基于嵌入式技术的CPT系统的控制算法的研究与实现
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摘要
非接触能量传输(Contactless Power Transfer,CPT)技术是一种新型的能量传输技术,克服了传统能量传输技术的诸多缺点,可带来巨大的经济和社会效益。目前,国内外的许多研究机构都在对其进行理论研究和应用技术的实践工作。本课题主要研究方向是如何控制CPT系统频率稳定地以最大功率传输能量。
嵌入式技术是计算机技术、半导体技术、通信技术和微电子技术在实际应用系统中相结合的产物,是未来工业电子业一个重要的技术发展方向。嵌入式控制系统是嵌入式应用技术与控制技术的结合,在许多领域都有着极其广泛的应用前景和重大的应用价值。
根据CPT系统控制需求,选择三星公司S3C2410芯片为核心搭建控制系统的硬件平台,并分析比较几种主流操作系统的优缺点,选择并构建了适合控制系统功能需求的嵌入式Linux操作系统,完成了软件平台的搭建工作。
针对控制系统的实时性要求,从硬件和软件两方面着手,分析了控制系统的实时性要求,总结影响标准Linux实时性的主要因素,并提出采用RT_Linux技术对标准Linux进行实时性改进的方案。在分析了RT_Linux的实现原理基础上,研究了应用程序实时性的改进方法。
针对CPT系统的控制器的设计问题,首先介绍了常规PID控制和智能PID控制的基本思想和方法,作为智能控制算法研究的理论基础;再次,将智能PID应用于CPT系统的实时控制技术问题中,完成了控制器的设计。
通过Simulink仿真软件建立仿真模型,分别采用常规PID和智能PID进行了CPT系统控制器的仿真,并以仿真结果验证了所设计的智能PID控制算法的有效性。
Contactless Power Transfer(CPT) is a novel power transfer technique, which overcomes many disadvantages of traditional power transfer technique and bring giant social benefits. At present, many research institutes are doing theory studying around the world. The main purpose of this paper is to estimate how to guide the CPT system transferring power at it’s largest power rate.
Embeded technology is resulted from combination of computer technology, semi-conductor technology, communication technology and micro-electric technology, it will be an important direction in the future technology development. Embeded control system applies embedded technology and control technology, which will paly an important role in many engineering fieds.
This paper is based on a foundation project from science council of Chongqing municipal government, which is to establish a software platform for CPT control system under a hardware platform based on S3C2410. After analyzing some traditional operating system, Embeded Linux is used.
To meet the system’s real-time requirement, this paper analysis control system’s real-time requirments and then conclude the main factors which would influence the real-time characters of standard Linux. An improved way of adopting RT_Linux is proposed. Bused on analyzing RT_Linux’s principle, it’s kernel and replanting are studied.
Aiming at the design of CPT system’s intelligent controller, traditional PID control and intelligent PID control are introduced as foundation of intelligent control method. Intelligent PID is used in CPT control to accomplish it’s controller.
A simulating model is constructed under Simulink, system controller based on traditional PID control and intelligent PID control have been simulated respectively. The intelligent PID control algorithm has been validated by simulation result.
嵌入式技术是计算机技术、半导体技术、通信技术和微电子技术在实际应用系统中相结合的产物,是未来工业电子业一个重要的技术发展方向。嵌入式控制系统是嵌入式应用技术与控制技术的结合,在许多领域都有着极其广泛的应用前景和重大的应用价值。
根据CPT系统控制需求,选择三星公司S3C2410芯片为核心搭建控制系统的硬件平台,并分析比较几种主流操作系统的优缺点,选择并构建了适合控制系统功能需求的嵌入式Linux操作系统,完成了软件平台的搭建工作。
针对控制系统的实时性要求,从硬件和软件两方面着手,分析了控制系统的实时性要求,总结影响标准Linux实时性的主要因素,并提出采用RT_Linux技术对标准Linux进行实时性改进的方案。在分析了RT_Linux的实现原理基础上,研究了应用程序实时性的改进方法。
针对CPT系统的控制器的设计问题,首先介绍了常规PID控制和智能PID控制的基本思想和方法,作为智能控制算法研究的理论基础;再次,将智能PID应用于CPT系统的实时控制技术问题中,完成了控制器的设计。
通过Simulink仿真软件建立仿真模型,分别采用常规PID和智能PID进行了CPT系统控制器的仿真,并以仿真结果验证了所设计的智能PID控制算法的有效性。
Contactless Power Transfer(CPT) is a novel power transfer technique, which overcomes many disadvantages of traditional power transfer technique and bring giant social benefits. At present, many research institutes are doing theory studying around the world. The main purpose of this paper is to estimate how to guide the CPT system transferring power at it’s largest power rate.
