc tac dung len 2
xilanh c ieu chnh bang thiet b ieu chnh ap suat.
Ap suat c at gia tr 4 bar.
Sau khi ra het hanh trnh th 1,5s sau, thanh kim loai lui
ve. S lui ve cua thanh kim loai cung co the c tac ong
bang mot nut dng.
Hnh 2-36 Thiet b han nhiet
tac ong.
Giai thch nguyen ly hoat ong cua mach nguyen
ly di ay va so sanh vi bieu o trang thai
va ve.
+ MACH KH NEN:
ve.
dan kh.
So sanh hoat ong cua mach va yeu cau ieu
khien.
Co nhan xet g ve cach ket noi cac van 2.2 va
1.4, van 1.5 va 2.3 ? Co the thay oi cach ghep noi
nay bang phng phap khac c khong ?
IV. Ket luan:
_ Bai th nghiem nay nham giup sinh vien nam c
mot phng phap ieu khien mi ma se ng dung cho cac
bai tap sau nay, o la s dung van ieu khien sau cung cho
tng c cau chap hanh.
_ Tm hieu mot phng phap khac e thiet lap chc
nang AND trong he thong kh nen.
V. Bai giai:
O Bc 1-2:
Nhan nut nhan 1.2, ket hp vi ngo vao con lai cua
van AND 1.6 tac ong vao van 0.3 lam van nay ao chieu va
cac van 1.1 , 2.1 cung ao chieu.
Nh vay 2 xilanh A va B i ra, do co 2 van tiet lu 1.04 va
2.04 nen cac xilanh se i ra vi toc o cham va cham vao 2
tiep iem hanh trnh 2.3 va 1.5 tac ong vao Relay tac ong
cham 1.7.
O Bc 2-3:
Sau 1,5 s , van 3/2 trong Relay 1.7 ao chieu tac ong
vao van OR va van 0.3 lam van 0.3 ao chieu. Van 0.3 ao

B
1
0
1.2

1 3 1
A
1
0
t
chieu se lam cho cac van ieu khien cuoi cung la 1.1 va
2.1 cung ao chieu va lam 2 xilanh A va B quay ve v tr cu.
Trong qua trnh 2 xilanh A va B i ra, neu v ly do nao o
ma ta muon dng, ta co the tac ong vao nut nhan 1.3 th
ngay lap tc 2 xilanh se quay tr ve.
+ Cac van 2.2 va 1.4, 1.5 va 2.3 c ket ni theo chc nang
AND. Co ngha la van pha di se cap nguon kh nen cho
van pha tren hoat ong, nhng e co tn hieu ra th phai
ca 2 van cung hoat ong. Ch can mot trong 2 van khong
b tac ong th ngo ra se khong co tn hieu.
+ Ta co the thay oi cach ghep nh sau:
Tuy nhien cach ghep nay bat li hn cach ghep cua
bai la phai dung them mot van logic AND.
BAI TAP 11
TRAM CHUYEN TIEP
I. Muc ch yeu cau:
ieu khien s phoi hp chuyen ong cua 2 xilanh thong
qua cac ieu kien phu.
Tram chuyen tiep co nhiem vu chuyen cac hop t
mot ngan xep sang mot tram khac e x ly.
Cac hop c ay ra khoi ngan xep bang xilanh A va
chuyen en tram x ly bang xilanh B. Xilanh B ch co the
tr ve khi xilanh A a tr ve.
Mot tiep iem hanh trnh ben trong ngan xep se bao
cho biet la ben trong ngan xep con hop hay het. Neu trong
ngan xep khong co hop, he thong se khong hoat ong .
Hnh 2-37 Tram chuyen tiep
tac ong.
Giai thch nguyen ly hoat ong cua mach nguyen
ly di ay.
ve.
A
B
+ MACH KH NEN:
dan kh.
thai va ve.
o trang thai va ve.
T bieu o trang thai, hay viet phng trnh logic
ieu khien:

+A = +B =
- A = -B =
T phng trnh logic tren, hay thiet ke mach kh
nen va so sanh vi mach ma au bai a cho.
IV. Ket luan:
_ T yeu cau ieu khien, hoc sinh nam c cach
thiet mot mach kh nen.
V. Bai giai:
T bieu o trang thai ta thay:
+ A = B
1
.S
1
.S.Start
-A = +B = B
2
.S
1
-B = B
1
.S
1
Trong o:
Start : nut nhan khi ong.
S : cong tac hanh trnh 3/2 e kiem tra hop trong ngan
xep con hay khong.
2. Thiet b s dung:
T phng trnh logic va thiet lap, ta chon thiet b nh
sau:
_ 2 xilanh tac dung kep
_ 4 cong tac hanh trnh
_ 1 nut nhan van 3/2
_ 2 van 5/2 tac dung 2 chieu
O Tai thi iem ban au, cac cong tac hanh trnh B
1
,
S
1
ang b tac ong. Nh vay van AND 3.2 co tn hieu tai
ngo ra tac ong vao mot pha cua van AND 3.1. Nh vay khi
co hop trong ngan xep, cong tac hanh trnh S b chan.
Neu nhan nut Start 4.1, tn hieu se tac ong vao pha con
lai cua van AND 3.1 tac ong len van 1.1 lam xilanh 1.0 i ra.
O Xilanh 1.0 i ra cham vao cong tac hanh trnh B
2
tao
tn hieu tai ngo ra cho van AND 3.3 lam ao chieu van 1.1 va
2.1 lam xilanh 1.0 i ve va xilanh 2.0 i ra. Sau khi 2.0 i ra tac
ong vao cong tac hanh trnh S
2
, xuat hien tn hieu kh
S
4.1
1 2 3
A
B
1
4 1
B
B
2
S
1
S
2
+
B
+
A
-A
-B
+
A
nen tai ngo ra cua van AND 3.4 lam ao chieu van 2.1 =>
xilanh 2.0 lui ve.
BAI TAP 12
TAY MAY GAP HANG
I. Muc ch yeu cau:
Khao sat xilanh trt.
Khao sat hoat ong cua xilanh kep.
ng dung cua Relay thi gian tac ong muon trong ieu
khien.
Bang tai di chuyen pha ben trai co nhiem vu em
san pham en. He thong tay may co nhiem vu di chuyen
san pham t bang tai ben trai sang bang tai ben phai
bang cach nhan mot nut nhan. Sau khi van chuyen san
pham xong, tay may quay tr ve v tr cu.
Hnh 2-38 Tay may gap hang
tac ong.
ve.
dan kh.
thai va ve.
ieu chnh van tiet lu tren Relay thi gian tac
ong cham, quan sat s thay oi hoat ong cua
mach, giai thch.
Xilanh
kep B
Xilanh
trt A
Bang
tai I
Bang
tai II
Neu yeu cau e ra la ch can tac ong mot
lan, mach se hoat ong lien tuc cho en khi tac
ong vao nut nhan mot lan na, mach mi ngng
hoat ong, ta phai ieu chnh lai mach nh the
nao ? Giai thch.
+ MACH KH NEN:
IV. Ket luan:
_ Qua bai th nghiem nay, giup hoc sinh khao sat them
c nhng thiet b mi o la xilanh trt va xilanh
kep.
_ Tm hieu them mot ng dung khac cua Relay thi
gian tac ong cham.
V. Bai giai:
1 2 3
A
1
0
5 1 4
B
1
0

t=2s
t=2s
O V tr ban au: xilanh trt A nam ben trai, xilanh kep
B ang m.
O Nhan nut Start, ket hp vi S
1
ang b tac ong,
thong qua van AND lam xilanh kep kep lai.
O Sau mot khoang thi gian 2s, ngo ra cua Relay 1.5
tac ong vao van ao chieu 1.0 lam cho xilanh trt B trt
sang phai.
O Xilanh trt B tac ong vao tiep iem hanh trnh S
2
lam cho xilanh kep m ra bo hang.
O Sau 2s, ngo ra cua Relay 1.6 tac ong len van ao
chieu 1.0 lam xilanh trt tr ve v tr trai, ket thuc qua
trnh.
O Neu ta thay nut nhan Start bang mot nut nhan co
ranh nh v, ta ch can tac ong mot lan , mach se hoat
ong lien tuc. V khi o mot pha cua van AND 1.4 a co
nguon kh nen, do o c moi khi S
1
b tac ong la mach
lai hoat ong mot chu ky mi.
BAI TAP 13
THIET B GIA CONG CHI TIET
I. Muc ch yeu cau:
Khao sat mot mach kh nen ieu khien 3 c cau chap
hanh.
Dung phng phap bieu o Karnaugh e thiet ke mach kh
nen.
Thiet b gia cong chi tiet co quy trnh hoat ong nh sau:
_ Nhan nut khi ong, xilanh A i ra kep chat chi tiet
lai.
_ Xilanh B i xuong dap tho chi tiet, sau o lui ve.
_ Xilanh C i xuong dap tinh chi tiet, sau o lui ve.
_ Xialnh A lui ve, chi tiet c thao ra.
Hnh 2-39 Thiet b dap chi tiet
hoat ong cua xilanh vi ay u tn hieu tac ong.
T bieu o trang thai va ve va yeu cau ieu khien,
hay dung phng phap bieu o Karnaugh e thiet ke
mach kh nen.
Liet ke ten cac thiet b dung e lap rap mach tren.
Lap rap cac thiet b len ban th nghiem theo mach va
thiet ke.
kh.
So sanh hoat ong cua mach va bieu o trang thai va
ve.
A
B
C
Chi tiet gia
cong
IV. Ket luan:
_ Khao sat mot mach kh nen ieu khien 3 c cau
chap hanh theo mot trnh t nhat nh.
_ S dung phng phap bieu o Karnaugh trong thiet ke
cac he thong ieu khien bang kh nen.
V. Bai giai:
1. Xac nh bien:
Goi a
0
, a
1
la cac tiep iem hanh trnh cua xilanh A.
b
0
, b
1
la cac tiep iem hanh trnh cua xilanh B.
c
0
, c
1
la cac tiep iem hanh trnh cua xilanh C.
+ A , -A la cac ham ieu khien xilanh A i ra, lui ve.
+ B , -B la cac ham ieu khien xilanh B i ra, lui ve.
+ C , -C la cac ham ieu khien xilanh C i ra, lui ve.
1 4 5
A
1
0
7 1 6
B
1
0

2 3

C
1
0
Start
a
0
b
0
c
0
a
1
b
0
c
0
a
1
b
1
c
0
a
1
b
0
c
0
a
1
b
0
c
1
a
1
b
0
c
0
+
A
+
B
-B
+
C
-C -A
3. n gian cac ham bang phng phap bieu o
Karnaugh:
Ta co :
+A = a
0
b
0
c
0
+B = a
1
b
0
c
0
+C =
a
1
b
0
c
0
-A = a
1
b
0
c
0
-B = a
1
b
1
c
0
-C = a
1
b
0
c
1
Ta nhan thay cac ham: -A, +B, +C giong nhau, v vay
e phan bien cac ham tren, ta can phai them vao 2 bien
nh la: x va y.
Luc nay, ta co cac ham mi nh sau:
+A = a
0
b
0
c
0
x\y\
+B = a
1
b
0
c
0
x\y\
-B = a
1
b
1
c
0
xy\
+C = a
1
b
0
c
0
xy\
-C = a
1
b
0
c
1
xy
-A = a
1
b
0
c
0
x\y
+X = a
1
b
1
c
0
x\y\
-X = a
1
b
0
c
0
xy
+Y = a
1
b
0
c
1
xy\
-Y = a
0
b
0
c
0
x\y
* Trong o : x\ = x
y\ = y
T ay ta co, bieu o Karnaugh nh sau:
T
+
A
+
X
+
B
+
C
+
Y
-C -X
-A
+
Y
+
A
-Y
a
0
a
0
a
0
a
0
a
1
a
1
a
1
a
1
b
1
b
1
b
1
b
1
b
0
b
0
b
0
b
0
c
0
c
1
c
1
c
0
c
0
c
1
c
1
c
0
y\
y\
y
y
x
x
x\
x\
Ham A ( +A, -A ):
= +A = y\
= -A = x\y
Ham B ( +B, -B ):
= +B = a1x\y\
= - B = x
-
+
A
+
A
+
A
+
A
+
A
+
A
-A
a
0
a
0
a
0
a
0
a
1
a
1
a
1
a
1
b
1
b
1
b
1
b
1
b
0
b
0
b
0
b
0
c
0
c
1
c
1
c
0
c
0
c
1
c
1
c
0
y\
y\
y
y
x
x
x\
x\
-A
+
A
+
A
A
A
-B
+
B
a
0
a
0
a
0
a
0
a
1
a
1
a
1
a
1
b
1
b
1
b
1
b
1
b
0
b
0
b
0
b
0
c
0
c
1
c
1
c
0
c
0
c
1
c
1
c
0
y\
y\
y
y
x
x
x\
x\
+
B
+
B
-B
-B -B
-B -B
-B -B
B
Ham C ( +C, -C ):
= +C = xy\
= - B = y
Ham X ( +X, -X ):
= +X = b1
= - X = b0c0y
-
-C
+
C
a
0
a
0
a
0
a
0
a
1
a
1
a
1
a
1
b
1
b
1
b
1
b
1
b
0
b
0
b
0
b
0
c
0
c
1
c
1
c
0
c
0
c
1
c
1
c
0
y\
y\
y
y
x
x
x\
x\ -C
+
C
-C
-C
-C -C
-C
-C
-
-X
+
X
a
0
a
0
a
0
a
0
a
1
a
1
a
1
a
1
b
1
b
1
b
1
b
1
b
0
b
0
b
0
b
0
c
0
c
1
c
1
c
0
c
0
c
1
c
1
c
0
y\
y\
y
y
x
x
x\
x\
+
X
+
X
+
X
+
X
-X
-X
-X
-X
C
X
Ham Y ( +Y, -Y ):
= +Y = c1
= - Y = a0
4. Mach kh nen:
O Thiet b s dung:
_ 5 van 5/2 tac dung 2 chieu.
_ 7 van AND.
_ 6 cong tac hanh trnh van 3/2.
_ 1 nut nhan van 3/2.
_
-Y
-Y
a
0
a
0
a
0
a
0
a
1
a
1
a
1
a
1
b
1
b
1
b
1
b
1
b
0
b
0
b
0
b
0
c
0
c
1
c
1
c
0
c
0
c
1
c
1
c
0
y\
y\
y
y
x
x
x\
x\ -Y
-Y
+
Y
+
Y
-Y
+
Y
-Y
+
Y
Y
CHNG III
HE THONG IEU
KHIEN BANG IEN -
KH NEN
KET HP PLC
I . KHAI NIEM
II . CAC PHAN T IEN KH NEN

