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分類號 密級 無錫職業(yè)技術學院 畢業(yè)設計說明書 題 目：全自動洗衣機控制系統的設計 英文并列題目：Entire automatic washer control system design 學 生 姓 名： 許君健 專 業(yè)： 機電一體化技術 指 導 教 師： 俞云強 職 稱： 副教授 畢業(yè)設計說明書提交日期 2008.4.11 地址：機電學院 IV無錫職業(yè)技術學院畢業(yè)設計說明書 全自動洗衣機控制系統的設計 摘要： 隨著社會經濟的發(fā)展和科學技術水平的提高，家庭電器全自動化成為必然的發(fā)展趨勢。全自動洗衣機的產生極大的方便了人們的生活。洗衣機是國內家電業(yè)唯一不打價格戰(zhàn)的行業(yè)，經過幾年的平穩(wěn)發(fā)展，國產洗衣機無論在質量上還是功能上都和世界領先水平同步?？v觀洗衣機市場，高效節(jié)能、省水、省電、環(huán)保型洗衣機一直在市場上占主導地位。 該論文就怎樣利用PLC來控制全自動洗衣機進行了調查，對其中軟件設計、硬件設計等問題進行了分析和研究，實現了全自動洗衣機的正常運行和強制性停止功能。 關鍵詞： PLC 全自動洗衣機 控制 Entire automatic washer control system design Abstract: Along with the social economy development and the science and technology level enhancement, the family electric appliance entire automation becomes the inevitable development tendency. Entire automatic washer production enormous convenience people's life. The washer is the domestic electrical appliances industry does not only hit the profession which the price fights, passes through several year steady development, the domestically produced washer regardless of in quality or in function all with world leading horizontal synchronization. Looks over the washer market, the highly effective energy conservation, the province water, the province electricity, the environmental protection washer continuously occupy the dominant position in the market. How does this paper study controls the entire automatic washer using PLC, to question and so on software design, hardware design has carried on the analysis and the discussion, has realized the entire automatic washer normal operation and compulsory stops the function. Key word: PLC entire automatic washer control 目 錄 第一章 概 述·······················································1 第二章 課題任務分析················································2 2.1 整體功能介紹··············································· 2 2.2 設備控制要求················································2 第三章 控制系統的設計··············································3 3.1 控制系統框圖················································3 3.2 控制系統對應設備及實現功能··································3 3.3 控制系統原理················································4 第四章 硬件電路設計················································5 4.1 系統的選型··················································5 4.2 CPU單元設計················································7 4.3 硬件接線圖················································7 4.4 通訊方式···················································7 