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أساسيات التحكم
أساسيات التحكم
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J J
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K
K
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J J
W
EF J
K J
KEF J
KEF J
--
J J
K W
K
EJ F
KEJ F
K
K
J J
K
K
K
K
K
(Fluid System) K W
--
J
(Pneumatics) EF
WKEKKKKKF
K
K
K
EF K
K
K
W
J
(Clamping)
(Positioning)
(Shifting)
(Orienting)
J
(Packaging)
(Feeding)
(Doors Control)
(Sorting of Parts)
(Metering)
WJ
(Drilling)
(Milling)
(Turning)
(Sawing) EF
(Finishing)
(Forming)
(Quality Control)
EF
J J K
J K
1 K
2 K
K
K3
--
K J
KY
K K
J
--
J
HydraulicsEF
KEKKKKKK F
K
(Stationary Hydraulics)
(Mobile Hydraulics)
K
K
K(Mining)
K
K
E F
J K
K(CNC)
K(spindle)
--
CNCJ
K J
J
--
WK
K
K
--
--
J
J
J
K
[Pascal, Pa]W
105Pa
[Newton, N]W
1N = 1kg.m/s2
[m2]W
K(14.7 psi)
- -
W( absolute pressure) J
K
KEF
E F
Excess Pressure (Pe >0))F
(Pamb)H(Pe) Z(Pabs)
K0 bar
K J
K(Pe)
EJ F
- -
WKJ
Ps = . g. h
K[Pascal, Pa]
K[kg/m3]
K[m/s2]
WPs -
W -
Wg -
[m]Wh
W
K7.85 cm2K100 bar
A = 7.85 cm
F = P. A
1000N 7.85cm2
F=
cm2
F = 7850N
- -
K15 000 N
75 barA
F = 15000N
P = 75 bar = 75. 105 Pa
A = F
P
15000N
75 105Pa
N m2
= 0.002
N
2
= 0.002m = 20cm2
=
t(sec.)m (kg)W
WQA (m2)
Q=
m
t
[kg/m2]
W
: -
[kg]Wm -
[sec]Wt -
V=
Q WV(m/s)
A
- -
(Continuity principleF J
W
Q1 = Q2
A1 x V1 = A2 x V2
V2 =
A1
V1
A2
K FF
KEE
F = P A
F[N] EF -
W
W
P[Pa]EF A[m2]
EF -
W[j or N-m](x) ()
d [m]
W=Fxd
- -
J
(Boyle-Mariottes Law)
K
WK
P1 x V1 = P2 x V2 = P3 x V3 = Constant
PeK 1
7
K
W
P1 V1 = P2 V2
V
P2 = P1 1
V2
V2 1
=
V1 7
Pe = P
P
= (700 100)kPa = 600kPa = 6bar
abs amb
- -
J
WPascals Law
KEJ F
A1KEJ F
WP1F1 KA2
P1 =
F1
A1
W
K
P2 =
F2
A2
P1 =
F1
A1
P1 =P2
- -
W
F1 F2
=
A1 A 2
WA2F1KA2A1F2F1
F1 =
A1 F2
A2
A2 =
A1 F2
F1
F1 F2
A2
A1
J
W
KJ
A1 F1 K1500 kg
m = 1500kg
F2 = m.gW
A F
F1 = 1 2
A2
- -
F1 =
0.004 m 2 1500 N
0.12m 2
F1 = 500N
J
8 cm2 W
K200bar
F1 = 500N W
K100NF1A2K
Ps W
Kh = 15m = 1000kg
KP1 = 3 barP2
- -
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--
K K
FEF
KEKKK
J
J F
EFKEJ
KEF
Power source
ESensorsF
Control elements
EActuators F
EProcessorsF
- -
J
J
J
J
J
J
J
J
J
J
- -
- -
K J
K
K
K
KE F
KEF
K
K
K J
K1A211S
K
K
K K3
0ZK1A
K0S
- -
J
- -
J
W
K
K
K
K
K
.
