9:28 PM 4/12/2017

T NG HA
QU TRNH SN XUT

D N G V N L C
d u o n g la c b k@g mail.co m
+ ( 8 4)16 75 830 459

Department of Mechatronics, SME, HUST.

 Ti liu tham kho

[1]. Trn Vn ch, Trn Xun Vit, Nguyn Trng Doanh, Lu Vn Nhang, T ng ha
sn xut, Nh xut bn khoa hc k thut, (2001).
[2]. H. Bishop, The Mechatronics Handbook, CRC Press (2002).
[3]. H. Bishop, Mechatronic systems, Sensors, and Actuator, CRC Press (2008).
[4]. D Shetty, A. Kolk, Mechatronics system design, Cengage Learning (2010)
[5]. W. de Silva, Sensor and Actuator Engineering system instrumentation, CRC Press
(2016)

2
 Ti liu tham kho

[6]. Ravi Dodannavar, Andries Barnard, Practical Hydraulic Systems, Elsevier Science &
Technology Books (2005).
[7]. Andrew Parr, Hydraulics and Pneumatics A Technicians and Engineers Guide,
Elsevier (2011).
[8]. Austin Hughes, Electric Motor and Diver Fundamental, Types and Application, CRC
Press (2008).
[9]. Jacob Fraden, Handbook of Modern Sensors, Springer (2004).
[10]. Sabrie Soloman, Sensors Handbook, The McGraw-Hill Companies (2010).

3
 H thng t ng

H thng lp rp sn phm H thng ng gi sn phm

H thng kim tra sn phm H thng kho hng t ng

4
 Chng 2
Cc thit b c bn trong h thng t ng

2.1. C cu chp hnh

2.2. Cm bin

2.3. Cc thit b iu khin

Gear Box
Encoder

S
-Angle
Controller M
Motor

5
 2.1.1. C cu chp hnh thy lc
Cc h thng chp hnh thy lc bao gm cc thit b sau:
+ Bm thy lc
+ Van thy lc
+ Xi lanh, ng c thy lc
+ ng ng dn
+ B lc, bnh cha, du thy lc
+ Cm bin, h thng hin th v iu khin
u im:
Kch thc gn nh, t n, cng sut cao
Nhc im:
Tn hao, r r, thit b yu cu chnh xc, t tin
ng dng:
- Trong xy dng: my xc, my ng cc
- Trong sn xut: my p, bn nng, xe nng, robot
- Trong giao thng: my li, tr lc, xe cu,

6
 a, Cc khi nim c bn v thy lc
p lc: l lc trong cc h thng thy lc c truyn theo mi hng v tun th
nh lut Pascal:

=

P p sut, Pa (1Pa = 1N/m2)

F - Lc (N)

S Din tch (m2)

Modum n hi ca du thy lc:

= ( )

Modum n hi ca du thy lc

V th tch ban u ca du (m3)

7
 a, Cc khi nim c bn v thy lc
nht tuyt i:

= =

nht tuyt i (N s/m2, Pa s)

Tc trt ca tm mng (m/s)

ng sut trt ca lp du ln cn (N/m2)

d Khong cch t tm mng n thnh c nh (m)

nht ng:

=
nht ng (m2/s)

Khi lng ring ca cht lng (kg/cm3)

8
 a, Cc khi nim c bn v thy lc
Cng hay nng lng:

= .
Lc hng s (N); Khong cch (m)

Cng sut:

Tc (W) = = .

Tc (m/s)

Tc trung bnh ca dng chy:

=

Tc (W);

Lu lng (m3/s); Din tch mt ct (m2)

9
 a, Cc khi nim c bn v thy lc
Phng trnh Bernoulli:

2
2 2 1 + 2 2
=
2
2 1 M 64
=

1
1 1

1 12 2 22
1 + + + = 2 + +
2 2
Nng lng ca bm cp vo mi n v khi lng cht lng

Nng lng tn tht do ma st t trm 1 n trm 2

Nng lng ca ng c thy lc cp vo mi n v khi lng

10
 b, Bm thy lc
Bm: l thit b bin c nng thnh nng lng thy lc cung cp cho cc ng
c thy lc.

Phn loi:

- Bm piston

- Bm bnh rng

- Bm cnh gt
K hiu bm thy lc

11
 Bm piston

Bm piston n tc ng 1 chiu Bm piston n tc ng 2 chiu

Lu lng l thuyt ca bm:

=
A: Din tch mt ct xilanh, S: Hnh trnh ca Piston; N: S chu trnh/ n v thi gian

V biu lu lng theo thi gian, phn tch u im, nhc im.

