Bai Bao Cao Do An Cong Nghe Thuy Luc Khi Nen

TRNG AI HOC S PHAM KY
THUAT VINH
KHOA C KH CHE TAO MAY
BO MON C IEN T
O AN MON HOC
CONG NGHE THUY LC KH NEN

E TAI:
THIET KE HE THONG IEU

KHIEN CHO
MAY DAP T ONG

GVHD:
Hoang Hu Tan
SVTH:
Nguyen nh Sang
O AN CONG NGHE THUY LC KH NEN

.................................................................GVHD: Hong Hu Tn
TP. VINH, Thang 04 2011

Nhan xet cua giao vien hng dn:
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He thong ieu khien bang thuy lc - kh nen
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Sv thc hin
Nguyn nh Sang
Gv hng dn
Gv ging dy
Hong Hu Tn
Hong Hu Tn

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Li ni u
Ngy nay, ngnh cng nghip pht trin mnh i hi quy trnh lm vic
nhanh v hiu qu.
Quy trnh cng ngh dap phi t ng m chng ti thc hin ch l
mt phn rt nh trong thi i cng nghip ha hin i ha ngy nay.
C nhiu cch thit k mt h thng iu khin dp phi t ng khc
nhau, y chng ti thit k h thng iu khin dp phi t ng iu
khin bng thun kh v in kh nn
Trong qu trnh thc hin n mc d chng ti c gng ht sc chc
chn s khng thiu nhng sai xt. V vy, chng ti - nhng ngi lm
n ny rt mong nhng kin ng gp ca qu thy c v cc bn.
Nhn y xin gi li cm n chn thnh n thy Hong Hu Tn cng
cc bn gip chng ti hon thnh n ny.
Xin chn thnh cm n!

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CHNG I
DAN NHAP
1.
Hien trang:
Ngay nay, t ong hoa la s u tien la chon trong
hau het cac lnh vc cua nen kinh te quoc dan.
Chnh nh s phat trien cua t ong hoa ma con
ngi tao ra nhieu san pham chat lng cao nham
ap ng nhieu nhu cau phc tap cua i song xa
hoi.
Hien nay e s dung he thong dap phoi trong cac
phan xng c kh ngi ta can t nhat hai cong nhan.
V vay yeu cau t ong hoa he thong nay la can
thiet e tiet kiem nhan cong va nang cao nang suat
cua he thong.
2.
Vai net ve s phat trien cua cong
nghe thuy lc - kh nen:
Khong kh xung quanh ta nhieu vo ke va no la mot
nguon nang lng rat ln ma con ngi a biet s
dung chung t trc Cong Nguyen. Tuy nhien s phat
trien va ng dung kh nen luc o con rat han che
do cha co s phoi hp gia cac nganh vat ly, c hoc
v.v..
Mai cho en the ky XVII, nha k s che tao ngi c
Otto von Guerike, nha toan hoc va triet hoc ngi Phap
Blaise Pascal, cung nh nha vat ly ngi Phap Denis
Papin a xay dng nen nen tang c ban ng dung kh
nen.
Trong the k XIX, cac may moc thiet b s dung nang
lng kh nen lan lt c phat minh nh: th van
chuyen trong ong bang kh nen (1835) cua Josef Ritter,
phanh bang kh nen (1880), bua tan inh bang kh nen
(1861)Vi s phat trien manh me cua nang lng
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ien, vai tro s dung nang lng bang kh nen b

giam dan.
Tuy nhien viec s dung nang lng bang kh nen
van ong mot vai tro cot yeu trong nhieu lnh vc,
ma khi s dung nang lng ien se nguy hiem; s
dung nang lng kh nen nhng dung cu nho, nhng
truyen ong vi van toc ln; s dung nang lng kh
nen nhng thiet b nh bua hi, dung cu dap, phun
sn, gia kep chi tiet va nhat la cac dung cu, o ga
kep chat trong cac may .
Cung vi s phat trien khong ngng cua lnh vc
t ong hoa, ngay nay cac thiet b truyen dan, ieu
khien bang thuy lc kh nen s dung trong may moc
tr nen rong rai hau het cac lnh vc cong
nghiep nh may cong cu CNC, phng tien van chuyen,
may cat, may uon, may ep phun, day chuyen che
bien thc pham, do nhng thiet b nay lam viec linh
hoat, ieu khien toi u, am bao chnh xac cao, cong
suat ln vi kch thc nho gon va lap at de dang
nhng khong gian chat hep so vi cac thiet b
truyen ong va ieu khien bang c kh hay ien.
u nhc iem cua kh nen:
u iem:
Do kha nang chu nen (an hoi) ln

cua khong kh, cho nen co the trch cha kh nen mot
cach thuan li. Nh vay co kha nang ng dung e
thanh lap cac tram trch cha kh nen.
Kha nang truyen tai nang lng ca

kh nn xa, bi v o nht ong hoc cua kh nen nho va
ton that ap xuat tren ng dan t.
Khong gay o nhiem moi trng.
Chi ph thap e thiet lap mot he

thong truyen ong bang kh nen, bi v phan ln
trong cac x nghiep he thong ng dan kh nen a
co san.

