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Advisor(s)
Abstract(s)
O veĆculo guiado automaticamente (AGV) adquirido pelo Departamento de Engenharia
MecĆ¢nica (DEM) tem vindo a ficar obsoleto devido ao hardware, que nos dias de hoje
comeƧa a dar sinais de falhas bem como falta de peƧas de substituiĆ§Ć£o, e ao software,
sendo o PLC (Programmable Logic Controller) usado muito limitado quanto Ć s suas
funƧƵes de controlo, ficando as principais tarefas de controlo do AGV a cargo de placas
eletrĆ³nicas de controlo.
Para promover o controlo autĆ³nomo do AGV, foi decidido retirar toda a parte de hardware
que detinha o controlo do mesmo e passou a ser um novo PLC, com maior capacidade de
processamento, a executar todo o tipo de controlo necessƔrio ao funcionamento do mesmo.
O hardware considerado apenas incluĆ, de forma resumida, os motores responsĆ”veis pelo
movimento e direĆ§Ć£o, placa de controlo de potĆŖncia dos motores, placa de interface entre
as saĆdas digitais do PLC e as entradas da placa de controlo de potĆŖncia dos motores e os
demais sensores necessĆ”rios Ć deteĆ§Ć£o de obstĆ”culos, fins de curso da direĆ§Ć£o, sensores dos
postos de trabalho e avisadores de emergĆŖncia.
Todo o controlo de movimento e direĆ§Ć£o bem como a seleĆ§Ć£o das aƧƵes a executar passou
a ficar a cargo do software programado no PLC assim como a interaĆ§Ć£o entre o sistema de
supervisĆ£o instalado num posto de controlo e o PLC atravĆ©s de comunicaĆ§Ć£o via rĆ”dio.
O uso do PLC permitiu a flexibilidade de mudar facilmente a forma como as saĆdas digitais
sĆ£o usadas, ao contrĆ”rio de um circuito eletrĆ³nico que necessita de uma completa
remodelaĆ§Ć£o, tempo de testes e implementaĆ§Ć£o para efetuar a mesma funĆ§Ć£o.
O uso de um microcontrolador seria igualmente viĆ”vel para a aplicaĆ§Ć£o em causa, no
entanto o uso do PLC tem a vantagem de ser robusto, mais rƔpido na velocidade de
processamento, existĆŖncia de software de interface de programaĆ§Ć£o bastante intuitivo e de
livre acesso, facilidade de alterar a programaĆ§Ć£o localmente ou remotamente, via rĆ”dio,
acesso a vĆ”rios protocolos de comunicaĆ§Ć£o robustos como Modbus, Canbus, Profinet,
Modnet, etc., e acesso integrado de uma consola grƔfica totalmente programƔvel.
iv
Ć ainda possĆvel a sua expansĆ£o com adiĆ§Ć£o de mĆ³dulos de entradas e saĆdas digitais e/ou
analĆ³gicas permitindo expandir largamente o uso do AGV para outros fins.
A soluĆ§Ć£o estĆ” a ser amplamente testada e validada no LaboratĆ³rio de AutomaĆ§Ć£o (LabA)
do Departamento de Engenharia MecĆ¢nica do ISEP (Instituto Superior de Engenharia do
Porto), permitindo a otimizaĆ§Ć£o dos sistemas de controlo de direĆ§Ć£o bem como a
interatividade entre o PLC e o programa de interface/supervisĆ£o do posto de trabalho.
The automatically guided vehicle (AGV) acquired by the Department of Mechanical Engineering (DEM) has become obsolete due to hardware, which nowadays begins to give signs of malfunction as well as lack of spare parts, and to software, being the PLC (Programmable Logic Controller) used very limited, leaving the main control tasks of the AGV to the electronic control boards. To promote the autonomous control of the AGV, it was decided to remove the entire hardware that hold its control and a new PLC was installed, with greater processing capacity and capable of executing all kinds of control required to operate the AGV. This hardware includes, in a summary form, the electric motors responsible for movement and steering, electric motors control drive board, interface board from the digital outputs of the PLC and the electric motors control drive board and other sensors necessary for the detection of obstacles, steering limit switches, infrared sensors to detect destination towers and emergency buttons. All movement and steering control as well as the selection of actions to perform has become in charge of the software programmed in the PLC as well as the interaction between the supervision system workstation and the PLC via radio communications. The use of the new PLC allowed the flexibility to easily change the way the digital outputs are used, as opposed to an electronic circuit that require refurbish, testing and implementation time to perform the same function. The use of a microcontroller would be also a viable path for the application. Nevertheless, the use of the PLC has the advantage of being robust, faster processing speed, programming software very intuitive and freeware, capacity to change the programming locally or remotely through radio, access to various communication protocols such as Modbus, Canbus, Profinet, ModNet, etc., and fully programmable integrated graphical console. It is also possible to expand the PLC capabilities with the addition of digital and/or analog input and output modules, allowing the use AGV for other purposes. The solution being widely tested and validated in the Automation Laboratory (LabA) of Engineering Mechanical Department of ISEP (Engineering Institute of Porto), allowing optimization of steering control systems and the interaction between the PLC and the interface program/supervision from the workstation.
The automatically guided vehicle (AGV) acquired by the Department of Mechanical Engineering (DEM) has become obsolete due to hardware, which nowadays begins to give signs of malfunction as well as lack of spare parts, and to software, being the PLC (Programmable Logic Controller) used very limited, leaving the main control tasks of the AGV to the electronic control boards. To promote the autonomous control of the AGV, it was decided to remove the entire hardware that hold its control and a new PLC was installed, with greater processing capacity and capable of executing all kinds of control required to operate the AGV. This hardware includes, in a summary form, the electric motors responsible for movement and steering, electric motors control drive board, interface board from the digital outputs of the PLC and the electric motors control drive board and other sensors necessary for the detection of obstacles, steering limit switches, infrared sensors to detect destination towers and emergency buttons. All movement and steering control as well as the selection of actions to perform has become in charge of the software programmed in the PLC as well as the interaction between the supervision system workstation and the PLC via radio communications. The use of the new PLC allowed the flexibility to easily change the way the digital outputs are used, as opposed to an electronic circuit that require refurbish, testing and implementation time to perform the same function. The use of a microcontroller would be also a viable path for the application. Nevertheless, the use of the PLC has the advantage of being robust, faster processing speed, programming software very intuitive and freeware, capacity to change the programming locally or remotely through radio, access to various communication protocols such as Modbus, Canbus, Profinet, ModNet, etc., and fully programmable integrated graphical console. It is also possible to expand the PLC capabilities with the addition of digital and/or analog input and output modules, allowing the use AGV for other purposes. The solution being widely tested and validated in the Automation Laboratory (LabA) of Engineering Mechanical Department of ISEP (Engineering Institute of Porto), allowing optimization of steering control systems and the interaction between the PLC and the interface program/supervision from the workstation.
Description
Keywords
AGV PC Posto Cliente PLC Modbus Linha Guia Controlo Workstation Guide Line Control