4.5 儲存模塊···················································7 4.6 電池模塊···················································7 4.7 通訊模塊··················································7 第五章 軟件的設計 5.1 I/O分配·················································11 5.2 流程圖····················································12 5.3 源程序····················································14 5.4 程序運行過程分析··········································23 5.5 程序的下載 安裝和調試·····································23 第六章 PLC和單片機控制的對比······································24 6.1 簡述PLC和單片機·········································25 6.2 用PLC和單片機分別做系統的比較···························25 6.3 用PLC做系統洗衣機的特性·································27 第七章 結束語·····················································29 第八章 畢業(yè)設計總結···············································30 致謝······························································32 參考文獻··························································33 IV 無錫職業(yè)技術學院畢業(yè)設計調研報告 調研報告 洗衣機經過木制手搖洗衣機，蒸氣洗衣機、內燃機洗衣機幾個階段后，到1911年，美國試制成功世界上第一臺電動洗衣機。電動洗衣機的問世，標志著人類家務勞動自動化的開端。 電動洗衣機幾經完善，在1922年迎來一種嶄新的洗衣方式“攪拌式”。攪拌式洗衣機由美國瑪依塔格公司研制成功。這種洗衣機是在筒中心裝上一個立軸，在立軸下端裝有攪拌翼，電動機帶動立軸，進行周期性的正反擺動，使衣物和水流不斷翻滾，相互摩擦，以此滌攪拌式洗衣機結構科學合理，受到人們的普遍歡迎。不過10年之后，美國本德克斯航空公司宣布，他們研制成功第一臺前裝式滾筒洗衣機，洗滌、漂洗、脫水在同一個滾筒內完成。這意味著電動洗衣機的型式躍上一個新臺階，朝自動化又前進了一大步！直至今日，滾筒式洗衣機在歐美國家仍得到廣泛應用。 隨著工業(yè)化的加速，世界各國也加快了洗衣機研制的步伐。首先由英國研制并推出了一種噴流式洗衣機，它是靠筒體一側的運轉波輪產生的強烈渦流，使衣物和洗滌液一起在筒內不斷翻滾，洗凈衣物。1955年，在引進英國噴流式洗衣機的基礎之上，日本研制出獨具風格、并流行至今的波輪式洗衣機。至此，波輪式、滾筒式、攪拌式在洗衣機生產領域三分天下的局面初步形成。 20世紀60年代以后，洗衣機在一些發(fā)達國家的消費市場開始形成系列，家庭普及率迅速上升。此間洗衣機在日本的發(fā)展備受矚目。60年代的日本出現了帶干桶的雙桶洗衣機，人們稱之為“半自動型洗衣機”。70年代，生產出波輪式套桶全自動洗衣機。70年代后期，微電腦控制的全自動洗衣機橫空出世，讓人耳目一新。到80年代，“模糊控制”的應用使得洗衣機操作更簡便，功能更完備，洗衣程序更隨人意，外觀造型更為時尚……進入90年代，由于電機調速技術的提高，洗衣機實現了寬范圍的轉速變換與調節(jié)，誕生了許多新水流洗衣機。此后，隨著電機驅動技術的發(fā)展與提高，日本生產出了電機直接驅動式洗衣機，省去了齒輪傳動和變速機構，引發(fā)了洗衣機驅動方式的巨大革命。 在中國，直到1978年才正式生產家用洗衣機。但改革開放后，發(fā)展迅速。1983年洗衣機產量由1978年的400臺飆升到365萬臺，此后全國各地掀起了大規(guī)模的技術引進熱潮，技術的引進、吸收和創(chuàng)新，極大地提升了國產洗衣機的產業(yè)素質與生產能力，縮短了同發(fā)達國家之間的差距。如今，我國洗衣機年產量約占世界年產量的四分之一，居于世界首位。 在洗衣機控制方面，在PLC問世之前，工業(yè)控制領域中是繼電器占主導地位。但繼電器控制領域有著十分明顯的缺點：體積大、耗電多、可靠性、壽命短、運行速度慢、適應性差、尤其當生產工藝發(fā)生變化時，就必須重新設計、重新安裝，造成時間和資金的嚴重浪費。為了改變這一現狀，PLC控制系統產生了。繼1969年美國數字設備公司研制出世界第一臺PLC，并在通用汽車公司自動裝配線上試用，獲得了成功，從而開創(chuàng)了工業(yè)控制新時期，從此，可編程控制器這一新的控制技術迅速發(fā)展起來了。在許多領域都有廣泛的應用。PLC的 優(yōu)點是：可靠性高，耗電少，適應性強，運行速度快，壽命長等，為了進一步提高全自動洗衣機的功能和性能，避免傳統控制的一些弊端，就提出了用PLC來控制全自動洗衣機這個課題。 畢 業(yè) 設 計 任 務 書 200 8年2月19日 畢業(yè)設計題目 全自動洗衣機控制系統的設計 指導教師 俞云強 職稱 副教授 專業(yè)名稱 機電一體化技術 班級 機電50532 學生姓名 許君健 學號 5020053234 設計要求 1.