III . PHAN T CHUYEN OI TN HIEU
IV . MACH IEU KHIEN IEN - KH NEN
V . NG DUNG PLC TRONG IEU KHIEN
I. Khai niem:
ieu khien la qua trnh cua mot he thong, trong o
di tac dung cua mot hay nhieu ai lng vao, cac ai
lng ra thay oi theo mot quy luat nhat nh cua he thong
o.
Mot he thong ieu khien bao gom:
V du : V du : V du :
_ Cong tac , nut bam _ Van ao chieu
_ Xilanh
_ Cong tac hanh trnh _ Van chan_ ong
c kh nen
_ Cam bien bang tia_ Van tiet lu _ Bo bien oi
ap lc
_ Van ap suat
_ Phan t khuech ai
Hnh 3-1 Cac phan t cua mach ieu khien

He thong ien kh nen c bieu dien mot cach
tong quat theo hnh di ay. Mach ieu khien thong
thng la ien mot chieu 24VDC.
Hnh 3-2 He thong ieu khien ien kh nen
U
VAO
= 230 V / 50
Hz
I
VAO
= 10 A
U
RA
= 24 V DC
I
RA
= 5 A
Mang
ien
Bo
phan
phoi
ien
Nut
nhan
Mach ien ieu
khien
Phan t ieu
khien
(van ao chieu)
C cau chap
hanh
Rle
Nam cham
ien
Tiep
iem
Phan t a tn
hieu
Phan t x
ly va ieu
khien
C cau chap
hanh
II./ Cac phan t ien kh nen:
1) Van ao chieu ieu khien bang nam cham
ien:
Van ao chieu ieu khien bang nam cham ien ket
hp vi kh nen co the ieu khien trc tiep 2 au nong
van hoac gian tiep qua van phu tr.
Ky hieu:
Hnh 3-3 Ky hieu cac loai ieu khien
2) Cac phan t ien:
a./ Cong tac: Trong ieu khien, cong tac, nut
nhan la cac phan t a tn hieu. Phan nay
gii thieu 2 loai cong tac thong dung la cong
tac ong m va cong tac chuyen mach.
Ky hieu :
Hnh 3-4 Cong tac
Van ao chieu ieu khien
trc tiep bang nam cham
ien va lo xo
trc tiep bang nam cham
ien ca hai pha
gian tiep bang nam cham
ien va kh nen
ien ca hai pha
ien va kh nen
1
2 4 2
2 4
3 1
Cong tac
ong m
Cong tac
chuyen mach
b./ Nut nhan:
_ Nut nhan ong m: bnh thng 3 va 4 khong
noi vi nhau, khi nhan nut, 3 noi vi 4.
_ Nut nhan chuyen mach: thng co 2 tiep iem
thng kn va thng h. Khi nhan nut, tiep iem
thng kn se h ra va tiep iem thng h se
kn lai
Ky hieu:
Hnh 3-5 Nut nhan
c./ Rle: Rle c s dung nh phan t x
ly tn hieu. Co nhieu loai rle khac
nhau tuy theo cong dung.
_ Rle ong mach: khi dong ien vao cuon day
cam ng, lc t trng xuat hien se hut loi sat, tren
o co lap cac tiep iem. Cac tiep iem chnh e
ong m mach chnh, cac tiep iem phu e ong m
cac mach ieu khien.
Ky hieu:
Hnh 3-6 Rle ong mach
_ Rle ieu khien: rle ieu khien khac rle ong mach
cho la rle ieu khien ong m cho mach cong suat nho
va thi gian ong m rat nho.
Ky hieu:
Hnh Rle ieu khien
1
2 4 2
2 4
3 1
Nut nhan
ong m
Nut nhan
chuyen mach
1
2 4 6
1
4
2
2
3
2
4
2
3 5
1
3
2
1
3
1
4
1
Tiep iem
chnh
Tiep iem
phu
1
2
3
4
A
1
A
2
K
_ Rle tac ong muon: khi cap nguon ien vao cuon
K, th sau mot khoang thi gian t, cac tiep iem K1 mi
c tac ong.
Ky hieu :
Hnh 3-7 Rle thi gian tac ong muon
_ Rle thi gian nha muon: khi ngng cap ien cho
cuon hut K th sau mot thi gian t cac tiep iem K1 mi
tr lai v tr ban au.
Ky hieu :
Hnh 3-8 Rle thi gian nha muon
d./ Cong tac hanh trnh ien - c: Bnh
thng tiep iem 1 noi vi 2, khi con lan
cham c hanh trnh, tiep iem 1 noi vi 4.
Ky hieu:
Hnh 3-9 Cong tac hanh trnh ien c
a. Khi khong tac ong
b. Khi co s tac ong
e./ Cong tac hanh trnh nam cham: Cong tac
hanh trnh nam cham thuoc loai cong tac
hanh trnh khong tiep xuc.
4
1
2
3
A
2
A
1
K
t
K
4
1
2
3
A
2
B
1
B
2
K
K
1
K
1
K
S
1
2 4
S
1
2 4
S
1
2 4
a
.
b
.
Ky hieu:
Hnh 3-10 Cong tac hanh trnh nam cham
f./ Cam bien cam ng t:
Cam bien cam ng t hoat ong da tren
nguyen tac cam ng ien t. Vi s thay oi khoang
cach gia cam bien va vat se lam o rong xung cua
tn hieu tai ngo ra thay oi.
Ky hieu:
Hnh 3-11 Cam bien cam ng t
g./ Cam bien ien dung: Khi co vat can se
lam ien dung cua cam bien thay oi dan
en tan so rieng cua bo dao ong ben
trong cam bien thay oi,lam cho tan so tn
hieu ngo ra cua cam bien thay oi.
Ky hieu:
Hnh 3-12 Cam bien ien dung
h./ Cam bien quang: Cam bien quang gom 2
bo phan:
_ Bo phan phat quang
_ Bo phan nhan quang
Do s bo tr cua 2 bo phan nay ma ta co 2 dang
cam bien quang: cam bien quang 1 chieu va cam bien
quang phan hoi. Bo phan nhan quang se nhan tn hieu
quang t bo phan phat gi ve ieu khien.
4
1
B
F
e
Ky hieu:
Hnh 3-13 Cam bien quang
III./ Phan t chuyen oi tn hieu:
1) Phan t chuyen oi tn hieu kh nen ien:
Nguyen ly hoat ong cua phan t chuyen oi tn
hieu kh nen ien: ap suat p vao ca Z se ieu khien ong
m cong tac e ieu khien tiep iem 1 noi vi tiep iem
2.

Hnh 3-14 Phan t chuyen oi tn hieu kh nen-ien (rle
ap suat)
Trong ieu khien, tn hieu ieu khien (ap suat kh
nen) co the tac ong trc tiep len mang e ong
m tiep iem.
Ky hieu: tn hieu kh nen X tac ong len mang
lam thay oi tiep iem.

Hay ket hp vi phan t khuech ai e thay oi
tiep iem.
X
X
P
0
P
ong
P
m
1
Tn hieu
ien
B
Z
p(bar
)
t
1
2
2) Phan t chuyen oi tn hieu ien kh nen.
Nguyen ly c ban cua chuyen oi tn hieu ien kh
nen la nam cham ien. Khi cap ien cho cuon day nam
cham, loi t dch chuyen se lam thay oi v tr cua nong
van, thc hien chc nang ieu khien.
IV./ Thiet ke mach ieu khien ien kh nen:
1) Nguyen tac thiet ke:
Mot s o ieu khien ien - kh nen bao gom 2 phan:
_ S o mach ien ieu khien.
_ S o mach kh nen.
Cac phan t ien a c trnh bay muc II./.
Khi bieu dien tren s o mach ien ieu khien, cac
phan t phai trang thai cha co tn hieu tac ong
vao.
S lien he gia 2 s o:
Tren s o mach ien va s o mach kh nen c ghi
chu bang cac ky hieu so tng ng cua rle trong mach
ieu khien va nam cham ien cua van ao chieu hoac rle
ap suat ien trong mach kh nen.
2) S o mach ien ieu khien:
2.1 / Mach ieu khien ien - kh nen vi mot xi lanh:
a/ oi vi nhng mach kh nen s dung van ien t
khong co v tr khong, ta s dung mach ieu khien vi tiep
iem khong can duy tr.
Khi nhan b2 cuon K co ien, khi nha b2 cuon K mat
ien nhng trang thai cua van van c nh.
K
b2
b/ oi vi nhng mach kh nen s dung van ien t
co v tr khong, ngi ta s dung mach ieu khien vi tiep
iem t duy tr. Bao gom 2 loai:
Mach t duy tr co Reset troi hn:
Khi tac ong b2 , cuon K1 co ien lam tiep iem K1
ong, khi ngng tac ong b2, mach van tiep tuc c duy tr
nh K1.
Khi tac ong b1, cuon K1 b mat ien ong thi tiep
iem K1 cung h ra, mach tr ve trang thai ban au.
Neu ca b1 va b2 cung b tac ong th cuon K1 khong
co ien.
Mach t duy tr co Set troi hn:
Khi tac ong b2, cuon K1 co ien lam tiep iem K1
ong, khi ngng tac ong b2, mach van tiep tuc c duy tr
nh K1.
Khi tac ong b1, cuon K1 b mat ien ong thi tiep
iem K1 cung h ra, mach tr ve trang thai ban au.
Neu ca b1 va b2 cung b tac ong th cuon K1 co
ien.
2.2 / Mach ieu khien ien - kh nen vi nhieu xi lanh:
oi vi mach ien kh nen co t 2 xilanh tr len,
ngi ta thng s dung mach ieu khien theo nhp. Cac
bc thc hien xay ra tuan t. Co ngha la khi cac lenh
trong mot nhp thc hien xong th se bao cho nhp tiep theo
ong thi xoa lenh nhp thc hien trc o.
K1
K1
b1
b2
K1
K1
b1
b2
Neu dung van ien t co v tr
khong th ta dung mach ieu khien theo nhp, trong
moi nhp co mach t duy tr. Sau khi nhan nut khi
ong, cac tiep iem t nhp 1 en nhp cuoi cung
se ong mach. Nh vay, tai cac tiep iem chnh, ta
s dung mach khoa lan e nhp sau Reset nhp trc
ong thi bao cho nhp ke tiep.
Ngc lai, neu dung van ien t
khong co v tr khong, ta s dung cac mach khoa
lan tai cac tiep iem phu (tiep iem ong m
mach ieu khien).

