基于CAN总线的喷水推进装置控制系统的设计与实现
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摘要
喷水推进技术由于具有诸多常规螺旋浆推进技术所不及的优点,在特种船型的高速艇及一些高性能船上已被广泛采用。但是以前由于种种因素限制,使得喷水推进技术发展远远不及常规螺旋浆推进技术的发展,因此目前对喷水推进技术的研究不多,尤其在喷水推进控制系统方面的研究更少,国内还处在起步阶段。
本论文主要有以下几部分内容:
1.本文对喷水推进装置的组成进行了介绍,对喷水推进装置控制特点、机理进行深入研究分析,并提出了基于CAN总线的喷水推进装置控制系统方案。
2.本文阐述了操舵控制、推进控制及备用控制的原理,完成了喷水推进装置控制系统中上位机和下位机软、硬件的设计与实现。上位机选用PC104为主控制器,下位机选用ADuC812微处理器为主控制器,CAN总线接口电路选用CAN控制器SJA1000和CAN收发器PCA82C250,并对它们在设计中所涉及到的相关问题进行了研究。在控制软件设计中,对方向舵、倒航斗采用模糊控制,对柴油机转速和倒航斗进行联合优化控制,以满足控制系统实时性、可靠性的要求以及保护动力装置的安全可靠运行。
3.经过实艇验证,本文实现的基于CAN总线的喷水推进动力装置控制系统具有很高的实时性和可靠性,按需要可以组合出多种控制模式、操舵模式,大大提高了船舶的机动、灵活的技术性能。
Water jet propulsive technique is widely used in the high speed ship with great capacity of some special type, for it has many characters which do not exist in general propeller-driven ships. Development of water jet technique is slower than that of propeller-driven for various reasons, and research of water jet technique is still at primary stage at home especially in water jet remote control system.
The paper is made up of following parts:
1. The paper introduces the structure of water jet installation, presents profound analysis of the character and mechanism of the installation, and brings forward the scheme of water jet remote control system.
2. The paper introduces the principium of streeing control, thrust control and buck-up control. Accomplish the designing and realizing of the master and slave computers used in water jet remote control system. PC 104 acts main controller in master computers, AduC812 microprocessor acts in slave computers, and CAN controller SJA1000 and CAN transceiver PCA82C250 are used in CAN bus interface circuit. The paper also discusses the possible problems during research. Considering the requirements of real-time and security of control system, fuzzy control is adopted on steering nozzle and reversing bucket position controls, combined control is adopted on engine speed and reversing bucket in control software research.
3. Being used practically in ships, we draw conclusion that the water jet remote control system based on CAN bus has reached high standards of real-time and reliable. It can be assembled of several control modes according to practical need, which improves the mobility and promptness of the ships.
本论文主要有以下几部分内容:
1.本文对喷水推进装置的组成进行了介绍,对喷水推进装置控制特点、机理进行深入研究分析,并提出了基于CAN总线的喷水推进装置控制系统方案。
2.本文阐述了操舵控制、推进控制及备用控制的原理,完成了喷水推进装置控制系统中上位机和下位机软、硬件的设计与实现。上位机选用PC104为主控制器,下位机选用ADuC812微处理器为主控制器,CAN总线接口电路选用CAN控制器SJA1000和CAN收发器PCA82C250,并对它们在设计中所涉及到的相关问题进行了研究。在控制软件设计中,对方向舵、倒航斗采用模糊控制,对柴油机转速和倒航斗进行联合优化控制,以满足控制系统实时性、可靠性的要求以及保护动力装置的安全可靠运行。
3.经过实艇验证,本文实现的基于CAN总线的喷水推进动力装置控制系统具有很高的实时性和可靠性,按需要可以组合出多种控制模式、操舵模式,大大提高了船舶的机动、灵活的技术性能。
Water jet propulsive technique is widely used in the high speed ship with great capacity of some special type, for it has many characters which do not exist in general propeller-driven ships. Development of water jet technique is slower than that of propeller-driven for various reasons, and research of water jet technique is still at primary stage at home especially in water jet remote control system.
The paper is made up of following parts:
1. The paper introduces the structure of water jet installation, presents profound analysis of the character and mechanism of the installation, and brings forward the scheme of water jet remote control system.
2. The paper introduces the principium of streeing control, thrust control and buck-up control. Accomplish the designing and realizing of the master and slave computers used in water jet remote control system. PC 104 acts main controller in master computers, AduC812 microprocessor acts in slave computers, and CAN controller SJA1000 and CAN transceiver PCA82C250 are used in CAN bus interface circuit. The paper also discusses the possible problems during research. Considering the requirements of real-time and security of control system, fuzzy control is adopted on steering nozzle and reversing bucket position controls, combined control is adopted on engine speed and reversing bucket in control software research.
