SOFTWARE SERIES OF LECTURES EFIMOV S.V. ACS CONCEPT Automatic - - PowerPoint PPT Presentation
COMPUTER-AIDED SYSTEM SOFTWARE SERIES OF LECTURES EFIMOV S.V. ACS CONCEPT Automatic Control System (ACS) is a set of hardware and software tools that provide an automated collection, processing, transmission and storage of data necessary
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7 Technological process Sensors Actuating mechanisms ССС Technological process Sensors Actuating mechanisms PLC Technological process Sensors Actuating mechanisms PLC OS
ACS hierarchical structure ACS decentralized structure ACS centralized structure
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an information gaining on a technical parameter in response to a signal input from the sensor
and technical-and-economic indices
technological process
and results obtained in system or PLC system, calculations
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from the stated values
and equipment process safeguards
status
control
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control in statistics)
control), this problem solution result is variation laws of technical parameters in going from one static mode to another
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19 Organization support Operating staff Mathematical support: · algorithmic · software Information support Input data Output data Maintenance support Computer aids
ACS components liaison
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Organization Units (POU), each of them can consist of functions, function units and programs; any program element can be built hierarchically from simpler elements
detect easily the majority of errors in program before its execution
different speed, and also concurrently
intervals or events, the special language of sequential function charts (SFC) is used
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i.e. pump bearing box temperature, pressure and condition “on - off” can be described with the help of one structural system and transmit it inside the program as a single data element
language can be used for every problem part
controller that is compatible to IEC 61131-3 standard
collection from input modules , then the PLC program is executed and the cycle finishes by data output in output devices. The controller cycle run-time depends on “input-output” operation time and processor module running speed
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Instrumented system titles Manufacturing company CoDeSys Smart Software Solutions, Germany OpenDK Infoteam Software, Germany ACCON-ProSys Deltalogic, Germany SUCOsoft S340 Klokner-Moeller, Germany PUMA KEBA, Austria PDS7 Philips, the Netherlands NAIS CONTROL Matsushita AC, Germany Soft Control Softing, Germany SELECONTROL Selectron Lyss, Switzerland Concept Schneider Electric, France ISaGRAF CJ International, France
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are able to provide the patch of commands, functions, function units and other standard elements
possible to declare variables in concise form, and after the end they are converted into the required form
program code, there is automatically a window for its declaration using which it is possible to specify the variable mode, type, starting value and etc.
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(text, table)
highlights the code, commands, comments, redundant words and
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LD, FBD and SFC languages. And for CFC CoDeSys language, the developer identifies the component layout in program himself thus prioritizing these components execution
elements
it in more detail
highlighted by other color
parameter is set by a variable) are shown on blocks
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copying, deleting)
adding of associated libraries)
description, project tasks list, attached libraries list
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Project tree The source environment to develop the PLC code has a well-defined
manager while its development.
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task attributes task manager
This resource includes a processor and its native runtime system where the reviewed tasks are downloaded.
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project resources
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Component name, its input and output variables form the component
component is used, the external variables that have certain values are connected to the input variables and such parameters are called
current values that are delivered to the component, processed according to the algorithm inside this component and then the values that are recorded as current parameters, are output.
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declaration part of component variables
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LD 1 (*value download in a result register*) ST Counter (*result register value assignment to a variable*) loop1: LD Counter (*Counter download to result register*) ADD 1 (*addition of 1 to result register*) ST Counter (*result register value assignment to Counter*) LE 5 (*result register value check <= 5*) JMPC loop1 (*tab transition*)
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The consecutive order of IL instructions execution can be changed with the help of brackets. The opening bracket is put in instruction after the execution. The closing bracket is put in a separate line. Instructions put in brackets are executed first of all.
LD 5 MUL (2 SUB 1 ) ST y (*y=5*(2-1)=5*) LD 5 MUL 2 SUB 1 ST y (*y=5*2-1=9*)
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statement modifier description LD N Download the operand value in result register ST N Assign the result register value to the operand S If the result register is TRUE, install the logical operand (TRUE) R If the result register is TRUE, discard the logical operand (FALSE) AND N, ( Bitwise-AND OR N, ( Bitwise-OR XOR N, ( Bitwise-OR NOT Result register bitwise converse ADD ( Addition SUB ( Subtraction MUL ( Multiplication DIV ( Division
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statement modifier description MOD ( Division modulo GT ( > GE ( >= QE ( = NE ( < > LE ( <= LT ( < JMP CN Tab transition CAL CN Function block calling RET CN POU exit and retrieve to the called program
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indication
Normally open contact Normally close contact Relay winding
USED
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1 2 3 4
In theory the simultaneous branches are executed at the same time. It means – in one cycle, from left to right. The transition condition that proceeds the concurrency to completion is checked only if the last increment sizes are active in each simultaneous branch.
