基于CAN总线的轨道运输测控设备驱动软件的设计与实现
|
摘要
现场总线技术、嵌入式技术和电子技术的快速发展,为我国矿井生产自动化的跨越式发展提供了契机。基于现场总线的矿井自动化系统,不仅成本低、监控能力强,而且现场设备的智能化程度高,因此研究基于现场总线的矿井监控系统具有很现实的意义。
矿井运输监控是煤矿安全监控系统中的重要组成部分,本课题致力于基于CAN现场总线的矿井智能轨道测控模块研究,用嵌入式技术改造两类重要的现场设备——计轴器和转辙机,组成独立的轨道测控系统,实现了对矿井轨道运输中相关设备的数据的采集及智能控制。
论文研究了计轴器和转辙机的功能需求,针对它们的功能需求设计完成了一套计轴器信号采集处理和转辙机安全驱动软件。
论文结合整个运输监控系统的特点和对模块的要求,设计确定了计轴器采集模块和转辙机控制模块的CAN总线的应用层协议。
针对矿井的恶劣的使用环境,论文通过采用了一整套包括指令冗余技术、数字量多次读入法、看门狗技术等方法,有效的提高了系统的抗干扰能力,解决系统的安全性和可靠性问题。
论文最后针对两个智能模块的实际使用要求,建立各种软硬件仿真测试平台,对系统的功能进行了全面的调试,经过调试和改进,在实验室的环境下,计轴器采集模块和转辙机控制模块都达到了设计的要求。
The rapid development of Fieldbus technology、Embedded technology and electronic technology provide an opportunity for the leapfrog development of mine production automatization in China. Automantic control system based on Fieldbus system not only has low cost and strong monitoring capability, the field device of system also has high intelligent degree. So the research based on Fieldbus mine monitoring system has very realistic significance.
Mine transport monitor is an important component of mine monitoring system. This case concentrated on the research of intelligent mine track monitor&controlmodules based on CANbus, improved two kind of important field equipment--axle counter and switcher through embedded technology, set up an independent track monitoring system and realized intelligent control and data acquisition of related devices in mine track transport.
The thesis researched the function and demand of axle counter and switcher. To meet their function and demand, the thesis designed axle counter signal acquisition driver software and switcher safe driver software.
According to characters of whole system and modules, the thesis set down the communication protocol to application layer of two intelligent modules.
To meet rough environment of coal mine, the thesis designed a set of suitable software anti-jamming methods include watch dog and the redundancy instruction and repetitious read number to solve safety and reliability problems in the system.
Finally, to meet the needs of practical use, the thesis established software and hardware simulation test platforms of two modules, test and debugged the system functions comprehensively. After debugging and improving, the axle counter acquisition module and the switcher control module achieved the design requirements in lab circumstance.
矿井运输监控是煤矿安全监控系统中的重要组成部分,本课题致力于基于CAN现场总线的矿井智能轨道测控模块研究,用嵌入式技术改造两类重要的现场设备——计轴器和转辙机,组成独立的轨道测控系统,实现了对矿井轨道运输中相关设备的数据的采集及智能控制。
论文研究了计轴器和转辙机的功能需求,针对它们的功能需求设计完成了一套计轴器信号采集处理和转辙机安全驱动软件。
论文结合整个运输监控系统的特点和对模块的要求,设计确定了计轴器采集模块和转辙机控制模块的CAN总线的应用层协议。
针对矿井的恶劣的使用环境,论文通过采用了一整套包括指令冗余技术、数字量多次读入法、看门狗技术等方法,有效的提高了系统的抗干扰能力,解决系统的安全性和可靠性问题。
论文最后针对两个智能模块的实际使用要求,建立各种软硬件仿真测试平台,对系统的功能进行了全面的调试,经过调试和改进,在实验室的环境下,计轴器采集模块和转辙机控制模块都达到了设计的要求。
The rapid development of Fieldbus technology、Embedded technology and electronic technology provide an opportunity for the leapfrog development of mine production automatization in China. Automantic control system based on Fieldbus system not only has low cost and strong monitoring capability, the field device of system also has high intelligent degree. So the research based on Fieldbus mine monitoring system has very realistic significance.
Mine transport monitor is an important component of mine monitoring system. This case concentrated on the research of intelligent mine track monitor&controlmodules based on CANbus, improved two kind of important field equipment--axle counter and switcher through embedded technology, set up an independent track monitoring system and realized intelligent control and data acquisition of related devices in mine track transport.
