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机械毕业设计全套

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JDC01-014@全自动洗衣机控制系统的设计,机械毕业设计全套

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外文资料翻译 1 In the article has analyzed the elevator loadcharacteristics, elaborated uses the trapezoid acceleration curve theelevator ideal velocity curve, unifies the frequency changer and thePLC performance, elaborated the elevator control system constitutionand the operational factor. Elaborated the elevator speed curveproduces the method, has induced the characteristic which designs byPLC constitution control system software. Key word: Load characteristics ideal velocity curve control systemsoftware design 文中分析了电梯的负载特性，阐述了采用梯形加速曲线的电梯理想速度曲线，结合变频器和 PLC 的性能，论述了电梯控制系统的构成和工作特性。阐述了电梯速度曲线产生的方法，归纳了由 PLC 构成的控制系统软件设计的特点。 关键词：负载特性 理想速度曲线 控制系统 软件设计 1. Outline Along with the urban construction unceasing development, thehigh-rise construction unceasingly increases, the elevator has thewidespread application in the national economy and the life. Theelevator took in the high-rise construction the vertical movementtransportation vehicle already and peoples daily life is inseparable.In fact the elevator is according to exterior movement and so oncalling signal as well as own control rule, but calls is stochastic,the elevator is a person machine interactive control system in fact,purely is cannot satisfy the control request with the sequentialcontrol or the logical control, Therefore, the elevator control system uses the stochastic logical waycontrol. At present the elevator control generally has selected twomethods, one is uses the microcomputer to take the signal controlunit, completes the elevator signal gathering, the running status andthe function hypothesis, realizes the elevator automatic dispatch andthe collection chooses the movement function, drives the control tocomplete by the frequency changer; The second control mode (PLC)substitutes for the microcomputer realization signal collection withthe programmable controller to choose the control. Said from the control mode and the performance, these two methodscertainly not too big difference. The domestic factory mostly choosesthe second way, its reason lies in the production scale slightly, owndesign and the manufacture microcomputer control device cost nts外文资料翻译 2 ishigher; But PLC reliability high, programming convenience nimble, theantijamming ability strong, the movement stable is reliable and so onthe characteristic, therefore the present elevator control systemwidely uses the programmable controller to realize. 1.概述 随着城市建设的不断发展，高层建筑不断增多，电梯在国民经济和生活中有着广泛的应用。电梯作为高层建筑中垂直运行的交通工具已与人们的日常生活密不可分。实际上电梯是根据外部呼叫信号以及自身控制规律等运行的，而呼叫是随机的，电梯实际上是一个人机交互式的控制系统，单纯用顺序控制或逻辑控制是不能满足控制要求的，因此，电梯控制系统采用随机逻辑 方式控制。目前电梯的控制普遍采用了两种方式，一是采用微机作为信号控制单元，完成电梯信号的采集、运行状态和功能的设定，实现电梯的自动调度和集选运行功能，拖动控制则由变频器来完成；第二种控制方式用可编程控制器（ PLC）取代微机实现信号集选控制。从控制方式和性能上来说，这两种方法并没有太大的区别。国内厂家大多选择第二种方式，其原因在于生产规模较小，自己设计和制造微机控制装置成本较高；而 PLC 可靠性高，程序设计方便灵活，抗干扰能力强、运行稳定可靠等特点，所以现在的电梯控制系统广泛采用可编程控制器来实现。 2. Elevator ideal performance diagram Indicated according to the massive research and the experiment, theperson may accept the maximum acceleration is am = 1.5m/s2,acceleration rate of change rho m = the 3m/s3, elevator idealperformance diagram may divide according to the acceleration is thetriangle, the trapezoid and the sine profile, As a result of sine profile acceleration curve realization moredifficult, but the triangle curve maximum acceleration and is startingand applies the brake the section turning point acceleration rate ofchange to be bigger than the trapezoidal curve, namely + rho m jumpsto - rho m or jumps from - rho m to + rho the m acceleration rate ofchange, therefore very little uses, because the trapezoidal curve iseasy to realize and has the good acceleration rate of change frequenttarget, therefore is widely used, uses the trapezoidal accelerationcurve elevator ideal performance diagram like chart 1 to show: 2.