Giaotrinh HTCDT

Bi ging H thng C in t 1
MC LC
Trang
CHNG 1: TNG QUAN V C IN T........................................................4
1.1. Cc khi nim c bn.....................................................................................4
1.2. Lch s v xu th pht trin............................................................................4
1.2.1. Lch s pht trin.....................................................................................4
1.2.2. Xu th pht trin......................................................................................8
CHNG 2: CC THNH PHN C BN CA H THNG C IN T...10
2.1. Mun mi trng........................................................................................10
2.2. Mun tp hp..............................................................................................10
2.3. Mun o lng...........................................................................................10
2.4. H thng kch truyn ng............................................................................11
2.5. Mun truyn thng......................................................................................11
2.6. Mun x l.................................................................................................11
2.6.1. ng truyn bus..................................................................................12
2.6.2. B x l trung tm CPU........................................................................13
2.6.3. B nh...................................................................................................13
2.7. Mun phn mm.........................................................................................13
2.7.1. Ngn ng lp trnh.................................................................................13
2.7.2. Cc tp lnh...........................................................................................14
2.7.3. Lp trnh................................................................................................14
2.8. Mun giao din...........................................................................................14
CHNG 3. CM BIN V C CU CHP HNH.........................................15
3.1. Gii thiu v cm bin v c cu chp hnh.................................................15
3.1.1. Cm bin................................................................................................15
3.1.2. C cu chp hnh...................................................................................16
3.2. c tnh ca cm bin v c cu chp hnh..................................................17
3.2.1. Di o....................................................................................................17
3.2.2. phn gii...........................................................................................17
3.2.3. nhy..................................................................................................17
3.2.4. Sai s.....................................................................................................18
3.2.5. Kh nng lp li.....................................................................................18
3.2.6. Vng cht...............................................................................................18
3.2.7. Tnh n nh...........................................................................................20
3.2.8. Thi gian p ng..................................................................................20
3.2.9. Nhit h thng...................................................................................20
Trang 1
3.3. Mt s loi cm bin thng gp..................................................................21
3.3.1. Cm bin dch chuyn thng v quay.....................................................21
3.3.1.1. Cng tc hnh trnh.........................................................................21
3.3.1.2. Tia hng ngoi................................................................................21
3.3.1.3. Cc b m ha quang hc...............................................................22
3.3.2. o lc....................................................................................................23
3.3.3. Cm bin o khong cch......................................................................24
3.4. C cu chp hnh..........................................................................................26
3.4.1. Cc ng c in...................................................................................26
3.4.1.1. ng c DC....................................................................................26
3.4.1.2. ng c AC....................................................................................28
3.4.1.3. ng c bc.................................................................................29
3.4.2. H thng iu khin kh nn..................................................................32
3.4.2.1. Phn t x l v iu khin.............................................................32
3.4.2.1.1. Van o chiu...........................................................................32
3.4.2.1.2. Van chn...................................................................................36
3.4.2.1.3. Van tit lu:..............................................................................36
3.4.2.1.4. Van p sut...............................................................................38
3.4.2.2. C cu chp hnh:...........................................................................38
3.4.2.2.1. Xi lanh.....................................................................................38
3.4.2.2.2. ng c kh nn:......................................................................39
CHNG 4: IU KHIN LOGIC KH LP TRNH PLC................................40
4.1. Gii thiu PLC..............................................................................................40
4.1.1. Gii thiu chung....................................................................................40
4.1.2. Hnh dng bn ngoi..............................................................................40
4.1.3. Cc thnh vin h S7-200......................................................................43
4.1.4. Modul m rng......................................................................................45
4.2. u ni PLC v modul m rng...................................................................48
4.2.1. PLC s dng ngun nui mt chiu.......................................................48
4.2.2. PLC s dng ngun nui xoay chiu.....................................................50
4.2.3. u ni modul m rng.........................................................................52
4.3. Ngn ng lp trnh........................................................................................56
4.3.1. Cch thc hin chng trnh..................................................................56
4.3.2. Cu trc chng trnh............................................................................57
4.3.3. Phng php lp trnh............................................................................58
4.4. Mt s lnh c bn.......................................................................................59
Trang 2
4.4.1. Lnh vo ra............................................................................................59
4.4.2. Cc lnh ghi/xa gi tr cho tip im...................................................60
4.4.3. Cc lnh logic i s Boolean................................................................60
4.4.4. Cc lnh tip im c bit....................................................................64
4.4.5. Cc lnh so snh....................................................................................65
4.4.6. Lnh nhy v lnh gi chng trnh con................................................67
4.4.7. Cc lnh can thip vo thi gian vng qut...........................................69
4.4.8. Cc lnh iu khin Timer.....................................................................69
4.4.9. Cc lnh iu khin Counter..................................................................73
4.4.10. Cc lnh s hc....................................................................................76
4.4.11. Lnh tng, gim mt n v v lnh o gi tr thanh ghi....................80
4.4.12. Cc lnh dch chuyn ni dung nh..................................................84
4.5. Son tho chng trnh v chng trnh m phng......................................85
4.5.1. Son tho chng trnh..........................................................................85
4.5.2. Chng trnh m phng.........................................................................85
Trang 3
CHNG 1: TNG QUAN V C IN T.

1.1. Cc khi nim c bn.
Khi nim C in t c m ra t nh ngha ban u ca cng ty
Yasakawa Electric. Trong cc ti liu xin bo h thng hiu ca mnh. Yasakawa
nh ngha C in t nh sau:
Thut ng mechatronics c to thnh bi mecha trong mechanics v
tronics trong electronics. Ni cch khc, cc cng ngh v sn phm c pht
trin s ngy cng c kt hp cht ch v hu c thnh phn in t vo trong
cc c cu v rt kh c th ch ra ranh gii gia chng.
Khi nim c in t tip tc pht trin sau khi Yasakawa a ra nh ngha
u tin. Mt nh ngha khc v c in t thng hay c ni ti do Harashima,
Tomizuko v Fukada a ra nm 1996 nh sau:
C in t l s kt hp cht ch ca k thut c kh vi in t v iu
khin my tnh thng minh trong thit k, ch to cc sn phm v quy trnh cng
nghip.
Nm 1997, Shetty v Kolk li quan nim:
C in t l mt phng php lun c dng thit k ti u cc sn
phm c in.
V gn y, Bolton li xut nh ngha:
Mt h c in t khng ch l s kt hp cht ch cc h c kh, in v
n cng khng ch n thun l mt h iu khin. N l s tch hp y cc h
trn.
1.2. Lch s v xu th pht trin.
1.2.1. Lch s pht trin.
Qu trnh pht trin CT trn th gii chnh thc bt u t nm 1969 vi s
ra i thut ng C in t, sn phm CT ch l s kt hp gia c kh v in t.
Sau , vi s pht trin ca CNTT, cc b vi x l c tch hp vo h thng
C in t.
V o to c in t trn th gii:
Nm 1983 Vin k thut Nht Bn Singapore a vo kha o to k
thut c in t (mechatronics engineering) chng trnh o to 2 nm o to
li k s c kh.
Kha ging u tin mang tn Mechatronics cho k s v hc vin cao hc
c thc hin trng i hc Landcaster trong nm 1984/1985. K t kha
Trang 4
o to v C in t pht trin mnh tt c cc nc cng nghip pht trin v
ang pht trin.
Nhng nm u thp k 90 ca th k XX, 4 trng i hc Bch khoa ca
Singapore c chng trnh o to 3 nm chnh quy k s c in t.
c cng c cc kha o to v cp bng k s theo chuyn ngnh C
in t t nhng nm u 90. Tip theo khng lu l cc trng i hc Curtin v
New South Weles.
chu u, t nm 1980 c cc hot ng c lin quan n o to C
in t, nhng kha hc chnh thc v c in t trong trng i hc th ch bt
u t chng trnh mt nm Cao hc ti trng i hc Katholieke (B) trong nm
1986. n nm 1989 trng ny m ngnh o to C in t.
Trong nm 1990 mt lot cc trng i hc CHLB c, an Mch, H
Lan,(Chu u) a C in t vo ging dy. T nm 1992 n 1996 Lin minh
chu u ti tr thc hin d n TEMOUS a kha hc C in t vo ging
dy ti cc khoa C kh ca cc trng i hc: TU Brno, CTU, TU Plzeo,
University College Dublin, Loughborough University of Technology,..
Cc trng i hc Anh ging dy C in t bt u t trng Lancaster,
tip theo l trng i hc London, Survey, Dundee, Hull, Brunel, Loughborough,
Manchester v Leeds.
Bc M mc d c rt nhiu trng hot ng trong lnh vc C in t,
nhng cho n nm 1995 vn cha xut hin nhng kha ging dy mang tn C
in t. n nay hu nh cc trng i hc k thut ca M u c khoa ny.
Tnh n nm 1999 trn th gii c khong 90 trng i hc v vin nghin cu
c o to ging dy v nghin cu v c in t
V o to c in t Vit Nam:
Hi n nay m t s Trng H ti Vi t Nam o to chuyn ngnh C
i n t h i hc:
- T nm 1997 HBK TP H Ch Minh m Chuyn ngnh C i n t ti
khoa C kh.
- T nm 2001 HBK nng m chuyn ngnh C i n t ti khoa C
kh vi s lng 58 sinh vin. B mn C in t cng c thnh lp vo nm
2003.
- Nm 2001 H SPKT TP HCM cng m ngnh C in t kha u tin.
- Bt u t nm 2004, H Cng ngh thuc H Quc gia H ni m
Chuyn ngnh C in t ti Khoa C k thut vi s lng ban u khong 20
SV/nm.
Trang 5
Ngoi ra cc trng sau cng m chuyn ngnh C i n t o to H
- Vi n Cng ngh Chu (AIT) ti H n i
- H Cn th
- M t s trng H Dn l p Phng ng, DL Thng Long vv...
- o to Cao hc: o to Cao hc trong nc ti trng H Bch khoa
H Ni. H BK H N i hp tc vi H Tng hp k thu t Hannover
(CHLB c) v H Tng hp k thu t Dresden (CHLB c) m lp
Cao hc quc t.
Vi in t
in t cng sut
Cm bin
C cu chp hnh
Cng
ngh
thng tin
in t
C IN T
M hnh ha
L thuyt h thng
Cng ngh t ng ha
Phn mm
Tr tu nhn to
Cc thnh phn c kh
My
C kh chnh xc
Hnh 1.1. C in t: s tch hp hu c ca nhiu ngnh khc nhau
Trang 6
H c kh thun ty
<1920
ng c mt chiu 1870
ng c xoay chiu 1889
H c kh vi truyn ng in
1920
ng c hi nc 1860
My pht in 1870
Bm tun hon 1880
ng c t chy 1880
My nh ch
My cng c
Rle
Thy lc, kh nn, my
khuych i in
B iu khin PI 1930
H c kh vi khin t ng
Gia tng cc
thnh phn in
My nh ch
bng in
1935
Tuabin hi nc
My bay
1955
Thang my iu
khin bng in
Gia tng iu
khin t ng
Tranziton 1948
Thyristor 1955
H c kh vi:
+ iu khin in t tng t
+ iu khin tun t
My tnh s 1955
My tnh x l 1959
Phn mm thi gian thc 1966
My tnh 1971
T ng ha da trn s ha 1975
H c kh vi:
+ iu khin lin tc s
+ iu khin tun t s
1975
Dng c ct
Robot cng nghip
Nh my cng nghip
Cc a
Vi iu khin 1978
My tnh c nhn 1980
H thng x l bus
C cu truyn ng mi, cm bin
S tch hp cc thnh phn
H c kh vi:
+ Tch hp: c kh v phn cng
in t.
+ Cc chc nng xc nh bng
phn mm
+ Cc hiu qu tng hp
1985
Robot di ng
CIM
m t trng
iu khin my t ng
Tng dn iu
khin t ng
dng my tnh x
l v qu trnh
thu nh cu trc.
Tng dn s tch
hp gia cc quy
trnh vi my
tnh.
Bng 1.1. Lch s pht trin ca cc h c hc, in, in t.
Trang 7
1.2.2. Xu th pht trin.
Nm 70 ca th k 20, cc sn phm c in t ch yu tch hp phn c kh
vi cng ngh iu khin tr lc (servo) to nn cc sn phm nh ca t ng,
my t ng bn hng, my nh t ng chnh tiu c (focus). n nhng nm 80,
khi cng ngh thng tin c hnh thnh th cc chip vi x l c nhng vo
trong cc h thng c kh nng cao cc cng nng h thng. Lc ny cc my
cng c iu khin s v robot tr nn hon ho hn, cc t c phn iu khin
s c s dng rng ri. Trong lnh vc qun s, cc h thng v kh thng
minh c iu khin s ra i v pht trin mnh m.
Vo nhng nm 90, khi a cc sn phm c in t vo cng ngh truyn
thng to nn cc sn phm c kh nng kt ni mng. Cng trong giai on ny,
cc vi cm bin v c cu chp hnh siu nh c pht trin v ng dng trong
nhiu sn phm nh cc h thng vi c in t. C th ni rng, chc nng ca cc
my mc v h thng c k thut hin nay ph thuc ch yu vo phn mm (c th
l mt thut ton, mng nron, h m) trong my tnh ca sn phm. Ring iu ny
l mt s khc bit v cht so vi cc sn phm c in cch y 25-30 nm.
Xu th pht trin ca c in t l ngy cng tch hp trong n nhiu cng
ngh cao hn, sn phm ngy cng "thng minh" hn ng thi kch thc cng
ngy cng nh i.
Chin lc pht trin khoa hc v cng ngh Vit Nam n nm 2010 xc
nh mt s lnh vc c in t chuyn su:
- Robot lm vic trong cc mi trng c hi, nguy him, an ninh quc
phng, mt s dy chuyn cng nghip cng ngh cao
- Cc sn phm CT trong mt s lnh vc c kh trng im nh my
cng c, my ng lc, thit b in-in t, c kh t v cc thit b o
lng iu khin...
- Nghin cu vi c in t v nano c in t...
STT
1.
2.
3.
4.
5.
6.
Thit k truyn thng

