3948 自動(dòng)引導(dǎo)小車(chē)（AGV)的結(jié)構(gòu)設(shè)計(jì),自動(dòng),引導(dǎo),引誘,小車(chē),agv,結(jié)構(gòu)設(shè)計(jì) 南京理工大學(xué)泰州科技學(xué)院學(xué)生畢業(yè)設(shè)計(jì)（論文）中期檢查表學(xué)生姓名 曹曉華 學(xué) 號(hào) 0501510113 指導(dǎo)教師 武培軍 吳晟課題名稱 自動(dòng)引導(dǎo)小車(chē)（AGV)的結(jié)構(gòu)設(shè)計(jì)難易程度 偏難 適中 √ 偏易選題情況工作量 較大 合理 √ 較小任務(wù)書(shū) 有 √ 無(wú)開(kāi)題報(bào)告 有 √ 無(wú)符合規(guī)范化 的要求外文翻譯質(zhì)量 優(yōu) 良 √ 中 差學(xué)習(xí)態(tài)度、出勤情況 好 √ 一般 差工作進(jìn)度 快 按計(jì)劃進(jìn)行 √ 慢中期工作匯報(bào)及解答問(wèn)題情況優(yōu) 良 √ 中 差中期成績(jī)?cè)u(píng)定：良所在專(zhuān)業(yè)意見(jiàn)：學(xué)習(xí)較主動(dòng)、積極，態(tài)度認(rèn)真，階段成果較明顯。負(fù)責(zé)人： 年 月 日 南京理工大學(xué)泰州科技學(xué)院畢業(yè)設(shè)計(jì)（論文）任務(wù)書(shū)系 　 　 　 部 ： 機(jī)械工程系專(zhuān) 業(yè) ： 機(jī)械工程及自動(dòng)化學(xué) 生 姓 名： 曹曉華學(xué) 號(hào)：0501510113設(shè) 計(jì) (論 文 )題 目 ： 自動(dòng)引導(dǎo)小車(chē)（AGV）的結(jié)構(gòu)設(shè)計(jì)起 迄 日 期 : 2009 年 3 月 09 日 ~ 6 月 14 日設(shè)計(jì) (論文 )地點(diǎn) : 南京理工大學(xué)泰州科技學(xué)院指 導(dǎo) 教 師 : 武培軍 吳 晟專(zhuān) 業(yè) 負(fù) 責(zé) 人 : 龔光容發(fā)任務(wù)書(shū)日期: 2009 年 2 月 26 日畢 業(yè) 設(shè) 計(jì)（論 文）任 務(wù) 書(shū)1．本畢業(yè)設(shè)計(jì)（論文）課題應(yīng)達(dá)到的目的：AGV 小車(chē)集人工智能、信息處理和圖像處理為一體，綜合了當(dāng)今科技領(lǐng)域先進(jìn)的理論和應(yīng)用技術(shù)。在了解現(xiàn)代先進(jìn)的關(guān)于機(jī)器人方面資料的前提下，結(jié)合自己所學(xué)的知識(shí)，設(shè)計(jì)出一種簡(jiǎn)單實(shí)用，應(yīng)用方便簡(jiǎn)單的兩輪驅(qū)動(dòng)的自動(dòng)導(dǎo)引小車(chē) AGV 和驅(qū)動(dòng)裝置，可以有效培養(yǎng)學(xué)生綜合應(yīng)用機(jī)械設(shè)計(jì)制造知識(shí)，并根據(jù)工程實(shí)際要求，進(jìn)行問(wèn)題的分析解決，從而提高獨(dú)立工作的能力，適應(yīng)社會(huì)需求。2．本畢業(yè)設(shè)計(jì)（論文）課題任務(wù)的內(nèi)容和要求（包括原始數(shù)據(jù)、技術(shù)要求、工作要求等）：本課題是進(jìn)行自動(dòng)引導(dǎo)小車(chē)（AGV）的結(jié)構(gòu)設(shè)計(jì)，其研究?jī)?nèi)容如下：1、運(yùn)用相關(guān)專(zhuān)業(yè)知識(shí)，完成課題的結(jié)構(gòu)方案設(shè)計(jì)和相關(guān)工程設(shè)計(jì)計(jì)算； 2、完成控制系統(tǒng)的軟硬件設(shè)計(jì)和程序編制；3、按照工程制圖規(guī)范完成相關(guān)圖紙繪制，編寫(xiě)設(shè)計(jì)說(shuō)明書(shū)；應(yīng)達(dá)到的技術(shù)要求如下：1、負(fù)載≤35KG；2、小車(chē)轉(zhuǎn)彎半徑≥71cm；3、小車(chē)最大速度≤10m/min。畢 業(yè) 設(shè) 計(jì)（論 文）任 務(wù) 書(shū)3．對(duì)本畢業(yè)設(shè)計(jì)（論文）課題成果的要求〔包括畢業(yè)設(shè)計(jì)論文、圖表、實(shí)物樣品等〕：1、相關(guān)資料的英文翻譯與文獻(xiàn)綜述；2、設(shè)計(jì)自動(dòng)引導(dǎo)小車(chē)的結(jié)構(gòu)；3、設(shè)計(jì)單片機(jī)的控制系統(tǒng)，繪制控制系統(tǒng)原理圖；4、畢業(yè)設(shè)計(jì)論文。畢業(yè)設(shè)計(jì)成果以設(shè)計(jì)圖樣和說(shuō)明書(shū)形式提交。要求圖樣規(guī)范，符合國(guó)家標(biāo)準(zhǔn)；說(shuō)明書(shū)層次分明、論據(jù)可靠、計(jì)算正確、圖標(biāo)規(guī)范、語(yǔ)句通順。4．主要參考文獻(xiàn)：[1] 朱光力．專(zhuān)用自動(dòng)鉆床液壓傳動(dòng)系統(tǒng)設(shè)計(jì)．北京：機(jī)床與液壓，2004．[2] 徐灝主編．機(jī)械設(shè)計(jì)手冊(cè)．北京：機(jī)械工業(yè)出版社，1991．[3] 王衛(wèi)兵等．可編程序控制器原理及應(yīng)用．北京：機(jī)械工業(yè)出版社，1998．[4] 許福玲，陳堯明主編．液壓與氣壓傳動(dòng)．北京：機(jī)械工業(yè)出版社，2004．[5] 邱宣懷主編．機(jī)械設(shè)計(jì)．北京：高等教育出版社，1997．[6] 王伯平主編．互換性與測(cè)量技術(shù)基礎(chǔ)．北京：機(jī)械工業(yè)出版社，2000．畢 業(yè) 設(shè) 計(jì)（論 文）任 務(wù) 書(shū)5．本畢業(yè)設(shè)計(jì)（論文）課題工作進(jìn)度計(jì)劃：起 迄 日 期 工 作 內(nèi) 容2009 年3 月 9 日 ~ 3 月 23 日3 月 24 日 ~ 4 月 6 日4 月 7 日 ~ 5 月 11 日5 月 12 日 ~ 5 月 31 日6 月 1 日 ~ 6 月 9 日6 月 10 日 ~ 6 月 14 日熟悉課題，準(zhǔn)備相關(guān)資料，完成資料翻譯設(shè)計(jì)自動(dòng)引導(dǎo)小車(chē)的結(jié)構(gòu)，進(jìn)行相關(guān)傳動(dòng)零件的設(shè)計(jì)，繪制裝配圖設(shè)計(jì)單片機(jī)的控制系統(tǒng)，繪制控制系統(tǒng)原理圖控制系統(tǒng)的軟件流程圖設(shè)計(jì)，編寫(xiě)圓弧插補(bǔ)程序撰寫(xiě)并打印設(shè)計(jì)說(shuō)明書(shū)，整理相關(guān)資料準(zhǔn)備論文答辯所在專(zhuān)業(yè)審查意見(jiàn)：負(fù)責(zé)人： 2008 年 月 日系部意見(jiàn)：系部主任： 2008 年 月 日南京理工大學(xué)泰州科技學(xué)院畢業(yè)設(shè)計(jì)(論文)前期工作材料學(xué) 生 姓 名 : 曹曉華 學(xué) 號(hào)： 0501510113系 　 部 : 機(jī)械工程系專(zhuān) 