基于VC++和S7-200的水下对接控制系统

分析了水下对接系统的原理和结构,阐述了对接系统的控制方法和通信方法,给出了控制过程中所涉及的通信方案。整个对接系统由水下机械手部分及对接台部分组成,并由对接操作杆完成对接作业。在Windows环境下,基于VC + + 6. 0实现了上位机与对接操作杆的串行口通信,基于S7-200 PLC自由口通信模式实现了上位机与PLC的通信,从而可以通过对接操作杆对机械手和对接台进行实时控制,给出了通讯协议和软件设计方法。系统的控制方法简单易行,人机互动灵活,稳定性好,实时性强,能快速方便的实现水下对接。

Underwater Docking Control System Based on VC++ and S7-200

The paper introduces the principle and structure of underwater docking system, describes the control method and the communication method of the system and produces the communication modes in the control process. The whole docking system is composed of the underwater manipulator and the docking platform, and the docking mission is completed with the docking lever. Under the Windows operating system, based on VC++, we achieved serial port communication of the PC and docking lever. Based on free-port communication mode of S7-200 PLC, communication of the PC and the PLC is achieved. Thus we can control the robot and the docking platform in real-time by manipulating the docking lever. The communication protocols and the design methods of software are also introduced. The control method of the system is simple and easy to implement. The interaction of human and machine is flexible and the system has good stability and timeliness. We can achieve the goal of the underwater docking system fast and conveniently.