CN204256460U - A kind of PLC control system of orchard operation platform - Google Patents
A kind of PLC control system of orchard operation platform Download PDFInfo
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- CN204256460U CN204256460U CN201420566187.7U CN201420566187U CN204256460U CN 204256460 U CN204256460 U CN 204256460U CN 201420566187 U CN201420566187 U CN 201420566187U CN 204256460 U CN204256460 U CN 204256460U
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Abstract
The utility model relates to a kind of PLC control system of orchard operation platform, the PLC storage inside of this system has self-defined steering logic program, local control panel is connected for realizing the operation monitoring of production scene and locally manipulating with PLC, wireless remote control terminal to be connected with PLC by sender unit and wireless receiving module and to operate for the long-range wireless remote control realized for orchard operation platform; Sensor is connected with PLC the position for detecting speed that left and right crawler belt travels and hoist cylinder, the duty of monitoring system; Solenoid valve is connected the lifting for the rotating speed and oil cylinder controlling left and right CD-ROM drive motor with PLC; Warning system is connected with PLC and judges for carrying out detection to the system failure, reports to the police.The utility model achieves the Electronic Control to orchard operation platform, changes traditional mechanically actuated, alleviates labour intensity, improve work efficiency, enhance processing safety.
Description
Technical field
The utility model relates to a kind of PLC control system of orchard operation platform, belongs to Machinery Automation control technology field.
Background technology
Orchard operation is due to its special operating environment and job requirements, and a lot of cargo handling operation requires that operator needs frequently to be increased to certain height and carries out operation, such as the harvesting etc. of flower thinning, fruit thinning, beta pruning and fruit.The harvesting of flower thinning, fruit thinning, beta pruning and fruit is link very important in the daily management operation of orchard, and stricter for farming season, agriculture requirement.In actual production, orchard worker adopts the mode less important work of installing mobile ladder, but this mode not only exists potential safety hazard, and operating efficiency is also lower.For the problems referred to above, have developed some orchard jacking equipments in recent years both at home and abroad, but belong to independent towed mobile lifting platform more, adopt mechanical drive, need extra power draw, in orchard, pass through performance bad, control system is manual control, security performance can not ensure, operating efficiency is low, and labour intensity is large.
For this this project team devises a kind of brand-new job platform for orchard management operation, it comprises engine power system, caterpillar chassis, fluid power system, scissors type elevating worktable, gear reducer mechanism and power unit.Described engine power system is walking and the operation power source of whole orchard operation platform; Described caterpillar chassis comprises left and right hydraulic drive motor, chassis supports frame and traveling crawler assembly; Described fluid power system comprises variable output pump, hydraulic valve bank, left and right CD-ROM drive motor, hoist cylinder and heating radiator; Described scissors type elevating worktable is for supporting the article such as operator and fruit; Described gear reducer mechanism is responsible for engine power to pass to variable output pump, plays and transmits power and the effect increasing and turn round of slowing down; Described power unit comprises generator and battery pack, is the electric power supply source of orchard operation platform.
In order to realize the control to above-mentioned orchard operation platform, design the PLC control system of a set of orchard operation platform simultaneously.
Summary of the invention
The purpose of this utility model is the PLC control system proposing a kind of orchard operation platform, and this Control System Design is reasonable, and reliable, flexible operation, convenience, improve the operational security of orchard operation platform, operability and work efficiency.
The utility model is achieved by the following technical programs:
A kind of PLC control system of orchard operation platform comprises PLC, local control panel, wireless remote control terminal, sensor, solenoid valve group, warning system and power module.Specifically, PLC storage inside has self-defined steering logic program; Local control panel is connected for realizing the operation monitoring of production scene and locally manipulating with PLC; Wireless remote control terminal to be connected with PLC by sender unit and wireless receiving module and to operate for the wireless remote control realized for orchard operation platform; Sensor is connected for detecting the speed and the position of hoist cylinder and the duty of monitoring system that left and right crawler belt travels with PLC; Solenoid valve group is connected the lifting for the rotating speed and hydraulic jack controlling left and right CD-ROM drive motor with PLC; Warning system is connected with PLC and judges for carrying out detection to the system failure, reports to the police; Power module is connected with PLC and is responsible for providing direct current 24V power supply to PLC.
