基于CAN总线的拖拉机电液悬挂控制系统研究
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摘要
CAN总线是目前流行的总线技术之一,是一种基于微控制器的网络。CAN总线具有多主工作方式、传输速度快、距离远、自动解决总线竞争、自动重发功能、纠错能力强等特点,并已被广泛应用到汽车工业、自动控制、航空航天、过程控制、机械工业、纺织机械、机器人、数控机床、农用机械、医疗器械等领域。
通过广泛查阅国内外拖拉机电液悬挂系统发展文献,以及CAN总线在农业机械上应用现状的资料,本文针对拖拉机液压悬挂系统部分的特性,提出了基于CAN总线的拖拉机电液悬挂控制系统。
文中首先介绍了拖拉机悬挂系统和CAN总线的发展情况,说明了本课题的研究内容及其意义。接着针对CAN总线的特点,重点研究分析了CAN协议的分层结构、技术规范、报文发送、帧结构、物理层以及CAN总线的错误处理等。
然后是对拖拉机电液悬挂控制系统进行了分析,推导出了拖拉机电液悬挂液压控制系统的数学模型,并利用MATLAB仿真工具分析了采用PID控制策略对该被控系统的校正。
最后以PIC16F877A单片机为核心,设计开发了电液悬挂系统的单片机控制器。其中在主控制器上主要实现采样、PID控制、CAN通讯、PWM信号和开关信号的输出控制等的功能;操作显示面板则实现采样、CAN通讯、四位LED显示、键盘扫描和处理功能。在单片机控制系统的设计开发过程中,硬件部分是利用PROTEL99SE软件设计出了电路原理和PCB板。软件部分借助于MPLAB集成开发环境软件包进行编程和离线仿真。
本控制系统在试验室进行了部分试验,通过试验结果表明,本文设计的控制系统达到了一定的控制要求,具有较好的应用前景和推广价值。
CAN(Controller Area Network) is one of the most popular field bus, the net built on the microcontroller, which has so many advantages as multi-master mode, high transmission speed, long distance, automatic solving bus competition, automatic retransmission, strong correcting ability and so on. It has already been put in wide use in fields like automobile industry, automatic control, aeronautics and astronautics, process control, machine industry, textile machinery, robot, agricultural machinery, medical equipment.
This article advances a tractor electronic hydraulic hitch system based on the CAN bus on the ground of the characteristics of the hitch system, in reference to the latest literature of theory and application.
Firstly, this treatise illustrates the content and significance of this topic by a brief introduction of a tractor electronic hydraulic hitch system and CAN bus. Furthermore, focuses on the technology criterion, message transmission, frame structure, physical layer and error handling.
Moreover, the reasonability of substituting the electronic hydraulic hitch system for the traditional is looked through and a mathematical model is developed to simulate PID by MATLAB.
Finally, with the core of PIC16F877A single-chip, single-chip controller of electronic hydraulic hitch system is established, in which the primary control board acts as sampling, PID controlling, CAN communication, PWM and switch signal outputting, while operating screen board works as sampling, CAN communication, 4-digit LED screening, scanning key-board and processing. Within this system, the hardware is designed in accordance with the electrical circuit principle of PROTEL 99SE and PCB board; the software is, by means of the integrated development environment MPLAB software assembling program and off-circuit simulation can be made.
The controlling system has been tested partially in the lab, and the result implies that the system can meet the requirements and can be prosperous in practice.