3. Being used practically in ships, we draw conclusion that the water jet remote control system based on CAN bus has reached high standards of real-time and reliable. It can be assembled of several control modes according to practical need, which improves the mobility and promptness of the ships.
引文
[1] 王立祥,船舶喷水推进,见,船舶喷水推进文集,上海:中国船舶工业总公司七院第七零八研究所,1999:14～23
[2] 王立祥,我国喷水推进技术的发展现状及其应用前景,见,船舶喷水推进文集,上海:中国船舶工业总公司七院第七零八研究所,1999:1～3
[3] 施洪娟,喷水推进装置用数字控制系统,译自《MER》-1988(2):38
[4] 饶运涛,邹继军,郑勇芸,现场总线 CAN 原理与应用技术,北京:北京航空航天大学出版社,2003:18～19
[5] 邬宽明,CAN 总线原理和应用系统设计,北京:北京航空航天大学出版社,1996:240～255
[6] 阳宪惠,现场总线技术及其应用,北京:清华大学出版社,1999:1～10
[7] 于海生,CAN 总线工业测控系统的设计与实现,仪器仪表学报,2001,22(01)
[8] 郭庆祝,任光,基于 CAN 现场总线的船舶机舱分布式监控系统的研究,船电技术,2005(4)
[9] 杨文菊,孟宪尧,韩新洁,双冗余网络型船舶机舱监控系统,大连海事大学学报,2003.11
[10] 欧阳春,梁述海,船舶动力装置监控系统 CAN 总线的设计,海军工程大学学报,2001,13(06)
[11] 江忠明,杜军,丁颖华,李世锦,基于 CAN 现场总线的船舶电站监控系统,机电设备,2002.1
[12] 李刚,ADuc8XX 系列单片机原理与应用技术,北京:北京航空航天大学出版社,2002:77～83
[13] SysExPanModuleTM/CSM 技术手册 4.0 版,盛博科技
[14] SysCentreModuleTM/SuperDxp 技术手册 1.4 版,盛博科技
[15] ADT600 简明手册,盛博科技
[16] Berson A,Anderson G,Sybase and client/server computing(second edition)[M],Beijing,World Publishing Press/McGraw-Hill Book Co,1999:32-65
[17] Jeffay K.A,Comparative study of realization of rate-based computing services in general purpose operation system[A],In,IEEE ed,Coference on Real-Time Computing Systems and Applications[C],Sydney:IEEEComputer Society Press,2000:476～482
[18] Tanaka K,Sugeno M, Stability analysis and design of fuzzy control systems[J], Fuzzy Sets and Systems,1992(145):135～156
[19] 张乃尧,阎平凡,神经网络与模糊控制,北京:清华大学出版社,1998
[20] 王贤清,成永江,赵勇等,CAN 总线在变电站设备综合在线监测系统中的应用,测控技术,2006,25(3):55～57
[21] 邵晖,舒嵘,光电隔离器 6N137 的特性和应用,电子技术,1996.2
[22] 白焰,吴鸿,分散控制系统与现场总线控制系统,北京:中国电力出版社,2002
[23] 黎新亮,关沫,马君璞,基于 SJA1000 的 CAN 总线通信模块的设计,沈阳工业大学学报,2004(2)
[24] SJA1000 stand-alone CAN controller DATA SHEET, PHILIPS 2000.1
[25] PCA82C250 CAN controller interface DATA SHEET, PHILIPS 2000.1
[26] 项新建,郭小青,基于 CAN 总线的水质参数在线监测系统,杭州应用工程技术学院学报,2001,13(02)
[27] John Allison,Charles Dai,特大型喷水推进器的操舵及倒车装置,见,船舶喷水推进文集,上海:中国船舶工业总公司七院第七零八研究所,1999:120～132
[28] 周岗,基于模糊控制理论的舰船航迹控制器,海军工程大学学报,2000(3)
[29] 诸静,模糊控制原理与应用及其现状,电工技术杂志,1993(3):18～22
[30] 罗冯涛,王渝,AduC812 单片机控制系统的开发,现代电子技术,2002.2
[31] 孔庆福,吴家明,曾凡明,船舶喷水推进系统数学建模及仿真研究,船舶工程,2006,28(2):12～16
[32] 章百宝,王伟,基于 AduC812 的 CAN 总线接口设计,网络信息技术,2004,23 (1)
[33] 曾照福,基于 CAN 总线的分散型控制系统的设计[硕士论文],长沙:国防科学技术大学,2002
[34] 张晓,基于嵌入式系统在船舶监控方面的研究,舰船电子工程,2005.2
