工业机械手的PLC控制_大学本科毕业设计

工业机械手的PLC控制_大学本科毕业设计 河南机电高等专科学校毕业 论文 政研论文下载论文大学下载论文大学下载关于长拳的论文浙大论文封面下载 毕 业 设 计 论文名称: 工业机械手的PLC控制 系 部: 电气工程系 专 业:电气工程及其自动化 班 级: 09自动化(3)班 their own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promote the brand. To establish brand awareness, awareness of the use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful planning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key breakthroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their horizons, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trust, mutual benefit, seeking win-win principle, in the framework of national policies and regulations, strict inspection and argumentation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injection the social investment to the industry group, to achieve leveraging the development, ensure that the value of state-owned assets.(five) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and workers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market competition, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the market. At the same time, according to the need of industrial development, vigorously the introduction of high-quality management management personnel, and strive to build a high-quality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structure optimization and upgrading ability, enhance core competitiveness, adapt to the need of market competition.(six) seriously study the policy for policy. Serious research about social support the development of cultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment policy, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to promote leapfrog development. 摘要 在当今大规模制造业中，企业为提高生产效率，保障产品质量，普遍重视生产过程的自动化程度，工业机器人作为自动化生产线上的重要成员，逐渐被企业所认同并采用。工业机器人的技术水平和应用程度在一定程度上反映了一个国家工业自动化的水平，目前，工业机器人主要承担着焊接、喷涂、搬运以及堆垛等重复性并且劳动强度极大的工作，工作方式一般采取示教再现的方式。 PLC是以现代微处理器技术为核心的控制器，作为一种通用的工业控制器，其可靠性高、抗干扰能力强;PLC由于采用现代大规模集成电路技术，采用严格的生产工艺制造，内部电路采取了先进的抗干扰技术，具有很高的可靠性，此外，PLC带有硬件故障自我检测功能，出现故障时可及时发出警报信息;PLC采用光电隔离和滤波技术有效抑制外部干扰源对PLC的影响，此外PLC还可在强、通用性好;开发周期短，功耗小。本课题对现代工业的的发展具有很重要的意义。 关键词:意义，应用，前景，编程语言，设计 -the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot2omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu-gement personnel, and strive to build a highquality management mana-ket. At the same time, according to the need of industrial development, vigorously the introduction of hightion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the marompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market cive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f 兰州交通大学博文学院毕业设计,论文， Summary:In today's large-scale manufacturers, enterprises to improve production efficiency and ensure product quality, universal attention production process automation degree, industrial robots as an important member of automatic production line, gradually the enterprise recognizes and adopted. Industrial robot technology level and USES degree in a certain extent reflect a nation industrial automation level, at present, the industrial robot main bearing welding, spraying, handling and stacking repeatability and the intensity of labor etc greatly, work normally take the reappearance of the demonstration teaching way. plc with modern technology is the microprocessor controller as a general control of the industry, its reliability and anti-interferenceability ; plc with the use of modern lsi adopt strict production process and internal circuit adopted advanced anti-interference technology, with very high reliability, in addition, plc with a hardware failure and detection capabilities, the failure of information to the timely alarm;plc the photoelectric isolation and technical skills filtering is effective in the area of the plc external to the influence of the plc, there is also in the strong, the common good ; development cycles, TDP. this subject to the modern industrial development has a very important. Keywords:significance, application, prospect，the programming language，designe quality management mana-ket. At the same time, according to the need of industrial development, vigorously the introduction of hightion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the marompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market cive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f-the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot4omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu-gement personnel, and strive to build a high 兰州交通大学博文学院毕业设计,论文， 第一章 绪论 1.1 本课题的意义 1.2 本文的主要工作 第二章 PLC 的概述 2.1 PLC的定义 2.2 PLC的由来及发展 的特点及用途 2.3 PLC 2.4可编程控制器的应用与前景 第三章 PLC 的编程言 3.1 梯形图编语 3.2 功能块图编程语 第四章 PLC控制机械手的设计 4.1 机械手在工业生产中的应用 4.2 各电器设备的制方式及控制要求 4.3电器元件设备的选择 4.4 控制系统的软、硬件设 4.5 功能表图设计 第五章 设计小结 谢辞 参考文献 tion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the marompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market cive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f-the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot2omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu-gement personnel, and strive to build a highquality management mana-ket. At the same time, according to the need of industrial development, vigorously the introduction of high 兰州交通大学博文学院毕业设计(论文) 1 兰州交通大学博文学院毕业设计(论文) 第一章 绪论 1.1本课题的意义 机械手是近代自动控制领域中出现的一项新技术，并已成为现代科技的一个重要组成部分。汽车业的快速发展，车外型愈求美观流线，并由于汽车外板件要求完美无尘的冲压生产线也向高速化、高品质、自动化、柔性化方向发展。传统冲压生产过程中的手工操作、人工送料的生产方式已无法满足该行业的需要。 机械手的积极作用正日益为人们所认识，其一，它能部分地代替人的劳动并能达到生产工艺的要求，遵循一定的程序、时间和位置来完成工件的传送。因此，它能大大地改善工人的劳动条件，加快实现工业生产机械化和自动化的步伐。因此，受到各先进单位的重视并投入了大量的人力物力加以研究和应用。尤其在高温、高压、粉尘、噪声的场合，应用得更为广泛。在我国，近代几年来也有较快的发展，并取得一定的成果，受到各工业部门的重视。 可编程控制器(PLC)是一种专门为工业应用而设计的进行数字运算操作的电子控制装置。由于其具有可靠性高，功能强，编程简单，人机交互界面友好等特性而广泛用于工业控制系统。 1.2 本文主要做的工作 1.问题提出 : PLC控制的机械手最主要是应用于自动化生产中，如何综合地运用前面学过知识点，根据实际工程要求合理组合成控制系统， 在此介绍组成可编程控制器控制系统的一般方法。 2.系统设计的主要内容 1 ( 1 )拟定控制系统设计的技术条件。技术条件一般以设计任务 书 关于书的成语关于读书的排比句社区图书漂流公约怎么写关于读书的小报汉书pdf 的形式来确定，它是整个设计的依据; ( 2 )选择电气传动形式和电动机、电磁阀等执行机构; ( 3 )选定 PLC 的型号; ( 4 )编制 PLC 的输入 / 输出分配表或绘制输入 / 输出端子接线图; ( 5 )根据系统设计的要求编写软件规格说明书，然后再用相应的编程语言(常用梯形图)进行程序设计; ( 6 )了解并遵循用户认知心理学，重视人机界面的设计，增强人与机器之间的友善关系; 第二章 PLC的概述 1.1 PLC的定义 可编程控制器(Programmable Logic Controller)简称PLC，它具备了模拟量控制、过程控制以及远程通信等强大功能，所以美国电气制造商协会将其正式命名 为可编程控制器(Programmable Controller),简称PC。但是个人计算机(Personal Computer)也简称PC，为了避免混淆，将用于逻辑控制的可编程控制叫做PLC(Programmable Logic Controller). PLC是一种专门为在工业环境下应用而设计的数字运算操作的电子装置，它其实就是一台计算机，它采用 可以编制程序的存储器，在其内部执行逻辑运算、顺序 运算、计时、计数和算术运算等操作的指令，它以接入 式CPU为核心，通过数字式或模拟式的输入和输出，控制各种类型的机械或生产过程。PLC及其有关的外围设备，都是很容易与工业控制系统形成一个整体，容易扩 展其功能的。 可编程控制器是一种工业现场用计算机。它是为工业环境下应用而设计的，工业环境一般办公环境有较大 的区别。由于PLC的特殊构造，使它能在高粉尘、高噪音、强电磁干扰和温度变化剧烈的环境下正常工作。为 of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu-gement personnel, and strive to build a highquality management mana-ket. At the same time, according to the need of industrial development, vigorously the introduction of hightion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the marompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market cive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f-the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot2omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment 兰州交通大学博文学院毕业设计(论文) 了能控制机械或生产过程，它要能很容易的与工业控制系统形成一个整体，这些都是个人计算机无法比拟的。 可编程控制器是一种通用的工业控制计算机。它能控制各种类型的工业设备及生产过程。它的功能能够很容易地扩展，它的程序是可以根据控制对象的不同，让使用者来编制的。也就是说，可编程控制器较其以前的工业控制计算机，如单片机工业控制系统，具有更大的灵活性，它可以方便地应用在各种场合。 通过以上定义还可以了解到，相对一般意义上的计算机，可编程控制器不仅具有计算机的内核，它还配置了许多使其适用于工业控制的器件。它实质上是经过一次开发的工业控制计算机。从另一个方面来说，它是一种通用机，经过二次开发，它可以在任何具体的工业设备上使用。它在很大程度上使的工业自动化设计从专业设计院走进工厂和矿山，变成了普通工程技术人员甚至普通电气工人力所能及的工作。再加上体积小、工作可靠性高、抗干扰能力强、控制功能完善，适应性强，安装接线简单等众多优点，可编程控制器在短短的30年中获得了突飞猛进的发展，在工业控制领域获得了非常广泛的应用。 1.2 PLC的由来及发展 1969年，美国数字设备公司(DEC)研制出第一台可编程序控制器(Programmable Logic Controller，简称PLC)，在美国通用汽车公司的自动装配线上使用，取得了巨大的成功。20世纪70年代初出现了微处理器。人们很快将其引入可编程控制器，使PLC增加了运算、数据传送及处理等功能，成为真正具有计算机特征的工业控制装置。为了方便熟悉继电器、接触器系统的工程技术人员使用，可编程控制器采用和继电器电路图类似的梯形图作为主要编程语言，并将参加运算及处理的计算机存储元件都以继电器命名。因而人们称可编程控制器为微机技术和继电器常规控制概念相结合的产物。20 3 世纪70年代中末期，可编程控制器进入了实用化发展阶段，计算机技术已全面引入可编程控制器中，使其功能发生了飞跃。更高的运算速度、超小型的体积、更可靠的工业抗干扰设计、模拟量运算、PID功能及极高的性价比奠定了它在现代工业中的地位。20世纪80年代初，可编程控制器在先进工业国家中已获得了广泛的应用。例如，在世界第一台可编程控制器的诞生地美国，1982 年的统计数字显示，大量应用可编程控制器的工业厂家占美国重点工业行业厂家总数的82%，可编程控制器的应用数量已位于众多的工业自控设备之首。这个时期可编程控制器发展的特点是大规模、高速度、高性能、产品系列化。这标志着可编程控制器已步入成熟阶段。这个阶段的另一个特点是世界上生产可编程控制器的国家日益增多，产量日益上升。许多可编程控制器的生产厂家已闻名于全世界。 20世纪末期，可编程控制器的发展特点是更加适应于现代工业控制的需要。