基于ARM微处理器的通用电液系统数字控制器
摘要
电液控制作为液压控制的一个新分支,因为其本身的特点正得到越来越广泛的应用。电液控制系统的发展对电液控制技术提出了更高的要求,这必将促进电液控制技术的发展。本文在教研室多年电液控制经验的基础上,提出开发通用型电液系统数字控制器。
通过对电液控制技术的研究,了解电液系统的一般构成,结合多个具体实例,本文提出数字式电液控制器概念,以ARM微处理器为硬件核心,采用多种智能控制算法解决电液系统闭环控制问题。
数字控制器以PHILIPS公司的32位ARM7微处理器LPC2292为硬件核心,配有高速AD、DA转换器。硬件设计注重通用性,具有多种输入、输出通道,可以采集和输出多种、多个模拟量信号和数字量信。具有多种通信接口,可以实现近距离监控或者远距离操控。人机交互通道丰富,具有报警、状态指示、参数显示等功能。采用光电隔离、独立电源、屏蔽外壳等措施保证控制器具有良好的稳定性、可靠性。软件设计采用UC/OS-Ⅱ嵌入式操作系统,内部集成多种智能控制算法,保证电液系统闭环控制取得良好的效果。开发模拟试验系统,可以模拟电液系统现场的各种信号和闭环回路,实现实验室调试。采用Visual Basic开发上位机软件,配合控制器完成参数修改、保存,绘制实时监控曲线,控制硬件等功能。
控制器解决了电液系统多样性难题,客服模拟控制的缺点。研发出模糊自整定PID算法,它成功解决了闭环控制过程中设定信号不断变化的难题。经过多次现场调试,目前控制器已经成功应用于国内多家企业的轮胎耐久性试验机和密炼机两种电液系统,在这两种系统中成功取代进口国外模拟控制器,并且控制效果好于国外模拟控制器。
Electro-hydraulic control which is a new branch of hydraulic control is being increasingly widely used because of its own characters. The development of electro-hydraulic control system makes higher requirements to electro-hydraulic control technology that will certainly promote development of electro-hydraulic control technology. This paper proposes to research general electro-hydraulic digital controller on the basis of staff room' many years of electro-hydraulic control experience.
This paper proposes the concept of digital controller, through combining with a number of specific examples and researching electro-hydraulic system composition and its control technology. Controller uses ARM microprocessor as hardware core and uses many intelligent control algorithms to solve the problem of closed-loop control of electro-hydraulic system.
Digital controller uses PHILIPS Company's 32-bit ARM7 microprocessor LPC2292 as hardware core, with high speed AD and DA converters. Hardware design focus on generality, with rich input and output channels, it can capture and output various and multiple analog signals and digital signals. With multiple communication interfaces, it can achieve close range or remote control. It can achieve alarm, status indication, parameters display with many human-computer interaction Channels. With photoelectric isolation and independent power supply and shielding shell and other measures controller has good stability and reliability. Software uses embedded operating system UC/OS-Ⅱ, internal integrates multiple intelligent algorithms to ensure that closed-loop control can have good result. Developing simulation test box to simulate on-field electro-hydraulic system signals and closed-loop system, it can achieve lab debug. Controller uses Visual Basic to develop host computer software which combines with controller to complete parameters modification and saving, real-time control curve drawing and hardware control.
Controller has solved diversity problem and analog control defect, developed fuzzy self adjust PID algorithm which successfully solves problem of setting signal constantly changes during close-loop control process. With many times on field debug controller has been successfully applied in both tire endurance of testing machine and internal mixer electro-hydraulic systems, replaced import analog controller with better control effect.
通过对电液控制技术的研究,了解电液系统的一般构成,结合多个具体实例,本文提出数字式电液控制器概念,以ARM微处理器为硬件核心,采用多种智能控制算法解决电液系统闭环控制问题。
数字控制器以PHILIPS公司的32位ARM7微处理器LPC2292为硬件核心,配有高速AD、DA转换器。硬件设计注重通用性,具有多种输入、输出通道,可以采集和输出多种、多个模拟量信号和数字量信。具有多种通信接口,可以实现近距离监控或者远距离操控。人机交互通道丰富,具有报警、状态指示、参数显示等功能。采用光电隔离、独立电源、屏蔽外壳等措施保证控制器具有良好的稳定性、可靠性。软件设计采用UC/OS-Ⅱ嵌入式操作系统,内部集成多种智能控制算法,保证电液系统闭环控制取得良好的效果。开发模拟试验系统,可以模拟电液系统现场的各种信号和闭环回路,实现实验室调试。采用Visual Basic开发上位机软件,配合控制器完成参数修改、保存,绘制实时监控曲线,控制硬件等功能。
控制器解决了电液系统多样性难题,客服模拟控制的缺点。研发出模糊自整定PID算法,它成功解决了闭环控制过程中设定信号不断变化的难题。经过多次现场调试,目前控制器已经成功应用于国内多家企业的轮胎耐久性试验机和密炼机两种电液系统,在这两种系统中成功取代进口国外模拟控制器,并且控制效果好于国外模拟控制器。
Electro-hydraulic control which is a new branch of hydraulic control is being increasingly widely used because of its own characters. The development of electro-hydraulic control system makes higher requirements to electro-hydraulic control technology that will certainly promote development of electro-hydraulic control technology. This paper proposes to research general electro-hydraulic digital controller on the basis of staff room' many years of electro-hydraulic control experience.
