基于DSP的摊铺机行走控制系统的研究
摘要
行走控制器是沥青混凝土摊铺机重要设备之一。它调节摊铺机左右履带的恒速行走速度,其性能的好坏直接影响着摊铺机的品质和路面摊铺质量。本文的研究目的是基于DSP技术和模糊自整定PID控制理论,设计摊铺机行走控制器,应用于摊铺机的恒速行走控制。
本文首先介绍了摊铺机行走控制器的发展历史、研究现状和发展趋势,同时对DSP技术的特点作了简要介绍。在接下来的两章中,首先对TMS320F281x系列的DSP的软硬件作了必要的说明,然后对基于TMS320F281x的摊铺机行走控制器系统硬件、软件设计作了详细论述。硬件部分的论述包括最小DSP系统、串口通讯电路、驱动电路、RTC电路、LCD液晶显示电路、D/A转换电路、开关量输入输出电路以及与PC接口电路。软件部分的论述包括软件开发的环境及基本开发流程,给出了系统程序流程图,并分模块说明了Bootloader子程序、QEP子程序、PWM输出子程序、控制量设定子程序、LCD液晶显示子程序的设计及其部分程序代码。
紧接着,通过运用摊铺机液压系统的数学模型并结合模糊控制理论,提出了摊铺机恒速模糊自整定PID控制策略,最后在MATLAB中进行了仿真。仿真的结果表明,模糊自整定PID控制策略是行之有效的;它将模糊推理与传统的PID控制相结合,使得摊铺机行走控制器能够更好地进行工作。
最后,总结了在软硬件调试时遇到的问题及其解决方法,并指出了本课题研究中的不足之处以及在后续研究中要关注和解决的问题。
Traveling controller, which adjusts the constant traveling speed for left and right tracks of paver, is one of the important devices of asphalt paver and its function will directly affect the quality of asphalt paver and paving work. The goal of this thesis is to design the traveling controller of the paver and apply it for constant traveling speed control based on DSP technology and fuzzy PID control theory.
The thesis firstly introduces the history, status quo and development tendency of the traveling control of the asphalt paver, and as well as the features of DSP technology. Then in the following two chapters, firstly the software and hardware on TMS320F281x DSP are instructed, then the hardware and software design on asphalt paver traveling controller system based on TMS320F281x are discussed in details. The detailed discussion of the hardware includes the minimum DSP system, serial port communication circuit, drive circuit, RTC circuit, LCD display circuit, D/A transfer circuit, I/O circuit and the circuit connected with PC. The detailed discussion of software includes the development environment and the basic flow of the software developing, the given flow diagram of system program, and Bootloader sub-program, QEP sub-program, PWM output sub-program, control quantity setting sub-program, LCD display sub-program and the code of some of them.
Following the presentation in the previous chapters, the fuzzy self-adjust PID control strategy is then brought forward through application of the mathematical model on hydraulic system of the paver combined with the fuzzy control theory and simulated in the MATLAB software. The validity of the fuzzy self-adjust PID control strategy is proved by the result of the simulation. The fuzzy self-adjust PID control strategy combines the fuzzy reasoning with traditional PID control and enable traveling controller of the asphalt paver to work better.
Finally, the problems and solutions in the process of debugging of the hardware and software are summarized and the shortcomings and problems are pointed out, towards which more attention will be paid in future research.
本文首先介绍了摊铺机行走控制器的发展历史、研究现状和发展趋势,同时对DSP技术的特点作了简要介绍。在接下来的两章中,首先对TMS320F281x系列的DSP的软硬件作了必要的说明,然后对基于TMS320F281x的摊铺机行走控制器系统硬件、软件设计作了详细论述。硬件部分的论述包括最小DSP系统、串口通讯电路、驱动电路、RTC电路、LCD液晶显示电路、D/A转换电路、开关量输入输出电路以及与PC接口电路。软件部分的论述包括软件开发的环境及基本开发流程,给出了系统程序流程图,并分模块说明了Bootloader子程序、QEP子程序、PWM输出子程序、控制量设定子程序、LCD液晶显示子程序的设计及其部分程序代码。
紧接着,通过运用摊铺机液压系统的数学模型并结合模糊控制理论,提出了摊铺机恒速模糊自整定PID控制策略,最后在MATLAB中进行了仿真。仿真的结果表明,模糊自整定PID控制策略是行之有效的;它将模糊推理与传统的PID控制相结合,使得摊铺机行走控制器能够更好地进行工作。
最后,总结了在软硬件调试时遇到的问题及其解决方法,并指出了本课题研究中的不足之处以及在后续研究中要关注和解决的问题。
Traveling controller, which adjusts the constant traveling speed for left and right tracks of paver, is one of the important devices of asphalt paver and its function will directly affect the quality of asphalt paver and paving work. The goal of this thesis is to design the traveling controller of the paver and apply it for constant traveling speed control based on DSP technology and fuzzy PID control theory.
