用ARM微控制器实现堆垛机控制的关键技术研究
摘要
目前,立体仓库的应用越来越广泛,而立体仓库的管理是建立在对堆垛机进行有效控制的基础之上的,传统的堆垛机控制器通常采用PLG、单片机。PLC控制器性能可靠,在堆垛机控制中已经得到广泛应用,但缺点是价格太高。随着嵌入式系统的不断发展、微控制器性能不断提高,许多控制系统都趋于使用新一代的微控制器。
本文在这一背景下,提出一种用ARM微控制器实现堆垛机控制的方案。首先,分析了堆垛机控制系统的功能,给出了系统的模块化结构设计。重点研究和设计了限位开关信号检测电路、电机驱动电路、终端继电保护电路。根据硬件设计的模块划分,设计了适用于堆垛机控制系统的IIC总线驱动程序、PWM定时器驱动程序、键盘驱动程序、电机驱动程序等。同时,探讨了在本系统中,移植μC/OS-II操作系统需要修改的重要程序。在此基础上,对堆垛机控制系统的自动运行步骤进行分析,设计了自动运行步骤的数据结构,构建了关键执行函数,设计出自动运行的算法结构。
论文针对ARM微控制器及堆垛机进行了分析、研究,最终根据文中提出的方案,设计并实现了用S3C44BOX微控制器对堆垛机进行手动、下位机、上位机自动取货、送货功能。
Nowadays, the automatic warehouse has been applied more widely. However, the management of the automatic warehouse is based on the effective control of the Stacking Crane. Traditionally PLC or single chip processor acts as the controller of the Stacking Crane. PLC controller is used widely in controlling the Stacking Crane as its steady performance. Nevertheless, the defect of the PLC controller is the high price. With the continuous development of the Embedded System and the Micro Processor, more and more control systems tend to use the new Micro Processor.
Under such technical application background, a method was presented to use ARM processor to realize the control of the Stacking Crane. This paper analyzed the function of the Stacking Crane control system firstly and proposed the module structure of the control system. Then the detect circuit of travel switch, motor driver circuit and the protect circuit of terminal were discussed deeply. Based on the module partition of hardware, this paper designed programs of IIC Bus driver, PWM timer driver, keyboard driver and motor driver. Also, the modification of important program to transplantμC/OS-II embedded operating system was discussed. On the base of hardware and software, the thesis analyzed the step of automatic running, designed the data structure, and constructed key function to execute the step.
This paper analyzed and summarized ARM Processor and the Stacking Crane. The function of running the Stacking Crane to carry or get goods controlled manually, automatically or by PC was designed and realized finally based on the method mentioned in this paper.
本文在这一背景下,提出一种用ARM微控制器实现堆垛机控制的方案。首先,分析了堆垛机控制系统的功能,给出了系统的模块化结构设计。重点研究和设计了限位开关信号检测电路、电机驱动电路、终端继电保护电路。根据硬件设计的模块划分,设计了适用于堆垛机控制系统的IIC总线驱动程序、PWM定时器驱动程序、键盘驱动程序、电机驱动程序等。同时,探讨了在本系统中,移植μC/OS-II操作系统需要修改的重要程序。在此基础上,对堆垛机控制系统的自动运行步骤进行分析,设计了自动运行步骤的数据结构,构建了关键执行函数,设计出自动运行的算法结构。
论文针对ARM微控制器及堆垛机进行了分析、研究,最终根据文中提出的方案,设计并实现了用S3C44BOX微控制器对堆垛机进行手动、下位机、上位机自动取货、送货功能。
Nowadays, the automatic warehouse has been applied more widely. However, the management of the automatic warehouse is based on the effective control of the Stacking Crane. Traditionally PLC or single chip processor acts as the controller of the Stacking Crane. PLC controller is used widely in controlling the Stacking Crane as its steady performance. Nevertheless, the defect of the PLC controller is the high price. With the continuous development of the Embedded System and the Micro Processor, more and more control systems tend to use the new Micro Processor.