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He thong phong nga qua ap suat

gii han c am bao.
Nhc iem:
Lc truyen tai trong ca kh nn thap.
Khi tai trong trong he thong thay oi,

th van toc truyen cung thay oi, bi v kha nang
an hoi cua kh nen ln, cho nen khong the thc
hien nhng chuyen ong thang hoac quay eu.
Dong kh thoat ra ng dan ra

gay nen tieng on.
Hien nay, trong lnh vc ieu khien,

ngi ta thng ket hp he thong ieu khien bang
kh nen vi c, hoac vi ien t, PLC. Cho nen rat
kho xac nh mot cach chnh xac, ro rang u, nhc
iem cua tng he thong ieu khien.
3.
Yeu cau va gii han e tai:
Thiet ke mo hnh he thong dap phoi t ong dung
nang lng thuan kh nen va ieu khien bang ien Kh nen.
CHNG II
C S LY THUYET
A. NGUON KH NEN
1. May nen kh:
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.
Phan loai:
a.
Theo ap suat:
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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.
My nn kh
2. 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 :

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May nen kh
B. CAC PHAN T TRONG HE THONG IEU
KHIEN
Mot so 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...
1.
Van o chiu:

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Van o chiu c nhim v iu khin dng nng lng bng cch ng, m
hay chuyn i v tr, thay i hng ca dng nng lng.
Nguyn l hot ng ca mt s van o chiu:
a)
Van o chiu 3/2:
Khi cha c tn hiu in tc ng vo ca (12), th ca (1) b chn v ca (2)

ni vi ca (3). Khi c tn hiu in tc ng vo ca (12), nng van s dch
chuyn v pha bn phi, ca (1) ni vi ca (2) v ca (3) b chn. Trng hp
tn hiu tc ng vo ca (12) mt i, di tc ng ca l xo, nng van tr v
v tr ban u.
K hiu:
Van o chiu 3/2
b)
Van o chiu 5/2:

Khi cha c tn hiu in tc ng vo ca (14), th ca (3) b chn, ca (1)
ni vi ca (2) v ca (4) ni vi ca (5). Khi c tn hiu in tc ng vo ca
(14) th nng van s dch chuyn sang phi, ca (2) ni vi ca (3) v ca (1)
ni vi ca (4) cn ca (5) b chn. Khi tn hiu tc ng vo ca (14) mt i
th di tc ng ca l xo nng van tr v v tr ban u.
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K hiu:
Van o chiu 5/2

2. Van tit lu:
Van tit lu c nhim v iu chnh lu lng dng chy, tc l iu chnh vn
tc hoc thi gian chy ca c cu chp hnh. Ngoi ra van tit lu cng c
nhim v iu chnh thi gian chuyn i v tr ca van o chiu. Nguyn l
lm vic ca van tit lu l lu lng dng chy qua van ph thuc vo s thay
i tit din.
Van tit lu mt chiu iu chnh bng tay.
Nguyn l hot ng:
Tit din chy Ax thay i bng iu chnh vt iu chnh bng tay. Khi dng
kh nn t A qua B, l xo y mng chn xung v dng kh nn ch i qua tit
din Ax. Khi dng kh nn i t B sang A, p sut kh nn thng lc l xo y
mng chn ln v nh vy dong kh nn s i qua khong h gia mng chn v
mt ta mng chn, lu lng khng c iu chnh.
K hiu:

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Van tit lu mt chiu

3.
Xylanh kh nen
Sau y l cu to ca mt s xylanh kh nn thng dng:
1
2
3
4
5
6
7
8
9
10
11
12
Ming m u trc
Nam chm
m ng ngoi
V ngoi
ng dn thanh
Ming m
V bc mt trc
Mt dan kh
Cng tc t
Cn pittong
Vng chng mn
m pittong
Xylanh tc dng n dng l xo

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Xylanh tc dng hai chiu, khng c b phn gim chn
Xylanh tc dng hai chiu, c c b phn gim chn cui khoang chy
CHNG III
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THIET KE VA THI
CONG
A. THIET KE MACH THUAN KH.
1.1. Bieu o trang thai va quy trnh lam viec.
1.1.1.
Bieu o trang thai :
Bieu dien trang thai cua cac phn t trong mach, moi
lien he gia cac phan t va trnh t chuyen mach
cua cac phan t.
S
2
S
1
S
4
S
3
S
6
C
1
1.1.2.
S
5
Quy trnh lam viec:

May dap t ong ieu khien bang kh nen,
ien kh nen co quy trnh thc hien c mo ta nh
sau:
- Xy lanh A i ra kep chat, co nh chi tiet tai v tr gia
cong.
- Sau khi xy lanh A gi chi tiet tai v tr co nh tai v
tr gia cong thxy lanh B i ra thc hien lan dap th nhat
roi i ve.
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- Sau khi xy lanh B i ve th xy lanh C i ra va ay c

cau kp chi tit ca xylanh A vao v tr gia cong th 2 va
dng lai.
- Khi xy lanh C a c cau vao ung v tr. Th xy lanh B
di ra va dap lan th 2 roi i ve.
- Sau khi xy lanh B hoan tat cong viec cua mnh th
xylanh C tr v v mang c cau kp chi tit ca xy lanh A tr v.
- Sau khi xy lanh A i ve nh chi tit va ket thuc mot
chu trnh lam viec, va chuan b e bt au mot chu
trnh lam viec mi.
1.2. S o hanh trnh bc:
STAR
T
S
2
S
1
S
4
S
3
S
6
S
5
5
9
6
3
4
8
1
2
7
Xylanh A i ra nh tac ong khi nhan nut
"START", khi i het hanh trnh cua mnh th cham vao
cong tac hanh trnh S2.
Khi cong tac hanh trnh S2 b chan th xylanh B
i ra, khi i het hanh trnh th cham vao cong tac hanh
trnh S4 th quay ve v tr ban au va cham vao cong
tac hanh trnh S3.
Khi S3 b chan lan th nhat th xylanh C i ra
va cham vao cong tac hanh trnh S6.

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Khi S6 b chan th xylanh B i ra lan th 2 va

tr ve khi cong tac hanh trnh S4 b chan va cham
vao cong tac hanh trnh S3.
Khi S3 b chan lan th 2 th xylanh C bat au
tr ve v tr ban au va cham vao cong tac hanh trnh
S5
Khi cong tac hanh trnh S5 b chan th xylanh A
bat au tr ve cham vao cong tac hanh trnh S1 va
ket thuc mot qua trnh.
1.3. Xac nh he ieu kien:
B
c
1
2
3
4
5
6
7
8
9
S1
S2
S3
S4
S5
S6
1
0
0
0
0
0
0
0
1
0
1
1
1
1
1
1
1
0
1
1
0
1
1
0
1
1
1
0
0
1
0
0
1
0
0
0
1
1
1
1
0
0
0
1
1
0
0
0
0
1
1
1
0
0
1.4. Chia tang:

- Da vao he ieu kien ta xac nh c cac
bc co he ieu kien giong nhau la:
+) Bc: 2, 4, 8.
+) Bc: 5, 7.
- Ap dung nguyen tac chia tang: ta xet t au chu
ky en cac bc tiep theo khi cac ieu kien trung
nhau th dng lai va lui ve mot bc e chia tang,
tc la phai chuyen sang mot tang khac trc o
mot bc. Sau khi tach chuyen sang phan khac th tiep
tuc xet t v tr a c tach en cac bc sau. Qua
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trnh nh the c tien hanh cho en cuoi chu ky va

se c so tang xac nh.
- Theo he ieu kien chung ta se co hai nhom
bc co he ieu kien giong nhau:
+) nhom 1: bc 2, 4, 8 co he ieu kien
trung nhau.
+) nhom 2: bc 5, 7 co he ieu kien trung
nhau.
- Ta bat au chia tang nhom th 1 v, neu ta
chia tang nhom 2 th khi xet bc 5 ta lui ve mot
bc se la bc 4 lai trung vi bc 2 v the nen ta
khong bat au chia tang nhom 2.
=> Nh vay ta co the chia mach thanh cac tang sau:
*) Tang I: ta bat au xet t au chu ky en
bc th 4. Bc th 4 co cung ieu kien vi bc
th 2 v the ta lui ve mot bc e chia tang, va o
la bc 3. "Vay tang I se bat au bc th 1 va
ket thuc bc th 3".
*) Tang II: xet t bc 3 (la bc ket thuc
cua tang I) cho en bc 7. Bc 7 co ieu kien
trung vi bc 5. Nen ta lui lai mot bc e chia
tang bc th 6. "Vay tang II se bat au bc
3 va ket thuc bc 6".
*) Tang III: xet t bc 6 (la bc ket thuc
cua tang II) cho en het chu ky ( la bc 9 trung
vi bc 1) khong co bc nao trung nhau nen
tang III bat au bc 6 va ket thuc bc 9.
=> Nh vay oi vi mach nay ta co the chia
no ra thanh 3 tang.

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II
III
S2
S1
S4
S3
S6
S5
1
S o chia tang cho mach
Da theo bieu o trang thai, cac bc 2,4,8

cua bieu o la phng trnh logic th t cho cac xy lanh
B1+, C+, A- la giong nhau. cac bc 5 va 7 la phng
trnh logic cua cac xy lanh B2+, C_ la giong nhau. V vay
e cho
cac phng trnh o khong con giong nhau th can phai
co cac phan t nh trung gian. Chung c ky hieu
la X, Y,.... Phng trnh logic cua mach c viet nh sau:
1.5 Cac phng trnh logic:
A+ = S1US3US5U X U Y
2
A
= S2US3US5U X UY
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B+ = (S2US3US5UXU Y )V (S2US3US6UXUY)
B = (S2US4US5UXUY)V (S2US4US6U X UY)