The thesis firstly introduces the history, status quo and development tendency of the traveling control of the asphalt paver, and as well as the features of DSP technology. Then in the following two chapters, firstly the software and hardware on TMS320F281x DSP are instructed, then the hardware and software design on asphalt paver traveling controller system based on TMS320F281x are discussed in details. The detailed discussion of the hardware includes the minimum DSP system, serial port communication circuit, drive circuit, RTC circuit, LCD display circuit, D/A transfer circuit, I/O circuit and the circuit connected with PC. The detailed discussion of software includes the development environment and the basic flow of the software developing, the given flow diagram of system program, and Bootloader sub-program, QEP sub-program, PWM output sub-program, control quantity setting sub-program, LCD display sub-program and the code of some of them.
Following the presentation in the previous chapters, the fuzzy self-adjust PID control strategy is then brought forward through application of the mathematical model on hydraulic system of the paver combined with the fuzzy control theory and simulated in the MATLAB software. The validity of the fuzzy self-adjust PID control strategy is proved by the result of the simulation. The fuzzy self-adjust PID control strategy combines the fuzzy reasoning with traditional PID control and enable traveling controller of the asphalt paver to work better.
Finally, the problems and solutions in the process of debugging of the hardware and software are summarized and the shortcomings and problems are pointed out, towards which more attention will be paid in future research.
引文
[1] 郑训,张世英,刘杰,朱明才,路基与路面机械,北京:械工业出版社,2001:118~162
[2] 薛飞,模糊控制在路面摊铺机行走液压系统智能控制系统中的应用,机电一体化,2005,2:75~78
[3] 刘敬猛,王田苗,等,嵌入式技术及其在工程机械监控器中的应用,工程机械,2003,6:5~8
[4] 苏奎峰,吕强,耿庆锋,陈圣俭,TMS320F2812 原理与开发,成都:电子工业出版社,2005,
[5] 闫海珠 基于 DSP 的多轴运动控制卡系统设计,[学士学位论文],西安交通大学. 2004.03
[6] Texas Instruments Incorporated,TMS320C28x 系列 DSP 的 CPU 与外设(上),北京:清华大学出版杜,2004
[7] Texas Instruments Incorporated,TMS320C28x 系列 DSP 的 CPU 与外设(下),北京:清华大学出版杜,2004
[8] Texas Instruments Incorporated,Running an Application from Internal Flash Memory on the TMS320F28xx DSP,2006
[9] 合众达电子,SEED-DEC2812 使用指南,2003
[10] 合众达电子,SEED-F2812 原理图,2003
[11] 合众达电子,SEED-MMI5402 用户指南,2004
[12] 合众达电子,SEED-MMI5402 原理图,2003
[13] 合众达电子,SEED-DPS2812 用户指南,2005
[14] 合众达电子,SEED-F2812 原理图,2003
[15] 合众达电子,2005 SEED DSP 培训讲义,2005
[16] 北京精电蓬远显示技术有限公司,内藏T6963C控制驱动器图形液晶显示模块,2001.5
