外文翻譯劉俊.pdf

外 文 翻 譯 畢業(yè)設(shè)計 題目： 基于 PLC 的機械手控制 原文 1 ： The research of automatic mold manipulator control system on PLC 譯文 1： 研究模具機械手控制系統(tǒng)自動控制 原文 2： PLC Controlling System of Transportation Manipulator and Simulation Debugging 譯文 2： PLC 控制系統(tǒng)的運輸機械手和仿真調(diào)試 The Research of Automatic Mold Manipulator Control System on PLC AbstractAutomatic mold manipulator control system uses Mitsubishi FX2N series PLC as the control core, KINCO servo system as the main control object, and MCGS touch screen as the terminals. By the use of the external sensors to detect the trigger signal and drive the actuator, and then the manipulator can auto-complete the four process flow operation: feeding Drawing - Anti-pulling Punching in each position, which is capable to avoid the risk of manual operation and the shortcomings of low productivity, achieve automation and intelligent of the production, and improve the product quality. KeywordsPLC, Servo-system, Automatic mold manipulator I. INTRODUCTION As the essential tool for cold machining, the punching is widely used in nowadays. The tradition punching is controlled by manual, which is low effective and high dangerous. In this paper, the electrical control system for the manipulator is designed, which makes it possible to cooperate punching and manipulator to achieve the automachining of the mold. It is of great use to steady and improve production quality, raise product efficiency, improve the working conditions. It mainly includes three way of controlling in the robot, which is based on relay, PLC, or computer. While relay control system is prone to malfunction and poor at flexibility, computer control system lacks the ability of anti-interference and is complex to design, but the PLC control system is reliable at operation, easy to maintenance, strong at antiinterference, and energy saving, which makes it the most widely used control plan in the punching control system. II. THE OVEROLL SCHEME OF THE CONTROL SYSTEM It mainly includes three parts in the automatic mold manipulator control system: automatic loading system,robot system, and display system. Depending on the function demand of the manipulator, in this study, embedded computer touch screen is used as the upper machine, Mitsubishi FX2N Series PLC is used as the lower machine, servo system and the solenoid valve are used as the main actuator, and the magnetic switches and photoelectric sensors are used as detection element. The overall scheme of the control system is shown as Fig2.1 Fig2.1 Schematic of the manipulator control system As the systems upper machine, that is monitoring system, embedded computer touch-screen is mainly responsible for device status animation display, debugging control, alarm information, production records, etc.; the monitoring system communicates with PLC via serial port, sending information and accepting control commands of the system communicates with PLC via serial port, sending information and accepting control commands of the equipment send by PLC through this interface. PLC control system, as the upper machine of the control system, is the core of the whole control