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1 2 3 4 a b c d e f
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statement symbol action Parameter types ADD + Addition ANY_NUM, TIME SUB – Subtraction ANY_NUM, TIME MUL * Multiplication ANY_NUM, TIME DIV / Division ANY_NUM, TIME MOD MOD Residue ANY_INT ЕХРТ ЕХРТ Exponentiation IN1 ANY_NUM, IN2 ANY_INT MOVE := Assignment ANY
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statement action SHL Bit shifting of IN operand to the left by N bits, with zero extension to the right SHR Bit shifting of IN operand to the right by N bits, with zero extension to the left ROR End-around shifting of IN operand to the right by N bits, high bits are replaced by low bits ROL End-around shifting of IN operand to the left by N bits, low bits are replaced by high bits
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statement action AND Bitwise AND OR Bitwise OR XOR Bitwise exclusive OR NOT Bitwise NOT
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Text format Action Parameter types OUT:= SEL(G, IN0, IN1) Binary choice: OUT = IN0 when G = FALSE OUT = IN1 when G = TRUE IN0, IN1: ANY, G: BOOL OUT:= MAX(INO, INI) The highest value ANY OUT:= MIN(INO, INI) The lowest value ANY OUT:= LIMIT(Min, IN, Max) Sentinel: OUT = MIN(MAX(IN,Min),Max) ANY OUT:= MUX(K, IN0,..,IN(K-1)) Multiplexer: OUT = INK IN: ANY K: ANY_INT
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symbol action GT > above GE >= above or equal EQ = equal LE <= less than or equal LT < less than NE <> non-equal
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statement action parameter type ABS Absolute value of a number ANY_NUM SQRT Square root of a number ANYREAL LN Natural logarithm of a number ANYREAL LOG Decimal logarithm of a number ANYREAL EXP Exponential ANYREAL SIN Sine ANYREAL COS Cosine ANYREAL TAN Tangent ANYREAL ASIN Arcsine ANYREAL ACOS Anticosine ANYREAL ATAN Arctangent ANYREAL
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INT:= LEN(STR) return the string length STR:= LEFT(STRING STR, INT SIZE) return the STR left part in SIZE STR:= RIGHT(STRING STR, INT SIZE) return the STR right part in SIZE STR:= DELETE(STRING STR,INT LEN,INT POS) return STR, deleting LEN symbols from POS position STR:= MID(STRING STR, INT LEN, INT POS) return STR part from POS with the length LEN STR:= CONCAT(STRING STR1, STRING STR2) return STR strung concatenation:= STR1 + STR2 STR:= INSERT(STRING STR1, STRING STR2, INT POS) return STR1 with the attached STR2 in POS position STR:= REPLACE(STR1, STRING STR2, INT LEN, INT POS) return STR1, replacing LEN symbols, from POS position to STR2 INT:= FIND(STRING STR1, STRING STR2) return STR2 position in STR1 string. If STR2 is not found, return 0
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TP IN BOOL BOOL Q PT TIME TIME ET
t t t IN Q PT ET
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TOF IN BOOL BOOL Q PT TIME TIME ET
t t t IN Q PT ET
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TON IN BOOL BOOL Q PT TIME TIME ET t t t IN Q PT ET
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RTC EN BOOL BOOL Q PDT D_A_T D_A_T CDT
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SR SET BOOL BOOL Q RESET BOOL
t t SET RESET Q t
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RS SET BOOL BOOL Q RESET BOOL
t t SET RESET Q t
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R_TRIG CLK BOOL BOOL Q
t t CLK Q
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F_TRIG CLK BOOL BOOL Q
t t CLK Q
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CTU CU BOOL BOOL Q RESET BOOL PV WORD WORD CV
For every edge the CU increment value (CV output) is increased by 1 at the input. Q output is set in TRUE when the increment reaches or exceeds the PV preset threshold. The logical unit shuts the calculation and zeroes the increment (CV:=0) at the reset input (RESET = TRUE).
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CTD CD BOOL BOOL Q LOAD BOOL PV WORD WORD CV
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CTUD CU BOOL BOOL QU CD BOOL BOOL QD RESET BOOL LOAD BOOL PV WORD WORD CV
returns TRUE if N bit in X numeral is equal to 1, if not – FALSE. The bit numbering starts with 0.
BOOL В. This function returns X with bit N set in 1 if B equals TRUE. Otherwise, the set bit takes the value of 0.
eight parameters В0, В1,.. В7 of BOOL type. The returned value of BYTE type contains bitwise packed values of input parameters.
input of BYTE type and eight outputs of BOOL type that execute the reactive deblocking towards PACK.