[17] Texas Instruments Incorporated,TMS320F28x Optimizing C/C++ Compiler User’s Guide,2001
[18] 王海英,焦生杰,基于数字信号处理器 DSP 的摊铺机行驶控制系统的研究,工程机械,2004,9:5~7
[19] 李士勇,模糊控制、神经控制和智能控制论,哈尔兵:哈尔滨工业大学出版社,1998
[20] 徐桃云,基于 DSP 的水轮机调速器的研究,[博士学位论文],武汉理工大学,2004,5
[21] 章卫国 杨向忠,模糊控制理论与应用,西安:西北工业大学出版社,2000
[22] 刘金琨,先进 PID 控制及其 MATLAB 仿真,北京:电子工业出版社,2003
[23] Rexroth company,Microcontroller MC for open and closed loop control of hydrostatic drives,1999,05
[24] 焦生杰,吴涛,沥青混凝土摊铺机行驶系统模糊参数自速定 PID 控制,长安大学学报,2003,3
[25] 薛定宇,陈阳泉,基于.MATLAB/Simulink 的系统仿真技术与应用,北京:清华大学出版社,2004
[26] 蔡廷文,液压系统现代建模方法,北京:中国标准出版社,2002
[27] 基于 DSP 的电液伺服测控系统研究,长春理工大学,2004,01
[28] 基于 DSP 和 CPLD 的运动控制器的设计与研究,西北工业大学,2005,03
[29] 飞思科技产品研发中心,MATLAB7 辅助控制系统设计与仿真,北京:电子工业出版社,2005
[30] 孔晓武,魏建华,等,摊铺机行走系统控制策略研究,液压与气动,2002,7
[31] 王海英,吴成富,焦生杰,基于数字信号处理器DSP的摊铺机行驶控制器的研究,工程机械 2004,9
[32] Texas Instruments Incorporated, TMS320x281x Event Manager (EV) Reference Guide, 2004
[33] Texas Instruments Incorporated, TMS320x281x External Interface (XINTF) Reference Guide, 2002
[34] Texas Instruments Incorporated, TMS320x281x 280x Serial Communications Interface (SCI) Reference Guide, 2004
[35] Texas Instruments Incorporated, TMS320x281x Analog-to-Digital Converter (ADC) Reference Guide, 2005
[36] Texas Instruments Incorporated, TMS320x281x Boot ROM Reference Guide, 2004
[37] Xiong, Jianxin, Automatic optimization of DSP algorithms, University of Illinois at Urbana-Champaign, 2002
[38] Qahwash, Murad Mohammad, High frequency communication system modeling and performance enhancement, empoloying novel adaptive DSP techniques, University of Central Florida, 2002
[39] Chandrachoodan, Nitin, Performance analysis and hierarchical timing for DSP system synthesis, University of Maryland College Park, 2002
[40] 汪顺鹏,王晓钟,摊铺机行驶系统控制器的分析,路面机械与施工技术,2005,2
[41] 王海英,吴成富,摊铺机数字行驶控制系统研究,建筑机械,2003,11
[42] 郝鹏,何清华,基于DSP的沥青混凝土摊铺机行驶系统数字控制器的硬件设计,2004,12
[43] 焦生杰,工程机械机电液一体化,北京:人民交通出版社,2000
[44] 黎启柏,电液比例控制与数字控制系统,北京:机械工业出版社,1997
[45] 欧青立,何克忠,摊铺机计算机控制系统设计,湘谭矿业学院学报,2000,6
[46] 田良,王尧,综合电子设计与实践,南京:东南大学出版社,2002
[47] 朱振东,加入WTO与我国摊铺机制造业的生存和发展,建筑机械,2002,22(3)
[48] 张光海,何克忠,LTU125A沥青混凝土自动摊铺机的计算控制,计算机工程,2006,26(3)
[49] 段永灿,马广维,摊铺机恒速摊铺技术,筑路机械与施工机械化,2001,18(6)
[2] 薛飞,模糊控制在路面摊铺机行走液压系统智能控制系统中的应用,机电一体化,2005,2:75~78
[3] 刘敬猛,王田苗,等,嵌入式技术及其在工程机械监控器中的应用,工程机械,2003,6:5~8
[4] 苏奎峰,吕强,耿庆锋,陈圣俭,TMS320F2812 原理与开发,成都:电子工业出版社,2005,
[5] 闫海珠 基于 DSP 的多轴运动控制卡系统设计,[学士学位论文],西安交通大学. 2004.03
[6] Texas Instruments Incorporated,TMS320C28x 系列 DSP 的 CPU 与外设(上),北京:清华大学出版杜,2004
[7] Texas Instruments Incorporated,TMS320C28x 系列 DSP 的 CPU 与外设(下),北京:清华大学出版杜,2004