system. Its function is to achieve signal acquisition, automatic load-unload control, servo positioning control, pneumatic gripper control, upwarddownward control and security systems control, etc. It mainly includes magnetic switch and photoelectric sensor signal acquisition in signal acquisition, these signals are send to PLC, which is of great importance to the reliable and safe operation of the control system; automatic loadunloading control is actualized by the control of vibrating loading and robot rotation by the PLC; servo positioning control is the critical and core issues of the whole control system, which is mainly achieved by program for the PLC and servo drive; pneumatic gripper control and upwarddownward control are achieved by control the solenoid valve; to realize security control, it is needed to coconsiderate each factor and program for the PLC. III. ALLOCATION OF THE HARDWARE CONTROLSYSTEM A. Hardware requirement of Control System Main functions of Control System are to achieve precise control of automatic mechanical movement, which basically include the overall rotation manipulator position servo control, to shift the workpiece manipulator clamp / open motion control, motion control solenoid lessons of raw materials, machinery and hand movements control, punch press stamping control. Control system hardware design must meet the following requirements: (1)To achieve the rotation systems high precision position servo system, the angle error should less than 0.2%; (2)When pneumatic manipulator moves the semi-finished workpiece, it must be accurate clamping every time, make sure it is stable and reliable in the rotation process; (3)If the process of moving the workpiece is unusual, such as the items were falling or in incorrect position, it must stop stamping automatically and alarm immediately. (4)Good security and maneuverability. The hardware block diagram of Auto Mold Manipulator Control System has been shown in Figure 3.1, various switch-type sensor passes the device status to PLC (such as the state of mechanical hands, the workpiece location) for processing, then the CPU will do all sorts of computing processing, in order to achieve real-time controlling on executing agencies. Fig 3.1Block diagram of control Fig 3.1Block diagram of control system hardware B. Allocation of Main Hardware (1)Using FX2N Series PLC as the core controller, it can achieve the device automatically controlling, and output the information after real-time processing of a variety of state. The input signal received by the sensor equipment shows the working conditions of the devices, through real-time processing to achieve a variety of pneumatic valves motion, servo motor action and electromagnet movement. (2)Servo systems are generally closed-loop control; its control block diagram has been shown in 3.2. First, usingoptical encoder detects the servo motors position0, and then sending the data to control processing, so that it can compose a negative feedback closed-loop control system with a given position i of the servo motor. The working process of closed-loop control system shows as follows: first of all, set a