一种基于CAN接口的数字式控制手柄研制及其功能测试软件设计
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摘要
本文在分析现代工程机械自动化、智能化、集成化的发展趋势基础之上，借鉴目前国外现代工程机械控制系统的特点，采用了一种以CAN(Controller Area Network)总线为基础的现代工程机械控制系统解决方案。结合实验室现有条件，本文以数字式控制手柄(简称数字手柄)为研究对象，对CAN总线环境下系统主要部分的硬件设计和软件设计进行了系统的研究，并成功地得以实现。
文中首先综述了目前国内外现场总线和数字手柄的现状，分析了CAN总线所具有的特点与采用加速度传感器作为数字手柄的敏感元件在原理上的优缺点；然后详细介绍了CAN接口数字手柄的硬件和软件设计，并对系统的干扰源进行了分析，提出了相关解决措施；为了对数字手柄进行标定和性能测试，文中还设计了相应的功能测试软件，软件实现了对手柄的标定、操作模拟、数据分析等功能。
针对自行研制的数字手柄本文设计了相应的功能性验证试验，并分别在实验室和工作现场进行了测试，试验数据表明，本数字手柄软硬件设计合理，达到了预期的目标。
论文最后对振动和冲击工作环境下数字手柄的信号进行了研究，对比研究了IIR和FIR两种不同滤波器对手柄信号的过滤作用，分析了手柄上两轴信号之间的自相关和互相关关系，实现了利用周期图法和现代谱分析技术对手柄信号功率谱的分析，为进一步改善数字手柄对现场环境的适应性提供了基础。
Based on the analysis of the automatization, intelligence, integration development trend of modern construction machinery, and by drawing lessons from the characteristics of controlling system of current abroad modern construction machinery, this thesis adopt a kind of modern construction machinery controlling system solution which bases on CANbus (Controller Area Network). Considering current condition of laboratory, this paper regards digital controlling joystick (short for digital joystick) as research object and proceeds systemic research on hardware and software design of main parts of the system under CANbus environment. The results have proved that the system gain satisfied result in practical use.
The paper first summarizes present condition about fieldbus and digital joystick both in domestic and international, analyzes the characteristics of CANbus and advantage and disadvantage of adopting acceleration sensor as digital joystick's sensitivity part in princinple. Then, hardware and software design of digital joystick with CANbus interface are expatiated detailedly, the interference source of system is also analyzed, corresponding solution is put forward. In order to calibrate and analyze the performance of digital joystick, corresponding function testing software is developed. The software can calibrate, simulate and analyze the signal of digital joystick.
In order to validate the developed software and hardware, the paper designs corresponding experiment scheme and proceeds experiment in labtorary and workshop. The experiment data shows that software and hardware design of digital joystick is correct, obtains expectant goal.
Finally, the paper studys the method of signal processing of digital joystick under vibration and impact environment, the contrast study has also been implemented to compare the filter function of IIR and FIR filter which are different in principle. The autocorrelation and corelation relation between signal of joystick is also analyzed. By using of period
diagram and modern spectral analysis technology, the power spectral of the signal of digital joystick is analyzed.All these means provide basis for improving digital joystick's environment adaptability.
文中首先综述了目前国内外现场总线和数字手柄的现状，分析了CAN总线所具有的特点与采用加速度传感器作为数字手柄的敏感元件在原理上的优缺点；然后详细介绍了CAN接口数字手柄的硬件和软件设计，并对系统的干扰源进行了分析，提出了相关解决措施；为了对数字手柄进行标定和性能测试，文中还设计了相应的功能测试软件，软件实现了对手柄的标定、操作模拟、数据分析等功能。
针对自行研制的数字手柄本文设计了相应的功能性验证试验，并分别在实验室和工作现场进行了测试，试验数据表明，本数字手柄软硬件设计合理，达到了预期的目标。
论文最后对振动和冲击工作环境下数字手柄的信号进行了研究，对比研究了IIR和FIR两种不同滤波器对手柄信号的过滤作用，分析了手柄上两轴信号之间的自相关和互相关关系，实现了利用周期图法和现代谱分析技术对手柄信号功率谱的分析，为进一步改善数字手柄对现场环境的适应性提供了基础。
Based on the analysis of the automatization, intelligence, integration development trend of modern construction machinery, and by drawing lessons from the characteristics of controlling system of current abroad modern construction machinery, this thesis adopt a kind of modern construction machinery controlling system solution which bases on CANbus (Controller Area Network). Considering current condition of laboratory, this paper regards digital controlling joystick (short for digital joystick) as research object and proceeds systemic research on hardware and software design of main parts of the system under CANbus environment. The results have proved that the system gain satisfied result in practical use.
