微波暗室运动平台系统的研究与设计
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摘要
本文以“大型微波暗室运动平台系统”为研究对象，通过对系统的机械结构、控制系统、通讯系统的设计实现了系统功能，并对相关理论进行实践。
在机械结构方面，设计出了在特定环境下的作圆周运动的简单机构及其收缆机构。这种简单机构的设计思想是不等径轮和非平行轴的机构。小车的内外侧车轮直径不等满足了内外侧车轮的速度比例关系。非平行轴使得小车作圆周运动时两轴的中心线指向圆心。采用这种机构实现了小车运动的顺畅。基于行车收缆的思想，设计出了确保线缆不受拉力、摩擦的收缆机构，保证了系统的可靠性、安全性的要求。
控制系统设计的基本思想是基于IPC和PLC的上下位分布式控制系统。计算机作为上位控制系统，完成设备的集散控制，负责整个系统的管理、控制和监控。PLC作为下位控制系统，接受上位机的指令完成特定的功能。各子系统并行运行、独立工作，通过上位机进行信息交换。在本系统中，我们应用了双闭环控制理论，以保证位置控制系统的稳定性。
上下位机之间的通讯采用了冗余通讯的方法。在使用通讯控件的基础上，采用软件冗余中的信息冗余和冗余传输相结合的方法，编写VC++环境下的工控机与PLC通讯软件，达到提高系统串行通讯可靠性的目的。这种通讯方法确保了系统通讯和控制的可靠性。
In this paper we take "the moving platform of the microwave dark-room" as the studied object. We realize the function of the system by designing the mechanic structure, control system and communication system. At the same time, we practiced the related theories.
At the aspect of the mechanic structure, we have designed the simple mechanism, which could accomplish the round movement in the special environment, and the cable collection mechanism. The conception of the simple mechanism is that the wheel's diameter of car's two sides is unequal and the car's two shafts are unparallel. The unequal wheels satisfy the velocity ratio relation of the inside and outside wheel. When the car moves along the orbit, the axis of the two unparallel shafts point to the center of the circle orbit. This mechanism makes the motion of the car smoothly. Basing on the thinking of the overhead traveling crane, we develop the cable collection mechanism which ensure the cable avoid drag, fabric and so on. The mechanism satisfies the demand of system, that is reliability, safety.
The basic design idea of the control system is the DCS based on the PLC and IPC. As the principal control system, the IPC accomplishes the device's control and the whole system's management, control and supervise. As the subordinate control system, PLC receives the principal instruction and finishes the given functions. All the subsystems are concurrent and independent working. They exchange information through the up system. In this system we apply the double closed loop theory to guarantee the accuracy of position control.
The redundant communication technology is used in this system. On the base of communication controller, we adopt the method, which combine the information redundancy of software redundancy and the redundancy transmission. The communication software is programmed on the platform of VC++6.0. Therefore, we can advance the reliability of serial communication. This communication method ensures system's reliability in communication and control.
在机械结构方面，设计出了在特定环境下的作圆周运动的简单机构及其收缆机构。这种简单机构的设计思想是不等径轮和非平行轴的机构。小车的内外侧车轮直径不等满足了内外侧车轮的速度比例关系。非平行轴使得小车作圆周运动时两轴的中心线指向圆心。采用这种机构实现了小车运动的顺畅。基于行车收缆的思想，设计出了确保线缆不受拉力、摩擦的收缆机构，保证了系统的可靠性、安全性的要求。
控制系统设计的基本思想是基于IPC和PLC的上下位分布式控制系统。计算机作为上位控制系统，完成设备的集散控制，负责整个系统的管理、控制和监控。PLC作为下位控制系统，接受上位机的指令完成特定的功能。各子系统并行运行、独立工作，通过上位机进行信息交换。在本系统中，我们应用了双闭环控制理论，以保证位置控制系统的稳定性。
上下位机之间的通讯采用了冗余通讯的方法。在使用通讯控件的基础上，采用软件冗余中的信息冗余和冗余传输相结合的方法，编写VC++环境下的工控机与PLC通讯软件，达到提高系统串行通讯可靠性的目的。这种通讯方法确保了系统通讯和控制的可靠性。
In this paper we take "the moving platform of the microwave dark-room" as the studied object. We realize the function of the system by designing the mechanic structure, control system and communication system. At the same time, we practiced the related theories.
At the aspect of the mechanic structure, we have designed the simple mechanism, which could accomplish the round movement in the special environment, and the cable collection mechanism. The conception of the simple mechanism is that the wheel's diameter of car's two sides is unequal and the car's two shafts are unparallel. The unequal wheels satisfy the velocity ratio relation of the inside and outside wheel. When the car moves along the orbit, the axis of the two unparallel shafts point to the center of the circle orbit. This mechanism makes the motion of the car smoothly. Basing on the thinking of the overhead traveling crane, we develop the cable collection mechanism which ensure the cable avoid drag, fabric and so on. The mechanism satisfies the demand of system, that is reliability, safety.
