基于MCGS的机械手控制系统设计.doc

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1、无 锡 职 业 技 术 学 院毕 业 实 践 任 务 书课题名称 基于MCGS的机械手控制系统设计 指导老师 徐颖秦 职称 高级工程师 专业名称 电气工程与自动化 班级 生产自动化20831 学生姓名 资亚云 学号 课题需要完成的任务：机械手臂是目前在机械技术领域中应用最广泛的自动化机械装置，尽管其形态各异，但都有一个共同特点，就是能够接受指令，精确地定位到空间上的某一点进行作业。本课题的主要研究目标是基于MCGS组态软件的机械手控制系统设计。主要任务如下：1. 机械手MCGS自动控制系统的控制要求。2. 控制方案的确定，PLC型号的选择，输入/输出的定义。3. 绘制原理图，完成软件编程。课题

2、计划: 11年2月27日-11年3月5日 了解工艺过程和控制要求。 11年3月6 日-11年3月30日 完成计划。 11年4月1日-11年4月15日 完成毕业论文。计划答辩时间：2011年4月16日-20日 自动控制技术系 （部、分院） 2011年01月19日外文翻译 Configuration software Configuration software, also called configuration monitoring software system software. Translation from English SCADA, namely Supervisory Cont

3、rol and Data Acquisition (Data Acquisition and monitoring Control). It is to point to some data acquisition and process control of special software. They are at the automatic control system monitoring layer level of software platform and development environment, use flexible configuration mode, to p

4、rovideusers with rapid build industrial automatic control system monitoring function, general level of software tools. Configuration software application field is very wide, can be applied to power system, water supply system, petroleum, chemical field data acquisition and monitoring control and pro

5、cess controletc. In power System and electrified railway on dynamic System (also called far, Remote Terminal Unit RTU System).Configuration software in China is a conventional concepts, and no clear definition, it can be understood as configuration type monitoring software. Configuration (Configure)

6、 is the meaning of Configure, set, Settings meaning such as, refers to the user through similar building blocks simple ways to complete your needs the software function, without the need to write computer program, and also is the so-called configuration. It is sometimes called second development, co

7、nfiguration software is referred to as second development platform. Monitoring (Supervisory Control), namely monitoring and Control, it is to point to through computer signals of automation equipment or process monitoring, Control and management Configuration software is a professional. A configurat

8、ion software can only suitable for some areas of application. Configuration concept first appeared in industrial computer control. Such as distributed control system (DCS) configuration, PLC (programmable controller) ladder diagram configuration. The man-machine interface generation software called

9、industrial control configuration software. In other industries have configuration concepts such as AutoCAD, PhotoShop, etc. The difference is, industrial control formation in the configuration result is used in real-time monitoring. Outwardly, configuration tool to run the program is to execute thei

10、r specific tasks. Industrial control configuration software also provides programming method, are generally built-in compilation system that provides such BASIC language, some support VB, now some configuration software even support c # high-level language. Configuration software are mostly support

11、various mainstream g-kong equipment and standard communication protocol, and usually should provide distributed data management and network function. Corresponding to the original HMI (man-machine Interface software, Human Machine with), the concept of configuration software or a user can quickly to

12、 establish their own HMI software tools or development environment. The configuration software before the emergence of the field of industrial automation users through manual or entrust a third party to write HMI application, long development time, low efficiency, poor reliability, Or purchase of sp

13、ecial industrial control system, usually is a closed system, the choice is small, often cannot meet the demand, it is difficult to with the outside world to upgrade and data interaction by adding features serious limitations. Configuration software user can use the emergence of configuration softwar

14、e functions, to construct a set of the most suitable application system. With its rapid development, the real-time database, real-time control, SCADA, communications and networking, open data interface, for I/O devices widespread support has become its main content control configuration software wil

15、l continue to be with new contents.Foreign configuration software: 1, Wonderware InTouch: (the world wide company) is Invensys PLC production management of a operation units, is a leading global provider of industrial automation software. The Wonderware InTouch software is the earliest entering into

16、 China configuration software. In the late 1980s and early 1990s, based on the Windows3.1 InTouch software made us, and refreshing InTouch provided a lot of library. However, the early InTouch software adopts DDE way and the driver communication, performance is poorer, the latest InTouch7.0 edition

17、has completely based on 32-bit Windows platforms, and provides the OPC support. 2, WinCC: Siemens automation and drives group (A&D) is the largest of Siemens ag, the group is one of Siemens industrial areas of important component. Simens of WinCC and a set of complete configuration development envir