C+ = S2US3US5UXUY
2
C = S2US3US6U X UY
X+ = S2US3US5U X U Y
2
X = S2US4US6UXUY
Y+ = S2US4US5U XU Y
2
Y =S1US3US5U X UY
S o mach logic ban u:
X X Y Y
S1 S2 S3 S4 S5 S6
&
S
& R
A
A-
&
S
& R
&
&
&
>=
1
>=
1
B
B-
S
R
&
&
S
R
&
&
S
R
&
CC
1.6 Bieu o karnaugh:

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Tn hieu ieu khien cua phan t nh trung gian

c bieu dien oi xng qua truc:
S1
S3
S1 S1
S3 S4
+
A
S1
S4
_
Y
S5
S2 S2 S2
S4 S3 S3
__
+_
X Y
_
+
B Y
X Y
+
Y
1
_ _ + +
B1 X B2 C Y
_ _ _
B2 C A Y
X
X
S2
S4
S6 S6
S5
S5
S6
S6
X Y
X Y
X Y
S5
Bieu o karnaugh.
1.5. n gian cac phng trnh bang bieu o
karnaugh.
2
1.5.1. n gian phng trnh cua xy lanh A (A+, A )
A+ = Y U START
2
A
= S3US5U X UY
S1
S3
+
A
S1
S3
S1
S4
S1
S4
S2
S4
_
S5
S6
S6
S5
S5
S2
S4
S2
S3
S2
S3
+ +
+
_
+ A
S6
S6
S5
2
1.5.2. n gian phng trnh cua xy lanh B (B+, B )

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B+ = (S2UXU Y )V (S6UXUY)
2
B = X V (S4US5UY)
S1
S3
S1
S3
S1
S4
S1
S4
S2
S3
S5
S2
S3
_
- Y
_
B+ Y
+
1
_
B1 + B+
2
_
B2 - -
X
X
S2
S4
S2
S4
S6
S6
S5
S5
S6
S6
Y
Y
S5
2
1.5.3. n gian phng trnh cua xy lanh C (C+, C )

C+ = S3UXUY
2
C = S3U X UY
S1
S3
S1 S1
S3 S4
S1 S2
S4 S4
S2 S2 S2
S4 S3 S3
S5
S6 S6
S5
S5
+ + C+ Y
_
+ C - Y
S6
S6
S5
1.5.4. n gian phng trnh cua phan t nh trung

2
gian X (X , X+)
X+ = S2U Y
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2
X = S4US6
S1
S3
S1
S3
S1
S4
S1
S4
S2
S3
+
+ X +
- -
X
X
S2
S4
S2
S4
S5
S6
S6
S5
S5
S6
S6
S2
S3
+_
X Y
_
+ Y
+
S5
1.5.5. n gian phng trnh cua phan t nh trung gian

2
Y (Y+ , Y )
Y+ = S4
2
Y =S1US3
S1
S3
S1
S3
S1
S4
S1
S4
S2
S4
S2
S4
S2
S3
S2
S3
+
Y
+ + + +
+ +
S5
+
S6
S6
S5
S5
S6
S6
S5
1.5.6. Phng trnh mach logic cua cac phan t sau khi
n gian.
A+ =
Y U START

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2
= S3US5U X UY
B = (S2UXU Y )V (S6UXUY)
2
B = X V (S4US5UY)
C+ = S3UXUY
2
C = S3U X UY
X+ = S2U Y
2
X = S4US6
+
Y = S4
2
Y =S1US3
1.5.7. S o mach logic.

The hien s lien ket co quy luat cua
cac phan t trong mach.
START
X X Y
S1 S2 S3 S4 S5 S6
Y
+
A
A-
&
S
& R
&
S
R
&
&
&
>
=
1
&
>
=
1
B
B-
S
R
&
&
S
& R
&
S
R
&
CC
1.5.8. S o chc nang:

Bao gom cac bc thc hien lenh va cac lenh.
Cac bc thc hien lenh c k hieu theo so th t
va cac lenh gom ten lenh, loai lenh va v tr ngat
23
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.................................................................GVHD: Hong Hu Tn
cua lenh. Va no the hien chc nang cua cac

phan t.
START
1
K ep cha
t chi tie
t va
o vtr 1
Pittong A i ra (+)
S2
Ptittong B i ra (+)
S4
3
K e
t thu
c la
n dap th1
Pittong B i ve(-)
S3
4
a
y chi tieten vtr th2
Pittong C i ra (+)
S6
Pittong B i ra (+)
S4
6
K e
t thu
c la
n da
p th2
Pittong B i ve(-)
S3
7
K e
o chi tie
t vevtr 1
Pittong C i ve
S5
8
Nhachi tie
t
Pittong A i ve
S1
9 =1
K ep cha
t chi tie
t va
o vtr 1
2
Da
p la
n1
5
Da
p la
n2
Pittong A i ra.
S o chc nang.
1.5.9. Lu o tien trnh:
24
(May dap t ong)
S2