Mat khac, trong s o ien cua mot he thong, co khi
bao gom en hang tram bo phan khac nhau. Do o khong
nhng co nhieu kho khan trong viec bo tr s o, ma con
kho khan trong viec oc va tm hieu s o. V the e de
dang cho viec thanh lap va oc mot s o ien, can phai
tien hanh theo cac nguyen tac sau ay:
Tat ca cac bo phan cua kh cu
ien, v du nh: cuon day, ien tr, tiep iem
can c bieu th trong dang s o, ky hieu:
Cac thanh phan cua thiet b va kh
cu ien at trong s o ien, can phai the hien ro
rang nhat chc nang va tuan t tac ong. S o
can co so lng day dan cat cheo nhau t nhat.
Tat ca cac tiep iem cua cac kh cu
ien eu phai the hien tren s o trang thai
bnh thng, khong co tn hieu tac ong ben ngoai.
Cung mot bo phan cua mot thiet b
nhng phai the hien nhieu v tr khac nhau tren s
o, th bo phan o can phai ky hieu cung mot
ch so hay ch so.
3) S o mach ien kh nen:
a./ Phan mach kh nen:
Trnh bay mach theo dong tn hieu t
di len tren.
Cac xilanh va cac van se c ve
nam ngang.
Xilanh thc hien hanh trnh t trai
sang phai.
b./ Phan mach ien:
Trnh bay mach ien theo dong tn
hieu t tren xuong di.
Mach ien c gii han bang 2
ng nam ngang ac trng cho nguon, cac phan
t, cac kh cu ien c bieu dien ben trong 2
ng ng nay.
Phan mach ien c chia lam 2
phan: phan ben trai bie dien mach ieu khien
(control section), phan ben phai bieu dien mach
ong lc (power section).
c./ Cau truc chung cua mot s o mach ien kh nen:
Phan mach ieu khien, phan mach
ong lc c trnh bay thanh cac nhom phan biet
nhng co quan he vi nhau.
Phan kh nen c trnh bay theo dong
tn hieu t di len tren.
Phan ien c trnh bay theo dong tn
hieu t tren xuong di.
ng nam ngang ben tren cua
phan mach ien ac trng cho cc 24VDC c anh
so t trai sang phai cho cac iem noi.
S giao tiep gia cac phan mach
ien va phan mach kh nen c the hien cac
phan t chung nh cac cuon day ien t, cac cong
tac hanh trnh.
V./ ng dung PLC trong ieu khien:
1)Gii thieu:
Thanh phan c ban cua S7-200 la khoi x ly trung
tam CPU-12 hoac CPU-14. ay xin ch e cap en CPU-14.
a) Mo ta:
Mot CPU-14 co hnh dang ben ngoai giong nh
hnh 3-14.
O Co 14 ngo vao: t I0.0 en I0.7 va t I1.0 en
I1.5.
O Co 10 ngo ra : t Q0.0 en Q0.7 va t Q1.0
en Q1.1.
O Co 14 led bao trang thai cac ngo vao, 10 led
bao trang thai cac ngo ra.
O Co 03 led bao trang thai cua CPU:
_ Led SF : Bao trang thai CPU con tot hay b
hong.
_ Led RUN: Bao trang thai CPU ang hoat ong.
_ Led STOP: Bao trang thai CPU ang ngng hoat
ong.
Ngoai ra, khi co yeu cau giao tiep ln, S7-200
cho phep ta ket noi them cac modul m rong. So modul
m rong toi a la 7, tng ng vi so ngo vao cc ai
la 64, so ngo ra cc ai la:
O Cac ngo vao, ra eu co mc ien ap tac
ong la 24VDC.
Hnh 3-14 Khoi x ly CPU 214
Tnh nang cua CPU-14 DC/DC/DC:
- Nguon nuoi: 24VDC.
- Mc logic ngo vao: 24VDC = [1].
0VDC = [0].
- Mc logic ngo ra : 24VDC = [1].
0VDC = [0].
Tai ngo ra phai lam viec 24VDC va dong toi a la
50mA.
- Co 2048 t nh chng trnh cha trong ROM.
RUN
SF
STO
P
I0.
0
I0.
1I0.
2I0.
3I0.
4I0.
5I0.
6I0.
7
I1.
0
I1.
1I1.
2I1.
3I1.
4I1.
5
Q0.
0
Q0.
1Q0.
2Q0.
3Q0.
4
Q0.5
Q0.
6Q0.
7
Q1.
0
Q1.
1
SIEME
NS
SIMATI
C
S7-200
Cac
cong vao
Cac
cong ra
Cong
truyen
thong
- Co 2048 t nh d lieu, trong o 512 t au tien
thuoc ROM.
- Co 128 timer, tuy theo o phan giai ma chia lam 3
loai:
+ 04 timer 01ms.
+ 16 timer 10ms.
+ 108 timer 100ms.
- Co 128 bo em Counter, tuy vao cach em ma
chia lam 2 loai:
+ em len : Count up.
+ em len xuong : Count up-down.
- Co 688 bit nh at biet dung e thong bao trang
thai va at che o lam viec.
- Cac che o ngat va x ly ngat gom:
+ Ngat truyen thong.
+ Ngat sn len.
+ Ngat sn xuong.
+ Ngat thi gian.
+ Ngat cua bo em toc o cao.
+ Ngat truyen xung.
- Co 03 bo em toc o cao vi tan so: 2KHz va 7KHz.
- Co 02 bo phat xung kieu POT hoac kieu PWM.
- Co 02 bo ieu chnh tng t.
- Toan bo vung nh khong b mat d lieu trong 190 gi
khi PLC b mat nguon nuoi.
b) Cau truc bo nh:
Bo nh cua S7-200 c chia lam 4 vung:
_ Vung chng trnh.
_ Vung tham so.
_ Vung d lieu.
Trong o hai vung nh d lieu va oi tng co vai
tro quan trong trong viec thc hien mot chng trnh.
Vung d lieu:
. V - Variable memory : Vung nh bien.
. I - Input image register : Vung em ngo vao.
. Q - Output image register : Vung em ngo ra.
. M Internal memory bits : Vung nh trong.
. SM Special memory bits : Vung nh ac biet.
- Cac vung nh nay eu co the truy cap c theo
bit, byte, word hay double word:
+ Truy suat theo bit: Mot lan mot bit.
Cu phap: Ten vung nh (+) a ch byte (+) . (+)
a ch bit.
V du: I0.0 : ch bit 0 cua byte 0 cua vung I.
+Truy suat theo byte: moi lan 1 byte.
Cu phap: Ten vung nh (+) B (+) a ch byte.
V du: VB1 : ch byte 1 cua vung V.
+Truy suat theo word:
Cu phap: ten vung nh (+) W (+) a ch byte
cao.
V du: VW100: ch word 100 gom 2 byte 100 va 101
thuoc vung V.
+Truy suat theo Double word:
Cu phap: Ten vung nh (+) D (+) a ch byte
cao.
V du: VD150 : ch double word gom 4 byte: 150, 151,
152, 153.
Vung oi tng: c phan chia nh sau:
-Timer: t T0 en T127.
-Bo em: t C0 en C127.
-Bo em cong vao tng t: t AW0 en AW30.
-Bo em cong ra tng t: t AQW0 en AQW30.
-Thanh ghi Acumulator: t AC0 en AC3, trong o thanh
ghi AC) khong co kha nang lam con tro.
-Bo em toc o : t HSC0 en HSC2
c) Cach thc hien mot chng trnh:
PLC lam viec theo nguyen tac thc hien cac vong
lap. Moi vong lap c goi la mot vong quet. Moi vong
quet hoan chnh gom cac bc nh sau:
Hnh 3-16 Vong quet trong S7-200
Bc 1: Nhap d lieu t thiet b ngoai vi vao bo
em.
Bc 2: Thc hien chng trnh.
Bc 3: Truyen thong va t kiem tra loi.
Bc 4: Chuyen d lieu t bo em ao ra ngoai.
d) Cau truc mot chng trnh:
1. Nhap
d lieu
t ngoai vi
vao bo
em ao.
2. Thc
hien
chng
trnh.
3. Truyen
thong va t
kiem tra loi.
4.
Chuyen
d lieu
t bo
em ao
ra ngoai vi.
_ Mot chng trnh ieu khien co the c viet tren
phan mem STEP7-MICRO/Dos hay STEP7-MICRO/Win.
_ Co the nap chng trnh vao cho CPU nh may tnh
ca nhan hoac thiet b lap trnh bang tay PG702.
_ Mot chng trnh cua S7200 gom cac phan sau:
Chng trnh chnh c ket thuc bang
lenh MEND.
Cac chng trnh con va chng trnh x ly
ngat phai c viet sau lenh MEND.
Mot chng trnh con c bat au bang lenh
SBR va ket thuc bang lenh RET.
Mot chng trnh x ly ngat c bat au
bang lenh INT va ket thuc bang lenh RETI.
e) Cac che o lam viec:
STOP/TERN/RUN:
Ta chon che o lam viec cua PLC bang cach tac
ong vao cong tac ba v tr Stop/Tern/Run. Khi nap chng trnh
vao PLC phai e cong tac v tr Stop.
f) Soan thao mot chng trnh trong S7-
200:
_ Dang LADer
_ Dang STatement List
g) Qui trnh thiet ke he ieu khien
dung PLC:
e thiet ke mot he ieu khien dung PLC ta thc
hien cac bc sau:
Xac nh yeu cau ieu khien:
Nam ro cau tao va nguyen tac hoat ong cua thiet
b, yeu cau ieu khien la g.
Ve lu o:
Bc ve lu o giup ta co the nhn mot cach tong quan
ve yeu cau ieu khien va ket noi gia he thong vi
thiet b.
Xac nh I/O:
Ngo vao thng la cac tiep iem, rle, Ngo ra
thng la cac cuon day, motor, contactor
Viet chng trnh:
Khi xay dng lu o ung,ta se chuyen c sang s o
LAD mot cach de dang.
Nap chng trnh vao PLC:
e mo phong chng trnh, can thiet phai nap vao PLC.
Kiem tra:
Trong qua trnh mo phong, neu phat hien sai sot, loi, ta
se thoat ra ngoai e sa lai chng trnh. Neu chng trnh
chay tot, ta ket noi PLC vi cac thiet b.
Ket thuc: Ket noi PLC vi cac thiet b
va cham dt.
2) Tap lenh S7-200:
Tap lenh trong S7-200 c bieu dien di hai dang:
LAD va STL:
_ LAD Ladder logic Goi la phng phap hnh thang: la
mot ngon ng viet di dang o hoa, de quan sat, de
kiem tra.
_ STL Statement list Phng phap liet ke: Ngon ng
the hien di dang nhng cau lenh.
Phan ln nhng cau lenh di dang LAD eu co
the chuyen sang STL va ngc lai.

a. Cac lenh xuat/nhap:
Lenh nhap: Nap gia tr logic cua tiep iem vao bit
au tien trong ngan xep.
n
n
n
n
n
DANG LAD MO TA TOAN HANG
Tiep iem thng m se
c ong khi n=1 n (bit): I, Q, M,
SM, T, C, V. Tiep iem thng ong se
c m khi n=1
Tiep diem thng m se
c ong tc thi khi n=1 n(bit): I
Tiep iem thng ong se
c m khi n=1.

DANG STL MO TA TOAN HANG
LD n Nap gia tr logic cua n vao bit
au tien trong ngan xep. n(bit): I, Q, M,
SM, T, C, V. LDN n Nap gia tr nghch ao cua n
vao bit au tien trong ngan
xep.
LDI n Nap tc thi gia tr logic cua n
vao bit au tien trong ngan
xep.
n(bit): I.
LDNI Nap tc thi gia tr nghch ao
cua n vao bit dau tien trong
ngan xep.
Lenh xuat: Sao chep noi dung cua bit au tien
trong ngan xep vao bit c ch nh trong lenh. Noi dung
cua ngan xep khong b thay oi.
LAD MO TA TOAN HANG
Cuon day au ra trang thai
kch thch khi co dong ieu khien
i qua.
n(bit): I, Q, M,
SM, T, C, V,.
Cuon day au ra c kch thch
tc thi khi co dong ieu khien
i qua .
n(bit): Q.
STL MO TA TOAN HANG
= n Lenh =sao chep gia tr cua
nh ngan xep ti tiep iem n
c ch dan trong lenh.
n(bit): I, Q, M,
SM, T, C, V.
=I n Lenh =I sao chep tc thi gia
tr cua nh ngan xep ti tiep
iem n c ch dan trong lenh.
n(bit): Q.
b. Cac lenh ghi xoa gia tr cho tiep
iem:
n
Cac lenh nay dung e ghi xoa cac iem gian oan
a c thiet ke.
n
S bit
n
S bit
LAD MO TA TOAN
HANG
ong mot mang gom n cac tiep
iem ke t S-bit.
S-bit: I, Q, M,
SM, T, C, V.
n(Byte): IB,
QB, MB, SMB,
VB, AC,
Hang so,
*VD, *AC.
Ngat mot mang gom n cac tiep
iem ke t S-bit. Neu S-bit lai ch
vao Timer hoac Counter th lenh se
xoa bit au ra cua timer hoac
couter o.
ong tc thi mot mang gom n
cac tiep iem ke t S-bit.
S-bit: Q (bit)
n: IB, `QB,
MB, SMB, VB,
AC, Hang
so, *VD,
*AC.
Ngat tc thi mot mang gom
cac tiep iem ke t a ch S-
BIT.
STL MO TA TOAN HANG
S S_BIT
n
Ghi gia tr logic vao mot mang
gom n bit ke t ia chi S_BIT.
S_BIT: I, Q, M,
SM, T, C, V.
(Bit).
n: IB, QB, MB,
SMB, VB, AC,
Hang so,
*VD, *AC.
(Byte).
R R_BIT
n
Xoa mot mang gom n bit ke t
ia ch S_BIT. Neu S_BIT lai ch
vao Timer hoac Counter th lenh
se xoa bit au ra cua Timer hoac
counter o.
SI S_BIT
n
Ghi tc thi ga tr logic 1 vao
mot mang gom n bit ke t a
ch S_BIT.
S_BIT: Q. (Bit)
n: IB, QB, MB,
SMB, VB, AC,
Hang so,
*vd, *AC.
(Byte).
RI S_BIT
n
Xoa tc thi mot mang gom n
bit ke t a ch S_BIT
c. Cac lenh logic: Cac lenh nay cho phep tao lap c
cac mach logic.
Dang LAD:
Trong LAD, cac lenh nay c bieu dien thong qua
cach mac mach noi tiep (Logic AND) hay song song (Logic OR)
cac tiep iem thng ong hay thng h.
n
S bit
n
S bit
Dang STL:
LENH MO TA TOAN
HANG
O n
A n
Lenh thc hien toan t AND va OR
gia cac gia tr logic cua tiep
iem n va gia tr bit au tien trong
ngan xep. Ket qua c ghi vao bit
au trong ngan xep.
n: I, Q, M, SM,
T, C, V. (Bit).
ON n
AN n
Lenh thc hien toan t AND va OR
gia cac gia tr nghch ao cua
tiep iem n va gia tr bit au tien
trong ngan xep. Ket qua c ghi
vao bit au trong ngan xep.
OI n Lenh thc hien tc thi toan t
AND va OR gia gia tr logic cua
tiep iem n va gia tr bit au tien
trong ngan xep. Ket qua c ghi
lai vao bit au trong ngan xep.
n: I . (Bit).
ONI n
ANI n
Lenh thc hien tc thi toan t
AND va OR giua gia tr logic nghch
ao cua tiep iem n va gia tr bit
au tien trong ngan xep. Ket qua
c ghi lai vao bit au cua ngan
xep.