The paper first summarizes present condition about fieldbus and digital joystick both in domestic and international, analyzes the characteristics of CANbus and advantage and disadvantage of adopting acceleration sensor as digital joystick's sensitivity part in princinple. Then, hardware and software design of digital joystick with CANbus interface are expatiated detailedly, the interference source of system is also analyzed, corresponding solution is put forward. In order to calibrate and analyze the performance of digital joystick, corresponding function testing software is developed. The software can calibrate, simulate and analyze the signal of digital joystick.
In order to validate the developed software and hardware, the paper designs corresponding experiment scheme and proceeds experiment in labtorary and workshop. The experiment data shows that software and hardware design of digital joystick is correct, obtains expectant goal.
Finally, the paper studys the method of signal processing of digital joystick under vibration and impact environment, the contrast study has also been implemented to compare the filter function of IIR and FIR filter which are different in principle. The autocorrelation and corelation relation between signal of joystick is also analyzed. By using of period
diagram and modern spectral analysis technology, the power spectral of the signal of digital joystick is analyzed.All these means provide basis for improving digital joystick's environment adaptability.
引文
[1] 徐晓光，喻道远，饶运清，等．工程机械的智能化趋势与发展对策．工程机械，2002，6
[2] 杜志江．基于CAN总线的机器人化铲掘机分布式容错控制研究：[博士学位论文]．哈尔滨，哈尔滨工业大学，2001
[3] 阳宪惠主编．现场总线技术及其应用．北京：清华大学出版社，1999
[4] 邬宽明主编．CAN总线原理和应用系统设计．北京：北京航天航空大学出版社，1996
[5] G. Y. Tian, "Design and implementation of distributed measurement systems by Fieldbus-based intelligent sensors". IEEE Trans.on instrumentation and measurement, pp. 1197-1202, Oct. 2001
[6] 张海波，赵伟．对现场总线技术应用的几点建议．世界仪表与自动化，2002，2[2]
[7] 朱玉华．几种典型现场总线的比较．辽阳石油化工高等专科学校学报，2002，6[2]
[8] http: //www.google.com, search joystick with CANbus
[9] 王福瑞等编著．单片微机测控系统设计大全．北京：北京航空航天大学出版社，1998
[10] 纪宗南编著．单片机外围器件实用分册(输入通道器件分册)．北京：北京航天航空大学出版社，1998
[11] 马忠梅，籍顺心，张凯编著．单片机C语言应用程序设计．北京：北京航天航窄大学出版社，1999
[12] Microchip Technology Inc.. 28/40-Pin High Performance, Enhanced FLASH Microcontrollers with CAN, PIC18FXX8 Data Sheet. 2003, 1
[13] Analog Devices Inc.. Low Cost±2g/±10g Dual Axis iMEMS(R) Accelerometers with Digital Output ADXL202/ADXL210 Data Sheet Rev.B. 1999
[14] Harvey Weinberg. AN604: Using the ADXL202 Duty Cycle Output. Analog Devices Inc., 2002
[15] Harvey Weinberg. AN603: A Compact Algorithm Using the ADXL202 Duty Cycle Output. Analog Devices Inc., 2002
[16] Joe Matson. Calibrating The ADXL210 Accelerometer. Analog Devices Inc.,
1999，12
[17] 宗孔德，胡广书编著．数字信号处理教程．北京：清华大学出版社，2001
