立体车库中存取车机械装置及其控制系统的研究开发
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摘要
近年来随着我国城市经济和汽车工业的迅猛发展,城市汽车保有量越来越大,伴随而来的是城市停车状况的尴尬局面,停车环境与城市规划的矛盾十分突出。停车问题是城市发展过程中出现的静态交通问题。立体车库通过提高停车场的空间利用率,增加了停车场单位面积内的车位密度,这样使得城市内有限的停车面积上可提供的车位数量大大增加。因此,自动化立体车库成为了解决城市停车难问题最有效的手段之一。
论文通过对目前市场上已有的九大类自动化立体车库的特点进行比较分析,得出了一套较为完整的立体车库总体设计方案。采用堆垛机作为存取车的机械装置；车库控制系统采用上下位机协作模式,以“组态王”软件为开发平台建立上位机组态监控系统；以西门子S7—200系列PLC作为下位机控制核心,负责对现场硬件的直接驱动；构建SQL数据库对上位机控制系统中存取车辆的相关信息实行动态管理调用。
论文详细介绍了堆垛式立体车库控制系统中上下位机控制平台的设计原理与开发过程、上位机与外部数据库之间的连接构建,以及上位机与下位机之间通信关系的建立过程等研究开发内容。论文建立了一个包括SQL数据库访问查询功能于一体的上位机人机操作界面,并设计了与之相对应的下位机(PLC)所控制的主要运动部件的梯形图程序。另外,在此基础上针对实际运行中遇到的存取车高峰期和一般时段建立相应的数学模型,运用概率与数理统计理论及运筹学原理对该模型进行求解,得出了系统在安排存取车策略上的优化方式,同时对存取车高峰期的堆垛机行走路径进行了合理的顺序安排并提出了以减少社会总等候时间为优化目标的思想,这一思想也被应用到控制系统的程序设计当中。
本立体车库控制系统研究开发成果利用实验室现有条件进行了模拟运行。结果表明：本系统具备预期的所有控制动作、数据存储及查询功能,并且主体功能满足了工业控制现场对系统的实时性和有效性要求,抗干扰和纠错能力较强,系统运行稳定。
In recent years, with the development of our country and the rapid development of the auto industry, the quantity of the automobile in cities becomes larger and larger, while the embarrassing situation of the parking status in cities comes. The contradiction between the parking environment and the urban planning is becoming more and more prominent. The problem of parking is a static traffic problem arising in the process of urban development. Through improving the utilization rate of park space, and increasing the unit area parking density in parks, parking garage makes the number of parking provided by limited park space in cities greatly increased. Therefore, the automatic mechanical parking system has become one of the effective means to solve the difficulty of parking in cities.
Through comparing with the existing nine categories Automatic Mechanical Parking System's characteristic on current market, the paper has obtained a set of more complete design project about Automatic Mechanical Parking System. This paper takes the car stacker as mechanical device. Garage control system uses the upper and lower computer collaborative model, and the upper unit state monitoring system based on the“Kingview”software development platform was established. Siemens S7-200 series PLC as the core of the lower computer controller responded for on-site hardware direct driving. Finally, this paper constructs the SQL database, and deposits and withdraws vehicles' related information to the upper computer control system to implement the dynamic management transfer.
This paper details the research and development in the stacking parking control system, including the design principle and development process of the upper and lower machine control platform, the establishment of communication between upper machine and external database, and the building process of the communication relationship between upper machine and lower machine and so on. It has been established an human-machine interface of upper machine which included the function of access and searched the SQL database, and designed the LAD program of main moving parts which are controlled by corresponding lower machine(PLC). In addition, in view of the peak hours and off-peak hours of accessing cars, the corresponding mathematic model is constructed. It is solved by using theory of Probability and Mathematical Statistics and theory of Operations Research, obtained the optimization method of the system in scheduling strategy of accessing cars. At the same time, the stacker walking paths at peak hours have been arranged in reasonable order and reducing the total social waiting time as an optimization objective has been proposed. This idea has also been applied to the process control system designs.
Using laboratory existing condition, the parking control system technology has carried on the simulation run. The results show that the system has the anticipated all control action, data storage and query functions. Moreover, the main function fulfilled the real-time and effectiveness requirements at the industrial control field. Also, it has a strong anti-interference and error correction capability. As well, the system runs stably.