[8] Texas Instruments Incorporated,Running an Application from Internal Flash Memory on the TMS320F28xx DSP,2006
[9] 合众达电子,SEED-DEC2812 使用指南,2003
[10] 合众达电子,SEED-F2812 原理图,2003
[11] 合众达电子,SEED-MMI5402 用户指南,2004
[12] 合众达电子,SEED-MMI5402 原理图,2003
[13] 合众达电子,SEED-DPS2812 用户指南,2005
[14] 合众达电子,SEED-F2812 原理图,2003
[15] 合众达电子,2005 SEED DSP 培训讲义,2005
[16] 北京精电蓬远显示技术有限公司,内藏T6963C控制驱动器图形液晶显示模块,2001.5
[17] Texas Instruments Incorporated,TMS320F28x Optimizing C/C++ Compiler User’s Guide,2001
[18] 王海英,焦生杰,基于数字信号处理器 DSP 的摊铺机行驶控制系统的研究,工程机械,2004,9:5~7
[19] 李士勇,模糊控制、神经控制和智能控制论,哈尔兵:哈尔滨工业大学出版社,1998
[20] 徐桃云,基于 DSP 的水轮机调速器的研究,[博士学位论文],武汉理工大学,2004,5
[21] 章卫国 杨向忠,模糊控制理论与应用,西安:西北工业大学出版社,2000
[22] 刘金琨,先进 PID 控制及其 MATLAB 仿真,北京:电子工业出版社,2003
[23] Rexroth company,Microcontroller MC for open and closed loop control of hydrostatic drives,1999,05
[24] 焦生杰,吴涛,沥青混凝土摊铺机行驶系统模糊参数自速定 PID 控制,长安大学学报,2003,3
[25] 薛定宇,陈阳泉,基于.MATLAB/Simulink 的系统仿真技术与应用,北京:清华大学出版社,2004
[26] 蔡廷文,液压系统现代建模方法,北京:中国标准出版社,2002
[27] 基于 DSP 的电液伺服测控系统研究,长春理工大学,2004,01
[28] 基于 DSP 和 CPLD 的运动控制器的设计与研究,西北工业大学,2005,03
[29] 飞思科技产品研发中心,MATLAB7 辅助控制系统设计与仿真,北京:电子工业出版社,2005
[30] 孔晓武,魏建华,等,摊铺机行走系统控制策略研究,液压与气动,2002,7
[31] 王海英,吴成富,焦生杰,基于数字信号处理器DSP的摊铺机行驶控制器的研究,工程机械 2004,9
[32] Texas Instruments Incorporated, TMS320x281x Event Manager (EV) Reference Guide, 2004
[33] Texas Instruments Incorporated, TMS320x281x External Interface (XINTF) Reference Guide, 2002
[34] Texas Instruments Incorporated, TMS320x281x 280x Serial Communications Interface (SCI) Reference Guide, 2004
[35] Texas Instruments Incorporated, TMS320x281x Analog-to-Digital Converter (ADC) Reference Guide, 2005
[36] Texas Instruments Incorporated, TMS320x281x Boot ROM Reference Guide, 2004
[37] Xiong, Jianxin, Automatic optimization of DSP algorithms, University of Illinois at Urbana-Champaign, 2002
[38] Qahwash, Murad Mohammad, High frequency communication system modeling and performance enhancement, empoloying novel adaptive DSP techniques, University of Central Florida, 2002
[39] Chandrachoodan, Nitin, Performance analysis and hierarchical timing for DSP system synthesis, University of Maryland College Park, 2002
[40] 汪顺鹏,王晓钟,摊铺机行驶系统控制器的分析,路面机械与施工技术,2005,2
[41] 王海英,吴成富,摊铺机数字行驶控制系统研究,建筑机械,2003,11
[42] 郝鹏,何清华,基于DSP的沥青混凝土摊铺机行驶系统数字控制器的硬件设计,2004,12
[43] 焦生杰,工程机械机电液一体化,北京:人民交通出版社,2000
[44] 黎启柏,电液比例控制与数字控制系统,北京:机械工业出版社,1997
[45] 欧青立,何克忠,摊铺机计算机控制系统设计,湘谭矿业学院学报,2000,6
[46] 田良,王尧,综合电子设计与实践,南京:东南大学出版社,2002
[47] 朱振东,加入WTO与我国摊铺机制造业的生存和发展,建筑机械,2002,22(3)
[48] 张光海,何克忠,LTU125A沥青混凝土自动摊铺机的计算控制,计算机工程,2006,26(3)
[49] 段永灿,马广维,摊铺机恒速摊铺技术,筑路机械与施工机械化,2001,18(6)