CHNG 1.

TNG QUAN V M HNH O TC NG C

1.1. Khi qut chung v m hnh o v iu khin tc ng c
Trong thc t sn xut gia cng ch to cng nh to ra sn phm cho mi nghnh
ngh. Nh ta bit to ra mi sn phm, mi chi tit u phi qua nhiu cng
on m trong mi cng on li c nhng tc ph hp c nng sut v cht
lng sn phm thc s tt. Chnh v vy m vic o v iu chnh tc ca ng c
in l mt yu t rt quan trng trong phng thc sn xut dy chuyn.
Di y l s khi ca mt h thng o v iu chnh tc ng c thng dng:

Hnh 1.1: Cu trc ca

mt h o v iu chnh tc
ng c
- My tnh : Trung tm
iu phi , thc hin
cng vic x l d liu
v iu khin mc
cao vi ch thi
gian thc mm, cung
cp giao din ngi
dng trc quan gim
st h thng.
- PLC ( Programable
Logic Controller ) : L
thit b iu khin logic lp trnh c , PLC hn thng tin t cc cm bin v
x l cc thng tin theo mt thut ton nht nh ng thi truyn t li kt
qu xung c cu chp hnh. PLC cng cung cp thng tin n trung tm iu
phi.
- Bin tn: Thit b iu khin v n nh tc ng c

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 - Cm bin o tc : Thit b s dng o tc , c gn vo trc ng c.
Cm bin c u ra dng in p hoc xung tn s in p.
1.2. Mt s phng php o tc ng c
Tc ng c c th nguyn l s vng / pht n l mt i lng vt l khng
mang c trng ca i lng in vy o c tc quay ca mi ng c ni
chung cng nh ng c in ni ring ngi ta phi bin i n ra mt i lng
khc ph hp v tin li ng thi p ng c chnh xc theo yu cu ca
cng vic.
Trong qu kh vic ng dng ca c hc v quang hc gip ch cho k thut o
lng. Vi tc pht trin ngy mt hon thin hn ca ngnh in k c v l
thuyt v nhng cng ngh cao trong k thut in t, th in t gp sc rt nhiu
trong s pht trin cho thit b o lng. Cc i lng in v khng in c cm
bin o lng chuyn i sang mt dng tn hiu chun. Cc tn hiu ny c cc
mch in t ch bin cho ph hp vi mch o v a n b phn x l tnh ton,
a ra kt qu . Trc khi xt v h thng o lng in t ta cp n mt tc k
n gin.
1.2.1. Tc k cm tay
Tc k cm tay s dng o tc khng yu cu chnh xc cao, n c
nguyn l hot ng da trn hin tng cm ng in t, c cu to n gin v d
s dng.

Hnh 1.2: Cu to ca tc k cm tay

Cu to:

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 S nguyn l cu to ca mt thit b o tc vng quay loi n gin bao gm:
1- Nam chm vnh cu c th quay trn t do v c ni vi trc ca ng c cn kim
tra qua mt trc dn mm hoc mt u t kiu con tu
2- a nhm
3- Kim ch th
4- L xo cn
5- Trc c g trn b c th quay trn trt cc phn t 2,3,4,5 c gn cht vi
nhau
Nguyn l hot ng:
Khi nam chm vnh cu (1) quay lm cho t trng m n to ra cng quay theo v
qut ln a nhm (2) nh vy a nhm (2) khi c mt t trng bin i. Tc
quay ca t trng chnh l tc m nam chm (1) quay hay chnh l tc quay
ca i lng cn kim tra. Trn a nhm (2) xut hin dng cm ng dng in ny
tc dng vi t trng ca nam chm (1) v to ra mt momem in t. Momen ny
lm cho a nhm (2) quay theo chiu quay ca nam chm (1). ln momem ny
hon ton t l vi tc quay ca nam chm (1).
Khi a nhm quay lm trc quay (5) quay theo.
Khi trc quay (5) quay lm kim ch th cng quay theo. Trn khc ca ch bo
c chia theo sao cho ph hp vi gi tr tc ca ng c.
Khi trc (5) quay ng thi n cng lm cho l xo (4) cng quay theo nn n to ra
mt momem cn: ln ca momen cn ny t l vi gc xoay ca trc (5) cn chiu
th momen cn ny c chiu ngc vi chiu ca momen in t do a nhm (2) to
ra.

