Điều Khiển Vận Tốc Và Moment Động Cơ AC - Servo Bằng PLC Kết Hợp WinCC - Flexible Siemens

iu khin vn tc v moment ng c AC-Servo GVHD : TS.
NGUYN MINH TM
bng PLC kt hp WinCC-Flexible Siemens
LI NI U
rong cng cuc xy dng v pht trin t nc ang bc thi k cng nghip
ho-hin i ho vi nhng c hi thun li v nhng kh khn thch thc ln.
iu ny t ra cho th h tr, nhng ngi ch tng lai ca t nc nhng
nhim v nng n. t nc ang cn sc lc v tr tu cng nh lng nhit
huyt ca nhng tr thc tr, trong c nhng k s tng lai. Vi s pht trin nhanh
chng ca cuc cch mng khoa hc k thut ni chung v trong lnh vc in - in t - t
ng ha - tin hc ni ring lm cho b mt ca x hi thay i tng ngy.
Trong iu khin chuyn ng l mt trong nhng lnh vc a dng v pht trin
nhanh trong ngnh iu khin v t ng ho. Trong nhng h thng iu khin v tr, tc
v moment yu cu s chnh xc cao rt cn n mt thit b p ng.y l thch thc v
cc nh khoa hc, nh sn xut ch to ra mt loi ng c th lm c nhim v ny
l ng c servo. Ngy nay h thng servo c ng dng rng ri trong cc h thng, cc
my yu cu s chnh xc cao. i vi trng hc vic tm hiu v ng c servo l rt hn
ch nn ti cng mun tm hiu v n c th hiu v ng c ny
V thi gian nghin cu v iu kin thc hin hn ch nn chc chn khng trnh
c cc sai st. Rt mong nhn c s ng gp kin t cc thy c v cc bn ti
c hon thin hn.
Em xin chn thnh cm n!
Ngi thc hin
Bin Quc Thoi
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iu khin vn tc v moment ng c AC-Servo GVHD : TS.NGUYN MINH TM

LI CM N
ti tt nghipiu khin vn tc v moment ng c AC-Servo bng PLC

kt hp WinCC-Flexible Siemens t c mt s mc tiu t ra, hon thnh ng thi
gian, Ti xin chn thnh cm n:
TS. Nguyn Minh Tm-GVHD -trng B mn T ng ho cng nghip-ging vin
Khoa in in t, Trng i hc S phm K thut Tp.H Ch Minh tn tnh ch bo,
gip v chuyn mn, to iu kin thun li, h tr v ti liu v thit b hng dn trong
thi gian thc hin ti ti hon thnh n ny.
- Ti cng xin chn thnh cm n s gip v ng gp kin ca ton th Gio Vin
B mn T ng ho Cng nghip, Khoa in in t, Trng i hc S phm K thut
Tp. H Ch Minh ng gp nhiu kin v to mi iu kin tt nht em hon thnh
ti ny mt cch tt nht.
- Ti cng xin chn thnh cm n cc bn sinh vin lp 05118 gip v ng gp
kin v ng vin trong thi gian thc hin n tt nghip.
Mt ln na xin chn thnh cm n s gip qu bu ca qu thy c v cc bn.
Ngi thc hin
Bin Quc Thoi
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TRNG I HC S PHM K THUT TP.HCM

KHOA IN-IN T
B MN T NG HO CNG NGHIP
NHIM V LUN VN TT NGHIP

SINH VIN NGNH CNG NGH IN T NG
H V TN SINH VIN: Bin Quc Thoi...........................MSSV: 05118051.....................
TN TI TT NGHIP: IU KHIN TC V MOMENT NG C ACSERVO BNG PLC KT HP WINCC-FLEXIBLE
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NHIM V LUN VN:
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NGY GIAO NHIM V LUN VN:.....................................................................................
NGY HON THNH LUN VN:..........................................................................................
H V TN GING VIN HNG DN:
PHN HNG DN
1)........................................................................................
1)..................................................
2)........................................................................................
2)..................................................
3)........................................................................................
3)..................................................
Ni dung v yu cu lun vn tt nghip c thng qua.

Ngy
thng
nm 2010
CH NHIM B MN
GING VIN HNG DN
( K v ghi r h v tn)
( K v ghi r h v tn)
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NHN XT CA GIO VIN HNG DN
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NHN XT CA GIO VIN PHN BIN
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MC LC
mc
Trang
Li ni u.............................................................................................................................1
Li cm n..............................................................................................................................2
Nhim v lun vn ................................................................................................................3
Nhn xt ca GVHD..............................................................................................................4
Nhn xt ca GVPB...............................................................................................................5
Mc lc...................................................................................................................................6
PHN 1 . T VN ...................................................................................................11
I. L do chn ti..........................................................................................................12
II. Mc tiu nghin cu...................................................................................................12
III. Gii hn nghin cu...................................................................................................13
IV. Nhim v nghin cu.................................................................................................13
V. i tng nghin cu.................................................................................................13
VI. Phng php nghin cu............................................................................................14
VII. Ni dung ca ti...................................................................................................14
PHN 2 : GII QUYT VN ....................................................................................15
CHNG I : C S L LUN.................................................................................16
1.1 LCH S PHT TRIN CA NG C.......................................................16
1.2 TNH HNH SN XUT V NHU CU S DNG........................................16
CHNG II: C S L THUYT H IU KHIN SERVO.............................17
2.1 TNG QUAN V CC H IU KHIN TRONG CNG NGHIP:.............17
2.1.1 iu khin vng h (open loop):..............................................17

2.1.2 iu khin na kn (semi-closed loop):....................................18
2.1.3 iu khin vng kn(full-closed loop):...................................18
2.2. H THNG IU KHIN DNG SERVO:.....................................................19
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2.2.1 Xu hng trong iu khin chuyn ng dng servo:...............19

2.2.2 H thng servo:.........................................................................20
2.2.2.1 H thng servo l g?:.......................................................21
2.2.2.2 C cu nh v:.................................................................21
2.2.2.3 C cu chuyn ng nh hng:.....................................21
2.2.2.4 Backlash v hiu chnh:....................................................22
2.2.3 S khi ca h thng servo:.................................................23
2.3 CU TO V C TNH CA NG C SERVO.......................................24

2.3.1 Cu to:.....................................................................................24
2.3.2 c tnh ca ng c servo:......................................................25
2.3.2.1 Tng tc p ng:........................................................25
2.3.2.2 Tng kh nng p ng:...................................................26
2.3.2.3 M rng vng iu khin(control range):.........................26
2.3.2.1 Kh nng n nh tc :..................................................27
2.3.2.1 Tng kh nng chu ng ca ng c:............................27
2.2.3 Nguyn l hot ng ca encoder:.........................................28
2.4 TM HIU V DNG SN PHM SIGMA AC-SEVO CA YASKAWA.......30
2.4.1 ng c Ac-Servo (SGM-******)....................................................30
2.4.1.1 S cu trc ng c Ac-Servo (SGM-******).....................30
2.4.1.2 Thng s ng c ......................................................................31
2.4.1.3 Nguyn l hot ng ca ng c..............................................31
2.4.2 B iu khin driver ca ng c SERVOPACK (SGD*-***S). . .31
2.4.12.1 Thng s b iu khin driver SERVOPACK (SGD*-****)...32
2.4.12.2 S chn ca driver SERVOPACK (SGD-02AS).................33
2.4.12.3 Nguyn l iu khin ca driver trong mod iu khin tc
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v moment...............................................................................35
2.4.3 Mng hnh iu khin DIGITAL OPERATOR (JUSP-OP02A,
JUSP-OP03A)....................................................................................39
2.4.3.1 Thng s ca mng hnh iu khin Digital Oprater (JUSPOP02A, JUSP-OP03A)............................................................40
2.4.3.2 Chc nng v hng dn s dng Digital Oprater
(JUSP-OP02A)...........................................................................40
2.4.3.3. Ci t thng s cho mod tc v moment vi mng hnh
iu khin Digital Oprater (JUSP-OP02A, JUSP-OP03A) ......46
2.4.4 Kt ni ng c Ac-Servo (SGM-******) v vi mng hnh iu
khin Digital Oprater (JUSP-OP02A) vi driver SERVOPACK
(SGD*-****) .....................................................................................50
CHNG III: C S L THUYT V S7-200 V OPC...................................52
3.1.
TNG QUAN V PLC S7_200
3.1.1 c im b iu khin loic kh trnh (PLC):.......................52

3.1.2 Cu trc phn cng ca S7-200................................................52
3.1.3 Cu trc b nh S7-200.............................................................52
3.1.4 X l chng trnh.....................................................................53
3.1.5 Giao tip gia sensor v c cu chp hnh.............................54
3.2. B M XUNG TC CAO ( HSC: HIGHT SPEED COUNTER).

