球—杆测控系统开发与研究
摘要
球杆是一个典型的非线性、不稳定、机电耦合系统,对研究动态系统建模及验证控制算法的稳定性、快速性、准确性具有重要的意义。国内外诸多学者主要在球杆建模与数字仿真及控制等方面做了大量的工作。随着控制算法的复杂化,其通信系统中普遍采用的RS232接口在数据采集频率、实时性能等方面的弊端日益明显。
本研究旨在通过设计并实现自己的球杆测控系统软硬件平台：基于USB (Universal Serial Bus)接口的上下位机通信；基于MCU的下位机测控平台；基于LabVIEW的上位机软件测控平台。本论文的具体工作体现在以下几个方面：
1.在分析固高球杆测控系统在通信速度、可靠性、易用性不足的基础上,针对球杆测控平台的设计目标提出一种基于USB的优秀嵌入式解决方案,并对设计目标中电机驱动能力和采样频率的正确性进行了验证。
2.测控系统以微控制器为核心,扩展了计数模块以实现与光电编码器的电机转速测量传感器接口,扩展了模拟量采集模块以实现与球在杆上的位置测量传感器接口,扩展了功率驱动模块以直接驱动直流电动机,扩展了USB功能模块以实现与上位机之间的实时数据通信。
3.以Keil C51为固件程序开发平台,下位机测控程序采用汇编语言与C语言混合编程的方式,设计并优化了USB固件程序、数据采集程序和直流伺服电机驱动程序,实现测控系统的通信、数据采集以及控制功能。
4.以LabVIEW为人机界面和控制算法运行环境,利用其库函数结点建立了上位机应用程序与USB驱动程序之间的函数调用,完成球杆系统的文件化操作,界面友好,数据的存贮、处理、可视化显示功能强大。
5.以NI ELVIS虚拟示波器及其配套硬件为试验调试平台,以BusHound和IRPTrace为枚举过程监测软件,优化上下位机程序,达到提高通信速率和数据可靠性的目的,最后对测控系统的各项性能指标进行了测试,达到球杆系统的控制要求,系统运行稳定、可靠。
Ball-beam is a non-linear, unstable, mechanical and electrical combination system; it is of great significance to the research of the dynamic system modeling and to verifying the stability, the rapidity, the accuracy of control algorithm. Many researchers have done a lot of work in the modeling and the digital simulation of ball-beam system at home and abroad. However, with the complexity of control algorithm, the shortcomings of RS232 in data acquisition frequency and real-time communication performance become increasingly obvious.
This research is to design and realize the measurement and control system for the ball-beam system:the communication between PC and MCU is based on USB (Universal Serial Bus); the measurement and control platform is based on MCU; the PC software platform is based on LabVIEW. This thesis has accomplished the following work::
1. After analysing some drawbacks of RS232 in communication speed, reliability, and usability this thesis uses an embedded solution based on USB, which is proved to satisfy the demands for the motor drive capacity and the sampling frequency.
2. The subordinate measurement and control system is based on a micro-controller system, which includes a counting module to measure the motor speed through the two-phase encoder, and an analog acquisition circuit to measure the ball's position on the beam, and a power-driving module to drive DC motor, and a USB function module in order to achieve real-time data communication with the host computer.
3. With Keil C51 as the software development kit, the measurement and control program is a combination of assembly program and C program, which includes the USB firmware, the data acquisition program, and the program for driving the DC servo motor, to accomplish the function of the measurement and control system in communication, data acquisition, and control.
4. The human-machine/operator interface is based on LabVIEW which is also used to accomplish the control algorithm. The LabVIEW-based interface is friendly with a great data-visualizing function. The connection between the LabVIEW program and the Windows driver software is established by using the library function nodes of LabVIEW, which makes it easy to operate the ball-beam system just like operating a file document on the computer.
