基于PLC与电液伺服的油罐清洗机器人控制系统设计

Design of Control System for Oil Tank Cleaning Robot Based on PLC and Electro-hydraulic Servo

为满足作业安全性和操作灵活性要求,设计了油罐清洗机器人全液压控制系统。分析机器人结构特性及功能,确定组成油罐清洗机器人液压控制系统的各组成部分;根据各组成部分的工作原理和过程,设计机器人的液压系统回路,并分析在回路基础上各功能的实现过程;分别进行了PLC控制系统和电液伺服控制系统设计,根据回路各元件的传递函数建立了整个系统的传递函数,为各元件的选型及整个回路的仿真分析奠定了理论基础。

A hydraulic control system of oli tank cleaning robot was designed to afford the operating safety and flexibility. Firstly, all component elements of the hydraulic control system were confirmed after analyzing the structural characteristics and functions of the robots. Secondly,on the basis of working principle and process of every component element,a hydraulic system circuit was designed for the robot and the achieving process of every component element was analyzed. Last,the PLC control system and the electro-hy-draulic servo control system were respectively devised. On the basis of transfer functions of all component elements,the whole transfer function of the system was built. It provides a theoretical foundation for component element selecting and circuit simulation.