【作者】 刘兴磊；

【导师】 王坚；

【作者基本信息】 东华大学 ， 电力电子与电力传动， 2010， 硕士

【摘要】 机器人是20世纪人类最伟大的发明之一,而码垛机器人则是其中广泛应用的代表。码垛机器人作为现代码垛系统中最重要的设备,它的操作范围、码垛速度、稳定性和可靠性等工作能力决定了整个码垛系统设计的成败。而其控制系统性能在很大程度上决定了码垛机器人的性能。一个良好的控制系统要有灵活方便的操作方式,多种形式的运动控制方式和安全可靠性,并且控制性能要能够满足工作要求。本文从码垛机器人的这些特性出发,在深入研究了现场总线技术、机器人控制技术及工业控制网络技术的基础上,完整的设计了这个基于现场总线的码垛机器人的控制系统。首先,本文考察了当前国内外码垛机器人的研究现状和发展趋势,说明了研究码垛机器人控制系统的目的和意义。现场总线作为一种工业数据总线,主要解决工业现场的智能化仪器仪表、控制器、执行机构等现场设备间的数字通信以及这些现场控制设备和高级控制系统之间的信息传递问题。文中概要介绍了常用现场总线的特点、发展现状和研究方向,详细阐述了本系统中所使用的ETHERNETPowerlink实时以太网的通信协议、工作原理及通信的实现方法。其次,根据系统的结构方案以及技术要求完成了码垛机器人控制系统的总体设计。控制方案依据当今最新控制理念,采用贝加莱高性能的PCC(可编程计算机控制器)作为主控制单元。本文详细的叙述了PCC系统和伺服驱动系统的硬件设计方法,并对系统的控制功能进行了说明。控制程序在B&R Automation Studio的环境下进行开发,程序主体采用ANSI C语言编写,软件设计采用结构化的设计方法,自上而下逐步的细化技术并分解步骤,将待开发的软件系统划分为若干个相互独立的模块,并且每个模块根据控制的要求设置优先级,充分体现“分时多任务”的优越性,同时还能保证良好的维护性和清晰的结构。最后,借助于智能控制理论,对码垛机器人手臂的运行轨迹进行了智能优化和跟踪控制,仿真结果表明,码垛机器人运行周期的时间明显缩短,其关节都能很好的跟踪期望轨迹,并具有很好的抗干扰性能。码垛机器人控制系统的设计已经全部完成,并且实现了系统的运动控制。此系统已经成功应用于某啤酒厂的生产线上,运行状态良好、性能稳定、易于操作、维护方便,受到厂家的广泛好评。更多还原

【Abstract】 Robot is one of the greatest inventions in the 20th century, and palletizing robot is widely used. As the most important equipment in the modern palletizing system, Palletizing robot’s operation scope, stacking velocity, stability and reliability determines the success or failure of the design of the entire palletizing system. And its control system performance largely determines the performance of the palletizing robot. A good control system is convenient to operate, various forms of exercise control mode and the safety and reliability, and its control performance must attain the job requirements. In this paper, from the characteristics of palletizing robot, on the basis of the deep research in the fieldbus technology. robot control technology and industrial control network technology, it completely design the control system of the palletizing robot based on fieldbus .Firstly, it introduces the current research status and the development trend of palletizing robot, and illustrates the purpose and significance of the control system’s research. As an industrial data bus, The fieldbus mainly solve the digital communication between the site equipments such as the intelligent instruments, controller and executing agency. And it also solve the information transfer between the site equipment and the advanced control system. This paper briefly introduces the characteristics, development status and research direction of common fieldbus. and detailedly expounds the communication protocol, working principle and realization method of the ETHERNET Powerlink used in this system.Secondly, it completes the overall design of the palletizing robot’s control system according to the structure of the system and technical requirements. According to the modern control methods, The control scheme uses the B&R PCC (Programmable Computer Controller) as the main control unit. In this paper, it detailedly describes the hardware design methods of the PCC system and the servo drive system, and introduces the control function of system. The control program is developed in the B&R Automation Studio environment, using the ANSI C language as the main program language. Using the structural design method, software design adopts the refining technique and top-down gradually decompose steps. Then software system is divided into several independent modules, and set priority of each module according to control requirements. So it fully reflects the superiority of time-sharing multitasking, at the same time, ensure the good maintainability and clear structure.Finally, using the intelligent control theory, it makes the intelligent optimization and tracking control for the movement trajectory of the palletizing robot arm. Simulation results indicate that the cycle time is obviously shortened, and the joints can accurately track desired trajectory, and have good anti-disturbance performance. It has completed the design of palletizing robot control system. And the control system has realized motion control of system. This system has been successfully applied to the production line of a brewery. And it has good operating condition, stable performance, easy operation, convenient maintenance, and is widely praised by the manufacturer.更多还原