Ngoai ra con co cac lenh ac biet dung cho ngan
xep:
LENH MO TA TOAN
HANG
ALD Lenh to hp gia tr cua bit au
tien va th hai trong ngan xep
bang phep logic AND. Ket qua ghi
lai trong bit au cua ngan xep. Gia
tr con lai cua ngan xep c keo
len 1 bit.
Khong co.
OLD Lenh to hp gia tr bit au tien
vao bit th hai trong ngan xep
bang phep logic OR. Ket qua c
ghi lai vao bit au trong ngan xep.
Gia tr con lai cua ngan xep c
keo len 1 bit.
LPS Lenh Push sao chup gia tr bit au
tien vao bit th hai trong ngan xep.
Gia tr con lai b ay xuong 1 bit.
Bit cuoi cung b ay ra ngoai.
LRD Lenh sao chep gia trcua bit th
hai vao bit au tien trong ngan xep
. Cac gia tr con lai cua ngan xep
gi nguyen v tr.
LPP Lenh keo ngan xep len 1 bit. Gia
tr cua bit sau c keo len bit
trc.
d. Cac lenh tiep iem ac biet:
LAD STL MO TA
NOT Phu nh
EU Tac ong sn
len
EO Tac ong sn
xuong
e. Cac lenh so sanh:
LAD MO TA TOAN HANG
Tiep iem ong khi
n1= n2.
X: B = byte
I = integer
D = double integer
R = real
n1, n2: VB, IB, QB,
MB, SMB, AC,
Const, *VD, AC.
Tiep iem ong khi n1
ln hn hoac bang n2.
X: B = byte
I = integer
D = double integer
R = real
n1, n2: VW, T, C,
IW, QW, MW,
SMW, AC, const,
AIW*VD,*AC.
Tiep iem ong khi n1
nho hn hoac bang n2
X: B = byte
I = integer
D = double integer
R = real
n1,n2: VD, ID, QD,
MD, SMD, AC,
HC.const, *VD,
*AC.
STL MO TA TOAN
HANG
n
1
n
2 X

X

n
1
n
2
X

n
1
n
2
LDB= n1
n2
AB= n1
n2
OB= n1
n2
Lenh thc hien phep tnh logic
Load, AND hoac OR gia gia tr
1 vi noi dung cua nh ngan
xep khi n1 = n2
n1, n2: VB,
IB, QB, MB,
SMB, AC,
CONST, *VD,
*AC. (byte) LDB>= n1
n2
AB>= n1
n2
OB>= n1
n2
Load, AND, Or gia gia tr logic
xep khi n1 = n2
LDB<= n1
n2
AB<= n1
n2
OB<= n1
n2
Load, AND, OR gia gia tr logic
xep khi n1 nho hn hoac bang
n2.
LDW= n1
n2
AW= n1
n2
OW= n1
n2
Load, AND, OR gi gia tr logic 1
vi noi dung cua nh ngan
xep khi n1 = n2 n1, n2 :VW,
T, C, TW, QW,
MW, SMW,
AC, CONST,
*VD
LDW>= n1
n2
AW>= n1
n2
OW>= n1
n2
Load, ANDm OR gia gia tr logic
1 va noi dung cua nh ngan
xep khi n1 ln hn hoac bang
n2.
LDW<= n1
n2
AW<= n1
n2
OW<= n1
n2
LOAD , AND, OR gia gia tr
Logic 1 va noi dung cua nh
ngan xep khi n1 nho hn hoac
bang n2.
LDD= n1
n2
AD= n1
n2
OD= n1
n2
LOAD, AND, OR gia gia tr logic
1 va noi dung cu nh ngan
xep khi n1 = n2
n1, n2: VD,
ID, QD, MD,
SMD, AC, HC,
CONST, *VD,
n
n
n
*AC. (T
kep).
LDD>= n1
n2
AD>= n1
n2
OD>= n1
n2
LOAD, AND, OR gia gia tr logic
xep khi n1 ln hn hoac bang
n2
LDD<= n1
n2
AD<= n1
n2
OD<= n1
n2
Load, And, OR gia gia tr logic
xep khi n1 nho hn hoac bang
n2.
f. Lenh nhay va goi chng trnh con:
LAD STL MO TA
TOA
N
HANG
JMP Kn Lenh nhay thc hien
viec chuyen ieu khien
en nhan n trong mot
chng trnh. n: t
0 en
255
LBL Kn Lenh khai bao nhan n
trong mot chng trnh.
CALL Kn Lenh goi chng trnh con,
thc hien viec chuyen
ieu khien en chng
trnh con co nhan la n.
SBR
Kn
Lenh gan nhan cho mot
chung trnh con.
RET Lenh tr ve chng trnh
chnh khong ieu kien.
Khon
g co
g. Cac lenh can thiep vao thi gian vong quet:
LAD STL MO TA
TOA
N
HANG
END
Lenh ket thuc chng trnh chnh
hien hanh co ieu kien. Khon
g co
STOP
Ket thuc chng trnh hien
hanh va chuyen sang che o
Stop.
n
n
NOP n
Lenh rong, khong co hieu lc
trong chng trnh hien hanh.
n: t
0 en
255
h. Cac lenh ieu khien Timer:
LAD MO TA TOAN
HANG
Khai bao timer xx kieu TON de
tao thi gian tre tnh t khi bit
au trong ngan xep co gia tr
logic 1. Neu gia tr em tc
thi ln hn hoac bang gia tr
at trc n th T-bit co gia tr
logic =1. Co the reset timer
bang lenh Reset hoac bang
gia tr ogic 0 au vao.
CPU 212 214 CPU
214
1ms T32
T96
10ms T33 en T36 T97
en T100
100ms T37 en T63 T101
en T127
Txx: CPU 212
32 63
CPU
214 32 63
96 27
PT: VW, T, C,
IW, QW, MW,
SMW, AC,
IAW, VD, *AC,
CONST.
Khai bao Timer xx kieu TONR.
Ch co the reset timer kieu
TONR bang lenh R.
CPU 212-214 CPU
214
1ms T0 T64
10ms T1 en T4 T65
en T68
100ms T5 en T31 T69
en T95
Txx: 0 31
64 - 95.
PT: VW. T, C,
IW, QW, MW,
SMW, AC,
AIW, VD, *AC,
CONST.
i. Cac lenh ieu khien Counter: Dung e
em sn xung :
Tx
x
Tx
x
Cxx
LAD STL MO TA TOAN
HANG
CTU Cxx n Khai bao bo em
len theo sn len. Khi
gia tr tc thi C-
word >= gia tr at
trc n, C-bit co gia
tr logic =1. Bo em
se ngng khi :
C-word = 32767.
Cxx:
T 0 47
va
80 127
n:VW, T, C,
IW, QW, MW,
SMW, AC,
AIW, CONST,
*VD, *AC.
(Word).
CTUD Cxx
n
Khai bao bo em
len xuong, khi gia tr
C-word >= n th C-bit
co gia tr bang 1.
C-wordmax = 32767
C-wordmin = - 32768
CTUD reset khi bit au
cua ngan xep co
gia tr logic =1.
Cxx: 48 79
(word)
n: VW, T, C,
IW, MW,
SMW, QW,
AC, AIW,
CONST, *VD,
*AC.

Tren ay la mot so lenh thong dung ma trong
luan van co dung en. Ngoai ra, trong STEP7 con nhieu
lenh khac na ma cha trnh bay c v noi dung cua
luan van nay khong e cap chu yeu en van e PLC.
Cxx
BAI TAP 1
DUNG CU CAT GIAY
I. Muc ch yeu cau:
ieu khien gian tiep bang ham AND cua tn
hieu ngo vao.
Ve bieu o trang thai cua cac chuyen ong.
Thiet ke mach kh nen va mach ien ieu
khien, t o chuyen sang chng trnh PLC.
S dung dung cu cat giay e cat t giay ln
thanh nhng t nho.
Khi nhan cung luc hai nut nhan, xilanh i xuong
that nhanh mang theo li dao cat giay. Sau khi tha mot
trong hai nut nhan, li dao cat t t i len.
Hnh 3-17 Dung cu cat giay
C T yeu cau ieu khien, ve bieu o trang thai tien
trnh hoat ong cua xilanh.
C T bieu o trang thai, hay thiet ke mach kh nen,
mach ien ieu khien theo bieu o trang thai va
ve.
C T mach ien kh nen va thiet ke, hay neu
nguyen ly hoat ong cua mach.
C Liet ke cac thiet b s dung trong bai th
nghiem.
C Lap rap mach ien ieu khien va ket noi vi
mach kh nen.
e van nguon v tr tat, ket noi cac ng
ong dan kh.
C Bat nguon cung cap kh va cho mach hoat ong;
so sanh hoat ong cua mach va yeu cau ieu
khien a e ra.
Da theo mach ien kh nen a thiet ke, hay
viet chng trnh PLC.
Ket noi cac ngo vao/ra cua CPU vi cac
thiet b.
Nap chng trnh va cho mach hoat ong
theo chng trnh va viet.
Neu s dung xilanh tac dung n th mach se
hoat ong ra sao ?
Nh vay co con ung vi yeu cau ieu
khien na khong ?
IV. Bai giai:
1. Bieu o trang thai :
1 2 3
A
1
0
5 1 4
PSB1
1
0

1
0

PSB2
2. Mach ieu khien ien - kh nen:
Thiet b s dung:
_ 2 nut nhan thng h.
_ 1 r le ien t.
_ 1 van ien t 5/2 hoi phuc bang lo xo.
Quy trnh ieu khien:

PSB
1
PSB
2
K
K
Y
1 2
+24V
0V
Xilanh +A -A
Cong tac
hanh trnh
PSB
1
PSB
2
Nam cham Y 0
O Khi nhan cung luc 2 nut nhan PBS
1
va PBS
2
,
cuon K co ien.
O Tiep iem K ong lai lam cuon day Y cua van
ien t co ien lam cho van ien t 5/2 ao chieu
va xilanh A i ra.
O Khi tha mot trong hai nut nhan, cuon K mat
ien, tiep iem K h ra, cuon day Y mat ien, lo xo
hoi phuc lai v tr cua cho van, xilanh A lui ve va do co
van tiet lu mot chieu gan tren ng ong dan kh
nen xilanh lui ve vi van toc cham.
4. Chng trnh PLC:
Xac nh I/O:
_ PSB
1
: I0.0
_ PSB
2
: I0.1
_ Y : Q0.0
Neu s dung xilanh tac dung n, ta phai thay van ien
t 5/2 bang van ien t 3/2, nh vay mach van hoat
ong ung vi yeu cau ieu khien a e ra.
BAI TAP 2
THIET B SAP XEP
I. Muc ch yeu cau:
ieu khien gian tiep thong qua s phan hoi
cua tiep iem hanh trnh ien c.
Giai thch nguyen ly hoat ong cua mach .
Co 4 loai go khac nhau c cho vao 4 ngan xep.
Xilanh A co nhiem vu ay ra mot bo gom 4 loai
go, moi th 1 thanh.
Bang cach nhan mot nut nhan, khong can gi
tay, xilanh A i ra, sau o t ong lui ve.
Hnh 3-18 Thiet b sap xep
ve.
nghiem.
mach kh nen.
ong dan kh.
khien a e ra.
viet chng trnh PLC.
thiet b.
Nap chng trnh va cho mach hoat ong theo
chng trnh va viet.
Neu tiep iem hanh trnh khong c at
cuoi hanh trnh cua xilanh ma at khoang
gia cua hanh trnh th mach hoat ong nh the
nao ? V sao?
Neu ng dung cua tiep iem hanh trnh ien
c ?
IV. Bai giai:
Thiet b s dung:
_ 2 r le ien t.
_ 1 van ien t 5/2 tac dung 2 chieu.
_ 1 tiep iem hanh trnh ien c.
Quy trnh ieu khien:
1 2
0
3 1
1
0
1
A
PS
B
Xilanh +A -A
Cong tac
hanh trnh
PSB S
Nam cham
ien
Y
1
Y
2
O Khi nhan nut nhan PBS, cuon K1 co ien.
O Tiep iem K1 ong lai lam cuon day Y1 cua van
va xilanh A i ra. Do van ien t co nh nen du ta
khong gi nut nhan, van van khong tr ve v tr ban
au.
O Xilanh A i ra cham vao tiep iem hanh trnh S
lam cho cuon day K2 co ien, tiep iem K2 ong lai
lam cho cuon day Y2 co ien, van ien t tr ve v
tr ban au, xilanh A lui ve.
4. Chng trnh PLC:
Xac nh I/O:
_ PSB : I0.0

