可编程逻辑控制器在管道机器人控制系统中的应用

,,,(,150001):,(PLC),PLC(PWM),:;;;:TG115.28;TP242:A:100026656(2001)0620234203THEAPPLICATIONOFPLCTOIN2PIPEROBOTCONTROLSYSTEMJIANGSheng2yuan,DENGZong2quan,LIBin,LIGui2xian(Dept.ofMechanicalEngineering,HaperbinInstituteofTechnology,Haperbin150001,China)Abstract:PLCwasappliedtoin2piperobotcontrolsystemforitsspecificworkingcondition.Thecommunicationbe2tweeninnerandoutercontrollersandtheclose2loopcontrolofdrivingmotorwererealizedbyPLCfunctionsoftele2com2munication,PWMoutputandhigh2speedcounter.Itwasprovedthatthemethodwashighinreliabilityandvaluabletospreadtopipelineengineering.Keywords:Pipe;Robot;PLC;Controlsystem,,,,1,,,[1],,,;,,(PLC)X,PLC,PLC:20002072281PLCPC1(1)FP0PLCPLC,PLCPLCFP0PLCRS232,,,C2NETRS2232/RS485,RS48543223620016NDTVol.23No.6June2001©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.1,1200m,,,2,,,,,PLC,PLCMEWTOCOL2COM[2,3],,PLC,22MEWTOCOL2COMPLCF144,F144[F144TRNS,DT100,K4]PLCRS232DT101DT102PLCPLC,X,,PLC,WR0WR1,PLCWR0WR1;X,WR2WR3,33.1,,PLC,,,PLC,,PLC,(PLC),PLC,,,PLC;,,3.2(1000m),,PLC,,,,4PLCPLCPLC(PWM),532:©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.,PLC,PLCPWMPWMI/O33PWMI/O4.1FP0PLCPWMFP0PLCPWMPLCFP0PLC,10kHz,PLC,F0,F1,F166F170,:F0:,F1:F170:PWMPWM0.01%9919%PWM[F170PWM,S,n]nYn,SPWM,PWM,PWMPLC4.2,,,,PLC,,,PLC,(PID)PWMPWM4.3,PLC,,(CCD),(),,,,4,,v1,S-S1,v2,v2,S-S2,,45PLCPLC,PLC,PLCPWM,X1000m,(00.2m/s),(239)632:©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.H(Hyp1,Hyp2)dHdxx1,dHdxx2,,k(3)kx1,x2,xk(3),H,Za,5xn,n=1,2,,N-1,X(f)=n=1xnej2f(4)G(f)=|X2(f)|T(5)Tp(f)=0G(f)df(6)800(4)(6)Gmaxp(f)Ei,2b=F1(Gmax,p(f),E)d=F2(Gmax,p(f),E)Ei=i=0p(f),[3]2b=Gi1+Ei-AAe-4.86Gi-AA0.038K(7)d=2b(1-e-1.12K)2.652.2(8)GiAEiK=EiGiHallHall,3mm,3mm,L,L=Ei1+Ei-BBe-3.66K|Ei-B|B0.01KD+(Ei-B)1+Ei-BBe-0.66D|Ei-B|BK2.6KD(9)BDi(4)Li=Li1+Li2(10)4Li,i+1,,Li+11,;,6,,,,,,;,1d1h,:[1].[J].,1995,17(4):21-24.[2],,.[J].,1999,21(3):121-123.[3].[M].:,1988.319-336.(236)CCD4mm:[1],.[J].,1994,4(5):12-15.[2],,.[M].:,1998.25-206.[3].FP0ProgrammingManual[Z].:,1998.1-33.932:©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.