The Design And Research Of Straw Checkerboard Barriers Paving Robot Control System

As the central unit of the control system, PLC has the powerful function and stable performance. It is widely used in mechanotronics for product control and has a perfect control effect.In this thesis, on basis of the Straw Checkerboard Barriers Paving Robot project of the National High-tech Research and Development Program (863 Program), we expatiated the operating principle and technological process of PLC, chose it as the control center, produced a plan for the design and achievement of the software and hardware and gave a method for modifying the ultrasonic ranging radar to get the function of sideway floating. It can be used as the guidance and reference in the application of PLC to robot.First, the fact of desertification and the prevention method were introduced generally and the importance and necessity of this research was also discussed. By comparing the characteristics and application field of SCM control system, relay control system and computer control system, we selected the control scheme based on PLC.Secondly, by studying the production process of the Straw Checkerboard Barriers Paving Robot, we conducted the theoretical calculation to the chosen component and selected the basic parameters according to the basic control requirement. We also designed the monitoring control system according to the special requirement to realize the monitoring control on the working process.Thirdly, the flow diagram of monitoring program was plotted, the chosen control module was configured in hardware, the STL language program was designed by using the software Step7 from Siemens Company to carry out the data acquisition and make the output equipment work safely and efficiently. The transverse slave control system was designed with the AT89C51 SCM from ATMEL Company. It consisted of sensing test circuit, signal processing circuit and output control circuit. This system was compatible with the PLC to carry out closed loop control on transverse machine. The software simulation and debugging was conducted, the result was analyzed and the best parameters were provided.Finally, the equipment was fixed, adjusted and tested. The field experiment was carried out and the instruction manual was written.By the effort of our staff, the Straw checkerboard barrier control system was accomplished. It was tested in HunShandake desert of Mongolia Province and (?) pefect test result was acquired. It has achieved the expected level or even better (?) both the function and theefficiency of the machine.