The thesis researched the function and demand of axle counter and switcher. To meet their function and demand, the thesis designed axle counter signal acquisition driver software and switcher safe driver software.
According to characters of whole system and modules, the thesis set down the communication protocol to application layer of two intelligent modules.
To meet rough environment of coal mine, the thesis designed a set of suitable software anti-jamming methods include watch dog and the redundancy instruction and repetitious read number to solve safety and reliability problems in the system.
Finally, to meet the needs of practical use, the thesis established software and hardware simulation test platforms of two modules, test and debugged the system functions comprehensively. After debugging and improving, the axle counter acquisition module and the switcher control module achieved the design requirements in lab circumstance.
引文
[1]刘富强.矿井多媒体综合业务数字网MISDN网络结构研究[J].煤炭学报.2003,6.307-310.
[2]戴磊.以综合自动化控制为基础的数字化矿井建设体系[J].安徽建筑工业学院学报(自然科学版).2005,5.78-80.
[3]李长青,朱世松,赵建贵.煤矿安全和生产监控系统的现状与未来发展趋势[J].焦作工学院学报(自然科学版).2000,2.120-125.
[4]李玉良.矿井机车监控系统的应用与发展[J]煤矿机电.2000,2.29-31.
[5]Wu Jianxin,Ding Ying,Jiang Xiuzhu.Research on integration of coal mine monitoring and control system with field bus control system[J].Journal of China University of Mining and Technology.2006,1:82-85.
[6]Sun Jiping,Guo Jikun,Pan Tao.Research on Intelligence Node Address of CAN Field-bus for Coal Mine Monitoring[A].ICEMI[C].2005.
[7]徐钊,郑红党,刘玉东.基于CAN总线的煤矿监测监控系统研究[J]中国矿业大学学报.2004,4:421-423.
[8]程德强,李世银,李鹏等.矿井安全监测监控系统.电视技术[J].2006,2.78-81.
[9]阳宪惠.现场总线技术及其应用.北京:清华大学出版社.2000.
[10]成继勋,孟祥忠.煤矿用现场总线标准的研究[J].煤炭学报.2001,6.657-662.
[11]刘家磊,李长青.矿井安全生产监控系统通信协议的研究.工矿自动化[J].2007,1:54-57.
[12]夏德海.现场总线的现状及其应用.中国仪器仪表,1998,(2),3-5
[13]阳宪惠.现场总线技术及其应用[M].北京:清华大学出版社,2005.1-15.
[14]高明璋.现场总线的发展趋势[J].仪器仪表用户.2005,6.160-161.
[15]王振华,朱国力.基于CAN总线的开放式网络数控系统研究.机电工程.2000,17(3).46-48
[16]Robert.Bosch GmbH.CAN specification Version 2.0.BUSCH.1991
[17]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
[18]饶运涛,邹继军,郑勇芸.现场总线CAN原理与应用技术[M].北京:北京航空航天大学出版社,2003.14-36.
[19]史久根,张培仁,陈真勇.CAN现场总线系统设计技术[M].北京:国防工业出版社.2004.20-47.
[20]Bosch.CAN Specification V2.0[EB/OL].http://www.zlgmcu.com/philips/can/about/BOSCH_CAN_V20_e.pdf,2002-4-26.42-49.
[21]Freescale Semiconductor.MC68HC908GZ60/48/32 Data Sheet[EB/OL].http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=68HC908GZ60&nodeId=016246844976633223.2006-10-10.
[22]余永权,黄英.世界流行单片机技术手册-美国系列[M].北京:北京航空航天大学出版社.2004.214-263.
[23]韩江洪,蒋建国,方仁忠.KJ15A矿井机车运输监控系统[M].北京:煤炭工业出版社.1998.
[24]周庆生,祝龙记.煤矿地面运输监控系统的设计与应用[J]煤矿机械.2004,7.54-55.
[25]National Semiconductors.LM1575/2575/2575HV series Simple Switcher Regulator.[EB/OL].http://www.xinqi.cn/pdf/dian/lm2575.pdf.1999-5-1.
[26]金浩.分布式控制系统在线升级技术.[D].硕士,合肥工业大学.2006.
[27]Vishay Semiconductor.TSOP 1838 Photo Modules for PCM Rmote Control System.[EB/OL].http://cn.ic-on-line.cn/IOL/datasheet/TSOP1838_186085.pdf.2000-9-13.
[28]Fairchild Semiconductor.6N137 datasheet.[EB/OL].http://www.fairchildsemi.com/ds/6N%2F6N137.pdf.2006-7-1.