System adopts high-performance PLC to be core, adopts local manipulation and controlled in wireless two kinds of modes to realize traveling to orchard operation platform, turns to and the control of lifting platform.The major function of PLC is the signal that pick-up transducers transmits, comprise left and right crawler track speeds signal, oil cylinder position signal, receive user oriented steering order and by good program prepared in advance in PLC, perform its logical operation, sequential control, count operation output pwm signal, control the aperture of electro-hydraulic proportional valve and solenoid directional control valve switching value, realize the traveling of orchard operation platform and turn to and the lifting of worktable.
Described local control panel, it is a kind of easy way of man-machine interaction, local control panel is provided with steering knob, speed adjustment knob, forward/backward pushbutton switch, oil cylinder lifting button switch and emergency stop switch, for the real-time control in the course of work, comprise the speeds control of left and right crawler belt, advance, retreat, turn to and the elevating control of worktable.
Described wireless remote control terminal, it is the another kind mode more easily of man-machine interaction, wireless remote control terminal is provided with fluctuation of speed button and mode switching key and emergency stop switch, be connected with PLC with wireless receiving module by sender unit, complete the long-range true-time operation for worktable.
Described solenoid valve group comprises variable output pump proportioning valve, left motor electro-hydraulic proportional valve, right motor electro-hydraulic proportional valve, left positive and negative rotation of motor reversal valve, right positive and negative rotation of motor reversal valve, unloader, oil cylinder lifting reversal valve and oil cylinder lifting proportional valve, topworks as whole PLC control system receives the control signal from PLC, realizes the control for orchard operation platform by the opening and closing of solenoid valve group.
Described warning system is equipped with alarm lamp and is connected with PLC with alarm buzzer, the different pilot lamp of acoustooptic alarm system represents the different operating state of system, can staff be reminded in time to take corresponding measure as early as possible, thus avoid or reduce the loss endangering and bring, improve security performance.
The utility model achieves the local and remote controlled in wireless to orchard operation platform by PLC.User sends steering order by local control panel or wireless remote control terminal to PLC, PLC is call subroutine module on request, the left and right crawler track speeds signal that picking rate sensor transmits and the oil cylinder position signal that oil cylinder displacement transducer transmits, by logical operation, sequential control, count operation output pwm signal, the opening and closing of Controlling solenoid valve group, and then realize the advance of orchard operation platform, retrogressing, travel speed, turn to and the control of worktable.
PLC program module comprises main program module, initialization module, sensor control block, wireless remote control control module, oil cylinder elevating control module, crawler track speeds control module, variable output pump control module, fault diagnosis module, unloading control module and pid control module.PLC program design adopts structured statement (ST language), arranges subroutine module, makes executing efficiency higher, be also convenient to modify perfect to distinct program module.The collection of detection data of the main completion system parameter initialization of described PLC control program, sensor, the reading of rotary switch input signal and the output to solenoid valve group control.
Described main program module completes calling and switching each subroutine function module.
Described initialization module realizes the initialization process to the various parameter of system, comprises the initialization process of some solenoid valve groups, switching knob, if each hardware initialization parameter is normal, then continues working procedure, otherwise calls fault diagnostic program, anxious stopping of reporting to the police.
Described sensor control block comprises left and right crawler track speeds detection module and oil cylinder displacement detection module.Left and right crawler track speeds detection module realizes left and right crawler track speeds check processing, by the input value of reading speed sensor, according to formula conversion, calculates the actual speed of left and right crawler belt; Oil cylinder displacement detection module is used for information input and the fault diagnosis system of oil cylinder elevating control module, for detecting the physical location of oil cylinder.
Described wireless remote control control module achieves by the remote wireless control of wireless remote control control terminal for orchard operation platform, controlled in wireless range distance is 10m, wireless remote control control module adopts key pulse selection of times control model, for selected analog quantity increase and decrease key works pattern and analog quantity increase and decrease, set increment size in program and be convenient to control.
