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中國礦業(yè)大學(xué)2008屆本科生畢業(yè)設(shè)計 第13頁
翻譯部分
Developing a Hybrid Programmable Logic Controller Platform for a Flexible Manufacturing System
KENVINJ.MCDERMOTT AND WENLONG ALBERT YAO
New Jersey Institute of Technology, Newark, NJ 07102
Abstract
in this article, we act according to the programmable logical control electric circuit and the personal computer based on (personal computer machine) visual person - machine connection (MMI) and the data collection (direct action) the unit, designs and carries out a nimble processing system (flexible processing system) the implementation to control the platform. The flexible processing system's essential aspect lies in it to adapt in the operating process flexibility. The programmable controller provides the feasible solution flexibility processing system application the method, uses based on personal computer's MMI/DAS, relies on the programmable logical controller to apply rapidly in the execution sequence control policy. With manages front end MMI/DAS the personal computer machine to make the visual operation contact surface, fills the powerful graph and the report tool. May or uses from personal computer's information by a company's local area network the client - server technology to assign. At present, because has for the microcomputer technology and software programming technology foundation gathering, many users will discover that the programmable logical controller will be one saves the cost in the middle and small scale factory real-time control process the method, when particularly the use mixing method will supervise personal computer's time. This article's main goal lies in the certificate programmable logic controller to rapid and the repeated control duty sensitivity, and to use the personal computer machine to provide the information automation the flowing and to accept the operator to operate the intention, therefore, is also provides for the user along with the request change, but changes unceasingly a monitoring process tool.
1. Introduced
That in many kinds of product manufacturing industries, the production automation's form is also flexible processing system (FMS) first proposed in the 1970s. After flexible processing system's appearance enhancement labor productivity, flexible processing system's quantity large scale growth (Gruver and Zimmers1984). The entire world as a result of global competition's enhancement, the production cycle reduces gradually, and the production cost increases day by day usual, the flexible processing system is composed of group of machines or another automated workstation, forms standardized the subsystem, for example numerical control machining center, robot, vision system and a process station and so on. And this material handling system interconnection usually (Malek1991) actuates through a computer. Each standardization's system needs a standardized the control system, its different spare part by single controller. All standardization's subsystem looked like in the past equally by the computer control. These controllers carry out their task under a higher horizontal controller's surveillance. To the system, two control devices and the information flow needs to automate. The flexible processing system's essential aspect lies in its ability to change along with the control duty. This flexibility can produce the components type including it quantity and the type, the executive command, as well as improves the partial routes to flow ability. Finally, the control platform should have ability to cause the information flowing automation。
Usually, some 3 kind of control platform uses in the flexible processing system: Minicomputer, miniature electronic accounting machine and programmable logical controller (Malek1991). The minicomputer is very suitable complex, large-scale, continual, rules and regulations control application. The programmable logical controller uses in rapid and the repeated logical control. The personal computer (personal computer) is suitable for the man-machine interface function. First, the programmable logical controller replace relay, for in the industry environment inland transportation extension, it may easily by workshop engineer and the attendants, is serviced by the factory electrician. At present, because has the microcomputer technology and software programming technology foundation gathering, many users will discover that the programmable logical controller will apply in the middle and small scale factory real-time control process is saves the cost method, when particularly the use mixing method will supervise.
This article's goal lies in the processing flexibility processing system's modernized technology. Proposed that the design and the data-acquisition system direct action the flexible processing system which and the personal computer controls for the programmable logical controller based on the visual person - machine connection (MMI) construction. Its structure is as follows: The first 2 parts start from the flexible processing system's description to introduce in the New Jersey engineering institute (NJIT) factory center level manufacture system. 3rd part of description flexibility processing system's operation. 4 parts and 5 parts demonstrated is the present programmable logical controller control and the personal computer gives the flexible processing system according to MMI/DAS in the NJIT application. 6 parts contain this programmable logical controller control and the personal computer the flexible processing system application superiority according to MMI/DAS the outline
2. Flexible processing system's description 1.One about flexible processing system development's viewpoint as shown in Figure. It is composed of the following several parts: (Mac and Kamisetty1991; Mat, 1987). the S1 processing transmission system it is composed of 4 vehicles, A, B, C and D, the fixed equipment installs above each, to each workstation transportation's two shift table, TT, TT2 and double feed way material.