Embeded technology is resulted from combination of computer technology, semi-conductor technology, communication technology and micro-electric technology, it will be an important direction in the future technology development. Embeded control system applies embedded technology and control technology, which will paly an important role in many engineering fieds.
This paper is based on a foundation project from science council of Chongqing municipal government, which is to establish a software platform for CPT control system under a hardware platform based on S3C2410. After analyzing some traditional operating system, Embeded Linux is used.
To meet the system’s real-time requirement, this paper analysis control system’s real-time requirments and then conclude the main factors which would influence the real-time characters of standard Linux. An improved way of adopting RT_Linux is proposed. Bused on analyzing RT_Linux’s principle, it’s kernel and replanting are studied.
Aiming at the design of CPT system’s intelligent controller, traditional PID control and intelligent PID control are introduced as foundation of intelligent control method. Intelligent PID is used in CPT control to accomplish it’s controller.
A simulating model is constructed under Simulink, system controller based on traditional PID control and intelligent PID control have been simulated respectively. The intelligent PID control algorithm has been validated by simulation result.
引文
[1] 徐文明. 嵌入式系统结构特点. 电测与仪表. 2004. 8
[2] 刘力. 嵌入式系统. 后 PC 时代的擎天之柱. 21IC. 2002.3
[3] 刘峥嵘. 嵌入式 Linux 应用开发详解. 机械工业出版社. 2005.6
[4] 吕京建.肖海桥. 面向二十一世纪的嵌入式系统综述. 半导体技术. 2001.1
[5] 刘瑞安. 嵌入式系统的特征、研究概况与设计实现,自动化与仪表. 2004.3
[6] A G. Pedder, A D. Brown, J. Andrew Skinner. A contactless electrical energy Transfer system [J]. Industrial Electronics, IEEE Transactions on, 1999, 46(1):23-30.
[7] 金西.黄汪. 基于嵌入式的信息家电开发与应用前景,源至 INTERNET.
[8] A design model for embedded systems Wilmshurst,T.;Engineering Education:Innovations in Teaching,Learning and Assessment (Ref.No.2001/046),IEE International Symposium on, Volume:Day1,2001
[9] 何立民. 嵌入式系统的定义与发展历史. 单片机及嵌入式系统应用. 2004.1
[10] 吴朝晖. 纵谈嵌入式技术. 微电脑世界. 2000.49
[11] Byungcho Choi, Jaehyun Nho, Honnyong Cha, Taeyoung Ahn and Seungwon Choi, “Design and implementation of low-profile contactless battery charger using planar printed circuit board windings as energy Transfer device,” IEEE Transactions on Industrial Electronics, 2004,51(1): 140-147.
[12] H. Ayano, K. Yamamoto, N. Hino and Yamato, I. “Highly efficient contactless electrical energy Transfer system”, IECON 02 Industrial Electronics Society, 2002, 2: 1364 – 1369.
[13] Byeong-Mun Song, Kratz, R., Gurol, S., “Contactless inductive power pickup system for Maglev applications,” Industry Applications Conference, 2002. 37th IAS Annual Meeting, 2002,3: 1586 – 1591.
[14] Steigerwals, R.L.; Saj, C.F.; Croff, G.A.; “Analysis and design of a contactless rotary power Transfer system ,” Power Electronics Specialists Conference, 2001. PESC. 2001 IEEE 32nd Annual, 2001, 4: 2125-2130.
[15] H. Sakamoto, K. Harada, S. Washimiya, K. Takehara, Y. Matsuo and F. Nakao, “Large air gap coupler for inductive charger,” Magnetics Conference, 1999. Digest of INTERMAG 99. 1999.