Cc thnh phn thm vo
To ln
Kt cu phc tp
Vn v dy dn
Cc thnh phn kt ni
iu khin n gin
Cu trc cng nhc
iu khin truyn thng, tuyn tnh
Thit k C in t
Tch hp cc thnh phn (phn cng)
Nh gn
Kt cu n gin
Truyn thng khng dy hoc bus
Cc thit b t tr
Tch hp bi x l thng tin
Cu trc mm do, phn hi
iu khin phn hi kh lp trnh
Trang 8
7.
8.
9.
10.
chnh xc nh dung sai hp

chnh xc nh o lng v phn hi
Cc i lng khng o c thay iu khin cc i lng khng o c
i ty tin
bng cch c lng
Theo di n gin
Gim st vi chn on li
Kh nng c nh
Kh nng t hc
Bng 1.2. Cc thuc tnh ca thit k truyn thng v thit k C in t.
Trang 9
CHNG 2: CC THNH PHN C BN CA H THNG C

IN T
2.1. Mun mi trng.
Mun mi trng lin quan n cc thng s bn ngoi nh phm vi nhit
, cc yu t ti trngs tc ng n hot ng ca sn phm ng b. Trong
cc thit k tng th, cc tham s ny thit lp lot iu kin bin m sn phm phi
tn ti v hot ng trong .
Mun mi trng hnh thnh t iu kin hoc cc tiu chun, quy tc thc
t v chc nng thc hin ca h thng. Mun mi trng va ng vai tr u
vo, va ng vai tr u ra ca c h thng buc h thng c cc chc nng thc
hin, phc v mt mc ch c th no .
Mun mi trng khng hin din trong sn phm c in t, tuy nhin v
c in t lin quan c n vic thit k sn phm nn trong nghin cu sn phm
c in t, mun mi trng cn c quan tm ng mc.
2.2. Mun tp hp.
Mun tp hp l ton b h thng c kh, th hin kt cu hnh dng c s
cc sn phm. N bao gm chi tit, cm c kh, trong c bit l cc khung b
lp rp cho cc mun khc, cc chi tit s dng lm vt lin kt, vt trung gian
ghp niMi mt sn phm c mt cch th hin hnh dng khc nhau, lin quan
n mc ch s dng sn phm. Thng cc chi tit thnh phn c thit k v
ch to, sau c lp rp theo bn v lp ghp. Cng nh cc sn phm c kh
khc, sn phm c in t cn c mt hnh dng mang tnh thm m.
2.3. Mun o lng.
Mun o lng l h thng c s dng rt ph bin trong cc sn phm
c in t v thng c cu to t 3 thnh phn:
i lng ang c
Cm bin
o
Gia cng tn hiu
Hin th
Gi tr i
lng
C kh
Hnh 2.1. H thng o lng
v cc thnh phn.
Cm bin: Cm nhn i lng ang c o bng cch sinh ti u ra ca

n mt tn hiu tng ng.
Gia cng tn hiu: y l khu thu thp, gia cng tn hiu sau cc chuyn i
s cp. Tn hiu t cm bin ca mt h thng o thng c x l theo mt
Trang 10
phng php ph hp vi giai on hot ng tip theo. Tn hiu c th c
khuch i ln, loi nhiu, chnh lu, chuyn i t tn hiu s sang tng t v
ngc li
H thng hin th: Ni tn hiu ra t b gia cng tn hiu c th hin di
dng con s (hin th s) hoc dng biu (hin th tng t).
2.4. H thng kch truyn ng.
H thng kch truyn ng l thnh phn ca sn phm c in t, thc hin
chuyn i u ra t mun x l thnh cc hnh ng iu khin trn mt my
mc hoc thit b.
Phn ny s c tm hiu k chng 3.
2.5. Mun truyn thng.
Trong sn xut, ch to vi cc thit b c s iu khin, gi c nhp
sn xut gia cc thit b, gia chng cn c s trao i thng tin. Cc thit b c
th gi v c thng tin theo nhng cch khc nhau.
S trao i, truyn thng tin, d liu gia cc my tnh ty theo phm vi s
dng c yu cu c th l:
iu khin trung tm: l s dng mt my tnh trung tm iu khin ton
b dy chuyn. Trong trng hp ny, nu my tnh trung tm c s c, ton b dy
chuyn s ngng hot ng. y l dng iu khin nhng nm 1970.
H iu khin phn cp: Cc my tnh thc hin cng vic thng nht b
gim st bi cc my tnh c vai tr quyt nh ln hn. Cng vic c chia cho
cc my tnh theo chc nng ca chng (chuyn mn ha).
H thng iu khin phn quyn: Cc my tnh c thc hin cng vic
tng t nhau. Trng hp c s c hoc mt my qu ti, cng vic c th c
chuyn sang my khc. Cng vic c tri ra tt c cc my do vy mi my cn
truy cp c tt c cc my trong h thng.
2.6. Mun x l.
Mun x l, x l thng tin do mun giao din v mun o lng cung
cp. Thnh phn chnh ca mun ny l b iu khin. Ngy nay cc b vi x l
ng vai tr quan trng trong cc b iu khin.
B vi x l c chia thnh 3 vng:
- B x l trung tm (CPU) nhn bit v thc hin cc lnh ca chng
trnh.
- Giao din nhp-xut qun l v truyn thng gia b x l v th gii
bn ngoi.
- B nh lu gi chng trnh v d liu.
Trang 11
Tn hiu s di chuyn t khu vc ny sang khu vc khc dc theo ng

truyn bus. Bus l h thng dy ni truyn d liu t b phn ny n b phn
khc trong my tnh. Ni mt cch v von, bus ging nh con ng cao tc, cng
rng cng truyn c nhiu d liu i vi tc cao.
D liu lin quan n chc nng x l ca CPU c truyn bi ng
truyn d liu (data bus). Thng tin v a ch ca mt v tr xc nh trn b nh
truy cp cc d liu lu c ti bi bus a ch (address bus). Nhng tn hiu lin
quan n hnh ng iu khin c ti bi bus iu khin (control bus).
2.6.1. ng truyn bus.
Bus d liu (data bus): Dng mang thng tin gia CPU v b nh cng
nh gia CPU v cc thit b nhp xut. Mi dy trong bus truyn mt tn hiu nh
phn 0 hoc 1. Nh vy mt bus 4 dy ang truyn t 1010. Cc bit c truyn
nh sau:
T
0 (bit thp)
1
0
1 (bt cao)
Dy bus
Dy bus d liu u tin
Dy bus d liu th 2
Dy bus d liu th 3
Dy bus d liu th 4
Kch thc ca bus, c hiu nh rng ca ng cao tc, l yu t

quan trng quyt nh lng d liu c chuyn i mi ln. V d: bus 4 bit, 8 bit,
16 bit, 32 bit c th truyn tng d liu mt ln.
Nu mt bus d liu c chiu di 4 bit, s lng cc gi tr s l 2 4 = 16. B
vi x l 4 bit ngy nay hay s dng cho chi, my git. Loi ph thng hay dng
cho cc h iu khin nht l loi 8, 16, 32 v 64 bit.
Bus a ch (address bus): Thng tin v a ch ca mt v tr xc nh trn
b nh. Khi mt a ch c th c chn, th ch mi v tr ny c m thng vi
CPU. Hu ht cc my tnh nh c t 16 n 32 ng a ch v c kh nng truy
xut 2n v tr nh. Mt bus a ch 16 bit c kh nng truy xut 2 16 = 65536 = 64K v
tr nh. Mt bus a ch 20 bit c kh nng truy xut 1M v tr nh, mt bus a ch
32 bit c kh nng truy xut n 4G v tr nh. B nh cng ln cha c nhiu d
liu v s dng c cc chng trnh ln hn, phc tp hn.
Bus iu khin (control bus): l mt hn hp cc tn hiu, mi mt tn hiu
c mt vai tr ring trong vic iu khin c trt t hot ng ca h thng. Qua
bus iu khin tn hiu c gi ng b cc thnh phn ring l.
Trang 12
2.6.2. B x l trung tm CPU.
CPU qun l tt c cc hot ng v thc hin tt c cc thao tc trn d liu.
Hu ht cc CPU ch bao gm mt tp cc mch logic thc hin lin tc hai thao
tc: tm np lnh v thc thi lnh. CPU c kh nng hiu v thc thi cc lnh da
trn mt tp cc m nh phn, mi mt m nh phn biu th mt thao tc n gin.
cc lnh ny thng l cc lnh s hc (cng, tr, nhn, chia), cc lnh logic (AND,
OR, NOT), cc lnh di chuyn d liu hay cc lnh r nhnh c biu th bi
mt tp cc m nh phn v c gi l tp lnh.
2.6.3. B nh.
B nh ROM (Read Only Memory): l b nh cha cc d liu vnh vin.
Cc con ROM c lp trnh trong lc cc mch ny c ch to. Cc d liu ch
c th c c v s dng cho cc chng trnh c nh.
B nh EPROM (Erasable and Programable): Cc chip s dng loi b nh
ny c th xa v lp trnh li c.
B nh RAM (Random Access Memory): c gi l b nh truy cp ngu
nhin, n c nhim v lu d liu tm thi ang thc hin, n c th c v ghi d
liu vo. Ton b d liu ca b nh RAM s b mt nu mt ngun cung cp in.
2.7. Mun phn mm.
Cc mun phn mm c xy dng trn c s s dng cc ngn ng lp
trnh lp thut ton ph hp theo nhim v ca cc thit b ngoi vi c iu
khin. Mc ch sao cho b x l hiu, sau x l v a ra tn hiu iu khin
ph hp mc tiu ra. mun phn mm tng thch vi b vi x l, chng ta
phi tng thch vi m hnh lp trnh ca CPU tng ng.
2.7.1. Ngn ng lp trnh.
Cc thng tin vo buc b vi x l thc hin mt hnh ng c th c gi
l cc lnh (instruction), tp hp cc lnh m b vi x l nhn bit gi l b lnh
(instruction set). Dng thc ca b lnh ph thuc vo b vi x l c lin quan.
Lot cc lnh cn thit thc hin mt cng vic c th no ta gi l mt
chng trnh (program).
B x l lm vic vi h nh phn. Cc chng trnh vit theo h nh phn
c gi l m my. Vit chng trnh theo dng ny i hi k tht cao v thng
b mc li nhiu. Mt ngn ng thng c s dng l hp ng (Assembly
language). Tuy nhin trnh hp ng vn phi chuyn thnh m my nu mun b x
l hiu c chng trnh trn. S chuyn i ny c th thc hin th cng khi s
dng ti liu ca nh sn xut. Tuy nhin, thng c cc chng trnh my tnh thc
hin chuyn i ny gi l chng trnh dch hp ng (assembler programs). Bn
Trang 13
cnh ta cn dng cc ngn ng bc cao lp trnh nh: BASIC, C, C ++,
FORTRAN, PASCALTt c nhng ngn ng ny u phi chuyn sang ngn ng
my th b vi x l mi c th s dng c.
2.7.2. Cc tp lnh.
Tp lnh (instruction set) l danh sch t kha m t tt c cc hot ng
hoc cc tc v m n v x l trung tm (CPU) c th thc hin c. Cc b vi
x l khc nhau c cc lnh khc nhau nhng nhn chung cc lnh c th phn chia
thnh nhng nhm lnh sau:
- Chuyn d liu.
- Thc hin s hc.
- Thc hin logic.
- iu khin chng trnh.
2.7.3. Lp trnh.
Thng phng php lp trnh c s dng pht trin chng trnh gm
cc bc sau:
- Xc nh vn , bt u t vic lm r chng trnh phi thc hin
nhng chc nng g, yu cu nhp xut, dung lng nh
- Quyt nh thut ton s dng. Thut ton l tun t cc bc xc nh
mt phng php gii quyt vn .
- Th hin thut ton thng qua lu . Biu din cc biu tng chun
th hin lu . Mi mt bc ca thut ton th hin bng mt hoc hn
mt biu tng v ni vi nhau bi ng th hin lung chng trnh.
- Chuyn i lu thut ton thnh cu lnh m b x l c th thc
hin. Tc l vit cc cu lnh theo ngn ng lp trnh.
- Chy th v sa li chng trnh.
2.8. Mun giao din.
Mun giao din l mt phn quan trng trong h thng C in t. Cc thit
b ngoi vi (b cm bin, bng iu khin) thng khng c ni trc tip vi h
thng vi x l do thiu tng thch v mc v dng tn hiu. Do vy cn phi c
mt mch ghp ni gi l mch giao din ni thit b ngoi vi v b vi x l.
Thit b ngoi vi
Mch giao din
B vi x l
Hnh 2.2. Giao din.
Trang 14
CHNG 3. CM BIN V C CU CHP HNH

3.1. Gii thiu v cm bin v c cu chp hnh.
Cm bin v c cu chp hnh l hai thnh phn c bn ca mi h c in
t. Mt h c in t in hnh nh trn hnh 3.1 gm mt khi cm bin, mt khi
iu khin v mt khi c cu chp hnh.
Khi cm bin c th n gin l mt cm bin n l hoc c th gm cc
thnh phn b sung nh b lc, b khuch i, b iu ch v cc b bin i tn
hiu khc.
Khi iu khin nhn thng tin t khi cm bin, a ra quyt nh da trn
thut ton iu khin v cc lnh ti khi c cu chp hnh.
Khi c cu chp hnh bao gm c cu chp hnh c th thm mt b ngun
v mt c cu ghp ni.
Kho
i ca
m
bie
n
HETHO
NG
C
IE
U
KHIE
N
BOIE
U KHIE
N
Kho
i c ca
u
cha
p ha
nh
Hnh 3.1. H C in t thng gp.

