【正文】 石家莊鐵道大學(xué)畢業(yè)設(shè)計 基于 PLC 的電動挖掘機變頻調(diào)速控制 系統(tǒng)設(shè)計 Design of the Variable Frequency Control System of the Electric Excavator Based on PLC 20xx 屆 機械工程 學(xué)院 專 業(yè) 測控技術(shù)與儀器 完成日期 20xx 年 6 月 11 日 摘要 電動挖掘機價格低，耗能少，無污染，在礦山、交通、建筑 尤其是城建市政現(xiàn)場施 工中 應(yīng)用廣泛。隨著國家各項重點工程的的相繼開工，電動挖掘機的需求量將迅速增漲。變頻調(diào)速系統(tǒng)作為挖掘機的“心臟”，直接影響挖掘機的工作效率，所以研究電動挖掘機的變頻調(diào)速系統(tǒng)對節(jié)能和環(huán)保具有重要意義。 論文分析了傳統(tǒng)發(fā)動機作為動力的調(diào)速系統(tǒng)，設(shè)計了用電動機和變頻器替代傳統(tǒng)發(fā)動機作動力的調(diào)速控制系統(tǒng)總體方案。進行了系統(tǒng)建模和 PID 參數(shù)整定。由 PLC輸出控制信號到變頻器，變頻器將電動機轉(zhuǎn)速調(diào)整到相應(yīng)的數(shù)值，轉(zhuǎn)速傳感器反饋轉(zhuǎn)速信號給 PLC，構(gòu)成閉環(huán)控制系統(tǒng)。利用 GX Developer 軟件設(shè)計了：手動調(diào)速、自動調(diào)速、 自動怠速、 PID 調(diào)節(jié)、 AD、 DA、 看門狗等模塊。用 Protel 軟件設(shè)計了 PLC和變頻器的相關(guān)接口電路、電源電路、轉(zhuǎn)速測量電路、抗干擾電路。進行了 PLC、AD 和 DA 模塊、變頻器、電動機、轉(zhuǎn)速傳感器的選型。使用 MCGS 組態(tài)軟件設(shè)計了人機交互界面，操作和維護方便。 在實驗室搭建了控制系統(tǒng)平臺，對部分硬軟件進行了調(diào)試，效果良好，達(dá)到了設(shè)計要求。 關(guān)鍵詞： 電動挖掘機、步進電機、變頻器、 PLC、組態(tài)軟件。 Abstract Electric excavators have many advantages： Low cost, low power consumption and less pollution. It is widely used in mining, transportation, construction, especially in urban construction. With the state39。s key projects have been started, the demand of electric excavator will rise rapidly. As the heart of the excavator, Frequency control system directly affects the efficiency of the excavator, so it is important for energysaving and environmental protection to study the frequency control system of electric excavator. In this paper we analyzed the traditional control system in which engine is the power, an overall program is designed that motor and converter replace traditional enginepowered speed control system. Systematic modeling and PID parameter tuning are conducted. PLC output control signals to the inverter, the inverter will adjust the motor’s speed to an appropriate value, the speed sensor feedbacks speed signal to the PLC, a closed loop control system is formed. We designed a few blocks with the GX Developer programming software: Manual control, automatic control, automatic idle speed, PID regulation, AD, DA, watchdog modules. With Protel software we designed the PLC and inverter relevant interface circuit, power circuit, speed measuring circuit, antijamming circuit. A selection of PLC, AD and DA modules, inverter, motor, speed sensor is conducted. A Human Machine Interface is designed with MCGS configuration software, operation and maintenance are easy. A control system platform is built in the laboratory, a debugging is carried out on part of hardware and software, design requirements are achieve with good effect. Key words: electric excavator、 stepper motor、 inverter、 PLC、 configuration software. 目錄 第 1 章 緒論 ......................................................................................................................... 1 課題來源以及重要意義 ......................................................................................... 1 國內(nèi)外研究現(xiàn)狀 ..................................................................................................... 1 國內(nèi)發(fā)展及現(xiàn)狀 ........................................................................................... 1 國外發(fā)展及現(xiàn)狀 ........................................................................................... 2 關(guān)鍵技術(shù)與技術(shù)難點 ............................................................................................. 3 第 2 章 主要技術(shù)指標(biāo)和主要功能 ..................................................................................... 5 技術(shù)指標(biāo) ................................................................................................................. 5 主要功能 ................................................................................................................. 5 預(yù)期達(dá)到的成果及其形式 ..................................................................................... 6 第 3 章 總體設(shè)計方案 ......................................................................................................... 7 設(shè)計思想 ................................................................................................................. 7 技術(shù)路線 ................................................................................................................. 7 設(shè)計原理 ................................................................................................................. 7 第 4 章 控制系統(tǒng)數(shù)學(xué)模型建立和 PID 參數(shù)整定 ........................................................... 10 控制系統(tǒng)數(shù)學(xué)模型建立 ....................................................................................... 10 輸出電壓與轉(zhuǎn)速差的轉(zhuǎn)換模型 ................................................................. 10 變頻器模型建立 ......................................................................................... 10 電動機模型建立 ......................................................................................... 10 系統(tǒng)傳遞函數(shù) ............................................................................................. 11 PID 參數(shù)整定 ........................................................................................................ 12 第 5 章 硬件設(shè)計 ............................................................................................................... 13 電路設(shè)計 ............................................................................................................... 13 變頻器和 PLC 的相關(guān)接口電路 ................................................................ 13 變量泵轉(zhuǎn)速檢測電路 ................................................................................. 14 供電電路設(shè)計 ............................................................................................. 15 抗干擾設(shè)計 ................................................................................................. 16 觸摸屏設(shè)計 ................................................................................................. 16 硬件選型 ............................................................................................................... 17 PL