Vy a nhm s dng ti v tr m M in t = M cn .

Nhn xt :
u im:
- Cu to n gin , gn nh , ch yu l c kh.
- Khng tiu hao nng lng
- Kt cu chc chn, tin cy cao
Nhc im:
- Cp chnh xc thp.
- Khng ly ra c tn hiu khng ch v iu khin.

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Phm vi ng dng :
- V thit b khng tiu hao nng lng nn n rt tin li dng kim tra
nhng tc ca nhng thit b nh : t , xe my tc xe chy hoc bo
tc quay ca my.
- Mt khc ngi ta c th ch to mt cch hp l v kt cu lm tc k
kim tra tc quay ca nhng thit b n l.
1.2.2 My pht tc mt chiu
My pht tc mt chiu c ng dng o tc ng c, vo nhng thi k u
ca cch mng cng nghip ha n c s dng kh ph bin. Sau y chng ta s i
su vo cu to v nguyn l hot ng ca my pht tc mt chiu :

Hnh 1.3 S cu to ca my pht tc mt chiu

Cu to:
My pht tc mt chiu c cu to ging vi my in mt chiu ch khc l phn
kch t l nam chm vnh cu:
1- Stato ( Phn cm ) : L mt nam chm in hoc nam chm vnh cu
2- Rota ( Phn ng ) : L mt trc st gm nhiu lp ghp li; trn b mt ngoi
Roto x cc rnh song song vi trc quay v cch u nhau. Trong cc rnh t
cc dy bng ng gi l dy chnh , cc dy chnh c ni vi nhau tng i
mt bng cc dy ph.
3- C gp: L mt hnh tr trn mt c gp cc l ng cch in vi nhau, mi l
ni vi mt dy chnh ca roto
4- Chi qut: Hai chi qut p st vo c gp c b tr sao cho ti mt thi im
chng lun tip xc vi hai l ng i din nhau.
Nguyn l hot ng:
My pht tc mt chiu c nguyn l hot ng da trn hin tng cm ng in
t. Khi c chuyn ng tng i gia phn cm v phn ng, t thng i qua phn

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ng bin thin v trong n xut hin sut in ng cm ng. Sut in ng ny t l
vi vn tc cn o.
Nhn xt
o tc ng c s dng my pht tc mt chiu nhc im l chnh xc
thp, li i hi km theo b chuyn i tng t - s ha tn hiu o nn phng
php ny khng c a dng. Hin nay phng php ny dn i vo d vng, thay
vo l nhng b m tc k m ha vng quay: Encoder
1.2.3 B m ha vng quay Encoder
Encoder mc ch dng qun l v tr gc ca mt a quay, a quay c th l
bnh xe, trc ng c,hoc bt k thit b quay no cn xc nh v tr gc.
Encoder c chia lm 2 loi: absolue encoder ( encoder tuyt i ) v
incremental ( encoder tng i ). i vi loi encoder tuyt i th tn hiu ta nhn
c, ch r rng v tr encoder, chng ta khng cn x l g thm cng bit chnh xc
v tr ca encoder. Cn i vi encoder tng i th loi ny ch c 1,2 hoc 3 vng
l. Ta c th hnh dung nh th ny, nu by gi ta c thm mt l trn mt ci a
quay th c mi ln quay c mt vng s nhn c tn hiu v ta bit c a
quay c 1 vng . Nu by gi trn a c nhiu l hn th ta s c c nhng
thng tin chi tit hn, c ngha l a quay vng , 1/8 vng hay 1/n vng ty theo s
l nm trn encoder.
Cu to :

