【正文】 壓 、 氣壓裝 置等，收集、 處 理、 反饋 加工和 運(yùn)輸過(guò) 程中所需各種信息， 實(shí)現(xiàn) 分 級(jí) 控制 運(yùn)輸設(shè)備 或機(jī)床的系 統(tǒng) 。 從 此我 國(guó)對(duì) 于 FMS 的 研究， 進(jìn) 入了自 主 開(kāi)發(fā) 與少部分 進(jìn) 口 相結(jié)合 的 階 段。 1976 年，日 本發(fā) 那科公司展出了由加工中心和 工業(yè) 機(jī)器人 組 成的 柔性 制造 單 元 ， 為發(fā) 展 FMS 提供了重要的依據(jù)。柔性自 動(dòng) 生 產(chǎn)線(xiàn) 在柔性程度高的 時(shí) 候可以接近于批量小、品種多生 產(chǎn) 用的柔性制造系 統(tǒng) ，柔性程度低的 時(shí) 候，它在性能上接近大批量生 產(chǎn) 用的自 動(dòng) 生 產(chǎn)線(xiàn)。柔性制造 單 元的 設(shè)備 具有 較 大的柔性，不 過(guò) 加工和人 員 柔性低。 關(guān)鍵詞： FMS，自動(dòng)化立體倉(cāng)庫(kù)，蟻群算法，堆垛機(jī)控制系統(tǒng) 摘要 碩士論文 II 碩士論文 基于固高 FMS 的控制系統(tǒng)設(shè)計(jì) III Abstract Flexible Manufacturing Systems(FMS) is the automation system cored on puter control, which can be employed to acplish multiple tasks such as production, processing, storage of the products and so on. With the development of science and technology, FMS is widely applied in manufacture. In order to make students facile understand and then prehend the anization and control modus of real industrial equipment, a set of FMS system from Gugao pany has been introduced here to show how it works. Based on the hardware of the system, this thesis focuses on the research on analyzing and substantially improving the storage of current input estimation algorithm. The main contents of the thesis are as follows: (1) Job scheduling: The plex job scheduling function of Management System was designed, which includes some automation task and the picking function. It can also plete the multiple tasks at the same time and greatly improve the efficiency of the system. (2) Algorithm of the system: The new selecting function is abstracted as a typical TSP problem. Three modern scheduling algorithms are used in the simulation research of this problem. The results show that the simulation research of ant colony algorithm scheduling is the best. By using ant colony algorithm method, the list of the chosen homework assignments is obtained and the time is also saved in the picking (selecting process) of the system. (3) Control system: based on software platform of MATLAB, the simulation analysis for stacker speed control system as been carried out. Meanwhile, the study of PID adjustor parameters on the performance of speed has been performed and the theoretical optimization has been achieved. (4) Monitoring and management system: the database of the system has been designed, the inquiry and print function of reports is achieved, and the monitor system interface is improved. Keywords: FMS, Automated Multilayered Storehouse, The Ant Colony Algorithm, Stacker Control System Abstract 碩士論文 IV 碩士論文 基于固高 FMS 的控制系統(tǒng)設(shè)計(jì) V 目 錄 摘 要 ........................................................................................................ I Abstract ...................................................................................................... III 1 緒論 .......................................................................................................... 1 柔性制造系統(tǒng)概述 ...................................................................................................... 1 柔性制造系統(tǒng) 國(guó)內(nèi)外發(fā)展現(xiàn)狀 .................................................................................. 2 柔性制造系統(tǒng) 的基本組成 .......................................................................................... 3 本文研究?jī)?nèi)容及組織結(jié)構(gòu) .......................................................................................... 3 2 固高 FMS 介紹及系統(tǒng)改進(jìn)方向 ............................................................... 5 系統(tǒng)硬件介紹 .............................................................................................................. 6 自動(dòng)化立體倉(cāng)庫(kù) ................................................................................................ 6 堆垛機(jī) ................................................................................................................ 6 微型輸送線(xiàn) ........................................................................................................ 7 AGV 輸送系統(tǒng) ................................................................................................... 8 上下料機(jī)械臂 .................................................................................................... 8 雕刻機(jī) ................................................................................................................ 8 系統(tǒng)功能 ...................................................................................................................... 9 入庫(kù)操作 ............................................................................................................ 9 出庫(kù)操作 .......................................................................................................... 10 移庫(kù)操作 .......................................................................................................... 10 調(diào)庫(kù)功能 .......................................................................................................... 10 雕刻功能 .......................................................................................................... 10 AGV 取貨功能 ..................................................................................................11 系 統(tǒng)改進(jìn)方向 .............................................................................................................11 小結(jié) ............................................................................................................................ 12 3 立體倉(cāng)庫(kù)調(diào)度算法的研究 ....................................................................... 13 自動(dòng)化立體倉(cāng)庫(kù)簡(jiǎn)介 ................................................................................................ 13 幾種常用的現(xiàn)代調(diào)度算法 ..............................................