PLC能取代运动控制器吗？

<section><section><section><section><section>一、什么是运动控制器？</section></section></section></section></section><p><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; font-size: 15px; color: rgb(63, 63, 63); visibility: visible; letter-spacing: 1px;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">运动控制器就是控制电动机的运行方式专用控制器：比如电动机在由行程开关控制</span><a class="wx_search_keyword" style="margin: 0px; padding: 0px; outline: 0px; color: var(--weui-LINK); -webkit-tap-highlight-color: rgba(0, 0, 0, 0); cursor: pointer; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">交流接触器</a><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">而实现电动机拖动物体向上运行达到指定位置后又向下运行，或者用时间继电器控制电动机正反转或转一会停一会再转一会再停。运动控制在机器人和数控机床的领域内的应用要比在专用机器中应用更复杂，因为后者运动形式更简单，通常被称为通用运动控制（</span><a class="wx_search_keyword" style="margin: 0px; padding: 0px; outline: 0px; color: var(--weui-LINK); -webkit-tap-highlight-color: rgba(0, 0, 0, 0); cursor: pointer; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">GMC</a><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">）。</span></span></span></section><section><img class="rich_pages wxw-img" src="https://mmbiz.qpic.cn/mmbiz_jpg/3t177selbFeR6F6mdOicicIWusA8ich2c9vGoafSiau5NULic0c75Xyn2tGpv5LazI3wgG5AnydywOth3OnWoAutyDQ/640?wx_fmt=jpeg&wxfrom=13&tp=wxpic" alt="图片" style="margin: 0px; padding: 0px; outline: 0px; vertical-align: bottom; width: 661px; box-sizing: border-box !important; overflow-wrap: break-word !important; height: auto !important; visibility: visible !important;"/><br/></section><section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(255, 255, 255); font-size: 15px; visibility: visible; letter-spacing: 1px;"><strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; visibility: visible;"><span style="margin: 0px 7px 11px 0px; padding: 5px 10px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; border-bottom: 4px solid rgb(31, 41, 96); border-top-color: rgb(31, 41, 96); border-right-color: rgb(31, 41, 96); border-left-color: rgb(31, 41, 96); border-radius: 3px; line-height: 36px; text-align: center; background-color: rgb(55, 74, 174); visibility: visible;">运动控制器的特点</span></strong></span></section></section></p><p style="margin: 16px 8px 0px; padding: 0px; max-width: 100%; clear: both; min-height: 1em; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; caret-color: rgb(51, 51, 51); background-color: rgb(255, 255, 255); widows: 1; font-family: 微软雅黑, Arial, sans-serif; text-size-adjust: inherit; visibility: visible; line-height: normal; outline: none 0px !important; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px; letter-spacing: 1px;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">（1）硬件组成简单，把运动控制器插入PC总线，连接</span><a class="wx_search_keyword" style="margin: 0px; padding: 0px; outline: 0px; color: var(--weui-LINK); -webkit-tap-highlight-color: rgba(0, 0, 0, 0); cursor: pointer; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">信号线</a><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">就可组成系统；</span></span></p><p style="margin: 16px 8px 0px; padding: 0px; max-width: 100%; clear: both; min-height: 1em; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; caret-color: rgb(51, 51, 51); background-color: rgb(255, 255, 255); widows: 1; font-family: 微软雅黑, Arial, sans-serif; text-size-adjust: inherit; visibility: visible; line-height: normal; outline: none 0px !important; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px; letter-spacing: 1px;">（2）可以使用PC机已经具有的丰富软件进行开发；</span></p><p style="margin: 16px 8px 0px; padding: 0px; max-width: 100%; clear: both; min-height: 1em; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; caret-color: rgb(51, 51, 51); background-color: rgb(255, 255, 255); widows: 1; font-family: 微软雅黑, Arial, sans-serif; text-size-adjust: inherit; visibility: visible; line-height: normal; outline: none 0px !important; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px; letter-spacing: 1px;">（3）运动控制软件的代码通用性和可移植性较好；</span></p><p style="margin: 16px 8px 0px; padding: 0px; max-width: 100%; clear: both; min-height: 1em; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; caret-color: rgb(51, 51, 51); background-color: rgb(255, 255, 255); widows: 1; font-family: 微软雅黑, Arial, sans-serif; text-size-adjust: inherit; visibility: visible; line-height: normal; outline: none 0px !important; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px; letter-spacing: 1px;">（4）可以进行开发工作的工程人员较多，不需要太多培训工作，就可以进行开发。