基于plc的小车自动往返运动控制系统设计 毕业设计 26页

编号淮安信息职业技术学院毕业论文题目基于PLC的小车自动往返运动控制系统设计学生姓名学号系部电气工程系专业电气自动化班级指导教师顾问教师二〇一二年九月15\n\n淮安信息职业技术学院毕业设计论文摘要可编程序控制器（Programmablecontroller）简称PLC，可编程控制器(PLC)是一种数字运算操作的电子系统，专为在工业环境下应用而设计。它采用可编程序的存贮器，用来在其内部存贮执行逻辑运算、顺序控制、定时、计数和算术运算等操作的指令，并通过数字的、模拟的输入和输出，控制各种类型的机械或生产过程。本文介绍了一种基于西门子PLC控制的生产流水线自动控制小车系统设计方案，论述了小车控制系统的软、硬件设计方案及其控制原理。将PLC运用到小车自动控制系统，可实现小车的全自动控制，降低系统的运行费用。PLC小车自动控制系统具有连线简单控制速度快，精度高，可靠性和可维护性好，维修和改造方便等优点。关键词：PLC循环控制往返小车程序设计15\n\n淮安信息职业技术学院毕业设计论文目录摘要I第一章可编程控制器（PLC）概况11.1PLC的定义11.2PLC的发展11.3PLC的特点11.4PLC的基本组成及各部分作用21.5PLC的应用领域41.6PLC的选择51.7设计背景及意义7第二章硬件设计92.1主电路图92.2I/O地址分配102.3I/O接线图112.4元件列表12第三章软件设计133.1程序流程图133.2梯形图143.3程序分析16第四章程序调试17设计总结18参考文献1915\n\n第一章可编程控制器（PLC）概况第一章可编程控制器（PLC）概况1.1PLC的定义国际电工委员会(InternationalElectricalCommittee-IEC),1987年的第三版对PLC作了如下的定义:PLC是一种专门为在工业环境下应用而设计的数字运算操作的电子装置。它采用可以编程序的存储器，用来在其内部存储执行逻辑运算、顺序运算、计时、计算和算术运算等操作的指令，并能通过数字式或模拟式的输入和输出，控制各种类型的机械或生产过程。可编程控制器实际上是一种工业控制计算机，它的硬件结构与一般微机控制系统相似，甚至与之无异。可编程序控制器主要由CPU(中央处理单元)存储器(RAM和EPROM),输入/输出模块(简称为I/O模块)、编程器和电源五大部分组成。近年来发展极为迅速、应用面极广的工业控制装置。它按照成熟而有效的继电器控制概念和设计思想，利用不断发展的新技术、新电子器件，逐步形成了具有特色的各种系列产品。1.2PLC的发展1968年美国GM（通用汽车）公司提出取代继电器控制装置的要求，并公开招标提出十项标准:(1)编程方便，现场可修改程序；(2)维修方便，采用模块化结构；(3)可靠性高于继电器控制装置；(4)体积小于继电器控制装置；(5)数据可直接送入管理计算机；(6)成本可与继电器控制装置竞争；(7)输入可以是交流115V；(8)输出为交流115V,2A以上，能直接驱动电磁阀，接触器等；(9)在扩展时，原系统只要很小变更；(10)用户程序存储器容量至少能扩展到4K。1969年，美国数字公司(DEC)研制出了第一台可编程序控制器，满足了GM公司装配线的要求。这种新型的工业控制装置简单易懂、操作方便、可靠性高、通用灵活、体积小、使用寿命长，很快在美国其它工业领域推广使用。随着集成电路技术和计算机技术的发展，现在已有了第五代PLC产品。15\n第一章可编程控制器（PLC）概况1.3PLC的特点PLC之所以越来越受到控制界人士的重视，是和它的优点分不开的:(1)功能齐全，它的适用性极强，几乎所有的控制要求，它均能满足；(2)应用灵活，其标准的积木式硬件结构，以及模块化的软件设计，使得它不仅可以适应大小不同、功能繁复的控制要求，而且可以适应各种工艺流程变更较多的场合；(3)操作方便，维修容易，稳定可靠。尽管PLC有各种型号，但都可以适应恶劣的工业应用环境，耐热、防潮、抗震等性能也很好，一般平均无故障率可达几万小时。