K
W
- -
J
W
K
WK
- -
W CompressorsJ J
E F
KK
K
K
WJ
Types of
Compressors
Reciprocating
compressor
Piston
Compressor
Rotary
Compressor
Diaphragm
Compressor
Flow Compressor
Radial flow
Compressor
Twin-shaft screw
Compressor
J
- -
Axial-flow
Compressor
??
Roots Compressor
KK
K
- -
J
EJ F(axial flow compressor)J
KK
K
K600kPa (6 bar) . J
E F
EF K
K
K
J
J J
EJ F
K
K
K
K
K
J
- -
WService Unit J J
W
J
J
J
K
K
KJ
- -
KEJ F
E F
()
KEJ F
K
K
K
K
K
- -
J
(Pressure Regulator)J
FEF
K(Diaphragm)KE
K K
EF
K K
- -
J
Pressure Regulator
(lubricator)J
KJ
KK
KEFK
- -
- -
J
J
J
J
J
J
J
J
- -
EKKKKKFK
K
K
K
K
K
J
J
- -
KEJ F
EF
K
KEF
KKL
EJ F(Piston cylinder)
J
Single acting cylinder
- -
J
Diaphragm cylinder
(Double acting cylinders)J
K EJ F
K
K
EFK
KK
L L
KL
(ejection) (branching)
KKK(clamping)
- -
W
EEFJ F(Piston cylinder)
EEFJ F
Double-acting cylinder with adjustable end position cushioning
EJ F
EJ F
K
J
- -
- -
(Rodless cylinders)J
K
K
K
W
EJ F (Band or cable cylinder)
EJ F
EJ F
- -
EJ F
K
K
J
Sealing band cylinder with slotted cylinder barrel
K
K
- -
K
KJ J KEF
( Swivel drive)J
(Rotary cylinder) J
- -
(ISO) J
J
J
J
J
J
J
J
J
(ISO) J
-
- -
F W J
E
K J
- -
J
K K
K
K
W
KW J
KW J
KW J
K
K
WK
KKKKEFW(Number of positions)
W(Method of actuation)
KKK
KEF
K
F
KTKE
- -
KWNormal position
WInitial position
K
WKJ
3/2-way valve W
4/2-way valve
5/3- way valve
WPoppet Valves K
KK
K
K
WSliding Valves K
K(flat slide) (spool)
- -
KJ
KJ
KEFJ
ISO 5599-3
A, B
R, S
Y, Z
Pz
- -
K J
J
J
J
J
J
J
DIN ISO 1219J
- -
LW(2/2-way valve)LJ J
(on-off valve)KEF
KEF
K(ball seat)
K K
K
K
K
WLJ
3/2-Way Valve: Ball Bearing Seat, Normally Closed Position
- -
K(Disc seat) L J
KK
K
KL
WLJ
3/2-Way Valve: Disc Seat, Normally Closed Position
- -
KLJ K
K
K K
LK
WLJ
- -
K J
(shut-off valve) K
WLJ
3/2-Way Valve: Hand Slide, Normally
Cl
d P iti
KKLJ
K
K
K K
KK
LJ
Single Pilot, Normally 3/2-Way Valve
- -
Closed Position
WEJ FJ J
K
K
K
Pilot ControlJ
- -
K L J
K
J J K
KL
LJ
3/2-Way Roller Lever Valve, Pilot Operated, Normally Closed
LJ
3/2-Way Roller Lever Valve, Pilot Operated, Normally Open