</span></p><p><section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(255, 255, 255); font-size: 15px; letter-spacing: 1px;"><strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px 7px 11px 0px; padding: 5px 10px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; border-bottom: 4px solid rgb(31, 41, 96); border-top-color: rgb(31, 41, 96); border-right-color: rgb(31, 41, 96); border-left-color: rgb(31, 41, 96); border-radius: 3px; line-height: 36px; text-align: center; background-color: rgb(55, 74, 174);">运动控制器的控制形式</span></strong></span></section></section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; letter-spacing: 1px;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; font-size: 15px;"><strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: none 0px !important; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63);">点位运动控制：</span></strong><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63);">即仅对终点位置有要求，与运动</span></span><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px;">的中间过程即运动轨迹无关。相应的运动控制器要求具有快速的定位速度，在运动的加速段和减速段，采用不同的加减速控制策略。</span></span></section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px; letter-spacing: 1px;">在加速运动时，为了使系统能够快速加速到设定速度，往往进步系统增益和加大加速度，在减速的末段采用s 曲线减速的控制策略。为了防止系统到位后震动，规划到位后，又会适当减小系统的增益。所以，点位运动控制器往往具有在线可变控制参数和可变加减速曲线的能力。</span></section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; letter-spacing: 1px;"><strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: none 0px !important; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; font-size: 15px; color: rgb(63, 63, 63);">连续轨迹运动控制：</span></strong><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px;">该控制又称为轮廓控制，主要应用在传统的数控系统、切割系统的运动轮廓控制。相应的运动控制器要解决的题目是如何使系统在高速运动的情况下，既要保证系统加工的轮廓精度，还要保证刀具沿轮廓运动时的切向速度的恒定。对小线段加工时，有多段程序预处理功能。</span></span></section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; letter-spacing: 1px;"><strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: none 0px !important; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; font-size: 15px; color: rgb(63, 63, 63);">同步运动控制</span></strong><span style="margin: 0px; padding: 0px; outline: none 0px !important; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; font-size: 15px; color: rgb(63, 63, 63);">：</span><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">是指多个轴之间的运动协调控制，可以是多个轴在运动全程中进行同步，也可以是在运动过程中的局部有速度同步，主要应用在需要有电子齿轮箱和电子凸轮功能的系统控制中。产业上有印染、印刷、造纸、轧钢、同步剪切等行业。相应的运动控制器的控制算法常采用自适应</span><a class="wx_search_keyword" style="margin: 0px; padding: 0px; outline: 0px; color: var(--weui-LINK); -webkit-tap-highlight-color: rgba(0, 0, 0, 0); cursor: pointer; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">前馈控制</a><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">，通过自动调节控制量的幅值和相位，来保证在输进端加一个与干扰幅值相等、相位相反的控制作用，以抑制周期干扰，保证系统的同步控制。</span></span></span></section><section><section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; letter-spacing: 1px;">二、什么是PLC？</span></section></section></section><section><img src="/upload/article/20231123/1700701103338702.jpg" title="1700701103338702.jpg" alt="ts600-02-1.jpg"/></section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px; letter-spacing: 1px;">可编程逻辑控制器是种专门为在工业环境下应用而设计的数字运算操作电子系统。它采用一种可编程的存储器，在其内部存储执行逻辑运算、顺序控制、定时、计数和算术运算等操作的指令，通过数字式或模拟式的输入输出来控制各种类型的机械设备或生产过程。</span></section><section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(255, 255, 255); font-size: 15px; letter-spacing: 1px;"><strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px 7px 11px 0px; padding: 5px 10px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; border-bottom: 4px solid rgb(31, 41, 96); border-top-color: rgb(31, 41, 96); border-right-color: rgb(31, 41, 96); border-left-color: rgb(31, 41, 96); border-radius: 3px; line-height: 36px; text-align: center; background-color: rgb(55, 74, 174);">PLC的特点</span></strong></span></section></section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; letter-spacing: 1px;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px;">（1）<strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">可靠性高</strong>。