从控制规模上来说，这个时期发展了大型机及超小型机;从控制能力上来说，诞生了各种各样的特殊功能单元，用于压力、温度、转速、位移等各式各样的控制场合;从产品的配套能力来说，生产了各种人机界面单元，通讯单元，使应用可编程控制器的工业控制设备的配套更加容易。目前，可编程控制器在机械制造、石油化工、冶金钢铁、汽车、轻工业等领域的应用都的到了长足的发展。 1.3 PLC的特点及用途 1.3.1 PLC具有以下几个主要特点 (1)可靠性高、抗干扰能力强 高可靠性是电气控制设备非常关键的性能。PLC由 于采用大规模集成电路技术、严格的生产工艺，内部电路采取了输入输出信号的光电隔离、滤波、电源的屏蔽、稳压和保护、故障诊断等先进的抗干扰技术，具有很高 tion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the marompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market cive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f-the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot4omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu-gement personnel, and strive to build a highquality management mana-ket. At the same time, according to the need of industrial development, vigorously the introduction of high 兰州交通大学博文学院毕业设计(论文) 的可靠性，它能在高粉尘、高噪音、强电磁干扰和温暖变化剧烈的环境下正常工作。PLC的平均无故障时间可高达5~10万小时以上。从PLC的机外电路来说，PLC构成控制系统，和同等规模的继电接触器系统相比，电气接线及开关接点已减少到数百甚至数千分之一，故障率也就大大降低。 (2)功能完善、应用领域广 到现在为止PLC已经形成各种规模、系列化的产品。可以用于各种规模的工业控制场合，并能完成决大多数的工业控制任务。PLC所具有的完善的数据运算能力，可用于各种数字控制领域。近年来PLC的功能单元大量涌现，PLC通讯能力的增强及人机界面技术的发展，使用PLC组成各种控制系统变的非常容易。 (3)编程简单，易学易用 PLC采用和继电器电路图接近的梯形图语言，只用少量的开关量逻辑控制指令就可以方便地实现继电器电路的功能。在工业现场，可以使用手持编程器或笔记本对PLC进行编程。当PLC联网后，可以在网络的任一位置对PLC编程。为不熟悉电子电路、不懂计算机原理和汇编语言的人使用计算机从事工业控制提供了方便。 (4)系统安装简单、体积小、价格低 PLC在存储逻辑代替接线逻辑、采用模块化的结构，大大地减少了控制设备外部的接线，使控制系统设计及建设的周期大大缩短了。现代集成电路技术的广泛应用，功耗仅数瓦。由于PLC体积小很容易装入机械内部，是实现机电一体化的理想控制设备。使得PLC的重量越来越轻、功耗也越来越少。在集成电路技术和生产厂家越来越多的情况下，PLC的价格也越来越低。 2.2 可编程控制器PLC的应用与前景 目前，在国内外PLC已广泛应用冶金，石油，化工，剪彩，机械制造，电力，汽车，轻工，环保及文化娱乐等各行各业，随着PLC性能价格 的不断提高，器应用领域不断扩大，从应用类型看大致可归纳为以下几个方面: 1 逻辑运算 5 利用PLC最基本的逻辑运算，定时，计收等功能实现逻辑运算，可取代传统的继电器控制用于单片机控制，多机群控制，生产自动线控制等。例:机床，注塑机印刷机械，装配生产线，电镀流水线及电梯的控制等。这是PLC最基本的应用，也是PLC最广泛的应用领域。 2.运动控制 大多数PLC都有拖动步进电机或伺服电机的单轴或多轴位置控制模块，这一功能广泛用于各种机械设备。例如:各种机床，装配机械。机器人等进行运动控制。 3.过程控制 大，中型PLC都具有多路模拟量I/O模块和PID控制功能。有的小型PLC也具有模拟量输入输出，所以PLC可实现模拟量控制而且具有PID控制功能的PLC可构成闭环控制，用于过程控制。这一功能已广泛用于铝炉，反应堆，水处理，酿酒及闭环位置控制和速度控制等方面。 4.数据处理 现代的PLC都具有数学运算数据传递，转换，排序和查表等功能，可进行数据的采集，分析和处理，同时的通过通信接口将这些数据传送给其电智能装置。例如:CNC设备进行处理。 5.通信联网 PLC的通信包括PLC与PLC，PLC与计算机，PLC与其它智能设备之间的通信，PLC系统与通用计算机可直接或通过通信处理单元，通信转换单元相连构成网络，已实现信息的交换和构成。集中管理分散控制的多级分布式控制系统。满足工厂自动化(FA)系统发展的需要。 2.2.2 国外PLC发展概况 PLC在问世以来，经过40多年的发展。在美、德国等工业发达国家已成为重要的产业之一，世界总销售额不断上升，生产厂家不断涌现，品种不断翻新，产量产值大幅度上升而价格则不断下降。目前，世界上有200多个厂家生产PLC。较多的有美国:AB通用电气、莫迪康公司;日本:松下、三菱、富士、欧姆龙等;德国:西门子公司;法国:TE施耐德公司。韩国:三星、LG公司等 -the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot6omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu-gement personnel, and strive to build a highquality management mana-ket. At the same time, according to the need of industrial development, vigorously the introduction of hightion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the marompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market cive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f 兰州交通大学博文学院毕业设计(论文) PLC的发展前景 (1)产品规模向大小两个方向发展 大:I/O点数达14336点，32位微处理器，多CPU并行工作 ，大容量存储器，扫描速度快高速; 小:整体结构向小型模块化结构发展，增加了配置的灵活性，降低了成本; (2)PLC在闭环过程中应用日益广泛; (3 不断加强通讯功能; (4)新器件和模块不断推出 第三章 可编程控制器的编程语言 7 3.1可编程控制器的几种编程语言 可编程控制器的编程语言按IEC61131-3国际 标准 excel标准偏差excel标准偏差函数exl标准差函数国标检验抽样标准表免费下载红头文件格式标准下载 来分主要包括图形化编程语言和文本化编程语言。图形化编程语言包括:梯形图(LD-Ladder Diagram)、功能块图(FBD-Function Block Diagram)、顺序功能图(SFC-Sequential Function Chart)。文本化编程语言包括:指令表(IL-Instruction List)和结构化文本(ST-Structured Text)。这些语言是基于WINDOWS操作系统的编程语言.而SFC编程语言则在两类编程语言中均可使用。下面分别来介绍这几种编程度语言。 3.1.1梯形图编程语言(LD-Ladder Diagram) 梯形图来源于继电器逻辑控制系统的描述，是PLC编程中被最广泛使用的一种图形化语言，由于梯形图类似于继电器控制的电气接线图，便于理解,因此许多编程人员和维护人员都选择了这一编程方式。而且其图形结构类似于登高用的梯子，故名梯形图。梯形图程序的左右两侧有两垂直的电力轨线，左侧的电力轨线名义上为功率流从左向右沿着水平梯级通过各个触点、功能、功能块、线圈等提供能量，功率流的终点是右侧的电力轨线。每一个触点代表了一个布尔变量的状态，每一个线圈代表了一个实际设备的状态，一个简单的梯形图程序如图1所示: 图3.1 梯形图程序示例 梯形图的每个梯级表示一个因果关系,事件发生的条件表示在梯形的左面,事件发生的结果表示在梯级的右面。 gement personnel, and strive to build a highquality management mana-ket. At the same time, according to the need of industrial development, vigorously the introduction of hightion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the marompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market cive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f-the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot8omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu- 兰州交通大学博文学院毕业设计(论文) 梯形图编程语言具有如下特点: (1) 与电气操作原理图相对应，具有直观性和对应性; (2) 与原有继电器逻辑控制技术相一致，易于掌握和学习; (3) 对于复杂控制系统描述,仍不够清晰; (4) 可读性仍不够好。 