PSB
K1
S
K2
1 2
+24V
0V
K1
Y
1
3
K2
Y
2
4
_ S : I0.1
_ Y1 : Q0.0
_ Y2 : Q0.1
Neu dch chuyen tiep iem hanh trnh S vao gia
khoang hanh trnh cua xilanh A, th xilanh A se khong di
chuyen het hanh trnh cua no ma no se quay ve tai
v tr at tiep iem hanh trnh S. V khi cham vao tiep
iem hanh trnh S, lap tc cuon day Y2 co ien, van
ao chieu, xilanh A quay tr ve.
BAI TAP 3
BAN XOAY
I. Muc ch yeu cau:
ieu khien gian tiep bang s dao ong cua
can piston thong qua chot chan.
Ban xoay se xoay tron e oi hng cac can nha
theo hng oi dien e tiep tuc di chuyen ten bang
tai.
Bang cach nhan mot nut nhan, xilanh A se dao
ong, thong qua chot chan, ban xoay se xoay tron.
Khi nhan nut nhan mot lan na, ban xoay se
ngng xoay.
Hnh 3-19 Ban xoay
C T yeu cau ieu khien, ve bieu o trang thai
C T bieu o trang thai, hay thiet ke mach kh
nen, mach ien ieu khien theo bieu o trang
thai va ve.
A
nghiem.
mach kh nen.
ong dan kh.
khien a e ra.
viet chng trnh PLC.
thiet b.
chng trnh va viet.
Neu ta thay xilanh tac dung kep bang xilanh tac
dung n (hoac ngc lai) th mach phai thay oi
lai nh the nao ?
Trong bai nay, neu ta thay the van ien t tac
dung kep bang van ien t tac dung mot
chieu co hoi phuc bang lo xo th mach co hoat
ong khong ?
e thay oi toc o xoay cua ban th ta phai
lam nh the nao ?
IV. Bai giai:

1 2 7
A
1
0

3 4 5 6
n
1

n-1

1
0

PS
B
S
2
S
1
Thiet b s dung:
_ 1 nut nhan thng h co ranh nh v.
_ 2 r le ien t.
_ 2 tiep iem hanh trnh ien c.
Quy trnh ieu khien:
S
2

PSB
K1
K2
1 2
+24V
0V
K1
Y
1
3
K2
Y
2
4
S
1
Xilanh +A -A KT
Cong tac
hanh trnh
PSB S
2
S
1
Nam cham
ien
Y
1
Y
2
O Khi nhan nut nhan PBS, do tiep iem hanh trnh
S1 ang b tac ong nen cuon K1 co ien.
O Tiep iem K1 ong lai lam cuon day Y1 cua van
va xilanh A i ra.
O Xilanh A i ra cham vao tiep iem hanh trnh S2
lam cho cuon day Y2 co ien, van ien t tr ve v
tr ban au, xilanh A lui ve.
O Xilanh A lui ve lai cham vao tiep iem hanh
trnh S1, cuon day K1 co ien, tiep iem K1 ong,
cuon day Y1 co ien, xilanh A i ra, cham vao tiep
iem hanh trnh S2, xilanh A lai lui ve. Va qua trnh c
the tiep tuc cho en khi, ta nhan nut PSB mot lan
na, luc nay cuon K1 mat ien, xilanh A ngng hoat
ong.
4. Chng trnh PLC :
Xac nh I/O :
_ PSB : I0.0
_ S
1
..S
2
: I0.1 .. I0.2
_ Y1..Y2 : Q0.1 .. Q0.2.
Neu s dung xilanh tac dung n, ta phai thay van ien
t 5/2 bang van ien t 3/2, nh vay mach van hoat
ong ung vi yeu cau ieu khien a e ra.
Neu s dung van tac dung mot chieu co hoi phuc
bang lo xo th ta phai thiet ke mot mach chot e
duy tr khi tiep iem hanh trnh S1 khong con b tac
ong.
Chng trnh PLC co s dung lenh SET e duy tr :
Y : Q0.0
Khi muon thay oi toc o ban xoay, ngha la ta phai
thay oi toc o chuyen ong cua piston. Nh vay ta
phai gan them van tiet lu hai chieu tai ng ong
dan kh vao xilanh.
BAI TAP 4
DUNG CU CHA BONG
I. Muc ch yeu cau:
Mach ien chot vi Reset troi hn.
Cac mieng go c ay xuong mot ban cha
bong co bang tai ang chay.
Bang cach nhan mot nut nhan, mieng go c
xilanh A ay xuong di bang tai cha bong. Khi nhan
mot nut nhan khac, xilanh A lui ve mang theo mieng go
a c cha bong.
Hnh 3-20 Dung cu cha bong
ve.
A
nghiem.
mach kh nen.
ong dan kh.
khien a e ra.
viet chng trnh PLC.
thiet b.
chng trnh va viet.
IV. Bai giai:
Thiet b s dung:
_ 1 nut nhan thng ong S1
_ 1 nut nhan thng h S2
_ 1 r le ien t.
_ 1 van ien t 5/2 hoi phuc bang lo xo.
Quy trnh ieu khien:

1 2
3 1
1
0
S
1
S
2
Xilanh +A -A
Cong tac
hanh trnh
S
1
S
2
Nam cham
ien
Y 0
O Khi nhan nut nhan S1 lam cuon K1 co ien.
O Tiep iem K1 ong lai va t duy tr lam cuon
day Y cua van ien t co ien lam cho van ien t
5/2 ao chieu va xilanh A i ra.
O Khi nhan nut S2, cuon K1 mat ien, tiep iem
K1 h ra, cuon day Y mat ien, lo xo hoi phuc van ve
v tr cu, xilanh A lui ve.
4. Chng trnh PLC:
Xac nh I/O:
_ S1 : I0.0
_ S2 : I0.1
_ K1 (Y) : Q0.0
S
1
S
2
K1
K1
1 2
+24V
0V
K1
Y
3
BAI TAP 5
DUNG CU KEP CHI
TIET
I. Muc ch yeu cau:
Mach ien chot vi SET troi hn .
Mot dung cu kep chi tiet trong gia cong chi tiet.
Bang cach nhan mot nut nhan, ham kep i ra va
kep chi tiet lai.
Khi nhan mot nut nhan khac, ham kep se m ra
va chi tiet c thao ra.
Hnh 3-21 Dung cu kep chi tiet
thai va ve.
nghiem.
mach kh nen.
ong dan kh.
khien a e ra.
viet chng trnh PLC.
thiet b.
chng trnh va viet.
IV. Bai giai:
Thiet b s dung:
_ 1 nut nhan thng h S1
_ 1 nut nhan thng ong S2
_ 1 r le ien t.
_ 1 van ien t 5/2 co phuc hoi bang lo xo.
Quy trnh ieu khien:

1 2 3 1
A
1
0
S
1
S
2
Xilanh +A -A
Cong tac
hanh trnh
S
1
S
2
Nam cham
ien
Y 0
O Khi nhan nut nhan S1 lam cuon K1 co ien.
O Tiep iem K1 ong lai va t duy tr lam cuon
day Y cua van ien t co ien lam cho van ien t
5/2 ao chieu va xilanh A i ra.
O Khi nhan nut S2, cuon K1 mat ien, tiep iem
K1 h ra, cuon day Y mat ien, lo xo hoi phuc van ve
v tr cu, xilanh A lui ve.
4. Chng trnh PLC:
Xac nh I/O :
_ S1 : I0.0
_ S2 : I0.1
_ K1 ( Y ) : Q0.0
S
1
S
2
K1
K1
1 2
+24V
0V
K1
Y
3
BAI TAP 6
DUNG CU ONG DAU
I. Muc ch yeu cau:
Khao sat rle ap suat ien trong ieu khien
t ong.
Mot dung cu ong dau hoat ong nh sau:
Nhan mot nut nhan, xilanh A i ra va ay con dau
i xuong. Khi con dau tiep xuc vi vat can ong dau
va a at c mot ap suat cho phep nao o, con
dau t ong lui ve.
Hnh 3-22 Dung cu ong dau
thai va ve.
A
nghiem.
mach kh nen.
ong dan kh.
khien a e ra.
viet chng trnh PLC.
thiet b.
chng trnh va viet.
S dung 2 loai van va 2 loai xilanh sau ay:
Xilanh tac dung n, xilanh tac dung kep.
Van ien t tac dung 2 chieu, van ien t tac
dung mot chieu va t hoi phuc bang lo xo.
IV. Bai giai:
Dang mach 1:
Thiet b s dung:
_ 1 r le ap suat ien.
_ 1 van ien t 5/2 (3/2) tac dung 1 chieu va hoi
phuc bang lo xo.
_ 1 xilanh tac dung kep (n ).
_ 2 rle ien t.

1 2 3 1
A
1
0
Sta
rt
p
Quy trnh ieu khien:
Dang mach 2:
Thiet b s dung:
_ 1 r le ap suat ien.
_ 1 van ien t 5/2 (3/2) tac dung 2 chieu.
_ 1 xilanh tac dung kep (n ).
_ 2 rle ien t.
K
1
Start
K1
1 2
+24V
0V
B
K2
3
K1
Y
4
K
2
Xilanh +A -A
Cong tac
hanh trnh
Start B
Nam cham
ien
Y 0
Quy trnh ieu khien:
Dang mach 1:
O Khi nhan nut nhan Start, cuon K1 co ien va t
no duy tr.
O Tiep iem K1 ong lai lam cuon day Y cua van
ien t co ien lam cho van ien t ao chieu va
xilanh A i ra.
O Xilanh A i ra cham vao vat can ong dau va
at dc mot ap suat can thiet cho phep lam cho
tiep iem B cua rle ap suat ong lai lam cuon K2
co ien => lam cho cuon K1 mat ien, Y mat ien,
lo xo phuc hoi lai v tr ban au cho van, xilanh A lui ve.
Dang mach 2:
O Khi nhan nut nhan Start, cuon K1 co ien , tiep
iem K1 ong lai lam cuon day Y cua van ien t co
ien lam cho van ien t ao chieu va xilanh A i ra.
Start
K1
1
+24V
0V
B
K2
2
K1
Y
1
3
K
2
Y
2
4
K2
Xilanh +A -A
Cong tac
hanh trnh
Start B
Nam cham
ien
Y
1
Y
2
O Xilanh A i ra cham vao vat can ong dau va
at dc mot ap suat can thiet cho phep lam cho
tiep iem B cua rle ap suat ong lai lam cuon K2
co ien lam cho cuon day Y2 cua van ien t co
ien, xilanh A lui ve.
4. Chng trnh PLC:
Dang mach 1:
Xac nh I/O:
_ Start : I0.0
_ B : I0.1
_ K1(Y) .. K2 : Q0.1 ..
Q0.2
Dang mach 2:
Xac nh I/O :
_ Start : I0.0
_ B : I0.1
_ K1(Y1) .. K2(Y2) : Q0.1 .. Q0.2
BAI TAP 7
TRAM CHUYEN HANG
I. Muc ch yeu cau:
ieu khien s phoi hp chuyen ong bang
cac ieu kien phu.
T mach kh nen va mach ien ieu khien a
cho, chuyen sang chng trnh PLC.
Cac hop ben trong ngan xep se c a qua mot
tram x ly khac e x ly.
Cac hop c ay ra khoi ngan xep bang xilanh A,
va c chuyen en tram x ly bang xilanh B. Xilanh B
ch co the tr ve khi xilanh A a tr ve. Nhng chiec
hop ben trong ngan xep c bao bi mot tiep iem
hanh trnh. Neu khong co hop ben trong ngan xep, he
thong se khong hoat ong c.
Hnh 3-23 Tram chuyen hang
A
B
tien trnh hoat ong cua cac xilanh.
C T s o a cho, hay liet ke cac thiet b se s
dung.
C Lap rap mach ien kh nen theo s o.
C Da vao s o, hay giai thch nguyen ly hoat
ong cua mach.
C Cho mach hoat ong va so sanh hoat ong cua
mach vi nguyen ly hoat ong va bieu o trang
thai va neu.
T mach ien kh nen hay viet chng trnh PLC
vi cac ngo vao/ra a cho.
C Nap chng trnh PLC vao CPU va ket noi voi mach
kh nen. Cho mach hoat ong.
O MACH IEN KH NEN
IV. Bai giai:
2. Liet ke thiet b s dung:
_ 1 nut nhan thng h co ranh nh v.
_ 3 r le ien t.
_ 3 tiep iem hanh trnh ien t.
_ 3 cong tac hanh trnh ien c.
_ 1 van ien t 5/2 tac dung mot chieu hoi phuc
bang lo xo.
S4
1 2 3
A
B
1
4 1
B
B
2
S
1
S
2