given objectiveias servo motors position, so controllers sent pulse commands to servo motor and make it turn to the target location, that is, sending out a certain number of pulses, we can read the actual location of the servo motor with the help of photoelectrical encoders counting pulses. Due to load disturbance or other non-linear factors, if the actual location of the servo motor has a deviation with the given location, and this deviation ( =i 0) is not equal to 0, the motor pulse number can be adjusted through setting the algorithm controller, so that the actual location output0 of the system can be subject to a given target location. According to previous analysis, the result can be drawn: This servo control system is a position changing system, it uses the photoelectric encoder to detect the physical location of the system in real-time, through the controller to adjust the location of the system, to reduce the deviation between the actual position and target location, and make sure the control system with simple structure. The controlling of position servo system is the most critical part of the system; its control can affect that: whether the equipment could run smoothly and successfully. In this research, KINCO ED series of servo system will be choose to achieve automatic mold manipulator rotating position and angle control, the internal of this drive integrates drive, control, bus, I / O functions and so on, and it can store 256 programs internally, each program also can be stored a kind of movement curve, including acceleration, deceleration, maximum speed, target location and other important parameters of the movement curve, through the eight I / O ports, it can achieve a maximum of 128 movements curves direct transfer, while with the communication function which is supported by ED, external controller can also call 256 internal storage procedures in ED, and changes the parameters inside drive system (3)In order to ensure the detection of equipments working conditions is reliable, the sensors must be selected and installed reasonably, and ensure that the correct sensor signal can be sent to PLC. The system will chose themagnetic switch sensors based on the detection of cylinder, it can be easily installed on the cylinder surface; for the detection of workpiece position, the inductive proximity switches sensors will be selected to prevent interference with the signal and ensure reliable data; for electromagnetic detection of the arm, it will use photoelectric sensors. IV. SOFTWARE DESIGN OF CONTROL SYSTEM The important objective of the Control System is to achieving the continuous operation on Automatic Mold Manipulator System, meanwhile it must consider the functions of the program pursued is with high integrity and reliability, using modular design of the PLC control program, and make sure the systems mechanical movement running sequentially and reliably. In the hardware system with limited resources, it can achieve all the completed functions and guarantee the system going safely and reliably. A. Fundamental principle of PLC Programs Implementation After PLC is power-on, CPU will do internal