TU811V1 3BSE013231R1

【廈門莫格電氣自動化有限公司】

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我們主營PLC可編程控制器模塊，DCS卡件，ESD系統卡件，振動監測系統卡件，汽輪機控制系統模塊，燃氣發電機備件等，公司致力于為工業用戶提供自動化解決方案，打造工控備件一站式供應平臺。

 我們售出的備品備件均提供一年的質量保證、并且都經過了嚴格的測試和認證,現已成一家性的工業自動化備件及零部件的銷售企業。

工作 ：
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    地 址：廈門市思明區檳榔西里197號第四層B19單元
 

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3.1  控制器系統設計
由于嵌進式微處理器對實時任務具有很強的支持能力，可以完成多任務并且具有較短的中斷響應。因此在設計過程中，采用嵌進式ARM9為核心的控制器(ST公司的STR911FAM44)，實現了以極少的周邊芯片獲得齊全的功能。ARM9處理用具有體積小，功耗低，性能高的特點。它集成了28路模擬信號采集通道，可以兼容數字信號和模擬信號，每路精度為10位，因此可以分辨3 mV特的輸進電壓變化。8路高速數據采集通道每秒可采集50萬次信號。該處理器內部采用哈佛結構，每秒可執行1.1億條機器指令，這樣的強大功能可以實現機器人高速精確地按照規定路徑行走，并且機器人的CPU能夠實時迅速地讀取多個傳感器端口數值，在較短的時間內完成對各端口數值的存儲、運算和輸出等多種任務。在主控制器核心CPU的基礎上，將各種功能模塊、執行機構等連接到CPU的引腳上。控制器總共有28路模擬采樣接口。ARM9控制器的系統圖如圖3所示。

在此選用Atmel公司生產的AVR ATmega 8微處理器作為輔助單片機。ATmega 8是基于增強的AVR RISC結構的低功耗8位CMOS微控制器。由于它*的指令集以及單時鐘周期指令執行時間，ATmega 8的數據吞吐率高達1 MIPS／MHz，從而可以緩減系統在功耗和處理速度之間的矛盾。AVR內核具有豐富的指令集和32個通用工作寄存器。同時ATmega 8具有一整套的編程與系統開發工具，包括：C語言編譯器、宏匯編、程序調試器／軟件仿真器、仿真器及*估板。這樣就大大方便了在硬件基礎上進行軟件設計。
ARM9處理器含有20路標準數據采集通道通過Atmega816-PC輔助單片機連接到主芯片上，用以讀取遠紅外傳感器組及檢測端口的數值，每秒可采集1 000次。這種設計進步了端口數值讀取速度，使機器人能對四周環境信息做出迅速判定。ARM9微處理器與輔助單片機如圖4所示。

為了保證滅火機器人靈活行走和低功耗，需要一個體積小，超薄輕巧，功耗低的顯示器。Uniohm公司生產的LCD滿足設計要求，通過與單片機連接、編程、下載、完成顯示功能。
3.2 控制器電源供電設計
電源直接影響機器人運行特性。考慮到電動機啟動瞬間電流很大，會造成電源電壓不穩，影響單片機和輸進電路工作的穩定性和可靠性，因此這里采用雙電源供電方案。電機電源采用容量為2 500 mAh高放電倍率聚合物鋰電池，工作電壓為24 V，能提供40 A的穩定供電電流，是普通電池的10倍；控制器電源采用8.4 V鋰電池，并提供電壓采樣端口，以供電池檢測，控制器電源供電電路圖如圖5所示。
為獲得CPU各端口電路所需要的不同等級的電壓，該設計采用1個LM317T三端穩壓器和2個AMS1117低壓差線性電壓調整器，并通過其附屬電路，得到精確穩定的5 V，3.3 V，1.8 V三種電壓；用1個發光二極管LD1和限流電阻R5作為電源指示燈，以顯示電源開關的狀態；為實時采樣電源電壓，防止鋰電池過放或過充，通過R1，R2分壓，引出AD19端口作為電源采樣端口
 