3.2.1 Gii thiu v HSC........................................................................55
3.2.2 S lng b m HSC c trong PLC v tn s ti a cho php
3.2.3 Vng nh c bit s dng lp trnh cho HSC..................55
3.2.4 Cc mode m ca b m.......................................................55

3.2.5 ngha cc bit ca byte trng thi khi lp trnh cho HSC....59
3.2.6 ngha cc bit ca byte iu khin khi lp trnh cho HSC...60
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3.2.7 Chn kiu Reset, Start v tn s m cho HSC ....................61

3.2.8 Byte trng thi v byte iu khin ca HSC3,HSC4,HSC5. 61
3.2.9 Gi tr tc thi, gi tr t....................................................61
3.2.10 Cc bc khi to b m HSC........................................62
3.3.............................................................. CHNG TRNH NGT

...............................................................................................................63
3.3.1 Gii thiu v ngt trong S7 200..........................................63

3.3.2 Cc lnh s dng khi lp trnh iu khin ngt....................63
3.3.3 Cc s kin gy ngt............................................................64
3.3.4 Cc bc lp trnh khi s dng ngt....................................64
3.4............................................. MODUL ANALOG ( EM321, EM323)

...............................................................................................................65
3.4.1 Modul EM231..............................................................................65
3.4.1.1 Gii thiu v Modul EM231...............................................65
3.4.1.2 c tn hiu analog qua modul EM232................................66
3.4.2 Modul EM232..............................................................................67
3.4.1.1 Gii thiu v Modul EM231................................................67
3.4.2.2 Xut tn hiu analog qua modul EM232..............................67
3.5.................................................................. TNG QUAN V OPC

...............................................................................................................67
3.5.1 OPC supermarket Analogy.................................................67

3.5.2 OPC Defined.......................................................................67
3.5.3 ng dng ca vic giao tip OPC.......................................68
3.5.4 OPC Server..........................................................................68
3.5.5 OPC Client .........................................................................68
3.5.6 Cch thc m Server v Client lm vic vi nhau...............69
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3.5.7 Tn cc cp bc trong h thng..........................................69
CHNG IV: WINCC FLEXIBLE V HMI.................................................................70
4.1 Gii thiu v SIMATIC HMI.........................................................70

4.2 Gii thiu v WinCC Flexible.......................................................71
4.3 Mt s thuc tnh ni bt trong WinCC Flexible...........................72
4.3.1 Thit lp giao thc kt ni..........................................................72
4.3.2 Tags v Tags Group.....................................................................74
4.3.3 Thit k giao din cho HMI........................................................74
4.3.4 Mt s hm s dng....................................................................75
CHNG V: U IM V HN CH..........................................................................77
5.1 u im ca ti.......................................................................77
5.2 u im ca ti.......................................................................77
PHN 3 : KT LUN V KIN NGH ........................................................................78
I. Kt lun................................................................................................79
II. Kin ngh.............................................................................................80
PHN 4 : TI LIU THAM KHO V TH MC NH KM ..............................81
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PHN I
T VN
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I. L DO CHN TI
gy nay, vi s pht trin nhanh chng ca khoa hc v cng ngh
trn tt c cc lnh vc th cc sn phm ngy cng phi c yu
cu cao hn v cht lng sn phm, mc t ng ho sn
xut v c bit l chnh xc gia cng v hnh dng hnh hc.
S pht trin ca nn cng nghip robot hin i cng gn lin vi vic iu khin
chuyn ng v l tin cho pht trin nn cng nghip.Vi h thng SCADA, kh
nng qun l t xa ton b h thng v cc thit b t ng trong h thng tr nn rt
hiu qu. Khi c s c bt k phn on no h thng s t ng phn tch v gi v,
ngi vn hnh s nhn tn hiu thng bo qua giao din ngi my( Human Machine
Interface, HIM) ca cc phn mm iu khin chuyn dng nh Wincc hay WinccFlexible. Ngi vn hnh ch cn ngi ti bn iu khin trung tm, theo di v gim
st ton b h thng thay v phi chy xung tn ch kim tra khi c s c xy ra
trong h thng. Nhn thy c s tin li v hiu qu ca h thng iu khin servo
trong qu trnh sn xut cng nh nhu cu ca x hi v lnh vc ny,ti thc hin
ti: iu khin vn tc v moment ng c AC-Servo bng PLC kt hp WinCCFlexible Siemens hiu r hn v bn cht ca iu khin tc v moment, hiu
c quy trnh iu khin mt h thng iu khin, gim st v thu thp d liu.
II. MC TIU NGHIN CU

Mc tiu t ra vi ti iu khin vn tc v moment ng c AC-Servo bng PLC
kt hp WinCC-Flexible Siemens l cn nm vng, hiu r cch thc hot ng iu khin
ca AC-Servo, hiu r c driver iu khin ng c, cch thc iu khin t PLC qua
winCC. T m hnh thc t ny to giao din, xy dng cc thut ton iu khin v lp trnh
cho b ng c.
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III. GII HN NGHIN CU

-
V l do kinh t v iu kin khch quan, ti ch dng li vic lm m

hnh iu khin n gin m t hot ng c bn ca h thng servo.
iu khin tc v moment trn mt m hnh nh gm: PLC Siemens
S7-200 ca SIEMEN, motor servo ca YASKAWA.

-
iu khin bng phn mm Step 7 MicroWin V4.0.
Giao tip gia PLC Siemens S7-200 v phn WinCC Flexible bng phn PC
Access.
- To giao din trn WinCC iu khin v gim st bng phn mm WinCC Flexible.
IV. NHIM V NGHIN CU

hon thnh c mc tiu ra, nhng nhim v c t ra nh sau:
Tham kho ti liu, tm hiu v nhng lnh vc c lin quan n iu khin

tc v moment ca ng c AC-Servo
Tm hiu v PLC-S7200 u ni phn cng v cch thc lp trnh, WinCC

Flexible cch thc s dng v cch to giao din cho mt chng trnh ng dng.
Tm hiu cch kt ni gia PLC-S7200 v b ng c AC-Servo, cch thc

iu khin tc v moment ca b ng c AC-Servo bng WinCC Flexible qua PLCS7200.
Nghin cu v phn tch cc cng trnh lin h.
V. I TNG NGHIN CU
PLC Siemens S7-200 ca SIEMEN, motor servo ca YASKAWA.
Chng trnh iu khin bng phn mm Step 7 MicroWin V4.0.
Thit lp giao tip gia PLC Siemens S7-200 v phn WinCC Flexible
bng phn PC Access.
To giao din iu khin v gim st bng phn mm WinCC Flexible.
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VI. PHNG PHP NGHIN CU
Tham kho, tra cu thng tin t cc ti liu khoa hc.
Tm hiu h thng iu khin trong cc my gia cng c kh.
S dng cc thit b iu khin t ng ca hng Siemens PLC S7-200,servo

ca YASKAWA.
Lm m hnh.
Lp trnh v m phng trn my tnh.
Kim tra v chy th ti cc phng thit b ca nh trng.
VII. NI DUNG CA TI
CHNG1: C S L LUN
CHNG 2: C S L THUYT V H IU KHIN SERVO
CHNG 3: C S L THUYT V S7-200 V OPC
CHNG 4:WINCC FLEXIBLE V HMI
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PHN II
GII QUYT
VN
CHNG 1 : C S L LUN
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1.1
LCH S PHT TRIN CA NG C

T xa khi cha c pht minh ra ng c, lc ch yu s dng cc my mc
chay bng xng du cu to phc tp nng n, cng knh m li hiu sut khng, gy
ting n. T khi ng c c pht minh v a vo s dng thay th cho cc my
mc chy bng xng du em li hiu qu kinh t cao.
ng c cng khng ngng pht trin a dng v nhiu chc nng khc nhau,
v d nh ng c mt chiu, ng c xoay chiu, ng c khng ng b, ng c
ng b, ng c mt pha, ng c ba pha, v trong tt c cc lnh vc.
Ngy nay v tng lai ng c c pht theo hng iu khin c d dng,
chnh xc, iu khin vng kn (hi tip): ng c c bit, ng c bc, ng c
servo
1.2
TNH HNH SN XUT V NHU CU S DNG

Hin nay, tt c cc lnh vc iu c s dng ng c Servo, do sn phm
ng c Ac-Servo c sn xut nhiu, nhiu hng sn xut nh YASKAWA,
PANASONIC, OMRON, FANUC.vi rt nhiu loi Ac-servo dung vao nhiu mc
ch s dng khc nhau.
Cc sn phm lm ra t cc my trong c s dng ng c servo thng
chnh xc cao v mu ma p do ng c servo uc s dng nhiu c bit trong
nghnh t ng ho ni chung v nghnh sn xut khun mu, sn xut cc my gia
cng chinh xc ni ring.
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CHNG 2: C S L THUYT V H IU
KHIN SERVO
2.1 TNG QUAN V H THNG IU KHIN TRONG CNG
NGHIP:
S pht trin ca nn cng nghip gn lin vi cc h thng iu khin.Cng

ngh ngy cng hin i i hi cc h thng iu khin phi p ng c cc yu
cu kht khe m bo qu trnh sn xut.
S pht trin cc h thng iu khin c tm tt nh sau:
iu khin vng h (open loop)
iu khin na kn (semi-closed loop)
iu khin vng kn(full-closed loop)
Sau y gii thiu s lc v cc nguyn tc iu khin
Gi s nh chng ta ang c nhu cu iu khin mt thng s X ca i tng A.
Trong trng hp iu khin vng h th i tng A s c iu khin m khng
cn quan tm n thng s X v thc t th thng s X s c ngi iu khin quan
st v thao tc iu khin i tng A.
Trong trng hp semi-closed loop th h thng iu khin s nhn dng mt
thng s Y khng phi l thng s X nhng qua n c th c lng hoc i din cho
X. Nh vy tnh "quan st = mt" c loi b mt phn. Tuy nhin sai s ca m
hnh kh cao do cc sai s v c v in. M hnh ny c p dng ch yu l l do
v mc gi thnh hoc i khi thng s X khng th o c c. chnh xc ca n
d nhin l cao hn opened loop.
V ci cui cng l closed loop, d nhin trong trng hp ny i tng X
c trc tip feedback v h thng iu khin x l.
2.1.1 iu khin vng h (open loop):
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B iu khin v tr ch th lnh cho ng c quay, nhng ch quay m thi, quay

ti quay li m khng cn bit quay bao nhiu vng cho bn chy n v tr no, n
ch dng khi c tc ng t con ngi hay t mt h thng ra lnh no bn ngoi
n.
2.1.2 iu khin na kn (semi-closed loop):
Hnh ny c im khc so vi hnh trn. l s vng quay ca motor c m

ha v hi tip v b iu khin v tr. Ngha l n y th ng c ch quay mt s
vng nht nh ty thuc vo lnh ca b iu khin, ni cch khc b iu khin c
th ra lnh cho chy hoc dng ng c theo mt lp trnh sn c ty thuc vo
ca ngi thit k. Tuy nhin ci m chng ta cn iu khin chnh l v tr ca bn
chy ch khng phi l vic ng c quay bao nhiu vng th dng .... i tng l
ci bn
2.1.3 iu khin vng kn (full-closed loop):
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Hnh ny r rng l khc hn so vi 2 hnh kia. Vng hi tip lc ny khng phi

