2012—2013学年度第一学期高二数学教学工作计划

发布于:2021-10-20 21:09:21

Manipulator is now use d as a industrial robots in use, t he control obj ectives often appear often i n industrial a utomation. I ndustrial aut omation te chnol ogy has gradually matured, as mature a technology li ne ha s bee n rapi d devel opme nt in industrial automati on as a separate s ubj ect. Ma nipulator appli cation began t o filter into wel ding , logisti cs, mechanical pr oce ssi ng, and other industrie s . Es pecially at high or very l ow temperature s, full of pois onous gas es, hig h radiation ca se, robot in similar cir cumstances showed great use als o bri ngs great conveni ence to the staff. Precisely be cause of this robot to get people's attenti on began t o be a hig h degre e of devel opme nt. La bor rates, w orking conditions, la bor i ntensiv e aspects of pr omoting development. Bot h at home a nd a broa d to deve lop t he PLC (programmabl e logi c controller) is in vari ous special circumsta nce s and under s pe cial conditions set for mechani cal devi ces . Now turne d on the development of the mi croele ctronics a utomatic control technology a nd the rapid developme nt of the trains, the succe ss of PLC hardware software and simulati on contr ol win big and succe ssful development, now conti nue s to develop as a factory a utomation standards. Beca use robots are g ood devel opme nt of the technology makes a good optimization of pr oductive ca pital, a nd robot s how s this uni que a dvantages, such as : has g ood compat ibilit y, wide availability, hardware is com plete, and programming t hat can be mastered in a s hort time, s o in the context of industrial PLC applicati ons be came ubiquitous. Ma nipulator in ma ny devel ope d country agri cultur e and i ndustry ha s bee n applied, such a s the use of mechani cal harve sting large areas of farmland, repeate d operations on the hig h-spe ed line that us es a roboti c arm, and so on. Toda y, the high level of automation combined with re strictions on the ma nipula tor development level is slightly low er than t he inter national. The desig n is mainly arm wel ding ma chi ne by PLC A utomation control. T his of design let desig ners on in s chool by learn of has a must of consol idation, understand has s ome usually didn't opport unities aw arene ss in w orld ra nge withi n some lea ding level of know ledge has ha s must aware ness, hope de signer s ca n in yihou of desig n in the can succes s of usi ng in t his de sign i n the pr ocee ds of experience 1. 2 manipulat or in both at home and abr oad of resear ch profile aut omation me cha nica l arm research began Y u 20th cent ury medium -term, after years with with computer and automati on te chnology of development, M akes mechani cal arm on t he Grand stage of industri al automati on and s hine , gradually be came an i ndustrial evaluati on sta ndar ds, a nd its importance ca n be seen. Now origi nal r obotic arm s pent most of mass production and us e on t he pr oduction line, whi ch is programmed roboti c arm. As the first generation of manipulat or position control sy stems main features, alt hough not back several ge nerations that can detect the exter nal enviro nment, but ca n still s ucces sfully complete like wel ding , painti ng, delivery as well a s for materials simple moveme nts. Se cond ge neration me cha nical arm s are equipped wit h se nsor s and ma nipulators have the e nvironme nt there is a cert ain amount of "sens e", whe n the mecha nical arm is to use the program as a basis . Difference i s that the robot begand

纳雍县第一中学

教 学 工 作 计 划
2012—2013 学年度第一学期

学 班

科:





级:高二(16) 、 (25)班 王 昊

任课教师:

教研组长(签字) : 教 务 处(签章) :

m anipulat or control mode a nd programmable contr ollers i ntroducti on 2. 1 Sele ct dis cus sion with ma nipulator contr ol 2.1. 1 cla ssification of control r elays and di screte ele ctronic circuit can control ol d industri al equipme nt, but al so mor e common. M ainly the se two re latively cheap a nd you ca n me et the old -fashi one d, sim ple (or simpl e) industrial e qui pment. So he can s ee them now, however the se two control modes (relay and dis crete ele ctroni c cir cuits) are the se fatal flaws: (1) cannot a dapt to t he complex logi c control, (2) only for the current proje ct, the l ack of compati bility and (3) not reforming the system with e qui pment impr ovements . Spring for t he devel opme nt of China's m oder n industrial automati on technolog y t he s ubsta ntial increase i n the level of industrial a utomation, completed t he perfect relay of the computer too m uch. In terms of controlli ng the computer showe d his tw o great advantage s: (1) each of the har dware can be installe d on one or m ore microproce ss ors; (2) the officia l desig ner of the software writi ng content contr ol is all a bout. Now in several ways i n the context of industrial automati on can ofte n be s een i n three way s: (1) 。 转 好 定 稳 势 形 产 生 安 域 领 行 个 动 推 降 下 继 量 总 保 故 事 上 以 较 制 遏 , 管 监 节 环 等 作 殊 特 和 区 地 ”、 大 一 点 重 “两 化 强 续 持 ; 任 责 体 主 业 企 实 落 面 全 Programmable Logica l Controller (referred to as I PC); (2) Distributed Contr ol System (DCS for short), and (3) the Programmabl e Logi cal Controll er (PLC for s hort). 2. 1.2 PLC a nd the IPC and DCS contrast contrast 1, e ach of the three te chnol ogies of origins a nd development re quireme nts for fast data proce ssi ng makes it invented t he compute r. The men br ought i n terms of hardware there, usi ng a high lev el of standardizati on, can use more compati bility t ools, is a ri ch software resource s, es peci ally the need for immedia cy in operational systems. S o the computer ca n effectively control is used t o control and meet its s peed, on t he virtual model, real -time and in computationa l requir ements. Di stributed system started with a control system for industrial aut omatic instrument used t o control, w hereas now it is succe ssfully dev eloped int o industrial control computer use d as a ce ntral collect ion and di stribution system and tra nsition of distri bute d control syst em i n anal ogue handli ng, loop contr ol, ha s beg un to reflect t he us e of a hug e advantage. T hough distributed sy stem has great adva ntages in l oop reg ulation, but only as a means of continuous pr oce ss control . Optimization of PLC is the corre sponding relay needs w as born, its mai n us e in the w ork or der control, early primary is repla ced relay t his hulking sy stem, focused on the switch co ntrolli ng the runni ng or der of functions. Marke d by the micr opr oce ssor i n the early 19 70 of the 20t h ce ntury emerged, micro-el ectronics technology ha s devel ope d rapi dly, people s oon microe lectronics proces sing te chnology w ill be use d in the Programmable Logi cal Controller (that is

Manipulator is now use d as a industrial robots in use, t he control obje ctives ofte n appear often in i ndustrial a utomation. Indu strial automati on technology has gradually matured, a s mature a technology line has bee n rapid development i n industrial a utomation as a se parate subje ct. Manipulator appli cation began t o filter into wel ding, l ogisti cs, mechani cal pr oce ssing, and other industries . Especially at hig h or very l ow temperature s, full of poisonous gase s, hig h radiation cas e, robot in simil ar circumstances s howe d great us e also bring s great conv enie nce t o the staff. Precise ly becaus e of this robot t o get people's attenti on began to be a hig h degre e of devel opment . La bor rates, w orking conditions, la bor inte nsive a spe cts of pr omoting development. Bot h at home a nd a broad t o devel op the PLC (programmable l ogic contr oller) is in various s pe cial cir cumstances a nd under s pecial conditions s et for mecha nical device s. Now tur ned on the devel opme nt of the microelectronics aut omatic control te chnol ogy and t he rapi d devel opme nt of the trains , the s uccess of PLC hardw are software and simulation control wi n big and s uccessful development, now continues to develop as a factory a utomation standards. Beca use robots are g ood devel opme nt of the technology makes a good optimizat ion of pr oductive ca pital, and robot s how s this uni que a dvantages, s uch as: has good compat ibilit y, wide availabil ity, har dware is compl ete, and programming t hat can be mastered in a s hort time, s o in the context of industrial PLC applicati ons be came ubiquitous. Ma nipulator in ma ny devel ope d country agri cultur e and i ndustry ha s bee n applied, such as t he use of mechani cal harvest i ng large areas of farmland, repeate d operations on t he hig h-spee d line that use s a roboti c arm, and so on. Toda y, the high level of automation combine d with re strictions on the ma nipulator dev elopment level is s lightly low er than t he international. The desig n is mainly arm wel ding machine by PLC Aut omation control. T his of de sign let designers on in s chool by learn of ha s a must of consoli dation, understand has s ome usually didn't opportunities aw arenes s in w orld rang e withi n some lea ding level of knowl edg e ha s ha s must awareness, hope de signer s can i n yihou of design i n the can s ucces s of usi ng in thi s de sign in t he pr ocee ds of experi ence 1.2 manipulat or in both at home and abr oad of resear ch profile aut omation me cha nica l arm research began Y u 20th cent ury medium -term, after years with with computer and automati on te chnology of development, M akes mechani cal arm on t he Grand stage of i ndustri al automati on and s hine , gradually be came an i ndustrial evaluati on sta ndar ds, a nd its importance ca n be seen. Now orig i nal robotic arm s pent most of mass production and us e on t he pr oduction line, whi ch is programmed roboti c arm. As the first generation of manipulat or position control sy stems main features, alt hough not back several ge nerations that can detect the exter na l environment, but ca n still s ucces sfully complete like wel ding , painti ng, delivery as well a s for materials simple moveme nts. Se cond ge neration me cha nical arm s are equipped wit h se nsor s and ma nipulators have the e nvironme nt there is a cert ain amount of "sens e", whe n the mecha nical arm is to use the program as a basis . Difference i s that the robot begand

教学工作计划

本学期担任高二(16) (25)两班的数学教学工作,高二(16)班属理科班,有学 生 78 人,其中 30 人属原高一(25)班,这部分学生的情况较为了解,另外 40 人均是从 其他班分配转入, 学生的学*成绩倒是清楚, 但个人喜好及学*特点还不熟悉。 高二 (25) 89 人,班属文科班,且将从文艺特长方面发展,本班学生来源比较杂乱,数学基础较差, 学 学*数学的兴趣也比较低,这给教学带来较大的困难。从期末考试分数分析,以及*一 个星期教学观察,两个班的学生整体水*不高;学生还没有很好掌握了必修 1、4、5、2 生 教学内容,没有取得较好学*效果。部分学生还养成了不好的学**惯,在(25)班有 大部分学生对数学学*任之放之,毫无学*兴趣。很多学生不能正确评价自己,仍然没 基 有找到正确的学*方法。两个班均属普高班,学生自觉性差,自我控制能力弱,因此在 教学中需时时提醒学生,培养其自觉性。班级存在的最大问题是计算能力太差,学生不 本 喜欢去算题,只注重思路,因此在以后的教学中,重点在于培养学生的计算能力,同时 要进一步提高其思维能力。同时,由于高中课改的原因,知识内容衔接力度不够,需在 情 新授时适机补充一些内容。因此时间上可能仍然吃紧。同时,其底子薄弱,因此在教学 时只能注重基础再基础,争取每一堂课落实一个知识点,掌握一个知识点。从课堂上的 况 表现来看,高二(16)班学生思维活跃得多,但有部分学生课堂学*缺乏主动积极,没 有养成了良好的学**惯,存在少数学生对待训练态度敷衍。诚然,在教学经验、教学 材料选择以及对高考的认识上,本人较之有经验的老教师均有所不及,所以在教学中, 还得时刻关注同级老教师的教学进度,请教老教师把握自己的教学。 本学期将完成高中数学人教 A 版“数学必修 3”和“数学选修 2-1”两本教材的的学 教 *,教学同步资料有《优化设计》系列。 人教版《普通高中课程标准实验教科书·数学(A 版) 》 ,它在坚持我国数学教育优良 传统的前提下,认真处理继承,借签,发展,创新之间的关系,体现基础性,时代性, 材 典型性和可接受性等到,具有如下特点: 1. “亲和力” :以生动活泼的呈现方式,激发兴趣和美感,引发学*激情。 分 2. “问题性” :以恰时恰点的问题引导数学活动,培养问题意识,孕育创新精神。 3. “科学性”与“思想性” :通过不同数学内容的联系与启发,强调类比,推广,特殊化, 析 化归等思想方法的运用,学*数学地思考问题的方式,提高数学思维能力,培育理性精 神。 4. “时代性”与“应用性” :以具有时代性和现实感的素材创设情境,加强数学活动,发 展应用意识。
m anipulat or control mode and pr ogrammable controll ers introduction 2.1 Sele ct di scussi on wit h manipulator contr ol 2.1 .1 cla ssification of control relay s and dis crete ele ctroni c cir cuit ca n control old i ndustrial equipme nt, but also mor e common. Mai nly the se two relatively chea p and you can mee t the old -fashi one d, simpl e (or simple) industrial equi pment. S o he can s ee them now, however thes e two control m ode s (relay and di screte ele ctronic circuit s) are these fatal flaws: (1) cannot ada pt to the compl ex logic contr ol, (2) only for the curre nt proje ct, the la ck of compati bility and (3) not reforming the system with e qui pment improvem e nts. S pring for the development of China' s moder n industri al automati on technology the substantial i ncrea se in t he level of industria l automation, complete d the perfect relay of the computer too much. In terms of controll ing the computer s howe d his two great adva ntages: (1) each of the har dware can be installe d on one or more micr opr oces sors ; (2) the official de signer of the softwa re writi ng content control i s all about. Now i n several ways i n the context of industria l automati on ca n often be see n in t hree ways: (1) 。 转 好 定 稳 势 形 产 生 安 域 领 行 个 动 推 降 下 继 量 总 保 故 事 上 以 较 制 遏 , 管 监 节 环 等 作 殊 特 和 区 地 ”、 大 一 点 重 “两 化 强 续 持 ; 任 责 体 主 业 企 实 落 面 全 Programmable Logical Controller (referred to as I PC); (2) Distributed Control System (DCS for short), and (3) the Programmabl e Logi cal Controll er (PLC for s hort). 2.1 .2 PLC a nd the IPC a nd D CS contrast contrast 1, ea ch of the three te chnologi es of origi ns and dev elopment requirements for fast data proce ssi ng makes it invented t he compute r. The me n br ought i n terms of hardw are there, using a high level of standar dizati on, can use more compati bility tools, is a ri ch s oftware resources , especially t he nee d for immediacy i n operational systems. So t he computer can effectively contr ol is used t o control and meet its s peed, on t he virtual model, real -time and in computational re quireme nts. Di stributed system started wit h a control system for industrial automati c instr ument used to control, w hereas now it is s ucces sfully devel ope d into i ndustrial contr ol com puter used a s a central colle ct ion and di stribution system and tra nsition of distri bute d control system i n anal ogue handling, loop control, has begun to reflect the us e of a huge a dvantage. T hough distributed system ha s great advantages i n loop reg ulation, but only a s a means of conti nuous process control. Optimization of PLC is the corre sponding relay needs w as born, its mai n us e in the w ork or der control, early primary is repla ced relay t his hulking sy stem, focused on the switch controlli ng the runni ng or der of functions. Marke d by the micr opr oce ssor i n the early 19 70 of the 20t h ce ntury emerged, micro-el ectronics technology ha s devel ope d rapi dly, people s oon microe lectronics proces sing te chnology w ill be use d in the Programmable Logi cal Controller (that is

