基于CAN总线的海底采矿车模型机行走控制系统设计与研究
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摘要
作为深海矿产资源采矿系统中的载体,海底采矿车将行走于数千米深的海底复杂地形上,必须具有良好的远程可控性。针对海底采矿车在采矿过程中远程行走控制的关键技术,基于CAN总线通信方式和虚拟仪器技术,本文开展了海底采矿车模型机行走控制系统研究。
根据海底采矿车模型机技术指标,研究了海底采矿车模型机行走机构液压系统及其比例调速原理,对多路阀与比例减压阀工作特性进行分析,获得了比例减压阀—多路阀调速特性。
根据海底采矿车模型机行走控制系统功能和技术要求,基于CAN现场总线技术,设计了由现场控制系统和监控系统构成的模型机行走控制系统方案。基于CANopen通信协议,开展了模型机行走控制系统总体结构、现场控制系统和监控系统的设计,研究了采矿车模型机行走控制系统核心EPEC 2023控制器、CompactRIO控制器和I／O模块性能及特性,并设计了手动操控台。
基于CoDeSys平台,开展了现场控制系统程序结构和流程研究,以及现场控制系统程序开发,实现了海底采矿车模型机控制与信号的采集和标定；基于LabVIEW图形化编程环境,开展了FPGA底层程序、中间层程序和上层程序开发,实现了操作信号采集和CANopen总线信息接收和发送、实时控制器和FPGA之间的信息传递和控制运算、以太网通信、数据保存以及行走监控等功能。
基于模糊PID理论,开展了行走控制系统的闭环行走速度控制研究,在LabVIEW平台上设计了海底采矿车模型机模糊PID控制器。
开展了采矿车模型机行走控制系统仿真调试和现场调试,结果表明基于CANopen总线通信的行走控制系统工作正常。
开展了模型机在行走控制系统控制下的平地、越障、越沟、爬坡行走性能实验,实验结果表明,所设计的行走控制系统成功地实现了模型机远程行走控制,模型机最大行走速度、越障、越沟和爬坡等性能均超过海底采矿车技术指标要求,且铰接机构可顺利地完成前后车体之间的俯仰运动和转向功能。此外,实验证明所设计的模糊PID控制算法对采矿车模型机速度控制也是有效的。
As the carrier of the deep-sea mining system, it is necessary for the seabed mining vehicle,which will travel on complex submarine terrain thousands meters deep under the sea, to be controlled remotely and easily. Thus, aiming at the key technology of the remote driving control, this paper researched the driving control system of the seabed mining vehicle based on CAN bus communication and virtual instrument technology.
According to the seabed mining vehicle technical specifications, the driving hydraulic system of the articulated tracked vehicle, which has been selected as the travel machine of the seabed mining vehicle, is studied, as well as its proportional speed control method. After the operating characteristic analysis of the multiway valve and the proportional pressure reducing valve, the speed control characteristic is obtained.
According to the function and demand, the driving control system scheme, which consists of on-site control system and monitoring system, is designed based on field bus technology. Based on CANopen communication protocol, the control system architecture is designed as well as the on-site control system and the monitoring system. The properties and characteristics of EPEC 2023 controller, CompactRIO controller and its I/O module are studied and the operating panel is also designed.
Based on CoDeSys, the software of the on-site control system is developed to contol the seabed mining vehicle and implement data acquisition and calibration. Based on LabVIEW graphical programming environment, the FPGA VI, RT control VI and the user interface of the monitoring system are developed, and the data acquisition. of the operating panel, CANopen communication, data transferring between the RT controller and FPGA, control algorithms, are achieved as well as Ethernet communication, data logging and driving monitoring.
The study on closed-loop speed control of driving control system is carried out based on fuzzy PID theory. And the fuzzy PID controller of seabed mining vehicle is designed in LabVIEW.
The simulation debugging and on-site commissioning of driving control system are implemented, and the validity of the driving control system based on CANopen bus communication is proved.
The performance of travaling on flat ground, stepping over obstacles, stepping over moats and climbing slopes is tested on the model machine with the driving control system. The results show that the driving control system which has been designed achieves the target of remote control successfully, the performance of maximum travel speed, stepping over obstacles, stepping over moats and climbing slopes of the model machine exceeds the technical requirements of seabed mining vehicle, and the articulated mechanism can achieve the pitching and steering function. In addition, the fuzzy PID control algorithm appling to the speed control of the model machine is proved effective.
