机械制造自动化系统（双语版）（杨贵超）

Chapter 1 Introduction of Industrial Automation/1

第1章 工业自动化简介/1

1.1Pneumatics and Electropneumatics/1

1.1气动学和电气学/1

1.2Programmable Logic Controller/2

1.2可编程逻辑控制器/2

1.3Robotics/2

1.3机器人学/2

1.4Machine Vision/3

1.4机器视觉/3



Chapter 2 Pneumatics/5

第2章 气动学/5

2.1Pneumatics Overview/5

2.1气动学概述/5

2.2Production of Compressed Air/6

2.2压缩空气的产生/6

2.3Components of a Pneumatic System/7

2.3气动系统的组成/7

2.3.1Air Service Unit/8

2.3.1气源装置/8

2.3.2Pneumatic Actuator/8

2.3.2气动执行器/8

2.3.3Directional Control Valve/10

2.3.3方向控制阀/10

2.3.4Flow Control Valve/12

2.3.4流量控制阀/12

2.3.5Pneumatic Circuit Diagram/13

2.3.5气动回路图/13

2.4Electropneumatic System Component/14

2.4电气系统元件/14

2.4.1Solenoid/14

2.4.1螺线管/14

2.4.2Switch /15

2.4.2开关/15

2.4.3Sensor/17

2.4.3传感器/17

2.4.4Relay/20

2.4.4继电器/20

2.5Design of Electropneumatic Circuit/20

2.5电气电路的设计/20

2.6Latch Circuit/24

2.6锁存电路/24

2.7Step Diagram/26

2.7阶跃图/26



Chapter 3 Programmable Logic Controller/27

第3章 可编程逻辑控制器/27

3.1Construction/28

3.1构造/28

3.2Memory/29

3.2内存/29

3.2.1Memory Type/29

3.2.1内存类型/29

3.2.2Memory Map/30

3.2.2内存映射/30

3.3Memory Element/30

3.3存储元件/30

3.4Operation of the PLC/32

3.4PLC的运行/32

3.4.1PLC Operating System/33

3.4.1PLC操作系统/33

3.4.2Program Execution/33

3.4.2程序执行/33

3.4.3I/O Imaging/34

3.4.3I/O成像/34

3.4.4Cyclic Scanning/36

3.4.4循环扫描/36

3.5Input/Output（I/O）Module/37

3.5输入/输出（I/O）模块/37

3.5.1Input Module/39

3.5.1输入模块/39

3.5.2Output Module/39

3.5.2输出模块/39

3.6Address List and Wiring Diagram/40

3.6地址表和接线图/40



Chapter 4 Logic System and PLC Programming/42

第4章 逻辑系统和PLC编程/42

4.1Logic Circuit/42

4.1逻辑电路/42

4.1.1AND Gate/42

4.1.1与门/42

4.1.2OR Gate/44

4.1.2或门/44

4.1.3NOT Gate/45

4.1.3非门/45

4.1.4NAND Gate/45

4.1.4与非门/45

4.1.5NOR Gate/46

4.1.5或非门/46

4.1.6XOR Gate/46

4.1.6异或门/46

4.2Input and Output/47

4.2输入和输出/47

4.3Programming Language/48

4.3编程语言/48

4.3.1Ladder Diagram/48

4.3.1梯形图/48

4.3.2Instructional List Program/50

4.3.2程序指令列表/50

4.4Latch/52

4.4锁存器/52

4.5Counter/54

4.5计数器/54

4.6Timer/55

4.6定时器/55



Chapter 5 Sequential Control/57

第5章 顺序控制/57

5.1The Expressions of Automation Process/57

5.1自动过程的表达方式/57

5.1.1Relay Ladders and Logic Schematic/58

5.1.1继电器梯形图和逻辑示意图/58

5.1.2Flow Diagram/58

5.1.2流程图/58

5.1.3Function Diagram/58

5.1.3功能图/58

5.2Sequential Function Diagram/58

5.2顺序功能图/58

5.3Sequential Programming/60

5.3顺序程序设计/60

5.3.1Shift Register/61

5.3.1移位寄存器/61

5.3.2Programming a Shift Register/61

5.3.2移位寄存器的编程/61

5.4Example of Shift Register Programming/62

5.4移位寄存器编程实例/62



Chapter 6 PID Control/65

第6章 PID控制/65

6.1Introduction of PID Control/65

6.1PID控制简介/65

6.2Proportional Control/67

6.2比例控制/67

6.3Proportional-integral Control/69

6.3比例-积分控制/69

6.4Proportional-derivative Control/71

6.4比例-微分控制/71

6.5Proportional-integral-derivative Control/73

6.5比例-积分-微分控制/73