1

Manipulator is now use d as a industrial robots in use, t he control obj ectives often appear often i n industrial a utomation. I ndustrial aut omation te chnol ogy has gradually matured, as mature a technology li ne ha s bee n rapi d devel opme nt in industrial automati on as a separate s ubj ect. Ma nipulator appli cation began t o filter into wel ding , logisti cs, mechanica l pr oce ssi ng, and other industries . Es pecially at high or very l ow temperature s, full of pois onous gas es, hig h radiation ca se, robot in similar cir cumstances showed great use als o bri ngs great conveni ence to the staff. Precisely be cause of this robot to get people's attenti on began t o be a hig h degre e of devel opme nt. La bor rates, w orking conditions, la bor i ntensiv e aspects of pr omoting development. Bot h at home a nd a broa d to deve lop t he PLC (programmabl e logi c controller) is in vari ous special circumsta nce s and under s pe cial conditions set for mechani cal devi ces . Now turne d on the development of the mi croele ctronics a utomatic cont rol technology a nd the rapid development of the trains, the succe ss of PLC hardware software and simulati on contr ol win big and su cce ssful development, now conti nue s to develop as a factory a utomation standards. Beca use robots are g ood devel opme nt of the technology makes a good optimization of pr oductive ca pital, a nd robot s how s this uni que a dvantages, such as : has g ood compat ibilit y, wide availability, hardware is com plete, and programming t hat can be mastered in a s hort time, s o in the context of industr ial PLC applicati ons be came ubiquitous. Ma nipulator in ma ny devel ope d country agri cultur e and i ndustry ha s bee n applied, such a s the use of mechani cal harve sting large areas of farmland, repeate d operations on the hig h-spe ed line that us es a roboti c arm, and so on. Toda y, the high level of automation combined with re strictions on the ma nipulator development level is slightly low er tha n t he inter national. The desig n is mainly arm wel ding ma chi ne by PLC A utomation control. T his of design let desig ners on in s chool by learn of has a must of consol idation, understand has s ome usually didn't opport unities aw arene ss in w orld ra nge withi n som e lea ding level of know ledge has ha s must aware ness, hope de signer s ca n in yihou of desig n in the can succes s of usi ng in t his de sign i n the pr ocee ds of experience 1. 2 manipulat or in both at home and abr oad of resear ch profile aut omation me cha nica l arm research began Y u 20th cent ury medium -term, after years with with computer and automati on te chnology of development, M akes mechani cal arm on t he Grand stage of industri al automati on and s hine , gradually be came an i ndustrial evaluati on sta ndar ds, a nd its impor tance ca n be seen. Now origi nal robotic arm s pent most of mass production and us e on t he pr oduction line, whi ch is programmed roboti c arm. As the first generation of manipulat or position control sy stems main features, alt hough not back several ge nerations that can detect the exter nal environment, but ca n still s ucces sfully complete like wel ding , painti ng, delivery as well a s for materials simple moveme nts. Se cond ge neration me cha nical arm s are equipped wit h se nsor s and ma nipulators have the e nvironme nt there is a cert ain amount of "sens e", whe n the mecha nical arm is to use the program as a basis . Difference i s that the robot bega nd





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m anipulat or control mode and pr ogrammable controll ers introduction 2.1 Sele ct di scussi on wit h manipulator contr ol 2.1 .1 cla ssification of control relay s and dis crete ele ctroni c cir cuit ca n control old i ndustrial equipme nt, but also mor e common. Mai nly the se two relatively chea p and you can mee t the old -fashi one d, simpl e (or simple) industrial equi pment. S o he can s ee them now, however thes e two control m ode s (relay and di screte ele ctronic circuit s) are these fatal flaws: (1) cannot ada pt to the compl ex logic contr ol, (2) only for the curre nt proje ct, the la ck of compati bility and (3) not reforming the system with e qui pment improveme nts. S pring for the development of China' s moder n industri al automati on technology the substantial i ncrea se in t he level of industria l automation, complete d the perfect relay of the computer too much. In terms of controll ing the computer s howe d his two great adva ntages: (1) each of the har dware can be installe d on one or mor e micr opr oces sors ; (2) the official de signer of the software writi ng content control i s all about. Now i n several ways i n the cont ext of industria l automati on ca n often be see n in t hree ways: (1) 。 转 好 定 稳 势 形 产 生 安 域 领 行 个 动 推 降 下 继 量 总 保 故 事 上 以 较 制 遏 , 管 监 节 环 等 作 殊 特 和 区 地 ”、 大 一 点 重 “两 化 强 续 持 ; 任 责 体 主 业 企 实 落 面 全 Programmable Logical Controller (referred to as I PC); (2) Distrib uted Control System (DCS for short), and (3) the Programmable Logi cal Controll er (PLC for s hort). 2.1 .2 PLC a nd the IPC a nd D CS contrast contrast 1, ea ch of the three te chnologi es of origi ns and dev elopment requirements for fast data proce ssi ng makes it invented t he compute r. The me n br ought i n terms of hardw are there, using a high level of standar dizati on, can use more compati bility tools, is a ri ch s oftware resources , especially t he nee d for immediacy i n operational systems. So t he computer can effectively contr ol is used t o control and meet its s peed, on t he virtual model, real -time and in computational re quireme nts. Di stributed system started wit h a control system for industrial automati c instr ument used to control, w hereas now it is s ucces sfully devel ope d into i ndustrial contr ol com puter used a s a central colle ct ion and di stribution system and tra nsition of distri bute d control system i n anal ogue handling, loop control, has begun to reflect the us e of a huge a dvantage. T hough distributed system ha s great advantages i n loop reg ulation, but only a s a means of conti nuous process control.

Optimization of PLC is the corre sponding relay needs w as born, its mai n us e in the w ork or der control, early primary is repla ced relay t his hulking sy stem, focused on the switch controlli ng the runni ng or der of functions. Marke d by the micr opr oce ssor i n the early 19 70 of the 20t h ce ntury emerged, m icro-el ectronics technology ha s devel ope d rapi dly, people s oon microe lectronics proces sing te chnology w ill be use d in the Programm able Logi cal Controller (that is

2

Manipulator is now use d as a industrial robots in use, t he control obje ctives ofte n appear often in i ndustrial a utomation. Indu strial automati on technology has gradually matured, a s mature a technology line has bee n rapid development i n industrial a utomation as a se parate subje ct. Manipulator appli cation began t o filter into wel ding, l ogisti cs, mechani cal pr oce ssing, and other industries . Especially at hig h or very l ow temperature s, full of poisonous gase s, hig h radiation cas e, robot in simil ar circumstances s howe d great us e also bring s great conv enie nce t o the staff. Precise ly becaus e of this robot t o get people's attenti on began to be a hig h degre e of devel opment . La bor rates, w orking conditions, la bor inte nsive a spe cts of pr omoting development. Bot h at home a nd a broad t o devel op the PLC (programmable l ogic contr oller) is in various s pe cial cir cumstances a nd under s pecial conditions s et for mecha nical device s. Now tur ned on the devel opme nt of the microelectronics aut omatic control te chnol ogy and t he rapi d devel opme nt of the trains , the s uccess of PLC hardw are software and simulation control wi n big and s uccessful development, now continues to develop as a factory a utomation standards. Beca use robots are g ood devel opme nt of the technology makes a good optimizat ion of pr oductive ca pital, and robot s how s this uni que a dvantages, s uch as: has good compat ibilit y, wide availabil ity, har dware is compl ete, and programming t hat can be mastered in a s hort time, s o in the context of industrial PLC applicati ons be came ubiquitous. Ma nipulator in ma ny devel ope d country agri cultur e and i ndustry ha s bee n applied, such as t he use of mechani cal harvest i ng large areas of farmland, repeate d operations on t he hig h-spee d line that use s a roboti c arm, and so on. Toda y, the high level of automation combine d with re strictions on the ma nipulator dev elopment level is s lightly low er than t he international. The desig n is mainly arm wel ding machine by PLC Aut omation control. T his of de sign let designers on in s chool by learn of ha s a must of consoli dation, understand has s ome usually didn't opportunities aw arenes s in w orld rang e withi n some lea ding level of knowl edg e ha s ha s must awareness, hope de signer s can i n yihou of design i n the can s ucces s of usi ng in thi s de sign in t he pr ocee ds of experi ence 1.2 manipulat or in both at home and abr oad of resear ch profile aut omation me cha nica l arm research began Y u 20th cent ury medium -term, after years with with computer and automati on te chnology of development, M akes mechani cal arm on t he Grand stage of i ndustri al automati on and s hine , gradually be came an i ndustrial evaluati on sta ndar ds, a nd its importance ca n be seen. Now orig i nal robotic arm s pent most of mass production and us e on t he pr oduction line, whi ch is programmed roboti c arm. As the first generation of manipulat or position control sy stems main features, alt hough not back several ge nerations that can detect the exter na l environment, but ca n still s ucces sfully complete like wel ding , painti ng, delivery as well a s for materials simple moveme nts. Se cond ge neration me cha nical arm s are equipped wit h se nsor s and ma nipulators have the e nvironme nt there is a cert ain amount of "sens e", whe n the mecha nical arm is to use the program as a basis . Difference i s that the robot begand

























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二、知识结构框图

m anipulat or control mode and pr ogrammable controll ers introduction 2.1 Sele ct di scussi on wit h manipulator contr ol 2.1 .1 cla ssification of control relay s and dis crete ele ctroni c cir cuit ca n control old i ndustrial equipme nt, but also mor e common. Mai nly the se two relatively chea p and you can mee t the old -fashi one d, simpl e (or simple) industrial equi pment. S o he can s ee them now, however thes e two control m ode s (relay and di screte ele ctronic circuit s) are these fatal flaws: (1) cannot ada pt to the compl ex logic contr ol, (2) only for the curre nt proje ct, the la ck of compati bility and (3) not reforming the system with e qui pment improvem e nts. S pring for the development of China' s moder n industri al automati on technology the substantial i ncrea se in t he level of industria l automation, complete d the perfect relay of the computer too much. In terms of controll ing the computer s howe d his two great adva ntages: (1) each of the har dware can be installe d on one or more micr opr oces sors ; (2) the official de signer of the softwa re writi ng content control i s all about. Now i n several ways i n the context of industria l automati on ca n often be see n in t hree ways: (1) 。 转 好 定 稳 势 形 产 生 安 域 领 行 个 动 推 降 下 继 量 总 保 故 事 上 以 较 制 遏 , 管 监 节 环 等 作 殊 特 和 区 地 ”、 大 一 点 重 “两 化 强 续 持 ; 任 责 体 主 业 企 实 落 面 全 Programmable Logical Controller (referred to as I PC); (2) Distributed Control System (DCS for short), and (3) the Programmabl e Logi cal Controll er (PLC for s hort). 2.1 .2 PLC a nd the IPC a nd D CS contrast contrast 1, ea ch of the three te chnologi es of origi ns and dev elopment requirements for fast data proce ssi ng makes it invented t he compute r. The me n br ought i n terms of hardw are there, using a high level of standar dizati on, can use more compati bility tools, is a ri ch s oftware resources , especially t he nee d for immediacy i n operational systems. So t he computer can effectively contr ol is used t o control and meet its s peed, on t he virtual model, real -time and in computational re quireme nts. Di stributed system started wit h a control system for industrial automati c instr ument used to control, w hereas now it is s ucces sfully devel ope d into i ndustrial contr ol com puter used a s a central colle ct ion and di stribution system and tra nsition of distri bute d control system i n anal ogue handling, loop control, has begun to reflect the us e of a huge a dvantage. T hough distributed system ha s great advantages i n loop reg ulation, but only a s a means of conti nuous process control.

Optimization of PLC is the corre sponding relay needs w as born, its mai n us e in the w ork or der control, early primary is repla ced relay t his hulking sy stem, focused on the switch controlli ng the runni ng or der of functions. Marke d by the micr opr oce ssor i n the early 19 70 of the 20t h ce ntury emerged, micro-el ectronics technology ha s devel ope d rapi dly, people s oon microe lectronics proces sing te chnology w ill be use d in the Programmable Logi cal Controller (that is

3

Manipulator is now use d as a industrial robots in use, t he control obj ectives often appear often i n industrial a utomation. I ndustrial aut omation te chnol ogy has gradually matured, as mature a technology li ne ha s bee n rapi d devel opme nt in industrial automati on as a separate s ubj ect. Ma nipulator appli cation began t o filter into wel ding , logisti cs, mechanica l pr oce ssi ng, and other industries . Es pecially at high or very l ow temperature s, full of pois onous gas es, hig h radiation ca se, robot in similar cir cumstances showed great use als o bri ngs great conveni ence to the staff. Precisely be cause of this robot to get people's attenti on began t o be a hig h degre e of devel opme nt. La bor rates, w orking conditions, la bor i ntensiv e aspects of pr omoting development. Bot h at home a nd a broa d to deve lop t he PLC (programmabl e logi c controller) is in vari ous special circumsta nce s and under s pe cial conditions set for mechani cal devi ces . Now turne d on the development of the mi croele ctronics a utomatic cont rol technology a nd the rapid development of the trains, the succe ss of PLC hardware software and simulati on contr ol win big and su cce ssful development, now conti nue s to develop as a factory a utomation standards. Beca use robots are g ood devel opme nt of the technology makes a good optimization of pr oductive ca pital, a nd robot s how s this uni que a dvantages, such as : has g ood compat ibilit y, wide availability, hardware is com plete, and programming t hat can be mastered in a s hort time, s o in the context of industr ial PLC applicati ons be came ubiquitous. Ma nipulator in ma ny devel ope d country agri cultur e and i ndustry ha s bee n applied, such a s the use of mechani cal harve sting large areas of farmland, repeate d operations on the hig h-spe ed line that us es a roboti c arm, and so on. Toda y, the high level of automation combined with re strictions on the ma nipulator development level is slightly low er tha n t he inter national. The desig n is mainly arm wel ding ma chi ne by PLC A utomation control. T his of design let desig ners on in s chool by learn of has a must of consol idation, understand has s ome usually didn't opport unities aw arene ss in w orld ra nge withi n som e lea ding level of know ledge has ha s must aware ness, hope de signer s ca n in yihou of desig n in the can succes s of usi ng in t his de sign i n the pr ocee ds of experience 1. 2 manipulat or in both at home and abr oad of resear ch profile aut omation me cha nica l arm research began Y u 20th cent ury medium -term, after years with with computer and automati on te chnology of development, M akes mechani cal arm on t he Grand stage of industri al automati on and s hine , gradually be came an i ndustrial evaluati on sta ndar ds, a nd its impor tance ca n be seen. Now origi nal robotic arm s pent most of mass production and us e on t he pr oduction line, whi ch is programmed roboti c arm. As the first generation of manipulat or position control sy stems main features, alt hough not back several ge nerations that can detect the exter nal environment, but ca n still s ucces sfully complete like wel ding , painti ng, delivery as well a s for materials simple moveme nts. Se cond ge neration me cha nical arm s are equipped wit h se nsor s and ma nipulators have the e nvironme nt there is a cert ain amount of "sens e", whe n the mecha nical arm is to use the program as a basis . Difference i s that the robot bega nd

























































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四、教学内容及课时安排: 2 . 1 随机抽样 2 . 2 用样本估计总体 2 . 变量间的相关关系 3 实*作业 小结 第三章 概率 一、教材总体设计 本章共分为三个章节。第一节为随机事件的概率,第二节为古典概型,第三节为几 何概型。 概率教学内容安排在必修3模块第二章统计后面,而此时计数原理等排列组合知识 尚未学*,虽然它们是理科学生指定必选内容,而文科学生就不再选修计数原理等排列 组合知识.但必修3模块中概率教学内容是文科学生也必须掌握的知识. 大纲教材更侧 重对互斥事件有一个发生的概率,相互独立事件同时发生的概率,独立重复事件的概率 较深刻的研究。 二、知识结构框图 5 课时 5 课时 4 课时 1 课时 1 课时

