草方格铺设机器人控制系统研究与设计-森林工程专业论文.docxVIP

AbstractAs Abstract As the cenCral unit of the colltrol systcm，PLC has thc powerful I’u11ctioll a11d slabIc Derfornlance．It is widely used in mecllanotronics for product control and 11as perfi：ect colltrol efkct． Ih this thesis，on basis of thc Straw Checkcrboard Barricrs PaVing Robot projcct of。thc t11e National High．tech Research and Developlnellt Program(863 Program)，we expatlated operating principle and technological process of PLC，chose it as the controI center，produced a 111etllod衙 DIan for t11e design a11d achieveJnent of 111e solll_ware a11d 11ardware a11d gaVe modifying the ultrasonic ranging radar to get the nInction of sideway noating·It canbe L1Sed as the 2uidance and ref．erence in the applicatioll of PLC to robot· Fi rSt’the fact of deserti氍cation a11d t11e preVention metllod were i11troduced gelleraI Iy a11d t11e the importance and necessity of this researcll was also discussed· By comparillg charactel．istics and applicatioll neld of SCM control systenl，relay colllrol system a11(1 compulc。 colltrol systeln，we selected the contr01 scheme based on PI_，C． Secondly’by studying the production process of the Straw Checkerboard Ba疵‘s I’aVlllg Robot，we conductea t11e t11eoretical calculation to the chosen component a11d seIectcd t11c baslc Darallleters acco rding to the basic colltrol requirement． we also designed t11e m0111torlng 011 t11e control system according to the special requirement to realize the monitorillg controI workillg process． Thirdly，the now diagram of monitorillg progralll was plotted，the c110sell contI’ol 1110dule was configured in hardware，the STL language prograln was designed by using the sottwa。e SteD7 from Siemens Company to carry out t11e dala acquisiti011 a11d 111ake the outpu【eqLllplllc。1t work safely and emciently．T11e transverse slaVe control system was desiglled wltll t11e AT89C5 1 SCM f1．om ATMEL Compally．It collsisCed of sensillg test circull，slgllaI p。oces51ng ouI closcd cil-cuit a11d output contr6l circuit．T11is system was com