[16] Fumihiro Sato, Takashi Nomoto, Hidetoshi Matsuki and Tadakumi Sato, “A new contactless power-signal Transfer device for implanted functional electrical stimulation (FES),” IEEE Transactions on Magnetics, 2004, 40(4): 2964-2966.
[17] H. Sakamoto, K. Harada, S. Washimiya, K. Takehara, Y. Matsuo and F. Nakao, “Large air gapcoupler for inductive charger,” Magnetics Conference, 1999. Digest of INTERMAG 99. 1999
[18] Byungcho Choi, Jaehyun Nho, Honnyong Cha, Taeyoung Ahn and Seungwon Choi, “Design and implementation of low-profile contactless battery charger using planar printed circuit board windings as energy Transfer device,” IEEE Transactions on Industrial Electronics, 2004,51(1): 140-147
[19] Jukka Karjalainen . A Classification Scheme for Embedded Control Systems. Industrial Electronics Society, 1988.2:427-435.
[20] 朱婧. 基于 arm9 的嵌入式数据采集与控制系统硬件平台的设计. 大连海事大学硕士学位论文. 2005.6
[21] 马忠梅.李善平等. ARM&Linux 嵌入式系统教程. 北京航空航天大学出版社. 2004 年
[22] 王智慧. 非接触电能传输系统频率稳定技术研究. 重庆大学硕士学位论文. 2006.6
[23] A design model for embedded systems Wilmshurst, T.; Engineering Education: Innovations in Teaching, Learning and Assessment (Ref. No. 2001/046), IEE I nternational Symposium on, Volume: Day1 , 2001
[24] Hu A P, Chen Z J, Hussmann S, et al. A dynamicallyon-off controlled resonant converter designed for coalmining battery charging applications. Power SystemTechnology,2002,2:1039～1044
[25] Abel E, Third S M. Contactless power transfer--An exercise in topology [J]. IEEE Transaction on mahnetics, 1984, 20(5):1813-1815.
[26] 周立功等. ARM 嵌入式系统基础教程 北京:北京航空航天大学出版社,2005
[27] S3C2410 芯片手册
[28] 黄磊. 单片机和嵌入式系统开发平台化的研究. 南京航空航天大学. 2004.2
[29] 邵贝贝译. 嵌入式实时操作系统. 北京航天航空大学出版社,2003 年
[30] 王耿. 基于 Linux 实时软件的研究. 西北工业大学硕士论文. 2002.2
[31] 严隽薇等. 计算机实时控制系统软件设计导论. 清华大学出版社,1990 年
[32] 冉汉政. 嵌入式控制系统实时性分析与设计. 西南交通大学硕士学位论文. 2003.6
[33] HHARM2410 TIMER1 中断响应周期测试报告
[34] 傅竹青. 基于嵌入式 Linux 和 MiniGUI 的数据传输测试分析仪监控终端研究. 武汉理工大学硕士学位论文. 2005.6
[35] 周立功等. ARM 嵌入式 MiniGUI 初步与应用开发范例. 北京航空航天大学出版社,2006年
[36] 王学龙. 嵌入式 Linux 系统设计与应用. 清华大学出版社,2000 年
[37] 源于 Victor Yodaiken and Michael Barabanov.A Real-Time Linux, http://www.rtLinux.org/
[38] 郭亚峰. 基于 RTLinux 的数控系统关键技术研究及软件开发. 华侨大学硕士学位论文,2001.6
[39] 王琪. 嵌入式实时控制系统的研究应用. 西北工业大学硕士学位论文. 2004.2
[40] 源于 FSMLabs Inc.RTLinux Installation Instructions,http://www.fsmlabs.com
[41] 赖蔚蔚. 基于 RTLinux 的实时内核软件的研究. 西北工业大学硕士学位论文. 2004.6
[42] 张晓辉. 基于嵌入式 Linux 的车载显示屏软件平台研究. 西南交通大学硕士学位论文. 2006.6
[43] 杨立峰. Linux 嵌入式实时操作系统开发与设计. 源于 http://www.csdn.net/
[44] 张晓辉. 基于嵌入式 Linux 的车载显示屏软件平台研究. 西南交通大学硕士学位论文. 2006.6
[45] 朱瑞康.杨路. PID 自整定调节器研究. 南京理工大学学报. 1995.19
[46] 陶永华. 新型 PID 控制及其应用. 机械工业出版社,2002 年
[47] 胡寿松. 自动控制原理. 国防工业出版社,1994 年
[48] Seborg D E,Edgar T F, and Mellichamp D A.Process Dynamics and Control.NEW York: Wiley,1989
[49] 徐庆龙. 智能 PID 算法在远程液位控制系统中的运用. 微计算机信息. 2003.19