几乎所有PLC厂商提供的PLC都支持梯形图编程语言,而且都比较容易理解，只是在梯形图结构上可能稍有变化。比如西门子的S7系列梯形图就没有右边的电力轨线。有时在有此参考书中右边的电力轨线也常常被省略。 3.1.2 功能块图编程语言(FBD-Function Block Diagram) 功能块图编程语言采用功能模块表示所具有的功能，不 同的功能模块具有不同的功能。功能模块用矩形来表示，每一个功能模块的左侧有不少于一个的输入端，右侧有 不少于一个的输出端。功能模块的类型名称通常写在块 内，其输入输出名称写在块内的输入输出点对应的地方。 功能模块基本上分为两类:基本功能模块和特殊功能模块。基本功能模块如AND，OR XOR等等.特殊功能模块如ON延时，脉冲输出，计数器等等。 功能块编程语言具有以下特点: (1) 以功能模块为单位,从控制功能入手，使控制 方案 气瓶 现场处置方案 .pdf气瓶 现场处置方案 .doc见习基地管理方案.doc关于群访事件的化解方案建筑工地扬尘治理专项方案下载 的分析和理解变的容易; (2) 功能模块用图形化的方式描述功能，较直观易掌握，方便组态，易操作。是有发展前途的一种编程语言; (3) 对较复杂系统，由于控制功能关系能够比较清晰的描述，因此缩短了编程和调试时间; (4) 因为每一个功能模块要占用一定程序存储空间，对功能块的执行需要一定的执行时间，因此，这种语言在 大中型可编程控制器和分散控制系统中应用较广泛。 9 第四章 PLC控制机械手的系统设计 4.1各电器设备的控制方式及控制要求 1 机械手的技能和特性 根据古典力学观点，物体在三维空间的静止位置是由三个坐标和绕三轴旋转的角度来决定的。因此，抓握物体的位置和方向(即关节间的角度)能从理论上求得。据 资料 新概念英语资料下载李居明饿命改运学pdf成本会计期末资料社会工作导论资料工程结算所需资料清单 介绍，如果采用的机械手，其机能要接近人的上肢，则需要具有27个自由度，而每一个自由度至少要有一根“人造肌肉”。这样就需要安装27根重量轻、小型和高输出力的“人造肌肉”。就目前的技术状况而言，上述功能还很难办到。而且把机械手的功能搞得那么复杂，动作彼此严重重叠也是完全不必要的。退一步，如果机械手要求具有完全通用的程度，那么它的整机、本体、手臂和手指都得有三个直线运动和三个旋转运动，总共就要有24个自由度。这在实际上也是不必要的，这样会使机械手结构复杂，费用增多。因此，不应盲目模仿人手的动作，增加过渡的自由度，而应根据实际需要的动作，设计出最少的自由度就能完成作业所要求的动作。所以一般专用的机械手(不包括握紧动作)通常具有二到三个自由度。而通用机械手一般取四到五个自由度。 本设计中设计的机械手，它共有五个自由度。即:手臂伸缩、手臂上下摆动、手臂左右摆动、手腕回转、手指抓握。 2 .躯干和传动系统 机械手的传动分为液压、气压、电气和机械四种，本设计采用综合传动方式，即手臂采用电气传动，而手爪则采用气压传动。 (1)、夹紧机构 tion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the marompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market cive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f-the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot10omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu-gement personnel, and strive to build a highquality management mana-ket. At the same time, according to the need of industrial development, vigorously the introduction of high 兰州交通大学博文学院毕业设计(论文) 机械手手爪使用来抓取工件的部件。手爪抓取工件是要满足迅速、灵活、准确和可靠的要求。设计制造夹紧机构——手爪时，首先要从机械手的坐标形式、运行速度和加速度的情况来考虑。其加紧力的大小则根据夹持物体的重量、惯性和冲击力的大小来计算。同时考虑有足够的开口尺寸，以适应被抓物体的尺寸变化，为扩大机械手的应用范围，还需备有多种抓取机构，以根据需要来更换手爪。为防止损坏被夹的物体，夹紧力应限制一定的范围内，并镶有软质垫片、弹性衬垫或自动定心结构。为防止突然停电被抓物体落下，还可以有自锁结构。夹紧机构本身则应结构简单、体积小、重量轻、动作灵活和动作可靠。 夹紧机构形式多样，有机械式、吸盘式和电磁式等。有的夹紧机构还带有传感装置和携带工具进行操作的装置。本设计采用机械式的夹紧机构。 机械式夹紧机构是最基本的一种，应用广泛，种类繁多。如按手指运动的方式和模仿人手的动作，可分为回转型、直进型;按夹持方式可分为内撑式、外撑式和自锁式;按手指数目可分为二指式、三指式、四指式;按动力来源可分为弹簧式、气动式、液压式等。本设计采用二指式气动手爪。由可编程控制器控制电磁阀动作，从而控制手爪的张闭。手爪的回转则用一个直流电动机完成，同时通过两个限位磁头完成回转角度的限位，一般可设置在180度。 (2) 躯干 躯干由底盘和手臂两大部分组成。 底盘是支撑机械手全部重量并能带动手臂旋转的机构。底盘采用一个直流电动机驱动，底盘旋转时带动一个旋转码盘旋转，机械手每旋转3度发出一个脉冲，由传感器检测并送入可编程控制器，从而计算底盘旋转的角度。同时，在底盘上装有限位磁头，最大旋转角度可达270度。 手臂是机械手的主要部分，它是支撑手爪、工件并使它们运动的机构。本设计中手臂由横轴和竖轴组成，可完成伸缩、升降的运动。手臂采用步进电动机带动丝 11 杠、螺母来实现伸缩和升降运动。由可编程控制器发出脉冲信号，经步进电动机驱动器驱动步进电动机旋转，带动滚珠丝杠旋转，完成手臂的运动。改变发出脉冲的个数，可控制手臂的两个轴运动的距离。同时在两轴的两端分别加限位开关限位。采用丝杠、螺母结构传动的特点是易于自锁，位置精度较高，传动效率较高。 4.2电器元件、设备的选择 1 PLC机型的选择 根据被控对象对PLC控制系统的功能要求，可进行PLC型号的选定。 进行PLC选型时，基本原则是满足控制系统的功能需要，同时要兼顾维修、备件的通用性。对开关量控制的系统，当控制速度要求不高时，一般的PLC都可以满足要求，如对小型泵的顺序控制、单台机械的自动控制等。当控制速度要求较高、输出有高速脉冲信号等情况时，要考虑输入/输出点的形式，最好采用晶体管形式输出。对带有部分模拟量控制的,装置等。 2 输入/输出的点数: I/O点数可以衡量PLC规模的大小。准确统计被控对象的输入信号和输出信号的总点数并考虑今后系统的调整和扩充，在实际统计I/O点数基础上，一般应加上10%-20%的备用点数。多数小型PLC为整体式，具有体积小、价格便宜等优点，适于工艺过程比较稳定，控制要求比较简单的系统。模块式结构的PLC采用主机模块与输入模块、功能模式块组合使用的方法，比整体式方便灵活，维修更换模块、判断与处理故障快速方便，适用于工艺变化较多、控制要求复杂的系统。 此外，还应考虑用户储存器的容量、PLC的处理速度是否能满足实时控制的要求、编程器与外围设备的选择等。 本设备控制的对象是一个开关量控制的系统，同时利用脉冲控制步进店动机的运转，故应采用晶体管形式的输出。松下FPO系列小型PLC具有性价比高、功能完善、 -gement personnel, and strive to build a highquality management mana-ket. At the same time, according to the need of industrial development, vigorously the introduction of hightion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the marompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market cive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f-the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot12omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu 兰州交通大学博文学院毕业设计(论文) 指令丰富等优点，能满足本对象各项控制性能要求，因此，本系统采用松下FPO系列的FPO——C16T作为基本模块，能输出两路脉冲信号进行步进电动机的控制。由于输入输出点不够，扩展一个FPO——E16RS模块。 3 电源模块的选择: 采用Dm150系列开关电源。其特点是输出功率大，体积小，重量轻，可靠性高，适应宽范围的输入电压波动，具有完备的过电压、过电流保护功能。 主要参数: 输入交流电压:110~220V/50Hz、60Hz 输出直流电压:24V/6.5A 最大功率:156W 工作环境:-10~40度 4 . 步进电动机的选择: 采用二相八拍混合式步进电动机，主要特点:体积小，具有较高的起动和运行频率，有定位转矩等特点。型号:42BYGH101。 