[35] 郑胜,基于 PC104 主板的嵌入式数据采集系统的研制[硕士论文],西安:西北工业大学,2002
[36] 于海生,CAN 总线工业测控网络系统的设计与实现,仪器仪表学报,2001,22(01)
[37] 朱兵,刘维亭,朱志宇,庄肖波,网络型船舶机舱自动化及报警系统的设计,船海工程,2005.6
[38] 赵国光,船舶动力装置自动化,上海:上海交通大学出版社,1993
[39] 尚作斌,林叶锦,杨金保,船舶机舱自动化系统的发展趋势研究,中国机械工程,2001,12(04)
[40] 董双燕,基于 CAN 总线的分布式控制系统的研究[硕士论文],汕头:汕头大学,2002
[41] Adrin Tang,Sophia Scoggins 戴浩译,开放式网络和开放系统互连,电子工业出版社,1994
[42] George M.Thomas, Realtime performance of Bridged CAN Networks, CAN Newsletter,1998.9
[43] Szabo S,Op lustily V,Distributed CAN based control system for robotic and airborne applications,IEEE on control,Automation,Robotics and Vision,2002.3
[44] 史久根,张培仁,陈真勇,CAN 现场总线系统设计技术,北京:国防工业出版社,2004
[45] 任清珍,张军,黄天戌,现场总线控制系统的进步性及其实时性研究,测控技术,2004,23(4):37～40
[46] 潘孟春,祖先锋,单庆晓,舰载炮测控系统中 CAN 总线网络设计,测控技术,2004,23(10):44～46
[47] Giovanni Benvenuto,Massimo Figari, Waterjet propulsion system performance prediction by dynamic numerical simulation[A], International Conference on High Speed Marine Vhicles1999[C], Italy:University of Genova,1999
[48] Hirota K, Analysis and Synthesis of Fuzzy Systems by the use of Fuzzy Sets, Fuzzy Sets Syst,1983,10(1):1～4
[49] Sugeno M, Fuzzy Control of Model Car, Fuzzy Sets Syst,1985,16
[50] 尹彦芝,C 语言高级实用教程,北京:清华大学出出版社,1993.5
[51] Allsion J.L,Marine waterjet propulsion[J],Transactions of SNAME,1993:101
[52] Lee C. C, Fuzzy Logic in Control Systems, Fuzzy Logic Controller, Part I.IEEE Trans.SMC,1990,20(2)
[2] 王立祥,我国喷水推进技术的发展现状及其应用前景,见,船舶喷水推进文集,上海:中国船舶工业总公司七院第七零八研究所,1999:1～3
[3] 施洪娟,喷水推进装置用数字控制系统,译自《MER》-1988(2):38
[4] 饶运涛,邹继军,郑勇芸,现场总线 CAN 原理与应用技术,北京:北京航空航天大学出版社,2003:18～19
[5] 邬宽明,CAN 总线原理和应用系统设计,北京:北京航空航天大学出版社,1996:240～255
[6] 阳宪惠,现场总线技术及其应用,北京:清华大学出版社,1999:1～10
[7] 于海生,CAN 总线工业测控系统的设计与实现,仪器仪表学报,2001,22(01)
[8] 郭庆祝,任光,基于 CAN 现场总线的船舶机舱分布式监控系统的研究,船电技术,2005(4)
[9] 杨文菊,孟宪尧,韩新洁,双冗余网络型船舶机舱监控系统,大连海事大学学报,2003.11
[10] 欧阳春,梁述海,船舶动力装置监控系统 CAN 总线的设计,海军工程大学学报,2001,13(06)
[11] 江忠明,杜军,丁颖华,李世锦,基于 CAN 现场总线的船舶电站监控系统,机电设备,2002.1
[12] 李刚,ADuc8XX 系列单片机原理与应用技术,北京:北京航空航天大学出版社,2002:77～83
[13] SysExPanModuleTM/CSM 技术手册 4.0 版,盛博科技
[14] SysCentreModuleTM/SuperDxp 技术手册 1.4 版,盛博科技
[15] ADT600 简明手册,盛博科技
[16] Berson A,Anderson G,Sybase and client/server computing(second edition)[M],Beijing,World Publishing Press/McGraw-Hill Book Co,1999:32-65
[17] Jeffay K.A,Comparative study of realization of rate-based computing services in general purpose operation system[A],In,IEEE ed,Coference on Real-Time Computing Systems and Applications[C],Sydney:IEEEComputer Society Press,2000:476～482