[18] B. K. Anantha Ramu. AN852: Implementing FIR and IIR Digital Filters Using PIC18 Microcontrollers. Microchip Technology Designs(India) Pvt. Ltd, 2002, 4
[19] Rodger Richey. AN715: Measure Tilt Using PIC16F84A & ADXL202. Microchip Technology Inc., 1999, 4
[20] 欧德翔，汪至中．基于CAN总线分布式控制系统智能节点的设计．计算机测量与控制，2001
[21] 李锐，吴琳．CAN在工业测控系统中的应用．计算机应用，1999，5
[22] 周风余．CAN总线及其在喷浆机器人中的应用．测控技术，2000，3
[23] Nilesh Rajbharti. AN738: PIC18C CAN Routines in C, Microchip Technology, Inc., 2001, 3
[24] Ross M. Fosler. AN247: A CAN Bootloader for PIC18F CAN Microcontrollers. Microchip Technology Inc., 2003, 2
[25] ISO-IS 11898, Road vehicles-Interchange of digital information-Controller[12] Area Network(CAN) for high speed communication, 1993
[26] Bosch. Robert Bosch GmbH. CAN specification, Version 2.0, 1991, 1
[27] CAN Application Layer for Industrial Applications, CiA DS 201-207, Version 1.1, 1996
[28] Keith Pazul. AN713: Controller Area Network(CAN) Basics. Microchip Technology Inc., 1999, 5
[29] 韩晓东，杜宇．电动汽车单片机测控系统抗干扰设计．电子技术，1999，9
[30] 王幸之，王雷，翟成，等．单片机应用系统抗干扰技术．北京：北京航空航天大学出版社，2000
[31] 赵晶．电路设计与制版—Protel99高级应用．北京：北京人民邮电出版社，2000
[32] 杨扬，李亚芬．Windows平台下的测控系统软件设计．现代计算机，2001，4
[33] 姚晔等．PCL-812PG数据采集卡在VC++6.0应用工程中的使用．计算机应用研究，2002，2
[34] 王燕编著．面向对象的理论与C++实践．北京：清华大学出版社，1997
[35] [美]David J. Krulinski, Scot Wingo, George Shephers著．希望图书创作室译．Visual C++技术内幕(第五版)．北京：北京希望电子出版社，1999
[36] [美]Microsoft公司著．希望图书创作室译．Visual C++6.0类库参考手册．北
京：北京希望电脑公司，1999
[37] [美]Herbert Schildt著．杨长虹，徐碚译．C++语言大全．北京：电子工业出版社，1994
[38] 周长发编著．科学与工程数值算法．北京：清华大学出版，2002
[39] 同志工作室．Visual C++6.0数据库开发实例．北京：人民邮电出版社，2002
[40] 于英名，莫玮，于佳编著．计算机接口技术．北京：电子工业出版社，1999
[41] 胡峪．Visual C++编程技巧与示例．西安：西安电子科技大学出版社，2000
[42] 徐泽华，王恒升．基于PWM的振动测试系统设计．电子工程师，2003，5
[43] ADVANTECH.Advantech DLL Drivers User's Manual and Programmer's Reference.2001
[44] 李现勇编著．Visual C++串口通信技术与工程实践．北京：人民邮电出版社，2002
[45] 何毅武等．Windows工作环境下VC++与Matlab的联合应用研究．武汉理工大学学报(交通科学与工程版)，2002，2
[46] 吕延庆等．基于Visual C++和Matlab的联合编程方法的实现．计算机应用研究，2000，11
[47] 程卫国，冯峰，姚东等编著．MATLAB5.3应用指南．北京：北京人民邮电出版社，1999
[48] 吴新余，周井泉，沈元隆编著．信号与系统．北京：电子工业出版社，1999
[49] 伯晓晨，李涛，刘路等编著．Matlab工具箱应用指南—信息工程篇．北京：电子工业出版社，2000
[50] Stranneby, Dag 著. Digital signal processing, Newnes, 2001
[51] 钱进．ⅡR数字滤波器的设计．长江职工大学学报，2001，3
[52] 潘永才，王子旭，游治．数字FIR滤波器的MATLAB设计．半导体技术，2001，8
[2] 杜志江．基于CAN总线的机器人化铲掘机分布式容错控制研究：[博士学位论文]．哈尔滨，哈尔滨工业大学，2001
[3] 阳宪惠主编．现场总线技术及其应用．北京：清华大学出版社，1999
[4] 邬宽明主编．CAN总线原理和应用系统设计．北京：北京航天航空大学出版社，1996
[5] G. Y. Tian, "Design and implementation of distributed measurement systems by Fieldbus-based intelligent sensors". IEEE Trans.on instrumentation and measurement, pp. 1197-1202, Oct. 2001
[6] 张海波，赵伟．对现场总线技术应用的几点建议．世界仪表与自动化，2002，2[2]
[7] 朱玉华．几种典型现场总线的比较．辽阳石油化工高等专科学校学报，2002，6[2]
[8] http: //www.google.com, search joystick with CANbus
[9] 王福瑞等编著．单片微机测控系统设计大全．北京：北京航空航天大学出版社，1998
[10] 纪宗南编著．单片机外围器件实用分册(输入通道器件分册)．北京：北京航天航空大学出版社，1998
[11] 马忠梅，籍顺心，张凯编著．单片机C语言应用程序设计．北京：北京航天航窄大学出版社，1999