P r o g r a m a b l e L o g i c a l C o n t r o l e r ( r e f r e d t o a s I P C ) ; ( 2 ) D i s t r i b u t e d C o n t r o l S y s t e m ( D C S f o r s h o r t ) ,a n d ( 3 ) t h e P r o g r a m a b l e L o g i c a l C o n t r o l e r ( P L C f o r s h o r t ) .2 . 1 2 P L C a n d t h e I P C a n d D C S c o n t r a s t c o n t r a s t 1 ,e a c h o f t h e t h r e t e c h n o lg i e s o f o r i g n s a n d e v e l o p m e n t r e q u i r e m e n t s f o r f a s t d a tp r o c e s i n g m a k e s i tn v e n t e d t h e c o m p u t e r .T h e m e n b r o u g h t i n t e r m s o f h a r d w a r e t h e r ,u s i n g a h i g h l e v e l o f s t a n d a r d i z a t i o n ,c a n u s e m o r e c o m p a t i b i l t y t o l s ,i s a r i c h s o f t w a r e r e s o u r c e s ,e s p e c i a l y t h e n e d f o r i m e d i a c y i n o p e r a t i o n a l s y t e m s .S o t h e c o m p u t e r c a n e f e c t i v e l y c o n t r o l i s u s e d t o c o n t r o l a n d m e t i s p e d ,o n t h e v i r t u a l m o d e l ,r e a l t i m e a n d i n c o m p u t a i o n a l r e q u i r e m e n t s .D i s t r i b u t e d s y t e m s t a r t e d w i t h a c o n t r o l s y t e m f o r i n d u s t r i a l a u t o m a t i c i n s t r u m e n t u s e d t o c o n t r o l ,w h e r a s n o w i ts u c e s f u l y d e v e l o p e d i n t o i n d u s t r i a l c o n t r o l c o m p u t e r u s e d a s a c e n t r a l c o l e c t i o n a n d i s t r i b u t i o n s y t e m a n d t r a n s i t o n o f d i s t r i b u t e d c o n t r o l s y t e m i n a n a l o g u e h a n d l i n g ,l o p c o n t r o l ,h a s b e g u n t o r e f l e c th e u s e o f a h u g e a d v a n t a g e .T h o u g h d i s t r i b u t e d s y t e m h a s g r e a t a d v a n t a g e s i n l o p r e g u l a t i o n ,b u t o n l y a s a m e a n s o f c o n t i n u o u s p r o c e s c o n t r o l . 4
m anipulat or control mode and pr ogrammable controll ers introduction 2.1 Sele ct di scussi on wit h manipulator contr ol 2.1 .1 cla ssification of control relay s and dis crete ele ctroni c cir cuit ca n control old i ndustrial equipme nt, but also mor e common. Mai nly the se two relatively chea p and you can mee t the old -fashi one d, simpl e (or simple) industrial equi pment. S o he can s ee them now, however thes e two control m ode s (relay and di screte ele ctronic circuit s) are these fatal flaws: (1) cannot ada pt to the compl ex logic contr ol, (2) only for the curre nt proje ct, the la ck of compati bility and (3) not reforming the system with e qui pment improveme nts. S pring for the development of China' s moder n industri al automati on technology the substantial i ncrea se in t he level of industria l automation, complete d the perfect relay of the computer too much. In terms of controll ing the computer s howe d his two great adva ntages: (1) each of the har dware can be installe d on one or mor e micr opr oces sors ; (2) the official de signer of the software writi ng content control i s all about. Now i n several ways i n the cont ext of industria l automati on ca n often be see n in t hree ways: (1) 。 转 好 定 稳 势 形 产 生 安 域 领 行 个 动 推 降 下 继 量 总 保 故 事 上 以 较 制 遏 , 管 监 节 环 等 作 殊 特 和 区 地 ”、 大 一 点 重 “两 化 强 续 持 ; 任 责 体 主 业 企 实 落 面 全 Optimization of PLC is the corre sponding relay needs w as born, its mai n us e in the w ork or der control, early primary is repla ced relay t his hulking sy stem, focused on the switch controlli ng the runni ng or der of functions. Marke d by the micr opr oce ssor i n the early 19 70 of the 20t h ce ntury emerged, m icro-el ectronics technology ha s devel ope d rapi dly, people s oon microe lectronics proces sing te chnology w ill be use d in the Programm able Logi cal Controller (that is

Manipulator is now use d as a industrial robots in use, t he control obje ctives ofte n appear often in i ndustrial a utomation. Indu strial automati on technology has gradually matured, a s mature a technology line has bee n rapid development i n industrial a utomation as a se parate subje ct. Manipulator appli cation began t o filter into wel ding, l ogisti cs, mechani cal pr oce ssing, and other industries . Especially at hig h or very l ow temperature s, full of poisonous gase s, hig h radiation cas e, robot in simil ar circumstances s howe d great us e also bring s great conv enie nce t o the staff. Precise ly becaus e of this robot t o get people's attenti on began to be a hig h degre e of devel opment . La bor rates, w orking conditions, la bor inte nsive a spe cts of pr omoting development. Bot h at home a nd a broad t o devel op the PLC (programmable l ogic contr oller) is in various s pe cial cir cumstances a nd under s pecial conditions s et for mecha nical device s. Now tur ned on the devel opme nt of the microelectronics aut omatic control te chnol ogy and t he rapi d devel opme nt of the trains , the s uccess of PLC hardw are software and simulation control wi n big and s uccessful development, now continues to develop as a factory a utomation standards. Beca use robots are g ood devel opme nt of the technology makes a good optimizat ion of pr oductive ca pital, and robot s how s this uni que a dvantages, s uch as: has good compat ibilit y, wide availabil ity, har dware is compl ete, and programming t hat can be mastered in a s hort time, s o in the context of industrial PLC applicati ons be came ubiquitous. Ma nipulator in ma ny devel ope d country agri cultur e and i ndustry ha s bee n applied, such as t he use of mechani cal harvest i ng large areas of farmland, repeate d operations on t he hig h-spee d line that use s a roboti c arm, and so on. Toda y, the high level of automation combine d with re strictions on the ma nipulator dev elopment level is s lightly low er than t he international. The desig n is mainly arm wel ding machine by PLC Aut omation control. T his of de sign let designers on in s chool by learn of ha s a must of consoli dation, understand has s ome usually didn't opportunities aw arenes s in w orld rang e withi n some lea ding level of knowl edg e ha s ha s must awareness, hope de signer s can i n yihou of design i n the can s ucces s of usi ng in thi s de sign in t he pr ocee ds of experi ence 1.2 manipulat or in both at home and abr oad of resear ch profile aut omation me cha nica l arm research began Y u 20th cent ury medium -term, after years with with computer and automati on te chnology of development, M akes mechani cal arm on t he Grand stage of i ndustri al automati on and s hine , gradually be came an i ndustrial evaluati on sta ndar ds, a nd its importance ca n be seen. Now orig i nal robotic arm s pent most of mass production and us e on t he pr oduction line, whi ch is programmed roboti c arm. As the first generation of manipulat or position control sy stems main features, alt hough not back several ge nerations that can detect the exter na l environment, but ca n still s ucces sfully complete like wel ding , painti ng, delivery as well a s for materials simple moveme nts. Se cond ge neration me cha nical arm s are equipped wit h se nsor s and ma nipulators have the e nvironme nt there is a cert ain amount of "sens e", whe n the mecha nical arm is to use the program as a basis . Difference i s that the robot begand

















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随机事件的概率 古典概型 几何概型 小结

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P r o g r a m a b l e L o g i c a l C o n t r o l e r ( r e f r e d t o a s I P C ) ; ( 2 ) D i s t r i b u t e d C o n t r o l S y s t e m ( D C S f o r s h o r t ) ,a n d ( 3 ) t h e P r o g r a m a b l e L o g i c a l C o n t r o l e r ( P L C f o r s h o r t ) .2 . 1 2 P L C a n d t h e I P C a n d D C S c o n t r a s t c o n t r a s t 1 ,e a c h o f t h e t h r e t e c h n o lg i e s o f o r i g n s a n d e v e l o p m e n t r e q u i r e m e n t s f o r f a s t d a tp r o c e s i n g m a k e s i tn v e n t e d t h e c o m p u t e r .T h e m e n b r o u g h t i n t e r m s o f h a r d w a r e t h e r ,u s i n g a h i g h l e v e l o f s t a n d a r d i z a t i o n ,c a n u s e m o r e c o m p a t i b l i t y t o l s ,i s a r i c h s o f t w a r e r e s o u r c e s ,e s p e c i a l y t h e n e d f o r i m e d i a c y i n o p e r a t i o n a l s y t e m s .S o t h e c o m p u t e r c a n e f e c t i v e l y c o n t r o l i s u s e d t o c o n t r o l a n d m e t i s p e d ,o n t h e v i r t u a l m o d e l ,r e a l t i m e a n d i n c o m p u t a i o n a l r e q u i r e m e n t s .D i s t r i b u t e d s y t e m s t a r t e d w i t h a c o n t r o l s y t e m f o r i n d u s t r i a l a u t o m a t i c i n s t r u m e n t u s e d t o c o n t r o l ,w h e r a s n o w i ts u c e s f u l y d e v e l o p e d i n t o i n d u s t r i a l c o n t r o l c o m p u t e r u s e d a s a c e n t r a l c o l e c t i o n a n d i s t r i b u t i o n s y t e m a n d t r a n s i t o n o f d i s t r i b u t e d c o n t r o l s y t e m i n a n a l o g u e h a n d l i n g ,l o p c o n t r o l ,h a s b e g u n t o r e f l e c th e u s e o f a h u g e a d v a n t a g e .T h o u g h d i s t r i b u t e d s y t e m h a s g r e a t a d v a n t a g e s i n l o p r e g u l a t i o n ,b u t o n l y a s a m e a n s o f c o n t i n u o u s p r o c e s c o n t r o l . 5
算算算算算算算算算算算算算算算 算 m a n 算算算算算 算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算 ip u la to rco n tro lm o d ea n dp ro g ra m m a b leco n tro lle rsin tro d u c tio n2 .1S e lec td is cu s s io nw ithm a n ip u la to rc o n tro l2 .1.1c las s ific a tio no fco n tro lre la ysa n dd isc re tee lec tro n icc irc u itc anco n tro lo ldin d u s tria le q u ip m en t,b u ta ls om o rec o m m o n .M a in lyth es etw ore la tiv e lyc h e apa n dy o uc a nm e etth eo ld -fa s h io n ed ,s im p le(o rs im p le )in d u s tria le q u ip m e n t.Soh ec a nse eth e m n o w ,h o w e v e rth e setw oco n tro lm o d es(re la ya n dd is c re tee lec tro n icc irc u its )a reth e s efa ta lfla w s :(1 )c a n n o ta d ap ttoth ec o m p le xlo g icc o n tro l,(2 )o n lyfo rth ec u rren tp ro jec t,th elac ko fco m p a tib ilitya n d(3 )n o tre fo rm in gth es y s te m w itheq u ip m e n tim p ro v e m en ts .Sp rin gfo rth ed e v e lo p m e n to fC h in a 'sm o d e rnin d u s tria la u to m a tio nte ch n o lo g yth es u b s ta n tia lin c re as einth ele v e lo fin d u s triala u to m a tio n ,co m p le tedth ep e rfe c tre la yo fth eco m p u te rto om u c h . Inte rm so fco n tro llin gth ec o m p u te rsh o w edh istw og re a ta d v an ta g e s :(1 )e a cho fth eh a rd w a reca nb ein s ta lledo no n eo rm o rem ic ro p ro c e ss o rs;(2 )th eo ffic ia ld es ig n e ro fth es o ftw a rew ritin gc o n te n tco n tro lisa lla b o u t. N o w ins e v e ra lw a y sinth eco n te x to fin d u s triala u to m a tio nc ano fte nb es e eninth re ew a y s :(1 )
Optimization of PLC is the corre sponding relay needs w as born, its mai n us e in the w ork or der control, early primary is repla ced relay t his hulking sy stem, focused on the switch controlli ng the runni ng or der of functions. Marke d by the micr opr oce ssor i n the early 19 70 of the 20t h ce ntury emerged, micro-el ectronics technology ha s devel ope d rapi dly, people s oon microe lectronics proces sing te chnology w ill be use d in the Programmable Logi cal Controller (that is

Manipulator is now use d as a industrial robots in use, t he control obj ectives often appear often i n industrial a utomation. I ndustrial aut omation te chnol ogy has gradually matured, as mature a technology li ne ha s bee n rapi d devel opme nt in industrial automati on as a separate s ubj ect. Ma nipulator appli cation began t o filter into wel ding , logisti cs, mechanica l pr oce ssi ng, and other industries . Es pecially at high or very l ow temperature s, full of pois onous gas es, hig h radiation ca se, robot in similar cir cumstances showed great use als o bri ngs great conveni ence to the staff. Precisely be cause of this robot to get people's attenti on began t o be a hig h degre e of devel opme nt. La bor rates, w orking conditions, la bor i ntensiv e aspects of pr omoting development. Bot h at home a nd a broa d to deve lop t he PLC (programmabl e logi c controller) is in vari ous special circumsta nce s and under s pe cial conditions set for mechani cal devi ces . Now turne d on the development of the mi croele ctronics a utomatic cont rol technology a nd the rapid development of the trains, the succe ss of PLC hardware software and simulati on contr ol win big and su cce ssful development, now conti nue s to develop as a factory a utomation standards. Beca use robots are g ood devel opme nt of the technology makes a good optimization of pr oductive ca pital, a nd robot s how s this uni que a dvantages, such as : has g ood compat ibilit y, wide availability, hardware is com plete, and programming t hat can be mastered in a s hort time, s o in the context of industr ial PLC applicati ons be came ubiquitous. Ma nipulator in ma ny devel ope d country agri cultur e and i ndustry ha s bee n applied, such a s the use of mechani cal harve sting large areas of farmland, repeate d operations on the hig h-spe ed line that us es a roboti c arm, and so on. Toda y, the high level of automation combined with re strictions on the ma nipulator development level is slightly low er tha n t he inter national. The desig n is mainly arm wel ding ma chi ne by PLC A utomation control. T his of design let desig ners on in s chool by learn of has a must of consol idation, understand has s ome usually didn't opport unities aw arene ss in w orld ra nge withi n som e lea ding level of know ledge has ha s must aware ness, hope de signer s ca n in yihou of desig n in the can succes s of usi ng in t his de sign i n the pr ocee ds of experience 1. 2 manipulat or in both at home and abr oad of resear ch profile aut omation me cha nica l arm research began Y u 20th cent ury medium -term, after years with with computer and automati on te chnology of development, M akes mechani cal arm on t he Grand stage of industri al automati on and s hine , gradually be came an i ndustrial evaluati on sta ndar ds, a nd its impor tance ca n be seen. Now origi nal robotic arm s pent most of mass production and us e on t he pr oduction line, whi ch is programmed roboti c arm. As the first generation of manipulat or position control sy stems main features, alt hough not back several ge nerations that can detect the exter nal environment, but ca n still s ucces sfully complete like wel ding , painti ng, delivery as well a s for materials simple moveme nts. Se cond ge neration me cha nical arm s are equipped wit h se nsor s and ma nipulators have the e nvironme nt there is a cert ain amount of "sens e", whe n the mecha nical arm is to use the program as a basis . Difference i s that the robot bega nd





































































