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  • 基于SOPC的液压挖掘机作业装置控制系统研究
  • 发布时间:2018-10-23 12:49 | 作者:满意论文网 | 来源:网络整理 | 浏览:
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    【Abstract】 Nowadays, as the rapid development of embeded technology, in order to enhance the automation and intelligence degree of hydraulic excavator and improve controlling precision, combining character of engineering mechanism development and SOC technology, controlling platform of the hydraulic excavator device is built by SOPC, realizing the combination of electronic technology and engineering mechanism, and this is the trend of electronic technology and engineering mechanism development.Firstly thesis built PWM signal output model of the device of hydraulic excavator to carry out real time control to electrico-hydraulic proportional valve. Model of other components of electrico-hydraulic proportional system were studied. Finally electrico-hydraulic proportional system model was built. To validate the stability of electrico-hydraulic proportional system and develop right arithmetic of motion control, controlling performance was analyzed, and then the stability and response character was confirmed. Then PID controlling arithmetic was added, the system performance was improved by adjusting parameter, which meaned to try to advance system response rate and confirm stability of the system.In order to achieve feedback link of excavator motion control based on SOPC, CAN bus control project was studied based IP core technology, CAN bus IP core was analyzed, then CAN bus driving programme was designed. Under the CANopen agreement, CAN bus network was realized.After accomplishing the above work, thesis analysed structure of the whole system, built software and hardware system model, and achieved the system of excavator motion control. In system design aspect, thesis analysed the use of the resource of system and processor performance, then improving hardware system sequential performance and advancing rate of the processor. After the reasonable layout of the software, to improve the system performance, thesis used custom instruction technology, float point custom instruction unit, C2H hardware speedup and DSP module to realize accelerated system and improve system performance. On the situation of meeting control demand, the use of resource and processing rate was rationally regulated.Finally, thesis wrote corresponding control programme to validate function of every module, develop digital PID algorithm to control current of the device and drive hydraulic cylinder. Then trajectory tracking experiment has been done. By analyzing result of the trajectory tracking, it is verified that controller can carry out anticipated function.
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    【中文摘要】为了进步挖掘机自动化、智能化程度,进步控制精度,在嵌进式技术飞速发展的今天,本文结合工程机械发展要求与SOC技术特点,利用SOPC技术搭建挖掘机作业装置控制平台,实现电子技术与工程机械更紧密的结合,是当今电子技术与工程机械发展的必然趋势。本文首先建立了输出PWM驱动模型,实现对电液比例阀的实时控制;研究电液比例系统其它元件模型,终极建立挖掘机作业装置的电液比例系统模型。为进一步验证整个电液比例系统的稳定性并开发合适的运动控制算法,对整个系统控制性能进行分析,确定其稳定程度及响应特性。进而加进PID控制算法,通过对控制参数的实时调整,改善控制性能,在保证系统稳定的条件下,尽可能进步系统响应速度,为终极控制器实验验证打下理论基础。为实现基于SOPC技术的挖掘机运动控制反馈环节,研究基于IP核技术的CAN总线控制方案,分析CAN总线IP核模块,开发了CAN总线驱动程序,在CANopen协议规范下,开发用户自定义程序,实现基于SOPC技术的CAN总线通讯模块,进而实现CAN总线网络控制。完成以上工作的基础上,分析系统整体结构,从而搭建系统软硬件模型,实现整个挖掘机运动控制系统。在系统设计方面,分析系统资源利用情况以及处理器性能,改善硬件时序性能,进步系统处理速度;在对软件模块进行公道规划的基础上,为进步控制器的处理性能,应用自定制指令技术、浮点运算单元、C2H硬件加速以及DSP模块实现系统硬件加速,改善系统性能,在满足控制要求的条件下,达到资源利用与处理速度的公道匹配。论文最后编写相应控制程序验证各控制模块功能,开发PID算法程序输出PWM信号,控制作业装置电流值,驱动液压缸对直线挖掘轨迹进行跟踪,并对跟踪结果进行分析,跟踪结果表明控制器能够实现预期功能。');

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