hi tip t trc ng c v m vng hi tip lc ny l hi tip v tr ca bn chy
thng qua mt tht tuyn tnh. Lc ny b iu khin v tr khng iu khin s vng
quay ca motor na m n iu khin trc tip v tr ca bn chy. Ngha l cc sai s
tnh do sai khc trong cc bnh rng hay h thng truyn ng c loi b. Vng iu
khin lnh v hi tip khp mt vng kn qut ln ton b thit b lin quan cho nn n
c gi l vng kn.
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2.2
H THNG IU KHIN DNG NG C SERVO:
2.2.1 Xu hng trong iu khin chuyn ng dng servo:
iu khin chuyn ng (KC) c l l mt trong nhng lnh vc a dng v

pht trin nhanh nht trong ngnh iu khin v t ng ho. Cc khi nim v cng
ngh KC t lu khng ch gi gn trong nhng h thng servo chuyn dng
iu khin bi cc h truyn ng v thit b to sn thng c gi kh cao. Thay vo
, ngy nay ta cn thy cc tnh nng ca KC ng dng c cho tc v v tr
trong truyn ng thay i tn s xoay chiu, cc ng c bc v truyn ng vng
kn cng nh cc h truyn ng v ng c servo AC v DC thng dng khc.
Hin nay c mt s xu hng trong iu khin ng c. Trong mt s trng
hp, vn cn quan tm ch n gin l iu khin tc , gia tc, mmen hoc cc
thuc tnh khc ca ng c trn c s tn hiu iu khin u vo l t pha con
ngi, chng hn nh qua bng iu khin. Vic iu khin bng tay nh vy thuc v
phm tr iu khin vng h. Trong mt s trng hp khc, ng c phi t ng
a ra cc p ng vi cc tc ng thi gian thc. Cc p ng i vi cc tc ng
ny c quan st v cc iu chnh cn thit c t ng to ra. V vy, n to ra
mt mi trng iu khin kn. Cc iu khin vng lp kn nh vy c gi l h
ty ng servo, hay ch n gin l servo.
iu khin servo l mt qu trnh x l tn hiu lin quan n iu khin ng
c trn c s ng hc ca cc tn hiu vo nh v tr, tc hay mmen. Trong qu
kh ngi ta s dng cc mch tng t thc hin iu khin servo, nhng kh
nng thch nghi ca cc b vi x l tn hiu s to ra mt cng ngh mi cho s la
chn trong nhiu ng dng.
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2.2.2 H thng servo:
2.2.2.1
H thng servo l g?
Servo bt ngun t ting Hy Lp l Servus (servant), ngha l n l, y t.

Mt h thng c gi l servo khi h thng chp hnh mt cch chnh xc
mnh lnh ca ch nhn (tc l ngi iu khin.H thng servo l h thng iu
khin cc thit b c hc vi cc bin l bin v tr v tc (gi tr t v gi tr
thc). Sau y l mt v d minh ha.
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2.2.2.2
C cu nh v:
H thng servo khng n gin ch l mt phng php thay th iu khin v tr

v tc ca cc c cu c hc, ngoi nhng thit b c kh n gin, h thng servo
by gi tr thnh mt h thng iu khin chnh trong phng php iu khin v
tr v tc .
C cu nh v iu khin bi servo motor
u im ca c cu ny l chnh xc v p ng tc cao, c th d dng

thay i v tr ch v tc ca c cu chp hnh.
2.2.2.3
C cu chuyn ng nh hng:
C cu ny chuyn ng theo hng nht nh c ch nh t b iu khin.

Chuyn ng c th l chuyn ng tnh tin hay quay.
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u im l c cu chp hnh n gin v nng cao tui th hp s truyn ng

(do truyn ng kh m).
2.2.2.4
Backlash v hiu chnh:
Backlash hiu nm na l gii hn chuyn ng ca mt h thng servo.Tt c

cc thit b c kh u c mt im trung tnh gia chuyn ng hoc quay theo chiu
dng v m (cng ging nh ng c trc khi o chiu th vn tc phi gim v 0).
Xt mt chuyn ng tnh tin li v ti nh trong hnh sau:
Chuyn ng tnh tin ny c iu khin bi mt ng c servo. Chuyn ng

ti v li c gii hn bi mt khon trng nh trong hnh. Nh vy ng c s quay
theo chiu dng hoc chiu m theo mt s vng nht nh chuyn ng ca thanh
qut ln ton b khon trng nhng khng c vt qu khon trng (y l mt
trong nhng iu kin ct li ca vic iu khin ng c servo). Gii hn ny c
gi l backlash, t nay h gp t backlash th chc cc bn hiu n l ci g ri ng
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khng. Tuy nhin trong thc t ng c quay nhng vng chnh xc con trt
trt chnh xc v qut ln ton b khon trng trn l rt kh thc hin nu khng c
mt s b tr cho n. V trong h thng servo nht thit c nhng hm lnh thc hin
vic b tr, hiu chnh ny. Nh trong hnh v trn, h thng servo gi xung lnh hiu
chnh cng/tr s lng xung lnh iu khin v cc xung lnh hiu chnh ny s
khng c tnh n trong b m xung.
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2.2.3 S khi ca h thng servo:

Sau y l mt s khi h truyn ng servo vi 2 vng hi tip v tr v tc
Trong phn A, B, C l phn so snh x l tn hiu hi tip v hiu chnh lnh.

Phn D, E l c cu thc thi v hi tip. Cc phn A, B, C th kh ph dng trong cc
s khi iu khin, phn D, E th ty cc thit b s dng m chng c khc nhau
i cht nhng v bn cht chng hon ton ging nhau. Sau y l mt s v d v
phn D, E thng gp:
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2.3
CU TO V C TNH CA NG C SERVO:
2.3.1 Cu to:
ng c servo v nguyn l, cu to phn in - t th ging nh cc loi ng

c bnh thng (ngha l cng c phn cm phn ng, khe h t thng, cch u
dy, .v.v.) nhng c s khc bit v cu trc c hc, l ng c servo c hnh dng
di, ng knh trc v rotor nh hn ng c thng cng cng sut, moment.
im ni bt ca 1 servo motor l tch hp sn c cu feedback vo bn trong
ng c. ng c servo l thit b c iu khin bng chu trnh kn. T tn hiu hi
tip vn tc/v tr, h thng iu khin s s iu khin hat ng ca mt ng c
servo. Vi l do nu trn nn sensor o v tr hoc tc (encoder hoc my pht tc)
l cc b phn cn thit phi tch hp cho mt ng c servo
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C 3 loi ng c servo c s dng hin nay l ng c servo AC da

trn nn tng ng c AC lng sc; ng c servo DC da trn nn tng ng c DC;
v ng c servo AC khng chi than da trn nn tng ng c khng ng b, v
ng c ng b.
Khng phi bt k ng c no cng c th dng lm ng c servo. ng c
servo l ng c hot ng da theo cc lnh iu khin v tr v tc . Chnh v th
n phi c thit k sao cho cc p ng l ph hp vi nhu cu iu khin. ). Tuy
nhin tu theo nhu cu iu khin m n c mt s im ci tin hn (dnh cho nhng
mc ch c bit) so vi ng c thng phc v cho cc mc ch iu khin c
th.
2.3.2 c tnh ca ng c servo:
ng c servo c thit k cho nhng h thng hi tip vng kn. Tn hiu ra

ca ng c c ni vi mt mch iu khin. Khi ng c quay, vn tc v v tr s
c hi tip v mch iu khin ny. Nu c bt k l do no ngn cn chuyn ng
quay ca ng c, c cu hi tip s nhn thy tn hiu ra cha t c v tr mong
mun. Mch iu khin tip tc chnh sai lch cho ng c t c im chnh
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c tnh vn hnh ca mt ng c servo ph thuc rt nhiu vo c tnh t v

phng php iu khin ng c servo
2.3.2.1
Tng tc p ng:
Cc ng c bnh thng, mun chuyn t tc ny sang tc khc th cn c

mt khon thi gian qu . Trong mt s nhu cu iu khin, i hi ng c phi
tng/gim tc nhanh chng t c mt tc mong mun trong thi gian ngn
nht, hot t c mt v tr mong mun nhanh nht. V d bn mun iu khin mt
c cu t v tr X n v tr X, ban u khi xa v tr X th ng c quay vi vn tc
ln tng tc, tuy nhin khi n gn X i hi ng c cn gim tc tc th c
th t c v tr mong mun mt cch chnh xc v loi tr s vt l v tr. Cc ng
c thng khng th p ng c iu ny. ng c p ng c nhng yu cu
trn th n phi c thit k sao cho rt ngn p ng tc ca ng c.
Mun nh vy ta cn gim moment qun tnh v tng dng gii hn cho ng c.