Described oil cylinder elevating control module is the basic function module of control system, by the detection of oil cylinder jacking condition and the accurate steady control realization elevating control of worktable.By gathering the input of oil cylinder displacement transducer, and the control information that local control panel or Remote terminal input, call pid control module, calculate output pwm signal, control oil cylinder lifting proportional valve and oil cylinder lifting reversal valve realize the control to worktable lifting speed, lifting time and lifting position.According to job requirements, setting oil cylinder maximum functional stroke be 6m, namely work maximum adjustable height be 6m.
Described crawler track speeds control module is the Basic application module of control system, by the speeds control of left and right crawler belt can realize orchard operation platform advance, retreat, turn to and the control of the speed of travel.Program is by judging steering order, if steering order, read the crawler belt real-time speed of left and right crawler track speeds sensor collection and required steering angle, pid control module is called after data processing, export and control electric signal to left and right motor electro-hydraulic proportional valve, realize orchard operation platform course changing control on request; If advance, retreat instruction, program is advanced accordingly according to steering order input queued switches, retreat solenoid directional control valve work, for the control of advance, astern speed, needs call pid control module according to the real-time speed input of left and right crawler track speeds sensor and steering order rate request, and after computing, output pwm signal is pressed control overflow advance to left and right motor electro-hydraulic proportional valve to control orchard operation platform, retreated.
Described variable output pump control module realizes exporting variable output pump flow controlling, when system have advance, backward movement and oil cylinder lifting action time, the output quantity of variable output pump control module control variable pump is to meet the demand of hydraulic system for flow.
Described fault diagnosis module comprises fault alarm module and fault suddenly stops module, when in program initialization process and in program operation process, fault diagnosis module detects that abnormal time that system occurs goes beyond the limit or every exponential anomaly exceedes safe range, will startup separator alarm module and fault be anxious stops module, after pending fault is got rid of, recover normally to work.
Described unloading control module realizes carrying out on request by demand modeling to unloader; when orchard operation platform advance, retreat, turn to or worktable lifting time; exporting control signal makes unloader be in open mode; timely off-load oil liquid pressure; serve circuit controls effect; raise the efficiency, protection variable output pump.
Described pid control module is control system core calculations module, for hoist cylinder control, when PLC receive from local control panel or wireless remote control terminal oil cylinder to be raised or the control signal of down position time, oil cylinder displacement transducer input oil cylinder position signal, both compare, if deviation exceedes certain limit, start pid algorithm, regulate oil cylinder electrohydraulic proportional valve opening, make deviation within the scope of this, start integral adjustment, until deviation tends to be 0; When initial deviation is larger, proportional component (P) regulates and plays a major role, and shortens the response time; When reaching certain limit, integral element (I) and differentiation element (D) play a major role, and make the position that oil cylinder is accurate, steadily arrive requirement.Pid control module combines with crawler belt control module and hoist cylinder control module, and accurate, the stable elevation of the travelling control and worktable that realize orchard operation platform control.
The workflow of system is as follows: after engine start, opens control box switch, first carries out device initialize, as abnormal, will automatic alarm, and pending fault just can work on after removing; As equipment is normal, system is down run after entering initialization; Judgement orchard operation platform is local control working method or wireless remote control working method by equipment.Under this locality controls working method, first to check whether and suddenly stop state, if so, close and suddenly stops knob, start orchard operation platform operations.PLC receives the instruction of user oriented local control panel rotary switch, and perform good program prepared in advance, by its logical operation, sequential control, count operation output pwm signal, control the aperture of electro-hydraulic proportional valve and solenoid directional control valve switching value, realize the traveling of orchard operation platform and turn to and the operation such as lifting of worktable.Under Remote mode of operation, wireless remote control terminal sends instruction by sender unit and wireless receiving module to PLC, and then controls the work of orchard operation platform.
Compared with prior art, the utility model has following beneficial effect.