MAC 35A-AAA-DAAA-1B?A 120V-AC 1/8 IN NPT SOLENOID VALVE 

NEW FESTO CPE18-M1H-5L-1/?4 24V-DC 1.5W 1/4 IN NPT SOLEN

NEW NUMATICS 33SAD4410 150PSI THREADED 120V-AC 3/8IN NP

NEW MAC 92B-EAB-000-DM-?DDAP-1DG 24V-DC SOLENOID VALVE D

NEW NUMATICS 225-285B 150 THREADED 24V-DC SOLENOID VALV

NEW PARKER 71315SN1GN00LPC?111Q3 240V-AC 1/8IN NPT SOLEN

NEW MAC PME-501DA 25-150PSI 24V-DC SOLENOID VALVE D4251

NEW ARO A21388-120-A-G FLUID POWER 120V-AC 3/8 IN NPT S

MAC 82A-AB-CAA-RA 150PSI 3/8 IN NPT SOLENOID VALVE D305

NUMATICS 082SA431K 150 PSI .09A AMP 110-120V-AC SOLENOI

NEW NUMATICS 081SA400K000030 0.15A AMPS 150PSI 120V-AC 

NEW PARKER 71315SN1GN00N0C?111C2 24V-DC 1/8IN NPT SOLENO

SMC NVZ2150-5G-01T 24V-DC 1/8 IN NPT SOLENOID VALVE ASS

NEW MAC 113B-121JB 240/220V-AC 1/4IN NPT SOLENOID VALVE

NEW MILLER FLUID POWER 320-403-504-115?AC-635 1/2 IN NPT

NEW SCHRADER BELLOWS L6853610253 2-POSITION 120V-AC SOL

NEW VERSA VXX-4333-HC-A12?0 12V-DC SOLENOID VALVE D35568

NEW VERSA VXX-4333-HC-A12?0 120V-AC SOLENOID VALVE D3560

NEW MAC 35A-SAD-DAAA-1B?A 120V-AC 1/8 IN NPT SOLENOID VA

NEW MAC 225B-523JJ PNEUMATIC 24V-DC 1/4 IN NPT SOLENOID

NEW PETER PAUL OE53Z0006JCCM 0E53Z0006JCCM 120V-AC SOLE

SKINNER A3DB2127 ELECTRIC 125PSI 16W 120V-AC 1/4 IN NPT

NEW ASCO 8215G33 RED-HAT II 120V-AC 3/4IN NPT SOLENOID 

NEW ATLAS COPCO VE 13-E-S-6-C04 24V-DC SOLENOID VALVE D

NEW FESTO MEH-5/3G-4,0-S-?VI SERIES F202 18913 24V-DC SO

NEW SKINNER A3DB2177 120V-AC 1/8 IN NPT SOLENOID VALVE 

ASCO 8222A49 ANGLE BODY 110/120V-AC 1/2 IN NPT SOLENOID

VERSA SA-4322-84-A120 SA-3321-62 120V-AC 1/4 IN NPT SOL

NEW SMC VVFS3000-20A SPEED CONTROL SOLENOID VALVE D3444

NEW GOYEN CA45TKX/2371 120V-AC 1-1/2X3/8IN NPT SOLENOID

NEW ASCO SK-1955-52 110/120V-AC 3/4 IN NPT SOLENOID VAL

NUMATICS 082SA431K000030 110-120V-AC SOLENOID VALVE B45

NEW PETER PAUL 23JK7YCM 8.7W 100PSI 120V-AC 1/8 IN NPT 

NEW MAC 6211C-000-PM-11?4DA PNEUMATIC 150PSI 120V-AC SOL

NEW VERSA ESM-3011-66-A12?0 120V-AC SOLENOID VALVE D4355

NUMATICS 554SS600K 120V-AC 1/2 IN NPT SOLENOID VALVE D3

NUMATICS 11SAD400E 226-411 6.0W COIL 150PSIG 24V-DC SOL

NUMATICS 061BA400M000061 120PSIG MANIFOLD BLOCK 24V-DC 

NEW MAC 811C-PM-111DA-1?42 150PSI 120/110V-AC 1/4 IN NPT

NEW MAC 6211C-111-PM-50?1DA 24V-DC 1/4 IN NPT SOLENOID V

NORGREN K71FA00 AIR CONTROL 150PSI 120/110V-AC 1/2 IN N

NEW FESTO CPA14-M1H-5JS 173941 21V-DC SOLENOID VALVE D3

NUMATICS 122BA43AKN 120V-AC 1/4IN NPT SOLENOID VALVE D3

NEW ASCO 8263G206 480V-AC 3/8IN NPT SOLENOID VALVE D384

CLIFTRONICS R34S263 ROTARY 110V-AC SOLENOID VALVE B3970