电梯理想运行曲线 根据大量的研究和实验表明 ,人可接受的最大加速度为 am1.5m/s2, 加速度变化率 m3m/s3,电梯的理想运行曲线按加速度可划分为三角形、梯形和正弦波nts外文资料翻译 3 形，由于正弦波形加速度曲线实现较为困难，而三角形曲线最大加速度和在启动及制动段的转折点处的加速度变化率均大于梯形曲线，即 +m 跳变到 -m 或由-m跳变到 +m的加速度变化率，故很少采用，因梯形曲线容易实现并且有良好加速度变化率频繁指标，故被广泛采用。 The intelligent frequency changer is for the elevator special-purposefrequency changer request and so on elevator nimble velocitymodulation, control and high accuracy even level which but speciallydesigns, may use for parts the general three-phase asynchronous motor,and has function and so on intellectualized software, standardconnection, menu prompt, input elevator curve and other essentialparameter. It has the debugging convenience quickly, moreover can automaticallyrealize the single multilayered function, and has the automaticoptimization deceleration curve the function, is composed the velocitymodulation system crawling time by it few, the even level distance isshort, no matter is the double winding electric motor, or electric motor suitable, its highest design speed may reach 4m/s, itsunique computer monitoring software, may choose the serial interfacerealization input/output signal the non- electronic contact control. The frequency changer constitutes elevator system, when the frequencychanger receives the controller to send out shouts the ladderdirection signal, the frequency changer basis hypothesis speed and theacceleration value, the starting motor, after achieved the maximumspeed, the uniform speed moves, when arrives the goal leveldecelerates, the controller sends out shuts off the high velocitysignal, reduces the speed which the frequency changer establishes themaximum speed to reduce to the crawling speed, In decelerates in the movement process, the frequency changer can theautomatic computation decelerate to the even level spot betweendistance, and calculates the optimized curve, thus can according tothe optimized curve movement, cause the low speed crawling time toreduce to 0.3s, the frequency changer through adjusts leveling thespeed in the elevator even level process or applies the brake thepitch to adjust leveling the precision. Namely when the elevator stops too early, the frequency changerincreases the low speed value or the reduction applies the brake thepitch value, otherwise reduces the low speed value or increasesapplies the brake the pitch value, when the elevator to leaves evenlevel position 4 - 10cm, has the even level switch nts外文资料翻译 4 automaticseparation low speed signal, the system according to the optimizedcurve realization high accuracy even level, thus achieved the evenlevel accurate is reliable. 智能变频器是为电梯的灵活调速、控制及高精度平层等要求而专门设计的电梯专用变频器，可配用通用的三相异步电动机，并具有智能化软件、标准接口、菜单提示、输入电梯曲线及其它关键参数等功能。其具有调试方便快捷，而且能自动实现单多层功能，并具有自动优化减速曲线的功能，由其组成的调速系统的爬行时间少，平层距离短，不论是双绕组电动机，还是单绕组电动机均可适用，其最高设计速度可达 4m/s，其独特的电脑监控软件，可选择串行接口实现输入 /输出信号的无触点控制。 变频器构成的电梯系统，当变频器接收到控制器发出的呼梯方向信号，变频器 依据设定的速度及加速度值，启动电动机，达到最大速度后，匀速运行，在到达目的层的减速点时，控制器发出切断高速度信号，变频器以设定的减速度将最大速度减至爬行速度，在减速运行过程中，变频器的能够自动计算出减速点到平层点之间的距离，并计算出优化曲线，从而能够按优化曲线运行，使低速爬行时间缩短至 0.3s,在电梯的平层过程中变频器通过调整平层速度或制动斜坡来调整平层精度。即当电梯停得太早时，变频器增大低速度值或减少制动斜坡值，反之则减少低速度值或增大制动斜坡值，在电梯到距平层位置 410cm 时，有平层开关自动断开低速信 号，系统按优化曲线实现高精度的平层，从而达到平层的准确可靠。 