基于PLC的三轴机械臂控制系统设计

Design of a Three-axis Manipulator Control System Based on PLC

基于三轴机械臂在工业生产中的广泛应用及运行控制要求,采用以PLC为核心控制器,将伺服电机、传感器、触摸屏、交流伺服装置、工控计算机及丝杆工作台等组合后,设计出一种三轴运动控制系统,并用西门子组态上位机软件WinCC完成对系统的实时监控。通过编写程序下载至系统平台后可完成整个系统的精准定位,实现机械臂不同运行轨迹的操作。空间轨迹控制中利用工控计算机的强大运算能力,将位置数据传送到可编程控制器中,控制PLC的脉冲频率达到伺服电机按照设定的位置进行精准位移,实现对三轴机械臂系统的轨迹控制。现实生产中,该文设计出的控制系统有非常高的应用价值。

Based on the extensive application of the three-axis manipulator in industrial production and its operation control requirements,a three-axis motion control system is designed by using PLC as the core controller,which combines servo motor,sensor,touch screen,AC servo device,industrial control computer and screw worktable.Siemens configuration host computer software WinCC completes the real-time monitoring of the system.The precise positioning of the whole system can be completed after the program is downloaded to the system platform,and the operation of different running trajectories of the manipulator can be realized.In the space trajectory control,the powerful computing ability of the industrial control computer is used to transmit the position data to the programmable controller,and the pulse frequency of the PLC is controlled to achieve the precise displacement of the servo motor according to the set position,and the trajectory control of the three-axis manipulator system is realized.In the actual production,the control system designed in this paper has a very value of high application.