基于PLC的工程运输车辆协同作业的定位与控制

Position's Controlling of Multi-Vehicle's Coordination Based on PLC

主要讨论了在工程实践中,多种运输工具协同配合运输物料时,翻斗汽车和有轨转台运输平车的定位控制和系统设计问题。在综合比较了图像成像法和光幕测量法后,选择了双测距传感器的测量方法,并利用PLC控制系统和模糊控制算法控制转台运输车自动与翻斗汽车实现对中定位。最后,利用函数系统误差分析方法对对中定位原理的误差进行了分析,并证明此种对中方法完全能满足系统误差的要求。

The principle analysis and system design for centring of a skip car and a railroad car with rotatable platform are discussed, which are used in a practical project. This project uses multi-vehicles to transport material. Comparing with the imaging method and the measuring method with light-screen, the measuring method of double-distance-sensor is chosen. PLC and the fuzzy control arithmetic are used to control the railroad car to move some distance for centring the skip car and the railroad car. At last, the error analysis for the principle using system-function-error-analysis is presented; and the conclusion that the error of this principle satisfies the system is given.