快接线插头中的红色表示A相，蓝色表示B相。 使用时如果发现步进电动机转向不对时可以将A相或B相两根线对调。 (1).步进电动机驱动模块 采用中美合资SH系列步进电动机驱动器，主要由电源输入部分、信号输入部分、输出部分等。如下图所示。 13 驱动模块 电源输入部分由电源模块提供，用两根导线连接，注意极性。 信号输入部分:信号源由FPO主机提供。由于FPO提供的电平为24V，而输入部分的电平为5V，中间加了保护电路。 输出部分:与步进电动机连接，注意相序。 (2.)传感器 采用接近开关作为手爪旋转和底盘旋转限位检测用;采用微动开关作为横轴、纵轴限位检测用。 接近开关:接近开关有三根连接线(红、蓝、黑)红色接电源的正极、黑色接电源的负极、蓝色为输出信号，当与挡块接近时输出电平为低电平，否则为高电平。 微动开关:当挡块碰到微动开关动作(常开点闭合)。 (3) FPO模块 由松下FPO系列PLC晶体管输出的主机，具有高速运算能力、PID调节功能，同时可以输出两路脉冲控制两台电动机的优点。输出两路脉冲梯形图及f/t。 (4) 直流电动机 采用36ZY5-12型直流电动机。输入电压为12~24V,由FPO模块控制电动机正反转。 (5)旋转码盘 机械手每旋转3度发出一个脉冲。 4.3 控制流程图 机械手工作流程图如下图所示。把可编程序控制器主机上的RUN-PROG的开关拨在RUN上，如果机械手不在初始位置上，步进电动机开始运转(横轴向手爪那边移动，竖轴向上移动)。归位后首先横轴步进电动机工作，横轴前伸;前伸到位后，手抓电动机得电带动手爪旋转;当传感器检测到限位磁头时，电动机停止，PLC控制电磁阀动作，手张开;延时一段时间，竖轴步进电动机工作，竖轴下降;下降到位后，电磁阀复位，手爪加紧;延时过后，竖轴上升，同时横轴缩回、底 the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot14omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu-gement personnel, and strive to build a highquality management mana-ket. At the same time, according to the need of industrial development, vigorously the introduction of hightion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the marompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market cive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f- 兰州交通大学博文学院毕业设计(论文) 盘都到位后，横轴前伸;到位后手爪旋转，然后竖轴下降，电磁阀动作，手张开;延时后竖轴上升复位;然后开始下一周期动作。 图4.1机械手控制流程图 4.4控制系统的软、硬件设计 1 控制系统硬件设计 15 PLC硬件设计是指PLC外部设备的设计。在硬件设计重要进行输入设备的选择(如控制按钮、开关及计量保护装置的输入信号等)，还有执行元件的选择以及控制台、柜的设计等。硬件设计还包括PLC输入/输出通道的分配，为便于程序设计和阅读，常作出I/O通道分配表，表中包括有I/O编号、设备代号、名称及功能等。机械手控制系统电器原理图。 可编程序控制器采用松下FP系列的FPO——C16T作为基本模块，由于输入输出点不够，扩展一个FPO——E16RS模块。由于接近开关有三根线，接线时注意把红色的线接电源的正极，黑色线接电源的负极，蓝色的线接PLC的输入端子。 2 控制系统的软件设计 软件设计主要是指编写工艺流程图，即将整个流程分解为若干步，确定每步的控制要求及转换条件，配合定时、计数、分支、循环、跳转及某些特殊功能指令便可完成梯形图的设计。 I/O地址分配 I/O地址分配如表所示 I/O地址分配一览表 输入: 输出: 横轴正限Y横轴脉 X0 位 0 冲 竖轴正限Y竖轴脉 X1 位 1 冲 横轴反限Y横轴方 X2 位 2 向 竖轴反限Y竖轴方 X3 位 3 向 Y 2 X4 旋转脉冲 0 手正转 X2手正转限Y 0 位 2手反转 ive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f-the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot16omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu-gement personnel, and strive to build a highquality management mana-ket. At the same time, according to the need of industrial development, vigorously the introduction of hightion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the marompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market c 兰州交通大学博文学院毕业设计(论文) 1 Y X2手反转限2底座正 1 位 2 转 Y X2底座正限2底座反 2 位 3 转 Y X2底座反限2电磁阀 3 位 4 动作 (1).确定输入输出接点的总数 输入接点:启动按钮SB、行程开关SQ1——SQ4、光电开关SQ5，一共6个。 输出接点:YV1——YV2总共5个。 (2).估算PC内存总数 选取PC类型，PC内存总数取决于程序指令总条数。PC内存总数又是选取PC类型的重要依据，为此依据下面的经验公式对指令总条数进行估算。 指令总条数=(10——20)*(输入点数+输出点数) 本例中指令总条数为(10——20)*(6+5)=110——220条。 (3).输入输出点分配 如下图是机械手输入和输出信号与PC输入输出端子的分配图，其中根据需要增加了机械手回到原位时的指示灯，为了防止误按启动按钮引起机械手的误动作，增加了复位按钮，启动时需要先按复位按钮在按启动按钮，否则机械手不会动作。 17 图4.2机械手PC输入/输出端子的分配 (4).方案选择 考虑到机械手在工作时间时可能发生误动作行程开关而引起的不安全动作，各个输入开关信号只能在规定的状态发生作用，例如，SQ1的闭合信号只能当机械手位于原位而且按下SB2后或从原位右移到右位后才能起作用，其他状态时SQ1不起作用。为了达到这一目的，选择使用移位寄存器来完成顺序控制。 3 梯形图设计 机械手的控制属顺序控制，采用步进指令，根据说明机器工作状态转换的图形，很容易进行程序设计。 (1) 根据机械手的工作方式情况，选择“梯形图的总体设计 单步操作”方式时，应执行“单步操作”程序;在选择“返回原位”方式时，应执行“返回原位”程序; “自动”方式时，应执行“自动”程序，故梯形图的总体构成如下图所示。其中，自动程序要在启动按钮按下时才 ompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market cive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f-the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot18omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu-gement personnel, and strive to build a highquality management mana-ket. At the same time, according to the need of industrial development, vigorously the introduction of hightion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the mar 兰州交通大学博文学院毕业设计(论文) 执行。 图4.3机械手PLC控制梯形图总体构成 (2) 各部分梯形图的设计 通用部分梯形图设计 A状态器的初始化:初始状态器S600在手动方式下被置位、复位。当方式选择开关处于“返回复位”(X501接通)时，按下返回复位按钮(X505)时被置位;在“单步 19 操作”(X500接通)时，S600复位。处于中间工步的状态器用手动作复位操作，即在方式选择开关位于“单步操作”或 “返回复位”时，中间状态器同步复位，故初始状态梯形图如下图示(如果状态器要在供电时从断电前条件开始继续工作，则不需要M71)状态器初始化梯形图。 B状态器转换启动:若机械手工作在自动工作方式下，当初始状态器S600被置位后，按下启动按钮，辅助继电器M575工作，状态器的状态可以一步步向下传递，即可以进行转换。在执行“连续操作”程序时，转换启动继电器M575一直保持到停机按钮按下为止。另一方面，采用M100检查机器是否处于原位。当M575和M100都接通时，从初始状态开始进行转换，其梯形图如下图。 图4.4状态器转换启动梯形图 C状态器转换禁止梯形图:激活特殊辅助继电器M574，并用步进指令控制状态器转换时，状态器的自动转换就被禁止。 在“单周期”工作期间，按下停止按钮时，M574应被激励并保持，操作停止在现行工步。