根据海底采矿车模型机技术指标,研究了海底采矿车模型机行走机构液压系统及其比例调速原理,对多路阀与比例减压阀工作特性进行分析,获得了比例减压阀—多路阀调速特性。
根据海底采矿车模型机行走控制系统功能和技术要求,基于CAN现场总线技术,设计了由现场控制系统和监控系统构成的模型机行走控制系统方案。基于CANopen通信协议,开展了模型机行走控制系统总体结构、现场控制系统和监控系统的设计,研究了采矿车模型机行走控制系统核心EPEC 2023控制器、CompactRIO控制器和I／O模块性能及特性,并设计了手动操控台。
基于CoDeSys平台,开展了现场控制系统程序结构和流程研究,以及现场控制系统程序开发,实现了海底采矿车模型机控制与信号的采集和标定；基于LabVIEW图形化编程环境,开展了FPGA底层程序、中间层程序和上层程序开发,实现了操作信号采集和CANopen总线信息接收和发送、实时控制器和FPGA之间的信息传递和控制运算、以太网通信、数据保存以及行走监控等功能。
基于模糊PID理论,开展了行走控制系统的闭环行走速度控制研究,在LabVIEW平台上设计了海底采矿车模型机模糊PID控制器。
开展了采矿车模型机行走控制系统仿真调试和现场调试,结果表明基于CANopen总线通信的行走控制系统工作正常。
开展了模型机在行走控制系统控制下的平地、越障、越沟、爬坡行走性能实验,实验结果表明,所设计的行走控制系统成功地实现了模型机远程行走控制,模型机最大行走速度、越障、越沟和爬坡等性能均超过海底采矿车技术指标要求,且铰接机构可顺利地完成前后车体之间的俯仰运动和转向功能。此外,实验证明所设计的模糊PID控制算法对采矿车模型机速度控制也是有效的。
As the carrier of the deep-sea mining system, it is necessary for the seabed mining vehicle,which will travel on complex submarine terrain thousands meters deep under the sea, to be controlled remotely and easily. Thus, aiming at the key technology of the remote driving control, this paper researched the driving control system of the seabed mining vehicle based on CAN bus communication and virtual instrument technology.
According to the seabed mining vehicle technical specifications, the driving hydraulic system of the articulated tracked vehicle, which has been selected as the travel machine of the seabed mining vehicle, is studied, as well as its proportional speed control method. After the operating characteristic analysis of the multiway valve and the proportional pressure reducing valve, the speed control characteristic is obtained.
According to the function and demand, the driving control system scheme, which consists of on-site control system and monitoring system, is designed based on field bus technology. Based on CANopen communication protocol, the control system architecture is designed as well as the on-site control system and the monitoring system. The properties and characteristics of EPEC 2023 controller, CompactRIO controller and its I/O module are studied and the operating panel is also designed.
Based on CoDeSys, the software of the on-site control system is developed to contol the seabed mining vehicle and implement data acquisition and calibration. Based on LabVIEW graphical programming environment, the FPGA VI, RT control VI and the user interface of the monitoring system are developed, and the data acquisition. of the operating panel, CANopen communication, data transferring between the RT controller and FPGA, control algorithms, are achieved as well as Ethernet communication, data logging and driving monitoring.
The study on closed-loop speed control of driving control system is carried out based on fuzzy PID theory. And the fuzzy PID controller of seabed mining vehicle is designed in LabVIEW.
The simulation debugging and on-site commissioning of driving control system are implemented, and the validity of the driving control system based on CANopen bus communication is proved.
The performance of travaling on flat ground, stepping over obstacles, stepping over moats and climbing slopes is tested on the model machine with the driving control system. The results show that the driving control system which has been designed achieves the target of remote control successfully, the performance of maximum travel speed, stepping over obstacles, stepping over moats and climbing slopes of the model machine exceeds the technical requirements of seabed mining vehicle, and the articulated mechanism can achieve the pitching and steering function. In addition, the fuzzy PID control algorithm appling to the speed control of the model machine is proved effective.
引文
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