[29]International Rectifier.IRFPCS0 datasheet.[EB/OL]http://www.ortodoxism.ro/datasheets/irf/irfpc50.PDF.
[30]田静,黄亚楼,王立文等.CAN总线固定优先级调度算法的应用[J].计算机工程,2006,12.94-96.
[31]孙继平,郭继坤.基于矿井下含分支节点的CAN总线优先权分配[J].辽宁工程技术大学学报.2006,6.409-411.
[32]白涛,吴智铭,杨根科.基于CAN网的模糊优先级配置策略[J].控制与决策.2005,3.285-293.
[33]马向华,谢剑英.CAN网络控制系统网络时延分析及其控制[J].化工自动化及仪表.2006,1.51-55.
[34]史久根,张培仁.CAN总线在实时系统中应用的研究[J].中国科学技术大学学报.2005,4.195-201.
[35]刘广斌,刘冬,姚志成.单片机系统实用抗干扰技术[M].北京:人民邮电出版社.2004,3.
[36]Ferran Silva,Marcos Quilez,Jordi Llop,Xavier Torres,Pere Riu.EM1 FROM AN AUTOMOTIVE CAN BUS[A].IEEE 1999[C].512-516.
[37]胡晓健.矿井综合安全监控系统的设计与研究[D].硕士,合肥工业大学.2006.
[38]雷煌.基于CAN总线的矿井分布式SCADA监控与数据采集系统[D].硕士,太原理工大学.2002.
[39]Kaiser,Jorg,Brudna,Cnstiano,Mitidien,Carlos.Implementing real-time event channels on CAN-Bus[A].2004 IEEE International Workshop on Factory Communicaton Systems-Proceedings.WFCS[C]2004.247-256.
[40]Anderew S.Tanenbaum.Computer Networks(Third Edition)[M].Prentice Hall International,Inc.
[41]AV Scott,WJ Bochanan.Truly Distributed Control Systems Using Field Bus Technology[A].Seventh IEEE International Conference on the Engineering of Computer Based Systems[C],2000.
[42]Jose Luis Sevillano.Analysis of channel utilization for controller area networks [J].Computer Communications.1998,21.1446-1451.
[43]Joerg Kaiser,Cristiano Brudna,Carlos Mitidieri.A Real-Time Event Channel Model for the CAN-Bus[A].2003 IEEE International Paralled and Distributed Processing Symposium.IPDPS[C]2004.
[44]Zhang Dongliang,Tian Xincheng,Xuqing.Application of CAN Bus Technique in Digital AC Servo Drives[A].The 4th International Power Electronics and Motion Control Conference.IPEMC[C]2004.746-749.
[45]吕伟杰,刘鲁源,王毅新.基于CAN的动态优先级提升算法及实现[J].化工自动化及仪表.2005-4-30-32.
[46]M.J.P Van Osch,S.A.Smolka.Finite-state analysis of the CAN bus protocol[A].The sixth IEEE International Symposium on High Assurance Systems Engineering,2001.IEEE HASE01[C].42-52.
[47]刘跃平,宋刚,裘正定.智能化转辙机的技术要求及功能特点[J].中国铁路.2004,11.63-64.
[48]Texas Instruments Inc.LMV321 SINGLE,LMV358 DUAL,LMV324 QUAD,LMV324S QUAD WITH SHUTDOWNLOW-VOLTAGE RAIL-TO-RAIL OUTPUT OPERATION ALAMPLIFIERS[EB/OL].http://www.ortodoxism.ro/datasheets/texasinstrument/lmv358,pdf.2003-1-1.
[49]煤炭科学研究总院抚顺分院.我国煤矿监测监控系统现状与发展趋势[J].中国公共安全(综合版).2005,10.52-55.
[50]Jean Luc Scharbarg,Marc Boyer,Christian Fraboul.CAN-Ethernet Architectures for Real-Time Applications[A].IEEE[C].2005,9.245-252.
[51]David M.Davenport,Ralph T.Hoctor.A Physical Layer for the CAN Bus using Modulated PLC[A].IEEE ISPLC2005[C].176-180.
[52]H.Ekiz,,A.Kutlu,E.T.Powner.Design and Implementation of a CAN/CAN Bridge[A]IEEE 1996[C].507-513.
[53]Jose Rufino,Nuno Pedrosa,Jose Monteiro.Hardware support for CAN fault-tolerant communication[A].IEEE 1998[C].263-266.
