3948 自動引導小車（AGV)的結構設計,自動,引導,引誘,小車,agv,結構設計 南京理工大學泰州科技學院學生畢業(yè)設計（論文）中期檢查表學生姓名 曹曉華 學 號 0501510113 指導教師 武培軍 吳晟課題名稱 自動引導小車（AGV)的結構設計難易程度 偏難 適中 √ 偏易選題情況工作量 較大 合理 √ 較小任務書 有 √ 無開題報告 有 √ 無符合規(guī)范化 的要求外文翻譯質(zhì)量 優(yōu) 良 √ 中 差學習態(tài)度、出勤情況 好 √ 一般 差工作進度 快 按計劃進行 √ 慢中期工作匯報及解答問題情況優(yōu) 良 √ 中 差中期成績評定：良所在專業(yè)意見：學習較主動、積極，態(tài)度認真，階段成果較明顯。負責人： 年 月 日 南京理工大學泰州科技學院畢業(yè)設計（論文）任務書系 　 　 　 部 ： 機械工程系專 業(yè) ： 機械工程及自動化學 生 姓 名： 曹曉華學 號：0501510113設 計 (論 文 )題 目 ： 自動引導小車（AGV）的結構設計起 迄 日 期 : 2009 年 3 月 09 日 ~ 6 月 14 日設計 (論文 )地點 : 南京理工大學泰州科技學院指 導 教 師 : 武培軍 吳 晟專 業(yè) 負 責 人 : 龔光容發(fā)任務書日期: 2009 年 2 月 26 日畢 業(yè) 設 計（論 文）任 務 書1．本畢業(yè)設計（論文）課題應達到的目的：AGV 小車集人工智能、信息處理和圖像處理為一體，綜合了當今科技領域先進的理論和應用技術。在了解現(xiàn)代先進的關于機器人方面資料的前提下，結合自己所學的知識，設計出一種簡單實用，應用方便簡單的兩輪驅(qū)動的自動導引小車 AGV 和驅(qū)動裝置，可以有效培養(yǎng)學生綜合應用機械設計制造知識，并根據(jù)工程實際要求，進行問題的分析解決，從而提高獨立工作的能力，適應社會需求。2．本畢業(yè)設計（論文）課題任務的內(nèi)容和要求（包括原始數(shù)據(jù)、技術要求、工作要求等）：本課題是進行自動引導小車（AGV）的結構設計，其研究內(nèi)容如下：1、運用相關專業(yè)知識，完成課題的結構方案設計和相關工程設計計算； 2、完成控制系統(tǒng)的軟硬件設計和程序編制；3、按照工程制圖規(guī)范完成相關圖紙繪制，編寫設計說明書；應達到的技術要求如下：1、負載≤35KG；2、小車轉(zhuǎn)彎半徑≥71cm；3、小車最大速度≤10m/min。畢 業(yè) 設 計（論 文）任 務 書3．對本畢業(yè)設計（論文）課題成果的要求〔包括畢業(yè)設計論文、圖表、實物樣品等〕：1、相關資料的英文翻譯與文獻綜述；2、設計自動引導小車的結構；3、設計單片機的控制系統(tǒng)，繪制控制系統(tǒng)原理圖；4、畢業(yè)設計論文。畢業(yè)設計成果以設計圖樣和說明書形式提交。要求圖樣規(guī)范，符合國家標準；說明書層次分明、論據(jù)可靠、計算正確、圖標規(guī)范、語句通順。4．主要參考文獻：[1] 朱光力．專用自動鉆床液壓傳動系統(tǒng)設計．北京：機床與液壓，2004．[2] 徐灝主編．機械設計手冊．北京：機械工業(yè)出版社，1991．[3] 王衛(wèi)兵等．可編程序控制器原理及應用．北京：機械工業(yè)出版社，1998．[4] 許福玲，陳堯明主編．液壓與氣壓傳動．北京：機械工業(yè)出版社，2004．[5] 邱宣懷主編．機械設計．北京：高等教育出版社，1997．[6] 王伯平主編．互換性與測量技術基礎．北京：機械工業(yè)出版社，2000．畢 業(yè) 設 計（論 文）任 務 書5．本畢業(yè)設計（論文）課題工作進度計劃：起 迄 日 期 工 作 內(nèi) 容2009 年3 月 9 日 ~ 3 月 23 日3 月 24 日 ~ 4 月 6 日4 月 7 日 ~ 5 月 11 日5 月 12 日 ~ 5 月 31 日6 月 1 日 ~ 6 月 9 日6 月 10 日 ~ 6 月 14 日熟悉課題，準備相關資料，完成資料翻譯設計自動引導小車的結構，進行相關傳動零件的設計，繪制裝配圖設計單片機的控制系統(tǒng)，繪制控制系統(tǒng)原理圖控制系統(tǒng)的軟件流程圖設計，編寫圓弧插補程序撰寫并打印設計說明書，整理相關資料準備論文答辯所在專業(yè)審查意見：負責人： 2008 年 月 日系部意見：系部主任： 2008 年 月 日南京理工大學泰州科技學院畢業(yè)設計(論文)前期工作材料學 生 姓 名 : 曹曉華 學 號： 0501510113系 　 部 : 機械工程系專 業(yè) : 機械工程及自動化設 計 (論 文 )題 目 : AGV 自動引導小車的設計指 導 教 師 : 武培軍 高工 吳 晟 助教材 料 目 錄序號 名 稱 數(shù)量 備 注1 畢業(yè)設計(論文)選題、審題表 12 畢業(yè)設計(論文)任務書 13 畢業(yè)設計(論文)開題報告〔含文獻綜述〕 14 畢業(yè)設計(論文)外文資料翻譯〔含原文〕 15 畢業(yè)設計（論文）中期檢查表 12009 年 5 月 南京理工大學泰州科技學院畢業(yè)設計(論文)外文資料翻譯系　　部： 機械系 專 業(yè)： 機械工程及自動化 姓 名： 曹曉華 學 號： 0501510113 外文出處： Programmable Controller Designe for Electro-poeumatic Systems 附 件： 1.外文資料翻譯譯文；2.外文原文。 指導教師評語：簽名： 年 月 日注：請將該封面與附件裝訂成冊。附件 1：外文資料翻譯譯文應用于電氣系統(tǒng)的可編程序控制器摘要 此項目主要是研究電氣系統(tǒng)以及簡單有效的控制氣流發(fā)動機的程序和氣流系統(tǒng)的狀態(tài)。它的實踐基礎包括基于氣流的專有控制器、自動化設計、氣流系統(tǒng)的控制程序和基于微控制器的電子設計。1.簡介使用電氣技術的自動化系統(tǒng)主要由三個組成部分：發(fā)動機或馬達，感應器或按鈕，狀如花瓣的控制零部件。現(xiàn)在，大部分的系統(tǒng)邏輯操作的控制器都被程序邏輯控制器（PLC）所取代。PLC 的感應器和開關是輸入端，而發(fā)動機的直接控制閥是輸出端，其中有一個內(nèi)部程序操控所有運行必需的邏輯，模擬其他的裝置如計算器、定時器等，對整個系統(tǒng)的運行狀態(tài)進行控制。因為可以根據(jù)需要無數(shù)次創(chuàng)建和模擬這樣的系統(tǒng)，所以皆由 PLC的使用，此項目有靈活的優(yōu)點。因此，可以節(jié)省時間，減少失誤的危險，同時在使用相同材料的情況下，它可以更加精密。市場上的許多家公司都使用了常規(guī)的 PLC，它不僅可以用氣流系統(tǒng)來控制，還可以用各種電氣設備。PLC 的用途廣泛，可以應用于許多工業(yè)生產(chǎn)中，甚至用于建筑物的安全和自動化系統(tǒng)中。由于以上的各種特性，在一些實際應用中 PLC提供了很多的資源，甚至包括不控制系統(tǒng)的資源，電氣系統(tǒng)就是一種這樣的應用。對于自動化的工程，PLC 的使用是比較昂貴的，尤其是對那些小型的系統(tǒng)。針對這種情況可行的一種辦法是創(chuàng)建一個可提供特定尺寸和功能的控制器。這種控制器可以根據(jù)微控制器來制作。這種基于微控制器的適用范圍比較小，只能用于一個類型的機器或者可以用做一個像普通 PLC一樣可以被編程的控制器，那樣它就可以通過可變化的邏輯程序來進行各種作業(yè)。所有的這些特性根據(jù)具體需要的不同而不同，具體的設計者的經(jīng)驗的不同而不同。