gim moment qun tnh th ng c servo c gim ng knh rotor v loi b
cc c cu st khng cn thit. tng dng gii hn, ng c servo c th s dng
st Ferrit lm mch t v thit k hnh dng li st cho ph hp. i vi ng c
nam chm vnh cu th n cn c thit k sao cho ngn cn c s kh t (hnh
dng mch t) v tng kh nng t tnh ca nam chm (s dng nam chm t him
rare earth magnet).
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2.3.2.2
Tng kh nng p ng:
p ng y cn c hiu l s tng/gim tc cn phi mm ngha l gia

tc l mt hng s hay gn nh l mt hng s.
Mt s ng c nh thang my hay trong mt s bng chuyn i hi p ng

tc ca c cu phi mm, tc l qu trnh qu vn tc phi xy ra mt cch
tuyn tnh. lm c iu ny th cun dy trong ng c phi c in cm nh
nhm loi b kh nng chng li s bin i dng in do mch iu khin yu cu.
Cc ng c servo thuc loi ny thng c thit k gim thiu s cun dy trong
mch v c kh nng thu hp cc vng t trong mch t khe h khng kh.
2.3.2.3
M rng vng iu khin (control range):
Mt s yu cu trong iu khin cn iu khin ng c mt di tc ln hn

nh mc rt nhiu. ng c bnh thng ch cho php in p t ln n phi bng
in p chu ng ca ng c v thng thng khng qu ln so vi in p nh
mc.
ng c servo thuc loi ny c thit k t bit nhm gia tng in p chu ng

hoc tng kh nng bo ho mch t trong ng c (ngha l ng c lm vic on
pha di cch xa on nh mc. Nh vy ng c servo thuc loi ny phi c
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tng cng cch in v s dng st Ferrit hoc nam chm t him (rare earth).
2.3.2.4Kh nng n nh tc :
ng c servo loi ny thng c thit k sao cho vn tc quay ca n rt n

nh.
Khng c mch in hon ho, khng c t trng hon ho trong thc t. Chnh
v th mt ng c quay 1750 rpm khng c ngha l n lun lun quay 1750 rmp
m n ch dao ng quanh gi tr ny. ng c servo khc bit vi ng c thng l
ch n nh tc kh cao. Cc ng c servo loi ny thng c s dng
trong cc ng dng i hi tc chnh xc (nh robot). N c thit k sao cho c
th gia tng c dng t trong mch t ln kh cao v gia tng t tnh ca cc t. Cc
rnh rotor c thit k vi hnh dng c bit v cc cun dy rotor cng c b tr
khc c bit c th p ng c yu cu ny. Mt hnh nh minh ho
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2.3.2.5
Tng kh nng chu ng ca ng c:
Mt s ng c servo c thit k sao cho c th chu ng c cc tn hiu

iu khin tn s rt v c kh nng chu c c nhng yu cu tng tc bt ng
t b iu khin (c th to ra cc xung in hi bc cao). Nhng ng c nh th ny
thng c ci tin v phn c c tui th cao v c th chng li c s hao
mn do ma st trn bi bc n cng nh trn chi than (i vi DC).
Mt ng c servo c th mt s c im trn ph hp vi nhu cu iu
khin ca ngi iu khin.
2.3.3 Nguyn l hot ng ca 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, absolute encoder (tuyt i) v incremental encoer
(tng i).
Encoder tuyt i ch r rng v tr ca encoder, chng ta khng cn x l g
thm, cng bit chnh xc v tr ca encoder ,encoder tng i ch c 1, 2, hoc ti a
l 3 vng l. C mi ln i qua mt l, chng ta phi lp trnh thit b o m ln 1.
Do vy, encoder loi ny c tn incremental encoder (encoder tng ln 1 n v) do
khng th cho ta bit chnh xc v tr.
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Vic thit k encoder tuyt i cn qu nhiu vng l, v 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 rng vic thit k mt dy n led v con mt thu cng nh hng
rt ln n kch thc gii hn ny nn trong a s cc Motor, incremental optical
encoder c dng v m hnh ng c servo trong bi ny cng khng ngoi l.
S khc bit gia absolute encoder v incremental encoder:
Absolute encoder s theo di v tr trc ng c ngay c khi h thng

b mt in v mt s chuyn ng xy ra trong thi gian . Incremental encoder l
khng c kh nng trn.
Nguyn l c bn ca encoder, l mt a trn xoay, quay quanh trc. Trn
a c cc l (rnh). 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. Khi , pha mt bn kia ca a, ngi ta t mt con mt thu. Vi
cc tn hiu c, hoc khng c nh sng chiu qua, ngi ta ghi nhn c n led c
chiu qua l hay khng.
Hnh 2. Optical Encoder
Encoder thng c 3 knh (3 ng ra) bao gm knh A, knh B v knh I. Trong

hnh 2 bn thy hy ch mt l nh bn pha trong ca a quay v mt cp pht-thu
dnh ring cho l nh ny. l knh I ca encoder. C mi ln motor quay c mt
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vng, l nh xut hin ti v tr ca cp pht-thu, hng ngoi t ngun pht s xuyn

qua l nh n cm bin quang, mt tn hiu xut hin trn cm bin. Nh th knh I
xut hin mt xung mi vng quay ca motor. Bn ngoi a quay c chia thnh
cc rnh nh v mt cp thu-pht khc dnh cho cc rnh ny.
y l knh A ca encoder, hot ng ca knh A cng tng t knh I, im
khc nhau l trong 1 vng quay ca motor, c N xung xut hin trn knh A. N l s
rnh trn a v c gi l phn gii (resolution) ca encoder. Mi loi encoder c
phn gii khc nhau, c khi trn mi a ch c vi rnh nhng cng c trng hp
n hng nghn rnh c chia. iu khin ng c, bn phi bit phn gii ca
encoder ang dng. phn gii nh hng n chnh xc iu khin v c
phng php iu khin. Khng c v trong hnh 2, tuy nhin trn cc encoder cn
c mt cp thu pht khc c t trn cng ng trn vi knh A nhng lch mt
cht (lch M+0,5 rnh), y l knh B ca encoder. Tn hiu xung t knh B c cng
tn s vi knh A nhng lch pha 90 . Bng cch phi hp knh A v B ngi c
s bit chiu quay ca ng c. Hy quan st hnh 3.
Hnh 3. Hai knh A v B lch pha trong encoder
Hnh trn cng trong hnh 3 th hin s b tr ca 2 cm bin knh A v B lch

pha nhau. Khi cm bin A bt u b che th cm bin B hon ton nhn c hng
ngoi xuyn qua, v ngc li. Hnh thp l dng xung ng ra trn 2 knh. Xt trng
hp motor quay cng chiu kim ng h, tn hiu i t tri sang phi. Bn hy quan
st lc tn hiu A chuyn t mc cao xung thp (cnh xung) th knh B ang mc
thp. Ngc li, nu ng c quay ngc chiu kim ng h, tn hiu i t phi qua
tri. Lc ny, ti cnh xung ca knh A th knh B ang mc cao. Nh vy, bng
cch phi hp 2 knh A v B chng ta khng
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nhng xc nh c gc quay (thng qua s xung) m cn bit c chiu quay ca

ng c (thng qua mc ca knh B cnh xung ca knh A).
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2.4 TM HIU V DNG SN PHM SIGMA AC-SERVO CA

YASKAWA (SGD*-***s):
2.4.1 ng c Ac-Servo (SGM-******):
2.4.1.1
S cu trc ng c Ac-Servo (SGM-******):
AC-Servo motor c chia thnh hai loi: ng c ng b v ng c cm ng. Loi

ng b thng c s dng nhiu hn. i vi ng c loi ng b tc ca
motor c iu khin bi s thay i tn s ca dng in xoay chiu. ng c loi
ng b c mt moment gi mnh khi ng c dng v hn na loi ny c th s
dng khi i hi iu khin v tr chnh xc, loi ny thng s dng cho servo iu
khin v tr. Hnh minh ha theo sau l cu trc bn trong ca mt ng AC-Servo loi
ng b.
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2.4.1.2
Thng s ng c:
Nhn ca ng c cho ta cc thng s k thut ca ng c
2.4.1.3Nguyn tc hot ng ca ng c:
c iu khin t b driver ca ng c servopack

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Tnh hiu hi tip ca ng c nh encoder a v driver. Driver x l tn hiu

hi tip v a ra tn hiu iu khin cho ng c.
2.4.2 B iu khin driver ca ng c SERVOPACK (SGD*-****):
2.4.2.1
Thng s b iu khin driver SERVOPACK (SGD*-****):
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Nhn ca DRIVER cho ta cc thng s k thut ca DRIVER:
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2.4.2.2
S chn ca driver SERVOPACK(SGD-02AS):
S chn c chia lm 3 nhm chnh:

Nhm 1 : chn tn hiu iu khin
COM+,COM_:chn ngun
SV-ON: cho php ng c lm vic
P-CON: chn mod iu khin
P-NL: mod iu khin
N-NL: mod iu khin
CL:xa b m
SV-RST:chn reset li
P-OT,N-OT:chn cng tc hnh trnh thun v nghch
Nhm 2: chn tn hiu n bo

SV-ALM:n bo trng thi li
V-CMP: n bo vn tc
TGON:n bo mod vn tc
ALM1: mod trng thi li
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Nhm 3: chn tn hiu encoder :

OA+, OA_: Tn hiu ng ra knh A
OB+ ,OB_: Tn hiu ng ra knh B
OC+, OC_: Tn hiu ng ra knh C
Cc tn hiu phn hi t encoder gi v driver qua mt cng m v c driver
x l v c a v b iu khin trung tm(PLC).
S tng qut ca mt b AC-Servo:
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2.4.2.3 Nguyn l iu khin ca driver trong Mod iu khin tc v

moment:
Driver iu khin iu khin tc v moment nguyn tc nhn tn hiu
analog di dng in p t bn ngoi, c th t ng ra ca modul analog.
Tn hiu
in p
analog t
PLC
Khi ng c lm vic,encoder gn trn ng c s gi tn hiu phn hi v tr vn

tc v moment v b iu khin driver.Driver s thc hin vic so snh tn hiu nhn
t PLC v tn hiu phn hi t a ra hng x l.
Tn hiu iu khin vn tc va moment l tn hiu in p analog c a trc
tip n cc chn V-ref v T-ref .Ty thuc vo gi tr ngun m ci t thng s li
cho thch hp.
Ph thuc vo vic ci t thng s trong Mod iu khin tc v moment m
cc chn tn hiu V-ref v T-ref c cc ngng iu khin khc nhau, tng ch iu
khin khc nhau.
Mt s ci t cho mode iu khin tc v moment:
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Mode iu khin 3 cp tc :
Ch yu s dng 3 chn P-CON, P-NL, N-NL.
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Qu trnh set cc thng s c th hin bng:
Thng s hng s Cn-02 bit 2 th hin bn sau:
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Kt hp vi ci t cc cp tc cho cc hng s Cn-19, Cn-20, Cn-21:
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2.4.3 Mn hnh iu khin Digital Operator (JUSP-OP02A,JUSPOP03A):
2.4.3.1Thng s ca mng hnh iu khin Digital Operator (JUSP-
OP02A,JUSP-OP03A):
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2.4.3.2
Chc nng v hng dn s dng Digital Oprater (JUSP-OP02A):
Mn hnh hin th ca mn hnh in khin Digital Operator cho ta cc thng

tin v Mod iu khin, cc tn hiu u vo v tr,tc ,moment,s c li v cho php
ci t cc thng s.
Gng cp t mng hnh iu khin vo cng CN3 ca driver servopack.
Trn mng hnh iu khin c cc nt nhn vi chc nng nh sau:
RESET: xo n cnh bo, reset cnh bo
JOG-SVON: tt/m servo
DSPL/SET: mod chnh ch hin th
DATA/ENTER: nut chn ( chp nhn) khi ci t
,
: iu chnh v tr s cn chnh hoc tng/gim s
: mng hnh hin th thng s.