当按下启动按钮时，从现行工序重新开始工作，M574应复位，即重新允许转换。 在“步进”工作方式时，M574应始终工作，此时，禁止任何状态转换。但每按下一次启动按钮时，M574断开一次，允许状态器转换一步。 在“手动”工作方式(单一操作，返回原位)情况下，禁止进行状态转换。在手动方式解除之后，按下启 -gement personnel, and strive to build a highquality management mana-ket. At the same time, according to the need of industrial development, vigorously the introduction of hightion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the marompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market cive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f-the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot20omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu 兰州交通大学博文学院毕业设计(论文) 动按钮，则状态转换禁止解除，M574复位。 PLC在启动时，用初始化脉冲M71使M574自保持，以次禁止状态转换，直到按下启动按钮。状态器转换禁 止梯形图如下。 图4.5状态器转换禁止梯形图 通过对上图的分析可得出:在执行“单步操作”和“返 回原位”程序时，M575一直不能被接通，而M574长期被接通(按下启动按钮时除外);执行“步进”程序时，每按一次启动按钮，M574断开一次，M575接通一次，状态器转换一次;在执行“单周期操作”程序时，按下启 动按钮，M574断开，M575接通，状态器的状态可一步一步向下转换，直至按下停止按钮时，M574自锁，状态器的状态转换被禁止，操作停止现行工序(再次按下启动 按钮时从现行工序开始工作);在执行“连续操作”程序时，M575一直接通到按下停止按钮，此时M574一直不能接通。 D单步操作梯形图 手动操作方式由于不需要任何复杂的顺序控制，可以用常规继电器顺序方法来设计梯形 图。“单步操作”时，按下夹持按钮时，夹持输出Y431自保持，只有按下松开按钮时，Y431才会复位;按下上升按钮，上升输出Y432保持接通;按下下降按钮，Y430保持接通;在上限位按下左行按钮，左行输出Y434保持接通;在上限位按下右行按钮，右行输出Y433保持接通。单步操作是梯形图如下图。 21 图4.6机械手单步操作梯形图 E返回原位梯形图 在“返回原位”状态下，“夹持”与“下降”动作应被停止，上限位未动作时应进行“上升”;上限位动作时，“右行”动作应停止，并左行至左限位位置。返回原位梯形图如下图。 图4.7机械手返回原位梯形图 F “自动”状态梯形图 如下图表示了机械手自动工作时执行各工步的情况。表明了各工步的实现以及各工步的转换条件。在第一次下降工步中，下降电磁阀Y430接通。自下限位置时，X401接通，转化为“夹持”过程。在夹持工步中，夹持电磁阀Y431置位，同时驱动T450。T450接通后，转化为第一次上升。此后执行类似的操作，完成由初始条件到下一个初始条件的一系列操作。在夹持输出Y431置位后，保持夹持，直到夹持输出复位松开。如上述一步步按顺序驱动各个负载动作，称为顺序控制或过程步进型控制。这种控制过程用继电器符号程序很难实现程序设计。 ompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market cive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f-the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot22omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu-gement personnel, and strive to build a highquality management mana-ket. At the same time, according to the need of industrial development, vigorously the introduction of hightion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the mar 兰州交通大学博文学院毕业设计(论文) 图4.8机械手自动工作流程图 用状态器替代自动工作流程图中的各工步，可得到如下图所示的功能表图。初始状态在图中用双线框表示。 23 图4.9机械手自动工作功能表图 根据上图所示的功能表图，可设计出自动操作时的梯形图，如下图所示。 ket. At the same time, according to the need of industrial development, vigorously the introduction of hightion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the marompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market cive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f-the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot24omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu-gement personnel, and strive to build a highquality management mana- 兰州交通大学博文学院毕业设计(论文) 图4.10机械手自动工作梯形图 25 绘制机械手PLC将控制梯形图 将从初始化开始的一系列梯形图，按照总体构成图的形式作何在一起，得到机械手PLC控制的梯形图，如下图所示。 gement personnel, and strive to build a highquality management mana-ket. At the same time, according to the need of industrial development, vigorously the introduction of hightion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the marompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market cive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f-the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot26omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu- 兰州交通大学博文学院毕业设计(论文) 27 ive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f-the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot28omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu-gement personnel, and strive to build a highquality management mana-ket. At the same time, according to the need of industrial development, vigorously the introduction of hightion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the marompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market c 兰州交通大学博文学院毕业设计(论文) 图4.11机械手PLC控制梯形图 该机械手在自动工作状态时，应先将其工作方式选择开关放在“返回原位”，并按下返回原位按钮，对状态器进行置位，然后再将工作方式选择开关放至自动工作方式下。若自动工作状态解除，则应将工作方式选择开关放至“单步操作”位置。 4.5 功能表图设计 1 步的划分 分析被控对象的工作过程及控制要求，将系列的工作过程划分成若干阶段，这些阶段称为“步”。步是根据PLC输出量的状态划分的，只要系统的输出量状态发生变化，系统就从原来的步进入新的步。如下图所示，某液压动力滑台的整个工作过程可划分为四步，即:0步A、B、C均不输出;1步A、B输出;2步B、C输出;3步C输出。在每一步内PLC各输出量状态均保持不变。 步也可根据被控对象工作状态的变化来划分，但被控对象的状态变化应该是由PLC输出状态变化引起的。