1.4PLC的基本组成及各部分作用PLC是一种通用的工业控制装置，其组成与一般的微机系统基本相同。按结构形式的不同，PLC可分为整体式和组合式两类。整体式PLC是将中央处理单元(CPU)、存储器、输入单元、输出单元、电源、通信接口等组装成一体，构成主机。另外还有独立的I/O扩展单元与主机配合使用。主机中，CPU是PLC的核心，I/O单元是连接CPU与现场设备之间的接口电路，通信接口用于PLC与编程器和上位机等外部设备的连接。组合式PLC将CPU单元、输入单元、输出单元、智能I/O单元、通信单元等分别做成相应的电路板或模块，各模块插在底板上，模块之间通过底板上的总线相互联系。装有CPU单元的底板称为CPU底板，其它称为扩展底板。CPU底板与扩展底板之间通过电缆连接，距离一般不超过10m.无论哪种结构类型的PLC，都可以根据需要进行配置与组合。1.4.1、中央处理单元(CPU)CPU在PLC中的作用类似于人体的神经中枢，它是PLC的运算、控制中心。它按照系统程序所赋予的功能，完成以下任务:(1)接收并存储从编程器输入的用户程序和数据；(2)诊断电源、PLC内部电路的工作状态和编程的语法错误;(3)用扫描的方式接收输入信号，送入PLC的数据寄存器保存起来;(4)PLC进入运行状态后，根据存放的先后顺序逐条读取用户程序，进行解释和执行，完成用户程序中规定的各种操作;(5)将用户程序的执行结果送至输出端。现代PLC使用的CPU主要有以下几种:（1）通用微处理器，如8080,8088,Z80A,8085等。通用微处理器的价格便宜，通用性强，还可以借用微机成熟的实时操作系统、丰富的软硬件资源。（2）单片机，如8051等。单片机由于集成度高、体积小、价格低和可扩充性好，很适合在小型PLC上使用，也广泛地用于PLC的智能UO模块。15\n第一章可编程控制器（PLC）概况（3）位片式微处理器，如AMD2900系列等。位片式微处理器是独立于微型机的另一分支。它主要追求运算速度快，它以4位为一片。用几个位片级联，可以组成任意字长的微处理器。改变微程序存储器的内容，可以改变计算机的指令系统。位片式结构可以使用多个微处理器，将控制任务划分为若干个可以并行处理的部分，几个微处理器同时进行处理。这种高运算速度与可以适应用户需要的指令系统相结合，很适合于以顺序扫描方式工作的PLC使用。1.4.2、存储器根据存储器在系统中的作用，可以把它们分为以下3种:（1）系统程序存储器:和各种计算机一样，PLC也有其固定的监控程序、解释程序，它们决定了PLC的功能，称为系统程序，系统程序存储器就是用来存放这部分程序的。系统程序是不能由用户更改的，故所使用的存储器为只读存储器ROM或EPROM。（2）用户程序存储器:用户根据控制功能要求而编制的应用程序称为用户程序，用户程序存放在用户程序存储器中。由于用户程序需要经常改动、调试，故用户程序存储器多为可随时读写的RAM。由于RAM掉电会丢失数据，因此使用RAM作用户程序存储器的PLC，都有后备电池(铿电池)保护RAM，以免电源掉电时，丢失用户程序。当用户程序调试修改完毕，不希望被随意改动时，可将用户程序写入EPROM.目前较先进的PLC(如欧姆龙公司的CPMIA型PLC)采用快闪存储器作用户程序存储器，快闪存储器可随时读写，掉电时数据不会丢失，不需用后备电池保护。（3）工作数据存储器:工作数据是经常变化、经常存取的一些数据。这部分数据存储在RAM中，以适应随机存取的要求。在PLC的工作数据存储区，开辟有元件映象寄存器和数据表。元件映象寄存器用来存储PLC的开关量输入/输出和定时器、计数器、辅助继电器等内部继电器的ON/OFF状态。数据表用来存放各种数据，它的标准格式是每一个数据占一个字。它存储用户程序执执行时的某些可变参数值，如定时器和计数器的当前值和设定值。它还用来存放A/D转换得到的数字和数学运算的结果等。根据需要，部分数据在停电时用后备电池维持其当前值，在停电时可保持数据的存储器区域称为数据保持区。1.4.3、I/O单元I/O单元也称为I/O模块。PLC通过I/O单元与工业生产过程现场相联系。输入单元接收用户设备的各种控制信号，如限位开关、操作按钮、选择开关、行程开关以及其他一些传感器的信号。