.................................................................GVHD: Hong Hu Tn
Bieu dien phng thc giai (thuat toan Algorithmus) cua mot qua trnh ieu khien. Lu o tien
trnh khong bieu dien nhng thong so va phan t
ieu khien.
u iem: Vach ra hng tong quat cua qua trnh
ieu khien, co tac dung nh mot phng tien thong tin
gia ngi san xuat phan t ieu khien va ky
thuat vien s dung no.
Nguyen tac hoat ong cua mach ieu khien cua
may dap c the hien nh sau:
Bc thc hien th nhat:
Khi pittong v tr ban au (S1=1, S2=0), an nut
khi ong S0 (START). Khi S0 = 1 kh se tac ong lam
pittong A i ra (A+).
Bc thc hien th 2:
Khi pittong A i ra en cuoi hanh trnh cham cong
tac hanh trnh S2, neu S2 = 1 th pittong B i ra (B+), neu
S2 = 0 th mach b gian oan va quay tr lai vi S1
Bc thc hien th 3:
Khi pittong B i ra en cuoi hanh trnh cham cong
tac hanh trnh S4, pittong B se lui ve (B_)
Bc thc hien th 4:
Khi pittong B ve v tr ban au cham cong tac hanh
trnh S3, pittong C i ra (C+)
Bc thc hien th 5:
Khi pittong C i ra en cuoi hanh trnh cham vao
cong tac hanh trnh S6, pittong B se i ra (B+)
Bc thc hien th 6:
Khi pittong B i ra en cuoi hanh trnh cham vao
cong tac hanh trnh S4, pittong B i ve (B_)
Bc thc hien th 7:
Khi pittong B i ve cham cong tac hanh trnh S3,
pittong C i ve (C_)
Bc thc hien th 8:
Khi pittong C i ve cham cong tac hang trnh S5,
pittong A i ve (A_)
Bc thc hien th 9:
25
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.................................................................GVHD: Hong Hu Tn
Khi pittong A i v cham cong tac hanh trnh S1, qua

trnh ieu khien ket thuc.

26
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.................................................................GVHD: Hong Hu Tn
A
S2 =1
co
C
kho
ng
S1 =1
kho
ng
S3 =1
kho
ng
S1 =1
co
co
kho
ng
S6 =1
kho
ng
co
co
S2 =1
kho
ng
kho
ng
co
S5 =1
co
co
S0 =1
S3 =1
co
S4 =1
START
kho
ng
END
kho
ng
co
B
S4 =1
kho
ng
co
B
S3 =1
kho
ng
Lu o tien trnh
27
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.................................................................GVHD: Hong Hu Tn
1.5.10. S o mach ieu khien bang thuan kh nen:
Mach thuan kh
28
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.................................................................GVHD: Hong Hu Tn
S
2
S
1
S
4
S
3
S
6
C
1
S
5
S o trang thai cua mach

1.5.11. Nguyen ly lam viec cua mach thuan kh
Ban u cc cng tc hnh trnh S1, S3, S5 b chn v vy L0, L3 s c kh
nn khi khi ong may lam viec bang cach nhan nut
Start kh se chuyen t tang 1 qua cong tac Start tac
ong trc tiep vao ben trai cua van ao chieu 5/2
( phan t ieu khien xylanh A), khi o ca vao so 1
se c noi vi ca ra so 4 va ca ra so 2 se c
noi vi ca xa so 3 lam cho xylanh A i ra kep chat chi
tiet tai v tr dap va tac ong vao cong tac hanh
trnh S2.
Khi cong tac hanh trnh S2 b chan kh t tang 1 se
i qua cong tac hanh trnh S2 tac ong vao van ao
chieu 5/2 ( phan t nh trung gian X) ieu khien kh
chuyen tang t "L3" sang "L2", va i qua van logic OR ( la
phan t ieu kien cua xylanh B) ong thi cung vi
kh t "L2" s i qua van AND tac ong vao van ao
chieu 5/2 (phan t ieu khien xylanh B) ieu khien

29
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.................................................................GVHD: Hong Hu Tn
xylanh B i ra dap chi tiet lan th nhat va cham vao

Khi cong tac hanh trnh S4 b chan, kh t cong tac
hanh trnh S4 se tac ong vao ben trai van ao
chieu 5/2 ( phan t nh trung gian Y) ieu khien kh
chuyen tang t L0 sang L1. Kh t L1 i qua cng tc hnh trnh
S5 ket hp vi kh i ra t S4 se ieu khien xylanh B
i ve ket thuc lan dap th nhat va cham vao cong
tac hanh trnh S3.
Khi cong tac hanh trnh S3 b chan th kh t L1 se
i qua cong tac hanh trnh S3 va kh t L2 cung tac
ong vao ben trai cua van ao chieu 5/2(phan t
ieu khien xylanh C) se ieu khien xylanh C i ra ay c
cau kep chat chi tiet cua xylanh A a chi tiet vao v tr
dap th 2, va cham vao cong tac hanh trnh S6.
Khi cong tac hanh trnh S6 b chan th kh t L1 se
i qua cong tac hanh trnh S6 cung vi kh t L2 se
tac ong vao ben trai van ao chieu 5/2 (phan t
ieu khien xylanh B) ieu khien xylanh B i ra dap chi
tiet lan 2 va cham vao cong tac hanh trnh S4.
Khi cong tac hanh trnh S4 b chan kh t S4 se i
ra ket hp vi kh i ra t S6 tac ong vao phan t
nh X ieu khien chuyen kh L2 ve v tr ban au L3
luc nay kh t L3 se i qua van AND tac ong vao
ben phai van 5/2 ieu khien xylanh B i ve ket thuc
lan dap th 2, cham vao cong tac hanh trnh S3.
Khi S3 b chan lan 2 th kh t L1 se i qua S3 ket
hp vi kh l L3 tac ong vao van ao chieu 5/2
( phan t ieu khien xylanh C) ieu khien xylanh C i
ve a c cau kep chi tiet cua xilanh A ve v tr ban
au va cham vao cong tac hanh trnh S5.

