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1、基于PLC的双轴立体仓库控制系统设计摘要:由于中国综合国力的不断提升与城市规模的不断扩大，综合各类技术的机械立体仓库逐渐上升至减少城市停车问题的一种重要方法与可行路径。本篇文章的研究主体是立体仓库，研究的方向为其机械结构、控制系统和车辆进出或调度的改良等。总体结构是首要的介绍与描述对象。其次介绍了立体仓库主钢架、起升机构、横向机构和转盘的结构和工作原理。再者分析了步行车的类型，步行车是仓库的关键部件。以分析过去步行车的结构特点与运行特点的基础，我们规划设计出了两种液压动力的步行车。它们结构上的突出之处、运动的过程和原理，是立体仓库技术的研究值得参考的。其次，我们同时以分布式控制系统为基础，构析
2、了仓库的运动特点与功能需求，制定了总体关于控制系统的规划。系统规划是由集散控制系统思想之基础，集中控制、分散管理之指导原则，工控机、PLC作为上位机和下位机结构形式的综合体。 1PC设置为主机，完成用户界面和通信程序的程序编译。RS232/RS485的点对多点串行通信网络是通信硬件基础，通信协议经过设置，确保上下位机间的流畅通信。下位机主要是完成对于各运动机构的精确控制。首先，下位机ALC的总体布局、1/0点分配和电路设计已经完成。其次挑选了硬件组件。最终完成了硬件电路的连接、软件程序的编制。不断调节测试了控制系统。实现了控制功能。最后，基于道路堆垛仓库车辆出入口数量相对较少之原因，用户的等待
3、时间不得不稍长，也给堆垛机带来了较大的工作量。以分析调度策略的基础，采用修正的遗传算法建立目标函数为总体访问时长之数学模型。利用修正后的OX交叉算子对三维仓库整理调试混合编码。对仿真实验进行了分析和比较之后，我们得到了一个优良的访问顺序，缩短总访问时间至极小。对改进道路立体仓库的进入策略具有启发作用。关键词：机械式三维；立体仓库；行走小车；集散控制系统；存取调度优化Design of Control System for Two-axis Stereo Warehouse Based on PLCAbstract: Due to the continuous improvement of Ch
4、inas comprehensive national strength and the continuous expansion of urban scale, the mechanical three-dimensional warehouse integrating various technologies has gradually risen to an important method and feasible path to reduce urban parking problems. The main body of this paper is the three-dimens
5、ional warehouse, and the research direction is the improvement of its mechanical structure, control system and vehicle access or dispatch, etc. The overall structure is the primary introduction and description of the object. Secondly, the structure and working principle of main steel frame, lifting
6、mechanism, transverse mechanism and turntable of three-dimensional warehouse are introduced. Furthermore, the types of walking vehicles, which are the key parts of warehouse, are analyzed. Based on the analysis of the structural and operational characteristics of the past walking vehicles, we design
7、ed two kinds of hydraulic powered walking vehicles. Their structural prominence, movement process and principle are worthy of reference in the study of three-dimensional warehouse technology. Secondly, based on the distributed control system, we analyzed the movement characteristics and functional r
8、equirements of the warehouse, and made the overall plan of the control system. System planning is based on the idea of distributed control system, the guiding principle of centralized control and decentralized management, and the integration of industrial personal computer and PLC as the structure o
9、f upper computer and lower computer to realize the control purpose of the system. 1PC is set as the host to complete the program compilation of the user interface and communication program. The point-to-multipoint serial communication network of RS232/RS485 is the communication hardware basis. The c
10、ommunication protocol is set to ensure smooth communication between upper and lower computers. The lower machine mainly completes the precise control to each movement mechanism. First, the overall layout, 1/0 point allocation and circuit design of the lower computer ALC have been completed. Next, th
11、e hardware components are selected. Finally completed the hardware circuit connection, software programming. The whole control system is debugged and the control function is realized. Finally, due to the relatively small number of vehicle entrances and exits in the road stacking warehouse, the waiti
12、ng time of users has to be a little longer, which also brings heavy workload to the stacker. Based on the analysis of scheduling strategy, a mathematical model with the objective function as the total access time is established by using the modified genetic algorithm. OX crossover operator is used t
13、o adjust mixed coding of 3d warehouse. After analyzing and comparing the simulation experiments, we get a good access sequence and shorten the total access time to a minimum. It has an enlightening effect on improving the entry strategy of road three-dimensional warehouse. Key words: Mechanical 3d;
14、Three-dimensional warehouse; Travelling trolley; Distributed control system; Access scheduling optimization目录第一章 引言51.1研究的背景51.2仓库控制系统的现状7(1)零部件加工质量低7(2) 控制系统主要元器件性能还不过关7(3)立体仓库效率低71.3设计任务与要求91.4课题研究主要内容10第二章PLC的概述102.1PLC的简介102.2PLC的基本结构112.3PLC的工作原理112.4PLC的特点122.5PLC的应用13第三章 立体仓库的结构设计133.1立体仓库的主要
15、功能133.2立体仓库的分类133.3立体仓库的制作方法:143.4立体仓库结构设计153.5执行单元的确定16第五章 立体仓库机械结构设计175.1仓库机械结构的总体设计175.1.1各类仓库结构特点比较175.1.2仓库的选型18第六章结论18参考文献21第1章 引言1.1研究的背景所谓立体仓库，就是把控制系统集成的东西再一个个单元化，按照特定的模因把物料堆码使之成垛，来完成对物料之存储、搬运、装卸运输等活动。人类在很久以前就以人工立体仓库的形式完成立体仓库作业了，最简单的例子莫过于小孩搬砖问题:三块砖要从甲地搬往乙地，如果每次只搬运一块，那就要往返三次，但是如果把三块砖叠在一起搬运，那就只需要一次即可。当今生产模式之下，人工立体仓库的出现率无疑是极高的。搬运东西方便，场子比较小的时候，按照人工立体仓库的方式，是不错的，尤其国际的人力资源雄厚，此类应用场合几乎都采取人工立体仓库。然而，在工作量恒定的情况下，长时间的这种人工劳动是会非常累的，从我们现在比较先进的人机工程学的角度来考虑，需要增加一些符合人工和机器相结合方面的设施，纯机械化的运作等。立体仓库技术，一门物流自动化之领域并获得极速发展的高新技术，不是无端产生的。一方面，企业产品由卖方市场进入了买方市场，企业生产正在向着多品种少批量的方向发展，生产企业无法承担一条生产线只生产同