3. Elevator speed curve Elevator movement comfortableness is decided in its movementprocess acceleration a and the acceleration rate of change p size, theoversized acceleration or the acceleration rate of change can createpassengers ill feeling. At the same time, for guaranteed the elevatorthe operating efficiency, a, the p value not suitable excessively issmall. Can guarantee a, the p best value elevator performance diagramis called the elevator the ideal performance diagram. The elevatormovement ideal curve should be the parabola - straight linecomprehensive velocity curve, namely elevator Canada, reduces theprocess constitutes by the parabola and the straight line. Theelevator assigns the curve is whether ideal, direct influence actualperformance diagram. 3.电梯速度曲线 nts外文资料翻译 5 电梯运行的舒适性取决于其运行过程中加速度 a 和加速度变化率 p 的大小，过大的加速度或加速度变化率会造成乘客的不适感。同时，为保证电梯的运行效率， a、 p 的值不宜过小。能保证 a、 p 最佳取值的电梯运行曲线称为电梯的理想运行曲线。电梯运行的理想曲线应是抛物线 -直线综合速度曲线，即电梯的加、减过程由抛物线和直线构成。电梯给定曲线是否理想，直接影响实际的运行曲线。 3.1 velocity curves have the method Uses FX2-64MR PLC, and a consideration input output requestincreased FX-8EYT, FX-16EYR, the FX-8EYR three expansions modules andthe FX2-40AW twisted pair line correspondence adapter, FX2-40AW usesin the system serial communication. Using PLC the expansion functionmodule D/A module realization speed ideal curve output, whenbeforehand the digitized ideal velocity curve stores the PLC register,the procedure movement, through looks up the table way to read in D/A,transforms the simulation quantity after D/A the speed ideal curveoutput. 3.1 速度曲线产生方法 采用的 FX2-64MR PLC，并考虑输入输出点要求增加了 FX-8EYT、FX-16EYR、 FX-8EYR三个扩展模块和 FX2-40AW双绞线通信适配器， FX2-40AW用于系统串行通信。利用 PLC 扩展功能模块 D/A 模块实现速度理想曲线输出，事先将数字化的理想速度曲线存入 PLC 寄存器，程序运行时，通过查表方式写入 D/A，由 D/A 转换成模拟量后将速度理想曲线输出。 3.2 Acceleration assign the curve the production 8 D/A outputs 0 5V/0 10V, the corresponding numerical valueis 16 enters system several 00 FF, altogether 255 levels. Ifelevator rise time between 2.5 3 seconds. According to theconservative value computation, in the elevator acceleration processeach time Zha Biao time-gap not suitably surpasses 10ms. 3.2 加速给定曲线的产生 8 位 D/A 输出 0 5V/0 10V，对应数字值为 16 进制数 00 FF，共 255 级。若电梯加速时间在 2.5 3 秒之间。按保守值计算，电梯加速过程中每次查表的时间间隔不宜超过 10ms。 As a result of elevator logic control section procedure biggest, butthe PLC movement uses the cyclical scanning mechanism, thus usuallyuses looks up the table method, Zha Biao instruction time-gapexcessively is each time long, cannot nts外文资料翻译 6 satisfiedly assign the curve theprecision request. In the PLC movement process, its CPU with variousequipment between exchange of information, user program execution,signal gathering, control quantity operation and so on output all isdefers to the fixed order to circulate the scanning way to carry on,each circulation all must carry on the inquiry, the judgement and theoperation to all functions. This kind of order and the form capableperson are not the change. The usual scanning cycle, is basic mustcomplete six steps the work, including movement surveillance, andprogramming exchange information, and digital processor exchangeinformation, and communication processor exchange information,execution user program and input output connection service and so on.In a cycle, CPU only carries out to the entire user program. This kindof mechanism has its convenient one side, but timeliness is bad. Theexcessively long scanning time, directly affects the system to thesignal response effect, in under the guarantee control functionpremise, maximum limit reduces CPU the cyclical scanning time is avery complex question. Generally only can short adopt the method fromthe user program execution time. The elevator logic control sectionprocedure scanning time has surpassed 10ms, although has adopted somereduced procedure scanning time means, but still will be unable toscan the time to fall to 10ms below. At the same time, applies thebrake the section curve to use according to is away from theprinciple, each section of distances arrive the response time notsuitably surpasses 10ms. In order to satisfy the system the timelyrequest, in the velocity curve production way, uses the severancemethod, thus effectively has overcome the PLC scanning mechanismlimit. 