通过广泛查阅国内外拖拉机电液悬挂系统发展文献,以及CAN总线在农业机械上应用现状的资料,本文针对拖拉机液压悬挂系统部分的特性,提出了基于CAN总线的拖拉机电液悬挂控制系统。
文中首先介绍了拖拉机悬挂系统和CAN总线的发展情况,说明了本课题的研究内容及其意义。接着针对CAN总线的特点,重点研究分析了CAN协议的分层结构、技术规范、报文发送、帧结构、物理层以及CAN总线的错误处理等。
然后是对拖拉机电液悬挂控制系统进行了分析,推导出了拖拉机电液悬挂液压控制系统的数学模型,并利用MATLAB仿真工具分析了采用PID控制策略对该被控系统的校正。
最后以PIC16F877A单片机为核心,设计开发了电液悬挂系统的单片机控制器。其中在主控制器上主要实现采样、PID控制、CAN通讯、PWM信号和开关信号的输出控制等的功能;操作显示面板则实现采样、CAN通讯、四位LED显示、键盘扫描和处理功能。在单片机控制系统的设计开发过程中,硬件部分是利用PROTEL99SE软件设计出了电路原理和PCB板。软件部分借助于MPLAB集成开发环境软件包进行编程和离线仿真。
本控制系统在试验室进行了部分试验,通过试验结果表明,本文设计的控制系统达到了一定的控制要求,具有较好的应用前景和推广价值。
CAN(Controller Area Network) is one of the most popular field bus, the net built on the microcontroller, which has so many advantages as multi-master mode, high transmission speed, long distance, automatic solving bus competition, automatic retransmission, strong correcting ability and so on. It has already been put in wide use in fields like automobile industry, automatic control, aeronautics and astronautics, process control, machine industry, textile machinery, robot, agricultural machinery, medical equipment.
This article advances a tractor electronic hydraulic hitch system based on the CAN bus on the ground of the characteristics of the hitch system, in reference to the latest literature of theory and application.
Firstly, this treatise illustrates the content and significance of this topic by a brief introduction of a tractor electronic hydraulic hitch system and CAN bus. Furthermore, focuses on the technology criterion, message transmission, frame structure, physical layer and error handling.
Moreover, the reasonability of substituting the electronic hydraulic hitch system for the traditional is looked through and a mathematical model is developed to simulate PID by MATLAB.
Finally, with the core of PIC16F877A single-chip, single-chip controller of electronic hydraulic hitch system is established, in which the primary control board acts as sampling, PID controlling, CAN communication, PWM and switch signal outputting, while operating screen board works as sampling, CAN communication, 4-digit LED screening, scanning key-board and processing. Within this system, the hardware is designed in accordance with the electrical circuit principle of PROTEL 99SE and PCB board; the software is, by means of the integrated development environment MPLAB software assembling program and off-circuit simulation can be made.
The controlling system has been tested partially in the lab, and the result implies that the system can meet the requirements and can be prosperous in practice.
引文
[1]Hobbs J,Hesse H.Electronic hydraulic hitch control for agricultural tractors.Society of Automotive Engineers,Paper801018,1980.
[2]E.T.Weatherly,C.G.Bowers Jr.Automatic Depth Control of a Seed Planter Based on Soil Drying Front Sensing,Transaction of the ASAE,1997,Vol.40(2).
[3]农用拖拉机的电液悬挂控制装置.国外拖拉机,1983(3).
[4]Tohn Hobbs,etc.农用拖拉机的电液悬挂控制装置,美国罗伯特BOSCH公司,国外拖拉机,1983,3.
[5]J.W.Hofstee,D.Goense.Simulation of a Controller Area Network-based Tractor Implement.
[6]谢斌.拖拉机农具仿真作业机组悬挂系统电液控制技术的研究.[硕士学位论文].北京:中国农业大学,2000.
[7]饶运涛,邹继军,郑勇芸.现场总线CAN原理与应用技术[M],2003,6.
[8]薛金林,樊明轩.电子信息技术在农业机械中的应用[J].农机化研究,2004,4.
[9]吴国桢.拖拉机耕深自动监测与控制[J].农业机械学报,1993,24(3).
[10]岳榴,李水良.拖拉机悬挂机组动态性能的计算机模拟[J].农业机械学报,1993,24(2).
[11]邬宽明.CAN总线原理与应用系统设计[M].北京:北京航天航空大学出版社,1996,3.
[12]谢斌,毛恩荣.基于CAN总线的拖拉机电液悬挂系统控制器研制[J].机床与液压,2006,8.
[13]侯占峰,鲁植雄,赵兰英等.CAN总线技术在拖拉机上的应用展望[J].农机化研究,2006,10.
[14]赵建军.拖拉机仿真作业机组悬挂系统控制技术的研究.[硕士学位论文].北京:中国农业大学,2000.