[54]Thomas Nolte,Hans Hansson,Christer Norstrom,,Sasikumar Punnekkat.Using bit-stuffing distributions in CAN analysis[C].IEEE Real-Time Embedded Systems Workshop[A]2001,12.
[55]Kirk Brian.Using software protocols to mask CAN bus insecurities[A].The 1998 IEEE Colloquium on Electromagnetic Compatibility of Software[C]1998.1/5-5/5.
[2]戴磊.以综合自动化控制为基础的数字化矿井建设体系[J].安徽建筑工业学院学报(自然科学版).2005,5.78-80.
[3]李长青,朱世松,赵建贵.煤矿安全和生产监控系统的现状与未来发展趋势[J].焦作工学院学报(自然科学版).2000,2.120-125.
[4]李玉良.矿井机车监控系统的应用与发展[J]煤矿机电.2000,2.29-31.
[5]Wu Jianxin,Ding Ying,Jiang Xiuzhu.Research on integration of coal mine monitoring and control system with field bus control system[J].Journal of China University of Mining and Technology.2006,1:82-85.
[6]Sun Jiping,Guo Jikun,Pan Tao.Research on Intelligence Node Address of CAN Field-bus for Coal Mine Monitoring[A].ICEMI[C].2005.
[7]徐钊,郑红党,刘玉东.基于CAN总线的煤矿监测监控系统研究[J]中国矿业大学学报.2004,4:421-423.
[8]程德强,李世银,李鹏等.矿井安全监测监控系统.电视技术[J].2006,2.78-81.
[9]阳宪惠.现场总线技术及其应用.北京:清华大学出版社.2000.
[10]成继勋,孟祥忠.煤矿用现场总线标准的研究[J].煤炭学报.2001,6.657-662.
[11]刘家磊,李长青.矿井安全生产监控系统通信协议的研究.工矿自动化[J].2007,1:54-57.
[12]夏德海.现场总线的现状及其应用.中国仪器仪表,1998,(2),3-5
[13]阳宪惠.现场总线技术及其应用[M].北京:清华大学出版社,2005.1-15.
[14]高明璋.现场总线的发展趋势[J].仪器仪表用户.2005,6.160-161.
[15]王振华,朱国力.基于CAN总线的开放式网络数控系统研究.机电工程.2000,17(3).46-48
[16]Robert.Bosch GmbH.CAN specification Version 2.0.BUSCH.1991
[17]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
[18]饶运涛,邹继军,郑勇芸.现场总线CAN原理与应用技术[M].北京:北京航空航天大学出版社,2003.14-36.
[19]史久根,张培仁,陈真勇.CAN现场总线系统设计技术[M].北京:国防工业出版社.2004.20-47.
[20]Bosch.CAN Specification V2.0[EB/OL].http://www.zlgmcu.com/philips/can/about/BOSCH_CAN_V20_e.pdf,2002-4-26.42-49.
[21]Freescale Semiconductor.MC68HC908GZ60/48/32 Data Sheet[EB/OL].http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=68HC908GZ60&nodeId=016246844976633223.2006-10-10.
[22]余永权,黄英.世界流行单片机技术手册-美国系列[M].北京:北京航空航天大学出版社.2004.214-263.
[23]韩江洪,蒋建国,方仁忠.KJ15A矿井机车运输监控系统[M].北京:煤炭工业出版社.1998.
[24]周庆生,祝龙记.煤矿地面运输监控系统的设计与应用[J]煤矿机械.2004,7.54-55.
[25]National Semiconductors.LM1575/2575/2575HV series Simple Switcher Regulator.[EB/OL].http://www.xinqi.cn/pdf/dian/lm2575.pdf.1999-5-1.
[26]金浩.分布式控制系统在线升级技术.[D].硕士,合肥工业大学.2006.
[27]Vishay Semiconductor.TSOP 1838 Photo Modules for PCM Rmote Control System.[EB/OL].http://cn.ic-on-line.cn/IOL/datasheet/TSOP1838_186085.pdf.2000-9-13.
[28]Fairchild Semiconductor.6N137 datasheet.[EB/OL].http://www.fairchildsemi.com/ds/6N%2F6N137.pdf.2006-7-1.
[29]International Rectifier.IRFPCS0 datasheet.[EB/OL]http://www.ortodoxism.ro/datasheets/irf/irfpc50.PDF.
[30]田静,黄亚楼,王立文等.CAN总线固定优先级调度算法的应用[J].计算机工程,2006,12.94-96.