- -
LJ
KK
K
KK
LJ
- -
LJ J
EF L
K L J KK
K
KK
W L
K
LJ
4/2-Way Directional Valve, Disk Seat
- -
K L J
LK
KKL
E F
K
LJ
4/2-Way Double Pilot Valve, Longitudinal Flat Slide
LJ J
L J
LK
LJ
Mid-Position Closed 4/3-Way Plate Slide Valve,
- -
WLJ J
K L J KK
K
KWL
LJ
5/2-Way Double Pilot Valve, Pneumatically Actuated, Both Sides
- -
K L J
K K
LJ
5/2-Way Double Pilot Valve, Suspended Disk Seat
- -
WLJ J
J L
K
WK
K J
K J
J
K
J
K J
J
K
W
LJ
5/3-Way Valve, Pneumatically Actuated, Both Sides
- -
EF
L J
L J
L J
KL J
L J
KKL J
J
- -
J
:Non-return ValveJ J
E F
FKEJ FEF
KE21
E12F
KW
Non-return Valve J
- -
KEJ F 2 E3F1 1
K
E3F1 1 K
KK
K2
- -
E3F1 1K2E3F1 1
K2
2E3F1 1
KK
EFJ
Shuttle Valve (OR Function)
- -
KEJ F
3KEF 2 1
EFK
K32K1
J
Quick Exhaust Valve
- -
WThrottle ValveJ J
ELF
KEJ F
K
K
K2 1
KEF
J
One-Way Flow Control Valve
J
Throttle Valve
- -
EF J
EF J
J
W
J
J
- -
Pressure Valves J
WPressure RegulatorJ J
KEJ F
K
K(Diaphragm)
KK
K
K
K
K
K
J
Pressure Regulator
- -
WJ J
Time Delay Valve, Normally Closed
LW
EFKEJ F
12K 1
KLEF
K2 1
12KEF 2 1
12KL
2K
K3
J
Time Delay Valve , Normally Closed
- -
12
LKEJ F 2 L
12
K
J
Pressure Sequence Valve
- -
J
J
- -
J
K
W
Power source
EProcessorsF
EActuators F
ESensorsF
Control elements
J
J
KJ
W
W0
K KKK2 1
EF
KK
0Z1, 0Z2
1A, 2A
1V1, 1V2
1S1, 1S2
EKKKKF
EKKKKF
EKKKF
- -
J
J
J
J
J
J
J
J
J
J
J
- -
- -
K
W
- -
J
K
K
7mm40 mm
J J
J L
KEF K
KEF
K
K J
K1A 1S
K
KK
K
K1A
K0S0Z
- -
J
- -
J J
L
KJ
KEF
KEF
K J
K1A 1S
K
K
K
LK
K
- -
J
- -
KKL W
K
K
K
J J
K W
KEJ F
K
- -
1A WEJ F
1V 1K LK
1SK32
K K1V
K 12
12 K 1S K
K 1V 1V
K1V
- -
- -
J J
1V 14EJ F 1S
K 14K1A K
1V14K1S
K 1V
KK
- -
- -
K W
KKKL
ORANDWJ
K (AND)??
K21(3)1
K (OR)??
K21(3)1
ANDJ J
1S2 L W
K1S1L
K
J W
KK
1S121V1 1(3)1
1S2 LK1S2
K ANDK1V2
1V2LK21S1L
1S2 1S1K1A
14 K AND
1V2K1S21S11V2
K
- -
KANDKJ
- -
KWKLW
1A KEJ F W
K
KK
J
ORJ J
KW
K
J W
KK
1V1 1(3)
OR K1V11(3)
K
K 1V2 K
- -
KORKJ
- -
KEJ F W
K K
K L
K
- -
J
KL W
KK
KKK
W
KEJ F LEJ F L
LLK
K(Memory Function)
K
EFK
1V1K
K
1S1
K1V1K1V1
K 1V3 1V2
K1S1 1V1K
K1V1 12 1S2
K 1V1
1V1 1S2K1V2
.