3.1.1. Cm bin.
Cm bin l mt thit b m khi c mt hin tng vt l tc ng vo (nhit
, lc, nh sng,) s to ra tn hiu u ra (in, c hc, t,) t l.
Cm bin c phn loi thnh 2 dng tng t hoc s da trn dng tn
hiu u ra. Cm bin tng t cung cp tn hiu lin tc t l vi tham s cn o
v cn s bin i tng t thnh s trc khi chuyn cho b iu khin s. Trong
khi , cm bin s cung cp u ra s c th trc tip ghp ni vi b iu khin
s.
Mt s loi cm bin thng gp:
Cm bin dch chuyn thng v quay.
Trang 15
Cm bin gia tc.
Cm bin lc.
Cm bin o mmen v cng sut.
Cm bin lu lng.
Cm bin nhit .
Cm bin o khong cch.
Cc cm bin nhn bit nh sng, hnh nh v nhn dng.
Tiu chun la chn.
Di o: Chnh lch gia gi tr ln nht v gi tr nh nht ca tham s
cn o.
phn gii: Thay i nh nht m cm bin c th phn bit c.
chnh xc: Sai khc gia gi tr o c v gi tr thc.
Tnh chnh xc: Kh nng lp li kt qu o vi chnh xc cho trc.
nhy: L t s ca thay i u ra trn mt n v thay i ca u
vo.
Thi gian p ng: tr gia u vo v u ra.
Nhit hot ng: Khong nhit m ti cm bin hot ng c.
Vng cht: Di u vo m trong di s khng c u ra.
Vic chn cm bin tha mn tt c cc c tnh k thut trn l khng thc
t. V d vic tm cm bin v tr vi phn gii m trong khong mt mt gn
nh khng p ng c vi hu ht cc loi cm bin. Do vy ty theo h C in
t thit k m ta la chn cm bin cho ph hp.
Khi cc h s chc nng trn c tha mn, ngi ta c th a ra mt
danh sch cm bin. S la chn cui cng s ph thuc vo kch c, tin cy,
bn vng, kh nng bo dng v gi thnh cm bin.
3.1.2. C cu chp hnh.
V c bn, cc c cu chp hnh l phn pha sau mt h c in t, nhn
lnh iu khin (hu ht l dng tn hiu in) v gy ra mt s thay i trong h
vt l bng cch to lc, chuyn ng, nhit, dng chyThng thng cc c cu
chp hnh c s dng kt hp vi ngun nui v mt c cu ghp ni nh trn
hnh 3.2.
Trang 16
Hnh 3.2. Thit b chp hnh thng thng.

Phn loi:
C cu chp hnh c th phn loi da trn dng nng lng.V c bn c
cc dng: in, in c, in t, thy lc v kh nn.
C cu chp hnh cng c th phn loi thnh dng nh phn v lin tc da
trn s lng u ra trng thi n nh. Mt rle vi hai trng thi n nh l mt v
d in hnh ca c cu chp hnh dng nh phn. Tng t, mt ng c bc l
mt v d in hnh cho c cu chp hnh dng lin tc.
3.2. c tnh ca cm bin v c cu chp hnh
3.2.1. Di o.
Chnh lch gia gi tr ln nht v gi tr nh nht ca tham s cn o. Di
o thng c quy nh bi nh sn xut cm bin.
3.2.2. phn gii.
phn gii ca cm bin l khong nh nht ca u vo m cm bin c
th o c. phn gii cng c th c hiu l s m nh nht ca cm bin.
V d mt b m ha 1024 ppr (xung/vng) c phn gii l:
360 o 0.3516 o
1024 xung
xung
3.2.3. nhy.
nhy ca cm bin c nh ngha l t s gia thay i u ra trn mt
n v thay i u vo. nhy ca cm bin thng lin quan mt thit n
phn gii. Mt cm bin c c tnh tuyn tnh th c nhy khng i trn ton
b di u vo. Cc cm bin c c tnh phi tuyn th c nhy tng hoc gim
khi u vo thay i nh hnh 3.3.
Trang 17
Hnh 3.3. nhy ca cm bin.

3.2.4. Sai s.
Sai s l sai khc gia gi tr o c v gi tr thc ca u vo. C hai
loi sai s l sai s h thng v sai s ngu nhin. Sai s h thng c tt c cc
php o c thc hin vi cm bin. Cc dng ca sai s h thng:
Sai s lch khng: l dng ph bin ca sai s h thng khi gi tr u

ra khc khng vi u vo bng khng.
Sai s ti: do thm cm bin vo h o lm thay i h.
Sai s do nhy ca cm bin thay i khng ging nh mong
mun.
3.2.5. Kh nng lp li.
Kh nng lp li l kh nng thu c u ra ging nhau vi u vo ging
nhau ca mt cm bin. Sai s ngu nhin lm gim kh nng lp li. Sai s ngu
nhin c th khc phc bng cch ly trung bnh ca mt s php o. Nhiu cng
lm gim kh nng lp li.
3.2.6. Vng cht.
Vng cht l mt vng u vo gn im khng m u ra vn gi gi tr
khng. Khi u vo dch ra khi vng cht th u ra s thay i theo u vo (hnh
3.4).
Trang 18
u ra
Tuyn tnh
Vng cht
thc
u vo
Hnh 3.4. Vng cht.

Vng cht thng c dng trong b n nhit gia nh v cc b iu khin
qu trnh.
u ra
Vng cht
bt
tt
im t
nhit
Hnh 3.5. Vng cht ca b n nhit.

V d v b n nhit gia nh c m t trn hnh 3.5.
Khi nhit t im t (gi tr mong mun) trn b n nhit, u ra vn
gi trng thi tt. Ngay khi nhit trong phng tng ln ti gi tr im t cng
mt na gi tr vng cht th u ra h thng lm mt s bt hon ton.
Khi phng lnh i, u ra s gi trng thi bt n khi nhit trong phng
t im t tr i mt na gi tr vng cht, u ra h thng lm lnh s tt hon
ton.
Trang 19
3.2.7. Tnh n nh.
Thut ng tnh n nh c nhiu nh ngha v cch dng khc nhau nhng
nh ngha ph bin nht l nh ngha lin quan n cn bng. Mt h cn bng s
gi c trng thi khng i khi khng c nhiu tc ng. Mt h n nh s tr
li trng thi cn bng nu c nhiu nh lm dch chuyn h thng khi trng thi
ban u. Mt h khng n nh s khng tr li v tr cn bng v thng dch
chuyn xa v tr cn bng.
C ma st
Khng n nh
n nh
Khng ma st
Bin gii n nh
Hnh 3.6. Tnh n nh ca h thng.

Hnh 3.6 cho thy ba iu kin n nh vi mt h n gin gm: qu bng
v i. Trong mi trng hp, v tr cn bng c xc nh d dng trn nh i
hoc di y. Trong trng hp n nh, mt dch chuyn nh ca qu bng ra
khi v tr cn bng, n s quay tr v v tr cn bng, c th sau mt vi dao ng.
Trong trng hp th ba, trng hp khng c ma st lm qu bng dao ng lin
tc quanh v tr cn bng sau khi c mt chuyn ng nh. Trng hp c bit ny
gi l bin n nh do h thng khng bao gi thc s tr li v tr cn bng.
Hu ht cc cm bin v c cu chp hnh vn n nh. Tuy nhin, vic
thm cc h iu khin ch ng c th lm h cc thit b n nh tr thnh khng
n nh. Cn phn tch v kim tra cn thn m bo rng mt h c in t hot
ng trong trng thi n nh.
3.2.8. Thi gian p ng.
L thi gian tr gia u vo v u ra. Cm bin cng tt th thi gian p
ng cng nh.
3.2.9. Nhit h thng.
L khong nhit m ti cm bin cn c th hot ng c.
Trang 20
3.3. Mt s loi cm bin thng gp.
3.3.1. Cm bin dch chuyn thng v quay.
Hu ht cc chuyn ng ph bin nht trong cc h thng c kh l chuyn
ng thng dc theo mt trc c nh v quay mt gc quanh trc c nh. Nhng
chuyn ng phc tp hn thng c to ra bi vic kt hp nhng chuyn ng
n gin . Trong phn ny chng ta s gii thiu tm tt mt s cng ngh sn c
o cc chuyn ng thng v chuyn ng quay quanh mt trc.
3.3.1.1. Cng tc hnh trnh.
Loi n gin nht ca cm bin dch chuyn l mt cng tc hnh trnh, n
gi tr mt bit thng tin: chm hoc khng chm. Mt cng tc hnh trnh in hnh
bao gm mt n by, khi n c tc ng n s to ra mt tip xc c kh bn
trong cng tc, t to ra mt mch in kn (hnh 3.7). C th s dng cng tc
ny nh l nhng cm bin va chm.
Hnh 3.7. Cng tc hnh trnh.

3.3.1.2. Tia hng ngoi.
Tia hng ngoi c th c s dng o cc dch chuyn thng hoc dch
chuyn quay. Thng thng cc it pht tia hng ngoi (LED) hoc l n pht
quang (Thit b pht) c dng nh mt ngun pht sng v mt thit b cm nhn
hng ngoi c dng pht hin tia sng (thit b thu).
Nu thit b pht v thit b thu t i din nhau th chng c th c s
dng nh mt b ngt tia pht hin bt k vt g i qua chng. Thit b ny c
gi l thit b ngt quang (hnh 3.8).
Hnh 3.8. B ngt quang dn QVA11234

Trang 21
Nu thit b pht v thu di chuyn t do theo ng thng ni chng, th
cng ca tn hiu nhn c c th c s dng o khong cch gia
chng. Tuy nhin thit b thu tia hng ngoi cng c th nhy cm vi c nh sng
ca mi trng xung quanh. Do vy trong qu trnh thit k ta phi n hin
tng ny lm cho cm bin chng nhiu mt cch tt nht.
Mt b pht sng v b d t cng hng v mt pha c th o th khong
cch ti mt b mt gn nh cng ca tia phn x sau khi va vo b mt.
Thit b c gi l thit b phn x quang (hnh 3.9). Mt cm bin nh vy c
th c dng cho cc robot di ng pht hin cc vt cn mt khong cch
cho trc.
Hnh 3.9. Cm bin phn x quang bn dn QRB1114.

Cc thit b ngt quang v cc thit b phn x quang c th c ng gi
sn hoc ch to ring bit t mt LED hng ngoi v mt it quang hoc tranzito
quang, sau khi chc chn rng thit b thu nhy cm vi bc sng sinh ra bi LED
pht hng ngoi.
3.3.1.3. Cc b m ha quang hc.
Mt b m ha quang s dng mt b ngt quang bin chuyn ng thnh
mt chui xung in. Nhng chui xung ny m ha chuyn ng v cc xung
c m hoc c gii m bi mt mch in a ra s o dch chuyn.
Chuyn ng c th l thng hoc quay, nhng chng ta tp trung vo cc b m
ha quang quay thng thng.
C hai b m ha quang quay c bn l: m ha tng i v b m ha
tuyt i. Trong b m ha tng i, mt a (a chia vch) c gn vo mt
trc quay trn gia hai b ngt quang hc (hnh 3.10). V vy khi trc quay th cc
vch ny s ngn hoc cho tia sng hng ngoi ti thit b d quang hc. Cc dy
xung thu c t cc b d ny c tn s tng ng vi vn tc gc ca a. Nhng
Trang 22
tn hiu ny c k hiu l A v B. Hai tn hiu A v B ny lch pha nhau chu
k.
Hnh 3.10. B m ha tng i.