论文通过对目前市场上已有的九大类自动化立体车库的特点进行比较分析,得出了一套较为完整的立体车库总体设计方案。采用堆垛机作为存取车的机械装置；车库控制系统采用上下位机协作模式,以“组态王”软件为开发平台建立上位机组态监控系统；以西门子S7—200系列PLC作为下位机控制核心,负责对现场硬件的直接驱动；构建SQL数据库对上位机控制系统中存取车辆的相关信息实行动态管理调用。
论文详细介绍了堆垛式立体车库控制系统中上下位机控制平台的设计原理与开发过程、上位机与外部数据库之间的连接构建,以及上位机与下位机之间通信关系的建立过程等研究开发内容。论文建立了一个包括SQL数据库访问查询功能于一体的上位机人机操作界面,并设计了与之相对应的下位机(PLC)所控制的主要运动部件的梯形图程序。另外,在此基础上针对实际运行中遇到的存取车高峰期和一般时段建立相应的数学模型,运用概率与数理统计理论及运筹学原理对该模型进行求解,得出了系统在安排存取车策略上的优化方式,同时对存取车高峰期的堆垛机行走路径进行了合理的顺序安排并提出了以减少社会总等候时间为优化目标的思想,这一思想也被应用到控制系统的程序设计当中。
本立体车库控制系统研究开发成果利用实验室现有条件进行了模拟运行。结果表明：本系统具备预期的所有控制动作、数据存储及查询功能,并且主体功能满足了工业控制现场对系统的实时性和有效性要求,抗干扰和纠错能力较强,系统运行稳定。
In recent years, with the development of our country and the rapid development of the auto industry, the quantity of the automobile in cities becomes larger and larger, while the embarrassing situation of the parking status in cities comes. The contradiction between the parking environment and the urban planning is becoming more and more prominent. The problem of parking is a static traffic problem arising in the process of urban development. Through improving the utilization rate of park space, and increasing the unit area parking density in parks, parking garage makes the number of parking provided by limited park space in cities greatly increased. Therefore, the automatic mechanical parking system has become one of the effective means to solve the difficulty of parking in cities.
Through comparing with the existing nine categories Automatic Mechanical Parking System's characteristic on current market, the paper has obtained a set of more complete design project about Automatic Mechanical Parking System. This paper takes the car stacker as mechanical device. Garage control system uses the upper and lower computer collaborative model, and the upper unit state monitoring system based on the“Kingview”software development platform was established. Siemens S7-200 series PLC as the core of the lower computer controller responded for on-site hardware direct driving. Finally, this paper constructs the SQL database, and deposits and withdraws vehicles' related information to the upper computer control system to implement the dynamic management transfer.
This paper details the research and development in the stacking parking control system, including the design principle and development process of the upper and lower machine control platform, the establishment of communication between upper machine and external database, and the building process of the communication relationship between upper machine and lower machine and so on. It has been established an human-machine interface of upper machine which included the function of access and searched the SQL database, and designed the LAD program of main moving parts which are controlled by corresponding lower machine(PLC). In addition, in view of the peak hours and off-peak hours of accessing cars, the corresponding mathematic model is constructed. It is solved by using theory of Probability and Mathematical Statistics and theory of Operations Research, obtained the optimization method of the system in scheduling strategy of accessing cars. At the same time, the stacker walking paths at peak hours have been arranged in reasonable order and reducing the total social waiting time as an optimization objective has been proposed. This idea has also been applied to the process control system designs.
Using laboratory existing condition, the parking control system technology has carried on the simulation run. The results show that the system has the anticipated all control action, data storage and query functions. Moreover, the main function fulfilled the real-time and effectiveness requirements at the industrial control field. Also, it has a strong anti-interference and error correction capability. As well, the system runs stably.