This PLC control system achieves the Electronic Control to orchard operation platform, changes traditional mechanically actuated, not only saves manpower, alleviate labour intensity, also enhance handling safety row, improve work efficiency, decrease job costs, improve the automatization level of orchard operation platform.
Accompanying drawing explanation
Fig. 1 is the utility model control system hardware module connection diagram.
Fig. 2 is the utility model control system program structure schematic diagram.
Fig. 3 is utility model works platform elevating control schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, the utility model is further described in detail.
The utility model PLC control system hardware module connection diagram as shown in Figure 1, local control panel is connected with PLC, local control panel is arranged and controls keyswitch and knob, realizing the walking to orchard operation platform and worktable lifting control, is one of control mode realizing man-machine interaction; Wireless receiving module is connected with PLC, for receiving the control signal from wireless remote control terminal transmission; Wireless remote control terminal is provided with control keyswitch equally, remote wireless control can be carried out to orchard operation platform more easily; Left and right crawler track speeds sensor and oil cylinder displacement transducer are connected with PLC, and being respectively used to the detection of left and right crawler belt real-time speed and the detection of oil cylinder position in control procedure, is link very important in control system; Warning system is connected with PLC, and report to the police for fault detect in control procedure, after warning system detects operation irregularity, alarm lamp is bright, and alarm buzzer rings, and anxious stop mode starts; Described hydraulic valve bank comprises left motor electro-hydraulic proportional valve, left positive and negative rotation of motor reversal valve, right motor electro-hydraulic proportional valve, right positive and negative rotation of motor reversal valve, oil cylinder lifting proportional valve, oil cylinder lifting reversal valve, variable output pump proportioning valve and unloader, hydraulic valve bank is connected with PLC as the topworks of PLC control system, receive different control electric signal, the opening and closing of valve group is used for hydraulic control system left and right CD-ROM drive motor and hoist cylinder, realizes the travelling control to orchard operation platform and worktable lifting control; Power module is connected with PLC and is responsible for providing direct current 24V power supply to PLC.
Fig. 2 is system program structural representation, and its PLC control program module comprises main program module, initialization module, sensor control block, wireless remote control control module, oil cylinder elevating control module, crawler track speeds control module, variable output pump control module, fault diagnosis module, unloading control module and pid control module.PLC program design adopts structured statement (ST language), arranges subroutine module, makes executing efficiency higher, be also convenient to modify perfect to distinct program module.
Main program module completes calling and switching each subroutine function module.
Initialization module realizes the initialization process to the various parameter of system, comprises the initialization process of some solenoid valve groups, switching knob, if each hardware initialization parameter is normal, then continues working procedure, otherwise calls fault diagnostic program, anxious stopping of reporting to the police.
Sensor control block comprises left and right crawler track speeds detection module and oil cylinder displacement detection module.Left and right crawler track speeds detection module realizes left and right crawler track speeds check processing, by the input value of reading speed sensor, according to formula conversion, calculates the actual speed of left and right crawler belt; Oil cylinder displacement detection module is used for information input and the fault diagnosis system of oil cylinder elevating control module, for detecting the physical location of oil cylinder.
Wireless remote control control module achieves by the remote wireless control of wireless remote control control terminal for orchard operation platform, controlled in wireless range distance is 10m, wireless remote control control module adopts key pulse selection of times control model, for selected analog quantity increase and decrease key works pattern and analog quantity increase and decrease, set button increment size in program and be convenient to control.
Oil cylinder elevating control module is the basic function module of control system, by the detection of oil cylinder jacking condition and the accurate steady control realization elevating control of worktable.By gathering the input of oil cylinder displacement transducer, and the control information that local control panel or Remote terminal input, call pid control module, calculate output pwm signal, control oil cylinder lifting proportional valve and oil cylinder lifting reversal valve realize the control to worktable lifting speed, lifting time and lifting position.According to job requirements, the maximum functional stroke of setting oil cylinder is 6m, and namely the maximum adjustable height of worktable is 6m.