ngha hin th ca cc bit trn mng hnh hin th thng s:
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Khi nhn nt
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Khi nm Setting Mode:

y l mode ch ci t cc thng s cn thit cho driver Servopack trong
chia ra lm ba nhm nh sau:
i vi Cn-00: dng iu khin ng c trc tip t mng hnh iu

khin Digital Operator gm cc mode nh sau:
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V d cch s dng mode ny c chi dn nh hnh sau:
Lu chn gi tr 00 cn ci t bng cc nt
Nhn nt
chp nhn d liu s m mnh chn.
Lu chn gi tr 00 cn ci t bng cc nt
Nhn nt
chuyn mode.
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Nhn nt
chp nhn ci t v tr v ban u.
i vi nhm mode Cn-01, Cn-02:
Khi bm nt
led cui cng, nt
la chn bit cn ci t, ang bit bao nhiu hin th

,
set hoc khng set bit.
i vi nhm mode Cn-03 tr i s dng nh hng dn bn di:
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Cc trng thi n cnh bo trn mn hnh iu khin:
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2.4.3.3Ci t thng s cho mode tc v moment vi mn hnh in khin Digital
Operator (JUSP-OP02A,JUSP-OP03A):
Thc hin vic set thng s thng qua mn hnh.C rt nhiu thng s.cc thng
s ny a phn c gi nguyn theo tiu chun ci t ban u ca nh sn xut. cc
thng s ci t cho mode tc v moment ch yu chng ta can thip vo mt s
thng s c lin quan n tc vo moment cho ph hp vi yu cu v mc ch s
dng ca chng ta.
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Cc thng s ci t cho hai mode iu khin bit (Cn-01, Cn-02):
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2.4.4 Kt ni ng c Ac-Servo (SGM-******) v mng hnh in

khin Digital Operator (JUSP-OP02A) vi driver SERVOPACK
(SGD*-****)
Encoder gn trn ng c c kt ni vi driver servopack thng qua cng

2CN
Tn hiu iu khin t PLC c kt ni vi driver servopack thng qua cng
1CN.
Mng hnh in khin Digital Operator (cng 3CN) (JUSP-OP02A) c kt ni
vi driver servopack thng qua cng 3CN.
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Cc chn U,V,W t ng c c ni vo cc U,V,W ca b driver servopack.
Tnh ton trong mode iu khin vn tc v moment:

Vn tc c tnh ton t tn hiu phn hi ca encoder:
N .60
N o. T o
N .60
Vn tc =
N o. T o
Vn tc =
N: s xung m c trong thi gian ly mu (xung/vng).

No: phn gii ca encoder (xung/vng) .
To: thi gian ly mu (s).
Cc trng thi li xy ra trong qu trnh hot dng:
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CHNG 3: C S L THUYT V S7-200 V OPC

3.1
TNG QUAN V PLC S7-200:
3.1.1 c im b iu khin loic kh trnh (PLC):

S pht trin ca PLC em li nhiu thun li v lm cho cc thao tc my
tr nn nhanh, nhy, d dng v tin cy hn. N c kh nng thay th hon ton cho
cc phng php iu khin truyn thng dng rle (loi thit b phc tp v cng
knh); kh nng iu khin thit b d dng v linh hot da trn vic lp trnh trn cc
lnh logic c bn; kh nng nh thi, m; gii quyt cc vn ton hc v cng
ngh; kh nng to lp, gi i, tip nhn nhng tn hiu nhm mc ch kim sot s
kch hot hoc nh ch nhng chc nng ca my hoc mt dy chuyn cng ngh.
Nh vy nhng c im lm cho PLC c tinh nng u vit v thch hp trong
mi trng cng nghip:
Kh nng khng nhiu rt tt.
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Cu trc dng module rt thun tin cho vic thit k, m rng, ci to

nng cp.
C nhng module chuyn dng thc hin nhng chc nng c bit hay
nhng module truyn thng kt ni PLC vi mng cng nghip hoc mng Internet
Kh nng lp trnh c, lp trnh d dng cng l c im quan trng

xp hng mt h thng iu khin t ng
Thuc vo h sn xut linh hot do tnh thay i c chng trnh hoc

thay i trc tip cc thng s m khng cn thay i li chng trnh.
3.1.2 Cu trc phn cng ca S7-200:

Cc thnh phn c bn ca mt PLC thng c cc modul phn cng sau:
1.
Modul ngun
2.
module n v x l trung tm
3.
Modul b nh chng trnh v d liu.
4.
Modul u vo
5.
Modul u ra.
6.
Modul gi php( h tr cho vn truyn thng ni b)
7.
: Modul chc nng( h tr cho vn truyn thng mng).
3.1.3 Cu trc b nh S7-200

Phn chia b nh: B nh c chia lm 4 vng c bn, hu ht cc vng nh
u c kh nng c/ghi ch tr vng nh c bit SM (Special Memory) l vng nh
c ch s c, s cn li c th c/ghi c
Vng nh chng trnh: L min b nh c dng lu gi cc lnh,
chng trnh. Vng ny thuc kiu non-valatie c/ghi c.
Vng nh tham s: L min lu gi cc tham s nh t kha, a ch trm
cng ging nh vng chng trnh, vng ny thuc kiu non-valatie c/ghi c
Vng d liu: c s dng ct cc d liu ca chng trnh bao gm kt
qu ca cc php tnh, hng s c nh ngha trong chng trnh, b m truyn
thng
Vng i tng: Timer, b m, b m tc cao v cc cng vo/ra tng t
c t trong vng nh cui cng. Vng ny khng thuc kiu non-valatie nhng
c/ghi c.
3.1.4 X l chng trnh.

PLC thc hin chng trnh theo chu k lp. Mi vng lp c gi l mt vng
qut (Scan). Mi vng qut c bt u bng vic c d liu t cc cng vo vng
b m o, tip theo l giai on thc hin chng trnh. Trong tng vng qut
chng trnh thc hin bng lnh u tin v kt thc bng lnh kt thc. Sau giai
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on thc hin chng trnh l giai an truyn thng v kim tra li. Vng qut c
kt thc bng giai on chuyn cc ni dung ca b m o n cng ra
3.1.5 Giao tip gia sensor v c cu chp hnh:

S7-200 c hai loi c bn:
AC/DC/RELAY
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Hnh 2.2: s mch giao tip gia CPU 224 AC/DC/RLY vi sensor v c
cu chp hnh
DC/DC/DC
Hnh 2.3: S mch giao tip gia CPU 224 DC/DC/DC vi sensor v c
cu chp hnh
3.2 B M XUNG TC CAO ( HSC: HIGHT SPEED

COUNTER).
3.2.1 Gii thiu v HSC:
B m thng: B m thng trong PLC nh m ln ( CTU), m xung
(CTD), m ln xung (CTUD), ch m c cc s kin xy ra vi tn s thp (Chu
k xut hin ca s kin nh hn chu k qut ca PLC).
HSC l b m tc cao, c s dng m nhng s kin xy ra vi tn s
ln m cc b m thng thng trong PLC khng m c. VD: Tn hiu xung t
encoder
3.2.2 S lng b m HSC c trong PLC v tn s ti a cho php:

Ty thuc vo loi CPU m s lng b m HSC v tc ti a cho php
khc nhau.
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3.2.3 Vng nh c bit s dng lp trnh cho HSC:

Mi vng nh HSC c mt vng nh ring c bit, vng nh ny c s dng
khai bo chn mode m, t gi tr, lu gi tr cho HSC tng ng.
3.2.4 Cc mode m ca b m:
Mi b m u c nhng Mode m khc nhau. Ty vo tng ng dng c th
m ngi lp trnh la chn Mode m cho ph hp. Di y trnh by Mode m
ca cc b m tiu biu:
HSC0 c 1 mod m(Mod 0).Cc b m cn li u c 12 Mod m
Bng m t ch m ca cc b HSC
Mode 0,1,2 : dng m 1 pha vi hng m c xc nh bi bit ni
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Mode 0:ch m tng hoc gim khng c bit START v RESET

Mode 1: m tng hoc gim c bit RESET nhng khng c bit START
Mode 2: : m tng hoc gim c bit RESET v bit START cho php bt u
m cng nh bt u reset.Cc bit reset cng nh start l cc tn hiu INPUT c
chn t bn ngoi.
Mode 3,4,5 dng m 1 pha vi hng m c xc nh bi bit ngoi tc l
c th chn t ng vo input