Thng qua vic m s lng cc xung v s lng cc vch trn a bit,
ta c th o c tc quay ca trc. Hng quay c xc nh da trn quan h
pha ca cc chui xung A v B. V d A tng khi B = 1 ta c th ni rng chuyn
ng ca a l chuyn ng quay ngc chiu kim ng h. Ngc li A tng khi
B = 0 th chuyn ng ca a l chuyn ng quay cng chiu kim ng h.
3.3.2. o lc.
Lc l mt i lng vect, c nh ngha nh l tc nhn gy ra gia tc
hoc phn ng c th ca mt vt. Trong phn ny chng ta s gii thiu cc
phng php c ng dng xc nh ln ca nhng lc ny.
Nhn xt chung: Nu cc lc tc dng ln mt vt m khng sinh ra gia tc,
chng phi c mt dng h lc cn bng. H ny c xem nh l mt h cn bng
tnh. Cc lc tc dng ln vt c th chia lm hai loi: ni lc do cc phn t ring
bit ca vt tc dng ln nhau v ngoi lc.
(a)
(b)
(c)
Hnh 3.11. Vt b ko dc trc (a), nn dc trc (b), bin dng (c).
Trang 23
Trong k thut o hin c, mt nhm c gi l cm bin ti. Nhn chung
cm bin ti gm mt khung cng, mt mi trng o cc lc t vo v mt
u o. Cc cm bin ti c s dng o cc lc ln, tnh hoc bin thin chm
vi lch rt t v tng i chnh xc. C th p dng cc phng php khc
nhau o cc lc ty thuc vo thit k ca cm bin ti. V d hnh 3.12 minh
ha cm bin ti thy lc. Cm bin ti dng o cc lc tng i ln vi gi
thnh thp. Cm bin ti thy lc dng mt khung rt cng vi mt khoang trong
cha y cht lng. Khi c ti, p lc ca du tng, v mt u o chnh xc s c
gi tr ny.
Hnh 3.12. Cm bin ti thy lc.

3.3.3. Cm bin o khong cch.
Cm bin ny c s dng o khong cch t mt im tham chiu ti
mt i tng. Rt nhiu cng ngh khc nhau c ng dng pht trin cc
loi cm bin ny, tiu biu l nh sng/quang hc, hnh nh, vi sng v siu m.
Cm bin o khong cch c th c phn lm hai loi: Tip xc v khng tip
xc. Ta ch yu cp n loi khng tip xc.
Cm bin o khong cch khng tip xc l loi cm bin o khong cch
thc t im tham chiu ti mt i tng khng qua tip xc vt l. C th c
phn lm hai loi l: ch ng (pht mt s dng nng lng vo khu vc cn quan
tm) v b ng (da trn nng lng pht ra t cc i tng trong khu vc quan
tm).
Vi cc loi cm bin ch ng (phn x), khong cch o hiu qu ph
thuc khng ch vo mc nng lng pht ra m cn ph thuc vo cc c tnh sau
ca i tng:
Din tch tit din ngang: xc nh lng nng lng pht ra tc ng
vo i tng.
H s phn x: xc nh lng nng lng truyn ti c phn x so vi
lng nng lng b hp th hoc xuyn qua.
tp trung: xc nh kh nng phn b li ca nng lng phn x.
Trang 24
Rt nhiu cm bin khng tip xc hot ng da trn hin tng truyn
sng. Sng c pht ra ti mt im tham chiu, khong cch c xc nh bng
cch o thi gian truyn t im tham chiu ti vt hoc suy gim ca cng khi
sng truyn ti vt v quay tr li im tham chiu. Thi gian truyn sng thng
c o bng phng php thi gian truyn (TOF_Time of flight).
Phng php thi gian truyn:
Phng php thi gian truyn c minh ha trong hnh 3.13 v 3.14. Mt
b pht sng (pht ra vi chu k) c pht ra v phn x t vt v b thu c v tr
gn b pht. B pht v b thu c th c tch hp trn cng mt cm bin. B thu
cng c th c gn trn vt. TOF l thi gian t khi bt u pht n khi c tn
hiu tr v. Khong cch c xc nh bng cng thc d = c.TOF/2 (khi b pht v
b thu cng mt v tr ) v d = c.TOF (khi b thu c gn trn vt).
Hnh 3.13. Sng c pht v phn x li t vt
Hnh 3.14. nh ngha thi gian truyn sng.

chnh xc ca phng php ny c th c tng ln bng phng php
d bin cc i (hnh 3.15)
Trang 25
Hnh 3.15. TOF tnh theo bin ln nht ca tn hiu phn x

Sai s ca phng php thi gian truyn c th do cc nguyn nhn sau:
S thay i tc truyn sng: c bit l vi cc h thng m thanh
ta phi ch ti s thay i ny. V tc m thanh chu nh hng
r rt ca nhit v m.
Khng xc nh c chnh xc thi gian n ca xung phn x.
Sai s ca mch nh thi s dng o thi gian truyn.
S tng tc ca sng ti b mt i tng cn o khong cch: Khi
nh sng, m thanh hoc sng radio tc ng vo i tng, tn hiu
phn hi o c ch th hin mt phn nh ca tn hiu ban u.
Nng lng cn li phn x theo cc hng khc nhau v c th c
hp th hoc xuyn qua i tng, ph thuc vo c tnh i tng
v gc ti ca chm sng.
3.4. C cu chp hnh.
3.4.1. Cc ng c in.
3.4.1.1. ng c DC.
Trn hnh 3.16 khi cho in p mt chiu U vo hai chi in A v B, trong
dy qun phn ng c dng in chu lc tc dng tng h ln nhau to nn
momen tc dng ln rto, lm rto quay. Chiu lc tc dng c xc nh theo qui
tc bn tay tri (hnh 3.16a).
Trang 26
Hnh 3.16. Nguyn l lm vic ca ng c mt chiu.

Khi phn ng quay c na vng, v tr thanh dn ab, cd i ch nhau (hnh
3.16b), nh c phin gp i chiu dng in, nn dng in mt chiu bin i
thnh dng in xoay chiu a vo dy qun phn ng, gi cho chiu lc tc dng
khng i, do lc tc dng ln rto cng theo mt chiu nht nh, m bo
ng c c chiu quay khng i.
IU CHNH TC :
ng vi mi ti khc nhau ta cn c tc khc nhau. V vy ph hp vi
ti, cn phi iu chnh tc ng c lc c ti.
Ta c phng trnh in p mch phn ng l:
U = E + RI
E = U - RI
Thay tr s E = KE n ta c phng trnh tc l:
n=
U R u Iu
K E
Nhn vo phng trnh trn, ta thy rng mun iu chnh tc ta c cc

phng php sau:
a. Mc in tr iu chnh vo mch phn ng.
Khi mt thm in tr ph vo mch phn ng, in tr R tng ln c tnh
c dc xung, tc ng c gim dn. Do dng in phn ng ln nn tn hao
cng sut trn in tr iu chnh ln. Phng php ny ch s dng ng c
cng sut nh.
b. Thay i in p U.
Dng ngun in mt chiu iu chnh in p cung cp cho ng c.
Phng php ny c s dng nhiu.
Trang 27
c. Thay i t thng.
Thay i t thng bng cch thay i dng in kch t.
Khi iu chnh tc , ta kt hp vi cc phng php trn. V d phng
php thay i t thng, kt hp vi phng php thay i in p th phm vi iu
chnh rt rng, y l u im ln ca ng c in mt chiu.
3.4.1.2. ng c AC.
a. ng c khng ng b.
Nguyn l lm vic:
Khi t in p xoay chiu ba pha c tn s f 1 vo dy qun stato, trong dy
qun stato s c h thng dng ba pha chy qua, dng in ny s to ra t trng
quay p i cc, quay vi tc
n1
60 f
p
. T trng quay ct cc thanh dn ca
dy qun rto v cm ng cc sc in ng. V dy qun rto ni ngn mch, nn

sc in ng cm ng s sinh ra dng trong cc thanh dn rto. Lc tc dng
tng h gia t trng quay ca my vi thanh dn mang dng in rto, ko rto
quay theo chiu vi t trng quay vi tc n.
minh ha, ta xt t trng quay B ca stato ang quay theo chiu kim
ng h vi tc n1 (hnh 3.11).
Khi xc nh chiu sc in ng
cm ng theo quy tc bn tay phi, ta cn
c vo chiu chuyn ng tng i ca
thanh dn vi t trng. Nu coi t
trng ng yn, th chiu chuyn ng
tng i ca thanh dn ngc vi chiu
n1, t p dng quy tc bn tay phi
xc nh c chiu sc in ng nh
hnh v.
Hnh 3.11. Qu trnh to momen
Chiu lc in t xc nh theo
quay ca ng c khng ng b
quy tc bn tay tri, trng vi chiu quay
n1.
chnh lch gia tc t trng quay v tc ca my gi l tc
trt n2:
n2 = n1 n
H s trt ca tc l
n2 n1 n
S=
n1
n1
Trang 28
Khi roto ng yn (n = 0), h s trt s = 1. Khi roto quay nh mc s = 0,02
0,06. Tc ng c l:
n = n1 (1 - s) =
60 f
(1 s )
p
vg/p
b. ng c ng b.
Nguyn l lm vic:
Khi cho dng in ba pha vo dy qun stato, dng in ba pha dy qun
stato s sinh ra t trng quay vi tc :
n1
60 f
p
Nu rto ang ng yn (hnh 3.12), cc Nam S ca rto b cc Bc N stato

ko v n c xu hng quay theo chiu kim
ng h. Nhng do qun tnh v cc Bc
stato qut qua n qu nhanh, trong khi n
cha quay ti th sau na chu k n i
din vi cc Nam stato v b y li, ngha l
rto c xu hng quay theo chiu ngc
li. Kt qu l moment (m my) trung bnh
bng khng v rto khng quay c.
Tuy nhin nu chng ta quay trc
rto vi tc ng b cc cc t rto b
kha cht vo cc t stato tri du. Khi
khng ti, t trng stato v rto cng quay
Hnh 3.12. S to ra momen trong
vi tc ng b n1 v trc ca chng
ng c ng b.
trng nhau ( = 0). Lc c ti trc t trng
rto i chm sau trc t trng stato mt gc , ti cng nng gc cng ln,
nhng c hai vn cng quay vi tc ng b n1.
3.4.1.3. ng c bc.
a. Gii thiu v ng c bc.
ng c bc c bn l mt ng c in khng c b phn o mch
(chi than). Thng thng ng c bc c nhiu hn 2 cun dy ng vai tr
stator (phn tnh). Rotor (phn ng) vn l mt nam chm vnh cu hoc l
nhng khi c rng (kha) lm bng vt liu nh c t tnh (trng hp ng c
bc bin t tr). S o mch cho dng in trong cun dy c thc hin
bng mch in iu khin bn ngoi. Thng thng, mch iu khin ny cn
Trang 29
c thm chc nng iu khin ng c quay ti, lui hoc gi nguyn v tr xc
nh.
Hnh 3.17. Phn bit ng c bc v ng c in thng thng.
Hnh 3.18. Cu to bn trong ng c bc.
Hnh 3.19. Hnh dng bn ngoi ca ng c bc.
Trang 30
ng c bc thuc loi ng c ng b, chng khng th quay t do,
lin tc m hot ng theo nguyn l quay tng bc, mi bc ng c s
quay c mt gc (v d 1,80/bc). Mt vng quay ca n gm nhiu bc
ni tip nhau. Khi kt hp vi mch iu khin bn ngoi, chng c th quay n
v dng li ti mt v tr xc nh mt cch chnh xc.
b. Cc loi ng c bc.
Da vo cu to, ta c ba loi ng c bc chnh l: ng c bc nam
chm vnh cu, ng c bc bin t tr v ng c bc hn hp (ng c lai).
Ngoi ra cn c cch phn loi da vo mch iu khin nh ng c bc n
cc, lng cc.
ng c bc nam chm vnh cu.
ng c bc nam chm vnh cu c rotor l mt nam chm vnh cu,
khng chia thnh nhiu rng, cng c nhiu cun dy nh loi bin t tr. C hai
loi thng dng l ng c bc n cc (cn gi l c cc unipolar) v
lng cc (bipolar).
ng c bc bin t tr:
ng c bc bin t tr (hay cn gi l ng c bc phn khng)
khng dng nam chm vnh cu lm rotor m dng mt khi c rng lm
bng vt liu nh c t tnh. Phn stator l 3 n 5 cun dy c ni chung vi
nhau.
Hnh 3.20. ng c bin t tr.

ng c bc hn hp.
ng c bc hn hp (hay cn gi l ng c bc cm ng) kt hp u
im ca hai loi ng c trn, ngha l chng c rotor l nam chm vnh cu,
c nhiu rng, stator l nhng cun dy. ng c hn hp thng dng l loi c
200 rng v c bc 1,80.
Trang 31
Hnh 3.21. ng c bc hn hp.