NEW FESTO CDVI5.0-MT2H-5J?S 196659 SOLENOID VALVE 24V DC

NEW MAC K-62001C REPAIR KIT SOLENOID VALVE D410200

SMC 30-VFS3110-5DZ PNEUMATIC SOLENOID VALVE 142PSI 0.07

SMC NVS4214-0009D PNEUMATIC 115V-AC 1/4IN NPT SOLENOID 

NEW SCHRADER 741150115 CYCLONE 10W 110/120V-AC 1/4 IN N

SCHRADER BELLOWS 74354-0112 90 MOPD 12V-DC 1/8 IN NPT S

NEW ASCO 8210G003 5-150/250PSI 2 WAY 110/120V-AC 3/4 IN

ASCO WT8401B202M 20-150PSI 120V-AC 1/4 IN NPT SOLENOID 

HERION 9603210 3803 PLUG 18VA ELECTRIC 120V 1/8IN NPT S

NUMATICS 554JA400O000000 150PSI PILOT SOLENOID VALVE D3

NEW AIRTEC MF07 510-HN 1/4 IN NPT SOLENOID VALVE D30371

SCHRADER BELLOWS L4853910253 120V-AC SOLENOID VALVE D46

NUMATICS 061BA400M000061 120PSIG-AIR MANIFOLD BLOCK SOL

BELLOWS VALVAIR L615-36-102 120V-AC 3/8X1/2IN NPT SOLEN

FESTO CPV18-M1H-5LS-1?/4 1.5W 24V-DC 1/4 IN NPT SOLENOID

FESTO CPV18-M1H-5LS-1?/4 1.5W 24V-DC 1/4 IN NPT SOLENOID

NEW MAC 811C-PM-501JA-2?52 24V-DC 1/4 IN NPT SOLENOID VA

NEW SKINNER 71335SN1GVKJ 3-WAY 1/8IN NPT SOLENOID VALVE

NEW ASCO EF8342C1 RED-HAT 120V-AC 1/4 IN NPT SOLENOID V

HONEYWELL 703N72B1A SKINNER 150PSI 110/120V-AC 3/4IN NP

NEW MAC PME-611JA 24V-DC SOLENOID VALVE D448884

NEW MAC 224B-111CAAA 120V-AC/24V-DC 1/8IN NPT SOLENOID

NEW ASCO 8263G210 110/120V-AC 3/8 IN NPT SOLENOID VALVE

NEW MAC PME-611JJ 24V-DC SOLENOID VALVE D365618

ASCO MP-C-080 238610-032-D COIL 120V-AC 1/4 IN NPT SOLE

PARKER 3FGC80 GENERAL PURPOSE 24V-DC 1/4 IN NPT SOLENOI

NEW ASCO JB8214060C FUEL GAS SHUT OFF 120V-AC 1-1/4IN N

NEW MAC 35A-ACA-DDUA-1B?A 120PSI 24V-DC 1/8 IN NPT SOLEN

NEW NUMATICS 554BA43AMT 554BA400MT00061 24V-DC 1/2 IN N

SMC SY5120-5DZ-N7T PNEUMATIC 24V-DC 1/8 IN NPT SOLENOID

VALCO 52C19N14-1 125PSI 115V-AC 1/4 IN NPT SOLENOID VAL

NEW ASCO 8030G017VM RED-HAT II 24V-AC 1/2IN NPT SOLENOI

SMC PRESSURE 1/2IN NPT 1/4 IN NPT SOLENOID VALVE B37387

NEW AUTOMATIC VALVE 407B03X19A-AA 120V-AC SOLENOID VALV

HONEYWELL V53DB2100 100PSI 120V-AC 1/4 IN NPT SOLENOID 

FESTO MFH-3-1/4 21-120PSI PRESSURE 120V-AC 1/4 IN NPT S

NEW BURKERT 0301 C 1,2 NBR PA FLNSCH PN0-10BAR 24V-DC S

NEW BURKERT 0301 C 1,2 NBR PA FLNSCH PN0-10BAR 24V-DC S

VERSA KSG-4332-6K-HC-?A120 SOLENOID VALVE D365825

NEW CEME 8304VN011S-C75 SERIES 8304 110V-AC 1/2IN NPT S

NEW FESTO MCH-3-1/4 TYPE-2200 SOLENOID VALVE D355885

MAC 111B-611CA 150PSI 24V-DC 1/8IN NPT SOLENOID VALVE D

NEW NUMATICS 11SAD400C 120V-AC SOLENOID VALVE D437776

MAC 225B-611JA 150PSI 8.5W WATTS 24V-DC 1/4 IN NPT SOLE

MAC 225B-611JA 150PSI 8.5W WATTS 24V-DC 1/4 IN NPT SOLE