引文
[1]北京亚控科技发展有限公司.组态王KINGVIEW6.53使用手册.2007
[2]西门子(中国)有限公司自动化与驱动集团.深入浅出西门子S7-200 PLC(第三版).北京：北京航空航天大学出版社.2007.07
[3]严盈富.监控组态软件与PLC入门.人民邮电出版社,2006.11
[4]汪小澄.可编程序控制器运动控制技术.机械工业出版社,2006.01
[5]廖常初.PLC编程及应用.机械工业出版社,2005.05
[6]王永华.现代电气控制及PLC应用技术.北京：北京航空航天大学出版社,2005.03
[7]郭宗仁.可编程序控制器应用系统设计及通信网络技术.北京：人民邮政出版社,2002
[8]朱求长.运筹学及其应用.武汉：武汉大学出版社,1997.12
[9]吉顺平.西门子PLC与工业网络技术.北京：机械工业出版社,2008
[10]吕卫阳.PLC工程应用实例解析.北京：中国电力出版社,2007
[11]刘志峰.工控组态软件实例教程.北京：电子工业出版社,2008
[12]曾庆波.监控组态软件及其应用技术.黑龙江：哈尔滨工业大学出版社,2005.02
[13]刘长青.电气控制与PLC应用技术.北京：科学出版社,2008
[14]张志义.机电传动控制.北京：机械工业出版社,2009
[15]卢志俊.PPI协议的监控研究.西南大学硕士论文.2008.05：P30-31
[16]文永亮.组态软件中数据库的应用与研究.西南交通大学硕士论文.2008.12
[17]白玉铭.垂直循环式立体车库设计研究.哈尔滨工程大学工程硕士论文.2007.05：P60-65
[18]袁真德.立体车库控制系统.山东大学硕士论文.2006.04：P13-15
[19]贺文华.升降横移式立体车库的控制研究与仿真实现.长安大学硕士论文.2006.05
[20]战 欣.自动化立体仓库出入库的决策与仿真.东北大学硕士论文.2006.01
[21]张 进.军队自动化立体仓库系统的设计与实现.山东大学硕士论文.2008.09
[22]李振良.智能立体车库的研究.武汉大学硕士论文.2005.03
[23]张欣.堆垛机智能控制系统的研究.机械科学研究院硕士文.2005.07
[24]卫军朝.巷道堆垛机虚拟样机技术的研究.中北大学硕士论文.2008.05
[25]赵 波.自动化立体仓库堆垛机运行系统的研究.吉林大学硕士论文.2007.06
[26]覃贵礼,何小阳,高瞻.基于组态王KINGVIEW6.53在仿真机械手控制系统中的实现.广西职业技术学院学报.2009,第2卷第3期
[27]敬伟,王鹏,兀伟.基于组态王的实时监控系统的数据处理.计算机工程与科学.2009,第31卷第8期
[28]华中平,张立.基于组态王和VB的立体车库管理控制系统设计.机电工程技术.2006,第35卷第4期
[29]殷铭宏,朱建勇.组态王与SQL数据库的数据传输.有色冶金设计与研究.2008,第29卷第5期
[30]李浩,郑均宜,鲁芳.堆垛式立体车库存取车优化.机械研究与应用.2005,第15卷第5期：P58-59
[31]曾明如,宗胡亮.基于模拟退火遗传算法的自动化立体仓库路径优化.制造业自动化.2009,第31卷第4期：P17-19
[32]鲁立,李浩.社会最小等待时间下的立体车库存取优化算法.武汉理工大学学报.2009,第31卷第5期：P766-768
[33]周学松,田密.智能化立体车库存取车优化控制策略的研究.制造业自动化.2008,第30卷第1 0期：P29-33
[34]杨晓芬,肖华.自动化立体车库存取策略的分析比较.电气技术与自动化.2004,第33卷第5期：P47-49
[35]钟晓强.组态软件和PLC在智能化立体车库控制系统中的应用.浙江工商职业技术学院学报.2008,第7卷第3期
[36]Design and Implementation of Fuzzy Parallel-Parking Control for a Car-Type Mobile Robot, Journal of Intelligent and Robotic Systems,2002.06 P175～194
[37]The Study of Autonomous Negotiation System Based on Auction Enabled Intelligent Agent-Using Parking Tower Asset Maintenance as Case Example, Global Perspective for Competitive Enterprise, Economy and Ecology.2009 P769-779
[38]Autonomous Vehicle Parking Using Hybrid Artificial Intelligent Approach, Journal of Intelligent and Robotic Systems, Volnme 56, Number 3/2009.10, P319～343
[39]Parking policies in large cities in Germany, Transportation, Volnme 18, Number 1/1991.3, P3～21
[40]Analysis of Vehicle Fire Statistics in New Zealand Parking Buildings, Fire Technology, Volnme 43, Number 2/2007.6, P93～106.