12
 Bm piston

Bm tc ng 1 chiu Bm tc ng 2 chiu

u im:

Hiu sut cao, c th to c p sut cao

Nhc im:

B gin on v lu lng bm

13
 Bm piston

Bm piston hng tm Bm piston hng trc

Lu lng l thuyt ca bm:

=

D: ng knh ca Piston; A: Din tch mt ct xilanh

Y: S lng xi lanh; N: Tc quay, : Gc nghing

So snh v nu ng dng ca bm piston.

14
 Bm piston

Bm piston hng tm: Dng cho mc ch to p lc rt cao, lu lng t, c gi

thnh t, nhng tui th cao

Bm piston ng trc: Thit k a dng, thay i lu lng d dng, c dung

ph bin

420 bar
PMAX
350 bar

15
 Bm bnh rng

Bm bnh rng n khp ngoi Bm bnh rng n khp trong Bm Lobe Root

Lu lng l thuyt: 2
= 0 2
4
D0: ng knh nh rng; Di : ng knh chn rng

L: B rng bnh rng; N: Tc quay

Nu c im v ng dng ca bm bnh rng.

16
 Bm bnh rng

c im:

- Cu to n gin, nh gn, t hng hc, d sa cha bo tr

- Nhiu loi t p sut thp n cao

- Gi thnh thp

ng dng:

- S dng cho cc ng dng yu cu p sut trung bnh, thng s dng trong cn

trc, vn chuyn du bi trn, cc ha cht nh nha, natri silicat, soda, men, s
dng phun du p sut cao cho l t hi.

17
 Bm cnh gt

Lu lng l thuyt: 2
= 2 =
4 2
Dc: ng knh Cam; Dr : ng knh Roto

L: B rng Roto; e: lch tm

Nu c im v ng dng ca bm cnh gt.

18
 Bm cnh gt

c im:

- Hot ng nhanh, dng h thng p sut thp v trung bnh

- Gi thnh thp

ng dng:

- S dng cho cc ng dng yu cu p sut va, bm cc cht lng c nht

cao, m c cao, c s dng rng ri trong cng nghip thc phm xng du,
ha cht

19
 c, Van thy lc
Phn loi:

- Van iu khin hng

- Van iu p

- Van servo

20
Van iu hng

Van mt chiu Van mt chiu c iu khin

21
Van iu hng

Loi van K hiu

Van 2 v tr, 2 ca

Van 2 v tr, 3 ca

Van 2 v tr, 4 ca

Van 2 v tr, 5 ca

Van 3 v tr, 4 ca

22
Van iu hng

Tn kiu tc ng K hiu

K hiu nt nhn tng qut

Nt bm

Tay gt

Bn p

u d

C chn tc ng mt chiu

C chn tc ng hai chiu

Tc ng bng thy lc/ kh nn

Tc ng bng nam chm in

23
Van iu hng

Van 2 v tr, 2 ca tc ng Van 2 v tr, 2 ca tc

bng tay ng bng in t

24
Van iu hng

Van 2 v tr, 4 ca tc ng Van 2 v tr, 2 ca tc

in t n ng in t kp

25
Van iu hng

Van 3 v tr, 4 ca tc ng
in t kp

26
Van iu p

Van trn tc ng trc Van gim p

tip, gin tip

27
Van Servo

Van con trt Van tm chn Van vi phun

M t nguyn l lm vic v ng dng ca van servo.

28
 Van Servo

Van con trt Van tm chn

ng dng:

Van servo l dng kt hp gia van tit lu v van phn phi, ng dng cho cc
mch iu khin t ng, iu khin p sut, iu khin nhit hoc iu khin lu
lng cho nc, ha cht, du truyn nhit.