通过接口电路将这些信号转换成中央处理器能够识别和处理的信号，并存到输入映像寄存器。运行时CPU从输入映像寄存器读取输入信息并进行处理，将处理结果放到输出映像寄存器。输出映像寄存器由输出点对应的触发器组成，输出接口电路将其由弱电控制信号转换成现场需要的强电信号输出，以驱动电磁阀、接触器、指示灯被控设备的执行元件.1.4.4、电源部分PLC一般使用220V15\n第一章可编程控制器（PLC）概况的交流电源，内部的开关电源为PLC的中央处理器、存储器等电路提供5V,+12V,+24V的直流电源，使PLC能正常工作。电源部件的位置形式可有多种，对于整体式结构的CPU，通常电源封装到机壳内部;对于模块式PLC，有的采用单独电源模块，有的将电源与CPU封装到一个模块中。1.4.5、扩展接口扩展接口用于将扩展单元以及功能模块与基本单元相连，使PLC的配置更加灵活以满足不同控制系统的需要。1.4.6、通信接口为了实现“人一机”或“机一机”之间的对话，PLC配有多种通信接口。PLC通过这些通信接口可以与监视器、打印机和其他的PLC或计算机相连。当PLC与打印机相连时，可将过程信息、系统参数等输出打印;当与监视器相连时.可将过程图像显示出来;当与其他PLC相连时，可以组成多机系统或连成网路，实现更大规模的控制;当与计算机相连时，可以组成多级控制系统，实现控制与管理相结合的综合性控制。1.4.7、编程器编程器的作用是提供用户进行程序的编制、编辑、调试和监视。编程器有简易型和智能型两类。简易型的编程器只能联机编程，且往往需要将梯形图转化为机器语言助记符后，才能输入。它一般由简易键盘和发光二级管或其他显示管件组成。智能型的编程器又称为图形编程器，它可以联机编程，也可以脱机编程，具有LCD或CRL图形显示功能，可以直接输入梯形图和通过屏幕对话。还可以利用PC作为编程器，PLC生产厂家配有相应的编程软件，使用编程软件可以在屏幕上直接生成和编辑梯形图、语句表、功能块图和顺序功能图程序，并可以实现不同编程语言的互相转换。程序被下载到PLC，也可以将PLC中的程序上传到计算机。程序可以存盘或打印，通过网络，还可以实现远程编程和传送。现在很多PLC已不再提供编程器，而是提供微机编程软件了，并且配有相应的通信连接电缆。1.5PLC的应用领域PLC用存储逻辑代替接线逻辑，大大减少了控制设备外部的接线，使控制系统设计及建造的周期大为缩短，同时日常维护也变得容易起来，更重要的是使同一设备经过改变程序而改变生产过程成为可能。这特别适合多品种、小批量的生产场合。目前，PLC在国内外已广泛应用于钢铁、石油、化工、电力、建材、机械制造、汽车、轻纺、交通运输、环保及文化娱乐等各个行业，使用情况主要分为如下几类:1、开关量逻辑控制取代传统的继电器控制电路，实现逻辑控制、顺序控制，既可用于控制单台设备，也可用于多机群控及自动化流水线。如注塑机、印刷机、订书机械、组合机床、磨床、包装生产线、电镀流水线等。15\n第一章可编程控制器（PLC）概况2、工业过程控制在工业生产过程当中，存在一些如温度、压力、流量、液位和速度等连续变化的量(即模拟量)，PLC采用相应的A/D和D/A转换模块及各种各样的控制算法程序来处理模拟量，完成闭环控制。PID调节是一般闭环控制系统中用得较多的一种调节方法。过程控制在冶金、化工、热处理、锅炉控制等场合有非常广泛的应用。3、运动控制PLC可以用于圆周运动或直线运动的控制。一般使用专用的运动控制模块，如可驱动步进电机或伺服电机的单轴或多轴位置控制模块，广泛用于各种机械、机床、机器人、电梯等场合。4、数据处理PLC具有数学运算(含矩阵运算、函数运算、逻辑运算)、数据传送、数据转换、排序、查表、位操作等功能，可以完成数据的采集、分析及处理。数据处理一般用于如造纸、冶金、食品工业中的一些大型控制系统。5、通信及联网PLC通信包括PLC间的通信及PLC与其它智能设备间的通信。随着工厂自动化网络的发展，现在的PLC都具有通信接口，通信非常方便。但是，可编程控制器产品并不针对某一具体工业应用，在实际应用时，其硬件需根据实际需要进行选用配置，其软件需根据控制要求进行设计编制。