[41]Modeling parallel parking a car, Journal of Computer and Systems Sciences International, Volnme 47, Number 6/2008.12, P907～917.
[42]Dynamics of a Mobile Crane and Optimisation of the Slewing Motion of Its Upper Structure, Nonlinear Dynamics, Volnme 32, Number 3/2003.5, P259～290.
[43]Fuzzy Control of a 3 Degree of Freedom Parallel Robot, Technological Developments in Education and Automation,2010
[44]Development of an automatic parking system for vehicle,2008 IEEE Vehicle Power and Propulsion Conference, VPPC 2008,2008
[45]Conception of an underground parking system, Tunnelling and Underground Space Technology, v 8, n 1, p 61-64, Jan 1993
[46]Intelligent parking system-Parking reservation system, NTT R and D, v 50, n9,p 721-726,2001
[47]Study on S7-200 PPI protocol catching and its communication components, ICIEA 2007:2007 Second IEEE Conference on Industrial Electronics and Applications, p 411-415,2007,
[48]Design of garage parking control system for the mobile robot, ICCAS 2007-International Conference on Control, Automation and Systems, p 717-720,2007
[49]Remote diagnosis as used for mechanized parking systems, Technische Mitteilunen Krupp English ed., n 2, p 85-96, Oct 1992
[50]Study on the control strategy of parking guidance system, Proceedings ICSSSM'07:2007 International Conference on Service Systems and Service Management,2007
[51]A proposal of path planning method for a four-wheeled vehicle in automatic parking system, Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, v 73, n 5, p 1273-1278, May 2007
[52]Vehicle model for an automatic parking control system, Proceedings of the Mini Conference on Vehicle System Dynamics, Identification and Anomalies, p 549-555,2006
[53]Demand distribution and operating strategies of airport remote and terminal parking facilities, Transportation Planning and Technology, v 20, n 3, p 219-234, 1997
[54]Advanced parking management systems:Models of drivers' parking strategies, Proceedings of the Human Factors and Ergonomics Society, v 2, p 1237-1241, 1998
[55]Car park system:A review of smart parking system and its-technology, Information Technology Journal, v 8, n 2, p 101-113,2009
[2]西门子(中国)有限公司自动化与驱动集团.深入浅出西门子S7-200 PLC(第三版).北京：北京航空航天大学出版社.2007.07
[3]严盈富.监控组态软件与PLC入门.人民邮电出版社,2006.11
[4]汪小澄.可编程序控制器运动控制技术.机械工业出版社,2006.01
[5]廖常初.PLC编程及应用.机械工业出版社,2005.05
[6]王永华.现代电气控制及PLC应用技术.北京：北京航空航天大学出版社,2005.03
[7]郭宗仁.可编程序控制器应用系统设计及通信网络技术.北京：人民邮政出版社,2002
[8]朱求长.运筹学及其应用.武汉：武汉大学出版社,1997.12
[9]吉顺平.西门子PLC与工业网络技术.北京：机械工业出版社,2008
[10]吕卫阳.PLC工程应用实例解析.北京：中国电力出版社,2007
[11]刘志峰.工控组态软件实例教程.北京：电子工业出版社,2008
[12]曾庆波.监控组态软件及其应用技术.黑龙江：哈尔滨工业大学出版社,2005.02
[13]刘长青.电气控制与PLC应用技术.北京：科学出版社,2008
[14]张志义.机电传动控制.北京：机械工业出版社,2009
[15]卢志俊.PPI协议的监控研究.西南大学硕士论文.2008.05：P30-31