18、onment, Simens provider class C language script, including a debugging environment. WinCC embedded OPC support, and can be used for distributed system configuration. But WinCC structure is more complex, users had better after Simens training in order to master WinCC applications.Domestic brand confi

19、guration software 1. ShiJiXing: by Beijing century long autumn technology Co., LTD. Development. Product sales since 1999. 2. 3d force control: by Beijing 3d force control technology Co., LTD develop core software products, founded in 1992. 3. KingView KingView: by Beijing and control technology dev

20、elopment Co., LTD, development, the company was founded in 1997, is currently in the domestic software market plays a certain status. 4. Realinfo: by zijin bridge zijin bridge software technology Co., LTD develop, this company is by petrochina daqing petrochemical factory was invested. 5. The MCGS:

21、by Beijing kunlun tong state automation software technology Co., LTD. Is mainly on the market development, tie-in hardware sales. 6. Still have Controx (open content), easy control, etcConfiguration software features With the industrial automation level rapidly increase, computers in industry wide a

22、pplication of industrial automation, people on the demand is higher and higher, a wide variety of control equipment and process monitoring device in the industrial fields of application, make the traditional industrial control software already cannot satisfy the customers different requirements. In

23、the development of traditional industrial control software, when industrial controlled object once has changed, he must modify source program of the control system, which causes the development cycle is long, Has developed successfully g-kong software and since each control project of different and

24、make its repeat utilization rate is very low, resulting in its price is very expensive, During the revision control software source code, if the original programming staff for job change and leave, it must be with other personnel or novice on the alteration of the source program, thereby is rather d

25、ifficult. General industrial automation configuration software appear to solve the practical engineering problems may provide a new method, because it can well solve the traditional industrial control software problems, users can under our own control object and control the purpose of arbitrary conf

26、iguration, finishes final automatic control engineering. Configuration (Configuration) for modular combinations. General configuration software main features: (1) the continuity and scalability. By general configuration software applications, when the site (including hardware equipment or system str

27、ucture) or user demand change, need not be many changes and conveniently accomplish software update and upgrade, (2) encapsulation (yi), gm easy-to-use configuration software can complete functionality all in a user-friendly way packaged and for the user, do not need to grasp too much programming la

28、nguage technology (dont even need programming technology), can perform well in a complicated engineering all the required function; (3) generality, each user according to engineering practice, use general configuration software provides the bottom of the equipment (PLC, intelligent instruments, inte

29、lligent module, boards, inverter, etc.) I/O is, open database and picture production tools, can finish an animation effects, real-time data processing, the history data and curve coexist, with multimedia capability and network function of engineering, not affected by trade restrictions.Monitor confi

30、guration software is increasingly becoming the automation hardware vendor for the key The whole of automation systems, software proportion gradually enhance, although configuration software just one part, but because of the penetration ability, extensible, in recent years whittled away many special

31、software market. Therefore, monitoring configuration software has high industrial correlativeness degree is the automation systems into high-end application, expand the market share important bridge. In this thought are driven by Siemens WinCC achieve great success in the market. At present, the int

32、ernational famous industrial automation manufacturers such as Rockwell, GE Fanuc, of Honeywell, Siemens, ABB, schneider, the invensys etc are developed their own configuration software. Monitor configuration software in DCS operating station software proportion is increasing day by day After FOXBORO

33、 after Euro therm (Europe), etc PCS7 Delta V, DCS system in use generic control configuration software as operation station. At the same time, domestic DCS manufacturer also began to try to use the monitoring configuration software as operation station. In universities and research institutes, more

34、and more people begin to engage in monitoring configuration software related technical research From domestic automation industry academic periodicals run, the configuration software and its is closely related to the new technology as the core research shows ascendant trend, many researchers exist i

35、s configuration software technology development and innovation important active factors, also can certain accumulate many technical achievements. Whether technological achievements or researchers will follow the pyramids, the law of from foundation to high-end formed transfer. These researchers and

36、their research for monitoring configuration software vendors to develop new products, and provided the beneficial experience for reference, and develops their ideas. Linux based monitoring configuration software and related technology is rapidly developing, many manufacturers are launched mature com

37、modities, the pattern of configuration software industry will have a far-reaching impact.组态软件组态软件，又称组态监控软件系统软件。译自英文SCADA,即 Supervisory Control and Data Acquisition(数据采集与监视控制)。它是指一些数据采集与过程控制的专用软件。它们处在自动控制系统监控层一级的软件平台和开发环境，使用灵活的组态方式，为用户提供快速构建工业自动控制系统监控功能的、通用层次的软件工具。组态软件的应用领域很广，可以应用于电力系统、积水系统、石油、化工等领域的

