模块化四向穿梭车控制器的设计
|
摘要
针对四向穿梭车的实时控制需求、PLC价格较高和接线工艺繁琐的问题,设计了一种低成本、模块化、高性能的穿梭车控制器。整车控制器由主控板、电源及输出板、传感采集板组成,主控板与电源及输出板、传感采集板之间采用CAN总线通信。主控板采用模拟量、I/O和CAN总线实现伺服驱动器的控制和状态读取,通过RS-485总线来与拨杆电机驱动板、电池/电容模组通信,通过定时器的编码器接口采集从动轮正交编码器的脉冲实现位置的实时采集。经过实际应用,该控制器能够满足料箱类、托盘类四向穿梭车的控制要求。
A low-cost,modularized and high-performance controller is designed for the four-way shuttle to meet the real-time control requirements of the shuttle and counter the existing problems such as high PLC price and cumbersome wiring process.The shuttle controller designed consists of a main control board,a power supply and an output board,and a sensing acquisition board.The main control board uses CAN bus to communicate with the power supply,the output board and the sensor acquisition board.It then uses analog quantity,I/O and CAN bus to realize the control and status reading of the servo driver,communicates with the lever motor drive board and the battery/capacitor module through the RS-485 bus,and collects the pulses of the driven wheel quadrature encoder through the encoder interface of the timer to realize the real-time acquisition of the pulses.After practical application,the controller is proven to be able to meet the control requirements of the bin-type and pallet-type four-way shuttles.
A low-cost,modularized and high-performance controller is designed for the four-way shuttle to meet the real-time control requirements of the shuttle and counter the existing problems such as high PLC price and cumbersome wiring process.The shuttle controller designed consists of a main control board,a power supply and an output board,and a sensing acquisition board.The main control board uses CAN bus to communicate with the power supply,the output board and the sensor acquisition board.It then uses analog quantity,I/O and CAN bus to realize the control and status reading of the servo driver,communicates with the lever motor drive board and the battery/capacitor module through the RS-485 bus,and collects the pulses of the driven wheel quadrature encoder through the encoder interface of the timer to realize the real-time acquisition of the pulses.After practical application,the controller is proven to be able to meet the control requirements of the bin-type and pallet-type four-way shuttles.
引文
[1]任芳.凯乐士:打破瓶颈四向穿梭车系统优势凸显—访凯乐士科技有限公司规划总监惠雷、产品经理周幸[J].物流技术与应用,2017,22(5):116-119.
[2]尹军琪.穿梭车系统及其应用概述[J].物流技术与应用,2017,22(5):98-100.
[3]陈涤新.论多层穿梭车系统的技术发展[J].制造业自动化,2018,40(9):168-172.
[4]徐征辉,刘凤秋,张梦博,等.基于STM32的CANopen协议的实现[J].电子设计工程,2016,24(8):113-116.
[5]黄剑,姜淑忠,李小海.伺服驱动器CANopen接口设计[J].电机与控制应用,2014,41(5):35-39.
[6]丁华峰,商俊燕.高速CAN-bus总线在多轴联动控制系统中应用研究[J].自动化与仪器仪表,2015,(8):6-7.
[7]马志强,杨海明,王苏毅.基于RS-485总线的多主机通信方法[J].电子产品世界,2016,23(1):45-48.
[8]李传明,崔更申,尹鹏,等.基于STM32F4的电机控制系统设计[J].计算机测量与控制,2015,23(10).
[2]尹军琪.穿梭车系统及其应用概述[J].物流技术与应用,2017,22(5):98-100.
[3]陈涤新.论多层穿梭车系统的技术发展[J].制造业自动化,2018,40(9):168-172.
[4]徐征辉,刘凤秋,张梦博,等.基于STM32的CANopen协议的实现[J].电子设计工程,2016,24(8):113-116.
[5]黄剑,姜淑忠,李小海.伺服驱动器CANopen接口设计[J].电机与控制应用,2014,41(5):35-39.
[6]丁华峰,商俊燕.高速CAN-bus总线在多轴联动控制系统中应用研究[J].自动化与仪器仪表,2015,(8):6-7.
[7]马志强,杨海明,王苏毅.基于RS-485总线的多主机通信方法[J].电子产品世界,2016,23(1):45-48.
[8]李传明,崔更申,尹鹏,等.基于STM32F4的电机控制系统设计[J].计算机测量与控制,2015,23(10).