Hnh 1.4 Cu to ca Encoder

Encoder gm 3 thnh phn chnh :

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 1. a khc m vch : L mt a trn thng c lm bng nhm trn ia c cc
rnh nh.
2. B thu pht hng ngoi :L mt cp LED thu pht hng ngoi t i xng
nhau qua a quay, c tc dng to ra xung khi a quay.
3. B gii m : L mch in t c vai tr tip nhn xung in t t LED thu hng
ngoi v m h thnh dng xung chun u ra.
Nguyn l hot ng :
Nguyn l c bn ca Encoder l mt a trn xoay, quay quanh trc, trn a c
cc l. Ngi ta dng mt n LED chiu ln mt a. Khi a quay, ch khng c
l ( rnh ) n led khng chiu xuyn qua c, ch c l ( rnh ) n led s chiu
xuyn qua c . Khi , pha mt bn kia ca a, ngi ta t mt mt thu. Vi cc
tn hiu c, hoc khng c nh sng chiu qua, gi s trn a ch c mt l duy nht,
c mi ln con mt thu nhn c tn hiu n led, th c ngha l a quay c
mt vng. Tuy nhin, nhng vn c t ra l , lm sao xc nh chnh xc hn
v tr ca a quay ( mn hn ) v lm th no xc nh c a ang quay theo
chiu no ? chnh l vn chng ta tm hiu v hai loi Encoder tng i v
tuyt i.
Encoder tuyt i :
Vn chng ta s quan tm y chnh l mn ca encoder, c ngha l lm th
no bit a quay vng, vng, 1/8 vng hay 1/n vng, ch khng phi ch bit
a quay c mt vng.
Quay li bi ton c bn v bit v s bit. Chng ta xem xt vn theo mt cch hon
ton ton hc nh sau :
Vi mt s nh phn c 2 ch s, chng ta s c 00,01,10,11, tc l c 4 trng thi.
iu c ngha l vi 2 ch s, chng ta c th chia a encoder thnh 4 phn bng
nhau. V khi quay, chng ta s xc nh c chnh xc n vng.
Tng t nh vy nu vi mt s c n ch s, chng ta s xc nh c chnh xc
x
n 1/ 2 vng. r hn ta xt hnh sau :

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 Hnh 1.5 a Encoder c 2 vng v Encoder c 8 vng a
hnh trn ta thy rng vng trong cng, c mt rnh rng bng a. Vng
pha ngoi s c 2 rnh nm i din nhau. Nh vy chng ta cn 2 LED hng ngoi
pht xuyn qua hai l v hai LED thu.
Gi s vng l th nht, n c ang nm hai v tr c l h th tn hiu nhn
c t LED thu s l 1. V vng l th hai, th chng ta ang v tr khng c l,
nh vy con mt thu vng 2 s c c gi tr l 0. Nh vy vi a c 10 vng ,
chng ta xc nh c encoder ang nm gc phn t no, cng c ngha l chng
ta qun l c chnh xc ca a quay n vng. Trong v d trn, nu n LED
c c 10 th v tr ca LED phi nm trong gc phn t th 2, pha trn bn tri.
Kt qu, nu a Encoder c n 10 vng l th chng ta s qun l c n 1/(2^10)
tc l n 1/1024 vng Hay ngi ta ni l phn gii ca encoder l 1024 xung trn
vng.
Encoder tng i:
Nhn thy mt iu rng, encoder tuyt i rt c li trong nhng trng hp khi
gc quay l nh, v ng c khng quay nhiu vng. Khi , vic x l ecoder tuyt
i tr nn d dng cho ngi dng hn v ch cn c gi tr l chng ta bit ngay
c v tr gc ca trc quay. Tuy nhin, nu ng c quay nhanh v nhiu vng, iu
ny khng c li bi v khi chng ta phi x l m s vng quay ca trc.
Ngoi ra, nu thit k encoder tuyt i chng ra cn qu nhiu vng l, dn ti gii
hn v kch thc ca encoder, bi v vic gia cng chnh xc cc l qu nh l khng
th thc hin c. Cha k vic thit k mt dy LED thu pht cng nh hng rt
ln n kch thc.