但是這種設計的主要優(yōu)點在于設計人員非常了解自己的控制器，可以自由掌握控制器的大小尺寸，改變它的功能。這就意味著此項目有更多的獨特性，但同時系統(tǒng)的控制也由它的設計者所控制。2.電氣系統(tǒng)人們可以從一個自動化系統(tǒng)中找到三個上文中提到的基本部件，外加一個控制系統(tǒng)的邏輯線路。只有成熟先進的技術能做出特定的邏輯線路和執(zhí)行正確操作所需要的部件升級。對于一個簡單的運動，系統(tǒng)自動程序可以完成，但是對于間接或更加復雜的運動，系統(tǒng)的程序就會產(chǎn)生復雜的線路和錯誤的信號。這是就需要另一種方法可以節(jié)省時間，產(chǎn)生清晰線路，能夠防止偶然的信號交疊和線路堵塞。這種方式的不同標準的線路基法叫循序漸進式或規(guī)則系統(tǒng)，它對氣流和電氣系統(tǒng)非常有效，而且也是此項目的一個基礎。它包括根據(jù)發(fā)動機狀態(tài)各個不同變化所設基礎上的系統(tǒng)。第一步是為每個步驟設計那些種標準的線路。第二步是連接接收來自感應器，開關和先前的運動信號，同時把空氣或電傳送給每個步驟的補給線。如圖中所示，1 和 2 標準線路是為氣流的和電氣系統(tǒng)服務.我們能夠很清楚的看到每一步驟和下一個步驟之間的聯(lián)系。3.控制器內(nèi)部的應用原理上述方法可以使發(fā)動機的每一個運動都被很好地用步驟來定義。這也就是說發(fā)動機的每一次運動變化都是系統(tǒng)的一個新的狀態(tài)，而兩個不同狀態(tài)之間的轉(zhuǎn)變叫做步驟。先前提到的標準線路可以幫助設計人員定義系統(tǒng)的不同狀態(tài)和不同步驟的變化所帶來的不同環(huán)境。在設計的最后階段，系統(tǒng)中會有一個從來不變化的序列和明確的輸入和輸出端。我們把一個序列從輸入端輸入，經(jīng)過轉(zhuǎn)換后，由輸出端輸出。這些步驟的所有過程都是在微控制器內(nèi)部進行的，并且以同樣的方式在運行著。部件的序列在控制器里被 5個位元組規(guī)劃；每個部分都有程序的一個步驟結構。輸入端有二個位元組,輸出端有一個，其他結構部分和附加功能步驟有兩個。在編程之后，部件序列被內(nèi)部微控制器的記憶所儲藏，因此，他們是可讀的而且可以運行。不同于傳統(tǒng)的 PLC，這種控制器的工作目的是成為特定領域設計的多用控制器。傳統(tǒng)的 PLC 的系統(tǒng)運行程序是一個循環(huán)的線路：輸入一個圖像,運行所有的內(nèi)部程序, 然后升級輸出的狀態(tài)。這一個控制器以不同的方式工作,它讀取步驟的結構,等待輸入,然后升級或輸出，然后直接跳躍到下一個步驟，開始另一次的程序運行。它也有局限性，例如這種控制器有時會不執(zhí)行指令，在同一程序指令下，會出現(xiàn)某一個運行的反復等等，但是這一個問題可以通過外部的邏輯運行解決。另外，這中控制器在沒有序列的系統(tǒng)上不能夠被應用。這些局限性也是這個系統(tǒng)的特性，這種系統(tǒng)的每一個應用都必須要有相應的系統(tǒng)分析。4.控制器的特色這種控制器以微集成電路微控制器 PIC16F877 為基礎,它擁有全部此次項目所需要的資源。它有足夠的插孔，線路連續(xù)通訊 EEPROM 記憶解救系統(tǒng)的所有結構和步驟的序列。它提供了項目所需要的所有的運行，例如定時器和分岔等。我們做出了控制器的資源目錄，想盡可能的使它變的完善。在步驟的運行過程中，程序自動選擇如何讀取每一步驟的結構。這個操作有兩個位元組位于電子輸入處。一個位元組位于輸出端，還有一個被用作內(nèi)部定時器，類似輸入或暫停功能。EEPROM 記憶內(nèi)部是 256 位元組，可以儲藏所有步驟的運行,即可以儲藏 48個步驟之間的所有運行。除了一個互動菜單外，這種控制器還有一個控制臺和一些指令按鈕，他們一起控制各個步驟的運行和連續(xù)性，也控制其他的一些裝置。4．1 交互作用在實際運行操作中，控制器需要有一些輔助設備幫助它和使用者進行互動，可以提供可靠的操作監(jiān)控，同時對氣流系統(tǒng)進行邏輯控制。交互工作模式：在主要的程序中，使用者可以根據(jù)指導發(fā)出信號來進行具體步驟的操作LCD 平臺可以顯示系統(tǒng)工作的狀態(tài)，衡量輸入，輸出，計時器和運行的數(shù)據(jù)等。嘀嘀聲用來提示重要警示，停止，開始和一些緊急情況的發(fā)生亮燈表示接通電源，和輸入，輸出狀態(tài)。4．2 安全性如果想正常運行程序，必須保證每一個步驟都正確的執(zhí)行。更重要的是，應該有預防運行故障和問題的解決方法?？刂破魈峁┝诉@種可能性，通過使用兩個內(nèi)部虛擬線路同時運行。他們可以重新啟動程序，隨時恢復到程序的原有狀態(tài)。有兩個輸入端共同工作可以快速的運行這些功能。4．3 接口程序運行序列可以用控制器的接口來編程。一臺計算機的接口也可以用來升級使用程序。使用者能利用接口配置一連串定義序列的步驟位元組。但是也可以設計一個程序,利用可視資源為使用者翻譯所需要的信息。 但是，如果想聯(lián)結電腦接口和控制器，至少應該有一個儀器來保證數(shù)據(jù)的可靠性。4.4. 固件主要的線環(huán)是通過讀取EEPROM 記憶中的每一資訊步驟進行工作。 在每個步驟中，系統(tǒng)的狀態(tài)被儲存，同時它也在顯示器上被顯示。根據(jù)使用者的構造,它能利用分流或暫停應付緊急線路情況來保證系統(tǒng)安全。5. 電氣系統(tǒng)例子這種系統(tǒng)不只是適應于特定的機器。它由四個主動器組成。 主動器 A ， B 和 C 是兩倍的，只有 D是單倍的。第一步，主動器A 開始運行，并保持在一個特定的位置一直到一個循環(huán)的結束，如圖 5 所示它可以確定某一對象的下一運動。第二步，當A 完成了它的工作后，主動器 C 連同 B 一起開始盡可能多的產(chǎn)生電流圈，并受 B 的運行速度的限制，而 B 速度由一個流動的控制活瓣管理。B 和 C 是一起工作的主動器的例子,當 B 慢慢地推動一個物體的時候 , C 有時則重復它的工作。 第三步，當 B 到達最后的位置時候, C 停止立刻它的循環(huán)運動并且回到開始的位置。利用回旋的電流工作的主動器 D 連同 返回來的C一起工作。第四步，主動器 D 快速往返來回運動一次。 D 可以充當一個工具，在物體上的表面上打洞。當 D 返回開始的位置時候, A和 B 也同時返回，這是第五個步驟。圖 6 顯示了程序設計的第一部分。我們把每個步驟的所有運行統(tǒng)稱為 . (A+) 表示主動器 A 向前推動，而 (A-) 表示返回到開始的位置。 同時發(fā)生的運動在相同的步驟中被一起疊加。這個系統(tǒng)共有有五個步驟。圖 5 和 6 所表現(xiàn)的系統(tǒng)運行清楚的描述了所有序列。 利用他們我們可以用必需的邏輯語言設計整個的控制線路。但是現(xiàn)在還它還不是一個完整的系統(tǒng)，因為它還缺少一些輔助設施，（圖中沒有顯示）。 對于程序的最后運行，這些輔助設施十分的重要，因為他們能使線路有更多的功能。 他們中最重要的是連接在每一步驟中的平行線路。那一個線路能夠隨時停止序列而且將主動器的狀態(tài)換成一個特定的位置。它可以重起系統(tǒng)或是應付緊急情況。圖7 和 8 顯示的是在沒有使用控制器的情況下會發(fā)生的一些結果。 這些照片是控制線路的電圖表,包括感應器，控制鍵和電的活瓣卷。 另外的一些輔助設施也包括在這個系統(tǒng)中,比如自動機械/ 手動調(diào)控器，他們可以使系統(tǒng)不斷的循環(huán)工作；兩個開始控制鍵,他們能讓操作員手動控制系統(tǒng)的開始和停止，這樣就減少了發(fā)生意外事件的危險。