Crawler track speeds control module is the Basic application module of control system, by the speeds control of left and right crawler belt can realize orchard operation platform advance, retreat, turn to and the control of the speed of travel.Program is by judging steering order, if steering order, read the crawler belt real-time speed of left and right crawler track speeds sensor collection and required steering angle, pid control module is called after data processing, export and control electric signal to left and right motor electro-hydraulic proportional valve, realize orchard operation platform course changing control on request.If advance, retreat instruction, program is advanced accordingly according to steering order input queued switches, retreat solenoid directional control valve work, for the control of advance, astern speed, needs call pid control module according to the real-time speed input of left and right crawler track speeds sensor and steering order rate request, and after computing, output pwm signal is pressed control overflow advance to left and right motor electro-hydraulic proportional valve to control orchard operation platform, retreated.
Variable output pump control module realize to variable output pump flow export control, when system have advance, backward movement and oil cylinder lifting action time, the output quantity of variable output pump control module control variable pump is to meet the demand of hydraulic system for flow.
Fault diagnosis module comprises fault alarm module and fault suddenly stops module, when in program initialization process and in program operation process, fault diagnosis module detects that abnormal time that system occurs goes beyond the limit or every exponential anomaly exceedes safe range, will startup separator alarm module and fault be anxious stops module, after pending fault is got rid of, recover normally to work.
Unloading control module realizes carrying out on request, by demand modeling unloader; when orchard operation platform advance, retreat, turn to or worktable lifting time; exporting control signal makes unloader be in open mode; timely off-load oil liquid pressure; serve circuit controls effect; raise the efficiency, protection variable output pump.
Pid control module is control system core calculations module, for hoist cylinder control, when PLC receive from local control panel or wireless remote control terminal oil cylinder to be raised or the control signal of down position time, oil cylinder displacement transducer input oil cylinder position signal, both compare, if deviation exceedes certain limit, start pid algorithm, regulate oil cylinder electrohydraulic proportional valve opening, make deviation within the scope of this, start integral adjustment, until deviation tends to be 0; When initial deviation is larger, proportional component (P) regulates and plays a major role, and shortens the response time, when reaching certain limit, integral element (I) and differentiation element (D) play a major role, make oil cylinder accurately, reach the position of requirement stably.Pid control module combines with crawler belt control module and oil cylinder elevating control module, realizes the travelling control of orchard operation platform and the accurate stable elevating control of worktable.
Fig. 3 is system works platform elevating control schematic diagram, also be oil cylinder elevating control schematic diagram, when PLC read from local control panel or wireless remote control terminal oil cylinder to be raised or the signal of down position time, export electric signal and be elevated reversal valve to oil cylinder, determine worktable lifting mode of operation, now hoist cylinder displacement transducer input oil cylinder position signal, change through A/D, compared with oil cylinder control overflow target position data, according to deviation, call pid control module, through proportional component (P), under the acting in conjunction of integral element (I) and differentiation element (D), export control data signal, drive through D/A conversion and regulate oil cylinder lifting electric-hydraulic proportion valve opening, deviation is made to be tending towards 0, oil cylinder lifting proportional valve works, worktable is steady, accurate arrival target call position, realize control overflow.