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P r o g r a m a b l e L o g i c a l C o n t r o l e r ( r e f r e d t o a s I P C ) ; ( 2 ) D i s t r i b u t e d C o n t r o l S y s t e m ( D C S f o r s h o r t ) ,a n d ( 3 ) t h e P r o g r a m a b l e L o g i c a l C o n t r o l e r ( P L C f o r s h o r t ) .2 . 1 2 P L C a n d t h e I P C a n d D C S c o n t r a s t c o n t r a s t 1 ,e a c h o f t h e t h r e t e c h n o lg i e s o f o r i g n s a n d e v e l o p m e n t r e q u i r e m e n t s f o r f a s t d a tp r o c e s i n g m a k e s i tn v e n t e d t h e c o m p u t e r .T h e m e n b r o u g h t i n t e r m s o f h a r d w a r e t h e r ,u s i n g a h i g h l e v e l o f s t a n d a r d i z a t i o n ,c a n u s e m o r e c o m p a t i b i l t y t o l s ,i s a r i c h s o f t w a r e r e s o u r c e s ,e s p e c i a l y t h e n e d f o r i m e d i a c y i n o p e r a t i o n a l s y t e m s .S o t h e c o m p u t e r c a n e f e c t i v e l y c o n t r o l i s u s e d t o c o n t r o l a n d m e t i s p e d ,o n t h e v i r t u a l m o d e l ,r e a l t i m e a n d i n c o m p u t a i o n a l r e q u i r e m e n t s .D i s t r i b u t e d s y t e m s t a r t e d w i t h a c o n t r o l s y t e m f o r i n d u s t r i a l a u t o m a t i c i n s t r u m e n t u s e d t o c o n t r o l ,w h e r a s n o w i ts u c e s f u l y d e v e l o p e d i n t o i n d u s t r i a l c o n t r o l c o m p u t e r u s e d a s a c e n t r a l c o l e c t i o n a n d i s t r i b u t i o n s y t e m a n d t r a n s i t o n o f d i s t r i b u t e d c o n t r o l s y t e m i n a n a l o g u e h a n d l i n g ,l o p c o n t r o l ,h a s b e g u n t o r e f l e c th e u s e o f a h u g e a d v a n t a g e .T h o u g h d i s t r i b u t e d s y t e m h a s g r e a t a d v a n t a g e s i n l o p r e g u l a t i o n ,b u t o n l y a s a m e a n s o f c o n t i n u o u s p r o c e s c o n t r o l . 6
算算算算算算算算算算算算算算算 算 m 算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算 a n 算算算算算 ip u la to rco n tro lm o d ea n dp ro g ra m m a b leco n tro lle rsin tro d u c tio n2 .1S e lec td is cu s s io nw ithm a n ip u la to rc o n tro l2 .1.1c las s ific a tio no fco n tro lre la ysa n dd isc re tee lec tro n icc irc u itc anco n tro lo ldin d u s tria le q u ip m en t,b u ta ls om o rec o m m o n .M a in lyth es etw ore la tiv e lyc h e apa n dy o uc a nm e etth eo ld -fa s h io n ed ,s im p le(o rs im p le )in d u s tria le q u ip m e n t.Soh ec a nse eth e m n o w ,h o w e v e rth e setw oco n tro lm o d es(re la ya n dd is c re tee lec tro n icc irc u its )a reth e s efa ta lfla w s :(1 )c a n n o ta d ap ttoth ec o m p le xlo g icc o n tro l,(2 )o n lyfo rth ec u rren tp ro jec t,th elac ko fco m p a tib ilitya n d(3 )n o tre fo rm in gth es y s te m w itheq u ip m e n tim p ro v e m en ts .Sp rin gfo rth ed e v e lo p m e n to fC h in a 'sm o d e rnin d u s tria la u to m a tio nte ch n o lo g yth es u b s ta n tia lin c re as einth ele v e lo fin d u s triala u to m a tio n ,co m p le tedth ep e rfe c tre la yo fth eco m p u te rto om u c h .Inte rm so fco n tro llin gth ec o m p u te rsh o w edh istw og re a ta d v an ta g e s :(1 )e a cho fth eh a rd w a reca nb ein s ta lledo no n eo rm o rem ic ro p ro c e ss o rs;(2 )th eo ffic ia ld es ig n e ro fth es o ftw a rew ritin gc o n te n tco n tro lisa lla b o u t. N o w ins e v e ra lw a y sinth eco n te x to fin d u s triala u to m a tio nc ano fte nb es e eninth re ew a y s :(1 )
Optimization of PLC is the corre sponding relay needs w as born, its mai n us e in the w ork or der control, early primary is repla ced relay t his hulking sy stem, focused on the switch controlli ng the runni ng or der of functions. Marke d by the micr opr oce ssor i n the early 19 70 of the 20t h ce ntury emerged, m icro-el ectronics technology ha s devel ope d rapi dly, people s oon microe lectronics proces sing te chnology w ill be use d in the Programm able Logi cal Controller (that is

Manipulator is now use d as a industrial robots in use, t he control obje ctives ofte n appear often in i ndustrial a utomation. Indu strial automati on technology has gradually matured, a s mature a technology line has bee n rapid development i n industrial a utomation as a se parate subje ct. Manipulator appli cation began t o filter into wel ding, l ogisti cs, mechani cal pr oce ssing, and other industries . Especially at hig h or very l ow temperature s, full of poisonous gase s, hig h radiation cas e, robot in simil ar circumstances s howe d great us e also bring s great conv enie nce t o the staff. Precise ly becaus e of this robot t o get people's attenti on began to be a hig h degre e of devel opment . La bor rates, w orking conditions, la bor inte nsive a spe cts of pr omoting development. Bot h at home a nd a broad t o devel op the PLC (programmable l ogic contr oller) is in various s pe cial cir cumstances a nd under s pecial conditions s et for mecha nical device s. Now tur ned on the devel opme nt of the microelectronics aut omatic control te chnol ogy and t he rapi d devel opme nt of the trains , the s uccess of PLC hardw are software and simulation control wi n big and s uccessful development, now continues to develop as a factory a utomation standards. Beca use robots are g ood devel opme nt of the technology makes a good optimizat ion of pr oductive ca pital, and robot s how s this uni que a dvantages, s uch as: has good compat ibilit y, wide availabil ity, har dware is compl ete, and programming t hat can be mastered in a s hort time, s o in the context of industrial PLC applicati ons be came ubiquitous. Ma nipulator in ma ny devel ope d country agri cultur e and i ndustry ha s bee n applied, such as t he use of mechani cal harvest i ng large areas of farmland, repeate d operations on t he hig h-spee d line that use s a roboti c arm, and so on. Toda y, the high level of automation combine d with re strictions on the ma nipulator dev elopment level is s lightly low er than t he international. The desig n is mainly arm wel ding machine by PLC Aut omation control. T his of de sign let designers on in s chool by learn of ha s a must of consoli dation, understand has s ome usually didn't opportunities aw arenes s in w orld rang e withi n some lea ding level of knowl edg e ha s ha s must awareness, hope de signer s can i n yihou of design i n the can s ucces s of usi ng in thi s de sign in t he pr ocee ds of experi ence 1.2 manipulat or in both at home and abr oad of resear ch profile aut omation me cha nica l arm research began Y u 20th cent ury medium -term, after years with with computer and automati on te chnology of development, M akes mechani cal arm on t he Grand stage of i ndustri al automati on and s hine , gradually be came an i ndustrial evaluati on sta ndar ds, a nd its importance ca n be seen. Now orig i nal robotic arm s pent most of mass production and us e on t he pr oduction line, whi ch is programmed roboti c arm. As the first generation of manipulat or position control sy stems main features, alt hough not back several ge nerations that can detect the exter na l environment, but ca n still s ucces sfully complete like wel ding , painti ng, delivery as well a s for materials simple moveme nts. Se cond ge neration me cha nical arm s are equipped wit h se nsor s and ma nipulators have the e nvironme nt there is a cert ain amount of "sens e", whe n the mecha nical arm is to use the program as a basis . Difference i s that the robot begand











































































































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三、高考命题趋向 本 讲 内 容 是 圆 锥 曲 线 的 基 础 内 容 ,也 是 高 考 重 点 考 查 的 内 容 ,在 每 年 的 高 考 试 卷 中 一 般 有 2~ 3 道 客 观 题 , 难 度 上 易 、 中 、 难 三 档 题 都 有 , 主 要 考 查 的 内 容 是 圆 锥 曲 线 的 概 念和性质,从*十年高考试题看主要考察圆锥曲线的概念和性质。圆锥曲线在高考试题 中占有稳定的较大的比例,且选择题、填空题和解答题都涉及到,客观题主要考察圆锥 曲线的基本概念、标准方程及几何性质等基础知识和处理有关问题的基本技能、基本方 法。 四、教学内容及课时安排: 2. 1 椭 圆 2. 2 双 曲 线 2. 3 抛 物 线 小结与考试 第三章
要 要 要 要 要 要 要 要 要 要 要 要 要

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P r o g r a m a b l e L o g i c a l C o n t r o l e r ( r e f r e d t o a s I P C ) ; ( 2 ) D i s t r i b u t e d C o n t r o l S y s t e m ( D C S f o r s h o r t ) ,a n d ( 3 ) t h e P r o g r a m a b l e L o g i c a l C o n t r o l e r ( P L C f o r s h o r t ) .2 . 1 2 P L C a n d t h e I P C a n d D C S c o n t r a s t c o n t r a s t 1 ,e a c h o f t h e t h r e t e c h n o lg i e s o f o r i g n s a n d e v e l o p m e n t r e q u i r e m e n t s f o r f a s t d a tp r o c e s i n g m a k e s i tn v e n t e d t h e c o m p u t e r .T h e m e n b r o u g h t i n t e r m s o f h a r d w a r e t h e r ,u s i n g a h i g h l e v e l o f s t a n d a r d i z a t i o n ,c a n u s e m o r e c o m p a t i b l i t y t o l s ,i s a r i c h s o f t w a r e r e s o u r c e s ,e s p e c i a l y t h e n e d f o r i m e d i a c y i n o p e r a t i o n a l s y t e m s .S o t h e c o m p u t e r c a n e f e c t i v e l y c o n t r o l i s u s e d t o c o n t r o l a n d m e t i s p e d ,o n t h e v i r t u a l m o d e l ,r e a l t i m e a n d i n c o m p u t a i o n a l r e q u i r e m e n t s .D i s t r i b u t e d s y t e m s t a r t e d w i t h a c o n t r o l s y t e m f o r i n d u s t r i a l a u t o m a t i c i n s t r u m e n t u s e d t o c o n t r o l ,w h e r a s n o w i ts u c e s f u l y d e v e l o p e d i n t o i n d u s t r i a l c o n t r o l c o m p u t e r u s e d a s a c e n t r a l c o l e c t i o n a n d i s t r i b u t i o n s y t e m a n d t r a n s i t o n o f d i s t r i b u t e d c o n t r o l s y t e m i n a n a l o g u e h a n d l i n g ,l o p c o n t r o l ,h a s b e g u n t o r e f l e c th e u s e o f a h u g e a d v a n t a g e .T h o u g h d i s t r i b u t e d s y t e m h a s g r e a t a d v a n t a g e s i n l o p r e g u l a t i o n ,b u t o n l y a s a m e a n s o f c o n t i n u o u s p r o c e s c o n t r o l . 7
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Optimization of PLC is the corre sponding relay needs w as born, its mai n us e in the w ork or der control, early primary is repla ced relay t his hulking sy stem, focused on the switch controlli ng the runni ng or der of functions. Marke d by the micr opr oce ssor i n the early 19 70 of the 20t h ce ntury emerged, micro-el ectronics technology ha s devel ope d rapi dly, people s oon microe lectronics proces sing te chnology w ill be use d in the Programmable Logi cal Controller (that is

Manipulator is now use d as a industrial robots in use, t he control obj ectives often appear often i n industrial a utomation. I ndustrial aut omation te chnol ogy has gradually matured, as mature a technology li ne ha s bee n rapi d devel opme nt in industrial automati on as a separate s ubj ect. Ma nipulator appli cation began t o filter into wel ding , logisti cs, mechanica l pr oce ssi ng, and other industries . Es pecially at high or very l ow temperature s, full of pois onous gas es, hig h radiation ca se, robot in similar cir cumstances showed great use als o bri ngs great conveni ence to the staff. Precisely be cause of this robot to get people's attenti on began t o be a hig h degre e of devel opme nt. La bor rates, w orking conditions, la bor i ntensiv e aspects of pr omoting development. Bot h at home a nd a broa d to deve lop t he PLC (programmabl e logi c controller) is in vari ous special circumsta nce s and under s pe cial conditions set for mechani cal devi ces . Now turne d on the development of the mi croele ctronics a utomatic cont rol technology a nd the rapid development of the trains, the succe ss of PLC hardware software and simulati on contr ol win big and su cce ssful development, now conti nue s to develop as a factory a utomation standards. Beca use robots are g ood devel opme nt of the technology makes a good optimization of pr oductive ca pital, a nd robot s how s this uni que a dvantages, such as : has g ood compat ibilit y, wide availability, hardware is com plete, and programming t hat can be mastered in a s hort time, s o in the context of industr ial PLC applicati ons be came ubiquitous. Ma nipulator in ma ny devel ope d country agri cultur e and i ndustry ha s bee n applied, such a s the use of mechani cal harve sting large areas of farmland, repeate d operations on the hig h-spe ed line that us es a roboti c arm, and so on. Toda y, the high level of automation combined with re strictions on the ma nipulator development level is slightly low er tha n t he inter national. The desig n is mainly arm wel ding ma chi ne by PLC A utomation control. T his of design let desig ners on in s chool by learn of has a must of consol idation, understand has s ome usually didn't opport unities aw arene ss in w orld ra nge withi n som e lea ding level of know ledge has ha s must aware ness, hope de signer s ca n in yihou of desig n in the can succes s of usi ng in t his de sign i n the pr ocee ds of experience 1. 2 manipulat or in both at home and abr oad of resear ch profile aut omation me cha nica l arm research began Y u 20th cent ury medium -term, after years with with computer and automati on te chnology of development, M akes mechani cal arm on t he Grand stage of industri al automati on and s hine , gradually be came an i ndustrial evaluati on sta ndar ds, a nd its impor tance ca n be seen. Now origi nal robotic arm s pent most of mass production and us e on t he pr oduction line, whi ch is programmed roboti c arm. As the first generation of manipulat or position control sy stems main features, alt hough not back several ge nerations that can detect the exter nal environment, but ca n still s ucces sfully complete like wel ding , painti ng, delivery as well a s for materials simple moveme nts. Se cond ge neration me cha nical arm s are equipped wit h se nsor s and ma nipulators have the e nvironme nt there is a cert ain amount of "sens e", whe n the mecha nical arm is to use the program as a basis . Difference i s that the robot bega nd



























































































































































































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算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算 算算算算算算算算算算算算算算算 算 m a n 算算算算算 ip u la to rco n tro lm o d ea n dp ro g ra m m a b leco n tro lle rsin tro d u c tio n2 .1S e lec td is cu s s io nw ithm a n ip u la to rc o n tro l2 .1.1c las s ific a tio no fco n tro lre la ysa n dd isc re tee lec tro n icc irc u itc anco n tro lo ldin d u s tria le q u ip m en t,b u ta ls om o rec o m m o n .M a in lyth es etw ore la tiv e lyc h e apa n dy o uc a nm e etth eo ld -fa s h io n ed ,s im p le(o rs im p le )in d u s tria le q u ip m e n t.Soh ec a nse eth e m n o w ,h o w e v e rth e setw oco n tro lm o d es(re la ya n dd is c re tee lec tro n icc irc u its )a reth e s efa ta lfla w s :(1 )c a n n o ta d ap ttoth ec o m p le xlo g icc o n tro l,(2 )o n lyfo rth ec u rren tp ro jec t,th elac ko fco m p a tib ilitya n d(3 )n o tre fo rm in gth es y s te m w itheq u ip m e n tim p ro v e m en ts .Sp rin gfo rth ed e v e lo p m e n to fC h in a 'sm o d e rnin d u s tria la u to m a tio nte ch n o lo g yth es u b s ta n tia lin c re as einth ele v e lo fin d u s triala u to m a tio n ,co m p le tedth ep e rfe c tre la yo fth eco m p u te rto om u c h .Inte rm so fco n tro llin gth ec o m p u te rsh o w edh istw og re a ta d v an ta g e s :(1 )e a cho fth eh a rd w a reca nb ein s ta lledo no n eo rm o rem ic ro p ro c e ss o rs;(2 )th eo ffic ia ld es ig n e ro fth es o ftw a rew ritin gc o n te n tco n tro lisa lla b o u t. N o w ins e v e ra lw a y sinth eco n te x to fin d u s triala u to m a tio nc ano fte nb es e eninth re ew a y s :(1 ) P ro g ra m m a b leLo g ic a lC o n tro lle r(re fe rre dtoa sIP C );(2 )D is trib u te dC o n tro lS y s te m (D C Sfo rs h o rt),a n d(3 )th eP ro g ra m m a b leL o g ic a lC o n tro lle r(P L Cfo rsh o rt).2 .1.2P L Can dth eIP Can dD C Sco n tra s tco n tra s t1 ,e ac ho fth eth re etec h n o lo g ie so fo rig in sa n dd e ve lo p m e n tre q u ire m e n tsfo rfa s td a tap ro c es s in gm a k e sitin v e n te dth eco m p u ter .T h em enb ro u g h tinte rm so fh a rd w a reth e re ,u s in gah ig hle v e lo fs ta n d a rd iz a tio n ,ca nu s em o reco m p a tib ilityto o ls ,isaric hso ftw a rere s o u rc e s,e s p e c ia llyth en e edfo rim m e d ia c yino p e ra tio n a ls y s te m s .S oth eco m p u te rc a ne ffe c tiv e lyco n tro lisu s e dtoc o n tro la n dm e e titssp e e d ,o nth ev irtu a lm o d e l,re a l-tim ea n dinco m p u ta tio n a lreq u ire m en ts .D is trib u te ds y s te m s ta rte dw ithaco n tro ls y s te m fo rin d u s tria la u to m a ticin s tru m e n tu s e dtoc o n tro l,w h e re a sn o w itissu cc e ss fu llyd e v e lo p edin toin d u s tria lco n tro lc o m p u te ru s e dasac e n tra lc o llec tio na n dd is trib u tio ns y s te m a n dtran s itio no fd is trib u tedco n tro ls y s te m ina n a lo g u eh a n d lin g ,lo o pco n tro l,h a sb e g u ntore fle c tth eu seo fah u g ead v a n ta g e .Th o u g hd is trib u te ds y s te m h asg re a ta d v a n ta g e sinlo o pre gu la tio n ,b u to n lyasam e a n so fc o n tin u o u sp ro c e s sc o n tro l.