Under such technical application background, a method was presented to use ARM processor to realize the control of the Stacking Crane. This paper analyzed the function of the Stacking Crane control system firstly and proposed the module structure of the control system. Then the detect circuit of travel switch, motor driver circuit and the protect circuit of terminal were discussed deeply. Based on the module partition of hardware, this paper designed programs of IIC Bus driver, PWM timer driver, keyboard driver and motor driver. Also, the modification of important program to transplantμC/OS-II embedded operating system was discussed. On the base of hardware and software, the thesis analyzed the step of automatic running, designed the data structure, and constructed key function to execute the step.
This paper analyzed and summarized ARM Processor and the Stacking Crane. The function of running the Stacking Crane to carry or get goods controlled manually, automatically or by PC was designed and realized finally based on the method mentioned in this paper.
引文
[1]刘昌祺,自动化立体仓库设计[M].北京：机械工业出版社
[2]张铁异,堆垛机PLC控制系统的设计,装备制造技术,2007.7:33-36
[3]于复生,堆垛机的单片机控制系统研究,微计算机信息(测控自动化),2005.21(3)：36-37
[4]潘锋,立体仓库的自动控制系统设计,电气时代,2005.12:64-65
[5]田泽.嵌入式系统开发与应用[M].北京：北京航空肮天大学出版社,2005.1.第1版.
[6]范圣一.ARM原理与嵌入式系统实战[M].北京：机械工业出版社.2007.7.
[7]丁守磊.基于S3C44B0X的自动抄表控制器的研究与开发.中南大学硕士学位论文.2007.
[8]李超,肖建编著.嵌入式Linux开发技术与应用[M].北京：电子工业出版社.2008.5.
[9]李岩.荣盘祥编著.基于S3C44B0X嵌入式μCLinux系统原理及应用[M].北京：清华大学出版社.2005.1.
[10]史建平.PLC在控制模块式立体车库中的应用.常州工学院学报,2002
[11]贡文伟.自动化立体仓库故障诊断技术研究：[学位论文].江苏理工大学,2001
[12]杜志勇,王鲜芳.S7-300Z在立体仓库堆垛机上的应用[J].广东自动化与信息工程,2004,(2)：13-15.
[13]周兴万.自动化立体仓库中堆垛机的位置定位和速度控制[J].基础自动化.1998(6)：48-54.
[14]何国金.机械电气自动控制[M].重庆：重庆大学出版社,2002.
[15]王晓辉.自动化立体仓库堆垛机控制系统的设计[J].制造业自动化.2002,9：70-72.
[16]何芳,王前虹,李爱本.基于组态王6.0的立体仓库网络控制系统[J].控制工程.2003,10:86-88.
[17]章昌南.自动化立体仓库及控制[J].电气自动化,1990.3.
[18]周宏雷.巷道式堆垛机工作制度的制定[J].太原重型机械学院学报,1998,20(4)：3532359.
[19]孙金根等.立体库PC控制系统[J].沈阳工业学院学报,1999,(1):68-71.
[20]洪镇南.PLC网络在自动化立体仓库堆垛机上的应用[J].工业控制计算机,2002,(5)：55-56.
[21]胡昌思.全新概念的自动化立体仓库[J].制造自动化,2002,(7):62-67.
[22]杜志勇,王鲜芳.用PLC实现中型立体仓库控制[J].实验室研究与探索,2004,23(11)：34-37.
[23]于海生等.微型计算机控制技术[M].北京：清华大学出版社,2002
[24]冯占营,郭向亮.自动化立体仓库堆垛机优化控制技术[J].信息技术与信息化,2006(1)：102-103
[25]胡赤兵,芦俊,梅丽文等.邮包自动化立体仓库的控制与管理系统设计[J].佳工机电网,2007(1)
[26]MAX3232C datasheet
[27]Samsung Limited. S3C44B0X user's manual,2001
[28]沈连丰,宋铁成,叶芝慧.嵌入式系统及其开发应用[M].北京：电子工业出版社,2005.