This paper proposes the concept of digital controller, through combining with a number of specific examples and researching electro-hydraulic system composition and its control technology. Controller uses ARM microprocessor as hardware core and uses many intelligent control algorithms to solve the problem of closed-loop control of electro-hydraulic system.
Digital controller uses PHILIPS Company's 32-bit ARM7 microprocessor LPC2292 as hardware core, with high speed AD and DA converters. Hardware design focus on generality, with rich input and output channels, it can capture and output various and multiple analog signals and digital signals. With multiple communication interfaces, it can achieve close range or remote control. It can achieve alarm, status indication, parameters display with many human-computer interaction Channels. With photoelectric isolation and independent power supply and shielding shell and other measures controller has good stability and reliability. Software uses embedded operating system UC/OS-Ⅱ, internal integrates multiple intelligent algorithms to ensure that closed-loop control can have good result. Developing simulation test box to simulate on-field electro-hydraulic system signals and closed-loop system, it can achieve lab debug. Controller uses Visual Basic to develop host computer software which combines with controller to complete parameters modification and saving, real-time control curve drawing and hardware control.
Controller has solved diversity problem and analog control defect, developed fuzzy self adjust PID algorithm which successfully solves problem of setting signal constantly changes during close-loop control process. With many times on field debug controller has been successfully applied in both tire endurance of testing machine and internal mixer electro-hydraulic systems, replaced import analog controller with better control effect.
引文
[1]许焰.电液控制系统的应用分析[J].长沙大学学报,2003,17(2):41-44.
[2]吴根茂.电液控制技术简介[J].电子产品市场,2007,(6):51.
[3]陈刚,朱石沙,王启新等.电液控制技术的发展与应用[J].机床与液压,2006,(4):1-3.
[4]章宏甲,黄谊.液压传动[M].北京:机械工业出版社,1993.
[5]Kariz.Z,Noe.D.Proportional and servo hydraulic technology[J].Hydraulic and pneumatic control equipment,2005,11(1):16-21.
[6]许梁,杨前明.现代电液控制技术的应用与发展[J].现代制造技术与装备,2007,(3):72-76.
[7]李阳阳.基于DSP的电液伺服嵌入式控制器[D].哈尔滨:哈尔滨工业大学,2007.
[8]刘华峰.基于ARM微处理器的电液位置伺服控制系统的研究[D].太原:太原理工大学,2008.
[9]陈赜.ARM嵌入式技术实践教程[M].北京:北京航空航天大学出版社,2005.
[10]周立功等.ARM嵌入式系统实验教程(二)[M].北京:北京航空航天大学出版社,2005.
[11]张智辉,田地.14位3MHz单片模数转换器AD9243的应用[J].微计算机信息,2002,18(3):45-46.
[12]马军.高速高性能数据采集系统的实现方法[J].现代电子技术,2007,(9):130-133.
[13]Analog Devices Inc.Single Supply Rail-to-Rail Low Cost Instrumentation Amplifier,Data Sheet.1997.
[14]杨小晨,王欣.高精度线性光偶HCNR200/201及其应用[J].仪器仪表用户,2003,10(5):41-42.
[15]A.I..Hign-Linearity Analog Optocouplers Techinical Data,2004.
[16]姜喆,唐友胜.高精度数模转换器AD420及其与MSP430的接口技术[J].国外电子元器件,2006,(11):49-53.
[17]赵珂,端木慧英.可编程双路12位数模转换器TLC5618的原理及应用[J].国外电子元器件,1999,(4):22-24.
[18]谢瑞和.串行技术大全[M].北京:清华大学出版社,2003.
[19]郭谋发,王劭伯.RS-485网络的设计及其在工业监控系统中的应用[J].福州大学学报,1999,27(1):48-51.
[20]王少卿,汪仁煌.低功耗MSP430单片机在3V与5V混合系统中的逻辑接口技术[J].电子技术应用,2002,(10):16-20.