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chn t bn ngoi
Mode 6,7,8: dng m 2 pha vi 2 xung vo,1 xung dng m tng v 1 xung
dng m gim

chn t bn ngoi
Mode 9,10,11 : dng m xung A/B ca ENCODER c 2 dng
Dng 1:m tng 1 khi c xung A/B quay theo chiu thun, gim1 khi c xung
A/B quay theo chiu nghch
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Dng 2:m tng 4 khi c xung A/B quay theo chiu thun, gim4 khi c xung
A/B quay theo chiu nghch

chn t bn ngoi
Mode 12:
Ch p dng vi HSC0 v HSC3.HSC0 dng m xung pht ra t Q0.0 .
HSC3 dng m xung pht ra t Q0.1 .m khng cn phi u ni phn cng c
ngha l PLC t kim tra t bn trong.
3.2.5 ngha cc bit ca byte trng thi khi lp trnh cho HSC:
Cc bit khng s dng c b qua
Byte iu khin ca HSC0 :SMB36
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Byte iu khin ca HSC1: SMB46
Byte iu khin ca HSC2: SMB56
3.2.6 ngha cc bit ca byte iu khin khi lp trnh cho HSC:

Cc bit khng s dng c b qua
Byte iu khin ca HSC0
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3.2.7 Chn kiu Reset, Start v tn s m cho HSC
3.2.8 Byte trng thi v byte iu khin ca HSC3, HSC4, HSC5
3.2.9 Gi tr tc thi, gi tr t
3.2.10Cc bc khi to b m HSC:

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c xung tc cao ,ta thc hin cc bc sau cho vic nh dng Wizard:
Chn Wizard c xung tc cao High Speed Counter
Chn Mode c xung tc cao v loi Counter no (HC0,HC1)
Dng chu k qut u tin (SM0.1) gi chng trnh con khi to. Trong
chng trnh con khi to thc hin cc cng vic sau y.
Np gi tr cho Byte iu khin.
Gn b m vi Mode m tng ng dng lnh HDEF.
Np gi tr tc thi.
Np gi tr t trc.
Gn chng trnh ngt vi s kin ngt dng lnh ATCH nu s dng
ngt.
Cho php ngt dng lnh ENI.
Chn b m thc thi dng lnh HSC.
Lu : Ton b cc bc trn u c thc hin trong mt chng trnh con
khi to HSC. Vic khi to ny ch thc hin mt ln, khi no cn thay i gi tr, ch
lm vic th mi khi to li.
3.3
CHNG TRNH NGT:
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3.3.1 Gii thiu v ngt trong S7 200.

Ngt l qu trnh m s7 200 dng chng trnh ang thc thi thc hin
chng trnh ngt khi c yu cu(c s kin gy ra ngt xy ra). Sau khi thc hin
xong chng trnh ngt th s7 200 s quay v chng trnh ang thc hin trc khi
xy ra ngt thc hin tip
Khi c nhiu yu cu ngt xy ra ng thi th cc ngt s thc hin theo
th t u tin t ngt c mc u cao nht n ngt c mc u tin thp nht.
Th t u tin ngt nh sau:
Ngt truyn thng
Ngt vo ra
Ngt timer
Cc iu kin ngt xy ra s c lu li v sp xp theo th t
Mt chng trnh ngt c th c gi bi nhiu s kin ngt, Tuy nhin
mt s kin ngt th khng th gn cho nhiu chng trnh ngt
Ty thuc vo loi CPU m s lng ngt cng nh s kin ngt c khc
nhau
3.3.2 Cc lnh s dng khi lp trnh iu khin ngt.
3.3.3 Cc s kin gy ra ngt
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3.3.4 Cc bc lp trnh khi s dng ngt.

Tt c cc ngt phi c khi to trc khi lm vic. Vic khi to cc
ngt nn thc thi mt ln(SM0.1) trong chng trnh, ch khi no cn thay i cc
thng s trong qu trnh khi to th mi khi to li.
Xc nh ng dng v chng trnh ngt
Ph thuc vo tng loi ngt m khi to chng trnh ngt
Kch hot ch ngt
3.4
S DNG MODUL ANALOG:
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Tn hiu Analog l cc tn hiu tng t ( 0 10VDC,hoc 4-20mA),Hu

ht cc ng dng ca chng trnh PLC Siemens ni ring hay cc ng dng khc u
cn phi c cc tn hiu analog.Tn hiu analog c th l tn hiu t cc cm bin o
khong cch,cm bin p sut,cm bin o trng lng
3.4.1 Modul EM321:

1.1.1.
Gii thiu v modul EM321:

S lng ng vo.
S lng ng vo 4AIW (AIW0,AIW2,AIW4,AIW6). Ng vo c th l in p
hay dng in.
Cch kt ni ng vo.
Dy in p ng vo v phn gii.
in p vo: +10V, +5V, +2,5V,-5V,-2,5V.
Dng in ng vo: 0 n 20mA.
phn gii: 5uA hay t 1,25mV n 2,5mV.
Gi tr s ng vo: -32000 n 32000 hay t 0 n 32000.
Switch chn gi tr ng vo v phn gii.
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1.1.2.
c tn hiu analog t Modul EM231:
Cc tn hiu c th c c t Modul EM231(tu thuc vic chn cc Switch

trn modul):
- Tn hiu n cc ( Tn hiu in p): 0-10VDC, 0-5VDC
- Tn hiu lng cc (tn hiu in p): -5VDC 5VDC, -2.5VDC
2.5VDC
- Tn hiu dng in :0 20mA ( c th c c 4-20mA)
Tn hiu Analog s c c vo AIW0,AIW2 tng ng,tu thuc vo v tr ca tn
hiu a vo modul.
Modul EM231 c 4 ng vo Analog,do vy v tr cc ng vo tng ng l: AIW0,
AIW2, AIW4, AIW6
Tn hiu analog l tn hiu in p ,tuy nhin gi tr m AIW c vo khng phi l gi
tr in p ,m l gi tr c quy i tng ng 16bit.
Trng hp n cc : Gi tr t 0 64000 tng ng vi ( 0-10V,0-5V hay 0-20mA)
Trng hp lng cc : Gi tr t -32000 32000 tng ng vi (-5VDC 5VDC hay
- 2.5VDC 2.5VDC).
Vd :
Trng hp n cc: gi tr c vo ca AIW0 = 32000,khi gi tr in p tng
ng l : (32000x10VDC/ 64000) = 5VDC ( Tm chn 0 10VDC)
Trng hp lng cc : Gi tr c vo ca AIW0 = 16000,khi gi tr in p.
Tng ng l : ( 16000x5VDC/32000) =2.5VDC ( Tm o -2.5VDC
2.5VDC)
Do vy cn c vo gi tr c vo ca AIW ta c th dng quy tc tam sut,t c
th tnh c gi tr in p tng ng.T gi tr in p ta c th suy ra gi tr mong
mun.
Thng thng cc tn hiu Analog c vo bao gi ngi s dng cng mong mun
c c chnh gi tr mong mun ( V d: gi tr khi lng trong c u cn
Loadcell, gi tr p sut trong c tn hiu t cm bin p sut..)
Phng php c Analog trong trng hp ny ta s khng cn quan tm nhiu n
ch n cc hay lng cc,m ch cn xc nh c 2 im,t lp c
phng trnh ng thng ( Gi tr mong mun c theo AIW)
V d: c khi lng t u cn :Ta xy dng hm Khi lng theo AIW( l tn
hiu c vo)
Bc 1: Ta cn xc nh 2 im: im 1: Ta online trn my tnh,c gi tr
AIW0 l x1,trong trng hp im 1 (im 1 l im ta t qu cn chun 1:c khi
lng m1 ln bn cn) ,Tng t ta c th xc nh c im 2 ( tng ng x2 v
m2).
T ta c 2 im : im 1 ( x1,m1) , im 2 (x2,m2).
Phng trnh ng thng i qua 2 im 1,2 c dng:
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(X-X1/X2-X1) = (Y-Y1/Y2-Y1),T rt Y theo X

chnh l phng trnh khi lng theo AIW.
V d c th: im 1 (0,0), im 2 ( 32000,1000)
Phng trnh lp:
(X-0/32000-0) = ( Y-0/1000-0) T suy ra:
Y= 1xX/ 32
Vy : Khi lng = AIW / 32.
3.4.2 Modul EM232:
1.1.1.
Gii thiu v modul EM232:
in p ngun: +24V.
S lng ng ra 4 analog Output.
Dy in p ng ra -10V,+10V.
Dng in ng ra: 0 n 20mA.
Gi tr s ng ra: -32000 n 32000 hay t 0 n 32000.
phn gii: 2,5mV.
1.1.2.
Xut tn hiu analog qua modul EM232:
Cc tn hiu c th xut ra Modul EM232(tu thuc vic chn cc Switch trn modul):
Tn hiu n cc ( Tn hiu dng in): 0-20mA
Tn hiu lng cc (tn hiu in p): -10VDC 10VDC
Tn hiu 0 -20mA tng ng vi gi tr 0 32000
Tn hiu -10VDC 10VDC tng ng -32000 32000
Gi tr xut ra Modul EM232 c a vo nh AQW tng ng.
3.5 TNG QUAN V OPC