[31]孙继平,郭继坤.基于矿井下含分支节点的CAN总线优先权分配[J].辽宁工程技术大学学报.2006,6.409-411.
[32]白涛,吴智铭,杨根科.基于CAN网的模糊优先级配置策略[J].控制与决策.2005,3.285-293.
[33]马向华,谢剑英.CAN网络控制系统网络时延分析及其控制[J].化工自动化及仪表.2006,1.51-55.
[34]史久根,张培仁.CAN总线在实时系统中应用的研究[J].中国科学技术大学学报.2005,4.195-201.
[35]刘广斌,刘冬,姚志成.单片机系统实用抗干扰技术[M].北京:人民邮电出版社.2004,3.
[36]Ferran Silva,Marcos Quilez,Jordi Llop,Xavier Torres,Pere Riu.EM1 FROM AN AUTOMOTIVE CAN BUS[A].IEEE 1999[C].512-516.
[37]胡晓健.矿井综合安全监控系统的设计与研究[D].硕士,合肥工业大学.2006.
[38]雷煌.基于CAN总线的矿井分布式SCADA监控与数据采集系统[D].硕士,太原理工大学.2002.
[39]Kaiser,Jorg,Brudna,Cnstiano,Mitidien,Carlos.Implementing real-time event channels on CAN-Bus[A].2004 IEEE International Workshop on Factory Communicaton Systems-Proceedings.WFCS[C]2004.247-256.
[40]Anderew S.Tanenbaum.Computer Networks(Third Edition)[M].Prentice Hall International,Inc.
[41]AV Scott,WJ Bochanan.Truly Distributed Control Systems Using Field Bus Technology[A].Seventh IEEE International Conference on the Engineering of Computer Based Systems[C],2000.
[42]Jose Luis Sevillano.Analysis of channel utilization for controller area networks [J].Computer Communications.1998,21.1446-1451.
[43]Joerg Kaiser,Cristiano Brudna,Carlos Mitidieri.A Real-Time Event Channel Model for the CAN-Bus[A].2003 IEEE International Paralled and Distributed Processing Symposium.IPDPS[C]2004.
[44]Zhang Dongliang,Tian Xincheng,Xuqing.Application of CAN Bus Technique in Digital AC Servo Drives[A].The 4th International Power Electronics and Motion Control Conference.IPEMC[C]2004.746-749.
[45]吕伟杰,刘鲁源,王毅新.基于CAN的动态优先级提升算法及实现[J].化工自动化及仪表.2005-4-30-32.
[46]M.J.P Van Osch,S.A.Smolka.Finite-state analysis of the CAN bus protocol[A].The sixth IEEE International Symposium on High Assurance Systems Engineering,2001.IEEE HASE01[C].42-52.
[47]刘跃平,宋刚,裘正定.智能化转辙机的技术要求及功能特点[J].中国铁路.2004,11.63-64.
[48]Texas Instruments Inc.LMV321 SINGLE,LMV358 DUAL,LMV324 QUAD,LMV324S QUAD WITH SHUTDOWNLOW-VOLTAGE RAIL-TO-RAIL OUTPUT OPERATION ALAMPLIFIERS[EB/OL].http://www.ortodoxism.ro/datasheets/texasinstrument/lmv358,pdf.2003-1-1.
[49]煤炭科学研究总院抚顺分院.我国煤矿监测监控系统现状与发展趋势[J].中国公共安全(综合版).2005,10.52-55.
[50]Jean Luc Scharbarg,Marc Boyer,Christian Fraboul.CAN-Ethernet Architectures for Real-Time Applications[A].IEEE[C].2005,9.245-252.
[51]David M.Davenport,Ralph T.Hoctor.A Physical Layer for the CAN Bus using Modulated PLC[A].IEEE ISPLC2005[C].176-180.
[52]H.Ekiz,,A.Kutlu,E.T.Powner.Design and Implementation of a CAN/CAN Bridge[A]IEEE 1996[C].507-513.
[53]Jose Rufino,Nuno Pedrosa,Jose Monteiro.Hardware support for CAN fault-tolerant communication[A].IEEE 1998[C].263-266.
[54]Thomas Nolte,Hans Hansson,Christer Norstrom,,Sasikumar Punnekkat.Using bit-stuffing distributions in CAN analysis[C].IEEE Real-Time Embedded Systems Workshop[A]2001,12.
[55]Kirk Brian.Using software protocols to mask CAN bus insecurities[A].The 1998 IEEE Colloquium on Electromagnetic Compatibility of Software[C]1998.1/5-5/5.