基于CAN总线的土工三轴仪控制系统的研制
|
摘要
计算机技术和数字通信技术的飞速发展带来了控制领域的深刻变革，使控制系统向分散化、网络化、智能化方向发展。现场总线控制系统(FCS)的出现适应了控制领域的这一发展要求，成为集散控制系统(DCS)之后的新一代控制系统，并成为控制领域发展的主流。
本论文针对国内三轴仪市场的要求，分析了目前三轴仪控制系统的优缺点，研究了三轴仪控制系统的发展趋势，研制了一套以CAN总线作为数据通讯方式的具有实时控制特点的三轴仪控制系统，并完成了控制系统的硬件、软件设计与调试工作。研究工作主要包括：
确定了控制系统的数据通信方案和控制方式方案，并给出了控制系统的整体结构；
完成了三轴仪系统的下位机微处理器(TMS320LF2407A)系统平台的硬件设计；
完成了三轴仪通信系统的硬件电路设计、软件编程与系统调试；
进行了三轴仪轴向加载系统的结构研究及加载系统的硬件电路设计及软件编程。
通过理论分析与试验表明，所开发的基于CAN总线的三轴仪控制系统有效地提高了控制系统的实时性、数据通信的可靠性和三轴试验的自动化程度。实现了系统的最优控制、最大的资源利用率和集散控制系统向数字化系统的过渡，具有重要的理论意义和应用价值。
The rapid development of Computer Science and Digital Communication Technology leads to the revolution of Control Field. Distributed, Network and Intelligent System become the directions of Control Field. Field Control System (FCS) meets the demands of Control Technologies Developments. It becomes a new generation Control System after the Distributed Control System(DCS). And it becomes the mainstream of Control Field.
According to the requirement of the triaxial instrument home market, the advantages and the disadvantages of control scheme in current triaxial instrument control system are analyzed in this dissertation. The development direction of the triaxial control system is studied. A set of triaxial instrument control system is researched and designed. The control system whose data communication mode is CAN bus has Real-time control characteristic. The designing of the hardware circuit, the programming of the software and the debugging of the control system are accomplished. The main research tasks are as follows:
The corresponding communication protocols and the control mode of the triaxial control system are established. The design of the system is accomplished.
The hardware of the triaxial instrument microprocessor (TMS320LF2407A) system is accomplished.
The hardware circuit, the software programming and the system debugging of the triaxial instrument communication system are accomplished.
The structure of the triaxial instrument axial loading system is studied. The hardware circuit and the software programming of the loading system are accomplished.
The theory analysis and experiments indicate that the triaxial instrument control system, which is based on the CAN bus, enhances the real time performance of the system, the reliability of the data communication and the automation degree of the triaxial instrument experiments effectively. The optimization control, the maximal resource utilization ratio and the transition from the distributed system to digital system are realized. It possesses essentially theoretical significance and engineering application values.
本论文针对国内三轴仪市场的要求，分析了目前三轴仪控制系统的优缺点，研究了三轴仪控制系统的发展趋势，研制了一套以CAN总线作为数据通讯方式的具有实时控制特点的三轴仪控制系统，并完成了控制系统的硬件、软件设计与调试工作。研究工作主要包括：
确定了控制系统的数据通信方案和控制方式方案，并给出了控制系统的整体结构；
完成了三轴仪系统的下位机微处理器(TMS320LF2407A)系统平台的硬件设计；
完成了三轴仪通信系统的硬件电路设计、软件编程与系统调试；
进行了三轴仪轴向加载系统的结构研究及加载系统的硬件电路设计及软件编程。
通过理论分析与试验表明，所开发的基于CAN总线的三轴仪控制系统有效地提高了控制系统的实时性、数据通信的可靠性和三轴试验的自动化程度。实现了系统的最优控制、最大的资源利用率和集散控制系统向数字化系统的过渡，具有重要的理论意义和应用价值。
The rapid development of Computer Science and Digital Communication Technology leads to the revolution of Control Field. Distributed, Network and Intelligent System become the directions of Control Field. Field Control System (FCS) meets the demands of Control Technologies Developments. It becomes a new generation Control System after the Distributed Control System(DCS). And it becomes the mainstream of Control Field.
According to the requirement of the triaxial instrument home market, the advantages and the disadvantages of control scheme in current triaxial instrument control system are analyzed in this dissertation. The development direction of the triaxial control system is studied. A set of triaxial instrument control system is researched and designed. The control system whose data communication mode is CAN bus has Real-time control characteristic. The designing of the hardware circuit, the programming of the software and the debugging of the control system are accomplished. The main research tasks are as follows:
The corresponding communication protocols and the control mode of the triaxial control system are established. The design of the system is accomplished.