PC Access l phn mm ca Simens a ra h tr kt ni PLC S7 200 vi PC
thun tin hn. Nhim v ca PC Access trong ti ny l to th vin ng h tr
cho vc kt ni PLC vi PC, trong PC Access ng vai tr l OPC Server.
3.5.1 OPC supermarket Analogy (tm dch: OPC nh mt siu th)
Khi nim v OPC server v OPC client c lin kt vi nhau ging nh mt
siu th. Tt c nhng thnh phn c th s dng u c th hin trn OPC Server,
vic la chn ny bao gm tt c cc vng x l d liu c v ghi bi OPC Server.
OPC Client s la chn nhng Items m c yu cu. OPC Client s c v ghi
gi tr mi n nhng Items yu cu thng qua OPC Server
3.5.2 OPC Defined (tm dch: Xc nh cu trc OPC)
Vi cu trc OPC th i tng OLE c s dng nh l mt i tng ca
Microsoft. nh dng OLE ban u c th hin nh l mt i tng nhng.
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Ngy nay OPC c gi l COM for Proccess Control t khi OPC da trn
COM. COM l mt i tng chung ca h thng hot ng Windows v c iu
khin bn trong bi mt vi i tng phn mm.
(COM (Component Object Model: m hnh cc i tng thnh phn) l mt
giao thc chun giao tip gia cc i tng cc b trn mt my tnh nhng
chng l thnh phn ca nhng chng trnh khc nhau)
Bng vic s dng COM, OPC Server s tr thnh mt phn ca h thng
Windows v do , OPC Server khng c lp v tn file, v tr lu tr v phin bn.
pht trin hn na COM, DCOM thm tr h tr nhng ng dng phn tn v
cho php ng hot ng gia cc i tng phn mm trn cc my tnh khc nhau
trong phm vi mt mng.
OPC cung cp mt c cu cung cp d liu t ngun d liu v chia s d liu
n bt k ng dng khc theo nhng cch thc tiu chun. Mt nh cung cp ngy
nay c th pht trin mt Server s dng v ti u ho kh nng ny chia s d liu
ti ngun d liu, v bao gm c c cu truy cp d liu t d liu ngun vi hiu sut
cao. Vic cung cp Server cng vi vic giao din OPC cho php bt k Client no
cng c th truy cp cc thit b ca OPC.
Mc d OPC c thit k ban u l truy cp d liu t mng Server, nhng
giao din OPC c th c s dng nhiu ni trong phm v mt ng dng. Mc truy
cp thp nht, chng c th thu thp d liu t cc thit b vt l trong mng
SCADA hoc DCS hoc l h thng SCADA,DCS trong phm vi ng dng.K thut
v thit k ny to nn kh nng c th cu trc mt OPC Server cho php cc ng
dng khc c th truy cp t nhiu OPC Server khc nhau c cung cp bi nhiu
nh cung cp OPC khc nhau chy trn nhng nt mng khc nhau thng qua mt i
tng .
3.5.3 ng dng ca vic giao tip OPC
ng dng ca giao din OPC c da trn m hnh Server-Client. Mt i
tng ca Server th cung cp dch v cho nhng i tng giao tip khc thng qua
giao din. Mt i tng khc s s dng cc dch v ny. Vi OPC, mt ng dng c
th c th nhn ra mt OPC Server ang tn ti trn h thng. C th a ch ha mt
hoc nhiu Server v yu cu dch v m chng s cung cp. T vi OPC Client khc
nhau c th truy cp mt OPC Server ti cng mt thi im, cng ngun d liu
s dng cho bt k lnh ng dng OPC.
3.5.4 OPC Server
Thnh phn OPC phn phi d liu gi l OPC Server. Cc thnh phn ny thc
hin vic thm nhp tn ti trn h thng (my tnh). Mt phn dch v, chng cung
cp thng tin cho cc OPC Client t bt k ngun d liu no; c th l ngun d liu
v phn cng hay thnh phn ca mt phn mm. D liu c thu thp t giao din,
card bus trng, thit b o hay thit b iu khin.
Mi OPC server c gn mt tn duy nht bi nh cung cp nh dng n.
Theo tiu chun COM th ci tn ny c nh ngha nh l ProgIDs. Bng vic xc
nh ProgIDs, chng ta c th nh a ch cho OPC Server xc nh.
3.5.5 OPC Client
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i tng OPC m s dng OPC Server nh l ngun d liu c gi l OPC

Client. OPC Client c th c tn ti nh l mt phn mm chun. Nhng Module
phn mm cn c th kt hp vi nhau to nn cc hm cho chnh cc Client.
gp nhng yu cu c lp trn h thng v t c nhng hnh thc trnh by tt
nht c th, chng ta c th vit OPC Client bng nhng ngn ng lp trnh khc nhau.
3.5.6 Cch thc m Server v Client lm vic vi nhau:

Server v Client truyn thng da trn DCOM. Client khng truy cp trc tip
Server nhng s dng th vin COM. Bng vic xc nh ProgIDs, OPC client c th
nh a ch m mi OPC m n yu cu.
Hnh 2.4: Truyn thng gia Server v Client

c tnh v cch thc:
Chc nng ca OPC Server c xc nh bi giao tip ca chng, OPC Client
bit c chc nng ca OPC Server yu cu v c th s dng nhng dch v c
gi tr. T gc nhn hng i tng, cc dch v ca OPC Server c th hin bi
c tnh v cch thc. Tt c OPC Server c c tnh v cch thc ci t c bn
ging nhau. Nu mt Server khng cung cp nhiu chc nng m rng no th mt
Client c th nhn ra iu v phn ng ph hp vi iu . Kt qu l cc thnh
phn ca nh cung cp khc c th lm vic vi nhau m khng c vn g xy ra.
Mt Client c th c to hoc xa i tng trn OPC Server thng qua giao
din OPC. OPC Client tham chiu tt c cc hm ca Server, v s dng cch thc
ca Server c v ghi d liu. Mi hm ca Server tng ng vi mt lnh trn Client.
3.5.7 Tn cc cp bc trong h thng:
Khi mt i tng OPC Server c to th chng xc nh mt ng dn cp
bc. OPC Client s s dng ng dn ny xc nh Item, l mt phn ca Group
kt ni ti mt Server c th.
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Hnh 2.5: Cc cp bc trong OPC Server
CHNG 4:WINCC FLEXIBLE V HMI

4.1
GII THIU V SIMATIC HMI
S thng sut ti a l iu thit yu ngi vn hnh iu khin v gim st

qu trnh hot ng trong nh my mt cch hiu qu vi cc thit b, my mc ngy
cng hin i. Giao din ngi my (Human Machine Interface- HMI) cung cp mt
s tch hp ton din v a dng cho ngi vn hnh iu khin v gim st cc nhim
v.
V d ca nhng h thng SIMATIC HMI l cc mn hnh iu khin nh
s dng cho thit b cp cao.
H thng HMI miu t giao din gia ngi (ngi vn hnh) v qu trnh
(my mc/ thit b). PLC l n v hin thi iu khin qu trnh. V nhng l do
, c mt giao din gia ngi vn hnh v WinCC flexible (ti thit b HMI) v mt
giao din gia WinCC flexible v PLC. Mt h thng HMI m ng nhng nhim
v sau:
Miu t qu trnh:
Quy trnh c m t bi thit b HMI. Mn hnh trn HMI c cp nht
ng. y l iu c bn trong mt qu trnh chuyn ng.
Ngi vn hnh iu khin qu trnh:
Ngi vn hnh c th iu khin qu trnh bi cng c GUI. V d, ngi
vn hnh c th t trc gi tr chun ca qu trnh iu khin hoc ci t thong s
lm vic ca ng c.
Hin th cnh bo:
Trng thi gii hn qu trnh c t ng khi pht bo ng. V d, khi
gi tr t trc b vt qu.
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Lu tr cnh bo v gi tr qu trnh:
H thng HMI c th c bn ghi gi tr cnh bo v qu trnh. Trong tng
lai, cho php bn truy cp d liu qu trnh v ly ra nhng d liu sn xut trc .
Ghi chp cnh bo v gi tr qu trnh:
H thng HMI c th c bn thng bo cc cnh bo v gi tr qu trnh.
iu ny cho php bn in ra d liu sn xut.
Qun l thng s my v qu trnh:
H thng HMI c th lu tr thng s qu trnh v my mc trong cng

thc. V d, bn c th ti nhng thng s ny trong mt ng dn ca thit b
HMI ti PLC thay i phin bn sn xut.
4.2
GII THIU V WINCC FLEXIBLE
WinCC Flexible l phn mm SCADA c thit k bi hng Microsoft theo yu

cu Siemens nhm phc v cho vic gim st v thu thp d liu trong h thng
SCADA s dng thit b ca SIEMENS nh cc PLC S7-200, S7-300, S7-400.
Hnh 3.1 WinCC Flexible gim st PLC

WinCC Flexible rt linh hot trong vic gim st c th chuyn i d dng gia cc
kt ni. Giao din rt thn thin vi ngi s dng, ngoi ra cn h tr ngn ng lp
trnh hng i tng VisualBasic.
c im ni bt nht ca WinCC Flexible so vi WinCC SCADA chnh l h tr
nhng tnh nng rt mnh cho vic thit k giao din, thit lp giao din cng nh lp
trnh cho cc loi mn hnh HMI.
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Hnh 3.2: Mt s mn hnh HMI c tch hp trong WinCC Flexible
4.3
MT S THUC TNH NI BT CA WINCC FLEXIBLE:
4.3.1 Thit lp giao thc kt ni:

WinCC Flexible cung cp cc giao thc kt ni gia HMI v s7-200, s7-300, s7-400.
Cc kt ni c th qua PMI, DP, Probifus, Ethernet..
Kt ni gia HMI vi s7-200
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Hnh 3.3. Thit lp giao tip gia HMI vi s7 200.
Kt ni gia HMI vi s7-300/s7-400.
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Hnh 3.4: Thit lp giao tip gia HMI vi s7 300 qua MPI
Kt ni gia HMI vi s7-300 qua Ethernet
Hnh 3.5 Thit lp thng s kt ni qua Ethernet

Giao thc kt ni Ethernet theo chun IP. Ta ch cn khai bo a ch IP cho cc phn
t kt ni mng.
4.3.2 Tags v Tags Group
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WinCC Flexible giao tip cc thit b thng qua cc Tags. WinCC Flexible thc hin
tnh ton v truyn d liu thng qua tag xung thit b, d liu thu nhn t thit b
cng c thng qua tag v PLC.
C 2 loi tag: tag ni v tag ngoi
Tag ni: c s dng tnh ton, lu tr trong ni ti ca WinCC, tag ni khng
giao tip vi cc b iu khin lp trnh bn ngoi.WinCC qun l tag ni thng qua
tn ca tag v kiu d liu tng ng. Chnh v vy trong mt chng trnh th tn ca
tag l c nht.
Tag ngoi: L nhng vng nh bn trong b iu khin lp trnh hoc thit b m
phng. Tag ngoi lun gn vi mt a ch v mt kiu d liu nht nh. WinCC qun
l cc tag ngoi thng qua tn ca tag v a ch ca n.
Hnh 3.6 Thit lp Tag kt ni

hnh trn ta c: Tag_1 l tag ni c kiu d liu l Int
Tag_2 l tag ngoi c kiud liu l Bool v i ch giao tip vi
thit b bn ngoi l M0.0.
4.3.3 Thit k giao din (Screen) cho HMI.