FESTO JMEH-5/2-1/8-P-?B PNEUMATIC 24V-DC 1/8 IN NPT SOLE

NEW FESTO MVH-5-1/4-B 20.4-26.4V-DC 1/4 IN NPT SOLENOID

NEW MAC 6523B-000-PM-59?2DA 150PSI PNEUMATIC 24V-DC SOLE

KEYSTONE 150953020791612 24V-AC 1/8X1/4IN NPT SOLENOID 

MAGNATROL MO131S44 65W WATT 180PSI 120V-AC 1 IN NPT SOL

NEW MAC 811C-PM-111DA-1?42 120/110V-AC 1/4IN NPT SOLENOI

NEW MAC 45A-DH2-DAAA-1B?A 5.4W WATTS 120PSI 120V-AC SOLE

NUMATICS 031SA4412000030 120V-AC 1/8 IN NPT SOLENOID VA

NUMATICS 122BB5Z2MN00061 2.5W 24V-DC SOLENOID VALVE B46

NUMATICS 061BA400M000061 REGULATOR 24V-DC SOLENOID VALV

NEW REXROTH P-026641-1 PNEUMATIK 110V-AC SOLENOID VALVE

ASCO EF8342C1 RED-HAT 125PSI 120V-AC 1/4 IN NPT SOLENOI

NEW MAC 113B-553JD 150PSI 12V-DC 1/4 IN NPT SOLENOID VA

MAC 6213C-511-PM-61?1DA9 24V-DC SOLENOID VALVE D447368

NEW NUMATICS L01SA459O 120V-AC 1/8IN NPT SOLENOID VALVE

NEW MAC 6211C-212-PM-59?2DA 24V-DC 3/8IN NPT SOLENOID VA

ASCO 8342G001 125PSI AIR GAS 20.1W 120V-AC 1/4 IN NPT S

HONEYWELL V81E 1129 1 COMBO PILOTSTAT & GAS 1/2 IN NPT 

MAC 45A-LAD-DAAJ-1K?D 5.4W 120PSI 110/120V-AC 1/8 IN NPT

MAC 914B-PM-592JB 2.5W 150PSI PME-592JB 24V-DC 1/4IN NP

BOSCH 0 810 040 952 24V-DC 1/8 IN NPT SOLENOID VALVE B3

NEW PARKER 71215SN2QN00 120V-AC 1/4 IN NPT SOLENOID VAL

NEW MAC 111B-618AA 24V-DC 1/8 IN NPT SOLENOID VALVE D43

NUMATICS 082SA431K000030 150PSI 110-120V-AC 1/4 IN NPT 

MAC 225B-117AA 120V-AC 1/4 IN NPT SOLENOID VALVE B44362

BURKERT 0142-A-1-EPDM-P?V SERVO ASSISTED 120V 2IN NPT SO

MAC 825C-PM-113JD65?2 120V-AC 1/4 IN NPT SOLENOID VALVE 

NUMATICS 082SS43C4000061 150PSIG THREADED 24V-DC 1/4IN 

ASCO 8320A91 120V-AC 1/4 IN NPT SOLENOID VALVE D307581

NEW MAC DMB-DJAJ-1JB1 150PSI 120V-AC SOLENOID VALVE D34

REXROTH 5428450070 110V-AC 1/4 IN SOLENOID VALVE B22039

SMC NVZ2150-5G-01T 24V-DC 1/8 IN NPT SOLENOID VALVE ASS

NEW MAC 82A-AC-BKA-TM-D?DAP-1DA 150PSI 24V-DC 3/8IN NPT 

NEW MAC 225B-781JA 24V-DC 1/4IN NPT SOLENOID VALVE D336

NUMATICS 061BA400M000061 REGULATOR 24V-DC SOLENOID VALV

NUMATICS 061BA400M000061 120PSIG-AIR MANIFOLD BLOCK SOL

NUMATICS 061BA400M000061 120PSI MANIFOLD 24V-DC 1/4IN N

NEW KV AUTOMATION KVFE 113 45 SOLENOID VALVE D402210

NEW ALCO 202CB1/8B5/32V 100PSI 689KPA 240V-AC 1/8 IN NP

MAC 501F-01-2 120V-AC SOLENOID VALVE D464460

NEW MAC 53A-1C0-DM-DDAC?-1BM 120PSI PNEUMATIC 24V-DC SOL

NUMATICS I12BB615MP00061 150PSI PNEUMATIC AIR 24V-DC SO

NEW AIRTEC MF07 510-HN 24V-DC 1/4 IN NPT SOLENOID VALVE

MAC 712C-12-PI-111B?A 0-150PSI 6.8W 120V-DC 1/4 IN NPT S

ASCO EF8262G2 RED HAT II 180PSI 6.1W 120V-AC 1/8 IN NPT