如下图所示，初始状态是停在原位不动，当得到起动信号后开始快进，快进到加工位置转为工进，到达终点加工结束又转为快退，快退到原位停止，又回到初始状态。因此，液压滑台的整个工作过程可以划分为停止(原位)、快进、工进、快退四步。但这些状态的改变都必须是由PLC输出量的变化引起的，否则就不能这样划分。例如:若从快进转为工进与PLC输出无关，那么快进、工进只能算一步。 29 总之，步的划分应以PLC输出量状态的变化来划分，因为我们是为了设计PLC控制的程序，所以PLC输出状态没有变化时，就不存在程序的变化。 2. 转换条件的确定 确定各相邻步之间的转换条件是顺序控制设计法的重要步骤之一。转换条件是使系统从当前步进入下一步的条件。常见的转换条件有按钮、行程开关、定时器和计数器触点的动作(通/断)等。 如上图“步的划分方法二”所示，滑台由停止(原位)转为快进，其转换条件是按下起动按钮SB1(即SB1的动合触点接通);由快进转为工进的转换条件是行程开关SQ2动作;由工进转为快进的转换条件是终点行程开关SQ3动作;由快退转为停止(原位)的转换条件是原位行程开关SQ1动作。转换条件也可以是若干个信号的逻辑(与、或、非)组合。如:A1*A2、B1+B2。 3. 功能表图的绘制 根据以上分析画出描述系统工作过程的功能表图，是顺序控制设计中最为关键的一个步骤。绘制功能表图的具体方法将在下面介绍。 4. 梯形图的编制 根据功能表图，采用某种编程方式设计出梯形图程序。有关编程方式建在下一节中介绍。 5 功能表图的绘制方法 A 功能表图概述 功能表图又称流程图。它是描述控制系统的控制过程、 quality management mana-ket. At the same time, according to the need of industrial development, vigorously the introduction of hightion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the marompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market cive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f-the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot30omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu-gement personnel, and strive to build a high 兰州交通大学博文学院毕业设计(论文) 功能和特征的一种徒刑。功能表图并不涉及所描述的控制功能的具体技术，是一种通用的技术语言，因此，功能表图也可用于不同专业的人员进行技术交流。 功能表图是设计顺序控制程序的有力工具。在顺序控制设计法中，功能表图的绘制是最关键的一个环节。它直接决定用户设计的PLC程序的质量。 各个PLC厂家都开发了相应的功能表图，各国也动制定了功能表图的国家标准。我国于1986年也颁布了功能图的国家标准(GB6988.6——86)。 B 功能表图的组成要素 如下图所是为功能表图的一般形式。它主要是由步、转换、转换条件、有向连线和动作等要素组成。 C 步与动作 前面已介绍过，用顺序控制设计法设计PLC程序时，应根据系统输出状态的变化，将系统的工作过程划分成若干个状态不变的阶段，这些阶段称为“步”。步在功能表图中用矩形框表示。如，框内的数字是该步的编号。如下图所示各步的编号为n-1、n、n+1。编程时一般用PLC内部软继电器来代表各步，因此经常直接用相应的内部软继电器编号作为步的编号，如。当系统正工作于某一步时，该步处于活动状态，称为“活动步”。在功能表图中初始步用双线框表示，如，每个功能表图至少应该有一个初始步。 所谓“动作”是指某步活动时，PLC向被控系统发出的 31 命令，或被控系统应该执行的动作。动作用矩形框中的文字或符号表示，该矩形框应与相应步的矩形框相连接。如果某一步有几个动作，可用下图中的两种画法来表示，但并不隐含这些动作间的任何顺序。 当步处于活动状态时，相应的动作被执行。但应注意表明动作是保持型还是非保持型的。保持型的动作是指该步活动时执行该动作，该步变为不活动后继续执行该动作;非保持型动作是指该步活动时执行，该步变为不活动时动作也停止执行。一般保持型的动作在功能表图中应该用文字或助记符标注，而非保持型动作不要标注。 D 有向连线、转换和转换条件 如上图“功能表图的一般形式”所示，步与步之间用有向连线连接，并且用转换将步分隔开。步的活动状态进展是按有向连线规定的路线进行。有向连线上无箭头标注时，其进展方向是从上倒下、从左到右。如果不是上述方向，应在有向连线上用箭头注明方向。步的活动状态进展是由转换来完成的。转换是用与有向连线垂直的短划线来表示。步与步之间不允许直接相连，必须有转换隔开，而转换与转换之间也同样不能直接相连，必须由步隔开。转换条件是与转换相关的逻辑命题。转换条件可以用文字语言、布尔代数表达式或图形符号标注表示转换的短划线旁边。 转换条件和，分别表示当二进制逻辑信号为“1”和 “0”状态时条件成立;转换条件和分别表示的是，当从“0”(断开)到“1”(接通)和从“1”到“0”状 态条件成立。 1. 功能表图中转换的实现 步与步之间实现转换应同时具备两个条件:?前几步必 -ket. At the same time, according to the need of industrial development, vigorously the introduction of hightion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the marompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market cive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f-the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot32omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu-gement personnel, and strive to build a highquality management mana 兰州交通大学博文学院毕业设计(论文) 须是“活动步”;?对应的转换条件成立。 当同时具备以上两个条件时，才能实现步的转换，即所有由有向连线与相应转换符号相连的后续步都变为活动，而所有由有向连线与相应转换符号相连的前几步都变为不活动。 2. 功能表图的基本结构 根据步与步之间转换的不同情况，功能表图有以下几种不同的基本结构形式。 (1)单序列结构 功能表图的单序列结构形式最为简单，它由一系列按顺序排列、相继激活的步组成。，每一步的后面只有一个转换，每一个转换后面只有一步。 (2)选择序列结构 选择序列有开始和结束之分。选择序列的开始称为分支，选择序列的结束称为合并;选择序列的分支是指一个前级步后面紧接着有若干个后续步可供选择，各分支都有各自的转换条件。分支中表示转换的短划线只能标在水平线之下。 如下图所示为选择序列的分支。假设步4为活动步，如果转换条件a成立，则步4向步5实现转换;如果转换条件b成立，则步4向步7转换;如果转换条件c成立， 则步4向步9转换。分支中一般同时只允许选择其中一个序列。 选择序列的合并是指几个选择分支合并到一个公共上。各分支也都有各自的转换条件，转换条件只能标在水平线之上。 33 如下图所示为选择序列的合并。如果步6为活动步，转换条件d成立，则由步6向步11转换;如果步8为活动步，且转换条件c成立，则步8向步11转换;如果步10为活动步，转换条件f成立，则步10向步11转换。 (3)并列序列结构 并列序列也有开始与结束之分。并列序列的开始也称为分支，并列序列的结束也称为合并。下图(a)所示为并列序列的分支，它是指当转换实现后将同时使多个续步激活。为了强调转换的同步实现，水平连线用双线表示。如果步3为活动步，且转换条件c也成立，则4、6、8三步同时变成活动步，而步3变为不活动。应当注意，当步4、6、8被同时激活后，每一序列接下来的转换将是独立的。下图(b)所示为并列序列的合并，当直接在双线上的所有前级步5、7、9都为活动步时，转换条件d成立，才能使转换条件实现，即步10变为活动步，而步5、7、9均变为不活动步。 (4)子步结构 ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot34omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu-gement personnel, and strive to build a highquality management mana-ket. At the same time, according to the need of industrial development, vigorously the introduction of hightion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the marompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market cive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f-the social investment to the industry group, to achieve leveraging the development, ensure that the value of state 兰州交通大学博文学院毕业设计(论文) 在绘制复杂控制系统功能表图时，为了使总体设计时容易抓住系统的主要矛盾，能更简洁地表示系统的整体功能和全貌，通常采用“子步”的结构形式，可避免一开始就陷入某些细节中。 