29
d, Xi lanh thy lc

Xi lanh tc ng 1 chiu Xi lanh tc ng 2 chiu

Xi lanh tc ng 1 chiu
c l xo hi v Piston thy lc

30
ng c thy lc

ng c piston hng trc ng c bnh rng

ng c piston hng tm ng c cnh gt

31
 2.1.2. H thng chp hnh kh nn
My nn kh

Van kh nn

Xilanh, ng c kh nn

ng ng kh

Cm bin p sut

Mn hnh hin th v

b iu khin

32
a, My nn kh

My nn kh chuyn ng thng My nn kh dng trc vt

My nn kh chuyn ng quay

33
 2.1.3. ng c in v cc c cu in t
ng c in mt chiu

ng c in xoay chiu

ng c bc

ng c khng chi than

34
 ng c in mt chiu
Phn loi:

- ng c DC t trng vnh cu

- ng c DC kch t

Tc ng c xc lp:

=

Phn tch u im, nhc im ca ng c DC

35
 ng c in mt chiu

u im:

- D dng iu chnh, thay i tc trong phm vi ln

- Mch iu khin n gin, cht lng iu khin tt

Nhc im:

- Ch to c gp phc tp

- Chi than hot ng sinh ra tia la in, gy n v khng m bo an ton

36
 ng c in xoay chiu
Phn loi:

- ng c xoay chiu vn nng

- ng c ng b

- ng c cm ng

Tc quay ca t trng:

120
=

- f: Tn s ca ngun in;

- p: S cp cc ca ng c

Phn tch u im, nhc im ca ng c xoai chiu

37
 ng c in xoay chiu

u im:

- Cu to n gin

- Hot ng m t ting n, hiu nng cao

- Nhc im:

- Phm vi iu khin hp, mch iu khin phc tp t tin

38
 ng c bc
Phn loi:
- ng c roto t trng vnh cu
- ng c roto t trng cng cc
- ng c t hp

Phng php iu khin:

- iu khin n cc
- iu khin full bc
- iu khin na bc
- iu khin vi bc

360
=
2

Phn tch nguyn l lm vic ca ng c bc

39
ng c bc

Nu ng dng ca ng c bc

40
 ng c bc

u im:

- Cu to n gin

- iu khin d dng chnh xc, khng cn mch phn hi

- Nhc im:

- B trt bc, tc hot ng khng cao

ng dng:

- c s dng nhiu trong cc my gia cng, may CNC, my in, my photo

41
ng c khng chi than

42
ng c khng chi than

iu khin ng c Servo

43
 2.2. Cc u o cm bin
2.2.1. Cm bin v phn loi cm bin

2.2.2. Cc ch tiu k thut ca cm bin

2.2.3. Cm bin v tr, dch chuyn v mc

2.2.4. Cm bin vn tc v gia tc

2.2.5. Cm bin o nhit

2.2.6. Cm bin o p sut, lu lng

2.2.7. Cm bin lc, bin dng

44
2.2.1. Cm bin v phn loi cm bin

H thng t ng ng gi sn phm

45
 2.2.1. Cm bin v phn loi cm bin
Cm bin l thit b bin i t tn hiu vt l sang i lng mang tnh cht in.

Physical Signal
Physical Variable Sensor Variable
Process s S=f(s) S

M hnh bc khng:
= + ()

M hnh vi phn bc nht: ()

1 + 0 = ()

M hnh vi phn bc hai:
2 () ()
2 + 1 + 0 = ()
2

46
 2.2.1. Cm bin v phn loi cm bin
Cm bin tip xc:

Cng tc hnh trnh - n gin

- R tin
Bin tr con chy o v tr hay dch chuyn

Tenzo o lc, o bin dng

Can nhit, nhit in tr.

Cm bin khng tip xc:

Cm bin in t, in dung
- Lm vic bn
Cm bin siu m - Mi trng khc nghit
- t tin hn
Cm bin Encoder o gc, cm bin hall o gc

Cm bin vn tc, gia tc

47
 Cc ch tiu k thut ca cm bin
Min o

nhy

phn gii

chnh xc chnh xc lp

tuyn tnh

Tc p ng

48
 Min o
Min o l gii hn bi min gi tr cc i v gi tr cc tiu ca i lng cn o
m cm bin c th phn bit c.

150C

-55C

Cm bin nhit LM35

49
 nhy
nhy l t s gia s thay i ca u ra v u vo ca cm bin

50
 phn gii
phn gii l s thay i ln nht ca cc gi tr o m khng lm thay i gi tr
u ra ca cm bin

1 360
= 0.0879
212 1

Encoder s s dng IC AS5045

51
 chnh xc - chnh xc lp
chnh xc l s sai khc ln nht ca gi tr o c v gi tr thc ca i lng
cn o

chnh xc lp l mc m cm bin cho ra cng gi tr o vi cng iu kin o

= 100%

52
 tuyn tnh
Cm bin dng tuyn tnh:
= + ()