業(yè) : 機(jī)械工程及自動(dòng)化設(shè) 計(jì) (論 文 )題 目 : AGV 自動(dòng)引導(dǎo)小車(chē)的設(shè)計(jì)指 導(dǎo) 教 師 : 武培軍 高工 吳 晟 助教材 料 目 錄序號(hào) 名 稱 數(shù)量 備 注1 畢業(yè)設(shè)計(jì)(論文)選題、審題表 12 畢業(yè)設(shè)計(jì)(論文)任務(wù)書(shū) 13 畢業(yè)設(shè)計(jì)(論文)開(kāi)題報(bào)告〔含文獻(xiàn)綜述〕 14 畢業(yè)設(shè)計(jì)(論文)外文資料翻譯〔含原文〕 15 畢業(yè)設(shè)計(jì)（論文）中期檢查表 12009 年 5 月 南京理工大學(xué)泰州科技學(xué)院畢業(yè)設(shè)計(jì)(論文)外文資料翻譯系　　部： 機(jī)械系 專(zhuān) 業(yè)： 機(jī)械工程及自動(dòng)化 姓 名： 曹曉華 學(xué) 號(hào)： 0501510113 外文出處： Programmable Controller Designe for Electro-poeumatic Systems 附 件： 1.外文資料翻譯譯文；2.外文原文。 指導(dǎo)教師評(píng)語(yǔ)：簽名： 年 月 日注：請(qǐng)將該封面與附件裝訂成冊(cè)。附件 1：外文資料翻譯譯文應(yīng)用于電氣系統(tǒng)的可編程序控制器摘要 此項(xiàng)目主要是研究電氣系統(tǒng)以及簡(jiǎn)單有效的控制氣流發(fā)動(dòng)機(jī)的程序和氣流系統(tǒng)的狀態(tài)。它的實(shí)踐基礎(chǔ)包括基于氣流的專(zhuān)有控制器、自動(dòng)化設(shè)計(jì)、氣流系統(tǒng)的控制程序和基于微控制器的電子設(shè)計(jì)。1.簡(jiǎn)介使用電氣技術(shù)的自動(dòng)化系統(tǒng)主要由三個(gè)組成部分：發(fā)動(dòng)機(jī)或馬達(dá)，感應(yīng)器或按鈕，狀如花瓣的控制零部件?，F(xiàn)在，大部分的系統(tǒng)邏輯操作的控制器都被程序邏輯控制器（PLC）所取代。PLC 的感應(yīng)器和開(kāi)關(guān)是輸入端，而發(fā)動(dòng)機(jī)的直接控制閥是輸出端，其中有一個(gè)內(nèi)部程序操控所有運(yùn)行必需的邏輯，模擬其他的裝置如計(jì)算器、定時(shí)器等，對(duì)整個(gè)系統(tǒng)的運(yùn)行狀態(tài)進(jìn)行控制。因?yàn)榭梢愿鶕?jù)需要無(wú)數(shù)次創(chuàng)建和模擬這樣的系統(tǒng)，所以皆由 PLC的使用，此項(xiàng)目有靈活的優(yōu)點(diǎn)。因此，可以節(jié)省時(shí)間，減少失誤的危險(xiǎn)，同時(shí)在使用相同材料的情況下，它可以更加精密。市場(chǎng)上的許多家公司都使用了常規(guī)的 PLC，它不僅可以用氣流系統(tǒng)來(lái)控制，還可以用各種電氣設(shè)備。PLC 的用途廣泛，可以應(yīng)用于許多工業(yè)生產(chǎn)中，甚至用于建筑物的安全和自動(dòng)化系統(tǒng)中。由于以上的各種特性，在一些實(shí)際應(yīng)用中 PLC提供了很多的資源，甚至包括不控制系統(tǒng)的資源，電氣系統(tǒng)就是一種這樣的應(yīng)用。對(duì)于自動(dòng)化的工程，PLC 的使用是比較昂貴的，尤其是對(duì)那些小型的系統(tǒng)。針對(duì)這種情況可行的一種辦法是創(chuàng)建一個(gè)可提供特定尺寸和功能的控制器。這種控制器可以根據(jù)微控制器來(lái)制作。這種基于微控制器的適用范圍比較小，只能用于一個(gè)類(lèi)型的機(jī)器或者可以用做一個(gè)像普通 PLC一樣可以被編程的控制器，那樣它就可以通過(guò)可變化的邏輯程序來(lái)進(jìn)行各種作業(yè)。所有的這些特性根據(jù)具體需要的不同而不同，具體的設(shè)計(jì)者的經(jīng)驗(yàn)的不同而不同。但是這種設(shè)計(jì)的主要優(yōu)點(diǎn)在于設(shè)計(jì)人員非常了解自己的控制器，可以自由掌握控制器的大小尺寸，改變它的功能。這就意味著此項(xiàng)目有更多的獨(dú)特性，但同時(shí)系統(tǒng)的控制也由它的設(shè)計(jì)者所控制。2.電氣系統(tǒng)人們可以從一個(gè)自動(dòng)化系統(tǒng)中找到三個(gè)上文中提到的基本部件，外加一個(gè)控制系統(tǒng)的邏輯線路。只有成熟先進(jìn)的技術(shù)能做出特定的邏輯線路和執(zhí)行正確操作所需要的部件升級(jí)。對(duì)于一個(gè)簡(jiǎn)單的運(yùn)動(dòng)，系統(tǒng)自動(dòng)程序可以完成，但是對(duì)于間接或更加復(fù)雜的運(yùn)動(dòng)，系統(tǒng)的程序就會(huì)產(chǎn)生復(fù)雜的線路和錯(cuò)誤的信號(hào)。這是就需要另一種方法可以節(jié)省時(shí)間，產(chǎn)生清晰線路，能夠防止偶然的信號(hào)交疊和線路堵塞。這種方式的不同標(biāo)準(zhǔn)的線路基法叫循序漸進(jìn)式或規(guī)則系統(tǒng)，它對(duì)氣流和電氣系統(tǒng)非常有效，而且也是此項(xiàng)目的一個(gè)基礎(chǔ)。它包括根據(jù)發(fā)動(dòng)機(jī)狀態(tài)各個(gè)不同變化所設(shè)基礎(chǔ)上的系統(tǒng)。第一步是為每個(gè)步驟設(shè)計(jì)那些種標(biāo)準(zhǔn)的線路。第二步是連接接收來(lái)自感應(yīng)器，開(kāi)關(guān)和先前的運(yùn)動(dòng)信號(hào)，同時(shí)把空氣或電傳送給每個(gè)步驟的補(bǔ)給線。如圖中所示，1 和 2 標(biāo)準(zhǔn)線路是為氣流的和電氣系統(tǒng)服務(wù).我們能夠很清楚的看到每一步驟和下一個(gè)步驟之間的聯(lián)系。3.控制器內(nèi)部的應(yīng)用原理上述方法可以使發(fā)動(dòng)機(jī)的每一個(gè)運(yùn)動(dòng)都被很好地用步驟來(lái)定義。這也就是說(shuō)發(fā)動(dòng)機(jī)的每一次運(yùn)動(dòng)變化都是系統(tǒng)的一個(gè)新的狀態(tài)，而兩個(gè)不同狀態(tài)之間的轉(zhuǎn)變叫做步驟。先前提到的標(biāo)準(zhǔn)線路可以幫助設(shè)計(jì)人員定義系統(tǒng)的不同狀態(tài)和不同步驟的變化所帶來(lái)的不同環(huán)境。在設(shè)計(jì)的最后階段，系統(tǒng)中會(huì)有一個(gè)從來(lái)不變化的序列和明確的輸入和輸出端。我們把一個(gè)序列從輸入端輸入，經(jīng)過(guò)轉(zhuǎn)換后，由輸出端輸出。這些步驟的所有過(guò)程都是在微控制器內(nèi)部進(jìn)行的，并且以同樣的方式在運(yùn)行著。部件的序列在控制器里被 5個(gè)位元組規(guī)劃；每個(gè)部分都有程序的一個(gè)步驟結(jié)構(gòu)。輸入端有二個(gè)位元組,輸出端有一個(gè)，其他結(jié)構(gòu)部分和附加功能步驟有兩個(gè)。在編程之后，部件序列被內(nèi)部微控制器的記憶所儲(chǔ)藏，因此，他們是可讀的而且可以運(yùn)行。