Nh ta thy trong hnh, rotor ca ng c bc hn hp gm hai a b tr
so le nhau. Mi a c nhiu rng ng vi cc cc.
3.4.2. H thng iu khin kh nn.
iu khin l qu trnh ca mt h thng, trong di tc dng ca mt
hay nhiu i lng vo, cc i lng ra thay i theo mt quy lut nht nh ca
h thng .
Mt h thng iu khin bao gm:
Phn t a tn hiu
Phn t x l v
iu khin
C cu chp hnh
- Van o chiu.
- Xilanh.
- Van chn.
- ng c kh nn.
- Van tit lu.
- Van p sut.
- Phn t khuch i.
Trong phn ny ta ch xt n 2 phn: Phn t x l v iu khin v c cu
chp hnh.
3.4.2.1. Phn t x l v iu khin.
3.4.2.1.1. Van o chiu.
Van o chiu c nhim v iu khin dng nng lng bng cch ng m
hay thay i v tr cc ca van thay i hng ca dng kh nn.
a. K hiu ca van o chiu.
- Cng tc, nt bm.
- Cng tc hnh trnh.
- Cm bin.
Trang 32
TN THIT B
K HIU
Van o chiu 2/2
Van o chiu 4/2
Van o chiu 5/2
b. Tn hiu tc ng:
Tn hiu tc ng vo van o chiu c 4 loi l: tc ng bng tay, tc ng
bng c hc, tc ng bng kh nn v tc ng bng nam chm in.
Tn hiu tc ng t 2 pha (i vi van o chiu khng c v tr khng)
hay ch t 1 pha (i vi van o chiu c v tr khng).
Tc ng bng tay:
TN THIT B
K HIU
K hiu nt nhn tng qut
Nt bm
Tay gt
Bn p
Tc ng bng kh nn:
Trang 33
TN THIT B
K HIU
Trc tip bng dng kh nn vo

Trc tip bng dng kh nn ra
Trc tip bng dng kh nn vo vi
ng knh 2 u nng van khc nhau
Gin tip bng dng kh nn vo qua
van ph tr
Tc ng bng c.
TN THIT B
K HIU
u d
C chn bng con ln, tc ng 2 chiu
C chn bng con ln, tc ng 1 chiu
L xo
Nt nhn c rnh nh v
Tc ng bng nam chm in

TN THIT B
K HIU
Trc tip
Bng nam chm in v van ph tr
Tc ng theo cch hng dn c th
Trang 34
c. Van o chiu c v tr khng.
Van o chiu c v tr khng l loi van tc ng bng c l xo ln nng
van v k hiu l xo nm ngay v tr bn cnh vung pha bn phi ca k hiu
van. Tc ng ln pha i din nng van l tn hiu tc ng bng c, kh nn hay
bng in. Khi cha c tn hiu tc ng, v tr ca cc ca ni c biu din trong
vung pha bn phi i vi van o chiu 2 v tr. Cn i vi van o chiu 3 v
tr th v tr khng nm gia.
V d: Van o chiu 2/2 tc ng bng nam chm in.
0 R 1
1
Y
P
Van c 2 ca P v R, 2 v tr 0 v 1. Ti v tr 0, ca P v R b chn. Khi cun
Y c in, t v tr 0 van chuyn sang v tr 1, ca P ni vi ca R. Khi cun Y mt
in, do tc ng ca l xo pha i din, van s quay tr v v tr ban u.
d. Van o chiu khng c v tr khng.
Khi khng c tn hiu tc ng ln u nng van na, th v tr ca van vn
c gi nguyn i tn hiu tc ng t pha nng van i din. V tr tc ng k
hiu a , b, c,
Tn hiu tc ng c th l:
- Tc ng bng tay hay bn p.
- Tc ng bng dng kh nn iu khin vo hay ra t 2 pha nng van.
- tc ng trc tip bng in t hay gin tip bng dng kh nn i qua
van ph tr.
V d: Van o chiu 3/2 tc ng bng nam chm in.
a
b
Y2
Y1
P R
Khi cun Y1 c in th ca P ni vi ca A, ca R b chn. Khi cun Y2 c

in th ca A ni vi ca R cn ca P b chn.
3.4.2.1.2. Van chn.
Van chn l loi van ch cho dng kh nn i qua mt chiu, chiu cn li b
chn. Van chn gm c cc loi sau:
- Van 1 chiu.
Trang 35
-
Van Logic OR.

Van Logic AND.
Van x kh nhanh.
TN THIT B
Van mt chiu.
Van mt chiu c tc dng ch cho
dng kh nn i qua mt chiu (t A qua
B), chiu ngc li b chn.
Van logic OR.
Khi c dng kh nn vo t P1 th
ca P2 b chn v ca P1 ni vi ca A.
Ngc li khi dng kh nn vo P2 th ca
P1 b chn, ca P2 ni vi ca A.
Van logic AND.
Khi c dng kh nn vo P1 th P1
b chn, v ngc li khi c dng kh nn
vo P2 th P2 b chn. Ch khi no c P1 v
P2 c dng kh nn vo th mi c kh nn
qua ca A.
K HIU
B
P1
P2
B
A
P1
P2
B
Van x kh nhanh.
A
Khi dng kh nn vo ca P, chn
ca R, ca P ni vi ca A. Khi dng kh
P
R
nn vo t A, ca P b chn, ca A ni vi
ca R, kh c x nhanh ra ngoi.
3.4.2.1.3. Van tit lu:

Van tit lu c nhim v thay i lu lng dng kh nn, c ngha l thay
i vn tc ca c cu chp hnh.
A
B
TN THIT B
K HIU
Van tit lu c tit din khng i:

Khe h ca van c tit din khng
thay i, do lu lng dng chy khng
thay i.
Van tit lu c tit din thay i:
Trang 36
Lu lng dng chy qua van thay
i c nh vo mt vt iu chnh lm
thay i tit din ca khe h.
Van tit lu mt chiu iu chnh
bng tay:
Tit din Az thay i bng cch iu
chnh vt bng tay. Khi dng kh nn t A
sang B, l xo y mng chn v dng kh nn
ch qua tit din Az. Khi dng kh nn t B
sang A, mng chn b y ln v dng kh i
qua khong h gia mng chn v mt ta
mng chn, lu lng khng c iu
chnh.
Van tit lu mt chiu iu chnh
bng c chn:
Nguyn l hot ng tng t nh
van tit lu mt chiu iu chnh bng tay.
Dng kh nn ch c th i mt chiu t A
sang B, ty vo v tr ca c chn m tit
din ca khe h ca van thay i, lm cho
lu lng dng chy thay i.
3.4.2.1.4. Van p sut.

TN THIT B
Van an ton.
Bnh thng khi p sut nh hn
hoc bng p sut cho php, ca R b
chn, nhng khi p sut ln hn p sut
cho php, ca R m ra, kh nn t ca P
K HIU
Trang 37
theo ca R thot ra ngoi.
Van trn.
Nguyn tc hat ng tng t
nh van an ton, nhng ch khc ch
l khi p sut bng hoc ln hn p sut
cho php th ca P ni vi ca A, ni
vi h thng iu khin.
A
X
Van p sut iu chnh t xa :
Khi c tn hiu p sut tc ng,
th ca P ni vi ca A. Tn hiu tc
ng c th trc tip ln van o chiu,
hay tn hiu gin tip qua van trn.
R
A
3.4.2.2. C cu chp hnh:

C cu chp hnh c nhim v bin i nng lng kh nn thnh nng
lng c hc. C cu chp hnh c th thc hin chuyn ng thng (xilanh) hoc
chuyn ng quay (ng c kh nn).
3.4.2.2.1. Xi lanh.
TN THIT B
K HIU
Trang 38
Xilanh tc dng n (xilanh tc

dng mt chiu).
p lc kh nn ch tc dng vo
mt pha ca xilanh, pha cn li l do
ngoi lc hay l xo tc dng.
Xilanh tc dng 2 chiu (xilanh
tc dng kp).
p sut kh nn c dn vo 2
pha ca xilanh, do yu cu iu khin
m xilanh s i vo hay i ra ty thuc
vo p lc kh nn vo pha no.
3.4.2.2.2. ng c kh nn:
ng c kh nn c nhim v bin i nng lng ca kh nn thnh nng
lng c hc (chuyn ng quay).
ng c kh nn c nhng u im sau:
- iu chnh c momen quay v s vng quay.
- S vng quay cao v iu chnh v cp
- Khng h hng khi qu ti
- Gi thnh bo dng thp
Nhc im.
a.
b.
- Gi thnh nng lng cao.
a. ng c quay mt chiu
- S vng quay thay i theo ti trng.
b. ng c quay hai chiu.
- Gy ting n ln khi x kh.
Hnh 3.22. K hiu ng c kh nn
Trang 39
CHNG 4: IU KHIN LOGIC KH LP TRNH PLC

4.1. Gii thiu PLC.
4.1.1. Gii thiu chung.
PLC vit tt ca Programmable Logic Controllers. L thit b iu khin
logic lp trnh c, cho php thc hin linh hot cc thut ton iu khin logic
thng qua mt ngn ng lp trnh.
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 tnh nng u vit v thch hp
trong mi trng cng nghip:
Kh nng khng nhiu rt tt.
Cu trc dng modul rt thun tin cho vic thit k, m rng, ci
to nng cp...
C nhng modul chuyn dng thc hin nhng chc nng c bit hay
nhng modul truyn thng kt ni PLC vi mng cng nghip hoc
mng Internet...
Kh nng lp trnh c, lp trnh d dng.
Yu cu ca ngi lp trnh khng cn gii v kin thc in t m ch
cn nm vng cng ngh sn xut v bit chn thit b thch hp l c th
lp trnh c.
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.
4.1.2. Hnh dng bn ngoi.
Trang 40
Hnh 4.1. Hnh dng bn ngoi ca mt PLC

M t cc n bo trn S7-200:
SF: n SF bo hiu h thng b hng. n SF sng ln khi PLC c
hng hc.
RUN: n xanh RUN ch PLC ang ch lm vic v thc hin
chng c np vo trong PLC.
STOP: n vng STOP ch nh rng PLC ang ch dng. Dng
chng trnh ang thc hin li.
Ix.x: n xanh cng vo ch nh trng thi tc thi ca cng Ix.x . n
ny bo hiu trng thi ca tn hiu theo gi tr logic ca cng.
Trang 41
Qy.y: n xanh cng ra bo hiu trng thi tc thi ca cng Qy.y. n
ny bo hiu trng thi ca tn hiu theo gi tr logic ca cng.
Cng truyn thng:
S7-200 s dng cng truyn thng ni tip RS485 vi phch ni 9 chn
phc v cho vic ghp ni vi thit b lp trnh hoc vi cc trm PLC khc.
Ch thch:
1. t
2. 24 VDC
3. Truyn v nhn d liu
4. Khng s dng
5. t
6. 5 VDC
7. 24 VDC
8. Truyn v nhn d liu
9. Khng s dng.
Hnh 4.2. S chn ca cng truyn thng
Ghp ni S7-200 vi my tnh PC qua cng RS232 cn c cp ni PC/PPI
vi b chuyn i RS232/RS485.
Hnh 4.3. S kt ni gia PLC v my tnh thng qua cp PC/PPI
Trang 42
Hnh 4.4. Hnh dng v kch thc ca cp PC/PPI
Cng tc chn ch lm vic cho PLC

RUN: Cho php PLC thc hin chng trnh trong b nh, khi chng
trnh gp li hoc gp lnh STOP th PLC s t ng chuyn sang ch
STOP mc d cng tc vn ch RUN (nn quan st trng thi
thc ti ca PLC theo n bo).
STOP: Khi chuyn sang ch STOP, dng cng bc chng trnh
ang chy, cc tn hiu ra lc ny u v off. ch STOP PLC cho
php hiu chnh li chng trnh hoc np mt chng trnh mi.
TERM: cho php my lp trnh t quyt nh chn mt trong hai ch
lm vic cho PLC RUN hoc STOP.
Vt chnh nh tng t: Mi CPU c t 1 n 2 vt chnh nh tng t,
c th xoay c mt gc 270, dng thay i gi tr ca bin s dng trong
chng trnh.
Pin v ngun nui b nh: Khi nng lng ca t b cn kit, ngun pin t
ng chuyn sang trng thi tch cc, PLC s s dng nng lng t pin. Vic thay
th ny lm cho d liu trong b nh khng b mt i.
4.1.3. Cc thnh vin h S7-200.
Cc thng s c bn ca cc thnh vin h S7-200 c m t tm tt bng
sau:
Thng s
Kch thc
B nh
chng
trnh
B nh
D liu
Cng vo
Cng ra
Modul m
rng
Cng
truyn
thng
D tr b
nh (gi)
B nh
CPU221
90x80x62
4096 bytes
CPU222
90x80x62
4096 bytes
CPU224
120.5x80x62
8912 bytes
CPU226
190x80x62
8912 bytes
CPU226XM
190x80x62
1634 bytes
2048 bytes
2048 bytes
5120 bytes
5120 bytes
1024 bytes
6
4
0
8
6
2 Modules
14
10
7 Modules
24
16
7 Modules
24
16
7 Modules
RS-485
RS-485
RS-485
RS-485
RS-485
50
50
190
190
190
256 b nh thi: 4 b 1ms, 16 b 10 ms, 236 b 100ms
Trang 43
thi
Cc loi
B m
DC/DC/DC
AC/DC/RL
C0-C255
DC/DC/DC
AC/DC/RL
C0-C255
DC/DC/DC
AC/DC/RL
C0-C255
DC/DC/DC
AC/DC/RL
C0-C255
DC/DC/DC
AC/DC/RL
C0-C255
Bng 4.1. Cc thng s c bn ca cc thnh vin h S7-200
Bng 4.2. Cc loi CPU S7-200.
Bng 4.3. Kch thc v trng lng.
Trang 44
Bng 4.4. Mt s thng s k thut.