NEW PARKER 71315SN2KN00N0L?111P3 110-120V-AC 1/4IN NPT S

NEW SMC US5612 PNEUMATIC 150PSI 120V-AC 1/4 IN NPT SOLE

NEW AIRTEC MF07 510-HN 1/4 IN NPT SOLENOID VALVE 24V-DC

NEW AIRTEC MF07 510-HN 1/4 IN NPT SOLENOID VALVE 24V-DC

NEW MAC 225B-506AAAA 24V-DC 1/4 IN NPT SOLENOID VALVE D

MAC 6211C-111-PM-50?1DA 150PSI THREADED 24V-DC 1/4 IN NP

NEW MAC 52A-11-BOB-DM-D?FBJ-IJD 1.8W 150PSI 24V-DC SOLEN

NEW MAC 6511B-000-PM-61?1DA PNEUMATIC PME-6911DABE 24V-D

NUMATICS 082SA435K 150PSIG 110-115/110 120V-AC 1/4 IN N

MAC 914B-PM-592JB 150 PSI PME-592JB COIL 24V-DC 1/4IN N

NUMATICS 2JLSAD3 115V-AC 1/4 IN NPT SOLENOID VALVE D469

NUMATICS 042SA4Z3KL00030 2 POSITION SINGLE 110-120V-AC 

PETER PAUL 023JJEDCM NORGREN MANIFOLD 1/4IN NPT 120V-AC

MAC 56C-15-611JC 24V-DC 3/4 IN NPT SOLENOID VALVE D4489

NEW MAC 113B-553JD 12V-DC 1/4 IN NPT SOLENOID VALVE D43

NEW ASCO HB8320G041 RED HAT 100PSI 480V-AC 1/8 IN NPT S

SMC NVS4214-0009 PNEUMATIC 115V-AC 1/4 IN NPT SOLENOID 

NEW MAC 130B-611JB 8.5WATT 24V-DC SOLENOID VALVE D27057

NEW BURKERT 00132489 24V-DC SOLENOID VALVE D446017

NEW ALLENAIR VSA-1/4 1/4 IN NPT SOLENOID VALVE D424893

NUMATICS 081SS500K000030 150PSIG AIR 120V-AC 1/4IN NPT 

NUMATICS I12SS4002000030 0-232PSIG 120V-AC SOLENOID VAL

MAC PME-111JB 120V-AC SOLENOID VALVE D395914

NEW MAC PME-111DABE 120V-AC SOLENOID VALVE D448887

MAC 52A-31-D0B-DM-D?DAJ-1JB DIRECT 120PSI 24V-DC 1/4IN N

NEW FESTO CPE18-M1H-5J-1/?4 THREADED 24V-DC 1/4 IN NPT S

MAC 811C-PM-RA11-15?2 20-150PSI 3/8 IN NPT SOLENOID VALV

NEW MAC 225B-781NAAA 24V-DC 1/4 IN NPT SOLENOID VALVE D

NEW KIP 652137 SOLENOID VALVE 10W 24V-DC 3/16X1/8IN ORI

NEW MAC 55B-12-PI-501JC 13396 THREADED 24V-DC 3/8 IN NP

NEW PARKER B310BC549C 150PSI 24V-DC 15MM SOLENOID VALVE

NEW PARKER B310BB553C 120V-AC 1/8 IN NPT SOLENOID VALVE

ASCO HT8314C43 80PSI 120V-AC 1/8 IN NPT SOLENOID VALVE 

NEW KUHNKE 64.015 24V-DC 1/8IN G1/8 SOLENOID VALVE D309

ASCO 8210G2HW RED-HAT II 6.1WATTS 60HZ 120V-AC 1/2 IN N

NEW MAC DMB-DDAP-1DG1 24V-DC SOLENOID VALVE D303221

NUMATICS 11DSA400C 120V-AC SOLENOID VALVE D395866

MAC MV-A1C-A332-PM-?111JA 120/110V-AC SOLENOID VALVE D30

ASCO EF8320G184 10.1W 3 WAY 150PSI 120V-AC 1/4 IN NPT S

NEW NORGREN 54458-50 SOLENOID VALVE 24V-DC 1/8IN NPT D2

NEW MAC 42A-BMD-ELM-GDF?B-1KB 24V-DC 1/4IN NPT SOLENOID 

NEW SPARTAN SCIENTIFIC 4200-03-4243 24V-DC 1/4IN NPT SO

ASCO JBEF8551G401MS AIR GAS 150PSI 10.1W 120V 1/4IN NPT

ROSS W6576A2401 2-10BAR 120V-AC SOLENOID VALVE D300670

FESTO JMEH-5/2-1/8-P-?B PNEUMATIC 24V-DC 1/8 IN NPT SOLE