基于WSN的群塔监控系统的关键控制算法研究

发布时间：2018-11-13 17:43

【摘要】：我国每年都会有多起有关塔式起重机(塔吊)的恶性事故发生,造成极大的人员伤亡和财产损失。针对这一情况,本文提出了一套基于无线传感器网络的群塔监控方案,并对塔吊防摆控制器的设计和塔吊防碰撞算法进行了深入地分析和研究。首先,本文以基于ZigBee的无线传感器网络(WSN)技术为基础,结合GPRS技术、CAN总线技术和嵌入式技术,提出了一套塔吊监控系统的新方案。系统由塔吊运行监控终端和监控中心平台组成。为保证系统的实时性,分析和比较了集中式控制模式与分布式控制模式的优缺点,提出了结合两者优点的混合式控制模式,并详细介绍了系统的结构及功能。系统的无线组网方式采用星型拓扑结构,实时交互个体控制器之间的信息。该系统具有简易、实时性好、低成本、高可靠性等特点。其次,针对塔吊工作时,吊重极易发生摆动的现象,需要设计防摆控制器对其进行控制。本文应用拉格朗日方程建立了吊重系统的数学模型,对系统的稳定性,可控性和可观测性进行了分析。采用分别控制小车定位和吊重摆角的控制策略降低了控制的复杂度,为克服常规PID控制在塔吊防摆控制的不足,通过确定系统论域、隶属度函数,建立模糊规则表和精确化计算,从而设计了系统的模糊自适应PID控制器。用MATLAB/Simulink软件对防摆控制器进行了仿真实验,并与常规PID控制进行了性能比较分析,仿真研究表明,模糊自适应PID防摆控制器能快速实现小车的精确定位并消除负载摆动,相比常规PID控制,该控制器提高了系统的控制精度并具有较强的鲁棒性。最后,针对施工现场内部群塔交叉作业极易产生塔臂碰撞的问题,本文采用坐标齐次变换对各塔吊坐标进行了统一,通过四维时空状态法建立塔吊运动的数学模型,借鉴层次包围体算法的碰撞检测思想建立了塔吊防碰撞模型,并设计了实时计算塔臂间距的塔吊防碰撞算法,并用MATLAB软件仿真验证了算法的有效性和实时性。仿真实验证明该算法可以达到施工现场内群塔作业时防止碰撞的目的。综上所述,本文提出了基于无线传感器网络的群塔监控方案,并对其防摆控制和防碰撞算法进行了详尽的研究。仿真实验研究表明：该系统能有效地控制吊重的摆动,并且能有效地防止塔吊间的碰撞,防止安全事故发生。
[Abstract]:There are many malignant accidents about tower cranes in China every year, which result in great casualties and property losses. In order to solve this problem, this paper puts forward a group tower monitoring scheme based on wireless sensor network, and deeply analyzes and studies the design of tower crane anti-swing controller and the anti-collision algorithm of tower crane. Firstly, based on the (WSN) technology of wireless sensor network based on ZigBee, combined with GPRS technology, CAN bus technology and embedded technology, a new scheme of tower crane monitoring system is proposed in this paper. The system consists of tower crane operation monitoring terminal and monitoring center platform. In order to ensure the real-time performance of the system, the advantages and disadvantages of centralized control mode and distributed control mode are analyzed and compared. A hybrid control mode combining the advantages of both is proposed, and the structure and function of the system are introduced in detail. The system uses star topology to exchange information between individual controllers in real time. The system has the characteristics of simple, good real-time, low cost and high reliability. Secondly, it is necessary to design anti-swinging controller to control the hoisting load which is easy to swing when the tower crane works. In this paper, the Lagrange equation is used to establish the mathematical model of the hoisting system, and the stability, controllability and observability of the system are analyzed. In order to overcome the deficiency of conventional PID control in tower crane anti-swing control, the system theory field and membership function are determined by using the control strategy of controlling vehicle positioning and hoisting angle respectively, and the complexity of control is reduced. The fuzzy rule table and accurate calculation are established, and the fuzzy adaptive PID controller is designed. The simulation experiment of the anti-swing controller with MATLAB/Simulink software is carried out, and the performance of the anti-swing controller is compared with that of the conventional PID control. The simulation results show that the fuzzy adaptive PID anti-swinging controller can quickly realize the accurate positioning of the vehicle and eliminate the load swing. Compared with the conventional PID control, the controller improves the control accuracy and has strong robustness. Finally, aiming at the problem that the cross operation of group tower in the construction site is easy to produce the collision of tower arm, this paper unifies the coordinates of each tower crane by coordinate homogeneous transformation, and establishes the mathematical model of tower crane motion by means of four-dimensional space-time state method. Based on the idea of collision detection of hierarchical bounding body algorithm, the anti-collision model of tower crane is established, and the anti-collision algorithm of tower crane is designed to calculate the distance between tower arms in real time. The effectiveness and real-time performance of the algorithm are verified by MATLAB software simulation. The simulation results show that the algorithm can prevent the collision during the operation of the tower group in the construction site. To sum up, this paper proposes a group tower monitoring scheme based on wireless sensor network, and studies its anti-swing control and anti-collision algorithm in detail. The simulation results show that the system can effectively control the swing of the crane, prevent the collision between the tower cranes, and prevent the occurrence of safety accidents.
【学位授予单位】：沈阳建筑大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TH213.3;TP277

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