4.1.4. Modul m rng.
Cu trc modul ca S7-200 to s linh hot ti a gii quyt cc bi ton,
n cho php chng ta chn s u vo ra ti u v mt kinh t. Chng ta c th tng
thm s cng vo ra cho bng cch ni thm cc modul m rng.
Cc modul m rng ny c cm ni tip nhau vo bn phi CPU lm

thnh mt mc xch.. a ch cc u vo ra trn cc modul m rng c xc nh
bng kiu vo, ra v v tr ca modul trong mc xch.
Trang 45
Hnh 4.5. Ghp ni CPU 224 vi cc modul m rng
Bng 4.5. Cc loi modul m rng
Bng 4.6. Cc thng s c bn ca modul m rng s
Trang 46
Bng 4.6. Cc loi modul m rng s.
Bng 4.7. Cc thng s c bn ca cc loi modul m rng analog.
Trang 47
Hnh 4.6. Kch thc ca cc loi PLC v modul m rng

4.2. u ni PLC v modul m rng.
4.2.1. PLC s dng ngun nui mt chiu.
Hnh 4.7. Cch u dy CPU 221 DC/DC/DC

Trang 48
Trang 49

4.2.2. PLC s dng ngun nui xoay chiu.
Hnh 4.11. Cch u dy CPU 221 AC/DC/RELAY
Trang 50
Trang 51

4.2.3. u ni modul m rng.
Hnh 4.15. Cch u modul m rng EM 221 Digital Input 8x24 VDC
Trang 52
Hnh 4.16. Cch u modul m rng EM 222 Digital Output 8
Hnh 4.17. Cch u modul m rng EM 223 24VDC 4 Inputs/4 Outputs
Trang 53
Hnh 4.18. Cch u modul m rng EM 223 24VDC 4 Inputs/4 Relay Outputs
Trang 54
Trang 55
4.3. Ngn ng lp trnh.
4.3.1. Cch thc hin chng trnh.
PLC thc hin chng trnh theo chu trnh lp. Mi vng lp c gi l
vng qut (scan). Mi vng qut c bt u bng giai on c d liu t cc
cng vo vng m o, tip theo l giai on thc hin chng trnh. Trong tng
vng qut, chng trnh c thc hin bng lnh u tin v kt thc ti lnh kt
thc. Sau giai on thc hin chng trnh l giai on truyn thng ni b v kim
tra li. Vng qut c kt thc bng giai on chuyn cc ni dung ca b m o
ti cc cng ra.
Hnh 4.23. Cu trc mt vng qut trong PLC
Trang 56
Nh vy ti thi im thc hin lnh vo/ra, thng thng lnh khng thc
hin hin lnh trc tip vi cng vo/ra m ch thng qua b m o ca cng trong
vng nh tham s. Vic truyn thng gia b m o vi ngoi vi do CPU qun l.
Khi gp lnh vo/ra th ngay lp tc h thng s cho dng mi cng vic khc, ngay
c chng trnh x l ngt, thc hin lnh ny mt cch trc tip vi cng
vo/ra.
Chng trnh x l ngt ch c thc hin trong vng qut khi xut hin
tnh hiu bo ngt v c th xy ra bt c im no trong vng qut.
4.3.2. Cu trc chng trnh.
Cu trc ca mt chng trnh c to thnh t 3 thnh phn c bn: 1
chng trnh chnh (main Program), c th c mt hay nhiu chng trnh con
(subroutines), cc chng trnh con x l ngt (interrupt routines) c th c hoc
khng.
Chng trnh chnh bao gm cc lnh iu khin ng dng. Cc lnh ny
c thc hin tun t mt cch lin tc, c mi vng qut mt ln. Chng trnh
chnh c kt thc bng lnh kt thc chng trnh (MEND hoc END).
Chng trnh con l mt b phn ca chng trnh. N c th c hoc
khng, ch c thc hin khi c lnh gi n t chng trnh chnh. Cc chng
trnh con phi c vit sau lnh kt thc chng trnh chnh (MEND hoc END).
Cc chng trnh con x l ngt (c th c hoc khng) khi xy ra s kin
ngt tng ng. S kin c th l s thay i mc mt u vo, b nh thi
m hay nhn c d liu trn cng truyn thng.Chng trnh x l ngt
cng phi c vit sau lnh kt thc chng trnh chnh (MEND hoc END).
Cc chng trnh con thng c nhm li thnh mt nhm ngay sau
chng trnh chnh. Sau n ngay cc chng trnh x l ngt. Bng cch vit
nh vy, cu trc chng trnh c r rng v thun tin hn trong vic c
chng trnh sau ny. Cng c th t do trn ln cc chng trnh con v chng
trnh x l ngt ng sau chng trnh chnh.
Trang 57
Hnh 4.24. Cu trc mt chng trnh ca PLC

4.3.3. Phng php lp trnh.
Lp trnh cho S7 200 v cc PLC khc ca hng Siemens da trn 3 phng
php c bn:
- Phng php hnh thang (Ladder logic _ LAD).
- Phng php khi hm (Function Block Diagram _ FBD).
- Phng php lit k cu lnh (Statement List _ STL).
Thng thng chng ta ch dng 2 phng php l LAD v STL. Nu
chng trnh c vit theo kiu LAD, thit b lp trnh s t to theo kiu STL
tng ng. Ngc li khng phi mi chng trnh c vit theo kiu STL cng
u c th chuyn sang c dng LAD.
nh ngha v LAD: LAD l ngn ng lp trnh bng ha. Nhnh thnh
phn c bn dng trong LAD tng ng vi nhng thnh phn c bn dng trong
bng mch rle. Trong chng trnh LAD cc phn t c bn dng biu din lnh
logic nh sau:
- Tip im c hai loi: Thng ng
; thng h
- Cun dy (coil):
- Hp (box): M t cc hm khc nhau, n lm vic khi c dng in a
n hp. C cc nhm hp sau: hp cc b nh thi, hp cc b m, hp di
chuyn d liu, hp cc hm ton hc....
Trang 58
- Mng LAD: L ng ni cc phn t thnh mt mch hon chnh, i
t ng ngun bn tri sang ng ngun bn phi. Ngun in c hai ng
chnh, mt ng bn tri th hin dy nng, mt ng bn phi l dy trung ha
(neutral) hay l ng tr v ngun cung cp. ng ngun bn phi
khng c th hin trn giao din lp trnh.
nh ngha v STL: L phng php th hin chng trnh di dng tp
hp cc cu lnh. Khc vi hai ngn ng kia l dng ha. Chnh v th trong
STL c th vit nhng chng trnh m trong hai ngn ng cn li khng th vit
c. Bi v n st vi ngn ng my hn, khng b gii hn bi cc quy tc
ha. STL thng dnh cho lp trnh vin giu kinh nghim.
STL c th gii quyt c mt s vn khng th gii quyt d dng
trong Lad v FBD, STL ch c th s dng tp lnh SIMATIC, mi chng trnh
vit bng LAD hay FBD c th xem v sa trong STL nhng khng phi tt c
nhng chng trnh vit trong STL u c th xem bng LAD hay FBD.
to ra mt chng trnh bng STL, ngi lp trnh cn phi hiu r
phng thc s dng 9 bit trong ngn xp (stack) logic ca S7-200.
Ngn xp l mt khi 9 bit chng ln nhau t S0 n S8, nhng tt c cc
thut ton lin quan n ngn xp u lm vic vi bit u tin v bit th hai (S0
v S1) ca ngn xp. Gi tr logic mi c th c gi hoc ni thm vo ngn xp.
Hai bit S0 v S1 phi hp vi nhau th ngn xp c ko ln mt bit.
4.4. Mt s lnh c bn.
4.4.1. Lnh vo ra.
STL
LD
A
O
LDN
AN
ON
LDI
AI
OI
LDNI
AIN
OIN
= bit
LAD
M t
Ton hng
bit
Tip im thng m s c bit: I, Q, M, SM,

ng khi bit = 1.
T, C, V.
bit
Tip im thng ng s c bit: I, Q, M, SM,

m khi bit = 1.
T, C, V.
bit
Tip im thng m s ng
bit: I
tc thi khi bit = 1.
bit
bit
Tip im thng ng s m
tc thi khi bit = 1.
bit: I
Cun dy u ra trng thi bit: I, Q, M, SM,
Trang 59
=I bit
bit
ON khi c dng in iu khin

T, C, V.
i qua.
Cun dy u ra trng thi
ON tc khi c dng in iu bit: Q
khin i qua.
4.4.2. Cc lnh ghi/xa gi tr cho tip im.

Lnh ny dng ng v ngt cc im gin on c thit k. Khi
dng iu khin n cc cun dy th cc cun dy ng hoc m cc tip im
(hoc mt dy cc tip im).
STL
LAD
S bit, n
R bit, n
SI bit, n
RI bit, n
bit
S
n
bit
R
n
bit
SI
n
bit
RI
n
M t
Ton hng
Set 1 mng gm n tip im,

tnh t tip im "bit" bit: I, Q, M, SM, T,
C, V
(n<=128 tip im).
n: IB, QB, MB, SMB,
Reset 1 mng gm n tip VB, AC, Hng s,
im, tnh t tip im "bit" *VD, *AC
(n <= 128 tip im).
Set tc thi 1 mng gm n
tip im, tnh t tip im
bit: Q
"bit" (n <= 128 tip im).
n: IB, QB, MB, SMB,
VB, AC, Hng s,
Reset tc thi 1 mng gm n
*VD, *AC
tip im, tnh t tip im
"bit" (n <= 128 tip im).
4.4.3. Cc lnh logic i s Boolean.

Cc lnh ny c biu din trong LAD v STL c tm tt trong bng sau.
Chng s dng bit nh c bit SM1.0 thng bo v trng thi kt qu php tnh
c thc hin. SM1.0 l bit nh 0 (C gi tr logic bng 1 khi kt qu ca php
tnh l 0)
Biu din trong STL
Trang 60
STL
ANDW IN1, IN2
ORW IN1, IN2
XORW IN1, IN2
ANDD IN1, IN2
ORD IN1, IN2
XORD IN1, IN2
M t
Lnh thc hin php logic
AND gia cc bt tng
ng ca hai t IN1 v
IN2. Kt qu c ghi li
vo IN2.
OR gia cc bt tng ng
ca hai t IN1 v IN2. Kt
qu c ghi li vo IN2.
XOR gia cc bt tng
ng ca hai t IN1 v
IN2. Kt qu c ghi li
vo IN2.
AND gia cc bt tng
ng ca hai t kp IN1 v
IN2. Kt qu c ghi li
vo IN2.
OR gia cc bt tng ng
ca hai t kp IN1 v IN2.
Kt qu c ghi li vo
IN2.
XOR gia cc bt tng
ng ca hai t kp IN1 v
IN2. Kt qu c ghi li
vo IN2.
Ton hng
IN1: VW, T, C, IW, QW,

SMW, AC, AIW, *VD,
*AC, Hng s.
SMW, AC, AIW, *VD,
*AC
IN1: VD, ID, QD, MD,

SMQ, AC, HC, *VD,
*AC, Hng s.
SMD, AC, *VD, *AC
Trang 61
Biu din trong LAD.
LAD
M t
Lnh thc hin php logic AND
gia cc bt tng ng ca hai
t IN1 v IN2. Kt qu c
ghi li vo OUT.
Lnh thc hin php logic OR
ghi li vo OUT.
Lnh thc hin php logic XOR
ghi li vo OUT.
Lnh thc hin php logic AND
t kp IN1 v IN2. Kt qu
c ghi li vo OUT.
Lnh thc hin php logic OR
c ghi li vo OUT.
Ton hng
SMW, AC, AIW, *VD,
*AC, Hng s.
SMW, AC, AIW, *VD,
*AC
OUT: VW, T, C, IW, MW,
QW, SMW, AC, *VD,
*AC

SMQ, AC, HC, *VD,
*AC, Hng s.
SMD, AC, *VD, *AC
Lnh thc hin php logic XOR

OUT: VD, ID, QD, MD,
SMD, AC, *VD, *AC
c ghi li vo IN2.
Trang 62
V d: Vit trong LAD
Vit trong STL

