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辽宁石油化工大学毕业设计I基于PLC的堆垛机控制系统设计摘要在现代的物流仓储系统中，自动化立体仓库应用日益广泛。而堆垛机是立体仓库的关键组成部分，堆垛机性能的优劣对整个立体仓库的运行起到至关重要的作用，所以设计与开发自动化程度较高的堆垛机控制系统成为当前立体仓库的发展趋势，开展与此有关的研究具有重要的理论和应用价值。本文基于现代物流技术的应用和发展要求，介绍自动化立体仓库的应用及其功能和作用，结合现代科技的发展，着重研究自动化立体仓库堆垛机控制系统的控制技术。本文详细阐述了本控制系统的设计思想，以及整个系统的硬件实现和软件设计。论文依据立体仓库的有关设计参数，对堆垛机电气控制的硬件系统进行了设计，为了提高堆垛机的性能，本文采用了转速、位置反馈的双闭环控制，以满足系统的调速要求。系统的水平认址采用激光测距传感器定位，垂直认址采用光电开关和认址片组合定位。变频调速系统由S7-200PLC及其扩展模块EM235通过变频器MM440控制交流电动机，采用光电编码器反馈转速信号，实现转速闭环控制。货叉伸叉系统由S7-200PLC通过步进电动机驱动器SH-20403控制二相混合式步进电动机。根据系统的控制要求进行了PLC、变频器、电机和电机驱动器的选型，并给出了系统的硬件接线图，然后利用西门子的编程软件step7设计了堆垛机控制程序。关键词自动化立体仓库，堆垛机，PLC辽宁石油化工大学毕业设计IIStackercontrolsystemdesignbasedonPLCAbstractInmodernlogisticswarehousingsystems,automatedstorageisincreasinglywidespread.Andstackersarethekeyequipments,performanceofthestackerplaysanimportantrole.ThispaperintroducesapplicationandperformanceofautomatedHigh-riseWarehousebasingonapplicationanddevelopmentrequirementofmodernlogisticstechniques.AndputsemphasisontheresearchingofcontroltechniquesinautomatedHigh-riseWarehousestackercombiningmodernscienceandtechniques.Thispaperelaboratedonthedesignofthesystemofcontrol,aswellastheimplementationofthesystem'shardwareandthedesignofthesoftware.Basedontheparameterrelatedtotheautomatedstorage,thispaperpresentedthehardwaresystemofstackerelectricalcontrol.Speedofthestackerwasthebasic.Inordertoimprovetheperformanceofthestacker,thesystemadoptsthespeed,position,doublefeedbackcontrol.Thehorizontalrecognizeaddressesofsystemusinglaserrangefindersensorpositioning,andverticalrecognitionusingphotoelectricswitchesandaddresspiececombinationaddressing.Speed-adjustedsystembyS7-200PLCanditsextensionmoduleEM235throughtransducerMM440controlacmotor.GoodsforksystemisbyS7-200PLCbinarysystemthroughsteppingmotordriverSH-20403controltwo-phasehybridsteppingmotor.Accordingtotherequirementsofthecontrolsystem,thispapercompletedtheselectionofPLC，frequencyconverter,themotoranditscontroller.Andpresentsthesystemhardwarehookup.ThenusethesoftwareofSiemensstep7designsthestackercontrolprocedures.KeyWords:AutomatedStorageandRetrievalSystem，Stacker，PLC辽宁石油化工大学毕业设计III目录摘要............................................................................................................................IAbstract.........................................................................................................................II第1章绪论..................................................................................................................11.1本课题设计的背景和意义............................................................................................11.2本课题设计的研究现状概述.........................................................................................11.3本课题设计完成的主要内容.........................................................................................3第2章系统控制方案的确定......................................................................................42.1自动化立体仓库的概述.................................................................................................42.1.1自动化立体仓库的组成.......................................................................................42.1.2自动化立体仓库的优点.......................................................................................52.1.3自动化立体仓库的发展.......................................................................................62.2堆垛机概述........................................................................................................................62.2.1堆垛机的发展..........................................................................................................72.2.2堆垛机技术的研究现状.......................................................................................7第3章堆垛机控制系统的硬件设计..........................................................................93.1控制技术要求和系统总体设计...................................................................................93.2堆垛机位置控制.............................................................................................................113.2.1定位控制.................................................................................................................123.2.2认址检测方式........................................................................................................123.2.3认址方式确认........................................................................................................143.2.4堆垛机速度曲线分析..........................................................................................153.3PLC及资源配置.............................................................................................................163.3.1S7-200系列PLC概述.........................................................................................163.3.2CPU型号选择.........................................................................................................17辽宁石油化工大学毕业设计IV3.3.3PLC模块选型......................................................................................................193.4堆垛机变频调速系统设计.............................................................................