The hardware of the triaxial instrument microprocessor (TMS320LF2407A) system is accomplished.
The hardware circuit, the software programming and the system debugging of the triaxial instrument communication system are accomplished.
The structure of the triaxial instrument axial loading system is studied. The hardware circuit and the software programming of the loading system are accomplished.
The theory analysis and experiments indicate that the triaxial instrument control system, which is based on the CAN bus, enhances the real time performance of the system, the reliability of the data communication and the automation degree of the triaxial instrument experiments effectively. The optimization control, the maximal resource utilization ratio and the transition from the distributed system to digital system are realized. It possesses essentially theoretical significance and engineering application values.
引文
[1] (日)松岗元 著，罗汀，姚仰平 译．土力学．中国水利水电出版社，2001
[2] 南京水利科学研究院土工研究所．土工试验技术手册．人民交通出版社，2003
[3] 杨熙章．土工试验与原理．同济大学出版社，1993
[4] 朱思哲 等．三轴试验原理与应用技术．中国电力出版社．2003
[5] 南京水利电力仪器工程公司，土工试验仪器产品介绍，2000，9
[6] California Bearing Ratio LoadTracⅡ. GEOCOMP Corporation
[7] GDS Standard GDSTAS Automated Triaxial System. GDS Instruments Incorporated.
[8] Load Cell Test Data Sheet. Beijing Tedea-Huntleigh Electronics CO. LTD.
[9] GDS Standard GDSTAS Automated Triaxial System. GDS Instruments Incorporated
[10] GEOLOG 6 Data Acquisition System. GEOCOMP Corporation
[11] 邬宽明．现场总线技术应用选编(上)．北京航空航天出版社，2003．
[12] 中华人们共和国水利电力部．土工试验方法标准．水利出版社，1999
[13] 饶运涛，邹继军，郑勇芸．现场总线CAN原理与应用技术．北京航空航天出版社，2003．
[14] Martin Gergeleit, Hermann Streich. Implementing a Distributed High-Resolution Real-Time Clock using the CAN-Bus. CAN in Automation, 1994
[15] 刘宝廷，程树康等．步进电机及其驱动控制系统．哈尔滨工业大学出版社，1997．
[16] 德国百格拉三相混合式步进电机及驱动系统．沈阳莱茵机电有限公司．2000
[17] 刘和平，王维俊，江渝，邓力等．TMS320LF240x DSP C语言开发应用．北京航空航天出版社，2003．
[18] 李景华，杜玉远．可编程逻辑器件与EDA技术．东北大学出版社，2000．
[19] 高书莉，罗朝霞．可编程逻辑设计技术及应用．人民邮电出版社，2001．
[20] TMS320LF_LC240Xa DSP Controllers Reference Guide-System and Peripherals. Texas Instruments Incorporated. 2001
[21] PCI-5121用户手册．广州周立功单片机发展有限公司，2003
[22] 胡汉才．单片机原理及系统设计．清华大学出版社，2002
[23] THK综合商品目录．THK CO．LTD．2000：D31
[24] 德国NEUGART精密行星减速机．沈阳莱茵机电有限公司．2000
[25] 德国百格拉三相混合式步进电机及驱动系统．沈阳莱茵机电有限公司．2000
[26] User's Manual for LCD Module EDM240128F. Dalian Dongfu Color Display Co. Ltd.
[27] 王诚，薛小刚，钟信潮．FPGA／CPLD设计工具Xilinx ISE5．x使用详解．人民邮电出版社，2003
[28] 刘汉龙，周云东，高玉峰，余湘娟，Nakasono Takeshi．多功能静动三轴仪研制及在液化后大变形中的应用．大坝观测与土工测试，2001，25(5)：48—51
[29] 邵龙潭，王助贫 等．三轴试验土样径向变形的计算机图像测量．岩土工程学报，2001，5：337—341
[30] 邬宽明．CAN总线原理和应用系统设计．北京航空航天出版社，1996。
[31] ISO 91898 Vehicle-Digital Information Intercharge-High Speed Communication Controller Area Network(Version 1), 1993, 11
[32] 刘常杰，曲兴华，叶声华．CAN 总线在分布测试与控制系统中的应用．电子测量与仪器学报．2001，15(3)：1-4
[33] Rodd, M. G., Dimyati, K., Motus, L. The design and analysis of low-cost real-time fieldbus systems. Control Engineering Practice. 1998, 6: 83-91
[34] Patzke, Robert. Fieldbus basics. Computer Standards&Interfaces. 1998, 19: 275-293
[35] 蔡月明，刘浩．基于CAN总线的工业控制系统．中国仪器仪表．2001，5：16-18