NETWORK 1
LD I4.0
ANDW AC1 AC0
ORW AC1 VW100
XORW AC1 AC0
Kt qu.
Trang 63
4.4.4. Cc lnh tip im c bit.
C th dng lnh tip im c bit pht hin s chuyn tip trng thi
ca xung (sn xung) v o li trng thi dng cung cp (gi tr ca nh ngn
xp). LAD s dng cc tip im c bit tc ng vo dng cung cp. Cc tip
im c bit khng c ton hng ring. V vy phi t chng vo v tr pha trc
ca cun dy hoc hp u ra.
Cc lnh tip im c bit c biu din trong LAD:
LAD
NOT
M t
Ton hng
Tip im o trng thi ca dng cung
cp. Nu dng cung cp c tip im o
Khng c
th n b ngt mch, nu khng c tip
im o th n thng mch.
Tip im chuyn i dng, cho php
thng mch trong mt vng qut khi sn Khng c
xung iu khin chuyn t 0 ln 1.
Tip im chuyn i m, cho php thng
mch trong mt vng qut khi sn xung Khng c
iu khin chuyn t 1 xung 0.
Cc lnh tip im c bit c biu din trong STL:

STL
NOT
EU
ED
M t
Lnh o gi tr bit u tin trong ngn xp.
Lnh nhn bit s chuyn tip trng thi t 0 ln 1
trong mt vng qut ca nh ngn xp. Khi nhn
c s chuyn tip nh vy nh ngn xp s c gi
tr bng 1 trong mt vng qut.
Lnh nhn bit s chuyn tip trng thi t 1 xung 0
trong mt vng qut ca nh ngn xp. Khi nhn
c s chuyn tip nh vy nh ngn xp s c gi
tr bng 1 trong mt vng qut.
Ton hng
Khng c
Khng c
Khng c
Trang 64
4.4.5. Cc lnh so snh.
LAD
IN1
==B
IN2
IN1
==I
IN2
IN1
==D
IN2
IN1
==R
IN2
IN1
<> B
IN2
IN1
<> I
IN2
IN1
<> D
IN2
IN1
<> R
IN2
IN1
<B
IN2
IN1
<I
IN2
IN1
<D
IN2
IN1
<R
IN2
M t
Ton hng
IN1, IN2 (Byte): IW, QW,

Lnh so snh gi tr ca hai MW, VW, SMW, SW, LW,
gi tr IN1 v IN2.
AC, Constant, *VD, *AC,
Tip im ng khi *LD
IN1=IN2
B = Byte
I = Integer
D = Double Integer
R = Real
IN1, IN2 (Integer): IW,

QW, MW, VW, SMW, SW,
LW, AC, Constant, VD,
*AC, *LD
IN1, IN2 (Double Integer):

Lnh so snh gi tr ca hai ID, QD, MD, SD, SMD,
gi tr IN1 v IN2.
Tip im ng khi VD, LD, AC, Constant,
*VD, *LD, *AC
IN1<>IN2
B = Byte
I = Integer
D = Double Integer
R = Real
IN1, IN2 (Real): ID, QD,

MD, SD, SMD, VD, LD,
AC, Constant, *VD, *LD,
*AC
Lnh so snh gi tr ca hai

gi tr IN1 v IN2.
Tip im ng khi
IN1<IN2
B = Byte
I = Integer
D = Double Integer
R = Real
Trang 65
IN1
<= B
IN2
IN1
<= I
IN2
IN1
<= D
IN2
IN1
<= R
IN2
IN1
>B
IN2
IN1
>I
IN2
IN1
>D
IN2

gi tr IN1 v IN2.
Tip im ng khi
IN1<=IN2
B = Byte
I = Integer
D = Double Integer
R = Real

gi tr IN1 v IN2.
Tip im ng khi
IN1>IN2
B = Byte
I = Integer
D = Double Integer
R = Real
IN1
>R
IN2
Trang 66
IN1
>= B
IN2
IN1
>= I
IN2
IN1
>= D
IN2
IN1
>= R
IN2

gi tr IN1 v IN2.
Tip im ng khi
IN1>=IN2
B = Byte
I = Integer
D = Double Integer
R = Real
4.4.6. Lnh nhy v lnh gi chng trnh con.

Cc lnh ca chng trnh, nu khng c nhng lnh iu khin ring, s
c thc hin theo th t t trn xung di trong mt vng qut. Lnh iu khin
chng trnh cho php thay i th t thc hin lnh. Chng cho php chuyn th
t thc hin, ng l ra l lnh tip theo, ti mt lnh bt c no khc ca chng
trnh, trong ni iu khin chuyn n phi c nh du trc bng mt nhn,
ch ch. Thuc nhm lnh iu khin chng trnh gm: lnh nhy, lnh gi
chng trnh con. Nhn ch ch, hay gi n gin l nhn phi c nh du
trc khi thc hin lnh nhy hay lnh gi chng trnh con.
Vic t nhn cho lnh nhy phi nm trong chng trnh. Nhn ca chng
trnh con, hoc ca chng trnh x l ngt c khai bo u chng trnh.
Khng th dng lnh nhy JMP chuyn iu khin t chng trnh chnh vo
mt nhn bt k trong chng trnh con hoc trong chng trnh x l ngt. Tng
t nh vy cng khng th t mt chng trnh con hay chng trnh x l ngt
nhy vo bt c mt nhn no nm ngoi cc chng trnh .
Lnh gi chng trnh con l lnh chuyn iu khin n chng trnh con.
Khi chng trnh con thc hin xong cc php tnh ca mnh th vic iu khin li
c chuyn tr v lnh tip theo trong chng trnh chnh nm ngay sau lnh gi
chng trnh con. T mt chng trnh con c th gi c mt chng trnh con
khc trong n, c th gi nh vy nhiu nht l 8 ln trong S7-200.
Trang 67
STL
JMP n
LAD
M t
Lnh nhy thc hin vic chuyn iu
khin n nhn n trong mt chng
trnh.
LBL n
Lnh khai bo nhn n trong mt

chng trnh.
CALL SBR_0
Lnh gi chng trnh con, thc hin

php chuyn iu khin n chng
trnh con c nhn l SBR_0.
CRET
Lnh tr v chng trnh gi

chng trnh con.
V d v lnh nhy:
Trang 68
4.4.7. Cc lnh can thip vo thi gian vng qut.
Gm cc lnh: END, STOP, NOP.
Cc lnh ny c dng kt thc chng trnh ang thc hin, v ko di
khong thi gian ca mt vng qut.
Lnh END dng kt thc chng trnh chnh hin hnh.
Lnh STOP kt thc chng trnh, n chuyn iu khin chng trnh n
ch STOP. Nu gp lnh STOP trong chng trnh chnh hoc trong chng
trnh con th chng trnh ang thc hin s c kt thc ngay lp tc. Nu gp
lnh STOP trong chng trnh x l ngt th chng trnh x l ngt s kt thc
ngay lp tc v tt c cc tn hiu ngt ang ch x l sau u b b qua v
khng thc hin.
Lnh rng NOP khng c tc dng g trong vic thc hin chng trnh.
STL
END
STOP
NOP n
LAD
M t
Lnh kt thc chng trnh chnh
hin hnh c iu kin.
Lnh STOP kt thc chng trnh
hin hnh v chuyn sang ch
STOP.
Lnh NOT khng c hiu lc trong
chng trnh hin hnh. Ton hng n
l mt s nm trong khong 0-255
Ton hng
Khng c
n: t 0 n
255
4.4.8. Cc lnh iu khin Timer.

PLC S7-200 c 3 loi b nh thi:
- B ng tr (ON Delay Timer) TON
- B ng tr c nh (Retentive ON Delay Timer) TONR
- B ngt tr (OFF Delay Timer) TOF
K hiu:
LAD:
Trang 69
STL: TON Txxx, PT
TONR Txxx, PT
TOF Txxx, PT
Cc b ng tr v ng tr c nh bt u m thi gian khi c u vo IN

c mc 1. Lc gi tr m c ln hn hoc bng gi tr t trc ti u vo PT
(Preset time) th bit trng thi c t bng 1. iu khc nhau gia 2 b ng tr
l:
- B ng tr bnh thng TON s b RESET (c gi tr ang m ln bit
trng thi u b xa v 0) khi u vo IN bng 0. Cng c th reset b
nh thi ny bng lnh reset.
- B ng tr c nh TONR lu li gi tr khi u vo IN bng 0 v tip tc
m nu u vo IN bng 1. Loi b nh thi ny c th xa gi tr ang
m bng lnh RESET.
B ngt tr dng a gi tr u ra v 0 tr mt khong thi gian sau khi
u vo IN v 0. Khi u vo IN c t bng 1 th bit trng thi ca b ngt tr
cng bng 1 ng thi gi tr m ca n cng b xa v 0. Khi u vo IN v 0 b
nh thi bt u m v m cho n khi t gi tr t trc PT. Lc bit trng
thi ca b ngt tr s v 0 ng thi n cng ngng m. Nu u vo IN ch bng
0 trong khong thi gian ngn hn gi tr t trc PT ri quay li bng 1 th trng
thi ca b nh thi vn gi nguyn bng 1. B ngt tr ch bt u m khi c
sn thay i t 1 thnh 0 u vo IN.
Trang 70
V d v cc loi b nh thi v biu thi gian.
Trang 71
Hnh 4.25. B nh thi TON v biu thi gian.
Hnh 4.26. B nh thi TONR v biu thi gian.

Trang 72
Hnh 4.27. B nh thi TOF v biu thi gian.

4.4.9. Cc lnh iu khin Counter.
Counter l b m hin chc nng m sn xung trong S7-200. Cc b m
ca S7-200 c chia ra lm 3 loi: b m ln (Count Up), b m xung (Count
Down) v loi b m c th va m ln va m xung (Count Up/Down).
B m ln CTU m s sn ln ca tn hiu logic u vo, tc l m s
ln thay i trng thi logic t 0 ln 1 ca tn hiu. B m ln m cho gi tr ti
a ca n (32767). Khi gi tr m (Cxxx) ln hn hoc bng gi tr t trc PV
th bit trng thi (Cxxx) s c gi tr 1 (ON). B m c th b xa (Reset) bi mc
1 u vo reset (R), lc c gi tr m ln bit trng thi s b xa v 0.
B m xung CTD m t gi tr t trc (PV) mi khi c sn ln u
vo. Khi gi tr m (Cxxx) bng 0, bit trng thi Cxxx bng 1 ng thi b m
Cxxx ngng m. Mc cao u vo LD xa bit trng thi v 0 v ti gi tr t
trc PV vo gi tr m.
Trang 73
B m va m ln va m xung m ln khi c sn ln u vo m
ln (CU) v m xung khi c sn ln u vo m xung (CD). Khi gi tr m
(Cxxx) ln hn hoc bng gi tr t trc PV th bit trng thi (Cxxx) s c gi tr
1 (ON). Ngc li th bit trng thi (Cxxx) s c gi tr 0 (OFF). B m c th b
xa (RESET) bi mc 1 u vo reset (R), lc c gi tr m ln bit trng thi
s b xa v 0.
S hiu cc b m Cxxx t C0 n C255.
Lnh khai bo s dng b m trong LAD v STL
NETWORK 1
LD I0.0
LD I0.1
CTD C1, +3
NETWORK 2
LD C1
= Q0.0
Hnh 4.28. B m CTD v biu thi gian.
Trang 74
NETWORK 1
LD I0.0
LD I0.1
LD I0.2
CTUD C48, +4
NETWORK 2
LD C48
= Q0.0
Hnh 4.29. B m CTUD v biu thi gian.
Trang 75
4.4.10. Cc lnh s hc.
C php dng lnh cng v tr hai s nguyn 16 bit trong LAD v STL nh sau:
STL
LAD
+I IN1, IN2
-I IN1, IN2
M t
L lnh thc hin php cng cc
s nguyn 16-bit IN1 v IN2.
Trong LAD kt qu l mt s
nguyn 16-bit c ghi vo OUT,
tc l:
IN1 + IN2 = OUT.
Cn trong STL, kt qu cng l
mt gi tr 16-bit nhng c ghi
vo IN2, tc l:
IN1 + IN2 = IN2.
L lnh thc hin php tr cc s
nguyn 16-bt IN1 v IN2.
nguyn 16-bt c ghi vo OUT,
tc l:
IN1 - IN2 = OUT.
mt gi tr 16-bt nhng c ghi
vo IN2, tc l:
IN1 - IN2 = IN2.
Ton hng
IN1, IN2:
IW, QW,
SW, SMW,
AC, LW,
Constant,
*LD, *AC.
VW,
MW,
T, C,
AIW,
*VD,
OUT: VW, IW,

