【正文】 i 摘 要 在現(xiàn)代的物流倉儲系統(tǒng)中，自動化立體倉庫應用日益廣泛。而碼垛機是立體倉庫的關鍵組成部分，碼垛機性能的優(yōu)劣對整個立體倉庫的運行起到至關重要的作用，所以設計與開發(fā)自動化程度較高的碼垛機控制系統(tǒng)成為當前立體倉庫的發(fā)展趨勢，開展與此有關的研究具有重要的理論和應用價值。本文基于現(xiàn)代物流技術的應用和發(fā)展要求，介紹自動化立體倉庫的應用及其功能和作用，結(jié)合現(xiàn)代科技的發(fā)展，著重研究自動化立體倉庫碼垛機控制系統(tǒng)的控制技術。詳細闡述了本控制系統(tǒng)的設計思想，以 及整個系統(tǒng)的硬件實現(xiàn)和軟件設計。 論文依據(jù)立體倉庫的有關設計參數(shù)，對碼垛機電氣控制的硬件系統(tǒng)進行了設計，為了提高碼垛機的性能，采用了轉(zhuǎn)速、位置反饋的雙閉環(huán)控制，以滿足系統(tǒng)的調(diào)速要求。系統(tǒng)的水平認址采用激光測距傳感器定位，垂直認址采用光電開關和認址片組合定位。變頻調(diào)速系統(tǒng)由 S7226PLC 及其擴展模塊 EM235 通過變頻器MM440 控制交流電動機，采用光電編碼器反饋轉(zhuǎn)速信號，實現(xiàn)轉(zhuǎn)速閉環(huán)控制。貨叉伸叉系統(tǒng)由 S7226PLC 通過步進電動機驅(qū)動器 SH20403 控制二相混合式步進電動機。根據(jù)系統(tǒng)的控制要求進行了 PLC、變頻器、電機和電機驅(qū)動器的選型，并給出了系統(tǒng)的硬件接線圖，然后利用西門子的編程軟件 step7 設計了碼垛機控制程序。 關鍵詞：控制系統(tǒng)，自動化立體倉庫，碼垛機，傳感器， PLC ii ABSTRACT In modern logistics warehousing systems, automated storage is increasingly widespread. Hay stackers are the key equipment, Performance of the stacker plays an important role. Design and Development of a higher degree of automation Stacker Control System bee Warehouse trend of development, Therefore related research has important theory and application value. This paper introduces application and performance of automated Highrise Warehouse basing on application and development requirement of modern logistics techniques. And puts emphasis on the researching of control techniques in automated Highrise Warehouse stacker bining modern science and techniques. This paper elaborated on the design of the system of control, as well as the implementation of the system39。s hardware and the design of the software. Based on the parameter related to the automated storage, this paper presented the hardware system of stacker electrical control. Speed of the stacker was the basic. In order to improve the performance of the stacker, the system adopts the speed, position, double feedback control. The horizontal recognize addresses of system using laser rangefinder sensor positioning, and vertical recognition using photoelectric switches and address piece bination addressing. Speedadjusted system by S7226PLC and its extension module EM235 through transducer MM440 control ac motor. Goods fork system is by S7226PLC binary system through stepping motor driver SH 20403 control twophase hybrid stepping motor. According to the requirements of the control system, this paper pleted the selection of PLC， frequency converter, the motor and its controller. And presents the system hardware hookup. Then use the software of Siemens step7 designs the stacker control procedures. KEYWORDS： Control system， Automated Storage and Retrieval System， Stacker，Sensor, PLC 目 錄 摘 要 ................................................................................................................................ i ABSTRACT ...................................................................................................................... ii 目 錄 .............................................................................................................................. iii 1 緒論 ............................................................................................................................... 1 碼垛機概述 ................................................................................................ 1 碼垛機的發(fā)展 ................................................................................. 1 碼垛機技術的研究現(xiàn)狀 ................................................................. 1 自動化立體倉庫的概述 ............................................................................ 2 自動化立體倉庫的組成 ................................................................. 2 自動化立體倉庫的優(yōu)點 ................................................................. 3 自動化立體倉庫的發(fā)展 ................................................................. 4 研究的主要內(nèi)容 ........................................................................................ 4 2 碼垛機控制系統(tǒng)的硬件設計 ....................................................................................... 5 控制技術要求和系統(tǒng)總體設計 ................................................................ 5 碼垛機位置控制 ........................................................................................ 7 定位控制 ......................................................................................... 7 認址檢測方式 ................................................................................. 8 認址方式確認 ................................................................................. 9 碼垛機速度曲線分析 ....................................................................11 安全檢測傳感器的應用 ............................................................................11 元器件的選型 .......................................................................................... 12 通信方案的確定 ...................................................................................... 13 輸入輸出點分配 ...................................................................................... 14 本章小節(jié) .................................................................................................. 15 3 PLC 及資源配置 ......................................................................................................... 16 PLC 控制的優(yōu)點及 S7200 系列概述 ..................................................... 16 S7200 系列 PLC 概述 ............................................................................. 17 CPU 型號選擇 .......................................................................................... 18 PLC 模塊選型 .......................................................................................... 19 4 碼垛機控制程序設計 .................................................................................................. 21 iv 碼垛機自檢和復位 /歸位程序 ................................................................. 23 碼垛機自檢程序 ........................................................................... 23 碼垛機復位 /歸位程序 .................................................................. 24 自動方式下的碼垛機運行控制 .....................................