不同于傳統(tǒng)的 PLC，這種控制器的工作目的是成為特定領(lǐng)域設(shè)計(jì)的多用控制器。傳統(tǒng)的 PLC 的系統(tǒng)運(yùn)行程序是一個(gè)循環(huán)的線路：輸入一個(gè)圖像,運(yùn)行所有的內(nèi)部程序, 然后升級(jí)輸出的狀態(tài)。這一個(gè)控制器以不同的方式工作,它讀取步驟的結(jié)構(gòu),等待輸入,然后升級(jí)或輸出，然后直接跳躍到下一個(gè)步驟，開(kāi)始另一次的程序運(yùn)行。它也有局限性，例如這種控制器有時(shí)會(huì)不執(zhí)行指令，在同一程序指令下，會(huì)出現(xiàn)某一個(gè)運(yùn)行的反復(fù)等等，但是這一個(gè)問(wèn)題可以通過(guò)外部的邏輯運(yùn)行解決。另外，這中控制器在沒(méi)有序列的系統(tǒng)上不能夠被應(yīng)用。這些局限性也是這個(gè)系統(tǒng)的特性，這種系統(tǒng)的每一個(gè)應(yīng)用都必須要有相應(yīng)的系統(tǒng)分析。4.控制器的特色這種控制器以微集成電路微控制器 PIC16F877 為基礎(chǔ),它擁有全部此次項(xiàng)目所需要的資源。它有足夠的插孔，線路連續(xù)通訊 EEPROM 記憶解救系統(tǒng)的所有結(jié)構(gòu)和步驟的序列。它提供了項(xiàng)目所需要的所有的運(yùn)行，例如定時(shí)器和分岔等。我們做出了控制器的資源目錄，想盡可能的使它變的完善。在步驟的運(yùn)行過(guò)程中，程序自動(dòng)選擇如何讀取每一步驟的結(jié)構(gòu)。這個(gè)操作有兩個(gè)位元組位于電子輸入處。一個(gè)位元組位于輸出端，還有一個(gè)被用作內(nèi)部定時(shí)器，類(lèi)似輸入或暫停功能。EEPROM 記憶內(nèi)部是 256 位元組，可以儲(chǔ)藏所有步驟的運(yùn)行,即可以儲(chǔ)藏 48個(gè)步驟之間的所有運(yùn)行。除了一個(gè)互動(dòng)菜單外，這種控制器還有一個(gè)控制臺(tái)和一些指令按鈕，他們一起控制各個(gè)步驟的運(yùn)行和連續(xù)性，也控制其他的一些裝置。4．1 交互作用在實(shí)際運(yùn)行操作中，控制器需要有一些輔助設(shè)備幫助它和使用者進(jìn)行互動(dòng)，可以提供可靠的操作監(jiān)控，同時(shí)對(duì)氣流系統(tǒng)進(jìn)行邏輯控制。交互工作模式：在主要的程序中，使用者可以根據(jù)指導(dǎo)發(fā)出信號(hào)來(lái)進(jìn)行具體步驟的操作LCD 平臺(tái)可以顯示系統(tǒng)工作的狀態(tài)，衡量輸入，輸出，計(jì)時(shí)器和運(yùn)行的數(shù)據(jù)等。嘀嘀聲用來(lái)提示重要警示，停止，開(kāi)始和一些緊急情況的發(fā)生亮燈表示接通電源，和輸入，輸出狀態(tài)。4．2 安全性如果想正常運(yùn)行程序，必須保證每一個(gè)步驟都正確的執(zhí)行。更重要的是，應(yīng)該有預(yù)防運(yùn)行故障和問(wèn)題的解決方法?？刂破魈峁┝诉@種可能性，通過(guò)使用兩個(gè)內(nèi)部虛擬線路同時(shí)運(yùn)行。他們可以重新啟動(dòng)程序，隨時(shí)恢復(fù)到程序的原有狀態(tài)。有兩個(gè)輸入端共同工作可以快速的運(yùn)行這些功能。4．3 接口程序運(yùn)行序列可以用控制器的接口來(lái)編程。一臺(tái)計(jì)算機(jī)的接口也可以用來(lái)升級(jí)使用程序。使用者能利用接口配置一連串定義序列的步驟位元組。但是也可以設(shè)計(jì)一個(gè)程序,利用可視資源為使用者翻譯所需要的信息。 但是，如果想聯(lián)結(jié)電腦接口和控制器，至少應(yīng)該有一個(gè)儀器來(lái)保證數(shù)據(jù)的可靠性。4.4. 固件主要的線環(huán)是通過(guò)讀取EEPROM 記憶中的每一資訊步驟進(jìn)行工作。 在每個(gè)步驟中，系統(tǒng)的狀態(tài)被儲(chǔ)存，同時(shí)它也在顯示器上被顯示。根據(jù)使用者的構(gòu)造,它能利用分流或暫停應(yīng)付緊急線路情況來(lái)保證系統(tǒng)安全。5. 電氣系統(tǒng)例子這種系統(tǒng)不只是適應(yīng)于特定的機(jī)器。它由四個(gè)主動(dòng)器組成。 主動(dòng)器 A ， B 和 C 是兩倍的，只有 D是單倍的。第一步，主動(dòng)器A 開(kāi)始運(yùn)行，并保持在一個(gè)特定的位置一直到一個(gè)循環(huán)的結(jié)束，如圖 5 所示它可以確定某一對(duì)象的下一運(yùn)動(dòng)。第二步，當(dāng)A 完成了它的工作后，主動(dòng)器 C 連同 B 一起開(kāi)始盡可能多的產(chǎn)生電流圈，并受 B 的運(yùn)行速度的限制，而 B 速度由一個(gè)流動(dòng)的控制活瓣管理。B 和 C 是一起工作的主動(dòng)器的例子,當(dāng) B 慢慢地推動(dòng)一個(gè)物體的時(shí)候 , C 有時(shí)則重復(fù)它的工作。 第三步，當(dāng) B 到達(dá)最后的位置時(shí)候, C 停止立刻它的循環(huán)運(yùn)動(dòng)并且回到開(kāi)始的位置。利用回旋的電流工作的主動(dòng)器 D 連同 返回來(lái)的C一起工作。第四步，主動(dòng)器 D 快速往返來(lái)回運(yùn)動(dòng)一次。 D 可以充當(dāng)一個(gè)工具，在物體上的表面上打洞。當(dāng) D 返回開(kāi)始的位置時(shí)候, A和 B 也同時(shí)返回，這是第五個(gè)步驟。圖 6 顯示了程序設(shè)計(jì)的第一部分。我們把每個(gè)步驟的所有運(yùn)行統(tǒng)稱為 . (A+) 表示主動(dòng)器 A 向前推動(dòng)，而 (A-) 表示返回到開(kāi)始的位置。 同時(shí)發(fā)生的運(yùn)動(dòng)在相同的步驟中被一起疊加。這個(gè)系統(tǒng)共有有五個(gè)步驟。圖 5 和 6 所表現(xiàn)的系統(tǒng)運(yùn)行清楚的描述了所有序列。 利用他們我們可以用必需的邏輯語(yǔ)言設(shè)計(jì)整個(gè)的控制線路。但是現(xiàn)在還它還不是一個(gè)完整的系統(tǒng)，因?yàn)樗€缺少一些輔助設(shè)施，（圖中沒(méi)有顯示）。 對(duì)于程序的最后運(yùn)行，這些輔助設(shè)施十分的重要，因?yàn)樗麄兡苁咕€路有更多的功能。 他們中最重要的是連接在每一步驟中的平行線路。那一個(gè)線路能夠隨時(shí)停止序列而且將主動(dòng)器的狀態(tài)換成一個(gè)特定的位置。它可以重起系統(tǒng)或是應(yīng)付緊急情況。圖7 和 8 顯示的是在沒(méi)有使用控制器的情況下會(huì)發(fā)生的一些結(jié)果。 這些照片是控制線路的電圖表,包括感應(yīng)器，控制鍵和電的活瓣卷。 另外的一些輔助設(shè)施也包括在這個(gè)系統(tǒng)中,比如自動(dòng)機(jī)械/ 手動(dòng)調(diào)控器，他們可以使系統(tǒng)不斷的循環(huán)工作；兩個(gè)開(kāi)始控制鍵,他們能讓操作員手動(dòng)控制系統(tǒng)的開(kāi)始和停止，這樣就減少了發(fā)生意外事件的危險(xiǎn)。6. 