- -
KLJ
KLJ
- -
KEJ F W
LK
KK
- -
J
EJ F W
KK
K
J
J W
K K
K1S2
K
1(3) 1S1K
AND 1V1
K 1V2K1V2
K1V4 1V2
K
AND1S21S1K
1V2 K1V1
K1V3K
- -
- -
J
KEJ F W
K E F
KK
J W
KK
K
KL
K1V2 14 1S
K 1V2
K 1V2 1S
KK
1V1 12
- -
K1A
K1V2 12KL
K1V2
J
- -
KEJ F
K K
K
- -
J W
KK
K L
K1S2
1S2 K 1S21S1
1S2
K
14 1V1
1V3K1V3
KEF 1V5 K
K1S2
14 1V1 AND
1S1 K 1V3
K
- -
J
1S3
K1V2 1V2
LK1V2
1V3K1V3 12 1V3
K
1S3 K1V4
K1S3 1V2
K1V3L
- -
1S2K1V312
K
J
J J
K
K(Displacement diagram)
K K
WK
Roller lever valve with idle return
K
J J
KJ W
K K
W
KLK
- -
1A
2S11S1W
2A
1S3W
1A
2S2 W
2A
1S2W
(Initial position)
2S1 W
1V2 L 1S1 K
KK1A
K1S3 1A K
KK2A2VL
K2S3 K
K1A1V2
1S21AK
K2S12AK2V
K1S1 K
- -
- -
- -
- -
- -
- -
]<gj]<]<j<^]<]
K
K
--
Direct current and alternating currentJ
K
EF
K
K
KEJ FW
KDirect CurrentEDCF
J
J
KE F
KEFEONF
K
K
--
DC circuit J
Ohm's Law J
KK
K
Electrical resistance
KK
KK
Source emf
K(electromotive force)
--
W
W
K
K
Electrical power
EF
EF EF
K
P = V. I
W
Power (Watt, W) WP
K24 V DCLW
K60 Ohm
WW
I=
V 24
=
= 0. 4 A
R 60
W
P = V. I = 240.4 = 9.6 W
--
Function of a solenoid J
.EJ F
K
Structure of a solenoid.
K
K
K
K
--
Applications of solenoids
KK
K
K
Function of a capacitorJ
K
K EJ S1F
KK
KFaradEFFK
E{S2F
K
J
--
Function of a diode EJ F J
K
K
K(The current is rectified)
K
--
WKEMultimeterF
K
K
KAmmeterVoltmeter
KW
KE 230VF
F
KE
KEF
Voltage measurement
K (voltmeter)
K
--
Current measurement
K (Ammeter)
K
K
Resistance measurement
WDC
W
K
KK(Ohmmeter)
F E F
KEopen circuitFEshort-circuit
KAC W
Sources of error
K K
K{{
--
Power supply unit pressureJ
K
KEJ F
W
K
F E F
KE
(rectifier)
K
transformer
rectifier
stabilization
--
K
K
EFJ
Normally open contact (make) section and symbol
--
EFJ
Normally closed contact (break) section and symbol
Changeover contact
K K
K
J
Changeover contact section and symbol
--
K
K
Limit switches
K
K
KEJ F
K
F
E K
F K
E
K
J
Limit switch section and symbol
--
Proximity switches
WKK
Reed switch
KK
K
E{F
K
--
J
Reed switch normally open contact
Electronic sensors
W
.
.
KW
K
K W
K
--
--
J
Inductive proximity sensor
Capacitive proximity sensor
K
K
K
J
Capacitive proximity sensor
--
(photodiode) K
WK
KK
J
One-way light barrier
--
KK
J
Reflective light barrier
Diffuse reflective optical sensor
K
KK
J
Diffuse reflective optical sensor
--
Pressure sensors
W
EF
EF
J
Piston-actuated pressure switch
K
K
K
--
K J EaF
K EF
J EbFKEF
K J EcF
--
K
K
K
KOKKKK
KK
K K
J
Construction of a relay
Applications of relays
K
--
EJ FPLCW
W
.EF
PLC J
--
J
2/2-Way Solenoid Valve without Pilot ControlL
K L J
K
K
LJ
2/2-Way Solenoid Valve without Pilot Control
--
WJ
K
KEJ EFFF
KEJ EFFF
EF
EF
J
Pilot Control Directional Control Valve with
--
K LJ
KKEJ EFF
F
K KEJ EF
K
K
EF
EF
LJ
K
Pilot controlled 3/2-Way solenoid valve,
normally closed with manual override
--
KLJ
KEJ EFF
KEJ EFF
K
K
EF
EF
LJ
Pilot controlled 5/2-Way single solenoid valve
--
K LJ
KEJ EFF
KEJ EFF
K
EF
EF
LJ
Pilot controlled 5/2-Way double solenoid valve
--
KEFL
5/3-way valve with exhausted initial position
K LJ
KEJ EF F
J EFF
KKE
J EFF
KKE
K
K
EF
EF
EF
LJ
KEF
Pilot controlled 5/3-Way double solenoid valve
(Mid-position exhausted).