2
= =
2 ( )2 2 ( )2

53
 Tc p ng
o Thi gian tng tc

o Hng s thi gian

o Thi gian xc lp

o p ng tn

p ng ng lc hc p ng tn s

54
 Cm bin v tr, dch chuyn v mc
Cng tc hnh trnh

Cm bin con chy

Bin p vi sai bin i tuyn tnh (LVDT/RVDT)

Encoder gia tng

Encoder tuyt i

Encoder tuyn tnh

Cm bin in dung

Cm ng in cm

Cm bin cm ng in t

Cm bin siu m

55
Cng tc hnh trnh

56
Cm bin con chy

=
=

57
Bin p vi sai bin i tuyn tnh (LVDT)

16 3 2 2
0 = 9 1 2
10 ln 0 /1 3 2
Bin p vi sai bin i tuyn tnh (RVDT)
Encoder gia tng

360
=
4

60
Encoder gia tng

61
Encoder tuyt i

Binary Gray Gc
0000 0000 0
0001 0001 22.5
0010 0011 45
0011 0010 67.5
0100 0110 90
0101 0111 112.5
0110 0101 135
0111 0100 157.5
1000 1100 180
1001 1101 202.5
1010 1111 225
1011 1110 247.5
1100 1010 270
1101 1011 292.5
M binary M Gray 1110 1001 315
1111 1000 337.5

360
=
2

62
Encoder tuyt i

63
Encoder tuyn tnh

64
Cm bin in dung

+ 0 = 0

0 =

Charge Amplifier Circuit

65
Cm bin in dung

1
= + = + = ( + )

=
( ) ( 1)

0 = = +

66
Cm bin in dung

67
Cm bin in dung

ALTER

= = =

68
Cm ng in cm

69
Cm bin cm ng in t

Lorentzs law

=
in p cm ng:

=

70
Cm bin cm ng in t

71
Cm bin cm ng in t
Cm bin siu m

>20kHz

0 =
2

v=343 m/s

73
Cm bin siu m

74
Cm bin quang

Cm bin u thu, u pht

Cm bin dng phn x

75
 2.4 Cm bin quang
Mt s ng dng

76
 2.4 Cm bin quang
Mt s ng dng

77
 Cm bin vn tc v gia tc
Cm bin o tc quay

Cm bin gia tc

Gyroscopes

78
 Cm bin o tc quay
My pht Tachometer

0 = 2 =

79
Cm bin o tc quay

80
Cm bin gia tc

2 2 1
2 + + = 2

= 2 1

81
Cm bin gia tc

82
 Cm bin gia tc
Hiu ng p in thun

= =
in p mch o

= =

83
Gyroscopes

+ 2
= =

84
 Cm bin nhit
Cp nhit in (Thermocouple)

Nhit in tr kim loi (RTD)

Thermistor

IC nhit

Nhit k hng ngoi

85
 Cp nhit in
Hiu ng Seebeck:

= 0 + 2 02

Cp nhit in

86
 Nhit in tr kim loi (RTD)
in tr kim loi thay i theo nhit

= 0 1

Nhit in tr (RTD)

87
 Cm bin o nhit
Thermistor

1 1
= 0 ( )
0
K hiu:

NTC Thermistor PTC Thermistor

88
 Nhit k hng ngoi
Nng lng ca vt pht ra

= 4

89
Nhit k hng ngoi

90
 IC nhit

Di o < 250

Mt s IC nhit khc

LM20, LM135, LM235, LM335, LM34:

91
 Cm bin o lu lng
Laze Doppler

S thay i v tn s:

2()
=

92
Cm bin o lu lng

2
Q = = 2

93
 Cm bin o lu lng

1
= 2 =
2
Cm bin lu lng lc cn Cm bin dng tua bin

94
Cm bin o lu lng

500 kHz

1.87
2 1
= =
0

Cm bin siu m Cm bin khuch tn nhit

95
Cm bin lc, bin dng

Cm bin in tr lc cng

96
Cm bin lc, bin dng

1 3
0 =
1 + 2 3 + 4

0 2 1 1 2 4 3 3 4
=
(1 + 2 )2 (3 + 4 )2

97
Cm bin lc, bin dng

0 +
= =
(2)2 2

0
=

0
=

98
Cm bin p sut

3(1 2 ) 4
=
163

99