基于可重组技术的机械手控制系统设计

The Design of Manipulator's Control System Based On the Reconfigurable Technology

针对机械手PLC控制系统的传统开发方法中存在任务无法重组的问题,提出了通过可视化编程界面对PLC控制逻辑进行二次重组的方法。首先,设计了一套机械手控制逻辑二次重组的系统框架,详细描述了重组的原理与实施路径;其次,按照上述设计思路,设计了上位机软件系统的总体框架;再次,详细介绍了下位机进行程序数据解析和逻辑再现的过程与方法;最后,以三自由度直交坐标机械手为控制对象,对控制系统的重组功能进行了验证和调试。实验结果表明,通过上位机任务重组界面的简单操作,即可实现机械手作业的定义,大大降低了对操作者专业素养的依赖性,创新了机械手PLC控制系统的开发方法。

Aiming at to the problem that task couldn’t be reconfigured by the traditional developing method of the manipulator’s PLC control system,a method of recombining the PLC’s control logic through the visual interface is presented.Firstly,the system frame of recombining the manipulator’s control logic is designed,in which the operation principe and actualize path of recombining the control logic are described in detail.Secondly,according to the idea referred above,the overall frame of the upper software is designed;The third,the process and method of analyzing the program data and replaying the control logics are described in detail.At last,a manipulator with 3-axes is taken as the control object,on which the recombining function of the control system is is proved and tested.The result shows that,without compiling the PLC’s ladder diagram,the manipulator’s action order can be recombined just by the simple operation of excels on the upper software’s HMI,which reduces the dependence on the operator’s professional ability and innovates the developing method of the manipulator’s control system.