The basic design idea of the control system is the DCS based on the PLC and IPC. As the principal control system, the IPC accomplishes the device's control and the whole system's management, control and supervise. As the subordinate control system, PLC receives the principal instruction and finishes the given functions. All the subsystems are concurrent and independent working. They exchange information through the up system. In this system we apply the double closed loop theory to guarantee the accuracy of position control.
The redundant communication technology is used in this system. On the base of communication controller, we adopt the method, which combine the information redundancy of software redundancy and the redundancy transmission. The communication software is programmed on the platform of VC++6.0. Therefore, we can advance the reliability of serial communication. This communication method ensures system's reliability in communication and control.
引文
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(14) 黄大贵著.微机数控系统.成都：电子科技大学出版社.1996
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(16) 丁曙光等.一种实用的工控机与PLC通讯方法的研究.合肥工业大学学报（自然科学版）.6，2000
(17) 刘亚东.用PLC实现位置控制的方法.上海交通大学学报.2002年第4期
(18) 李众.一种应用于PLC的智能PID控制方法.电气自动化.1998年第5期
(19) 刘金能.计算机与PLC的通讯格式和实现方法.机床与液压.1999年第4期
(20) 陈瑞.可编程控制器与工控机通讯技术的研究.电测于仪表.2002年第2期
(21) 高钟毓 王永梁 编著 机电控制工程 北京：清华大学出版社.1994
(22) Cosby L .A, Navy EW research &development in perspective, Journal of Electr.Def.3(4),1980
(23) Microsoft Co. Microsoft Windows 3.1 Programmer's Reference.
(24) B.C.Kou,digital control system, Holt,Rinhart&Winston,Inc.,1980
(25) A.N.Poo.J.G. Bolinger and G.W. Younkin (1972),“Dynamic Error in Type 1 Contouring System”. IEEE Trans.on Industry Application, Vol.IA-8,NO.4 pp 477－484.
(26) 交流伺服系统教程.MITSUBISHI.
(27) Panasonic 交流伺服电机驱动器MINAS A系列使用说明书.
(28) FX1s，FX1N ，FX2N. FX2NC编程手册. MITSUBISHI.
(29) FX1s，FX1N ，FX2N， FX2NC通讯手册. MITSUBISHI.
(2) 周明德.微型计算机硬件软件及其应用.清华大学出版社.1988年
(3) ［美］Richard C.Leinecher,Tom Archer 著.张艳等译.Visual C++6Bible. 电子工业出版社.1999
(4) 胡道元主编.计算机网络工程指南.北京：电子工业出版社.1993.9
(5) 吴欣.海湾战争中的电子战.现代防御技术.增刊－88.1991
(6) 蒋庆全.展望2000年电子战技术.海军装备.3.1992
(7) 殷华文主编.可编程控制器及其工业控制网络.西安：西安地图出版社.2001
(8) 徐世许主编.可编程控制器的原理、应用、网络. 合肥：中国科学技术大学出版社.2000
(9) 邱公伟主编.可编程控制器网络通讯及应用.北京：清华大学出版社.2000
(10) 熊世和主编.机电系统计算机控制工程.成都：电子科技大学出版社.1999
(11) 王均功.数字伺服系统.上海：上海交通大学出版社.1985
(12) 姚伯威.控制工程基础.成都：电子科技大学出版社.1994
(13) D.R.威尔桑等著.韦豋谷等译.伺服系统设计的现代实践.国防工业出版社.1977
(14) 黄大贵著.微机数控系统.成都：电子科技大学出版社.1996
(15) 周凯.精密数控机床的转角－线位移双闭环位置控制系统.中国机械工程 第8期.1998
(16) 丁曙光等.一种实用的工控机与PLC通讯方法的研究.合肥工业大学学报（自然科学版）.6，2000
(17) 刘亚东.用PLC实现位置控制的方法.上海交通大学学报.2002年第4期
(18) 李众.一种应用于PLC的智能PID控制方法.电气自动化.1998年第5期
(19) 刘金能.计算机与PLC的通讯格式和实现方法.机床与液压.1999年第4期
(20) 陈瑞.可编程控制器与工控机通讯技术的研究.电测于仪表.2002年第2期
(21) 高钟毓 王永梁 编著 机电控制工程 北京：清华大学出版社.1994
(22) Cosby L .A, Navy EW research &development in perspective, Journal of Electr.Def.3(4),1980
(23) Microsoft Co. Microsoft Windows 3.1 Programmer's Reference.
(24) B.C.Kou,digital control system, Holt,Rinhart&Winston,Inc.,1980
(25) A.N.Poo.J.G. Bolinger and G.W. Younkin (1972),“Dynamic Error in Type 1 Contouring System”. IEEE Trans.on Industry Application, Vol.IA-8,NO.4 pp 477－484.
(26) 交流伺服系统教程.MITSUBISHI.
(27) Panasonic 交流伺服电机驱动器MINAS A系列使用说明书.
(28) FX1s，FX1N ，FX2N. FX2NC编程手册. MITSUBISHI.
(29) FX1s，FX1N ，FX2N， FX2NC通讯手册. MITSUBISHI.