基于PLC及MCGS组态的机械手模型控制系统的设计

基于PLC及MCGS组态的机械手模型控制系统的设计姓名：学院：专业：班级：学号：指导教师：完成时间：I基于PLC及MCGS组态的机械手模型控制系统的设计摘要在工业生产和其他领域内，由于工作的需要，人们经常受到高温、腐蚀及有毒气体等因素的危害，增加了工人的劳动强度，甚至于危及生命。自从机械手问世以来，相应的各种难题迎刃而解。在本设计中介绍了国内外机械手研究现状及PLC的研究发展趋势，描述了机械手控制系统的工作原理和动作实现过程。研究了基于PLC的机械手模型控制系统的设计，还研究了MCGS在机械手控制系统中的应用。利用组态软件MCGS设计了机械手模型控制系统监控界面，提供了较为直观、清晰、准确的机械手运行状态，进而为维修和故障诊断提供了多方面的可能性，充分提高了系统的工作效率。关键词：机械手；PLC；MCGSIIDesignofManipulatorModelControlSystembasedonPLCAbstractInindustrialproductionandotherdomains,Becauseofthedemandsofthework,peoplewereusuallysubjectedtoendangerofheat,decayandpoisonousairetc.factor,thesefactorsincreasedthestrengthofworker'slabor,evenendangerlife.Sincethemanipulatorwasborn,thevariousdifficultproblemswereeasilysolved.InthisdesignthepresentconditionofresearchaboutdomesticandinternationalmanipulatoranddevelopmenttrendofresearchconcerningPLCwereintroduced.Theprincipleofworkandtheprocessofaction’srealizationofmanipulatorcontrolsystemweredescribed.ThedesignofmanipulatormodelcontrolsystembasedonPLCwasresearchedandMCGS’sapplicationinthemanipulatormodelcontrolsystemwasresearched.TheinterfaceofsupervisionforthemanipulatormodelcontrolsystemwasdesignedbyMCGS.Anintuitive,clearandaccuratemanipulatoroperatingstatewasprovided.Andthenvariouspossibilitiesformaintainandbreakdown’sdiagnosiswereprovided,thework’sefficiencyofsystemwasfullyelevated.Keywords:manipulator;PLC;MCGS目录摘要......................................................................................................................................ⅠAbstract.......................................................................................................................................Ⅱ第一章绪论...........................................................................................................................21.1课题研究目的及意义......................................................................................21.2国内外机械手研究概况..................................................................................21.3课题研究的内容..............................................................................................2第二章机械手控制方式的选择和可编程序控制器简介..............................42.1机械手控制方式的选择.............................................................................................42.1.1控制方式的分类.....................................................................................................42.1.2PLC与工业控制计算机（IPC）和集散控制系统（DCS）的比较....................42.1.3机械手控制方式的选定.........................................................................................52.2可编程序控制器简介..................................................................................................62.2.1PLC的结构……………………………………………………………………..…52.2.2PLC的特点..............................................................................................................72.2.3PLC的主要功能......................................................................................................82.2.4PLC的经济分析......................................................................................................92.2.5PLC发展状况及趋势............................................................................................10第三章机械手模型控制系统的设计......................................................................103.1机械手控制系统构件概述.......................................................................................103.1.1步进电机...............................................................................................................103.1.2步进电机驱动器...................................................................................................113.1.3传感器...................................................................................................................133.1.4直流电机驱动单元...............................................................................................133.2机械手的动作实现过程...........................................................................................143.3PLC程序设计..............................................................................................................163.3.1I/O点数的确定及PLC类型的选择....................................................................163.3.2PLC的I/O分配....................................................................................................163.3.3编程指令的选择.....................................................................错误!未定义书签。3.3.4PLC程序的设计......................................................................错误!未定义书签。3.4PLC程序的调试............................................................................错误!未定义书签。3.4.1PLC控制的安装与布线..........................................................错误!未定义书签。3.4.2机械手控制系统的外部接线图.............................................错误!未定义书签。3.4.3机械手控制程序的调试.........................................................错误!未定义书签。第四章MCGS在机械手控制系统中的应用........................错误!未定义书签。4.1MCGS的概述................................................................................错误!未定义书签。4.1.1MCGS的简介..........................................................................错误!未定义书签。4.1.2MCGS的构成..........................