process first under the supervision of the system program, it includes hardware initialization, I / O module configuration checks, keeping the scope of power outages and other initialization setting processing. Before implementing the user program, the check of communication services and self-diagnosis will be completed. In the communications services stage, PLC should be completed communication with a number of intelligent modules and other peripherals, and also complete the data receive and send tasks, respond to programmer typed command, update the contents of the programs displays, update the contents of the clock and special registers, etc. The work principle shows in Figure 4.1 as below: Fig4.1 Working process of PLC B. Achievement of PLC Program PLC programming is commonly used in modular programming to achieve the overall function; this method has the following advantages: (1)Clear structure, similar to the function in C language, readable, easy to modify in debugging; (2)The program can be standardized; especially some features can be compiled into a standard procedure; (3)Various modules of the program can be written and participated by many people, reduce program development time; For Mitsubishi Series PLC, its program is modular; the fundamental way is to use subroutines, the control system can call the program modules of subroutines in an appropriate time, the control system program mainly constituted by some modules shown as Figure 4.2: Fig4.2 Modules of control system V. PROBLEMS AND SOLUTION DRINGDEBUGGING STAGE On-site commissioning is one of the most important aspects in PLC control system design; it must be with rational planning and strict requirements. Debugging process is very cumbersome and complex, all kinds of unexpected issues often arise, such as the problems on debugging inductive load. In the Control System, it often uses inductive load such as intermediate relay and electromagnet, due to inductive load can produce back-EMF voltage at the moment when the power is turned on or off, this voltage peak may be damaged or generate additional magnetic coils, thus affecting the normal debugging, therefore, during the stage of designing and debugging this type of load, certain measures must be made in order to prevent the back-EMF voltage affect the Control System and cause adverse effects. When electromagnet is powerdown, the magnetic power cannot be eliminated rapidly, which might lead to the materials cannot be put in exact location in time, and affect the normal operation of ControlSystem. In debugging stage, the diodes, which are satisfying the requirement of the equipment, can be opposite and paralleled connection with electromagnet, the previous problem will be solved perfectly. VI. CONCLUSION This paper presents the automation on stamping manipulator device, this equipment can instead of manual operation, improve the working environment, however, from the perspective of controlling technology, there is still much work to be done. Currently, the technology based on PLC control has developed on intelligent and network-based direction. The application research of PLC control