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 Hot ng ca encoder tng i bng cch tng ln mt n v khi mt ln xut
hin cnh ln ca xung.

Hnh 1.6 : Encoder tng i

Ta thy c mi ln quay qua mt l, th encoder s tng mt n v trong bin
m. Tuy nhin, vn l lm sao bit c encoder quay ht 1 vng. Nu c m
v hn nh th ny th chng ta khng th bit c khi no n quay ht 1 vng.
gii quyt vn ny, ta a thm 1 l nh v m s vng quay ca encoder.
Nh vy, cho d c lch xung m chng ta vn thy rng encoder i ngang qua l nh
v ny th chng ta vn bit l encoder b m sai u. Nu v mt rung ng no
m chng ta khng thy encoder qua l nh v, vy th t s xung, v vic i qua l
nh v, chng ta s bit r hin tng sai ca encoder.

Hnh 1.7 : Encoder c l nh v

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 Tuy nhin, mt vn ln na l xc nh chiu quay ca encoder. Bi v cho d
quay theo chiu no th tn hiu encoder cng ch l cc xung n l v quay theo hai
chiu th u ging nhau. Chnh v th ngi ta t thm mt vng l na nh hnh
sau:

Hnh 1.8: Encoder c 2 vng l t lch nhau

Nhn xt

B m ha vng quay Encoder c nhiu u im vt tri hn nhiu so vi loi tc

k khc. V d nh:

- u ra dng xung nn trong cc h thng iu khin s khng cn b chuyn i

ADC

- D dng lp t s dng, d c tn hiu.

- Gi c gi tr gc khi mt in i vi encoder tuyt i

V th hin nay encoder c s dng rng di trong cc nh my, x nghip phc v

sn xut.

1.3 Tng kt chng

chng 1, nhm thc hin lit k v phn tch mt s phng php o tc
thng c ng dng trn thc t.

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 C rt nhiu cch o tc , qua tm hiu v phn tch ta thy rng phng php
o tc ng c s dng b m ha vng quay encoder c nhiu u im, ph hp
vi nhng ng dng i hi c chnh xc cao. chng 2 ta s i su vo tm hiu
nhng thit b cn thit to ra mt h o v iu khin tc ng c, ng thi
thit k phn mm iu khin v o lng cho h thng.

CHNG 2 : THIT K PHN MM IU KHIN V O LNG CHO

H THNG.
2.1 Gii thiu v PLC Simatic s7-1200
2.1.1 Tng quan v PLC S7-1200
PLC ( Programmable Logic Controller ) l thit b iu khin lp trnh c cho php
thc hin linh hot cc thc ton iu khin logic thng qua mt ngn ng lp trnh.
Ngi s dng c th lp trnh thc hin mt lot trnh t cc s kin. Cc s kin
ny c kch hot bi tc nhn kch thch tc ng vo PLC hoc qua cc hot ng
c tr nh thi gian nh k hay thi gian c m. Mt khi s kin c kch hot
tht s, n bt ON hay OFF cc thit b iu khin bn ngoi c gi l thit b vt
l. Mt b iu khin lp trnh s lin tc lp trong chng trnh do ngi s dng lp
ra ch tn hiu ng vo v xut tn hiu ng ra ti cc thi im lp trnh.

khc phc nhng nhc im ca b iu khin dung dy ni, ngi ta ch

tao b iu khin plc nhm tho mn cc yu cu sau:

+ Lp trnh d dng, ngn ng lp trnh d hc

+ Gn nh, d bo qun, sa cha

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 + Dung lng b nh ln c th cha c nhng chng trnh phc
tp
+ Hon ton tin cy trong mi trng cng nghip
+ Giao tip c vi cc thit b thng minh khc nh my tnh, ni mng, cc
module m rng

Cc thit k u tin l nhm thay cho cc phn cng Relay dy ni v cc logic

thi gian. Tuy nhin bn canh vic i hi tng cng dung lng nh v tnh d
dng cho PLC m vn m bo tc x l cng nh gi c.