6. 使用者變更例子規(guī)劃氣流線圈在前面已經(jīng)詳細說明過：它可以讓我們了解到控制一個系統(tǒng)所需要的條件，那就是在系統(tǒng)的實際運行中必須提供所有的功能設施。但是,如前面提到的那樣,使用一個 PLC 或特定的控制器 , 這種控制就變得比較容易的，而且系統(tǒng)的精密性也會提高。 使用傳統(tǒng)的 PLC的,如圖7，8所示，在繪制接口處的電圖表時，要注意線路的邏輯。使用這種可編程的控制器,使用者必須知道運行方法的觀念并且規(guī)劃每個步驟的結構。 那就是說，使用傳統(tǒng)的 PLC ，使用者清楚各個操作之間的關系。一般情況下，使用者可以在接口上運行一個模擬程序?qū)ふ疫壿嬌系腻e誤同之前所述的一樣，新的編程允許每一步驟的結構被分割。 序列獨自被定義，但每一步驟只被輸入和輸出端描述。 7. 結論這種控制器是專門為這一項目所設計的。顯示了一個以微控制器為基礎的非常有用的可編程的控制器。它不需要為了獲取微控制器里的資源而安裝外部記憶器或外部的定時器。除了微控制器之外,只有少量的零部件執(zhí)行一些如輸出，輸入，類比輸入,顯示接口和連續(xù)運行的情況等功能。單獨使用內(nèi)部記憶,我們可以控制一個有48個步驟的氣流系統(tǒng)，但是如果使用一個比較簡單的系統(tǒng)，就會達到60個步驟.控制器的變成不使用 PLC 語言，而是用一個比較簡單的和直覺的結構。利用電氣系統(tǒng)，我們的項目應用了相同的技術，但同時我們的設計更加直接。 一種非常簡單的機械語言能讓設計者用四或五個位元組定義步驟所有結構構成。這就要看他使用控制器的經(jīng)驗如何了。這種控制器雖然不能和商業(yè)的 PLC 相比，但是它原本就是為特定的的目的而設計的，所以很難說哪一個好哪一個壞。總之，我們的這個系統(tǒng)是基于微控制器而設計，簡單快捷。附件 2：外文原文（復印件）附件 2：外文原文Programmable Controller Designed forElectro-pneumatic SystemsSummary this item is mainly the procedure which studies electricity system and in brief valid control current of air to launch machine to compatibly flow the appearance of system. It of the fulfillment foundation include according to the control procedure of particularly have of the current of air controller, automation design, current of air system and design according to the electronics of the tiny controller.1. Brief introductionThe automation which uses an electricity technique mainly constitutes to. from 3 part: Launch machine or motor, sensor or button, the form is zero partses such as the control of flower petal. Now, greatly part of system logic the controllers of the operation drive all procedure logic controller (PLC) replace. PLC sensor and switch's aring an importation to carry, but launch the direct control valve of machine is an exportation to carry and have an internal procedure to operate among them all circulate essential logic, imitate other devices like calculator, in fixed time machine etc., carry on a control to the whole movement appearance of system.Can according to need numerous time to establish and imitate thus of system, so all from PLC usage, this item contains vivid advantage. Therefore can save time, the danger of decrease error, in the meantime under the sistuation that use same material, it can be getting more precise.Many company that is on the market used the PLC of normal regulations and it can not only control with the current of air system, but also can use various electricity equipments. PLC wide range of application, can be apply in much industry to produce medium, even used for safety and automation of building in.Because of above various characteristic, the PLC provided a lot of resourceses in somely physically appliedly, even include not a resources of control the system and the electricity system was a kind of application like this.For the engineering of automation, the PLC usage is more expensive, particularly is to those small scaled systems.Aim at this kind of circumstance's a kind of viable way establish a controller that can provide particular size and function. This kind of controller can create according to the tiny controller.This kind of applies scope according to the tiny controller smaller, the machine that can used for a type perhaps can use to do a be like the common PLC is similar and can be