[36] 周宝龙，岳继光，箫蕴诗．基于CAN控制器的对等式单片机系统的通信．2001，027(002)：26-25
[37] 李维諟，郭强．液晶显示应用技术．电子工业出版社，2000．
[38] 陈维山，赵杰．机电系统计算机控制．哈尔滨工业大学出版社，1999．
[39] 高钟毓．机电控制工程．清华大学出版社，2002．
[40] (美)贝斯克 著，徐振林 译．Verilog HDL硬件描述语言．机械工业出版社，2000．
[41] Griesmeyer JM. General Interface for Supervisor and Subsystems(GENISAS). Sandia Internal Report, SAND92-2159, Sandia National Laboratories-New Mexico, October 1992
[42] 朱铭锆，赵勇，甘泉．DSP应用系统设计．电子工业出版社，2002．
[43] B. Haimson, C. Chang. A new true triaxial cell for testing mechanical properties of rock, and its use to determine rock strength and deformability of Westerly granite. International Journal of Rock Mechanics and Milling Sciences. 2000, 37: 285-296
[44] W. R. WAWERSIK, L. W. CARLSON. New Methods for True-Triaxial Rock Testing. International Journal of Rock and Mining Sciences&Geomechanics Abstract. 1997, 34: 365
[45] Dayakar Penumadu, Rongda Zhao. Tricaxial compression behavior of sand and gravel using artificial networks(ANN). Computers and Geotechnics. 1999, 24: 207-230
[46] Hodson W R. How Fieldbus Will Affect DCS Architecture[J]. Intech. 1996, (Ⅱ): 50-53
[47] Implementation Guide for the CAN Protocol. CAN in Automation, 1994
[48] 屈波，周玉庭．SY300-1型高压三轴仪微机测控系统研究．大坝观测与土工测试，2001，3：47—49
[49] 钱黎平，吕涛，程德幅．基于DSP-LF2407A和CAN总线的分布式电机控制系统．自控与测量，2003，7：33—35
[50] 高亮．8051 单片机对步进电机的控制及步进电机升降速曲线的设计．测控技术．2002，21(11)：64-65，67
[51] 赵永瑞，李刚．三相混合式步进电机系统．机电一体化．2000，3：50-51
[52] 李为民，刑晓正，胡红专，邓伟平．基于DSP的步进电机控制系统设计．驱动控制．2000，7：27-29
[53] 李峻，李学全，胡德金．基于数字信号处理器的步进电机运动控制．伺服技术．1999，7：19-21
[54] 李忠杰，宁守信．步进电动机应用技术．机械工业出版社，1988．
[55] 张新华，李伟．基于CAN总线的伺服电机通信控制．机电工程．2003，020(001)：39-41
[56] 蒯剑．电子仪器RS—232串口通信程序的开发．仪器仪表用户．2002，09(6)：13-15
[2] 南京水利科学研究院土工研究所．土工试验技术手册．人民交通出版社，2003
[3] 杨熙章．土工试验与原理．同济大学出版社，1993
[4] 朱思哲 等．三轴试验原理与应用技术．中国电力出版社．2003
[5] 南京水利电力仪器工程公司，土工试验仪器产品介绍，2000，9
[6] California Bearing Ratio LoadTracⅡ. GEOCOMP Corporation
[7] GDS Standard GDSTAS Automated Triaxial System. GDS Instruments Incorporated.
[8] Load Cell Test Data Sheet. Beijing Tedea-Huntleigh Electronics CO. LTD.
[9] GDS Standard GDSTAS Automated Triaxial System. GDS Instruments Incorporated
[10] GEOLOG 6 Data Acquisition System. GEOCOMP Corporation
[11] 邬宽明．现场总线技术应用选编(上)．北京航空航天出版社，2003．
[12] 中华人们共和国水利电力部．土工试验方法标准．水利出版社，1999
[13] 饶运涛，邹继军，郑勇芸．现场总线CAN原理与应用技术．北京航空航天出版社，2003．
[14] Martin Gergeleit, Hermann Streich. Implementing a Distributed High-Resolution Real-Time Clock using the CAN-Bus. CAN in Automation, 1994
[15] 刘宝廷，程树康等．步进电机及其驱动控制系统．哈尔滨工业大学出版社，1997．
[16] 德国百格拉三相混合式步进电机及驱动系统．沈阳莱茵机电有限公司．2000
[17] 刘和平，王维俊，江渝，邓力等．TMS320LF240x DSP C语言开发应用．北京航空航天出版社，2003．
[18] 李景华，杜玉远．可编程逻辑器件与EDA技术．东北大学出版社，2000．
[19] 高书莉，罗朝霞．可编程逻辑设计技术及应用．人民邮电出版社，2001．
[20] TMS320LF_LC240Xa DSP Controllers Reference Guide-System and Peripherals. Texas Instruments Incorporated. 2001
[21] PCI-5121用户手册．广州周立功单片机发展有限公司，2003
[22] 胡汉才．单片机原理及系统设计．清华大学出版社，2002
[23] THK综合商品目录．THK CO．LTD．2000：D31
[24] 德国NEUGART精密行星减速机．沈阳莱茵机电有限公司．2000
[25] 德国百格拉三相混合式步进电机及驱动系统．沈阳莱茵机电有限公司．2000
[26] User's Manual for LCD Module EDM240128F. Dalian Dongfu Color Display Co. Ltd.