Chnh iu ny to ra s quan tm su sc n vic s dng PLC trong cng

nghip, cc tp lnh nhanh chng i t cc lnh logic n gin n cc lnh m, nh
thi, thanh ghi dchS pht trin cc my tnh dn n cc b PLC c dung lng
ln, s lng I/O nhiu hn.

Trong PLC phn cng CPU v chng trnh l n v c bn cho qu trnh iu

khin v s l h thng, chc nng m b iu khin cn thc hin s c xc nh
bng mt chng trnh. Chng trnh ny s c np sn vo b nh ca PLC, PLC
s thc hin vic iu khin da vo chng trnh ny. Nh vy nu mun thay i
hay m rng chc nng ca quy trnh cng ngh. Ta ch cn thay i chng trnh bn
trong b nh PLC. Vic thay i hay m rng chc nng s c thc hin mt cch
d dng m khng cn mt s can thip vt l no so vi cc b dy ni hay Relay.

Nm 2009, Siemens ra dng sn phm S7-1200 dng thay th dn cho S7-200.

So vi S7-200 th S7-1200 c nhng tnh nng ni tri:

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 -S7-1200 l mt dng ca b iu khin logic lp trnh (PLC) c th kim sot
nhiu ng dng t ng ha. Thit k nh gn, chi ph thp, v mt tp lnh mnh lm
cho chng ta c nhng gii php hon ho hn cho ng dng s dng vi S7-1200
-S7-1200 bao gm mt microprocessor, mt ngun cung cp c tch hp sn, cc
u vo/ra (DI/DO).
-Mt s tnh nng bo mt gip bo v quyn truy cp vo c CPU v chng trnh
iu khin:
+Tt c cc CPU u cung cp bo v bng password chng truy cp vo PLC
+Tnh nng know-how protection bo v cc block c bit ca mnh
-S7-1200 cung cp mt cng PROFINET, h tr chun Ethernet v TCP/IP.
Ngoi ra bn c th dng cc module truyn thong m rng kt ni bng RS485
hoc RS232.
-Phn mm dng lp trnh cho S7-1200 l Step7 Basic. Step7 Basic h tr ba
ngn ng lp trnh l FBD, LAD v SCL. Phn mm ny c tch hp trong TIA
Portal 11 ca Siemens.
-Vy lm mt d n vi S7-1200 ch cn ci TIA Portal v phn mm ny
bao gm c mi trng lp trnh cho PLC v thit k giao din HMI
2.1.2 Phn loi
Vic phn loi s7-1200 da vo loi CPU m n trang b:
Cc loi PLC thng dng: CPU 1211C, CPU 1212C, CPU 1214C.
Thng thng s7-1200 c chia ra lm 2 loi chnh:
Loi cp in 220VAC:
- Ng vo: Kch hot mc 1 cp in p +24VDC ( t 15VDC 30VDC )
- Ng ra : Relay
- u im ca loi ny l dng ng ra Relay . Do c th s dng ng ra
nhiu cp in p khc nhau ( c th s dng ng ra 0V,24V,220V..)
- Nhc im: Ng ra Relay nn thi gian p ng khng nhanh cho ng
dng bin iu rng xung, hoc Output tc cao..
Loi cp in p 24VDC:
- Ng vo : Kch hot mc 1 cp in p + 24VDC ( t 15VDC- 30VDC )
- Ng ra: Transistor
- u im: c th s dng ng ra ny bin iu rng xung, Output tc
cao..
- Nhc im: Ch c th s dng mt cp in p duy nht l 24VDC.