1.6PLC的选择1、可靠性高，抗干扰能力强高可靠性是电气控制设备的关键性能。PLC由于采用现代大规模集成电路技术，采用严格的生产工艺制造，内部电路采取了先进的抗干扰技术，具有很高的可靠性。例如西门子公司生产的S7系列PLC平均无故障时间高达30万小时。一些使用冗余CPU的PLC的平均无故障工作时间则更长。从PLC的机外电路来说，使用PLC构成控制系统，和同等规模的继电器系统相比，电气接线及开关接点已减少到数百甚至数千分之一，故障也就大大降低。此外，PLC带有硬件故障自我检测功能，出现故障时可及时发出警报信息。在应用软件中，应用者还可以编入外围器件的故障自诊断程序，使系统中除PLC以外的电路及设备也获得故障自诊断保护。这样，整个系统具有极高的可靠性也就不奇怪了。2、配套齐全，功能完善，适用性强15\n第一章可编程控制器（PLC）概况PLC发展到今天，已经形成了大、中、小各种规模的系列化产品。可以用于各种规模的工业控制场合。除了逻辑处理功能以外，现代PLC大多具有完善的数据运算能力，可用于各种数字控制领域。近年来PLC的功能单元大量涌现，使PLC渗透到了位置控制、温度控制、CNC等各种工业控制中。加上PLC通信能力的增强及人机界面技术的发展，使用PLC组成各种控制系统变得非常容易。3、易学易用，深受工程技术人员欢迎PLC作为通用工业控制计算机，是面向工矿企业的工控设备。它接口容易，编程语言易于为工程技术人员接受。梯形图语言的图形符号与表达方式和继电器电路图相当接近，只用PLC的少量开关量逻辑控制指令就可以方便地实现继电器电路的功能。为不熟悉电子电路、不懂计算机原理和汇编语言的人使用计算机从事工业控制打开了方便之门。4、系统的设计、建造工作量小，维护方便，容易改造PLC用存储逻辑代替接线逻辑，大大减少了控制设备外部的接线，使控制系统设计及建造的周期大为缩短，同时维护也变得容易起来。更重要的是使同一设备经过改变程序改变生产过程成为可能。这很适合多品种、小批量的生产场合。5、体积小，重量轻，能耗低以超小型PLC为例，新近出产的品种底部尺寸小于100mm，重量小于150g，功耗仅数瓦。由于体积小，很容易装入机械内部，是实现机电一体化的理想控制设备。6、小车往返系统方案的选择实现小车往返系统控制有很多方法来实现，可以用单片机、可编程控制器PLC等元器件来实现。但在单片机控制系统电路中需要加入A/D，D/A转换器，线路复杂，还要分配大量的中断口地址。而且单片机控制电路易受外界环境的干扰，也具有不稳定性。另外控制程序需要具有一定编程能力的人才能编译出，在维修时也需要高技术的人员才能修复，所以在此也不易用单片机来实现。而从上述第一节对PLC的特点了解可知，PLC具有很多优点，因此我们归纳出：可编程控制器PLC具有很高的可靠性，通常的平均无故障时间都在30万小时以上；安装，操作和维护也较容易；编程简单，PLC的基本指令不多，编程器使用比较方便，程序设计和产品调试周期短，具有很好的经济效益。此外PLC内部定时、计数资源丰富，可以方便地实现对往返小车的控制。因此，最终我选择了用可编程控制器来实现往返小车系统的控制，完成本次的设计题目。1.7设计背景及意义传统的运料小车大都是继电器控制，而继电器控制有着接线繁多、故障率高且维修不易等缺点，PLC作为目前国内市场的主流控制器，在技术、行业影响等方面有重要作用。利用PLC控制代替继电器控制已经是大势所趋。由于PLC15\n第一章可编程控制器（PLC）概况的不断发展和革新，使得生产线的运输控制也将得到不断的改善和生产率的不断提高，小车自动控制系统经历了以下几个阶段：（1）手动控制：但是由于当时的技术还不够成熟，这种系统存在设计周期长、体积大、成本高等缺陷，几乎无数据处理和通信功能，必须有专人负责操作。（2）自动控制：通过机器人技术，自动化设备终于实现了PLC在小车自动控制系统在自动方面的应用。（3）全自动控制：PLC大多采用多CPU结构，不断向高性能、高速度和大容量方向发展。