所谓子步的结构是指在功能表图中，某一步包含着一系列子部和转换。如下图所示的功能表图采用了子步的结构形式。功能表图中步5包含了5.1、5.2、5.3、5.4四 个子步。 子步结构 这些子步序列通常表示整个系统中的一个完整子总能，类似于计算机编程中的子程序。因此，设计时只要先画出简单的描述整个系统的总功能表图，然后再进一步画出更详细的子功能表图。子步中可以包含更详细的子步。这种采用子步的结构形式，逻辑性强，思路清晰，可以减少设计错误，缩短设计时间。 功能表图除以上四种基本结构外，在实际使用中还经常碰到一些特殊序列，如跳步、重复和循环序列等。 (5)跳步、重复和循环序列 除以上单序列、选择序列、并行序列和子步四种基本结 35 构外，在实际系统中经常使用跳步、重复和循环序列等 特殊序列。这些序列实际上都是选择序列的特殊形式。 如下图(a)所示为跳步序列，当步3为活动步时，如果转换条件c成立，则跳过步4和步5直接进入步6。 如下图(b)所示为重复序列，当步6为活动步时，如果转换条件d步成立而条件e成立，则重复返回步5，重复执行步5和步6。直到转换条件d成立，重复结束，转入步7。 如下图(c)所示为循环序列，在序列结束后，即步3为活动步时，如果转换条件e成立，则直接返回初始步0，形成系统的循环。 跳步、重复和循环序列 在实际控制系统中，功能表图中往往不是单一地含有上 述某一种系列，而经常是上述各种序列结构的组合。 quality management mana-ket. At the same time, according to the need of industrial development, vigorously the introduction of hightion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the marompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market cive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f-the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot36omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu-gement personnel, and strive to build a high 兰州交通大学博文学院毕业设计(论文) 第五章 设计小结 毕业设计是我们毕业前夕最后也是最重要的一份作业，是对我们三年求学的一个总结，包含了我们三年中所学知识的积累，更是提升我们能力的一种方式。同时也是对我们学业的考核使我们的学业得以圆满结束。 经过一段时间的设计，可编程控制器和机械手的设计完毕，机械手的模型已设计完毕，其功能基本达到要求。整个系统稳定性好，而且只要修改控制程序，就可以让机械手作出不同的动作，控制的柔性很好。系统的分析与设计过程也是对学习的总结过程，更是进一步学习与探索的过程。在这个过程中，我对利用可编程控制器进行控制系统的设计与开发有了深刻的认识，对机械手的工作原理有了进一步的掌握，对控制系统的分析与设计有了切身的认识和深刻的体会，并在学习和实践过程中增长了知识、丰富了经验。控制系统的开发设计是一项复杂的系统工程，必须严格按照系统分析、系统设计、系统实施、系统运行于调试的过程来进行。系统的分析和设计是一项既复杂又辛苦的工作，同时也是一个充满乐趣的过程，在设计过程中，要边学习，边实践，遇到新的问题就不断探索和努力直到问题得到解决。 在设计中，体会到理论必须和实际相结合。虽然收集了大量的资料，但在实际应用中却有很多差异，出现了许多意想不到的问题。许多问题都是书本上是这样，而在实际运用中却很不一样，在经过多次分析修改后，才设计出达到要求的系统。 37 谢辞 紧张充实的毕业设计就要结束了，大学四年的生活也到了尾声。回想起以往的美好时光，此时感慨万千，首先感谢指导教师党老师在毕业设计中对我的帮助，鼓励和精心指导，党老师治学严谨，学识渊博，思想深邃，视野雄廓，关键是指导有方严格我们要求，为我营造了一种良好的精神氛围。置身党老师的指导过程中，不仅我的思想观念焕然一新，也改善了我的思考方式，而且还明白了许多待人接物与为人处世的道理。其严以律己，宽以待人的崇高风范，朴实无华、平易近人的人格魅力，令我如沐春风，倍感温馨。一股暖意细水长流，源自内心而又沐润全身，微言寸语岂能祥诉感激之情，只好铭记心中，唯有虔诚的祝福导师合家欢乐，一生平安。同时，也将祝福送给每一位帮助我的师长。同时感谢我的同学在我的毕业设计过程其中对我莫大的鼓励。毕业设计的完成也算是对我们学习生涯的一个句号，回想四年大学时光，与老师和同学们的点点滴滴，你们给与我的种种帮助，使我得以今天能顺利完成毕业设计，完成学业。谢谢你们，我所有的老师与同学。最后衷心的祝愿你们工作顺利、家庭幸福、身体健康～感谢我的朋友和同学们在我三年生活和学习中对我的帮助，就要分别了，衷心祝福各位一路走好再次感谢各位老师和同学，希望大家以后工作顺利。谢谢～ -the social investment to the industry group, to achieve leveraging the development, ensure that the value of state ntation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injectionwin principle, in the framework of national policies and regulations, strict inspection and argume-ust, mutual benefit, seeking win, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trrizonsursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their hothroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pbreakanning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful pl e the brand. To establish brand awareness, awareness of thetheir own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promot38omote leapfrog development.y, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to prpolicultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment of market competition.(six) seriously study the policy for policy. Serious research about social support the development of c re optimization and upgrading ability, enhance core competitiveness, adapt to the needquality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structu-gement personnel, and strive to build a highquality management mana-ket. At the same time, according to the need of industrial development, vigorously the introduction of hightion, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the marompetiorkers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market cive) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and wowned assets.(f 兰州交通大学博文学院毕业设计(论文) 参 考 文 献 【1】主编 王卫兵《可编程序控制器的原理及应用 》 机械工出版社 【2】主编 常斗 《可编程序控制器的原理应用试验 》机械工版社 【3】主编 程宪平 《机电传动与控制 》 华中理工大学出版社 【4】主编 姚永刚 《数控机床电气控制 》 西安电子科技大学出社 【5】主编 张建民 《机电一体化系统设计 》 高等教育出版 39