由于电梯逻辑控制部分程序最大，而 PLC 运行采用周期扫描机制，因而采用通常的查表方法，每次查表的指令时间间隔过长，不能满足给定曲线的精度要求。在 PLC 运行过程中，其 CPU 与各设备之间的信息交换、用户程序的执行、信号采集、控制量的输出等操作都是按照固定的顺序以循环扫描的方式进行的，每个循环都要对所有功能进行查询、判断和操作。这种顺序和格式不能人为改变。通常一个扫描周期，基本要完成六个步骤的工作，包括运行监视、与编程器交换信息、与数字处理器交换信息、与通讯处理器交换信息、执行用户程序和输入输出接口服务等。在一个周 期内， CPU 对整个用户程序只执行一遍。这种机制有其方便的一面，但实时性差。过长的扫描时间，直接影响系统对信号响应的效果，nts外文资料翻译 7 在保证控制功能的前提下，最大限度地缩短 CPU 的周期扫描时间是一个很复杂的问题。一般只能从用户程序执行时间最短采取方法。电梯逻辑控制部分的程序扫描时间已超过 10ms，尽管采取了一些减少程序扫描时间的办法，但仍无法将扫描时间降到 10ms 以下。同时，制动段曲线采用按距离原则，每段距离到的响应时间也不宜超过 10ms。为满足系统的实时性要求，在速度曲线的产生方式中，采用中断方法，从而有效地克服了 PLC 扫描机制的限制。 The starting acceleration movement by decides the cycle interruptservice isr to complete. This kind of severance cannot carry on theswitch by the procedure, once establishes, continuously presses thehypothesis time-gap circulation severance, therefore, the startingmovement condition must put in the interrupt service isr, when doesnot satisfy the movement condition, the severance namely returns. 起动加速运行由定周期中断服务程序完成。这种中断不能由程序进行开关，一旦设定，就一直按设定时间间隔循环中断，所以，起动运行条件需放在中断服务程序中，在不满足运行条件时，中断即返回。 3.2 Decelerates applies the brake the curve production In order to guarantee applies the brake process completing,must carry on in the master routine applies the brake the condition tojudge and to decelerate a determination. In decelerates before adetermination, the elevator continuously is in the acceleration or thesteady fast movement process. The acceleration process completes bythe fixed cyclical severance, accelerates after the correspondingpattern maximum value, the acceleration procedure movement conditionno longer satisfies, after each time severs, no longer carries out theacceleration procedure, directly returns from the severance. Theelevator corresponds the pattern the maximum value movement,decelerates in this pattern to after, has the high-speed countingseverance, the execution decelerates the service routine. Revises thecounter in this interrupt service isr to suppose the definite valuethe condition, guaranteed the next time will sever the execution. In the PLC internal register, deceleration curve table value from big to small , each time severs all carries out time theindicator needle to add 1 the operation, then the next severance willlook up the table number is smaller than this severance to look up the table numbers. Thegate area peaceful level area judgement produces by exterior signal,guarantees the moderating process the reliability. nts外文资料翻译 8 3.3 减速制动曲线的产生 为保证制动过程的完成，需在主程序中进行制动条件判断和减速点确定。在减速点确定之前，电梯一直处于加速或稳速运行过程中。加速过程由固定周期中断完成，加速到对应模式的最大值之后，加速程序运行条件不再满足，每次中断后，不再执行加速程序，直接从中断返回。电梯以对应模式的最大值运行，在该模式减速点到后，产生高速计数中断，执行减速服务程序。在该中断服务程序中修改计数器设定值的条件，保证下次中断执行。 在 PLC 的内部寄存器中，减速曲线表的数值由大到小排列，每次中断都执行一次 表指针加 1操作，则下一次中 断的查表值将小于本次中断的查表值。门区和平层区的判断均由外部信号给出，以保证减速过程的可靠性。 