[21]Jean J.Labrosse.嵌入式实时操作系统UC/OS-Ⅱ(第2版)[M].北京:北京航空航天大学出版社,2003.
[22]邵贝贝.单片机嵌入式应用的在线开发方法[M].北京:清华大学出版社,2004.
[23]王福瑞.单片机测控系统大全[M].北京:航空航天大学出版社,1999.
[24]周立功等.ARM嵌入式系统基础教程(第二版)[M].北京:北京航空航天大学出版社,2008.
[25]于海生,潘松峰,于培仁等.微型计算机控制技术[M].北京:清华大学出版社,2003.
[26]陶永华.新型PID控制及其应用[M].北京:机械工业出版社,2003.
[27]胡祝兵,易江,王娟.积分分离PID控制在温控系统中的仿真研究[J].承德石油高等专科学校学报,2006,8(4):17-19.
[28]刘汉敏.积分分离PID控制算法在炉温控制系统中的应用[J].武汉船舶职业技术学院学报,2006,(6):30-31.
[29]朱仲邃.变速积分PID算法在温度控制中的应用[J].仪器仪表用户,2005,(3):68.
[30]苏绍兴.基于变速积分PID的温度控制系统的设计[J].机电工程,2002,19(6):28-30.
[31]贺剑锋,陈晖,黄石生.模糊控制的新近发展[J].控制理论与应用,1994,11(2):129-136.
[32]房建东,张义智,房彦伟.电液控制系统控制策略研究分析[J].机床与液压,2003,(2):114-116.
[33]Kazemian,H.B.Developments of fuzzy PID controllers[J].Expert Systems,2005,22(5):254-264.
[34]Nuella,Imma.Adaptive PID controller design for nonlinear systems[J].Industrial and Engineering Chemistry Research,2009,48(10):4877-4883.
[35]汤兵勇.模糊控制理论与应用技术[M].北京:清华大学出版社,2002.
[36]田淑杭,姜丽娟.一种参数自整定模糊PID控制器的研究[J].电气传动自动化,2003,25(6):28-30.
[37]H.X.Li.H.Miao and J.Y.Wang.Variable universe stable adaptive fuzzy control of Nonlinear system[J].Science in China,2002,(45):225-240.
[38]狄全熙,武新伟,吕岩等.模糊自适应PID控制器在液压伺服系统的应用[J].电气技术与自动化2007.36(4):107-108.
[39]Kazemian,Hassan B.Development of an intelligent fuzzy controller[J].IEEE International Conference on Fuzzy Systems.2001(1):517-520.
[40]增强聪.Visual Basic程序设计基础教程[M].北京:清华大学出版社,2005.
[41]臧玉琴,腾跃.Visual Basic界面、多媒体与操作系统程序设计[M].北京:人民邮电出版社,2003.
[42]范逸之.Visual Basic与RS232串行通讯控制[M].北京:中国青年出版社,2000.
[43]陈三风,刘晓波.基于VB6.0与单片机串行通信的数据采集系统设计[J].计算机应用,2004,(1):66-68.
[44]刘根据,杨延宁,张艳阳等.一种用单片机产生准确频率正弦波的新方法[J].自动化仪表,2009,30(2):63-64.
[45]梅红伟.多通道汽车疲劳试验台的测控系统的设计[D].西安:西南交通大学,2006.
[46]许蕴荣.密炼机棍炼过程控制方法的选择[J].橡胶工业,1990,(3):141-145.
[47]姜文峰,牛剑峰.电液控制系统可靠性设计[J].煤炭技术.2009,4,28(4):25-27.
[2]吴根茂.电液控制技术简介[J].电子产品市场,2007,(6):51.
[3]陈刚,朱石沙,王启新等.电液控制技术的发展与应用[J].机床与液压,2006,(4):1-3.
[4]章宏甲,黄谊.液压传动[M].北京:机械工业出版社,1993.
[5]Kariz.Z,Noe.D.Proportional and servo hydraulic technology[J].Hydraulic and pneumatic control equipment,2005,11(1):16-21.
[6]许梁,杨前明.现代电液控制技术的应用与发展[J].现代制造技术与装备,2007,(3):72-76.
[7]李阳阳.基于DSP的电液伺服嵌入式控制器[D].哈尔滨:哈尔滨工业大学,2007.
[8]刘华峰.基于ARM微处理器的电液位置伺服控制系统的研究[D].太原:太原理工大学,2008.
[9]陈赜.ARM嵌入式技术实践教程[M].北京:北京航空航天大学出版社,2005.
[10]周立功等.ARM嵌入式系统实验教程(二)[M].北京:北京航空航天大学出版社,2005.
[11]张智辉,田地.14位3MHz单片模数转换器AD9243的应用[J].微计算机信息,2002,18(3):45-46.