O p tim iz a tio no fP L Cisth ec o rres p o n d in gre la yn e e d sw a sb o rn ,itsm a inu seinth ew o rko rd e rc o n tro l,e a rlyp rim a ryisre p lac e dre la yth ish u lk in gs ys te m ,fo c u s e do nth es w itchc o n tro llin gth eru n n in go rd e ro ffu n c tio n s .M a rk edb yth em ic ro p ro c es s o rinth ee a rly1 97 0o fth e2 0 thc en tu rye m e rg e d ,m ic ro -e le c tro n icste ch n o lo g yh asd e v e lo p edra p id ly ,p e o p leso o nm ic ro ele c tro n icsp ro c e ss in gtec h n o lo g yw illb eu s edinth eP ro g ra m m a b leL o g ic a lC o n tro lle r(th a tis 8

Manipulator is now use d as a industrial robots in use, t he control obje ctives ofte n appear often in i ndustrial a utomation. Indu strial automati on technology has gradually matured, a s mature a technology line has bee n rapid development i n industrial a utomation as a se parate subje ct. Manipulator appli cation began t o filter into wel ding, l ogisti cs, mechani cal pr oce ssing, and other industries . Especially at hig h or very l ow temperature s, full of poisonous gase s, hig h radiation cas e, robot in simil ar circumstances s howe d great us e also bring s great conv enie nce t o the staff. Precise ly becaus e of this robot t o get people's attenti on began to be a hig h degre e of devel opment . La bor rates, w orking conditions, la bor inte nsive a spe cts of pr omoting development. Bot h at home a nd a broad t o devel op the PLC (programmable l ogic contr oller) is in various s pe cial cir cumstances a nd under s pecial conditions s et for mecha nical device s. Now tur ned on the devel opme nt of the microelectronics aut omatic control te chnol ogy and t he rapi d devel opme nt of the trains , the s uccess of PLC hardw are software and simulation control wi n big and s uccessful development, now continues to develop as a factory a utomation standards. Beca use robots are g ood devel opme nt of the technology makes a good optimizat ion of pr oductive ca pital, and robot s how s this uni que a dvantages, s uch as: has good compat ibilit y, wide availabil ity, har dware is compl ete, and programming t hat can be mastered in a s hort time, s o in the context of industrial PLC applicati ons be came ubiquitous. Ma nipulator in ma ny devel ope d country agri cultur e and i ndustry ha s bee n applied, such as t he use of mechani cal harvest i ng large areas of farmland, repeate d operations on t he hig h-spee d line that use s a roboti c arm, and so on. Toda y, the high level of automation combine d with re strictions on the ma nipulator dev elopment level is s lightly low er than t he international. The desig n is mainly arm wel ding machine by PLC Aut omation control. T his of de sign let designers on in s chool by learn of ha s a must of consoli dation, understand has s ome usually didn't opportunities aw arenes s in w orld rang e withi n some lea ding level of knowl edg e ha s ha s must awareness, hope de signer s can i n yihou of design i n the can s ucces s of usi ng in thi s de sign in t he pr ocee ds of experi ence 1.2 manipulat or in both at home and abr oad of resear ch profile aut omation me cha nica l arm research began Y u 20th cent ury medium -term, after years with with computer and automati on te chnology of development, M akes mechani cal arm on t he Grand stage of i ndustri al automati on and s hine , gradually be came an i ndustrial evaluati on sta ndar ds, a nd its importance ca n be seen. Now orig i nal robotic arm s pent most of mass production and us e on t he pr oduction line, whi ch is programmed roboti c arm. As the first generation of manipulat or position control sy stems main features, alt hough not back several ge nerations that can detect the exter na l environment, but ca n still s ucces sfully complete like wel ding , painti ng, delivery as well a s for materials simple moveme nts. Se cond ge neration me cha nical arm s are equipped wit h se nsor s and ma nipulators have the e nvironme nt there is a cert ain amount of "sens e", whe n the mecha nical arm is to use the program as a basis . Difference i s that the robot begand







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m 算算算算算算算算算算算算算算算 算 a n 算算算算算 算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算 ip u la to rco n tro lm o d ea n dp ro g ra m m a b leco n tro lle rsin tro d u c tio n2 .1S e lec td is cu s s io nw ithm a n ip u la to rc o n tro l2 .1.1c las s ific a tio no fco n tro lre la ysa n dd isc re tee lec tro n icc irc u itc anco n tro lo ldin d u s tria le q u ip m en t,b u ta ls om o rec o m m o n .M a in lyth es etw ore la tiv e lyc h e apa n dy o uc a nm e etth eo ld -fa s h io n ed ,s im p le(o rs im p le )in d u s tria le q u ip m e n t.Soh ec a nse eth e m n o w ,h o w e v e rth e setw oco n tro lm o d es(re la ya n dd is c re tee lec tro n icc irc u its )a reth e s efa ta lfla w s :(1 )c a n n o ta d ap ttoth ec o m p le xlo g icc o n tro l,(2 )o n lyfo rth ec u rren tp ro jec t,th elac ko fco m p a tib ilitya n d(3 )n o tre fo rm in gth es y s te m w itheq u ip m e n tim p ro v e m en ts .Sp rin gfo rth ed e v e lo p m e n to fC h in a 'sm o d e rnin d u s tria la u to m a tio nte ch n o lo g yth es u b s ta n tia lin c re as einth ele v e lo fin d u s triala u to m a tio n ,co m p le tedth ep e rfe c tre la yo fth eco m p u te rto om u c h . Inte rm so fco n tro llin gth ec o m p u te rsh o w edh istw og re a ta d v an ta g e s :(1 )e a cho fth eh a rd w a reca nb ein s ta lledo no n eo rm o rem ic ro p ro c e ss o rs;(2 )th eo ffic ia ld es ig n e ro fth es o ftw a rew ritin gc o n te n tco n tro lisa lla b o u t. N o w ins e v e ra lw a y sinth eco n te x to fin d u s triala u to m a tio nc ano fte nb es e eninth re ew a y s :(1 ) P ro g ra m m a b leLo g ic a lC o n tro lle r(re fe rre dtoa sIP C );(2 )D is trib u te dC o n tro lS y s te m (D C Sfo rs h o rt),a n d(3 )th eP ro g ra m m a b leL o g ic a lC o n tro lle r(P L Cfo rsh o rt).2 .1.2P L Can dth eIP Can dD C Sco n tra s tco n tra s t1 ,e ac ho fth eth re etec h n o lo g ie so fo rig in sa n dd e ve lo p m e n tre q u ire m e n tsfo rfa s td a tap ro c es s in gm a k e sitin v e n te dth eco m p u ter .T h em enb ro u g h tinte rm so fh a rd w a reth e re ,u s in gah ig hle v e lo fs ta n d a rd iz a tio n ,ca nu s em o reco m p a tib ilityto o ls ,isaric hso ftw a rere s o u rc e s,e s p e c ia llyth en e edfo rim m e d ia c yino p e ra tio n a ls y s te m s .S oth eco m p u te rc a ne ffe c tiv e lyco n tro lisu s e dtoc o n tro la n dm e e titssp e e d ,o nth ev irtu a lm o d e l,re a l-tim ea n dinco m p u ta tio n a lreq u ire m en ts .D is trib u te ds y s te m s ta rte dw ithaco n tro ls y s te m fo rin d u s tria la u to m a ticin s tru m e n tu s e dtoc o n tro l,w h e re a sn o w itissu cc e ss fu llyd e v e lo p edin toin d u s tria lco n tro lc o m p u te ru s e dasac e n tra lc o llec tio na n dd is trib u tio ns y s te m a n dtran s itio no fd is trib u tedco n tro ls y s te m ina n a lo g u eh a n d lin g ,lo o pco n tro l,h a sb e g u ntore fle c tth eu seo fah u g ead v a n ta g e .Th o u g hd is trib u te ds y s te m h asg re a ta d v a n ta g e sinlo o pre gu la tio n ,b u to n lyasam e a n so fc o n tin u o u sp ro c e s sc o n tro l.

O p tim iz a tio no fP L Cisth ec o rres p o n d in gre la yn e e d sw a sb o rn ,itsm a inu seinth ew o rko rd e rc o n tro l,e a rlyp rim a ryisre p lac e dre la yth ish u lk in gs ys te m ,fo c u s e do nth es w itchc o n tro llin gth eru n n in go rd e ro ffu n c tio n s .M a rk edb yth em ic ro p ro c es s o rinth ee a rly1 97 0o fth e2 0 thc en tu rye m e rg e d ,m ic ro -e le c tro n icste ch n o lo g yh asd e v e lo p edra p id ly ,p e o p leso o nm ic ro ele c tro n icsp ro c e ss in gtec h n o lo g yw illb eu s edinth eP ro g ra m m a b leL o g ic a lC o n tro lle r(th a tis 9

Manipulator is now use d as a industrial robots in use, t he control obj ectives often appear often i n industrial a utomation. I ndustrial aut omation te chnol ogy has gradually matured, as mature a technology li ne ha s bee n rapi d devel opme nt in industrial automati on as a separate s ubj ect. Ma nipulator appli cation began t o filter into wel ding , logisti cs, mechanica l pr oce ssi ng, and other industries . Es pecially at high or very l ow temperature s, full of pois onous gas es, hig h radiation ca se, robot in similar cir cumstances showed great use als o bri ngs great conveni ence to the staff. Precisely be cause of this robot to get people's attenti on began t o be a hig h degre e of devel opme nt. La bor rates, w orking conditions, la bor i ntensiv e aspects of pr omoting development. Bot h at home a nd a broa d to deve lop t he PLC (programmabl e logi c controller) is in vari ous special circumsta nce s and under s pe cial conditions set for mechani cal devi ces . Now turne d on the development of the mi croele ctronics a utomatic cont rol technology a nd the rapid development of the trains, the succe ss of PLC hardware software and simulati on contr ol win big and su cce ssful development, now conti nue s to develop as a factory a utomation standards. Beca use robots are g ood devel opme nt of the technology makes a good optimization of pr oductive ca pital, a nd robot s how s this uni que a dvantages, such as : has g ood compat ibilit y, wide availability, hardware is com plete, and programming t hat can be mastered in a s hort time, s o in the context of industr ial PLC applicati ons be came ubiquitous. Ma nipulator in ma ny devel ope d country agri cultur e and i ndustry ha s bee n applied, such a s the use of mechani cal harve sting large areas of farmland, repeate d operations on the hig h-spe ed line that us es a roboti c arm, and so on. Toda y, the high level of automation combined with re strictions on the ma nipulator development level is slightly low er tha n t he inter national. The desig n is mainly arm wel ding ma chi ne by PLC A utomation control. T his of design let desig ners on in s chool by learn of has a must of consol idation, understand has s ome usually didn't opport unities aw arene ss in w orld ra nge withi n som e lea ding level of know ledge has ha s must aware ness, hope de signer s ca n in yihou of desig n in the can succes s of usi ng in t his de sign i n the pr ocee ds of experience 1. 2 manipulat or in both at home and abr oad of resear ch profile aut omation me cha nica l arm research began Y u 20th cent ury medium -term, after years with with computer and automati on te chnology of development, M akes mechani cal arm on t he Grand stage of industri al automati on and s hine , gradually be came an i ndustrial evaluati on sta ndar ds, a nd its impor tance ca n be seen. Now origi nal robotic arm s pent most of mass production and us e on t he pr oduction line, whi ch is programmed roboti c arm. As the first generation of manipulat or position control sy stems main features, alt hough not back several ge nerations that can detect the exter nal environment, but ca n still s ucces sfully complete like wel ding , painti ng, delivery as well a s for materials simple moveme nts. Se cond ge neration me cha nical arm s are equipped wit h se nsor s and ma nipulators have the e nvironme nt there is a cert ain amount of "sens e", whe n the mecha nical arm is to use the program as a basis . Difference i s that the robot bega nd











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算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算 算算算算算算算算算算算算算算算 算 m a n 算算算算算 ip u la to rco n tro lm o d ea n dp ro g ra m m a b leco n tro lle rsin tro d u c tio n2 .1S e lec td is cu s s io nw ithm a n ip u la to rc o n tro l2 .1.1c las s ific a tio no fco n tro lre la ysa n dd isc re tee lec tro n icc irc u itc anco n tro lo ldin d u s tria le q u ip m en t,b u ta ls om o rec o m m o n .M a in lyth es etw ore la tiv e lyc h e apa n dy o uc a nm e etth eo ld -fa s h io n ed ,s im p le(o rs im p le )in d u s tria le q u ip m e n t.Soh ec a nse eth e m n o w ,h o w e v e rth e setw oco n tro lm o d es(re la ya n dd is c re tee lec tro n icc irc u its )a reth e s efa ta lfla w s :(1 )c a n n o ta d ap ttoth ec o m p le xlo g icc o n tro l,(2 )o n lyfo rth ec u rren tp ro jec t,th elac ko fco m p a tib ilitya n d(3 )n o tre fo rm in gth es y s te m w itheq u ip m e n tim p ro v e m en ts .Sp rin gfo rth ed e v e lo p m e n to fC h in a 'sm o d e rnin d u s tria la u to m a tio nte ch n o lo g yth es u b s ta n tia lin c re as einth ele v e lo fin d u s triala u to m a tio n ,co m p le tedth ep e rfe c tre la yo fth eco m p u te rto om u c h .Inte rm so fco n tro llin gth ec o m p u te rsh o w edh istw og re a ta d v an ta g e s :(1 )e a cho fth eh a rd w a reca nb ein s ta lledo no n eo rm o rem ic ro p ro c e ss o rs;(2 )th eo ffic ia ld es ig n e ro fth es o ftw a rew ritin gc o n te n tco n tro lisa lla b o u t. N o w ins e v e ra lw a y sinth eco n te x to fin d u s triala u to m a tio nc ano fte nb es e eninth re ew a y s :(1 ) P ro g ra m m a b leLo g ic a lC o n tro lle r(re fe rre dtoa sIP C );(2 )D is trib u te dC o n tro lS y s te m (D C Sfo rs h o rt),a n d(3 )th eP ro g ra m m a b leL o g ic a lC o n tro lle r(P L Cfo rsh o rt).2 .1.2P L Can dth eIP Can dD C Sco n tra s tco n tra s t1 ,e ac ho fth eth re etec h n o lo g ie so fo rig in sa n dd e ve lo p m e n tre q u ire m e n tsfo rfa s td a tap ro c es s in gm a k e sitin v e n te dth eco m p u ter .T h em enb ro u g h tinte rm so fh a rd w a reth e re ,u s in gah ig hle v e lo fs ta n d a rd iz a tio n ,ca nu s em o reco m p a tib ilityto o ls ,isaric hso ftw a rere s o u rc e s,e s p e c ia llyth en e edfo rim m e d ia c yino p e ra tio n a ls y s te m s .S oth eco m p u te rc a ne ffe c tiv e lyco n tro lisu s e dtoc o n tro la n dm e e titssp e e d ,o nth ev irtu a lm o d e l,re a l-tim ea n dinco m p u ta tio n a lreq u ire m en ts .D is trib u te ds y s te m s ta rte dw ithaco n tro ls y s te m fo rin d u s tria la u to m a ticin s tru m e n tu s e dtoc o n tro l,w h e re a sn o w itissu cc e ss fu llyd e v e lo p edin toin d u s tria lco n tro lc o m p u te ru s e dasac e n tra lc o llec tio na n dd is trib u tio ns y s te m a n dtran s itio no fd is trib u tedco n tro ls y s te m ina n a lo g u eh a n d lin g ,lo o pco n tro l,h a sb e g u ntore fle c tth eu seo fah u g ead v a n ta g e .Th o u g hd is trib u te ds y s te m h asg re a ta d v a n ta g e sinlo o pre gu la tio n ,b u to n lyasam e a n so fc o n tin u o u sp ro c e s sc o n tro l.