[15]刘长年.拖拉机力调节系统的物理仿真[J].农业机械学报,1985,16(3).
[16]李象,毛恩荣,韩聚奎.拖拉机阻力控制系统室内动态仿真试验[J].北京农业工程大学学报,1989,9(4).
[17]殷继红,周云山,张兰义,秦维谦.拖拉机液压悬挂动态测试的研究[J].吉林工业大学学报,1990,4.
[18]方昌林.吴建华.拖拉机悬挂系统电液控制的理论和实验研究[J].农业机械学报,1994,9.
[19]程文祥.拖拉机耕深微机控制系统的研究[J].农业机械学报,1995,26(3).
[20]Andrew S.Tanenbaum,Computer Networks[M].计算机网络[M].熊桂喜,王小虎译.北京:清华大学出版社,1998.
[21]黄文梅.系统仿真分析与设计—Matlab语言工程应用[M].国防科技大学出版社,2001,12.
[22]薛定宇.基于Matlab/Simulink的系统仿真技术与应用[M].清华大学出版社,2002,4.
[23]楼顺天.基于Matlab的系统分析与设计[M].西安电子科技大学出版社,1998,9.
[24]Philips Semiconductor公司.PCA82C250 CAN Controller Interface,1997,10.
[25]PHILIPS Semiconductors.PCA82C250 CAN Transceiver for 24V systems.2000,1.
[26]PHILIPS Semiconductors.C250/251 CAN Tranceiver application note.1996,10.
[27]Microchip.Smart Sensor CAN Node using the MCP2510 and PIC16F876[M].MICROCHIP,2002 Microchip Inc.Stand-Alone CAN Controller with SPI Interface.
[28]刘和平.PIC16F87X单片机实用软件与接口技术[M].北京:北京航空航天大学出版社,2002,3.
[29]Keith Pazul.Controller Area Network(CAN)Basies.Microchip Technology Inc.ISO91898 Vehicle-Digital Information Interchange-High Speed Communication Controller Area Network.(Version 1),1993,11.
[30]Gabriel Leen,Dond Heffernam,and Alan Dunne.Digital Networks in the Automotive Vehicle[J].IEE Computing&Control Engineering journal,1999,(10) 6.
[31]J.W.Hofstee,D.Goense.Simulation of a Controller Area Network-based Tractor Implement Data Bus According to ISO 11783.Agric.Engng.Res,1999,68.
[32]崔民.机器人化遥控铲掘机现场CAN总线控制系统研究[J].机床与液压,2002,1.
[33]刘和平,黄开长,严利平译著.PIC16F877数据手册[M].北京:北京航空航天大学出版社,2001.
[34]李学海编著.PIC单片机实用教程—基础篇[M].北京:北京航天航空大学出版社,2002.
[35]李学海编著.PIC单片机实用教程—提高篇[M].北京:北京航天航空大学出版社,2002.
[36].吴振顺,熊汉文,付忠辉,单片机控制的智能PID控制器在液压系统中的应用研究[J].机床与液压,2001,2.
[37]宫文斌,刘听晖,孙延伟.电液比例PWM控制方法[J].吉林大学学报,2003,3.
[38]鲁中良,吴丰顺,张尧等.PWM技术在电液换向阀流量控制中的应用[J].液压气动与密封,2003,4.
[2]E.T.Weatherly,C.G.Bowers Jr.Automatic Depth Control of a Seed Planter Based on Soil Drying Front Sensing,Transaction of the ASAE,1997,Vol.40(2).
[3]农用拖拉机的电液悬挂控制装置.国外拖拉机,1983(3).
[4]Tohn Hobbs,etc.农用拖拉机的电液悬挂控制装置,美国罗伯特BOSCH公司,国外拖拉机,1983,3.
[5]J.W.Hofstee,D.Goense.Simulation of a Controller Area Network-based Tractor Implement.
[6]谢斌.拖拉机农具仿真作业机组悬挂系统电液控制技术的研究.[硕士学位论文].北京:中国农业大学,2000.
[7]饶运涛,邹继军,郑勇芸.现场总线CAN原理与应用技术[M],2003,6.