使用者變更例子規(guī)劃氣流線圈在前面已經(jīng)詳細(xì)說(shuō)明過(guò)：它可以讓我們了解到控制一個(gè)系統(tǒng)所需要的條件，那就是在系統(tǒng)的實(shí)際運(yùn)行中必須提供所有的功能設(shè)施。但是,如前面提到的那樣,使用一個(gè) PLC 或特定的控制器 , 這種控制就變得比較容易的，而且系統(tǒng)的精密性也會(huì)提高。 使用傳統(tǒng)的 PLC的,如圖7，8所示，在繪制接口處的電圖表時(shí)，要注意線路的邏輯。使用這種可編程的控制器,使用者必須知道運(yùn)行方法的觀念并且規(guī)劃每個(gè)步驟的結(jié)構(gòu)。 那就是說(shuō)，使用傳統(tǒng)的 PLC ，使用者清楚各個(gè)操作之間的關(guān)系。一般情況下，使用者可以在接口上運(yùn)行一個(gè)模擬程序?qū)ふ疫壿嬌系腻e(cuò)誤同之前所述的一樣，新的編程允許每一步驟的結(jié)構(gòu)被分割。 序列獨(dú)自被定義，但每一步驟只被輸入和輸出端描述。 7. 結(jié)論這種控制器是專(zhuān)門(mén)為這一項(xiàng)目所設(shè)計(jì)的。顯示了一個(gè)以微控制器為基礎(chǔ)的非常有用的可編程的控制器。它不需要為了獲取微控制器里的資源而安裝外部記憶器或外部的定時(shí)器。除了微控制器之外,只有少量的零部件執(zhí)行一些如輸出，輸入，類(lèi)比輸入,顯示接口和連續(xù)運(yùn)行的情況等功能。單獨(dú)使用內(nèi)部記憶,我們可以控制一個(gè)有48個(gè)步驟的氣流系統(tǒng)，但是如果使用一個(gè)比較簡(jiǎn)單的系統(tǒng)，就會(huì)達(dá)到60個(gè)步驟.控制器的變成不使用 PLC 語(yǔ)言，而是用一個(gè)比較簡(jiǎn)單的和直覺(jué)的結(jié)構(gòu)。利用電氣系統(tǒng)，我們的項(xiàng)目應(yīng)用了相同的技術(shù)，但同時(shí)我們的設(shè)計(jì)更加直接。 一種非常簡(jiǎn)單的機(jī)械語(yǔ)言能讓設(shè)計(jì)者用四或五個(gè)位元組定義步驟所有結(jié)構(gòu)構(gòu)成。這就要看他使用控制器的經(jīng)驗(yàn)如何了。這種控制器雖然不能和商業(yè)的 PLC 相比，但是它原本就是為特定的的目的而設(shè)計(jì)的，所以很難說(shuō)哪一個(gè)好哪一個(gè)壞。總之，我們的這個(gè)系統(tǒng)是基于微控制器而設(shè)計(jì)，簡(jiǎn)單快捷。附件 2：外文原文（復(fù)印件）附件 2：外文原文Programmable Controller Designed forElectro-pneumatic SystemsSummary this item is mainly the procedure which studies electricity system and in brief valid control current of air to launch machine to compatibly flow the appearance of system. It of the fulfillment foundation include according to the control procedure of particularly have of the current of air controller, automation design, current of air system and design according to the electronics of the tiny controller.1. Brief introductionThe automation which uses an electricity technique mainly constitutes to. from 3 part: Launch machine or motor, sensor or button, the form is zero partses such as the control of flower petal. Now, greatly part of system logic the controllers of the operation drive all procedure logic controller (PLC) replace. PLC sensor and switch's aring an importation to carry, but launch the direct control valve of machine is an exportation to carry and have an internal procedure to operate among them all circulate essential logic, imitate other devices like calculator, in fixed time machine etc., carry on a control to the whole movement appearance of system.Can according to need numerous time to establish and imitate thus of system, so all from PLC usage, this item contains vivid advantage. Therefore can save time, the danger of decrease error, in the meantime under the sistuation that use same material, it can be getting more precise.Many company that is on the market used the PLC of normal regulations and it can not only control with the current of air system, but also can use various electricity equipments. PLC wide range of application, can be apply in much industry to produce medium, even used for safety and automation of building in.Because of above various characteristic, the PLC provided a lot of resourceses in somely physically appliedly, even include not a resources of control the system and the electricity system was a kind of application like this.For the engineering of automation, the PLC usage is more expensive, particularly is to those small scaled systems.Aim at this kind of circumstance's a kind of viable way establish a controller that can provide particular size and function. This