O p tim iz a tio no fP L Cisth ec o rres p o n d in gre la yn e e d sw a sb o rn ,itsm a inu seinth ew o rko rd e rc o n tro l,e a rlyp rim a ryisre p lac e dre la yth ish u lk in gs ys te m ,fo c u s e do nth es w itchc o n tro llin gth eru n n in go rd e ro ffu n c tio n s .M a rk edb yth em ic ro p ro c es s o rinth ee a rly1 97 0o fth e2 0 thc en tu rye m e rg e d ,m ic ro -e le c tro n icste ch n o lo g yh asd e v e lo p edra p id ly ,p e o p leso o nm ic ro ele c tro n icsp ro c e ss in gtec h n o lo g yw illb eu s edinth eP ro g ra m m a b leL o g ic a lC o n tro lle r(th a tis 1

0

Manipulator is now use d as a industrial robots in use, t he control obje ctives ofte n appear often in i ndustrial a utomation. Indu strial automati on technology has gradually matured, a s mature a technology line has bee n rapid development i n industrial a utomation as a se parate subje ct. Manipulator appli cation began t o filter into wel ding, l ogisti cs, mechani cal pr oce ssing, and other industries . Especially at hig h or very l ow temperature s, full of poisonous gase s, hig h radiation cas e, robot in simil ar circumstances s howe d great us e also bring s great conv enie nce t o the staff. Precise ly becaus e of this robot t o get people's attenti on began to be a hig h degre e of devel opment . La bor rates, w orking conditions, la bor inte nsive a spe cts of pr omoting development. Bot h at home a nd a broad t o devel op the PLC (programmable l ogic contr oller) is in various s pe cial cir cumstances a nd under s pecial conditions s et for mecha nical device s. Now tur ned on the devel opme nt of the microelectronics aut omatic control te chnol ogy and t he rapi d devel opme nt of the trains , the s uccess of PLC hardw are software and simulation control wi n big and s uccessful development, now continues to develop as a factory a utomation standards. Beca use robots are g ood devel opme nt of the technology makes a good optimizat ion of pr oductive ca pital, and robot s how s this uni que a dvantages, s uch as: has good compat ibilit y, wide availabil ity, har dware is compl ete, and programming t hat can be mastered in a s hort time, s o in the context of industrial PLC applicati ons be came ubiquitous. Ma nipulator in ma ny devel ope d country agri cultur e and i ndustry ha s bee n applied, such as t he use of mechani cal harvest i ng large areas of farmland, repeate d operations on t he hig h-spee d line that use s a roboti c arm, and so on. Toda y, the high level of automation combine d with re strictions on the ma nipulator dev elopment level is s lightly low er than t he international. The desig n is mainly arm wel ding machine by PLC Aut omation control. T his of de sign let designers on in s chool by learn of ha s a must of consoli dation, understand has s ome usually didn't opportunities aw arenes s in w orld rang e withi n some lea ding level of knowl edg e ha s ha s must awareness, hope de signer s can i n yihou of design i n the can s ucces s of usi ng in thi s de sign in t he pr ocee ds of experi ence 1.2 manipulat or in both at home and abr oad of resear ch profile aut omation me cha nica l arm research began Y u 20th cent ury medium -term, after years with with computer and automati on te chnology of development, M akes mechani cal arm on t he Grand stage of i ndustri al automati on and s hine , gradually be came an i ndustrial evaluati on sta ndar ds, a nd its importance ca n be seen. Now orig i nal robotic arm s pent most of mass production and us e on t he pr oduction line, whi ch is programmed roboti c arm. As the first generation of manipulat or position control sy stems main features, alt hough not back several ge nerations that can detect the exter na l environment, but ca n still s ucces sfully complete like wel ding , painti ng, delivery as well a s for materials simple moveme nts. Se cond ge neration me cha nical arm s are equipped wit h se nsor s and ma nipulators have the e nvironme nt there is a cert ain amount of "sens e", whe n the mecha nical arm is to use the program as a basis . Difference i s that the robot begand





















































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m 算算算算算算算算算算算算算算算 算 a n 算算算算算 算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算 ip u la to rco n tro lm o d ea n dp ro g ra m m a b leco n tro lle rsin tro d u c tio n2 .1S e lec td is cu s s io nw ithm a n ip u la to rc o n tro l2 .1.1c las s ific a tio no fco n tro lre la ysa n dd isc re tee lec tro n icc irc u itc anco n tro lo ldin d u s tria le q u ip m en t,b u ta ls om o rec o m m o n .M a in lyth es etw ore la tiv e lyc h e apa n dy o uc a nm e etth eo ld -fa s h io n ed ,s im p le(o rs im p le )in d u s tria le q u ip m e n t.Soh ec a nse eth e m n o w ,h o w e v e rth e setw oco n tro lm o d es(re la ya n dd is c re tee lec tro n icc irc u its )a reth e s efa ta lfla w s :(1 )c a n n o ta d ap ttoth ec o m p le xlo g icc o n tro l,(2 )o n lyfo rth ec u rren tp ro jec t,th elac ko fco m p a tib ilitya n d(3 )n o tre fo rm in gth es y s te m w itheq u ip m e n tim p ro v e m en ts .Sp rin gfo rth ed e v e lo p m e n to fC h in a 'sm o d e rnin d u s tria la u to m a tio nte ch n o lo g yth es u b s ta n tia lin c re as einth ele v e lo fin d u s triala u to m a tio n ,co m p le tedth ep e rfe c tre la yo fth eco m p u te rto om u c h . Inte rm so fco n tro llin gth ec o m p u te rsh o w edh istw og re a ta d v an ta g e s :(1 )e a cho fth eh a rd w a reca nb ein s ta lledo no n eo rm o rem ic ro p ro c e ss o rs;(2 )th eo ffic ia ld es ig n e ro fth es o ftw a rew ritin gc o n te n tco n tro lisa lla b o u t. N o w ins e v e ra lw a y sinth eco n te x to fin d u s triala u to m a tio nc ano fte nb es e eninth re ew a y s :(1 ) P ro g ra m m a b leLo g ic a lC o n tro lle r(re fe rre dtoa sIP C );(2 )D is trib u te dC o n tro lS y s te m (D C Sfo rs h o rt),a n d(3 )th eP ro g ra m m a b leL o g ic a lC o n tro lle r(P L Cfo rsh o rt).2 .1.2P L Can dth eIP Can dD C Sco n tra s tco n tra s t1 ,e ac ho fth eth re etec h n o lo g ie so fo rig in sa n dd e ve lo p m e n tre q u ire m e n tsfo rfa s td a tap ro c es s in gm a k e sitin v e n te dth eco m p u ter .T h em enb ro u g h tinte rm so fh a rd w a reth e re ,u s in gah ig hle v e lo fs ta n d a rd iz a tio n ,ca nu s em o reco m p a tib ilityto o ls ,isaric hso ftw a rere s o u rc e s,e s p e c ia llyth en e edfo rim m e d ia c yino p e ra tio n a ls y s te m s .S oth eco m p u te rc a ne ffe c tiv e lyco n tro lisu s e dtoc o n tro la n dm e e titssp e e d ,o nth ev irtu a lm o d e l,re a l-tim ea n dinco m p u ta tio n a lreq u ire m en ts .D is trib u te ds y s te m s ta rte dw ithaco n tro ls y s te m fo rin d u s tria la u to m a ticin s tru m e n tu s e dtoc o n tro l,w h e re a sn o w itissu cc e ss fu llyd e v e lo p edin toin d u s tria lco n tro lc o m p u te ru s e dasac e n tra lc o llec tio na n dd is trib u tio ns y s te m a n dtran s itio no fd is trib u tedco n tro ls y s te m ina n a lo g u eh a n d lin g ,lo o pco n tro l,h a sb e g u ntore fle c tth eu seo fah u g ead v a n ta g e .Th o u g hd is trib u te ds y s te m h asg re a ta d v a n ta g e sinlo o pre gu la tio n ,b u to n lyasam e a n so fc o n tin u o u sp ro c e s sc o n tro l.

O p tim iz a tio no fP L Cisth ec o rres p o n d in gre la yn e e d sw a sb o rn ,itsm a inu seinth ew o rko rd e rc o n tro l,e a rlyp rim a ryisre p lac e dre la yth ish u lk in gs ys te m ,fo c u s e do nth es w itchc o n tro llin gth eru n n in go rd e ro ffu n c tio n s .M a rk edb yth em ic ro p ro c es s o rinth ee a rly1 97 0o fth e2 0 thc en tu rye m e rg e d ,m ic ro -e le c tro n icste ch n o lo g yh asd e v e lo p edra p id ly ,p e o p leso o nm ic ro ele c tro n icsp ro c e ss in gtec h n o lo g yw illb eu s edinth eP ro g ra m m a b leL o g ic a lC o n tro lle r(th a tis 1

1

Manipulator is now use d as a industrial robots in use, t he control obj ectives often appear often i n industrial a utomation. I ndustrial aut omation te chnol ogy has gradually matured, as mature a technology li ne ha s bee n rapi d devel opme nt in industrial automati on as a separate s ubj ect. Ma nipulator appli cation began t o filter into wel ding , logisti cs, mechanica l pr oce ssi ng, and other industries . Es pecially at high or very l ow temperature s, full of pois onous gas es, hig h radiation ca se, robot in similar cir cumstances showed great use als o bri ngs great conveni ence to the staff. Precisely be cause of this robot to get people's attenti on began t o be a hig h degre e of devel opme nt. La bor rates, w orking conditions, la bor i ntensiv e aspects of pr omoting development. Bot h at home a nd a broa d to deve lop t he PLC (programmabl e logi c controller) is in vari ous special circumsta nce s and under s pe cial conditions set for mechani cal devi ces . Now turne d on the development of the mi croele ctronics a utomatic cont rol technology a nd the rapid development of the trains, the succe ss of PLC hardware software and simulati on contr ol win big and su cce ssful development, now conti nue s to develop as a factory a utomation standards. Beca use robots are g ood devel opme nt of the technology makes a good optimization of pr oductive ca pital, a nd robot s how s this uni que a dvantages, such as : has g ood compat ibilit y, wide availability, hardware is com plete, and programming t hat can be mastered in a s hort time, s o in the context of industr ial PLC applicati ons be came ubiquitous. Ma nipulator in ma ny devel ope d country agri cultur e and i ndustry ha s bee n applied, such a s the use of mechani cal harve sting large areas of farmland, repeate d operations on the hig h-spe ed line that us es a roboti c arm, and so on. Toda y, the high level of automation combined with re strictions on the ma nipulator development level is slightly low er tha n t he inter national. The desig n is mainly arm wel ding ma chi ne by PLC A utomation control. T his of design let desig ners on in s chool by learn of has a must of consol idation, understand has s ome usually didn't opport unities aw arene ss in w orld ra nge withi n som e lea ding level of know ledge has ha s must aware ness, hope de signer s ca n in yihou of desig n in the can succes s of usi ng in t his de sign i n the pr ocee ds of experience 1. 2 manipulat or in both at home and abr oad of resear ch profile aut omation me cha nica l arm research began Y u 20th cent ury medium -term, after years with with computer and automati on te chnology of development, M akes mechani cal arm on t he Grand stage of industri al automati on and s hine , gradually be came an i ndustrial evaluati on sta ndar ds, a nd its impor tance ca n be seen. Now origi nal robotic arm s pent most of mass production and us e on t he pr oduction line, whi ch is programmed roboti c arm. As the first generation of manipulat or position control sy stems main features, alt hough not back several ge nerations that can detect the exter nal environment, but ca n still s ucces sfully complete like wel ding , painti ng, delivery as well a s for materials simple moveme nts. Se cond ge neration me cha nical arm s are equipped wit h se nsor s and ma nipulators have the e nvironme nt there is a cert ain amount of "sens e", whe n the mecha nical arm is to use the program as a basis . Difference i s that the robot bega nd

7

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算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算 算算算算算算算算算算算算算算算 算 m a n 算算算算算 ip u la to rco n tro lm o d ea n dp ro g ra m m a b leco n tro lle rsin tro d u c tio n2 .1S e lec td is cu s s io nw ithm a n ip u la to rc o n tro l2 .1.1c las s ific a tio no fco n tro lre la ysa n dd isc re tee lec tro n icc irc u itc anco n tro lo ldin d u s tria le q u ip m en t,b u ta ls om o rec o m m o n .M a in lyth es etw ore la tiv e lyc h e apa n dy o uc a nm e etth eo ld -fa s h io n ed ,s im p le(o rs im p le )in d u s tria le q u ip m e n t.Soh ec a nse eth e m n o w ,h o w e v e rth e setw oco n tro lm o d es(re la ya n dd is c re tee lec tro n icc irc u its )a reth e s efa ta lfla w s :(1 )c a n n o ta d ap ttoth ec o m p le xlo g icc o n tro l,(2 )o n lyfo rth ec u rren tp ro jec t,th elac ko fco m p a tib ilitya n d(3 )n o tre fo rm in gth es y s te m w itheq u ip m e n tim p ro v e m en ts .Sp rin gfo rth ed e v e lo p m e n to fC h in a 'sm o d e rnin d u s tria la u to m a tio nte ch n o lo g yth es u b s ta n tia lin c re as einth ele v e lo fin d u s triala u to m a tio n ,co m p le tedth ep e rfe c tre la yo fth eco m p u te rto om u c h .Inte rm so fco n tro llin gth ec o m p u te rsh o w edh istw og re a ta d v an ta g e s :(1 )e a cho fth eh a rd w a reca nb ein s ta lledo no n eo rm o rem ic ro p ro c e ss o rs;(2 )th eo ffic ia ld es ig n e ro fth es o ftw a rew ritin gc o n te n tco n tro lisa lla b o u t. N o w ins e v e ra lw a y sinth eco n te x to fin d u s triala u to m a tio nc ano fte nb es e eninth re ew a y s :(1 ) P ro g ra m m a b leLo g ic a lC o n tro lle r(re fe rre dtoa sIP C );(2 )D is trib u te dC o n tro lS y s te m (D C Sfo rs h o rt),a n d(3 )th eP ro g ra m m a b leL o g ic a lC o n tro lle r(P L Cfo rsh o rt).2 .1.2P L Can dth eIP Can dD C Sco n tra s tco n tra s t1 ,e ac ho fth eth re etec h n o lo g ie so fo rig in sa n dd e ve lo p m e n tre q u ire m e n tsfo rfa s td a tap ro c es s in gm a k e sitin v e n te dth eco m p u ter .T h em enb ro u g h tinte rm so fh a rd w a reth e re ,u s in gah ig hle v e lo fs ta n d a rd iz a tio n ,ca nu s em o reco m p a tib ilityto o ls ,isaric hso ftw a rere s o u rc e s,e s p e c ia llyth en e edfo rim m e d ia c yino p e ra tio n a ls y s te m s .S oth eco m p u te rc a ne ffe c tiv e lyco n tro lisu s e dtoc o n tro la n dm e e titssp e e d ,o nth ev irtu a lm o d e l,re a l-tim ea n dinco m p u ta tio n a lreq u ire m en ts .D is trib u te ds y s te m s ta rte dw ithaco n tro ls y s te m fo rin d u s tria la u to m a ticin s tru m e n tu s e dtoc o n tro l,w h e re a sn o w itissu cc e ss fu llyd e v e lo p edin toin d u s tria lco n tro lc o m p u te ru s e dasac e n tra lc o llec tio na n dd is trib u tio ns y s te m a n dtran s itio no fd is trib u tedco n tro ls y s te m ina n a lo g u eh a n d lin g ,lo o pco n tro l,h a sb e g u ntore fle c tth eu seo fah u g ead v a n ta g e .Th o u g hd is trib u te ds y s te m h asg re a ta d v a n ta g e sinlo o pre gu la tio n ,b u to n lyasam e a n so fc o n tin u o u sp ro c e s sc o n tro l.