30
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.................................................................GVHD: Hong Hu Tn
Khi S5 b chan kh t S3 va S5 va kh t L3 se tac

ong vao van ao chieu 5/2 (phan t ieu khien
xilanh A) ieu khien xilanh A i ve ni long chi tiet va
cham vao cong tac hanh trnh S1.
Khi S1 b chan th kh se i qua S1 va tac ong vao
van ao chieu 5/2 (phan t nh Y) ieu khien kh
chuyen tang va ket thuc mot qua trnh dap phoi t
ong.
B. PHAN IEN KH NEN

I. S o hanh trnh bc:
I
I
III
S
2
A
_
S
1
S
4
S
3
S
6
S
5
C
1
a. S o mach kh nen.
31
(May dap t ong)

.................................................................GVHD: Hong Hu Tn
Y1
Y2
5
Y3
Y4
S4
S5
52%
53%
S3
S6
52%
S2
53%
S1
52%
53%
Y5
Y6
Thiet ke tang trong mach trong mach ien

ieu khien
1
+24V
START
K1
K1
K1
4
K2
K2
K2
Tng 1
E2
Tng 2
E1
K1
K2
0V
2
3
Tng 3
E3
Mach
ien
ba
tang
4
5

32
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.................................................................GVHD: Hong Hu Tn
Cac tang trong mach ien ieu khien c tao ra

bang cac rle. Nhn chung e tao ra N tang th ngi ta
can co N -1 rle, v vay e tao mach tang cho mach
ieu khien may dap t ong vi ba tang th can co
2 rle..
1.
S o mach ien kh nen dung Rle:
Phng trnh cua mach kh nen sau khi rut gon

A+ = Y U START
2
A
= S3US5U X UY
+
B = (S2UXU Y )V (S6UXUY)
2
B = X V (S4US5UY)
C+ = S3UXUY
2
C = S3U X UY
X+ = S2U Y
2
X = S4US6
Y+ = S4
2
Y =S1US3
Phng trnh cua mach kh nen sau khi rut gon

bang bieu o karnaugh khi chuyen sang ien khi ta can
co mot so phan t ieu khien bang ien ( la cac
phan t dc thay the cho cac phan t nh trung gian
X, Y trong mach ieu khien thuan kh) sau:
Phan t nh trung gian X, Y ( la cac van ao
chieu) bang cac relay K1, K2
Cac van ao chieu ieu khien gian tiep bang
kh nen ca hai pha c thay bang cac van dao chieu
ieu khien gian tiep bang nam cham ien ca hai pha.
Phng trnh cua mach ieu khien bang ien c viet
nh sau:
Tn hieu au vao:
E1 = S1 ^ START = START ^ S1
E2 = KS 3 ^ S4
= KS 3 ^ KS4
E3 = KS 4 V S 6
= KS4 ^ KS6
33
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.................................................................GVHD: Hong Hu Tn
Tn hieu au ra:
Y1
Y2
Y3
Y4
Y5
Y6
=
=
=
=
=
=
L1
= K1
L3 ^ S3 ^ S5 = K1 ^ KS3 ^ KS5
(L1 ^ S2) V (L2 ^ S6) = (K1 ^ S2) v (K2
(L2 ^ S4) V L3
= (K2 ^ KS4) V K1
L2 ^ S3
= K2 ^ KS3
L1 ^ S3
= K1^ KS3
KS6)
b. S o mach ien

34
(May dap t ong)

.................................................................GVHD: Hong Hu Tn
1
+24V
10
12
13
14 15
S TA R T K 1 K 1
4
KS4
K1
K1
S3
S4
S6
KS3
KS4
KS6
K2
S1
K2
K2
K2
KS3
KS3
KS3
KS6
KS4
KS4 KS6
S5
S2
K1
K2
Y5
Y3
Y1
Y4
Y6
Y2
0V
102
3
9
8 4
6
9
3 5
10
1 3
9
2 6
c. S o tong hp ien - kh nen.