完成資料翻譯一份（3000字以上） 2.完成畢業(yè)設計調研報告一份； 3.完成全自動洗衣機控制系統的設計 4.完成系統程序設計； 5.完成畢業(yè)設計說明書一份； 6.完成相關圖紙。 完成畢業(yè)課題的計劃安排 序號 內容 時間安排 1 外文資料翻譯 2008.2.20至 2008.2.29 2 搜集相關資料并調研，完成調研報告 2008.3.1至 2008.3.5 3 進行全自動洗衣機控制系統的設計，并完成相關系統程序的編寫，編寫說明書，繪制相關圖紙。 2008.3.6至 2008.4.8 4 整理畢業(yè)設計說明書并定稿，準備答辯 2008.4.9至2008.4.10 5 答辯 2008.4.11 答辯提交資料 外文資料翻譯，畢業(yè)設計調研報告， 畢業(yè)設計說明書，相關圖紙。 計劃答辯時間 2008.4.12 無錫職業(yè)技術學院機電技術學院 2008 年 2 月 19日 外文資料翻譯 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 文中分析了電梯的負載特性，闡述了采用梯形加速曲線的電梯理想速度曲線，結合變頻器和PLC的性能，論述了電梯控制系統的構成和工作特性。闡述了電梯速度曲線產生的方法，歸納了由PLC構成的控制系統軟件設計的特點。 關鍵詞：負載特性　　理想速度曲線　　控制系統　　軟件設計 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 people's 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 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 隨著城市建設的不斷發(fā)展，高層建筑不斷增多，電梯在國民經濟和生活中有著廣泛的應用。電梯作為高層建筑中垂直運行的交通工具已與人們的日常生活密不可分。實際上電梯是根據外部呼叫信號以及自身控制規(guī)律等運行的，而呼叫是隨機的，電梯實際上是一個人機交互式的控制系統，單純用順序控制或邏輯控制是不能滿足控制要求的，因此，電梯控制系統采用隨機邏輯方式控制。目前電梯的控制普遍采用了兩種方式，一是采用微機作為信號控制單元，完成電梯信號的采集、運行狀態(tài)和功能的設定，實現電梯的自動調度和集選運行功能，拖動控制則由變頻器來完成；第二種控制方式用可編程控制器（PLC）取代微機實現信號集選控制。從控制方式和性能上來說，這兩種方法并沒有太大的區(qū)別。國內廠家大多選擇第二種方式，其原因在于生產規(guī)模較小，自己設計和制造微機控制裝置成本較高；而PLC可靠性高，程序設計方便靈活，抗干擾能力強、運行穩(wěn)定可靠等特點，所以現在的電梯控制系統廣泛采用可編程控制器來實現。 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.電梯理想運行曲線 根據大量的研究和實驗表明,人可接受的最大加速度為am≤1.5m/s2,　加速度變化率ρm≤3m/s3,電梯的理想運行曲線按加速度可劃分為三角形、梯形和正弦波形，由于正弦波形加速度曲線實現較為困難，而三角形曲線最大加速度和在啟動及制動段的轉折點處的加速度變化率均大于梯形曲線，即+ρm跳變到-ρm或由-ρm跳變到+ρm的加速度變化率，故很少采用，因梯形曲線容易實現并且有良好加速度變化率頻繁指標，故被廣泛采用。 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 automaticseparation low speed signal, the system according to the optimizedcurve realization high accuracy even level, thus achieved the evenlevel accurate is reliable. 智能變頻器是為電梯的靈活調速、控制及高精度平層等要求而專門設計的電梯專用變頻器，可配用通用的三相異步電動機，并具有智能化軟件、標準接口、菜單提示、輸入電梯曲線及其它關鍵參數等功能。其具有調試方便快捷，而且能自動實現單多層功能，并具有自動優(yōu)化減速曲線的功能，由其組成的調速系統的爬行時間少，平層距離短，不論是雙繞組電動機，還是單繞組電動機均可適用，其最高設計速度可達4m/s，其獨特的電腦監(jiān)控軟件，可選擇串行接口實現輸入/輸出信號的無觸點控制。 變頻器構成的電梯系統，當變頻器接收到控制器發(fā)出的呼梯方向信號，變頻器依據設定的速度及加速度值，啟動電動機，達到最大速度后，勻速運行，在到達目的層的減速點時，控制器發(fā)出切斷高速度信號，變頻器以設定的減速度將最大速度減至爬行速度，在減速運行過程中，變頻器的能夠自動計算出減速點到平層點之間的距離，并計算出優(yōu)化曲線，從而能夠按優(yōu)化曲線運行，使低速爬行時間縮短至0.3s,在電梯的平層過程中變頻器通過調整平層速度或制動斜坡來調整平層精度。即當電梯停得太早時，變頻器增大低速度值或減少制動斜坡值，反之則減少低速度值或增大制動斜坡值，在電梯到距平層位置4—10cm時，有平層開關自動斷開低速信號，系統按優(yōu)化曲線實現高精度的平層，從而達到平層的準確可靠。 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 createpassenger's 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.