[29]孙秋野,孙凯,冯健.ARM嵌入式系统开发典型模块[M].人民邮电出版社.2007.1.
[30]郝淑凤.基于ARM的uClinux移植的研究.辽宁工程技术大学[D].[硕士学位论文].2005,12
[31]S3CEV40使用手册(Version2.1)[M/CD]深圳英培特科技有限公司,2004.
[32]王学龙.嵌入式Linux系统设计与应用[M],清华大学出版社,2001.8,243-35
[33]孙海彬,傅谦,徐良贤.Linux内核模块的实现机制微型机与应用[M].2000.11
[34]PCA9555 datasheet
[35]Alessandro Rubini. Linux Device Drivers.0'Reilly,1998.
[36]Daniel Pirre. Under standing the Linux Kernel. O'Reilly,2000
[37]SAMSUNG ELECTRONICS COXTD.SamsungS 3C44BOX User's Manual, R evisionl, Kor,2000
[38]SD Memory Card Specifications Part1 PHYSICAL LAYER Specification Version 1.01 April 15,2001, SD Group
[39]ARM Limited. The ARM-Thumb Procedure Call Standard.2000.
[40]McQueen, Douglas H, Olsson H. Growth of embedded software related patents Technovation,v23, n6,June,2003:533-544
[41]TanT.K, Raghunathan A, JhaN.K. EMSIM. An energy simulation framework for an embedded o perating system. IEEE International Symposium on Circuits and Systems, v2,2002:464-469
[42]ARM Limited. A RM7TDMI(Rev4) Technical Reference Manual,2001
[43]Cai Xia, Lyu Michael, R. Wong, et al. Component-based embedded software Engineering:Development framework, quality assurance and a generica ssessment environment. International Journal of Software Engineering and Knowledge Engineering, v12,n2, April,2002:107-133
[44]Giannopoulos Nikos,Roy Rajkumar,Taratoukhine Victor,et al. Embedded systems software cost estimating within the concurrent engineering. Environment Proceedings of the 10th ISPE International Conference on Concurrent Engineering,2003:353-357
[45]ARM Limited.The ARM-THUMB Procedure Call Standard,2000.
[46]ARM Limited. ARM Development Guide,2000-2001
[2]张铁异,堆垛机PLC控制系统的设计,装备制造技术,2007.7:33-36
[3]于复生,堆垛机的单片机控制系统研究,微计算机信息(测控自动化),2005.21(3)：36-37
[4]潘锋,立体仓库的自动控制系统设计,电气时代,2005.12:64-65
[5]田泽.嵌入式系统开发与应用[M].北京：北京航空肮天大学出版社,2005.1.第1版.
[6]范圣一.ARM原理与嵌入式系统实战[M].北京：机械工业出版社.2007.7.
[7]丁守磊.基于S3C44B0X的自动抄表控制器的研究与开发.中南大学硕士学位论文.2007.
[8]李超,肖建编著.嵌入式Linux开发技术与应用[M].北京：电子工业出版社.2008.5.
[9]李岩.荣盘祥编著.基于S3C44B0X嵌入式μCLinux系统原理及应用[M].北京：清华大学出版社.2005.1.
[10]史建平.PLC在控制模块式立体车库中的应用.常州工学院学报,2002
[11]贡文伟.自动化立体仓库故障诊断技术研究：[学位论文].江苏理工大学,2001
[12]杜志勇,王鲜芳.S7-300Z在立体仓库堆垛机上的应用[J].广东自动化与信息工程,2004,(2)：13-15.
[13]周兴万.自动化立体仓库中堆垛机的位置定位和速度控制[J].基础自动化.1998(6)：48-54.