[12]马军.高速高性能数据采集系统的实现方法[J].现代电子技术,2007,(9):130-133.
[13]Analog Devices Inc.Single Supply Rail-to-Rail Low Cost Instrumentation Amplifier,Data Sheet.1997.
[14]杨小晨,王欣.高精度线性光偶HCNR200/201及其应用[J].仪器仪表用户,2003,10(5):41-42.
[15]A.I..Hign-Linearity Analog Optocouplers Techinical Data,2004.
[16]姜喆,唐友胜.高精度数模转换器AD420及其与MSP430的接口技术[J].国外电子元器件,2006,(11):49-53.
[17]赵珂,端木慧英.可编程双路12位数模转换器TLC5618的原理及应用[J].国外电子元器件,1999,(4):22-24.
[18]谢瑞和.串行技术大全[M].北京:清华大学出版社,2003.
[19]郭谋发,王劭伯.RS-485网络的设计及其在工业监控系统中的应用[J].福州大学学报,1999,27(1):48-51.
[20]王少卿,汪仁煌.低功耗MSP430单片机在3V与5V混合系统中的逻辑接口技术[J].电子技术应用,2002,(10):16-20.
[21]Jean J.Labrosse.嵌入式实时操作系统UC/OS-Ⅱ(第2版)[M].北京:北京航空航天大学出版社,2003.
[22]邵贝贝.单片机嵌入式应用的在线开发方法[M].北京:清华大学出版社,2004.
[23]王福瑞.单片机测控系统大全[M].北京:航空航天大学出版社,1999.
[24]周立功等.ARM嵌入式系统基础教程(第二版)[M].北京:北京航空航天大学出版社,2008.
[25]于海生,潘松峰,于培仁等.微型计算机控制技术[M].北京:清华大学出版社,2003.
[26]陶永华.新型PID控制及其应用[M].北京:机械工业出版社,2003.
[27]胡祝兵,易江,王娟.积分分离PID控制在温控系统中的仿真研究[J].承德石油高等专科学校学报,2006,8(4):17-19.
[28]刘汉敏.积分分离PID控制算法在炉温控制系统中的应用[J].武汉船舶职业技术学院学报,2006,(6):30-31.
[29]朱仲邃.变速积分PID算法在温度控制中的应用[J].仪器仪表用户,2005,(3):68.
[30]苏绍兴.基于变速积分PID的温度控制系统的设计[J].机电工程,2002,19(6):28-30.
[31]贺剑锋,陈晖,黄石生.模糊控制的新近发展[J].控制理论与应用,1994,11(2):129-136.
[32]房建东,张义智,房彦伟.电液控制系统控制策略研究分析[J].机床与液压,2003,(2):114-116.
[33]Kazemian,H.B.Developments of fuzzy PID controllers[J].Expert Systems,2005,22(5):254-264.
[34]Nuella,Imma.Adaptive PID controller design for nonlinear systems[J].Industrial and Engineering Chemistry Research,2009,48(10):4877-4883.
[35]汤兵勇.模糊控制理论与应用技术[M].北京:清华大学出版社,2002.
[36]田淑杭,姜丽娟.一种参数自整定模糊PID控制器的研究[J].电气传动自动化,2003,25(6):28-30.
[37]H.X.Li.H.Miao and J.Y.Wang.Variable universe stable adaptive fuzzy control of Nonlinear system[J].Science in China,2002,(45):225-240.
[38]狄全熙,武新伟,吕岩等.模糊自适应PID控制器在液压伺服系统的应用[J].电气技术与自动化2007.36(4):107-108.
[39]Kazemian,Hassan B.Development of an intelligent fuzzy controller[J].IEEE International Conference on Fuzzy Systems.2001(1):517-520.
[40]增强聪.Visual Basic程序设计基础教程[M].北京:清华大学出版社,2005.
[41]臧玉琴,腾跃.Visual Basic界面、多媒体与操作系统程序设计[M].北京:人民邮电出版社,2003.
[42]范逸之.Visual Basic与RS232串行通讯控制[M].北京:中国青年出版社,2000.
[43]陈三风,刘晓波.基于VB6.0与单片机串行通信的数据采集系统设计[J].计算机应用,2004,(1):66-68.
[44]刘根据,杨延宁,张艳阳等.一种用单片机产生准确频率正弦波的新方法[J].自动化仪表,2009,30(2):63-64.
[45]梅红伟.多通道汽车疲劳试验台的测控系统的设计[D].西安:西南交通大学,2006.
[46]许蕴荣.密炼机棍炼过程控制方法的选择[J].橡胶工业,1990,(3):141-145.
[47]姜文峰,牛剑峰.电液控制系统可靠性设计[J].煤炭技术.2009,4,28(4):25-27.