woven a distance of controller, so it can pass variable turn of logic procedure to carry on various homework. All of these characteristic basis concrete demand of dissimilarity but dissimilarity, concrete of design of empirical of dissimilarity but dissimilarity. But the main advantage of this kind of design lie in designing a personnel to understand an own controller very much, can freely control the big baby size of controller, change it of function. This means that this item contains more special, but in the meantime the control of system also from it of design control.2. Electricity systemPeople can find out to speak of in three preceding contexts from an automation of basic parts, the in addition is a logic circuit which controls system. The technique of only mature forerunner cans make a particular logic circuit and performance the parts that exactitude need when operate to get stripe.For a simple sport, the system auto procedure can complete, but for indirect or more complicated sport, the procedure of system will produce complicated circuit and false signal. This is need another method can save time, produce clear circuit, can keep accidental signal from hand over fold to stop with circuit.The line roadbed method of different standard of this kind of way call follow the sequence and advance gradually type or rule system, it to the current of air and the electricity system very valid, and is also a foundation of this item. It include according to launch the system of foundation that the machine appearance each dissimilarity variety establish.The square one is each circuit that the step designs those kinds of standards. The second step is a conjunction to receive to come from sensor and the switch sends the air or the fax to the supply line of each step in the meantime with previous sport signal. If show in the diagram, 1 with 2 standard circuits is a current of air of with the electricity system serve. We can know very much of see each one step suddenly with the contact of the of next step.3. The applied principle of controller inner partThe above-mentioned method can make each sport of launch the machine nicely defined with the step. This be also a new appearance which says that the every sport varieties of launch the machines are systems, but the change of of two different appearances be called a step.The standard circuit which speaks of in times before can the in aid of design personnel define different appearance different from what the variety of different step bring environment of system. The end stage in design will have a sequence and explicit input and output which never changes to carry in the system. We carry a sequence is from the importation the importation be through conversion carried exportation by the exportation.All processes of these steps carry on in the tiny controller inner part, and with same of the way is circulate. The sequence of parts is program by 5 bytes in the controller; Each part contains a step structure of procedure. The importation carries two bytes, the exportation carries 1, and part of and additional function steps of other structure contain 2.After weave distance, the parts sequence is store by the remember of internal and tiny controller, therefore, they are readable and can circulate.Differ from traditional