现代企业为提高生产车间物流自动化水平,实现生产环节间的运输自动化,使厂房内的物料搬运全自动化,许多企业在生产车间广泛使用无人小车,小车在车间工作台或生产线之间自动往返装料卸料。由于小车自动往返的实际意义,随着不同企业不同的要求,控制的难度可以不同。本文介绍了一种基于西门子PLC控制的生产流水线自动控制小车系统设计方案。将PLC运用到小车自动控制系统，可实现小车的全自动控制，降低系统的运行费用。PLC小车自动控制系统具有连线简单控制速度快，精度高，可靠性和可维护性好，维修和改造方便等优点。利用PLC控制技术，可实现小车相关运动，小车在一个周期内的运动由4段组成。设小车最初在左端，当按下启动按钮，则小车自动循环地工作，若按下停止按钮，则小车完成本次循环工作后，停止在最初位置。其运动路线示意图如下图1-1所示。15\n第一章可编程控制器（PLC）概况如图1-1小车运动路线示意图15\n第二章硬件设计第二章硬件设计2.1主电路图如图2-1为小车循环控制的主电路原理图。该电路图利用两个接触器的主触点KM1、KM2分别接至电机的三相电源进线中，其中相对电源的任意两相对调，即可实现电机的正反转，也可达到小车左右运行的目的。假设接通KM1为正转（小车右行），则接通KM2为反转（小车左行）。图2-1小车循环控制的主电路原理15\n第二章硬件设计2.2I/O地址分配如表2-1为小车循环运动PLC控制的I/O分配表。在运行过程中，这些I/O口分别起到了控制各阶段的输入和输出的作用，并且也使小车的控制过程更清晰明了，动作与结果显示更加方便直接。表2-1I/O口分配表输入输出I0.0行程开关SQ1Q0.0右行I0.1行程开关SQ2Q0.1左行I0.2行程开关SQ3I0.3行程开关SQ4I0.4过载FRI0.5启动SB1I0.6停止SB215\n第二章硬件设计2.3I/O接线图如图2-2为小车循环运动PLC控制的I/O接线图。在进行调试过程时，在PLC模块上，当I0.0有输入信号，即按下SQ1；当I0.1有输入信号，也即按下SQ2，以此类推，I/O接线图就是把实际的开关信号变成调试时的输入信号。同理，输出信号也是利用PLC模块把小车的实际运动用Q0.0、Q0.1的状态表现出来。图2-2小车循环运动PLC控制的I/O接线图15\n第二章硬件设计2.4元件列表如表2-2为小车循环运动PLC控制的元件列表。在本次设计中就是利用这些元件，用若干导线连接起来组成了我们需要的原理图、I/O接线图。表2-2元件列表序号代号名称型号数量1M三相异步电机J02-22-4,1.5kw1410转/分，380V，3.49安12QS空气开关DZ47-3P33FR热继电器JR36-2014CPUPLC处理器CPU22215KM交流接触器CJX2-0926SB按钮ＬＡＹ８27SQ行程开关ＬＸＫ２48FU熔断器RT16-2049L导线若干15\n第三章软件设计第三章软件设计3.1程序流程图如图3-1为小车循环运动PLC控制的程序流程图。小车在一个周期内的运动由4段组成。设小车最初在左端，当按下启动按钮，则小车自动循环地工作，若按下停止按钮，则小车完成本次循环工作后，停止在最初位置。首先小车位于初始位置，按下SB1启动后，小车向右行驶；当碰到行程开关SQ4，小车转向，向左行驶；碰到行程开关SQ2，小车再一次转向，向右行驶；碰到行程开关SQ3，小车又向左行驶，直到再次碰到SQ1，然后开始依次循环以上过程。若不按下停止按钮SB2则小车一直进行循环运动，若此时按下停止按钮SB2，小车又碰到行程开关SQ1，则小车回到初始位置。图3-1小车循环运动PLC控制的程序流程图15\n第三章软件设计3.2梯形图如图3-2为小车循环运动PLC控制的梯形图，此设计按照以下程序运行，以实现在生产流水线上的一辆自动控制小车的运动。其中，小车在一个周期内的运动有4段组成。设小车最初在左端，当按下启动按钮，则小车自动循环的工作，若按下停止按钮，则小车完成本次循环工作后，停在初始位置。