38、数据采集与监视控制以及过程控制等诸多领域。在电力系统以及电气化铁道上又称远动系统(RTU System,Remote Terminal Unit)。组态软件在国内是一个约定俗成的概念，并没有明确的定义，它可以理解为“组态式监控软件”。 “组态(Configure)”的含义是“配置”、“设定”、“设置”等意思，是指用户通过类似“搭积木”的简单方式来完成自己所需要的软件功能，而不需要编写计算机程序，也就是所谓的“组态”。它有时候也称为“二次开发”，组态软件就称为“二次开发平台”。 “监控（Supervisory Control）”，即“监视和控制”，是指通过计算机信号对自动化设备或过程进行监视、控

39、制和管理。组态软件是有专业性的。一种组态软件只能适合某种领域的应用。组态的概念最早出现在工业计算机控制中。如DCS(集散控制系统)组态，PLC（可编程控制器）梯形图组态。人机界面生成软件就叫工控组态软件。在其他行业也有组态的概念，如AutoCAD，PhotoShop等。不同之处在于，工业控制中形成的组态结果是用在实时监控的。从表面上看，组态工具的运行程序就是执行自己特定的任务。工控组态软件也提供了编程手段，一般都是内置编译系统，提供类BAISC语言，有的支持VB，现在有的组态软件甚至支持C#高级语言。组态软件大都支持各种主流工控设备和标准通信协议，并且通常应提供分布式数据管理和网络功能。对应于

40、原有的HMI（人机接口软件，Human Machine Interface）的概念，组态软件还是一个使用户能快速建立自己的HMI的软件工具或开发环境。在组态软件出现之前，工控领域的用户通过手工或委托第三方编写HMI应用，开发时间长，效率低，可靠性差；或者购买专用的工控系统，通常是封闭的系统，选择余地小，往往不能满足需求，很难与外界进行数据交互，升级和增加功能都受到严重的限制。组态软件的出现使用户可以利用组态软件的功能，构建一套最适合自己的应用系统。随着它的快速发展，实时数据库、实时控制、SCADA、通讯及联网、开放数据接口、对I/O设备的广泛支持已经成为它的主要内容监控组态软件将会不断被赋予新

41、的内容。国外组态软件：1、InTouch：Wonderware（万维公司） 是 Invensys plc“生产管理”部的一个运营单位，是全球工业自动化软件的领先供应商。 Wonderware的InTouch软件是最早进入我国的组态软件。在80年代末、90年代初，基于Windows3.1的InTouch软件曾让我们耳目一新，并且InTouch提供了丰富的图库。但是，早期的InTouch软件采用方式与驱动程序通信，性能较差，最新的InTouch7.0版已经完全基于32位的Windows平台，并且提供了OPC支持。2、WinCC:西门子自动化和驱动集团(A&D)是世界上最大的西门子集团,集团西门子工

42、业领域的重要组成部分。西门子的WinCC和一套完整的配置发展环境、西门子提供类C语言,包括调试脚本环境。WinCC嵌OPC的支持,并且可以用来进行分布式系统配置。但WinCC结构比较复杂,用户最好在西门子培训以掌握WinCC应用。国内品牌的组态软件1。ShiJiXing:通过北京世纪长秋天科技有限公司。发展。自1999年以来产品销售。2 . 3d力控制:通过北京三维力控制技术有限公司开发核心软件产品,成立于1992年第三。组态王组态王:通过北京和控制技术发展有限公司的发展,公司成立于1997年,目前在国内起到一定的软件市场地位。4。Realinfo:通过紫金桥紫金桥软件技术有限公司发展,该公司

43、是由大庆石化厂投资。5。MCGS:北京昆仑通状态自动机软件技术有限公司。主要是市场发展,搭配五金销售。6。还有Controx(开放内容),易于控制,等组态软件特点随着工业自动化水平的迅速提高，计算机在工业领域的广泛应用，人们对工业自动化的要求越来越高，种类繁多的控制设备和过程监控装置在工业领域的应用，使得传统的工业控制软件已无法满足用户的各种需求。在开发传统的工业控制软件时，当工业被控对象一旦有变动，就必须修改其控制系统的源程序，导致其开发周期长；已开发成功的工控软件又由于每个控制项目的不同而使其重复使用率很低，导致它的价格非常昂贵；在修改工控软件的源程序时，倘若原来的编程人员因工作变动而离去

