基于PLC的五自由度调姿系统设计  

Design of Five Degrees of Freedom Attitude Adjusting System Based on PLC

作　　者：上官林建 徐冬冬 金向杰 SHANGGUAN Lin-jian;XU Dong-dong;JIN Xiang-jie(School of Mechanical Engineering,North China University of Water Resources and Electric Power,Zhengzhou 450045,China)

机构地区：[1]华北水利水电大学机械学院,河南郑州450045

出　　处：《机械工程与自动化》2024年第6期141-143,共3页Mechanical Engineering & Automation

基　　金：河南省重点研发项目(231111221700)。

摘　　要：在支墩施工中需要预埋锚垫板,其安装质量对整体工程安全至关重要。针对传统预埋锚垫板在安装定位时效率低、精度差等问题,设计了一个五自由度调姿小车,并提出一种平面空间坐标变换算法,利用C语言函数功能库与算法结合,通过PLC调用该算法计算出预埋锚垫板在任意姿态时与空间基准面X、Y轴的夹角和与X、Y、Z三轴的距离,从而实现预埋锚垫板的安装定位,提高了其定位精度。最后经过实验,结果表明:所提算法能够较好地计算出五轴位移量,在忽略工业误差的情况下,达到0.1 mm的综合定位精度,可以满足预埋锚垫板调姿定位的工作要求,为五自由度调姿机构的研发提供了重要的理论依据。Pre-embedded anchor plates are required in the construction of piers,and their installation quality is crucial to the overall project safety.For the traditional pre-buried anchor plate in the installation and positioning of low efficiency,poor precision and other issues,the design of a five-degree-of-freedom attitude trolley,and put forward a planar spatial coordinate transformation algorithm,the use of C language function library and algorithm combination,through the PLC call the algorithm calculates the pre-buried anchor plate in an arbitrary attitude with the spatial datum of the X,Y-axis angle and the distance of the three axes of X,Y,Z,so as to realize the installation of pre-buried anchor plate positioning,and improve its positioning accuracy.installation and positioning,and improve its positioning accuracy.Finally,the experimental results show that the proposed algorithm is able to calculate the five-axis displacement better,and achieve a comprehensive positioning accuracy of 0.1 mm under the circumstance of ignoring the industrial error,which can meet the working requirements of the pre-buried anchor plate positioning,and provide an important theoretical basis for the five-degree-of-freedom positioning mechanism.

关 键 词：预埋锚垫板 五自由度 调姿定位 坐标变换 PLC 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]