4. Elevator control system 4.1 Elevators control system characteristic Is relates the elevator movement comfortable feeling target in theelevator performance diagram start section the key link, but thecomfortable feeling with the acceleration direct correlation,according to controls the theory, must cause some quantity accordingto prearrange the rule change to have to carry on the positivegoverning to it, said regarding the elevator control system, mustcause the acceleration to have to use the acceleration feedbackaccording to the ideal curve change, according to electric motormoment of force equation: M - MZ= Delta M=J (dn/dt), obviously theacceleration rate of change had reflected the system dynamic extensionis apart from the change, the control acceleration is apart from DeltaM=M - MZ on the control system dynamic extension. Therefore uses theacceleration in this section the timing control principle, when thestart ascent portion speed achieved when stable state value 90%,systematically will cut the speed control from the accelerationcontrol, because in the steady fast section, the speed will besmaller for the permanent value control undulation, the accelerationchange will not be big, also will use the speed closed-loop controlto be allowed to cause the stable state speed hold certain precision,will be applies the brake the section precise even level to create thecondition. Uses the PI regulator control in the system speed ascentportion and steady fast Duan Suidu, but two section of PI parameter isdifferent, enhances the system the dynamic response target. nts外文资料翻译 9 4.电梯控制系统 4.1 电梯控制系统特性 在电梯运行曲线中的启动段是关系到电梯运行舒适感指标的主要环节 ,而舒适感又与加速度直接相关 ,根据控制理论 ,要使某个量按预定规律变化必须对其进行直接控制 ,对于电梯控制系统来说 ,要使加速度按理想曲线变化就必须采用加速度反馈 ,根据电动机的力矩方程式 :MMZ=M=J（ dn/dt），可见加速度的变化率反映了系统动态转距的变化，控制加速度就控制系统的动态转距 M=MMZ。故在此段采用加速度的时间控制原则，当启动上升段速度达到稳态值的 90%时，将系统由加速度控制切换到速度控制，因 为在稳速段，速度为恒值控制波动较小，加速度变化不大，且采用速度闭环控制可以使稳态速度保持一定的精度，为制动段的精确平层创造条件。在系统的速度上升段和稳速段虽都采用 PI 调节器控制，但两段的 PI 参数是不同的，以提高系统的动态响应指标。 Applies the brake the section in the system, namely must to reduce thespeed to carry on the essential control, guarantees the comfortablefeeling, also must strictly controls according to the elevatormovement speed and the distance relations, guarantees the even levelthe precision. In systems rotational speed reduces to 120r/min in front of, in orderto enable two to obtain the proper attention to both, adopts by theacceleration to the timing control primarily, simultaneously actsaccording to on each as soon as the stopping distance the actualrotational speed and the theory rotational speed deviation revises theacceleration to assign the curve the method. For example in is awayfrom the even level spot some as soon as to be away from L place, thespeed should reduce to Vm/s, but the actual rotational speed is highis V m/s, then explained adds the system turns is apart frominsufficiently, after therefore calculates the here to assign reducesspeed value -ag, causes it to add on a negative deviation againepsilon, even if the here reduces the speed given value to revise for- (ag+ epsilon) causes to assign reduces the speed and the true speednegative deviation enlarges, thus enlarged the system to turn thedistance, caused the speed very quickly to fall to the standard value,when electric motors rotational speed reduces to 120r/min after, this time thetheater box above the level only had several centimeters, The elevatorrunning rate is very low, for did not prevent phenomenon appearancewhich stops to the even level area, enables the elevator nts外文资料翻译 10 comparativelyquickly to enter the even level area, uses the proportional control inthis section, and uses the time optimization control, guaranteed theelevator accurately promptly enters the even level area, achieves theaccurate reliable even level. 在系统的制动段，即要对减速度进行必要的控制，以保证舒适感，又要严格地按电梯运行的速度和距离的关系来控制，以保证平层的精度。在系统的转速降至120r/min 之前，为了使两者得到兼顾，采取以加速度对时间控制为主，同时根据在每一制动距离上 实际转速与理论转速的偏差来修正加速度给定曲线的方法。例如在距离平层点的某一距离 L 处，速度应降为 Vm/s，而实际转速高为 Vm/s，则