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HYSTERESIS IN INT BOOL OUT HIGH INT LOW INT
t t IN HIGH LOW OUT
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LIMITALARM IN INT BOOL O HIGH INT BOOL U LOW INT BOOL IL
t t IN HIGH LOW O t U t IL
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RAMP IN INT, REAL INT, REAL OUT ASCEND INT, REAL DESCEND INT, REAL TIMEBASE TIME RESET BOOL
The function block RAMP limits the signal update rate. If a new input value increased less than by ASCEND in comparison with the previous one or decreased within DESCEND, the signal is transmitted without
is limited. TIMEBASE sets the time over which the limit is determined. An immediate output change is calculated the way that the preset amount does not exceed the set limits. If TIMEBASE equals t#0s, one instance fetch cycle of a function block is used as an amount.
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CHARCURVE IN INT INT OUT N BYTE BYTE ERR P ARRAY
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DERIVATIVE IN REAL REAL OUT TM DWORD RESET BOOL T0 T1 T2 y1 y0 y2 y3
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INTEGRATION IN REAL REAL OUT TM DWORD BOOL OVERFLOW RESET BOOL
The output Out gives an integral value. The Overflow (Bool) output signals about an overload of the Out variable highest value of Real type. Before the calculations it is necessary to reset. Then, the set integration interval is divided into several small parts. The integral value is calculated by means of cyclic summation. At every function block instance call, it gets a new IN value at the input and a corresponding time increment (TM). The integral is calculated approximately by a rectangle method. The integral value is approximately equal to the rectangle square sum. The reset is done by setting the RESET input value at TRUE, it causes the Сброс выполняется установкой значения входа RESET в TRUE, он вызывает обнуление суммы и снимает признак переполнения.
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where Y0 – value at zero error (starting value), Kp – proportional gain, Tn – integration constant, Tυ – derivative action time.
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Input Data type Description ACTUAL REAL feedback signal SET_POINT REAL specification КР REAL transmission coefficient TN DWORD integration constant (msec) TV DWORD derivative action time (msec) Y_MANUAL REAL manual specification Y_OFFSET REAL steady-state value Y_MIN REAL minimum valid value Y_MAX REAL maximum valid value MANUAL BOOL manual feed RESET BOOL reset action
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Output Data type Description Y REAL control action LIMITS_ACTIVE BOOL threshold value achieving flag OVERFLOW BOOL
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1 2 1 2
n d d d m t
behavior curve. The calculation of values T1 and Tt:
2 1 1 1 1 2
, ln(1 ) , ln
i t i s s s
h t t T T T t k h k k h
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t
coefficients are:
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1
2, 0,5 3
3 3 2 2 3 2 1
requirements to the synthetic system
controllers set by Kuhn and Shubladze methods
approximation by models that contain neither zeros nor lag elements
quality direct indices
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The interface between a human and a system is called a human- computer interface (HCI). When a human-computer interface is designed for human interaction with a computer-aided processing procedure, it is called SCADA. This term is literally translated as “supervisory control and data acquisition”, but in practice it is interpreted much wider, and the modern SCADA bursts include a wide range of functionalities that is wider than a supervisory control and data acquisition.
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Взаимодействие с оператором (выдача визуальной и слуховой информации, transmission to the statement machine code)
schedule, operator action list printing)
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and system adjustment modification access permissions)
privacy protection)
(dispatch control). A remote monitoring and dispatch control are common requirements of Federal Service for Environmental, Technological and Nuclear Oversight of Russia and are executed via a wired network, radio channel (via GSM or wireless modem), Internet and etc.
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programming language such as Visual Basic
programming modules, and OPC, ODBC, OLE DB)
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rate)
external editors such as CorelDraw or Photoshop
technical support hotline
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fault tolerance in master data)
workstations, data backup)
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complement in accordance with the original problem. The common modules are input-output module, rendering husk, alarms module, trends module, reports module, energy supply revenue metering module and
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between a client (SCADA, for instance) and an equipment (controllers, input-output modules and others) in real time
events and alarm signals that are sent to a client as they arise. This server sends alarm signals, operator actions, messages and system state control results
process historical data ( to the saved data). The server provides a unified access technique by means of DCOM technologies. It provides reading, recording and change of data
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technological metal working processes that are not continuous. In such processes the input of several types of raw materials is executed within specified proportions according to the formula, the operating modes are set and a new batch is input when the operating and discharging cycle is
a server, technical equipment characteristics, operating conditions and results
two ОРС DA-servers via Ethernet network
methods to the server that provide the important data security from an unapproved modification
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primary data by means of XML language, web technologies and SOAP messages
that allow the servers to deal with complicated types of data such as binary structures and XML-documents
servers to identify, send and control commands that are executed in a technological device (controller, input-output module)
already based on DCOM technology
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client and the former gets the provided data
the server must send to the client only in case of their change. The notion of “blind spot” is introduced and it exceeds the highest probable noise waves peal-to-peak separation
Current are all tags apart from those that are indicated as “dead”. Such classification of tags decreases the processor loading by warm-up that is input from a physical device
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