[8]薛金林,樊明轩.电子信息技术在农业机械中的应用[J].农机化研究,2004,4.
[9]吴国桢.拖拉机耕深自动监测与控制[J].农业机械学报,1993,24(3).
[10]岳榴,李水良.拖拉机悬挂机组动态性能的计算机模拟[J].农业机械学报,1993,24(2).
[11]邬宽明.CAN总线原理与应用系统设计[M].北京:北京航天航空大学出版社,1996,3.
[12]谢斌,毛恩荣.基于CAN总线的拖拉机电液悬挂系统控制器研制[J].机床与液压,2006,8.
[13]侯占峰,鲁植雄,赵兰英等.CAN总线技术在拖拉机上的应用展望[J].农机化研究,2006,10.
[14]赵建军.拖拉机仿真作业机组悬挂系统控制技术的研究.[硕士学位论文].北京:中国农业大学,2000.
[15]刘长年.拖拉机力调节系统的物理仿真[J].农业机械学报,1985,16(3).
[16]李象,毛恩荣,韩聚奎.拖拉机阻力控制系统室内动态仿真试验[J].北京农业工程大学学报,1989,9(4).
[17]殷继红,周云山,张兰义,秦维谦.拖拉机液压悬挂动态测试的研究[J].吉林工业大学学报,1990,4.
[18]方昌林.吴建华.拖拉机悬挂系统电液控制的理论和实验研究[J].农业机械学报,1994,9.
[19]程文祥.拖拉机耕深微机控制系统的研究[J].农业机械学报,1995,26(3).
[20]Andrew S.Tanenbaum,Computer Networks[M].计算机网络[M].熊桂喜,王小虎译.北京:清华大学出版社,1998.
[21]黄文梅.系统仿真分析与设计—Matlab语言工程应用[M].国防科技大学出版社,2001,12.
[22]薛定宇.基于Matlab/Simulink的系统仿真技术与应用[M].清华大学出版社,2002,4.
[23]楼顺天.基于Matlab的系统分析与设计[M].西安电子科技大学出版社,1998,9.
[24]Philips Semiconductor公司.PCA82C250 CAN Controller Interface,1997,10.
[25]PHILIPS Semiconductors.PCA82C250 CAN Transceiver for 24V systems.2000,1.
[26]PHILIPS Semiconductors.C250/251 CAN Tranceiver application note.1996,10.
[27]Microchip.Smart Sensor CAN Node using the MCP2510 and PIC16F876[M].MICROCHIP,2002 Microchip Inc.Stand-Alone CAN Controller with SPI Interface.
[28]刘和平.PIC16F87X单片机实用软件与接口技术[M].北京:北京航空航天大学出版社,2002,3.
[29]Keith Pazul.Controller Area Network(CAN)Basies.Microchip Technology Inc.ISO91898 Vehicle-Digital Information Interchange-High Speed Communication Controller Area Network.(Version 1),1993,11.
[30]Gabriel Leen,Dond Heffernam,and Alan Dunne.Digital Networks in the Automotive Vehicle[J].IEE Computing&Control Engineering journal,1999,(10) 6.
[31]J.W.Hofstee,D.Goense.Simulation of a Controller Area Network-based Tractor Implement Data Bus According to ISO 11783.Agric.Engng.Res,1999,68.
[32]崔民.机器人化遥控铲掘机现场CAN总线控制系统研究[J].机床与液压,2002,1.
[33]刘和平,黄开长,严利平译著.PIC16F877数据手册[M].北京:北京航空航天大学出版社,2001.
[34]李学海编著.PIC单片机实用教程—基础篇[M].北京:北京航天航空大学出版社,2002.
[35]李学海编著.PIC单片机实用教程—提高篇[M].北京:北京航天航空大学出版社,2002.
[36].吴振顺,熊汉文,付忠辉,单片机控制的智能PID控制器在液压系统中的应用研究[J].机床与液压,2001,2.
[37]宫文斌,刘听晖,孙延伟.电液比例PWM控制方法[J].吉林大学学报,2003,3.
[38]鲁中良,吴丰顺,张尧等.PWM技术在电液换向阀流量控制中的应用[J].液压气动与密封,2003,4.