基于PLC的六自由度起挂车设备系统设计

Design of Six-degree-of-freedom Trailer Based on PLC

吊舱运输挂卸设备是一种集成了运输作业、挂载作业及某吊舱拆装所配套的一种关键设备,主要用于某些吊舱转场或运输至某型飞机机翼下方的挂载口。目前国内现有的运输挂卸设备普遍存在智能化不足的缺点。为了提高装卸效率,设计了一种基于可编程逻辑控制器(Programmable Logic Controller,PLC)的新型吊舱运输挂卸设备。该设备通过总线控制的方式来实现多电机联动,结合人机界面的应用,实现了系统在六自由度上高精度调整吊舱姿态的功能。文中研究了起挂车设备系统的组成、硬件设计、程序设计以及调试的过程。

Pod transport hanging and unloading equipment is a kind of key equipment which integrates transport operation,hanging operation and disassembly of a pod.It is mainly used to transfer some pods or transport them to the hanging port under the wing of a certain aircraft.At present,the existing domestic transport hanging and unloading equipment generally has the shortcomings of insufficient intellectualization.In order to improve the loading and unloading efficiency,a new type of equipment based on programmable logic controller(PLC)is designed.The hanging and unloading equipment for pod transportation realizes multi-motor linkage by bus control.Combined with the application of man-machine interface,the system realizes the function of adjusting the attitude of pod with high precision in six degrees of freedom.In this paper the composition,hardware design,program design and debugging process of the lifting and trailer equipment system are analyzed.