35
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.................................................................GVHD: Hong Hu Tn
Y1
5
START
K1
Y5
Y4
Y3
+24V
S5
52%
4
Y2
S4
53%
S3
53%
S2
52%
53%
S1
Y6
S6
52%
10
12
13
14
15
K1
4
KS4
K1
K1
S3
S4
S6
K2
S1
K2
K2
K2
KS3
KS3
KS3
KS4
KS6
KS4
KS6
S5
S2
K1
K2
Y5
Y3
Y1
Y4
Y6
Y2
KS3
KS4
KS6
0V
10 2
3
9
4
6
9
5
10
3
9
d. Nguyen ly lam viec cua mach ien ieu khien

36
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.................................................................GVHD: Hong Hu Tn
Ban u cc cng tc hnh trnh S1, S3, S5 b chn nn rle KS3 c in

nn khi khi ng my bng cch nhan nut Start th rle K1 se co
ien lam cho cong tac K1 se ong nen tang 1 se co
ien lam cho Y1 co dong ien i qua tac ong lam
xilanh A i ra kep chat chi tiet tai v tr dap va cham
vao cong tac hanh trnh S2.
Khi cong tac hanh trnh S2 b chan se lam cho Y3
co ien ieu khien xylanh B i ra thc hien qua trnh
dap th nhat, cham vao cong tac hanh trnh S4.
Khi S4 s chan th KS4 se co ien lam cho cac khoa
KS4 b ong tao thanh ng dan cho K2 co ien, cac
cong tac K2 c khoa lai a xylanh A i ve ket thuc
qua trnh dap lan th nhat va cham vao cong tac
hanh trnh S3.
Khi S3 b chan th KS3 se co ien va lam cho cac
cong tac KS3 eu c ong lai, va cac KS 3 th eu
c m ra. Nen dong ien i qua KS3 va tac ong
vao Y5 ieu khien xylanh C i ra ay c cau kep chi tiet
cua xylanh A vao v tr dap th 2, khi ket thuc qua
trnh th xylanh C chan vao cong tac hanh trnh S6
Khi S6 b chan lam cho cac KS6 c khoa lai va
cac KS 6 th dc m ra tao ieu kien cho dong ien
chay qua va tac ong vao Y3 lan th 2 ieu khien
xylanh B i ra dap lan 2. Khi ket thuc qua trnh th xylanh
B cham vao cong tac hanh trnh S4.
Khi S4 b chan ong thi luc nay S6 cung b chan
nen cac cong tac phu nh la KS4, KS6 ong thi cac
KS 4 va KS 6 eu c m ra lam cho rle K1 b ngat
ien va cac cong tac phu nh cua K1 se c ong
lai, va dong ien se i qua va tao ieu kien e dong
ien tac ong vao Y4 lan 2 ieu khien xylanh B i ve
ket thuc lan dap th 2 va cham vao cong tac hanh
trnh S3 lan th 2.

37
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.................................................................GVHD: Hong Hu Tn
Khi S3 b chan lan 2 th cac cong tac KS3 cung c

ong lai lan th 2 va cac KS 3 cung c ong lai lan
2 tao ieu kien cho dong ien i qua va tac ong vao
Y6 ieu khien xylanh C i ve ong thi a c cau kep
chi tiet cua xylanh Ai ve v tr ban au va cham vao
Khi S5 b chan th dong ien se chay qua S5 va tac
ong vao Y2 ieu khien xylanh A i ve va ni long chi
tiet va cham vao cong tac hanh trnh S1 va ket thuc
mot qua trnh dap chi tiet vi ba xylanh

38
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.................................................................GVHD: Hong Hu Tn
CHNG IV
KET LUAN VA E
NGH
A.
KET QUA THC HIEN
Sau qua trnh thc hien vi nhieu co gang va no lc

cua ban than cung vi s tan tnh hng dan cua
thay Hoang Hu Tan, tap o an nay a c
hoan thanh ung thi gian quy nh theo yeu cau at
ra la Thiet ke he ieu khien cho may dap phoi
t ong.
e thc hien c yeu cau tren chung em a nghien
cu, tm hieu nhng van e ve:
Thiet ke mach ieu khien bang thuan kh

nen.
Thiet ke mach ieu khien bang ien kh

nen.
Mo phong mach ieu khien bang ien kh

nen bang phan mem mo phong automation studio 5.0
hoac Festo fuilsim. Mo phong o hoa bang Autocad.
Va cac van e khac co lien quan en e

tai.
B.
HNG PHAT TRIEN E TAI
Do gii han cua thi gian thc hien o an cung nh

ieu kien thiet b khong cho phep nen nhom
nghien cu cha the phat trien o an cua mnh len
mc cao hn. Mot so han che va hng phat trien
e tai:
Hoan thien he thong dap phoi t ong.
39
(May dap t ong)

.................................................................GVHD: Hong Hu Tn
Cac chi tiet e dap phoi ch mang tnh mo