[14]何国金.机械电气自动控制[M].重庆：重庆大学出版社,2002.
[15]王晓辉.自动化立体仓库堆垛机控制系统的设计[J].制造业自动化.2002,9：70-72.
[16]何芳,王前虹,李爱本.基于组态王6.0的立体仓库网络控制系统[J].控制工程.2003,10:86-88.
[17]章昌南.自动化立体仓库及控制[J].电气自动化,1990.3.
[18]周宏雷.巷道式堆垛机工作制度的制定[J].太原重型机械学院学报,1998,20(4)：3532359.
[19]孙金根等.立体库PC控制系统[J].沈阳工业学院学报,1999,(1):68-71.
[20]洪镇南.PLC网络在自动化立体仓库堆垛机上的应用[J].工业控制计算机,2002,(5)：55-56.
[21]胡昌思.全新概念的自动化立体仓库[J].制造自动化,2002,(7):62-67.
[22]杜志勇,王鲜芳.用PLC实现中型立体仓库控制[J].实验室研究与探索,2004,23(11)：34-37.
[23]于海生等.微型计算机控制技术[M].北京：清华大学出版社,2002
[24]冯占营,郭向亮.自动化立体仓库堆垛机优化控制技术[J].信息技术与信息化,2006(1)：102-103
[25]胡赤兵,芦俊,梅丽文等.邮包自动化立体仓库的控制与管理系统设计[J].佳工机电网,2007(1)
[26]MAX3232C datasheet
[27]Samsung Limited. S3C44B0X user's manual,2001
[28]沈连丰,宋铁成,叶芝慧.嵌入式系统及其开发应用[M].北京：电子工业出版社,2005.
[29]孙秋野,孙凯,冯健.ARM嵌入式系统开发典型模块[M].人民邮电出版社.2007.1.
[30]郝淑凤.基于ARM的uClinux移植的研究.辽宁工程技术大学[D].[硕士学位论文].2005,12
[31]S3CEV40使用手册(Version2.1)[M/CD]深圳英培特科技有限公司,2004.
[32]王学龙.嵌入式Linux系统设计与应用[M],清华大学出版社,2001.8,243-35
[33]孙海彬,傅谦,徐良贤.Linux内核模块的实现机制微型机与应用[M].2000.11
[34]PCA9555 datasheet
[35]Alessandro Rubini. Linux Device Drivers.0'Reilly,1998.
[36]Daniel Pirre. Under standing the Linux Kernel. O'Reilly,2000
[37]SAMSUNG ELECTRONICS COXTD.SamsungS 3C44BOX User's Manual, R evisionl, Kor,2000
[38]SD Memory Card Specifications Part1 PHYSICAL LAYER Specification Version 1.01 April 15,2001, SD Group
[39]ARM Limited. The ARM-Thumb Procedure Call Standard.2000.
[40]McQueen, Douglas H, Olsson H. Growth of embedded software related patents Technovation,v23, n6,June,2003:533-544
[41]TanT.K, Raghunathan A, JhaN.K. EMSIM. An energy simulation framework for an embedded o perating system. IEEE International Symposium on Circuits and Systems, v2,2002:464-469
[42]ARM Limited. A RM7TDMI(Rev4) Technical Reference Manual,2001
[43]Cai Xia, Lyu Michael, R. Wong, et al. Component-based embedded software Engineering:Development framework, quality assurance and a generica ssessment environment. International Journal of Software Engineering and Knowledge Engineering, v12,n2, April,2002:107-133
[44]Giannopoulos Nikos,Roy Rajkumar,Taratoukhine Victor,et al. Embedded systems software cost estimating within the concurrent engineering. Environment Proceedings of the 10th ISPE International Conference on Concurrent Engineering,2003:353-357
[45]ARM Limited.The ARM-THUMB Procedure Call Standard,2000.
[46]ARM Limited. ARM Development Guide,2000-2001