[16]文永亮.组态软件中数据库的应用与研究.西南交通大学硕士论文.2008.12
[17]白玉铭.垂直循环式立体车库设计研究.哈尔滨工程大学工程硕士论文.2007.05：P60-65
[18]袁真德.立体车库控制系统.山东大学硕士论文.2006.04：P13-15
[19]贺文华.升降横移式立体车库的控制研究与仿真实现.长安大学硕士论文.2006.05
[20]战 欣.自动化立体仓库出入库的决策与仿真.东北大学硕士论文.2006.01
[21]张 进.军队自动化立体仓库系统的设计与实现.山东大学硕士论文.2008.09
[22]李振良.智能立体车库的研究.武汉大学硕士论文.2005.03
[23]张欣.堆垛机智能控制系统的研究.机械科学研究院硕士文.2005.07
[24]卫军朝.巷道堆垛机虚拟样机技术的研究.中北大学硕士论文.2008.05
[25]赵 波.自动化立体仓库堆垛机运行系统的研究.吉林大学硕士论文.2007.06
[26]覃贵礼,何小阳,高瞻.基于组态王KINGVIEW6.53在仿真机械手控制系统中的实现.广西职业技术学院学报.2009,第2卷第3期
[27]敬伟,王鹏,兀伟.基于组态王的实时监控系统的数据处理.计算机工程与科学.2009,第31卷第8期
[28]华中平,张立.基于组态王和VB的立体车库管理控制系统设计.机电工程技术.2006,第35卷第4期
[29]殷铭宏,朱建勇.组态王与SQL数据库的数据传输.有色冶金设计与研究.2008,第29卷第5期
[30]李浩,郑均宜,鲁芳.堆垛式立体车库存取车优化.机械研究与应用.2005,第15卷第5期：P58-59
[31]曾明如,宗胡亮.基于模拟退火遗传算法的自动化立体仓库路径优化.制造业自动化.2009,第31卷第4期：P17-19
[32]鲁立,李浩.社会最小等待时间下的立体车库存取优化算法.武汉理工大学学报.2009,第31卷第5期：P766-768
[33]周学松,田密.智能化立体车库存取车优化控制策略的研究.制造业自动化.2008,第30卷第1 0期：P29-33
[34]杨晓芬,肖华.自动化立体车库存取策略的分析比较.电气技术与自动化.2004,第33卷第5期：P47-49
[35]钟晓强.组态软件和PLC在智能化立体车库控制系统中的应用.浙江工商职业技术学院学报.2008,第7卷第3期
[36]Design and Implementation of Fuzzy Parallel-Parking Control for a Car-Type Mobile Robot, Journal of Intelligent and Robotic Systems,2002.06 P175～194
[37]The Study of Autonomous Negotiation System Based on Auction Enabled Intelligent Agent-Using Parking Tower Asset Maintenance as Case Example, Global Perspective for Competitive Enterprise, Economy and Ecology.2009 P769-779
[38]Autonomous Vehicle Parking Using Hybrid Artificial Intelligent Approach, Journal of Intelligent and Robotic Systems, Volnme 56, Number 3/2009.10, P319～343
[39]Parking policies in large cities in Germany, Transportation, Volnme 18, Number 1/1991.3, P3～21
[40]Analysis of Vehicle Fire Statistics in New Zealand Parking Buildings, Fire Technology, Volnme 43, Number 2/2007.6, P93～106.
[41]Modeling parallel parking a car, Journal of Computer and Systems Sciences International, Volnme 47, Number 6/2008.12, P907～917.
[42]Dynamics of a Mobile Crane and Optimisation of the Slewing Motion of Its Upper Structure, Nonlinear Dynamics, Volnme 32, Number 3/2003.5, P259～290.
[43]Fuzzy Control of a 3 Degree of Freedom Parallel Robot, Technological Developments in Education and Automation,2010
[44]Development of an automatic parking system for vehicle,2008 IEEE Vehicle Power and Propulsion Conference, VPPC 2008,2008
[45]Conception of an underground parking system, Tunnelling and Underground Space Technology, v 8, n 1, p 61-64, Jan 1993
[46]Intelligent parking system-Parking reservation system, NTT R and D, v 50, n9,p 721-726,2001
[47]Study on S7-200 PPI protocol catching and its communication components, ICIEA 2007:2007 Second IEEE Conference on Industrial Electronics and Applications, p 411-415,2007,
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