摘要在现代的物流仓储系统中，自动化立体仓库应用日益广泛。而堆垛机性能的优劣，对整个立体库的正常运行起着重要的作用。在自动化立体仓库中设计出造价低廉、工作可靠的堆垛机替代原有仓库的控制和管理，能更加适应某些中小企业要求投资少见效快的目标。本论文就实现这一目标的堆垛机控制系统进行了设计。本文详细阐述了本控制系统的设计思想，以及整个系统的硬件实现和软件设计。本文所述系统采用先进的PLC控制器控制，变频器驱动的闭环交流伺服系统。采用光电传感器检测堆垛机位置，分析了堆垛机的工作过程，并研究了堆垛机运动制、认址检测方式，实现了堆垛机的定位方案。采用S7-200PLC对堆垛机系统进行控制，并给出关键部分的程序。为了监控和管理立体仓库的运行状态，利用组态王软件对立体仓库的运行情况设计了一个实时监控系统。该系统能对现场数据进行采集处理，管理人员只要通过运行监控系统就可以实时监控立体仓库的工作状态，保证了正常运作，对出现的问题作出及时的判断和处理。关键字：自动化立体仓库；堆垛机；PLC；组态AbstractInmodemlogisticswarehousingsystems，automatedstorageisincreasinglywidespread．Performanceofthestackerplaysanimportantrole．Newstackerwhichislowcostandreliablereplacetheoriginalcontrolandmanagementoftheautomatedstorage．Thenewstackercanbebetteradaptedtotherequirementsoflowinvestmentandsomesmallormedium-sizedquickgoals．Thispaperelaboratedonthedesignofthesystemofcontrol,aswellastheimplementationofthesystem,shardwareandthedesignofthesoftware.Inthispaperitisusedthatthemodemclosed-loopACservo-systemcontrolledbyPLCandtransducer.Light-electricitysensorsareusedtomeasuredisplacementofthehaystacker．Theyareanalyzed，whichincludeworkprocess，thewayofrecognizingthesiteandtherunningcontrolinthehaystackersystem.theS7-200PLCisusedtothemicro-controllerintheautomatedstorage,andgivesakeypartoftheprogram.Inordertomonitorandmanagetheoperationoftridimensionalwarehousestatus，withtheinputofconfigurationsoftwarefortheoperationoftridimensionalwarehousehasareal．timemonitoringsystem．Thesystemiscapableofon-sitedatacollectionandprocessing，theoperatorcouldlaunchthemonitoringsystemtogetareal-timeupdatesoftheworkingstatusofthewarehouse，toensureasafeoperationandimmediateerrorshootingandcorrectiontreatment．KeyWords:theautomationstereoscopicwarehouse;stacker;PLC;Kingview目录摘要........................................................................................................................................................I第1章绪论............................................................................................................................................11.1研究背景.....................................................................................................................................11.2国内外研究现状和发展趋势.....................................................................................................21.2.1自动化立体仓库的发展..................................................................................................21.2.2堆垛机的发展..................................................................................................................21.3课题研究的意义.........................................................................................................................21.4研究的主要内容.........................................................................................................................3第2章自动化立体仓库总体方案................................................