PLC, the work purpose of this kind of controller is to become particular realm to design of use controller more. The system of traditional PLC's circulating procedure is a circuit of circulation: Input a picture, circulate all internal procedures, then get stripe output's appearance. This controller work in different way, it read the structure of step, wait for an importation, then get stripe or output, then directly jump up next step, start another procedure movement.It has already limitted sex as well, for example this kind of controller sometimes doesn't carry out instruction, will appear a certain movement again and again an etc. under same procedure instruction, but this problem can resolve through an exterior logic movement. Moreover, this win the controller is have no sequence of the system top can't be apply enough. These limit sex is also this system of characteristic, each applications of this kind of system have to include homologous system analysis.4. The special features of the controllerThis kind of controller takes tiny tiny controller PIC16 F877 of the integrated circuit as foundation and it owns all the resources need by this subitem. It has an enough socket and the circuit continuous communication EEPROM memory gives relief to all structure of the system and the sequence of the step. It provided the movement of havings need by item, for example in fixed time machine with diverge etc..We did the resources catalogue of controller, want to make it change possibly of perfect. In the movement process of step, the procedure automatically chooses how to read an each one step suddenly of structure. This operation has two bytes to be located on an electronics importation. A byte is also located on exportation to carry, have 1 to be used to inner part in fixed time a machine, similar input or pause function. The EEPROM memory inner part is 256 bytes, can store all movements of steps, then with all movements of which stores 48 steps.In addition to an interactive menu, this kind of controller still has a control set and some instruction to press button and they control the movement of each step together with continuous and also control a little bit other devices.4.1 hand over with each other a functionAt actual circulate in operation, the controller needs some assistance equipmentses to help it and the user carry on interaction, can provide dependable of operation supervision, carry on a logic control to the current of air system in the meantime.Hand over to with each other work mode: In the main procedure, the user can send out signal to carry on the operation of concrete step according to the instructionThe LCD terrace can show the appearance of system work, measure an importation, output, timer and circulate of data etc..The voice of Di Di is use to hint important caution, stop, the take place of beginning and some urgent circumstances bright light means to connect power supply, with importation, output appearance.4.2 safetiesIf want to normally circulate procedure, have to promise each performance with all correct step. More important, should there is prevention circulating to break down and problem of resolve a method. The controller provided this kind of possibility and passed to use two internal and virtual circuits to circulate in the meantime. They