基于PLC的嫁接机四工位并行控制系统设计

doi:10.13733/j.jcam.issn.2095-5553.2025.07.012

摘要/Abstract

摘要： 针对现有嫁接机控制系统布线复杂、调试繁琐等问题，提出一种基于EtherCAT总线控制的嫁接机四工位并行控制方法。分析嫁接机的整体结构和工作原理，确定并行控制系统方案和硬件选型。分析各个硬件部件的组合与匹配，并进行步进电机和伺服电机的选型，优化其在工作中的表现。采用EtherCAT总线通讯协议与I/O控制设备控制步进电机、伺服电机和气动元件，实现上苗切削、对接喷胶、拢苗固化和柔性下苗模块的同步作业，并确保模块的独立运行与协调作业；通过EtherCAT总线降低布线复杂度，减少传统控制系统中线路干扰和调试工作量，同时提高系统的稳定性和实时响应能力；设计HMI人机交互界面监控设备运行状态和参数调控，HMI人机交互界面实时显示各模块的工作状态、操作员可以通过直观的图形化界面，迅速掌握设备运行情况，并进行试验验证。结果表明：嫁接效率为587株/h，嫁接成活率为94.5%，利用EtherCAT总线控制可大幅减少布线、简化调试工作。

关键词: 嫁接机, 可编程逻辑控制器, 总线控制, 控制系统, 并行作业

Abstract: Aiming at the existing grafting machine control system using punch control wiring complexity, debugging cumbersome and other issues, put forward a grafting machine based on EtherCAT bus control of four-station parallel control method. Analyze the overall structure and working principle of the grafting machine, determine the parallel control system scheme and hardware selection. Analyze and calculate the combination and matching of each hardware component, the selection of stepping motor and servo motor, and optimize their performance in work. Adopt the combination of EtherCAT bus communication protocol and I/O control equipment to control the stepping motor, servo motor and pneumatic components, to realize the synchronous operation of the upper seedling cutting, docking and spraying, seedling curing and flexible seedling module, and to ensure that the module operates independently and coordinates the operation. Reduce the complexity of the cabling through the EtherCAT bus to reduce the line interference and debugging workload in the traditional control system. At the same time to improve the stability of the system and real-time response capability; design HMI human-computer interface to monitor the operating status of the equipment and parameter regulation, HMI human-computer interface real-time display of the working status of each module, the operator can through the intuitive graphical interface, to quickly grasp the operation of the equipment, and test verification. The test results show that: grafting efficiency is 587 plants/h, grafting survival rate of 94.5%, the use of EtherCAT bus control can greatly reduce wiring, simplify the debugging work.

Key words: , grafting machine, PLC, bus control, control system, parallel operation

中图分类号:

陆涵威, 孔令浩, 韩长杰, , 陈立平, 吴涛, 姜凯, . 基于PLC的嫁接机四工位并行控制系统设计[J]. 中国农机化学报, 2025, 46(7): 79-85.

Lu Hanwei , Kong Linghao, Han Changjie, , Chen Liping , Wu Tao, Jiang Kai, . Design of a four-station parallel control system for grafting machines based on PLC[J]. Journal of Chinese Agricultural Mechanization, 2025, 46(7): 79-85.

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