Processes system to develop a mix nimbly programmable logical controller platform the NASA 11 numerical control milling machines, the milling machine makes each different part according to the computer control. General Electric Company P50. A sharing robot uses for to load and unload as well as delivers in the numerical control milling machine and between the transporting stands and transports. It contains 5 computer programs which assigns by the programmable logical controller. The computer program control robot loading places delivers between the system and the car as well as the numerically-controlled machine tool and car's material. Finally two procedures are accepting or the rejection components complete. The part delivers stands this station including a gravity slanting slot, provides the unfinished raw material. This station also contains two type warehouses one accepts components rejection components computer vision system. The vision system provides the visible self-supervisory part. It is the menu actuation, 64 step density steps edge detection system. Drill hole machine has the automatic drill hole function IBM 7535 industry robot in brief, the flexible processing system has two kind of robots; first, the numerical control milling machine, another is the material shift expulsion system, supervises including the van and the limit switch and by General Electric's six programmable logical controller, by based on personal computer's machine visual MMI/DAS monitoring vision system.
3. operation description the flexibility processing system's action cycle carries on by the following way: (1) At first, transporting system's all four vans are spatial may use for raw material to install to deliver the station. the .(2)GE robot will put one after the other these four parts was swindled when these four vehicle laying aside material to these four vans they along the clockwise migration. Above first step and the second step is the flexible processing system's loading part.( 3) chart 2 demonstration is once after these four different parts are loaded the position which is accepted by four vans.(4) the van stops when the drill hole machine, the IBM robot drills various holes on the different surface. (5)GE robot transfers to the van, moves once more components vehicle on to X position, and loads into it located at on the numerical control machine table's fixed equipment.(6) the spare part is installed on the numerical control milling machine, these robots withdraw, milling machine milling these request part.(7) milling finished, the machinist moved from the milling machine fixes on milling machine's spare part.(8) the robot places the end product on the identical transport vehicle.( 9) signal transmits to the visible photography examination part. (10) The signal direction robot accepts the components or the rejection components signal. (11) Robot moves a receive procedure, and the laying aside components or move a rejection procedure in a receive vessel to lay aside the components in a rejection vessel. (12)Robot to the components stands, and loads into new components the vehicle .Vehicle is issued the system, next circulation start step 3 arrive 13 step.(13) steps forms a flexible processing system's operating cycle.
4. uses the programmable logical controller to control set of flexible processing system the flexibility processing systems control system's important characteristic to be as follows: Because system's trapezoidal chart logic capability system easy to form, and can adapt the change; By the similar way, the system is relatively easy to the procedure and the material; The system easy maintains, and overhauls reduces, because the online diagnosis may provide and point out the question then reduction service accurately; Obviously, the system is easy and computer connection. The programmable logic controller widely uses a multi-purpose industrial used computer in the industrial data processing. It can store up the instruction to sorts likely in such tool control function, adjustment, counting, control industry machine and process arithmetic, data manipulation and communication. The programmable logical controller is chosen carries out an item based on the following characteristic flexible processing systems control duty: Good reliability few space requirement and factory operating environment; Factory engineer or the technical personnel easy to maintain; If the control demand change, the procedure can change; Can with other computer network communication and the connection.
In this application, the General Electric Company series 6 programmable logic controllers are loaded with a family memory bank, and I/O connection and following input and output interface: 8 port 120 volt exchange load module, 8 port 24 volt current load module, 8 port 120 volt exchange output module. the form 1 summarizes the programmable logical controller system surveillance and the control flexible processing system equipment. Like that kind of normal opening and the shutting down switch will use in a relay system. The starting switch abruption is NO, the stop switch is NC, the selection switch level provides by the chosen position closed contact. The inferior wire congress follows the normal plant to assure the security, and causes to overhaul the logical method. the flexibility processing system logic trapezoidal chart control procedure development, on the system uses an industry personal computer and special-purpose software package logic in Engineer GE work grasps 6 systems. 6 logical systems use for to expand the off-line or the connection online programmable logic controller provide renew the demonstration continuously the reference table and the program logic logical trapezoidal chart. This logic demonstrated that the mark characteristic winds through according to the stave, therefore the program execution may track. In ladder logical program according to 117 flexible processing system print., when is started, allows the van to transfer to the next station. Trapezoidal chart 20 logical, if inputs micros witch I0020 to put through or micros witch I0018 is closed or I0006 does not revolve, this time output port 00014 effective. Inputs the micros witch I0020 instruction vehicle in the correct position. Anther input port I0018 permission when system service the operator overthrows this condition. If another vehicle attends the station, inputs the port I0006 control vehicle to stand. The output port 00014 transmit a signal 440 to provide the energy to the solenoid, like this loosens the vehicle, so that it can the movement to the next station.
