单立柱巷道式堆垛机控制系统设计.doc

PAGE I 摘要 在现代的物流仓储系统中，自动化立体仓库应用日益广泛。而堆垛机性能的优劣，对整个立体库的正常运行起着重要的作用。但就我国现有生产力发展水平来看，在自动化立体仓库中设计出造价低廉、工作可靠的堆垛机替代原有仓库的控制和管理，能更加适应某些中小企业要求投资少见效快的目标。本论文就实现这一目标的堆垛机控制系统进行了设计。在堆垛机控制系统（Storage and Retrieval Machine control system，以下简称SRMC系统）的开发应用中，将PLC技术和变频控制技术相结合，重点研究基于旋转编码器与光电开关的组合进行堆垛机定位系统的设计。 本文主要的研究工作如下： (1)深入研究实际生产过程中堆垛机的工作情况，指出其在运行、定位及故障指示等方面的不足之处，并从硬件改进和软件设计两个方面给出具体的实施方案； (2)针对自动化立体仓库的存取特点，对堆垛机的硬件部分进行设备选型与参数计算，设计出电气原理图，提出一套SRMC系统的硬件配备方案； (3)在三菱GX-Developer软件开发环境下，采用流程图的设计方法，设计SRMC系统的PLC控制程序，随时改进控制思路和控制程序系统。 关键词: 堆垛机；PLC技术；自动化控制；速度控制 Abstract In modern logistic warehouse’s system, automatic high- rise warehouse was widely applied. The features of stacker crane were the key Point to the function of the high- rise warehouse . According to the national existing current economic condition, to study one kind of great tonnage stacker control system which cost inexpensive and moved stable was useful to some small or medium enterprises whose aim was investing less while profiting lots. This paper introduced the design of stacker crane control system, unified the PLC technology and the frequency conversion control technology, the key research based on the transformation on S shape running rate curve of frequency changer, as well as combined the revolves encoder and the photo electricity switch to constructs the Storage and Retrieval Machine’s accurate positioning system. The paper’s main research work is as follows: (1)Researching the Storage and Retrieval Machine’s working condition in the actual production process, The paper pointed out the deficiency in the movement, localization and failure indication, and put forward the concrete implementation plan from two aspects on the hardware improvement and software design； (2)In view of the store and fetch characteristic in the Automated High-rise air conditioning Storage, The paper has carried on the equipment shaping and the parameter computation on the hardware of Storage and Retrieval Mach