由于PL</span><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; font-size: 15px; color: rgb(63, 63, 63);">C大都采用单片微型计算机，因而集成度高，再加上相应的保护电路及自诊断功能，提高了系统的可靠性。</span></span></section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px; letter-spacing: 1px;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">（2）</span><strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">编程容易</strong><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">。PLC的编程多采用</span><a class="wx_search_keyword" style="margin: 0px; padding: 0px; outline: 0px; color: var(--weui-LINK); -webkit-tap-highlight-color: rgba(0, 0, 0, 0); cursor: pointer; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">继电器</a><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">控制梯形图及命令语句，其数量比微型机指令要少得多，除中、高档PLC外，一般的小型PLC只有16条左右。由于梯形图形象而简单，因此容易掌握、使用方便，甚至不需要计算机专业知识，就可进行编程。</span></span><br/></span></section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px; letter-spacing: 1px;">（3）<strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">组态灵活</strong>。由于PLC采用积木式结构，用户只需要简单地组合，便可灵活地改变控制系统的功能和规模，因此，可适用于任何控制系统。<br/></span></section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px; letter-spacing: 1px;">（4）<strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">输入/输出功能模块齐全</strong>。PLC的最大优点之一，是针对不同的现场信号（如直流或交流、开关量、数字量或模拟量、电压或电流等），均有相应的模板可与工业现场的器件（如按钮、开关、传感电流变送器、电机启动器或控制阀等）直接连接，并通过总线与CPU主板连接。<br/></span></section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px; letter-spacing: 1px;">&nbsp;（5）<strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">安装方便</strong>。与计算机系统相比，PLC的安装既不需要专用机房，也不需要严格的屏蔽措施。使用时只需把检测器件与执行机构和PLC的I/O接口端子正确连接，便可正常工作。<br/></span></section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px; letter-spacing: 1px;">&nbsp;（6）<strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">运行速度快</strong>。由于PLC的控制是由程序控制执行的，因而不论其可靠性还是运行速度，都是继电器逻辑控制无法相比的。近年来，微处理器的使用，特别是随着单片机大量采用，大大增强了PLC的能力，并且使PLC与微型机控制系统之间的差别越来越小，特别是高档PLC更是如此。</span></section><section><section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; letter-spacing: 1px;">三、运动控制器与PLC的区别</span></section></section></section><section><img class="rich_pages wxw-img" src="https://mmbiz.qpic.cn/mmbiz_jpg/15hugXbJssOianLRVsl3mB8hcf7AAKUeRpXiccP6OMV24cUibwdCVDMUvydcjdZTWYt1H4QDQJaYk2J9eAkoV9ruA/640?wx_fmt=jpeg&tp=wxpic&wxfrom=5&wx_lazy=1&wx_co=1" alt="图片" style="margin: 0px; padding: 0px; outline: 0px; vertical-align: bottom; border-radius: 8px; width: 661px; box-sizing: border-box !important; overflow-wrap: break-word !important; height: auto !important; background-size: 16px !important; visibility: visible !important;"/></section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px; letter-spacing: 1px;">运动控制主要涉及步进电机、伺服电机的控制，控制结构模式一般是：控制装置+驱动器+（步进或伺服）电机。</span></section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px; letter-spacing: 1px;">控制装置可以是PLC系统，也可以是专用的自动化装置（如运动控制器、运动控制卡）。PLC系统作为控制装置时，虽具有PLC系统的灵活性、一定的通用性，但对于精度较高，如-插补控制，反应灵敏的要求时难以做到或编程非常困难，而且成本可能较高。</span></section><section><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px; letter-spacing: 1px;">随着技术进步和技术积累，运动控制器应运而生了，它把一些普遍性的、特殊的运动控制功能固化在其中—如插补指令，用户只需组态、调用这些功能块或指令，这样减轻了编程难度，性能、成本等方面也有优势。<br/></span></section></p><p style="margin: 16px 8px 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-family: -apple-system-font, BlinkMacSystemFont, &quot;Helvetica Neue&quot;, &quot;PingFang SC&quot;, &quot;Hiragino Sans GB&quot;, &quot;Microsoft YaHei UI&quot;, &quot;Microsoft YaHei&quot;, Arial, sans-serif; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; caret-color: rgb(51, 51, 51); background-color: rgb(255, 255, 255); widows: 1; line-height: 1.6em; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(63, 63, 63); font-size: 15px; letter-spacing: 1px;">因此，可以这样理解：<strong style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">PLC的使用是一种普通的运动控制装置。运动控制器是一种特殊的PLC，专职用于运动控制</strong>。</span></p><p><br/></p>