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 2.1.3 Hnh dng bn ngoi

Hnh 2.1 : Hnh dng bn ngoi ca PLC S7-1200 ( CPU 1212C )

2.1.4 Cu trc bn trong

Cng ging nh cc PLC cng h khc, PLC S7-1200 gm 4 b phn c bn :
B x l , b nh , b ngun , giao tip nhp / xut.
- B x l cn c gi l b x l trung tm ( CPU ), cha b x l , bin dch cc
tn hiu nhp v thc hin cc hot ng iu khin theo chng trnh c lu
trong b nh ca PLC. Truyn cc nh di dng tn hiu hot ng n cc thit
b xut.
- B ngun c nhim v chuyn in p AC thnh in p DC ( 24V ) cn thit cho
b x l v cc mch in trong cc module giao tip nhp v xut hot ng.
- B nh l ni lu tr chng trnh c s dng cho cc hot ng iu khin
di s kim sot ca b vi x l.
- Cc thnh phn nhp v xut ( input/output ) l ni b nh nhn thng tin t cc
thit b ngoi vi v truyn thng tin n cc thit b iu khin.Tn hiu nhp c th
t cc cng tc, cc b cm binCc thit b xut c th l cc cun dy ca

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 cng tc, cc b cm binCc thit b xut c th l cc cun dy ca b khi
ng ng c, cc van...
- Chng trnh iu khin c np vo b nh nh s tr gip ca b lp trnh hay
bng my vi tnh

Hnh 2.2 : Cu trc bn trong ca S7-1200

2.1.5 S u dy

Hnh 2.3: S u dy ( CPU 1214 )

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 Ngun cung cp cho PLC l 100 230 VAC vi tn s t 47Hz 63Hz . in p c
th thay i trong khong t 85V 264V . 264V dng in tiu th l 20A.
Ngun cung cp l 24VDC. in p c th thay i trong khong 20.4V 28.8V
dng in tiu th l 12A.
Cc ng vo c tc ng mc in th tiu biu l 24VDC. Cc ng ra ca PLC
mc 0 khi cng tc h hay in p <= 5VDC . Ng vo mc 1 khi cng tc ng
hay in p => 15VDC. Thi gian i trng thi t 0 len 1 v t 1 xung 0 ti
thiu l 0.1us PLC nhn bit c.
Cc ng ra c th l 5VDC 30 VDC hay 5 VAC 250 VAC . Ty theo yu cu
thc t m ta c th ni ngun khc nhau ph hp vi ng dng ca n.
2.1.6 Module m rng

Hnh 2.4 : Hnh nh cc module m rng

H PLC S7-1200 cung cp nhiu nht 8 module tn hiu a dng v 1 mch tn hiu
cho b x l c kh nng m rng. Ngoi ra bn cng c th ci t thm 3 module
giao tip nh vo cc giao thc truyn thng.

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 Hnh 2.5 : Bng thng s cc module
2.1.7 Nguyn l hot ng ca PLC
CPU iu khin cc hot ng bn trong PLC. B x l s c v kim tra chng
trnh c cha trong b nh, sau s thc hin tng lnh trong chng trnh, s
ng hay ngt cc u ra. Cc trng thi ng ra y c pht ti cc thit b lin kt
thc thi v ton b cc hoat ng thc thi u ph thuc vo chng trnh iu
khin c gi trong b nh.

H thng bus l tuyn dng truyn tn hiu, h thng gm nhiu ng tn hiu

song song:

+ Address bus:bus a ch dng truyn a ch ti cc module khc nhau

+ Data bus:bus dng truyn d liu
+ Control bus:bus iu khin dung truyen cc tn hiu nh th v iu khin
ng b cc hot ng trong PLC

H thng Bus s lm nhim v trao i thng tin gia CPU, b nh v I/O. Bn

cnh CPU c cung cp mt xung clock c tn s t 1, 8 Mhz.

Xung ny quyt nh tc hot ng ca PLC v cung cp cc yu t v nh

thi, ng h ca h thng.

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