--
J
K
(PLC)K
K
K
K J (b)
K L 1Y1
K
KK
Indirect control of a single-acting cylinder
EJ F
K1 1Y1
K .
K
--
J
(b (a
(c
--
J J
S1 W
K
L J (b) J (a) W
KKL
--
L(b L(a
(d(c
--
Logic OperationsJ
K
K
--
EOR Circuit??FJ
(a
(b
(c
(d
--
--
EAND Circuit??FJ
(a
(b
(c
(d
--
J
K(AND) ?? (OR) ?? J J
W
KW
KW
1Y1
S2
S1
S2 S1
OR operation??J
1Y1
S2
S1
S2 S1
AND operation??J
--
Signal storageJ
K
K
K
K
Signal storage with double solenoid valve
K
valve with double solenoid return stroke control Manual forward and
EWS2WS1F
K(J (b)J (a))
J (c) )
K1Y1S1K(J (d)
K
K1Y2S2K
KS2K
double solenoid valve stroke control with Automatic return
S1
(c)J (b)J K
S1K
K 1S2 1Y2
KS1
--
S1KS1
K
--
J
(a
(b
(c
(d
--
b)
(a
(b
--
J
(a
(b
(c
--
{(a) ON
K1 ON KK1
KKONK
Latching circuitEFJ
Dominant ON(a
Dominant OFF (b
K OFF
?K OFF ON
J (a) J (b)
K OFF ON
--
function via relay with latching return stroke control Manual forward and
S1
KKS2
S1
KS2 K
--
J
(a
(b
(c
--
Delay J J
K(time relay)
Control of a cylinder with timing
S1
KEJ F
--
FJ
E
(a
(b
--
K(latching relays)
K
(Feeding device)W
K J
J
--
KSTART
W
K1AW
K2AW
K1AW
K2AW
KSTART
J
1A
2A
--
J
K
--
KJ K
--
Sensor evaluation
1B1 KEJ F
KK1
--
EK11B1F1A
EK32B1F2A
K(S5)START
1Y1KK6
K1A
--
1B21A
K2A2Y1K
--
2B22A
K1A1Y2K
--
{ K2A2Y2K
K
--
]<gj]<]<j<^]<]
KJ
- -
EF
- -
- -
DriveJ
K E F
J K
Hydraulic PumpJ
K KE F
W K
W -
KEFK
- -
- -
(r.p.m) (cm3)
(bar)
- -
Gear pumpW
K
Gear pumpJ
K S KJ
KW
K
K
K
- -
CouplingsJ
K
K
W
K
ReservoirJ
K
K
KKK
W
K
F
KE
K
K
- -
FiltersJ
W
W
J
K
- -
CoolersJ
KK
K
K
K(thermostat)
W
KW
KW
KW
KJ J
- -
Heaters J
K
K
KJ
- -
WK
K
K
J J J
K
- -
Single-acting cylinder J
KJ K
Wiper K
Venting screw K
Piston rod K
Cylinder barrel K
Cylinder rod bearing K
Seal K
Mounting screw K
J
Single Acting Cylinder
- -
Piston K
Piston rod K
J
Double Acting Cylinder
- -
W
WF
KE
(A1=A2)
Z
J
- -
Hydraulic valvesJ
Pressure valves J J
W K
W K
KJ
Two-way pressure
regulator
Three-way pressure
regulator
- -
K
K J
KJ
W
Kp1.A1ZF
K
K
KJ
- -
- -
- -
J
W
:Safety valves J
K
W Brake valves J
K
WSequence valve J
K
- -
Pressure regulators J
J
K
- -
WEJ F
(1)(A)K
K(3)
KK
K(A)
W
J
- -
J J
K
KDIN 150129
KLJ
LJ
WEJ F
K
K
(L)
K
- -
K
K
W
L
L
L
KEF J
K
- -
(P,A)
(P
A)
(P,T
A)
A)
(T,P
(P
B, A
T)
(A
R, P
B, T)
(P, A, B, T)
(P
T, A, B)
H
(P
A
B
T)
(P, A
B T)
(P
B, T)
J
- -
2/2-way valveLJ
EJ F(P)(A)L
L {K
KEFLJ
APW
APW