QW, MW, SW,
SMW, T, C, LW,
AC, *VD, *LD,
*AC.
C php dng lnh cng v tr hai s nguyn 32 bit trong LAD v STL nh sau:
STL
+DI IN1, IN2
-DI IN1, IN2
LAD
M t
nguyn 32-bit c ghi vo
OUT, tc l:
IN1 + IN2 = OUT.
vo IN2, tc l:
IN1 + IN2 = IN2.
Ton hng
IN1, IN2:
ID, QD,
SMD, SD,
AC,
Constant,
*LD, *AC.
VD,
MD,
LD,
HC,
*VD,
Trang 76
nguyn 32-bit IN1 v IN2.
OUT, tc l:
IN1 - IN2 = OUT.
vo IN2, tc l:
IN1 - IN2 = IN2.
OUT: VD,
ID,
QD, MD, SMD,
SD, LD, AC,
*VD, *LD, *AC.
C php dng lnh cng v tr hai s thc trong LAD v STL nh sau:
STL
+R IN1, IN2
-R IN1, IN2
LAD
M t
s thc 32-bit IN1 v IN2.
thc 32-bit c ghi vo OUT,
tc l:
IN1 + IN2 = OUT.
mt gi tr thc 32-bit nhng
c ghi vo IN2, tc l
IN1 + IN2 = IN2
thc 32-bit IN1 v IN2.
tc l:
IN1 - IN2 = OUT.
c ghi vo IN2, tc l:
IN1 - IN2 = IN2
Ton hng
IN1, IN2: VD,

ID, QD, MD, SD,
SMD, LD, AC,
Constant,
*VD,
*LD, *AC.
OUT: VD,
ID,
QD, MD, SD,
SMD, LD, AC,
*VD, *LD, *AC.
Trang 77
C php dng lnh nhn v chia hai s nguyn 16 bit trong LAD v STL:
STL
LAD
*I IN1, IN2
/I IN1, IN2
M t
L lnh thc hin php nhn cc
OUT, tc l:
IN1 * IN2 = OUT.
vo IN2, tc l:
IN1 * IN2 = IN2.
L lnh thc hin php chia cc
OUT, tc l:
IN1/IN2 = OUT.
vo IN2, tc l:
IN1/IN2 = IN2.
Ton hng
IN1, IN2:
IW, QW,
SW, SMW,
LW, AC,
Constant,
*LD, *AC.
VW,
MW,
T, C,
AIW,
*VD,
OUT: VW, IW,

QW, MW, SW,
SMW, LW, T, C,
AC, *VD, *LD,
*AC.
C php dng lnh nhn v chia hai s nguyn 32 bit trong LAD v STL:
STL
*DI IN1, IN2
/DI IN1, IN2
LAD
M t
OUT, tc l:
IN1 * IN2 = OUT.
vo IN2, tc l:
IN1 * IN2 = IN2.
Ton hng
IN1, IN2: VD, ID,

QD, MD, SMD,
SD, LD, HC, AC,
Constant,
*VD,
*LD, *AC.
OUT: VD,
ID,
QD, MD, SMD,
Trang 78
OUT, tc l:
IN1/IN2 = OUT.
SD, LD, AC,
*VD, *LD, *AC.
vo IN2, tc l:
IN1/IN2 = IN2.
C php dng lnh nhn v chia hai s thc trong LAD v STL nh sau:
STL
*R IN1, IN2
/R IN1, IN2
LAD
M t
tc l:
IN1 * IN2 = OUT.
c ghi vo IN2, tc l
IN1 * IN2 = IN2
tc l:
IN1/IN2 = OUT.
c ghi vo IN2, tc l:
IN1/IN2 = IN2
Ton hng
IN1, IN2: VD,

ID, QD, MD,
SMD, SD, LD,
AC,
Constant,
*VD, *LD, *AC.
OUT: VD,
ID,
QD, MD, SMD,
SD, LD, AC,
*VD, *LD, *AC.
Trang 79
C php dng lnh cn bc hai trong LAD v STL nh sau:
STL
LAD
SQRT IN, OUT
M t
Ton hng
L mt lnh thc hin

ly cn bc hai ca s
thc 32-bt IN. Kt qu
cng l mt s 32-bt
c ghi vo t kp
OUT.
IN: VD, ID, QD, MD,

SMD, SD, LD, AC,
Constant, *VD, *LD,
*AC.
OUT: VD, ID, QD, MD,
SMD, SD, LD, AC, *VD,
*LD, *AC.
Nhng bit nh c bit c ni dung b nh hng bi cc lnh s hc:

SM1.0 = 1 nu kt qu bng 0.
SM1.1 = 1 nu trn.
SM1.2 = 1 nu kt qu m.
SM1.3 = 1 nu chia cho 0.
4.4.11. Lnh tng, gim mt n v v lnh o gi tr thanh ghi.
Cc lnh tng, gim v o gi tr thanh ghi s dng nhng nh c bit
SM1.0 n SM1.3 thng bo trng thi kt qu php tnh. Tn lnh v nhng
nh c bit m lnh s dng c trnh by trong bng sau:
Lnh
INV_B
INV_W
INV_D
INC_B
INC_W
INC_D
DEC_B
DEC_W
DEC_D
SM1.0
(Kt qu 0)
C
C
C
C
C
C
C
C
C
SM1.1
(Bo trn)
Khng
Khng
Khng
C
C
C
C
C
C
SM1.2
(Kt qu m)
Khng
Khng
Khng
C
C
C
C
C
C
SM1.3
(Chia cho 0)
Khng
Khng
Khng
Khng
Khng
Khng
Khng
Khng
Khng
Trang 80
C php dng lnh tng mt gi tr trong LAD v STL nh sau:
STL
LAD
INCB OUT
INCW OUT
INCD OUT
M t
Thm mt n v t mt
Byte c nh a ch
u vo IN. Kt qu c
lu vo Byte c nh a
ch u ra OUT.
[IN] + 1 = [OUT]
Thm mt n v t mt t
n c nh a ch
u vo IN. Kt qu c
lu vo t n c nh
a ch u ra OUT.
[IN] + 1 = [OUT]
Thm mt n v t mt t
kp c nh a ch
u vo IN. Kt qu c
lu vo t kp c nh
a ch u ra OUT.
[IN] + 1 = [OUT]
Ton hng
IN: VB, IB, QB, MB, SB,
SMB, LB, AC, Constant,
*VD, *LD, *AC
OUT: VB, IB, QB, MB, SB,
SMB, LB, AC, *VD, *LD,
*AC
IN: VD, ID, QD, MD, SD,
SMD,
LD,
AC,
HC,
Constant, *VD, *LD, *AC
OUT: VD, ID, QD, MD, SD,
SMD, LD, AC, *VD, *LD,
*AC
SMD,
LD,
AC,
HC,
*AC
C php dng lnh gim mt gi tr trong LAD v STL nh sau:

STL
DECB OUT
DECW OUT
DECD OUT
LAD
M t
Gim mt n v t mt
Byte c nh a ch
u vo IN. Kt qu c
lu vo Byte c nh a
ch u ra OUT.
[IN] - 1 = [OUT]
Gim mt n v t mt t
n c nh a ch
u vo IN. Kt qu c
lu vo t n c nh
a ch u ra OUT.
[IN] - 1 = [OUT]
Gim mt n v t mt t
kp c nh a ch
Ton hng
*VD, *LD, *AC
*AC
SMD,
LD,
AC,
HC,
*AC
SMD,
LD,
AC,
HC,
Trang 81
u vo IN. Kt qu c
lu vo t kp c nh
a ch u ra OUT.A
[IN] - 1 = [OUT]

*AC
C php dng lnh o gi tr thanh ghi trong LAD v STL nh sau:

STL
LAD
M t
INVB OUT
Lnh o gi tr tng bit

ca byte IN u vo. Kt
qu c lu vo byte
OUT u ra.
INVW OUT
Lnh o gi tr tng bit

ca t n IN u vo.
Kt qu c lu vo t
n OUT u ra.
INVD OUT
Lnh o gi tr tng bit

ca t kp IN u vo.
Kt qu c lu vo t
kp OUT u ra.
Ton hng
*VD, *AC, *LD
*AC
SMD,
LD,
AC,
HC,
*AC
SMD,
LD,
AC,
HC,
*AC
Trang 82
V d: V lnh tng gim mt gi tr.
V d: V lnh o gi tr thanh ghi.
Trang 83
4.4.12. Cc lnh dch chuyn ni dung nh.
STL
MOVB IN, OUT
MOVW IN, OUT
MOVD IN, OUT
MOVR IN, OUT
LAD
M t
Lnh sao chp ni
dung ca byte IN
sang byte OUT.
Lnh sao chp ni
dung ca t n
IN sang t n
OUT.
Lnh sao chp ni
dung ca t kp
IN sang t kp
OUT.
Lnh sao chp ni
dung ca s thc
IN sang s thc
OUT.
Ton hng
IN: VB, IB, QB, MB, SB, SMB,
LB, AC, Constant, *VD, *LD,
*AC.
SMB, LB, AC, *VD, *LD, *AC.
IN: VW, IW, QW, MW, SW,
SMW, LW, T, C, AIW, Constant,
AC, *VD, *AC, *LD.
OUT: VW, T, C, IW, QW, SW,
MW, SMW, LW, AC, AQW,
*VD, *AC, *LD.
IN: VW, IW, QW, MW, SW,
SMW, LW, T, C, AIW, Constant,
AC, *VD, *AC, *LD.
OUT: VW, T, C, IW, QW, SW,
MW, SMW, LW, AC, AQW,
*VD, *AC, *LD.
SMD, LD, AC, Constant, *VD,
*LD, *AC.
SMD, LD, AC, *VD, *LD, *AC.
Trang 84
4.5. Son tho chng trnh v chng trnh m phng
4.5.1. Son tho chng trnh.
4.5.2. Chng trnh m phng.
Trang 85

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Bi ging H thng C in t 1

CHNG 1: TNG QUAN V C IN T.

Hnh 1.1. C in t: s tch hp hu c ca nhiu ngnh khc nhau

Bng 1.1. Lch s pht trin ca cc h c hc, in, in t.

Thit k truyn thng

chnh xc nh dung sai hp

CHNG 2: CC THNH PHN C BN CA H THNG C

Gia cng tn hiu

Cm bin: Cm nhn i lng ang c o bng cch sinh ti u ra ca

Tn hiu s di chuyn t khu vc ny sang khu vc khc dc theo ng

Kch thc ca bus, c hiu nh rng ca ng cao tc, l yu t

Mch giao din

Hnh 2.2. Giao din.

CHNG 3. CM BIN V C CU CHP HNH

Hnh 3.1. H C in t thng gp.

Hnh 3.2. Thit b chp hnh thng thng.

Hnh 3.3. nhy ca cm bin.

Sai s lch khng: l dng ph bin ca sai s h thng khi gi tr u

Sai s ti: do thm cm bin vo h o lm thay i h.

Sai s do nhy ca cm bin thay i khng ging nh mong

Hnh 3.4. Vng cht.

Hnh 3.5. Vng cht ca b n nhit.

Hnh 3.6. Tnh n nh ca h thng.

Hnh 3.7. Cng tc hnh trnh.

Hnh 3.8. B ngt quang dn QVA11234

Hnh 3.9. Cm bin phn x quang bn dn QRB1114.

Hnh 3.10. B m ha tng i.

Hnh 3.11. Vt b ko dc trc (a), nn dc trc (b), bin dng (c).

Hnh 3.12. Cm bin ti thy lc.

Hnh 3.13. Sng c pht v phn x li t vt

Hnh 3.14. nh ngha thi gian truyn sng.

Hnh 3.15. TOF tnh theo bin ln nht ca tn hiu phn x

Hnh 3.16. Nguyn l lm vic ca ng c mt chiu.

Nhn vo phng trnh trn, ta thy rng mun iu chnh tc ta c cc

. T trng quay ct cc thanh dn ca

dy qun rto v cm ng cc sc in ng. V dy qun rto ni ngn mch, nn

Nu rto ang ng yn (hnh 3.12), cc Nam S ca rto b cc Bc N stato

Hnh 3.17. Phn bit ng c bc v ng c in thng thng.

Hnh 3.18. Cu to bn trong ng c bc.

Hnh 3.19. Hnh dng bn ngoi ca ng c bc.

Hnh 3.20. ng c bin t tr.

Hnh 3.21. ng c bc hn hp.

Van o chiu 2/2

Van o chiu 4/2

Van o chiu 5/2

K hiu nt nhn tng qut

Trc tip bng dng kh nn vo

Tc ng bng nam chm in

Khi cun Y1 c in th ca P ni vi ca A, ca R b chn. Khi cun Y2 c

Van Logic OR.

3.4.2.1.3. Van tit lu:

Van tit lu c tit din khng i:

3.4.2.1.4. Van p sut.

3.4.2.2. C cu chp hnh:

Xilanh tc dng n (xilanh tc

CHNG 4: IU KHIN LOGIC KH LP TRNH PLC

Hnh 4.1. Hnh dng bn ngoi ca mt PLC

Hnh 4.3. S kt ni gia PLC v my tnh thng qua cp PC/PPI

Cng tc chn ch lm vic cho PLC

256 b nh thi: 4 b 1ms, 16 b 10 ms, 236 b 100ms

Bng 4.1. Cc thng s c bn ca cc thnh vin h S7-200

Bng 4.2. Cc loi CPU S7-200.

Bng 4.3. Kch thc v trng lng.