6.6The Parameter Tuning of the PID Controller /74

6.6PID控制器的参数整定/74

6.6.1The Physical Meaning of the PID Parameters/74

6.6.1PID参数的物理意义/74

6.6.2The Method of PID Parameter Tuning/79

6.6.2PID的参数整定方法/79



Chapter 7 Robot/96

第7章 机器人/96

7.1Introduction of Robot/96

7.1机器人简介/96

7.1.1Brief History of Robot/96

7.1.1机器人简史/96

7.1.2Definition of Robot/97

7.1.2机器人的定义/97

7.2Key Components of Industrial Robot/98

7.2工业机器人的关键部件/98

7.2.1Robot Arm/98

7.2.1机械臂/98

7.2.2Controller/99

7.2.2控制器/99

7.2.3Teach Pendant/101

7.2.3示教器/101

7.2.4Monitor/Terminal/101

7.2.4监视器/终端/101

7.3Robot Specification/102

7.3机器人规格/102

7.4Programming in V /103

7.4V 编程/103

7.5Flow Diagram/106

7.5流程图/106

7.6Robot Program/106

7.6机器人程序/106



Chapter 8 Vision System/111

第8章 视觉系统/111

8.1Introduction of Vision System/111

8.1视觉系统简介/111

8.1.1Uses of Vision Systems/112

8.1.1视觉系统的用途/112

8.1.2Outputs of Vision Systems/112

8.1.2视觉系统的输出/112

8.1.3Components of Vision System/112

8.1.3视觉系统的组成/112

8.2Image Acquisition/113

8.2图像采集/113

8.2.1Light Source/113

8.2.1光源/113

8.2.2Camera/115

8.2.2相机/115

8.3Image Processing/116

8.3图像处理/116

8.3.1Image Digitization/116

8.3.1图像数字化/116

8.3.2Stages of Image Processing/118

8.3.2图像处理的步骤/118

8.4Data Obtain and Process/125

8.4数据获取及处理/125

8.5Typical Vision System Algorithm Process/125

8.5典型视觉系统算法过程/125

8.6Vision Limitation/126

8.6视觉局限性/126

8.7Vision Calibration/126

8.7视觉校准/126

8.8Image Processing in Matlab /126

8.8Matlab图像处理/126



Chapter 9 Numerical Control Technique/128

第9章 数控技术/128

9.1Introduction of CNC Machine Tool/128

9.1数控机床简介/128

9.1.1Definition of CNC Machine Tool/128

9.1.1数控机床的定义/128

9.1.2Composition of CNC Machine Tool/129

9.1.2数控机床的组成/129

9.1.3Working Principle of CNC Machine Tool/132

9.1.3数控机床加工的工作原理/132

9.1.4Features of CNC Machining/132

9.1.4数控加工的特点/132

9.1.5Classification of CNC Machine Tool/134

9.1.5数控机床分类/134

9.2Fundamentals of CNC Machine Tool Programming/138

9.2数控机床编程基础/138

9.2.1Basic Concept of CNC Programming/138

9.2.1数控编程的基本概念/138

9.2.2Steps of CNC Programming/138

9.2.2数控程序编制的步骤/138

9.2.3The Method of CNC Programming/140

9.2.3数控程序编制的方法/140

9.2.4CNC Machine Tool Coordinate System/141

9.2.4数控机床坐标系/141

9.2.5NC Program Format/144

9.2.5数控加工程序格式/144

9.2.6Program Segment Function Word/145

9.2.6程序段功能字/145

9.2.7NC Programming/148

9.2.7数控程序编制/148

9.3CNC Interpolation Principle/153

9.3数控插补原理/153

9.3.1CNC Interpolation Overview/153

9.3.1数控插补概述/153

9.3.2Linear Interpolation with Point by point Comparison Method/154

9.3.2逐点比较法直线插补/154

9.4Key Performance Indexes of CNC Machine Tool/159

9.4数控机床的主要性能指标/159

9.4.1Main Technical Specifications/159

9.4.1主要技术规格/159

9.4.2Motion Index/159

9.4.2运动指标/159

9.4.3Precision Index/160

9.4.3精度指标/160

9.4.4Tool System/161

9.4.4刀具系统/161

9.4.5Other Indexes/161

9.4.5其他指标/161

9.5Development of the NC Technology/161

9.5数控技术发展/161



References/165

参考文献/165