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用ARM微控制器实现堆垛机控制的关键技术研究
【作者】 李恒；
【导师】 张云生；
【作者基本信息】 昆明理工大学 ， 控制理论与控制工程， 2009， 硕士
【摘要】 目前,立体仓库的应用越来越广泛,而立体仓库的管理是建立在对堆垛机进行有效控制的基础之上的,传统的堆垛机控制器通常采用PLG、单片机。PLC控制器性能可靠,在堆垛机控制中已经得到广泛应用,但缺点是价格太高。随着嵌入式系统的不断发展、微控制器性能不断提高,许多控制系统都趋于使用新一代的微控制器。本文在这一背景下,提出一种用ARM微控制器实现堆垛机控制的方案。首先,分析了堆垛机控制系统的功能,给出了系统的模块化结构设计。重点研究和设计了限位开关信号检测电路、电机驱动电路、终端继电保护电路。根据硬件设计的模块划分,设计了适用于堆垛机控制系统的IIC总线驱动程序、PWM定时器驱动程序、键盘驱动程序、电机驱动程序等。同时,探讨了在本系统中,移植μC/OS-II操作系统需要修改的重要程序。在此基础上,对堆垛机控制系统的自动运行步骤进行分析,设计了自动运行步骤的数据结构,构建了关键执行函数,设计出自动运行的算法结构。论文针对ARM微控制器及堆垛机进行了分析、研究,最终根据文中提出的方案,设计并实现了用S3C44BOX微控制器对堆垛机进行手动、下位机、上位机自动取货、送货功能。
【Abstract】 Nowadays, the automatic warehouse has been applied more widely. However, the management of the automatic warehouse is based on the effective control of the Stacking Crane. Traditionally PLC or single chip processor acts as the controller of the Stacking Crane. PLC controller is used widely in controlling the Stacking Crane as its steady performance. Nevertheless, the defect of the PLC controller is the high price. With the continuous development of the Embedded System and the Micro Processor, more and more control systems tend to use the new Micro Processor.Under such technical application background, a method was presented to use ARM processor to realize the control of the Stacking Crane. This paper analyzed the function of the Stacking Crane control system firstly and proposed the module structure of the control system. Then the detect circuit of travel switch, motor driver circuit and the protect circuit of terminal were discussed deeply. Based on the module partition of hardware, this paper designed programs of IIC Bus driver, PWM timer driver, keyboard driver and motor driver. Also, the modification of important program to transplantμC/OS-II embedded operating system was discussed. On the base of hardware and software, the thesis analyzed the step of automatic running, designed the data structure, and constructed key function to execute the step.This paper analyzed and summarized ARM Processor and the Stacking Crane. The function of running the Stacking Crane to carry or get goods controlled manually, automatically or by PC was designed and realized finally based on the method mentioned in this paper.