[18] Tanaka K,Sugeno M, Stability analysis and design of fuzzy control systems[J], Fuzzy Sets and Systems,1992(145):135～156
[19] 张乃尧,阎平凡,神经网络与模糊控制,北京:清华大学出版社,1998
[20] 王贤清,成永江,赵勇等,CAN 总线在变电站设备综合在线监测系统中的应用,测控技术,2006,25(3):55～57
[21] 邵晖,舒嵘,光电隔离器 6N137 的特性和应用,电子技术,1996.2
[22] 白焰,吴鸿,分散控制系统与现场总线控制系统,北京:中国电力出版社,2002
[23] 黎新亮,关沫,马君璞,基于 SJA1000 的 CAN 总线通信模块的设计,沈阳工业大学学报,2004(2)
[24] SJA1000 stand-alone CAN controller DATA SHEET, PHILIPS 2000.1
[25] PCA82C250 CAN controller interface DATA SHEET, PHILIPS 2000.1
[26] 项新建,郭小青,基于 CAN 总线的水质参数在线监测系统,杭州应用工程技术学院学报,2001,13(02)
[27] John Allison,Charles Dai,特大型喷水推进器的操舵及倒车装置,见,船舶喷水推进文集,上海:中国船舶工业总公司七院第七零八研究所,1999:120～132
[28] 周岗,基于模糊控制理论的舰船航迹控制器,海军工程大学学报,2000(3)
[29] 诸静,模糊控制原理与应用及其现状,电工技术杂志,1993(3):18～22
[30] 罗冯涛,王渝,AduC812 单片机控制系统的开发,现代电子技术,2002.2
[31] 孔庆福,吴家明,曾凡明,船舶喷水推进系统数学建模及仿真研究,船舶工程,2006,28(2):12～16
[32] 章百宝,王伟,基于 AduC812 的 CAN 总线接口设计,网络信息技术,2004,23 (1)
[33] 曾照福,基于 CAN 总线的分散型控制系统的设计[硕士论文],长沙:国防科学技术大学,2002
[34] 张晓,基于嵌入式系统在船舶监控方面的研究,舰船电子工程,2005.2
[35] 郑胜,基于 PC104 主板的嵌入式数据采集系统的研制[硕士论文],西安:西北工业大学,2002
[36] 于海生,CAN 总线工业测控网络系统的设计与实现,仪器仪表学报,2001,22(01)
[37] 朱兵,刘维亭,朱志宇,庄肖波,网络型船舶机舱自动化及报警系统的设计,船海工程,2005.6
[38] 赵国光,船舶动力装置自动化,上海:上海交通大学出版社,1993
[39] 尚作斌,林叶锦,杨金保,船舶机舱自动化系统的发展趋势研究,中国机械工程,2001,12(04)
[40] 董双燕,基于 CAN 总线的分布式控制系统的研究[硕士论文],汕头:汕头大学,2002
[41] Adrin Tang,Sophia Scoggins 戴浩译,开放式网络和开放系统互连,电子工业出版社,1994
[42] George M.Thomas, Realtime performance of Bridged CAN Networks, CAN Newsletter,1998.9
[43] Szabo S,Op lustily V,Distributed CAN based control system for robotic and airborne applications,IEEE on control,Automation,Robotics and Vision,2002.3
[44] 史久根,张培仁,陈真勇,CAN 现场总线系统设计技术,北京:国防工业出版社,2004
[45] 任清珍,张军,黄天戌,现场总线控制系统的进步性及其实时性研究,测控技术,2004,23(4):37～40
[46] 潘孟春,祖先锋,单庆晓,舰载炮测控系统中 CAN 总线网络设计,测控技术,2004,23(10):44～46
[47] Giovanni Benvenuto,Massimo Figari, Waterjet propulsion system performance prediction by dynamic numerical simulation[A], International Conference on High Speed Marine Vhicles1999[C], Italy:University of Genova,1999
[48] Hirota K, Analysis and Synthesis of Fuzzy Systems by the use of Fuzzy Sets, Fuzzy Sets Syst,1983,10(1):1～4
[49] Sugeno M, Fuzzy Control of Model Car, Fuzzy Sets Syst,1985,16
[50] 尹彦芝,C 语言高级实用教程,北京:清华大学出出版社,1993.5
[51] Allsion J.L,Marine waterjet propulsion[J],Transactions of SNAME,1993:101
[52] Lee C. C, Fuzzy Logic in Control Systems, Fuzzy Logic Controller, Part I.IEEE Trans.SMC,1990,20(2)