分类号：TP272密级：公开U D C：单位代码：10424学位论文压缩式垃圾车控制系统设计栾晓梅申请学位级别：硕士学位专业名称：导航制导与控制指导教师姓名：高波职称：副教授山东科技大学二零一零年五月论文题目：压缩式垃圾车控制系统设计作者姓名：栾晓梅入学时间：2007年9月专业名称：导航制导与控制研究方向：现代控制理论及在导航中的应用指导教师：高波职称：副教授论文提交日期：2010年5月论文答辩日期：2010年6月授予学位日期：CONTROL SYSTEM DESIGN OF COMPRESSIONGARBAGE TRUCKA Dissertation submitted in fulfillment of the requirements for the degree ofMASTER OF PHILOSOPHYfromShandong University of Science and Technologyb yLuan XiaomeiSupervisor:Associate Professor Gao BoCollege of Information and Electrical EngineeringMay2010声明本人呈交给山东科技大学的这篇硕士学位论文，除了所列参考文献和所公认的文献外，全部是本人在导师指导下的研究成果。

该论文资料尚没有呈交于其它任何学术机关作鉴定。

硕士生签名：日期：AFFIRMATIONI declare that this dissertation,submitted in fulfillment of the requirements for the award of Master of Philosophy in Shandong University of Science and Technology,is wholly my own work unless referenced of acknowledge.The document has not been submitted for qualification at any other academic institute.Signature:Date:摘要后装压缩式垃圾车是城市垃圾车收集及转运的主要工具之一。

压缩式垃圾车通过控制系统控制滑板、刮板、排出板的动作实现垃圾的装载和卸载。

垃圾车的控制系统在经历了手动控制、继电器控制、微电脑控制之后，发展到现在的可编程控制。

目前国内的压缩式垃圾车生产企业大部分虽然已经采用可编程控制，但是其中一些关键部件包括控制器均依靠进口，以中集环境保护有限公司生产的压缩式垃圾为例，其车厢体所使用的钢材、液压系统中油缸、齿轮泵、高性能多控电磁阀及电气装置电子控制均是日本进口产品，价格高昂，使得产品很难适应中国市场。

针对以上问题，提出“垃圾车国产化”的理念。

本文从“控制系统国产化”出发，提出“压缩式垃圾车控制系统设计”的课题。

本论文的研究内容主要包括压缩式垃圾车电气原理设计、执行机构力学分析与仿真及控制系统程序设计三部分。

第一部分简单介绍了垃圾车的基本机构，分析各个机构的工作原理，并据此设计垃圾车作业流程图及控制系统电气原理，对系统所用主要元件进行选型。

第二部分首先对各个执行机构进行受力分析，计算执行机构运动过程中所受阻力，然后运用AMESim软件建立各个执行机构的液压系统模型，根据受力分析适当设置参数并仿真分析装载和卸载时间，以验证系统设计是否可行。

第三部分是根据电气原理及工作流程图，在SWOPC-FXGP/WIN-C环境下设计控制系统的PLC程序，通过实验室和现场的调试最终得到准确的控制系统程序。

本论文的研究，一方面初步实现了压缩式垃圾车控制系统的国产化，为压缩式垃圾车国产化做出应有的贡献，对我国其他行业控制系统国产化有一定的借鉴意义，推动可编程控制技术在环卫车辆中的应用及普及，同时对我国可编程控制技术的研究、发展及应用也具有重要的意义；另一方面为以后工业控制系统设计提供参考。