technology in intelligent control and large-scale network control will become the future research directions. The problems exists on debugging stage of control system should be studied in-depth and explored. Sum up the order, study new algorithms and approaches, combine the mechanical design and control system genuinely, and that will be able to achieve a better quality of actual control. ACKNOWLEDGMENT Thank for the directive in Hebei province in natural science research programme project: zinc-air battery pole tablets stem thickness inlaid into the shaping of the study of on-line detection technology， which support this article.The funding project is 2009317. Thank for the Natural Science Foundation of Hebei Province , which support this article. The funding project is E2009000096. REFERENCES 1 Chen Li-ding. Principle and Application of Electrical Control and Programmable Logic Controller M.Beijing ： china machine press,2005.1 2 Chen Li-ding,Wu Yu-xiang,Su Kai-cai. Electrical Control and Programmable Logic Controller.Guangzhou: South China University of Technology Press,2001.2 3 Shi Guo-sheng. Electrical Control and Programmable Logic Controller Technology M.Beijing: Chemical Industry Press,2004.2. 4 Ma Hong-qi, Chemical Industry Press. Mechatronics, 2003,(4):36-37 5 Zhou Wan-zhen,Gao Hong-bin. PLC analysis and design application M.Beijing: Electronics Industry Press,2004.1. 6 Liao Chang-chu. FX Series PLC Programming and Applications M.Beijing: Machinery Industry Press, 2005:141-188 7 P.Cleaveland.Programmable Controllers Adapt to New Industry NeedsJ.Control Solutions,2001,(4):47-50. 8 Frey G,Litz L.Formal methods in PLC programmingC.IEEE International Conference,2000,(4):2431-2436. 基于 PLC的自動模具機械臂控制系統(tǒng)的研究 摘要 ： 自動模具機械 臂控制系統(tǒng)使用三菱 FX2N 系列 PLC為控制核心， KINCO伺服系統(tǒng)的主要控制對象，和 MCGS 的觸摸屏端子。通過外部傳感器來檢測觸發(fā)信號，驅(qū)動執(zhí) 行 器，然后操縱可自動完成四個過程流程操作： 檢測 繪圖 抓取 到 每一個位置，這是沖切能力，以避免手工操作的風(fēng)險和生產(chǎn)效率低的缺點，實現(xiàn)自動化智能的生產(chǎn)，提高產(chǎn)品質(zhì)量。 關(guān)鍵詞： PLC，伺服系統(tǒng)，自動模具操盤 一 .導(dǎo)言 由于冷加工的必不可少的工具，沖壓在時下廣泛使用。傳統(tǒng)沖壓手動控制，這是低效益和高危險 的 。在本文中，為電氣控制系統(tǒng)機械臂的設(shè)計，這使得它可以通過 機械手 沖壓 ， 實現(xiàn) 自動加工 模具。是 大幅度 的穩(wěn)定和使用提高生產(chǎn)質(zhì)量，提高生產(chǎn)效率，改善勞動條件。 它主要包括三個機器人的控制方式，這是基于繼電器， PLC或計算機 的 。然而 繼電器控制系統(tǒng)是容易出現(xiàn)故障 ， 計算機控制系統(tǒng)缺乏抗干擾能力 并且設(shè)計 復(fù)雜，但 PLC控制系統(tǒng)可靠的操作，易于 維護，抗干擾強，節(jié)能，這使得它最廣泛應(yīng)用于沖壓控制系統(tǒng)的控制 。 二 .OVEROLL 計劃的控制系統(tǒng) 它主要包括三個部分在自動模具機械臂控制系統(tǒng)：自動裝填系統(tǒng)，機器人系統(tǒng)和顯示系統(tǒng)。根據(jù)機械手的功能需求，在這項研究中， 三菱 FX2N 系列 PLC 機作為上層 嵌入式電腦 觸摸屏，伺服系統(tǒng)和電磁閥被用作主要執(zhí)行機構(gòu)和磁性開關(guān)光電傳感器作為檢測元件。 圖 2.1所示為控制系統(tǒng)的總體方案 圖 2.1 示意圖的機械臂控制系統(tǒng) 嵌入式計算機觸摸屏是主要負責(zé)設(shè)備狀態(tài)動畫顯示，調(diào)試控制，報警信息，生產(chǎn)記錄等 ;監(jiān)控系統(tǒng)通過串口與 PLC 通信，發(fā)送信息并接受系統(tǒng)的控制命令通過串口與 PLC通信，發(fā)送信息和接受設(shè)備的控制命令發(fā)送 PLC通過這個接口。 PLC控制系統(tǒng)，作為上位機的控制系統(tǒng)，是核心整個控制系統(tǒng)。 它的功能是實現(xiàn)信號采集，自動負載卸載控制，伺服 定位控制，氣動夾持器控制， 上下 控制和安全系統(tǒng)控制等。主要包括磁開關(guān)和光電傳感器信號采集信號采集，這些信號發(fā)送到 PLC，這是非常重要控制系統(tǒng) ，保證系統(tǒng) 的安全運行 ;自動控制是由 PLC實現(xiàn)控制 伺服定位加載和機器人旋轉(zhuǎn) ， PLC控制是整個控制的關(guān)鍵和核心問題系統(tǒng)，這 方案 主要是由 PL 實現(xiàn)和 驅(qū)動 伺服驅(qū)動器，氣動夾持器控制和 上下 控制達到控制電磁閥 ;實現(xiàn)安全控制， 需要 考慮到每個因素和 PLC程序。 