電梯速度曲線 電梯運行的舒適性取決于其運行過程中加速度a和加速度變化率p的大小，過大的加速度或加速度變化率會造成乘客的不適感。同時，為保證電梯的運行效率，a、p的值不宜過小。能保證a、p最佳取值的電梯運行曲線稱為電梯的理想運行曲線。電梯運行的理想曲線應是拋物線-直線綜合速度曲線，即電梯的加、減過程由拋物線和直線構成。電梯給定曲線是否理想，直接影響實際的運行曲線。 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速度曲線產生方法 采用的FX2-64MR　PLC，并考慮輸入輸出點要求增加了FX-8EYT、FX-16EYR、FX-8EYR三個擴展模塊和FX2-40AW雙絞線通信適配器，FX2-40AW用于系統串行通信。利用PLC擴展功能模塊D/A模塊實現速度理想曲線輸出，事先將數字化的理想速度曲線存入PLC寄存器，程序運行時，通過查表方式寫入D/A，由D/A轉換成模擬量后將速度理想曲線輸出。 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加速給定曲線的產生 8位D/A輸出0～5V/0～10V，對應數字值為16進制數00～FF，共255級。若電梯加速時間在2.5～3秒之間。按保守值計算，電梯加速過程中每次查表的時間間隔不宜超過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 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. 由于電梯邏輯控制部分程序最大，而PLC運行采用周期掃描機制，因而采用通常的查表方法，每次查表的指令時間間隔過長，不能滿足給定曲線的精度要求。在PLC運行過程中，其CPU與各設備之間的信息交換、用戶程序的執(zhí)行、信號采集、控制量的輸出等操作都是按照固定的順序以循環(huán)掃描的方式進行的，每個循環(huán)都要對所有功能進行查詢、判斷和操作。這種順序和格式不能人為改變。通常一個掃描周期，基本要完成六個步驟的工作，包括運行監(jiān)視、與編程器交換信息、與數字處理器交換信息、與通訊處理器交換信息、執(zhí)行用戶程序和輸入輸出接口服務等。在一個周期內，CPU對整個用戶程序只執(zhí)行一遍。這種機制有其方便的一面，但實時性差。過長的掃描時間，直接影響系統對信號響應的效果，在保證控制功能的前提下，最大限度地縮短CPU的周期掃描時間是一個很復雜的問題。一般只能從用戶程序執(zhí)行時間最短采取方法。電梯邏輯控制部分的程序掃描時間已超過10ms，盡管采取了一些減少程序掃描時間的辦法，但仍無法將掃描時間降到10ms以下。同時，制動段曲線采用按距離原則，每段距離到的響應時間也不宜超過10ms。為滿足系統的實時性要求，在速度曲線的產生方式中，采用中斷方法，從而有效地克服了PLC掃描機制的限制。 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. 起動加速運行由定周期中斷服務程序完成。這種中斷不能由程序進行開關，一旦設定，就一直按設定時間間隔循環(huán)中斷，所以，起動運行條件需放在中斷服務程序中，在不滿足運行條件時，中斷即返回。 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. 3.3減速制動曲線的產生 為保證制動過程的完成，需在主程序中進行制動條件判斷和減速點確定。在減速點確定之前，電梯一直處于加速或穩(wěn)速運行過程中。加速過程由固定周期中斷完成，加速到對應模式的最大值之后，加速程序運行條件不再滿足，每次中斷后，不再執(zhí)行加速程序，直接從中斷返回。電梯以對應模式的最大值運行，在該模式減速點到后，產生高速計數中斷，執(zhí)行減速服務程序。在該中斷服務程序中修改計數器設定值的條件，保證下次中斷執(zhí)行。 在PLC的內部寄存器中，減速曲線表的數值由大到小排列，每次中斷都執(zhí)行一次“表指針加1”操作，則下一次中斷的查表值將小于本次中斷的查表值。門區(qū)和平層區(qū)的判斷均由外部信號給出，以保證減速過程的可靠性。 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. 4.電梯控制系統 4.1電梯控制系統特性 在電梯運行曲線中的啟動段是關系到電梯運行舒適感指標的主要環(huán)節(jié),而舒適感又與加速度直接相關,根據控制理論,要使某個量按預定規(guī)律變化必須對其進行直接控制,對于電梯控制系統來說,要使加速度按理想曲線變化就必須采用加速度反饋,根據電動機的力矩方程式:M—MZ=ΔM=J（dn/dt），可見加速度的變化率反映了系統動態(tài)轉距的變化，控制加速度就控制系統的動態(tài)轉距ΔM=M—MZ。故在此段采用加速度的時間控制原則，當啟動上升段速度達到穩(wěn)態(tài)值的90%時，將系統由加速度控制切換到速度控制，因為在穩(wěn)速段，速度為恒值控制波動較小，加速度變化不大，且采用速度閉環(huán)控制可以使穩(wěn)態(tài)速度保持一定的精度，為制動段的精確平層創(chuàng)造條件。在系統的速度上升段和穩(wěn)速段雖都采用PI調節(jié)器控制，但兩段的PI參數是不同的，以提高系統的動態(tài)響應指標。 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 system’s 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 motor’s 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 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. 