kind of controller can create according to the tiny controller.This kind of applies scope according to the tiny controller smaller, the machine that can used for a type perhaps can use to do a be like the common PLC is similar and can be woven a distance of controller, so it can pass variable turn of logic procedure to carry on various homework. All of these characteristic basis concrete demand of dissimilarity but dissimilarity, concrete of design of empirical of dissimilarity but dissimilarity. But the main advantage of this kind of design lie in designing a personnel to understand an own controller very much, can freely control the big baby size of controller, change it of function. This means that this item contains more special, but in the meantime the control of system also from it of design control.2. Electricity systemPeople can find out to speak of in three preceding contexts from an automation of basic parts, the in addition is a logic circuit which controls system. The technique of only mature forerunner cans make a particular logic circuit and performance the parts that exactitude need when operate to get stripe.For a simple sport, the system auto procedure can complete, but for indirect or more complicated sport, the procedure of system will produce complicated circuit and false signal. This is need another method can save time, produce clear circuit, can keep accidental signal from hand over fold to stop with circuit.The line roadbed method of different standard of this kind of way call follow the sequence and advance gradually type or rule system, it to the current of air and the electricity system very valid, and is also a foundation of this item. It include according to launch the system of foundation that the machine appearance each dissimilarity variety establish.The square one is each circuit that the step designs those kinds of standards. The second step is a conjunction to receive to come from sensor and the switch sends the air or the fax to the supply line of each step in the meantime with previous sport signal. If show in the diagram, 1 with 2 standard circuits is a current of air of with the electricity system serve. We can know very much of see each one step suddenly with the contact of the of next step.3. The applied principle of controller inner partThe above-mentioned method can make each sport of launch the machine nicely defined with the step. This be also a new appearance which says that the every sport varieties of launch the machines are systems, but the change of of two different appearances be called a step.The standard circuit which speaks of in times before can the in aid of design personnel define different appearance different from what the variety of different step bring environment of system. The end stage in design will have a sequence and explicit input and output which never changes to carry in the system. We carry a sequence is from the importation the importation be through conversion carried exportation by the exportation.All processes of these steps carry on in the tiny controller inner part, and with same of the way is circulate. The sequence of parts is program by 5 bytes in the controller; Each part contains a step structure of procedure. The importation carries two bytes, the exportation carries 1, and part of and additional function steps of other structure