15\n第三章软件设计图3-2小车循环运动PLC控制梯形图15\n第三章软件设计3.3程序分析运行过程：首先按下I0.5（即启动按钮SB1闭合），启动程序，中间继电器M0.0接通，常开触点闭合且实现自锁；接着按下I0.0(即小车碰到行程开关SQ1)，则网络2中，中间继电器M0.1接通，常开触点闭合且实现自锁，此时运行网络4（循环），则此时Q0.0有输出，状态指示灯亮，即小车向右行驶，由于网络4设置了互锁，此时向左行驶的线路断开；接着按下I0.3(即小车碰到行程开关SQ4)，则网络3中，中间继电器M0.2接通，常开触点闭合且实现自锁，同时在网络6里中间继电器M0.4和网络8里中间继电器M0.6也得电，且都实现自锁。此时运行网络4（循环），则此时Q0.1有输出，状态指示灯亮，即小车向左行驶，由于网络4设置了互锁，此时向右行驶的线路断开；这时按下I0.1（即小车碰到行程开关SQ2），中间继电器M0.4的常开触点已闭合，此时中间继电器M0.3线圈带电，常开触点闭合，在网络2中，使中间继电器M0.1线圈再次得电且自锁，再次运行至网络4，则此时Q0.0有输出（状态灯亮），小车向右行驶；当按下I0.2（即小车碰到行程开关SQ3），中间继电器M0.6常开触点已闭合，则此时中间继电器M0.5线圈带电，常开触点闭合，则程序运行至网络3，可再次实现中间继电器M0.2线圈带电且自锁，则程序再次运行至循环网络4，使Q0.1有输出，实现小车左行。依次进行如上循环，实现小车的自动循环工作过程。若电机过载则热继电器的常闭触点断开，即I0.4断开，此时程序中断，电机立即停止。停止过程：当按下I0.6,即按下停止按钮SB2，程序运行至网络9，此时中间继电器M0.7线圈得电，并实现自锁，程序接着运行至网络10，若此时不按下I0.0（即小车不碰到行程开关SQ1），则小车并不停止运动，且继续之前的路线，只有按下I0.0（即小车碰到行程开关SQ1），才能实现本程序停止，即小车停止在初始位置。也即实现了本设计所要实现的功能，当按下停止按钮，小车完成本次循环工作后，停止在初始位置。15\n第三章软件设计第四章程序调试先将系统梯形图导入西门子仿真软件进行仿真。首先将PLC主机的电源开关拨到关状态，严格按图接线，注意12V和24V电源的正负不要短接，电路不要短路，否则会损坏PLC触点。将电源线插进PLC主机表面的电源孔中，再将另一端插到220V电源插板。将PLC主机上的电源开关拨到开状态，并且必须将PLC串口置于STOP状态，然后通过计算机或编程器将程序下载到PLC中，下载完后，再将PLC串口置于RUN状态。此时可以开始进行程序的调试。在调试过程中我遇到了以下问题，但通过老师的指导，再经过自己的反复思考和修改后，终于使程序更加完善、完整，并且能够顺利运行和显示。起初，我把编写好的程序已经导入PLC，并且按以上过程都已连接并准备好，但是当加上启动信号后，运行的结果并不像设计本身那样，结果紊乱，后来经过自己又重新检查梯形图，发现原来是因为自己粗心，把几个中间继电器的序号编写错了，造成了刚才的程序紊乱。然后当我再次进行调试时，发现在小车向右正常运行后，再向左运行时，Q0.0和Q0.1均有输出，这次我自己检查了，却不知道到底是哪里错了，结果就让同学帮我检查程序。原来，在循环程序段里我没有设计输出的互锁，结果造成了同时输出的错误。还有就是在停止时，当我按了停止键之后，小车立即就停止了。没有像设计要求的那样：若按下停止按钮，则小车完成本次循环工作后，停止初始位置。我认为这应该是我的程序设计的不够完整，然后我就开始重新研究程序，仔细思考，发现在停止程序段里，如果再加一个I0.0的常开开关也许就可以实现设计要求了。所以，在修改完再次运行之后，我又重新按步骤调试、运行之后，结果就正确显示了。到此，整个程序能够正常运行，且结果正确。15\n第三章软件设计设计总结通过本次的小车循环运动PLC控制的毕业设计，让我又一次温习了我们学过的知识。在这个过程中，我发现自己在PLC方面的知识积累的还太少，并且上课学的也不够扎实。过程中我也翻阅了许多关于PLC的书籍，也上网查阅了一些资料，发现PLC这个领域还很深奥，我们要学习的还很多，并且也看到了PLC的发展前景。感谢老师的耐心的指导，同学的帮助。虽然过程挺艰难，不过在老师和同学的帮助下，我还是完成了本次设计。