O p tim iz a tio no fP L Cisth ec o rres p o n d in gre la yn e e d sw a sb o rn ,itsm a inu seinth ew o rko rd e rc o n tro l,e a rlyp rim a ryisre p lac e dre la yth ish u lk in gs ys te m ,fo c u s e do nth es w itchc o n tro llin gth eru n n in go rd e ro ffu n c tio n s .M a rk edb yth em ic ro p ro c es s o rinth ee a rly1 97 0o fth e2 0 thc en tu rye m e rg e d ,m ic ro -e le c tro n icste ch n o lo g yh asd e v e lo p edra p id ly ,p e o p leso o nm ic ro ele c tro n icsp ro c e ss in gtec h n o lo g yw illb eu s edinth eP ro g ra m m a b leL o g ic a lC o n tro lle r(th a tis 1

2

Manipulator is now use d as a industrial robots in use, t he control obje ctives ofte n appear often in i ndustrial a utomation. Indu strial automati on technology has gradually matured, a s mature a technology line has bee n rapid development i n industrial a utomation as a se parate subje ct. Manipulator appli cation began t o filter into wel ding, l ogisti cs, mechani cal pr oce ssing, and other industries . Especially at hig h or very l ow temperature s, full of poisonous gase s, hig h radiation cas e, robot in simil ar circumstances s howe d great us e also bring s great conv enie nce t o the staff. Precise ly becaus e of this robot t o get people's attenti on began to be a hig h degre e of devel opment . La bor rates, w orking conditions, la bor inte nsive a spe cts of pr omoting development. Bot h at home a nd a broad t o devel op the PLC (programmable l ogic contr oller) is in various s pe cial cir cumstances a nd under s pecial conditions s et for mecha nical device s. Now tur ned on the devel opme nt of the microelectronics aut omatic control te chnol ogy and t he rapi d devel opme nt of the trains , the s uccess of PLC hardw are software and simulation control wi n big and s uccessful development, now continues to develop as a factory a utomation standards. Beca use robots are g ood devel opme nt of the technology makes a good optimizat ion of pr oductive ca pital, and robot s how s this uni que a dvantages, s uch as: has good compat ibilit y, wide availabil ity, har dware is compl ete, and programming t hat can be mastered in a s hort time, s o in the context of industrial PLC applicati ons be came ubiquitous. Ma nipulator in ma ny devel ope d country agri cultur e and i ndustry ha s bee n applied, such as t he use of mechani cal harvest i ng large areas of farmland, repeate d operations on t he hig h-spee d line that use s a roboti c arm, and so on. Toda y, the high level of automation combine d with re strictions on the ma nipulator dev elopment level is s lightly low er than t he international. The desig n is mainly arm wel ding machine by PLC Aut omation control. T his of de sign let designers on in s chool by learn of ha s a must of consoli dation, understand has s ome usually didn't opportunities aw arenes s in w orld rang e withi n some lea ding level of knowl edg e ha s ha s must awareness, hope de signer s can i n yihou of design i n the can s ucces s of usi ng in thi s de sign in t he pr ocee ds of experi ence 1.2 manipulat or in both at home and abr oad of resear ch profile aut omation me cha nica l arm research began Y u 20th cent ury medium -term, after years with with computer and automati on te chnology of development, M akes mechani cal arm on t he Grand stage of i ndustri al automati on and s hine , gradually be came an i ndustrial evaluati on sta ndar ds, a nd its importance ca n be seen. Now orig i nal robotic arm s pent most of mass production and us e on t he pr oduction line, whi ch is programmed roboti c arm. As the first generation of manipulat or position control sy stems main features, alt hough not back several ge nerations that can detect the exter na l environment, but ca n still s ucces sfully complete like wel ding , painti ng, delivery as well a s for materials simple moveme nts. Se cond ge neration me cha nical arm s are equipped wit h se nsor s and ma nipulators have the e nvironme nt there is a cert ain amount of "sens e", whe n the mecha nical arm is to use the program as a basis . Difference i s that the robot begand































































































































































































































































































































































































































































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m 算算算算算算算算算算算算算算算 算 a n 算算算算算 算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算 ip u la to rco n tro lm o d ea n dp ro g ra m m a b leco n tro lle rsin tro d u c tio n2 .1S e lec td is cu s s io nw ithm a n ip u la to rc o n tro l2 .1.1c las s ific a tio no fco n tro lre la ysa n dd isc re tee lec tro n icc irc u itc anco n tro lo ldin d u s tria le q u ip m en t,b u ta ls om o rec o m m o n .M a in lyth es etw ore la tiv e lyc h e apa n dy o uc a nm e etth eo ld -fa s h io n ed ,s im p le(o rs im p le )in d u s tria le q u ip m e n t.Soh ec a nse eth e m n o w ,h o w e v e rth e setw oco n tro lm o d es(re la ya n dd is c re tee lec tro n icc irc u its )a reth e s efa ta lfla w s :(1 )c a n n o ta d ap ttoth ec o m p le xlo g icc o n tro l,(2 )o n lyfo rth ec u rren tp ro jec t,th elac ko fco m p a tib ilitya n d(3 )n o tre fo rm in gth es y s te m w itheq u ip m e n tim p ro v e m en ts .Sp rin gfo rth ed e v e lo p m e n to fC h in a 'sm o d e rnin d u s tria la u to m a tio nte ch n o lo g yth es u b s ta n tia lin c re as einth ele v e lo fin d u s triala u to m a tio n ,co m p le tedth ep e rfe c tre la yo fth eco m p u te rto om u c h . Inte rm so fco n tro llin gth ec o m p u te rsh o w edh istw og re a ta d v an ta g e s :(1 )e a cho fth eh a rd w a reca nb ein s ta lledo no n eo rm o rem ic ro p ro c e ss o rs;(2 )th eo ffic ia ld es ig n e ro fth es o ftw a rew ritin gc o n te n tco n tro lisa lla b o u t. N o w ins e v e ra lw a y sinth eco n te x to fin d u s triala u to m a tio nc ano fte nb es e eninth re ew a y s :(1 ) P ro g ra m m a b leLo g ic a lC o n tro lle r(re fe rre dtoa sIP C );(2 )D is trib u te dC o n tro lS y s te m (D C Sfo rs h o rt),a n d(3 )th eP ro g ra m m a b leL o g ic a lC o n tro lle r(P L Cfo rsh o rt).2 .1.2P L Can dth eIP Can dD C Sco n tra s tco n tra s t1 ,e ac ho fth eth re etec h n o lo g ie so fo rig in sa n dd e ve lo p m e n tre q u ire m e n tsfo rfa s td a tap ro c es s in gm a k e sitin v e n te dth eco m p u ter .T h em enb ro u g h tinte rm so fh a rd w a reth e re ,u s in gah ig hle v e lo fs ta n d a rd iz a tio n ,ca nu s em o reco m p a tib ilityto o ls ,isaric hso ftw a rere s o u rc e s,e s p e c ia llyth en e edfo rim m e d ia c yino p e ra tio n a ls y s te m s .S oth eco m p u te rc a ne ffe c tiv e lyco n tro lisu s e dtoc o n tro la n dm e e titssp e e d ,o nth ev irtu a lm o d e l,re a l-tim ea n dinco m p u ta tio n a lreq u ire m en ts .D is trib u te ds y s te m s ta rte dw ithaco n tro ls y s te m fo rin d u s tria la u to m a ticin s tru m e n tu s e dtoc o n tro l,w h e re a sn o w itissu cc e ss fu llyd e v e lo p edin toin d u s tria lco n tro lc o m p u te ru s e dasac e n tra lc o llec tio na n dd is trib u tio ns y s te m a n dtran s itio no fd is trib u tedco n tro ls y s te m ina n a lo g u eh a n d lin g ,lo o pco n tro l,h a sb e g u ntore fle c tth eu seo fah u g ead v a n ta g e .Th o u g hd is trib u te ds y s te m h asg re a ta d v a n ta g e sinlo o pre gu la tio n ,b u to n lyasam e a n so fc o n tin u o u sp ro c e s sc o n tro l.

O p tim iz a tio no fP L Cisth ec o rres p o n d in gre la yn e e d sw a sb o rn ,itsm a inu seinth ew o rko rd e rc o n tro l,e a rlyp rim a ryisre p lac e dre la yth ish u lk in gs ys te m ,fo c u s e do nth es w itchc o n tro llin gth eru n n in go rd e ro ffu n c tio n s .M a rk edb yth em ic ro p ro c es s o rinth ee a rly1 97 0o fth e2 0 thc en tu rye m e rg e d ,m ic ro -e le c tro n icste ch n o lo g yh asd e v e lo p edra p id ly ,p e o p leso o nm ic ro ele c tro n icsp ro c e ss in gtec h n o lo g yw illb eu s edinth eP ro g ra m m a b leL o g ic a lC o n tro lle r(th a tis 1

3

Manipulator is now use d as a industrial robots in use, t he control obj ectives often appear often i n industrial a utomation. I ndustrial aut omation te chnol ogy has gradually matured, as mature a technology li ne ha s bee n rapi d devel opme nt in industrial automati on as a separate s ubj ect. Ma nipulator appli cation began t o filter into wel ding , logisti cs, mechanica l pr oce ssi ng, and other industries . Es pecially at high or very l ow temperature s, full of pois onous gas es, hig h radiation ca se, robot in similar cir cumstances showed great use als o bri ngs great conveni ence to the staff. Precisely be cause of this robot to get people's attenti on began t o be a hig h degre e of devel opme nt. La bor rates, w orking conditions, la bor i ntensiv e aspects of pr omoting development. Bot h at home a nd a broa d to deve lop t he PLC (programmabl e logi c controller) is in vari ous special circumsta nce s and under s pe cial conditions set for mechani cal devi ces . Now turne d on the development of the mi croele ctronics a utomatic cont rol technology a nd the rapid development of the trains, the succe ss of PLC hardware software and simulati on contr ol win big and su cce ssful development, now conti nue s to develop as a factory a utomation standards. Beca use robots are g ood devel opme nt of the technology makes a good optimization of pr oductive ca pital, a nd robot s how s this uni que a dvantages, such as : has g ood compat ibilit y, wide availability, hardware is com plete, and programming t hat can be mastered in a s hort time, s o in the context of industr ial PLC applicati ons be came ubiquitous. Ma nipulator in ma ny devel ope d country agri cultur e and i ndustry ha s bee n applied, such a s the use of mechani cal harve sting large areas of farmland, repeate d operations on the hig h-spe ed line that us es a roboti c arm, and so on. Toda y, the high level of automation combined with re strictions on the ma nipulator development level is slightly low er tha n t he inter national. The desig n is mainly arm wel ding ma chi ne by PLC A utomation control. T his of design let desig ners on in s chool by learn of has a must of consol idation, understand has s ome usually didn't opport unities aw arene ss in w orld ra nge withi n som e lea ding level of know ledge has ha s must aware ness, hope de signer s ca n in yihou of desig n in the can succes s of usi ng in t his de sign i n the pr ocee ds of experience 1. 2 manipulat or in both at home and abr oad of resear ch profile aut omation me cha nica l arm research began Y u 20th cent ury medium -term, after years with with computer and automati on te chnology of development, M akes mechani cal arm on t he Grand stage of industri al automati on and s hine , gradually be came an i ndustrial evaluati on sta ndar ds, a nd its impor tance ca n be seen. Now origi nal robotic arm s pent most of mass production and us e on t he pr oduction line, whi ch is programmed roboti c arm. As the first generation of manipulat or position control sy stems main features, alt hough not back several ge nerations that can detect the exter nal environment, but ca n still s ucces sfully complete like wel ding , painti ng, delivery as well a s for materials simple moveme nts. Se cond ge neration me cha nical arm s are equipped wit h se nsor s and ma nipulators have the e nvironme nt there is a cert ain amount of "sens e", whe n the mecha nical arm is to use the program as a basis . Difference i s that the robot bega nd





























































































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算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算 算算算算算算算算算算算算算算算 算 m a n 算算算算算 ip u la to rco n tro lm o d ea n dp ro g ra m m a b leco n tro lle rsin tro d u c tio n2 .1S e lec td is cu s s io nw ithm a n ip u la to rc o n tro l2 .1.1c las s ific a tio no fco n tro lre la ysa n dd isc re tee lec tro n icc irc u itc anco n tro lo ldin d u s tria le q u ip m en t,b u ta ls om o rec o m m o n .M a in lyth es etw ore la tiv e lyc h e apa n dy o uc a nm e etth eo ld -fa s h io n ed ,s im p le(o rs im p le )in d u s tria le q u ip m e n t.Soh ec a nse eth e m n o w ,h o w e v e rth e setw oco n tro lm o d es(re la ya n dd is c re tee lec tro n icc irc u its )a reth e s efa ta lfla w s :(1 )c a n n o ta d ap ttoth ec o m p le xlo g icc o n tro l,(2 )o n lyfo rth ec u rren tp ro jec t,th elac ko fco m p a tib ilitya n d(3 )n o tre fo rm in gth es y s te m w itheq u ip m e n tim p ro v e m en ts .Sp rin gfo rth ed e v e lo p m e n to fC h in a 'sm o d e rnin d u s tria la u to m a tio nte ch n o lo g yth es u b s ta n tia lin c re as einth ele v e lo fin d u s triala u to m a tio n ,co m p le tedth ep e rfe c tre la yo fth eco m p u te rto om u c h .Inte rm so fco n tro llin gth ec o m p u te rsh o w edh istw og re a ta d v an ta g e s :(1 )e a cho fth eh a rd w a reca nb ein s ta lledo no n eo rm o rem ic ro p ro c e ss o rs;(2 )th eo ffic ia ld es ig n e ro fth es o ftw a rew ritin gc o n te n tco n tro lisa lla b o u t. N o w ins e v e ra lw a y sinth eco n te x to fin d u s triala u to m a tio nc ano fte nb es e eninth re ew a y s :(1 ) P ro g ra m m a b leLo g ic a lC o n tro lle r(re fe rre dtoa sIP C );(2 )D is trib u te dC o n tro lS y s te m (D C Sfo rs h o rt),a n d(3 )th eP ro g ra m m a b leL o g ic a lC o n tro lle r(P L Cfo rsh o rt).2 .1.2P L Can dth eIP Can dD C Sco n tra s tco n tra s t1 ,e ac ho fth eth re etec h n o lo g ie so fo rig in sa n dd e ve lo p m e n tre q u ire m e n tsfo rfa s td a tap ro c es s in gm a k e sitin v e n te dth eco m p u ter .T h em enb ro u g h tinte rm so fh a rd w a reth e re ,u s in gah ig hle v e lo fs ta n d a rd iz a tio n ,ca nu s em o reco m p a tib ilityto o ls ,isaric hso ftw a rere s o u rc e s,e s p e c ia llyth en e edfo rim m e d ia c yino p e ra tio n a ls y s te m s .S oth eco m p u te rc a ne ffe c tiv e lyco n tro lisu s e dtoc o n tro la n dm e e titssp e e d ,o nth ev irtu a lm o d e l,re a l-tim ea n dinco m p u ta tio n a lreq u ire m en ts .D is trib u te ds y s te m s ta rte dw ithaco n tro ls y s te m fo rin d u s tria la u to m a ticin s tru m e n tu s e dtoc o n tro l,w h e re a sn o w itissu cc e ss fu llyd e v e lo p edin toin d u s tria lco n tro lc o m p u te ru s e dasac e n tra lc o llec tio na n dd is trib u tio ns y s te m a n dtran s itio no fd is trib u tedco n tro ls y s te m ina n a lo g u eh a n d lin g ,lo o pco n tro l,h a sb e g u ntore fle c tth eu seo fah u g ead v a n ta g e .Th o u g hd is trib u te ds y s te m h asg re a ta d v a n ta g e sinlo o pre gu la tio n ,b u to n lyasam e a n so fc o n tin u o u sp ro c e s sc o n tro l.