contain 2.After weave distance, the parts sequence is store by the remember of internal and tiny controller, therefore, they are readable and can circulate.Differ from traditional PLC, the work purpose of this kind of controller is to become particular realm to design of use controller more. The system of traditional PLC's circulating procedure is a circuit of circulation: Input a picture, circulate all internal procedures, then get stripe output's appearance. This controller work in different way, it read the structure of step, wait for an importation, then get stripe or output, then directly jump up next step, start another procedure movement.It has already limitted sex as well, for example this kind of controller sometimes doesn't carry out instruction, will appear a certain movement again and again an etc. under same procedure instruction, but this problem can resolve through an exterior logic movement. Moreover, this win the controller is have no sequence of the system top can't be apply enough. These limit sex is also this system of characteristic, each applications of this kind of system have to include homologous system analysis.4. The special features of the controllerThis kind of controller takes tiny tiny controller PIC16 F877 of the integrated circuit as foundation and it owns all the resources need by this subitem. It has an enough socket and the circuit continuous communication EEPROM memory gives relief to all structure of the system and the sequence of the step. It provided the movement of havings need by item, for example in fixed time machine with diverge etc..We did the resources catalogue of controller, want to make it change possibly of perfect. In the movement process of step, the procedure automatically chooses how to read an each one step suddenly of structure. This operation has two bytes to be located on an electronics importation. A byte is also located on exportation to carry, have 1 to be used to inner part in fixed time a machine, similar input or pause function. The EEPROM memory inner part is 256 bytes, can store all movements of steps, then with all movements of which stores 48 steps.In addition to an interactive menu, this kind of controller still has a control set and some instruction to press button and they control the movement of each step together with continuous and also control a little bit other devices.4.1 hand over with each other a functionAt actual circulate in operation, the controller needs some assistance equipmentses to help it and the user carry on interaction, can provide dependable of operation supervision, carry on a logic control to the current of air system in the meantime.Hand over to with each other work mode: In the main procedure, the user can send out signal to carry on the operation of concrete step according to the instructionThe LCD terrace can show the appearance of system work, measure an importation, output, timer and circulate of data etc..The voice of Di Di is use to hint important caution, stop, the take place of beginning and some urgent circumstances bright light means to connect power supply, with importation, output appearance.4.2 safetiesIf want to normally circulate procedure, have to promise each performance with all correct step. More important, should there is prevention circulating to break down and problem of resolve a method. The