5. Based on personal computer's visual movement personnel connection unit because of the microprocessor technology and software technique's centralism, the microcomputer already became in the operator application very useful. The microcomputer moves MMI/DAS to have effective, the visualization to fill the useful cartography and to report tool's operation connection. Can - serves the technical network from microcomputer's information through the factory local area network or the use customer to carry on the transmission and the dissemination. MMI/DAS based on the personal computer vision to develop into the monitoring process and the lumber data. The MMI function is dual. First, it opens between the instruction character and a process window then demonstration on CRT the information which processes. It also allows the operator to revise the time retards the constant, or the warning determined, but has not exchanged the ladder logic, production change of demand. Next, it provides an automatic data logging equipment. It can establish approves, migration, as well as lumber assign from personal computer's information through the local area network use client server technology. An application procedure through gives Windows to use a group of ready-made newest origin data, from programmable logical controller through - - the RS232 connection there based on software development personal computer. This method permits the personal computer union controller, the programming terminal, the movement man-machine connection, and data-acquisition system in identical unit. These provide some based on the personal computer MMI/DAS software actuate based on the image and the mouse to design system's control policy, with dynamic operation demonstration. Because the open style architecture characteristic, it provides the support for the user algorithm and the local area network connection technology.
6. Summarizes
the this special use programmable logic controller control and obtains system's flexible manufacture system platform by the personal computer machine foundation management operation connection unit and the data is the completely automatic flexibility manufacture system platform. Flexible manufacture system's Fang Zhan the tendency is the reasonable price in the situation has the more open system controls and the flexibility. Therefore, the size and equipment's nature is deciding this result. This programmable logical controller and the personal computer mixing management control platform has provided a price effective real-time control and the information transmission automation solution for the middle and small scale factory processing equipment. This system's progress lay in it to achieve the control system reliability, the equipment maintainability, the software maintainability and the system flexible request. This automation's DAS system can give the output change and the daily output report, the progress of work report and the equipment warning as well as renewal production data ability.
中文譯文
開發(fā)一個混合的可編程的邏輯控制器
成為一個柔性加工系統(tǒng)平臺
KENVINJ.MCDERMOTT和 WENLONG ALBERT YAO
新澤西技術(shù)研究所，Newark，07102
摘要
在這篇文章里，我們根據(jù)可編程邏輯控制電路和個人計算機基于(個人計算機機)的視覺人-機接口(MMI)和數(shù)據(jù)收集(直接作用)單位，設(shè)計并執(zhí)行一個靈活的加工系統(tǒng)(柔性加工系統(tǒng))的實施控制站臺。柔性加工系統(tǒng)的關(guān)鍵方面在于它適應(yīng)操作過程中的靈活性?？删幊炭刂破魈峁┛尚械慕鉀Q柔性加工系統(tǒng) 申請的方法，使用基于個人計算機的MMI/DAS，憑借可編程邏輯控制器迅速應(yīng)用于執(zhí)行順序的控制策略。用經(jīng)營MMI/DAS前端的個人計算機機做視覺操作界面，充滿強有力的圖形和報告的工具。來自個人計算機 的信息可以被一個公司的局域網(wǎng)或者使用客戶機-服務(wù)器技術(shù)分配。目前，由于帶有為微型計算機技術(shù)和軟件編程技術(shù)的基礎(chǔ)的會集，很多用戶會發(fā)現(xiàn)可編程邏輯控制器在中小型工廠實時控制過程中是一個節(jié)省成本的方法，尤其是當(dāng)使用混合法監(jiān)督個人計算機的時候 。這篇文章的主要的目的在于證明可編程邏輯控制器對迅速和反復(fù)的控制任務(wù)的敏感性，并且為使用個人計算機機提供信息自動化的流動和接受操作者操作意圖，因此，也就是為用戶提供隨著要求變化而不斷變化的監(jiān)控過程的一件工具。
1 .介紹
在多種產(chǎn)品制造業(yè)內(nèi)，生產(chǎn)自動化的形式也是一個柔性加工系統(tǒng)(FMS)，首先在20世紀70年代提出。自從柔性加工系統(tǒng)的出現(xiàn)提高勞動生產(chǎn)率之后，柔性加工系統(tǒng)的數(shù)量正大幅度增長(格魯弗，1984)。整個世界由于全球競爭的增強，生產(chǎn)周期逐漸降低，并且生產(chǎn)成本日益增加。
通常，柔性加工系統(tǒng)由一組機器或者另一個自動化工作站組成，形成標準化的子系統(tǒng)，例如數(shù)控加工中心，機器人，視覺系統(tǒng)和一個過程站等。這些材料處理系統(tǒng)相互連接并且通常通過一臺計算機來驅(qū)動。每個標準化的系統(tǒng)都需要一個標準化的控制系統(tǒng)，其不同的零部件被單獨的控制器單一控制。所有標準化的子系統(tǒng)都象往常一樣被計算機控制。這些控制器在一個更高的水平控制器的監(jiān)督下執(zhí)行他們的任務(wù)。對系統(tǒng)來說，兩臺控制裝置和信息流需要自動化。柔性加工系統(tǒng)的關(guān)鍵方面在于它的能力隨控制任務(wù)去變化。這種靈活性包括它能生產(chǎn)出零件類型的數(shù)量和種類，執(zhí)行命令，以及將部分路線改進到流程的能力。最后，控制平臺應(yīng)該有能力使信息的流動自動化。
