【正文】 變頻器的工作原理是通過(guò)改變交流電頻率方式實(shí)現(xiàn)交流電的控制。 圖 （ ） （ ） 半閉環(huán)控制 當(dāng)堆垛機(jī)朝著某一目標(biāo)位置行進(jìn)時(shí) ,按照事先編好的 PLC 程序中堆垛機(jī)速度的控制策略，再根據(jù)目標(biāo)位置與光電傳感器反饋回來(lái)的堆垛機(jī)的實(shí)際位置之間的差值即相差的列數(shù)或?qū)訑?shù) ,選用變頻器不同的頻率 實(shí)現(xiàn)堆垛機(jī)運(yùn)行時(shí)的速度控制。 變頻調(diào)速的工作原理 變頻調(diào)速技術(shù)常用于堆垛機(jī)的速度控制 。為保證貨叉完成 作業(yè)，堆垛機(jī)在垂直方向上必須要有檢測(cè)裝置準(zhǔn)確檢測(cè)貨叉是否準(zhǔn)確停在高位或低位。當(dāng)堆垛 機(jī)行走或升降時(shí)，每產(chǎn)生一個(gè)脈沖，就對(duì)列數(shù)或?qū)訑?shù)加 1或減 1作為當(dāng)前地址 ??5 。這 2 個(gè)坐標(biāo)的檢測(cè)也是一般情況下遇到的認(rèn)址問(wèn)題。本次采用 PLC 控制。其結(jié)構(gòu)如圖 所示。它由上叉、中叉、下叉和起導(dǎo)向作用的滾針軸承等構(gòu)成。 6. 按主構(gòu)件形成分類 （ 1）單柱式（桅桿式）堆垛機(jī)。其中又分單叉、雙叉和多叉幾種。 （ 3）自動(dòng)堆垛機(jī)。 （ 3）臺(tái)車移載式堆垛機(jī)。它是自動(dòng)化立 體倉(cāng)庫(kù)的核心作業(yè)機(jī)械，擔(dān)負(fù)著存貨、取貨等任務(wù) ,是自動(dòng)化立體倉(cāng)庫(kù)的關(guān)鍵設(shè)備，堆垛機(jī)的發(fā)展是衡量自動(dòng)化立體倉(cāng)庫(kù)發(fā)展的主要標(biāo)志，因此自動(dòng)化立體倉(cāng)庫(kù)領(lǐng)域的熱點(diǎn)就成了對(duì)堆垛機(jī)的研究 ??1 。 關(guān)鍵詞 :自動(dòng)化立體倉(cāng)庫(kù)，堆垛機(jī)， PLC，監(jiān)控系統(tǒng) 立體倉(cāng)庫(kù)巷道堆垛機(jī)的控制系統(tǒng)設(shè)計(jì) II The design of control system for stereoscopic warehouse stacker machine Abstract In an age of globalization and marketization, a logistics distribution center ,which includes logistics, information flow and capital flow , promotes the great development of the world economy and trade. Automation stereoscopic warehouse is the core of system equipment in Logistics stacker is the key equipment of automation stereoscopic warehouse. This paper is aimed at designing roadway stacker electrical control system of a two rows of four layer three column type stereoscopic warehouse, and it can realize the simulation control access to the goods. The main work includes four items: this article pares all kinds of the stereoscopic warehouse control technology to determine the implementation plan , analysises stacking machine mechanical structure , designs the stacker control system and uses configuration software to design manmachine interface in order to control access to goods process simulation. The system described in this article uses the advanced Siemens PLC controller and the inverter . It is half closed loop ac servo system. In Designing , this text has analyzed the working process of the stacker (main motion contains walking, fork lifting and stretching),has used photoelectric sensors to detect position of stacker, has studied the stacker to recognize address detection mode and motion control, and has realized the stacker movement and positioning schemes. In order to improve work efficiency, this paper uses the technology of frequency control of motor speed control. Based on Siemens S7200 SMART system manual, this article writes the PLC program. The upper machine system monitors the operation of the PLC, and processes the position information. This paper has designed two kinds of control mode: stacker system of automatic and manual. Machine system runs smoothly, accurately, safely and can meet the design requirements. In this text, the software design of stacker is realized respectively by using STEP7 programming software and monitoring system is designed by adopting King view , which includes a state of equipment and goods display, fault alarm, warehousing (inventory) information reporting interface. Through theoretical derivation and experimental research, this paper proves that the research of the automatic solid warehouse technology is advanced. The implementation method is feasible. This system has certain practical value and application prospect. Key Words ： Automated multilayered storehouse, Stacking machine, PLC, Monitoring and control system 上海建橋?qū)W院本科畢業(yè)設(shè)計(jì)（論文） III 目 錄 摘 要 ............................................................................................................................. I Abstract .............................................................................................................................. II 1 緒論 ................................................................................................................................ 1 堆垛機(jī)簡(jiǎn)介 .......................................................................................................... 1 堆垛機(jī)的分類 ..................................................................................................... 1 巷道式單立柱堆垛機(jī)的結(jié)構(gòu)組成 ...................................................................... 3 堆垛機(jī)在國(guó)內(nèi)外的發(fā)展現(xiàn)狀 ............................................................................. 4 本文研究的主要內(nèi)容 ......................................................................................... 4 2 倉(cāng)儲(chǔ)堆垛機(jī)的控制 ........................................................................................................ 4 堆垛機(jī)主要運(yùn)動(dòng)及控制方式 ..................................................................................... 4 堆垛機(jī)的主要運(yùn)動(dòng) .................................................................................. 5 堆垛機(jī)的控制方式 ................................. ................................................ 5 堆垛機(jī)認(rèn)址方式 ................................................................................................. 5 認(rèn)址方式的介紹 ....................................................................................... 5 認(rèn)址方式的確定 ....................................................................................... 6 堆垛機(jī)速度控制 ................................................................................................. 7 變頻調(diào)速的工作原理 .................................... ......................................... 7 速度曲線的設(shè)計(jì) ...................................................................................... 8 半閉環(huán)控制 .............................................................................................. 8 3 控制系統(tǒng)硬件部分設(shè)計(jì) ................................................................................................ 9 核心元件簡(jiǎn)介 ............................................................................................................. 9 可編程控制器簡(jiǎn)介 ................................................................................... 9 變頻器簡(jiǎn)介 ................................ ........................................................... 10 電氣設(shè)計(jì)一般原則 ....................