基于CAN总线的船用起重机自动定位控制系统设计
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摘要
随着工业自动化、智能化技术的发展与应用,船用起重机日趋向自动化、高效率、智能控制方向发展。针对这种趋势,本文设计了一种基于CAN总线的船用起重机自动定位控制系统,以多路电液比例阀为控制对象,利用编码器读取起重机各自由度实时位置并进行坐标变换,采用模糊PID控制算法,并在Labview平台下进行试验验证。实验结果表明,该系统运行可靠,实现了起重机的自动定位与控制,相比于传统的PID控制,提高了起重机的自动转运时间和目标定位精度。
With the development and application of the automation and intelligent technology for industrial, Automation, high efficiency and intelligent control is the major developing directions of the marine crane. For this development trend, this paper designed a set of Marine crane automatic positioning control system based on CAN bus, with the multichannel electro-hydraulic proportional valve as the object, used the encoder to read the real-time position of each degree of crane and coordinate transformation. The paper adopted a fuzzy PID control algorithm, and test on the Labview platform. The experimental results shows that the system operated reliably, realized automatic positioning and control of the crane. Compared with the traditional PID control, the automatic transit time and target positioning accuracy of the crane are improved.
With the development and application of the automation and intelligent technology for industrial, Automation, high efficiency and intelligent control is the major developing directions of the marine crane. For this development trend, this paper designed a set of Marine crane automatic positioning control system based on CAN bus, with the multichannel electro-hydraulic proportional valve as the object, used the encoder to read the real-time position of each degree of crane and coordinate transformation. The paper adopted a fuzzy PID control algorithm, and test on the Labview platform. The experimental results shows that the system operated reliably, realized automatic positioning and control of the crane. Compared with the traditional PID control, the automatic transit time and target positioning accuracy of the crane are improved.
引文
[1]樊耀耀.桥式起重机定位控制研究[D].太原:太原理工大学,2015.
[2]赵天洪.现场总线与控制系统[J].电力系统自动化,2000,24(13):62-65.
[3]史九根,张培仁,陈真勇.CAN现场总线系统设计技术[M].北京:国防工业出版社,2004.
[4]胡艳丽.基于模糊PID的桥式起重机防摆控制研究[D].焦作:河南理工大学,2010.
[5]许苗峰.模糊PID控制算法研究及其在协调控制系统中的应用[D].北京:华北电力大学,2016.
[6]龙华伟,顾永刚.LabVIEW 8.2.1与DAQ数据采集[M].北京清华大学出版社,2008.
[7]方子帆,马增武,杨守期,等.变质量俯仰系统分区间PID位置跟踪控制方法研究[J].舰船科学技术,2017,39(4):116-121.
[8]徐尤喜.基于CAN总线技术的电液比例控制研究[D].哈尔滨:哈尔滨工业大学,2013.
[9]钟斌,程文明,唐连生.起重机吊重智能防摇CAN控制系统的设计[J].起重运输机械,2007,6:38-40.
[2]赵天洪.现场总线与控制系统[J].电力系统自动化,2000,24(13):62-65.
[3]史九根,张培仁,陈真勇.CAN现场总线系统设计技术[M].北京:国防工业出版社,2004.
[4]胡艳丽.基于模糊PID的桥式起重机防摆控制研究[D].焦作:河南理工大学,2010.
[5]许苗峰.模糊PID控制算法研究及其在协调控制系统中的应用[D].北京:华北电力大学,2016.
[6]龙华伟,顾永刚.LabVIEW 8.2.1与DAQ数据采集[M].北京清华大学出版社,2008.
[7]方子帆,马增武,杨守期,等.变质量俯仰系统分区间PID位置跟踪控制方法研究[J].舰船科学技术,2017,39(4):116-121.
[8]徐尤喜.基于CAN总线技术的电液比例控制研究[D].哈尔滨:哈尔滨工业大学,2013.
[9]钟斌,程文明,唐连生.起重机吊重智能防摇CAN控制系统的设计[J].起重运输机械,2007,6:38-40.