[27] 王诚，薛小刚，钟信潮．FPGA／CPLD设计工具Xilinx ISE5．x使用详解．人民邮电出版社，2003
[28] 刘汉龙，周云东，高玉峰，余湘娟，Nakasono Takeshi．多功能静动三轴仪研制及在液化后大变形中的应用．大坝观测与土工测试，2001，25(5)：48—51
[29] 邵龙潭，王助贫 等．三轴试验土样径向变形的计算机图像测量．岩土工程学报，2001，5：337—341
[30] 邬宽明．CAN总线原理和应用系统设计．北京航空航天出版社，1996。
[31] ISO 91898 Vehicle-Digital Information Intercharge-High Speed Communication Controller Area Network(Version 1), 1993, 11
[32] 刘常杰，曲兴华，叶声华．CAN 总线在分布测试与控制系统中的应用．电子测量与仪器学报．2001，15(3)：1-4
[33] Rodd, M. G., Dimyati, K., Motus, L. The design and analysis of low-cost real-time fieldbus systems. Control Engineering Practice. 1998, 6: 83-91
[34] Patzke, Robert. Fieldbus basics. Computer Standards&Interfaces. 1998, 19: 275-293
[35] 蔡月明，刘浩．基于CAN总线的工业控制系统．中国仪器仪表．2001，5：16-18
[36] 周宝龙，岳继光，箫蕴诗．基于CAN控制器的对等式单片机系统的通信．2001，027(002)：26-25
[37] 李维諟，郭强．液晶显示应用技术．电子工业出版社，2000．
[38] 陈维山，赵杰．机电系统计算机控制．哈尔滨工业大学出版社，1999．
[39] 高钟毓．机电控制工程．清华大学出版社，2002．
[40] (美)贝斯克 著，徐振林 译．Verilog HDL硬件描述语言．机械工业出版社，2000．
[41] Griesmeyer JM. General Interface for Supervisor and Subsystems(GENISAS). Sandia Internal Report, SAND92-2159, Sandia National Laboratories-New Mexico, October 1992
[42] 朱铭锆，赵勇，甘泉．DSP应用系统设计．电子工业出版社，2002．
[43] B. Haimson, C. Chang. A new true triaxial cell for testing mechanical properties of rock, and its use to determine rock strength and deformability of Westerly granite. International Journal of Rock Mechanics and Milling Sciences. 2000, 37: 285-296
[44] W. R. WAWERSIK, L. W. CARLSON. New Methods for True-Triaxial Rock Testing. International Journal of Rock and Mining Sciences&Geomechanics Abstract. 1997, 34: 365
[45] Dayakar Penumadu, Rongda Zhao. Tricaxial compression behavior of sand and gravel using artificial networks(ANN). Computers and Geotechnics. 1999, 24: 207-230
[46] Hodson W R. How Fieldbus Will Affect DCS Architecture[J]. Intech. 1996, (Ⅱ): 50-53
[47] Implementation Guide for the CAN Protocol. CAN in Automation, 1994
[48] 屈波，周玉庭．SY300-1型高压三轴仪微机测控系统研究．大坝观测与土工测试，2001，3：47—49
[49] 钱黎平，吕涛，程德幅．基于DSP-LF2407A和CAN总线的分布式电机控制系统．自控与测量，2003，7：33—35
[50] 高亮．8051 单片机对步进电机的控制及步进电机升降速曲线的设计．测控技术．2002，21(11)：64-65，67
[51] 赵永瑞，李刚．三相混合式步进电机系统．机电一体化．2000，3：50-51
[52] 李为民，刑晓正，胡红专，邓伟平．基于DSP的步进电机控制系统设计．驱动控制．2000，7：27-29
[53] 李峻，李学全，胡德金．基于数字信号处理器的步进电机运动控制．伺服技术．1999，7：19-21
[54] 李忠杰，宁守信．步进电动机应用技术．机械工业出版社，1988．
[55] 张新华，李伟．基于CAN总线的伺服电机通信控制．机电工程．2003，020(001)：39-41
[56] 蒯剑．电子仪器RS—232串口通信程序的开发．仪器仪表用户．2002，09(6)：13-15