controller provided this kind of possibility and passed to use two internal and virtual circuits to circulate in the meantime. They can re- start procedure and recover the original appearance of procedure at any time. There are two importations carrying a common work can quickly circulate these functions.4.3 connectThe procedure movement sequence can use connect of controller to weave a distance. A set calculator connects and can also use to get stripe usage procedure. The user can make use of to connect to install a series of steps bytes which define a sequence. But can also design a procedure, the exploitation can treat resources as the information that user need when translate. But, if want combining a computer connects and controller, should have an instrument to the credibility of the assurance data at least.4.4. FirmwareMain line wreath is pass to read EEPROM memory in of each information step carry on a work. In each step, the appearance of system is store and it also is show on the display in the meantime. According to the structure of user, it can make use of reposition of redundant personnel or pause to cope with an urgent circuit circumstance to promise a system safety.5. Electricity system exampleThis kind of system is much more than an orientation at the particular machine. It constitutes to°from four active machines. The active machine A, B and C are double and only the D be doubly a list. Square one, the active machine A starts circulate, and keep in a particular position until a be over of circulation, such as figure 5 show it can make sure some one object of under one sport. The second step, was A to complete it of work after, the active machine C is together with the B start together many creation electric current a turn possibly, and be subjected to the restriction of B movement speed, but the B speed be lived a petal management by a control of fluxion. B and C is work together of active machine of example, be the B slowly pushes an object of time, the C sometimes then repeats it of work. The third step, be the position time that the B arrives an end, the C is immediately stop it of the circulation exercise and return to the position of beginning. The active machine D that the electric current that the exploitation return work together with return of the C works together. The fourth step, the active machine D quickly goes back and forth a return to exercise once. The D can act as a tool, the superficial dozen that is on the object hole. When the D returns to the position time of beginning, AN and B also return in the meantime and this be the fifth step.Diagram 6 showed program design the first part. We know together as all movements of each step. (A+) mean that the active machine A pushes forward, but(A-) means to return to the position of beginning. Sport of the simultaneous with is together fold to add in the same step. This system totally has five steps. Diagram 5 circulate with 6 systems for express clear of described all sequences. Make use of them, we can design with the essential logic language whole of control circuit. But now return it not just an integrity of system, because it is still in need of some assistance facilities, .