这次的课程设计让我看到了团队的力量，我认为我们的工作是一个团队的工作，团队需要个人，个人也离不开团队，必须发扬团结协作的精神。而这份精神也将成为我以后工作时的动力。总之，在这次设计中让我对PLC这门课有了更深入的了解，让我不仅学到了以前从未接触过的新知识，而且也学会了独立的去发现、面对、分析、解决问题的能力。让我知道理论要运用于实践有多重要，使我受益匪浅。在此，再次的对老师和同学说声谢谢！15\n第三章软件设计参考文献[1]陈建明.电气控制与PLC应用[M].北京：电子工业出版社，2006[2]谢克明，夏路易.可编程控制器原理与程序设计[M].北京：电子工业出版社，2002[3]常晓玲.电气控制系统与可编程控制器[M].北京：机械工业出版社，2004[4]马镜澄.低压电器[M].北京:机械工业出版社，1993[5]李建兴.可编程序控制其应用技术[M].北京：机械工业出版社.2005[6]贺哲荣.流行PLC实用程序及设计[M].西安：西安电子科技大学出版社,2006年.[7]胡学林.可编程控制器应用技术[M].北京：高等教育出版社,2003年.[8]洪志育.例说PLC[M].北京：人民邮电出版社,2006年.[9]求是科技.PLC应用开发技术与工程实践[J].北京：人民邮电出版社,2005年.[10]刘柏生.PLC编程实用指南[M].北京：机械工业出版社.,2007年.[11]贾德生.PLC应用开发实用子程序[M].北京：人民邮电出版社,2006年.[12]廖常初.PLC应用技术问答[M].北京：机械工业出版社,2006年.[13]郑凤翼.图解PLC控制系统梯形图和语句表[M].北京：人民邮电出版社,2006年.[14]戴冠秀.PLC在运料小车自动控制系统中的应用[J].工矿自动化.2005年,6期:57～59.内部资料，请勿外传！9JWKffwvG#tYM*Jg&6a*CZ7H$dq8KqqfHVZFedswSyXTy#&QA9wkxFyeQ^!djs#XuyUP2kNXpRWXmA&UE9aQ@Gn8xp$R#͑Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmUE9aQ@Gn8xp$R#͑Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z8vG#tYM*Jg&6a*CZ7H$dq8KqqfHVZFedswSyXTy#&QA9wkxFyeQ^!djs#XuyUP2kNXpRWXmA&UE9aQ@Gn8xp$R#͑Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^G89AmUE9aQ@Gn8xp$R#͑Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z8vG#tYM*Jg&6a*CZ7H$dq8KqqfHVZFedswSyXTy#&QA9wkxFyeQ^!djs#XuyUP2kNXpRWXmA&UE9aQ@Gn8xp$R#͑Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmUE9aQ@Gn8xp$R#͑Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNuGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$U*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89Amv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$U*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz84!z89Amv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadN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