LJ
2/2 way valve, spool design
EFLJ
2/2 way valve, poppet design
- -
L J
KJ
- -
LJ
- -
3/2-way valveLJ
(T) (P) (A) L
WKEJ F
KT A PW
KAPT W
KAPWL
KLJ
EFLJ
3/2 way valve, poppet design
- -
KLJ
- -
4/2-way valveLJ
(P) (B) (A) L
KEJ J F (T)
W
KT A BPW
KTBAPW
LJ
with three control pistons 4/2 way valve
K L J
KL
L J
with two control pistons 4/2 way valve
- -
EFKL
KLL
WL
EJ F
K
K
LL
KJ
KLJ
- -
KLJ
- -
4/3-way valveLJ
L K L J
L
L J KL
K
LJ
- -
LJ
KJ L
- -
KLJ
- -
Non-return valves J J
K
E F
K K
K(p2)
W(p2)
p1 > p2 + pF
W(pF)
K J
K -
KJ
- -
Acone
J
- -
- -
K(lockable)
K
K(de-lockable)
EF
(de-lockable)
- -
WJ
AB
BA
XWAB
KAB
AB
BA
AB
J
Piloted non-return valve
- -
LKL
X L
K
LK L
K
J
K
- -
KW
EF
KK
J J J
J K
(Orifice valves)(Restrictors)J
(Q)
(Q)
- -
J
One-way flow control valve
- -
J
Two-way flow control valve
- -
- -
2/2-way valve
3/2-way valve
4/2-way valve
4/3-way valve
5/2-way valve
5/3-way valve
Absolute pressure
Actuators
Air compressor
Air bleeder
Air distribution
Air dryers
Air filter
Air lubricator
Air motor
Air reservoir
Air supply
Ambient
Analogue control
Applications
Barometer
Binary control
- -
Check valves
Circuit diagram
Clamping devices
Components
Compressor
Condensate
Coordinated motion
Components
Compressor
Energy
Fault finding
Filters
Fitting of valves
Flow compressors
Fluid
EF
Force
Friction
Gauge pressure
Gear motors
Handling technology
- -
Heater
Hydraulic
Line
Linear actuators
Linear motion
Logic control
Lubrication
Non-return valves
Operational safety
Piston force
Piston motors
Pneumatic elements
Poppet valves
Positional sketch
Power components
Pressure level
Pressure regulator
Pressure sequence valve
- -
Reciprocating compressor
Reservoir
Rodless cylinder
Rotary actuators
Rotary motion
Seal
Sequence control
Sequence valves
Shut-off valves
Shuttle OR valve
EF
Signal flow
Single-acting cylinder
Slide valves
Sliding-vane motors
Standards
Throttle valve
Vent hole
- -
References
1.
Harry L. Stewart, Pneumatics and Hydraulics, Macmillan Publisher Co, New York, 1987.
??
3.
6. Peter Croser and Frank Ebel Pneumatics - Basic Level, Festo Didactic Gmbh, 2002.
4.
D. Merkle, B.Schrader and M. Thomes, Hydraulics - Basic Level Textbook, Festo Didactic
Gmbh, 2003.
5.
6.
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EF
GOTEVOT appreciates the financial support provided by BAE SYSTEMS