[50] 王瑛. 智能 PID 算法的应用及混杂控制系统设计研究. 南京理工大学硕士论文. 2003.9
[51] 张云生. 实时控制系统软件设计原理及应用. 国防工业出版社, 1998 年
[52] 张海藩. 软件工程导论. 清华大学出版社,1998 年
[53] 邹思轶. 嵌入式 Linux 设计与应用[M],北京:清华大学出版社,2001
[2] 刘力. 嵌入式系统. 后 PC 时代的擎天之柱. 21IC. 2002.3
[3] 刘峥嵘. 嵌入式 Linux 应用开发详解. 机械工业出版社. 2005.6
[4] 吕京建.肖海桥. 面向二十一世纪的嵌入式系统综述. 半导体技术. 2001.1
[5] 刘瑞安. 嵌入式系统的特征、研究概况与设计实现,自动化与仪表. 2004.3
[6] A G. Pedder, A D. Brown, J. Andrew Skinner. A contactless electrical energy Transfer system [J]. Industrial Electronics, IEEE Transactions on, 1999, 46(1):23-30.
[7] 金西.黄汪. 基于嵌入式的信息家电开发与应用前景,源至 INTERNET.
[8] A design model for embedded systems Wilmshurst,T.;Engineering Education:Innovations in Teaching,Learning and Assessment (Ref.No.2001/046),IEE International Symposium on, Volume:Day1,2001
[9] 何立民. 嵌入式系统的定义与发展历史. 单片机及嵌入式系统应用. 2004.1
[10] 吴朝晖. 纵谈嵌入式技术. 微电脑世界. 2000.49
[11] Byungcho Choi, Jaehyun Nho, Honnyong Cha, Taeyoung Ahn and Seungwon Choi, “Design and implementation of low-profile contactless battery charger using planar printed circuit board windings as energy Transfer device,” IEEE Transactions on Industrial Electronics, 2004,51(1): 140-147.
[12] H. Ayano, K. Yamamoto, N. Hino and Yamato, I. “Highly efficient contactless electrical energy Transfer system”, IECON 02 Industrial Electronics Society, 2002, 2: 1364 – 1369.
[13] Byeong-Mun Song, Kratz, R., Gurol, S., “Contactless inductive power pickup system for Maglev applications,” Industry Applications Conference, 2002. 37th IAS Annual Meeting, 2002,3: 1586 – 1591.
[14] Steigerwals, R.L.; Saj, C.F.; Croff, G.A.; “Analysis and design of a contactless rotary power Transfer system ,” Power Electronics Specialists Conference, 2001. PESC. 2001 IEEE 32nd Annual, 2001, 4: 2125-2130.
[15] H. Sakamoto, K. Harada, S. Washimiya, K. Takehara, Y. Matsuo and F. Nakao, “Large air gap coupler for inductive charger,” Magnetics Conference, 1999. Digest of INTERMAG 99. 1999.
[16] Fumihiro Sato, Takashi Nomoto, Hidetoshi Matsuki and Tadakumi Sato, “A new contactless power-signal Transfer device for implanted functional electrical stimulation (FES),” IEEE Transactions on Magnetics, 2004, 40(4): 2964-2966.
[17] H. Sakamoto, K. Harada, S. Washimiya, K. Takehara, Y. Matsuo and F. Nakao, “Large air gapcoupler for inductive charger,” Magnetics Conference, 1999. Digest of INTERMAG 99. 1999
[18] Byungcho Choi, Jaehyun Nho, Honnyong Cha, Taeyoung Ahn and Seungwon Choi, “Design and implementation of low-profile contactless battery charger using planar printed circuit board windings as energy Transfer device,” IEEE Transactions on Industrial Electronics, 2004,51(1): 140-147
[19] Jukka Karjalainen . A Classification Scheme for Embedded Control Systems. Industrial Electronics Society, 1988.2:427-435.