K
1
K
2
K
3
K
3
K
2
K
1
Y
1
Y
2
Y
3
B
2
B
1
S
1
Sta
rt
S
2
S
3
1 2 3 4 5 6 7
K
1
Quy trnh ieu khien:
O Khi co hang trong ngan xep , S3 b tac ong.
O Khi nhan nut S4 lam cho cuon day K1 co ien
va t duy tr, cuon Y1 cua van ien t co ien va
xilanh A i ra.
O Xilanh A i ra cham vao tiep iem hanh trnh B2
lam cho cuon day Y2 co ien, xilanh B i ra.
O Tiep iem hanh trnh S1 khong con c tac
ong na lam cho cuon day K1 mat ien, cuon Y1
mat ien, lo xo hoi phuc van ve v tr cu lam cho
xilanh A lui ve.
O Xilanh A lui ve lam tiep iem B1 b tac ong,
luc nay do tiep iem hanh trnh S2 ang b tac ong
nen cuon day K3 co ien lam cho Y3 co ien, xilanh B
lui ve.
4. Chng trnh PLC:
Xac nh I/O:
_ Start : I0.0
_ S
1
.. S
3
: I0.1 .. I0.3
_ B1 .. B2 : I1.1 .. I1.2.
_ K1 .. K3 : Q0.1 .. Q0.3
( Y1 Y3)
Xilanh +A -A +B -B KT
Cong tac
hanh trnh
S
4
B
2
S
2
&B
1
S
1
Nam cham
ien
Y
1
0 Y
2
Y
3
BAI TAP 8
THIET B KHOAN CHI
TIET
I. Muc ch yeu cau:
He thong ieu khien bao gom 2 c cau chap
hanh, s dung phng phap ieu khien theo nhp
e thiet ke mach ien ieu khien.
Mot he thong gia cong chi tiet hoat ong nh sau:
_ Xilanh A i xuong kep chat chi tiet lai.
_ Xilanh B i xuong khoan, xong lui ve.
_ Xilanh A lui ve, thao chi tiet ra.
Hnh 3-24 Thiet b khoan chi tiet
b
1
a
0
a
1
b
0
A
B
Chi tiet
khoan
Ham
kep
dung.
ong cua mach.
thai va neu.
IV. Bai giai:
Thiet b s dung:
_ 5 r le ien t.
bang lo xo.
Quy trnh ieu khien:
1 2 3
A
a
1
5 1
B
a
2
b
1
b
2
Xilanh +A +B -B -A KT
Cong tac
hanh trnh
Start a
2
b
2
b
1
a
1
Nam cham
ien
Y
1
Y
2
0 0
O Tai thi iem ban au, tiep iem hanh trnh a
0
,
b
0
b tac ong.
1 2 3 4 5 6 7 8
9
1
0
0
1
1
0
a
0
K
4
K
4
K
1
K
2
K
3
a
0
Sta
rt
a
1
b
1
b
0
K5
K1
K2 K3
K4 K3 K2 K1
K2 K3 K4
K
5
Y
1
Y
2
0V
+2
4V
O Nhan nut Start lam cho cuon day K1 co ien
va t duy tr, cuon Y1 cua van ien t co ien va
xilanh A i ra kep chi tiet.
O Xilanh A i ra cham vao tiep iem hanh trnh a
1
O Xilanh B i ra cham vao tiep iem hanh trnh b
1
lam cho cuon day Y2 mat ien, xilanh B lui ve.
O Xilanh B lui ve cham vao tiep iem hanh trnh b
0
lam cho cuon day Y2 mat ien, xilanh A lui ve, cham
vao tiep iem hanh trnh a
0
lam cuon day K5 co
ien, tiep iem thng ong K5 h ra, toan bo mach
c reset tr ve trang thai ban au.
4. Chng trnh PLC:
Xac nh I/O:
_ Start : I0.0
_ a
0
.. a
1
: I0.1 .. I0.2
_ b
0
.. b
1
: I0.3 .. I0.4
_ K
1
K
5
: Q0.0 .. Q0.4
_ Y
1
Y
2
: Q0.5 .. Q0.6
BAI TAP 9
THIET B GIA CONG CHI
TIET
I. Muc ch yeu cau:
Mot he thong gia cong chi tiet hoat ong nh sau:
_ Xilanh A i xuong kep chat chi tiet lai.
_ Xilanh B i xuong dap tho chi tiet, xong lui ve.
_ Xilanh C i xuong dap tinh chi tiet xong lui ve.
_ Xilanh A lui ve, thao chi tiet ra.
Hnh 3-25 Thiet b gia cong chi tiet
dung.
A
B
C
Chi tiet gia
cong
ong cua mach.
thai va neu.
O MACH IEN KH NEN:
IV. Bai giai:
2. Liet ke thiet b s dung:
_ 1 nut nhan thng h S1.
_ 6 r le ien t.
S
1
K
6
K
1
K
1
1 2
K
2
K
1
S
2
3
K
3
K
2
S
4
K
3
5 6
K
4
K
3
S
3
K
4
7 8
K
5
K
4
S
6
K
5
9
1
0
K
6
K
5
S
5
1
1
Y
1
K
6
K
1
1
2
Y
2
K
3
K
2
1
3
Y
3
K
5
K
4
1
4
+2
4V
0
V
K
2
4
1 4 5
A
1
0
7 1 6
B
1
0

2 3

C
1
0
S
1
bang lo xo.
_ 1 van ien t 3/2 tac dung mot chieu hoi
phucbang lo xo.
Quy trnh ieu khien:
O Nhan nut S1 lam cho cuon day K1 co ien va
t duy tr, cuon Y1 cua van ien t co ien va xilanh A
i ra kep chi tiet.
O Xilanh A i ra cham vao tiep iem hanh trnh S2
O Xilanh B i ra cham vao tiep iem hanh trnh S4
lam cho cuon day Y3 co ien, xilanh B lui ve.
O Xilanh B lui ve cham vao tiep iem hanh trnh S3
lam cho cuon day Y3 co ien, xilanh C i ra cham tiep
iem hanh trnh S6 lam Reset toan bo mach ien va
xilanh C lui ve.
4. Chng trnh PLC:
Xac nh I/O :
_ Start (S1) : I0.0
_ S
2
.. S
6
: I0.1 .. I0.5
_ K
1
K
6
: Q0.0 .. Q0.5
_ Y
1
Y
3
: Q0.6 .. Q1.0
Xilanh +A +B -B +C -C -A
Cong tac
hanh trnh
S
1
S
2
S
4
S
3
S
6
S
5
Nam cham
ien
Y
1
Y
2
0 Y
3
0 0
BAI TAP 10
MACH KHI ONG
Y/ CHO ONG C
IEN 3 PHA
I. Muc ch yeu cau:
Khao sat hoat ong cua r le thi gian tac
ong muon.
khien, t o chuyen sang chng trnh PLC .
Giai thch nguyen ly hoat ong cua mach .
Mach ien ieu khien qua trnh khi ong cua
ong c ien 3 pha khi lam viec bnh thng au . Khi
m may, ta oi thanh Y, nh vay ien ap a vao moi
pha ch con .
Khi nhan mot nut nhan, xilanh K i ra lam cau dao
chnh ong lai, cung luc o xilanh 1 cung i ra lam cho
ong c hoat ong che o Y.
Sau 2s, khi ong c a chay roi, ta cho xilanh 1 lui
ve va xilanh 2 i ra, mach hoat ong bnh thng che
o .
3 / U
Hnh 3-26 Mach khi ong Y/
thai va ve (dung phng phap ieu khien theo
nhp).
nghiem.
mach kh nen.
ong dan kh.
khien a e ra.
* Chu y: ieu chnh Rle thi gian e thi gian
tac ong la 3s.
viet chng trnh PLC.
A B C
K
2
1
C
thiet b.
chng trnh va viet.
IV. Bai giai:
Thiet b s dung:
_ 2 r le ien t.
_ 1 rle thi gian tac ong muon.
_ 3 van ien t 5/2 tac dung hai chieu.
Quy trnh ieu khien :
1 4 5
K
1
0
7 1 6
1
1
0

t=3
s
2 3
S1
2
1
0
S2
T
Xilanh +K +1 -1 +2 -2 -K
Cong tac
hanh trnh
S
1
t = 3s S
2
Nam cham
ien
Y
1
Y
3
Y
4
Y
5
Y
6
Y
2
va t duy tr, cuon Y1 va cuon Y3 cua van ien t co
ien, xilanh K va xilanh 1 i ra. ong c khi ong
che o Y. ong thi cuon day K3 cung co ien .
O Sau 3s, tiep iem K3 ong lam cuon day Y3
mat ien, Y4 va Y5 co ien nen xilanh 1 lui ve, xilanh
2 i ra lam ong c hoat ong che o .
1 2 3
S
1
S
2
K
1
K
1
K
2
K
2
4
+24
V
K
3
K
1
5
Y
1
K
1
K
3
Y
3
6
Y
4
K
3
K
2
Y
5

7
Y
2
K
2
Y
6
0
V
O Khi nhan S2 , cuon K2 co ien, cuon K1 mat
ien nen cuon day Y2 va Y6 co ien, xilanh K va
xilanh 2 lui ve, mach tr lai trang thai ban au.
4. Chng trnh PLC:
Xac nh I/O:
_ S
1
.. S
2
: I0.1 .. I0.2
_ K1 .. K2 : Q0.1 .. Q0.2
_ Y
1
Y
6
: Q0.3 .. Q1.0
BAI TAP 11
THIET B DAP CHI TIET
I. Muc ch yeu cau:
S dung van ao chieu co v tr khong 5/2
e thiet ke.
Quy trnh thc hien cua thiet b dap chi tiet c
mo ta nh sau:
Chi tiet t thung cha se c xilanh A ay vao
va kep lai v tr gia cong. Sau khi kep xong xilanh B se i
xuong e dap chi tiet. Sau khi xilanh B lui ve, th xilanh A
se lui ve ( chi tiet c thao ra ). Sau o xilanh C se
ay chi tiet xuong thung cha.
Hnh 3-27 Quy trnh cong nghe thiet b dap chi tiet
nhp).
C T mach ienkh nen va thiet ke, hay neu
nghiem.
mach kh nen.
ong dan kh.
khien a e ra.
viet chng trnh PLC.
thiet b.
IV. Bai giai:
1 4 5
A
a
1
a
0
7 1 6
B
b
1
b
0