三 預(yù)算分配對硬件的控制系統(tǒng) A.控制系統(tǒng)的硬件要求 控制系統(tǒng)的主要功能是實現(xiàn)精確 控制的全自動機械機芯，基本上包括整體的旋轉(zhuǎn)機械手位置伺服控制，轉(zhuǎn)向工件操縱鉗 /打開運動控制，運動控制原材料的電磁 材料，機械和手部動作控制，打孔按沖壓控制?？刂葡到y(tǒng)硬件設(shè)計必須滿足顯示接口 設(shè)備控制 檢測系統(tǒng) 信息管理 PLC 自動裝卸 位置伺 服系統(tǒng) 氣動手抓 升降系統(tǒng) 安全控制 以下要求： （ 1） 實現(xiàn)輪換制度的高精度位置伺服系統(tǒng)，角度誤差應(yīng)小于 0.2 ; （ 2）當(dāng)氣動機械手移動的半成品工件，必須 每次 準確地夾緊 ， 確保它是在旋轉(zhuǎn)過程中穩(wěn)定可靠 ; （ 3）如果移動工件的過程中是不尋常的的項目，如下降或不正確的位置，必須停止沖壓自動和立即報警。 （ 4）良好的安全性和可操作性。汽車模具機械手的硬件框圖控制系統(tǒng)已在圖 3.1所 示，各種 開關(guān)型傳感器傳遞到 PLC設(shè)備的狀態(tài)（如機械手的狀態(tài)，工件的位置）處理，然后 CPU會做各種計算處理，以實現(xiàn)實時控制執(zhí)行機構(gòu)。 圖 3.1Block控制系統(tǒng)的硬件框圖 B.分配的主要硬件 （ 1）使用 FX2N系列 PLC為核心控制器，它可以實現(xiàn)設(shè)備的自動控制，并 處理輸出信息的實時狀態(tài)。由傳感器接收輸入信號設(shè)備顯示設(shè)備的工作條件，通過實時處理，以實現(xiàn)多種氣動閥門的議案，伺服電機動作電磁鐵運動。 （ 2）伺服系統(tǒng)是一般閉環(huán)控 制。首先，使用光電編碼器檢測伺服電機的 位置 0，然后發(fā)送數(shù)據(jù)控制處理，使其能夠組成一個負反饋閉環(huán)控制系統(tǒng)與伺服電機的位置 i 。工作閉環(huán)控制系統(tǒng)的過程中顯示如下：首先，作為伺服電機的給控制鍵 磁力開關(guān) P L C 接近開關(guān) 光電開關(guān)測試 傳感器 電源 汽缸電磁閥 伺服電機驅(qū)動器 電磁離合器沖床 磁性夾 報警燈 輸入 /輸出顯示裝置 定 目標 i 位置，使控制器發(fā)送脈沖指令到伺服電機 使它 到目標位置，這 時 ，發(fā)送一定數(shù)量的脈沖，我們可以讀取伺服電機的實際位置與光電幫助編碼器的計數(shù)脈沖。由于負載干擾或其他非線性因素，如果實際伺服電機的位置有一個給定的偏差位置，這種偏差（ =i -0 ）不等于 0，電機的脈沖數(shù)，可以通過設(shè)置調(diào)整算法的控制器，從而使實際位置 輸出 0 系統(tǒng) 可以到一個給定的的目標位置。 根據(jù)前面的分析，可以得出結(jié)果：這種伺服控制系統(tǒng)是一個位置不斷變化的系統(tǒng)，它采用光電編碼器檢測到的物理位置在實時系統(tǒng)，通過控制器調(diào)整系統(tǒng)中的位置，以減少實際位置和目標位置 之間的偏差，并確保具有結(jié)構(gòu)簡單 的控制系統(tǒng)。 位置伺服系統(tǒng)的控制是系統(tǒng)的 最 重要組成部分，它的控制，可以影響 設(shè)備是否能順利和成功運行。在這項研究中 ， 將選擇 KINCO ED系列伺服系統(tǒng)，以實現(xiàn)自動模具機械臂旋轉(zhuǎn)位和角度的控制，這個驅(qū)動器的內(nèi)部集成驅(qū)動器，控制，總線， I/O功能等，并它內(nèi)部可存儲 256個程序，每個程序也可 以被存儲的一種運動曲線，包括加速，減速，最大速度，目標位置和其他重要參數(shù)的運動曲線，通過 8個 I/O端口，最多可以達到 128個運動曲線的直接轉(zhuǎn)移，而與這是由教育署，外部的支持的通信功能控制器也可以撥打 256內(nèi)部存儲程序 ED和內(nèi)驅(qū)動系統(tǒng)的參數(shù)變化。 （ 3）為了保證設(shè)備的檢測工作條件是可靠的，必須選擇 合理的 傳感器安裝，并確保正確的傳感器信號可傳送到 PLC。該系統(tǒng)將 在 選擇磁性開關(guān)的基礎(chǔ)上，缸檢測傳感器，可以很容易地安裝在氣缸表面 ;檢測工件的位置，電感式接近將選擇開關(guān)傳感器，以防止干擾信號，并確?？煽康臄?shù)據(jù) ;電磁檢 測的手臂，它會使用光電傳感器。 四 .控制系統(tǒng)的軟件設(shè)計 控制系統(tǒng)的重要目標是實現(xiàn)連續(xù)自動模具運行操縱系統(tǒng)，同時必須考慮所追求的程序的功能和高完整性可靠性，采用 PLC控制的模塊化設(shè)計方案，并確保系統(tǒng)的機械機芯按順序，可靠地運行。在硬件系統(tǒng)用有限的資源，它可以實現(xiàn)所有已完成功能和保證系統(tǒng)的安全和可靠。 A. PLC程序的基本原則實施 在 PLC上電 后 ， CPU將首先做內(nèi)部流程系統(tǒng)程序的監(jiān)督下，它包括硬件初始化，I / O模塊配置檢查，保持范圍停電和其他初始化設(shè)置處理。 執(zhí)行用戶程序 可完成 通信服務(wù)和自我診斷檢查。在通信服務(wù)階 段， PLC應(yīng)完成了一些溝通智能模塊和其他外圍設(shè)備，并同時完成數(shù)據(jù)接收和發(fā)送任務(wù)，響應(yīng)程序員輸入的命令，該方案的內(nèi)容更新顯示，更新時鐘的內(nèi)容和特殊登記冊等 工作原理顯示在圖 4.1如下： 圖 4.1 PLC的工作過程 B. PLC程序的 優(yōu)點 PLC編程是常用的模塊化編程來實現(xiàn)的整體功能 ;，這種方法具有以下優(yōu)點： （ 1）結(jié)構(gòu)清晰，類似于 C語言函數(shù)，可讀性強，易于修改調(diào)試 ; （ 2）該程序可以標準化，特別是一些功能可以被編譯成一 個標準程序 ; （ 3）可寫程序的各個模塊很多人參加，減少程序開發(fā)時間 ;三菱系列 PLC，其程序是模塊化 ;根本的辦法是使用子程序，控制系統(tǒng)可以調(diào)用子程序的程開始 結(jié)束 內(nèi)部處理 通信業(yè)務(wù) 輸出處理 輸入過程 執(zhí)行程序 運行 通信失敗 正常 錯誤 序模塊適當(dāng)?shù)臅r候，控制系統(tǒng)方案主要 由圖 4.2所示的一些模塊構(gòu)成： 圖 4.2模塊的控制系統(tǒng) 五 .問題和解決 DRING調(diào)試階段 現(xiàn)場調(diào)試是最重要的工作之一在 PLC控制系統(tǒng)設(shè)計的各個方面，它必須合理規(guī)劃 ，有 嚴格的 要求。調(diào)試過程是非常繁瑣復(fù)雜，各種意想不到的問題，經(jīng)常出現(xiàn) ，如感性負載調(diào)試。在控 制系統(tǒng)，它往往 很有用 ，如中間繼電器和電感性負載電磁鐵，由于感性負載可以產(chǎn)生反電動勢的電壓開啟或關(guān)閉電源時，這個電壓的峰值可能會損壞或產(chǎn)生額外電磁圈，從而影響正常的調(diào)試，因此，在設(shè)計和調(diào)試這階段