[20] 朱婧. 基于 arm9 的嵌入式数据采集与控制系统硬件平台的设计. 大连海事大学硕士学位论文. 2005.6
[21] 马忠梅.李善平等. ARM&Linux 嵌入式系统教程. 北京航空航天大学出版社. 2004 年
[22] 王智慧. 非接触电能传输系统频率稳定技术研究. 重庆大学硕士学位论文. 2006.6
[23] A design model for embedded systems Wilmshurst, T.; Engineering Education: Innovations in Teaching, Learning and Assessment (Ref. No. 2001/046), IEE I nternational Symposium on, Volume: Day1 , 2001
[24] Hu A P, Chen Z J, Hussmann S, et al. A dynamicallyon-off controlled resonant converter designed for coalmining battery charging applications. Power SystemTechnology,2002,2:1039～1044
[25] Abel E, Third S M. Contactless power transfer--An exercise in topology [J]. IEEE Transaction on mahnetics, 1984, 20(5):1813-1815.
[26] 周立功等. ARM 嵌入式系统基础教程 北京:北京航空航天大学出版社,2005
[27] S3C2410 芯片手册
[28] 黄磊. 单片机和嵌入式系统开发平台化的研究. 南京航空航天大学. 2004.2
[29] 邵贝贝译. 嵌入式实时操作系统. 北京航天航空大学出版社,2003 年
[30] 王耿. 基于 Linux 实时软件的研究. 西北工业大学硕士论文. 2002.2
[31] 严隽薇等. 计算机实时控制系统软件设计导论. 清华大学出版社,1990 年
[32] 冉汉政. 嵌入式控制系统实时性分析与设计. 西南交通大学硕士学位论文. 2003.6
[33] HHARM2410 TIMER1 中断响应周期测试报告
[34] 傅竹青. 基于嵌入式 Linux 和 MiniGUI 的数据传输测试分析仪监控终端研究. 武汉理工大学硕士学位论文. 2005.6
[35] 周立功等. ARM 嵌入式 MiniGUI 初步与应用开发范例. 北京航空航天大学出版社,2006年
[36] 王学龙. 嵌入式 Linux 系统设计与应用. 清华大学出版社,2000 年
[37] 源于 Victor Yodaiken and Michael Barabanov.A Real-Time Linux, http://www.rtLinux.org/
[38] 郭亚峰. 基于 RTLinux 的数控系统关键技术研究及软件开发. 华侨大学硕士学位论文,2001.6
[39] 王琪. 嵌入式实时控制系统的研究应用. 西北工业大学硕士学位论文. 2004.2
[40] 源于 FSMLabs Inc.RTLinux Installation Instructions,http://www.fsmlabs.com
[41] 赖蔚蔚. 基于 RTLinux 的实时内核软件的研究. 西北工业大学硕士学位论文. 2004.6
[42] 张晓辉. 基于嵌入式 Linux 的车载显示屏软件平台研究. 西南交通大学硕士学位论文. 2006.6
[43] 杨立峰. Linux 嵌入式实时操作系统开发与设计. 源于 http://www.csdn.net/
[44] 张晓辉. 基于嵌入式 Linux 的车载显示屏软件平台研究. 西南交通大学硕士学位论文. 2006.6
[45] 朱瑞康.杨路. PID 自整定调节器研究. 南京理工大学学报. 1995.19
[46] 陶永华. 新型 PID 控制及其应用. 机械工业出版社,2002 年
[47] 胡寿松. 自动控制原理. 国防工业出版社,1994 年
[48] Seborg D E,Edgar T F, and Mellichamp D A.Process Dynamics and Control.NEW York: Wiley,1989
[49] 徐庆龙. 智能 PID 算法在远程液位控制系统中的运用. 微计算机信息. 2003.19
[50] 王瑛. 智能 PID 算法的应用及混杂控制系统设计研究. 南京理工大学硕士论文. 2003.9
[51] 张云生. 实时控制系统软件设计原理及应用. 国防工业出版社, 1998 年
[52] 张海藩. 软件工程导论. 清华大学出版社,1998 年
[53] 邹思轶. 嵌入式 Linux 设计与应用[M],北京:清华大学出版社,2001