phong do o cha c thc te hoa.
M rong kha nang dap co the ieu chnh kch
thc dap cua phoi mot cach linh hoat hn. Mac du
a co nhieu co gang nhng vi trnh o kien thc
co han nen chung toi khong tranh khoi nhng sai
lam thieu xot khong mong muon. Rat mong quy thay
co co y kien ong gop bo sung e e tai nay c
hoan thien hn.
MUC LUC
CHNG I: DAN NHAP
1. Hien trang----------------------------------------------------------------4
2. Vai net ve s phat trien cua cong nghe thuy lc
kh nen------------------------------------------------------------------------------4
3. Yeu cau va gii han e tai---------------------------------5
CHNG II: C S LY THUYET
A. NGUON KH NEN----------------------------------------------------------6
1. May nen kh--------------------------------------------------------------6
2. Bnh trch cha kh nen-----------------------------------------------7
B. CAC PHAN T MACH IEU KHIEN-----------------------------7
1.
Van ao chieu -----------------------------------------------------------8
2.
Van tiet lu-----------------------------------------------------------------9
3.
Xylanh kh nen-----------------------------------------------------------10
CHNG III: THIET KE VA THI CONG
A. THIET KE MACH THUAN KH---------------------------------------12
1. Bieu o trang thai va quy trnh lam viec--------------12
2. S o hanh trnh bc---------------------------------------------13
3. Chia tang 14
4. Cac phng trnh logic------------------------------------------------15
5. Bieu o karnaugh ----------------------------------------------------17
6. S o mach logic-------------------------------------------------------21
7. S o chc nang-----------------------------------------------------22
8. Lu o tien trnh-------------------------------------------------------23
9. S o mach thuan kh----------------------------------------------25

40
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.................................................................GVHD: Hong Hu Tn
10.
Nguyen ly lam viec cua mach thuan kh26
B. PHAN IEN KH NEN-----------------------------------------------28
1. S o hanh trnh bc---------------------------------------------28
2. S o mach kh nen-------------------------------------------------28
3. S o mach ien ieu khien-----------------------------------31
4. Nguyen ly lam viec cua mach ien ieu khien- -33
CHNG IV: KET LUAN VA E NGH
A. KET QUA THC HIEN
-----------------------------------------------------34
B. HNG PHAT TRIEN E
TAI-------------------------------------------------34
TAI LIEU THAM KHAO

[1] NGUYEN NGOC PHNG HUYNH NGUYEN HOANG,
He Thong ieu Khien Bang Thuy Lc, NXB Giao
Duc.
[2] NGUYEN NGOC PHNG, He Thong ieu Khien
Bang Kh Nen, NXB Giao Duc.

41
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Bai Bao Cao Do An Cong Nghe Thuy Luc Khi Nen

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TRNG AI HOC S PHAM KY

CONG NGHE THUY LC KH NEN

THIET KE HE THONG IEU

MAY DAP T ONG

O AN CONG NGHE THUY LC KH NEN

TP. VINH, Thang 04 2011

O AN CONG NGHE THUY LC KH NEN

He thong ieu khien bang thuy lc - kh nen

O AN CONG NGHE THUY LC KH NEN

He thong ieu khien bang thuy lc - kh nen

O AN CONG NGHE THUY LC KH NEN

O AN CONG NGHE THUY LC KH NEN

ien, vai tro s dung nang lng bang kh nen b

Do kha nang chu nen (an hoi) ln

Kha nang truyen tai nang lng ca

Khong gay o nhiem moi trng.

Chi ph thap e thiet lap mot he

He thong ieu khien bang thuy lc - kh nen

O AN CONG NGHE THUY LC KH NEN

He thong phong nga qua ap suat

Lc truyen tai trong ca kh nn thap.

Khi tai trong trong he thong thay oi,

Dong kh thoat ra ng dan ra

Hien nay, trong lnh vc ieu khien,

O AN CONG NGHE THUY LC KH NEN

May nen kh ap suat thap:

May nen kh theo nguyen ly thay oi the tch:

May nen kh tuabin: may nen kh ly tam va

He thong ieu khien bang thuy lc - kh nen

O AN CONG NGHE THUY LC KH NEN

Phan t x ly tn hieu: X ly tn hieu nhan vao

He thong ieu khien bang thuy lc - kh nen

O AN CONG NGHE THUY LC KH NEN

Van o chiu 3/2:

Khi cha c tn hiu in tc ng vo ca (12), th ca (1) b chn v ca (2)

Van o chiu 3/2

Van o chiu 5/2:

O AN CONG NGHE THUY LC KH NEN

Van o chiu 5/2

He thong ieu khien bang thuy lc - kh nen

O AN CONG NGHE THUY LC KH NEN

Van tit lu mt chiu

Xylanh tc dng n dng l xo

O AN CONG NGHE THUY LC KH NEN

Xylanh tc dng hai chiu, khng c b phn gim chn

O AN CONG NGHE THUY LC KH NEN

Quy trnh lam viec:

O AN CONG NGHE THUY LC KH NEN

- Sau khi xy lanh B i ve th xy lanh C i ra va ay c

He thong ieu khien bang thuy lc - kh nen

O AN CONG NGHE THUY LC KH NEN

Khi S6 b chan th xylanh B i ra lan th 2 va

1.4. Chia tang:

O AN CONG NGHE THUY LC KH NEN

trnh nh the c tien hanh cho en cuoi chu ky va

He thong ieu khien bang thuy lc - kh nen

O AN CONG NGHE THUY LC KH NEN

S o chia tang cho mach

Da theo bieu o trang thai, cac bc 2,4,8

O AN CONG NGHE THUY LC KH NEN

B = (S2US4US5UXUY)V (S2US4US6U X UY)

1.6 Bieu o karnaugh:

O AN CONG NGHE THUY LC KH NEN