[12] Microchip Technology Inc.. 28/40-Pin High Performance, Enhanced FLASH Microcontrollers with CAN, PIC18FXX8 Data Sheet. 2003, 1
[13] Analog Devices Inc.. Low Cost±2g/±10g Dual Axis iMEMS(R) Accelerometers with Digital Output ADXL202/ADXL210 Data Sheet Rev.B. 1999
[14] Harvey Weinberg. AN604: Using the ADXL202 Duty Cycle Output. Analog Devices Inc., 2002
[15] Harvey Weinberg. AN603: A Compact Algorithm Using the ADXL202 Duty Cycle Output. Analog Devices Inc., 2002
[16] Joe Matson. Calibrating The ADXL210 Accelerometer. Analog Devices Inc.,
1999，12
[17] 宗孔德，胡广书编著．数字信号处理教程．北京：清华大学出版社，2001
[18] B. K. Anantha Ramu. AN852: Implementing FIR and IIR Digital Filters Using PIC18 Microcontrollers. Microchip Technology Designs(India) Pvt. Ltd, 2002, 4
[19] Rodger Richey. AN715: Measure Tilt Using PIC16F84A & ADXL202. Microchip Technology Inc., 1999, 4
[20] 欧德翔，汪至中．基于CAN总线分布式控制系统智能节点的设计．计算机测量与控制，2001
[21] 李锐，吴琳．CAN在工业测控系统中的应用．计算机应用，1999，5
[22] 周风余．CAN总线及其在喷浆机器人中的应用．测控技术，2000，3
[23] Nilesh Rajbharti. AN738: PIC18C CAN Routines in C, Microchip Technology, Inc., 2001, 3
[24] Ross M. Fosler. AN247: A CAN Bootloader for PIC18F CAN Microcontrollers. Microchip Technology Inc., 2003, 2
[25] ISO-IS 11898, Road vehicles-Interchange of digital information-Controller[12] Area Network(CAN) for high speed communication, 1993
[26] Bosch. Robert Bosch GmbH. CAN specification, Version 2.0, 1991, 1
[27] CAN Application Layer for Industrial Applications, CiA DS 201-207, Version 1.1, 1996
[28] Keith Pazul. AN713: Controller Area Network(CAN) Basics. Microchip Technology Inc., 1999, 5
[29] 韩晓东，杜宇．电动汽车单片机测控系统抗干扰设计．电子技术，1999，9
[30] 王幸之，王雷，翟成，等．单片机应用系统抗干扰技术．北京：北京航空航天大学出版社，2000
[31] 赵晶．电路设计与制版—Protel99高级应用．北京：北京人民邮电出版社，2000
[32] 杨扬，李亚芬．Windows平台下的测控系统软件设计．现代计算机，2001，4
[33] 姚晔等．PCL-812PG数据采集卡在VC++6.0应用工程中的使用．计算机应用研究，2002，2
[34] 王燕编著．面向对象的理论与C++实践．北京：清华大学出版社，1997
[35] [美]David J. Krulinski, Scot Wingo, George Shephers著．希望图书创作室译．Visual C++技术内幕(第五版)．北京：北京希望电子出版社，1999
[36] [美]Microsoft公司著．希望图书创作室译．Visual C++6.0类库参考手册．北
京：北京希望电脑公司，1999
[37] [美]Herbert Schildt著．杨长虹，徐碚译．C++语言大全．北京：电子工业出版社，1994
[38] 周长发编著．科学与工程数值算法．北京：清华大学出版，2002
[39] 同志工作室．Visual C++6.0数据库开发实例．北京：人民邮电出版社，2002
[40] 于英名，莫玮，于佳编著．计算机接口技术．北京：电子工业出版社，1999
[41] 胡峪．Visual C++编程技巧与示例．西安：西安电子科技大学出版社，2000
[42] 徐泽华，王恒升．基于PWM的振动测试系统设计．电子工程师，2003，5
[43] ADVANTECH.Advantech DLL Drivers User's Manual and Programmer's Reference.2001
[44] 李现勇编著．Visual C++串口通信技术与工程实践．北京：人民邮电出版社，2002
[45] 何毅武等．Windows工作环境下VC++与Matlab的联合应用研究．武汉理工大学学报(交通科学与工程版)，2002，2
[46] 吕延庆等．基于Visual C++和Matlab的联合编程方法的实现．计算机应用研究，2000，11
[47] 程卫国，冯峰，姚东等编著．MATLAB5.3应用指南．北京：北京人民邮电出版社，1999
[48] 吴新余，周井泉，沈元隆编著．信号与系统．北京：电子工业出版社，1999
[49] 伯晓晨，李涛，刘路等编著．Matlab工具箱应用指南—信息工程篇．北京：电子工业出版社，2000
[50] Stranneby, Dag 著. Digital signal processing, Newnes, 2001
[51] 钱进．ⅡR数字滤波器的设计．长江职工大学学报，2001，3
[52] 潘永才，王子旭，游治．数字FIR滤波器的MATLAB设计．半导体技术，2001，8