(diagram in show) Circulate to the end of procedure, these assistance facilitieses are very important, because they can make the circuit have more functions. They win the most important is a conjunction in eachly the one step suddenly of parallel circuit. That circuit can stop a sequence and change the appearance of active machine into a particular position at any time. It can heavy system or cope with an urgent circumstance. Diagram 7 with 8 what to shows be some results that will take place under the sistuation that have no usage controller. These photographs are the electricity charts which controls circuit, include sensor, control key and give or get an electric shock of live petal book. Moreover some assistance facilities also include in this system, the for example automatic machine/ hand moves to adjust to control a machine, they can make system continuous of circulating work; Two beginning control keys, they can let the operator hand move a beginning of control the system with stop, so reduced to take place an accident of danger.6. The user changes an example programmingCurrent of air coil fore the noodles has already elaborated on: It can let us understand to control the condition that a system need and that is in the actual movement in system and have to provide all function facilities. But, such as before speak of of so, use a PLC or particular controller, this kind of control becomes more easy of, and the nicety of the system will also raise. The usage traditional PLC of, such as figure 7, 8 show, notice while draw electricity chart of connect the logic of circuit. The usage is this kind of programmable controller and the user needs to know to circulate the idea of the method and the structure of the programming each step. That is to say, use traditional PLC, the user knows the relation of of each operation. Under the general circumstance,User can before connecting a people's top to circulate 1 to imitate procedure to look for a logical mistake together say of similar, new of plait the distance allow an each one step suddenly of the structure be partition. The sequence is alone define, but each one step suddenly be carry by the input and output to describe. 7. ConclusionThis kind of controller's ising specialized is what this item design. Showed 1 takes tiny controller as the programmable controller of basal great use. It doesn't need for obtaining the resources in the tiny controller but installing exterior memory a machine or exterior in fixed time a machine. In addition to tiny controller outside, only have a little amount of zero parts performance some like output, importation, type ratio importation, show a circumstance of connect the and continuous movement etc. function.Use inner part memory alone, we can control a current of air system which has 48 steps, but if use a more simple system, will attain 60 steps. The controller becomes not to use PLC language, but use one more simple of with intuition of structure. Make use of electricity system, our items applied a same technique, but our designs be getting more direct in the meantime. A kind of very simple machine language can the one who let design use 4 or 5 byte definition a step all structure composing. This will see how experience that he use controller is .Although this kind of controller can't compare with the PLC of business, it is originally particular of of purpose but design of, so hard to say which good which bad. In fine, our this systems are in brief fast according to tiny controller but design.