Giao tip ca ngi v my u thng qua mn hnh. V vy vic thit k giao din
cho ph hp vi mc ch s dng l iu ht sc quan trng.
WinCC Flexible cung cp hu ht cc cng c thit k phc v cho vic thit k giao
din iu khin v gim st.
Hnh 3.7 Giao din thit k ca WinCC Flexible

Menubar: L ni dng iu khin hot ng chnh ca vic thit k. N cung
cp cc cng c cng nh thit lp cc thng s cho giao din ca chng ta.
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Standar Toolbar: L ni cha cc nt cho php chng ta thc hin nhng lnh
mt cch nhanh chng.
Tool: Cung cp cho chng ta nhng i tng chun nh ( Polygon, Ellipse,
Rectangle,) cc i tng thng minh ( OLE control, OLE Eleemnt, I/O
Field,) v cc i tng Window ( Button, Check Box,.)
Project: L ni cung cp cc dch v v iu khin hot ng ca giao din nh
to ngt, to ra cc report
Kch bn (Scrip):Scipt l ni m ta to ra cc hot ng khi c s kch hot.
Scipt c h tr vit bng ngn ng Visual Basic. Trong script h tr mt c
php chun ca cc lnh
Hnh 3.8: Khi to Scrip
4.3.4 Mt s hm s dng trong chng trnh:

Inverbit
C php: Inverbit
ngha: o ngc gi tr ca mt tag kiu d liu Binary
Setbit
C php: Setbit (Tag)
ngha: t gi tr ca Tag = True vi kiu d liu l Binary
Resetbit
C php: Resetbit ( Tag)
ngha: t gi tr ca Tag = False vi kiu d liu l Binary
SetbitlnTag
C php: SetbitlnTag( Tag,bit)
ngha: t gi tr l true cho v tr bit c xc nh trong Tag
ResetbitlnTag
C php: ResetbitlnTag( Tag,bit)
ngha: t gi tr l false cho v tr bit c xc nh trong Tag
StopRuntime
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C php: StopRuntime (Mode)

ngha: Thot khi Runtime ca Wincc Flexible
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CHNG 5: U IM V HN CH
I.
U IM CA TI:
1) Tnh khoa hc ca ti:
ti nghin cu v cch thc iu khin tc v moment ca ng c Ac-Servo.
Tuy ng c Servo c s dng nhiu trng cng nghip nhng ti ny l mt ti
tng i l mi.
Nghin cu thc t chng minh cc sn phm Ac-Servo sau ny c th cng lc
iu khin c c v tr tc v moment. Qua ti em c thm mt kin thc thc t qu
bu c th h tr cho ti sau khi ra ra trng v bc chn vo xa hi.
2) Tnh thc tin v kh nng ng dng:

Qua nghin cu rt ra qui trnh, ti thy rng iu khin ng c Ac-Servo khng
qu phc tp. y l m hnh iu khin nh nu c thm thi gian nguyn cu ti ngh c
th to ra mt sn phm c th c ng dng vo sn xut vi qui m.
II.
HN CH CA TI:
V thi gian nghin cu c hn, my mc thit b khng y nn cn c nhng vn
cn tn ti.
Cha lm c ht tt c cc cch iu khin tc .
Cha lm c ht tt c cc cch iu khin moment.
Vic nghin cu ch mi dng li v tr, tc v moment ca b ng c
nh.
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PHN 3
KT LUN
V KIN NGH
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I. KT LUN
n hon thnh ng tin v c bn t c cc yu cu ra nh sau:
Tm hiu cu to, c im k thut ca cc thit b: PLC
Hiu c nguyn l hot ng v nm c phng php iu khin
h thng servo
S dng c phn mm Wincc Flexible v phn mm Step 7 MicroWin
V4.0
Chy thnh cng h thng trn m hnh tht
Tuy nhin vn cn mt s hn ch cha c x l.
Trong qu trnh thc hin n T.S NGUYN MINH TM tn tnh hng dn
tc gi c th hon thnh n mt cch tt nht. Tc gi cng c gng nhiu
nhng do hn ch v ti liu tham kho v nng lc nn s khng trnh khi nhng
thiu st. Rt mong nhn c nhng kin b sung, gp ca qu thy c ti
ca tc gi ngy cng hon thin hn.
Em xin chn thnh cm n!
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II. KIN NGH
- Nu c thi gian, ti s nghin cu khc phc nhng li nh, pht trin ti

iu khin tc v moment thnh mt ti ln hn l lm mt my CNC c nh
iu khin 3 trc trong va iu khin c v tr,tc tc v c moment.
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PH LC
TI LIU THAM KHO

Ti liu sch tham kho:
[1] Nguyn Don Phc. Phan Xun Minh. T ng Ho vi SIMATIC S7-200.
Nh Xut Bn Nng Nghip, 1997
[2] Lm Tng c. Nguyn Kim nh Gio trnh iu khin Logic Trng i Hc
Bch Khoa Nng
[3] WinCCflexible GettingStarted PowerUser.

[4] T Vn Phng .Ti liu PLC cng nghip. Trng i Hc SPKT TPHCM
Lu hnh ni b
[5]H Vn Tr.Giao trnh PLC. NXB Khoa hc k thut
[6] Lm Qunh Trang L Trng Hin Nguyn Minh Trung on Hip
i hc Bch Khoa Thnh ph H Ch Minh - Chng trnh PFIEV.ng c
servo.
Web tham kho:

[7] http://support.automation.siemens.com/
[8] http://www.yaskawa.com
[9]http://google.com.vn
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Điều Khiển Vận Tốc Và Moment Động Cơ AC - Servo Bằng PLC Kết Hợp WinCC - Flexible Siemens

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Điều Khiển Vận Tốc Và Moment Động Cơ AC - Servo Bằng PLC Kết Hợp WinCC - Flexible Siemens

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iu khin vn tc v moment ng c AC-Servo GVHD : TS.

Ngi thc hin

Bin Quc Thoi

SVTH : BIN QUC THOI

iu khin vn tc v moment ng c AC-Servo GVHD : TS.NGUYN MINH TM

ti tt nghipiu khin vn tc v moment ng c AC-Servo bng PLC

Ngi thc hin

Bin Quc Thoi

SVTH : BIN QUC THOI

iu khin vn tc v moment ng c AC-Servo GVHD : TS.NGUYN MINH TM

TRNG I HC S PHM K THUT TP.HCM

NHIM V LUN VN TT NGHIP

Ni dung v yu cu lun vn tt nghip c thng qua.

GING VIN HNG DN

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iu khin vn tc v moment ng c AC-Servo GVHD : TS.NGUYN MINH TM

NHN XT CA GIO VIN HNG DN

SVTH : BIN QUC THOI

iu khin vn tc v moment ng c AC-Servo GVHD : TS.NGUYN MINH TM

NHN XT CA GIO VIN PHN BIN

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iu khin vn tc v moment ng c AC-Servo GVHD : TS.NGUYN MINH TM

2.1.1 iu khin vng h (open loop):..............................................17

iu khin vn tc v moment ng c AC-Servo GVHD : TS.NGUYN MINH TM

2.2.1 Xu hng trong iu khin chuyn ng dng servo:...............19

2.3 CU TO V C TNH CA NG C SERVO.......................................24

iu khin vn tc v moment ng c AC-Servo GVHD : TS.NGUYN MINH TM

TNG QUAN V PLC S7_200

3.1.1 c im b iu khin loic kh trnh (PLC):.......................52

3.2. B M XUNG TC CAO ( HSC: HIGHT SPEED COUNTER).

3.2.4 Cc mode m ca b m.......................................................55

iu khin vn tc v moment ng c AC-Servo GVHD : TS.NGUYN MINH TM

3.2.7 Chn kiu Reset, Start v tn s m cho HSC ....................61

3.3.............................................................. CHNG TRNH NGT

3.3.1 Gii thiu v ngt trong S7 200..........................................63

3.4............................................. MODUL ANALOG ( EM321, EM323)

3.5.................................................................. TNG QUAN V OPC

3.5.1 OPC supermarket Analogy.................................................67

iu khin vn tc v moment ng c AC-Servo GVHD : TS.NGUYN MINH TM

3.5.7 Tn cc cp bc trong h thng..........................................69

CHNG IV: WINCC FLEXIBLE V HMI.................................................................70

4.1 Gii thiu v SIMATIC HMI.........................................................70

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iu khin vn tc v moment ng c AC-Servo GVHD : TS.NGUYN MINH TM

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iu khin vn tc v moment ng c AC-Servo GVHD : TS.NGUYN MINH TM

c quy trnh iu khin mt h thng iu khin, gim st v thu thp d liu.

II. MC TIU NGHIN CU

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iu khin vn tc v moment ng c AC-Servo GVHD : TS.NGUYN MINH TM

III. GII HN NGHIN CU

V l do kinh t v iu kin khch quan, ti ch dng li vic lm m

iu khin tc v moment trn mt m hnh nh gm: PLC Siemens

S7-200 ca SIEMEN, motor servo ca YASKAWA.

iu khin bng phn mm Step 7 MicroWin V4.0.

IV. NHIM V NGHIN CU

Tham kho ti liu, tm hiu v nhng lnh vc c lin quan n iu khin

Tm hiu v PLC-S7200 u ni phn cng v cch thc lp trnh, WinCC

Tm hiu cch kt ni gia PLC-S7200 v b ng c AC-Servo, cch thc

Nghin cu v phn tch cc cng trnh lin h.

PLC Siemens S7-200 ca SIEMEN, motor servo ca YASKAWA.

Chng trnh iu khin bng phn mm Step 7 MicroWin V4.0.

To giao din iu khin v gim st bng phn mm WinCC Flexible.

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