Claims (1)
1. a PLC control system for orchard operation platform, is characterized in that: this system comprises PLC, local control panel, wireless remote control terminal, sensor, solenoid valve group, warning system and power module; Specifically, PLC storage inside has self-defined steering logic program; Local control panel is connected for realizing the operation monitoring of production scene and locally manipulating with PLC; Wireless remote control terminal to be connected with PLC by sender unit and wireless receiving module and to operate for the wireless remote control realized for orchard operation platform; Sensor is connected for detecting the speed and the position of hoist cylinder and the duty of monitoring system that left and right crawler belt travels with PLC; Solenoid valve group is connected the lifting for the rotating speed and hydraulic jack controlling left and right CD-ROM drive motor with PLC; Warning system is connected with PLC and judges for carrying out detection to the system failure, reports to the police; Power module is connected with PLC and is responsible for providing direct current 24V power supply to PLC;
System adopts high-performance PLC to be core, adopts local manipulation and controlled in wireless two kinds of modes to realize traveling to orchard operation platform, turns to and the control of lifting platform; The major function of PLC is the signal that pick-up transducers transmits, comprise left and right crawler track speeds signal, oil cylinder position signal, receive user oriented steering order and by good program prepared in advance in PLC, perform its logical operation, sequential control, count operation output pwm signal, control the aperture of electro-hydraulic proportional valve and solenoid directional control valve switching value, realize the traveling of orchard operation platform and turn to and the lifting of worktable;
Described local control panel, it is a kind of easy way of man-machine interaction, local control panel is provided with steering knob, speed adjustment knob, forward/backward pushbutton switch, oil cylinder lifting button switch and emergency stop switch, for the real-time control in the course of work, comprise the speeds control of left and right crawler belt, advance, retreat, turn to and the elevating control of worktable;
Described wireless remote control terminal, it is the another kind mode more easily of man-machine interaction, wireless remote control terminal is provided with fluctuation of speed button and mode switching key and emergency stop switch, be connected with PLC with wireless receiving module by sender unit, complete the long-range true-time operation for worktable;
Described solenoid valve group comprises variable output pump proportioning valve, left motor electro-hydraulic proportional valve, right motor electro-hydraulic proportional valve, left positive and negative rotation of motor reversal valve, right positive and negative rotation of motor reversal valve, unloader, oil cylinder lifting reversal valve and oil cylinder lifting proportional valve, topworks as whole PLC control system receives the control signal from PLC, realizes the control for orchard operation platform by the opening and closing of solenoid valve group;
Described warning system is equipped with alarm lamp and is connected with PLC with alarm buzzer, the different pilot lamp of acoustooptic alarm system represents the different operating state of system, can staff be reminded in time to take corresponding measure as early as possible, thus avoid or reduce the loss endangering and bring, improve security performance.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420566187.7U CN204256460U (en) | 2014-09-19 | 2014-09-19 | A kind of PLC control system of orchard operation platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420566187.7U CN204256460U (en) | 2014-09-19 | 2014-09-19 | A kind of PLC control system of orchard operation platform |
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| CN204256460U true CN204256460U (en) | 2015-04-08 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104298165A (en) * | 2014-09-19 | 2015-01-21 | 西北农林科技大学 | PLC control system of orchard working platform |
| CN105110236A (en) * | 2015-08-07 | 2015-12-02 | 广州高昌液压机电技术有限公司 | PC program control soft starting and falling device |
| CN105946748A (en) * | 2016-05-23 | 2016-09-21 | 西北农林科技大学 | Electronic control system of wheel type orchard operation vehicle |
| ITUB20160564A1 (en) * | 2016-02-08 | 2017-08-08 | Ode S R L | Intelligent solenoid valve, its use and intelligent solenoid valve management system |
| CN107479454A (en) * | 2017-10-13 | 2017-12-15 | 山西农业大学 | A kind of comb-threshing-type calcium fruit field harvester control circuit |
-
2014
- 2014-09-19 CN CN201420566187.7U patent/CN204256460U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104298165A (en) * | 2014-09-19 | 2015-01-21 | 西北农林科技大学 | PLC control system of orchard working platform |
| CN105110236A (en) * | 2015-08-07 | 2015-12-02 | 广州高昌液压机电技术有限公司 | PC program control soft starting and falling device |
| ITUB20160564A1 (en) * | 2016-02-08 | 2017-08-08 | Ode S R L | Intelligent solenoid valve, its use and intelligent solenoid valve management system |
| CN105946748A (en) * | 2016-05-23 | 2016-09-21 | 西北农林科技大学 | Electronic control system of wheel type orchard operation vehicle |
| CN107479454A (en) * | 2017-10-13 | 2017-12-15 | 山西农业大学 | A kind of comb-threshing-type calcium fruit field harvester control circuit |
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Granted publication date: 20150408 Termination date: 20170919 |
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