2 3

C
c
1
c
0

Thiet b s dung:
_ 6 r le ien t.
_ 6 tiep iem hanh trnh.
_ 3 van ien t 5/2 co v tr khong .
_ 3 xilanh tac dung kep .
Quy trnh ieu khien :
Xilanh +A +B -B -A +C -C KT
Cong tac
hanh trnh
Start a
1
b
1
b
0
a
0
c
1
c
0
Nam cham
ien
Y
1
Y
2
0 0 Y
3
0
O Tai thi iem ban au, cac tiep iem hanh trnh
a
0
, b
0
, c
0
b tac ong, nh vay nhng tiep iem thng
h se c ong lai va nhng tiep iem thng
ong se c h ra.
O Khi nhan nut Start lam cho cuon day K1 co ien
va t duy tr, tiep iem K1 ong, cuon Y1 cua van ien
t co ien, xilanh A i ra kep chi tiet, ong thi cham
vao tiep iem hanh trnh a
1
lam cuon day K2 co
ien.
+24
V
0V
K
1
K
2
K
3
K
4
K
3
K
2
K
1
K
6
K
4
K
3
K
2
K
1
c
0
a
1
b
1
b
0
Sta
rt
1
2 3 4 5 6 7 8
9
1
0
1
1
1
2
1
3
1
4
a
0
c
1
K
5
K
5
K
2
K
1
K
4
K
3
K
6
K
5
K
4
K
5
K
6
Y
1
Y
2
Y
3
O Cuon K2 co ien lam tiep iem K2 ong lam
cuon day Y2 co ien, xilanh B i ra cham vao tiep
iem hanh trnh b
1
lam cuon day K3 co ien, tiep
iem K3 ong lai, Y2 mat ien, xilanh B lui ve.
O Xilanh B lui ve cham vao tiep iem b
0
lam cho
cuon K4 co ien, tiep iem K4 ong lam cuon day Y1
mat ien, xilanh A lui ve cham tiep iem hanh trnh a
0
.
O Xilanh A cham vao tiep iem hanh trnh a
0
lam K5
co ien, Y3 co ien va xilanh C i ra ay chi tiet vao
thung cha ong thi cham vao tiep iem hanh trnh
c
1
.
O Tiep iem c
1
b tac ong lam cho cuon K6 co
ien, Y3 mat ien lam xilanh C quay ve. ong thi luc
o, tiep iem K6 thng ong h ra lam K1 mat ien
dan en cac cuon day K2, K3, K4, K5, K6 cung mat
ien, mach tr lai trang thai ban au.
4. Chng trnh PLC:
Xac nh I/O :
_ Start : I0.0 _ K
1
K
6
: Q0.0 ..
Q0.5
_ a
1
.. a
2
: I0.1 .. I0.2 _ Y1 : Q0.6
_ b
1
.. b
2
: I0.3 .. I0.4 _ Y2 .. Y3 : Q0.7 .. Q1.0
_ c
1
.. c
2
: I0.5 .. I0.6
BAI TAP 12
TAY MAY GAP HANG
VI. Muc ch yeu cau:
Khao sat mot mach kh nen ieu khien 3 c
cau chap hanh.
Khao sat hoat ong cua xilanh quay, xilanh
trt, xilanh kep.
VII. Mo ta yeu cau ieu khien:
Bang tai di chuyen pha ben trai co nhiem vu em
hang en. He thong tay may co nhiem vu di chuyen
hang t bang tai ben trai sang bang tai ben phai,
trong luc hang ang di chuyen no phai phng vuong
goc vi bang tai. Nh vay tay may va co nhiem vu di
chuyen hang, va co nhiem vu xoay hang i 90
0
trong
luc van chuyen. Sau khi van chuyen hang xong, tay may
quay tr ve v tr cu.
Hnh 3-28 Tay may gap hang
Xilanh
kep A
Xilanh
quay B
Xilanh
trt C
Bang
tai I
Bang
tai II
VIII. Tien trnh th nghiem:
nhp).
nghiem.
mach kh nen.
e van nguon v tr tat , ket noi cac ng
ong dan kh.
khien a e ra.
* Chu y : ieu chnh Rle thi gian e thi gian
tac ong la 2s.
viet chng trnh PLC.
thiet b.
IX. Ket luan:
_ Khao sat mot mach ieu khien ien - kh nen
gom 3 c cau chap hanh theo mot trnh t nhat
nh.
_ Tm hieu hoat ong cua xilanh quay, xilanh trt.
X. Bai giai:
Thiet b s dung:
_ 7 r le ien t.
_ 4 tiep iem hanh trnh.
_ 3 van ien t 5/2 co v tr khong.
_ 1 xilanh trt.
_ 1 xilanh quay .
_ 1 xilanh kep.
Quy trnh ieu khien:
1 4 5
C
1
0
7 1 6
B
1
0

t=2
s
2 3

t=2
s
A
1
0
Xilanh +A +B +C -B -A -C
Cong tac
hanh trnh
Start 2s b
1
c
1
b
0
2s
Nam cham
ien
Y
1
Y
2
Y
3
0 0 0
O Tai thi iem ban au , cac tiep iem hanh
trnh b
0
, c
0
b tac ong, nh vay nhng tiep iem
thng h se c ong lai va nhng tiep iem
thng ong se c h ra.
O Khi nhan nut Start, cuon day K1 co ien va t
duy tr, ong thi cuon day K8 cua rle thi gian tac

1
2 3 4 5 6 7 8
9
1
0
1
1
1
2
1
3
1
4
1
5
1
6
K
1
K
2
K
3
K
6
K
4
K
5
K
6
K
6
K
9
K
5
K
5
K
4
K
5
K
9
K
6
K
7
Y
3
Y
2
Y
1
K
1
K
7
K
1
K
8
K
8
K
1
K
1
K
2
K
2
K
3
K
3
K
3
K
4
K
4
c1
b
1
b
0
c0
Sta
rt
+2
4V
0
V

ong muon cung co ien. Cuon Y1 co ien, xilanh A

kep hang lai.
O Sau 2s, tiep iem K8 ong lai lam cuon K2 co
ien va t duy tr, cuon Y2 co ien, xilanh B quay cham
vao tiep iem hanh trnh b
1
lam cuon K3 co ien va
t duy tr.
O Cuon K3 co ien lam Y3 co ien, xilanh trt C
trt sang phai cham vao tiep iem hanh trnh c
1
lam
cho cuon K4 co ien.
O Tiep iem thng ong K4 h ra, cuon Y2 mat
ien, xilanh quay B quay ve cham vao tiep iem hanh
trnh b
0
lam cho cuon day K5 co ien va t duy tr,
ong thi cuon day K9 cua rle thi gian tac ong
muon cung co ien.
O Cuon day K5 co ien lam tiep iem thng
ong K5 h ra, cuon day Y1 mat ien, xilanh kep A m
ra bo hang.
O Sau 2s, tiep iem K9 ong lai lam cuon K6 co
ien, cuon Y3 mat ien, xilanh C lui ve cham vao tiep
iem hanh trnh c
0
lam K7 co ien, tiep iem thng
ong K7 h ra, toan bo mach ien c Reset tr lai
trang thai ban au.
4. Chng trnh PLC:
Xac nh I/O :
_ Start : I0.0
_ b
0
.. b
1
: I0.1 .. I0.2
_ c
0
.. c
1
: I0.3 .. I0.4
_ K
1
K
7
: Q0.0 .. Q0.6
_ Y1 : Q0.7
_ Y2 .. Y3 : Q1.0 .. Q1.1
BAI TAP 13
MACH IEU KHIEN KHI ONG
BANG CACH THEM IEN TR PHU
CHO ONG C IEN ROTO DAY QUAN
I. Muc ch yeu cau:
Khao sat hoat ong cua r le thi gian tac
ong muon.
Mot mach ien mo ta qua trnh khi ong cua
ong c ien Roto day quan nh hnh ve.
Khi bat au nhan nut khi ong S1, xilanh K ong
e a nguon ien 3 pha vao ong c. Luc nay, 3 cap
ien tr c noi vao mach roto.
Sau khi khi ong c 2s, xilanh 3 bat au ong
e cat i mot cap ien tr. 2s tiep theo, xilanh 2 ong
va xilanh 3 lui ve e cat tiep mot cap ien tr na.
Va sau khoang thi gian 2s, xilanh 1 ong lai va xilanh 2
lui ve, toan bo ien tr phu c ngat ra, va ong c
hoat ong bnh thng .
Khi nhan nut dng S2, xilanh K va xilanh 1 cung lui
ve.
Hnh 3-29 Mach ieu khien khi ong cho ong c
ien Roto day quan
ve (dung phng phap ieu khien theo nhp).
nghiem.
C
K 1 2 3
A B C


mach kh nen.
ong dan kh.
khien a e ra.
* Chu y : ieu chnh Rle thi gian e thi gian
tac ong la 2s.
viet chng trnh PLC.
Ket noi cac ngo vao/ra cua CPU vi cac thiet b.
Nap chng trnh va cho mach hoat ong theo chng
trnh va viet.
IV. Bai giai:
2. Mach ieu khien ien - kh nen :
Thiet b s dung:
_ 2 nut nhan thng h. _ 4 van ien
t 5/2 tac dung hai chieu.
1 4 5
K
1
0
n-
1
6
1
1
0

t=2
s
2 3

2
1
0

3
1
0
t=2
s
t=2
s
6
n 1
T
S
1
S
2
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
_ 2 r le ien t. _ 4 xilanh tac
dung kep.
Quy trnh ieu khien:
Xilanh +K +3 -3 +2 -2 +1 -1 -K
Cong tac
hanh trnh
S
1
2s 2s 2s S
2
Nam cham
ien
Y
1
Y
3
Y
4
Y
5
Y
6
Y
7
Y
8
Y
2
va t duy tr, tiep iem K1 ong, cuon Y1 cua van ien
t co ien, xilanh K i ra ong mach lam cap nguon 3
pha cho ong c.
O Tiep iem K1 ong lam cuon day rle tac ong
cham K3 co ien. Do c chnh thi gian tac ong
la 2s nen sau 2s tiep iem K3 mi ong lam cuon
day Y3 co ien, xilanh 3 i ra, ngat mot cap ien tr.
O Tiep iem K3 ong lam cuon day cua rle tac
ong muon K4 co ien, sau 2s, tiep iem K4 ong
ien lam cuon day Y3 mat ien, Y5 va Y4 co ien
nen xilanh 3 lui ve, xilanh 2 i ra, ngat cap ien tr
th 2.
O Tiep iem K4 ong lam cuon day cua Rle K5
co ien, sau 2s, tiep iem K5 ong lam cuon Y5 va Y4
mat ien va Y7, Y6 co ien lam xilanh 2 lui ve, xilanh
1 i ra, ngat ca 3 cap ien tr. Luc nay ong c hoat
ong bnh thng, ket thuc qua trnh khi ong.

S
1
S
2
K
1
K
2
K
1
K
2
2 1 3
K
3
K
1
K
4
K
3
K
5
K
4
Y
1
K
1
Y
2
K
2
Y
8
1
0
Y
5
K
4
Y
4
Y
3
K
3
K
4
K
5
1
1
Y
7
K
5
Y
6
K
2
+24V
0V
O ong c c lam viec cho en khi S2 c ong
lam K2 co ien, cuon day Y2 va Y8 co ien lam cho
xilanh K va xilanh 1 lui ve, toan bo mach ien tr ve
trang thai ban au.
4. Chng trnh PLC:
Xac nh I/O:
_ S
1
.. S
2
: I0.1 .. I0.2
_ K1 .. K2 : Q0.0 .. Q0.1
_ Y
1
Y
6
: Q0.2 .. Q0.7
_ Y
7
Y
8
: Q1.0 .. Q1.1
CHNG IV
THIET KE & THI CONG
MO HNH TAY MAY
I . MO HNH TAY MAY
II . IEU KHIEN TAY MAY BANG KH NEN
III . IEU KHIEN TAY MAY BANG IEN KH NEN
I. Mo hnh tay may :
1) Mo ta :
Hnh 4-1 Mo hnh tay may
2) Yeu cau ieu khien:
V tr ban au cua tay may la pha tren, ben
trai.
Khi nhan nut Start, xilanh tnh tien A se a tay
may i ra pha ngoai, xilanh trt doc B se lam cho
tay may i xuong pha di kep san pham lai bang
xilanh kep C.
Sau khi kep san pham xong, tay may i len pha
tren. Luc nay, tay kep C se c xilanh quay D quay
180
0
len pha tren va xilanh tnh tien A se lam tay
may lui vao ben trong.
Xilanh trt ngang E se a tay may di chuyen t
trai sang phai, sau o, xilanh A se a tay may ra
pha ngoai. Sau khi tay may ra ngoai, tay kep se
c xilanh quay D quay ngc tr lai 180
0
xuong pha
di.
Xilanh trt doc B se trt xuong di, tay kep C
m ra bo san pham xuong bang tai.
Sau o tay may lai i len pha tren, xilanh tnh
tien A lui vao trong, xilanh trt ngang E tr ve v
tr ben trai.
Trong qua trnh lam viec, neu ta nhan nut Stop
th tay may se thc hien het chu trnh o roi dng
Xilanh
trt
doc B
Xilanh tnh
tien A
Xilanh trt
ngang E
Xilanh quay D
Xilanh kep C
a
0
,
a
1
b
0
b
1
e
0
e
1
lai, ch ta nhan nut Start. Neu khong nhan nut
Stop, tay may se lam viec lien tuc theo chu trnh
tren.
II. ieu khien thang may bang kh nen:
(Dung phng phap ba Karnaugh e thiet ke)
1) Bieu o trang thai:
2) Xac nh bien:
Xilanh tnh tien A : tiep iem hanh trnh a
0
va a
1
Xilanh trt doc B : tiep iem hanh trnh b
0
va b
1
Xilanh kep C : tiep iem hanh trnh c
0
va c
1
Xilanh quay D : tiep iem hanh trnh d
0
va d
1
Xilanh trt ngang E : tiep iem hanh trnh e
0
va e
1
3) Thanh lap ham va n gian ham
bang phng phap ba Karnaugh:
T bieu o trang thai, ta co cac ham ieu khien
nh sau:
+A = (+A
1
) + (+A
2
) = a
0
b
0
c
0
d
0
e
1
+ a
0
b
0
c
1
d
1
e
1

