基于PROFIBUS现场总线的装箱机械手控制系统  

Control System of Loading Manipulator Based on Profibus

作　　者：刘星桥[1] 凌俊杰[1] 高健[2] 孙伟[2] 沈跃[1] 

机构地区：[1]江苏大学 [2]江苏恒顺集团

出　　处：《电气传动》2005年第9期58-61,共4页Electric Drive

摘　　要：介绍了某醋厂灌装生产线装箱机械手控制系统,该系统由S7-300 PLC控制器、触摸屏、伺服放大器、同步伺服电机、机械手等组成。以S7-300 PLC作为主控制器,通过PROF IBU S-DP现场总线来控制伺服放大器以及现场执行设备,伺服放大器驱动伺服电机通过减速箱带动机械手进行精确的速度和位置控制。旋转变压器采样速度和位置从而构成速度、位置双闭环控制。抓、放瓶过程分成多段速度,在各段采用不同的P I调节参数,从而有效消除抖动。系统可以实现自动寻参考点,自学习、手动操作,自动操作4大功能。自安装调试成功以来,系统运行良好、性能可靠,极大地提高了劳动生产率。This paper introduces a control system of loading manipulator in the filling and boxing line of a vinegar-producing factory. The system is composed of S7-300 PLC, touch panel, servo amplifier, servo motor and manipulator. S7-300 PLC is used as the central controller which control servo amplifier and field actuator via profibus control nework. Manupilator can do accurate speed and position control drived by servo motor and servo amplifier. It＇s also a speed and position double-loop system owing to resolver sampling actual speed and position. The working process is divided into several speed areas and different PI parameters is applied in different speed area to avoid the shake efficiently. Such four kind of funcations as seeking reference point automaticly, self-learning, manual operation, automatic operation can be achieved. It run well since it has been installed and greatly improved the productivity.

关 键 词：PLC PROFIBUS总线 伺服控制 机械手 PROFIBUS现场总线 控制系统 装箱 同步伺服电机 伺服放大器 采样速度 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP241[自动化与计算机技术—控制科学与工程]