5. Taking NI ELVIS virtual oscilloscope and its supporting hardware as a debugging platform, and BusHound and IRPTrace as a monitoring software for the enumeration procedure, we optimized the application program on PC and MCU to achieve faster speed and higher reliability of data communication. The performance of the measurement and control system is tested, which shows a successful, stable and reliable system.
本研究旨在通过设计并实现自己的球杆测控系统软硬件平台：基于USB (Universal Serial Bus)接口的上下位机通信；基于MCU的下位机测控平台；基于LabVIEW的上位机软件测控平台。本论文的具体工作体现在以下几个方面：
1.在分析固高球杆测控系统在通信速度、可靠性、易用性不足的基础上,针对球杆测控平台的设计目标提出一种基于USB的优秀嵌入式解决方案,并对设计目标中电机驱动能力和采样频率的正确性进行了验证。
2.测控系统以微控制器为核心,扩展了计数模块以实现与光电编码器的电机转速测量传感器接口,扩展了模拟量采集模块以实现与球在杆上的位置测量传感器接口,扩展了功率驱动模块以直接驱动直流电动机,扩展了USB功能模块以实现与上位机之间的实时数据通信。
3.以Keil C51为固件程序开发平台,下位机测控程序采用汇编语言与C语言混合编程的方式,设计并优化了USB固件程序、数据采集程序和直流伺服电机驱动程序,实现测控系统的通信、数据采集以及控制功能。
4.以LabVIEW为人机界面和控制算法运行环境,利用其库函数结点建立了上位机应用程序与USB驱动程序之间的函数调用,完成球杆系统的文件化操作,界面友好,数据的存贮、处理、可视化显示功能强大。
5.以NI ELVIS虚拟示波器及其配套硬件为试验调试平台,以BusHound和IRPTrace为枚举过程监测软件,优化上下位机程序,达到提高通信速率和数据可靠性的目的,最后对测控系统的各项性能指标进行了测试,达到球杆系统的控制要求,系统运行稳定、可靠。
Ball-beam is a non-linear, unstable, mechanical and electrical combination system; it is of great significance to the research of the dynamic system modeling and to verifying the stability, the rapidity, the accuracy of control algorithm. Many researchers have done a lot of work in the modeling and the digital simulation of ball-beam system at home and abroad. However, with the complexity of control algorithm, the shortcomings of RS232 in data acquisition frequency and real-time communication performance become increasingly obvious.
This research is to design and realize the measurement and control system for the ball-beam system:the communication between PC and MCU is based on USB (Universal Serial Bus); the measurement and control platform is based on MCU; the PC software platform is based on LabVIEW. This thesis has accomplished the following work::
1. After analysing some drawbacks of RS232 in communication speed, reliability, and usability this thesis uses an embedded solution based on USB, which is proved to satisfy the demands for the motor drive capacity and the sampling frequency.
2. The subordinate measurement and control system is based on a micro-controller system, which includes a counting module to measure the motor speed through the two-phase encoder, and an analog acquisition circuit to measure the ball's position on the beam, and a power-driving module to drive DC motor, and a USB function module in order to achieve real-time data communication with the host computer.
3. With Keil C51 as the software development kit, the measurement and control program is a combination of assembly program and C program, which includes the USB firmware, the data acquisition program, and the program for driving the DC servo motor, to accomplish the function of the measurement and control system in communication, data acquisition, and control.
4. The human-machine/operator interface is based on LabVIEW which is also used to accomplish the control algorithm. The LabVIEW-based interface is friendly with a great data-visualizing function. The connection between the LabVIEW program and the Windows driver software is established by using the library function nodes of LabVIEW, which makes it easy to operate the ball-beam system just like operating a file document on the computer.
5. Taking NI ELVIS virtual oscilloscope and its supporting hardware as a debugging platform, and BusHound and IRPTrace as a monitoring software for the enumeration procedure, we optimized the application program on PC and MCU to achieve faster speed and higher reliability of data communication. The performance of the measurement and control system is tested, which shows a successful, stable and reliable system.
引文
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