O p tim iz a tio no fP L Cisth ec o rres p o n d in gre la yn e e d sw a sb o rn ,itsm a inu seinth ew o rko rd e rc o n tro l,e a rlyp rim a ryisre p lac e dre la yth ish u lk in gs ys te m ,fo c u s e do nth es w itchc o n tro llin gth eru n n in go rd e ro ffu n c tio n s .M a rk edb yth em ic ro p ro c es s o rinth ee a rly1 97 0o fth e2 0 thc en tu rye m e rg e d ,m ic ro -e le c tro n icste ch n o lo g yh asd e v e lo p edra p id ly ,p e o p leso o nm ic ro ele c tro n icsp ro c e ss in gtec h n o lo g yw illb eu s edinth eP ro g ra m m a b leL o g ic a lC o n tro lle r(th a tis 1

4

Manipulator is now use d as a industrial robots in use, t he control obje ctives ofte n appear often in i ndustrial a utomation. Indu strial automati on technology has gradually matured, a s mature a technology line has bee n rapid development i n industrial a utomation as a se parate subje ct. Manipulator appli cation began t o filter into wel ding, l ogisti cs, mechani cal pr oce ssing, and other industries . Especially at hig h or very l ow temperature s, full of poisonous gase s, hig h radiation cas e, robot in simil ar circumstances s howe d great us e also bring s great conv enie nce t o the staff. Precise ly becaus e of this robot t o get people's attenti on began to be a hig h degre e of devel opment . La bor rates, w orking conditions, la bor inte nsive a spe cts of pr omoting development. Bot h at home a nd a broad t o devel op the PLC (programmable l ogic contr oller) is in various s pe cial cir cumstances a nd under s pecial conditions s et for mecha nical device s. Now tur ned on the devel opme nt of the microelectronics aut omatic control te chnol ogy and t he rapi d devel opme nt of the trains , the s uccess of PLC hardw are software and simulation control wi n big and s uccessful development, now continues to develop as a factory a utomation standards. Beca use robots are g ood devel opme nt of the technology makes a good optimizat ion of pr oductive ca pital, and robot s how s this uni que a dvantages, s uch as: has good compat ibilit y, wide availabil ity, har dware is compl ete, and programming t hat can be mastered in a s hort time, s o in the context of industrial PLC applicati ons be came ubiquitous. Ma nipulator in ma ny devel ope d country agri cultur e and i ndustry ha s bee n applied, such as t he use of mechani cal harvest i ng large areas of farmland, repeate d operations on t he hig h-spee d line that use s a roboti c arm, and so on. Toda y, the high level of automation combine d with re strictions on the ma nipulator dev elopment level is s lightly low er than t he international. The desig n is mainly arm wel ding machine by PLC Aut omation control. T his of de sign let designers on in s chool by learn of ha s a must of consoli dation, understand has s ome usually didn't opportunities aw arenes s in w orld rang e withi n some lea ding level of knowl edg e ha s ha s must awareness, hope de signer s can i n yihou of design i n the can s ucces s of usi ng in thi s de sign in t he pr ocee ds of experi ence 1.2 manipulat or in both at home and abr oad of resear ch profile aut omation me cha nica l arm research began Y u 20th cent ury medium -term, after years with with computer and automati on te chnology of development, M akes mechani cal arm on t he Grand stage of i ndustri al automati on and s hine , gradually be came an i ndustrial evaluati on sta ndar ds, a nd its importance ca n be seen. Now orig i nal robotic arm s pent most of mass production and us e on t he pr oduction line, whi ch is programmed roboti c arm. As the first generation of manipulat or position control sy stems main features, alt hough not back several ge nerations that can detect the exter na l environment, but ca n still s ucces sfully complete like wel ding , painti ng, delivery as well a s for materials simple moveme nts. Se cond ge neration me cha nical arm s are equipped wit h se nsor s and ma nipulators have the e nvironme nt there is a cert ain amount of "sens e", whe n the mecha nical arm is to use the program as a basis . Difference i s that the robot begand









































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m 算算算算算算算算算算算算算算算 算 a n 算算算算算 算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算 ip u la to rco n tro lm o d ea n dp ro g ra m m a b leco n tro lle rsin tro d u c tio n2 .1S e lec td is cu s s io nw ithm a n ip u la to rc o n tro l2 .1.1c las s ific a tio no fco n tro lre la ysa n dd isc re tee lec tro n icc irc u itc anco n tro lo ldin d u s tria le q u ip m en t,b u ta ls om o rec o m m o n .M a in lyth es etw ore la tiv e lyc h e apa n dy o uc a nm e etth eo ld -fa s h io n ed ,s im p le(o rs im p le )in d u s tria le q u ip m e n t.Soh ec a nse eth e m n o w ,h o w e v e rth e setw oco n tro lm o d es(re la ya n dd is c re tee lec tro n icc irc u its )a reth e s efa ta lfla w s :(1 )c a n n o ta d ap ttoth ec o m p le xlo g icc o n tro l,(2 )o n lyfo rth ec u rren tp ro jec t,th elac ko fco m p a tib ilitya n d(3 )n o tre fo rm in gth es y s te m w itheq u ip m e n tim p ro v e m en ts .Sp rin gfo rth ed e v e lo p m e n to fC h in a 'sm o d e rnin d u s tria la u to m a tio nte ch n o lo g yth es u b s ta n tia lin c re as einth ele v e lo fin d u s triala u to m a tio n ,co m p le tedth ep e rfe c tre la yo fth eco m p u te rto om u c h . Inte rm so fco n tro llin gth ec o m p u te rsh o w edh istw og re a ta d v an ta g e s :(1 )e a cho fth eh a rd w a reca nb ein s ta lledo no n eo rm o rem ic ro p ro c e ss o rs;(2 )th eo ffic ia ld es ig n e ro fth es o ftw a rew ritin gc o n te n tco n tro lisa lla b o u t. N o w ins e v e ra lw a y sinth eco n te x to fin d u s triala u to m a tio nc ano fte nb es e eninth re ew a y s :(1 ) P ro g ra m m a b leLo g ic a lC o n tro lle r(re fe rre dtoa sIP C );(2 )D is trib u te dC o n tro lS y s te m (D C Sfo rs h o rt),a n d(3 )th eP ro g ra m m a b leL o g ic a lC o n tro lle r(P L Cfo rsh o rt).2 .1.2P L Can dth eIP Can dD C Sco n tra s tco n tra s t1 ,e ac ho fth eth re etec h n o lo g ie so fo rig in sa n dd e ve lo p m e n tre q u ire m e n tsfo rfa s td a tap ro c es s in gm a k e sitin v e n te dth eco m p u ter .T h em enb ro u g h tinte rm so fh a rd w a reth e re ,u s in gah ig hle v e lo fs ta n d a rd iz a tio n ,ca nu s em o reco m p a tib ilityto o ls ,isaric hso ftw a rere s o u rc e s,e s p e c ia llyth en e edfo rim m e d ia c yino p e ra tio n a ls y s te m s .S oth eco m p u te rc a ne ffe c tiv e lyco n tro lisu s e dtoc o n tro la n dm e e titssp e e d ,o nth ev irtu a lm o d e l,re a l-tim ea n dinco m p u ta tio n a lreq u ire m en ts .D is trib u te ds y s te m s ta rte dw ithaco n tro ls y s te m fo rin d u s tria la u to m a ticin s tru m e n tu s e dtoc o n tro l,w h e re a sn o w itissu cc e ss fu llyd e v e lo p edin toin d u s tria lco n tro lc o m p u te ru s e dasac e n tra lc o llec tio na n dd is trib u tio ns y s te m a n dtran s itio no fd is trib u tedco n tro ls y s te m ina n a lo g u eh a n d lin g ,lo o pco n tro l,h a sb e g u ntore fle c tth eu seo fah u g ead v a n ta g e .Th o u g hd is trib u te ds y s te m h asg re a ta d v a n ta g e sinlo o pre gu la tio n ,b u to n lyasam e a n so fc o n tin u o u sp ro c e s sc o n tro l.

O p tim iz a tio no fP L Cisth ec o rres p o n d in gre la yn e e d sw a sb o rn ,itsm a inu seinth ew o rko rd e rc o n tro l,e a rlyp rim a ryisre p lac e dre la yth ish u lk in gs ys te m ,fo c u s e do nth es w itchc o n tro llin gth eru n n in go rd e ro ffu n c tio n s .M a rk edb yth em ic ro p ro c es s o rinth ee a rly1 97 0o fth e2 0 thc en tu rye m e rg e d ,m ic ro -e le c tro n icste ch n o lo g yh asd e v e lo p edra p id ly ,p e o p leso o nm ic ro ele c tro n icsp ro c e ss in gtec h n o lo g yw illb eu s edinth eP ro g ra m m a b leL o g ic a lC o n tro lle r(th a tis 1

5

Manipulator is now use d as a industrial robots in use, t he control obj ectives often appear often i n industrial a utomation. I ndustrial aut omation te chnol ogy has gradually matured, as mature a technology li ne ha s bee n rapi d devel opme nt in industrial automati on as a separate s ubj ect. Ma nipulator appli cation began t o filter into wel ding , logisti cs, mechanica l pr oce ssi ng, and other industries . Es pecially at high or very l ow temperature s, full of pois onous gas es, hig h radiation ca se, robot in similar cir cumstances showed great use als o bri ngs great conveni ence to the staff. Precisely be cause of this robot to get people's attenti on began t o be a hig h degre e of devel opme nt. La bor rates, w orking conditions, la bor i ntensiv e aspects of pr omoting development. Bot h at home a nd a broa d to deve lop t he PLC (programmabl e logi c controller) is in vari ous special circumsta nce s and under s pe cial conditions set for mechani cal devi ces . Now turne d on the development of the mi croele ctronics a utomatic cont rol technology a nd the rapid development of the trains, the succe ss of PLC hardware software and simulati on contr ol win big and su cce ssful development, now conti nue s to develop as a factory a utomation standards. Beca use robots are g ood devel opme nt of the technology makes a good optimization of pr oductive ca pital, a nd robot s how s this uni que a dvantages, such as : has g ood compat ibilit y, wide availability, hardware is com plete, and programming t hat can be mastered in a s hort time, s o in the context of industr ial PLC applicati ons be came ubiquitous. Ma nipulator in ma ny devel ope d country agri cultur e and i ndustry ha s bee n applied, such a s the use of mechani cal harve sting large areas of farmland, repeate d operations on the hig h-spe ed line that us es a roboti c arm, and so on. Toda y, the high level of automation combined with re strictions on the ma nipulator development level is slightly low er tha n t he inter national. The desig n is mainly arm wel ding ma chi ne by PLC A utomation control. T his of design let desig ners on in s chool by learn of has a must of consol idation, understand has s ome usually didn't opport unities aw arene ss in w orld ra nge withi n som e lea ding level of know ledge has ha s must aware ness, hope de signer s ca n in yihou of desig n in the can succes s of usi ng in t his de sign i n the pr ocee ds of experience 1. 2 manipulat or in both at home and abr oad of resear ch profile aut omation me cha nica l arm research began Y u 20th cent ury medium -term, after years with with computer and automati on te chnology of development, M akes mechani cal arm on t he Grand stage of industri al automati on and s hine , gradually be came an i ndustrial evaluati on sta ndar ds, a nd its impor tance ca n be seen. Now origi nal robotic arm s pent most of mass production and us e on t he pr oduction line, whi ch is programmed roboti c arm. As the first generation of manipulat or position control sy stems main features, alt hough not back several ge nerations that can detect the exter nal environment, but ca n still s ucces sfully complete like wel ding , painti ng, delivery as well a s for materials simple moveme nts. Se cond ge neration me cha nical arm s are equipped wit h se nsor s and ma nipulators have the e nvironme nt there is a cert ain amount of "sens e", whe n the mecha nical arm is to use the program as a basis . Difference i s that the robot bega nd







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算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算算 算算算算算算算算算算算算算算算 算 m a n 算算算算算 ip u la to rco n tro lm o d ea n dp ro g ra m m a b leco n tro lle rsin tro d u c tio n2 .1S e lec td is cu s s io nw ithm a n ip u la to rc o n tro l2 .1.1c las s ific a tio no fco n tro lre la ysa n dd isc re tee lec tro n icc irc u itc anco n tro lo ldin d u s tria le q u ip m en t,b u ta ls om o rec o m m o n .M a in lyth es etw ore la tiv e lyc h e apa n dy o uc a nm e etth eo ld -fa s h io n ed ,s im p le(o rs im p le )in d u s tria le q u ip m e n t.Soh ec a nse eth e m n o w ,h o w e v e rth e setw oco n tro lm o d es(re la ya n dd is c re tee lec tro n icc irc u its )a reth e s efa ta lfla w s :(1 )c a n n o ta d ap ttoth ec o m p le xlo g icc o n tro l,(2 )o n lyfo rth ec u rren tp ro jec t,th elac ko fco m p a tib ilitya n d(3 )n o tre fo rm in gth es y s te m w itheq u ip m e n tim p ro v e m en ts .Sp rin gfo rth ed e v e lo p m e n to fC h in a 'sm o d e rnin d u s tria la u to m a tio nte ch n o lo g yth es u b s ta n tia lin c re as einth ele v e lo fin d u s triala u to m a tio n ,co m p le tedth ep e rfe c tre la yo fth eco m p u te rto om u c h .Inte rm so fco n tro llin gth ec o m p u te rsh o w edh istw og re a ta d v an ta g e s :(1 )e a cho fth eh a rd w a reca nb ein s ta lledo no n eo rm o rem ic ro p ro c e ss o rs;(2 )th eo ffic ia ld es ig n e ro fth es o ftw a rew ritin gc o n te n tco n tro lisa lla b o u t. N o w ins e v e ra lw a y sinth eco n te x to fin d u s triala u to m a tio nc ano fte nb es e eninth re ew a y s :(1 ) P ro g ra m m a b leLo g ic a lC o n tro lle r(re fe rre dtoa sIP C );(2 )D is trib u te dC o n tro lS y s te m (D C Sfo rs h o rt),a n d(3 )th eP ro g ra m m a b leL o g ic a lC o n tro lle r(P L Cfo rsh o rt).2 .1.2P L Can dth eIP Can dD C Sco n tra s tco n tra s t1 ,e ac ho fth eth re etec h n o lo g ie so fo rig in sa n dd e ve lo p m e n tre q u ire m e n tsfo rfa s td a tap ro c es s in gm a k e sitin v e n te dth eco m p u ter .T h em enb ro u g h tinte rm so fh a rd w a reth e re ,u s in gah ig hle v e lo fs ta n d a rd iz a tio n ,ca nu s em o reco m p a tib ilityto o ls ,isaric hso ftw a rere s o u rc e s,e s p e c ia llyth en e edfo rim m e d ia c yino p e ra tio n a ls y s te m s .S oth eco m p u te rc a ne ffe c tiv e lyco n tro lisu s e dtoc o n tro la n dm e e titssp e e d ,o nth ev irtu a lm o d e l,re a l-tim ea n dinco m p u ta tio n a lreq u ire m en ts .D is trib u te ds y s te m s ta rte dw ithaco n tro ls y s te m fo rin d u s tria la u to m a ticin s tru m e n tu s e dtoc o n tro l,w h e re a sn o w itissu cc e ss fu llyd e v e lo p edin toin d u s tria lco n tro lc o m p u te ru s e dasac e n tra lc o llec tio na n dd is trib u tio ns y s te m a n dtran s itio no fd is trib u tedco n tro ls y s te m ina n a lo g u eh a n d lin g ,lo o pco n tro l,h a sb e g u ntore fle c tth eu seo fah u g ead v a n ta g e .Th o u g hd is trib u te ds y s te m h asg re a ta d v a n ta g e sinlo o pre gu la tio n ,b u to n lyasam e a n so fc o n tin u o u sp ro c e s sc o n tro l.

O p tim iz a tio no fP L Cisth ec o rres p o n d in gre la yn e e d sw a sb o rn ,itsm a inu seinth ew o rko rd e rc o n tro l,e a rlyp rim a ryisre p lac e dre la yth ish u lk in gs ys te m ,fo c u s e do nth es w itchc o n tro llin gth eru n n in go rd e ro ffu n c tio n s .M a rk edb yth em ic ro p ro c es s o rinth ee a rly1 97 0o fth e2 0 thc en tu rye m e rg e d ,m ic ro -e le c tro n icste ch n o lo g yh asd e v e lo p edra p id ly ,p e o p leso o nm ic ro ele c tro n icsp ro c e ss in gtec h n o lo g yw illb eu s edinth eP ro g ra m m a b leL o g ic a lC o n tro lle r(th a tis 1

6


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