44、时，则必须同其他人员或新手进行源程序的修改，因而更是相当困难。通用工业自动化组态软件的出现为解决上述实际工程问题提供了一种崭新的方法，因为它能够很好地解决传统工业控制软件存在的种种问题，使用户能根据自己的控制对象和控制目的的任意组态，完成最终的自动化控制工程。组态（Configuration）为模块化任意组合。通用组态软件主要特点：（1）延续性和可扩充性。用通用组态软件开发的应用程序，当现场（包括硬件设备或系统结构）或用户需求发生改变时，不需作很多修改而方便地完成软件的更新和升级；（2）封装性（易学易用），通用组态软件所能完成的功能都用一种方便用户使用的方法包装起来，对于用户，不需掌握太多的编

45、程语言技术（甚至不需要编程技术），就能很好地完成一个复杂工程所要求的所有功能；（3）通用性，每个用户根据工程实际情况，利用通用组态软件提供的底层设备（PLC、智能仪表、智能模块、板卡、变频器等）的I/O Driver、开放式的数据库和画面制作工具，就能完成一个具有动画效果、实时数据处理、历史数据和曲线并存、具有多媒体功能和网络功能的工程，不受行业限制。监控组态软件日益成为自动化硬件厂商争夺的重点整个自动化系统中，软件所占比重逐渐提高，虽然组态软件只是其中一部分，但因其渗透能力强、扩展性强，近年来蚕食了很多专用软件的市场。因此，监控组态软件具有很高的产业关联度，是自动化系统进入高端应用、扩大市场

46、占有率的重要桥梁。在这种思路的驱使下，西门子的WinCC在市场上取得巨大成功。目前，国际知名的工业自动化厂商如Rockwell、GE Fanuc、Honeywell、西门子、ABB、施耐德、英维思等均开发了自己的组态软件。监控组态软件在DCS操作站软件中所占比重日益提高 。继FOXBORO之后，Euro therm(欧陆)、Delta V、PCS7等DCS系统纷纷使用通用监控组态软件作为操作站。同时，国内的DCS厂家也开始尝试使用监控组态软件作为操作站。在大学和科研机构，越来越多的人开始从事监控组态软件的相关技术研究 。从国内自动化行业学术期刊来看，以组态软件及与其密切相关的新技术为核心的研究

47、课题呈上升趋势，众多研究人员的存在，是组态软件技术发展及创新的重要活跃因素，也一定能够积累很多技术成果。无论是技术成果还是研究人员，都会遵循金字塔的规律，由基础向高端形成过渡。这些研究人员和他们的研究成果为监控组态软件厂商开发新产品提供了有益的经验借鉴，并开拓他们的思路。基于Linux 的监控组态软件及相关技术正在迅速发展之中，很多厂商都相继推出成熟的商品，对组态软件业的格局将产生深远的影响。 毕业实践调研报告随着计算机软硬件技术、信息技术与制造业工业技术的高速发展和企业信息化进程的推进，工业自动化系统变得越来越复杂，对自动化系统的要求也越来越高。在大型复杂系统中，如大型工业生产过程、计算机集

48、成制造系统、工业流程对象控制系统等，具有多种形式的复杂性，在整体结构上表现为非线性、不确定性、无穷维、分布式及多层次等。由于复杂系统结构复杂、变量众多、信息交错，按什么原则将大系统科学合理地分解为相对小的子系统，而子系统之间又如何协调，才能保证系统的优化运行和控制，这些都是急待解决的热点问题，也是控制工程界热切关注的焦点。 随着技术的进步，工业自动化软件技术正在向智能化、网络化和集成化方向飞速发展，复杂大系统在网络环境下运行、在网上实现复杂系统的优化控制与管理已经不是遥遥无期，而是指日可待。在本次设计中对坐标舞台的控制就是采用一种新型工业自动化控制器装置可编程控制器（即PLC）来设计完成的。PLC是在继电器控制和计算机控制的基础上开发的产品，逐渐发展成以微处理器为核心，把自动化技术、计算机技术、通信技术融为一体的新型工业自动控制装置。它把计算机的编程灵活、动能齐全、应用面广等优点与继电器系统的控制简单、使用方便、抗干扰能力强、价格便宜等优点结合起来，而其本身有具有体积小、重量轻、耗电省等特点，在工业生产过程控制中的应用越来越广泛。 机械手能模仿人手和臂的某些动作功能，用以按固定程序抓取、搬运物件或操作工具的自动操作装置。机械手是最早出现的工业机器人，也是最早出现的现代机器人，它可代替人的繁重劳动以实现