摘要：自动化立体仓库是物流中的重要组成部分，它是在不直接进行人工干预的情况下自动地存储和取出物流的系统。它是现代工业社会发展的高科技产物，对提高生产率、降低成本有着重要意义。       

　　　近年来，随着企业生产与管理的不断提高，越来越多的企业认识到物流系统的改善与合理性对企业的发展非常重要。堆垛机是自动化立体仓库中最重要的起重堆垛设备，它能够在自动化立体的巷道中来回穿梭运行，将位于巷道口的货物存入货格；或者相反取出货格内的货物运送到巷道口。

　　　本文论述的是现在运用较为广泛的巷道是立体库堆垛机的控制设计方案及控制程序的编写，本文以西门子公司S7-200系列PLC机型为例，研究：电机的控制、升降机构、行走机构、货叉伸缩机构的控制上。

关键词 ：可编程控制器（PLC）；堆垛机；步进电机

ABSTRACT:Automated warehouse is an important part of logistics, it is not direct human intervention to automatically store and retrieve the logistics system. It is a modern industrial society, the development of high-tech products, to improve productivity, reduce costs is of great significance.

　　　In recent years, with the production and management continues to improve, more and more enterprises realize the improvement of logistics systems and the rational development of enterprises is very important. Stacker is the most important automated warehouse stacking lifting equipment, it can tunnel in the automated three-dimensional running back and forth, will be located at the mouth of the tunnel into the cargo box of goods; or vice versa to take delivery of the goods delivered to the box Tunnel mouth.

This paper is now use a wide range of roadway is three-dimensional storehouse stacker control design scheme and control procedures compiling, and based on Siemens s7-200 PLC model as an example, studies the control, motor, travel agencies, lifting mechanism of goods on control fork telescopic institutions. 

Keyword：Programmable Logic Controller （PLC）;stacker cranes;stepping motor