基于PLC的全自动码垛机电气控制系统设计研究

Design and Research of Electrical Control System for Fully Automatic Stacker Based on PLC

自动码垛机需要实现多轴运动控制,包括各种传动部件的精确控制和同步。需要考虑运动规划、速度控制、位置反馈等方面,这使得确保系统的稳定性和精度难度较高。为此,设计基于PLC的全自动码垛机电气控制系统。首先,通过PLC、传感器、执行器、操作面板和人机界面、电源和电气元完成系统的整体硬件的设计;其次,设计自动取料模块和速度电气控制器。对于系统软件部分,先设计PLC梯形图。基于此,结合抗扰电气控制器原理,再设计全自动码垛机的鲁棒电气控制算法。实验结果表明,所设计系统能够精准跟踪全自动码垛机机械臂的关节轨迹,说明该系统的电气控制效果较好,且具有理想的抗干扰性。

The automatic stacker crane needs to achieve multi axis motion control,including precise control and synchronization of various motion transmission components.This requires consideration of aspects such as motion planning,speed control,and position feedback,which makes it difficult to ensure the stability and accuracy of the system.To this end,a PLC based fully automatic stacker crane electrical control system is designed.Firstly,the overall hardware design of the system is completed through PLC,sensors,actuators,operation panel and human-machine interface,power supply and electrical elements,and the automatic material retrieval module and speed electrical controller are designed.For the system software part,first design the PLC ladder diagram.Based on this,combined with the principle of anti-interference electrical controller,design a robust electrical control algorithm for the fully automatic stacker crane.The experimental results show that the designed system can accurately track the joint trajectory of the fully automatic stacker crane robotic arm,indicating that the electrical control effect of the system is good and has ideal anti-interference performance.