can re- start procedure and recover the original appearance of procedure at any time. There are two importations carrying a common work can quickly circulate these functions.4.3 connectThe procedure movement sequence can use connect of controller to weave a distance. A set calculator connects and can also use to get stripe usage procedure. The user can make use of to connect to install a series of steps bytes which define a sequence. But can also design a procedure, the exploitation can treat resources as the information that user need when translate. But, if want combining a computer connects and controller, should have an instrument to the credibility of the assurance data at least.4.4. FirmwareMain line wreath is pass to read EEPROM memory in of each information step carry on a work. In each step, the appearance of system is store and it also is show on the display in the meantime. According to the structure of user, it can make use of reposition of redundant personnel or pause to cope with an urgent circuit circumstance to promise a system safety.5. Electricity system exampleThis kind of system is much more than an orientation at the particular machine. It constitutes to°from four active machines. The active machine A, B and C are double and only the D be doubly a list. Square one, the active machine A starts circulate, and keep in a particular position until a be over of circulation, such as figure 5 show it can make sure some one object of under one sport. The second step, was A to complete it of work after, the active machine C is together with the B start together many creation electric current a turn possibly, and be subjected to the restriction of B movement speed, but the B speed be lived a petal management by a control of fluxion. B and C is work together of active machine of example, be the B slowly pushes an object of time, the C sometimes then repeats it of work. The third step, be the position time that the B arrives an end, the C is immediately stop it of the circulation exercise and return to the position of beginning. The active machine D that the electric current that the exploitation return work together with return of the C works together. The fourth step, the active machine D quickly goes back and forth a return to exercise once. The D can act as a tool, the superficial dozen that is on the object hole. When the D returns to the position time of beginning, AN and B also return in the meantime and this be the fifth step.Diagram 6 showed program design the first part. We know together as all movements of each step. (A+) mean that the active machine A pushes forward, but(A-) means to return to the position of beginning. Sport of the simultaneous with is together fold to add in the same step. This system totally has five steps. Diagram 5 circulate with 6 systems for express clear of described all sequences. Make use of them, we can design with the essential logic language whole of control circuit. But now return it not just an integrity of system, because it is still in need of some assistance facilities, .