关键词：压缩式垃圾车，可编程控制器，液压系统仿真，AMESimABSTRACTCompression garbage truck is one of the main tools to collect and transport garbage in pression garbage truck realizes the function of load ing and unload ing by controlling glide-board、sweep-board and push-board.The control system has experienced manual control、relay control and microcomputer control system,now develops to PLC control system.At present,the control system of domestic garbage trucks have adopt PLC control,but some key parts include controllers need import.For example,steel、hydraulic system and electrical system adpotted by CIMC compression garbage truck are improted.The price is costliness,so the truck is difficult to adapt to chinese market.Based on the idea of loc alization of control system,we put forward the subject that is compression garbage truck control system design.The research contents of papers mainly include the design of electrical principle、dynamic simulation and analysis of actuator and program design.At first,basic structure is introduced and working principle are analyzed.According to the principle,working flowchart and electrical principle are designed,then components are selected.Secondly,doing force analysis for actuator,designing hydraulic system model by AMESim,setting up parameters and simulat to obtain the time of loading and unload ing.Finally,according to electrical principle and working flowchart,using SWOPC-FXGP/WIN-C to design PLC program of system.Improving the program by test in lab and field debugging.The research of papers,on the one hand,simply implements domestic production of control system and provides a basis for furture perfection，promote s development of programmable control technology on environmental sanitation field and provides helpful experiences for other industry control system.On the other hand,it can give reference for industrial control system in the future.Keywords:compression garbage truck,PLC,hydraulic system simulation，AMESim目录1绪论..................................................................................................................................................................................................................................................................................................................................................11.1引言...............................................................................................................................11.2课题的提出及研究意义...............................................................................................21.3垃圾车控制系统背景...................................................................................................21.4课题研究内容..............................................................................................................71.5本章小结......................................................................................................................82压缩式垃圾车电气原理设计 (10)102.1压缩式垃圾车结构....................................................................................................102.2垃圾车作业流程框图设计.........................................................................................122.3垃圾车控制系统电气原理设计................................................................................152.4元器件选型................................................................................................................202.5本章小结....................................................................................................................233执行机构的仿真与分析 (24)3.1AMESim 软件介绍 (24)3.2执行机构受力分析....................................................................................................303.3执行机构建模............................................................................................................363.4执行机构模型仿真分析............................................................................................393.5本章小结....................................................................................................................474垃圾车控制系统程序设计. (48)4.1SW0PC-FXGP/WIN-C 介绍......................................................................................484.2压缩式垃圾车控制系统程序编写............................................................................504.3本章小结....................................................................................................................565垃圾车控制系统的调试试验 (57)5.1实验室试验................................................................................................................575.2现场调试....................................................................................................................585.3本章小结....................................................................................................................596总结与展望 (60)致谢 (62)攻读硕士期间的发表的论文 (63)参考文献 (64)Contents1Introduction Introduction (1).11.1Forward…………………………….....………………………………...………………………….11.2Raising of Project and Signficiance of Study………….….…………...………………………….21.3Background of Grbage Truck Control System…………………………………………………....21.4Main Content of this Thesis..................................................................................71.5Summary.......................................................................................................82Electrical Principle Design of Control System System. (10).102.1Structure of Compression Garbage Truck…................................................................…………102.2Working Flowchart Design of Garbage Truck.............................................................................122.3Electrical Principle Design………………………………….……............……………………....152.4Components Selection.............................................................................................202.5Summary. (23)3Design of Information Collecting System..System (24)243.1Introduction of AMESim…………………..……………….……................…………………...243.2Force Analysis of Actuator………………………….…............................……………………....303.3Modeling of Executing Agency……………………......……………….………...………………363.4Simulation and Analysis of Actuator...........................................................................393.5Summary......................................................................................................................474Program Design of Control System System (48)484.1Introduction of SW0PC-FXGP/WIN-C……………………………...….…..…...……………….484.2Program Design of Control System...........................................................................504.3Summary (56)5Control System Test of Garbage Truck (57)..575.1Test in Lab (57)5.2Field Debugging......................................................................................................585.3Summary (59)6Conclusion and Prospect Prospect………………………………………………………………..................………………………………………………………..….………………………………..60..60Thanks Thanks (62)...62Main Work Achievement of the Author during Working on Master Pape Pape……........………………………..........63References References..........................................................................................................................................................................................................................................64. (64)1绪论1.1引言随着社会的发展和不断进步，城市化进程的加快，国民经济的发展和人民生活水平不断提高,垃圾数量日愈增加。