在系統的制動段，即要對減速度進行必要的控制，以保證舒適感，又要嚴格地按電梯運行的速度和距離的關系來控制，以保證平層的精度。在系統的轉速降至120r/min之前，為了使兩者得到兼顧，采取以加速度對時間控制為主，同時根據在每一制動距離上實際轉速與理論轉速的偏差來修正加速度給定曲線的方法。例如在距離平層點的某一距離L處，速度應降為　Vm/s，而實際轉速高為V′m/s，則說明所加的制動轉距不夠，因此計算出此處的給定減速度值-ag后，使其再加上一個負偏差ε，即使此處的減速度給定值修正為-（ag+ε）使給定減速度與實際速度負偏差加大，從而加大了制動轉距，使速度很快降到標準值，當電動機的轉速降到120r/min　以后，此時轎廂距平層只有十幾厘米，電梯的運行速度很低，為防止未到平層區(qū)就停車的現象出現，以使電梯能較快地進入平層區(qū)，在此段采用比例調節(jié)，并采用時間優(yōu)化控制，以保證電梯準確及時地進入平層區(qū)，以達到準確可靠平層。 4.2 elevators controls constitution Because the elevator movement is according to the floor and the theater box calling signal, the travelling schedule signalcarries on the control, but the floor and the theater box call isstochastic, therefore, the systems control uses the stochastic logicalcontrol. Namely in realizes in the elevator basic control requestfoundation by the smooth logic control, according to stochastic inputsignal, as well as elevator corresponding condition at the rightmoment control elevator movement. Moreover, the theater boxposition is determined by the pulse encoder pulse number that, anddelivers PLC the counter to carry on the control. At the same time,each building establishes to approach the switch to use in to examinethe system the floor signal. In order to be advantageous for the observation, is at the floor tothe elevator movement direction as well as the elevator to carry onthe demonstration, uses LED and the photo tube demonstrated, but tothe floor and the theater box calling signal to the indicating lampdemonstrated (on switch has indicating lamp). 4.2電梯控制構成 由于電梯的運行是根據樓層和轎廂的呼叫信號、行程信號進行控制，而樓層和轎廂的呼叫是隨機的，因此，系統控制采用隨機邏輯控制。即在以順序邏輯控制實現電梯的基本控制要求的基礎上，根據隨機的輸入信號，以及電梯的相應狀態(tài)適時的控制電梯的運行。另外，轎廂的位置是由脈沖編碼器的脈沖數確定，并送PLC的計數器來進行控制。同時，每層樓設置一個接近開關用于檢測系統的樓層信號。 In order to enhance the elevator the operating efficiency peacefullevel precision, the system requests PLC to be able to theater boxCanada, to decelerate as well as to apply the brake to carry on theeffective control. Realizes according to the theater box physicallocation as well as the exchange velocity modulation system controlalgorithm. For the elevator movement security, the system shouldestablish the reliable fail safe and the corresponding demonstration.Uses the PLC realization the elevator control system to constitute byfollowing several main parts. 為便于觀察，對電梯的運行方向以及電梯所在的樓層進行顯示，采用LED和發(fā)光管顯示，而對樓層和轎廂的呼叫信號以指示燈顯示(開關上帶有指示燈)。 為了提高電梯的運行效率和平層的精度，系統要求PLC能對轎廂的加、減速以及制動進行有效的控制。根據轎廂的實際位置以及交流調速系統的控制算法