-A = (-A
1
) + (-A
2
) = a
1
b
0
c
1
d
1
e
0
+ a
1
b
0
c
0
d
0
e
1

+B = (+B
1
) + (+B
2
) = a
1
b
0
c
0
d
0
e
0
+ a
1
b
0
c
1
d
0
e
1

-B = (-B
1
) + (-B
2
) = a
1
b
1
c
1
d
0
e
0
+ a
1
b
1
c
0
d
0
e
1

+C = a
1
b
1
c
0
d
0
e
0
-C = a
1
b
1
c
1
d
0
e
1

+D = a
1
b
0
c
1
d
0
e
0

-D = a
1
b
0
c
1
d
1
e
1

+E = a
0
b
0
c
1
d
1
e
0

-E = a
0
b
0
c
0
d
0
e
1

Nh vay ta co bieu o Karnaugh nh sau:
n gian ham A:
a
0
a
0
a
0
a
0
a
1
a
1
a
1
a
1
b
1
b
1
b
1
b
1
b
0
b
0
b
0
b
0
d
1
d
1
d
0
d
0
c
0
c
0
c
0
c
0
c
1
c
1
c
1
c
1
e
1
e
1
e
0
e
0
+A
1
-D
+D
+E
-B
1
+C
+A
2
-C
-A
1
+B
2
+B
1
-B
2
-E -A
2
a
0
a
0
a
0 a
0
a
1 a
1
a
1 a
1
+A = (+A
1
) + (+A
2
) = d
0
e
0
+ d
1
e
1
-A = (-A
1
) + (-A
2
) = b
0
c
0
e
1
+ d
1
e
0
n gian ham B:
+B = (+B
1
) + (+B
2
) = a
1
c
0
e
0
+ c
1
d
0
e
1
-B = (-B
1
) + (-B
2
) = b
1
c
1
e
0
+ b
1
c
0
e
1
b
1
b
1
b
1
b
1
b
0
b
0 b
0 b
0
d
1
d
1
d
0
d
0
c
0
c
0 c
0
c
0 c
1
c
1
c
1
c
1
e
1
e
1
e
0
e
0
+A
1
-A
2
+A
2
-A
1
A
A
a
0
a
0
a
0
a
0
a
1
a
1
a
1
a
1
b
1
b
1
b
1
b
1
b
0
b
0
b
0
b
0
d
1
d
1
d
0
d
0
c
0
c
0
c
0
c
0
c
1
c
1
c
1
c
1
e
1
e
1
e
0
e
0
+B
1
-B
2
-B
1
+B
2
B
n gian ham C:
+C = b
1
e
0

-C = b
1
e
1
n gian ham D:
+D = b
0
c
1
e
0

-D = a
1
e
1
n gian ham E:
a
0
a
0
a
0
a
0
a
1
a
1
a
1
a
1
b
1
b
1
b
1
b
1
b
0
b
0
b
0
b
0
d
1
d
1
d
0
d
0
c
0
c
0
c
0
c
0
c
1
c
1
c
1
c
1
e
1
e
1
e
0
e
0
+C
-C
C
C
a
0
a
0
a
0
a
0
a
1
a
1
a
1
a
1
b
1
b
1
b
1
b
1
b
0
b
0
b
0
b
0
d
1
d
1
d
0
d
0
c
0
c
0
c
0
c
0
c
1
c
1
c
1
c
1
e
1
e
1
e
0
e
0
-D
+D
D
D
a
0
a
0
a
0
a
0
a
1
a
1
a
1
a
1
b
1
b
1
b
1
b
0
b
0
b
0
b
0
d
1
d
1
d
0
d
0
c
0
c
0
c
0
c
0
c
1
c
1
c
1
e
1
e
1
e
0
e
0
-E
+E
E
+E = a
0
d
1

-E = a
0
d
0
4) S o logic: ( Xem trang sau)
S o logic :
&
&
S
R
&
&
&
&
S
R
&
&
&
&
S
R
&
&
S
R
&
&
S
R
AA
+
A
-A
B
+
B
-B
C
+
C
-C
D
+
D
-D
E
+
E
-E
a
0
a
1
b
0
b
1
c
0
c
1
d
0
d
1
e
0
e
1
Hnh 4-2 S o logic
III . ieu khien tay may bang ien kh nen:
1) Bieu o trang thai:
(Do khong s dung tiep iem hanh trnh cho
xilanh quay D va xilanh kep C nen bieu o
trang thai co thay oi nho)
2) Mach ieu khien ien kh nen:

Quy trnh ieu khien:
Xilanh +A +B+C -B +D-A +E+A -D+B -C -B -A -E
Cong tac
hanh trnh
Star
t
a
1
b
1
2s b
0
2s a
0
e
1
a
1
2s b
1
2s b
0
a
0
Nam cham Y
5
Y
1
Y
8
Y
2
Y
7
Y
6
Y
3
Y
5
0 Y
1
0 Y
2
Y
6
Y
4
A B C D E
Y
5
Y
6
Y
1
Y
2
Y
8
Y
7
Y
3
Y
4
a
1
a
0
b
0
b
1
e
0
e
1
1
e
1
K
1
a
1
b
1
Sta
rt
K
1
K
2
K
3
K
2
K
1
K
7
K
8
K
8
K
3
K
9
K
7
K
2
K
1
K
3
K
a
2 3 4 5 6 8 9
24
V
0
V
K
c
7
K
a
K
8
K
4
1
0
K
4
b
0
a
0
a
1
K
8
K1
0
e
0
K
9
K
c
K
8
K
7
K
6
K
b
K
5
K
7
K
7
K
6
K
5
K
b
K7
K
8
1
2
1
3
1
4
1
5
1
6
1
7
1
8
K
9
K
d
K
8
K
9
K
9
K
9
K
d
K
6
K1
0
b
1
a
0
1
9
2
0
1
1
2
1
2
2
Y
1
Y
2
Y
3
Y
4
Y
5
Y
6
Y
7
Y
8
K
2
K
4
K
7
K1
0
K
1
K
6
K
5
K
3
2
3
2
4
2
5
2
6
2
7
2
8
2
9
3
0
Nguyen ly hoat ong cua mach:
Khi nhan nut Start, cuon day K1 co ien va t duy tr,
tiep iem K1 ong, cuon day Y5 co ien, xilanh A i
ra.
Xilanh A i ra cham vao tiep iem hanh trnh a1 lam
cuon day K2 co ien, tiep iem K2 ong, cuon day
Y1 co ien, xilanh trt B i xuong cham vao tiep
iem hanh trnh b1 lam cho cuon day K3 va rle thi
gian Ka co ien.
Tiep iem K3 ong lam cuon day Y8 co ien, xilanh
kep C kep san pham lai. Do c at thi gian 2s
nen sau 2s, tiep iem Ka cua rle ong lam cuon K4
co ien, lam cho cuon day Y2 co ien, xilanh trt
doc B i len.
Xilanh trt doc B i len cham vao tiep iem hanh trnh
b0 lam cuon day K5 va rle Kb co ien.
Tiep iem K5 ong lam cho cuon day Y7 co ien,
xilanh quay D quay mot goc 180
0
, sau 2s, tiep iem Kb
ong, cuon day K6 co ien.
Tiep iem K6 ong, lam cuon day Y6 co ien, xilanh
tnh tien A lui ve cham vao tiep iem hanh trnh a0.
Tiep iem a0 ong lam cuon day K7 co ien.
Tiep iem K7 ong, cuon day Y3 co ien, xilanh trt
ngang E trt sang phai cham vao tiep iem hanh trnh
e1.
Tiep iem e1 ong lam cuon day K1 co ien, tiep
iem K1 ong lam cuon day Y5 co ien, xilanh A i ra
cham vao tiep iem hanh trnh a1 lam cho cuon day
K8 va rle Kc co ien, tiep iem thng ong K8 h
ra, cuon day K5 mat ien, tiep iem K5 h ra, cuon
day Y7 mat ien, xilanh quay D quay ve v tr cu.
Sau 2s, tiep iem Kc ong, cuon K2 co ien, cuon Y1
co ien, xilanh trt doc B i xuong cham vao tiep
iem hanh trnh b1, cuon day K9 va rle Kd co ien,
tiep iem thng ong K9 h ra, cuon K3 mat ien,
tiep iem K3 h ra, cuon day Y8 mat ien, xilanh kep
C m ra, bo san pham xuong.
Sau 2s, tiep iem Kd ong, cuon day K4 co ien, tiep
iem K4 ong, cuon day Y2 co ien, xilanh trt doc B
i len cham vao b0, K6 co ien, tiep iem K6 ong
lam cho Y6 co ien, xilanh A lui ve cham vao a0, cuon
day K10 co ien, cuon day Y4 co ien, xilanh trt
ngang E trt sang trai. ong thi cac tiep iem
thng ong K10 h ra, Reset toan bo mach, ch
nhan nut Start tiep.
3) Chng trnh PLC ieu khien dung SIMATIC S7-
200:
a./ Lu o thc hien :
Bat
au
Auto =
1
Chng
trnh
hoat
ong
Stop =
1
Ket
thuc
Sta
rt
Chng
trnh
hoat
ong
Sta
rt
b./ S o chc nang (chng trnh hoat ong):
1
Tay may i
ra
S
a
1

Xilanh A i
ra
Nut nhan
Start
Hoac co
nh
2
Tay may i
xuong
S
b
1

Xilanh B trt
xuong
a
1
1
5
Tay kep
quay len
S
Xilanh D quay
len
b
0
6
Tay may
lui ve
S
a
0

Xilanh A
lui ve
2s
3
Tay kep
kep lai
S
Xilanh C
kep
4
Tay may
i len
S
b
0

Xilanh B trt
len
2s
b
1
7
Tay may
qua phai
S
e
1

Xilanh E trt
phai
a
0
8
Tay may
i ra
S
a
1

Xilanh A i
ra
e
1
1
2
14
Tay may
sang trai
S
e
0

Xilanh E
trt trai
a
0
9
Tay kep
quay
xuong
S
Xilanh D quay
xuong
a
1
11
Tay kep
m ra
S
Xilanh C
m ra
b
1
12
Tay may
i len
S
b
0

Xilanh B
trt len
2s
13
Tay may
lui ve
S
a
0

Xilanh A lui
ve
b
0
10
Tay may
i xuong
S
b
1

Xilanh B trt
xuong
2s
2
c./ Chng trnh PLC ieu khien:
Xac nh I/O:
Nut nhan:
Auto / Manual : I1.1
Start : I0.0
Stop : I1.0
Tiep iem hanh trnh:
a
0
..a
1
: I0.1..I0.2
b
0
..b
1
: I0.3..I0.4
e
0
..e
1
: I0.5..I0.6
Cuon day:
Y
1
: Q0.0
Y
2
: Q0.1
Y
3
: Q0.2
Y
4
: Q0.3
Y
5
: Q0.4
Y
6
: Q0.5
Y
7
: Q0.6
Y
8
: Q0.7
en Start : Q1.0
en Stop : Q1.1
at : M0.0 : bit khoa I
M0.1 : bit khoa II
KET LUAN
I . T ANH GIA E TAI:
Trong thi gian thc hien e tai, c s hng
dan tan tnh cua thay Vu o Cng, giao vien hng
dan, va cac thay co trong Khoa ien va Trung tam ao
tao Viet c, nhom sinh vien thc hien a hoan thanh
ung thi gian va ke hoach c giao.
e tai hoan thanh nhng noi dung sau ay:
_ Soan ly thuyet hng dan thc tap va cac bai
thc tap Kh nen va ien Kh nen cho sinh vien nganh
ien.
_ Thi cong thanh cong mo hnh tay may gap san
pham ng dung Kh nen va PLC trong ieu khien.
Nhom sinh vien a co gang bien soan cac bai
thc tap mot cach ro rang, sap xep theo y tng t
n gian en phc tap giup sinh vien thc tap co the
nam bat mot cach c ban ve mot lnh vc kha mi
me. Tuy nhien ay la mot e tai soan tai lieu thc
tap ve mot mon hoc mi, cong vi quy thi gian va
kien thc co han nen chac chan se khong tranh khoi
nhng thieu sot ve mat noi dung cung nh hnh thc
trnh bay.
Tuy nhien, ben canh o, chnh do thc hien e tai
nay ma nhom sinh vien a tch luy c nhng kien
thc kinh ngiem het sc quy bau ve mot lnh vc mi
va mong rang vi nhng kien thc va kinh nghiem o
se giup chung em rat nhieu sau nay.

II . HNG PHAT TRIEN E TAI:
Ve mat noi dung, nhom sinh vien a thc hien
ay u cac noi dung a e ra. Tuy nhien, trong qua
trnh thi cong mo hnh tay may, nhom a cha a ra cac
van e hoat ong cua tay may khi mat ien va co
ien tr lai cung nh van e bao dng, bao tr cac
thiet b ien va c kh.
V vay, nhom sinh vien thc hien e tai nay mong
cac ban sinh vien khoa sau tiep tuc nghien cu cac
van e con lai e e tai c hoan chnh hn.
Thanh pho Ho Ch Minh. Thang 3 nam 2000
Sinh vien thc hien
Pham Van Tam

Khí Nén

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BO GIAO DUC VA AO TAO

AI HOC QUOC GIA THANH PHO HO CH MINH

Hnh 2-1 Ky hieu chuyen oi v tr cua nong van

Hnh 3-1 Cac phan t cua mach ieu khien

2. Mach ieu khien ien - kh nen:

ong muon cung co ien. Cuon Y1 co ien, xilanh A

C Lap rap mach ien ieu khien va ket noi vi

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