通常，有3 類控制平臺在柔性加工系統(tǒng)里使用：小型計算機，微型電子計算機和可編程邏輯控制器。小型計算機很適合復(fù)雜的，大規(guī)模，連續(xù)，規(guī)章的控制應(yīng)用?？删幊踢壿嬁刂破饔糜谘杆俸头磸?fù)的邏輯控制。個人計算機(個人計算機)適于人機接口功能。首先，可編程邏輯控制器替換繼電器，為了在工業(yè)環(huán)境內(nèi)運轉(zhuǎn)，它可以容易被車間工程師和維護人員修正，被工廠電工維修。目前，由于帶有微型計算機技術(shù)和軟件編程技術(shù)的基礎(chǔ)的會集，很多用戶會發(fā)現(xiàn)可編程邏輯控制器應(yīng)用到中小型工廠實時控制過程中是一個節(jié)省成本方法，尤其是當(dāng)使用混合法監(jiān)督個人計算機的時。
這篇文章的目的在于處理柔性加工系統(tǒng)的現(xiàn)代化技術(shù)。提出設(shè)計和數(shù)據(jù)獲取系統(tǒng)直接作用給可編程邏輯控制器控制的柔性加工系統(tǒng) 和個人計算機 基于視覺人-機接口(MMI)的建設(shè)。它的結(jié)構(gòu)如下：前2 部分從柔性加工系統(tǒng)的描述開始介紹在新澤西工學(xué)院(NJIT)工廠中心層的制造系統(tǒng)。第3 部分描述柔性加工系統(tǒng)的操作。4 部分和5部分顯示的是目前可編程邏輯控制器控制和個人計算機 根據(jù)MMI/DAS給柔性加工系統(tǒng)在NJIT的應(yīng)用。6部分包含這個可編程邏輯控制器控制和個人計算機根據(jù)MMI/DAS給柔性加工系統(tǒng)應(yīng)用優(yōu)勢的概要。
2. 柔性加工系統(tǒng)的描述
1. 關(guān)于柔性加工系統(tǒng)發(fā)展的觀點如圖一所示。它由下列幾個部分組成：
(麥克德莫特，1991； 麥克德莫特，1987)。
S1處理傳達系統(tǒng) 它由4 輛車組成，A，B，C 和D，固定設(shè)備安裝在每一個上面， 到每個工作站的運輸?shù)膬煞蒉D(zhuǎn)移表，TT 、TT2 和雙輸送裝置材料。
圖1為NASA11臺數(shù)控銑床，銑床根據(jù)計算機控制制造每個不同的部分。
通用電氣公司P50 機器人，一個共享的機器人用來裝卸在數(shù)控銑床與搬運系統(tǒng)之間以及遞送站和搬運系統(tǒng)之間的材料。它包含由可編程邏輯控制器分配的5個計算機程序。計算機程序控制機器人裝載放在遞送系統(tǒng)和小車以及數(shù)控機床和小車之間的材料。 最后兩個程序在接受或者拒絕零件完成。
部分遞送站，這個站包括一個重力斜槽溝，提供未加工原料。這個站也包含兩種類型倉，一個是接受零件一個拒絕零件。
計算機視覺系統(tǒng)，這個視覺系統(tǒng)提供可視的自動監(jiān)視部分。 它是菜單驅(qū)動，64步灰度等級，邊緣察覺系統(tǒng)。
圖1
鉆孔機器。
一個具有自動鉆孔功能的IBM 7535工業(yè)機器人。
總之， 柔性加工系統(tǒng)具有二類機器人，一是數(shù)控銑床，另一個是物料轉(zhuǎn)移輸送系統(tǒng)，包括搬運車及其限位開關(guān)和一個由通用電器公司的六臺可編程邏輯控制器監(jiān)督的、由基于個人計算機機的視覺MMI / DAS的監(jiān)控視覺系統(tǒng)。
3.操作的描述
柔性加工系統(tǒng)的工作周期以以下的方式進行：
1.最初，搬運系統(tǒng)的所有的四輛搬運車都是空的可以用來將原材料裝到遞送站。
2.GE機器人將這四部分一個接一個地放到這四輛搬運車上當(dāng)這四輛車放置物料時它們會沿順時針移動。上面的第一步和第二步是柔性加工系統(tǒng)的裝載部分。
3.圖2顯示的是一旦這四個不同部分被裝載后的被四輛搬運車所接受的位置。
4.當(dāng)搬運車停止在鉆孔機器時，IBM 機器人在不同的面上鉆各種各樣的洞。
5.GE機器人移到搬運車，將零件再次車上移動到X位置，并且把它裝進位于數(shù)控機器桌子的固定設(shè)備上。
6.一旦零部件被安裝在數(shù)控銑床上，那些機器人撤回，銑床銑削那些要求的部分。
7.銑削完畢之后，機器手從銑床移動固定在銑床上的零部件。
圖2
8.機器人將成品放在同一個輸送車上。
9.信號發(fā)送到可視照相檢測部分。
10.視覺系統(tǒng)分析零件并且輸出信號指引機器人接受零件或者拒絕零件信號。
11.機器人運行一個接收程序并且放置零件在一個接收的容器內(nèi)或者運行一個拒絕程序?qū)⒘慵胖迷谝粋€拒絕的容器里。
12機器人到零件遞送站并且把一個新的零件裝進車。
