本文選題：Q系列PLC　切入點：定位模塊　出處：《中北大學》2017年碩士論文

【摘要】：近年來隨著我國平板顯示產(chǎn)業(yè)全球市場份額進一步增大,設(shè)備配套能力的提升已經(jīng)成為平板顯示產(chǎn)業(yè)下一步健康持續(xù)發(fā)展的關(guān)鍵。北京清大天達光電科技有限公司根據(jù)中國大陸行業(yè)現(xiàn)狀對G4.5液晶屏切割裂片線進行改造。本文作者參與了改造項目,針對上料機電控系統(tǒng),主要的研究內(nèi)容如下:開展了硬件設(shè)計,以Q系列PLC為控制核心,采用定位模塊、伺服驅(qū)動器和伺服電機,設(shè)計了具有三個自由度的上料機械手的運動控制系統(tǒng)�；诮涣魉欧刂圃�,根據(jù)id=0電流控制的矢量控制策略和基于SVPWM算法的PWM調(diào)制方式,建立了采用PI調(diào)節(jié)方式的位置、速度、電流(轉(zhuǎn)矩)三閉環(huán)交流伺服系統(tǒng)位置控制模型。Simulink仿真結(jié)果表明,設(shè)計的伺服系統(tǒng)模型中電機運動響應和位置跟蹤性能良好,符合機械手定位控制要求。根據(jù)伺服系統(tǒng)模型設(shè)置伺服驅(qū)動器控制參數(shù),在開機后機械手在PLC內(nèi)置程序控制下完成上料過程。開展了軟件設(shè)計,采用PLC結(jié)構(gòu)化編程工具GX Wors2設(shè)計了上料機電控系統(tǒng)控制程序,實現(xiàn)了上料機械手的手動、自動上料功能以及對上料過程的控制。采用LabVIEW開發(fā)平臺設(shè)計上位機監(jiān)控畫面,實現(xiàn)了工藝參數(shù)的在線設(shè)置和讀取;采用生產(chǎn)者消費者模式的框架結(jié)構(gòu)編制了伺服電機控制程序,通過Modbus協(xié)議與下位機伺服驅(qū)動器通信,對電機手動、自動運行參數(shù)進行配置,實現(xiàn)了對機械手上料工況的實時監(jiān)控。結(jié)果表明,該上料機人機交互方便快捷。在液晶屏上料機生產(chǎn)制造后,對機械手在X軸方向的定位精度做測試實驗,結(jié)果表明,機械手在X軸方向平均定位精度和重復定位精度分別達到3.7um/mm和0.7um,符合位置控制要求。
[Abstract]:In recent years, with the further increase of global market share of China's flat-panel display industry, the improvement of equipment supporting capability has become the key to the next healthy and sustainable development of flat-panel display industry.According to the industry situation in mainland China, Beijing Qingda Tianda Optoelectronic Technology Co., Ltd.The main contents of this paper are as follows: hardware design, Q series PLC as the control core, positioning module, servo driver and servo motor,The motion control system of feeding manipulator with three degrees of freedom is designed.Based on the principle of AC servo control, according to the vector control strategy of id=0 current control and the PWM modulation method based on SVPWM algorithm, the position and speed of Pi control mode are established.The simulation results of current (torque) three-closed-loop AC servo system position control model. Simulink simulation results show that the motor motion response and position tracking performance of the designed servo system model is good and meets the requirements of manipulator positioning control.According to the servo system model, the servo driver control parameters are set, and the manipulator completes the feeding process under the control of the PLC built-in program after the start of the machine.The software design is carried out, and the control program of the feeding machine electronic control system is designed by using the PLC structured programming tool GX Wors2. The manual and automatic feeding functions of the feeding manipulator and the control of the feeding process are realized.The monitoring screen of upper computer is designed by using LabVIEW development platform, the on-line setting and reading of process parameters are realized, the servo motor control program is compiled with the frame structure of producer and consumer mode, and the servo driver of lower computer is communicated through Modbus protocol.The manual and automatic operation parameters of the motor are configured to realize the real-time monitoring of the feeding condition of the manipulator.The results show that the machine is convenient and fast.
【學位授予單位】：中北大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP273

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