(diagram in show) Circulate to the end of procedure, these assistance facilitieses are very important, because they can make the circuit have more functions. They win the most important is a conjunction in eachly the one step suddenly of parallel circuit. That circuit can stop a sequence and change the appearance of active machine into a particular position at any time. It can heavy system or cope with an urgent circumstance. Diagram 7 with 8 what to shows be some results that will take place under the sistuation that have no usage controller. These photographs are the electricity charts which controls circuit, include sensor, control key and give or get an electric shock of live petal book. Moreover some assistance facilities also include in this system, the for example automatic machine/ hand moves to adjust to control a machine, they can make system continuous of circulating work; Two beginning control keys, they can let the operator hand move a beginning of control the system with stop, so reduced to take place an accident of danger.6. The user changes an example programmingCurrent of air coil fore the noodles has already elaborated on: It can let us understand to control the condition that a system need and that is in the actual movement in system and have to provide all function facilities. But, such as before speak of of so, use a PLC or particular controller, this kind of control becomes more easy of, and the nicety of the system will also raise. The usage traditional PLC of, such as figure 7, 8 show, notice while draw electricity chart of connect the logic of circuit. The usage is this kind of programmable controller and the user needs to know to circulate the idea of the method and the structure of the programming each step. That is to say, use traditional PLC, the user knows the relation of of each operation. Under the general circumstance,User can before connecting a people's top to circulate 1 to imitate procedure to look for a logical mistake together say of similar, new of plait the distance allow an each one step suddenly of the structure be partition. The sequence is alone define, but each one step suddenly be carry by the input and output to describe. 7. ConclusionThis kind of controller's ising specialized is what this item design. Showed 1 takes tiny controller as the programmable controller of basal great use. It doesn't need for obtaining the resources in the tiny controller but installing exterior memory a machine or exterior in fixed time a machine. In addition to tiny controller outside, only have a little amount of zero parts performance some like output, importation, type ratio importation, show a circumstance of connect the and continuous movement etc. function.Use inner part memory alone, we can control a current of air system which has 48 steps, but if use a more simple system, will attain 60 steps. The controller becomes not to use PLC language, but use one more simple of with intuition of structure. Make use of electricity system, our items applied a same technique, but our designs be getting more direct in the meantime. A kind of very simple machine language can the one who let design use 4 or 5 byte definition a step all structure composing. This will see how experience that he use controller is .Although this kind of controller can't compare with the PLC of business, it is originally particular of of purpose but design of, so hard to say which good which bad. In fine, our this systems are in brief fast according to tiny controller but design.