13.車被發(fā)布到系統(tǒng)，下一個循環(huán)開始。步3到步13步形成一個柔性加工系統(tǒng)的工作循環(huán)。
4.用可編程邏輯控制器控制一套柔性加工系統(tǒng)
柔性加工系統(tǒng) 控制系統(tǒng)的重要的特征如下：
1.因為系統(tǒng)的梯形圖邏輯能力系統(tǒng)容易成形并且能夠適應(yīng)變化；
2.以相似的方式，系統(tǒng)對程序和資料相對容易；
3.系統(tǒng)容易保持，并且檢修減少，因為在線診斷可以提供并準確指出問題進而減少維修；
4.顯而易見，系統(tǒng)容易與計算機接口。
可編程邏輯控制器廣泛地在工業(yè)數(shù)據(jù)處理里使用一臺多功能的業(yè)用計算機。它能把指示儲存到排序那樣的工具控制功能中去， 調(diào)節(jié)，計數(shù)，控制工業(yè)機器和過程的算術(shù)，數(shù)據(jù)操作和通訊?？删幊踢壿嬁刂破鞅贿x擇執(zhí)行一項基于下列特征的柔性加工系統(tǒng)控制任務(wù)：
1.可靠性;
2.較少的空間要求和工廠操作環(huán)境；
3.工廠工程師或技術(shù)人員易于維護；
4.如果控制需求變化，程序能被重新改變
5.能夠與其他的計算機網(wǎng)絡(luò)溝通和連接
圖3
在這個應(yīng)用中，通用電氣公司系列6 臺可編程邏輯控制器裝有一家存儲器銀行，并且I/O接口與下列輸入和輸出接口：8端口120伏交流輸入模塊，8端口24伏直流輸入模塊，8端口120伏交流輸出模塊。
圖3總結(jié)可編程邏輯控制器系統(tǒng)監(jiān)視和控制的柔性加工系統(tǒng)設(shè)備的程序，像那種正常開啟和關(guān)閉的開關(guān)將在一個換班制內(nèi)使用。啟動開關(guān)斷路為NO，停止開關(guān)為NC，選擇開關(guān)電平提供被選擇位置的閉觸點。次導(dǎo)線大會遵循正常的植物保證安全并且使檢修更合乎邏輯的方法。
柔性加工系統(tǒng)邏輯梯形圖控制程序發(fā)展，在GE工作工程師系統(tǒng)上使用一個工業(yè)個人計算機和專用軟件包邏輯掌握6個系統(tǒng)。6個邏輯系統(tǒng)用來擴展離線或者連接在線的可編程邏輯控制器以提供連續(xù)更新顯示的參考桌子和程序邏輯的邏輯梯形圖。那些邏輯展示符號特征按梯級流過，因此程序執(zhí)行可以被跟蹤。圖3 說明在梯子邏輯程序里按117柔性加工系統(tǒng)打印程序資料，。
按20，當(dāng)被開動時，允許搬運車移到下一個站。梯形圖20種邏輯狀態(tài)，如果輸入微型開關(guān)I0020被接通或者微型開關(guān) I0018被關(guān)閉或者I0006不運轉(zhuǎn)， 此時輸出端口00014有效。輸入微開關(guān)I0020指示車在正確的位置。另一個輸入端口I0018允許在系統(tǒng)維修時操作者推翻這種狀態(tài)。如果另一輛車出席車站，輸入端口I0006控制車去站。輸出端口00014 發(fā)送一個信號對螺線管440提供能量，這樣松開車，以便它能運動到下一個站。
5.基于個人計算機 的視覺運行人員接口單位
藉由微處理器技術(shù)和軟件技術(shù)的集中，微機已經(jīng)在操作員應(yīng)用中變得非常有用。微機運行MMI/DAS前置器產(chǎn)生有效的、可視化的充滿有用的繪圖和報告工具的操作接口。來自微機的信息能夠通過工廠局域網(wǎng)或者使用客戶-伺候器技術(shù)的網(wǎng)進行發(fā)送和傳播。
基于個人計算機 視覺發(fā)MMI/DAS被發(fā)展成為監(jiān)控過程和木材數(shù)據(jù)。MMI的功能是雙重的。首先，它打開在操作符和過程之間的一個窗口然后展示在CRT上的被處理的信息。它也允許操作者修改時間，延遲常量，或者警報確定點而沒有兌換梯子邏輯，生產(chǎn)要求改變。其次，它提供一個自動的數(shù)據(jù)登錄設(shè)備。它能建立批，移動，以及木材報告。來自個人計算機的信息可以被通過局域網(wǎng)使用客戶機服務(wù)器技術(shù)分配。一個應(yīng)用程序通過給Windows使用一組現(xiàn)成的最新型的起源數(shù)據(jù)，從可編程邏輯控制器通過——RS232接口那里的基于軟件開發(fā)的個人計算機。這種方法允許個人計算機結(jié)合控制器，編程末端，運行人機接口，并且數(shù)據(jù)獲取系統(tǒng)在同一單位內(nèi)。那些基于個人計算機 MMI/DAS軟件提供一些基于圖像和鼠標驅(qū)動設(shè)計開系統(tǒng)的控制策略，和動態(tài)操作展示。由于開放式體系結(jié)構(gòu)特征，它為用戶算法和局域網(wǎng)接口技術(shù)提供支持。
圖4
圖4舉例說明了一個針對柔性制造系統(tǒng)的典型的操作接口和數(shù)據(jù)獲得